diff --git a/maintainers/maintainer-list.nix b/maintainers/maintainer-list.nix
index 4f8ebc9f3a5d8..bd252f7557f94 100644
--- a/maintainers/maintainer-list.nix
+++ b/maintainers/maintainer-list.nix
@@ -3644,6 +3644,11 @@
     github = "nphilou";
     name = "Philippe Nguyen";
   };
+  nschoe = {
+    email = "nschoe@protonmail.com";
+    github = "nschoe";
+    name = "Nicolas Schoemaeker";
+  };
   nslqqq = {
     email = "nslqqq@gmail.com";
     name = "Nikita Mikhailov";
diff --git a/nixos/tests/all-tests.nix b/nixos/tests/all-tests.nix
index df8ea59802f07..fd5f2b02220ae 100644
--- a/nixos/tests/all-tests.nix
+++ b/nixos/tests/all-tests.nix
@@ -192,6 +192,7 @@ in
   overlayfs = handleTest ./overlayfs.nix {};
   packagekit = handleTest ./packagekit.nix {};
   pam-oath-login = handleTest ./pam-oath-login.nix {};
+  parity = handleTest ./parity.nix {};
   pam-u2f = handleTest ./pam-u2f.nix {};
   pantheon = handleTest ./pantheon.nix {};
   parity = handleTest ./parity.nix {};
diff --git a/pkgs/applications/networking/ipfs/default.nix b/pkgs/applications/networking/ipfs/default.nix
index 7b4d40a5a6338..789d5e1082fa2 100644
--- a/pkgs/applications/networking/ipfs/default.nix
+++ b/pkgs/applications/networking/ipfs/default.nix
@@ -1,6 +1,14 @@
 { stdenv, buildGoPackage, fetchFromGitHub }:
 
-buildGoPackage rec {
+let
+  fetchgx' = fetchgx.override {
+    go = go_1_11;
+    gx = gx.override { buildGoPackage = buildGo111Package; };
+    gx-go = gx-go.override { buildGoPackage = buildGo111Package; }; 
+  };
+  buildGoPackage = buildGo111Package; 
+
+in buildGoPackage rec {
   name = "ipfs-${version}";
   version = "0.4.20";
   rev = "v${version}";
diff --git a/pkgs/development/ros-modules/bond/default.nix b/pkgs/development/ros-modules/bond/default.nix
new file mode 100644
index 0000000000000..113b35c3352a6
--- /dev/null
+++ b/pkgs/development/ros-modules/bond/default.nix
@@ -0,0 +1,33 @@
+{ stdenv
+, mkRosPackage
+, fetchFromGitHub
+, catkin
+, message_generation
+, std_msgs
+}:
+
+let
+  pname = "bond";
+  version = "1.8.3";
+  rosdistro = "melodic";
+
+in mkRosPackage {
+  name = "${pname}-${version}";
+
+  src = fetchFromGitHub {
+    owner = "ros-gbp";
+    repo = "bond_core-release";
+    rev = "release/${rosdistro}/${pname}/${version}-0";
+    sha256 = "0d3y30r7kb8k4bqdr8s8b581ad8h19f9i99js807jpx8ddkd0gk4";
+  };
+
+  propagatedBuildInputs = [ catkin message_generation std_msgs ];
+
+  meta = with stdenv.lib; {
+    description = "A bond allows two processes, A and B, to know when the other has terminated, either cleanly or by crashing. The bond remains connected until it is either broken explicitly or until a heartbeat times out.";
+    homepage = https://wiki.ros.org/bond;
+    license = licenses.bsd3;
+    platforms = platforms.linux;
+    maintainers = [ maintainers.akru maintainers.nschoe ];
+  };
+}
diff --git a/pkgs/development/ros-modules/bondcpp/default.nix b/pkgs/development/ros-modules/bondcpp/default.nix
new file mode 100644
index 0000000000000..07104b374c4ba
--- /dev/null
+++ b/pkgs/development/ros-modules/bondcpp/default.nix
@@ -0,0 +1,39 @@
+{ stdenv
+, mkRosPackage
+, fetchFromGitHub
+, catkin
+, boost167
+, cmake_modules
+, roscpp
+, bond
+, smclib
+# , unique_id
+# , uuid_msgs
+, libuuid
+}:
+
+let
+  pname = "bondcpp";
+  version = "1.8.3";
+  rosdistro = "melodic";
+
+in mkRosPackage {
+  name = "${pname}-${version}";
+
+  src = fetchFromGitHub {
+    owner = "ros-gbp";
+    repo = "bond_core-release";
+    rev = "release/${rosdistro}/${pname}/${version}-0";
+    sha256 = "1mw4a32726s92ms4gv41cz1dxkr9jddj8yp5w0s4pl9z4z6sdmsk";
+  };
+
+  propagatedBuildInputs = [ catkin boost167 cmake_modules roscpp bond smclib libuuid ];
+
+  meta = with stdenv.lib; {
+    description = "C++ implementation of bond, a mechanism for checking when another process has terminated.";
+    homepage = https://wiki.ros.org/bondcpp;
+    license = licenses.bsd3;
+    platforms = platforms.linux;
+    maintainers = [ maintainers.akru maintainers.nschoe ];
+  };
+}
diff --git a/pkgs/development/ros-modules/cmake_modules/default.nix b/pkgs/development/ros-modules/cmake_modules/default.nix
index fedc235f7e972..6782c6ef5b785 100644
--- a/pkgs/development/ros-modules/cmake_modules/default.nix
+++ b/pkgs/development/ros-modules/cmake_modules/default.nix
@@ -1,6 +1,7 @@
 { stdenv
 , mkRosPackage
 , fetchFromGitHub
+, eigen3_3
 }:
 
 mkRosPackage rec {
@@ -16,6 +17,8 @@ mkRosPackage rec {
     sha256 = "11kh2z059ffxgjzrzh9jgdln3fhydh799bc590kfgxcqjx0kqpli";
   };
 
