17 files changed, 1943 insertions, 0 deletions

diff --git a/math/Makefile b/math/Makefile
index 3c5a60f79973..11b7fcb570f3 100644
--- a/math/Makefile
+++ b/math/Makefile
@@ -96,6 +96,7 @@
     SUBDIR += gdcalc
     SUBDIR += geg
     SUBDIR += geogebra-i18n
+    SUBDIR += geometry
     SUBDIR += geonext
     SUBDIR += gexpr
     SUBDIR += ggobi
diff --git a/math/geometry/Makefile b/math/geometry/Makefile
new file mode 100644
index 000000000000..c45a2c772db4
--- /dev/null
+++ b/math/geometry/Makefile
@@ -0,0 +1,109 @@
+# New ports collection makefile for: geometry
+# Date created:	2010-11-22
+# Whom: Rene Ladan <rene@FreeBSD.org>
+#
+# $FreeBSD$
+
+PORTNAME=	geometry
+PORTVERSION=	1.2.0
+CATEGORIES=	math
+MASTER_SITES=	ftp://rene-ladan.nl/pub/distfiles/ros/
+DISTFILES=	geometry-${PORTVERSION}.tar.bz2 bullet-2.76-patched2.tar.gz \
+		eigen2-2.0.15.tar.bz2 kdl-31715.tar.gz
+DIST_SUBDIR=	ros
+EXTRACT_ONLY=	geometry-${PORTVERSION}.tar.bz2
+
+MAINTAINER=	rene@FreeBSD.org
+COMMENT=	Robot Operating System - geometric and math libraries
+
+#LICENSE_COMB=	multi
+#LICENSE=	BSD LGPL* Zlib # which LGPL and Zlib not defined yet
+
+WRKSRC=		${WRKDIR}/${PORTNAME}
+
+BUILD_DEPENDS=	rosmake:${PORTSDIR}/devel/ros \
+		${LOCALBASE}/ros/stacks/common_msgs/stack.xml:${PORTSDIR}/devel/common_msgs \
+		chrpath:${PORTSDIR}/devel/chrpath \
+		${PYTHON_SITELIBDIR}/sipconfig.py:${PORTSDIR}/devel/py-sip
+RUN_DEPENDS=	roscore:${PORTSDIR}/devel/ros \
+		${LOCALBASE}/ros/stacks/common_msgs/stack.xml:${PORTSDIR}/devel/common_msgs
+USE_PYTHON=	yes
+USE_BZIP2=	yes
+USE_LDCONFIG=	yes
+
+# rosmake does its own threading
+MAKE_JOBS_UNSAFE=	yes
+
+CFLAGS+=	-I${LOCALBASE}/include
+MAKE_ENV+=	CPATH=${LOCALBASE}/include \
+		LIBRARY_PATH=${LOCALBASE}/lib \
+		MAKE=${LOCALBASE}/bin/gmake \
+		ROS_ROOT=${LOCALBASE}/ros/ros \
+		ROS_PACKAGE_PATH=${LOCALBASE}/ros/stacks/common_msgs:${WRKDIR} \
+		PYTHONPATH=${LOCALBASE}/ros/ros/core/roslib/src
+
+MAKE_ARGS=	-i --no-rosdep --status-rate=0 --disable-logging
+
+post-extract:
+# move 3rd-party distfiles into place
+	${MKDIR} ${WRKSRC}/bullet/build
+	${CP} ${_DISTDIR}/bullet-2.76-patched2.tar.gz ${WRKSRC}/bullet/build
+	${MKDIR} ${WRKSRC}/eigen/build
+	${CP} ${_DISTDIR}/eigen2-2.0.15.tar.bz2 ${WRKSRC}/eigen/build
+	${MKDIR} ${WRKSRC}/kdl/build
+	${CP} ${_DISTDIR}/kdl-31715.tar.gz ${WRKSRC}/kdl/build
+
+do-build:
+	(cd ${WRKSRC} ; ${MAKE_ENV} ${LOCALBASE}/bin/rosmake ${MAKE_ARGS})
+
+do-install:
+	${MKDIR} ${PREFIX}/ros/stacks/${PORTNAME}
+# update .pc file
+	${REINPLACE_CMD} -E -e "s|${WRKSRC}|${PREFIX}/ros/stacks/${PORTNAME}|" \
+	    ${WRKSRC}/kdl/lib/pkgconfig/orocos-kdl.pc
+	${INSTALL_DATA} ${WRKSRC}/kdl/lib/pkgconfig/orocos-kdl.pc ${PREFIX}/libdata/pkgconfig
+	${RM} ${WRKSRC}/kdl/lib/pkgconfig/orocos-kdl.pc
+# delete files explicitly because negation in find (for COPYTREE_SHARE) is bogus
+.for d in angles bullet eigen eigen_conversions kdl tf tf_conversions
+	${FIND} ${WRKSRC}/${d} -name build -type d -or -name \*.bak -type f \
+	    -or -name .svnignore -type f -or -name .cvsignore -type f \
+	    -or -name \*.orig | ${XARGS} ${RM} -rf
+	(cd ${WRKSRC} ; ${COPYTREE_SHARE} ${d} ${PREFIX}/ros/stacks/${PORTNAME})
+.endfor
+.for f in CMakeLists.txt Makefile stack.xml rosdep.yaml
+	${INSTALL_DATA} ${WRKSRC}/${f} ${PREFIX}/ros/stacks/${PORTNAME}
+.endfor
+
+# strip ELF programs and make them executable
+.for f in tf/bin/change_notifier tf/bin/static_transform_publisher \
+    tf/bin/tf_echo tf/bin/tf_monitor tf/test/btTest tf/test/testBroadcaster \
+    tf/test/testListener tf/test/transform_listener_unittest
+	${STRIP_CMD} ${PREFIX}/ros/stacks/${PORTNAME}/${f}
+	${LOCALBASE}/bin/chrpath -d ${PREFIX}/ros/stacks/${PORTNAME}/${f}
+	${CHMOD} 0555 ${PREFIX}/ros/stacks/${PORTNAME}/${f}
+.endfor
+# strip and move ELF libaries
+.for f in bullet/lib/libBulletCollision.so.2.76 \
+    bullet/lib/libBulletDynamics.so.2.76 bullet/lib/libBulletSoftBody.so.2.76 \
+    bullet/lib/libLinearMath.so.2.76 \
+    eigen_conversions/lib/libeigen_conversions.so \
+    kdl/lib/liborocos-kdl.so.1.0.99 kdl/lib/PyKDL.so tf/lib/_tf.so \
+    tf/lib/libtf.so tf_conversions/lib/libtf_conversions.so
+	${STRIP_CMD} ${PREFIX}/ros/stacks/${PORTNAME}/${f}
+	${LOCALBASE}/bin/chrpath -d ${PREFIX}/ros/stacks/${PORTNAME}/${f}
+	${MV} ${PREFIX}/ros/stacks/${PORTNAME}/${f} ${PREFIX}/lib
+.endfor
+# move symbolic links
+.for f in bullet/lib/libBulletCollision.so bullet/lib/libBulletDynamics.so \
+    bullet/lib/libBulletSoftBody.so bullet/lib/libLinearMath.so \
+    kdl/lib/liborocos-kdl.so kdl/lib/liborocos-kdl.so.1.0
+	${MV} ${PREFIX}/ros/stacks/${PORTNAME}/${f} ${PREFIX}/lib
+.endfor
+# make scripts executable
+.for f in tf/scripts/python_benchmark.py tf/scripts/reset_time.py \
+    tf/scripts/tf_remap tf/scripts/view_frames tf/src/tf/msg/_tfMessage.py \
+    tf/src/tf/srv/_FrameGraph.py tf/test/test_datatype_conversion.py
+	${CHMOD} 0555 ${PREFIX}/ros/stacks/${PORTNAME}/${f}
+.endfor
+
+.include <bsd.port.mk>
diff --git a/math/geometry/distinfo b/math/geometry/distinfo
new file mode 100644
index 000000000000..48e698b1193a
--- /dev/null
+++ b/math/geometry/distinfo
@@ -0,0 +1,8 @@
+SHA256 (ros/geometry-1.2.0.tar.bz2) = 624ad183efc4fdfd76f9e68a93aa9cea749f751165b66d33bc7a5aeb9652678d
+SIZE (ros/geometry-1.2.0.tar.bz2) = 158941
+SHA256 (ros/bullet-2.76-patched2.tar.gz) = 9b687e35e0ca6bc70ec10d24245469e2f667627c097ba1537618bfc34fe41518
+SIZE (ros/bullet-2.76-patched2.tar.gz) = 3519539
+SHA256 (ros/eigen2-2.0.15.tar.bz2) = e9f8991956c9ba60a6575382f6f69f6d8379f010bb9ff4a73d2c93173d8600a8
+SIZE (ros/eigen2-2.0.15.tar.bz2) = 367729
+SHA256 (ros/kdl-31715.tar.gz) = 4f6c1f2bef0c21840c3440b453fcd9d6d117ff8b7c28da52fe6f71f0b8431a48
+SIZE (ros/kdl-31715.tar.gz) = 230731
diff --git a/math/geometry/files/patch-bullet_CMakeLists.txt b/math/geometry/files/patch-bullet_CMakeLists.txt
new file mode 100644
index 000000000000..cba0e2802e70
--- /dev/null
+++ b/math/geometry/files/patch-bullet_CMakeLists.txt
@@ -0,0 +1,11 @@
+--- bullet/CMakeLists.txt.orig	2010-11-22 17:42:02.000000000 +0100
++++ bullet/CMakeLists.txt	2010-11-23 21:38:34.000000000 +0100
+@@ -8,7 +8,7 @@
+ MAKE_DIRECTORY(${PROJECT_SOURCE_DIR}/src/)
+ 
+ # Build Bullet
+-execute_process(COMMAND cmake -E chdir ${PROJECT_SOURCE_DIR} make -f Makefile.bullet
++execute_process(COMMAND cmake -E chdir ${PROJECT_SOURCE_DIR} gmake -f Makefile.bullet
+                 RESULT_VARIABLE _make_failed)
+ if(_make_failed)
+   message(FATAL_ERROR "Build of Bullet failed")
diff --git a/math/geometry/files/patch-bullet_Makefile.bullet b/math/geometry/files/patch-bullet_Makefile.bullet
new file mode 100644
index 000000000000..118d8f324544
--- /dev/null
+++ b/math/geometry/files/patch-bullet_Makefile.bullet
@@ -0,0 +1,70 @@
+--- bullet/Makefile.bullet.orig	2010-11-22 17:42:02.000000000 +0100
++++ bullet/Makefile.bullet	2010-11-24 14:12:05.000000000 +0100
+@@ -5,7 +5,6 @@
+ SVN_PATCH = deprecations.patch quaternion.patch demos.patch no_extras_build.patch getsetRPY.patch gimbal_lock.patch
+ SVN_REVISION=-r2038
+ 
+-include $(shell rospack find mk)/svn_checkout.mk
+ 
+ #TARBALL_NAME = bullet-svn$(SVN_REVISION)
+ TARBALL_NAME = bullet-2.76-patched2
+@@ -23,10 +22,10 @@
+ BULLET_TARGETS = LinearMath BulletCollision BulletDynamics BulletSoftBody
+ 
+ # Poor man's installation procedure setup
+-BULLET_LIBS = $(SOURCE_DIR)/src/BulletCollision/libBulletCollision.* \
+-              $(SOURCE_DIR)/src/BulletDynamics/libBulletDynamics.* \
+-              $(SOURCE_DIR)/src/LinearMath/libLinearMath.* \
+-              $(SOURCE_DIR)/src/BulletSoftBody/libBulletSoftBody.* 
++BULLET_LIBS = $(SOURCE_DIR)/src/BulletCollision/libBulletCollision.so.2.76 \
++              $(SOURCE_DIR)/src/BulletDynamics/libBulletDynamics.so.2.76 \
++              $(SOURCE_DIR)/src/LinearMath/libLinearMath.so.2.76 \
++              $(SOURCE_DIR)/src/BulletSoftBody/libBulletSoftBody.so.2.76
+ 
+ BULLET_INC_DIRS = . \
+ 				  BulletCollision/CollisionShapes \
+@@ -54,27 +53,43 @@
+ 	cd $(SOURCE_DIR) && cmake -DCMAKE_INSTALL_PREFIX=$(CURDIR) -DCMAKE_CXX_FLAGS="-fPIC -DBT_USE_DOUBLE_PRECISION" -D BUILD_SHARED_LIBS=on . 
