2018-07-27 11:04:33 UTC

43 files changed, 240 insertions, 212 deletions

diff --git a/metadata/md5-cache/dev-ros/amcl-1.16.0 b/metadata/md5-cache/dev-ros/amcl-1.16.0
new file mode 100644
index 000000000000..5c1718054090
--- /dev/null
+++ b/metadata/md5-cache/dev-ros/amcl-1.16.0
@@ -0,0 +1,14 @@
+DEFINED_PHASES=compile configure install prepare test
+DEPEND=dev-ros/dynamic_reconfigure[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/nav_msgs[ros_messages_cxx(-)] dev-ros/rosbag dev-libs/boost:= dev-ros/roscpp dev-ros/std_srvs[ros_messages_cxx(-)] dev-ros/tf2_ros dev-ros/tf2_geometry_msgs[ros_messages_cxx(-)] test? ( dev-ros/rostest[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/python_orocos_kdl[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/map_server[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) sys-devel/make >=dev-util/cmake-3.9.6 python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-util/catkin[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/empy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
+DESCRIPTION=Probabilistic localization system for a robot moving in 2D
+EAPI=5
+HOMEPAGE=https://wiki.ros.org/amcl https://github.com/ros-planning/navigation
+IUSE=python_targets_python2_7 test
+KEYWORDS=~amd64 ~arm
+LICENSE=LGPL-2.1
+RDEPEND=dev-ros/dynamic_reconfigure[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/nav_msgs[ros_messages_cxx(-)] dev-ros/rosbag dev-libs/boost:= dev-ros/roscpp dev-ros/std_srvs[ros_messages_cxx(-)] dev-ros/tf2_ros dev-ros/tf2_geometry_msgs[ros_messages_cxx(-)] python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
+REQUIRED_USE=|| ( python_targets_python2_7 )
+SLOT=0
+SRC_URI=https://github.com/ros-planning/navigation/archive/1.16.0.tar.gz -> navigation-1.16.0.tar.gz
+_eclasses_=cmake-utils	57384a259cf0c7985ce651b2c0865405	desktop	1b286a7e7143d8c4ec89cd0d2743a097	eapi7-ver	d97a56a62c7df8614afddcb25f5ff00f	epatch	9a5f039771f143195164a15a4faa41a1	estack	43ddf5aaffa7a8d0482df54d25a66a1f	eutils	b43d08fe0771faf2f5e7be19c2789d33	flag-o-matic	5128c4729303400bd8d4b0b966530955	ltprune	607e058da37aa6dabfa408b7d61da72e	multibuild	35719a9cd25ec71ee49c966f6868454c	multilib	97f470f374f2e94ccab04a2fb21d811e	multiprocessing	cac3169468f893670dac3e7cb940e045	ninja-utils	d2e7e7d290428bb25c56dcf2502badc1	preserve-libs	ef207dc62baddfddfd39a164d9797648	python-r1	0b5829eb6369d7af3a834b6eed7b7107	python-utils-r1	7db901256449fef43c3aaa4d486c1c63	ros-catkin	6429c6e498fae480f42ae74b75aa7f55	toolchain-funcs	1e35303c63cd707f6c3422b4493d5607	vcs-clean	2a0f74a496fa2b1552c4f3398258b7bf	xdg-utils	f2c8335407f0b935b0a96d4adf23ef25
+_md5_=70e6da7d5ce69126a2d7ca72eaf6d4db
diff --git a/metadata/md5-cache/dev-ros/amcl-9999 b/metadata/md5-cache/dev-ros/amcl-9999
index 4c3022ad0d97..bb9703f5ce7d 100644
--- a/metadata/md5-cache/dev-ros/amcl-9999
+++ b/metadata/md5-cache/dev-ros/amcl-9999
@@ -1,12 +1,12 @@
 DEFINED_PHASES=compile configure install prepare test unpack
-DEPEND=dev-ros/roscpp dev-ros/tf dev-ros/rosbag dev-ros/dynamic_reconfigure[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-libs/boost:= dev-ros/nav_msgs[ros_messages_cxx(-)] dev-ros/std_srvs[ros_messages_cxx(-)] test? ( dev-ros/rostest[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) >=dev-vcs/git-1.8.2.1[curl] sys-devel/make >=dev-util/cmake-3.9.6 python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-util/catkin[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/empy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
+DEPEND=dev-ros/dynamic_reconfigure[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/nav_msgs[ros_messages_cxx(-)] dev-ros/rosbag dev-libs/boost:= dev-ros/roscpp dev-ros/std_srvs[ros_messages_cxx(-)] dev-ros/tf2_ros dev-ros/tf2_geometry_msgs[ros_messages_cxx(-)] test? ( dev-ros/rostest[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/python_orocos_kdl[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/map_server[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) >=dev-vcs/git-1.8.2.1[curl] sys-devel/make >=dev-util/cmake-3.9.6 python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-util/catkin[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/empy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
 DESCRIPTION=Probabilistic localization system for a robot moving in 2D
 EAPI=5
 HOMEPAGE=https://wiki.ros.org/amcl https://github.com/ros-planning/navigation
 IUSE=python_targets_python2_7 test
 LICENSE=LGPL-2.1
-RDEPEND=dev-ros/roscpp dev-ros/tf dev-ros/rosbag dev-ros/dynamic_reconfigure[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-libs/boost:= dev-ros/nav_msgs[ros_messages_cxx(-)] dev-ros/std_srvs[ros_messages_cxx(-)] python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
+RDEPEND=dev-ros/dynamic_reconfigure[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/nav_msgs[ros_messages_cxx(-)] dev-ros/rosbag dev-libs/boost:= dev-ros/roscpp dev-ros/std_srvs[ros_messages_cxx(-)] dev-ros/tf2_ros dev-ros/tf2_geometry_msgs[ros_messages_cxx(-)] python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
 REQUIRED_USE=|| ( python_targets_python2_7 )
 SLOT=0
 _eclasses_=cmake-utils	57384a259cf0c7985ce651b2c0865405	desktop	1b286a7e7143d8c4ec89cd0d2743a097	eapi7-ver	d97a56a62c7df8614afddcb25f5ff00f	epatch	9a5f039771f143195164a15a4faa41a1	estack	43ddf5aaffa7a8d0482df54d25a66a1f	eutils	b43d08fe0771faf2f5e7be19c2789d33	flag-o-matic	5128c4729303400bd8d4b0b966530955	git-r3	8f6de46b0aa318aea0e8cac62ece098b	ltprune	607e058da37aa6dabfa408b7d61da72e	multibuild	35719a9cd25ec71ee49c966f6868454c	multilib	97f470f374f2e94ccab04a2fb21d811e	multiprocessing	cac3169468f893670dac3e7cb940e045	ninja-utils	d2e7e7d290428bb25c56dcf2502badc1	preserve-libs	ef207dc62baddfddfd39a164d9797648	python-r1	0b5829eb6369d7af3a834b6eed7b7107	python-utils-r1	7db901256449fef43c3aaa4d486c1c63	ros-catkin	6429c6e498fae480f42ae74b75aa7f55	toolchain-funcs	1e35303c63cd707f6c3422b4493d5607	vcs-clean	2a0f74a496fa2b1552c4f3398258b7bf	xdg-utils	f2c8335407f0b935b0a96d4adf23ef25
-_md5_=20588ed3a06a0ba18a75f9e6a64bef03
+_md5_=70e6da7d5ce69126a2d7ca72eaf6d4db
diff --git a/metadata/md5-cache/dev-ros/base_local_planner-1.16.0 b/metadata/md5-cache/dev-ros/base_local_planner-1.16.0
new file mode 100644
index 000000000000..acd4bb7c4981
--- /dev/null
+++ b/metadata/md5-cache/dev-ros/base_local_planner-1.16.0
@@ -0,0 +1,14 @@
+DEFINED_PHASES=compile configure install prepare test
+DEPEND=dev-ros/angles >=dev-ros/costmap_2d-1.16 dev-ros/dynamic_reconfigure[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-cpp/eigen:3 dev-ros/geometry_msgs[ros_messages_cxx(-)] >=dev-ros/nav_core-1.16 dev-ros/pluginlib dev-ros/std_msgs[ros_messages_cxx(-)] dev-ros/rosconsole dev-ros/roscpp dev-ros/rospy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/tf2_ros dev-ros/visualization_msgs[ros_messages_cxx(-)] dev-ros/voxel_grid dev-libs/boost:=[threads] dev-ros/tf2_geometry_msgs[ros_messages_cxx(-)] dev-ros/cmake_modules test? ( dev-cpp/gtest dev-ros/rosunit[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) sys-devel/make >=dev-util/cmake-3.9.6 python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-util/catkin[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/empy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ros_messages_cxx? ( dev-ros/gencpp:= dev-ros/gencpp[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_eus? ( dev-ros/geneus:= dev-ros/geneus[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_python? ( dev-ros/genpy:= dev-ros/genpy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_lisp? ( dev-ros/genlisp:= dev-ros/genlisp[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_nodejs? ( dev-ros/gennodejs:= dev-ros/gennodejs[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) dev-ros/message_runtime dev-ros/message_generation dev-ros/genmsg[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/std_msgs[ros_messages_python(-)?,ros_messages_cxx(-)?,ros_messages_lisp(-)?,ros_messages_eus(-)?,ros_messages_nodejs(-)?] ros_messages_python? ( dev-ros/std_msgs[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] )
+DESCRIPTION=Trajectory Rollout and Dynamic Window approaches to local robot navigation on a plane
+EAPI=5
+HOMEPAGE=https://wiki.ros.org/base_local_planner https://github.com/ros-planning/navigation
+IUSE=python_targets_python2_7 test +ros_messages_python +ros_messages_cxx ros_messages_eus ros_messages_lisp ros_messages_nodejs
+KEYWORDS=~amd64 ~arm
+LICENSE=BSD
+RDEPEND=dev-ros/angles >=dev-ros/costmap_2d-1.16 dev-ros/dynamic_reconfigure[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-cpp/eigen:3 dev-ros/geometry_msgs[ros_messages_cxx(-)] >=dev-ros/nav_core-1.16 dev-ros/pluginlib dev-ros/std_msgs[ros_messages_cxx(-)] dev-ros/rosconsole dev-ros/roscpp dev-ros/rospy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/tf2_ros dev-ros/visualization_msgs[ros_messages_cxx(-)] dev-ros/voxel_grid dev-libs/boost:=[threads] dev-ros/tf2_geometry_msgs[ros_messages_cxx(-)] python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ros_messages_cxx? ( dev-ros/gencpp:= dev-ros/gencpp[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_eus? ( dev-ros/geneus:= dev-ros/geneus[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_python? ( dev-ros/genpy:= dev-ros/genpy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_lisp? ( dev-ros/genlisp:= dev-ros/genlisp[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_nodejs? ( dev-ros/gennodejs:= dev-ros/gennodejs[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) dev-ros/message_runtime dev-ros/std_msgs[ros_messages_python(-)?,ros_messages_cxx(-)?,ros_messages_lisp(-)?,ros_messages_eus(-)?,ros_messages_nodejs(-)?] ros_messages_python? ( dev-ros/std_msgs[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] )
+REQUIRED_USE=|| ( python_targets_python2_7 )
+SLOT=0
+SRC_URI=https://github.com/ros-planning/navigation/archive/1.16.0.tar.gz -> navigation-1.16.0.tar.gz
+_eclasses_=cmake-utils	57384a259cf0c7985ce651b2c0865405	desktop	1b286a7e7143d8c4ec89cd0d2743a097	eapi7-ver	d97a56a62c7df8614afddcb25f5ff00f	epatch	9a5f039771f143195164a15a4faa41a1	estack	43ddf5aaffa7a8d0482df54d25a66a1f	eutils	b43d08fe0771faf2f5e7be19c2789d33	flag-o-matic	5128c4729303400bd8d4b0b966530955	ltprune	607e058da37aa6dabfa408b7d61da72e	multibuild	35719a9cd25ec71ee49c966f6868454c	multilib	97f470f374f2e94ccab04a2fb21d811e	multiprocessing	cac3169468f893670dac3e7cb940e045	ninja-utils	d2e7e7d290428bb25c56dcf2502badc1	preserve-libs	ef207dc62baddfddfd39a164d9797648	python-r1	0b5829eb6369d7af3a834b6eed7b7107	python-utils-r1	7db901256449fef43c3aaa4d486c1c63	ros-catkin	6429c6e498fae480f42ae74b75aa7f55	toolchain-funcs	1e35303c63cd707f6c3422b4493d5607	vcs-clean	2a0f74a496fa2b1552c4f3398258b7bf	xdg-utils	f2c8335407f0b935b0a96d4adf23ef25
+_md5_=b3ed73ed616527b8d43769f3431cd67d
diff --git a/metadata/md5-cache/dev-ros/base_local_planner-9999 b/metadata/md5-cache/dev-ros/base_local_planner-9999
index 7d5278840eeb..c198a9af279b 100644
--- a/metadata/md5-cache/dev-ros/base_local_planner-9999
+++ b/metadata/md5-cache/dev-ros/base_local_planner-9999
@@ -1,12 +1,12 @@
 DEFINED_PHASES=compile configure install prepare test unpack
-DEPEND=dev-ros/roscpp dev-ros/tf dev-ros/dynamic_reconfigure[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/nav_core dev-ros/pcl_conversions dev-ros/rostest dev-ros/costmap_2d dev-ros/pluginlib dev-ros/angles dev-libs/boost:=[threads] dev-cpp/eigen:3 sci-libs/pcl dev-libs/console_bridge:= dev-ros/cmake_modules test? ( dev-cpp/gtest ) >=dev-vcs/git-1.8.2.1[curl] sys-devel/make >=dev-util/cmake-3.9.6 python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-util/catkin[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/empy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ros_messages_cxx? ( dev-ros/gencpp:= dev-ros/gencpp[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_eus? ( dev-ros/geneus:= dev-ros/geneus[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_python? ( dev-ros/genpy:= dev-ros/genpy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_lisp? ( dev-ros/genlisp:= dev-ros/genlisp[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_nodejs? ( dev-ros/gennodejs:= dev-ros/gennodejs[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) dev-ros/message_runtime dev-ros/message_generation dev-ros/genmsg[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/std_msgs[ros_messages_python(-)?,ros_messages_cxx(-)?,ros_messages_lisp(-)?,ros_messages_eus(-)?,ros_messages_nodejs(-)?] ros_messages_python? ( dev-ros/std_msgs[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] )
+DEPEND=dev-ros/angles >=dev-ros/costmap_2d-1.16 dev-ros/dynamic_reconfigure[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-cpp/eigen:3 dev-ros/geometry_msgs[ros_messages_cxx(-)] >=dev-ros/nav_core-1.16 dev-ros/pluginlib dev-ros/std_msgs[ros_messages_cxx(-)] dev-ros/rosconsole dev-ros/roscpp dev-ros/rospy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/tf2_ros dev-ros/visualization_msgs[ros_messages_cxx(-)] dev-ros/voxel_grid dev-libs/boost:=[threads] dev-ros/tf2_geometry_msgs[ros_messages_cxx(-)] dev-ros/cmake_modules test? ( dev-cpp/gtest dev-ros/rosunit[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) >=dev-vcs/git-1.8.2.1[curl] sys-devel/make >=dev-util/cmake-3.9.6 python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-util/catkin[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/empy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ros_messages_cxx? ( dev-ros/gencpp:= dev-ros/gencpp[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_eus? ( dev-ros/geneus:= dev-ros/geneus[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_python? ( dev-ros/genpy:= dev-ros/genpy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_lisp? ( dev-ros/genlisp:= dev-ros/genlisp[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_nodejs? ( dev-ros/gennodejs:= dev-ros/gennodejs[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) dev-ros/message_runtime dev-ros/message_generation dev-ros/genmsg[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/std_msgs[ros_messages_python(-)?,ros_messages_cxx(-)?,ros_messages_lisp(-)?,ros_messages_eus(-)?,ros_messages_nodejs(-)?] ros_messages_python? ( dev-ros/std_msgs[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] )
 DESCRIPTION=Trajectory Rollout and Dynamic Window approaches to local robot navigation on a plane
 EAPI=5
 HOMEPAGE=https://wiki.ros.org/base_local_planner https://github.com/ros-planning/navigation
 IUSE=python_targets_python2_7 test +ros_messages_python +ros_messages_cxx ros_messages_eus ros_messages_lisp ros_messages_nodejs
 LICENSE=BSD
-RDEPEND=dev-ros/roscpp dev-ros/tf dev-ros/dynamic_reconfigure[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/nav_core dev-ros/pcl_conversions dev-ros/rostest dev-ros/costmap_2d dev-ros/pluginlib dev-ros/angles dev-libs/boost:=[threads] dev-cpp/eigen:3 sci-libs/pcl dev-libs/console_bridge:= python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ros_messages_cxx? ( dev-ros/gencpp:= dev-ros/gencpp[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_eus? ( dev-ros/geneus:= dev-ros/geneus[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_python? ( dev-ros/genpy:= dev-ros/genpy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_lisp? ( dev-ros/genlisp:= dev-ros/genlisp[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_nodejs? ( dev-ros/gennodejs:= dev-ros/gennodejs[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) dev-ros/message_runtime dev-ros/std_msgs[ros_messages_python(-)?,ros_messages_cxx(-)?,ros_messages_lisp(-)?,ros_messages_eus(-)?,ros_messages_nodejs(-)?] ros_messages_python? ( dev-ros/std_msgs[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] )
+RDEPEND=dev-ros/angles >=dev-ros/costmap_2d-1.16 dev-ros/dynamic_reconfigure[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-cpp/eigen:3 dev-ros/geometry_msgs[ros_messages_cxx(-)] >=dev-ros/nav_core-1.16 dev-ros/pluginlib dev-ros/std_msgs[ros_messages_cxx(-)] dev-ros/rosconsole dev-ros/roscpp dev-ros/rospy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/tf2_ros dev-ros/visualization_msgs[ros_messages_cxx(-)] dev-ros/voxel_grid dev-libs/boost:=[threads] dev-ros/tf2_geometry_msgs[ros_messages_cxx(-)] python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ros_messages_cxx? ( dev-ros/gencpp:= dev-ros/gencpp[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_eus? ( dev-ros/geneus:= dev-ros/geneus[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_python? ( dev-ros/genpy:= dev-ros/genpy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_lisp? ( dev-ros/genlisp:= dev-ros/genlisp[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_nodejs? ( dev-ros/gennodejs:= dev-ros/gennodejs[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) dev-ros/message_runtime dev-ros/std_msgs[ros_messages_python(-)?,ros_messages_cxx(-)?,ros_messages_lisp(-)?,ros_messages_eus(-)?,ros_messages_nodejs(-)?] ros_messages_python? ( dev-ros/std_msgs[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] )
