diff --git a/distros/foxy/ament-index-cpp/default.nix b/distros/foxy/ament-index-cpp/default.nix
index a0e2964ddd..64d2aff2fd 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 = "1.0.2-r1";
+  version = "1.1.0-r1";
 
   src = fetchurl {
-    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";
+    url = "https://github.com/ros2-gbp/ament_index-release/archive/release/foxy/ament_index_cpp/1.1.0-1.tar.gz";
+    name = "1.1.0-1.tar.gz";
+    sha256 = "be3cb84b6d21b9ef200735ad2837c86968f409d27c463c2534922794eafe2ef1";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/foxy/ament-index-python/default.nix b/distros/foxy/ament-index-python/default.nix
index ca2f59e65b..ef8e3bc30b 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 = "1.0.2-r1";
+  version = "1.1.0-r1";
 
   src = fetchurl {
-    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";
+    url = "https://github.com/ros2-gbp/ament_index-release/archive/release/foxy/ament_index_python/1.1.0-1.tar.gz";
+    name = "1.1.0-1.tar.gz";
+    sha256 = "0836dc79b482dfb39e8683d61e8f1027a1765e06874fcd16781fb20198deddef";
   };
 
   buildType = "ament_python";
diff --git a/distros/foxy/diff-drive-controller/default.nix b/distros/foxy/diff-drive-controller/default.nix
index 28a350d41e..36c5ff1e13 100644
--- a/distros/foxy/diff-drive-controller/default.nix
+++ b/distros/foxy/diff-drive-controller/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, ament-lint-auto, ament-lint-common, controller-interface, controller-manager, geometry-msgs, hardware-interface, nav-msgs, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, tf2, tf2-msgs }:
 buildRosPackage {
   pname = "ros-foxy-diff-drive-controller";
-  version = "0.3.1-r1";
+  version = "0.4.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/foxy/diff_drive_controller/0.3.1-1.tar.gz";
-    name = "0.3.1-1.tar.gz";
-    sha256 = "603f485e1f5686cfde2ae49d449ddc80901dce0f082b82ecef8ce1854dbdfcb2";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/foxy/diff_drive_controller/0.4.0-1.tar.gz";
+    name = "0.4.0-1.tar.gz";
+    sha256 = "3dbce9d3f47b38244c3e435d7379ce6f2fb98d10495d4f278014a8e0212a2763";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/foxy/effort-controllers/default.nix b/distros/foxy/effort-controllers/default.nix
index 1754721ef5..9ce008827b 100644
--- a/distros/foxy/effort-controllers/default.nix
+++ b/distros/foxy/effort-controllers/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, controller-manager, forward-command-controller, pluginlib, rclcpp, ros2-control-test-assets }:
 buildRosPackage {
   pname = "ros-foxy-effort-controllers";
-  version = "0.3.1-r1";
+  version = "0.4.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/foxy/effort_controllers/0.3.1-1.tar.gz";
-    name = "0.3.1-1.tar.gz";
-    sha256 = "3a332b74d6a8e89c0dc88d2a05461e4e0d20ae54e3e3319f318b7eb786a71cb3";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/foxy/effort_controllers/0.4.0-1.tar.gz";
+    name = "0.4.0-1.tar.gz";
+    sha256 = "06f339b629e3d77118798e3a9b288382a1f6e35239d7aaf2667cf1f33f583a7f";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/foxy/force-torque-sensor-broadcaster/default.nix b/distros/foxy/force-torque-sensor-broadcaster/default.nix
new file mode 100644
index 0000000000..aaf9a8f194
--- /dev/null
+++ b/distros/foxy/force-torque-sensor-broadcaster/default.nix
@@ -0,0 +1,25 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, controller-interface, controller-manager, geometry-msgs, hardware-interface, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-test-assets }:
+buildRosPackage {
+  pname = "ros-foxy-force-torque-sensor-broadcaster";
+  version = "0.4.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/foxy/force_torque_sensor_broadcaster/0.4.0-1.tar.gz";
+    name = "0.4.0-1.tar.gz";
+    sha256 = "8e9929a8fe0f8631beac16ba54e2fb1474d5567ec1fec8150b45b6dbc35b7d64";
+  };
+
+  buildType = "ament_cmake";
+  checkInputs = [ ament-cmake-gmock controller-manager hardware-interface ros2-control-test-assets ];
+  propagatedBuildInputs = [ controller-interface geometry-msgs hardware-interface pluginlib rclcpp rclcpp-lifecycle realtime-tools ];
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = ''Controller to publish state of force-torque sensors.'';
+    license = with lib.licenses; [ asl20 ];
+  };
+}
diff --git a/distros/foxy/forward-command-controller/default.nix b/distros/foxy/forward-command-controller/default.nix
index fe1403d75d..3cedf72c42 100644
--- a/distros/foxy/forward-command-controller/default.nix
+++ b/distros/foxy/forward-command-controller/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, ament-lint-auto, ament-lint-common, controller-interface, controller-manager, hardware-interface, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-test-assets, std-msgs }:
 buildRosPackage {
   pname = "ros-foxy-forward-command-controller";
-  version = "0.3.1-r1";
+  version = "0.4.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/foxy/forward_command_controller/0.3.1-1.tar.gz";
-    name = "0.3.1-1.tar.gz";
-    sha256 = "1b26e6f102db4d303e3b566ca5c2383c3fd22de5e804b48dd49400fff003e805";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/foxy/forward_command_controller/0.4.0-1.tar.gz";
+    name = "0.4.0-1.tar.gz";
+    sha256 = "6e4d2636672e89795db672c9e55aa0f9d0aba085c08d9389c3ddb403039ed94d";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/foxy/generated.nix b/distros/foxy/generated.nix
index 331b01961c..2af376620c 100644
--- a/distros/foxy/generated.nix
+++ b/distros/foxy/generated.nix
@@ -422,6 +422,8 @@ self: super: {
 
  foonathan-memory-vendor = self.callPackage ./foonathan-memory-vendor {};
 
+ force-torque-sensor-broadcaster = self.callPackage ./force-torque-sensor-broadcaster {};
+
  forward-command-controller = self.callPackage ./forward-command-controller {};
 
  four-wheel-steering-msgs = self.callPackage ./four-wheel-steering-msgs {};
@@ -468,6 +470,8 @@ self: super: {
 
  grbl-ros = self.callPackage ./grbl-ros {};
 
+ gripper-controllers = self.callPackage ./gripper-controllers {};
+
  gtest-vendor = self.callPackage ./gtest-vendor {};
 
  hardware-interface = self.callPackage ./hardware-interface {};
@@ -496,6 +500,8 @@ self: super: {
 
  image-view = self.callPackage ./image-view {};
 
+ imu-sensor-broadcaster = self.callPackage ./imu-sensor-broadcaster {};
+
  interactive-markers = self.callPackage ./interactive-markers {};
 
  intra-process-demo = self.callPackage ./intra-process-demo {};
@@ -618,6 +624,8 @@ self: super: {
 
  marti-visualization-msgs = self.callPackage ./marti-visualization-msgs {};
 
+ massrobotics-amr-sender = self.callPackage ./massrobotics-amr-sender {};
+
  mavlink = self.callPackage ./mavlink {};
 
  mavros = self.callPackage ./mavros {};
@@ -1388,6 +1396,8 @@ self: super: {
 
  tf2-tools = self.callPackage ./tf2-tools {};
 
+ tf-transformations = self.callPackage ./tf-transformations {};
+
  theora-image-transport = self.callPackage ./theora-image-transport {};
 
  tile-map = self.callPackage ./tile-map {};
diff --git a/distros/foxy/gripper-controllers/default.nix b/distros/foxy/gripper-controllers/default.nix
new file mode 100644
index 0000000000..2c2cc3e68b
--- /dev/null
+++ b/distros/foxy/gripper-controllers/default.nix
@@ -0,0 +1,26 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, control-msgs, control-toolbox, controller-interface, controller-manager, hardware-interface, pluginlib, rclcpp, rclcpp-action, realtime-tools, ros2-control-test-assets }:
+buildRosPackage {
+  pname = "ros-foxy-gripper-controllers";
+  version = "0.4.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/foxy/gripper_controllers/0.4.0-1.tar.gz";
+    name = "0.4.0-1.tar.gz";
+    sha256 = "e16b634fb377dd6c56a57663a00b96234140310785f76324be03d6d0d2df7fb7";
+  };
+
+  buildType = "ament_cmake";
+  buildInputs = [ pluginlib ];
+  checkInputs = [ ament-cmake-gtest ament-lint-auto ament-lint-common controller-manager ros2-control-test-assets ];
+  propagatedBuildInputs = [ control-msgs control-toolbox controller-interface hardware-interface rclcpp rclcpp-action realtime-tools ];
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = ''The gripper_controllers package'';
+    license = with lib.licenses; [ asl20 ];
+  };
+}
diff --git a/distros/foxy/imu-sensor-broadcaster/default.nix b/distros/foxy/imu-sensor-broadcaster/default.nix
new file mode 100644
index 0000000000..4f9062d84b
--- /dev/null
+++ b/distros/foxy/imu-sensor-broadcaster/default.nix
@@ -0,0 +1,25 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, ament-lint-auto, ament-lint-common, controller-interface, controller-manager, hardware-interface, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-test-assets, sensor-msgs }:
+buildRosPackage {
+  pname = "ros-foxy-imu-sensor-broadcaster";
+  version = "0.4.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/foxy/imu_sensor_broadcaster/0.4.0-1.tar.gz";
+    name = "0.4.0-1.tar.gz";
+    sha256 = "1dc90effed167877ccc3b5407e7dfc5bbf7c76bda02ec1914c49b048771dd2c2";
+  };
+
+  buildType = "ament_cmake";
+  checkInputs = [ ament-cmake-gmock ament-lint-auto ament-lint-common controller-manager hardware-interface ros2-control-test-assets ];
+  propagatedBuildInputs = [ controller-interface hardware-interface pluginlib rclcpp rclcpp-lifecycle realtime-tools sensor-msgs ];
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = ''Controller to publish readings of IMU sensors.'';
+    license = with lib.licenses; [ asl20 ];
+  };
+}
diff --git a/distros/foxy/joint-state-broadcaster/default.nix b/distros/foxy/joint-state-broadcaster/default.nix
index 2d3f19ce0e..9ae4ae00b5 100644
--- a/distros/foxy/joint-state-broadcaster/default.nix
+++ b/distros/foxy/joint-state-broadcaster/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, ament-lint-auto, ament-lint-common, control-msgs, controller-interface, controller-manager, hardware-interface, pluginlib, rclcpp, rclcpp-lifecycle, rcutils, ros2-control-test-assets, sensor-msgs }:
 buildRosPackage {
   pname = "ros-foxy-joint-state-broadcaster";
-  version = "0.3.1-r1";
+  version = "0.4.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/foxy/joint_state_broadcaster/0.3.1-1.tar.gz";
-    name = "0.3.1-1.tar.gz";
-    sha256 = "47bb39c16cbc7631b57c269198be62b1674e41c8a24b6c54508e27c06ac764f9";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/foxy/joint_state_broadcaster/0.4.0-1.tar.gz";
+    name = "0.4.0-1.tar.gz";
+    sha256 = "fef5bc8e18b8d14466a17234e9e3d9d487ac6bbd797f92ff6bd86b1f365b3b9f";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/foxy/joint-state-controller/default.nix b/distros/foxy/joint-state-controller/default.nix
index 9451895174..d643bc334f 100644
--- a/distros/foxy/joint-state-controller/default.nix
+++ b/distros/foxy/joint-state-controller/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, ament-lint-auto, ament-lint-common, controller-manager, hardware-interface, joint-state-broadcaster, pluginlib, rclcpp, ros2-control-test-assets }:
 buildRosPackage {
   pname = "ros-foxy-joint-state-controller";
-  version = "0.3.1-r1";
+  version = "0.4.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/foxy/joint_state_controller/0.3.1-1.tar.gz";
-    name = "0.3.1-1.tar.gz";
-    sha256 = "6f74fdc8f499412c3fa54afa9a41a65cead72dce356722be6588e1c8e46988ab";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/foxy/joint_state_controller/0.4.0-1.tar.gz";
+    name = "0.4.0-1.tar.gz";
+    sha256 = "1254b40d094fa58ecd2d945179a20fd803a96b597b3bc0ab6ee072edfdc1be3a";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/foxy/joint-trajectory-controller/default.nix b/distros/foxy/joint-trajectory-controller/default.nix
index ed89b3585f..ea1942b077 100644
--- a/distros/foxy/joint-trajectory-controller/default.nix
+++ b/distros/foxy/joint-trajectory-controller/default.nix
@@ -2,20 +2,20 @@
 # Copyright 2021 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, angles, control-msgs, controller-interface, controller-manager, hardware-interface, pluginlib, rclcpp, rclcpp-lifecycle, rcutils, realtime-tools, ros2-control-test-assets, trajectory-msgs }:
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, angles, control-msgs, controller-interface, controller-manager, hardware-interface, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-test-assets, trajectory-msgs }:
 buildRosPackage {
   pname = "ros-foxy-joint-trajectory-controller";
-  version = "0.3.1-r1";
+  version = "0.4.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/foxy/joint_trajectory_controller/0.3.1-1.tar.gz";
-    name = "0.3.1-1.tar.gz";
-    sha256 = "33f4bec0a12ead0180743a03ff6f5966d31552c300be438f7245dc439f842d91";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/foxy/joint_trajectory_controller/0.4.0-1.tar.gz";
+    name = "0.4.0-1.tar.gz";
+    sha256 = "5ec2f59ac4dfc1e8f53e8b2bd54b90a1575f9778e619c17d6a32c0fdbab49f30";
   };
 
   buildType = "ament_cmake";
   checkInputs = [ ament-cmake-gtest ament-lint-auto ament-lint-common controller-manager ros2-control-test-assets ];
-  propagatedBuildInputs = [ angles control-msgs controller-interface hardware-interface pluginlib rclcpp rclcpp-lifecycle rcutils realtime-tools trajectory-msgs ];
+  propagatedBuildInputs = [ angles control-msgs controller-interface hardware-interface pluginlib rclcpp rclcpp-lifecycle realtime-tools trajectory-msgs ];
   nativeBuildInputs = [ ament-cmake ];
 
   meta = {
diff --git a/distros/foxy/launch-pal/default.nix b/distros/foxy/launch-pal/default.nix
index e797e34574..3103d39ff8 100644
--- a/distros/foxy/launch-pal/default.nix
+++ b/distros/foxy/launch-pal/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-copyright, ament-flake8, ament-index-python, ament-pep257, launch, python3Packages, pythonPackages }:
 buildRosPackage {
   pname = "ros-foxy-launch-pal";
-  version = "0.0.2-r3";
+  version = "0.0.3-r1";
 
   src = fetchurl {
-    url = "https://github.com/pal-gbp/launch_pal-release/archive/release/foxy/launch_pal/0.0.2-3.tar.gz";
-    name = "0.0.2-3.tar.gz";
-    sha256 = "40d7edd6eb447e7a05dbb6e0b42159c722caf4882a056e656542404ca2c0e954";
+    url = "https://github.com/pal-gbp/launch_pal-release/archive/release/foxy/launch_pal/0.0.3-1.tar.gz";
+    name = "0.0.3-1.tar.gz";
+    sha256 = "3487c6fbe6e9af8269bca39c514bc141151d850a89d20e6fd6362faa6694f8e0";
   };
 
   buildType = "ament_python";
diff --git a/distros/foxy/librealsense2/default.nix b/distros/foxy/librealsense2/default.nix
index 3af47a027b..45b52031c6 100644
--- a/distros/foxy/librealsense2/default.nix
+++ b/distros/foxy/librealsense2/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, libusb1, openssl, pkg-config, udev }:
 buildRosPackage {
   pname = "ros-foxy-librealsense2";
-  version = "2.45.0-r1";
+  version = "2.48.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/IntelRealSense/librealsense2-release/archive/release/foxy/librealsense2/2.45.0-1.tar.gz";
-    name = "2.45.0-1.tar.gz";
-    sha256 = "3ac5359c3e7e21c29d588b99b729577043dfbfd48c6bea21ee25d07ea12028ee";
+    url = "https://github.com/IntelRealSense/librealsense2-release/archive/release/foxy/librealsense2/2.48.0-1.tar.gz";
+    name = "2.48.0-1.tar.gz";
+    sha256 = "e690af321d9a44456920751bf885d94acbdcff9e6448fe3d9707ac0a28868700";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/foxy/massrobotics-amr-sender/default.nix b/distros/foxy/massrobotics-amr-sender/default.nix
new file mode 100644
index 0000000000..a0b7438c8b
--- /dev/null
+++ b/distros/foxy/massrobotics-amr-sender/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, python3Packages, pythonPackages, rclpy, tf2, tf2-bullet, tf2-eigen, tf2-eigen-kdl, tf2-geometry-msgs, tf2-kdl, tf2-msgs, tf2-py, tf2-ros, tf2-sensor-msgs, tf2-tools }:
+buildRosPackage {
+  pname = "ros-foxy-massrobotics-amr-sender";
+  version = "1.0.0-r2";
+
+  src = fetchurl {
+    url = "https://github.com/inorbit-ai/ros_amr_interop-release/archive/release/foxy/massrobotics_amr_sender/1.0.0-2.tar.gz";
+    name = "1.0.0-2.tar.gz";
+    sha256 = "b9c69911bba3d3f4343fad093bcc3ba4eab28bf8225804167fb0419a6aea79f2";
+  };
+
+  buildType = "ament_python";
+  checkInputs = [ ament-copyright ament-flake8 ament-pep257 python3Packages.jsonschema python3Packages.mock python3Packages.pep8 pythonPackages.pytest ];
+  propagatedBuildInputs = [ python3Packages.websockets rclpy tf2 tf2-bullet tf2-eigen tf2-eigen-kdl tf2-geometry-msgs tf2-kdl tf2-msgs tf2-py tf2-ros tf2-sensor-msgs tf2-tools ];
+
+  meta = {
+    description = ''MassRobotics AMR Interop Sender'';
+    license = with lib.licenses; [ "3-Clause BSD License" ];
+  };
+}
diff --git a/distros/foxy/moveit-common/default.nix b/distros/foxy/moveit-common/default.nix
index d9abfb2542..fda121929f 100644
--- a/distros/foxy/moveit-common/default.nix
+++ b/distros/foxy/moveit-common/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common }:
 buildRosPackage {
   pname = "ros-foxy-moveit-common";
-  version = "2.1.4-r1";
+  version = "2.2.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/moveit/moveit2-release/archive/release/foxy/moveit_common/2.1.4-1.tar.gz";
-    name = "2.1.4-1.tar.gz";
-    sha256 = "12c0606cfeef194d56776cc4613d54c50de46b312bce5952db7cfd8e047f4d01";
+    url = "https://github.com/moveit/moveit2-release/archive/release/foxy/moveit_common/2.2.0-1.tar.gz";
+    name = "2.2.0-1.tar.gz";
+    sha256 = "dd6371048f91a3d25b3ca93d0f21aed0a30c606876a1c3d812f592370771898f";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/foxy/moveit-core/default.nix b/distros/foxy/moveit-core/default.nix
index 90b0f5f819..5bc0c76508 100644
--- a/distros/foxy/moveit-core/default.nix
+++ b/distros/foxy/moveit-core/default.nix
@@ -2,21 +2,21 @@
 # Copyright 2021 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-index-cpp, ament-lint-auto, ament-lint-common, angles, assimp, boost, bullet, common-interfaces, eigen, eigen-stl-containers, eigen3-cmake-module, fcl, geometric-shapes, geometry-msgs, kdl-parser, moveit-common, moveit-msgs, moveit-resources-panda-moveit-config, moveit-resources-pr2-description, octomap, octomap-msgs, orocos-kdl, pkg-config, random-numbers, rclcpp, sensor-msgs, shape-msgs, srdfdom, std-msgs, tf2, tf2-eigen, tf2-geometry-msgs, tf2-kdl, trajectory-msgs, urdf, urdfdom, urdfdom-headers, visualization-msgs }:
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-index-cpp, ament-lint-auto, ament-lint-common, angles, assimp, boost, bullet, common-interfaces, eigen, eigen-stl-containers, eigen3-cmake-module, fcl, geometric-shapes, geometry-msgs, kdl-parser, moveit-common, moveit-msgs, moveit-resources-panda-moveit-config, moveit-resources-pr2-description, octomap, octomap-msgs, orocos-kdl, pkg-config, pluginlib, pybind11-vendor, random-numbers, rclcpp, sensor-msgs, shape-msgs, srdfdom, std-msgs, tf2, tf2-eigen, tf2-geometry-msgs, tf2-kdl, trajectory-msgs, urdf, urdfdom, urdfdom-headers, visualization-msgs }:
 buildRosPackage {
   pname = "ros-foxy-moveit-core";
-  version = "2.1.4-r1";
+  version = "2.2.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/moveit/moveit2-release/archive/release/foxy/moveit_core/2.1.4-1.tar.gz";
-    name = "2.1.4-1.tar.gz";
-    sha256 = "f9c397af5fcc4883ad8f40d4405b4d935fe6246b9df475d9e8d17979e594b586";
+    url = "https://github.com/moveit/moveit2-release/archive/release/foxy/moveit_core/2.2.0-1.tar.gz";
+    name = "2.2.0-1.tar.gz";
+    sha256 = "0c9a76c30b1816507dc084b1c854598ed118bf80c3792fd2692582c43bfc41a8";
   };
 
   buildType = "ament_cmake";
   buildInputs = [ moveit-common ];
   checkInputs = [ ament-cmake-gtest ament-index-cpp ament-lint-auto ament-lint-common angles moveit-resources-panda-moveit-config moveit-resources-pr2-description orocos-kdl tf2-kdl ];
-  propagatedBuildInputs = [ angles assimp boost bullet common-interfaces eigen eigen-stl-containers eigen3-cmake-module fcl geometric-shapes geometry-msgs kdl-parser moveit-msgs octomap octomap-msgs random-numbers rclcpp sensor-msgs shape-msgs srdfdom std-msgs tf2 tf2-eigen tf2-geometry-msgs trajectory-msgs urdf urdfdom urdfdom-headers visualization-msgs ];
+  propagatedBuildInputs = [ angles assimp boost bullet common-interfaces eigen eigen-stl-containers eigen3-cmake-module fcl geometric-shapes geometry-msgs kdl-parser moveit-msgs octomap octomap-msgs pluginlib pybind11-vendor random-numbers rclcpp sensor-msgs shape-msgs srdfdom std-msgs tf2 tf2-eigen tf2-geometry-msgs trajectory-msgs urdf urdfdom urdfdom-headers visualization-msgs ];
   nativeBuildInputs = [ ament-cmake eigen3-cmake-module pkg-config ];
 