+ 	# Bullet appears not be parallel-make safe
+ 	#cd $(SOURCE_DIR) && make $(PARALLEL_JOBS) 
++ifneq ($(MAKE),)
++	cd $(SOURCE_DIR) && $(MAKE) $(BULLET_TARGETS) 
++else
+ 	cd $(SOURCE_DIR) && make $(BULLET_TARGETS) 
++endif
+ 	# The 'install' target only works with cmake 2.6 for some reason
+ 	#cd $(SOURCE_DIR) && make $(PARALLEL_JOBS) install
+ 	mkdir -p lib
+ 	cp $(BULLET_LIBS) lib
++	cd lib && ln -s libBulletCollision.so.2.76 libBulletCollision.so
++	cd lib && ln -s libBulletDynamics.so.2.76 libBulletDynamics.so
++	cd lib && ln -s libBulletSoftBody.so.2.76 libBulletSoftBody.so
++	cd lib && ln -s libLinearMath.so.2.76 libLinearMath.so
+ 	mkdir -p include
+ 	$(foreach d,$(BULLET_INC_DIRS), mkdir -p include/$(d) && cp $(SOURCE_DIR)/src/$(d)/*.h include/$(d);)
+ 	touch installed
+ 
+ wiped: Makefile.bullet
++ifneq ($(MAKE),)
++	$(MAKE) -f Makefile.bullet wipe
++else
+ 	make -f Makefile.bullet wipe
++endif
+ 	touch wiped
+ 
+ clean:
+ 	rm -f installed
+ 	rm -fr lib include
++ifneq ($(MAKE),)
++	-$(MAKE) -C $(SVN_DIR) clean
++	-cd $(SOURCE_DIR) && $(MAKE) clean
++else
+ 	-make -C $(SVN_DIR) clean
+ 	-cd $(SOURCE_DIR) && make clean
++endif
+ 
+ wipe: clean
+ 	-rm -f patched
+ 	-rm -rf bullet_svn
+-	-rm -rf build
+ 
diff --git a/math/geometry/files/patch-kdl_Makefile b/math/geometry/files/patch-kdl_Makefile
new file mode 100644
index 000000000000..f0a8b8e0812e
--- /dev/null
+++ b/math/geometry/files/patch-kdl_Makefile
@@ -0,0 +1,49 @@
+--- kdl/Makefile.orig	2010-11-22 19:18:28.000000000 +0100
++++ kdl/Makefile	2010-11-22 22:36:47.000000000 +0100
+@@ -14,7 +14,6 @@
+ BOOST_INCLUDE =$(shell rosboost-cfg --include_dirs)
+ EIGEN2_INCLUDE_DIR=`rospack cflags-only-I eigen| cut -d ' ' -f 1`
+ EIGEN2_DEFINE=`rospack cflags-only-other eigen`
+-TINYXML_INCLUDE_DIR=`rospack cflags-only-I tinyxml| cut -d ' ' -f 1`
+ CMAKE_ARGS = -DCMAKE_INSTALL_PREFIX=$(INSTALL_DIR)/ \
+ 		-DPYTHON_BINDINGS=ON \
+                 -DCMAKE_CXX_FLAGS=$(EIGEN2_DEFINE) \
+@@ -22,7 +21,6 @@
+ 		-DBUILD_MODELS=OFF \
+ 		-DBOOST:STRING=$(BOOST_INCLUDE)\
+ 		-DEIGEN2_INCLUDE_DIR=$(EIGEN2_INCLUDE_DIR)\
+-		-DTINYXML_INCLUDE_DIR=$(TINYXML_INCLUDE_DIR)\
+ 		-DCMAKE_BUILD_TYPE="Release"
+ 
+ 
+@@ -30,7 +28,11 @@
+ 	cd $(SOURCE_DIR) && patch -p0 < ../../$(PATCH)
+ 	mkdir -p $(SOURCE_DIR)/build
+ 	cd $(SOURCE_DIR)/build && $(CMAKE) $(CMAKE_ARGS) ..
++ifneq ($(MAKE),)
++	cd $(SOURCE_DIR)/build && $(MAKE) $(ROS_PARALLEL_JOBS) && touch src/orocos-kdl.pc && make install
++else
+ 	cd $(SOURCE_DIR)/build && make $(ROS_PARALLEL_JOBS) && touch src/orocos-kdl.pc && make install
++endif
+ 	if [ `uname` = Darwin ]; then \
+ 		install_name_tool -id `rospack find kdl`/kdl/lib/liborocos-kdl.1.0.dylib kdl/lib/liborocos-kdl.1.0.dylib; \
+ 	fi
+@@ -42,14 +44,17 @@
+ 	ln -s $(SOURCE_DIR)/build/doc doc
+ 
+ wiped: Makefile $(PATCH) kdl-31715.tar.gz.md5sum
++ifneq ($(MAKE),)
++	$(MAKE) wipe
++else
+ 	make wipe
++endif
+ 	touch wiped
+ 
+ clean:
+ 	rm -rf lib
+ 	rm -rf include
+ 	rm -rf share
+-	rm -rf build
+ 	rm -rf installed
+ 
+ wipe: 	clean
diff --git a/math/geometry/files/patch-rosdep.yaml b/math/geometry/files/patch-rosdep.yaml
new file mode 100644
index 000000000000..79e9c2f4f796
--- /dev/null
+++ b/math/geometry/files/patch-rosdep.yaml
@@ -0,0 +1,14 @@
+--- rosdep.yaml.orig	2010-11-22 17:42:02.000000000 +0100
++++ rosdep.yaml	2010-11-24 10:46:44.000000000 +0100
+@@ -4,9 +4,11 @@
+   fedora: freeglut-devel
+   arch: freeglut
+   gentoo: freeglut
++  freebsd: libglut
+ python-sip4:
+   ubuntu: python-sip4-dev sip4
+   debian: python-sip4-dev sip4
+   macports: py25-sip
+   gentoo: dev-python/sip
+   arch: sip
++  freebsd: py26-sip
diff --git a/math/geometry/pkg-descr b/math/geometry/pkg-descr
new file mode 100644
index 000000000000..6396d6919330
--- /dev/null
+++ b/math/geometry/pkg-descr
@@ -0,0 +1,31 @@
+The basic geometry and math libraries used in ROS.
+
+angles:
+Provides a set of simple math utilities to work with angles. The utilities cover
+simple things like normalizing an angle and conversion between degrees and
+radians, but also functions to calculate things like the shortest angular
+distance between two joinst space positions of your robot, with the joint motion
+constrained by joint limits.
+
+bullet:
+Contains version 2.76 of the Bullet professional free 3D Game Multiphysics
+Library. The Bullet library provided by this ROS package is slightly different
+from the official Bullet release.
+
+eigen:
+This package contains version 2.0.15 of the Eigen C++ template library for
+linear algebra.
+
+KDL:
+This package contains a recent version of the Kinematics and Dynamics Library
+(KDL), distributed by the Orocos Project. For stability reasons, this package
+is currently locked to revision 31715, but this revision will be updated on a
+regular basis to the latest available KDL trunk.
+
+tf:
+tf is a package that lets the user keep track of multiple coordinate frames
+over time. tf maintains the relationship between coordinate frames in a tree
+structure buffered in time, and lets the user transform points, vectors, etc
+between any two coordinate frames at any desired point in time.