 REQUIRED_USE=|| ( python_targets_python2_7 )
 SLOT=0
 _eclasses_=cmake-utils	57384a259cf0c7985ce651b2c0865405	desktop	1b286a7e7143d8c4ec89cd0d2743a097	eapi7-ver	d97a56a62c7df8614afddcb25f5ff00f	epatch	9a5f039771f143195164a15a4faa41a1	estack	43ddf5aaffa7a8d0482df54d25a66a1f	eutils	b43d08fe0771faf2f5e7be19c2789d33	flag-o-matic	5128c4729303400bd8d4b0b966530955	git-r3	8f6de46b0aa318aea0e8cac62ece098b	ltprune	607e058da37aa6dabfa408b7d61da72e	multibuild	35719a9cd25ec71ee49c966f6868454c	multilib	97f470f374f2e94ccab04a2fb21d811e	multiprocessing	cac3169468f893670dac3e7cb940e045	ninja-utils	d2e7e7d290428bb25c56dcf2502badc1	preserve-libs	ef207dc62baddfddfd39a164d9797648	python-r1	0b5829eb6369d7af3a834b6eed7b7107	python-utils-r1	7db901256449fef43c3aaa4d486c1c63	ros-catkin	6429c6e498fae480f42ae74b75aa7f55	toolchain-funcs	1e35303c63cd707f6c3422b4493d5607	vcs-clean	2a0f74a496fa2b1552c4f3398258b7bf	xdg-utils	f2c8335407f0b935b0a96d4adf23ef25
-_md5_=7fd08bad56689007107522d6abddd290
+_md5_=b3ed73ed616527b8d43769f3431cd67d
diff --git a/metadata/md5-cache/dev-ros/carrot_planner-1.16.0 b/metadata/md5-cache/dev-ros/carrot_planner-1.16.0
new file mode 100644
index 000000000000..bc6e6fc3616a
--- /dev/null
+++ b/metadata/md5-cache/dev-ros/carrot_planner-1.16.0
@@ -0,0 +1,14 @@
+DEFINED_PHASES=compile configure install prepare test
+DEPEND=dev-ros/base_local_planner dev-ros/costmap_2d dev-cpp/eigen:3 dev-ros/nav_core dev-ros/pluginlib dev-ros/roscpp dev-ros/tf2_ros dev-libs/boost:= dev-ros/tf2_geometry_msgs[ros_messages_cxx(-)] sys-devel/make >=dev-util/cmake-3.9.6 python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-util/catkin[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/empy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
+DESCRIPTION=Attempts to find a legal place to put a carrot for the robot to follow
+EAPI=5
+HOMEPAGE=https://wiki.ros.org/carrot_planner https://github.com/ros-planning/navigation
+IUSE=python_targets_python2_7 test
+KEYWORDS=~amd64 ~arm
+LICENSE=BSD
+RDEPEND=dev-ros/base_local_planner dev-ros/costmap_2d dev-cpp/eigen:3 dev-ros/nav_core dev-ros/pluginlib dev-ros/roscpp dev-ros/tf2_ros dev-libs/boost:= dev-ros/tf2_geometry_msgs[ros_messages_cxx(-)] python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
+REQUIRED_USE=|| ( python_targets_python2_7 )
+SLOT=0
+SRC_URI=https://github.com/ros-planning/navigation/archive/1.16.0.tar.gz -> navigation-1.16.0.tar.gz
+_eclasses_=cmake-utils	57384a259cf0c7985ce651b2c0865405	desktop	1b286a7e7143d8c4ec89cd0d2743a097	eapi7-ver	d97a56a62c7df8614afddcb25f5ff00f	epatch	9a5f039771f143195164a15a4faa41a1	estack	43ddf5aaffa7a8d0482df54d25a66a1f	eutils	b43d08fe0771faf2f5e7be19c2789d33	flag-o-matic	5128c4729303400bd8d4b0b966530955	ltprune	607e058da37aa6dabfa408b7d61da72e	multibuild	35719a9cd25ec71ee49c966f6868454c	multilib	97f470f374f2e94ccab04a2fb21d811e	multiprocessing	cac3169468f893670dac3e7cb940e045	ninja-utils	d2e7e7d290428bb25c56dcf2502badc1	preserve-libs	ef207dc62baddfddfd39a164d9797648	python-r1	0b5829eb6369d7af3a834b6eed7b7107	python-utils-r1	7db901256449fef43c3aaa4d486c1c63	ros-catkin	6429c6e498fae480f42ae74b75aa7f55	toolchain-funcs	1e35303c63cd707f6c3422b4493d5607	vcs-clean	2a0f74a496fa2b1552c4f3398258b7bf	xdg-utils	f2c8335407f0b935b0a96d4adf23ef25
+_md5_=4be292b4011ccde05d2990b2bf94c896
diff --git a/metadata/md5-cache/dev-ros/carrot_planner-9999 b/metadata/md5-cache/dev-ros/carrot_planner-9999
index 77b5fea617c3..864c5b6e1c8f 100644
--- a/metadata/md5-cache/dev-ros/carrot_planner-9999
+++ b/metadata/md5-cache/dev-ros/carrot_planner-9999
@@ -1,12 +1,12 @@
 DEFINED_PHASES=compile configure install prepare test unpack
-DEPEND=dev-ros/roscpp dev-ros/tf dev-ros/nav_core dev-ros/costmap_2d dev-ros/base_local_planner dev-ros/pluginlib dev-libs/boost:= dev-libs/console_bridge:= >=dev-vcs/git-1.8.2.1[curl] sys-devel/make >=dev-util/cmake-3.9.6 python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-util/catkin[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/empy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
+DEPEND=dev-ros/base_local_planner dev-ros/costmap_2d dev-cpp/eigen:3 dev-ros/nav_core dev-ros/pluginlib dev-ros/roscpp dev-ros/tf2_ros dev-libs/boost:= dev-ros/tf2_geometry_msgs[ros_messages_cxx(-)] >=dev-vcs/git-1.8.2.1[curl] sys-devel/make >=dev-util/cmake-3.9.6 python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-util/catkin[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/empy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
 DESCRIPTION=Attempts to find a legal place to put a carrot for the robot to follow
 EAPI=5
 HOMEPAGE=https://wiki.ros.org/carrot_planner https://github.com/ros-planning/navigation
 IUSE=python_targets_python2_7 test
 LICENSE=BSD
-RDEPEND=dev-ros/roscpp dev-ros/tf dev-ros/nav_core dev-ros/costmap_2d dev-ros/base_local_planner dev-ros/pluginlib dev-libs/boost:= dev-libs/console_bridge:= python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
+RDEPEND=dev-ros/base_local_planner dev-ros/costmap_2d dev-cpp/eigen:3 dev-ros/nav_core dev-ros/pluginlib dev-ros/roscpp dev-ros/tf2_ros dev-libs/boost:= dev-ros/tf2_geometry_msgs[ros_messages_cxx(-)] python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
 REQUIRED_USE=|| ( python_targets_python2_7 )
 SLOT=0
 _eclasses_=cmake-utils	57384a259cf0c7985ce651b2c0865405	desktop	1b286a7e7143d8c4ec89cd0d2743a097	eapi7-ver	d97a56a62c7df8614afddcb25f5ff00f	epatch	9a5f039771f143195164a15a4faa41a1	estack	43ddf5aaffa7a8d0482df54d25a66a1f	eutils	b43d08fe0771faf2f5e7be19c2789d33	flag-o-matic	5128c4729303400bd8d4b0b966530955	git-r3	8f6de46b0aa318aea0e8cac62ece098b	ltprune	607e058da37aa6dabfa408b7d61da72e	multibuild	35719a9cd25ec71ee49c966f6868454c	multilib	97f470f374f2e94ccab04a2fb21d811e	multiprocessing	cac3169468f893670dac3e7cb940e045	ninja-utils	d2e7e7d290428bb25c56dcf2502badc1	preserve-libs	ef207dc62baddfddfd39a164d9797648	python-r1	0b5829eb6369d7af3a834b6eed7b7107	python-utils-r1	7db901256449fef43c3aaa4d486c1c63	ros-catkin	6429c6e498fae480f42ae74b75aa7f55	toolchain-funcs	1e35303c63cd707f6c3422b4493d5607	vcs-clean	2a0f74a496fa2b1552c4f3398258b7bf	xdg-utils	f2c8335407f0b935b0a96d4adf23ef25
-_md5_=652eabed7e78cf1845e6f7b10c87c6cb
+_md5_=4be292b4011ccde05d2990b2bf94c896
diff --git a/metadata/md5-cache/dev-ros/tf2_geometry_msgs-0.6.1 b/metadata/md5-cache/dev-ros/clear_costmap_recovery-1.16.0
index 6e0fa600acef..c29e28e65aa5 100644
--- a/metadata/md5-cache/dev-ros/tf2_geometry_msgs-0.6.1
+++ b/metadata/md5-cache/dev-ros/clear_costmap_recovery-1.16.0
@@ -1,14 +1,14 @@
 DEFINED_PHASES=compile configure install prepare test
-DEPEND=dev-ros/rospy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/tf2_ros[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/python_orocos_kdl[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/tf2 sci-libs/orocos_kdl dev-ros/geometry_msgs[ros_messages_python(-),python_targets_python2_7(-)?,-python_single_target_python2_7(-),ros_messages_cxx(-)] sys-devel/make >=dev-util/cmake-3.9.6 python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-util/catkin[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/empy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
-DESCRIPTION=The second generation Transform Library in ROS
+DEPEND=>=dev-ros/costmap_2d-1.13.1 dev-cpp/eigen:3 dev-ros/nav_core dev-ros/pluginlib dev-ros/roscpp dev-ros/tf2_ros dev-libs/boost:=[threads] dev-libs/console_bridge:= dev-ros/cmake_modules test? ( dev-ros/rostest dev-cpp/gtest ) sys-devel/make >=dev-util/cmake-3.9.6 python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-util/catkin[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/empy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
+DESCRIPTION=Recovery behavior that attempts to clear space by reverting the costmaps to the static map
 EAPI=5
-HOMEPAGE=https://wiki.ros.org/tf2_geometry_msgs https://github.com/ros/geometry2
+HOMEPAGE=https://wiki.ros.org/clear_costmap_recovery https://github.com/ros-planning/navigation
 IUSE=python_targets_python2_7 test
 KEYWORDS=~amd64 ~arm
 LICENSE=BSD
-RDEPEND=dev-ros/rospy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/tf2_ros[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/python_orocos_kdl[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/tf2 sci-libs/orocos_kdl dev-ros/geometry_msgs[ros_messages_python(-),python_targets_python2_7(-)?,-python_single_target_python2_7(-),ros_messages_cxx(-)] python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
+RDEPEND=>=dev-ros/costmap_2d-1.13.1 dev-cpp/eigen:3 dev-ros/nav_core dev-ros/pluginlib dev-ros/roscpp dev-ros/tf2_ros dev-libs/boost:=[threads] dev-libs/console_bridge:= python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
 REQUIRED_USE=|| ( python_targets_python2_7 )
 SLOT=0
-SRC_URI=https://github.com/ros/geometry2/archive/0.6.1.tar.gz -> geometry2-0.6.1.tar.gz
+SRC_URI=https://github.com/ros-planning/navigation/archive/1.16.0.tar.gz -> navigation-1.16.0.tar.gz
 _eclasses_=cmake-utils	57384a259cf0c7985ce651b2c0865405	desktop	1b286a7e7143d8c4ec89cd0d2743a097	eapi7-ver	d97a56a62c7df8614afddcb25f5ff00f	epatch	9a5f039771f143195164a15a4faa41a1	estack	43ddf5aaffa7a8d0482df54d25a66a1f	eutils	b43d08fe0771faf2f5e7be19c2789d33	flag-o-matic	5128c4729303400bd8d4b0b966530955	ltprune	607e058da37aa6dabfa408b7d61da72e	multibuild	35719a9cd25ec71ee49c966f6868454c	multilib	97f470f374f2e94ccab04a2fb21d811e	multiprocessing	cac3169468f893670dac3e7cb940e045	ninja-utils	d2e7e7d290428bb25c56dcf2502badc1	preserve-libs	ef207dc62baddfddfd39a164d9797648	python-r1	0b5829eb6369d7af3a834b6eed7b7107	python-utils-r1	7db901256449fef43c3aaa4d486c1c63	ros-catkin	6429c6e498fae480f42ae74b75aa7f55	toolchain-funcs	1e35303c63cd707f6c3422b4493d5607	vcs-clean	2a0f74a496fa2b1552c4f3398258b7bf	xdg-utils	f2c8335407f0b935b0a96d4adf23ef25
-_md5_=436e48b3a2d87635ae89594e1904b6d7
+_md5_=8f6f9081a3b9b95fe3f98bb49f461dcf
diff --git a/metadata/md5-cache/dev-ros/clear_costmap_recovery-9999 b/metadata/md5-cache/dev-ros/clear_costmap_recovery-9999
index 294346769eaf..76d016595305 100644
--- a/metadata/md5-cache/dev-ros/clear_costmap_recovery-9999
+++ b/metadata/md5-cache/dev-ros/clear_costmap_recovery-9999
@@ -1,12 +1,12 @@
 DEFINED_PHASES=compile configure install prepare test unpack
-DEPEND=>=dev-ros/costmap_2d-1.13.1 dev-ros/nav_core dev-ros/pluginlib dev-ros/roscpp dev-ros/tf dev-cpp/eigen:3 sci-libs/pcl dev-libs/boost:=[threads] dev-libs/console_bridge:= dev-ros/cmake_modules test? ( dev-ros/rostest dev-cpp/gtest ) >=dev-vcs/git-1.8.2.1[curl] sys-devel/make >=dev-util/cmake-3.9.6 python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-util/catkin[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/empy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
+DEPEND=>=dev-ros/costmap_2d-1.13.1 dev-cpp/eigen:3 dev-ros/nav_core dev-ros/pluginlib dev-ros/roscpp dev-ros/tf2_ros dev-libs/boost:=[threads] dev-libs/console_bridge:= dev-ros/cmake_modules test? ( dev-ros/rostest dev-cpp/gtest ) >=dev-vcs/git-1.8.2.1[curl] sys-devel/make >=dev-util/cmake-3.9.6 python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-util/catkin[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/empy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
 DESCRIPTION=Recovery behavior that attempts to clear space by reverting the costmaps to the static map
 EAPI=5
 HOMEPAGE=https://wiki.ros.org/clear_costmap_recovery https://github.com/ros-planning/navigation
 IUSE=python_targets_python2_7 test
 LICENSE=BSD
-RDEPEND=>=dev-ros/costmap_2d-1.13.1 dev-ros/nav_core dev-ros/pluginlib dev-ros/roscpp dev-ros/tf dev-cpp/eigen:3 sci-libs/pcl dev-libs/boost:=[threads] dev-libs/console_bridge:= python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
+RDEPEND=>=dev-ros/costmap_2d-1.13.1 dev-cpp/eigen:3 dev-ros/nav_core dev-ros/pluginlib dev-ros/roscpp dev-ros/tf2_ros dev-libs/boost:=[threads] dev-libs/console_bridge:= python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
 REQUIRED_USE=|| ( python_targets_python2_7 )
 SLOT=0
 _eclasses_=cmake-utils	57384a259cf0c7985ce651b2c0865405	desktop	1b286a7e7143d8c4ec89cd0d2743a097	eapi7-ver	d97a56a62c7df8614afddcb25f5ff00f	epatch	9a5f039771f143195164a15a4faa41a1	estack	43ddf5aaffa7a8d0482df54d25a66a1f	eutils	b43d08fe0771faf2f5e7be19c2789d33	flag-o-matic	5128c4729303400bd8d4b0b966530955	git-r3	8f6de46b0aa318aea0e8cac62ece098b	ltprune	607e058da37aa6dabfa408b7d61da72e	multibuild	35719a9cd25ec71ee49c966f6868454c	multilib	97f470f374f2e94ccab04a2fb21d811e	multiprocessing	cac3169468f893670dac3e7cb940e045	ninja-utils	d2e7e7d290428bb25c56dcf2502badc1	preserve-libs	ef207dc62baddfddfd39a164d9797648	python-r1	0b5829eb6369d7af3a834b6eed7b7107	python-utils-r1	7db901256449fef43c3aaa4d486c1c63	ros-catkin	6429c6e498fae480f42ae74b75aa7f55	toolchain-funcs	1e35303c63cd707f6c3422b4493d5607	vcs-clean	2a0f74a496fa2b1552c4f3398258b7bf	xdg-utils	f2c8335407f0b935b0a96d4adf23ef25
-_md5_=652f350b2b941c7d2c070e692777c0b4
+_md5_=8f6f9081a3b9b95fe3f98bb49f461dcf
diff --git a/metadata/md5-cache/dev-ros/costmap_2d-1.16.0 b/metadata/md5-cache/dev-ros/costmap_2d-1.16.0
new file mode 100644
index 000000000000..3fa2019c0963
--- /dev/null
+++ b/metadata/md5-cache/dev-ros/costmap_2d-1.16.0
@@ -0,0 +1,14 @@
+DEFINED_PHASES=compile configure install prepare test
+DEPEND=dev-ros/dynamic_reconfigure[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/laser_geometry dev-ros/message_filters dev-ros/nav_msgs[ros_messages_cxx(-)] dev-ros/pluginlib dev-ros/roscpp dev-ros/sensor_msgs[ros_messages_cxx(-)] dev-ros/tf2_ros dev-ros/visualization_msgs[ros_messages_cxx(-)] dev-ros/voxel_grid dev-cpp/eigen:3 dev-libs/boost:=[threads] dev-libs/tinyxml2:= dev-ros/cmake_modules test? ( dev-ros/map_server dev-ros/rosbag dev-ros/rostest[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/rosunit ) sys-devel/make >=dev-util/cmake-3.9.6 python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-util/catkin[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/empy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ros_messages_cxx? ( dev-ros/gencpp:= dev-ros/gencpp[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_eus? ( dev-ros/geneus:= dev-ros/geneus[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_python? ( dev-ros/genpy:= dev-ros/genpy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_lisp? ( dev-ros/genlisp:= dev-ros/genlisp[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_nodejs? ( dev-ros/gennodejs:= dev-ros/gennodejs[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) dev-ros/message_runtime dev-ros/message_generation dev-ros/genmsg[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/std_msgs[ros_messages_python(-)?,ros_messages_cxx(-)?,ros_messages_lisp(-)?,ros_messages_eus(-)?,ros_messages_nodejs(-)?] ros_messages_python? ( dev-ros/std_msgs[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) dev-ros/geometry_msgs[ros_messages_python(-)?,ros_messages_cxx(-)?,ros_messages_lisp(-)?,ros_messages_eus(-)?,ros_messages_nodejs(-)?] ros_messages_python? ( dev-ros/geometry_msgs[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) dev-ros/map_msgs[ros_messages_python(-)?,ros_messages_cxx(-)?,ros_messages_lisp(-)?,ros_messages_eus(-)?,ros_messages_nodejs(-)?] ros_messages_python? ( dev-ros/map_msgs[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] )
+DESCRIPTION=Creates a 2D costmap from sensor data
+EAPI=5
+HOMEPAGE=https://wiki.ros.org/costmap_2d https://github.com/ros-planning/navigation
+IUSE=python_targets_python2_7 test +ros_messages_python +ros_messages_cxx ros_messages_eus ros_messages_lisp ros_messages_nodejs
+KEYWORDS=~amd64 ~arm
+LICENSE=BSD