+propagatedBuildInputs = [ eigen3_3 ];
+
   meta = with stdenv.lib; {
     description = "A common repository for CMake Modules for ROS";
     homepage = http://wiki.ros.org/cmake_modules;
diff --git a/pkgs/development/ros-modules/control_msgs/default.nix b/pkgs/development/ros-modules/control_msgs/default.nix
new file mode 100644
index 0000000000000..ff6db7ff6b730
--- /dev/null
+++ b/pkgs/development/ros-modules/control_msgs/default.nix
@@ -0,0 +1,32 @@
+{ stdenv
+, mkRosPackage
+, fetchFromGitHub
+, actionlib_msgs
+, trajectory_msgs
+, geometry_msgs
+, message_generation
+, message_runtime
+}:
+
+mkRosPackage rec {
+  name = "${pname}-${version}";
+  pname = "control_msgs";
+  version = "1.5.0";
+  rosdistro = "melodic";
+
+  src = fetchFromGitHub {
+    owner = "ros-gbp";
+    repo = "conrol_msgs-release";
+    rev = "release/${rosdistro}/${pname}/${version}-0";
+    sha256 = "0vff4yryxcww8x5f1s3pkl0ccw2l0i7a7wv22fdp1vinqyazjrs9";
+  };
+
+  propagatedBuildInputs = [ message_generation message_runtime actionlib_msgs geometry_msgs trajectory_msgs ];
+
+  meta = with stdenv.lib; {
+    description = "Base messages and actions useful for controlling robots. It provides representations for controller setpoints and joint and cartesian trajectories.";
+    homepage = http://wiki.ros.org/control_msgs;
+    license = licenses.bsd3;
+    maintainers = [ maintainers.akru maintainers.nschoe ];
+  };
+}
diff --git a/pkgs/development/ros-modules/dynamic_reconfigure/default.nix b/pkgs/development/ros-modules/dynamic_reconfigure/default.nix
new file mode 100644
index 0000000000000..1c89377dd29ef
--- /dev/null
+++ b/pkgs/development/ros-modules/dynamic_reconfigure/default.nix
@@ -0,0 +1,35 @@
+{ stdenv
+, mkRosPackage
+, fetchFromGitHub
+, catkin
+, boost167
+, message_generation
+, roscpp
+, std_msgs
+}:
+
+let
+  pname = "dynamic_reconfigure";
+  version = "1.6.0";
+  rosdistro = "melodic";
+
+in mkRosPackage {
+  name = "${pname}-${version}";
+
+  src = fetchFromGitHub {
+    owner = "ros-gbp";
+    repo = "dynamic_reconfigure-release";
+    rev = "release/${rosdistro}/${pname}/${version}-0";
+    sha256 = "08kqkz1p3dzhif3ymy1rifss3zgzz0wjh9hq3rjydrj0mzm7dhpm";
+  };
+
+  propagatedBuildInputs = [ catkin boost167 message_generation roscpp std_msgs ];
+
+  meta = with stdenv.lib; {
+    description = "Provides a means to change node parameters at any time without having to restart the node.";
+    homepage = https://wiki.ros.org/dynamic_reconfigure;
+    license = licenses.bsd3;
+    platforms = platforms.linux;
+    maintainers = [ maintainers.akru maintainers.nschoe ];
+  };
+}
diff --git a/pkgs/development/ros-modules/interactive_markers/default.nix b/pkgs/development/ros-modules/interactive_markers/default.nix
new file mode 100644
index 0000000000000..20d664184e91e
--- /dev/null
+++ b/pkgs/development/ros-modules/interactive_markers/default.nix
@@ -0,0 +1,37 @@
+{ stdenv
+, mkRosPackage
+, fetchFromGitHub
+, catkin
+, rosconsole
+, roscpp
+, rospy
+, rostest
+, std_msgs
+, tf
+, visualization_msgs
+}:
+
+let
+  pname = "interactive_markers";
+  version = "1.11.4";
+  rosdistro = "melodic";
+
+in mkRosPackage {
+  name = "${pname}-${version}";
+
+  src = fetchFromGitHub {
+    owner = "ros-gbp";
+    repo = "${pname}-release";
+    rev = "release/${rosdistro}/${pname}/${version}-0";
+    sha256 = "19l1vgzxzrizn6djabh2h6ix8ivrxzj93lsc5873yas9d8qngggs";
+  };
+
+  propagatedBuildInputs = [ catkin rosconsole roscpp rospy rostest std_msgs tf visualization_msgs ];
+
+  meta = with stdenv.lib; {
+    description = "3D interactive marker communication library for RViz and similar tools.";
+    homepage = http://wiki.ros.org/interactive_markers;
+    license = licenses.bsd3;
+    maintainers = [ maintainers.akru maintainers.nschoe ];
+  };
+}
diff --git a/pkgs/development/ros-modules/joy/default.nix b/pkgs/development/ros-modules/joy/default.nix
new file mode 100644
index 0000000000000..4ba4346dc2774
--- /dev/null
+++ b/pkgs/development/ros-modules/joy/default.nix
@@ -0,0 +1,34 @@
+{ stdenv
+, mkRosPackage
+, fetchFromGitHub
+, catkin
+, diagnostic_updater
+, sensor_msgs
+, roscpp
+}:
+
+let
+  pname = "joy";
+  version = "1.12.0";
+  rosdistro = "melodic";
+
+in mkRosPackage {
+  name = "${pname}-${version}";
+
+  src = fetchFromGitHub {
+    owner = "ros-gbp";
+    repo = "joystick_drivers-release";
+    rev = "release/${rosdistro}/${pname}/${version}-0";
+    sha256 = "1f6k2l0a025ysddsq2314s75mb4wd57dlmknjdqaxs1rqcqnxhcp";
+  };
+
+  propagatedBuildInputs = [ catkin diagnostic_updater sensor_msgs roscpp ];
+
+  meta = with stdenv.lib; {
+    description = "Standard controllers drivers";
+    homepage = https://wiki.ros.org/joystick_drivers;
+    license = licenses.bsd3;
+    platforms = platforms.linux;
+    maintainers = [ maintainers.akru maintainers.nschoe ];
+  };
+}
diff --git a/pkgs/development/ros-modules/key_teleop/default.nix b/pkgs/development/ros-modules/key_teleop/default.nix