+
+WWW: http://www.ros.org/wiki/geometry
diff --git a/math/geometry/pkg-plist b/math/geometry/pkg-plist
new file mode 100644
index 000000000000..6df5ed1df225
--- /dev/null
+++ b/math/geometry/pkg-plist
@@ -0,0 +1,679 @@
+lib/PyKDL.so
+lib/_tf.so
+lib/libBulletCollision.so
+lib/libBulletCollision.so.2.76
+lib/libBulletDynamics.so
+lib/libBulletDynamics.so.2.76
+lib/libBulletSoftBody.so
+lib/libBulletSoftBody.so.2.76
+lib/libLinearMath.so
+lib/libLinearMath.so.2.76
+lib/libeigen_conversions.so
+lib/liborocos-kdl.so
+lib/liborocos-kdl.so.1.0
+lib/liborocos-kdl.so.1.0.99
+lib/libtf.so
+lib/libtf_conversions.so
+libdata/pkgconfig/orocos-kdl.pc
+ros/stacks/geometry/CMakeLists.txt
+ros/stacks/geometry/Makefile
+ros/stacks/geometry/angles/CMakeLists.txt
+ros/stacks/geometry/angles/Makefile
+ros/stacks/geometry/angles/ROS_NOBUILD
+ros/stacks/geometry/angles/doc.dox
+ros/stacks/geometry/angles/include/angles/angles.h
+ros/stacks/geometry/angles/manifest.xml
+ros/stacks/geometry/angles/test/utest.cpp
+ros/stacks/geometry/bullet/CMakeLists.txt
+ros/stacks/geometry/bullet/Makefile
+ros/stacks/geometry/bullet/Makefile.bullet
+ros/stacks/geometry/bullet/ROS_NOBUILD
+ros/stacks/geometry/bullet/bullet-2.76-patched.md5sum
+ros/stacks/geometry/bullet/bullet-2.76-patched2.md5sum
+ros/stacks/geometry/bullet/demos.patch
+ros/stacks/geometry/bullet/deprecations.patch
+ros/stacks/geometry/bullet/euler.patch
+ros/stacks/geometry/bullet/euler_angles_doxygen.patch
+ros/stacks/geometry/bullet/getsetRPY.patch
+ros/stacks/geometry/bullet/gimbal_lock.patch
+ros/stacks/geometry/bullet/include/Bullet-C-Api.h
+ros/stacks/geometry/bullet/include/BulletCollision/BroadphaseCollision/btAxisSweep3.h
+ros/stacks/geometry/bullet/include/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h
+ros/stacks/geometry/bullet/include/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h
+ros/stacks/geometry/bullet/include/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h
+ros/stacks/geometry/bullet/include/BulletCollision/BroadphaseCollision/btDbvt.h
+ros/stacks/geometry/bullet/include/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h
+ros/stacks/geometry/bullet/include/BulletCollision/BroadphaseCollision/btDispatcher.h
+ros/stacks/geometry/bullet/include/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h
+ros/stacks/geometry/bullet/include/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h
+ros/stacks/geometry/bullet/include/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h
+ros/stacks/geometry/bullet/include/BulletCollision/BroadphaseCollision/btQuantizedBvh.h
+ros/stacks/geometry/bullet/include/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/SphereTriangleDetector.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btBoxBoxDetector.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btCollisionConfiguration.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btCollisionCreateFunc.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btCollisionDispatcher.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btCollisionObject.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btCollisionWorld.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btGhostObject.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btInternalEdgeUtility.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btManifoldResult.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btSimulationIslandManager.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btUnionFind.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btBox2dShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btBoxShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btCapsuleShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btCollisionMargin.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btCollisionShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btCompoundShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btConcaveShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btConeShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btConvex2dShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btConvexHullShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btConvexInternalShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btConvexPointCloudShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btConvexShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btCylinderShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btEmptyShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btMaterial.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btMinkowskiSumShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btMultiSphereShape.h
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+ros/stacks/geometry/kdl/include/kdl/chainiksolvervel_wdls.hpp
+ros/stacks/geometry/kdl/include/kdl/chainjnttojacsolver.hpp
+ros/stacks/geometry/kdl/include/kdl/frameacc.hpp
+ros/stacks/geometry/kdl/include/kdl/frameacc.inl
+ros/stacks/geometry/kdl/include/kdl/frameacc_io.hpp
+ros/stacks/geometry/kdl/include/kdl/frames.hpp
+ros/stacks/geometry/kdl/include/kdl/frames.inl
+ros/stacks/geometry/kdl/include/kdl/frames_io.hpp
+ros/stacks/geometry/kdl/include/kdl/framevel.hpp
+ros/stacks/geometry/kdl/include/kdl/framevel.inl
+ros/stacks/geometry/kdl/include/kdl/framevel_io.hpp
+ros/stacks/geometry/kdl/include/kdl/jacobian.hpp
+ros/stacks/geometry/kdl/include/kdl/jntarray.hpp
+ros/stacks/geometry/kdl/include/kdl/jntarrayacc.hpp
+ros/stacks/geometry/kdl/include/kdl/jntarrayvel.hpp
+ros/stacks/geometry/kdl/include/kdl/jntspaceinertiamatrix.hpp
+ros/stacks/geometry/kdl/include/kdl/joint.hpp
+ros/stacks/geometry/kdl/include/kdl/kdl.hpp
+ros/stacks/geometry/kdl/include/kdl/kinfam.hpp
+ros/stacks/geometry/kdl/include/kdl/kinfam_io.hpp
+ros/stacks/geometry/kdl/include/kdl/motion.hpp
+ros/stacks/geometry/kdl/include/kdl/path.hpp
+ros/stacks/geometry/kdl/include/kdl/path_circle.hpp
+ros/stacks/geometry/kdl/include/kdl/path_composite.hpp
+ros/stacks/geometry/kdl/include/kdl/path_cyclic_closed.hpp
+ros/stacks/geometry/kdl/include/kdl/path_line.hpp
+ros/stacks/geometry/kdl/include/kdl/path_point.hpp
+ros/stacks/geometry/kdl/include/kdl/path_roundedcomposite.hpp
+ros/stacks/geometry/kdl/include/kdl/rigidbodyinertia.hpp
+ros/stacks/geometry/kdl/include/kdl/rotational_interpolation.hpp
+ros/stacks/geometry/kdl/include/kdl/rotational_interpolation_sa.hpp
+ros/stacks/geometry/kdl/include/kdl/rotationalinertia.hpp
+ros/stacks/geometry/kdl/include/kdl/segment.hpp
+ros/stacks/geometry/kdl/include/kdl/stiffness.hpp
+ros/stacks/geometry/kdl/include/kdl/trajectory.hpp
+ros/stacks/geometry/kdl/include/kdl/trajectory_composite.hpp
+ros/stacks/geometry/kdl/include/kdl/trajectory_segment.hpp
+ros/stacks/geometry/kdl/include/kdl/trajectory_stationary.hpp
+ros/stacks/geometry/kdl/include/kdl/tree.hpp
+ros/stacks/geometry/kdl/include/kdl/treefksolver.hpp
+ros/stacks/geometry/kdl/include/kdl/treefksolverpos_recursive.hpp
+ros/stacks/geometry/kdl/include/kdl/treeiksolver.hpp
+ros/stacks/geometry/kdl/include/kdl/treeiksolverpos_nr_jl.hpp
+ros/stacks/geometry/kdl/include/kdl/treeiksolvervel_wdls.hpp
+ros/stacks/geometry/kdl/include/kdl/treejnttojacsolver.hpp
+ros/stacks/geometry/kdl/include/kdl/utilities/error.h
+ros/stacks/geometry/kdl/include/kdl/utilities/error_stack.h
+ros/stacks/geometry/kdl/include/kdl/utilities/kdl-config.h
+ros/stacks/geometry/kdl/include/kdl/utilities/rall1d.h
+ros/stacks/geometry/kdl/include/kdl/utilities/rall1d_io.h
+ros/stacks/geometry/kdl/include/kdl/utilities/rall2d.h
+ros/stacks/geometry/kdl/include/kdl/utilities/rall2d_io.h
+ros/stacks/geometry/kdl/include/kdl/utilities/rallNd.h
+ros/stacks/geometry/kdl/include/kdl/utilities/svd_HH.hpp
+ros/stacks/geometry/kdl/include/kdl/utilities/svd_eigen_HH.hpp
+ros/stacks/geometry/kdl/include/kdl/utilities/svd_eigen_Macie.hpp
+ros/stacks/geometry/kdl/include/kdl/utilities/traits.h
+ros/stacks/geometry/kdl/include/kdl/utilities/utility.h
+ros/stacks/geometry/kdl/include/kdl/utilities/utility_io.h
+ros/stacks/geometry/kdl/include/kdl/velocityprofile.hpp
+ros/stacks/geometry/kdl/include/kdl/velocityprofile_dirac.hpp
+ros/stacks/geometry/kdl/include/kdl/velocityprofile_rect.hpp
+ros/stacks/geometry/kdl/include/kdl/velocityprofile_trap.hpp
+ros/stacks/geometry/kdl/include/kdl/velocityprofile_traphalf.hpp
+ros/stacks/geometry/kdl/index.rst
+ros/stacks/geometry/kdl/installed
+ros/stacks/geometry/kdl/kdl-31715.tar.gz.md5sum
+ros/stacks/geometry/kdl/kinematic_chains.rst
+ros/stacks/geometry/kdl/kinematic_solvers.rst
+ros/stacks/geometry/kdl/manifest.xml
+ros/stacks/geometry/kdl/rosdoc.yaml
+ros/stacks/geometry/kdl/share/orocos-kdl/orocos-kdl-config.cmake
+ros/stacks/geometry/kdl/total.patch
+ros/stacks/geometry/kdl/wiped
+ros/stacks/geometry/rosdep.yaml
+ros/stacks/geometry/stack.xml
+ros/stacks/geometry/tf/CMakeLists.txt
+ros/stacks/geometry/tf/Makefile
+ros/stacks/geometry/tf/ROS_NOBUILD