+RDEPEND=dev-ros/dynamic_reconfigure[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/laser_geometry dev-ros/message_filters dev-ros/nav_msgs[ros_messages_cxx(-)] dev-ros/pluginlib dev-ros/roscpp dev-ros/sensor_msgs[ros_messages_cxx(-)] dev-ros/tf2_ros dev-ros/visualization_msgs[ros_messages_cxx(-)] dev-ros/voxel_grid dev-cpp/eigen:3 dev-libs/boost:=[threads] dev-libs/tinyxml2:= python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ros_messages_cxx? ( dev-ros/gencpp:= dev-ros/gencpp[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_eus? ( dev-ros/geneus:= dev-ros/geneus[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_python? ( dev-ros/genpy:= dev-ros/genpy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_lisp? ( dev-ros/genlisp:= dev-ros/genlisp[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_nodejs? ( dev-ros/gennodejs:= dev-ros/gennodejs[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) dev-ros/message_runtime dev-ros/std_msgs[ros_messages_python(-)?,ros_messages_cxx(-)?,ros_messages_lisp(-)?,ros_messages_eus(-)?,ros_messages_nodejs(-)?] ros_messages_python? ( dev-ros/std_msgs[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) dev-ros/geometry_msgs[ros_messages_python(-)?,ros_messages_cxx(-)?,ros_messages_lisp(-)?,ros_messages_eus(-)?,ros_messages_nodejs(-)?] ros_messages_python? ( dev-ros/geometry_msgs[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) dev-ros/map_msgs[ros_messages_python(-)?,ros_messages_cxx(-)?,ros_messages_lisp(-)?,ros_messages_eus(-)?,ros_messages_nodejs(-)?] ros_messages_python? ( dev-ros/map_msgs[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] )
+REQUIRED_USE=ros_messages_cxx || ( python_targets_python2_7 )
+SLOT=0
+SRC_URI=https://github.com/ros-planning/navigation/archive/1.16.0.tar.gz -> navigation-1.16.0.tar.gz
+_eclasses_=cmake-utils	57384a259cf0c7985ce651b2c0865405	desktop	1b286a7e7143d8c4ec89cd0d2743a097	eapi7-ver	d97a56a62c7df8614afddcb25f5ff00f	epatch	9a5f039771f143195164a15a4faa41a1	estack	43ddf5aaffa7a8d0482df54d25a66a1f	eutils	b43d08fe0771faf2f5e7be19c2789d33	flag-o-matic	5128c4729303400bd8d4b0b966530955	ltprune	607e058da37aa6dabfa408b7d61da72e	multibuild	35719a9cd25ec71ee49c966f6868454c	multilib	97f470f374f2e94ccab04a2fb21d811e	multiprocessing	cac3169468f893670dac3e7cb940e045	ninja-utils	d2e7e7d290428bb25c56dcf2502badc1	preserve-libs	ef207dc62baddfddfd39a164d9797648	python-r1	0b5829eb6369d7af3a834b6eed7b7107	python-utils-r1	7db901256449fef43c3aaa4d486c1c63	ros-catkin	6429c6e498fae480f42ae74b75aa7f55	toolchain-funcs	1e35303c63cd707f6c3422b4493d5607	vcs-clean	2a0f74a496fa2b1552c4f3398258b7bf	xdg-utils	f2c8335407f0b935b0a96d4adf23ef25
+_md5_=aeac57ad40f1c6720fa12b53e4698dcc
diff --git a/metadata/md5-cache/dev-ros/costmap_2d-9999 b/metadata/md5-cache/dev-ros/costmap_2d-9999
index 46eb777ec051..da3fabf67b8d 100644
--- a/metadata/md5-cache/dev-ros/costmap_2d-9999
+++ b/metadata/md5-cache/dev-ros/costmap_2d-9999
@@ -1,12 +1,12 @@
 DEFINED_PHASES=compile configure install prepare test unpack
-DEPEND=dev-ros/dynamic_reconfigure[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/laser_geometry dev-ros/message_filters dev-ros/nav_msgs dev-ros/pcl_conversions dev-ros/pcl_ros dev-ros/pluginlib dev-ros/roscpp dev-ros/sensor_msgs[ros_messages_cxx(-)] dev-ros/visualization_msgs[ros_messages_cxx(-)] dev-ros/tf dev-ros/voxel_grid dev-cpp/eigen:3 sci-libs/pcl:= dev-libs/boost:=[threads] dev-libs/tinyxml2:= dev-ros/cmake_modules test? ( dev-ros/rostest[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) >=dev-vcs/git-1.8.2.1[curl] sys-devel/make >=dev-util/cmake-3.9.6 python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-util/catkin[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/empy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ros_messages_cxx? ( dev-ros/gencpp:= dev-ros/gencpp[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_eus? ( dev-ros/geneus:= dev-ros/geneus[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_python? ( dev-ros/genpy:= dev-ros/genpy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_lisp? ( dev-ros/genlisp:= dev-ros/genlisp[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_nodejs? ( dev-ros/gennodejs:= dev-ros/gennodejs[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) dev-ros/message_runtime dev-ros/message_generation dev-ros/genmsg[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/std_msgs[ros_messages_python(-)?,ros_messages_cxx(-)?,ros_messages_lisp(-)?,ros_messages_eus(-)?,ros_messages_nodejs(-)?] ros_messages_python? ( dev-ros/std_msgs[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) dev-ros/geometry_msgs[ros_messages_python(-)?,ros_messages_cxx(-)?,ros_messages_lisp(-)?,ros_messages_eus(-)?,ros_messages_nodejs(-)?] ros_messages_python? ( dev-ros/geometry_msgs[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) dev-ros/map_msgs[ros_messages_python(-)?,ros_messages_cxx(-)?,ros_messages_lisp(-)?,ros_messages_eus(-)?,ros_messages_nodejs(-)?] ros_messages_python? ( dev-ros/map_msgs[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] )
+DEPEND=dev-ros/dynamic_reconfigure[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/laser_geometry dev-ros/message_filters dev-ros/nav_msgs[ros_messages_cxx(-)] dev-ros/pluginlib dev-ros/roscpp dev-ros/sensor_msgs[ros_messages_cxx(-)] dev-ros/tf2_ros dev-ros/visualization_msgs[ros_messages_cxx(-)] dev-ros/voxel_grid dev-cpp/eigen:3 dev-libs/boost:=[threads] dev-libs/tinyxml2:= dev-ros/cmake_modules test? ( dev-ros/map_server dev-ros/rosbag dev-ros/rostest[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/rosunit ) >=dev-vcs/git-1.8.2.1[curl] sys-devel/make >=dev-util/cmake-3.9.6 python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-util/catkin[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/empy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ros_messages_cxx? ( dev-ros/gencpp:= dev-ros/gencpp[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_eus? ( dev-ros/geneus:= dev-ros/geneus[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_python? ( dev-ros/genpy:= dev-ros/genpy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_lisp? ( dev-ros/genlisp:= dev-ros/genlisp[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_nodejs? ( dev-ros/gennodejs:= dev-ros/gennodejs[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) dev-ros/message_runtime dev-ros/message_generation dev-ros/genmsg[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/std_msgs[ros_messages_python(-)?,ros_messages_cxx(-)?,ros_messages_lisp(-)?,ros_messages_eus(-)?,ros_messages_nodejs(-)?] ros_messages_python? ( dev-ros/std_msgs[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) dev-ros/geometry_msgs[ros_messages_python(-)?,ros_messages_cxx(-)?,ros_messages_lisp(-)?,ros_messages_eus(-)?,ros_messages_nodejs(-)?] ros_messages_python? ( dev-ros/geometry_msgs[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) dev-ros/map_msgs[ros_messages_python(-)?,ros_messages_cxx(-)?,ros_messages_lisp(-)?,ros_messages_eus(-)?,ros_messages_nodejs(-)?] ros_messages_python? ( dev-ros/map_msgs[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] )
 DESCRIPTION=Creates a 2D costmap from sensor data
 EAPI=5
 HOMEPAGE=https://wiki.ros.org/costmap_2d https://github.com/ros-planning/navigation
 IUSE=python_targets_python2_7 test +ros_messages_python +ros_messages_cxx ros_messages_eus ros_messages_lisp ros_messages_nodejs
 LICENSE=BSD
-RDEPEND=dev-ros/dynamic_reconfigure[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/laser_geometry dev-ros/message_filters dev-ros/nav_msgs dev-ros/pcl_conversions dev-ros/pcl_ros dev-ros/pluginlib dev-ros/roscpp dev-ros/sensor_msgs[ros_messages_cxx(-)] dev-ros/visualization_msgs[ros_messages_cxx(-)] dev-ros/tf dev-ros/voxel_grid dev-cpp/eigen:3 sci-libs/pcl:= dev-libs/boost:=[threads] dev-libs/tinyxml2:= python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ros_messages_cxx? ( dev-ros/gencpp:= dev-ros/gencpp[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_eus? ( dev-ros/geneus:= dev-ros/geneus[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_python? ( dev-ros/genpy:= dev-ros/genpy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_lisp? ( dev-ros/genlisp:= dev-ros/genlisp[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_nodejs? ( dev-ros/gennodejs:= dev-ros/gennodejs[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) dev-ros/message_runtime dev-ros/std_msgs[ros_messages_python(-)?,ros_messages_cxx(-)?,ros_messages_lisp(-)?,ros_messages_eus(-)?,ros_messages_nodejs(-)?] ros_messages_python? ( dev-ros/std_msgs[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) dev-ros/geometry_msgs[ros_messages_python(-)?,ros_messages_cxx(-)?,ros_messages_lisp(-)?,ros_messages_eus(-)?,ros_messages_nodejs(-)?] ros_messages_python? ( dev-ros/geometry_msgs[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) dev-ros/map_msgs[ros_messages_python(-)?,ros_messages_cxx(-)?,ros_messages_lisp(-)?,ros_messages_eus(-)?,ros_messages_nodejs(-)?] ros_messages_python? ( dev-ros/map_msgs[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] )
+RDEPEND=dev-ros/dynamic_reconfigure[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/laser_geometry dev-ros/message_filters dev-ros/nav_msgs[ros_messages_cxx(-)] dev-ros/pluginlib dev-ros/roscpp dev-ros/sensor_msgs[ros_messages_cxx(-)] dev-ros/tf2_ros dev-ros/visualization_msgs[ros_messages_cxx(-)] dev-ros/voxel_grid dev-cpp/eigen:3 dev-libs/boost:=[threads] dev-libs/tinyxml2:= python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ros_messages_cxx? ( dev-ros/gencpp:= dev-ros/gencpp[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_eus? ( dev-ros/geneus:= dev-ros/geneus[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_python? ( dev-ros/genpy:= dev-ros/genpy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_lisp? ( dev-ros/genlisp:= dev-ros/genlisp[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_nodejs? ( dev-ros/gennodejs:= dev-ros/gennodejs[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) dev-ros/message_runtime dev-ros/std_msgs[ros_messages_python(-)?,ros_messages_cxx(-)?,ros_messages_lisp(-)?,ros_messages_eus(-)?,ros_messages_nodejs(-)?] ros_messages_python? ( dev-ros/std_msgs[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) dev-ros/geometry_msgs[ros_messages_python(-)?,ros_messages_cxx(-)?,ros_messages_lisp(-)?,ros_messages_eus(-)?,ros_messages_nodejs(-)?] ros_messages_python? ( dev-ros/geometry_msgs[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) dev-ros/map_msgs[ros_messages_python(-)?,ros_messages_cxx(-)?,ros_messages_lisp(-)?,ros_messages_eus(-)?,ros_messages_nodejs(-)?] ros_messages_python? ( dev-ros/map_msgs[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] )
 REQUIRED_USE=ros_messages_cxx || ( python_targets_python2_7 )
 SLOT=0
 _eclasses_=cmake-utils	57384a259cf0c7985ce651b2c0865405	desktop	1b286a7e7143d8c4ec89cd0d2743a097	eapi7-ver	d97a56a62c7df8614afddcb25f5ff00f	epatch	9a5f039771f143195164a15a4faa41a1	estack	43ddf5aaffa7a8d0482df54d25a66a1f	eutils	b43d08fe0771faf2f5e7be19c2789d33	flag-o-matic	5128c4729303400bd8d4b0b966530955	git-r3	8f6de46b0aa318aea0e8cac62ece098b	ltprune	607e058da37aa6dabfa408b7d61da72e	multibuild	35719a9cd25ec71ee49c966f6868454c	multilib	97f470f374f2e94ccab04a2fb21d811e	multiprocessing	cac3169468f893670dac3e7cb940e045	ninja-utils	d2e7e7d290428bb25c56dcf2502badc1	preserve-libs	ef207dc62baddfddfd39a164d9797648	python-r1	0b5829eb6369d7af3a834b6eed7b7107	python-utils-r1	7db901256449fef43c3aaa4d486c1c63	ros-catkin	6429c6e498fae480f42ae74b75aa7f55	toolchain-funcs	1e35303c63cd707f6c3422b4493d5607	vcs-clean	2a0f74a496fa2b1552c4f3398258b7bf	xdg-utils	f2c8335407f0b935b0a96d4adf23ef25
-_md5_=2f373fd48291f32855a1f0b1d11140eb
+_md5_=aeac57ad40f1c6720fa12b53e4698dcc
diff --git a/metadata/md5-cache/dev-ros/dwa_local_planner-1.16.0 b/metadata/md5-cache/dev-ros/dwa_local_planner-1.16.0
new file mode 100644
index 000000000000..e534e78a096d
--- /dev/null
+++ b/metadata/md5-cache/dev-ros/dwa_local_planner-1.16.0
@@ -0,0 +1,14 @@
+DEFINED_PHASES=compile configure install prepare test
+DEPEND=dev-ros/base_local_planner dev-ros/costmap_2d dev-ros/dynamic_reconfigure[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-cpp/eigen:3 dev-ros/nav_core dev-ros/nav_msgs[ros_messages_cxx(-)] dev-ros/pluginlib dev-ros/roscpp dev-ros/tf2_ros dev-libs/boost:=[threads] dev-libs/console_bridge:= sys-devel/make >=dev-util/cmake-3.9.6 python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-util/catkin[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/empy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
+DESCRIPTION=Dynamic Window Approach to local robot navigation on a plane
+EAPI=5
+HOMEPAGE=https://wiki.ros.org/dwa_local_planner https://github.com/ros-planning/navigation
+IUSE=python_targets_python2_7 test
+KEYWORDS=~amd64 ~arm
+LICENSE=BSD
+RDEPEND=dev-ros/base_local_planner dev-ros/costmap_2d dev-ros/dynamic_reconfigure[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-cpp/eigen:3 dev-ros/nav_core dev-ros/nav_msgs[ros_messages_cxx(-)] dev-ros/pluginlib dev-ros/roscpp dev-ros/tf2_ros dev-libs/boost:=[threads] dev-libs/console_bridge:= python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
+REQUIRED_USE=|| ( python_targets_python2_7 )
+SLOT=0
+SRC_URI=https://github.com/ros-planning/navigation/archive/1.16.0.tar.gz -> navigation-1.16.0.tar.gz
+_eclasses_=cmake-utils	57384a259cf0c7985ce651b2c0865405	desktop	1b286a7e7143d8c4ec89cd0d2743a097	eapi7-ver	d97a56a62c7df8614afddcb25f5ff00f	epatch	9a5f039771f143195164a15a4faa41a1	estack	43ddf5aaffa7a8d0482df54d25a66a1f	eutils	b43d08fe0771faf2f5e7be19c2789d33	flag-o-matic	5128c4729303400bd8d4b0b966530955	ltprune	607e058da37aa6dabfa408b7d61da72e	multibuild	35719a9cd25ec71ee49c966f6868454c	multilib	97f470f374f2e94ccab04a2fb21d811e	multiprocessing	cac3169468f893670dac3e7cb940e045	ninja-utils	d2e7e7d290428bb25c56dcf2502badc1	preserve-libs	ef207dc62baddfddfd39a164d9797648	python-r1	0b5829eb6369d7af3a834b6eed7b7107	python-utils-r1	7db901256449fef43c3aaa4d486c1c63	ros-catkin	6429c6e498fae480f42ae74b75aa7f55	toolchain-funcs	1e35303c63cd707f6c3422b4493d5607	vcs-clean	2a0f74a496fa2b1552c4f3398258b7bf	xdg-utils	f2c8335407f0b935b0a96d4adf23ef25
+_md5_=8c7e81a470facbb9ca278a213208c61f
diff --git a/metadata/md5-cache/dev-ros/dwa_local_planner-9999 b/metadata/md5-cache/dev-ros/dwa_local_planner-9999
index a42504439a9f..1923c32b045d 100644
--- a/metadata/md5-cache/dev-ros/dwa_local_planner-9999
+++ b/metadata/md5-cache/dev-ros/dwa_local_planner-9999
@@ -1,12 +1,12 @@
 DEFINED_PHASES=compile configure install prepare test unpack
-DEPEND=dev-ros/base_local_planner dev-ros/costmap_2d dev-ros/dynamic_reconfigure[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/nav_core dev-ros/nav_msgs[ros_messages_cxx(-)] dev-ros/pluginlib dev-ros/pcl_conversions dev-ros/roscpp dev-ros/tf dev-cpp/eigen:3 sci-libs/pcl dev-libs/boost:=[threads] dev-libs/console_bridge:= >=dev-vcs/git-1.8.2.1[curl] sys-devel/make >=dev-util/cmake-3.9.6 python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-util/catkin[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/empy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
+DEPEND=dev-ros/base_local_planner dev-ros/costmap_2d dev-ros/dynamic_reconfigure[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-cpp/eigen:3 dev-ros/nav_core dev-ros/nav_msgs[ros_messages_cxx(-)] dev-ros/pluginlib dev-ros/roscpp dev-ros/tf2_ros dev-libs/boost:=[threads] dev-libs/console_bridge:= >=dev-vcs/git-1.8.2.1[curl] sys-devel/make >=dev-util/cmake-3.9.6 python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-util/catkin[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/empy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
 DESCRIPTION=Dynamic Window Approach to local robot navigation on a plane
 EAPI=5
 HOMEPAGE=https://wiki.ros.org/dwa_local_planner https://github.com/ros-planning/navigation
 IUSE=python_targets_python2_7 test
 LICENSE=BSD
-RDEPEND=dev-ros/base_local_planner dev-ros/costmap_2d dev-ros/dynamic_reconfigure[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/nav_core dev-ros/nav_msgs[ros_messages_cxx(-)] dev-ros/pluginlib dev-ros/pcl_conversions dev-ros/roscpp dev-ros/tf dev-cpp/eigen:3 sci-libs/pcl dev-libs/boost:=[threads] dev-libs/console_bridge:= python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
+RDEPEND=dev-ros/base_local_planner dev-ros/costmap_2d dev-ros/dynamic_reconfigure[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-cpp/eigen:3 dev-ros/nav_core dev-ros/nav_msgs[ros_messages_cxx(-)] dev-ros/pluginlib dev-ros/roscpp dev-ros/tf2_ros dev-libs/boost:=[threads] dev-libs/console_bridge:= python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
 REQUIRED_USE=|| ( python_targets_python2_7 )
 SLOT=0