   meta = {
diff --git a/distros/foxy/moveit-kinematics/default.nix b/distros/foxy/moveit-kinematics/default.nix
index 94219a6bad..5de5eb1775 100644
--- a/distros/foxy/moveit-kinematics/default.nix
+++ b/distros/foxy/moveit-kinematics/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, class-loader, eigen, moveit-common, moveit-core, moveit-msgs, moveit-resources-fanuc-description, moveit-resources-fanuc-moveit-config, moveit-resources-panda-description, moveit-resources-panda-moveit-config, moveit-ros-planning, orocos-kdl, pluginlib, pythonPackages, ros-testing, tf2, tf2-kdl, urdfdom }:
 buildRosPackage {
   pname = "ros-foxy-moveit-kinematics";
-  version = "2.1.4-r1";
+  version = "2.2.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/moveit/moveit2-release/archive/release/foxy/moveit_kinematics/2.1.4-1.tar.gz";
-    name = "2.1.4-1.tar.gz";
-    sha256 = "fb737529c49428d4c40d9d7fb9173f42ea0aed51f9963a94371c805a29f032ca";
+    url = "https://github.com/moveit/moveit2-release/archive/release/foxy/moveit_kinematics/2.2.0-1.tar.gz";
+    name = "2.2.0-1.tar.gz";
+    sha256 = "2667dbb97470f68455a61923fa2cea452128c97ef0c768a68113a46ada9d338c";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/foxy/moveit-planners-ompl/default.nix b/distros/foxy/moveit-planners-ompl/default.nix
index 8ac510930a..83cc0695ab 100644
--- a/distros/foxy/moveit-planners-ompl/default.nix
+++ b/distros/foxy/moveit-planners-ompl/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, eigen, eigen3-cmake-module, llvmPackages, moveit-common, moveit-core, moveit-msgs, moveit-resources-fanuc-moveit-config, moveit-resources-panda-moveit-config, moveit-resources-pr2-description, moveit-ros-planning, ompl, pluginlib, rclcpp, tf2-eigen, tf2-ros }:
 buildRosPackage {
   pname = "ros-foxy-moveit-planners-ompl";
-  version = "2.1.4-r1";
+  version = "2.2.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/moveit/moveit2-release/archive/release/foxy/moveit_planners_ompl/2.1.4-1.tar.gz";
-    name = "2.1.4-1.tar.gz";
-    sha256 = "b030972f0be9cb2d5004e3ad4cceb23e55be2ac6072d35ba6b5a3c88bda5cb69";
+    url = "https://github.com/moveit/moveit2-release/archive/release/foxy/moveit_planners_ompl/2.2.0-1.tar.gz";
+    name = "2.2.0-1.tar.gz";
+    sha256 = "864dba69ac7966c319314a5155d1c51a9dbb43bf3c9991d5d87ccd7abcc831e0";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/foxy/moveit-planners/default.nix b/distros/foxy/moveit-planners/default.nix
index be68c15415..34766814a1 100644
--- a/distros/foxy/moveit-planners/default.nix
+++ b/distros/foxy/moveit-planners/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, moveit-planners-ompl }:
 buildRosPackage {
   pname = "ros-foxy-moveit-planners";
-  version = "2.1.4-r1";
+  version = "2.2.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/moveit/moveit2-release/archive/release/foxy/moveit_planners/2.1.4-1.tar.gz";
-    name = "2.1.4-1.tar.gz";
-    sha256 = "0f208d51e4f33020b4d4794467e4f1697cbf59bdbcf15395b17c4a68b2136e93";
+    url = "https://github.com/moveit/moveit2-release/archive/release/foxy/moveit_planners/2.2.0-1.tar.gz";
+    name = "2.2.0-1.tar.gz";
+    sha256 = "e583ba8b7ceb80222b364e02f9524e401f587b76018a955f54a4c068434485bc";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/foxy/moveit-plugins/default.nix b/distros/foxy/moveit-plugins/default.nix
index 123c20a4fc..8263a347a5 100644
--- a/distros/foxy/moveit-plugins/default.nix
+++ b/distros/foxy/moveit-plugins/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, moveit-simple-controller-manager }:
 buildRosPackage {
   pname = "ros-foxy-moveit-plugins";
-  version = "2.1.4-r1";
+  version = "2.2.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/moveit/moveit2-release/archive/release/foxy/moveit_plugins/2.1.4-1.tar.gz";
-    name = "2.1.4-1.tar.gz";
-    sha256 = "7277bf17030bde9826a2ec3b2ec3f084dc48c5674eb6c262b1859ecf1aa52353";
+    url = "https://github.com/moveit/moveit2-release/archive/release/foxy/moveit_plugins/2.2.0-1.tar.gz";
+    name = "2.2.0-1.tar.gz";
+    sha256 = "b5b53416d43a88e88a3ccf2c8f55d3785ce0e1cc9905285298a8fd0a5d399c86";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/foxy/moveit-ros-benchmarks/default.nix b/distros/foxy/moveit-ros-benchmarks/default.nix
index 93b783beeb..5c680965b3 100644
--- a/distros/foxy/moveit-ros-benchmarks/default.nix
+++ b/distros/foxy/moveit-ros-benchmarks/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, boost, moveit-common, moveit-ros-planning, moveit-ros-warehouse, pluginlib, rclcpp, tf2-eigen }:
 buildRosPackage {
   pname = "ros-foxy-moveit-ros-benchmarks";
-  version = "2.1.4-r1";
+  version = "2.2.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/moveit/moveit2-release/archive/release/foxy/moveit_ros_benchmarks/2.1.4-1.tar.gz";
-    name = "2.1.4-1.tar.gz";
-    sha256 = "186724ff600ec93175f45c07e47cdac6562f91be795800f9d7f0e02b80210e57";
+    url = "https://github.com/moveit/moveit2-release/archive/release/foxy/moveit_ros_benchmarks/2.2.0-1.tar.gz";
+    name = "2.2.0-1.tar.gz";
+    sha256 = "6fca70210286173666efe351972ce675e3ab9cb7a254b493906ff77f305188f9";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/foxy/moveit-ros-move-group/default.nix b/distros/foxy/moveit-ros-move-group/default.nix
index f95cc85422..5322fa53d6 100644
--- a/distros/foxy/moveit-ros-move-group/default.nix
+++ b/distros/foxy/moveit-ros-move-group/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, moveit-common, moveit-core, moveit-kinematics, moveit-resources-fanuc-moveit-config, moveit-ros-occupancy-map-monitor, moveit-ros-planning, pluginlib, rclcpp, rclcpp-action, std-srvs, tf2, tf2-geometry-msgs, tf2-ros }:
 buildRosPackage {
   pname = "ros-foxy-moveit-ros-move-group";
-  version = "2.1.4-r1";
+  version = "2.2.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/moveit/moveit2-release/archive/release/foxy/moveit_ros_move_group/2.1.4-1.tar.gz";
-    name = "2.1.4-1.tar.gz";
-    sha256 = "93dbca99dbf576adb9081cdd8cad61ea88ab643b20f3a0eb3cef1194d5bb8157";
+    url = "https://github.com/moveit/moveit2-release/archive/release/foxy/moveit_ros_move_group/2.2.0-1.tar.gz";
+    name = "2.2.0-1.tar.gz";
+    sha256 = "58152a8b8852369733595522c1cd558d808d1673e0ec9b713bea18b5eb605190";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/foxy/moveit-ros-occupancy-map-monitor/default.nix b/distros/foxy/moveit-ros-occupancy-map-monitor/default.nix
index 9d98fd0047..a682e8636b 100644
--- a/distros/foxy/moveit-ros-occupancy-map-monitor/default.nix
+++ b/distros/foxy/moveit-ros-occupancy-map-monitor/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, eigen, eigen3-cmake-module, geometric-shapes, moveit-common, moveit-core, moveit-msgs, octomap, pluginlib, rclcpp, tf2-ros }:
 buildRosPackage {
   pname = "ros-foxy-moveit-ros-occupancy-map-monitor";
-  version = "2.1.4-r1";
+  version = "2.2.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/moveit/moveit2-release/archive/release/foxy/moveit_ros_occupancy_map_monitor/2.1.4-1.tar.gz";
-    name = "2.1.4-1.tar.gz";
-    sha256 = "809d23843391ac8ee64e5258bc98310d1623e8c03813dd7bf87338bf3356b4c7";
+    url = "https://github.com/moveit/moveit2-release/archive/release/foxy/moveit_ros_occupancy_map_monitor/2.2.0-1.tar.gz";
+    name = "2.2.0-1.tar.gz";
+    sha256 = "604bc1813f9feb88d2a38a8d5b85d5d4925d35dc456d3b7da9efd196c3872c7f";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/foxy/moveit-ros-perception/default.nix b/distros/foxy/moveit-ros-perception/default.nix
index 0c777c5b47..4dc3bd59da 100644
--- a/distros/foxy/moveit-ros-perception/default.nix
+++ b/distros/foxy/moveit-ros-perception/default.nix
@@ -2,21 +2,21 @@
 # Copyright 2021 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, cv-bridge, eigen, freeglut, glew, image-transport, libGL, libGLU, llvmPackages, message-filters, moveit-common, moveit-core, moveit-msgs, moveit-ros-occupancy-map-monitor, object-recognition-msgs, pluginlib, rclcpp, sensor-msgs, tf2, tf2-eigen, tf2-geometry-msgs, tf2-ros, urdf }:
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, cv-bridge, eigen, freeglut, glew, image-transport, libGL, libGLU, llvmPackages, message-filters, moveit-common, moveit-core, moveit-msgs, moveit-ros-occupancy-map-monitor, moveit-ros-planning, object-recognition-msgs, pluginlib, rclcpp, sensor-msgs, tf2, tf2-eigen, tf2-geometry-msgs, tf2-ros, urdf }:
 buildRosPackage {
   pname = "ros-foxy-moveit-ros-perception";
-  version = "2.1.4-r1";
+  version = "2.2.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/moveit/moveit2-release/archive/release/foxy/moveit_ros_perception/2.1.4-1.tar.gz";
-    name = "2.1.4-1.tar.gz";
-    sha256 = "30cebd88af14c5fcd7bed4693a3d168cd5803860e5e3144547e799f2f1986514";
+    url = "https://github.com/moveit/moveit2-release/archive/release/foxy/moveit_ros_perception/2.2.0-1.tar.gz";
+    name = "2.2.0-1.tar.gz";
+    sha256 = "a1e1e06b700db74f56bdd4b9e61590a9564c950ea0db7083c346c40ae42d4d5f";
   };
 
   buildType = "ament_cmake";
   buildInputs = [ eigen moveit-common ];
   checkInputs = [ ament-lint-auto ament-lint-common ];
-  propagatedBuildInputs = [ cv-bridge freeglut glew image-transport libGL libGLU llvmPackages.openmp message-filters moveit-core moveit-msgs moveit-ros-occupancy-map-monitor object-recognition-msgs pluginlib rclcpp sensor-msgs tf2 tf2-eigen tf2-geometry-msgs tf2-ros urdf ];
+  propagatedBuildInputs = [ cv-bridge freeglut glew image-transport libGL libGLU llvmPackages.openmp message-filters moveit-core moveit-msgs moveit-ros-occupancy-map-monitor moveit-ros-planning object-recognition-msgs pluginlib rclcpp sensor-msgs tf2 tf2-eigen tf2-geometry-msgs tf2-ros urdf ];
   nativeBuildInputs = [ ament-cmake ];
 
   meta = {
diff --git a/distros/foxy/moveit-ros-planning-interface/default.nix b/distros/foxy/moveit-ros-planning-interface/default.nix
index 3eafa50a58..fd5ec38275 100644
--- a/distros/foxy/moveit-ros-planning-interface/default.nix
+++ b/distros/foxy/moveit-ros-planning-interface/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, eigen, eigen3-cmake-module, geometry-msgs, moveit-common, moveit-core, moveit-msgs, moveit-planners-ompl, moveit-resources-fanuc-moveit-config, moveit-resources-panda-moveit-config, moveit-ros-move-group, moveit-ros-planning, moveit-ros-warehouse, moveit-simple-controller-manager, python3, rclcpp, rclcpp-action, rclpy, ros-testing, rviz2, tf2, tf2-eigen, tf2-geometry-msgs, tf2-ros }:
 buildRosPackage {
   pname = "ros-foxy-moveit-ros-planning-interface";
-  version = "2.1.4-r1";
+  version = "2.2.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/moveit/moveit2-release/archive/release/foxy/moveit_ros_planning_interface/2.1.4-1.tar.gz";
-    name = "2.1.4-1.tar.gz";
-    sha256 = "1c0160f7a9c77f03cea1847070c2ff5a699b7bfeb9a9c5f833d152249e71a4b3";
+    url = "https://github.com/moveit/moveit2-release/archive/release/foxy/moveit_ros_planning_interface/2.2.0-1.tar.gz";
+    name = "2.2.0-1.tar.gz";
+    sha256 = "26a119b85b03fa0436edc299497b39a8b051eaa02474df5c7cbc45112a7e9b76";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/foxy/moveit-ros-planning/default.nix b/distros/foxy/moveit-ros-planning/default.nix
index 43f6673fb8..9ca74c4dde 100644
--- a/distros/foxy/moveit-ros-planning/default.nix
+++ b/distros/foxy/moveit-ros-planning/default.nix
@@ -2,20 +2,20 @@
 # Copyright 2021 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, ament-cmake, ament-index-cpp, ament-lint-auto, ament-lint-common, eigen, eigen3-cmake-module, message-filters, moveit-common, moveit-core, moveit-msgs, moveit-ros-occupancy-map-monitor, pluginlib, rclcpp, rclcpp-action, srdfdom, tf2, tf2-eigen, tf2-geometry-msgs, tf2-msgs, tf2-ros, urdf }:
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-index-cpp, ament-lint-auto, ament-lint-common, eigen, eigen3-cmake-module, message-filters, moveit-common, moveit-core, moveit-msgs, moveit-resources-panda-moveit-config, moveit-ros-occupancy-map-monitor, pluginlib, rclcpp, rclcpp-action, srdfdom, tf2, tf2-eigen, tf2-geometry-msgs, tf2-msgs, tf2-ros, urdf }:
 buildRosPackage {
   pname = "ros-foxy-moveit-ros-planning";
-  version = "2.1.4-r1";
+  version = "2.2.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/moveit/moveit2-release/archive/release/foxy/moveit_ros_planning/2.1.4-1.tar.gz";
-    name = "2.1.4-1.tar.gz";
-    sha256 = "ce0482cc79feb2b3199493a4d1818ca5f092758477c608e8f3c2c2b1ca79934b";
+    url = "https://github.com/moveit/moveit2-release/archive/release/foxy/moveit_ros_planning/2.2.0-1.tar.gz";
+    name = "2.2.0-1.tar.gz";
+    sha256 = "6709130e688e766f910a85b17eec0b1bfafafcb4740932f3004cefb0685cc403";
   };
 
   buildType = "ament_cmake";
   buildInputs = [ moveit-common ];
-  checkInputs = [ ament-lint-auto ament-lint-common ];
+  checkInputs = [ ament-lint-auto ament-lint-common moveit-resources-panda-moveit-config ];
   propagatedBuildInputs = [ ament-index-cpp eigen eigen3-cmake-module message-filters moveit-core moveit-msgs moveit-ros-occupancy-map-monitor pluginlib rclcpp rclcpp-action srdfdom tf2 tf2-eigen tf2-geometry-msgs tf2-msgs tf2-ros urdf ];
   nativeBuildInputs = [ ament-cmake eigen3-cmake-module ];
 
diff --git a/distros/foxy/moveit-ros-robot-interaction/default.nix b/distros/foxy/moveit-ros-robot-interaction/default.nix
index 916a663f02..d1d58f1042 100644
--- a/distros/foxy/moveit-ros-robot-interaction/default.nix
+++ b/distros/foxy/moveit-ros-robot-interaction/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, interactive-markers, moveit-common, moveit-ros-planning, rclcpp, tf2, tf2-eigen, tf2-geometry-msgs, tf2-ros }:
 buildRosPackage {
   pname = "ros-foxy-moveit-ros-robot-interaction";
-  version = "2.1.4-r1";
+  version = "2.2.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/moveit/moveit2-release/archive/release/foxy/moveit_ros_robot_interaction/2.1.4-1.tar.gz";
-    name = "2.1.4-1.tar.gz";
-    sha256 = "35aaaead87b4421830603973459e134146d77ebf775335cefb36992326d94029";
+    url = "https://github.com/moveit/moveit2-release/archive/release/foxy/moveit_ros_robot_interaction/2.2.0-1.tar.gz";
+    name = "2.2.0-1.tar.gz";
+    sha256 = "bf050dd6a9b24ec66a40f99524a9349a8c0c6a2fa4de2046784c310a58206f33";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/foxy/moveit-ros-visualization/default.nix b/distros/foxy/moveit-ros-visualization/default.nix
index 919004a80d..9fdfc18b7f 100644
--- a/distros/foxy/moveit-ros-visualization/default.nix
+++ b/distros/foxy/moveit-ros-visualization/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, class-loader, eigen, geometric-shapes, interactive-markers, moveit-common, moveit-ros-planning-interface, moveit-ros-robot-interaction, moveit-ros-warehouse, object-recognition-msgs, ogre1_9, pkg-config, pluginlib, qt5, rclcpp, rclpy, rviz2, tf2-eigen }:
 buildRosPackage {
   pname = "ros-foxy-moveit-ros-visualization";
-  version = "2.1.4-r1";
+  version = "2.2.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/moveit/moveit2-release/archive/release/foxy/moveit_ros_visualization/2.1.4-1.tar.gz";
-    name = "2.1.4-1.tar.gz";
-    sha256 = "3e4fcf98eb91e8d065820c13981ba13a674c639a5503e77011e49043151fb2a2";
+    url = "https://github.com/moveit/moveit2-release/archive/release/foxy/moveit_ros_visualization/2.2.0-1.tar.gz";
+    name = "2.2.0-1.tar.gz";
+    sha256 = "8ab2372fddf1b7efcf09c0e04967e32b208db9f89526ab668e59a75fd5d95c78";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/foxy/moveit-ros-warehouse/default.nix b/distros/foxy/moveit-ros-warehouse/default.nix
index 50d4971235..b51e30a8da 100644
--- a/distros/foxy/moveit-ros-warehouse/default.nix
+++ b/distros/foxy/moveit-ros-warehouse/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, moveit-common, moveit-core, moveit-ros-planning, rclcpp, tf2-eigen, tf2-ros, warehouse-ros }:
 buildRosPackage {
   pname = "ros-foxy-moveit-ros-warehouse";
-  version = "2.1.4-r1";
+  version = "2.2.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/moveit/moveit2-release/archive/release/foxy/moveit_ros_warehouse/2.1.4-1.tar.gz";
-    name = "2.1.4-1.tar.gz";
-    sha256 = "15a69c0a3fea674361e2c2cc7b8c4d560e2c88b6491e0e621c8cd66f0f2b1de7";
+    url = "https://github.com/moveit/moveit2-release/archive/release/foxy/moveit_ros_warehouse/2.2.0-1.tar.gz";
+    name = "2.2.0-1.tar.gz";
+    sha256 = "1ef600d5c105cb46c43012aa0c5a1c53e31f571d9a95cf46ae10b6e6b19e15bc";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/foxy/moveit-ros/default.nix b/distros/foxy/moveit-ros/default.nix
index 8ddeca69e1..14d51718bd 100644
--- a/distros/foxy/moveit-ros/default.nix
+++ b/distros/foxy/moveit-ros/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, moveit-ros-benchmarks, moveit-ros-move-group, moveit-ros-planning, moveit-ros-planning-interface, moveit-ros-robot-interaction, moveit-ros-visualization, moveit-ros-warehouse }:
 buildRosPackage {
   pname = "ros-foxy-moveit-ros";
-  version = "2.1.4-r1";
+  version = "2.2.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/moveit/moveit2-release/archive/release/foxy/moveit_ros/2.1.4-1.tar.gz";
-    name = "2.1.4-1.tar.gz";
-    sha256 = "eaade9baed3e3977fbf986d26f9e5a3941d6f247c1786965122fa6596a4b41ca";
+    url = "https://github.com/moveit/moveit2-release/archive/release/foxy/moveit_ros/2.2.0-1.tar.gz";
+    name = "2.2.0-1.tar.gz";
+    sha256 = "3b316776ba1b0512cf282522c51662b7d801c268589db1a75a79d64bc590434e";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/foxy/moveit-runtime/default.nix b/distros/foxy/moveit-runtime/default.nix
index 006ae79eda..48acbf5649 100644
--- a/distros/foxy/moveit-runtime/default.nix
+++ b/distros/foxy/moveit-runtime/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, moveit-core, moveit-planners, moveit-plugins, moveit-ros-move-group, moveit-ros-planning, moveit-ros-planning-interface, moveit-ros-warehouse }:
 buildRosPackage {
   pname = "ros-foxy-moveit-runtime";
-  version = "2.1.4-r1";
+  version = "2.2.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/moveit/moveit2-release/archive/release/foxy/moveit_runtime/2.1.4-1.tar.gz";
-    name = "2.1.4-1.tar.gz";
-    sha256 = "83778e7b6ddddc0c00c5289742bcca773ba728b056424aff1739910bc27ad1b8";
+    url = "https://github.com/moveit/moveit2-release/archive/release/foxy/moveit_runtime/2.2.0-1.tar.gz";
+    name = "2.2.0-1.tar.gz";
+    sha256 = "aa2fa897e7efca15876c0c8ad04811f93082ca2af00a3902bf12879ac6dd458a";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/foxy/moveit-servo/default.nix b/distros/foxy/moveit-servo/default.nix
index eb39270773..c4035fdce7 100644
--- a/distros/foxy/moveit-servo/default.nix
+++ b/distros/foxy/moveit-servo/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, control-msgs, control-toolbox, geometry-msgs, joy, moveit-common, moveit-msgs, moveit-resources-panda-moveit-config, moveit-ros-planning-interface, robot-state-publisher, ros-testing, sensor-msgs, std-msgs, std-srvs, tf2-eigen, tf2-ros, trajectory-msgs }:
 buildRosPackage {
   pname = "ros-foxy-moveit-servo";
-  version = "2.1.4-r1";
+  version = "2.2.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/moveit/moveit2-release/archive/release/foxy/moveit_servo/2.1.4-1.tar.gz";
-    name = "2.1.4-1.tar.gz";
-    sha256 = "f933f1f5a0b7e03a1759046e3dcd57da9672dd41459b1c18334fddb773dbb825";
+    url = "https://github.com/moveit/moveit2-release/archive/release/foxy/moveit_servo/2.2.0-1.tar.gz";
+    name = "2.2.0-1.tar.gz";
+    sha256 = "adff94dc2e09d4f5d739036fafde598664351b8c95ef68bc5984b915dbc3a4f9";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/foxy/moveit-simple-controller-manager/default.nix b/distros/foxy/moveit-simple-controller-manager/default.nix
index 8d55110cf8..89ef3e16b9 100644
--- a/distros/foxy/moveit-simple-controller-manager/default.nix
+++ b/distros/foxy/moveit-simple-controller-manager/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, control-msgs, moveit-common, moveit-core, pluginlib, rclcpp, rclcpp-action }:
 buildRosPackage {
   pname = "ros-foxy-moveit-simple-controller-manager";
-  version = "2.1.4-r1";
+  version = "2.2.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/moveit/moveit2-release/archive/release/foxy/moveit_simple_controller_manager/2.1.4-1.tar.gz";
-    name = "2.1.4-1.tar.gz";
-    sha256 = "0b8c53b7332a99b00b04207f15faf55badda5d486b1773ba8a4b9625b17268c2";
+    url = "https://github.com/moveit/moveit2-release/archive/release/foxy/moveit_simple_controller_manager/2.2.0-1.tar.gz";
+    name = "2.2.0-1.tar.gz";
+    sha256 = "66681f29c860743607a6c72240541da7b8b3335922dfafb88fbc1a67ce529e19";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/foxy/moveit/default.nix b/distros/foxy/moveit/default.nix
index 1e22a5ca16..f9214479fd 100644
--- a/distros/foxy/moveit/default.nix
+++ b/distros/foxy/moveit/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, moveit-core, moveit-planners, moveit-plugins, moveit-ros }:
 buildRosPackage {
   pname = "ros-foxy-moveit";
-  version = "2.1.4-r1";
+  version = "2.2.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/moveit/moveit2-release/archive/release/foxy/moveit/2.1.4-1.tar.gz";
-    name = "2.1.4-1.tar.gz";
-    sha256 = "c0fbb4c46af10be0f1dff59a4eea5b3a6ce2723d658c2f03bccae74b1f10dbc3";
+    url = "https://github.com/moveit/moveit2-release/archive/release/foxy/moveit/2.2.0-1.tar.gz";
+    name = "2.2.0-1.tar.gz";
+    sha256 = "2d50e382d95f563c0e2827ef90da94317e2c446e2e1387f3ae55f40e1ddabf63";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/foxy/position-controllers/default.nix b/distros/foxy/position-controllers/default.nix
index 9f75d27ad9..d11d104caf 100644
--- a/distros/foxy/position-controllers/default.nix
+++ b/distros/foxy/position-controllers/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, ament-lint-auto, ament-lint-common, controller-manager, forward-command-controller, hardware-interface, pluginlib, rclcpp, ros2-control-test-assets }:
 buildRosPackage {
   pname = "ros-foxy-position-controllers";
-  version = "0.3.1-r1";
+  version = "0.4.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/foxy/position_controllers/0.3.1-1.tar.gz";
-    name = "0.3.1-1.tar.gz";
-    sha256 = "0c5c75c15f600dbef0a77de03e9b40d101c5ea2a5b24d3d39c9a3d06c4991de9";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/foxy/position_controllers/0.4.0-1.tar.gz";
+    name = "0.4.0-1.tar.gz";
+    sha256 = "67fbaceb5a62772eb2e41487682737a3134af52cc5f26b6feca4b9ea3f31a59f";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/foxy/ros2-controllers/default.nix b/distros/foxy/ros2-controllers/default.nix
index eabda148d4..70b314f7e5 100644
--- a/distros/foxy/ros2-controllers/default.nix
+++ b/distros/foxy/ros2-controllers/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, diff-drive-controller, effort-controllers, forward-command-controller, joint-state-broadcaster, joint-state-controller, joint-trajectory-controller, position-controllers, velocity-controllers }:
+{ lib, buildRosPackage, fetchurl, ament-cmake, diff-drive-controller, effort-controllers, force-torque-sensor-broadcaster, forward-command-controller, imu-sensor-broadcaster, joint-state-broadcaster, joint-state-controller, joint-trajectory-controller, position-controllers, velocity-controllers }:
 buildRosPackage {
   pname = "ros-foxy-ros2-controllers";
-  version = "0.3.1-r1";
+  version = "0.4.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/foxy/ros2_controllers/0.3.1-1.tar.gz";
-    name = "0.3.1-1.tar.gz";
-    sha256 = "d49e70a24954afaa0e66cb55c1063888d264838e0b3386e5bd6e11626063d1e6";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/foxy/ros2_controllers/0.4.0-1.tar.gz";
+    name = "0.4.0-1.tar.gz";
+    sha256 = "1d4aabf7d66422d8a5ffc84306123178f342af63c95b665eccfed9a453f3844a";
   };
 