new file mode 100644
index 0000000000000..22bd4357d51f9
--- /dev/null
+++ b/pkgs/development/ros-modules/key_teleop/default.nix
@@ -0,0 +1,34 @@
+{ stdenv
+, mkRosPackage
+, fetchFromGitHub
+, catkin
+, message_generation
+, roscpp
+, std_msgs
+}:
+
+let
+  pname = "key_teleop";
+  version = "0.3.0";
+  rosdistro = "melodic";
+
+in mkRosPackage {
+  name = "${pname}-${version}";
+
+  src = fetchFromGitHub {
+    owner = "ros-gbp";
+    repo = "${pname}-release";
+    rev = "release/${rosdistro}/${pname}/${version}-0";
+    sha256 = "0fs55hcpn6sr0jkjhz4lpx4jyzl52zmwzzcx4sg8rrh3yyp0l1py";
+  };
+
+  propagatedBuildInputs =
+  [ catkin message_generation roscpp std_msgs ];
+
+  meta = with stdenv.lib; {
+    description = "A text-based interface to send a robot movement commands.";
+    homepage = http://wiki.ros.org/key_teleop;
+    license = licenses.bsd3;
+    maintainers = [ maintainers.akru maintainers.nschoe ];
+  };
+}
diff --git a/pkgs/development/ros-modules/laser_geometry/default.nix b/pkgs/development/ros-modules/laser_geometry/default.nix
new file mode 100644
index 0000000000000..6f44719fdacda
--- /dev/null
+++ b/pkgs/development/ros-modules/laser_geometry/default.nix
@@ -0,0 +1,35 @@
+{ stdenv
+, mkRosPackage
+, fetchFromGitHub
+, catkin
+, angles
+, roscpp
+, sensor_msgs
+, tf
+, tf2
+}:
+
+let
+  pname = "laser_geometry";
+  version = "1.6.4";
+  rosdistro = "melodic";
+
+in mkRosPackage {
+  name = "${pname}-${version}";
+
+  src = fetchFromGitHub {
+    owner = "ros-gbp";
+    repo = "${pname}-release";
+    rev = "release/${rosdistro}/${pname}/${version}-0";
+    sha256 = "1jcmp2f2dm7masl8m8lxy29lh7631zlrkl02iwwqlc1snkrgvh94";
+  };
+
+  propagatedBuildInputs = [ catkin angles roscpp sensor_msgs tf tf2];
+
+  meta = with stdenv.lib; {
+    description = "Class for converting from a 2D laser scan as defined by sensor_msgs/LaserScan into a point cloud as defined by sensor_msgs/PointCloud or sensor_msgs/PointCloud2.";
+    homepage = http://wiki.ros.org/laser_geometry;
+    license = licenses.bsd3;
+    maintainers = [ maintainers.akru maintainers.nschoe ];
+  };
+}
diff --git a/pkgs/development/ros-modules/map_msgs/default.nix b/pkgs/development/ros-modules/map_msgs/default.nix
new file mode 100644
index 0000000000000..d5e60dabb8862
--- /dev/null
+++ b/pkgs/development/ros-modules/map_msgs/default.nix
@@ -0,0 +1,35 @@
+{ stdenv
+, mkRosPackage
+, fetchFromGitHub
+, catkin
+, message_generation
+, message_runtime
+, nav_msgs
+, sensor_msgs
+, std_msgs
+}:
+
+let
+  pname = "map_msgs";
+  version = "1.13.0";
+  rosdistro = "melodic";
+
+in mkRosPackage {
+  name = "${pname}-${version}";
+
+  src = fetchFromGitHub {
+    owner = "ros-gbp";
+    repo = "navigation_msgs-release";
+    rev = "release/${rosdistro}/${pname}/${version}-0";
+    sha256 = "115vffj9shhidpzjwww9yml7n6jmjw07b6243qr01mkfnfba9k6c";
+  };
+
+  propagatedBuildInputs = [ catkin message_generation message_runtime nav_msgs sensor_msgs std_msgs ];
+
+  meta = with stdenv.lib; {
+    description = "Messages commonly used in mapping packages.";
+    homepage = http://wiki.ros.org/map_msgs;
+    license = licenses.bsd3;
+    maintainers = [ maintainers.akru mintainers.nschoe ];
+  };
+}
diff --git a/pkgs/development/ros-modules/media_export/default.nix b/pkgs/development/ros-modules/media_export/default.nix
new file mode 100644
index 0000000000000..2084f11bca43a
--- /dev/null
+++ b/pkgs/development/ros-modules/media_export/default.nix
@@ -0,0 +1,30 @@
+{ stdenv
+, mkRosPackage
+, fetchFromGitHub
+, catkin
+}:
+
+let
+  pname = "media_export";
+  version = "0.2.0";
+  rosdistro = "melodic";
+
+in mkRosPackage {
+  name = "${pname}-${version}";
+
+  src = fetchFromGitHub {
+    owner = "ros-gbp";
+    repo = "media_export-release";
+    rev = "release/${rosdistro}/${pname}/${version}-0";
+    sha256 = "1yk6156n4mjvx8caykpzandj43wgwxma55xx91x8l94byk6w9jqx";
+  };
+
+propagatedBuildInputs = [ catkin ];
+
+  meta = with stdenv.lib; {
+    description = "Placeholder package enabling generic export of media paths.";
+    homepage = http://wiki.ros.org/media_export;
+    license = licenses.bsd3;
+    maintainers = [ maintainers.akru mintainers.nschoe ];
+  };
+}
diff --git a/pkgs/development/ros-modules/nodelet/default.nix b/pkgs/development/ros-modules/nodelet/default.nix
new file mode 100644
index 0000000000000..2e13555af66b1
--- /dev/null
+++ b/pkgs/development/ros-modules/nodelet/default.nix
@@ -0,0 +1,40 @@
+{ stdenv
+, mkRosPackage
+, fetchFromGitHub
+, catkin
+, cmake_modules
+, message_generation
+, pluginlib
+, rosconsole
+, roscpp
+, std_msgs
+, bondcpp
+, boost167
+, libuuid
+}:
+
+let
+  pname = "nodelet";
+  version = "1.9.16";
+  rosdistro = "melodic";
+
+in mkRosPackage {
+  name = "${pname}-${version}";
+
+  src = fetchFromGitHub {
+    owner = "ros-gbp";
+    repo = "nodelet_core-release";
+    rev = "release/${rosdistro}/${pname}/${version}-0";