 _eclasses_=cmake-utils	57384a259cf0c7985ce651b2c0865405	desktop	1b286a7e7143d8c4ec89cd0d2743a097	eapi7-ver	d97a56a62c7df8614afddcb25f5ff00f	epatch	9a5f039771f143195164a15a4faa41a1	estack	43ddf5aaffa7a8d0482df54d25a66a1f	eutils	b43d08fe0771faf2f5e7be19c2789d33	flag-o-matic	5128c4729303400bd8d4b0b966530955	git-r3	8f6de46b0aa318aea0e8cac62ece098b	ltprune	607e058da37aa6dabfa408b7d61da72e	multibuild	35719a9cd25ec71ee49c966f6868454c	multilib	97f470f374f2e94ccab04a2fb21d811e	multiprocessing	cac3169468f893670dac3e7cb940e045	ninja-utils	d2e7e7d290428bb25c56dcf2502badc1	preserve-libs	ef207dc62baddfddfd39a164d9797648	python-r1	0b5829eb6369d7af3a834b6eed7b7107	python-utils-r1	7db901256449fef43c3aaa4d486c1c63	ros-catkin	6429c6e498fae480f42ae74b75aa7f55	toolchain-funcs	1e35303c63cd707f6c3422b4493d5607	vcs-clean	2a0f74a496fa2b1552c4f3398258b7bf	xdg-utils	f2c8335407f0b935b0a96d4adf23ef25
-_md5_=0154a4b03f40d64150370dff938499a7
+_md5_=8c7e81a470facbb9ca278a213208c61f
diff --git a/metadata/md5-cache/dev-ros/fake_localization-1.14.2 b/metadata/md5-cache/dev-ros/fake_localization-1.14.2
deleted file mode 100644
index 4ff3d4728357..000000000000
--- a/metadata/md5-cache/dev-ros/fake_localization-1.14.2
+++ /dev/null
@@ -1,14 +0,0 @@
-DEFINED_PHASES=compile configure install prepare test
-DEPEND=dev-libs/boost:= dev-ros/angles dev-ros/roscpp dev-ros/rospy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/rosconsole dev-ros/nav_msgs[ros_messages_python(-),python_targets_python2_7(-)?,-python_single_target_python2_7(-),ros_messages_cxx(-)] dev-ros/geometry_msgs[ros_messages_python(-),python_targets_python2_7(-)?,-python_single_target_python2_7(-),ros_messages_cxx(-)] dev-ros/tf[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/message_filters sys-devel/make >=dev-util/cmake-3.9.6 python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-util/catkin[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/empy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
-DESCRIPTION=A ROS node that simply forwards odometry information
-EAPI=5
-HOMEPAGE=https://wiki.ros.org/fake_localization https://github.com/ros-planning/navigation
-IUSE=python_targets_python2_7 test
-KEYWORDS=~amd64 ~arm
-LICENSE=BSD
-RDEPEND=dev-libs/boost:= dev-ros/angles dev-ros/roscpp dev-ros/rospy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/rosconsole dev-ros/nav_msgs[ros_messages_python(-),python_targets_python2_7(-)?,-python_single_target_python2_7(-),ros_messages_cxx(-)] dev-ros/geometry_msgs[ros_messages_python(-),python_targets_python2_7(-)?,-python_single_target_python2_7(-),ros_messages_cxx(-)] dev-ros/tf[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/message_filters python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
-REQUIRED_USE=|| ( python_targets_python2_7 )
-SLOT=0
-SRC_URI=https://github.com/ros-planning/navigation/archive/1.14.2.tar.gz -> navigation-1.14.2.tar.gz
-_eclasses_=cmake-utils	57384a259cf0c7985ce651b2c0865405	desktop	1b286a7e7143d8c4ec89cd0d2743a097	eapi7-ver	d97a56a62c7df8614afddcb25f5ff00f	epatch	9a5f039771f143195164a15a4faa41a1	estack	43ddf5aaffa7a8d0482df54d25a66a1f	eutils	b43d08fe0771faf2f5e7be19c2789d33	flag-o-matic	5128c4729303400bd8d4b0b966530955	ltprune	607e058da37aa6dabfa408b7d61da72e	multibuild	35719a9cd25ec71ee49c966f6868454c	multilib	97f470f374f2e94ccab04a2fb21d811e	multiprocessing	cac3169468f893670dac3e7cb940e045	ninja-utils	d2e7e7d290428bb25c56dcf2502badc1	preserve-libs	ef207dc62baddfddfd39a164d9797648	python-r1	0b5829eb6369d7af3a834b6eed7b7107	python-utils-r1	7db901256449fef43c3aaa4d486c1c63	ros-catkin	6429c6e498fae480f42ae74b75aa7f55	toolchain-funcs	1e35303c63cd707f6c3422b4493d5607	vcs-clean	2a0f74a496fa2b1552c4f3398258b7bf	xdg-utils	f2c8335407f0b935b0a96d4adf23ef25
-_md5_=1ed8a293d5a390086e475d2cbf4e1e97
diff --git a/metadata/md5-cache/dev-ros/fake_localization-1.15.1 b/metadata/md5-cache/dev-ros/fake_localization-1.15.1
deleted file mode 100644
index f69ac7423a23..000000000000
--- a/metadata/md5-cache/dev-ros/fake_localization-1.15.1
+++ /dev/null
@@ -1,14 +0,0 @@
-DEFINED_PHASES=compile configure install prepare test
-DEPEND=dev-libs/boost:= dev-ros/angles dev-ros/roscpp dev-ros/rospy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/rosconsole dev-ros/nav_msgs[ros_messages_python(-),python_targets_python2_7(-)?,-python_single_target_python2_7(-),ros_messages_cxx(-)] dev-ros/geometry_msgs[ros_messages_python(-),python_targets_python2_7(-)?,-python_single_target_python2_7(-),ros_messages_cxx(-)] dev-ros/tf[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/message_filters sys-devel/make >=dev-util/cmake-3.9.6 python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-util/catkin[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/empy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
-DESCRIPTION=A ROS node that simply forwards odometry information
-EAPI=5
-HOMEPAGE=https://wiki.ros.org/fake_localization https://github.com/ros-planning/navigation
-IUSE=python_targets_python2_7 test
-KEYWORDS=~amd64 ~arm
-LICENSE=BSD
-RDEPEND=dev-libs/boost:= dev-ros/angles dev-ros/roscpp dev-ros/rospy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/rosconsole dev-ros/nav_msgs[ros_messages_python(-),python_targets_python2_7(-)?,-python_single_target_python2_7(-),ros_messages_cxx(-)] dev-ros/geometry_msgs[ros_messages_python(-),python_targets_python2_7(-)?,-python_single_target_python2_7(-),ros_messages_cxx(-)] dev-ros/tf[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/message_filters python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
-REQUIRED_USE=|| ( python_targets_python2_7 )
-SLOT=0
-SRC_URI=https://github.com/ros-planning/navigation/archive/1.15.1.tar.gz -> navigation-1.15.1.tar.gz
-_eclasses_=cmake-utils	57384a259cf0c7985ce651b2c0865405	desktop	1b286a7e7143d8c4ec89cd0d2743a097	eapi7-ver	d97a56a62c7df8614afddcb25f5ff00f	epatch	9a5f039771f143195164a15a4faa41a1	estack	43ddf5aaffa7a8d0482df54d25a66a1f	eutils	b43d08fe0771faf2f5e7be19c2789d33	flag-o-matic	5128c4729303400bd8d4b0b966530955	ltprune	607e058da37aa6dabfa408b7d61da72e	multibuild	35719a9cd25ec71ee49c966f6868454c	multilib	97f470f374f2e94ccab04a2fb21d811e	multiprocessing	cac3169468f893670dac3e7cb940e045	ninja-utils	d2e7e7d290428bb25c56dcf2502badc1	preserve-libs	ef207dc62baddfddfd39a164d9797648	python-r1	0b5829eb6369d7af3a834b6eed7b7107	python-utils-r1	7db901256449fef43c3aaa4d486c1c63	ros-catkin	6429c6e498fae480f42ae74b75aa7f55	toolchain-funcs	1e35303c63cd707f6c3422b4493d5607	vcs-clean	2a0f74a496fa2b1552c4f3398258b7bf	xdg-utils	f2c8335407f0b935b0a96d4adf23ef25
-_md5_=1ed8a293d5a390086e475d2cbf4e1e97
diff --git a/metadata/md5-cache/dev-ros/fake_localization-1.14.0-r1 b/metadata/md5-cache/dev-ros/fake_localization-1.16.0
index 348bfa9c55de..d86aab5cba0f 100644
--- a/metadata/md5-cache/dev-ros/fake_localization-1.14.0-r1
+++ b/metadata/md5-cache/dev-ros/fake_localization-1.16.0
@@ -1,14 +1,14 @@
 DEFINED_PHASES=compile configure install prepare test
-DEPEND=dev-libs/boost:= dev-ros/angles dev-ros/roscpp dev-ros/rospy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/rosconsole dev-ros/nav_msgs[ros_messages_python(-),python_targets_python2_7(-)?,-python_single_target_python2_7(-),ros_messages_cxx(-)] dev-ros/geometry_msgs[ros_messages_python(-),python_targets_python2_7(-)?,-python_single_target_python2_7(-),ros_messages_cxx(-)] dev-ros/tf[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/message_filters sys-devel/make >=dev-util/cmake-3.9.6 python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-util/catkin[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/empy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
+DEPEND=dev-libs/boost:= dev-ros/angles dev-ros/roscpp dev-ros/rospy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/rosconsole dev-ros/nav_msgs[ros_messages_python(-),python_targets_python2_7(-)?,-python_single_target_python2_7(-),ros_messages_cxx(-)] dev-ros/geometry_msgs[ros_messages_python(-),python_targets_python2_7(-)?,-python_single_target_python2_7(-),ros_messages_cxx(-)] dev-ros/tf2_ros dev-ros/message_filters dev-ros/tf2_geometry_msgs[ros_messages_cxx(-)] sys-devel/make >=dev-util/cmake-3.9.6 python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-util/catkin[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/empy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
 DESCRIPTION=A ROS node that simply forwards odometry information
 EAPI=5
 HOMEPAGE=https://wiki.ros.org/fake_localization https://github.com/ros-planning/navigation
 IUSE=python_targets_python2_7 test
 KEYWORDS=~amd64 ~arm
 LICENSE=BSD
-RDEPEND=dev-libs/boost:= dev-ros/angles dev-ros/roscpp dev-ros/rospy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/rosconsole dev-ros/nav_msgs[ros_messages_python(-),python_targets_python2_7(-)?,-python_single_target_python2_7(-),ros_messages_cxx(-)] dev-ros/geometry_msgs[ros_messages_python(-),python_targets_python2_7(-)?,-python_single_target_python2_7(-),ros_messages_cxx(-)] dev-ros/tf[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/message_filters python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
+RDEPEND=dev-libs/boost:= dev-ros/angles dev-ros/roscpp dev-ros/rospy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/rosconsole dev-ros/nav_msgs[ros_messages_python(-),python_targets_python2_7(-)?,-python_single_target_python2_7(-),ros_messages_cxx(-)] dev-ros/geometry_msgs[ros_messages_python(-),python_targets_python2_7(-)?,-python_single_target_python2_7(-),ros_messages_cxx(-)] dev-ros/tf2_ros dev-ros/message_filters dev-ros/tf2_geometry_msgs[ros_messages_cxx(-)] python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
 REQUIRED_USE=|| ( python_targets_python2_7 )
 SLOT=0
-SRC_URI=https://github.com/ros-planning/navigation/archive/1.14.0.tar.gz -> navigation-1.14.0.tar.gz
+SRC_URI=https://github.com/ros-planning/navigation/archive/1.16.0.tar.gz -> navigation-1.16.0.tar.gz
 _eclasses_=cmake-utils	57384a259cf0c7985ce651b2c0865405	desktop	1b286a7e7143d8c4ec89cd0d2743a097	eapi7-ver	d97a56a62c7df8614afddcb25f5ff00f	epatch	9a5f039771f143195164a15a4faa41a1	estack	43ddf5aaffa7a8d0482df54d25a66a1f	eutils	b43d08fe0771faf2f5e7be19c2789d33	flag-o-matic	5128c4729303400bd8d4b0b966530955	ltprune	607e058da37aa6dabfa408b7d61da72e	multibuild	35719a9cd25ec71ee49c966f6868454c	multilib	97f470f374f2e94ccab04a2fb21d811e	multiprocessing	cac3169468f893670dac3e7cb940e045	ninja-utils	d2e7e7d290428bb25c56dcf2502badc1	preserve-libs	ef207dc62baddfddfd39a164d9797648	python-r1	0b5829eb6369d7af3a834b6eed7b7107	python-utils-r1	7db901256449fef43c3aaa4d486c1c63	ros-catkin	6429c6e498fae480f42ae74b75aa7f55	toolchain-funcs	1e35303c63cd707f6c3422b4493d5607	vcs-clean	2a0f74a496fa2b1552c4f3398258b7bf	xdg-utils	f2c8335407f0b935b0a96d4adf23ef25
-_md5_=3424cb07ddd4c07bc12d6ffed0da99f0
+_md5_=fe5ebab6223f30f32aae686cac901a1f
diff --git a/metadata/md5-cache/dev-ros/fake_localization-9999 b/metadata/md5-cache/dev-ros/fake_localization-9999
index f7c7f2037aad..ce44182c9579 100644
--- a/metadata/md5-cache/dev-ros/fake_localization-9999
+++ b/metadata/md5-cache/dev-ros/fake_localization-9999
@@ -1,12 +1,12 @@
 DEFINED_PHASES=compile configure install prepare test unpack
-DEPEND=dev-libs/boost:= dev-ros/angles dev-ros/roscpp dev-ros/rospy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/rosconsole dev-ros/nav_msgs[ros_messages_python(-),python_targets_python2_7(-)?,-python_single_target_python2_7(-),ros_messages_cxx(-)] dev-ros/geometry_msgs[ros_messages_python(-),python_targets_python2_7(-)?,-python_single_target_python2_7(-),ros_messages_cxx(-)] dev-ros/tf[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/message_filters >=dev-vcs/git-1.8.2.1[curl] sys-devel/make >=dev-util/cmake-3.9.6 python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-util/catkin[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/empy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
+DEPEND=dev-libs/boost:= dev-ros/angles dev-ros/roscpp dev-ros/rospy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/rosconsole dev-ros/nav_msgs[ros_messages_python(-),python_targets_python2_7(-)?,-python_single_target_python2_7(-),ros_messages_cxx(-)] dev-ros/geometry_msgs[ros_messages_python(-),python_targets_python2_7(-)?,-python_single_target_python2_7(-),ros_messages_cxx(-)] dev-ros/tf2_ros dev-ros/message_filters dev-ros/tf2_geometry_msgs[ros_messages_cxx(-)] >=dev-vcs/git-1.8.2.1[curl] sys-devel/make >=dev-util/cmake-3.9.6 python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-util/catkin[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/empy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
 DESCRIPTION=A ROS node that simply forwards odometry information
 EAPI=5
 HOMEPAGE=https://wiki.ros.org/fake_localization https://github.com/ros-planning/navigation
 IUSE=python_targets_python2_7 test
 LICENSE=BSD
-RDEPEND=dev-libs/boost:= dev-ros/angles dev-ros/roscpp dev-ros/rospy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/rosconsole dev-ros/nav_msgs[ros_messages_python(-),python_targets_python2_7(-)?,-python_single_target_python2_7(-),ros_messages_cxx(-)] dev-ros/geometry_msgs[ros_messages_python(-),python_targets_python2_7(-)?,-python_single_target_python2_7(-),ros_messages_cxx(-)] dev-ros/tf[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/message_filters python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
+RDEPEND=dev-libs/boost:= dev-ros/angles dev-ros/roscpp dev-ros/rospy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/rosconsole dev-ros/nav_msgs[ros_messages_python(-),python_targets_python2_7(-)?,-python_single_target_python2_7(-),ros_messages_cxx(-)] dev-ros/geometry_msgs[ros_messages_python(-),python_targets_python2_7(-)?,-python_single_target_python2_7(-),ros_messages_cxx(-)] dev-ros/tf2_ros dev-ros/message_filters dev-ros/tf2_geometry_msgs[ros_messages_cxx(-)] python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
 REQUIRED_USE=|| ( python_targets_python2_7 )
 SLOT=0
 _eclasses_=cmake-utils	57384a259cf0c7985ce651b2c0865405	desktop	1b286a7e7143d8c4ec89cd0d2743a097	eapi7-ver	d97a56a62c7df8614afddcb25f5ff00f	epatch	9a5f039771f143195164a15a4faa41a1	estack	43ddf5aaffa7a8d0482df54d25a66a1f	eutils	b43d08fe0771faf2f5e7be19c2789d33	flag-o-matic	5128c4729303400bd8d4b0b966530955	git-r3	8f6de46b0aa318aea0e8cac62ece098b	ltprune	607e058da37aa6dabfa408b7d61da72e	multibuild	35719a9cd25ec71ee49c966f6868454c	multilib	97f470f374f2e94ccab04a2fb21d811e	multiprocessing	cac3169468f893670dac3e7cb940e045	ninja-utils	d2e7e7d290428bb25c56dcf2502badc1	preserve-libs	ef207dc62baddfddfd39a164d9797648	python-r1	0b5829eb6369d7af3a834b6eed7b7107	python-utils-r1	7db901256449fef43c3aaa4d486c1c63	ros-catkin	6429c6e498fae480f42ae74b75aa7f55	toolchain-funcs	1e35303c63cd707f6c3422b4493d5607	vcs-clean	2a0f74a496fa2b1552c4f3398258b7bf	xdg-utils	f2c8335407f0b935b0a96d4adf23ef25
-_md5_=3424cb07ddd4c07bc12d6ffed0da99f0
+_md5_=fe5ebab6223f30f32aae686cac901a1f
diff --git a/metadata/md5-cache/dev-ros/global_planner-1.16.0 b/metadata/md5-cache/dev-ros/global_planner-1.16.0
new file mode 100644
index 000000000000..7754d28a2363
--- /dev/null
+++ b/metadata/md5-cache/dev-ros/global_planner-1.16.0
@@ -0,0 +1,14 @@
+DEFINED_PHASES=compile configure install prepare test
+DEPEND=dev-ros/costmap_2d dev-ros/dynamic_reconfigure[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/geometry_msgs[ros_messages_cxx(-)] dev-ros/nav_core dev-ros/nav_msgs[ros_messages_cxx(-)] dev-ros/navfn dev-ros/pluginlib dev-ros/roscpp dev-ros/tf2_ros dev-libs/boost:= dev-libs/console_bridge:= dev-ros/angles dev-ros/tf2_geometry_msgs[ros_messages_cxx(-)] sys-devel/make >=dev-util/cmake-3.9.6 python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-util/catkin[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/empy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
+DESCRIPTION=Path planner library and node
+EAPI=5
+HOMEPAGE=https://wiki.ros.org/global_planner https://github.com/ros-planning/navigation
+IUSE=python_targets_python2_7 test
+KEYWORDS=~amd64 ~arm
+LICENSE=BSD
+RDEPEND=dev-ros/costmap_2d dev-ros/dynamic_reconfigure[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/geometry_msgs[ros_messages_cxx(-)] dev-ros/nav_core dev-ros/nav_msgs[ros_messages_cxx(-)] dev-ros/navfn dev-ros/pluginlib dev-ros/roscpp dev-ros/tf2_ros dev-libs/boost:= dev-libs/console_bridge:= dev-ros/angles dev-ros/tf2_geometry_msgs[ros_messages_cxx(-)] python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
+REQUIRED_USE=|| ( python_targets_python2_7 )
+SLOT=0
+SRC_URI=https://github.com/ros-planning/navigation/archive/1.16.0.tar.gz -> navigation-1.16.0.tar.gz