   buildType = "ament_cmake";
-  propagatedBuildInputs = [ diff-drive-controller effort-controllers forward-command-controller joint-state-broadcaster joint-state-controller joint-trajectory-controller position-controllers velocity-controllers ];
+  propagatedBuildInputs = [ diff-drive-controller effort-controllers force-torque-sensor-broadcaster forward-command-controller imu-sensor-broadcaster joint-state-broadcaster joint-state-controller joint-trajectory-controller position-controllers velocity-controllers ];
   nativeBuildInputs = [ ament-cmake ];
 
   meta = {
diff --git a/distros/foxy/rqt-publisher/default.nix b/distros/foxy/rqt-publisher/default.nix
index 1aed4f5d85..8bf8c05966 100644
--- a/distros/foxy/rqt-publisher/default.nix
+++ b/distros/foxy/rqt-publisher/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, python-qt-binding, python3Packages, qt-gui-py-common, rqt-gui, rqt-gui-py, rqt-py-common }:
 buildRosPackage {
   pname = "ros-foxy-rqt-publisher";
-  version = "1.1.2-r1";
+  version = "1.1.3-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rqt_publisher-release/archive/release/foxy/rqt_publisher/1.1.2-1.tar.gz";
-    name = "1.1.2-1.tar.gz";
-    sha256 = "9001466e4057b2cb174aab4a7e41916b6d15f53ba1f8a351b17d8cdf080a0117";
+    url = "https://github.com/ros2-gbp/rqt_publisher-release/archive/release/foxy/rqt_publisher/1.1.3-1.tar.gz";
+    name = "1.1.3-1.tar.gz";
+    sha256 = "87e69813d50f6ef700d02075257d47b712f3ecf26d8abc2257786f1a461308ea";
   };
 
   buildType = "ament_python";
diff --git a/distros/foxy/run-move-group/default.nix b/distros/foxy/run-move-group/default.nix
index db76c084e9..883a99f0b1 100644
--- a/distros/foxy/run-move-group/default.nix
+++ b/distros/foxy/run-move-group/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, moveit-common, moveit-ros-planning-interface }:
 buildRosPackage {
   pname = "ros-foxy-run-move-group";
-  version = "2.1.4-r1";
+  version = "2.2.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/moveit/moveit2-release/archive/release/foxy/run_move_group/2.1.4-1.tar.gz";
-    name = "2.1.4-1.tar.gz";
-    sha256 = "3ebc7ed2de771b3cc4237d67399c99f24b7ff9495e0cc18e11c1205cc7de0c88";
+    url = "https://github.com/moveit/moveit2-release/archive/release/foxy/run_move_group/2.2.0-1.tar.gz";
+    name = "2.2.0-1.tar.gz";
+    sha256 = "14adab3f57004822bbd01824c22ae77e8e5a5aebe93533833ff6dfe462c782a5";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/foxy/run-moveit-cpp/default.nix b/distros/foxy/run-moveit-cpp/default.nix
index 7335b1633b..b808e8fc37 100644
--- a/distros/foxy/run-moveit-cpp/default.nix
+++ b/distros/foxy/run-moveit-cpp/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, moveit-common, moveit-ros-planning-interface }:
 buildRosPackage {
   pname = "ros-foxy-run-moveit-cpp";
-  version = "2.1.4-r1";
+  version = "2.2.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/moveit/moveit2-release/archive/release/foxy/run_moveit_cpp/2.1.4-1.tar.gz";
-    name = "2.1.4-1.tar.gz";
-    sha256 = "67717836f3cdba66672557c13b566274678f65feefef3537a0ac3a5332f8c867";
+    url = "https://github.com/moveit/moveit2-release/archive/release/foxy/run_moveit_cpp/2.2.0-1.tar.gz";
+    name = "2.2.0-1.tar.gz";
+    sha256 = "6cf13e20dbe99025d9633f74107bcd557b6b6c5dba591bb9b062b509f5e0e526";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/foxy/run-ompl-constrained-planning/default.nix b/distros/foxy/run-ompl-constrained-planning/default.nix
index dd30662384..341b6bff13 100644
--- a/distros/foxy/run-ompl-constrained-planning/default.nix
+++ b/distros/foxy/run-ompl-constrained-planning/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, moveit-common, moveit-ros-planning-interface, warehouse-ros-mongo }:
 buildRosPackage {
   pname = "ros-foxy-run-ompl-constrained-planning";
-  version = "2.1.4-r1";
+  version = "2.2.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/moveit/moveit2-release/archive/release/foxy/run_ompl_constrained_planning/2.1.4-1.tar.gz";
-    name = "2.1.4-1.tar.gz";
-    sha256 = "e6f2f189ce2c82b4672ac436d139f51471a15547c6cb9871bc9ee725ee678872";
+    url = "https://github.com/moveit/moveit2-release/archive/release/foxy/run_ompl_constrained_planning/2.2.0-1.tar.gz";
+    name = "2.2.0-1.tar.gz";
+    sha256 = "9f4141186c8d7e60b2c110c8639d5d3c0d08d9e006aea35049d1f63821fd830d";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/foxy/tf-transformations/default.nix b/distros/foxy/tf-transformations/default.nix
new file mode 100644
index 0000000000..40835a020b
--- /dev/null
+++ b/distros/foxy/tf-transformations/default.nix
@@ -0,0 +1,24 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-flake8, ament-pep257, pythonPackages }:
+buildRosPackage {
+  pname = "ros-foxy-tf-transformations";
+  version = "1.0.2-r1";
+
+  src = fetchurl {
+    url = "https://github.com/DLu/tf_transformations_release/archive/release/foxy/tf_transformations/1.0.2-1.tar.gz";
+    name = "1.0.2-1.tar.gz";
+    sha256 = "3121c9c3a744914be0069131884e86bcd0bbb1bc1bde0c517b895f15c3843235";
+  };
+
+  buildType = "ament_python";
+  checkInputs = [ ament-flake8 ament-pep257 pythonPackages.pytest ];
+  propagatedBuildInputs = [ pythonPackages.numpy ];
+
+  meta = {
+    description = ''Reimplementation of the tf/transformations.py library for common Python spatial operations'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/foxy/velocity-controllers/default.nix b/distros/foxy/velocity-controllers/default.nix
index 215af54bd5..1a9806ce8c 100644
--- a/distros/foxy/velocity-controllers/default.nix
+++ b/distros/foxy/velocity-controllers/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, ament-lint-auto, ament-lint-common, controller-manager, forward-command-controller, hardware-interface, pluginlib, rclcpp, ros2-control-test-assets }:
 buildRosPackage {
   pname = "ros-foxy-velocity-controllers";
-  version = "0.3.1-r1";
+  version = "0.4.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/foxy/velocity_controllers/0.3.1-1.tar.gz";
-    name = "0.3.1-1.tar.gz";
-    sha256 = "2f976e0c02442f7b78c998fa42e82b6db9ad636cfbf2ab6d116510bb670bc5c7";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/foxy/velocity_controllers/0.4.0-1.tar.gz";
+    name = "0.4.0-1.tar.gz";
+    sha256 = "e80b180d663f1c2a2a92cf387ac06474dc7a3b964d0d43ce29ad46f95cbf0947";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/foxy/warehouse-ros/default.nix b/distros/foxy/warehouse-ros/default.nix
index 382dc89d11..a58954c8d6 100644
--- a/distros/foxy/warehouse-ros/default.nix
+++ b/distros/foxy/warehouse-ros/default.nix
@@ -5,18 +5,17 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-copyright, ament-lint-auto, boost, geometry-msgs, openssl, pluginlib, rclcpp, std-msgs, tf2, tf2-geometry-msgs, tf2-ros }:
 buildRosPackage {
   pname = "ros-foxy-warehouse-ros";
-  version = "2.0.1-r1";
+  version = "2.0.3-r1";
 
   src = fetchurl {
-    url = "https://github.com/moveit/warehouse_ros-release/archive/release/foxy/warehouse_ros/2.0.1-1.tar.gz";
-    name = "2.0.1-1.tar.gz";
-    sha256 = "2b45dcda6e48d339486b838ab6e1303f74684effa8de23c145dbfdb30f6c73ac";
+    url = "https://github.com/moveit/warehouse_ros-release/archive/release/foxy/warehouse_ros/2.0.3-1.tar.gz";
+    name = "2.0.3-1.tar.gz";
+    sha256 = "b6a9d43d7d0790ed9df2bffc86629c2007ed33158491da1470c595368fa74582";
   };
 
   buildType = "ament_cmake";
-  buildInputs = [ openssl ];
   checkInputs = [ ament-cmake-copyright ament-lint-auto ];
-  propagatedBuildInputs = [ boost geometry-msgs pluginlib rclcpp std-msgs tf2 tf2-geometry-msgs tf2-ros ];
+  propagatedBuildInputs = [ boost geometry-msgs openssl pluginlib rclcpp std-msgs tf2 tf2-geometry-msgs tf2-ros ];
   nativeBuildInputs = [ ament-cmake ];
 
   meta = {
diff --git a/distros/galactic/ament-index-cpp/default.nix b/distros/galactic/ament-index-cpp/default.nix
index be12cfc74e..32212d72ac 100644
--- a/distros/galactic/ament-index-cpp/default.nix
+++ b/distros/galactic/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-galactic-ament-index-cpp";
-  version = "1.0.6-r1";
+  version = "1.2.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ament_index-release/archive/release/galactic/ament_index_cpp/1.0.6-1.tar.gz";
-    name = "1.0.6-1.tar.gz";
-    sha256 = "fabf4e643048728f1e058a764f11c77f8cb0b564b597a4ae81689b3e11bc05ac";
+    url = "https://github.com/ros2-gbp/ament_index-release/archive/release/galactic/ament_index_cpp/1.2.0-1.tar.gz";
+    name = "1.2.0-1.tar.gz";
+    sha256 = "cb146c8b712674cc8c91c9032e3b037cc528b2b528940df9f4364ccbd60f4b58";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/galactic/ament-index-python/default.nix b/distros/galactic/ament-index-python/default.nix
index d752f82d21..58eee12ba5 100644
--- a/distros/galactic/ament-index-python/default.nix
+++ b/distros/galactic/ament-index-python/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-copyright, ament-flake8, ament-pep257, pythonPackages }:
 buildRosPackage {
   pname = "ros-galactic-ament-index-python";
-  version = "1.0.6-r1";
+  version = "1.2.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ament_index-release/archive/release/galactic/ament_index_python/1.0.6-1.tar.gz";
-    name = "1.0.6-1.tar.gz";
-    sha256 = "09ca2a61311e12d97a84049c158b61db8b47030dd99a16b02e6dc2de4df031fd";
+    url = "https://github.com/ros2-gbp/ament_index-release/archive/release/galactic/ament_index_python/1.2.0-1.tar.gz";
+    name = "1.2.0-1.tar.gz";
+    sha256 = "529abc3962dd0e80307be71ca3cd3946da25a988f328b2fad720abd63e02427a";
   };
 
   buildType = "ament_python";
diff --git a/distros/galactic/generated.nix b/distros/galactic/generated.nix
index 173bd0e7f0..0f07bcc36a 100644
--- a/distros/galactic/generated.nix
+++ b/distros/galactic/generated.nix
@@ -410,6 +410,8 @@ self: super: {
 
  libphidget22 = self.callPackage ./libphidget22 {};
 
+ librealsense2 = self.callPackage ./librealsense2 {};
+
  libstatistics-collector = self.callPackage ./libstatistics-collector {};
 
  libyaml-vendor = self.callPackage ./libyaml-vendor {};
@@ -452,8 +454,22 @@ self: super: {
 
  mouse-teleop = self.callPackage ./mouse-teleop {};
 
+ moveit = self.callPackage ./moveit {};
+
+ moveit-common = self.callPackage ./moveit-common {};
+
+ moveit-core = self.callPackage ./moveit-core {};
+
+ moveit-kinematics = self.callPackage ./moveit-kinematics {};
+
  moveit-msgs = self.callPackage ./moveit-msgs {};
 
+ moveit-planners = self.callPackage ./moveit-planners {};
+
+ moveit-planners-ompl = self.callPackage ./moveit-planners-ompl {};
+
+ moveit-plugins = self.callPackage ./moveit-plugins {};
+
  moveit-resources = self.callPackage ./moveit-resources {};
 
  moveit-resources-fanuc-description = self.callPackage ./moveit-resources-fanuc-description {};
@@ -466,6 +482,32 @@ self: super: {
 
  moveit-resources-pr2-description = self.callPackage ./moveit-resources-pr2-description {};
 
+ moveit-ros = self.callPackage ./moveit-ros {};
+
+ moveit-ros-benchmarks = self.callPackage ./moveit-ros-benchmarks {};
+
+ moveit-ros-move-group = self.callPackage ./moveit-ros-move-group {};
+
+ moveit-ros-occupancy-map-monitor = self.callPackage ./moveit-ros-occupancy-map-monitor {};
+
+ moveit-ros-perception = self.callPackage ./moveit-ros-perception {};
+
+ moveit-ros-planning = self.callPackage ./moveit-ros-planning {};
+
+ moveit-ros-planning-interface = self.callPackage ./moveit-ros-planning-interface {};
+
+ moveit-ros-robot-interaction = self.callPackage ./moveit-ros-robot-interaction {};
+
+ moveit-ros-visualization = self.callPackage ./moveit-ros-visualization {};
+
+ moveit-ros-warehouse = self.callPackage ./moveit-ros-warehouse {};
+
+ moveit-runtime = self.callPackage ./moveit-runtime {};
+
+ moveit-servo = self.callPackage ./moveit-servo {};
+
+ moveit-simple-controller-manager = self.callPackage ./moveit-simple-controller-manager {};
+
  nao-interfaces = self.callPackage ./nao-interfaces {};
 
  nav2-amcl = self.callPackage ./nav2-amcl {};
@@ -608,6 +650,8 @@ self: super: {
 
  python-qt-binding = self.callPackage ./python-qt-binding {};
 
+ qpoases-vendor = self.callPackage ./qpoases-vendor {};
+
  qt-dotgraph = self.callPackage ./qt-dotgraph {};
 
  qt-gui = self.callPackage ./qt-gui {};
@@ -680,6 +724,12 @@ self: super: {
 
  rcutils = self.callPackage ./rcutils {};
 
+ realsense2-camera = self.callPackage ./realsense2-camera {};
+
+ realsense2-camera-msgs = self.callPackage ./realsense2-camera-msgs {};
+
+ realsense2-description = self.callPackage ./realsense2-description {};
+
  realtime-tools = self.callPackage ./realtime-tools {};
 
  resource-retriever = self.callPackage ./resource-retriever {};
@@ -702,6 +752,8 @@ self: super: {
 
  rmf-task-msgs = self.callPackage ./rmf-task-msgs {};
 
+ rmf-traffic = self.callPackage ./rmf-traffic {};
+
  rmf-traffic-msgs = self.callPackage ./rmf-traffic-msgs {};
 
  rmf-utils = self.callPackage ./rmf-utils {};
@@ -924,6 +976,12 @@ self: super: {
 
  rttest = self.callPackage ./rttest {};
 
+ run-move-group = self.callPackage ./run-move-group {};
+
+ run-moveit-cpp = self.callPackage ./run-moveit-cpp {};
+
+ run-ompl-constrained-planning = self.callPackage ./run-ompl-constrained-planning {};
+
  rviz2 = self.callPackage ./rviz2 {};
 
  rviz-assimp-vendor = self.callPackage ./rviz-assimp-vendor {};
@@ -1038,6 +1096,8 @@ self: super: {
 
  tf2-tools = self.callPackage ./tf2-tools {};
 
+ tf-transformations = self.callPackage ./tf-transformations {};
+
  theora-image-transport = self.callPackage ./theora-image-transport {};
 
  tinyxml2-vendor = self.callPackage ./tinyxml2-vendor {};
diff --git a/distros/galactic/geometric-shapes/default.nix b/distros/galactic/geometric-shapes/default.nix
index 8e7392afce..291701ab8c 100644
--- a/distros/galactic/geometric-shapes/default.nix
+++ b/distros/galactic/geometric-shapes/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-cmake, assimp, boost, console-bridge-vendor, eigen, eigen-stl-containers, eigen3-cmake-module, geometry-msgs, octomap, pkg-config, qhull, random-numbers, rclcpp, resource-retriever, rosidl-default-generators, rosidl-default-runtime, shape-msgs, visualization-msgs }:
 buildRosPackage {
   pname = "ros-galactic-geometric-shapes";
-  version = "2.1.0-r1";
+  version = "2.1.0-r2";
 