+    sha256 = "0djnk2k0x8z9xcmrq4b46j08q6ddwl62nxn6r6qchy5har10cb27";
+  };
+
+  propagatedBuildInputs = [ catkin cmake_modules message_generation pluginlib rosconsole roscpp std_msgs bondcpp  boost167 libuuid ];
+
+  meta = with stdenv.lib; {
+    description = "ROS node-like entities that run within the same process so as to avoid IPC and serialization overhead";
+    homepage = https://wiki.ros.org/nodelet;
+    license = licenses.bsd3;
+    platforms = platforms.linux;
+    maintainers = [ maintainers.akru maintainers.nschoe ];
+  };
+}
diff --git a/pkgs/development/ros-modules/nodelet_topic_tools/default.nix b/pkgs/development/ros-modules/nodelet_topic_tools/default.nix
new file mode 100644
index 0000000000000..db60e7dac4e7e
--- /dev/null
+++ b/pkgs/development/ros-modules/nodelet_topic_tools/default.nix
@@ -0,0 +1,33 @@
+{ stdenv
+, mkRosPackage
+, fetchFromGitHub
+, catkin
+, dynamic_reconfigure
+, boost167
+}:
+
+let
+  pname = "nodelet_topic_tools";
+  version = "1.9.16";
+  rosdistro = "melodic";
+
+in mkRosPackage {
+  name = "${pname}-${version}";
+
+  src = fetchFromGitHub {
+    owner = "ros-gbp";
+    repo = "nodelet_core-release";
+    rev = "release/${rosdistro}/${pname}/${version}-0";
+    sha256 = "0ma1k2q0k3p20l30dfhp6yijm22ygy04s4i2nizssc1a9byfaijx";
+  };
+
+  propagatedBuildInputs = [ catkin dynamic_reconfigure boost167 ];
+
+  meta = with stdenv.lib; {
+    description = "ROS node-like entities that run within the same process so as to avoid IPC and serialization overhead";
+    homepage = https://wiki.ros.org/nodelet;
+    license = licenses.bsd3;
+    platforms = platforms.linux;
+    maintainers = [ maintainers.akru maintainers.nschoe ];
+  };
+}
diff --git a/pkgs/development/ros-modules/pcl_conversions/default.nix b/pkgs/development/ros-modules/pcl_conversions/default.nix
new file mode 100644
index 0000000000000..329b384f0d191
--- /dev/null
+++ b/pkgs/development/ros-modules/pcl_conversions/default.nix
@@ -0,0 +1,44 @@
+{ stdenv
+, mkRosPackage
+, fetchFromGitHub
+, eigen3_3
+, boost
+, pcl
+, cmake_modules
+, pcl_msgs
+, dynamic_reconfigure
+, message_filters
+, nodelet
+, nodelet_topic_tools
+}:
+
+let
+  pname = "pcl_conversions";
+  version = "1.6.2";
+  rosdistro = "melodic";
+
+in mkRosPackage {
+  name = "${pname}-${version}";
+
+  src = fetchFromGitHub {
+    owner = "ros-gbp";
+    repo = "perception_pcl-release";
+    rev = "release/${rosdistro}/${pname}/${version}-0";
+    sha256 = "0wl79qlj1j2a79w3ppvxwb4ifigmrycq82zrzrdzkajcjb4i568z";
+  };
+
+  postPatch = ''
+    sed -i '/find_package(Eigen3 REQUIRED)/d' CMakeLists.txt
+  '';
+
+  buildInputs = [ eigen3_3 boost pcl ];
+  propagatedBuildInputs = [ cmake_modules pcl_msgs dynamic_reconfigure message_filters nodelet nodelet_topic_tools ];
+
+  meta = with stdenv.lib; {
+    description = "PCL (Point Cloud Library) ROS interface stack.";
+    homepage = https://wiki.ros.org/pcl_ros;
+    license = licenses.bsd3;
+    platforms = platforms.linux;
+    maintainers = [ maintainers.akru maintainers.nschoe ];
+  };
+}
diff --git a/pkgs/development/ros-modules/pcl_msgs/default.nix b/pkgs/development/ros-modules/pcl_msgs/default.nix
new file mode 100644
index 0000000000000..5ae2acb64c1c4
--- /dev/null
+++ b/pkgs/development/ros-modules/pcl_msgs/default.nix
@@ -0,0 +1,35 @@
+{ stdenv
+, mkRosPackage
+, fetchFromGitHub
+, catkin
+, message_generation
+, message_runtime
+, sensor_msgs
+, std_msgs
+}:
+
+let
+  pname = "pcl_msgs";
+  version = "0.2.0";
+  rosdistro = "melodic";
+
+in mkRosPackage {
+  name = "${pname}-${version}";
+
+  src = fetchFromGitHub {
+    owner = "ros-gbp";
+    repo = "pcl_msgs-release";
+    rev = "release/${rosdistro}/${pname}/${version}-0";
+    sha256 = "15m9kp7agg9402qxxxns1pk63pr75jq6zib2dqb17y7fi4grch9a";
+  };
+
+  propagatedBuildInputs = [ catkin message_generation message_runtime sensor_msgs std_msgs ];
+
+  meta = with stdenv.lib; {
+    description = "PCL (Point Cloud Library) ROS interface stack.";
+    homepage = https://wiki.ros.org/pcl_ros;
+    license = licenses.bsd3;
+    platforms = platforms.linux;
+    maintainers = [ maintainers.akru maintainers.nschoe ];
+  };
+}
diff --git a/pkgs/development/ros-modules/pcl_ros/default.nix b/pkgs/development/ros-modules/pcl_ros/default.nix
new file mode 100644
index 0000000000000..e2824370e6ba5
--- /dev/null
+++ b/pkgs/development/ros-modules/pcl_ros/default.nix
@@ -0,0 +1,48 @@
+{ stdenv
+, mkRosPackage
+, fetchFromGitHub
+, eigen3_3
+, boost
+, pcl
+, pcl_msgs
+, pcl_conversions
+, cmake_modules
+, dynamic_reconfigure
+, message_filters
+, nodelet
+, nodelet_topic_tools
+, rosbag
+, tf
+, tf2_eigen
+}:
+
+let
+  pname = "pcl_ros";
+  version = "1.6.2";
+  rosdistro = "melodic";
+
+in mkRosPackage {
+  name = "${pname}-${version}";
+
+  src = fetchFromGitHub {
+    owner = "ros-gbp";
+    repo = "perception_pcl-release";
+    rev = "release/${rosdistro}/${pname}/${version}-0";