+_eclasses_=cmake-utils	57384a259cf0c7985ce651b2c0865405	desktop	1b286a7e7143d8c4ec89cd0d2743a097	eapi7-ver	d97a56a62c7df8614afddcb25f5ff00f	epatch	9a5f039771f143195164a15a4faa41a1	estack	43ddf5aaffa7a8d0482df54d25a66a1f	eutils	b43d08fe0771faf2f5e7be19c2789d33	flag-o-matic	5128c4729303400bd8d4b0b966530955	ltprune	607e058da37aa6dabfa408b7d61da72e	multibuild	35719a9cd25ec71ee49c966f6868454c	multilib	97f470f374f2e94ccab04a2fb21d811e	multiprocessing	cac3169468f893670dac3e7cb940e045	ninja-utils	d2e7e7d290428bb25c56dcf2502badc1	preserve-libs	ef207dc62baddfddfd39a164d9797648	python-r1	0b5829eb6369d7af3a834b6eed7b7107	python-utils-r1	7db901256449fef43c3aaa4d486c1c63	ros-catkin	6429c6e498fae480f42ae74b75aa7f55	toolchain-funcs	1e35303c63cd707f6c3422b4493d5607	vcs-clean	2a0f74a496fa2b1552c4f3398258b7bf	xdg-utils	f2c8335407f0b935b0a96d4adf23ef25
+_md5_=aab646bf37b3540e956f040b28c6cdb2
diff --git a/metadata/md5-cache/dev-ros/global_planner-9999 b/metadata/md5-cache/dev-ros/global_planner-9999
index f6d9feed4449..8b93a3048544 100644
--- a/metadata/md5-cache/dev-ros/global_planner-9999
+++ b/metadata/md5-cache/dev-ros/global_planner-9999
@@ -1,12 +1,12 @@
 DEFINED_PHASES=compile configure install prepare test unpack
-DEPEND=dev-ros/costmap_2d dev-ros/dynamic_reconfigure[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/nav_core dev-ros/navfn dev-ros/pluginlib dev-ros/roscpp dev-ros/tf dev-ros/geometry_msgs[ros_messages_cxx(-)] dev-ros/nav_msgs[ros_messages_cxx(-)] dev-libs/boost:= dev-libs/console_bridge:= >=dev-vcs/git-1.8.2.1[curl] sys-devel/make >=dev-util/cmake-3.9.6 python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-util/catkin[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/empy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
+DEPEND=dev-ros/costmap_2d dev-ros/dynamic_reconfigure[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/geometry_msgs[ros_messages_cxx(-)] dev-ros/nav_core dev-ros/nav_msgs[ros_messages_cxx(-)] dev-ros/navfn dev-ros/pluginlib dev-ros/roscpp dev-ros/tf2_ros dev-libs/boost:= dev-libs/console_bridge:= dev-ros/angles dev-ros/tf2_geometry_msgs[ros_messages_cxx(-)] >=dev-vcs/git-1.8.2.1[curl] sys-devel/make >=dev-util/cmake-3.9.6 python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-util/catkin[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/empy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
 DESCRIPTION=Path planner library and node
 EAPI=5
 HOMEPAGE=https://wiki.ros.org/global_planner https://github.com/ros-planning/navigation
 IUSE=python_targets_python2_7 test
 LICENSE=BSD
-RDEPEND=dev-ros/costmap_2d dev-ros/dynamic_reconfigure[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/nav_core dev-ros/navfn dev-ros/pluginlib dev-ros/roscpp dev-ros/tf dev-ros/geometry_msgs[ros_messages_cxx(-)] dev-ros/nav_msgs[ros_messages_cxx(-)] dev-libs/boost:= dev-libs/console_bridge:= python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
+RDEPEND=dev-ros/costmap_2d dev-ros/dynamic_reconfigure[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/geometry_msgs[ros_messages_cxx(-)] dev-ros/nav_core dev-ros/nav_msgs[ros_messages_cxx(-)] dev-ros/navfn dev-ros/pluginlib dev-ros/roscpp dev-ros/tf2_ros dev-libs/boost:= dev-libs/console_bridge:= dev-ros/angles dev-ros/tf2_geometry_msgs[ros_messages_cxx(-)] python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
 REQUIRED_USE=|| ( python_targets_python2_7 )
 SLOT=0
 _eclasses_=cmake-utils	57384a259cf0c7985ce651b2c0865405	desktop	1b286a7e7143d8c4ec89cd0d2743a097	eapi7-ver	d97a56a62c7df8614afddcb25f5ff00f	epatch	9a5f039771f143195164a15a4faa41a1	estack	43ddf5aaffa7a8d0482df54d25a66a1f	eutils	b43d08fe0771faf2f5e7be19c2789d33	flag-o-matic	5128c4729303400bd8d4b0b966530955	git-r3	8f6de46b0aa318aea0e8cac62ece098b	ltprune	607e058da37aa6dabfa408b7d61da72e	multibuild	35719a9cd25ec71ee49c966f6868454c	multilib	97f470f374f2e94ccab04a2fb21d811e	multiprocessing	cac3169468f893670dac3e7cb940e045	ninja-utils	d2e7e7d290428bb25c56dcf2502badc1	preserve-libs	ef207dc62baddfddfd39a164d9797648	python-r1	0b5829eb6369d7af3a834b6eed7b7107	python-utils-r1	7db901256449fef43c3aaa4d486c1c63	ros-catkin	6429c6e498fae480f42ae74b75aa7f55	toolchain-funcs	1e35303c63cd707f6c3422b4493d5607	vcs-clean	2a0f74a496fa2b1552c4f3398258b7bf	xdg-utils	f2c8335407f0b935b0a96d4adf23ef25
-_md5_=6029bfa3802b78b68265f0f8db751d24
+_md5_=aab646bf37b3540e956f040b28c6cdb2
diff --git a/metadata/md5-cache/dev-ros/kdl_parser-1.13.1 b/metadata/md5-cache/dev-ros/kdl_parser-1.13.1
new file mode 100644
index 000000000000..0c3dec314124
--- /dev/null
+++ b/metadata/md5-cache/dev-ros/kdl_parser-1.13.1
@@ -0,0 +1,14 @@
+DEFINED_PHASES=compile configure install prepare test
+DEPEND=dev-libs/boost:= dev-ros/roscpp dev-ros/rosconsole >=dev-ros/urdf-1.13 sci-libs/orocos_kdl:= dev-libs/tinyxml2:= test? ( dev-ros/rostest[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) sys-devel/make >=dev-util/cmake-3.9.6 python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-util/catkin[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/empy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
+DESCRIPTION=Constructs a KDL tree from an XML robot representation in URDF
+EAPI=5
+HOMEPAGE=https://wiki.ros.org/kdl_parser https://github.com/ros/kdl_parser
+IUSE=python_targets_python2_7 test
+KEYWORDS=~amd64 ~arm
+LICENSE=BSD
+RDEPEND=dev-libs/boost:= dev-ros/roscpp dev-ros/rosconsole >=dev-ros/urdf-1.13 sci-libs/orocos_kdl:= dev-libs/tinyxml2:= python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
+REQUIRED_USE=|| ( python_targets_python2_7 )
+SLOT=0
+SRC_URI=https://github.com/ros/kdl_parser/archive/1.13.1.tar.gz -> kdl_parser-1.13.1.tar.gz
+_eclasses_=cmake-utils	57384a259cf0c7985ce651b2c0865405	desktop	1b286a7e7143d8c4ec89cd0d2743a097	eapi7-ver	d97a56a62c7df8614afddcb25f5ff00f	epatch	9a5f039771f143195164a15a4faa41a1	estack	43ddf5aaffa7a8d0482df54d25a66a1f	eutils	b43d08fe0771faf2f5e7be19c2789d33	flag-o-matic	5128c4729303400bd8d4b0b966530955	ltprune	607e058da37aa6dabfa408b7d61da72e	multibuild	35719a9cd25ec71ee49c966f6868454c	multilib	97f470f374f2e94ccab04a2fb21d811e	multiprocessing	cac3169468f893670dac3e7cb940e045	ninja-utils	d2e7e7d290428bb25c56dcf2502badc1	preserve-libs	ef207dc62baddfddfd39a164d9797648	python-r1	0b5829eb6369d7af3a834b6eed7b7107	python-utils-r1	7db901256449fef43c3aaa4d486c1c63	ros-catkin	6429c6e498fae480f42ae74b75aa7f55	toolchain-funcs	1e35303c63cd707f6c3422b4493d5607	vcs-clean	2a0f74a496fa2b1552c4f3398258b7bf	xdg-utils	f2c8335407f0b935b0a96d4adf23ef25
+_md5_=591d4ecce1dea54a47db10652db83384
diff --git a/metadata/md5-cache/dev-ros/kdl_parser_py-1.13.1 b/metadata/md5-cache/dev-ros/kdl_parser_py-1.13.1
new file mode 100644
index 000000000000..c9f38b39def0
--- /dev/null
+++ b/metadata/md5-cache/dev-ros/kdl_parser_py-1.13.1
@@ -0,0 +1,14 @@
+DEFINED_PHASES=compile configure install prepare test
+DEPEND=>=dev-ros/urdf-1.13[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] test? ( dev-ros/rostest[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) sys-devel/make >=dev-util/cmake-3.9.6 python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-util/catkin[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/empy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
+DESCRIPTION=Python tools to construct a KDL tree from an XML robot representation in URDF
+EAPI=5
+HOMEPAGE=https://wiki.ros.org/kdl_parser_py https://github.com/ros/kdl_parser
+IUSE=python_targets_python2_7 test
+KEYWORDS=~amd64 ~arm
+LICENSE=BSD
+RDEPEND=>=dev-ros/urdf-1.13[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
+REQUIRED_USE=|| ( python_targets_python2_7 )
+SLOT=0
+SRC_URI=https://github.com/ros/kdl_parser/archive/1.13.1.tar.gz -> kdl_parser-1.13.1.tar.gz
+_eclasses_=cmake-utils	57384a259cf0c7985ce651b2c0865405	desktop	1b286a7e7143d8c4ec89cd0d2743a097	eapi7-ver	d97a56a62c7df8614afddcb25f5ff00f	epatch	9a5f039771f143195164a15a4faa41a1	estack	43ddf5aaffa7a8d0482df54d25a66a1f	eutils	b43d08fe0771faf2f5e7be19c2789d33	flag-o-matic	5128c4729303400bd8d4b0b966530955	ltprune	607e058da37aa6dabfa408b7d61da72e	multibuild	35719a9cd25ec71ee49c966f6868454c	multilib	97f470f374f2e94ccab04a2fb21d811e	multiprocessing	cac3169468f893670dac3e7cb940e045	ninja-utils	d2e7e7d290428bb25c56dcf2502badc1	preserve-libs	ef207dc62baddfddfd39a164d9797648	python-r1	0b5829eb6369d7af3a834b6eed7b7107	python-utils-r1	7db901256449fef43c3aaa4d486c1c63	ros-catkin	6429c6e498fae480f42ae74b75aa7f55	toolchain-funcs	1e35303c63cd707f6c3422b4493d5607	vcs-clean	2a0f74a496fa2b1552c4f3398258b7bf	xdg-utils	f2c8335407f0b935b0a96d4adf23ef25
+_md5_=e66bd6e4c15819d1b7ee217a4c06acb2
diff --git a/metadata/md5-cache/dev-ros/map_server-1.16.0 b/metadata/md5-cache/dev-ros/map_server-1.16.0
new file mode 100644
index 000000000000..d2f13f4d5354
--- /dev/null
+++ b/metadata/md5-cache/dev-ros/map_server-1.16.0
@@ -0,0 +1,14 @@
+DEFINED_PHASES=compile configure install prepare test
+DEPEND=sci-physics/bullet:= dev-ros/nav_msgs[ros_messages_cxx(-)] dev-ros/roscpp media-libs/sdl-image dev-ros/tf2 >=dev-cpp/yaml-cpp-0.5:= dev-libs/boost:= test? ( dev-ros/rostest dev-ros/rospy dev-ros/rosunit ) virtual/pkgconfig sys-devel/make >=dev-util/cmake-3.9.6 python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-util/catkin[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/empy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
+DESCRIPTION=Offers map data as a ROS service
+EAPI=5
+HOMEPAGE=https://wiki.ros.org/map_server https://github.com/ros-planning/navigation
+IUSE=python_targets_python2_7 test
+KEYWORDS=~amd64 ~arm
+LICENSE=BSD
+RDEPEND=sci-physics/bullet:= dev-ros/nav_msgs[ros_messages_cxx(-)] dev-ros/roscpp media-libs/sdl-image dev-ros/tf2 >=dev-cpp/yaml-cpp-0.5:= dev-libs/boost:= python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
+REQUIRED_USE=|| ( python_targets_python2_7 )
+SLOT=0
+SRC_URI=https://github.com/ros-planning/navigation/archive/1.16.0.tar.gz -> navigation-1.16.0.tar.gz
+_eclasses_=cmake-utils	57384a259cf0c7985ce651b2c0865405	desktop	1b286a7e7143d8c4ec89cd0d2743a097	eapi7-ver	d97a56a62c7df8614afddcb25f5ff00f	epatch	9a5f039771f143195164a15a4faa41a1	estack	43ddf5aaffa7a8d0482df54d25a66a1f	eutils	b43d08fe0771faf2f5e7be19c2789d33	flag-o-matic	5128c4729303400bd8d4b0b966530955	ltprune	607e058da37aa6dabfa408b7d61da72e	multibuild	35719a9cd25ec71ee49c966f6868454c	multilib	97f470f374f2e94ccab04a2fb21d811e	multiprocessing	cac3169468f893670dac3e7cb940e045	ninja-utils	d2e7e7d290428bb25c56dcf2502badc1	preserve-libs	ef207dc62baddfddfd39a164d9797648	python-r1	0b5829eb6369d7af3a834b6eed7b7107	python-utils-r1	7db901256449fef43c3aaa4d486c1c63	ros-catkin	6429c6e498fae480f42ae74b75aa7f55	toolchain-funcs	1e35303c63cd707f6c3422b4493d5607	vcs-clean	2a0f74a496fa2b1552c4f3398258b7bf	xdg-utils	f2c8335407f0b935b0a96d4adf23ef25
+_md5_=20a9fcd3c331088ea81e0daac42647e1
diff --git a/metadata/md5-cache/dev-ros/map_server-9999 b/metadata/md5-cache/dev-ros/map_server-9999
index d7e3c3bf604d..76a08e5e13f3 100644
--- a/metadata/md5-cache/dev-ros/map_server-9999
+++ b/metadata/md5-cache/dev-ros/map_server-9999
@@ -1,12 +1,12 @@
 DEFINED_PHASES=compile configure install prepare test unpack
-DEPEND=dev-ros/roscpp dev-ros/tf dev-ros/nav_msgs[ros_messages_cxx(-)] dev-libs/boost:= media-libs/sdl-image >=dev-cpp/yaml-cpp-0.5:= sci-physics/bullet:= test? ( dev-ros/rostest dev-cpp/gtest ) virtual/pkgconfig >=dev-vcs/git-1.8.2.1[curl] sys-devel/make >=dev-util/cmake-3.9.6 python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-util/catkin[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/empy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
+DEPEND=sci-physics/bullet:= dev-ros/nav_msgs[ros_messages_cxx(-)] dev-ros/roscpp media-libs/sdl-image dev-ros/tf2 >=dev-cpp/yaml-cpp-0.5:= dev-libs/boost:= test? ( dev-ros/rostest dev-ros/rospy dev-ros/rosunit ) virtual/pkgconfig >=dev-vcs/git-1.8.2.1[curl] sys-devel/make >=dev-util/cmake-3.9.6 python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-util/catkin[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/empy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
 DESCRIPTION=Offers map data as a ROS service
 EAPI=5
 HOMEPAGE=https://wiki.ros.org/map_server https://github.com/ros-planning/navigation
 IUSE=python_targets_python2_7 test
 LICENSE=BSD
-RDEPEND=dev-ros/roscpp dev-ros/tf dev-ros/nav_msgs[ros_messages_cxx(-)] dev-libs/boost:= media-libs/sdl-image >=dev-cpp/yaml-cpp-0.5:= sci-physics/bullet:= python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
+RDEPEND=sci-physics/bullet:= dev-ros/nav_msgs[ros_messages_cxx(-)] dev-ros/roscpp media-libs/sdl-image dev-ros/tf2 >=dev-cpp/yaml-cpp-0.5:= dev-libs/boost:= python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
 REQUIRED_USE=|| ( python_targets_python2_7 )
 SLOT=0
 _eclasses_=cmake-utils	57384a259cf0c7985ce651b2c0865405	desktop	1b286a7e7143d8c4ec89cd0d2743a097	eapi7-ver	d97a56a62c7df8614afddcb25f5ff00f	epatch	9a5f039771f143195164a15a4faa41a1	estack	43ddf5aaffa7a8d0482df54d25a66a1f	eutils	b43d08fe0771faf2f5e7be19c2789d33	flag-o-matic	5128c4729303400bd8d4b0b966530955	git-r3	8f6de46b0aa318aea0e8cac62ece098b	ltprune	607e058da37aa6dabfa408b7d61da72e	multibuild	35719a9cd25ec71ee49c966f6868454c	multilib	97f470f374f2e94ccab04a2fb21d811e	multiprocessing	cac3169468f893670dac3e7cb940e045	ninja-utils	d2e7e7d290428bb25c56dcf2502badc1	preserve-libs	ef207dc62baddfddfd39a164d9797648	python-r1	0b5829eb6369d7af3a834b6eed7b7107	python-utils-r1	7db901256449fef43c3aaa4d486c1c63	ros-catkin	6429c6e498fae480f42ae74b75aa7f55	toolchain-funcs	1e35303c63cd707f6c3422b4493d5607	vcs-clean	2a0f74a496fa2b1552c4f3398258b7bf	xdg-utils	f2c8335407f0b935b0a96d4adf23ef25
-_md5_=0d06f89b202fd3c96b7683e749cf0cf7
+_md5_=20a9fcd3c331088ea81e0daac42647e1
diff --git a/metadata/md5-cache/dev-ros/move_base-1.16.0 b/metadata/md5-cache/dev-ros/move_base-1.16.0
new file mode 100644
index 000000000000..ef31749e6cfb
--- /dev/null
+++ b/metadata/md5-cache/dev-ros/move_base-1.16.0
@@ -0,0 +1,14 @@
+DEFINED_PHASES=compile configure install prepare test
+DEPEND=dev-ros/actionlib >=dev-ros/costmap_2d-1.15.1 dev-ros/dynamic_reconfigure[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/geometry_msgs[ros_messages_cxx(-)] dev-ros/move_base_msgs[ros_messages_cxx(-)] dev-ros/nav_core dev-ros/pluginlib dev-libs/tinyxml2:= dev-ros/roscpp dev-ros/rospy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/std_srvs[ros_messages_cxx(-)] dev-ros/tf2_ros dev-ros/visualization_msgs[ros_messages_cxx(-)] dev-ros/base_local_planner dev-ros/clear_costmap_recovery dev-ros/navfn dev-ros/rotate_recovery dev-cpp/eigen:3 dev-libs/boost:= dev-libs/console_bridge:= dev-ros/tf2_geometry_msgs[ros_messages_cxx(-)] dev-ros/cmake_modules sys-devel/make >=dev-util/cmake-3.9.6 python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-util/catkin[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/empy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
+DESCRIPTION=Given a goal in the world, will attempt to reach it with a mobile base
+EAPI=5
+HOMEPAGE=https://wiki.ros.org/move_base https://github.com/ros-planning/navigation
+IUSE=python_targets_python2_7 test
+KEYWORDS=~amd64 ~arm
+LICENSE=BSD
+RDEPEND=dev-ros/actionlib >=dev-ros/costmap_2d-1.15.1 dev-ros/dynamic_reconfigure[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/geometry_msgs[ros_messages_cxx(-)] dev-ros/move_base_msgs[ros_messages_cxx(-)] dev-ros/nav_core dev-ros/pluginlib dev-libs/tinyxml2:= dev-ros/roscpp dev-ros/rospy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/std_srvs[ros_messages_cxx(-)] dev-ros/tf2_ros dev-ros/visualization_msgs[ros_messages_cxx(-)] dev-ros/base_local_planner dev-ros/clear_costmap_recovery dev-ros/navfn dev-ros/rotate_recovery dev-cpp/eigen:3 dev-libs/boost:= dev-libs/console_bridge:= dev-ros/tf2_geometry_msgs[ros_messages_cxx(-)] python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
+REQUIRED_USE=|| ( python_targets_python2_7 )
+SLOT=0
+SRC_URI=https://github.com/ros-planning/navigation/archive/1.16.0.tar.gz -> navigation-1.16.0.tar.gz
+_eclasses_=cmake-utils	57384a259cf0c7985ce651b2c0865405	desktop	1b286a7e7143d8c4ec89cd0d2743a097	eapi7-ver	d97a56a62c7df8614afddcb25f5ff00f	epatch	9a5f039771f143195164a15a4faa41a1	estack	43ddf5aaffa7a8d0482df54d25a66a1f	eutils	b43d08fe0771faf2f5e7be19c2789d33	flag-o-matic	5128c4729303400bd8d4b0b966530955	ltprune	607e058da37aa6dabfa408b7d61da72e	multibuild	35719a9cd25ec71ee49c966f6868454c	multilib	97f470f374f2e94ccab04a2fb21d811e	multiprocessing	cac3169468f893670dac3e7cb940e045	ninja-utils	d2e7e7d290428bb25c56dcf2502badc1	preserve-libs	ef207dc62baddfddfd39a164d9797648	python-r1	0b5829eb6369d7af3a834b6eed7b7107	python-utils-r1	7db901256449fef43c3aaa4d486c1c63	ros-catkin	6429c6e498fae480f42ae74b75aa7f55	toolchain-funcs	1e35303c63cd707f6c3422b4493d5607	vcs-clean	2a0f74a496fa2b1552c4f3398258b7bf	xdg-utils	f2c8335407f0b935b0a96d4adf23ef25
+_md5_=734742f28191ddb49d6b5ae03dde8f07
diff --git a/metadata/md5-cache/dev-ros/move_base-9999 b/metadata/md5-cache/dev-ros/move_base-9999