   src = fetchurl {
-    url = "https://github.com/moveit/geometric_shapes-release/archive/release/galactic/geometric_shapes/2.1.0-1.tar.gz";
-    name = "2.1.0-1.tar.gz";
-    sha256 = "297188a25c428a2ddd49e921c2b89a969ace3ce538fdb6e39bb1d34c31bca12f";
+    url = "https://github.com/moveit/geometric_shapes-release/archive/release/galactic/geometric_shapes/2.1.0-2.tar.gz";
+    name = "2.1.0-2.tar.gz";
+    sha256 = "b9e0b3411f625d8136db04625f7fae1a45311f1f8e6c3072653dc1d0428889f9";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/galactic/librealsense2/default.nix b/distros/galactic/librealsense2/default.nix
new file mode 100644
index 0000000000..aaede6a97c
--- /dev/null
+++ b/distros/galactic/librealsense2/default.nix
@@ -0,0 +1,24 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-cmake, libusb1, openssl, pkg-config, udev }:
+buildRosPackage {
+  pname = "ros-galactic-librealsense2";
+  version = "2.48.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/IntelRealSense/librealsense2-release/archive/release/galactic/librealsense2/2.48.0-1.tar.gz";
+    name = "2.48.0-1.tar.gz";
+    sha256 = "adc3306a0b5c9e579605dc01d33162927143145b631778f918be837f587b2525";
+  };
+
+  buildType = "ament_cmake";
+  buildInputs = [ libusb1 openssl pkg-config udev ];
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = ''Library for capturing data from the Intel(R) RealSense(TM) SR300, D400 Depth cameras and T2xx Tracking devices. This effort was initiated to better support researchers, creative coders, and app developers in domains such as robotics, virtual reality, and the internet of things. Several often-requested features of RealSense(TM); devices are implemented in this project.'';
+    license = with lib.licenses; [ asl20 ];
+  };
+}
diff --git a/distros/galactic/moveit-common/default.nix b/distros/galactic/moveit-common/default.nix
new file mode 100644
index 0000000000..361e220c7f
--- /dev/null
+++ b/distros/galactic/moveit-common/default.nix
@@ -0,0 +1,24 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common }:
+buildRosPackage {
+  pname = "ros-galactic-moveit-common";
+  version = "2.2.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/moveit/moveit2-release/archive/release/galactic/moveit_common/2.2.0-1.tar.gz";
+    name = "2.2.0-1.tar.gz";
+    sha256 = "8d9346d9e219da36d8a6a1ae34a28599eb77c4e7bfe3b33c19a2752fcfa009f4";
+  };
+
+  buildType = "ament_cmake";
+  checkInputs = [ ament-lint-auto ament-lint-common ];
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = ''Common support functionality used throughout MoveIt'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/galactic/moveit-core/default.nix b/distros/galactic/moveit-core/default.nix
new file mode 100644
index 0000000000..120133dfb2
--- /dev/null
+++ b/distros/galactic/moveit-core/default.nix
@@ -0,0 +1,26 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-index-cpp, ament-lint-auto, ament-lint-common, angles, assimp, boost, bullet, common-interfaces, eigen, eigen-stl-containers, eigen3-cmake-module, fcl, geometric-shapes, geometry-msgs, kdl-parser, moveit-common, moveit-msgs, moveit-resources-panda-moveit-config, moveit-resources-pr2-description, octomap, octomap-msgs, orocos-kdl, pkg-config, pluginlib, pybind11-vendor, random-numbers, rclcpp, sensor-msgs, shape-msgs, srdfdom, std-msgs, tf2, tf2-eigen, tf2-geometry-msgs, tf2-kdl, trajectory-msgs, urdf, urdfdom, urdfdom-headers, visualization-msgs }:
+buildRosPackage {
+  pname = "ros-galactic-moveit-core";
+  version = "2.2.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/moveit/moveit2-release/archive/release/galactic/moveit_core/2.2.0-1.tar.gz";
+    name = "2.2.0-1.tar.gz";
+    sha256 = "86dad4e9ae13874f7f0a52f0f8837130d908a05a3854338d52275d989213b986";
+  };
+
+  buildType = "ament_cmake";
+  buildInputs = [ moveit-common ];
+  checkInputs = [ ament-cmake-gtest ament-index-cpp ament-lint-auto ament-lint-common angles moveit-resources-panda-moveit-config moveit-resources-pr2-description orocos-kdl tf2-kdl ];
+  propagatedBuildInputs = [ angles assimp boost bullet common-interfaces eigen eigen-stl-containers eigen3-cmake-module fcl geometric-shapes geometry-msgs kdl-parser moveit-msgs octomap octomap-msgs pluginlib pybind11-vendor random-numbers rclcpp sensor-msgs shape-msgs srdfdom std-msgs tf2 tf2-eigen tf2-geometry-msgs trajectory-msgs urdf urdfdom urdfdom-headers visualization-msgs ];
+  nativeBuildInputs = [ ament-cmake eigen3-cmake-module pkg-config ];
+
+  meta = {
+    description = ''Core libraries used by MoveIt'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/galactic/moveit-kinematics/default.nix b/distros/galactic/moveit-kinematics/default.nix
new file mode 100644
index 0000000000..b9bac271d5
--- /dev/null
+++ b/distros/galactic/moveit-kinematics/default.nix
@@ -0,0 +1,26 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, class-loader, eigen, moveit-common, moveit-core, moveit-msgs, moveit-resources-fanuc-description, moveit-resources-fanuc-moveit-config, moveit-resources-panda-description, moveit-resources-panda-moveit-config, moveit-ros-planning, orocos-kdl, pluginlib, pythonPackages, ros-testing, tf2, tf2-kdl, urdfdom }:
+buildRosPackage {
+  pname = "ros-galactic-moveit-kinematics";
+  version = "2.2.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/moveit/moveit2-release/archive/release/galactic/moveit_kinematics/2.2.0-1.tar.gz";
+    name = "2.2.0-1.tar.gz";
+    sha256 = "d7db0fcd41b664836a3e00a42ffe97a95918196a57d4072bd7869b4e33618ffc";
+  };
+
+  buildType = "ament_cmake";
+  buildInputs = [ moveit-common ];
+  checkInputs = [ ament-cmake-gtest ament-lint-auto ament-lint-common moveit-resources-fanuc-description moveit-resources-fanuc-moveit-config moveit-resources-panda-description moveit-resources-panda-moveit-config moveit-ros-planning ros-testing ];
+  propagatedBuildInputs = [ class-loader eigen moveit-core moveit-msgs orocos-kdl pluginlib pythonPackages.lxml tf2 tf2-kdl urdfdom ];
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = ''Package for all inverse kinematics solvers in MoveIt'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/galactic/moveit-planners-ompl/default.nix b/distros/galactic/moveit-planners-ompl/default.nix
new file mode 100644
index 0000000000..2c56c25b33
--- /dev/null
+++ b/distros/galactic/moveit-planners-ompl/default.nix
@@ -0,0 +1,26 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, eigen, eigen3-cmake-module, llvmPackages, moveit-common, moveit-core, moveit-msgs, moveit-resources-fanuc-moveit-config, moveit-resources-panda-moveit-config, moveit-resources-pr2-description, moveit-ros-planning, ompl, pluginlib, rclcpp, tf2-eigen, tf2-ros }:
+buildRosPackage {
+  pname = "ros-galactic-moveit-planners-ompl";
+  version = "2.2.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/moveit/moveit2-release/archive/release/galactic/moveit_planners_ompl/2.2.0-1.tar.gz";
+    name = "2.2.0-1.tar.gz";
+    sha256 = "5f6fa8e2d29ac7e6c5cc62e64ad882f7981e4f86407b3f1cf9f3b31ae3419284";
+  };
+
+  buildType = "ament_cmake";
+  buildInputs = [ moveit-common ];
+  checkInputs = [ ament-cmake-gtest ament-lint-auto ament-lint-common eigen moveit-resources-fanuc-moveit-config moveit-resources-panda-moveit-config moveit-resources-pr2-description tf2-eigen ];
+  propagatedBuildInputs = [ llvmPackages.openmp moveit-core moveit-msgs moveit-ros-planning ompl pluginlib rclcpp tf2-eigen tf2-ros ];
+  nativeBuildInputs = [ ament-cmake eigen3-cmake-module ];
+
+  meta = {
+    description = ''MoveIt interface to OMPL'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/galactic/moveit-planners/default.nix b/distros/galactic/moveit-planners/default.nix
new file mode 100644
index 0000000000..20f151e3ca
--- /dev/null
+++ b/distros/galactic/moveit-planners/default.nix
@@ -0,0 +1,25 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, moveit-planners-ompl }:
+buildRosPackage {
+  pname = "ros-galactic-moveit-planners";
+  version = "2.2.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/moveit/moveit2-release/archive/release/galactic/moveit_planners/2.2.0-1.tar.gz";
+    name = "2.2.0-1.tar.gz";
+    sha256 = "038dab70bba47b262821b759a2cc4004c037eb94484a2c10223730704e734a10";
+  };
+
+  buildType = "ament_cmake";
+  checkInputs = [ ament-lint-auto ament-lint-common ];
+  propagatedBuildInputs = [ moveit-planners-ompl ];
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = ''Meta package that installs all available planners for MoveIt'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/galactic/moveit-plugins/default.nix b/distros/galactic/moveit-plugins/default.nix
new file mode 100644
index 0000000000..26db5abb46
--- /dev/null
+++ b/distros/galactic/moveit-plugins/default.nix
@@ -0,0 +1,25 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, moveit-simple-controller-manager }:
+buildRosPackage {
+  pname = "ros-galactic-moveit-plugins";
+  version = "2.2.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/moveit/moveit2-release/archive/release/galactic/moveit_plugins/2.2.0-1.tar.gz";
+    name = "2.2.0-1.tar.gz";
+    sha256 = "1f0b0c8b913a40b7c7e789ffde59819dc574ac8903ce0554ee54994735d17e88";
+  };
+
+  buildType = "ament_cmake";
+  checkInputs = [ ament-lint-auto ament-lint-common ];
+  propagatedBuildInputs = [ moveit-simple-controller-manager ];
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = ''Metapackage for MoveIt plugins.'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/galactic/moveit-ros-benchmarks/default.nix b/distros/galactic/moveit-ros-benchmarks/default.nix
new file mode 100644
index 0000000000..ae8736e4f2
--- /dev/null
+++ b/distros/galactic/moveit-ros-benchmarks/default.nix
@@ -0,0 +1,26 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, boost, moveit-common, moveit-ros-planning, moveit-ros-warehouse, pluginlib, rclcpp, tf2-eigen }:
+buildRosPackage {
+  pname = "ros-galactic-moveit-ros-benchmarks";
+  version = "2.2.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/moveit/moveit2-release/archive/release/galactic/moveit_ros_benchmarks/2.2.0-1.tar.gz";
+    name = "2.2.0-1.tar.gz";
+    sha256 = "46714294f3bdef60fba8b986dce85f6d0a406977ec45564bacd3f4f479cbfa99";
+  };
+
+  buildType = "ament_cmake";
+  buildInputs = [ moveit-common ];
+  checkInputs = [ ament-lint-auto ament-lint-common ];
+  propagatedBuildInputs = [ boost moveit-ros-planning moveit-ros-warehouse pluginlib rclcpp tf2-eigen ];
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = ''Enhanced tools for benchmarks in MoveIt'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/galactic/moveit-ros-move-group/default.nix b/distros/galactic/moveit-ros-move-group/default.nix
new file mode 100644
index 0000000000..95d1a6441d
--- /dev/null
+++ b/distros/galactic/moveit-ros-move-group/default.nix
@@ -0,0 +1,26 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, moveit-common, moveit-core, moveit-kinematics, moveit-resources-fanuc-moveit-config, moveit-ros-occupancy-map-monitor, moveit-ros-planning, pluginlib, rclcpp, rclcpp-action, std-srvs, tf2, tf2-geometry-msgs, tf2-ros }:
+buildRosPackage {
+  pname = "ros-galactic-moveit-ros-move-group";
+  version = "2.2.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/moveit/moveit2-release/archive/release/galactic/moveit_ros_move_group/2.2.0-1.tar.gz";
+    name = "2.2.0-1.tar.gz";
+    sha256 = "12559c70e3b9e5703563f84e9a36b786b65f2808da869417276f707ea214a742";
+  };
+
+  buildType = "ament_cmake";
+  buildInputs = [ moveit-common ];
+  checkInputs = [ ament-lint-auto ament-lint-common moveit-resources-fanuc-moveit-config ];
+  propagatedBuildInputs = [ moveit-core moveit-kinematics moveit-ros-occupancy-map-monitor moveit-ros-planning pluginlib rclcpp rclcpp-action std-srvs tf2 tf2-geometry-msgs tf2-ros ];
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = ''The move_group node for MoveIt'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/galactic/moveit-ros-occupancy-map-monitor/default.nix b/distros/galactic/moveit-ros-occupancy-map-monitor/default.nix
new file mode 100644
index 0000000000..24ed0f3139
--- /dev/null
+++ b/distros/galactic/moveit-ros-occupancy-map-monitor/default.nix
@@ -0,0 +1,26 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, eigen, eigen3-cmake-module, geometric-shapes, moveit-common, moveit-core, moveit-msgs, octomap, pluginlib, rclcpp, tf2-ros }:
+buildRosPackage {
+  pname = "ros-galactic-moveit-ros-occupancy-map-monitor";
+  version = "2.2.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/moveit/moveit2-release/archive/release/galactic/moveit_ros_occupancy_map_monitor/2.2.0-1.tar.gz";
+    name = "2.2.0-1.tar.gz";
+    sha256 = "d1d56a698d8718558b38380b338d3aeb38fb5278dd8e83e592dcd30f7f8db191";
+  };
+
+  buildType = "ament_cmake";
+  buildInputs = [ moveit-common ];
+  checkInputs = [ ament-cmake-gtest ament-lint-auto ament-lint-common ];
+  propagatedBuildInputs = [ eigen eigen3-cmake-module geometric-shapes moveit-core moveit-msgs octomap pluginlib rclcpp tf2-ros ];
+  nativeBuildInputs = [ ament-cmake eigen3-cmake-module ];
+
+  meta = {
+    description = ''Components of MoveIt connecting to occupancy map'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/galactic/moveit-ros-perception/default.nix b/distros/galactic/moveit-ros-perception/default.nix
new file mode 100644
index 0000000000..5d221ddff7
--- /dev/null
+++ b/distros/galactic/moveit-ros-perception/default.nix
@@ -0,0 +1,26 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, cv-bridge, eigen, freeglut, glew, image-transport, libGL, libGLU, llvmPackages, message-filters, moveit-common, moveit-core, moveit-msgs, moveit-ros-occupancy-map-monitor, moveit-ros-planning, object-recognition-msgs, pluginlib, rclcpp, sensor-msgs, tf2, tf2-eigen, tf2-geometry-msgs, tf2-ros, urdf }:
+buildRosPackage {
+  pname = "ros-galactic-moveit-ros-perception";
+  version = "2.2.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/moveit/moveit2-release/archive/release/galactic/moveit_ros_perception/2.2.0-1.tar.gz";
+    name = "2.2.0-1.tar.gz";
+    sha256 = "f6dd9a6cbe95dac9f04c7d222c158e0029a36f83408933b317919ad3a032e77b";
+  };
+
+  buildType = "ament_cmake";
+  buildInputs = [ eigen moveit-common ];
+  checkInputs = [ ament-lint-auto ament-lint-common ];
+  propagatedBuildInputs = [ cv-bridge freeglut glew image-transport libGL libGLU llvmPackages.openmp message-filters moveit-core moveit-msgs moveit-ros-occupancy-map-monitor moveit-ros-planning object-recognition-msgs pluginlib rclcpp sensor-msgs tf2 tf2-eigen tf2-geometry-msgs tf2-ros urdf ];
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = ''Components of MoveIt connecting to perception'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/galactic/moveit-ros-planning-interface/default.nix b/distros/galactic/moveit-ros-planning-interface/default.nix
new file mode 100644
index 0000000000..104cf0f362
--- /dev/null
+++ b/distros/galactic/moveit-ros-planning-interface/default.nix
@@ -0,0 +1,26 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-cmake, eigen, eigen3-cmake-module, geometry-msgs, moveit-common, moveit-core, moveit-msgs, moveit-planners-ompl, moveit-resources-fanuc-moveit-config, moveit-resources-panda-moveit-config, moveit-ros-move-group, moveit-ros-planning, moveit-ros-warehouse, moveit-simple-controller-manager, python3, rclcpp, rclcpp-action, rclpy, ros-testing, rviz2, tf2, tf2-eigen, tf2-geometry-msgs, tf2-ros }:
+buildRosPackage {
+  pname = "ros-galactic-moveit-ros-planning-interface";
+  version = "2.2.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/moveit/moveit2-release/archive/release/galactic/moveit_ros_planning_interface/2.2.0-1.tar.gz";
+    name = "2.2.0-1.tar.gz";
+    sha256 = "d93670f52b4424617992d758a121a78b9ecd1951ee446a896acaacb350a1de20";
+  };
+
+  buildType = "ament_cmake";
+  buildInputs = [ eigen moveit-common ];
+  checkInputs = [ moveit-planners-ompl moveit-resources-fanuc-moveit-config moveit-resources-panda-moveit-config moveit-simple-controller-manager ros-testing rviz2 ];
+  propagatedBuildInputs = [ geometry-msgs moveit-core moveit-msgs moveit-ros-move-group moveit-ros-planning moveit-ros-warehouse python3 rclcpp rclcpp-action rclpy tf2 tf2-eigen tf2-geometry-msgs tf2-ros ];
+  nativeBuildInputs = [ ament-cmake eigen3-cmake-module ];
+
+  meta = {
+    description = ''Components of MoveIt that offer simpler interfaces to planning and execution'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/galactic/moveit-ros-planning/default.nix b/distros/galactic/moveit-ros-planning/default.nix
new file mode 100644
index 0000000000..234f2a0b44
--- /dev/null
+++ b/distros/galactic/moveit-ros-planning/default.nix
@@ -0,0 +1,26 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-index-cpp, ament-lint-auto, ament-lint-common, eigen, eigen3-cmake-module, message-filters, moveit-common, moveit-core, moveit-msgs, moveit-resources-panda-moveit-config, moveit-ros-occupancy-map-monitor, pluginlib, rclcpp, rclcpp-action, srdfdom, tf2, tf2-eigen, tf2-geometry-msgs, tf2-msgs, tf2-ros, urdf }:
+buildRosPackage {
+  pname = "ros-galactic-moveit-ros-planning";
+  version = "2.2.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/moveit/moveit2-release/archive/release/galactic/moveit_ros_planning/2.2.0-1.tar.gz";
+    name = "2.2.0-1.tar.gz";
+    sha256 = "82d768c61b59150571dcf2bd328290ce3d0e72e457c52ee2a23f9b895f04823d";
+  };
+
+  buildType = "ament_cmake";
+  buildInputs = [ moveit-common ];
+  checkInputs = [ ament-lint-auto ament-lint-common moveit-resources-panda-moveit-config ];
+  propagatedBuildInputs = [ ament-index-cpp eigen eigen3-cmake-module message-filters moveit-core moveit-msgs moveit-ros-occupancy-map-monitor pluginlib rclcpp rclcpp-action srdfdom tf2 tf2-eigen tf2-geometry-msgs tf2-msgs tf2-ros urdf ];
+  nativeBuildInputs = [ ament-cmake eigen3-cmake-module ];
+
+  meta = {
+    description = ''Planning components of MoveIt that use ROS'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/galactic/moveit-ros-robot-interaction/default.nix b/distros/galactic/moveit-ros-robot-interaction/default.nix
new file mode 100644
index 0000000000..3844ba9cd1
--- /dev/null
+++ b/distros/galactic/moveit-ros-robot-interaction/default.nix
@@ -0,0 +1,26 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, interactive-markers, moveit-common, moveit-ros-planning, rclcpp, tf2, tf2-eigen, tf2-geometry-msgs, tf2-ros }:
+buildRosPackage {
+  pname = "ros-galactic-moveit-ros-robot-interaction";
+  version = "2.2.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/moveit/moveit2-release/archive/release/galactic/moveit_ros_robot_interaction/2.2.0-1.tar.gz";
+    name = "2.2.0-1.tar.gz";
+    sha256 = "0ce64dcc4bc3db1c2a6d1189b75d3fd7943ec7682046713c590d911fcf76bbeb";
+  };
+
+  buildType = "ament_cmake";
+  buildInputs = [ moveit-common ];
+  checkInputs = [ ament-cmake-gtest ament-lint-auto ament-lint-common ];
+  propagatedBuildInputs = [ interactive-markers moveit-ros-planning rclcpp tf2 tf2-eigen tf2-geometry-msgs tf2-ros ];
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = ''Components of MoveIt that offer interaction via interactive markers'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/galactic/moveit-ros-visualization/default.nix b/distros/galactic/moveit-ros-visualization/default.nix
new file mode 100644
index 0000000000..7bf6c6b67b
--- /dev/null
+++ b/distros/galactic/moveit-ros-visualization/default.nix
@@ -0,0 +1,26 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, class-loader, eigen, geometric-shapes, interactive-markers, moveit-common, moveit-ros-planning-interface, moveit-ros-robot-interaction, moveit-ros-warehouse, object-recognition-msgs, ogre1_9, pkg-config, pluginlib, qt5, rclcpp, rclpy, rviz2, tf2-eigen }:
+buildRosPackage {
+  pname = "ros-galactic-moveit-ros-visualization";
+  version = "2.2.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/moveit/moveit2-release/archive/release/galactic/moveit_ros_visualization/2.2.0-1.tar.gz";
+    name = "2.2.0-1.tar.gz";
+    sha256 = "d6b25ca30a9a4595490c40157848d22b778f55865224421d9486db02aaace325";
+  };
+
+  buildType = "ament_cmake";
+  buildInputs = [ class-loader eigen moveit-common ogre1_9 qt5.qtbase ];
+  checkInputs = [ ament-lint-auto ament-lint-common ];
+  propagatedBuildInputs = [ geometric-shapes interactive-markers moveit-ros-planning-interface moveit-ros-robot-interaction moveit-ros-warehouse object-recognition-msgs pluginlib rclcpp rclpy rviz2 tf2-eigen ];
+  nativeBuildInputs = [ ament-cmake pkg-config ];
+
+  meta = {
+    description = ''Components of MoveIt that offer visualization'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/galactic/moveit-ros-warehouse/default.nix b/distros/galactic/moveit-ros-warehouse/default.nix
new file mode 100644
index 0000000000..6d90a1e000
--- /dev/null
+++ b/distros/galactic/moveit-ros-warehouse/default.nix
@@ -0,0 +1,26 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, moveit-common, moveit-core, moveit-ros-planning, rclcpp, tf2-eigen, tf2-ros, warehouse-ros }:
+buildRosPackage {
+  pname = "ros-galactic-moveit-ros-warehouse";
+  version = "2.2.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/moveit/moveit2-release/archive/release/galactic/moveit_ros_warehouse/2.2.0-1.tar.gz";
+    name = "2.2.0-1.tar.gz";
+    sha256 = "d94845bee9e43e5444a0d0e565379099449cf5761b82272c2005d1c4250daaf4";
+  };
+
+  buildType = "ament_cmake";
+  buildInputs = [ moveit-common ];
+  checkInputs = [ ament-lint-auto ament-lint-common ];
+  propagatedBuildInputs = [ moveit-core moveit-ros-planning rclcpp tf2-eigen tf2-ros warehouse-ros ];
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = ''Components of MoveIt connecting to MongoDB'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/galactic/moveit-ros/default.nix b/distros/galactic/moveit-ros/default.nix
new file mode 100644
index 0000000000..4100489b40
--- /dev/null
+++ b/distros/galactic/moveit-ros/default.nix
@@ -0,0 +1,25 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, moveit-ros-benchmarks, moveit-ros-move-group, moveit-ros-planning, moveit-ros-planning-interface, moveit-ros-robot-interaction, moveit-ros-visualization, moveit-ros-warehouse }:
+buildRosPackage {
+  pname = "ros-galactic-moveit-ros";
+  version = "2.2.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/moveit/moveit2-release/archive/release/galactic/moveit_ros/2.2.0-1.tar.gz";
+    name = "2.2.0-1.tar.gz";
+    sha256 = "847aabc9299d352ea45aee4d0382e99b606a2a8923c8e751963cd06735fa933b";
+  };
+
+  buildType = "ament_cmake";
+  checkInputs = [ ament-lint-auto ament-lint-common ];
+  propagatedBuildInputs = [ moveit-ros-benchmarks moveit-ros-move-group moveit-ros-planning moveit-ros-planning-interface moveit-ros-robot-interaction moveit-ros-visualization moveit-ros-warehouse ];
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = ''Components of MoveIt that use ROS'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/galactic/moveit-runtime/default.nix b/distros/galactic/moveit-runtime/default.nix
new file mode 100644
index 0000000000..4179fffb5f
--- /dev/null
+++ b/distros/galactic/moveit-runtime/default.nix
@@ -0,0 +1,25 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, moveit-core, moveit-planners, moveit-plugins, moveit-ros-move-group, moveit-ros-planning, moveit-ros-planning-interface, moveit-ros-warehouse }:
+buildRosPackage {
+  pname = "ros-galactic-moveit-runtime";
+  version = "2.2.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/moveit/moveit2-release/archive/release/galactic/moveit_runtime/2.2.0-1.tar.gz";
+    name = "2.2.0-1.tar.gz";
+    sha256 = "e38f7b7b588fb46b379023a0f57f583ebbeeb44c4ccd0364f06ae201445d68f7";
+  };
+
+  buildType = "ament_cmake";
+  checkInputs = [ ament-lint-auto ament-lint-common ];
+  propagatedBuildInputs = [ moveit-core moveit-planners moveit-plugins moveit-ros-move-group moveit-ros-planning moveit-ros-planning-interface moveit-ros-warehouse ];
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = ''moveit_runtime meta package contains MoveIt packages that are essential for its runtime (e.g. running MoveIt on robots).'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/galactic/moveit-servo/default.nix b/distros/galactic/moveit-servo/default.nix
new file mode 100644
index 0000000000..e6a09f731c
--- /dev/null
+++ b/distros/galactic/moveit-servo/default.nix
@@ -0,0 +1,26 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, control-msgs, control-toolbox, geometry-msgs, joy, moveit-common, moveit-msgs, moveit-resources-panda-moveit-config, moveit-ros-planning-interface, robot-state-publisher, ros-testing, sensor-msgs, std-msgs, std-srvs, tf2-eigen, tf2-ros, trajectory-msgs }:
+buildRosPackage {
+  pname = "ros-galactic-moveit-servo";
+  version = "2.2.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/moveit/moveit2-release/archive/release/galactic/moveit_servo/2.2.0-1.tar.gz";
+    name = "2.2.0-1.tar.gz";
+    sha256 = "ad9a7b980c6b0aa145dba1a4810c4356e8d21c225f79cec68fa3db7baa23fa3d";
+  };
+
+  buildType = "ament_cmake";
+  buildInputs = [ moveit-common ];
+  checkInputs = [ ament-cmake-gtest ament-lint-auto ament-lint-common moveit-resources-panda-moveit-config ros-testing ];
+  propagatedBuildInputs = [ control-msgs control-toolbox geometry-msgs joy moveit-msgs moveit-ros-planning-interface robot-state-publisher sensor-msgs std-msgs std-srvs tf2-eigen tf2-ros trajectory-msgs ];
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = ''Provides real-time manipulator Cartesian and joint servoing.'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/galactic/moveit-simple-controller-manager/default.nix b/distros/galactic/moveit-simple-controller-manager/default.nix
new file mode 100644
index 0000000000..a1f98db5f4
--- /dev/null
+++ b/distros/galactic/moveit-simple-controller-manager/default.nix
@@ -0,0 +1,26 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, control-msgs, moveit-common, moveit-core, pluginlib, rclcpp, rclcpp-action }:
+buildRosPackage {
+  pname = "ros-galactic-moveit-simple-controller-manager";
+  version = "2.2.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/moveit/moveit2-release/archive/release/galactic/moveit_simple_controller_manager/2.2.0-1.tar.gz";
+    name = "2.2.0-1.tar.gz";
+    sha256 = "ebc7c2448d230125be11e1a414b7655ab4ec6868b126c585086fa63dbfcb5b87";
+  };
+
+  buildType = "ament_cmake";
+  buildInputs = [ moveit-common ];
+  checkInputs = [ ament-lint-auto ament-lint-common ];
+  propagatedBuildInputs = [ control-msgs moveit-core pluginlib rclcpp rclcpp-action ];
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = ''A generic, simple controller manager plugin for MoveIt.'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/galactic/moveit/default.nix b/distros/galactic/moveit/default.nix
new file mode 100644
index 0000000000..42dd2c841e
--- /dev/null
+++ b/distros/galactic/moveit/default.nix
@@ -0,0 +1,25 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, moveit-core, moveit-planners, moveit-plugins, moveit-ros }:
+buildRosPackage {
+  pname = "ros-galactic-moveit";
+  version = "2.2.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/moveit/moveit2-release/archive/release/galactic/moveit/2.2.0-1.tar.gz";
+    name = "2.2.0-1.tar.gz";
+    sha256 = "f200e9b10018aef20c2f3657079a126a0e6d1d689e00ef96d72bf8b8c482dd70";
+  };
+
+  buildType = "ament_cmake";
+  checkInputs = [ ament-lint-auto ament-lint-common ];
+  propagatedBuildInputs = [ moveit-core moveit-planners moveit-plugins moveit-ros ];
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = ''Meta package that contains all essential packages of MoveIt 2'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/galactic/qpoases-vendor/default.nix b/distros/galactic/qpoases-vendor/default.nix
new file mode 100644
index 0000000000..649d68ab01
--- /dev/null
+++ b/distros/galactic/qpoases-vendor/default.nix
@@ -0,0 +1,24 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-cmake-auto, subversion }:
+buildRosPackage {
+  pname = "ros-galactic-qpoases-vendor";
+  version = "3.2.3-r1";
+
+  src = fetchurl {
+    url = "https://github.com/Autoware-AI/qpoases_vendor-release/archive/release/galactic/qpoases_vendor/3.2.3-1.tar.gz";
+    name = "3.2.3-1.tar.gz";
+    sha256 = "ccfecd402a919e2d21c675029594e75d87ab07cd9416983af070ededd2f792c5";
+  };
+
+  buildType = "ament_cmake";
+  propagatedBuildInputs = [ subversion ];
+  nativeBuildInputs = [ ament-cmake-auto ];
+
+  meta = {
+    description = ''Wrapper around qpOASES to make it available to the ROS ecosystem.'';
+    license = with lib.licenses; [ asl20 lgpl2 ];
+  };
+}
diff --git a/distros/galactic/realsense2-camera-msgs/default.nix b/distros/galactic/realsense2-camera-msgs/default.nix
new file mode 100644
index 0000000000..4e63340c9c
--- /dev/null
+++ b/distros/galactic/realsense2-camera-msgs/default.nix
@@ -0,0 +1,25 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-common, builtin-interfaces, rosidl-default-generators, rosidl-default-runtime, std-msgs }:
+buildRosPackage {
+  pname = "ros-galactic-realsense2-camera-msgs";
+  version = "3.2.2-r1";
+
+  src = fetchurl {
+    url = "https://github.com/IntelRealSense/realsense-ros-release/archive/release/galactic/realsense2_camera_msgs/3.2.2-1.tar.gz";
+    name = "3.2.2-1.tar.gz";
+    sha256 = "1444eae3dbc9ba23a62666cfb7aa917afcb31ec00edd27f21e7b7355d0977a70";
+  };
+
+  buildType = "ament_cmake";
+  checkInputs = [ ament-lint-common ];
+  propagatedBuildInputs = [ builtin-interfaces rosidl-default-runtime std-msgs ];
+  nativeBuildInputs = [ ament-cmake rosidl-default-generators ];
+
+  meta = {
+    description = ''A package containing realsense camera messages definitions.'';
+    license = with lib.licenses; [ asl20 ];
+  };
+}
diff --git a/distros/galactic/realsense2-camera/default.nix b/distros/galactic/realsense2-camera/default.nix
new file mode 100644
index 0000000000..536333dfac
--- /dev/null
+++ b/distros/galactic/realsense2-camera/default.nix
@@ -0,0 +1,26 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, builtin-interfaces, cv-bridge, eigen, geometry-msgs, image-transport, launch-ros, librealsense2, nav-msgs, opencv3, rclcpp, rclcpp-components, realsense2-camera-msgs, ros-environment, sensor-msgs, std-msgs, std-srvs, tf2, tf2-ros }:
+buildRosPackage {
+  pname = "ros-galactic-realsense2-camera";
+  version = "3.2.2-r1";
+
+  src = fetchurl {
+    url = "https://github.com/IntelRealSense/realsense-ros-release/archive/release/galactic/realsense2_camera/3.2.2-1.tar.gz";
+    name = "3.2.2-1.tar.gz";
+    sha256 = "a0e416884327da905b9a66ebf1215fe77d84f4424933cc37c1861d86f3bc2d14";
+  };
+
+  buildType = "ament_cmake";
+  buildInputs = [ ros-environment ];
+  checkInputs = [ ament-cmake-gtest ament-lint-auto ament-lint-common opencv3 ];
+  propagatedBuildInputs = [ builtin-interfaces cv-bridge eigen geometry-msgs image-transport launch-ros librealsense2 nav-msgs rclcpp rclcpp-components realsense2-camera-msgs sensor-msgs std-msgs std-srvs tf2 tf2-ros ];
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = ''RealSense Camera package allowing access to Intel SR300, D400 and L500 3D cameras'';
+    license = with lib.licenses; [ asl20 ];
+  };
+}
diff --git a/distros/galactic/realsense2-description/default.nix b/distros/galactic/realsense2-description/default.nix
new file mode 100644
index 0000000000..619ea6e234
--- /dev/null
+++ b/distros/galactic/realsense2-description/default.nix
@@ -0,0 +1,25 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, launch-ros, rclcpp, rclcpp-components, realsense2-camera-msgs, xacro }:
+buildRosPackage {
+  pname = "ros-galactic-realsense2-description";
+  version = "3.2.2-r1";
+
+  src = fetchurl {
+    url = "https://github.com/IntelRealSense/realsense-ros-release/archive/release/galactic/realsense2_description/3.2.2-1.tar.gz";
+    name = "3.2.2-1.tar.gz";
+    sha256 = "fd73bf268ec673aa2d0d3440672b7b1ffd8bb2d9c0617577d6fe0bf6855e5e75";
+  };
+
+  buildType = "ament_cmake";
+  checkInputs = [ ament-lint-auto ament-lint-common ];
+  propagatedBuildInputs = [ launch-ros rclcpp rclcpp-components realsense2-camera-msgs xacro ];
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = ''RealSense Camera description package for Intel 3D D400 cameras'';
+    license = with lib.licenses; [ asl20 ];
+  };
+}
diff --git a/distros/galactic/rmf-traffic/default.nix b/distros/galactic/rmf-traffic/default.nix
new file mode 100644
index 0000000000..e62c2387b1
--- /dev/null
+++ b/distros/galactic/rmf-traffic/default.nix
@@ -0,0 +1,25 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-cmake-catch2, eigen, fcl, libccd, rmf-cmake-uncrustify, rmf-utils }:
+buildRosPackage {
+  pname = "ros-galactic-rmf-traffic";
+  version = "1.3.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ros2-gbp/rmf_traffic-release/archive/release/galactic/rmf_traffic/1.3.0-1.tar.gz";
+    name = "1.3.0-1.tar.gz";
+    sha256 = "b4b6789cf2a06f24e396962cf4a92bd3f4a5c1b4e527051a655a78aaf52d46c4";
+  };
+
+  buildType = "cmake";
+  buildInputs = [ fcl libccd ];
+  checkInputs = [ ament-cmake-catch2 rmf-cmake-uncrustify ];
+  propagatedBuildInputs = [ eigen rmf-utils ];
+
+  meta = {
+    description = ''Package for managing traffic in the Robotics Middleware Framework'';
+    license = with lib.licenses; [ asl20 ];
+  };
+}
diff --git a/distros/galactic/rqt-publisher/default.nix b/distros/galactic/rqt-publisher/default.nix
index a37165c4a0..aa1a973364 100644
--- a/distros/galactic/rqt-publisher/default.nix
+++ b/distros/galactic/rqt-publisher/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, python-qt-binding, python3Packages, qt-gui-py-common, rqt-gui, rqt-gui-py, rqt-py-common }:
 buildRosPackage {
   pname = "ros-galactic-rqt-publisher";
-  version = "1.1.2-r1";
+  version = "1.1.3-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rqt_publisher-release/archive/release/galactic/rqt_publisher/1.1.2-1.tar.gz";
-    name = "1.1.2-1.tar.gz";
-    sha256 = "6708b051edc075b0ccffcf6868a59eee4047075e45197a6b0c7ed2f4c79304f2";
+    url = "https://github.com/ros2-gbp/rqt_publisher-release/archive/release/galactic/rqt_publisher/1.1.3-1.tar.gz";
+    name = "1.1.3-1.tar.gz";
+    sha256 = "99b91fc6592e4a5878ab8f2165c1aa3ac9d232c1e8dbf5ebb43ac91b3937f765";
   };
 