+ros/stacks/geometry/tf/bin/change_notifier
+ros/stacks/geometry/tf/bin/static_transform_publisher
+ros/stacks/geometry/tf/bin/tf_echo
+ros/stacks/geometry/tf/bin/tf_monitor
+ros/stacks/geometry/tf/conf.py
+ros/stacks/geometry/tf/doc/bifrucation.gv
+ros/stacks/geometry/tf/doc/bifrucation.pdf
+ros/stacks/geometry/tf/include/tf/exceptions.h
+ros/stacks/geometry/tf/include/tf/message_filter.h
+ros/stacks/geometry/tf/include/tf/tf.h
+ros/stacks/geometry/tf/include/tf/time_cache.h
+ros/stacks/geometry/tf/include/tf/transform_broadcaster.h
+ros/stacks/geometry/tf/include/tf/transform_datatypes.h
+ros/stacks/geometry/tf/include/tf/transform_listener.h
+ros/stacks/geometry/tf/index.rst
+ros/stacks/geometry/tf/mainpage.dox
+ros/stacks/geometry/tf/manifest.xml
+ros/stacks/geometry/tf/msg/lisp/tf/.tfMessage.asd-dep
+ros/stacks/geometry/tf/msg/lisp/tf/_package.lisp
+ros/stacks/geometry/tf/msg/lisp/tf/_package_tfMessage.lisp
+ros/stacks/geometry/tf/msg/lisp/tf/tf-msg.asd
+ros/stacks/geometry/tf/msg/lisp/tf/tfMessage.lisp
+ros/stacks/geometry/tf/msg/tfMessage.msg
+ros/stacks/geometry/tf/msg_gen/cpp/include/tf/tfMessage.h
+ros/stacks/geometry/tf/msg_gen/generated
+ros/stacks/geometry/tf/remap_tf.launch
+ros/stacks/geometry/tf/rosdoc.yaml
+ros/stacks/geometry/tf/scripts/python_benchmark.py
+ros/stacks/geometry/tf/scripts/reset_time.py
+ros/stacks/geometry/tf/scripts/tf_remap
+ros/stacks/geometry/tf/scripts/view_frames
+ros/stacks/geometry/tf/src/cache.cpp
+ros/stacks/geometry/tf/src/change_notifier.cpp
+ros/stacks/geometry/tf/src/pytf.cpp
+ros/stacks/geometry/tf/src/static_transform_publisher.cpp
+ros/stacks/geometry/tf/src/tf.cpp
+ros/stacks/geometry/tf/src/tf/__init__.py
+ros/stacks/geometry/tf/src/tf/broadcaster.py
+ros/stacks/geometry/tf/src/tf/listener.py
+ros/stacks/geometry/tf/src/tf/msg/__init__.py
+ros/stacks/geometry/tf/src/tf/msg/_tfMessage.py
+ros/stacks/geometry/tf/src/tf/srv/_FrameGraph.py
+ros/stacks/geometry/tf/src/tf/srv/__init__.py
+ros/stacks/geometry/tf/src/tf/tfwtf.py
+ros/stacks/geometry/tf/src/tf/transformations.py
+ros/stacks/geometry/tf/src/tf_echo.cpp
+ros/stacks/geometry/tf/src/tf_monitor.cpp
+ros/stacks/geometry/tf/src/transform_broadcaster.cpp
+ros/stacks/geometry/tf/src/transform_listener.cpp
+ros/stacks/geometry/tf/srv/FrameGraph.srv
+ros/stacks/geometry/tf/srv/lisp/tf/.FrameGraph.asd-dep
+ros/stacks/geometry/tf/srv/lisp/tf/FrameGraph.lisp
+ros/stacks/geometry/tf/srv/lisp/tf/_package.lisp
+ros/stacks/geometry/tf/srv/lisp/tf/_package_FrameGraph.lisp
+ros/stacks/geometry/tf/srv/lisp/tf/tf-srv.asd
+ros/stacks/geometry/tf/srv_gen/cpp/include/tf/FrameGraph.h
+ros/stacks/geometry/tf/srv_gen/generated
+ros/stacks/geometry/tf/test/btTest
+ros/stacks/geometry/tf/test/cache_unittest.cpp
+ros/stacks/geometry/tf/test/method_test.py
+ros/stacks/geometry/tf/test/operator_overload.cpp
+ros/stacks/geometry/tf/test/python_debug_test.py
+ros/stacks/geometry/tf/test/quaternion.cpp
+ros/stacks/geometry/tf/test/testBroadcaster
+ros/stacks/geometry/tf/test/testBroadcaster.cpp
+ros/stacks/geometry/tf/test/testListener
+ros/stacks/geometry/tf/test/testListener.cpp
+ros/stacks/geometry/tf/test/testPython.py
+ros/stacks/geometry/tf/test/test_broadcaster.launch
+ros/stacks/geometry/tf/test/test_datatype_conversion.py
+ros/stacks/geometry/tf/test/test_message_filter.cpp
+ros/stacks/geometry/tf/test/test_message_filter.xml
+ros/stacks/geometry/tf/test/test_transform_datatypes.cpp
+ros/stacks/geometry/tf/test/tf_benchmark.cpp
+ros/stacks/geometry/tf/test/tf_unittest.cpp
+ros/stacks/geometry/tf/test/tf_unittest_future.cpp
+ros/stacks/geometry/tf/test/transform_listener_unittest
+ros/stacks/geometry/tf/test/transform_listener_unittest.cpp
+ros/stacks/geometry/tf/test/transform_listener_unittest.launch
+ros/stacks/geometry/tf/test/transform_twist_test.cpp
+ros/stacks/geometry/tf/test/transform_twist_test.launch
+ros/stacks/geometry/tf/test/velocity_test.cpp
+ros/stacks/geometry/tf/tf_python.rst
+ros/stacks/geometry/tf_conversions/CMakeLists.txt
+ros/stacks/geometry/tf_conversions/Makefile
+ros/stacks/geometry/tf_conversions/ROS_NOBUILD
+ros/stacks/geometry/tf_conversions/conf.py
+ros/stacks/geometry/tf_conversions/include/tf_conversions/mainpage.dox
+ros/stacks/geometry/tf_conversions/include/tf_conversions/tf_eigen.h
+ros/stacks/geometry/tf_conversions/include/tf_conversions/tf_kdl.h
+ros/stacks/geometry/tf_conversions/index.rst
+ros/stacks/geometry/tf_conversions/manifest.xml
+ros/stacks/geometry/tf_conversions/rosdoc.yaml
+ros/stacks/geometry/tf_conversions/src/tf_conversions/__init__.py
+ros/stacks/geometry/tf_conversions/src/tf_conversions/posemath.py
+ros/stacks/geometry/tf_conversions/src/tf_eigen.cpp
+ros/stacks/geometry/tf_conversions/src/tf_kdl.cpp
+ros/stacks/geometry/tf_conversions/test/posemath.py
+ros/stacks/geometry/tf_conversions/test/test_eigen_tf.cpp
+@dirrm ros/stacks/geometry/tf_conversions/test
+@dirrm ros/stacks/geometry/tf_conversions/src/tf_conversions
+@dirrm ros/stacks/geometry/tf_conversions/src
+@dirrm ros/stacks/geometry/tf_conversions/lib
+@dirrm ros/stacks/geometry/tf_conversions/include/tf_conversions
+@dirrm ros/stacks/geometry/tf_conversions/include
+@dirrm ros/stacks/geometry/tf_conversions/bin
+@dirrm ros/stacks/geometry/tf_conversions
+@dirrm ros/stacks/geometry/tf/test
+@dirrm ros/stacks/geometry/tf/srv_gen/cpp/include/tf
+@dirrm ros/stacks/geometry/tf/srv_gen/cpp/include
+@dirrm ros/stacks/geometry/tf/srv_gen/cpp
+@dirrm ros/stacks/geometry/tf/srv_gen
+@dirrm ros/stacks/geometry/tf/srv/lisp/tf
+@dirrm ros/stacks/geometry/tf/srv/lisp
+@dirrm ros/stacks/geometry/tf/srv
+@dirrm ros/stacks/geometry/tf/src/tf/srv
+@dirrm ros/stacks/geometry/tf/src/tf/msg
+@dirrm ros/stacks/geometry/tf/src/tf
+@dirrm ros/stacks/geometry/tf/src
+@dirrm ros/stacks/geometry/tf/scripts
+@dirrm ros/stacks/geometry/tf/msg_gen/cpp/include/tf
+@dirrm ros/stacks/geometry/tf/msg_gen/cpp/include
+@dirrm ros/stacks/geometry/tf/msg_gen/cpp
+@dirrm ros/stacks/geometry/tf/msg_gen
+@dirrm ros/stacks/geometry/tf/msg/lisp/tf
+@dirrm ros/stacks/geometry/tf/msg/lisp
+@dirrm ros/stacks/geometry/tf/msg
+@dirrm ros/stacks/geometry/tf/lib
+@dirrm ros/stacks/geometry/tf/include/tf
+@dirrm ros/stacks/geometry/tf/include
+@dirrm ros/stacks/geometry/tf/doc
+@dirrm ros/stacks/geometry/tf/bin
+@dirrm ros/stacks/geometry/tf
+@dirrm ros/stacks/geometry/kdl/share/orocos-kdl
+@dirrm ros/stacks/geometry/kdl/share/doc/liborocos-kdl
+@dirrm ros/stacks/geometry/kdl/share/doc
+@dirrm ros/stacks/geometry/kdl/share
+@dirrm ros/stacks/geometry/kdl/lib/pkgconfig
+@dirrm ros/stacks/geometry/kdl/lib
+@dirrm ros/stacks/geometry/kdl/include/kdl/utilities
+@dirrm ros/stacks/geometry/kdl/include/kdl
+@dirrm ros/stacks/geometry/kdl/include
+@dirrm ros/stacks/geometry/kdl
+@dirrm ros/stacks/geometry/eigen_conversions/src
+@dirrm ros/stacks/geometry/eigen_conversions/lib
+@dirrm ros/stacks/geometry/eigen_conversions/include/eigen_conversions
+@dirrm ros/stacks/geometry/eigen_conversions/include
+@dirrm ros/stacks/geometry/eigen_conversions/bin
+@dirrm ros/stacks/geometry/eigen_conversions
+@dirrm ros/stacks/geometry/eigen/include/Eigen/src/Sparse
+@dirrm ros/stacks/geometry/eigen/include/Eigen/src/SVD
+@dirrm ros/stacks/geometry/eigen/include/Eigen/src/QR
+@dirrm ros/stacks/geometry/eigen/include/Eigen/src/LeastSquares
+@dirrm ros/stacks/geometry/eigen/include/Eigen/src/LU
+@dirrm ros/stacks/geometry/eigen/include/Eigen/src/Geometry
+@dirrm ros/stacks/geometry/eigen/include/Eigen/src/Core/util
+@dirrm ros/stacks/geometry/eigen/include/Eigen/src/Core/arch/SSE
+@dirrm ros/stacks/geometry/eigen/include/Eigen/src/Core/arch/AltiVec
+@dirrm ros/stacks/geometry/eigen/include/Eigen/src/Core/arch
+@dirrm ros/stacks/geometry/eigen/include/Eigen/src/Core
+@dirrm ros/stacks/geometry/eigen/include/Eigen/src/Cholesky
+@dirrm ros/stacks/geometry/eigen/include/Eigen/src/Array
+@dirrm ros/stacks/geometry/eigen/include/Eigen/src
+@dirrm ros/stacks/geometry/eigen/include/Eigen
+@dirrm ros/stacks/geometry/eigen/include
+@dirrm ros/stacks/geometry/eigen
+@dirrm ros/stacks/geometry/bullet/test
+@dirrm ros/stacks/geometry/bullet/src
+@dirrm ros/stacks/geometry/bullet/lib
+@dirrm ros/stacks/geometry/bullet/include/LinearMath
+@dirrm ros/stacks/geometry/bullet/include/BulletSoftBody
+@dirrm ros/stacks/geometry/bullet/include/BulletDynamics/Vehicle
+@dirrm ros/stacks/geometry/bullet/include/BulletDynamics/Dynamics
+@dirrm ros/stacks/geometry/bullet/include/BulletDynamics/ConstraintSolver
+@dirrm ros/stacks/geometry/bullet/include/BulletDynamics/Character
+@dirrm ros/stacks/geometry/bullet/include/BulletDynamics
+@dirrm ros/stacks/geometry/bullet/include/BulletCollision/NarrowPhaseCollision
+@dirrm ros/stacks/geometry/bullet/include/BulletCollision/Gimpact
+@dirrm ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes
+@dirrm ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch
+@dirrm ros/stacks/geometry/bullet/include/BulletCollision/BroadphaseCollision
+@dirrm ros/stacks/geometry/bullet/include/BulletCollision
+@dirrm ros/stacks/geometry/bullet/include
+@dirrm ros/stacks/geometry/bullet/bin
+@dirrm ros/stacks/geometry/bullet
+@dirrm ros/stacks/geometry/angles/test
+@dirrm ros/stacks/geometry/angles/include/angles
+@dirrm ros/stacks/geometry/angles/include
+@dirrm ros/stacks/geometry/angles/bin
+@dirrm ros/stacks/geometry/angles
+@dirrm ros/stacks/geometry
+@exec mkdir -p %D/ros/stacks/geometry/tf_conversions/lib
+@exec mkdir -p %D/ros/stacks/geometry/tf_conversions/bin
+@exec mkdir -p %D/ros/stacks/geometry/tf/lib
+@exec mkdir -p %D/ros/stacks/geometry/kdl/share/doc/liborocos-kdl
+@exec mkdir -p %D/ros/stacks/geometry/kdl/lib/pkgconfig
+@exec mkdir -p %D/ros/stacks/geometry/eigen_conversions/lib
+@exec mkdir -p %D/ros/stacks/geometry/eigen_conversions/bin
+@exec mkdir -p %D/ros/stacks/geometry/bullet/src
+@exec mkdir -p %D/ros/stacks/geometry/bullet/lib
+@exec mkdir -p %D/ros/stacks/geometry/bullet/bin
+@exec mkdir -p %D/ros/stacks/geometry/angles/bin
diff --git a/math/ros-geometry/Makefile b/math/ros-geometry/Makefile
new file mode 100644
index 000000000000..c45a2c772db4
--- /dev/null
+++ b/math/ros-geometry/Makefile
@@ -0,0 +1,109 @@
+# New ports collection makefile for: geometry
+# Date created:	2010-11-22
+# Whom: Rene Ladan <rene@FreeBSD.org>
+#
+# $FreeBSD$
+
+PORTNAME=	geometry
+PORTVERSION=	1.2.0
+CATEGORIES=	math
+MASTER_SITES=	ftp://rene-ladan.nl/pub/distfiles/ros/
+DISTFILES=	geometry-${PORTVERSION}.tar.bz2 bullet-2.76-patched2.tar.gz \
+		eigen2-2.0.15.tar.bz2 kdl-31715.tar.gz
+DIST_SUBDIR=	ros
+EXTRACT_ONLY=	geometry-${PORTVERSION}.tar.bz2
+
+MAINTAINER=	rene@FreeBSD.org
+COMMENT=	Robot Operating System - geometric and math libraries
+
+#LICENSE_COMB=	multi
+#LICENSE=	BSD LGPL* Zlib # which LGPL and Zlib not defined yet
+
+WRKSRC=		${WRKDIR}/${PORTNAME}
+
+BUILD_DEPENDS=	rosmake:${PORTSDIR}/devel/ros \
+		${LOCALBASE}/ros/stacks/common_msgs/stack.xml:${PORTSDIR}/devel/common_msgs \
+		chrpath:${PORTSDIR}/devel/chrpath \
+		${PYTHON_SITELIBDIR}/sipconfig.py:${PORTSDIR}/devel/py-sip
+RUN_DEPENDS=	roscore:${PORTSDIR}/devel/ros \
+		${LOCALBASE}/ros/stacks/common_msgs/stack.xml:${PORTSDIR}/devel/common_msgs
+USE_PYTHON=	yes
+USE_BZIP2=	yes
+USE_LDCONFIG=	yes
+
+# rosmake does its own threading
+MAKE_JOBS_UNSAFE=	yes
+
+CFLAGS+=	-I${LOCALBASE}/include
+MAKE_ENV+=	CPATH=${LOCALBASE}/include \
+		LIBRARY_PATH=${LOCALBASE}/lib \
+		MAKE=${LOCALBASE}/bin/gmake \
+		ROS_ROOT=${LOCALBASE}/ros/ros \
+		ROS_PACKAGE_PATH=${LOCALBASE}/ros/stacks/common_msgs:${WRKDIR} \
+		PYTHONPATH=${LOCALBASE}/ros/ros/core/roslib/src
+
+MAKE_ARGS=	-i --no-rosdep --status-rate=0 --disable-logging
+
+post-extract:
+# move 3rd-party distfiles into place
+	${MKDIR} ${WRKSRC}/bullet/build
+	${CP} ${_DISTDIR}/bullet-2.76-patched2.tar.gz ${WRKSRC}/bullet/build
+	${MKDIR} ${WRKSRC}/eigen/build
+	${CP} ${_DISTDIR}/eigen2-2.0.15.tar.bz2 ${WRKSRC}/eigen/build
+	${MKDIR} ${WRKSRC}/kdl/build
+	${CP} ${_DISTDIR}/kdl-31715.tar.gz ${WRKSRC}/kdl/build
+
+do-build:
+	(cd ${WRKSRC} ; ${MAKE_ENV} ${LOCALBASE}/bin/rosmake ${MAKE_ARGS})
+
+do-install:
+	${MKDIR} ${PREFIX}/ros/stacks/${PORTNAME}
+# update .pc file
+	${REINPLACE_CMD} -E -e "s|${WRKSRC}|${PREFIX}/ros/stacks/${PORTNAME}|" \
+	    ${WRKSRC}/kdl/lib/pkgconfig/orocos-kdl.pc
+	${INSTALL_DATA} ${WRKSRC}/kdl/lib/pkgconfig/orocos-kdl.pc ${PREFIX}/libdata/pkgconfig
+	${RM} ${WRKSRC}/kdl/lib/pkgconfig/orocos-kdl.pc
+# delete files explicitly because negation in find (for COPYTREE_SHARE) is bogus
+.for d in angles bullet eigen eigen_conversions kdl tf tf_conversions
+	${FIND} ${WRKSRC}/${d} -name build -type d -or -name \*.bak -type f \
+	    -or -name .svnignore -type f -or -name .cvsignore -type f \
+	    -or -name \*.orig | ${XARGS} ${RM} -rf
+	(cd ${WRKSRC} ; ${COPYTREE_SHARE} ${d} ${PREFIX}/ros/stacks/${PORTNAME})
+.endfor
+.for f in CMakeLists.txt Makefile stack.xml rosdep.yaml
+	${INSTALL_DATA} ${WRKSRC}/${f} ${PREFIX}/ros/stacks/${PORTNAME}
+.endfor
+
+# strip ELF programs and make them executable
+.for f in tf/bin/change_notifier tf/bin/static_transform_publisher \
+    tf/bin/tf_echo tf/bin/tf_monitor tf/test/btTest tf/test/testBroadcaster \
+    tf/test/testListener tf/test/transform_listener_unittest
+	${STRIP_CMD} ${PREFIX}/ros/stacks/${PORTNAME}/${f}
+	${LOCALBASE}/bin/chrpath -d ${PREFIX}/ros/stacks/${PORTNAME}/${f}
+	${CHMOD} 0555 ${PREFIX}/ros/stacks/${PORTNAME}/${f}
+.endfor
+# strip and move ELF libaries
+.for f in bullet/lib/libBulletCollision.so.2.76 \
+    bullet/lib/libBulletDynamics.so.2.76 bullet/lib/libBulletSoftBody.so.2.76 \
+    bullet/lib/libLinearMath.so.2.76 \
+    eigen_conversions/lib/libeigen_conversions.so \
+    kdl/lib/liborocos-kdl.so.1.0.99 kdl/lib/PyKDL.so tf/lib/_tf.so \
+    tf/lib/libtf.so tf_conversions/lib/libtf_conversions.so
+	${STRIP_CMD} ${PREFIX}/ros/stacks/${PORTNAME}/${f}
+	${LOCALBASE}/bin/chrpath -d ${PREFIX}/ros/stacks/${PORTNAME}/${f}
+	${MV} ${PREFIX}/ros/stacks/${PORTNAME}/${f} ${PREFIX}/lib
+.endfor
+# move symbolic links
+.for f in bullet/lib/libBulletCollision.so bullet/lib/libBulletDynamics.so \
+    bullet/lib/libBulletSoftBody.so bullet/lib/libLinearMath.so \
+    kdl/lib/liborocos-kdl.so kdl/lib/liborocos-kdl.so.1.0
+	${MV} ${PREFIX}/ros/stacks/${PORTNAME}/${f} ${PREFIX}/lib
+.endfor
+# make scripts executable
+.for f in tf/scripts/python_benchmark.py tf/scripts/reset_time.py \
+    tf/scripts/tf_remap tf/scripts/view_frames tf/src/tf/msg/_tfMessage.py \
+    tf/src/tf/srv/_FrameGraph.py tf/test/test_datatype_conversion.py
+	${CHMOD} 0555 ${PREFIX}/ros/stacks/${PORTNAME}/${f}
+.endfor
+
+.include <bsd.port.mk>
diff --git a/math/ros-geometry/distinfo b/math/ros-geometry/distinfo
new file mode 100644
index 000000000000..48e698b1193a
--- /dev/null
+++ b/math/ros-geometry/distinfo
@@ -0,0 +1,8 @@
+SHA256 (ros/geometry-1.2.0.tar.bz2) = 624ad183efc4fdfd76f9e68a93aa9cea749f751165b66d33bc7a5aeb9652678d
+SIZE (ros/geometry-1.2.0.tar.bz2) = 158941
+SHA256 (ros/bullet-2.76-patched2.tar.gz) = 9b687e35e0ca6bc70ec10d24245469e2f667627c097ba1537618bfc34fe41518
+SIZE (ros/bullet-2.76-patched2.tar.gz) = 3519539
+SHA256 (ros/eigen2-2.0.15.tar.bz2) = e9f8991956c9ba60a6575382f6f69f6d8379f010bb9ff4a73d2c93173d8600a8
+SIZE (ros/eigen2-2.0.15.tar.bz2) = 367729
+SHA256 (ros/kdl-31715.tar.gz) = 4f6c1f2bef0c21840c3440b453fcd9d6d117ff8b7c28da52fe6f71f0b8431a48
+SIZE (ros/kdl-31715.tar.gz) = 230731
diff --git a/math/ros-geometry/files/patch-bullet_CMakeLists.txt b/math/ros-geometry/files/patch-bullet_CMakeLists.txt
new file mode 100644
index 000000000000..cba0e2802e70
--- /dev/null
+++ b/math/ros-geometry/files/patch-bullet_CMakeLists.txt
@@ -0,0 +1,11 @@
+--- bullet/CMakeLists.txt.orig	2010-11-22 17:42:02.000000000 +0100
++++ bullet/CMakeLists.txt	2010-11-23 21:38:34.000000000 +0100
+@@ -8,7 +8,7 @@
+ MAKE_DIRECTORY(${PROJECT_SOURCE_DIR}/src/)
+ 
+ # Build Bullet
+-execute_process(COMMAND cmake -E chdir ${PROJECT_SOURCE_DIR} make -f Makefile.bullet
++execute_process(COMMAND cmake -E chdir ${PROJECT_SOURCE_DIR} gmake -f Makefile.bullet
+                 RESULT_VARIABLE _make_failed)
+ if(_make_failed)
+   message(FATAL_ERROR "Build of Bullet failed")
diff --git a/math/ros-geometry/files/patch-bullet_Makefile.bullet b/math/ros-geometry/files/patch-bullet_Makefile.bullet
new file mode 100644
index 000000000000..118d8f324544
--- /dev/null
+++ b/math/ros-geometry/files/patch-bullet_Makefile.bullet
@@ -0,0 +1,70 @@
+--- bullet/Makefile.bullet.orig	2010-11-22 17:42:02.000000000 +0100
++++ bullet/Makefile.bullet	2010-11-24 14:12:05.000000000 +0100
+@@ -5,7 +5,6 @@
+ SVN_PATCH = deprecations.patch quaternion.patch demos.patch no_extras_build.patch getsetRPY.patch gimbal_lock.patch
+ SVN_REVISION=-r2038
+ 
+-include $(shell rospack find mk)/svn_checkout.mk
+ 
+ #TARBALL_NAME = bullet-svn$(SVN_REVISION)
+ TARBALL_NAME = bullet-2.76-patched2
+@@ -23,10 +22,10 @@
+ BULLET_TARGETS = LinearMath BulletCollision BulletDynamics BulletSoftBody
+ 
+ # Poor man's installation procedure setup
+-BULLET_LIBS = $(SOURCE_DIR)/src/BulletCollision/libBulletCollision.* \
+-              $(SOURCE_DIR)/src/BulletDynamics/libBulletDynamics.* \
+-              $(SOURCE_DIR)/src/LinearMath/libLinearMath.* \
+-              $(SOURCE_DIR)/src/BulletSoftBody/libBulletSoftBody.* 
++BULLET_LIBS = $(SOURCE_DIR)/src/BulletCollision/libBulletCollision.so.2.76 \
++              $(SOURCE_DIR)/src/BulletDynamics/libBulletDynamics.so.2.76 \
++              $(SOURCE_DIR)/src/LinearMath/libLinearMath.so.2.76 \
++              $(SOURCE_DIR)/src/BulletSoftBody/libBulletSoftBody.so.2.76
+ 
+ BULLET_INC_DIRS = . \
+ 				  BulletCollision/CollisionShapes \
+@@ -54,27 +53,43 @@
+ 	cd $(SOURCE_DIR) && cmake -DCMAKE_INSTALL_PREFIX=$(CURDIR) -DCMAKE_CXX_FLAGS="-fPIC -DBT_USE_DOUBLE_PRECISION" -D BUILD_SHARED_LIBS=on . 