+    sha256 = "0pas46yick9jbq4mf9an5x6cd5bch711byfxm3pl22xkz3j2m598";
+  };
+
+  postPatch = ''
+    sed -i '/find_package(Eigen3 REQUIRED)/d' CMakeLists.txt;
+  '';
+
+  buildInputs = [ eigen3_3 boost pcl ];
+  propagatedBuildInputs = [ cmake_modules pcl_conversions pcl_msgs pcl dynamic_reconfigure message_filters nodelet nodelet_topic_tools rosbag tf tf2_eigen ];
+
+  meta = with stdenv.lib; {
+    description = "PCL (Point Cloud Library) ROS interface stack.";
+    homepage = https://wiki.ros.org/pcl_ros;
+    license = licenses.bsd3;
+    platforms = platforms.linux;
+    maintainers = [ maintainers.akru maintainers.nschoe ];
+  };
+}
diff --git a/pkgs/development/ros-modules/python_qt_binding/default.nix b/pkgs/development/ros-modules/python_qt_binding/default.nix
new file mode 100644
index 0000000000000..df26ac4684c70
--- /dev/null
+++ b/pkgs/development/ros-modules/python_qt_binding/default.nix
@@ -0,0 +1,35 @@
+{ stdenv
+, mkRosPackage
+, fetchFromGitHub
+, python3Packages
+, ensureNewerSourcesForZipFilesHook
+, catkin
+, rosbuild
+}:
+
+let
+  pname = "python_qt_binding";
+  version = "0.3.5";
+  rosdistro = "melodic";
+
+in mkRosPackage {
+  name = "${pname}-${version}";
+
+  src = fetchFromGitHub {
+    owner = "ros-gbp";
+    repo = "python_qt_binding-release";
+    rev = "release/${rosdistro}/${pname}/${version}-0";
+    sha256 = "0bpp1j33vc518sx7a9j2dkjidj96w711dawkw095h4qhrwr27bnh";
+  };
+
+  nativeBuildInputs = [ ensureNewerSourcesForZipFilesHook ];
+
+  propagatedBuildInputs = [ catkin rosbuild ];
+
+  meta = with stdenv.lib; {
+    description = "Provides Python bindings for Qt.";
+    homepage = http://wiki.ros.org/python_qt_binding;
+    license = licenses.bsd3;
+    maintainers = [ maintainers.akru mintainers.nschoe ];
+  };
+}
diff --git a/pkgs/development/ros-modules/resource_retriever/default.nix b/pkgs/development/ros-modules/resource_retriever/default.nix
new file mode 100644
index 0000000000000..01134d99af99d
--- /dev/null
+++ b/pkgs/development/ros-modules/resource_retriever/default.nix
@@ -0,0 +1,33 @@
+{ stdenv
+, mkRosPackage
+, fetchFromGitHub
+, catkin
+, rosconsole
+, roslib
+, curl
+}:
+
+let
+  pname = "resource_retriever";
+  version = "1.12.4";
+  rosdistro = "melodic";
+
+in mkRosPackage {
+  name = "${pname}-${version}";
+
+  src = fetchFromGitHub {
+    owner = "ros-gbp";
+    repo = "media_export-release";
+    rev = "release/${rosdistro}/${pname}/${version}-0";
+    sha256 = "0ppp8m3s0xx72ffgpj5ym9xflcj7dcbv8afz2690ky51g6npmqv5";
+  };
+
+propagatedBuildInputs = [ catkin rosconsole roslib curl ];
+
+  meta = with stdenv.lib; {
+    description = "Retrieves data from url-format files such as http://, ftp://, package:// file://, etc., and loads the data into memory.";
+    homepage = http://wiki.ros.org/resource_retriever;
+    license = licenses.bsd3;
+    maintainers = [ maintainers.akru mintainers.nschoe ];
+  };
+}
diff --git a/pkgs/development/ros-modules/rviz/default.nix b/pkgs/development/ros-modules/rviz/default.nix
new file mode 100644
index 0000000000000..8a63688e043ef
--- /dev/null
+++ b/pkgs/development/ros-modules/rviz/default.nix
@@ -0,0 +1,68 @@
+{ stdenv
+, mkRosPackage
+, fetchFromGitHub
+, catkin
+, cmake_modules
+, geometry_msgs
+, image_transport
+, interactive_markers
+, laser_geometry
+, map_msgs
+, media_export
+, message_filters
+, nav_msgs
+, pluginlib
+, python_qt_binding
+, resource_retriever
+, rosbag
+, rosconsole
+, roscpp
+, roslib
+, rospy
+, sensor_msgs
+, std_msgs
+, std_srvs
+, tf
+, urdf
+, urdfdom_headers
+, urdfdom
+, visualization_msgs
+, pkgconfig
+, assimp
+, ogre1_9
+, libGLU
+, qt5Full
+, libyamlcpp
+, x11
+, pythonPackages
+}:
+
+let
+  pname = "rviz";
+  version = "1.13.3";
+  rosdistro = "melodic";
+  pythonEnv = pythonPackages.python.withPackages (ps: [ ps.sip ps.pyqt5 ]);
+
+in mkRosPackage {
+  name = "${pname}-${version}";
+
+  src = fetchFromGitHub {
+    owner = "ros-gbp";
+    repo = "rviz-release";
+    rev = "release/${rosdistro}/${pname}/${version}-0";
+    sha256 = "1cdyylippwirr2ga62zqgyxym95hy66x0mlbqwncl5w9pw3b7ymm";
+  };
+
+  nativeBuildInputs = [ pkgconfig ];
+
+  buildInputs = [ pythonEnv ];
+
+  propagatedBuildInputs = [ catkin cmake_modules geometry_msgs image_transport interactive_markers laser_geometry map_msgs media_export message_filters nav_msgs pluginlib python_qt_binding resource_retriever rosbag rosconsole roscpp roslib rospy sensor_msgs std_msgs std_srvs tf visualization_msgs urdf urdfdom_headers urdfdom assimp ogre1_9 libGLU qt5Full libyamlcpp x11 ];
+
+  meta = with stdenv.lib; {
+    description = "3D visualization tool for ROS.";
+    homepage = http://wiki.ros.org/rviz;
+    license = licenses.bsd3;
+    maintainers = [ maintainers.akru maintainers.nschoe  ];
+  };
+}
diff --git a/pkgs/development/ros-modules/smclib/default.nix b/pkgs/development/ros-modules/smclib/default.nix
new file mode 100644
index 0000000000000..eea4b65574558
--- /dev/null