   buildType = "ament_python";
diff --git a/distros/galactic/run-move-group/default.nix b/distros/galactic/run-move-group/default.nix
new file mode 100644
index 0000000000..05694b8047
--- /dev/null
+++ b/distros/galactic/run-move-group/default.nix
@@ -0,0 +1,26 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, moveit-common, moveit-ros-planning-interface }:
+buildRosPackage {
+  pname = "ros-galactic-run-move-group";
+  version = "2.2.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/moveit/moveit2-release/archive/release/galactic/run_move_group/2.2.0-1.tar.gz";
+    name = "2.2.0-1.tar.gz";
+    sha256 = "762f994116876259c9b776090ba6bf335263285da11a691499a54e80dccd66be";
+  };
+
+  buildType = "ament_cmake";
+  buildInputs = [ moveit-common ];
+  checkInputs = [ ament-lint-auto ament-lint-common ];
+  propagatedBuildInputs = [ moveit-ros-planning-interface ];
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = ''Demo launch file for running a MoveGroup setup'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/galactic/run-moveit-cpp/default.nix b/distros/galactic/run-moveit-cpp/default.nix
new file mode 100644
index 0000000000..593ff4dc02
--- /dev/null
+++ b/distros/galactic/run-moveit-cpp/default.nix
@@ -0,0 +1,26 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, moveit-common, moveit-ros-planning-interface }:
+buildRosPackage {
+  pname = "ros-galactic-run-moveit-cpp";
+  version = "2.2.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/moveit/moveit2-release/archive/release/galactic/run_moveit_cpp/2.2.0-1.tar.gz";
+    name = "2.2.0-1.tar.gz";
+    sha256 = "5847ea4ab090a5f2243532941f06622e981824196f580242348ce0c6f5777530";
+  };
+
+  buildType = "ament_cmake";
+  buildInputs = [ moveit-common ];
+  checkInputs = [ ament-lint-auto ament-lint-common ];
+  propagatedBuildInputs = [ moveit-ros-planning-interface ];
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = ''TODO: Package description'';
+    license = with lib.licenses; [ "TODO: License declaration" ];
+  };
+}
diff --git a/distros/galactic/run-ompl-constrained-planning/default.nix b/distros/galactic/run-ompl-constrained-planning/default.nix
new file mode 100644
index 0000000000..419ce12768
--- /dev/null
+++ b/distros/galactic/run-ompl-constrained-planning/default.nix
@@ -0,0 +1,26 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, moveit-common, moveit-ros-planning-interface, warehouse-ros-mongo }:
+buildRosPackage {
+  pname = "ros-galactic-run-ompl-constrained-planning";
+  version = "2.2.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/moveit/moveit2-release/archive/release/galactic/run_ompl_constrained_planning/2.2.0-1.tar.gz";
+    name = "2.2.0-1.tar.gz";
+    sha256 = "dcfb7214f6295e9018619a6e475817cdd4cf37413de50b2e9ad2b9ae8778cc1c";
+  };
+
+  buildType = "ament_cmake";
+  buildInputs = [ moveit-common ];
+  checkInputs = [ ament-lint-auto ament-lint-common ];
+  propagatedBuildInputs = [ moveit-ros-planning-interface warehouse-ros-mongo ];
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = ''Demo ompl constrained planning capabilities'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/galactic/tf-transformations/default.nix b/distros/galactic/tf-transformations/default.nix
new file mode 100644
index 0000000000..8640f6ed97
--- /dev/null
+++ b/distros/galactic/tf-transformations/default.nix
@@ -0,0 +1,24 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-flake8, ament-pep257, pythonPackages }:
+buildRosPackage {
+  pname = "ros-galactic-tf-transformations";
+  version = "1.0.2-r1";
+
+  src = fetchurl {
+    url = "https://github.com/DLu/tf_transformations_release/archive/release/galactic/tf_transformations/1.0.2-1.tar.gz";
+    name = "1.0.2-1.tar.gz";
+    sha256 = "a2c6d18520263bc2c95e8734412d117523ae928f334224beea16ed8bcf823863";
+  };
+
+  buildType = "ament_python";
+  checkInputs = [ ament-flake8 ament-pep257 pythonPackages.pytest ];
+  propagatedBuildInputs = [ pythonPackages.numpy ];
+
+  meta = {
+    description = ''Reimplementation of the tf/transformations.py library for common Python spatial operations'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/galactic/warehouse-ros/default.nix b/distros/galactic/warehouse-ros/default.nix
index a3383adf40..f989e5362c 100644
--- a/distros/galactic/warehouse-ros/default.nix
+++ b/distros/galactic/warehouse-ros/default.nix
@@ -5,18 +5,17 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-copyright, ament-lint-auto, boost, geometry-msgs, openssl, pluginlib, rclcpp, std-msgs, tf2, tf2-geometry-msgs, tf2-ros }:
 buildRosPackage {
   pname = "ros-galactic-warehouse-ros";
-  version = "2.0.1-r1";
+  version = "2.0.3-r1";
 
   src = fetchurl {
-    url = "https://github.com/moveit/warehouse_ros-release/archive/release/galactic/warehouse_ros/2.0.1-1.tar.gz";
-    name = "2.0.1-1.tar.gz";
-    sha256 = "5b1009c43e08e064d8b54641762d610784cdb276198a0f69bf2934add794af69";
+    url = "https://github.com/moveit/warehouse_ros-release/archive/release/galactic/warehouse_ros/2.0.3-1.tar.gz";
+    name = "2.0.3-1.tar.gz";
+    sha256 = "5de10f5f42f9a055c0775b226714bd629f9b0b7fcf682a1cb89ce12735217331";
   };
 
   buildType = "ament_cmake";
-  buildInputs = [ openssl ];
   checkInputs = [ ament-cmake-copyright ament-lint-auto ];
-  propagatedBuildInputs = [ boost geometry-msgs pluginlib rclcpp std-msgs tf2 tf2-geometry-msgs tf2-ros ];
+  propagatedBuildInputs = [ boost geometry-msgs openssl pluginlib rclcpp std-msgs tf2 tf2-geometry-msgs tf2-ros ];
   nativeBuildInputs = [ ament-cmake ];
 
   meta = {
diff --git a/distros/melodic/bota-driver/default.nix b/distros/melodic/bota-driver/default.nix
index d37c92dbed..e0725209a1 100644
--- a/distros/melodic/bota-driver/default.nix
+++ b/distros/melodic/bota-driver/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, rokubimini, rokubimini-bus-manager, rokubimini-ethercat, rokubimini-msgs, rokubimini-serial }:
 buildRosPackage {
   pname = "ros-melodic-bota-driver";
-  version = "0.6.0-r3";
+  version = "0.6.0-r5";
 
   src = fetchurl {
-    url = "https://gitlab.com/botasys/bota_driver-release/-/archive/release/melodic/bota_driver/0.6.0-3/bota_driver-release-release-melodic-bota_driver-0.6.0-3.tar.gz";
-    name = "bota_driver-release-release-melodic-bota_driver-0.6.0-3.tar.gz";
-    sha256 = "81a71cc679a7748f57570b6b1593d27c33b504e13a6e80700887e8ff72460a5c";
+    url = "https://gitlab.com/botasys/bota_driver-release/-/archive/release/melodic/bota_driver/0.6.0-5/bota_driver-release-release-melodic-bota_driver-0.6.0-5.tar.gz";
+    name = "bota_driver-release-release-melodic-bota_driver-0.6.0-5.tar.gz";
+    sha256 = "f127c97547367d82f48c7642730df96011b2bbafbb0460524bac02a1cad6c9f1";
   };
 
   buildType = "catkin";
diff --git a/distros/melodic/bota-node/default.nix b/distros/melodic/bota-node/default.nix
index c225ffa896..199636c8c9 100644
--- a/distros/melodic/bota-node/default.nix
+++ b/distros/melodic/bota-node/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, bota-signal-handler, bota-worker, catkin, gtest, roscpp, rosunit }:
 buildRosPackage {
   pname = "ros-melodic-bota-node";
-  version = "0.6.0-r3";
+  version = "0.6.0-r5";
 
   src = fetchurl {
-    url = "https://gitlab.com/botasys/bota_driver-release/-/archive/release/melodic/bota_node/0.6.0-3/bota_driver-release-release-melodic-bota_node-0.6.0-3.tar.gz";
-    name = "bota_driver-release-release-melodic-bota_node-0.6.0-3.tar.gz";
-    sha256 = "8c742bea9e76ab6a776edb1fb758767ffc1bbfc228c8e1b9bce25c482118c82f";
+    url = "https://gitlab.com/botasys/bota_driver-release/-/archive/release/melodic/bota_node/0.6.0-5/bota_driver-release-release-melodic-bota_node-0.6.0-5.tar.gz";
+    name = "bota_driver-release-release-melodic-bota_node-0.6.0-5.tar.gz";
+    sha256 = "1a4b717128ff061556708ac2099c79e194fcc3f1b518914d9b5082a51de7e607";
   };
 
   buildType = "catkin";
diff --git a/distros/melodic/bota-signal-handler/default.nix b/distros/melodic/bota-signal-handler/default.nix
index 9aa7033e68..65ab7fe5e1 100644
--- a/distros/melodic/bota-signal-handler/default.nix
+++ b/distros/melodic/bota-signal-handler/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, gtest, rosunit }:
 buildRosPackage {
   pname = "ros-melodic-bota-signal-handler";
-  version = "0.6.0-r3";
+  version = "0.6.0-r5";
 
   src = fetchurl {
-    url = "https://gitlab.com/botasys/bota_driver-release/-/archive/release/melodic/bota_signal_handler/0.6.0-3/bota_driver-release-release-melodic-bota_signal_handler-0.6.0-3.tar.gz";
-    name = "bota_driver-release-release-melodic-bota_signal_handler-0.6.0-3.tar.gz";
-    sha256 = "0e7f2a00a6e2103052d38d7c99bf8f5204e175bd7d118dbd055f109cc101d54d";
+    url = "https://gitlab.com/botasys/bota_driver-release/-/archive/release/melodic/bota_signal_handler/0.6.0-5/bota_driver-release-release-melodic-bota_signal_handler-0.6.0-5.tar.gz";
+    name = "bota_driver-release-release-melodic-bota_signal_handler-0.6.0-5.tar.gz";
+    sha256 = "54609572eb3d346054a85e8ad3b39a6f31d5dbb2312a7e3d0f7ee92d4de385ef";
   };
 
   buildType = "catkin";
diff --git a/distros/melodic/bota-worker/default.nix b/distros/melodic/bota-worker/default.nix
index 1f00f81345..7d1cdd6174 100644
--- a/distros/melodic/bota-worker/default.nix
+++ b/distros/melodic/bota-worker/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, gtest, roscpp, rosunit }:
 buildRosPackage {
   pname = "ros-melodic-bota-worker";
-  version = "0.6.0-r3";
+  version = "0.6.0-r5";
 
   src = fetchurl {
-    url = "https://gitlab.com/botasys/bota_driver-release/-/archive/release/melodic/bota_worker/0.6.0-3/bota_driver-release-release-melodic-bota_worker-0.6.0-3.tar.gz";
-    name = "bota_driver-release-release-melodic-bota_worker-0.6.0-3.tar.gz";
-    sha256 = "2e2bcd1a6860e2c0a1a58cffa9a06cbaa53640195df9dada6157f38e6dee4e13";
+    url = "https://gitlab.com/botasys/bota_driver-release/-/archive/release/melodic/bota_worker/0.6.0-5/bota_driver-release-release-melodic-bota_worker-0.6.0-5.tar.gz";
+    name = "bota_driver-release-release-melodic-bota_worker-0.6.0-5.tar.gz";
+    sha256 = "2717a05a4d971346ab8326f9f10710f05c661951dcecb9e669402624edd5e13a";
   };
 
   buildType = "catkin";
diff --git a/distros/melodic/industrial-core/default.nix b/distros/melodic/industrial-core/default.nix
index 6a0d9ff7b3..5ac9ccda9f 100644
--- a/distros/melodic/industrial-core/default.nix
+++ b/distros/melodic/industrial-core/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, industrial-deprecated, industrial-msgs, industrial-robot-client, industrial-robot-simulator, industrial-trajectory-filters, industrial-utils, simple-message }:
 buildRosPackage {
   pname = "ros-melodic-industrial-core";
-  version = "0.7.1-r1";
+  version = "0.7.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros-industrial-release/industrial_core-release/archive/release/melodic/industrial_core/0.7.1-1.tar.gz";
-    name = "0.7.1-1.tar.gz";
-    sha256 = "db3b52e778e5cdc9a97854a82b142a6322dd38cb34fce0d57eb16ce208fb4f07";
+    url = "https://github.com/ros-industrial-release/industrial_core-release/archive/release/melodic/industrial_core/0.7.2-1.tar.gz";
+    name = "0.7.2-1.tar.gz";
+    sha256 = "fca1c37d67a9b8133e486c8fd9251d65eaf01bf52cc2577cdcd1c85b1360c212";
   };
 
   buildType = "catkin";
diff --git a/distros/melodic/industrial-deprecated/default.nix b/distros/melodic/industrial-deprecated/default.nix
index 3d4e0a6173..61cc2cf6a3 100644
--- a/distros/melodic/industrial-deprecated/default.nix
+++ b/distros/melodic/industrial-deprecated/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin }:
 buildRosPackage {
   pname = "ros-melodic-industrial-deprecated";
-  version = "0.7.1-r1";
+  version = "0.7.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros-industrial-release/industrial_core-release/archive/release/melodic/industrial_deprecated/0.7.1-1.tar.gz";
-    name = "0.7.1-1.tar.gz";
-    sha256 = "e5b98eb82ac07f838ac0929adb85b15d830460d5e54b52bc92167ae991a213ac";
+    url = "https://github.com/ros-industrial-release/industrial_core-release/archive/release/melodic/industrial_deprecated/0.7.2-1.tar.gz";
+    name = "0.7.2-1.tar.gz";
+    sha256 = "1c2ecfdd2b46177d0d874f24c1daa05e55141a17db32ba238122c29009d79739";
   };
 
   buildType = "catkin";
diff --git a/distros/melodic/industrial-msgs/default.nix b/distros/melodic/industrial-msgs/default.nix
index bd0bf569a7..ecb9c94d12 100644
--- a/distros/melodic/industrial-msgs/default.nix
+++ b/distros/melodic/industrial-msgs/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, message-generation, message-runtime, std-msgs, trajectory-msgs }:
 buildRosPackage {
   pname = "ros-melodic-industrial-msgs";
-  version = "0.7.1-r1";
+  version = "0.7.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros-industrial-release/industrial_core-release/archive/release/melodic/industrial_msgs/0.7.1-1.tar.gz";
-    name = "0.7.1-1.tar.gz";
-    sha256 = "1bda13baa0f9ee548fc5bf8699772ab77543e3fc4ac26a7c46282583bc003531";
+    url = "https://github.com/ros-industrial-release/industrial_core-release/archive/release/melodic/industrial_msgs/0.7.2-1.tar.gz";
+    name = "0.7.2-1.tar.gz";
+    sha256 = "effd2f4ca3973ab57fa500372365179f57492236e63aaf2ff343820d3a1ff545";
   };
 
   buildType = "catkin";
diff --git a/distros/melodic/industrial-robot-client/default.nix b/distros/melodic/industrial-robot-client/default.nix
index 4a293e7093..dfc8625949 100644
--- a/distros/melodic/industrial-robot-client/default.nix
+++ b/distros/melodic/industrial-robot-client/default.nix
@@ -2,19 +2,19 @@
 # Copyright 2021 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, actionlib, actionlib-msgs, catkin, control-msgs, industrial-msgs, industrial-utils, robot-state-publisher, roscpp, rosunit, sensor-msgs, simple-message, std-msgs, trajectory-msgs, urdf }:
+{ lib, buildRosPackage, fetchurl, actionlib, actionlib-msgs, catkin, control-msgs, industrial-msgs, industrial-utils, robot-state-publisher, roscpp, roslaunch, rosunit, sensor-msgs, simple-message, std-msgs, trajectory-msgs, urdf }:
 buildRosPackage {
   pname = "ros-melodic-industrial-robot-client";
-  version = "0.7.1-r1";
+  version = "0.7.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros-industrial-release/industrial_core-release/archive/release/melodic/industrial_robot_client/0.7.1-1.tar.gz";
-    name = "0.7.1-1.tar.gz";
-    sha256 = "704f56ecf96f294b7b4805415320179fd1ac6244e309fd0a6d1cc69d4f90c18d";
+    url = "https://github.com/ros-industrial-release/industrial_core-release/archive/release/melodic/industrial_robot_client/0.7.2-1.tar.gz";
+    name = "0.7.2-1.tar.gz";
+    sha256 = "8066fb7a6f027f2d06a3b6641d09fbcd7bc858b677090edf941cbc4fca93ed91";
   };
 
   buildType = "catkin";
-  checkInputs = [ rosunit ];
+  checkInputs = [ roslaunch rosunit ];
   propagatedBuildInputs = [ actionlib actionlib-msgs control-msgs industrial-msgs industrial-utils robot-state-publisher roscpp sensor-msgs simple-message std-msgs trajectory-msgs urdf ];
   nativeBuildInputs = [ catkin ];
 
diff --git a/distros/melodic/industrial-robot-simulator/default.nix b/distros/melodic/industrial-robot-simulator/default.nix
index d94782d75c..300b971091 100644
--- a/distros/melodic/industrial-robot-simulator/default.nix
+++ b/distros/melodic/industrial-robot-simulator/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, control-msgs, industrial-msgs, industrial-robot-client, pythonPackages, roslaunch, rospy, sensor-msgs, trajectory-msgs }:
 buildRosPackage {
   pname = "ros-melodic-industrial-robot-simulator";
-  version = "0.7.1-r1";
+  version = "0.7.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros-industrial-release/industrial_core-release/archive/release/melodic/industrial_robot_simulator/0.7.1-1.tar.gz";
-    name = "0.7.1-1.tar.gz";
-    sha256 = "2bfbab889523137f608c09ad70ae7f13953e539f7999237d9296648e4d523962";
+    url = "https://github.com/ros-industrial-release/industrial_core-release/archive/release/melodic/industrial_robot_simulator/0.7.2-1.tar.gz";
+    name = "0.7.2-1.tar.gz";
+    sha256 = "4c05ef91e4abaee01a5d477cc2776bff8cf9a5efceff541caf19ce7d7496138e";
   };
 
   buildType = "catkin";
diff --git a/distros/melodic/industrial-trajectory-filters/default.nix b/distros/melodic/industrial-trajectory-filters/default.nix
index edfe0fe7f9..a24375a207 100644
--- a/distros/melodic/industrial-trajectory-filters/default.nix
+++ b/distros/melodic/industrial-trajectory-filters/default.nix
@@ -2,19 +2,19 @@
 # Copyright 2021 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, catkin, moveit-core, moveit-ros-planning, orocos-kdl, pluginlib, trajectory-msgs }:
+{ lib, buildRosPackage, fetchurl, catkin, class-loader, moveit-core, moveit-ros-planning, orocos-kdl, pluginlib, trajectory-msgs }:
 buildRosPackage {
   pname = "ros-melodic-industrial-trajectory-filters";
-  version = "0.7.1-r1";
+  version = "0.7.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros-industrial-release/industrial_core-release/archive/release/melodic/industrial_trajectory_filters/0.7.1-1.tar.gz";
-    name = "0.7.1-1.tar.gz";
-    sha256 = "d37a9dfc7999bc81e35123f95e305719c7d07330317d7be34c8efd8150f05a22";
+    url = "https://github.com/ros-industrial-release/industrial_core-release/archive/release/melodic/industrial_trajectory_filters/0.7.2-1.tar.gz";
+    name = "0.7.2-1.tar.gz";
+    sha256 = "309487fd3ede43c60b560ba7ab53c62114db02abeab929d819ba8d859de0f75d";
   };
 