+ 	# Bullet appears not be parallel-make safe
+ 	#cd $(SOURCE_DIR) && make $(PARALLEL_JOBS) 
++ifneq ($(MAKE),)
++	cd $(SOURCE_DIR) && $(MAKE) $(BULLET_TARGETS) 
++else
+ 	cd $(SOURCE_DIR) && make $(BULLET_TARGETS) 
++endif
+ 	# The 'install' target only works with cmake 2.6 for some reason
+ 	#cd $(SOURCE_DIR) && make $(PARALLEL_JOBS) install
+ 	mkdir -p lib
+ 	cp $(BULLET_LIBS) lib
++	cd lib && ln -s libBulletCollision.so.2.76 libBulletCollision.so
++	cd lib && ln -s libBulletDynamics.so.2.76 libBulletDynamics.so
++	cd lib && ln -s libBulletSoftBody.so.2.76 libBulletSoftBody.so
++	cd lib && ln -s libLinearMath.so.2.76 libLinearMath.so
+ 	mkdir -p include
+ 	$(foreach d,$(BULLET_INC_DIRS), mkdir -p include/$(d) && cp $(SOURCE_DIR)/src/$(d)/*.h include/$(d);)
+ 	touch installed
+ 
+ wiped: Makefile.bullet
++ifneq ($(MAKE),)
++	$(MAKE) -f Makefile.bullet wipe
++else
+ 	make -f Makefile.bullet wipe
++endif
+ 	touch wiped
+ 
+ clean:
+ 	rm -f installed
+ 	rm -fr lib include
++ifneq ($(MAKE),)
++	-$(MAKE) -C $(SVN_DIR) clean
++	-cd $(SOURCE_DIR) && $(MAKE) clean
++else
+ 	-make -C $(SVN_DIR) clean
+ 	-cd $(SOURCE_DIR) && make clean
++endif
+ 
+ wipe: clean
+ 	-rm -f patched
+ 	-rm -rf bullet_svn
+-	-rm -rf build
+ 
diff --git a/math/ros-geometry/files/patch-kdl_Makefile b/math/ros-geometry/files/patch-kdl_Makefile
new file mode 100644
index 000000000000..f0a8b8e0812e
--- /dev/null
+++ b/math/ros-geometry/files/patch-kdl_Makefile
@@ -0,0 +1,49 @@
+--- kdl/Makefile.orig	2010-11-22 19:18:28.000000000 +0100
++++ kdl/Makefile	2010-11-22 22:36:47.000000000 +0100
+@@ -14,7 +14,6 @@
+ BOOST_INCLUDE =$(shell rosboost-cfg --include_dirs)
+ EIGEN2_INCLUDE_DIR=`rospack cflags-only-I eigen| cut -d ' ' -f 1`
+ EIGEN2_DEFINE=`rospack cflags-only-other eigen`
+-TINYXML_INCLUDE_DIR=`rospack cflags-only-I tinyxml| cut -d ' ' -f 1`
+ CMAKE_ARGS = -DCMAKE_INSTALL_PREFIX=$(INSTALL_DIR)/ \
+ 		-DPYTHON_BINDINGS=ON \
+                 -DCMAKE_CXX_FLAGS=$(EIGEN2_DEFINE) \
+@@ -22,7 +21,6 @@
+ 		-DBUILD_MODELS=OFF \
+ 		-DBOOST:STRING=$(BOOST_INCLUDE)\
+ 		-DEIGEN2_INCLUDE_DIR=$(EIGEN2_INCLUDE_DIR)\
+-		-DTINYXML_INCLUDE_DIR=$(TINYXML_INCLUDE_DIR)\
+ 		-DCMAKE_BUILD_TYPE="Release"
+ 
+ 
+@@ -30,7 +28,11 @@
+ 	cd $(SOURCE_DIR) && patch -p0 < ../../$(PATCH)
+ 	mkdir -p $(SOURCE_DIR)/build
+ 	cd $(SOURCE_DIR)/build && $(CMAKE) $(CMAKE_ARGS) ..
++ifneq ($(MAKE),)
++	cd $(SOURCE_DIR)/build && $(MAKE) $(ROS_PARALLEL_JOBS) && touch src/orocos-kdl.pc && make install
++else
+ 	cd $(SOURCE_DIR)/build && make $(ROS_PARALLEL_JOBS) && touch src/orocos-kdl.pc && make install
++endif
+ 	if [ `uname` = Darwin ]; then \
+ 		install_name_tool -id `rospack find kdl`/kdl/lib/liborocos-kdl.1.0.dylib kdl/lib/liborocos-kdl.1.0.dylib; \
+ 	fi
+@@ -42,14 +44,17 @@
+ 	ln -s $(SOURCE_DIR)/build/doc doc
+ 
+ wiped: Makefile $(PATCH) kdl-31715.tar.gz.md5sum
++ifneq ($(MAKE),)
++	$(MAKE) wipe
++else
+ 	make wipe
++endif
+ 	touch wiped
+ 
+ clean:
+ 	rm -rf lib
+ 	rm -rf include
+ 	rm -rf share
+-	rm -rf build
+ 	rm -rf installed
+ 
+ wipe: 	clean
diff --git a/math/ros-geometry/files/patch-rosdep.yaml b/math/ros-geometry/files/patch-rosdep.yaml
new file mode 100644
index 000000000000..79e9c2f4f796
--- /dev/null
+++ b/math/ros-geometry/files/patch-rosdep.yaml
@@ -0,0 +1,14 @@
+--- rosdep.yaml.orig	2010-11-22 17:42:02.000000000 +0100
++++ rosdep.yaml	2010-11-24 10:46:44.000000000 +0100
+@@ -4,9 +4,11 @@
+   fedora: freeglut-devel
+   arch: freeglut
+   gentoo: freeglut
++  freebsd: libglut
+ python-sip4:
+   ubuntu: python-sip4-dev sip4
+   debian: python-sip4-dev sip4
+   macports: py25-sip
+   gentoo: dev-python/sip
+   arch: sip
++  freebsd: py26-sip
diff --git a/math/ros-geometry/pkg-descr b/math/ros-geometry/pkg-descr
new file mode 100644
index 000000000000..6396d6919330
--- /dev/null
+++ b/math/ros-geometry/pkg-descr
@@ -0,0 +1,31 @@
+The basic geometry and math libraries used in ROS.
+
+angles:
+Provides a set of simple math utilities to work with angles. The utilities cover
+simple things like normalizing an angle and conversion between degrees and
+radians, but also functions to calculate things like the shortest angular
+distance between two joinst space positions of your robot, with the joint motion
+constrained by joint limits.
+
+bullet:
+Contains version 2.76 of the Bullet professional free 3D Game Multiphysics
+Library. The Bullet library provided by this ROS package is slightly different
+from the official Bullet release.
+
+eigen:
+This package contains version 2.0.15 of the Eigen C++ template library for
+linear algebra.
+
+KDL:
+This package contains a recent version of the Kinematics and Dynamics Library
+(KDL), distributed by the Orocos Project. For stability reasons, this package
+is currently locked to revision 31715, but this revision will be updated on a
+regular basis to the latest available KDL trunk.
+
+tf:
+tf is a package that lets the user keep track of multiple coordinate frames
+over time. tf maintains the relationship between coordinate frames in a tree
+structure buffered in time, and lets the user transform points, vectors, etc
+between any two coordinate frames at any desired point in time.