index e037ce063de3..c46bdd599da6 100644
--- a/metadata/md5-cache/dev-ros/move_base-9999
+++ b/metadata/md5-cache/dev-ros/move_base-9999
@@ -1,12 +1,12 @@
 DEFINED_PHASES=compile configure install prepare test unpack
-DEPEND=>=dev-ros/costmap_2d-1.15.1 dev-ros/roscpp dev-ros/pluginlib dev-libs/tinyxml2:= dev-ros/actionlib dev-ros/base_local_planner dev-ros/clear_costmap_recovery dev-ros/navfn dev-ros/rotate_recovery dev-ros/dynamic_reconfigure[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/nav_core dev-ros/tf dev-ros/move_base_msgs[ros_messages_cxx(-)] dev-ros/std_srvs[ros_messages_cxx(-)] dev-cpp/eigen:3 dev-libs/boost:= dev-libs/console_bridge:= dev-ros/cmake_modules >=dev-vcs/git-1.8.2.1[curl] sys-devel/make >=dev-util/cmake-3.9.6 python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-util/catkin[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/empy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
+DEPEND=dev-ros/actionlib >=dev-ros/costmap_2d-1.15.1 dev-ros/dynamic_reconfigure[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/geometry_msgs[ros_messages_cxx(-)] dev-ros/move_base_msgs[ros_messages_cxx(-)] dev-ros/nav_core dev-ros/pluginlib dev-libs/tinyxml2:= dev-ros/roscpp dev-ros/rospy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/std_srvs[ros_messages_cxx(-)] dev-ros/tf2_ros dev-ros/visualization_msgs[ros_messages_cxx(-)] dev-ros/base_local_planner dev-ros/clear_costmap_recovery dev-ros/navfn dev-ros/rotate_recovery dev-cpp/eigen:3 dev-libs/boost:= dev-libs/console_bridge:= dev-ros/tf2_geometry_msgs[ros_messages_cxx(-)] dev-ros/cmake_modules >=dev-vcs/git-1.8.2.1[curl] sys-devel/make >=dev-util/cmake-3.9.6 python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-util/catkin[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/empy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
 DESCRIPTION=Given a goal in the world, will attempt to reach it with a mobile base
 EAPI=5
 HOMEPAGE=https://wiki.ros.org/move_base https://github.com/ros-planning/navigation
 IUSE=python_targets_python2_7 test
 LICENSE=BSD
-RDEPEND=>=dev-ros/costmap_2d-1.15.1 dev-ros/roscpp dev-ros/pluginlib dev-libs/tinyxml2:= dev-ros/actionlib dev-ros/base_local_planner dev-ros/clear_costmap_recovery dev-ros/navfn dev-ros/rotate_recovery dev-ros/dynamic_reconfigure[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/nav_core dev-ros/tf dev-ros/move_base_msgs[ros_messages_cxx(-)] dev-ros/std_srvs[ros_messages_cxx(-)] dev-cpp/eigen:3 dev-libs/boost:= dev-libs/console_bridge:= python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
+RDEPEND=dev-ros/actionlib >=dev-ros/costmap_2d-1.15.1 dev-ros/dynamic_reconfigure[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/geometry_msgs[ros_messages_cxx(-)] dev-ros/move_base_msgs[ros_messages_cxx(-)] dev-ros/nav_core dev-ros/pluginlib dev-libs/tinyxml2:= dev-ros/roscpp dev-ros/rospy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/std_srvs[ros_messages_cxx(-)] dev-ros/tf2_ros dev-ros/visualization_msgs[ros_messages_cxx(-)] dev-ros/base_local_planner dev-ros/clear_costmap_recovery dev-ros/navfn dev-ros/rotate_recovery dev-cpp/eigen:3 dev-libs/boost:= dev-libs/console_bridge:= dev-ros/tf2_geometry_msgs[ros_messages_cxx(-)] python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
 REQUIRED_USE=|| ( python_targets_python2_7 )
 SLOT=0
 _eclasses_=cmake-utils	57384a259cf0c7985ce651b2c0865405	desktop	1b286a7e7143d8c4ec89cd0d2743a097	eapi7-ver	d97a56a62c7df8614afddcb25f5ff00f	epatch	9a5f039771f143195164a15a4faa41a1	estack	43ddf5aaffa7a8d0482df54d25a66a1f	eutils	b43d08fe0771faf2f5e7be19c2789d33	flag-o-matic	5128c4729303400bd8d4b0b966530955	git-r3	8f6de46b0aa318aea0e8cac62ece098b	ltprune	607e058da37aa6dabfa408b7d61da72e	multibuild	35719a9cd25ec71ee49c966f6868454c	multilib	97f470f374f2e94ccab04a2fb21d811e	multiprocessing	cac3169468f893670dac3e7cb940e045	ninja-utils	d2e7e7d290428bb25c56dcf2502badc1	preserve-libs	ef207dc62baddfddfd39a164d9797648	python-r1	0b5829eb6369d7af3a834b6eed7b7107	python-utils-r1	7db901256449fef43c3aaa4d486c1c63	ros-catkin	6429c6e498fae480f42ae74b75aa7f55	toolchain-funcs	1e35303c63cd707f6c3422b4493d5607	vcs-clean	2a0f74a496fa2b1552c4f3398258b7bf	xdg-utils	f2c8335407f0b935b0a96d4adf23ef25
-_md5_=46710ec6d0524eb750b4aa7d223c556f
+_md5_=734742f28191ddb49d6b5ae03dde8f07
diff --git a/metadata/md5-cache/dev-ros/nav_core-1.14.0 b/metadata/md5-cache/dev-ros/move_slow_and_clear-1.16.0
index efd76e79c4c3..887d2c2d9b7d 100644
--- a/metadata/md5-cache/dev-ros/nav_core-1.14.0
+++ b/metadata/md5-cache/dev-ros/move_slow_and_clear-1.16.0
@@ -1,14 +1,14 @@
 DEFINED_PHASES=compile configure install prepare test
-DEPEND=dev-ros/std_msgs[ros_messages_cxx(-)] dev-ros/geometry_msgs[ros_messages_cxx(-)] dev-ros/tf dev-ros/costmap_2d sys-devel/make >=dev-util/cmake-3.9.6 python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-util/catkin[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/empy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
-DESCRIPTION=Common interfaces for navigation specific robot actions
+DEPEND=dev-ros/costmap_2d dev-ros/geometry_msgs[ros_messages_cxx(-)] dev-ros/nav_core dev-ros/pluginlib dev-ros/roscpp dev-libs/boost:=[threads] dev-cpp/eigen:3 dev-libs/console_bridge:= dev-ros/cmake_modules sys-devel/make >=dev-util/cmake-3.9.6 python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-util/catkin[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/empy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
+DESCRIPTION=Move slow and clear
 EAPI=5
-HOMEPAGE=https://wiki.ros.org/nav_core https://github.com/ros-planning/navigation
+HOMEPAGE=https://wiki.ros.org/move_slow_and_clear https://github.com/ros-planning/navigation
 IUSE=python_targets_python2_7 test
 KEYWORDS=~amd64 ~arm
 LICENSE=BSD
-RDEPEND=dev-ros/std_msgs[ros_messages_cxx(-)] dev-ros/geometry_msgs[ros_messages_cxx(-)] dev-ros/tf dev-ros/costmap_2d python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
+RDEPEND=dev-ros/costmap_2d dev-ros/geometry_msgs[ros_messages_cxx(-)] dev-ros/nav_core dev-ros/pluginlib dev-ros/roscpp dev-libs/boost:=[threads] dev-cpp/eigen:3 dev-libs/console_bridge:= python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
 REQUIRED_USE=|| ( python_targets_python2_7 )
 SLOT=0
-SRC_URI=https://github.com/ros-planning/navigation/archive/1.14.0.tar.gz -> navigation-1.14.0.tar.gz
+SRC_URI=https://github.com/ros-planning/navigation/archive/1.16.0.tar.gz -> navigation-1.16.0.tar.gz
 _eclasses_=cmake-utils	57384a259cf0c7985ce651b2c0865405	desktop	1b286a7e7143d8c4ec89cd0d2743a097	eapi7-ver	d97a56a62c7df8614afddcb25f5ff00f	epatch	9a5f039771f143195164a15a4faa41a1	estack	43ddf5aaffa7a8d0482df54d25a66a1f	eutils	b43d08fe0771faf2f5e7be19c2789d33	flag-o-matic	5128c4729303400bd8d4b0b966530955	ltprune	607e058da37aa6dabfa408b7d61da72e	multibuild	35719a9cd25ec71ee49c966f6868454c	multilib	97f470f374f2e94ccab04a2fb21d811e	multiprocessing	cac3169468f893670dac3e7cb940e045	ninja-utils	d2e7e7d290428bb25c56dcf2502badc1	preserve-libs	ef207dc62baddfddfd39a164d9797648	python-r1	0b5829eb6369d7af3a834b6eed7b7107	python-utils-r1	7db901256449fef43c3aaa4d486c1c63	ros-catkin	6429c6e498fae480f42ae74b75aa7f55	toolchain-funcs	1e35303c63cd707f6c3422b4493d5607	vcs-clean	2a0f74a496fa2b1552c4f3398258b7bf	xdg-utils	f2c8335407f0b935b0a96d4adf23ef25
-_md5_=53026def3d9d329f58dc194173206e73
+_md5_=63520fd2aea888561c5aacc04665849c
diff --git a/metadata/md5-cache/dev-ros/move_slow_and_clear-9999 b/metadata/md5-cache/dev-ros/move_slow_and_clear-9999
index a57ec82b2164..46ad75d6885b 100644
--- a/metadata/md5-cache/dev-ros/move_slow_and_clear-9999
+++ b/metadata/md5-cache/dev-ros/move_slow_and_clear-9999
@@ -1,12 +1,12 @@
 DEFINED_PHASES=compile configure install prepare test unpack
-DEPEND=dev-ros/roscpp dev-ros/nav_core dev-ros/costmap_2d dev-ros/actionlib_msgs[ros_messages_cxx(-)] dev-ros/std_msgs[ros_messages_cxx(-)] dev-ros/pluginlib dev-libs/boost:=[threads] dev-cpp/eigen:3 sci-libs/pcl dev-libs/console_bridge:= dev-ros/cmake_modules >=dev-vcs/git-1.8.2.1[curl] sys-devel/make >=dev-util/cmake-3.9.6 python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-util/catkin[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/empy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
+DEPEND=dev-ros/costmap_2d dev-ros/geometry_msgs[ros_messages_cxx(-)] dev-ros/nav_core dev-ros/pluginlib dev-ros/roscpp dev-libs/boost:=[threads] dev-cpp/eigen:3 dev-libs/console_bridge:= dev-ros/cmake_modules >=dev-vcs/git-1.8.2.1[curl] sys-devel/make >=dev-util/cmake-3.9.6 python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-util/catkin[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/empy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
 DESCRIPTION=Move slow and clear
 EAPI=5
 HOMEPAGE=https://wiki.ros.org/move_slow_and_clear https://github.com/ros-planning/navigation
 IUSE=python_targets_python2_7 test
 LICENSE=BSD
-RDEPEND=dev-ros/roscpp dev-ros/nav_core dev-ros/costmap_2d dev-ros/actionlib_msgs[ros_messages_cxx(-)] dev-ros/std_msgs[ros_messages_cxx(-)] dev-ros/pluginlib dev-libs/boost:=[threads] dev-cpp/eigen:3 sci-libs/pcl dev-libs/console_bridge:= python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
+RDEPEND=dev-ros/costmap_2d dev-ros/geometry_msgs[ros_messages_cxx(-)] dev-ros/nav_core dev-ros/pluginlib dev-ros/roscpp dev-libs/boost:=[threads] dev-cpp/eigen:3 dev-libs/console_bridge:= python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
 REQUIRED_USE=|| ( python_targets_python2_7 )
 SLOT=0
 _eclasses_=cmake-utils	57384a259cf0c7985ce651b2c0865405	desktop	1b286a7e7143d8c4ec89cd0d2743a097	eapi7-ver	d97a56a62c7df8614afddcb25f5ff00f	epatch	9a5f039771f143195164a15a4faa41a1	estack	43ddf5aaffa7a8d0482df54d25a66a1f	eutils	b43d08fe0771faf2f5e7be19c2789d33	flag-o-matic	5128c4729303400bd8d4b0b966530955	git-r3	8f6de46b0aa318aea0e8cac62ece098b	ltprune	607e058da37aa6dabfa408b7d61da72e	multibuild	35719a9cd25ec71ee49c966f6868454c	multilib	97f470f374f2e94ccab04a2fb21d811e	multiprocessing	cac3169468f893670dac3e7cb940e045	ninja-utils	d2e7e7d290428bb25c56dcf2502badc1	preserve-libs	ef207dc62baddfddfd39a164d9797648	python-r1	0b5829eb6369d7af3a834b6eed7b7107	python-utils-r1	7db901256449fef43c3aaa4d486c1c63	ros-catkin	6429c6e498fae480f42ae74b75aa7f55	toolchain-funcs	1e35303c63cd707f6c3422b4493d5607	vcs-clean	2a0f74a496fa2b1552c4f3398258b7bf	xdg-utils	f2c8335407f0b935b0a96d4adf23ef25
-_md5_=f6ce89d829f0676c055f51a91629b4b5
+_md5_=63520fd2aea888561c5aacc04665849c
diff --git a/metadata/md5-cache/dev-ros/nav_core-1.13.0 b/metadata/md5-cache/dev-ros/nav_core-1.13.0
deleted file mode 100644
index 31189959ded4..000000000000
--- a/metadata/md5-cache/dev-ros/nav_core-1.13.0
+++ /dev/null
@@ -1,14 +0,0 @@
-DEFINED_PHASES=compile configure install prepare test
-DEPEND=dev-ros/std_msgs[ros_messages_cxx(-)] dev-ros/geometry_msgs[ros_messages_cxx(-)] dev-ros/tf dev-ros/costmap_2d sys-devel/make >=dev-util/cmake-3.9.6 python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-util/catkin[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/empy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
-DESCRIPTION=Common interfaces for navigation specific robot actions
-EAPI=5
-HOMEPAGE=https://wiki.ros.org/nav_core https://github.com/ros-planning/navigation
-IUSE=python_targets_python2_7 test
-KEYWORDS=~amd64 ~arm
-LICENSE=BSD
-RDEPEND=dev-ros/std_msgs[ros_messages_cxx(-)] dev-ros/geometry_msgs[ros_messages_cxx(-)] dev-ros/tf dev-ros/costmap_2d python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
-REQUIRED_USE=|| ( python_targets_python2_7 )
-SLOT=0
-SRC_URI=https://github.com/ros-planning/navigation/archive/1.13.0.tar.gz -> navigation-1.13.0.tar.gz
-_eclasses_=cmake-utils	57384a259cf0c7985ce651b2c0865405	desktop	1b286a7e7143d8c4ec89cd0d2743a097	eapi7-ver	d97a56a62c7df8614afddcb25f5ff00f	epatch	9a5f039771f143195164a15a4faa41a1	estack	43ddf5aaffa7a8d0482df54d25a66a1f	eutils	b43d08fe0771faf2f5e7be19c2789d33	flag-o-matic	5128c4729303400bd8d4b0b966530955	ltprune	607e058da37aa6dabfa408b7d61da72e	multibuild	35719a9cd25ec71ee49c966f6868454c	multilib	97f470f374f2e94ccab04a2fb21d811e	multiprocessing	cac3169468f893670dac3e7cb940e045	ninja-utils	d2e7e7d290428bb25c56dcf2502badc1	preserve-libs	ef207dc62baddfddfd39a164d9797648	python-r1	0b5829eb6369d7af3a834b6eed7b7107	python-utils-r1	7db901256449fef43c3aaa4d486c1c63	ros-catkin	6429c6e498fae480f42ae74b75aa7f55	toolchain-funcs	1e35303c63cd707f6c3422b4493d5607	vcs-clean	2a0f74a496fa2b1552c4f3398258b7bf	xdg-utils	f2c8335407f0b935b0a96d4adf23ef25
-_md5_=607fe210f185904803590ba558e444c9
diff --git a/metadata/md5-cache/dev-ros/nav_core-1.14.2 b/metadata/md5-cache/dev-ros/nav_core-1.14.2
deleted file mode 100644
index 40b2a8c84abc..000000000000
--- a/metadata/md5-cache/dev-ros/nav_core-1.14.2
+++ /dev/null
@@ -1,14 +0,0 @@
-DEFINED_PHASES=compile configure install prepare test
-DEPEND=dev-ros/std_msgs[ros_messages_cxx(-)] dev-ros/geometry_msgs[ros_messages_cxx(-)] dev-ros/tf dev-ros/costmap_2d sys-devel/make >=dev-util/cmake-3.9.6 python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-util/catkin[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/empy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
-DESCRIPTION=Common interfaces for navigation specific robot actions
-EAPI=5
-HOMEPAGE=https://wiki.ros.org/nav_core https://github.com/ros-planning/navigation
-IUSE=python_targets_python2_7 test
-KEYWORDS=~amd64 ~arm
-LICENSE=BSD
-RDEPEND=dev-ros/std_msgs[ros_messages_cxx(-)] dev-ros/geometry_msgs[ros_messages_cxx(-)] dev-ros/tf dev-ros/costmap_2d python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
-REQUIRED_USE=|| ( python_targets_python2_7 )
-SLOT=0
-SRC_URI=https://github.com/ros-planning/navigation/archive/1.14.2.tar.gz -> navigation-1.14.2.tar.gz
-_eclasses_=cmake-utils	57384a259cf0c7985ce651b2c0865405	desktop	1b286a7e7143d8c4ec89cd0d2743a097	eapi7-ver	d97a56a62c7df8614afddcb25f5ff00f	epatch	9a5f039771f143195164a15a4faa41a1	estack	43ddf5aaffa7a8d0482df54d25a66a1f	eutils	b43d08fe0771faf2f5e7be19c2789d33	flag-o-matic	5128c4729303400bd8d4b0b966530955	ltprune	607e058da37aa6dabfa408b7d61da72e	multibuild	35719a9cd25ec71ee49c966f6868454c	multilib	97f470f374f2e94ccab04a2fb21d811e	multiprocessing	cac3169468f893670dac3e7cb940e045	ninja-utils	d2e7e7d290428bb25c56dcf2502badc1	preserve-libs	ef207dc62baddfddfd39a164d9797648	python-r1	0b5829eb6369d7af3a834b6eed7b7107	python-utils-r1	7db901256449fef43c3aaa4d486c1c63	ros-catkin	6429c6e498fae480f42ae74b75aa7f55	toolchain-funcs	1e35303c63cd707f6c3422b4493d5607	vcs-clean	2a0f74a496fa2b1552c4f3398258b7bf	xdg-utils	f2c8335407f0b935b0a96d4adf23ef25
-_md5_=0b6eeff25c247780af7d8fdb20568764
diff --git a/metadata/md5-cache/dev-ros/nav_core-1.15.1 b/metadata/md5-cache/dev-ros/nav_core-1.15.1
deleted file mode 100644
index 886434713bde..000000000000
--- a/metadata/md5-cache/dev-ros/nav_core-1.15.1
+++ /dev/null
@@ -1,14 +0,0 @@
-DEFINED_PHASES=compile configure install prepare test
-DEPEND=dev-ros/std_msgs[ros_messages_cxx(-)] dev-ros/geometry_msgs[ros_messages_cxx(-)] dev-ros/tf dev-ros/costmap_2d sys-devel/make >=dev-util/cmake-3.9.6 python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-util/catkin[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/empy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
-DESCRIPTION=Common interfaces for navigation specific robot actions
-EAPI=5
-HOMEPAGE=https://wiki.ros.org/nav_core https://github.com/ros-planning/navigation
-IUSE=python_targets_python2_7 test
-KEYWORDS=~amd64 ~arm
-LICENSE=BSD
-RDEPEND=dev-ros/std_msgs[ros_messages_cxx(-)] dev-ros/geometry_msgs[ros_messages_cxx(-)] dev-ros/tf dev-ros/costmap_2d python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
-REQUIRED_USE=|| ( python_targets_python2_7 )
-SLOT=0
-SRC_URI=https://github.com/ros-planning/navigation/archive/1.15.1.tar.gz -> navigation-1.15.1.tar.gz
-_eclasses_=cmake-utils	57384a259cf0c7985ce651b2c0865405	desktop	1b286a7e7143d8c4ec89cd0d2743a097	eapi7-ver	d97a56a62c7df8614afddcb25f5ff00f	epatch	9a5f039771f143195164a15a4faa41a1	estack	43ddf5aaffa7a8d0482df54d25a66a1f	eutils	b43d08fe0771faf2f5e7be19c2789d33	flag-o-matic	5128c4729303400bd8d4b0b966530955	ltprune	607e058da37aa6dabfa408b7d61da72e	multibuild	35719a9cd25ec71ee49c966f6868454c	multilib	97f470f374f2e94ccab04a2fb21d811e	multiprocessing	cac3169468f893670dac3e7cb940e045	ninja-utils	d2e7e7d290428bb25c56dcf2502badc1	preserve-libs	ef207dc62baddfddfd39a164d9797648	python-r1	0b5829eb6369d7af3a834b6eed7b7107	python-utils-r1	7db901256449fef43c3aaa4d486c1c63	ros-catkin	6429c6e498fae480f42ae74b75aa7f55	toolchain-funcs	1e35303c63cd707f6c3422b4493d5607	vcs-clean	2a0f74a496fa2b1552c4f3398258b7bf	xdg-utils	f2c8335407f0b935b0a96d4adf23ef25