   buildType = "catkin";
-  propagatedBuildInputs = [ moveit-core moveit-ros-planning orocos-kdl pluginlib trajectory-msgs ];
+  propagatedBuildInputs = [ class-loader moveit-core moveit-ros-planning orocos-kdl pluginlib trajectory-msgs ];
   nativeBuildInputs = [ catkin ];
 
   meta = {
diff --git a/distros/melodic/industrial-utils/default.nix b/distros/melodic/industrial-utils/default.nix
index aae5eb8a2d..e6d5ffbfe2 100644
--- a/distros/melodic/industrial-utils/default.nix
+++ b/distros/melodic/industrial-utils/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, roscpp, rosunit, urdf }:
 buildRosPackage {
   pname = "ros-melodic-industrial-utils";
-  version = "0.7.1-r1";
+  version = "0.7.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros-industrial-release/industrial_core-release/archive/release/melodic/industrial_utils/0.7.1-1.tar.gz";
-    name = "0.7.1-1.tar.gz";
-    sha256 = "c27a7592fb1c7e08f7b88330936da7dd70647e414514b1e1b2e198324c64916c";
+    url = "https://github.com/ros-industrial-release/industrial_core-release/archive/release/melodic/industrial_utils/0.7.2-1.tar.gz";
+    name = "0.7.2-1.tar.gz";
+    sha256 = "370bac7fd0ecd826d5bdf7e3014d08b5f8de165004ec81b089f1e72b370abd19";
   };
 
   buildType = "catkin";
diff --git a/distros/melodic/librealsense2/default.nix b/distros/melodic/librealsense2/default.nix
index 26ed195cf6..7173b5a638 100644
--- a/distros/melodic/librealsense2/default.nix
+++ b/distros/melodic/librealsense2/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, libusb1, openssl, pkg-config, udev }:
 buildRosPackage {
   pname = "ros-melodic-librealsense2";
-  version = "2.45.0-r1";
+  version = "2.48.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/IntelRealSense/librealsense2-release/archive/release/melodic/librealsense2/2.45.0-1.tar.gz";
-    name = "2.45.0-1.tar.gz";
-    sha256 = "381766c25440e4b4e241110fbbcedfc89139dc47802251e548f3b3f79b8fbce9";
+    url = "https://github.com/IntelRealSense/librealsense2-release/archive/release/melodic/librealsense2/2.48.0-1.tar.gz";
+    name = "2.48.0-1.tar.gz";
+    sha256 = "308d0ec8226c4baceeadc7aa65889d25df4901863c2734b23e91403ed0236a2c";
   };
 
   buildType = "cmake";
diff --git a/distros/melodic/psen-scan-v2/default.nix b/distros/melodic/psen-scan-v2/default.nix
index 8e8fc33f49..160c836464 100644
--- a/distros/melodic/psen-scan-v2/default.nix
+++ b/distros/melodic/psen-scan-v2/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, code-coverage, fmt, pilz-testutils, robot-state-publisher, rosbag, rosconsole-bridge, roscpp, roslaunch, rostest, rosunit, rviz, sensor-msgs, xacro }:
 buildRosPackage {
   pname = "ros-melodic-psen-scan-v2";
-  version = "0.2.1-r1";
+  version = "0.3.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/PilzDE/psen_scan_v2-release/archive/release/melodic/psen_scan_v2/0.2.1-1.tar.gz";
-    name = "0.2.1-1.tar.gz";
-    sha256 = "2c8b2835cc189797eac002438990ad47080e21f22556da3d5efb600b7677134c";
+    url = "https://github.com/PilzDE/psen_scan_v2-release/archive/release/melodic/psen_scan_v2/0.3.0-1.tar.gz";
+    name = "0.3.0-1.tar.gz";
+    sha256 = "3e6f6dbac65d6f4dfc73586ae9b5d2ff6678a3dbabac789bcf51209f54ac99f8";
   };
 
   buildType = "catkin";
diff --git a/distros/melodic/realsense2-camera/default.nix b/distros/melodic/realsense2-camera/default.nix
index b5cbf97c75..b0a5cdb922 100644
--- a/distros/melodic/realsense2-camera/default.nix
+++ b/distros/melodic/realsense2-camera/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, cv-bridge, ddynamic-reconfigure, diagnostic-updater, eigen, genmsg, image-transport, librealsense2, message-runtime, nav-msgs, nodelet, roscpp, sensor-msgs, std-msgs, std-srvs, tf }:
 buildRosPackage {
   pname = "ros-melodic-realsense2-camera";
-  version = "2.3.0-r1";
+  version = "2.3.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/IntelRealSense/realsense-ros-release/archive/release/melodic/realsense2_camera/2.3.0-1.tar.gz";
-    name = "2.3.0-1.tar.gz";
-    sha256 = "a54563887751fe230e7f4fd9b1f5d62e641f48fb395afcdc2150d4273aad97c0";
+    url = "https://github.com/IntelRealSense/realsense-ros-release/archive/release/melodic/realsense2_camera/2.3.1-1.tar.gz";
+    name = "2.3.1-1.tar.gz";
+    sha256 = "0188482ed8dbff76805463de0a0c25cf9e47c63722ec80b4e0d6a76b97f37b4f";
   };
 
   buildType = "catkin";
diff --git a/distros/melodic/realsense2-description/default.nix b/distros/melodic/realsense2-description/default.nix
index e4f26d26af..8820b23505 100644
--- a/distros/melodic/realsense2-description/default.nix
+++ b/distros/melodic/realsense2-description/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, rosunit, xacro }:
 buildRosPackage {
   pname = "ros-melodic-realsense2-description";
-  version = "2.3.0-r1";
+  version = "2.3.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/IntelRealSense/realsense-ros-release/archive/release/melodic/realsense2_description/2.3.0-1.tar.gz";
-    name = "2.3.0-1.tar.gz";
-    sha256 = "e3b1935e077bd1906236929a21f9f2fbd59cc005f8648dc7cd613ca4cd0ba718";
+    url = "https://github.com/IntelRealSense/realsense-ros-release/archive/release/melodic/realsense2_description/2.3.1-1.tar.gz";
+    name = "2.3.1-1.tar.gz";
+    sha256 = "a80b157219097f419989219ec949e27a0f47d8f87b9e8cc50f0b84b6027fdd84";
   };
 
   buildType = "catkin";
diff --git a/distros/melodic/rokubimini-bus-manager/default.nix b/distros/melodic/rokubimini-bus-manager/default.nix
index 2c176dacac..c48fa6c2cd 100644
--- a/distros/melodic/rokubimini-bus-manager/default.nix
+++ b/distros/melodic/rokubimini-bus-manager/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, bota-node, catkin, rokubimini }:
 buildRosPackage {
   pname = "ros-melodic-rokubimini-bus-manager";
-  version = "0.6.0-r3";
+  version = "0.6.0-r5";
 
   src = fetchurl {
-    url = "https://gitlab.com/botasys/bota_driver-release/-/archive/release/melodic/rokubimini_bus_manager/0.6.0-3/bota_driver-release-release-melodic-rokubimini_bus_manager-0.6.0-3.tar.gz";
-    name = "bota_driver-release-release-melodic-rokubimini_bus_manager-0.6.0-3.tar.gz";
-    sha256 = "2905cb6d10c6e585b09545c91e2ae4a4c23cf831999d676883b2a71c998e5cce";
+    url = "https://gitlab.com/botasys/bota_driver-release/-/archive/release/melodic/rokubimini_bus_manager/0.6.0-5/bota_driver-release-release-melodic-rokubimini_bus_manager-0.6.0-5.tar.gz";
+    name = "bota_driver-release-release-melodic-rokubimini_bus_manager-0.6.0-5.tar.gz";
+    sha256 = "1104f46480de718e9b27e97b33edd3f8c6295eb246bc70c1ed0483db97f83dde";
   };
 
   buildType = "catkin";
diff --git a/distros/melodic/rokubimini-description/default.nix b/distros/melodic/rokubimini-description/default.nix
index 4247ea9fb4..8584b9f4af 100644
--- a/distros/melodic/rokubimini-description/default.nix
+++ b/distros/melodic/rokubimini-description/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, sensor-msgs, std-msgs, xacro }:
 buildRosPackage {
   pname = "ros-melodic-rokubimini-description";
-  version = "0.6.0-r3";
+  version = "0.6.0-r5";
 
   src = fetchurl {
-    url = "https://gitlab.com/botasys/bota_driver-release/-/archive/release/melodic/rokubimini_description/0.6.0-3/bota_driver-release-release-melodic-rokubimini_description-0.6.0-3.tar.gz";
-    name = "bota_driver-release-release-melodic-rokubimini_description-0.6.0-3.tar.gz";
-    sha256 = "0f49d319244e206be84c06269024f338f89c52f485a24b48434666540a8cf3b5";
+    url = "https://gitlab.com/botasys/bota_driver-release/-/archive/release/melodic/rokubimini_description/0.6.0-5/bota_driver-release-release-melodic-rokubimini_description-0.6.0-5.tar.gz";
+    name = "bota_driver-release-release-melodic-rokubimini_description-0.6.0-5.tar.gz";
+    sha256 = "b5e1767ef15b4d7b0948be9abd38396428e3985792c55a668632badb44026d93";
   };
 
   buildType = "catkin";
diff --git a/distros/melodic/rokubimini-ethercat/default.nix b/distros/melodic/rokubimini-ethercat/default.nix
index d5566ce34c..0d1306a813 100644
--- a/distros/melodic/rokubimini-ethercat/default.nix
+++ b/distros/melodic/rokubimini-ethercat/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, rokubimini, rokubimini-bus-manager, rokubimini-msgs, soem }:
 buildRosPackage {
   pname = "ros-melodic-rokubimini-ethercat";
-  version = "0.6.0-r3";
+  version = "0.6.0-r5";
 
   src = fetchurl {
-    url = "https://gitlab.com/botasys/bota_driver-release/-/archive/release/melodic/rokubimini_ethercat/0.6.0-3/bota_driver-release-release-melodic-rokubimini_ethercat-0.6.0-3.tar.gz";
-    name = "bota_driver-release-release-melodic-rokubimini_ethercat-0.6.0-3.tar.gz";
-    sha256 = "d76813c08f79c6eb52a4528c45e197d87036d71a884da96f2c8637e6be57fb10";
+    url = "https://gitlab.com/botasys/bota_driver-release/-/archive/release/melodic/rokubimini_ethercat/0.6.0-5/bota_driver-release-release-melodic-rokubimini_ethercat-0.6.0-5.tar.gz";
+    name = "bota_driver-release-release-melodic-rokubimini_ethercat-0.6.0-5.tar.gz";
+    sha256 = "154038dee6f96382a3cb09cc83f62d21da440cd71387c6560cff00418da6d345";
   };
 
   buildType = "catkin";
diff --git a/distros/melodic/rokubimini-msgs/default.nix b/distros/melodic/rokubimini-msgs/default.nix
index 0e3f821794..579318251f 100644
--- a/distros/melodic/rokubimini-msgs/default.nix
+++ b/distros/melodic/rokubimini-msgs/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, geometry-msgs, message-generation, message-runtime, sensor-msgs, std-msgs }:
 buildRosPackage {
   pname = "ros-melodic-rokubimini-msgs";
-  version = "0.6.0-r3";
+  version = "0.6.0-r5";
 
   src = fetchurl {
-    url = "https://gitlab.com/botasys/bota_driver-release/-/archive/release/melodic/rokubimini_msgs/0.6.0-3/bota_driver-release-release-melodic-rokubimini_msgs-0.6.0-3.tar.gz";
-    name = "bota_driver-release-release-melodic-rokubimini_msgs-0.6.0-3.tar.gz";
-    sha256 = "f4a7e27c251f1712d3df98786a7d4ca3147fa635a85927e82770ca730bff59e7";
+    url = "https://gitlab.com/botasys/bota_driver-release/-/archive/release/melodic/rokubimini_msgs/0.6.0-5/bota_driver-release-release-melodic-rokubimini_msgs-0.6.0-5.tar.gz";
+    name = "bota_driver-release-release-melodic-rokubimini_msgs-0.6.0-5.tar.gz";
+    sha256 = "37925d489e5eafc39d69005070d29aa82bad73ef6a9917e6c3525f09ab639d76";
   };
 
   buildType = "catkin";
diff --git a/distros/melodic/rokubimini-serial/default.nix b/distros/melodic/rokubimini-serial/default.nix
index fbde1e6f23..ca2fabca8c 100644
--- a/distros/melodic/rokubimini-serial/default.nix
+++ b/distros/melodic/rokubimini-serial/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, avrdude, catkin, rokubimini, rokubimini-bus-manager, rokubimini-msgs }:
 buildRosPackage {
   pname = "ros-melodic-rokubimini-serial";
-  version = "0.6.0-r3";
+  version = "0.6.0-r5";
 
   src = fetchurl {
-    url = "https://gitlab.com/botasys/bota_driver-release/-/archive/release/melodic/rokubimini_serial/0.6.0-3/bota_driver-release-release-melodic-rokubimini_serial-0.6.0-3.tar.gz";
-    name = "bota_driver-release-release-melodic-rokubimini_serial-0.6.0-3.tar.gz";
-    sha256 = "bfe09c08763c66553379585efe12994280088c45b3f18cb1f52ea2957006bfe1";
+    url = "https://gitlab.com/botasys/bota_driver-release/-/archive/release/melodic/rokubimini_serial/0.6.0-5/bota_driver-release-release-melodic-rokubimini_serial-0.6.0-5.tar.gz";
+    name = "bota_driver-release-release-melodic-rokubimini_serial-0.6.0-5.tar.gz";
+    sha256 = "61f460714694cafafac8cf3f213d1f5fc4a371a4f73bb00d78c39b24d6503625";
   };
 
   buildType = "catkin";
diff --git a/distros/melodic/rokubimini/default.nix b/distros/melodic/rokubimini/default.nix
index f8a918a670..e46998b7eb 100644
--- a/distros/melodic/rokubimini/default.nix
+++ b/distros/melodic/rokubimini/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, eigen, geometry-msgs, gtest, roscpp, rosunit, sensor-msgs }:
 buildRosPackage {
   pname = "ros-melodic-rokubimini";
-  version = "0.6.0-r3";
+  version = "0.6.0-r5";
 
   src = fetchurl {
-    url = "https://gitlab.com/botasys/bota_driver-release/-/archive/release/melodic/rokubimini/0.6.0-3/bota_driver-release-release-melodic-rokubimini-0.6.0-3.tar.gz";
-    name = "bota_driver-release-release-melodic-rokubimini-0.6.0-3.tar.gz";
-    sha256 = "00816ea9f86db6a9580dd54ffeae8a0066718b451fee9f757d58c2b63efd8cd3";
+    url = "https://gitlab.com/botasys/bota_driver-release/-/archive/release/melodic/rokubimini/0.6.0-5/bota_driver-release-release-melodic-rokubimini-0.6.0-5.tar.gz";
+    name = "bota_driver-release-release-melodic-rokubimini-0.6.0-5.tar.gz";
+    sha256 = "4dd066b3dda6c1ea4b79a477bead2b39797e9918fed355b18ef2fbab27491a7c";
   };
 
   buildType = "catkin";
diff --git a/distros/melodic/simple-message/default.nix b/distros/melodic/simple-message/default.nix
index 0f80ebaf5f..ca776cc6a5 100644
--- a/distros/melodic/simple-message/default.nix
+++ b/distros/melodic/simple-message/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, industrial-msgs, roscpp, rosunit }:
 buildRosPackage {
   pname = "ros-melodic-simple-message";
-  version = "0.7.1-r1";
+  version = "0.7.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros-industrial-release/industrial_core-release/archive/release/melodic/simple_message/0.7.1-1.tar.gz";
-    name = "0.7.1-1.tar.gz";
-    sha256 = "1a173646a6fb15387eea9bb6c7d9225f28c8506e36aebde93667dbefa65c8721";
+    url = "https://github.com/ros-industrial-release/industrial_core-release/archive/release/melodic/simple_message/0.7.2-1.tar.gz";
+    name = "0.7.2-1.tar.gz";
+    sha256 = "bdc441b65f17935ed7da0dc2690ae4b0654e5169c2109f3cebf1c076eaf49f8c";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/bota-driver/default.nix b/distros/noetic/bota-driver/default.nix
index a957cb1dbd..4cb637fb31 100644
--- a/distros/noetic/bota-driver/default.nix
+++ b/distros/noetic/bota-driver/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, rokubimini, rokubimini-bus-manager, rokubimini-ethercat, rokubimini-msgs, rokubimini-serial }:
 buildRosPackage {
   pname = "ros-noetic-bota-driver";
-  version = "0.6.0-r2";
+  version = "0.6.0-r3";
 
   src = fetchurl {
-    url = "https://gitlab.com/botasys/bota_driver-release/-/archive/release/noetic/bota_driver/0.6.0-2/bota_driver-release-release-noetic-bota_driver-0.6.0-2.tar.gz";
-    name = "bota_driver-release-release-noetic-bota_driver-0.6.0-2.tar.gz";
-    sha256 = "feec512fef97f7f40aee864154922d566c7cca17d9aaae565cc28fad60d11fa5";
+    url = "https://gitlab.com/botasys/bota_driver-release/-/archive/release/noetic/bota_driver/0.6.0-3/bota_driver-release-release-noetic-bota_driver-0.6.0-3.tar.gz";
+    name = "bota_driver-release-release-noetic-bota_driver-0.6.0-3.tar.gz";
+    sha256 = "99624576836ba668531f370c6384d815884e79650549decf44c2b249152dc3a1";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/bota-node/default.nix b/distros/noetic/bota-node/default.nix
index 776f13d5f8..e475deebb7 100644
--- a/distros/noetic/bota-node/default.nix
+++ b/distros/noetic/bota-node/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, bota-signal-handler, bota-worker, catkin, gtest, roscpp, rosunit }:
 buildRosPackage {
   pname = "ros-noetic-bota-node";
-  version = "0.6.0-r2";
+  version = "0.6.0-r3";
 
   src = fetchurl {
-    url = "https://gitlab.com/botasys/bota_driver-release/-/archive/release/noetic/bota_node/0.6.0-2/bota_driver-release-release-noetic-bota_node-0.6.0-2.tar.gz";
-    name = "bota_driver-release-release-noetic-bota_node-0.6.0-2.tar.gz";
-    sha256 = "18c7e8a3a7611dfe384e9a1146fc5e208be85c7042423ff15c0b0a8a0c0c22cf";
+    url = "https://gitlab.com/botasys/bota_driver-release/-/archive/release/noetic/bota_node/0.6.0-3/bota_driver-release-release-noetic-bota_node-0.6.0-3.tar.gz";
+    name = "bota_driver-release-release-noetic-bota_node-0.6.0-3.tar.gz";
+    sha256 = "2dceca17011829a9bbbb383efc59b006b66f9e5e1fcd4042e47d5ecd00f80752";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/bota-signal-handler/default.nix b/distros/noetic/bota-signal-handler/default.nix
index 355c5b2f44..d0de941183 100644
--- a/distros/noetic/bota-signal-handler/default.nix
+++ b/distros/noetic/bota-signal-handler/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, gtest, rosunit }:
 buildRosPackage {
   pname = "ros-noetic-bota-signal-handler";
-  version = "0.6.0-r2";
+  version = "0.6.0-r3";
 
   src = fetchurl {
-    url = "https://gitlab.com/botasys/bota_driver-release/-/archive/release/noetic/bota_signal_handler/0.6.0-2/bota_driver-release-release-noetic-bota_signal_handler-0.6.0-2.tar.gz";
-    name = "bota_driver-release-release-noetic-bota_signal_handler-0.6.0-2.tar.gz";
-    sha256 = "6d0e411519113c14a3b20a16269f7db2241b7876333705bd8b19c9238580dff6";
+    url = "https://gitlab.com/botasys/bota_driver-release/-/archive/release/noetic/bota_signal_handler/0.6.0-3/bota_driver-release-release-noetic-bota_signal_handler-0.6.0-3.tar.gz";
+    name = "bota_driver-release-release-noetic-bota_signal_handler-0.6.0-3.tar.gz";
+    sha256 = "c0ead51c2f2b6c54146f3cdd533d7fe79edff814f43c5e2e9544f3433649aad6";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/bota-worker/default.nix b/distros/noetic/bota-worker/default.nix
index f2405b9fdf..55fc421797 100644
--- a/distros/noetic/bota-worker/default.nix
+++ b/distros/noetic/bota-worker/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, gtest, roscpp, rosunit }:
 buildRosPackage {
   pname = "ros-noetic-bota-worker";
-  version = "0.6.0-r2";
+  version = "0.6.0-r3";
 
   src = fetchurl {
-    url = "https://gitlab.com/botasys/bota_driver-release/-/archive/release/noetic/bota_worker/0.6.0-2/bota_driver-release-release-noetic-bota_worker-0.6.0-2.tar.gz";
-    name = "bota_driver-release-release-noetic-bota_worker-0.6.0-2.tar.gz";
-    sha256 = "8c065c81ba508d2dcf5f79064651362233254b5c13b42e9df7e28f3448410ecb";
+    url = "https://gitlab.com/botasys/bota_driver-release/-/archive/release/noetic/bota_worker/0.6.0-3/bota_driver-release-release-noetic-bota_worker-0.6.0-3.tar.gz";
+    name = "bota_driver-release-release-noetic-bota_worker-0.6.0-3.tar.gz";
+    sha256 = "df042edcda3b0ebaab5aa4f5d89ce2b98e633e655108b04ca9bc30971657622d";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/dynamixel-workbench-msgs/default.nix b/distros/noetic/dynamixel-workbench-msgs/default.nix
new file mode 100644
index 0000000000..391c77e81d
--- /dev/null
+++ b/distros/noetic/dynamixel-workbench-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-noetic-dynamixel-workbench-msgs";
+  version = "2.0.2-r2";
+
+  src = fetchurl {
+    url = "https://github.com/ROBOTIS-GIT-release/dynamixel-workbench-msgs-release/archive/release/noetic/dynamixel_workbench_msgs/2.0.2-2.tar.gz";
+    name = "2.0.2-2.tar.gz";
+    sha256 = "b77f92bb2a9927cb148b524e5132159fd3f536626b2742116f4b978c7951c088";
+  };
+
+  buildType = "catkin";
+  buildInputs = [ message-generation ];
+  propagatedBuildInputs = [ message-runtime std-msgs ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''This package includes ROS messages and services for dynamixel_workbench packages'';
+    license = with lib.licenses; [ asl20 ];
+  };
+}
diff --git a/distros/noetic/generated.nix b/distros/noetic/generated.nix
index 75d787d000..75ddf1da3c 100644
--- a/distros/noetic/generated.nix
+++ b/distros/noetic/generated.nix
@@ -576,6 +576,8 @@ self: super: {
 
  dynamixel-sdk-examples = self.callPackage ./dynamixel-sdk-examples {};
 
+ dynamixel-workbench-msgs = self.callPackage ./dynamixel-workbench-msgs {};
+
  easy-markers = self.callPackage ./easy-markers {};
 
  ecl-build = self.callPackage ./ecl-build {};
@@ -1050,6 +1052,8 @@ self: super: {
 
  imu-filter-madgwick = self.callPackage ./imu-filter-madgwick {};
 
+ imu-from-ios-sensorlog = self.callPackage ./imu-from-ios-sensorlog {};
+
  imu-monitor = self.callPackage ./imu-monitor {};
 
  imu-pipeline = self.callPackage ./imu-pipeline {};
@@ -1062,12 +1066,24 @@ self: super: {
 
  imu-transformer = self.callPackage ./imu-transformer {};
 
+ industrial-core = self.callPackage ./industrial-core {};
+
+ industrial-deprecated = self.callPackage ./industrial-deprecated {};
+
  industrial-msgs = self.callPackage ./industrial-msgs {};
 
+ industrial-robot-client = self.callPackage ./industrial-robot-client {};
+
+ industrial-robot-simulator = self.callPackage ./industrial-robot-simulator {};
+
  industrial-robot-status-controller = self.callPackage ./industrial-robot-status-controller {};
 
  industrial-robot-status-interface = self.callPackage ./industrial-robot-status-interface {};
 
+ industrial-trajectory-filters = self.callPackage ./industrial-trajectory-filters {};
+
+ industrial-utils = self.callPackage ./industrial-utils {};
+
  interactive-marker-tutorials = self.callPackage ./interactive-marker-tutorials {};
 
  interactive-marker-twist-server = self.callPackage ./interactive-marker-twist-server {};
@@ -1098,6 +1114,8 @@ self: super: {
 
  joint-limits-interface = self.callPackage ./joint-limits-interface {};
 