+
+WWW: http://www.ros.org/wiki/geometry
diff --git a/math/ros-geometry/pkg-plist b/math/ros-geometry/pkg-plist
new file mode 100644
index 000000000000..6df5ed1df225
--- /dev/null
+++ b/math/ros-geometry/pkg-plist
@@ -0,0 +1,679 @@
+lib/PyKDL.so
+lib/_tf.so
+lib/libBulletCollision.so
+lib/libBulletCollision.so.2.76
+lib/libBulletDynamics.so
+lib/libBulletDynamics.so.2.76
+lib/libBulletSoftBody.so
+lib/libBulletSoftBody.so.2.76
+lib/libLinearMath.so
+lib/libLinearMath.so.2.76
+lib/libeigen_conversions.so
+lib/liborocos-kdl.so
+lib/liborocos-kdl.so.1.0
+lib/liborocos-kdl.so.1.0.99
+lib/libtf.so
+lib/libtf_conversions.so
+libdata/pkgconfig/orocos-kdl.pc
+ros/stacks/geometry/CMakeLists.txt
+ros/stacks/geometry/Makefile
+ros/stacks/geometry/angles/CMakeLists.txt
+ros/stacks/geometry/angles/Makefile
+ros/stacks/geometry/angles/ROS_NOBUILD
+ros/stacks/geometry/angles/doc.dox
+ros/stacks/geometry/angles/include/angles/angles.h
+ros/stacks/geometry/angles/manifest.xml
+ros/stacks/geometry/angles/test/utest.cpp
+ros/stacks/geometry/bullet/CMakeLists.txt
+ros/stacks/geometry/bullet/Makefile
+ros/stacks/geometry/bullet/Makefile.bullet
+ros/stacks/geometry/bullet/ROS_NOBUILD
+ros/stacks/geometry/bullet/bullet-2.76-patched.md5sum
+ros/stacks/geometry/bullet/bullet-2.76-patched2.md5sum
+ros/stacks/geometry/bullet/demos.patch
+ros/stacks/geometry/bullet/deprecations.patch
+ros/stacks/geometry/bullet/euler.patch
+ros/stacks/geometry/bullet/euler_angles_doxygen.patch
+ros/stacks/geometry/bullet/getsetRPY.patch
+ros/stacks/geometry/bullet/gimbal_lock.patch
+ros/stacks/geometry/bullet/include/Bullet-C-Api.h
+ros/stacks/geometry/bullet/include/BulletCollision/BroadphaseCollision/btAxisSweep3.h
+ros/stacks/geometry/bullet/include/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h
+ros/stacks/geometry/bullet/include/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h
+ros/stacks/geometry/bullet/include/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h
+ros/stacks/geometry/bullet/include/BulletCollision/BroadphaseCollision/btDbvt.h
+ros/stacks/geometry/bullet/include/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h
+ros/stacks/geometry/bullet/include/BulletCollision/BroadphaseCollision/btDispatcher.h
+ros/stacks/geometry/bullet/include/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h
+ros/stacks/geometry/bullet/include/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h
+ros/stacks/geometry/bullet/include/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h
+ros/stacks/geometry/bullet/include/BulletCollision/BroadphaseCollision/btQuantizedBvh.h
+ros/stacks/geometry/bullet/include/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/SphereTriangleDetector.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btBoxBoxDetector.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btCollisionConfiguration.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btCollisionCreateFunc.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btCollisionDispatcher.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btCollisionObject.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btCollisionWorld.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btGhostObject.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btInternalEdgeUtility.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btManifoldResult.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btSimulationIslandManager.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btUnionFind.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btBox2dShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btBoxShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btCapsuleShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btCollisionMargin.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btCollisionShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btCompoundShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btConcaveShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btConeShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btConvex2dShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btConvexHullShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btConvexInternalShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btConvexPointCloudShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btConvexShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btCylinderShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btEmptyShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btMaterial.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btMinkowskiSumShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btMultiSphereShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btOptimizedBvh.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btShapeHull.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btSphereShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btStaticPlaneShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btStridingMeshInterface.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btTetrahedronShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btTriangleBuffer.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btTriangleCallback.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btTriangleInfoMap.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btTriangleMesh.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btTriangleMeshShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btTriangleShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btUniformScalingShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/Gimpact/btBoxCollision.h
+ros/stacks/geometry/bullet/include/BulletCollision/Gimpact/btClipPolygon.h
+ros/stacks/geometry/bullet/include/BulletCollision/Gimpact/btContactProcessing.h
+ros/stacks/geometry/bullet/include/BulletCollision/Gimpact/btGImpactBvh.h
+ros/stacks/geometry/bullet/include/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h
+ros/stacks/geometry/bullet/include/BulletCollision/Gimpact/btGImpactMassUtil.h
+ros/stacks/geometry/bullet/include/BulletCollision/Gimpact/btGImpactQuantizedBvh.h
+ros/stacks/geometry/bullet/include/BulletCollision/Gimpact/btGImpactShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/Gimpact/btGenericPoolAllocator.h
+ros/stacks/geometry/bullet/include/BulletCollision/Gimpact/btGeometryOperations.h
+ros/stacks/geometry/bullet/include/BulletCollision/Gimpact/btQuantization.h
+ros/stacks/geometry/bullet/include/BulletCollision/Gimpact/btTriangleShapeEx.h
+ros/stacks/geometry/bullet/include/BulletCollision/Gimpact/gim_array.h
+ros/stacks/geometry/bullet/include/BulletCollision/Gimpact/gim_basic_geometry_operations.h
+ros/stacks/geometry/bullet/include/BulletCollision/Gimpact/gim_bitset.h
+ros/stacks/geometry/bullet/include/BulletCollision/Gimpact/gim_box_collision.h
+ros/stacks/geometry/bullet/include/BulletCollision/Gimpact/gim_box_set.h
+ros/stacks/geometry/bullet/include/BulletCollision/Gimpact/gim_clip_polygon.h
+ros/stacks/geometry/bullet/include/BulletCollision/Gimpact/gim_contact.h
+ros/stacks/geometry/bullet/include/BulletCollision/Gimpact/gim_geom_types.h
+ros/stacks/geometry/bullet/include/BulletCollision/Gimpact/gim_geometry.h
+ros/stacks/geometry/bullet/include/BulletCollision/Gimpact/gim_hash_table.h
+ros/stacks/geometry/bullet/include/BulletCollision/Gimpact/gim_linear_math.h
+ros/stacks/geometry/bullet/include/BulletCollision/Gimpact/gim_math.h
+ros/stacks/geometry/bullet/include/BulletCollision/Gimpact/gim_memory.h
+ros/stacks/geometry/bullet/include/BulletCollision/Gimpact/gim_radixsort.h
+ros/stacks/geometry/bullet/include/BulletCollision/Gimpact/gim_tri_collision.h
+ros/stacks/geometry/bullet/include/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h
+ros/stacks/geometry/bullet/include/BulletCollision/NarrowPhaseCollision/btConvexCast.h
+ros/stacks/geometry/bullet/include/BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h
+ros/stacks/geometry/bullet/include/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h
+ros/stacks/geometry/bullet/include/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h
+ros/stacks/geometry/bullet/include/BulletCollision/NarrowPhaseCollision/btGjkEpa2.h
+ros/stacks/geometry/bullet/include/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h
+ros/stacks/geometry/bullet/include/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h
+ros/stacks/geometry/bullet/include/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h
+ros/stacks/geometry/bullet/include/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h
+ros/stacks/geometry/bullet/include/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h
+ros/stacks/geometry/bullet/include/BulletCollision/NarrowPhaseCollision/btPointCollector.h
+ros/stacks/geometry/bullet/include/BulletCollision/NarrowPhaseCollision/btRaycastCallback.h
+ros/stacks/geometry/bullet/include/BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h
+ros/stacks/geometry/bullet/include/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h
+ros/stacks/geometry/bullet/include/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h
+ros/stacks/geometry/bullet/include/BulletDynamics/Character/btCharacterControllerInterface.h
+ros/stacks/geometry/bullet/include/BulletDynamics/Character/btKinematicCharacterController.h
+ros/stacks/geometry/bullet/include/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h
+ros/stacks/geometry/bullet/include/BulletDynamics/ConstraintSolver/btConstraintSolver.h
+ros/stacks/geometry/bullet/include/BulletDynamics/ConstraintSolver/btContactConstraint.h