-_md5_=0b6eeff25c247780af7d8fdb20568764
diff --git a/metadata/md5-cache/dev-ros/nav_core-1.13.1 b/metadata/md5-cache/dev-ros/nav_core-1.16.0
index 334298f0dbd2..701169e77f38 100644
--- a/metadata/md5-cache/dev-ros/nav_core-1.13.1
+++ b/metadata/md5-cache/dev-ros/nav_core-1.16.0
@@ -1,14 +1,14 @@
 DEFINED_PHASES=compile configure install prepare test
-DEPEND=dev-ros/std_msgs[ros_messages_cxx(-)] dev-ros/geometry_msgs[ros_messages_cxx(-)] dev-ros/tf dev-ros/costmap_2d sys-devel/make >=dev-util/cmake-3.9.6 python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-util/catkin[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/empy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
+DEPEND=dev-ros/costmap_2d dev-ros/geometry_msgs[ros_messages_cxx(-)] dev-ros/std_msgs[ros_messages_cxx(-)] dev-ros/tf2_ros sys-devel/make >=dev-util/cmake-3.9.6 python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-util/catkin[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/empy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
 DESCRIPTION=Common interfaces for navigation specific robot actions
 EAPI=5
 HOMEPAGE=https://wiki.ros.org/nav_core https://github.com/ros-planning/navigation
 IUSE=python_targets_python2_7 test
 KEYWORDS=~amd64 ~arm
 LICENSE=BSD
-RDEPEND=dev-ros/std_msgs[ros_messages_cxx(-)] dev-ros/geometry_msgs[ros_messages_cxx(-)] dev-ros/tf dev-ros/costmap_2d python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
+RDEPEND=dev-ros/costmap_2d dev-ros/geometry_msgs[ros_messages_cxx(-)] dev-ros/std_msgs[ros_messages_cxx(-)] dev-ros/tf2_ros python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
 REQUIRED_USE=|| ( python_targets_python2_7 )
 SLOT=0
-SRC_URI=https://github.com/ros-planning/navigation/archive/1.13.1.tar.gz -> navigation-1.13.1.tar.gz
+SRC_URI=https://github.com/ros-planning/navigation/archive/1.16.0.tar.gz -> navigation-1.16.0.tar.gz
 _eclasses_=cmake-utils	57384a259cf0c7985ce651b2c0865405	desktop	1b286a7e7143d8c4ec89cd0d2743a097	eapi7-ver	d97a56a62c7df8614afddcb25f5ff00f	epatch	9a5f039771f143195164a15a4faa41a1	estack	43ddf5aaffa7a8d0482df54d25a66a1f	eutils	b43d08fe0771faf2f5e7be19c2789d33	flag-o-matic	5128c4729303400bd8d4b0b966530955	ltprune	607e058da37aa6dabfa408b7d61da72e	multibuild	35719a9cd25ec71ee49c966f6868454c	multilib	97f470f374f2e94ccab04a2fb21d811e	multiprocessing	cac3169468f893670dac3e7cb940e045	ninja-utils	d2e7e7d290428bb25c56dcf2502badc1	preserve-libs	ef207dc62baddfddfd39a164d9797648	python-r1	0b5829eb6369d7af3a834b6eed7b7107	python-utils-r1	7db901256449fef43c3aaa4d486c1c63	ros-catkin	6429c6e498fae480f42ae74b75aa7f55	toolchain-funcs	1e35303c63cd707f6c3422b4493d5607	vcs-clean	2a0f74a496fa2b1552c4f3398258b7bf	xdg-utils	f2c8335407f0b935b0a96d4adf23ef25
-_md5_=607fe210f185904803590ba558e444c9
+_md5_=536f7f888c3b1762eb1f2b97d36770b7
diff --git a/metadata/md5-cache/dev-ros/nav_core-9999 b/metadata/md5-cache/dev-ros/nav_core-9999
index bc123995f7b6..d1e7157366aa 100644
--- a/metadata/md5-cache/dev-ros/nav_core-9999
+++ b/metadata/md5-cache/dev-ros/nav_core-9999
@@ -1,12 +1,12 @@
 DEFINED_PHASES=compile configure install prepare test unpack
-DEPEND=dev-ros/std_msgs[ros_messages_cxx(-)] dev-ros/geometry_msgs[ros_messages_cxx(-)] dev-ros/tf dev-ros/costmap_2d >=dev-vcs/git-1.8.2.1[curl] sys-devel/make >=dev-util/cmake-3.9.6 python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-util/catkin[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/empy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
+DEPEND=dev-ros/costmap_2d dev-ros/geometry_msgs[ros_messages_cxx(-)] dev-ros/std_msgs[ros_messages_cxx(-)] dev-ros/tf2_ros >=dev-vcs/git-1.8.2.1[curl] sys-devel/make >=dev-util/cmake-3.9.6 python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-util/catkin[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/empy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
 DESCRIPTION=Common interfaces for navigation specific robot actions
 EAPI=5
 HOMEPAGE=https://wiki.ros.org/nav_core https://github.com/ros-planning/navigation
 IUSE=python_targets_python2_7 test
 LICENSE=BSD
-RDEPEND=dev-ros/std_msgs[ros_messages_cxx(-)] dev-ros/geometry_msgs[ros_messages_cxx(-)] dev-ros/tf dev-ros/costmap_2d python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
+RDEPEND=dev-ros/costmap_2d dev-ros/geometry_msgs[ros_messages_cxx(-)] dev-ros/std_msgs[ros_messages_cxx(-)] dev-ros/tf2_ros python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
 REQUIRED_USE=|| ( python_targets_python2_7 )
 SLOT=0
 _eclasses_=cmake-utils	57384a259cf0c7985ce651b2c0865405	desktop	1b286a7e7143d8c4ec89cd0d2743a097	eapi7-ver	d97a56a62c7df8614afddcb25f5ff00f	epatch	9a5f039771f143195164a15a4faa41a1	estack	43ddf5aaffa7a8d0482df54d25a66a1f	eutils	b43d08fe0771faf2f5e7be19c2789d33	flag-o-matic	5128c4729303400bd8d4b0b966530955	git-r3	8f6de46b0aa318aea0e8cac62ece098b	ltprune	607e058da37aa6dabfa408b7d61da72e	multibuild	35719a9cd25ec71ee49c966f6868454c	multilib	97f470f374f2e94ccab04a2fb21d811e	multiprocessing	cac3169468f893670dac3e7cb940e045	ninja-utils	d2e7e7d290428bb25c56dcf2502badc1	preserve-libs	ef207dc62baddfddfd39a164d9797648	python-r1	0b5829eb6369d7af3a834b6eed7b7107	python-utils-r1	7db901256449fef43c3aaa4d486c1c63	ros-catkin	6429c6e498fae480f42ae74b75aa7f55	toolchain-funcs	1e35303c63cd707f6c3422b4493d5607	vcs-clean	2a0f74a496fa2b1552c4f3398258b7bf	xdg-utils	f2c8335407f0b935b0a96d4adf23ef25
-_md5_=607fe210f185904803590ba558e444c9
+_md5_=536f7f888c3b1762eb1f2b97d36770b7
diff --git a/metadata/md5-cache/dev-ros/navfn-1.16.0 b/metadata/md5-cache/dev-ros/navfn-1.16.0
new file mode 100644
index 000000000000..f36bc0192ada
--- /dev/null
+++ b/metadata/md5-cache/dev-ros/navfn-1.16.0
@@ -0,0 +1,14 @@
+DEFINED_PHASES=compile configure install prepare test
+DEPEND=dev-ros/costmap_2d dev-ros/nav_core dev-ros/pluginlib dev-ros/rosconsole dev-ros/roscpp dev-ros/sensor_msgs[ros_messages_cxx(-)] dev-ros/tf2_ros dev-ros/visualization_msgs[ros_messages_cxx(-)] dev-cpp/eigen:3 x11-libs/fltk media-libs/netpbm dev-libs/boost:=[threads] dev-libs/console_bridge:= test? ( dev-cpp/gtest ) dev-ros/cmake_modules sys-devel/make >=dev-util/cmake-3.9.6 python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-util/catkin[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/empy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ros_messages_cxx? ( dev-ros/gencpp:= dev-ros/gencpp[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_eus? ( dev-ros/geneus:= dev-ros/geneus[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_python? ( dev-ros/genpy:= dev-ros/genpy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_lisp? ( dev-ros/genlisp:= dev-ros/genlisp[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_nodejs? ( dev-ros/gennodejs:= dev-ros/gennodejs[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) dev-ros/message_runtime dev-ros/message_generation dev-ros/genmsg[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/std_msgs[ros_messages_python(-)?,ros_messages_cxx(-)?,ros_messages_lisp(-)?,ros_messages_eus(-)?,ros_messages_nodejs(-)?] ros_messages_python? ( dev-ros/std_msgs[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) dev-ros/geometry_msgs[ros_messages_python(-)?,ros_messages_cxx(-)?,ros_messages_lisp(-)?,ros_messages_eus(-)?,ros_messages_nodejs(-)?] ros_messages_python? ( dev-ros/geometry_msgs[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) dev-ros/nav_msgs[ros_messages_python(-)?,ros_messages_cxx(-)?,ros_messages_lisp(-)?,ros_messages_eus(-)?,ros_messages_nodejs(-)?] ros_messages_python? ( dev-ros/nav_msgs[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] )
+DESCRIPTION=Fast interpolated navigation function that can be used to create plans for a mobile base
+EAPI=5
+HOMEPAGE=https://wiki.ros.org/navfn https://github.com/ros-planning/navigation
+IUSE=python_targets_python2_7 test +ros_messages_python +ros_messages_cxx ros_messages_eus ros_messages_lisp ros_messages_nodejs
+KEYWORDS=~amd64 ~arm
+LICENSE=BSD
+RDEPEND=dev-ros/costmap_2d dev-ros/nav_core dev-ros/pluginlib dev-ros/rosconsole dev-ros/roscpp dev-ros/sensor_msgs[ros_messages_cxx(-)] dev-ros/tf2_ros dev-ros/visualization_msgs[ros_messages_cxx(-)] dev-cpp/eigen:3 x11-libs/fltk media-libs/netpbm dev-libs/boost:=[threads] dev-libs/console_bridge:= python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ros_messages_cxx? ( dev-ros/gencpp:= dev-ros/gencpp[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_eus? ( dev-ros/geneus:= dev-ros/geneus[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_python? ( dev-ros/genpy:= dev-ros/genpy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_lisp? ( dev-ros/genlisp:= dev-ros/genlisp[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_nodejs? ( dev-ros/gennodejs:= dev-ros/gennodejs[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) dev-ros/message_runtime dev-ros/std_msgs[ros_messages_python(-)?,ros_messages_cxx(-)?,ros_messages_lisp(-)?,ros_messages_eus(-)?,ros_messages_nodejs(-)?] ros_messages_python? ( dev-ros/std_msgs[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) dev-ros/geometry_msgs[ros_messages_python(-)?,ros_messages_cxx(-)?,ros_messages_lisp(-)?,ros_messages_eus(-)?,ros_messages_nodejs(-)?] ros_messages_python? ( dev-ros/geometry_msgs[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) dev-ros/nav_msgs[ros_messages_python(-)?,ros_messages_cxx(-)?,ros_messages_lisp(-)?,ros_messages_eus(-)?,ros_messages_nodejs(-)?] ros_messages_python? ( dev-ros/nav_msgs[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] )
+REQUIRED_USE=|| ( python_targets_python2_7 )
+SLOT=0
+SRC_URI=https://github.com/ros-planning/navigation/archive/1.16.0.tar.gz -> navigation-1.16.0.tar.gz
+_eclasses_=cmake-utils	57384a259cf0c7985ce651b2c0865405	desktop	1b286a7e7143d8c4ec89cd0d2743a097	eapi7-ver	d97a56a62c7df8614afddcb25f5ff00f	epatch	9a5f039771f143195164a15a4faa41a1	estack	43ddf5aaffa7a8d0482df54d25a66a1f	eutils	b43d08fe0771faf2f5e7be19c2789d33	flag-o-matic	5128c4729303400bd8d4b0b966530955	ltprune	607e058da37aa6dabfa408b7d61da72e	multibuild	35719a9cd25ec71ee49c966f6868454c	multilib	97f470f374f2e94ccab04a2fb21d811e	multiprocessing	cac3169468f893670dac3e7cb940e045	ninja-utils	d2e7e7d290428bb25c56dcf2502badc1	preserve-libs	ef207dc62baddfddfd39a164d9797648	python-r1	0b5829eb6369d7af3a834b6eed7b7107	python-utils-r1	7db901256449fef43c3aaa4d486c1c63	ros-catkin	6429c6e498fae480f42ae74b75aa7f55	toolchain-funcs	1e35303c63cd707f6c3422b4493d5607	vcs-clean	2a0f74a496fa2b1552c4f3398258b7bf	xdg-utils	f2c8335407f0b935b0a96d4adf23ef25
+_md5_=b051db402aa4d22f98cb55bf29db1f0b
diff --git a/metadata/md5-cache/dev-ros/navfn-9999 b/metadata/md5-cache/dev-ros/navfn-9999
index 1a5c4e642aa2..bfece163f163 100644
--- a/metadata/md5-cache/dev-ros/navfn-9999
+++ b/metadata/md5-cache/dev-ros/navfn-9999
@@ -1,12 +1,12 @@
 DEFINED_PHASES=compile configure install prepare test unpack
-DEPEND=dev-ros/costmap_2d dev-ros/nav_core dev-ros/pcl_conversions dev-ros/pcl_ros dev-ros/pluginlib dev-ros/roscpp dev-ros/tf dev-ros/visualization_msgs dev-cpp/eigen:3 sci-libs/pcl x11-libs/fltk media-libs/netpbm dev-libs/boost:=[threads] dev-libs/console_bridge:= test? ( dev-cpp/gtest ) dev-ros/cmake_modules >=dev-vcs/git-1.8.2.1[curl] sys-devel/make >=dev-util/cmake-3.9.6 python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-util/catkin[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/empy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ros_messages_cxx? ( dev-ros/gencpp:= dev-ros/gencpp[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_eus? ( dev-ros/geneus:= dev-ros/geneus[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_python? ( dev-ros/genpy:= dev-ros/genpy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_lisp? ( dev-ros/genlisp:= dev-ros/genlisp[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_nodejs? ( dev-ros/gennodejs:= dev-ros/gennodejs[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) dev-ros/message_runtime dev-ros/message_generation dev-ros/genmsg[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/std_msgs[ros_messages_python(-)?,ros_messages_cxx(-)?,ros_messages_lisp(-)?,ros_messages_eus(-)?,ros_messages_nodejs(-)?] ros_messages_python? ( dev-ros/std_msgs[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) dev-ros/geometry_msgs[ros_messages_python(-)?,ros_messages_cxx(-)?,ros_messages_lisp(-)?,ros_messages_eus(-)?,ros_messages_nodejs(-)?] ros_messages_python? ( dev-ros/geometry_msgs[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) dev-ros/nav_msgs[ros_messages_python(-)?,ros_messages_cxx(-)?,ros_messages_lisp(-)?,ros_messages_eus(-)?,ros_messages_nodejs(-)?] ros_messages_python? ( dev-ros/nav_msgs[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] )
+DEPEND=dev-ros/costmap_2d dev-ros/nav_core dev-ros/pluginlib dev-ros/rosconsole dev-ros/roscpp dev-ros/sensor_msgs[ros_messages_cxx(-)] dev-ros/tf2_ros dev-ros/visualization_msgs[ros_messages_cxx(-)] dev-cpp/eigen:3 x11-libs/fltk media-libs/netpbm dev-libs/boost:=[threads] dev-libs/console_bridge:= test? ( dev-cpp/gtest ) dev-ros/cmake_modules >=dev-vcs/git-1.8.2.1[curl] sys-devel/make >=dev-util/cmake-3.9.6 python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-util/catkin[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/empy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ros_messages_cxx? ( dev-ros/gencpp:= dev-ros/gencpp[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_eus? ( dev-ros/geneus:= dev-ros/geneus[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_python? ( dev-ros/genpy:= dev-ros/genpy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_lisp? ( dev-ros/genlisp:= dev-ros/genlisp[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_nodejs? ( dev-ros/gennodejs:= dev-ros/gennodejs[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) dev-ros/message_runtime dev-ros/message_generation dev-ros/genmsg[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/std_msgs[ros_messages_python(-)?,ros_messages_cxx(-)?,ros_messages_lisp(-)?,ros_messages_eus(-)?,ros_messages_nodejs(-)?] ros_messages_python? ( dev-ros/std_msgs[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) dev-ros/geometry_msgs[ros_messages_python(-)?,ros_messages_cxx(-)?,ros_messages_lisp(-)?,ros_messages_eus(-)?,ros_messages_nodejs(-)?] ros_messages_python? ( dev-ros/geometry_msgs[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) dev-ros/nav_msgs[ros_messages_python(-)?,ros_messages_cxx(-)?,ros_messages_lisp(-)?,ros_messages_eus(-)?,ros_messages_nodejs(-)?] ros_messages_python? ( dev-ros/nav_msgs[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] )
 DESCRIPTION=Fast interpolated navigation function that can be used to create plans for a mobile base
 EAPI=5
 HOMEPAGE=https://wiki.ros.org/navfn https://github.com/ros-planning/navigation
 IUSE=python_targets_python2_7 test +ros_messages_python +ros_messages_cxx ros_messages_eus ros_messages_lisp ros_messages_nodejs
 LICENSE=BSD
-RDEPEND=dev-ros/costmap_2d dev-ros/nav_core dev-ros/pcl_conversions dev-ros/pcl_ros dev-ros/pluginlib dev-ros/roscpp dev-ros/tf dev-ros/visualization_msgs dev-cpp/eigen:3 sci-libs/pcl x11-libs/fltk media-libs/netpbm dev-libs/boost:=[threads] dev-libs/console_bridge:= python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ros_messages_cxx? ( dev-ros/gencpp:= dev-ros/gencpp[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_eus? ( dev-ros/geneus:= dev-ros/geneus[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_python? ( dev-ros/genpy:= dev-ros/genpy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_lisp? ( dev-ros/genlisp:= dev-ros/genlisp[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_nodejs? ( dev-ros/gennodejs:= dev-ros/gennodejs[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) dev-ros/message_runtime dev-ros/std_msgs[ros_messages_python(-)?,ros_messages_cxx(-)?,ros_messages_lisp(-)?,ros_messages_eus(-)?,ros_messages_nodejs(-)?] ros_messages_python? ( dev-ros/std_msgs[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) dev-ros/geometry_msgs[ros_messages_python(-)?,ros_messages_cxx(-)?,ros_messages_lisp(-)?,ros_messages_eus(-)?,ros_messages_nodejs(-)?] ros_messages_python? ( dev-ros/geometry_msgs[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) dev-ros/nav_msgs[ros_messages_python(-)?,ros_messages_cxx(-)?,ros_messages_lisp(-)?,ros_messages_eus(-)?,ros_messages_nodejs(-)?] ros_messages_python? ( dev-ros/nav_msgs[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] )