+ joint-qualification-controllers = self.callPackage ./joint-qualification-controllers {};
+
  joint-state-controller = self.callPackage ./joint-state-controller {};
 
  joint-state-publisher = self.callPackage ./joint-state-publisher {};
@@ -1630,6 +1648,16 @@ self: super: {
 
  open-karto = self.callPackage ./open-karto {};
 
+ open-manipulator-gazebo = self.callPackage ./open-manipulator-gazebo {};
+
+ open-manipulator-msgs = self.callPackage ./open-manipulator-msgs {};
+
+ open-manipulator-p-gazebo = self.callPackage ./open-manipulator-p-gazebo {};
+
+ open-manipulator-p-simulations = self.callPackage ./open-manipulator-p-simulations {};
+
+ open-manipulator-simulations = self.callPackage ./open-manipulator-simulations {};
+
  opencv-apps = self.callPackage ./opencv-apps {};
 
  opengm = self.callPackage ./opengm {};
@@ -1806,6 +1834,8 @@ self: super: {
 
  pr2-bringup = self.callPackage ./pr2-bringup {};
 
+ pr2-bringup-tests = self.callPackage ./pr2-bringup-tests {};
+
  pr2-calibration-controllers = self.callPackage ./pr2-calibration-controllers {};
 
  pr2-camera-synchronizer = self.callPackage ./pr2-camera-synchronizer {};
@@ -1828,6 +1858,8 @@ self: super: {
 
  pr2-controllers-msgs = self.callPackage ./pr2-controllers-msgs {};
 
+ pr2-counterbalance-check = self.callPackage ./pr2-counterbalance-check {};
+
  pr2-dashboard-aggregator = self.callPackage ./pr2-dashboard-aggregator {};
 
  pr2-description = self.callPackage ./pr2-description {};
@@ -1858,6 +1890,8 @@ self: super: {
 
  pr2-mechanism-msgs = self.callPackage ./pr2-mechanism-msgs {};
 
+ pr2-motor-diagnostic-tool = self.callPackage ./pr2-motor-diagnostic-tool {};
+
  pr2-msgs = self.callPackage ./pr2-msgs {};
 
  pr2-position-scripts = self.callPackage ./pr2-position-scripts {};
@@ -1870,6 +1904,10 @@ self: super: {
 
  pr2-run-stop-auto-restart = self.callPackage ./pr2-run-stop-auto-restart {};
 
+ pr2-self-test = self.callPackage ./pr2-self-test {};
+
+ pr2-self-test-msgs = self.callPackage ./pr2-self-test-msgs {};
+
  pr2-teleop = self.callPackage ./pr2-teleop {};
 
  pr2-tilt-laser-interface = self.callPackage ./pr2-tilt-laser-interface {};
@@ -2014,6 +2052,8 @@ self: super: {
 
  roboticsgroup-upatras-gazebo-plugins = self.callPackage ./roboticsgroup-upatras-gazebo-plugins {};
 
+ robotis-manipulator = self.callPackage ./robotis-manipulator {};
+
  rokubimini = self.callPackage ./rokubimini {};
 
  rokubimini-bus-manager = self.callPackage ./rokubimini-bus-manager {};
@@ -2402,6 +2442,8 @@ self: super: {
 
  simple-grasping = self.callPackage ./simple-grasping {};
 
+ simple-message = self.callPackage ./simple-message {};
+
  simulators = self.callPackage ./simulators {};
 
  single-joint-position-action = self.callPackage ./single-joint-position-action {};
@@ -2584,6 +2626,8 @@ self: super: {
 
  theora-image-transport = self.callPackage ./theora-image-transport {};
 
+ thunder-line-follower-pmr3100 = self.callPackage ./thunder-line-follower-pmr3100 {};
+
  tile-map = self.callPackage ./tile-map {};
 
  timestamp-tools = self.callPackage ./timestamp-tools {};
@@ -2774,6 +2818,22 @@ self: super: {
 
  voice-text = self.callPackage ./voice-text {};
 
+ volta-base = self.callPackage ./volta-base {};
+
+ volta-control = self.callPackage ./volta-control {};
+
+ volta-description = self.callPackage ./volta-description {};
+
+ volta-localization = self.callPackage ./volta-localization {};
+
+ volta-msgs = self.callPackage ./volta-msgs {};
+
+ volta-navigation = self.callPackage ./volta-navigation {};
+
+ volta-rules = self.callPackage ./volta-rules {};
+
+ volta-teleoperator = self.callPackage ./volta-teleoperator {};
+
  voxel-grid = self.callPackage ./voxel-grid {};
 
  vrpn = self.callPackage ./vrpn {};
diff --git a/distros/noetic/imu-from-ios-sensorlog/default.nix b/distros/noetic/imu-from-ios-sensorlog/default.nix
new file mode 100644
index 0000000000..1be41468a3
--- /dev/null
+++ b/distros/noetic/imu-from-ios-sensorlog/default.nix
@@ -0,0 +1,24 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, catkin, roscpp, rospy, sensor-msgs, std-msgs, tf2 }:
+buildRosPackage {
+  pname = "ros-noetic-imu-from-ios-sensorlog";
+  version = "0.0.1-r1";
+
+  src = fetchurl {
+    url = "https://github.com/pietrocolombo/imu_from_ios_sensorlog-release/archive/release/noetic/imu_from_ios_sensorlog/0.0.1-1.tar.gz";
+    name = "0.0.1-1.tar.gz";
+    sha256 = "de580184eeb098f142326b78523af1340057916f3989a42a7c05a607674ae44d";
+  };
+
+  buildType = "catkin";
+  propagatedBuildInputs = [ roscpp rospy sensor-msgs std-msgs tf2 ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''The imu_from_ios_sensorlog package'';
+    license = with lib.licenses; [ "TODO" ];
+  };
+}
diff --git a/distros/noetic/industrial-core/default.nix b/distros/noetic/industrial-core/default.nix
new file mode 100644
index 0000000000..50fae2dbdb
--- /dev/null
+++ b/distros/noetic/industrial-core/default.nix
@@ -0,0 +1,24 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, catkin, industrial-deprecated, industrial-msgs, industrial-robot-client, industrial-robot-simulator, industrial-trajectory-filters, industrial-utils, simple-message }:
+buildRosPackage {
+  pname = "ros-noetic-industrial-core";
+  version = "0.7.2-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ros-industrial-release/industrial_core-release/archive/release/noetic/industrial_core/0.7.2-1.tar.gz";
+    name = "0.7.2-1.tar.gz";
+    sha256 = "b7fa93283d893e726a85796b29eec043d65708a23e06d8e2012c05d6454ab6a4";
+  };
+
+  buildType = "catkin";
+  propagatedBuildInputs = [ industrial-deprecated industrial-msgs industrial-robot-client industrial-robot-simulator industrial-trajectory-filters industrial-utils simple-message ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''ROS-Industrial core stack contains packages and libraries for supporing industrial systems'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/noetic/industrial-deprecated/default.nix b/distros/noetic/industrial-deprecated/default.nix
new file mode 100644
index 0000000000..4389281705
--- /dev/null
+++ b/distros/noetic/industrial-deprecated/default.nix
@@ -0,0 +1,26 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, catkin }:
+buildRosPackage {
+  pname = "ros-noetic-industrial-deprecated";
+  version = "0.7.2-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ros-industrial-release/industrial_core-release/archive/release/noetic/industrial_deprecated/0.7.2-1.tar.gz";
+    name = "0.7.2-1.tar.gz";
+    sha256 = "ab476be2bd0e900ec9c70ef67bae63ce78345d7479ef99a113e49f7195cd7708";
+  };
+
+  buildType = "catkin";
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''The Industrial deprecated package contains nodes, launch files, etc... that are slated for 
+  deprecation.  This package is the last place something will end up before being deleted.  
+  If you are missing a package/node and find it's contents here, then you should consider 
+  a replacement.'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/noetic/industrial-msgs/default.nix b/distros/noetic/industrial-msgs/default.nix
index 63db9b0790..fa4cf692b2 100644
--- a/distros/noetic/industrial-msgs/default.nix
+++ b/distros/noetic/industrial-msgs/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, message-generation, message-runtime, std-msgs, trajectory-msgs }:
 buildRosPackage {
   pname = "ros-noetic-industrial-msgs";
-  version = "0.7.1-r1";
+  version = "0.7.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros-industrial-release/industrial_core-release/archive/release/noetic/industrial_msgs/0.7.1-1.tar.gz";
-    name = "0.7.1-1.tar.gz";
-    sha256 = "c1cc02b17cffe63eacfb0ba825cde514478f3c405ced7b8e63c5756085b50554";
+    url = "https://github.com/ros-industrial-release/industrial_core-release/archive/release/noetic/industrial_msgs/0.7.2-1.tar.gz";
+    name = "0.7.2-1.tar.gz";
+    sha256 = "968eeecc295534a4e6fa948a2b3ee8af6b5999ac3b20d4be7130c7fe6a890b4c";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/industrial-robot-client/default.nix b/distros/noetic/industrial-robot-client/default.nix
new file mode 100644
index 0000000000..4d92d38d92
--- /dev/null
+++ b/distros/noetic/industrial-robot-client/default.nix
@@ -0,0 +1,27 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, actionlib, actionlib-msgs, catkin, control-msgs, industrial-msgs, industrial-utils, robot-state-publisher, roscpp, roslaunch, rosunit, sensor-msgs, simple-message, std-msgs, trajectory-msgs, urdf }:
+buildRosPackage {
+  pname = "ros-noetic-industrial-robot-client";
+  version = "0.7.2-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ros-industrial-release/industrial_core-release/archive/release/noetic/industrial_robot_client/0.7.2-1.tar.gz";
+    name = "0.7.2-1.tar.gz";
+    sha256 = "fa50889ec2478a27063557fd79b478bbca8346b55daa8a1998d82423aeb365c7";
+  };
+
+  buildType = "catkin";
+  checkInputs = [ roslaunch rosunit ];
+  propagatedBuildInputs = [ actionlib actionlib-msgs control-msgs industrial-msgs industrial-utils robot-state-publisher roscpp sensor-msgs simple-message std-msgs trajectory-msgs urdf ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''industrial robot client contains generic clients for connecting 
+     to industrial robot controllers with servers that adhere to the
+     simple message protocol.'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/noetic/industrial-robot-simulator/default.nix b/distros/noetic/industrial-robot-simulator/default.nix
new file mode 100644
index 0000000000..a6f8441770
--- /dev/null
+++ b/distros/noetic/industrial-robot-simulator/default.nix
@@ -0,0 +1,25 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, catkin, control-msgs, industrial-msgs, industrial-robot-client, python3Packages, roslaunch, rospy, sensor-msgs, trajectory-msgs }:
+buildRosPackage {
+  pname = "ros-noetic-industrial-robot-simulator";
+  version = "0.7.2-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ros-industrial-release/industrial_core-release/archive/release/noetic/industrial_robot_simulator/0.7.2-1.tar.gz";
+    name = "0.7.2-1.tar.gz";
+    sha256 = "9b42aed833f10a4293af407e24802a1bac6509abc115b20a2ef25ec7f89ead19";
+  };
+
+  buildType = "catkin";
+  checkInputs = [ roslaunch ];
+  propagatedBuildInputs = [ control-msgs industrial-msgs industrial-robot-client python3Packages.rospkg rospy sensor-msgs trajectory-msgs ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''The industrial robot simulator is a stand in for industrial robot driver node(s).  It adheres to the driver specification for industrial robot controllers.'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/noetic/industrial-trajectory-filters/default.nix b/distros/noetic/industrial-trajectory-filters/default.nix
new file mode 100644
index 0000000000..3b4f688bb4
--- /dev/null
+++ b/distros/noetic/industrial-trajectory-filters/default.nix
@@ -0,0 +1,30 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, catkin, class-loader, moveit-core, moveit-ros-planning, orocos-kdl, pluginlib, trajectory-msgs }:
+buildRosPackage {
+  pname = "ros-noetic-industrial-trajectory-filters";
+  version = "0.7.2-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ros-industrial-release/industrial_core-release/archive/release/noetic/industrial_trajectory_filters/0.7.2-1.tar.gz";
+    name = "0.7.2-1.tar.gz";
+    sha256 = "d4718f6eec2f53f7870a2c873e3d70e40416f30fcb96cdc116c4f5714a2b2e2e";
+  };
+
+  buildType = "catkin";
+  propagatedBuildInputs = [ class-loader moveit-core moveit-ros-planning orocos-kdl pluginlib trajectory-msgs ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''<p>
+     ROS Industrial libraries/plugins for filtering trajectories.
+   </p>
+   <p>
+     This package is part of the ROS Industrial program and contains libraries
+     and moveit plugins for filtering robot trajectories.
+   </p>'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/noetic/industrial-utils/default.nix b/distros/noetic/industrial-utils/default.nix
new file mode 100644
index 0000000000..2854951c0c
--- /dev/null
+++ b/distros/noetic/industrial-utils/default.nix
@@ -0,0 +1,25 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, catkin, roscpp, rosunit, urdf }:
+buildRosPackage {
+  pname = "ros-noetic-industrial-utils";
+  version = "0.7.2-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ros-industrial-release/industrial_core-release/archive/release/noetic/industrial_utils/0.7.2-1.tar.gz";
+    name = "0.7.2-1.tar.gz";
+    sha256 = "1965c307f351ec1c4df257c92e7d36c6937f2a4b8f279c10155f5bc3cd66308b";
+  };
+
+  buildType = "catkin";
+  checkInputs = [ rosunit ];
+  propagatedBuildInputs = [ roscpp urdf ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''Industrial utils is a library package that captures common funcitonality for the ROS-Industrial distribution.'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/noetic/joint-qualification-controllers/default.nix b/distros/noetic/joint-qualification-controllers/default.nix
new file mode 100644
index 0000000000..c096d3b16b
--- /dev/null
+++ b/distros/noetic/joint-qualification-controllers/default.nix
@@ -0,0 +1,25 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, catkin, control-toolbox, message-generation, message-runtime, pluginlib, pr2-controller-interface, pr2-hardware-interface, pr2-mechanism-model, realtime-tools, robot-mechanism-controllers, roscpp, sensor-msgs, std-msgs, urdf }:
+buildRosPackage {
+  pname = "ros-noetic-joint-qualification-controllers";
+  version = "1.0.15-r1";
+
+  src = fetchurl {
+    url = "https://github.com/pr2-gbp/pr2_self_test-release/archive/release/noetic/joint_qualification_controllers/1.0.15-1.tar.gz";
+    name = "1.0.15-1.tar.gz";
+    sha256 = "6f558ae2bd912625a0ca5f95bee94b25369793e70bcaebe6dbff1ed735349479";
+  };
+
+  buildType = "catkin";
+  buildInputs = [ message-generation ];
+  propagatedBuildInputs = [ control-toolbox message-runtime pluginlib pr2-controller-interface pr2-hardware-interface pr2-mechanism-model realtime-tools robot-mechanism-controllers roscpp sensor-msgs std-msgs urdf ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''Controllers used in PR2 hardware testing. For testing counterbalance of PR2, and for internal WG use.'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/noetic/librealsense2/default.nix b/distros/noetic/librealsense2/default.nix
index ef4bf2013e..9e8f82ddec 100644
--- a/distros/noetic/librealsense2/default.nix
+++ b/distros/noetic/librealsense2/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, libusb1, openssl, pkg-config, udev }:
 buildRosPackage {
   pname = "ros-noetic-librealsense2";
-  version = "2.45.0-r1";
+  version = "2.48.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/IntelRealSense/librealsense2-release/archive/release/noetic/librealsense2/2.45.0-1.tar.gz";
-    name = "2.45.0-1.tar.gz";
-    sha256 = "431ba3109e26e9fcf8ea32d2fe7b302e59a42304783dfa8dd29eb5c394e1bbf9";
+    url = "https://github.com/IntelRealSense/librealsense2-release/archive/release/noetic/librealsense2/2.48.0-1.tar.gz";
+    name = "2.48.0-1.tar.gz";
+    sha256 = "bce0dfe9b6fb802f781aa8f284eb44fb8519dcbed4622564429dbb50f6ed5565";
   };
 
   buildType = "cmake";
diff --git a/distros/noetic/open-manipulator-gazebo/default.nix b/distros/noetic/open-manipulator-gazebo/default.nix
new file mode 100644
index 0000000000..0d7891ad9d
--- /dev/null
+++ b/distros/noetic/open-manipulator-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, controller-manager, gazebo-ros, gazebo-ros-control, roscpp, std-msgs, urdf, xacro }:
+buildRosPackage {
+  pname = "ros-noetic-open-manipulator-gazebo";
+  version = "1.1.1-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ROBOTIS-GIT-release/open_manipulator_simulations-release/archive/release/noetic/open_manipulator_gazebo/1.1.1-1.tar.gz";
+    name = "1.1.1-1.tar.gz";
+    sha256 = "997691727a0925b8ec1f3fc0cd8d67a2eb5c5ee18b4fc8d15cc5941d6ec026b8";
+  };
+
+  buildType = "catkin";
+  propagatedBuildInputs = [ controller-manager gazebo-ros gazebo-ros-control roscpp std-msgs urdf xacro ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''Gazebo configurations package for OpenManipulator'';
+    license = with lib.licenses; [ asl20 ];
+  };
+}
diff --git a/distros/noetic/open-manipulator-msgs/default.nix b/distros/noetic/open-manipulator-msgs/default.nix
new file mode 100644
index 0000000000..5742c7833d
--- /dev/null
+++ b/distros/noetic/open-manipulator-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, geometry-msgs, message-generation, message-runtime, std-msgs }:
+buildRosPackage {
+  pname = "ros-noetic-open-manipulator-msgs";
+  version = "1.0.1-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ROBOTIS-GIT-release/open_manipulator_msgs-release/archive/release/noetic/open_manipulator_msgs/1.0.1-1.tar.gz";
+    name = "1.0.1-1.tar.gz";
+    sha256 = "39423343c47cc249fdae4bb7588fc7c6689f49c1374c84e846e7603ea4a09cb3";
+  };
+
+  buildType = "catkin";
+  buildInputs = [ message-generation ];
+  propagatedBuildInputs = [ geometry-msgs message-runtime std-msgs ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''Messages and services package for OpenManipulator to send information about state or pose'';
+    license = with lib.licenses; [ asl20 ];
+  };
+}
diff --git a/distros/noetic/open-manipulator-p-gazebo/default.nix b/distros/noetic/open-manipulator-p-gazebo/default.nix
new file mode 100644
index 0000000000..5b24f3ff69
--- /dev/null
+++ b/distros/noetic/open-manipulator-p-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, controller-manager, gazebo-ros, gazebo-ros-control, roscpp, std-msgs, urdf, xacro }:
+buildRosPackage {
+  pname = "ros-noetic-open-manipulator-p-gazebo";
+  version = "1.0.1-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ROBOTIS-GIT-release/open_manipulator_p_simulations-release/archive/release/noetic/open_manipulator_p_gazebo/1.0.1-1.tar.gz";
+    name = "1.0.1-1.tar.gz";
+    sha256 = "3acbf35cfbf201c8008cea6a70e4444a03c8f0f12bbae911a5f601cee074a62e";
+  };
+
+  buildType = "catkin";
+  propagatedBuildInputs = [ controller-manager gazebo-ros gazebo-ros-control roscpp std-msgs urdf xacro ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''Package for OpenMANIPULATOR-P Gazebo'';
+    license = with lib.licenses; [ asl20 ];
+  };
+}
diff --git a/distros/noetic/open-manipulator-p-simulations/default.nix b/distros/noetic/open-manipulator-p-simulations/default.nix
new file mode 100644
index 0000000000..ab1c8f4c19
--- /dev/null
+++ b/distros/noetic/open-manipulator-p-simulations/default.nix
@@ -0,0 +1,24 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, catkin, open-manipulator-p-gazebo }:
+buildRosPackage {
+  pname = "ros-noetic-open-manipulator-p-simulations";
+  version = "1.0.1-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ROBOTIS-GIT-release/open_manipulator_p_simulations-release/archive/release/noetic/open_manipulator_p_simulations/1.0.1-1.tar.gz";
+    name = "1.0.1-1.tar.gz";
+    sha256 = "6fb11bddc91d991ff81ee705f6ff757641d93eb76343c0ba16e7f176c01b646f";
+  };
+
+  buildType = "catkin";
+  propagatedBuildInputs = [ open-manipulator-p-gazebo ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''Metapackage for OpenMANIPULATOR-P Simulations'';
+    license = with lib.licenses; [ asl20 ];
+  };
+}
diff --git a/distros/noetic/open-manipulator-simulations/default.nix b/distros/noetic/open-manipulator-simulations/default.nix
new file mode 100644
index 0000000000..10694fa254
--- /dev/null
+++ b/distros/noetic/open-manipulator-simulations/default.nix
@@ -0,0 +1,24 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, catkin, open-manipulator-gazebo }:
+buildRosPackage {
+  pname = "ros-noetic-open-manipulator-simulations";
+  version = "1.1.1-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ROBOTIS-GIT-release/open_manipulator_simulations-release/archive/release/noetic/open_manipulator_simulations/1.1.1-1.tar.gz";
+    name = "1.1.1-1.tar.gz";
+    sha256 = "9d62659b5995a91a4a901e782358bc91c94a237a8c800bdece2cb8a1b8e9a391";
+  };
+
+  buildType = "catkin";
+  propagatedBuildInputs = [ open-manipulator-gazebo ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''Simulation packages for OpenManipulator'';
+    license = with lib.licenses; [ asl20 ];
+  };
+}
diff --git a/distros/noetic/pr2-bringup-tests/default.nix b/distros/noetic/pr2-bringup-tests/default.nix
new file mode 100644
index 0000000000..46cb110c1f
--- /dev/null
+++ b/distros/noetic/pr2-bringup-tests/default.nix
@@ -0,0 +1,24 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, camera-calibration, catkin, ethercat-trigger-controllers, image-view, pr2-bringup, pr2-controller-manager, pr2-mannequin-mode }:
+buildRosPackage {
+  pname = "ros-noetic-pr2-bringup-tests";
+  version = "1.0.15-r1";
+
+  src = fetchurl {
+    url = "https://github.com/pr2-gbp/pr2_self_test-release/archive/release/noetic/pr2_bringup_tests/1.0.15-1.tar.gz";
+    name = "1.0.15-1.tar.gz";
+    sha256 = "26850da2346f6960f636510790236c6e1942ccfe83bd4e643d33cc2abe8df1a2";
+  };
+
+  buildType = "catkin";
+  propagatedBuildInputs = [ camera-calibration ethercat-trigger-controllers image-view pr2-bringup pr2-controller-manager pr2-mannequin-mode ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''Complete functionality tests for PR2. Contains utilities designed to test and verify devices, mechanicals and sensors.'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/noetic/pr2-counterbalance-check/default.nix b/distros/noetic/pr2-counterbalance-check/default.nix
new file mode 100644
index 0000000000..1441521827
--- /dev/null
+++ b/distros/noetic/pr2-counterbalance-check/default.nix
@@ -0,0 +1,26 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, actionlib, catkin, joint-qualification-controllers, pr2-controller-configuration, pr2-controller-manager, pr2-controllers-msgs, pr2-self-test-msgs, rospy, rostest, rosunit, std-msgs }:
+buildRosPackage {
+  pname = "ros-noetic-pr2-counterbalance-check";
+  version = "1.0.15-r1";
+
+  src = fetchurl {
+    url = "https://github.com/pr2-gbp/pr2_self_test-release/archive/release/noetic/pr2_counterbalance_check/1.0.15-1.tar.gz";
+    name = "1.0.15-1.tar.gz";
+    sha256 = "fd86f761e8d28ef9a7d5c3633926747fde4c7050758377595afac6914ef4ad92";
+  };
+
+  buildType = "catkin";
+  buildInputs = [ rostest ];
+  checkInputs = [ rosunit ];
+  propagatedBuildInputs = [ actionlib joint-qualification-controllers pr2-controller-configuration pr2-controller-manager pr2-controllers-msgs pr2-self-test-msgs rospy std-msgs ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''pr2_counterbalance_check'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/noetic/pr2-motor-diagnostic-tool/default.nix b/distros/noetic/pr2-motor-diagnostic-tool/default.nix
new file mode 100644
index 0000000000..85438bd55d
--- /dev/null
+++ b/distros/noetic/pr2-motor-diagnostic-tool/default.nix
@@ -0,0 +1,24 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, catkin, ethercat-hardware, pluginlib, pr2-controller-interface, pr2-mechanism-model, pr2-mechanism-msgs, rospy, rqt-gui, rqt-gui-py }:
+buildRosPackage {
+  pname = "ros-noetic-pr2-motor-diagnostic-tool";
+  version = "1.0.15-r1";
+
+  src = fetchurl {
+    url = "https://github.com/pr2-gbp/pr2_self_test-release/archive/release/noetic/pr2_motor_diagnostic_tool/1.0.15-1.tar.gz";
+    name = "1.0.15-1.tar.gz";
+    sha256 = "b0e0b0abde21ceeda34af122c65c952245a9bc99ecbff3477579504163828801";
+  };
+
+  buildType = "catkin";
+  propagatedBuildInputs = [ ethercat-hardware pluginlib pr2-controller-interface pr2-mechanism-model pr2-mechanism-msgs rospy rqt-gui rqt-gui-py ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''pr2_motor_diagnostic_tool'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/noetic/pr2-self-test-msgs/default.nix b/distros/noetic/pr2-self-test-msgs/default.nix
new file mode 100644
index 0000000000..2b381b3208
--- /dev/null
+++ b/distros/noetic/pr2-self-test-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 }:
+buildRosPackage {
+  pname = "ros-noetic-pr2-self-test-msgs";
+  version = "1.0.15-r1";
+
+  src = fetchurl {
+    url = "https://github.com/pr2-gbp/pr2_self_test-release/archive/release/noetic/pr2_self_test_msgs/1.0.15-1.tar.gz";
+    name = "1.0.15-1.tar.gz";
+    sha256 = "217d79de99304d31c78a25e12a11c81d85496dc3a15eb3c90edbdaae112e7cb9";
+  };
+
+  buildType = "catkin";
+  buildInputs = [ message-generation ];
+  propagatedBuildInputs = [ message-runtime ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''Messages used in PR2 hardware testing.'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/noetic/pr2-self-test/default.nix b/distros/noetic/pr2-self-test/default.nix
new file mode 100644
index 0000000000..443dfeb92e
--- /dev/null
+++ b/distros/noetic/pr2-self-test/default.nix
@@ -0,0 +1,24 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, catkin, joint-qualification-controllers, pr2-bringup-tests, pr2-counterbalance-check, pr2-self-test-msgs }:
+buildRosPackage {
+  pname = "ros-noetic-pr2-self-test";
+  version = "1.0.15-r1";
+
+  src = fetchurl {
+    url = "https://github.com/pr2-gbp/pr2_self_test-release/archive/release/noetic/pr2_self_test/1.0.15-1.tar.gz";
+    name = "1.0.15-1.tar.gz";
+    sha256 = "16c9ed1182dfb953d741b40605c53ae37e2f1d9fd81394f1a07131040105ee4e";
+  };
+
+  buildType = "catkin";
+  propagatedBuildInputs = [ joint-qualification-controllers pr2-bringup-tests pr2-counterbalance-check pr2-self-test-msgs ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''The pr2_self_test package'';
+    license = with lib.licenses; [ "TODO" ];
+  };
+}
diff --git a/distros/noetic/psen-scan-v2/default.nix b/distros/noetic/psen-scan-v2/default.nix
index e598428223..d21b312014 100644
--- a/distros/noetic/psen-scan-v2/default.nix
+++ b/distros/noetic/psen-scan-v2/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, code-coverage, fmt, pilz-testutils, robot-state-publisher, rosbag, rosconsole-bridge, roscpp, roslaunch, rostest, rosunit, rviz, sensor-msgs, xacro }:
 buildRosPackage {
   pname = "ros-noetic-psen-scan-v2";
-  version = "0.2.1-r1";
+  version = "0.3.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/PilzDE/psen_scan_v2-release/archive/release/noetic/psen_scan_v2/0.2.1-1.tar.gz";
-    name = "0.2.1-1.tar.gz";
-    sha256 = "343b3172dc3f13850934ccc30ce81e0e7d71c6d4466346f822df87f1856a3026";
+    url = "https://github.com/PilzDE/psen_scan_v2-release/archive/release/noetic/psen_scan_v2/0.3.0-1.tar.gz";
+    name = "0.3.0-1.tar.gz";
+    sha256 = "0a5414452789d498da939b00605d3eba9c81fdc327bacbce4bae31a681e73538";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/realsense2-camera/default.nix b/distros/noetic/realsense2-camera/default.nix
index 5f8cbe7ee2..081fbb2ea9 100644
--- a/distros/noetic/realsense2-camera/default.nix
+++ b/distros/noetic/realsense2-camera/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, cv-bridge, ddynamic-reconfigure, diagnostic-updater, eigen, genmsg, image-transport, librealsense2, message-runtime, nav-msgs, nodelet, roscpp, sensor-msgs, std-msgs, std-srvs, tf }:
 buildRosPackage {
   pname = "ros-noetic-realsense2-camera";
-  version = "2.3.0-r1";
+  version = "2.3.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/IntelRealSense/realsense-ros-release/archive/release/noetic/realsense2_camera/2.3.0-1.tar.gz";
-    name = "2.3.0-1.tar.gz";
-    sha256 = "2653644627753fb74647c9b6a48ff9f59690e63a709fdffcde1acb97c8c88155";
+    url = "https://github.com/IntelRealSense/realsense-ros-release/archive/release/noetic/realsense2_camera/2.3.1-1.tar.gz";
+    name = "2.3.1-1.tar.gz";
+    sha256 = "7a03daf61c66952736ae82144cc88d354ba7a1883b7b59091db5e4cff0bad2fb";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/realsense2-description/default.nix b/distros/noetic/realsense2-description/default.nix
index f0b213c23f..4cee09ecb5 100644
--- a/distros/noetic/realsense2-description/default.nix
+++ b/distros/noetic/realsense2-description/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, rosunit, xacro }:
 buildRosPackage {
   pname = "ros-noetic-realsense2-description";
-  version = "2.3.0-r1";
+  version = "2.3.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/IntelRealSense/realsense-ros-release/archive/release/noetic/realsense2_description/2.3.0-1.tar.gz";
-    name = "2.3.0-1.tar.gz";
-    sha256 = "eae4d4966849bb5cae78b4fa802085e514a399ffb8232fed5f7cebb17788a4e5";
+    url = "https://github.com/IntelRealSense/realsense-ros-release/archive/release/noetic/realsense2_description/2.3.1-1.tar.gz";
+    name = "2.3.1-1.tar.gz";
+    sha256 = "c986f289f83fca204f50e85d2d33f3a2784e5267c8f5aa07bf2b547b1265e8be";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/robotis-manipulator/default.nix b/distros/noetic/robotis-manipulator/default.nix
new file mode 100644
index 0000000000..5dde06c614
--- /dev/null
+++ b/distros/noetic/robotis-manipulator/default.nix
@@ -0,0 +1,24 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, catkin, cmake-modules, eigen, roscpp }:
+buildRosPackage {
+  pname = "ros-noetic-robotis-manipulator";
+  version = "1.1.1-r2";
+
+  src = fetchurl {
+    url = "https://github.com/ROBOTIS-GIT-release/robotis_manipulator-release/archive/release/noetic/robotis_manipulator/1.1.1-2.tar.gz";
+    name = "1.1.1-2.tar.gz";
+    sha256 = "d768b0269636ce2e41c6b4dce982eee5d2363abde6f5172fbadcd8e3f39a7b29";
+  };
+
+  buildType = "catkin";
+  propagatedBuildInputs = [ cmake-modules eigen roscpp ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''This package contains the manipulation API and functions for controlling the manipulator.'';
+    license = with lib.licenses; [ asl20 ];
+  };
+}
diff --git a/distros/noetic/rokubimini-bus-manager/default.nix b/distros/noetic/rokubimini-bus-manager/default.nix
index bebd62a14f..b8ce50ec45 100644
--- a/distros/noetic/rokubimini-bus-manager/default.nix
+++ b/distros/noetic/rokubimini-bus-manager/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, bota-node, catkin, rokubimini }:
 buildRosPackage {
   pname = "ros-noetic-rokubimini-bus-manager";
-  version = "0.6.0-r2";
+  version = "0.6.0-r3";
 