+++ b/pkgs/development/ros-modules/smclib/default.nix
@@ -0,0 +1,31 @@
+{ stdenv
+, mkRosPackage
+, fetchFromGitHub
+, catkin
+}:
+
+let
+  pname = "smclib";
+  version = "1.8.3";
+  rosdistro = "melodic";
+
+in mkRosPackage {
+  name = "${pname}-${version}";
+
+  src = fetchFromGitHub {
+    owner = "ros-gbp";
+    repo = "bond_core-release";
+    rev = "release/${rosdistro}/${pname}/${version}-0";
+    sha256 = "07sy0s6vmzfgs5xyhz9mr7gy48337h89ki2p0xhf3si1bwrm3ndc";
+  };
+
+  propagatedBuildInputs = [ catkin ];
+
+  meta = with stdenv.lib; {
+    description = "The State Machine Compiler (SMC) converts a language-independent description of a state machine into the source code to support that state machine.";
+    homepage = https://wiki.ros.org/smclib;
+    license = licenses.bsd3;
+    platforms = platforms.linux;
+    maintainers = [ maintainers.akru maintainers.nschoe ];
+  };
+}
diff --git a/pkgs/development/ros-modules/teleop_tools/default.nix b/pkgs/development/ros-modules/teleop_tools/default.nix
new file mode 100644
index 0000000000000..ca1b351284dda
--- /dev/null
+++ b/pkgs/development/ros-modules/teleop_tools/default.nix
@@ -0,0 +1,34 @@
+{ stdenv
+, mkRosPackage
+, fetchFromGitHub
+, catkin
+, message_generation
+, roscpp
+, std_msgs
+}:
+
+let
+  pname = "teleop_tools";
+  version = "0.3.0";
+  rosdistro = "melodic";
+
+in mkRosPackage {
+  name = "${pname}-${version}";
+
+  src = fetchFromGitHub {
+    owner = "ros-gbp";
+    repo = "${pname}-release";
+    rev = "release/${rosdistro}/${pname}/${version}-0";
+    sha256 = "1gcwzy7wsaq31pycx9i20gr9z6wnxcq1gfk6bmzkf369ann64hic";
+  };
+
+  propagatedBuildInputs =
+  [ catkin message_generation roscpp std_msgs ];
+
+  meta = with stdenv.lib; {
+    description = "A set of generic teleoperation tools for any robot.";
+    homepage = http://wiki.ros.org/teleop_tools;
+    license = licenses.bsd3;
+    maintainers = [ maintainers.akru maintainers.nschoe ];
+  };
+}
diff --git a/pkgs/development/ros-modules/teleop_twist_keyboard/default.nix b/pkgs/development/ros-modules/teleop_twist_keyboard/default.nix
new file mode 100644
index 0000000000000..e235e223ca87d
--- /dev/null
+++ b/pkgs/development/ros-modules/teleop_twist_keyboard/default.nix
@@ -0,0 +1,34 @@
+{ stdenv
+, mkRosPackage
+, fetchFromGitHub
+, catkin
+, message_generation
+, roscpp
+, std_msgs
+}:
+
+let
+  pname = "teleop_twist_keyboard";
+  version = "0.6.2";
+  rosdistro = "melodic";
+
+in mkRosPackage {
+  name = "${pname}-${version}";
+
+  src = fetchFromGitHub {
+    owner = "ros-gbp";
+    repo = "${pname}-release";
+    rev = "release/${rosdistro}/${pname}/${version}-0";
+    sha256 = "1h2pf44qxnk1i7a8lps8p5748a6k2wv65rrdi0cn1nckimlizc58";
+  };
+
+  propagatedBuildInputs =
+  [ catkin message_generation roscpp std_msgs ];
+
+  meta = with stdenv.lib; {
+    description = "Generic Keyboard Teleop for ROS";
+    homepage = http://wiki.ros.org/teleop_twist_keyboard;
+    license = licenses.bsd3;
+    maintainers = [ maintainers.akru maintainers.nschoe ];
+  };
+}
diff --git a/pkgs/development/ros-modules/trajectory_msgs/default.nix b/pkgs/development/ros-modules/trajectory_msgs/default.nix
new file mode 100644
index 0000000000000..e183f4e1ae2ff
--- /dev/null
+++ b/pkgs/development/ros-modules/trajectory_msgs/default.nix
@@ -0,0 +1,34 @@
+{ stdenv
+, mkRosPackage
+, fetchFromGitHub
+, catkin
+, geometry_msgs
+, message_generation
+, message_runtime
+, std_msgs
+}:
+
+let
+  pname = "trajectory_msgs";
+  version = "1.12.6";
+  rosdistro = "melodic";
+
+in mkRosPackage {
+  name = "${pname}-${version}";
+
+  src = fetchFromGitHub {
+    owner = "ros-gbp";
+    repo = "common_msgs-release";
+    rev = "release/${rosdistro}/${pname}/${version}-0";
+    sha256 = "0w7sl5yqkggf37ji566a4ayhfb2y8kgjc14gc6dm06f1zwd9g88m";
+  };
+
+  propagatedBuildInputs = [ catkin message_generation message_runtime std_msgs geometry_msgs ];
+
+  meta = with stdenv.lib; {
+    description = "Messages for defining robot trajectories.";
+    homepage = http://wiki.ros.org/trajectory_msgs;
+    license = licenses.bsd3;
+    maintainers = [ maintainers.akru maintainers.nschoe ];
+  };
+}
diff --git a/pkgs/development/ros-modules/urdf/default.nix b/pkgs/development/ros-modules/urdf/default.nix
new file mode 100644
index 0000000000000..5420f8ffb1cca
--- /dev/null
+++ b/pkgs/development/ros-modules/urdf/default.nix
@@ -0,0 +1,38 @@
+{ stdenv
+, mkRosPackage
+, fetchFromGitHub
+, catkin
+, cmake_modules
+, pluginlib
+, rosconsole_bridge
+, roscpp
+, urdf_parser_plugin
+, urdfdom_headers
+, urdfdom
+, tinyxml-2
+}:
+
+let
+  pname = "urdf";
+  version = "1.13.1";
+  rosdistro = "melodic";
+
+in mkRosPackage {
+  name = "${pname}-${version}";
+
+  src = fetchFromGitHub {
+    owner = "ros-gbp";
+    repo = "urdf-release";
+    rev = "release/${rosdistro}/${pname}/${version}-0";
+    sha256 = "10d8c0149850xrgpkvwflbkdsq5hzibh128kka4awihn6cf49hrp";
+  };
+