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+ros/stacks/geometry/tf/include/tf/time_cache.h
+ros/stacks/geometry/tf/include/tf/transform_broadcaster.h
+ros/stacks/geometry/tf/include/tf/transform_datatypes.h
+ros/stacks/geometry/tf/include/tf/transform_listener.h
+ros/stacks/geometry/tf/index.rst
+ros/stacks/geometry/tf/mainpage.dox
+ros/stacks/geometry/tf/manifest.xml
+ros/stacks/geometry/tf/msg/lisp/tf/.tfMessage.asd-dep
+ros/stacks/geometry/tf/msg/lisp/tf/_package.lisp
+ros/stacks/geometry/tf/msg/lisp/tf/_package_tfMessage.lisp
+ros/stacks/geometry/tf/msg/lisp/tf/tf-msg.asd
+ros/stacks/geometry/tf/msg/lisp/tf/tfMessage.lisp
+ros/stacks/geometry/tf/msg/tfMessage.msg
+ros/stacks/geometry/tf/msg_gen/cpp/include/tf/tfMessage.h
+ros/stacks/geometry/tf/msg_gen/generated
+ros/stacks/geometry/tf/remap_tf.launch
+ros/stacks/geometry/tf/rosdoc.yaml
+ros/stacks/geometry/tf/scripts/python_benchmark.py
+ros/stacks/geometry/tf/scripts/reset_time.py
+ros/stacks/geometry/tf/scripts/tf_remap
+ros/stacks/geometry/tf/scripts/view_frames
+ros/stacks/geometry/tf/src/cache.cpp
+ros/stacks/geometry/tf/src/change_notifier.cpp
+ros/stacks/geometry/tf/src/pytf.cpp
+ros/stacks/geometry/tf/src/static_transform_publisher.cpp
+ros/stacks/geometry/tf/src/tf.cpp
+ros/stacks/geometry/tf/src/tf/__init__.py
+ros/stacks/geometry/tf/src/tf/broadcaster.py
+ros/stacks/geometry/tf/src/tf/listener.py
+ros/stacks/geometry/tf/src/tf/msg/__init__.py
+ros/stacks/geometry/tf/src/tf/msg/_tfMessage.py
+ros/stacks/geometry/tf/src/tf/srv/_FrameGraph.py
+ros/stacks/geometry/tf/src/tf/srv/__init__.py
+ros/stacks/geometry/tf/src/tf/tfwtf.py
+ros/stacks/geometry/tf/src/tf/transformations.py
+ros/stacks/geometry/tf/src/tf_echo.cpp
+ros/stacks/geometry/tf/src/tf_monitor.cpp
+ros/stacks/geometry/tf/src/transform_broadcaster.cpp
+ros/stacks/geometry/tf/src/transform_listener.cpp
+ros/stacks/geometry/tf/srv/FrameGraph.srv
+ros/stacks/geometry/tf/srv/lisp/tf/.FrameGraph.asd-dep
+ros/stacks/geometry/tf/srv/lisp/tf/FrameGraph.lisp
+ros/stacks/geometry/tf/srv/lisp/tf/_package.lisp
+ros/stacks/geometry/tf/srv/lisp/tf/_package_FrameGraph.lisp
+ros/stacks/geometry/tf/srv/lisp/tf/tf-srv.asd
+ros/stacks/geometry/tf/srv_gen/cpp/include/tf/FrameGraph.h
+ros/stacks/geometry/tf/srv_gen/generated
+ros/stacks/geometry/tf/test/btTest
+ros/stacks/geometry/tf/test/cache_unittest.cpp
+ros/stacks/geometry/tf/test/method_test.py
+ros/stacks/geometry/tf/test/operator_overload.cpp
+ros/stacks/geometry/tf/test/python_debug_test.py
+ros/stacks/geometry/tf/test/quaternion.cpp
+ros/stacks/geometry/tf/test/testBroadcaster
+ros/stacks/geometry/tf/test/testBroadcaster.cpp
+ros/stacks/geometry/tf/test/testListener
+ros/stacks/geometry/tf/test/testListener.cpp
+ros/stacks/geometry/tf/test/testPython.py
+ros/stacks/geometry/tf/test/test_broadcaster.launch
+ros/stacks/geometry/tf/test/test_datatype_conversion.py
+ros/stacks/geometry/tf/test/test_message_filter.cpp
+ros/stacks/geometry/tf/test/test_message_filter.xml
+ros/stacks/geometry/tf/test/test_transform_datatypes.cpp
+ros/stacks/geometry/tf/test/tf_benchmark.cpp
+ros/stacks/geometry/tf/test/tf_unittest.cpp
+ros/stacks/geometry/tf/test/tf_unittest_future.cpp
+ros/stacks/geometry/tf/test/transform_listener_unittest
+ros/stacks/geometry/tf/test/transform_listener_unittest.cpp
+ros/stacks/geometry/tf/test/transform_listener_unittest.launch
+ros/stacks/geometry/tf/test/transform_twist_test.cpp
+ros/stacks/geometry/tf/test/transform_twist_test.launch
+ros/stacks/geometry/tf/test/velocity_test.cpp
+ros/stacks/geometry/tf/tf_python.rst
+ros/stacks/geometry/tf_conversions/CMakeLists.txt
+ros/stacks/geometry/tf_conversions/Makefile
+ros/stacks/geometry/tf_conversions/ROS_NOBUILD
+ros/stacks/geometry/tf_conversions/conf.py
+ros/stacks/geometry/tf_conversions/include/tf_conversions/mainpage.dox
+ros/stacks/geometry/tf_conversions/include/tf_conversions/tf_eigen.h
+ros/stacks/geometry/tf_conversions/include/tf_conversions/tf_kdl.h
+ros/stacks/geometry/tf_conversions/index.rst
+ros/stacks/geometry/tf_conversions/manifest.xml
+ros/stacks/geometry/tf_conversions/rosdoc.yaml
+ros/stacks/geometry/tf_conversions/src/tf_conversions/__init__.py
+ros/stacks/geometry/tf_conversions/src/tf_conversions/posemath.py
+ros/stacks/geometry/tf_conversions/src/tf_eigen.cpp
+ros/stacks/geometry/tf_conversions/src/tf_kdl.cpp
+ros/stacks/geometry/tf_conversions/test/posemath.py
+ros/stacks/geometry/tf_conversions/test/test_eigen_tf.cpp
+@dirrm ros/stacks/geometry/tf_conversions/test
+@dirrm ros/stacks/geometry/tf_conversions/src/tf_conversions
+@dirrm ros/stacks/geometry/tf_conversions/src
+@dirrm ros/stacks/geometry/tf_conversions/lib
+@dirrm ros/stacks/geometry/tf_conversions/include/tf_conversions
+@dirrm ros/stacks/geometry/tf_conversions/include
+@dirrm ros/stacks/geometry/tf_conversions/bin
+@dirrm ros/stacks/geometry/tf_conversions
+@dirrm ros/stacks/geometry/tf/test
+@dirrm ros/stacks/geometry/tf/srv_gen/cpp/include/tf
+@dirrm ros/stacks/geometry/tf/srv_gen/cpp/include
+@dirrm ros/stacks/geometry/tf/srv_gen/cpp
+@dirrm ros/stacks/geometry/tf/srv_gen
+@dirrm ros/stacks/geometry/tf/srv/lisp/tf
+@dirrm ros/stacks/geometry/tf/srv/lisp
+@dirrm ros/stacks/geometry/tf/srv
+@dirrm ros/stacks/geometry/tf/src/tf/srv
+@dirrm ros/stacks/geometry/tf/src/tf/msg
+@dirrm ros/stacks/geometry/tf/src/tf
+@dirrm ros/stacks/geometry/tf/src
+@dirrm ros/stacks/geometry/tf/scripts
+@dirrm ros/stacks/geometry/tf/msg_gen/cpp/include/tf
+@dirrm ros/stacks/geometry/tf/msg_gen/cpp/include
+@dirrm ros/stacks/geometry/tf/msg_gen/cpp
+@dirrm ros/stacks/geometry/tf/msg_gen
+@dirrm ros/stacks/geometry/tf/msg/lisp/tf
+@dirrm ros/stacks/geometry/tf/msg/lisp
+@dirrm ros/stacks/geometry/tf/msg
+@dirrm ros/stacks/geometry/tf/lib
+@dirrm ros/stacks/geometry/tf/include/tf
+@dirrm ros/stacks/geometry/tf/include
+@dirrm ros/stacks/geometry/tf/doc
+@dirrm ros/stacks/geometry/tf/bin
+@dirrm ros/stacks/geometry/tf
+@dirrm ros/stacks/geometry/kdl/share/orocos-kdl
+@dirrm ros/stacks/geometry/kdl/share/doc/liborocos-kdl
+@dirrm ros/stacks/geometry/kdl/share/doc
+@dirrm ros/stacks/geometry/kdl/share
+@dirrm ros/stacks/geometry/kdl/lib/pkgconfig
+@dirrm ros/stacks/geometry/kdl/lib
+@dirrm ros/stacks/geometry/kdl/include/kdl/utilities
+@dirrm ros/stacks/geometry/kdl/include/kdl
+@dirrm ros/stacks/geometry/kdl/include
+@dirrm ros/stacks/geometry/kdl
+@dirrm ros/stacks/geometry/eigen_conversions/src
+@dirrm ros/stacks/geometry/eigen_conversions/lib
+@dirrm ros/stacks/geometry/eigen_conversions/include/eigen_conversions
+@dirrm ros/stacks/geometry/eigen_conversions/include
+@dirrm ros/stacks/geometry/eigen_conversions/bin
+@dirrm ros/stacks/geometry/eigen_conversions
+@dirrm ros/stacks/geometry/eigen/include/Eigen/src/Sparse
+@dirrm ros/stacks/geometry/eigen/include/Eigen/src/SVD
+@dirrm ros/stacks/geometry/eigen/include/Eigen/src/QR
+@dirrm ros/stacks/geometry/eigen/include/Eigen/src/LeastSquares
+@dirrm ros/stacks/geometry/eigen/include/Eigen/src/LU
+@dirrm ros/stacks/geometry/eigen/include/Eigen/src/Geometry
+@dirrm ros/stacks/geometry/eigen/include/Eigen/src/Core/util
+@dirrm ros/stacks/geometry/eigen/include/Eigen/src/Core/arch/SSE
+@dirrm ros/stacks/geometry/eigen/include/Eigen/src/Core/arch/AltiVec
+@dirrm ros/stacks/geometry/eigen/include/Eigen/src/Core/arch
+@dirrm ros/stacks/geometry/eigen/include/Eigen/src/Core
+@dirrm ros/stacks/geometry/eigen/include/Eigen/src/Cholesky
+@dirrm ros/stacks/geometry/eigen/include/Eigen/src/Array
+@dirrm ros/stacks/geometry/eigen/include/Eigen/src
+@dirrm ros/stacks/geometry/eigen/include/Eigen
+@dirrm ros/stacks/geometry/eigen/include
+@dirrm ros/stacks/geometry/eigen
+@dirrm ros/stacks/geometry/bullet/test
+@dirrm ros/stacks/geometry/bullet/src
+@dirrm ros/stacks/geometry/bullet/lib
+@dirrm ros/stacks/geometry/bullet/include/LinearMath
+@dirrm ros/stacks/geometry/bullet/include/BulletSoftBody
+@dirrm ros/stacks/geometry/bullet/include/BulletDynamics/Vehicle
+@dirrm ros/stacks/geometry/bullet/include/BulletDynamics/Dynamics
+@dirrm ros/stacks/geometry/bullet/include/BulletDynamics/ConstraintSolver
+@dirrm ros/stacks/geometry/bullet/include/BulletDynamics/Character
+@dirrm ros/stacks/geometry/bullet/include/BulletDynamics
+@dirrm ros/stacks/geometry/bullet/include/BulletCollision/NarrowPhaseCollision
+@dirrm ros/stacks/geometry/bullet/include/BulletCollision/Gimpact
+@dirrm ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes
+@dirrm ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch
+@dirrm ros/stacks/geometry/bullet/include/BulletCollision/BroadphaseCollision
+@dirrm ros/stacks/geometry/bullet/include/BulletCollision
+@dirrm ros/stacks/geometry/bullet/include
+@dirrm ros/stacks/geometry/bullet/bin
+@dirrm ros/stacks/geometry/bullet
+@dirrm ros/stacks/geometry/angles/test
+@dirrm ros/stacks/geometry/angles/include/angles
+@dirrm ros/stacks/geometry/angles/include
+@dirrm ros/stacks/geometry/angles/bin
+@dirrm ros/stacks/geometry/angles
+@dirrm ros/stacks/geometry
+@exec mkdir -p %D/ros/stacks/geometry/tf_conversions/lib
+@exec mkdir -p %D/ros/stacks/geometry/tf_conversions/bin
+@exec mkdir -p %D/ros/stacks/geometry/tf/lib
+@exec mkdir -p %D/ros/stacks/geometry/kdl/share/doc/liborocos-kdl
+@exec mkdir -p %D/ros/stacks/geometry/kdl/lib/pkgconfig
+@exec mkdir -p %D/ros/stacks/geometry/eigen_conversions/lib
+@exec mkdir -p %D/ros/stacks/geometry/eigen_conversions/bin
+@exec mkdir -p %D/ros/stacks/geometry/bullet/src
+@exec mkdir -p %D/ros/stacks/geometry/bullet/lib
+@exec mkdir -p %D/ros/stacks/geometry/bullet/bin
+@exec mkdir -p %D/ros/stacks/geometry/angles/bin