   src = fetchurl {
-    url = "https://gitlab.com/botasys/bota_driver-release/-/archive/release/noetic/rokubimini_bus_manager/0.6.0-2/bota_driver-release-release-noetic-rokubimini_bus_manager-0.6.0-2.tar.gz";
-    name = "bota_driver-release-release-noetic-rokubimini_bus_manager-0.6.0-2.tar.gz";
-    sha256 = "7c4b930f7ec8d897d92a7a758d9577f448197a4bf4232685acb8366cc53fe35c";
+    url = "https://gitlab.com/botasys/bota_driver-release/-/archive/release/noetic/rokubimini_bus_manager/0.6.0-3/bota_driver-release-release-noetic-rokubimini_bus_manager-0.6.0-3.tar.gz";
+    name = "bota_driver-release-release-noetic-rokubimini_bus_manager-0.6.0-3.tar.gz";
+    sha256 = "05103139bc34325a0b3cfb2eb67e9730d49ed74da51fd9d8ffd271dfacb88df1";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/rokubimini-description/default.nix b/distros/noetic/rokubimini-description/default.nix
index 1f031f9435..296a3025c4 100644
--- a/distros/noetic/rokubimini-description/default.nix
+++ b/distros/noetic/rokubimini-description/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, sensor-msgs, std-msgs, xacro }:
 buildRosPackage {
   pname = "ros-noetic-rokubimini-description";
-  version = "0.6.0-r2";
+  version = "0.6.0-r3";
 
   src = fetchurl {
-    url = "https://gitlab.com/botasys/bota_driver-release/-/archive/release/noetic/rokubimini_description/0.6.0-2/bota_driver-release-release-noetic-rokubimini_description-0.6.0-2.tar.gz";
-    name = "bota_driver-release-release-noetic-rokubimini_description-0.6.0-2.tar.gz";
-    sha256 = "79460eacaf87f24a5d566e5bb3b8365b1fbbcc57767a6410884078240643eb29";
+    url = "https://gitlab.com/botasys/bota_driver-release/-/archive/release/noetic/rokubimini_description/0.6.0-3/bota_driver-release-release-noetic-rokubimini_description-0.6.0-3.tar.gz";
+    name = "bota_driver-release-release-noetic-rokubimini_description-0.6.0-3.tar.gz";
+    sha256 = "da529a6ebdaee1693d151b3b60566d2cd69a5fbfdd0bc76c4c089d5a11acee34";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/rokubimini-ethercat/default.nix b/distros/noetic/rokubimini-ethercat/default.nix
index 2f91bb8188..ebf85b0721 100644
--- a/distros/noetic/rokubimini-ethercat/default.nix
+++ b/distros/noetic/rokubimini-ethercat/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, rokubimini, rokubimini-bus-manager, rokubimini-msgs, soem }:
 buildRosPackage {
   pname = "ros-noetic-rokubimini-ethercat";
-  version = "0.6.0-r2";
+  version = "0.6.0-r3";
 
   src = fetchurl {
-    url = "https://gitlab.com/botasys/bota_driver-release/-/archive/release/noetic/rokubimini_ethercat/0.6.0-2/bota_driver-release-release-noetic-rokubimini_ethercat-0.6.0-2.tar.gz";
-    name = "bota_driver-release-release-noetic-rokubimini_ethercat-0.6.0-2.tar.gz";
-    sha256 = "b321c08a896b365d165b5cd288f5a502aca53bcf9e1a6ea7709a9e52a5ba51e9";
+    url = "https://gitlab.com/botasys/bota_driver-release/-/archive/release/noetic/rokubimini_ethercat/0.6.0-3/bota_driver-release-release-noetic-rokubimini_ethercat-0.6.0-3.tar.gz";
+    name = "bota_driver-release-release-noetic-rokubimini_ethercat-0.6.0-3.tar.gz";
+    sha256 = "d92e8223000be4d87f5be597201f7f9f574492ea417f41186f8b6469d82ec18b";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/rokubimini-msgs/default.nix b/distros/noetic/rokubimini-msgs/default.nix
index ee044e9445..501a62c15a 100644
--- a/distros/noetic/rokubimini-msgs/default.nix
+++ b/distros/noetic/rokubimini-msgs/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, geometry-msgs, message-generation, message-runtime, sensor-msgs, std-msgs }:
 buildRosPackage {
   pname = "ros-noetic-rokubimini-msgs";
-  version = "0.6.0-r2";
+  version = "0.6.0-r3";
 
   src = fetchurl {
-    url = "https://gitlab.com/botasys/bota_driver-release/-/archive/release/noetic/rokubimini_msgs/0.6.0-2/bota_driver-release-release-noetic-rokubimini_msgs-0.6.0-2.tar.gz";
-    name = "bota_driver-release-release-noetic-rokubimini_msgs-0.6.0-2.tar.gz";
-    sha256 = "1bc8689f8c7c8d3019a7440eafd4a855e90cb8d3332aa920c1be4238f34ca0d3";
+    url = "https://gitlab.com/botasys/bota_driver-release/-/archive/release/noetic/rokubimini_msgs/0.6.0-3/bota_driver-release-release-noetic-rokubimini_msgs-0.6.0-3.tar.gz";
+    name = "bota_driver-release-release-noetic-rokubimini_msgs-0.6.0-3.tar.gz";
+    sha256 = "506e071f627848773cd93981e1a6f13f807e83920af9125d3f03eeb874ce3f9c";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/rokubimini-serial/default.nix b/distros/noetic/rokubimini-serial/default.nix
index 3bca00bec6..580934c452 100644
--- a/distros/noetic/rokubimini-serial/default.nix
+++ b/distros/noetic/rokubimini-serial/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, avrdude, catkin, rokubimini, rokubimini-bus-manager, rokubimini-msgs }:
 buildRosPackage {
   pname = "ros-noetic-rokubimini-serial";
-  version = "0.6.0-r2";
+  version = "0.6.0-r3";
 
   src = fetchurl {
-    url = "https://gitlab.com/botasys/bota_driver-release/-/archive/release/noetic/rokubimini_serial/0.6.0-2/bota_driver-release-release-noetic-rokubimini_serial-0.6.0-2.tar.gz";
-    name = "bota_driver-release-release-noetic-rokubimini_serial-0.6.0-2.tar.gz";
-    sha256 = "d696a91e061d068923f479437569b4cf007b51f0c2dad69157e3ec7cd01c76c7";
+    url = "https://gitlab.com/botasys/bota_driver-release/-/archive/release/noetic/rokubimini_serial/0.6.0-3/bota_driver-release-release-noetic-rokubimini_serial-0.6.0-3.tar.gz";
+    name = "bota_driver-release-release-noetic-rokubimini_serial-0.6.0-3.tar.gz";
+    sha256 = "aad86d31c9a93561c5ba70db388b52aa4bf54661002b866a1f36380b02b984cc";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/rokubimini/default.nix b/distros/noetic/rokubimini/default.nix
index dfddb3dae1..7183875baa 100644
--- a/distros/noetic/rokubimini/default.nix
+++ b/distros/noetic/rokubimini/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, eigen, geometry-msgs, gtest, roscpp, rosunit, sensor-msgs }:
 buildRosPackage {
   pname = "ros-noetic-rokubimini";
-  version = "0.6.0-r2";
+  version = "0.6.0-r3";
 
   src = fetchurl {
-    url = "https://gitlab.com/botasys/bota_driver-release/-/archive/release/noetic/rokubimini/0.6.0-2/bota_driver-release-release-noetic-rokubimini-0.6.0-2.tar.gz";
-    name = "bota_driver-release-release-noetic-rokubimini-0.6.0-2.tar.gz";
-    sha256 = "0f7e2f207c1d8f139811338f3ccb637338bac932635e4f0be1151f7577c7a502";
+    url = "https://gitlab.com/botasys/bota_driver-release/-/archive/release/noetic/rokubimini/0.6.0-3/bota_driver-release-release-noetic-rokubimini-0.6.0-3.tar.gz";
+    name = "bota_driver-release-release-noetic-rokubimini-0.6.0-3.tar.gz";
+    sha256 = "e18f529bf993ec5cad60b8488a38aa38cd8a9924c4d0c2cc5641048503665986";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/simple-message/default.nix b/distros/noetic/simple-message/default.nix
new file mode 100644
index 0000000000..dc29a4d1ed
--- /dev/null
+++ b/distros/noetic/simple-message/default.nix
@@ -0,0 +1,28 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, catkin, industrial-msgs, roscpp, rosunit }:
+buildRosPackage {
+  pname = "ros-noetic-simple-message";
+  version = "0.7.2-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ros-industrial-release/industrial_core-release/archive/release/noetic/simple_message/0.7.2-1.tar.gz";
+    name = "0.7.2-1.tar.gz";
+    sha256 = "fc93caccf7044efa6ece2d0bddc9b12d067b3cfee6ed63560a3635aae887829f";
+  };
+
+  buildType = "catkin";
+  checkInputs = [ rosunit ];
+  propagatedBuildInputs = [ industrial-msgs roscpp ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''simple_message defines a simple messaging connection and protocol for communicating 
+	with an industrial robot controller.  Additional handler and manager classes are 
+	included for handling connection limited systems.  This package is part of the ROS-Industrial 
+	program.'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/noetic/thunder-line-follower-pmr3100/default.nix b/distros/noetic/thunder-line-follower-pmr3100/default.nix
new file mode 100644
index 0000000000..1f25043de5
--- /dev/null
+++ b/distros/noetic/thunder-line-follower-pmr3100/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, gazebo, gazebo-plugins, gazebo-ros, geometry-msgs, joint-state-publisher, pythonPackages, robot-state-publisher, roscpp, roslaunch, rospy, velocity-controllers, xacro }:
+buildRosPackage {
+  pname = "ros-noetic-thunder-line-follower-pmr3100";
+  version = "0.1.1-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ThundeRatz/thunder_line_follower_pmr3100-release/archive/release/noetic/thunder_line_follower_pmr3100/0.1.1-1.tar.gz";
+    name = "0.1.1-1.tar.gz";
+    sha256 = "56789b16ded81ee822de841792ecb2d3271008642660ad77580d8de9d088760a";
+  };
+
+  buildType = "catkin";
+  propagatedBuildInputs = [ controller-manager gazebo gazebo-plugins gazebo-ros geometry-msgs joint-state-publisher pythonPackages.pygame robot-state-publisher roscpp roslaunch rospy velocity-controllers xacro ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''<p>Simulation environment for a line follower development</p>
+    <p>Created for the discipline PMR3100 - Intro to Mechatronics from Poli-USP</p>'';
+    license = with lib.licenses; [ mit ];
+  };
+}
diff --git a/distros/noetic/volta-base/default.nix b/distros/noetic/volta-base/default.nix
new file mode 100644
index 0000000000..85e24eeecd
--- /dev/null
+++ b/distros/noetic/volta-base/default.nix
@@ -0,0 +1,23 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, catkin }:
+buildRosPackage {
+  pname = "ros-noetic-volta-base";
+  version = "1.2.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/botsync-gbp/volta-release/archive/release/noetic/volta_base/1.2.0-1.tar.gz";
+    name = "1.2.0-1.tar.gz";
+    sha256 = "f998233bf5ce9413d482b454c939f5150200d9c18345f2b202645b354fc2bee9";
+  };
+
+  buildType = "catkin";
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''The volta_base package'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/noetic/volta-control/default.nix b/distros/noetic/volta-control/default.nix
new file mode 100644
index 0000000000..d2378edff9
--- /dev/null
+++ b/distros/noetic/volta-control/default.nix
@@ -0,0 +1,24 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, catkin, controller-manager, diff-drive-controller, joint-state-controller, twist-mux }:
+buildRosPackage {
+  pname = "ros-noetic-volta-control";
+  version = "1.2.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/botsync-gbp/volta-release/archive/release/noetic/volta_control/1.2.0-1.tar.gz";
+    name = "1.2.0-1.tar.gz";
+    sha256 = "9a306c8e0223a09f8e40133929368358859632f9e1bc163f3c2ba9b5682dc374";
+  };
+
+  buildType = "catkin";
+  propagatedBuildInputs = [ controller-manager diff-drive-controller joint-state-controller twist-mux ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''The volta_control package'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/noetic/volta-description/default.nix b/distros/noetic/volta-description/default.nix
new file mode 100644
index 0000000000..6d4ff79fe4
--- /dev/null
+++ b/distros/noetic/volta-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, roscpp, rospy, std-msgs }:
+buildRosPackage {
+  pname = "ros-noetic-volta-description";
+  version = "1.2.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/botsync-gbp/volta-release/archive/release/noetic/volta_description/1.2.0-1.tar.gz";
+    name = "1.2.0-1.tar.gz";
+    sha256 = "43d343a5bdb749a9652a37a2c33b05948199ecddff189420a2bff5478a9b685c";
+  };
+
+  buildType = "catkin";
+  propagatedBuildInputs = [ roscpp rospy std-msgs ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''The volta_description package'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/noetic/volta-localization/default.nix b/distros/noetic/volta-localization/default.nix
new file mode 100644
index 0000000000..104835548a
--- /dev/null
+++ b/distros/noetic/volta-localization/default.nix
@@ -0,0 +1,24 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, catkin, robot-localization }:
+buildRosPackage {
+  pname = "ros-noetic-volta-localization";
+  version = "1.2.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/botsync-gbp/volta-release/archive/release/noetic/volta_localization/1.2.0-1.tar.gz";
+    name = "1.2.0-1.tar.gz";
+    sha256 = "b8bbe97255fb5b6bca58879cb9edc7921309051792bce9c2dc35127cb6617263";
+  };
+
+  buildType = "catkin";
+  propagatedBuildInputs = [ robot-localization ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''The volta_localization package'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/noetic/volta-msgs/default.nix b/distros/noetic/volta-msgs/default.nix
new file mode 100644
index 0000000000..dddb0230bf
--- /dev/null
+++ b/distros/noetic/volta-msgs/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, std-msgs }:
+buildRosPackage {
+  pname = "ros-noetic-volta-msgs";
+  version = "1.2.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/botsync-gbp/volta-release/archive/release/noetic/volta_msgs/1.2.0-1.tar.gz";
+    name = "1.2.0-1.tar.gz";
+    sha256 = "33c96cedf001dac8cc8c39cf1a8939eadad9de0d4b500c8632dd457e42683bba";
+  };
+
+  buildType = "catkin";
+  propagatedBuildInputs = [ message-generation std-msgs ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''The volta_msgs package'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/noetic/volta-navigation/default.nix b/distros/noetic/volta-navigation/default.nix
new file mode 100644
index 0000000000..84f128cfaa
--- /dev/null
+++ b/distros/noetic/volta-navigation/default.nix
@@ -0,0 +1,24 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, amcl, catkin, dwa-local-planner, global-planner, gmapping, map-server, move-base }:
+buildRosPackage {
+  pname = "ros-noetic-volta-navigation";
+  version = "1.2.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/botsync-gbp/volta-release/archive/release/noetic/volta_navigation/1.2.0-1.tar.gz";
+    name = "1.2.0-1.tar.gz";
+    sha256 = "d42b673b3a6f6830b05c7e584ff4bd07a166784316544e0598797a46d42d3dd0";
+  };
+
+  buildType = "catkin";
+  propagatedBuildInputs = [ amcl dwa-local-planner global-planner gmapping map-server move-base ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''The volta_navigation package'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/noetic/volta-rules/default.nix b/distros/noetic/volta-rules/default.nix
new file mode 100644
index 0000000000..255f7bbc96
--- /dev/null
+++ b/distros/noetic/volta-rules/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 }:
+buildRosPackage {
+  pname = "ros-noetic-volta-rules";
+  version = "1.2.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/botsync-gbp/volta-release/archive/release/noetic/volta_rules/1.2.0-1.tar.gz";
+    name = "1.2.0-1.tar.gz";
+    sha256 = "f43412c9f11c1bfe36166b924c6a82751da164299b69bf254a5b7dcd9da5160c";
+  };
+
+  buildType = "catkin";
+  propagatedBuildInputs = [ python3Packages.pyusb ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''The volta_rules package'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/noetic/volta-teleoperator/default.nix b/distros/noetic/volta-teleoperator/default.nix
new file mode 100644
index 0000000000..71b15a0290
--- /dev/null
+++ b/distros/noetic/volta-teleoperator/default.nix
@@ -0,0 +1,24 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, actionlib-msgs, catkin, geometry-msgs, sensor-msgs, teleop-twist-joy, teleop-twist-keyboard, volta-msgs }:
+buildRosPackage {
+  pname = "ros-noetic-volta-teleoperator";
+  version = "1.2.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/botsync-gbp/volta-release/archive/release/noetic/volta_teleoperator/1.2.0-1.tar.gz";
+    name = "1.2.0-1.tar.gz";
+    sha256 = "a3714334e6d6694ea0af0a5c4d41adb229a27be19b38579f52fa6703228e6110";
+  };
+
+  buildType = "catkin";
+  propagatedBuildInputs = [ actionlib-msgs geometry-msgs sensor-msgs teleop-twist-joy teleop-twist-keyboard volta-msgs ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''The volta_teleoperator package'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}