+  propagatedBuildInputs = [ catkin cmake_modules pluginlib rosconsole_bridge roscpp urdf_parser_plugin urdfdom_headers urdfdom tinyxml-2 ];
+
+  meta = with stdenv.lib; {
+    description = "Parser for the Unified Robot Description Format (URDF).";
+    homepage = http://wiki.ros.org/urdf;
+    license = licenses.bsd3;
+    maintainers = [ maintainers.akru mintainers.nschoe ];
+  };
+}
diff --git a/pkgs/development/ros-modules/urdf_parser_plugin/default.nix b/pkgs/development/ros-modules/urdf_parser_plugin/default.nix
new file mode 100644
index 0000000000000..395b6cb3c0cf0
--- /dev/null
+++ b/pkgs/development/ros-modules/urdf_parser_plugin/default.nix
@@ -0,0 +1,31 @@
+{ stdenv
+, mkRosPackage
+, fetchFromGitHub
+, catkin
+, urdfdom_headers
+}:
+
+let
+  pname = "urdf_parser_plugin";
+  version = "1.13.1";
+  rosdistro = "melodic";
+
+in mkRosPackage {
+  name = "${pname}-${version}";
+
+  src = fetchFromGitHub {
+    owner = "ros-gbp";
+    repo = "media_export-release";
+    rev = "release/${rosdistro}/${pname}/${version}-0";
+    sha256 = "1ppq48zzg0gwyllznxgav3lkhyxzdfq54y99acbxhkbqfkfqcyi8";
+  };
+
+  propagatedBuildInputs = [ catkin urdfdom_headers ];
+
+  meta = with stdenv.lib; {
+    description = "Base class for URDF parsers.";
+    homepage = http://wiki.ros.org/urdf_parser_plugin;
+    license = licenses.bsd3;
+    maintainers = [ maintainers.akru mintainers.nschoe ];
+  };
+}
diff --git a/pkgs/development/ros-modules/urdfdom/default.nix b/pkgs/development/ros-modules/urdfdom/default.nix
new file mode 100644
index 0000000000000..5a592dc1ad1ae
--- /dev/null
+++ b/pkgs/development/ros-modules/urdfdom/default.nix
@@ -0,0 +1,40 @@
+{ stdenv
+, mkRosPackage
+, fetchFromGitHub
+, catkin
+, cmake
+, urdfdom_headers
+, console_bridge
+, pkgconfig
+, tinyxml
+, boost
+}:
+
+let
+  pname = "urdfdom";
+  version = "0.3.0";
+  rosdistro = "indigo";
+
+in mkRosPackage {
+  name = "${pname}-${version}";
+
+  src = fetchFromGitHub {
+    owner = "ros-gbp";
+    repo = "urdfdom-release";
+    rev = "release/${rosdistro}/${pname}/${version}-1";
+    sha256 = "1hrm9nl3w47ami201xg6mjlh21si6vsbrb1a11svvfdxjzn8aids";
+  };
+
+  nativeBuildInputs = [ pkgconfig ];
+
+  buildInputs = [ boost ];
+
+  propagatedBuildInputs = [ catkin urdfdom_headers console_bridge tinyxml ];
+
+  meta = with stdenv.lib; {
+    description = "A temporary pass through to the urdfdom rosdep";
+    homepage = http://wiki.ros.org/urdfdom;
+    license = licenses.bsd3;
+    maintainers = [ maintainers.akru mintainers.nschoe ];
+  };
+}
diff --git a/pkgs/development/ros-modules/urdfdom_headers/default.nix b/pkgs/development/ros-modules/urdfdom_headers/default.nix
new file mode 100644
index 0000000000000..c35296da5d8e6
--- /dev/null
+++ b/pkgs/development/ros-modules/urdfdom_headers/default.nix
@@ -0,0 +1,32 @@
+{ stdenv
+, mkRosPackage
+, fetchFromGitHub
+, catkin
+, cmake
+, urdfdom
+}:
+
+let
+  pname = "urdfdom_headers";
+  version = "0.3.0";
+  rosdistro = "indigo";
+
+in mkRosPackage {
+  name = "${pname}-${version}";
+
+  src = fetchFromGitHub {
+    owner = "ros-gbp";
+    repo = "urdfdom_headers-release";
+    rev = "release/${rosdistro}/${pname}/${version}-1";
+    sha256 = "0q7130hpqs0m24n39fw7xijacljn6j0r2ycry4jakzpbhn8qr35p";
+  };
+
+propagatedBuildInputs = [ catkin ];
+
+  meta = with stdenv.lib; {
+    description = "Temporary package redirecting to C++ Headers for URDF";
+    homepage = http://wiki.ros.org/urdfdom_headers;
+    license = licenses.bsd3;
+    maintainers = [ maintainers.akru mintainers.nschoe ];
+  };
+}
diff --git a/pkgs/development/ros-modules/visualization_msgs/default.nix b/pkgs/development/ros-modules/visualization_msgs/default.nix
new file mode 100644
index 0000000000000..155a49f55f082
--- /dev/null
+++ b/pkgs/development/ros-modules/visualization_msgs/default.nix
@@ -0,0 +1,34 @@
+{ stdenv
+, mkRosPackage
+, fetchFromGitHub
+, catkin
+, message_generation
+, message_runtime
+, geometry_msgs
+, std_msgs
+}:
+
+let
+  pname = "visualization_msgs";
+  version = "1.12.7";
+  rosdistro = "melodic";
+
+in mkRosPackage {
+  name = "${pname}-${version}";
+
+  src = fetchFromGitHub {
+    owner = "ros-gbp";
+    repo = "common_msgs-release";
+    rev = "release/${rosdistro}/${pname}/${version}-0";
+    sha256 = "13c8mmflnl6wgnpvvha6qb5x07v542imyg6cal4g3s29c95rjilq";
+  };
+
+  propagatedBuildInputs = [ catkin message_generation message_runtime geometry_msgs ];
+
+  meta = with stdenv.lib; {
+    description = "Set of messages used by higher level packages, such as rviz, that deal in visualization-specific data.";
+    homepage = http://wiki.ros.org/visualization_msgs;
+    license = licenses.bsd3;
+    maintainers = [ maintainers.akru maintainers.nschoe ];
+  };
+}
diff --git a/pkgs/top-level/all-packages.nix b/pkgs/top-level/all-packages.nix
index 40aeadcd6042a..a97dcd130aad8 100644
--- a/pkgs/top-level/all-packages.nix
+++ b/pkgs/top-level/all-packages.nix
@@ -10195,6 +10195,8 @@ in
 
   eigen2 = callPackage ../development/libraries/eigen/2.0.nix {};
 
+  eigen3_3 = eigen;
+
   vmmlib = callPackage ../development/libraries/vmmlib {
     inherit (darwin.apple_sdk.frameworks) Accelerate CoreGraphics CoreVideo;
   };
@@ -24185,6 +24187,10 @@ in
 
   rosgraph_msgs = callPackage ../development/ros-modules/rosgraph_msgs { };
 
+  control_msgs = callPackage ../development/ros-modules/control_msgs { };
+
+  trajectory_msgs = callPackage ../development/ros-modules/trajectory_msgs { };
+
   cpp_common = callPackage ../development/ros-modules/cpp_common { };
 
   roscpp_serialization = callPackage ../development/ros-modules/roscpp_serialization { };
@@ -24211,6 +24217,12 @@ in
 
   rosconsole_bridge = callPackage ../development/ros-modules/rosconsole_bridge { };
 
+  rviz = callPackage ../development/ros-modules/rviz { } ;
+
+  interactive_markers = callPackage ../development/ros-modules/interactive_markers { } ;
+
+  laser_geometry = callPackage ../development/ros-modules/laser_geometry { } ;
+
   roslang = callPackage ../development/ros-modules/roslang { };
 
   rosmake = callPackage ../development/ros-modules/rosmake { };
@@ -24253,6 +24265,12 @@ in
 
   topic_tools = callPackage ../development/ros-modules/topic_tools { };
 
+  teleop_tools = callPackage ../development/ros-modules/teleop_tools { };
+
+  key_teleop = callPackage ../development/ros-modules/key_teleop { };
+
+  teleop_twist_keyboard = callPackage ../development/ros-modules/teleop_twist_keyboard { };
+
   ros_comm = callPackage ../development/ros-modules/ros_comm { };
 
   actionlib_msgs = callPackage ../development/ros-modules/actionlib_msgs { };
@@ -24279,12 +24297,44 @@ in
 
   mavros = callPackage ../development/ros-modules/mavros { };
 
+  joy = callPackage ../development/ros-modules/joy { };
+
+  pcl_ros = callPackage ../development/ros-modules/pcl_ros { };
+
+  pcl_conversions = callPackage ../development/ros-modules/pcl_conversions { };
+
+  dynamic_reconfigure = callPackage ../development/ros-modules/dynamic_reconfigure { };
+
+  nodelet = callPackage ../development/ros-modules/nodelet { };
+
+  nodelet_topic_tools = callPackage ../development/ros-modules/nodelet_topic_tools { };
+
+  bondcpp = callPackage ../development/ros-modules/bondcpp { };
+
+  bond = callPackage ../development/ros-modules/bond { };
+
+  smclib = callPackage ../development/ros-modules/smclib { };
+
   mavros_msgs = callPackage ../development/ros-modules/mavros_msgs { };
 
   orocos_kdl = callPackage ../development/ros-modules/orocos_kdl { };
 
   angles = callPackage ../development/ros-modules/angles { };
 
+  media_export = callPackage ../development/ros-modules/media_export { };
+
+  python_qt_binding = callPackage ../development/ros-modules/python_qt_binding { };
+
+  resource_retriever = callPackage ../development/ros-modules/resource_retriever { };
+
+  urdf = callPackage ../development/ros-modules/urdf { };
+
+  urdfdom_headers = callPackage ../development/ros-modules/urdfdom_headers { };
+
+  urdfdom = callPackage ../development/ros-modules/urdfdom { };
+
+  urdf_parser_plugin = callPackage ../development/ros-modules/urdf_parser_plugin { };
+
   nav_msgs = callPackage ../development/ros-modules/nav_msgs { };
 
   sensor_msgs = callPackage ../development/ros-modules/sensor_msgs { };
@@ -24299,6 +24349,12 @@ in
 
   uuid_msgs = callPackage ../development/ros-modules/uuid_msgs { };
 
+  pcl_msgs = callPackage ../development/ros-modules/pcl_msgs { };
+
+  map_msgs = callPackage ../development/ros-modules/map_msgs { };
+
+  visualization_msgs = callPackage ../development/ros-modules/visualization_msgs { };
+
   tf = callPackage ../development/ros-modules/tf { };
 
   tf2 = callPackage ../development/ros-modules/tf2 { };
@@ -24354,9 +24410,4 @@ in
   geographiclib = callPackage ../development/libraries/science/geographiclib { };
 
   djiosdk = callPackage ../development/libraries/science/robotics/djiosdk { };
-
-  websocket-star-rendezvous = nodePackages.libp2p-websocket-star-rendezvous;
-
-  bemenu = callPackage ../applications/misc/bemenu { };
-
 }