+RDEPEND=dev-ros/costmap_2d dev-ros/nav_core dev-ros/pluginlib dev-ros/rosconsole dev-ros/roscpp dev-ros/sensor_msgs[ros_messages_cxx(-)] dev-ros/tf2_ros dev-ros/visualization_msgs[ros_messages_cxx(-)] dev-cpp/eigen:3 x11-libs/fltk media-libs/netpbm dev-libs/boost:=[threads] dev-libs/console_bridge:= python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ros_messages_cxx? ( dev-ros/gencpp:= dev-ros/gencpp[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_eus? ( dev-ros/geneus:= dev-ros/geneus[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_python? ( dev-ros/genpy:= dev-ros/genpy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_lisp? ( dev-ros/genlisp:= dev-ros/genlisp[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_nodejs? ( dev-ros/gennodejs:= dev-ros/gennodejs[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) dev-ros/message_runtime dev-ros/std_msgs[ros_messages_python(-)?,ros_messages_cxx(-)?,ros_messages_lisp(-)?,ros_messages_eus(-)?,ros_messages_nodejs(-)?] ros_messages_python? ( dev-ros/std_msgs[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) dev-ros/geometry_msgs[ros_messages_python(-)?,ros_messages_cxx(-)?,ros_messages_lisp(-)?,ros_messages_eus(-)?,ros_messages_nodejs(-)?] ros_messages_python? ( dev-ros/geometry_msgs[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) dev-ros/nav_msgs[ros_messages_python(-)?,ros_messages_cxx(-)?,ros_messages_lisp(-)?,ros_messages_eus(-)?,ros_messages_nodejs(-)?] ros_messages_python? ( dev-ros/nav_msgs[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] )
 REQUIRED_USE=|| ( python_targets_python2_7 )
 SLOT=0
 _eclasses_=cmake-utils	57384a259cf0c7985ce651b2c0865405	desktop	1b286a7e7143d8c4ec89cd0d2743a097	eapi7-ver	d97a56a62c7df8614afddcb25f5ff00f	epatch	9a5f039771f143195164a15a4faa41a1	estack	43ddf5aaffa7a8d0482df54d25a66a1f	eutils	b43d08fe0771faf2f5e7be19c2789d33	flag-o-matic	5128c4729303400bd8d4b0b966530955	git-r3	8f6de46b0aa318aea0e8cac62ece098b	ltprune	607e058da37aa6dabfa408b7d61da72e	multibuild	35719a9cd25ec71ee49c966f6868454c	multilib	97f470f374f2e94ccab04a2fb21d811e	multiprocessing	cac3169468f893670dac3e7cb940e045	ninja-utils	d2e7e7d290428bb25c56dcf2502badc1	preserve-libs	ef207dc62baddfddfd39a164d9797648	python-r1	0b5829eb6369d7af3a834b6eed7b7107	python-utils-r1	7db901256449fef43c3aaa4d486c1c63	ros-catkin	6429c6e498fae480f42ae74b75aa7f55	toolchain-funcs	1e35303c63cd707f6c3422b4493d5607	vcs-clean	2a0f74a496fa2b1552c4f3398258b7bf	xdg-utils	f2c8335407f0b935b0a96d4adf23ef25
-_md5_=0776c2353194c5b5609705c29cb766b4
+_md5_=b051db402aa4d22f98cb55bf29db1f0b
diff --git a/metadata/md5-cache/dev-ros/rotate_recovery-1.16.0 b/metadata/md5-cache/dev-ros/rotate_recovery-1.16.0
new file mode 100644
index 000000000000..0acdf443727f
--- /dev/null
+++ b/metadata/md5-cache/dev-ros/rotate_recovery-1.16.0
@@ -0,0 +1,14 @@
+DEFINED_PHASES=compile configure install prepare test
+DEPEND=dev-ros/costmap_2d dev-cpp/eigen:3 dev-ros/nav_core dev-ros/pluginlib dev-ros/roscpp dev-ros/tf2_ros dev-ros/base_local_planner dev-libs/boost:= dev-libs/console_bridge:= dev-ros/cmake_modules sys-devel/make >=dev-util/cmake-3.9.6 python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-util/catkin[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/empy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
+DESCRIPTION=Recovery behavior that attempts to clear space by performing a 360 degree rotation of the robot
+EAPI=5
+HOMEPAGE=https://wiki.ros.org/rotate_recovery https://github.com/ros-planning/navigation
+IUSE=python_targets_python2_7 test
+KEYWORDS=~amd64 ~arm
+LICENSE=BSD
+RDEPEND=dev-ros/costmap_2d dev-cpp/eigen:3 dev-ros/nav_core dev-ros/pluginlib dev-ros/roscpp dev-ros/tf2_ros dev-ros/base_local_planner dev-libs/boost:= dev-libs/console_bridge:= python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
+REQUIRED_USE=|| ( python_targets_python2_7 )
+SLOT=0
+SRC_URI=https://github.com/ros-planning/navigation/archive/1.16.0.tar.gz -> navigation-1.16.0.tar.gz
+_eclasses_=cmake-utils	57384a259cf0c7985ce651b2c0865405	desktop	1b286a7e7143d8c4ec89cd0d2743a097	eapi7-ver	d97a56a62c7df8614afddcb25f5ff00f	epatch	9a5f039771f143195164a15a4faa41a1	estack	43ddf5aaffa7a8d0482df54d25a66a1f	eutils	b43d08fe0771faf2f5e7be19c2789d33	flag-o-matic	5128c4729303400bd8d4b0b966530955	ltprune	607e058da37aa6dabfa408b7d61da72e	multibuild	35719a9cd25ec71ee49c966f6868454c	multilib	97f470f374f2e94ccab04a2fb21d811e	multiprocessing	cac3169468f893670dac3e7cb940e045	ninja-utils	d2e7e7d290428bb25c56dcf2502badc1	preserve-libs	ef207dc62baddfddfd39a164d9797648	python-r1	0b5829eb6369d7af3a834b6eed7b7107	python-utils-r1	7db901256449fef43c3aaa4d486c1c63	ros-catkin	6429c6e498fae480f42ae74b75aa7f55	toolchain-funcs	1e35303c63cd707f6c3422b4493d5607	vcs-clean	2a0f74a496fa2b1552c4f3398258b7bf	xdg-utils	f2c8335407f0b935b0a96d4adf23ef25
+_md5_=de6c3b58daad5f2ed859110c8cf735ad
diff --git a/metadata/md5-cache/dev-ros/rotate_recovery-9999 b/metadata/md5-cache/dev-ros/rotate_recovery-9999
index 212a2c768175..5a29e81749ba 100644
--- a/metadata/md5-cache/dev-ros/rotate_recovery-9999
+++ b/metadata/md5-cache/dev-ros/rotate_recovery-9999
@@ -1,12 +1,12 @@
 DEFINED_PHASES=compile configure install prepare test unpack
-DEPEND=dev-ros/roscpp dev-ros/tf dev-ros/costmap_2d dev-ros/nav_core dev-ros/pluginlib dev-ros/base_local_planner dev-cpp/eigen:3 dev-libs/boost:= dev-libs/console_bridge:= dev-ros/cmake_modules >=dev-vcs/git-1.8.2.1[curl] sys-devel/make >=dev-util/cmake-3.9.6 python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-util/catkin[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/empy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
+DEPEND=dev-ros/costmap_2d dev-cpp/eigen:3 dev-ros/nav_core dev-ros/pluginlib dev-ros/roscpp dev-ros/tf2_ros dev-ros/base_local_planner dev-libs/boost:= dev-libs/console_bridge:= dev-ros/cmake_modules >=dev-vcs/git-1.8.2.1[curl] sys-devel/make >=dev-util/cmake-3.9.6 python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-util/catkin[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/empy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
 DESCRIPTION=Recovery behavior that attempts to clear space by performing a 360 degree rotation of the robot
 EAPI=5
 HOMEPAGE=https://wiki.ros.org/rotate_recovery https://github.com/ros-planning/navigation
 IUSE=python_targets_python2_7 test
 LICENSE=BSD
-RDEPEND=dev-ros/roscpp dev-ros/tf dev-ros/costmap_2d dev-ros/nav_core dev-ros/pluginlib dev-ros/base_local_planner dev-cpp/eigen:3 dev-libs/boost:= dev-libs/console_bridge:= python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
+RDEPEND=dev-ros/costmap_2d dev-cpp/eigen:3 dev-ros/nav_core dev-ros/pluginlib dev-ros/roscpp dev-ros/tf2_ros dev-ros/base_local_planner dev-libs/boost:= dev-libs/console_bridge:= python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
 REQUIRED_USE=|| ( python_targets_python2_7 )
 SLOT=0
 _eclasses_=cmake-utils	57384a259cf0c7985ce651b2c0865405	desktop	1b286a7e7143d8c4ec89cd0d2743a097	eapi7-ver	d97a56a62c7df8614afddcb25f5ff00f	epatch	9a5f039771f143195164a15a4faa41a1	estack	43ddf5aaffa7a8d0482df54d25a66a1f	eutils	b43d08fe0771faf2f5e7be19c2789d33	flag-o-matic	5128c4729303400bd8d4b0b966530955	git-r3	8f6de46b0aa318aea0e8cac62ece098b	ltprune	607e058da37aa6dabfa408b7d61da72e	multibuild	35719a9cd25ec71ee49c966f6868454c	multilib	97f470f374f2e94ccab04a2fb21d811e	multiprocessing	cac3169468f893670dac3e7cb940e045	ninja-utils	d2e7e7d290428bb25c56dcf2502badc1	preserve-libs	ef207dc62baddfddfd39a164d9797648	python-r1	0b5829eb6369d7af3a834b6eed7b7107	python-utils-r1	7db901256449fef43c3aaa4d486c1c63	ros-catkin	6429c6e498fae480f42ae74b75aa7f55	toolchain-funcs	1e35303c63cd707f6c3422b4493d5607	vcs-clean	2a0f74a496fa2b1552c4f3398258b7bf	xdg-utils	f2c8335407f0b935b0a96d4adf23ef25
-_md5_=a867ab83263d54d67780be99590b41d0
+_md5_=de6c3b58daad5f2ed859110c8cf735ad
diff --git a/metadata/md5-cache/dev-ros/tf2_geometry_msgs-0.6.2 b/metadata/md5-cache/dev-ros/tf2_geometry_msgs-0.6.2
deleted file mode 100644
index 3f0e6b86d982..000000000000
--- a/metadata/md5-cache/dev-ros/tf2_geometry_msgs-0.6.2
+++ /dev/null
@@ -1,14 +0,0 @@
-DEFINED_PHASES=compile configure install prepare test
-DEPEND=dev-ros/rospy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/tf2_ros[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/python_orocos_kdl[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/tf2 sci-libs/orocos_kdl dev-ros/geometry_msgs[ros_messages_python(-),python_targets_python2_7(-)?,-python_single_target_python2_7(-),ros_messages_cxx(-)] sys-devel/make >=dev-util/cmake-3.9.6 python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-util/catkin[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/empy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
-DESCRIPTION=The second generation Transform Library in ROS
-EAPI=5
-HOMEPAGE=https://wiki.ros.org/tf2_geometry_msgs https://github.com/ros/geometry2
-IUSE=python_targets_python2_7 test
-KEYWORDS=~amd64 ~arm
-LICENSE=BSD
-RDEPEND=dev-ros/rospy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/tf2_ros[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/python_orocos_kdl[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/tf2 sci-libs/orocos_kdl dev-ros/geometry_msgs[ros_messages_python(-),python_targets_python2_7(-)?,-python_single_target_python2_7(-),ros_messages_cxx(-)] python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
-REQUIRED_USE=|| ( python_targets_python2_7 )
-SLOT=0
-SRC_URI=https://github.com/ros/geometry2/archive/0.6.2.tar.gz -> geometry2-0.6.2.tar.gz
-_eclasses_=cmake-utils	57384a259cf0c7985ce651b2c0865405	desktop	1b286a7e7143d8c4ec89cd0d2743a097	eapi7-ver	d97a56a62c7df8614afddcb25f5ff00f	epatch	9a5f039771f143195164a15a4faa41a1	estack	43ddf5aaffa7a8d0482df54d25a66a1f	eutils	b43d08fe0771faf2f5e7be19c2789d33	flag-o-matic	5128c4729303400bd8d4b0b966530955	ltprune	607e058da37aa6dabfa408b7d61da72e	multibuild	35719a9cd25ec71ee49c966f6868454c	multilib	97f470f374f2e94ccab04a2fb21d811e	multiprocessing	cac3169468f893670dac3e7cb940e045	ninja-utils	d2e7e7d290428bb25c56dcf2502badc1	preserve-libs	ef207dc62baddfddfd39a164d9797648	python-r1	0b5829eb6369d7af3a834b6eed7b7107	python-utils-r1	7db901256449fef43c3aaa4d486c1c63	ros-catkin	6429c6e498fae480f42ae74b75aa7f55	toolchain-funcs	1e35303c63cd707f6c3422b4493d5607	vcs-clean	2a0f74a496fa2b1552c4f3398258b7bf	xdg-utils	f2c8335407f0b935b0a96d4adf23ef25
-_md5_=436e48b3a2d87635ae89594e1904b6d7
diff --git a/metadata/md5-cache/dev-ros/tf2_geometry_msgs-0.6.3 b/metadata/md5-cache/dev-ros/tf2_geometry_msgs-0.6.3
index 25224e0f401d..9fb861d37ea1 100644
--- a/metadata/md5-cache/dev-ros/tf2_geometry_msgs-0.6.3
+++ b/metadata/md5-cache/dev-ros/tf2_geometry_msgs-0.6.3
@@ -1,14 +1,14 @@
 DEFINED_PHASES=compile configure install prepare test
-DEPEND=dev-ros/rospy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/tf2_ros[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/python_orocos_kdl[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/tf2 sci-libs/orocos_kdl dev-ros/geometry_msgs[ros_messages_python(-),python_targets_python2_7(-)?,-python_single_target_python2_7(-),ros_messages_cxx(-)] sys-devel/make >=dev-util/cmake-3.9.6 python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-util/catkin[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/empy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
+DEPEND=dev-ros/rospy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/tf2_ros[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/python_orocos_kdl[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/tf2 sci-libs/orocos_kdl dev-ros/geometry_msgs[ros_messages_python(-),python_targets_python2_7(-)?,-python_single_target_python2_7(-),ros_messages_cxx(-)] sys-devel/make >=dev-util/cmake-3.9.6 python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-util/catkin[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/empy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ros_messages_cxx? ( dev-ros/gencpp:= dev-ros/gencpp[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_eus? ( dev-ros/geneus:= dev-ros/geneus[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_python? ( dev-ros/genpy:= dev-ros/genpy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_lisp? ( dev-ros/genlisp:= dev-ros/genlisp[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_nodejs? ( dev-ros/gennodejs:= dev-ros/gennodejs[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) dev-ros/message_runtime dev-ros/message_generation dev-ros/genmsg[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
 DESCRIPTION=The second generation Transform Library in ROS
 EAPI=5
 HOMEPAGE=https://wiki.ros.org/tf2_geometry_msgs https://github.com/ros/geometry2
-IUSE=python_targets_python2_7 test
+IUSE=python_targets_python2_7 test +ros_messages_python +ros_messages_cxx ros_messages_eus ros_messages_lisp ros_messages_nodejs
 KEYWORDS=~amd64 ~arm
 LICENSE=BSD
-RDEPEND=dev-ros/rospy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/tf2_ros[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/python_orocos_kdl[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/tf2 sci-libs/orocos_kdl dev-ros/geometry_msgs[ros_messages_python(-),python_targets_python2_7(-)?,-python_single_target_python2_7(-),ros_messages_cxx(-)] python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
+RDEPEND=dev-ros/rospy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/tf2_ros[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/python_orocos_kdl[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/tf2 sci-libs/orocos_kdl dev-ros/geometry_msgs[ros_messages_python(-),python_targets_python2_7(-)?,-python_single_target_python2_7(-),ros_messages_cxx(-)] python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ros_messages_cxx? ( dev-ros/gencpp:= dev-ros/gencpp[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_eus? ( dev-ros/geneus:= dev-ros/geneus[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_python? ( dev-ros/genpy:= dev-ros/genpy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_lisp? ( dev-ros/genlisp:= dev-ros/genlisp[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_nodejs? ( dev-ros/gennodejs:= dev-ros/gennodejs[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) dev-ros/message_runtime
 REQUIRED_USE=|| ( python_targets_python2_7 )
 SLOT=0
 SRC_URI=https://github.com/ros/geometry2/archive/0.6.3.tar.gz -> geometry2-0.6.3.tar.gz
 _eclasses_=cmake-utils	57384a259cf0c7985ce651b2c0865405	desktop	1b286a7e7143d8c4ec89cd0d2743a097	eapi7-ver	d97a56a62c7df8614afddcb25f5ff00f	epatch	9a5f039771f143195164a15a4faa41a1	estack	43ddf5aaffa7a8d0482df54d25a66a1f	eutils	b43d08fe0771faf2f5e7be19c2789d33	flag-o-matic	5128c4729303400bd8d4b0b966530955	ltprune	607e058da37aa6dabfa408b7d61da72e	multibuild	35719a9cd25ec71ee49c966f6868454c	multilib	97f470f374f2e94ccab04a2fb21d811e	multiprocessing	cac3169468f893670dac3e7cb940e045	ninja-utils	d2e7e7d290428bb25c56dcf2502badc1	preserve-libs	ef207dc62baddfddfd39a164d9797648	python-r1	0b5829eb6369d7af3a834b6eed7b7107	python-utils-r1	7db901256449fef43c3aaa4d486c1c63	ros-catkin	6429c6e498fae480f42ae74b75aa7f55	toolchain-funcs	1e35303c63cd707f6c3422b4493d5607	vcs-clean	2a0f74a496fa2b1552c4f3398258b7bf	xdg-utils	f2c8335407f0b935b0a96d4adf23ef25
-_md5_=436e48b3a2d87635ae89594e1904b6d7
+_md5_=e295f69cbd036a74d48e5c0f254fda0d
diff --git a/metadata/md5-cache/dev-ros/tf2_geometry_msgs-9999 b/metadata/md5-cache/dev-ros/tf2_geometry_msgs-9999
index 52cf0d9d9796..ac5a7cfaca70 100644
--- a/metadata/md5-cache/dev-ros/tf2_geometry_msgs-9999
+++ b/metadata/md5-cache/dev-ros/tf2_geometry_msgs-9999
@@ -1,12 +1,12 @@
 DEFINED_PHASES=compile configure install prepare test unpack
-DEPEND=dev-ros/rospy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/tf2_ros[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/python_orocos_kdl[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/tf2 sci-libs/orocos_kdl dev-ros/geometry_msgs[ros_messages_python(-),python_targets_python2_7(-)?,-python_single_target_python2_7(-),ros_messages_cxx(-)] >=dev-vcs/git-1.8.2.1[curl] sys-devel/make >=dev-util/cmake-3.9.6 python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-util/catkin[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/empy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
+DEPEND=dev-ros/rospy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/tf2_ros[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/python_orocos_kdl[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/tf2 sci-libs/orocos_kdl dev-ros/geometry_msgs[ros_messages_python(-),python_targets_python2_7(-)?,-python_single_target_python2_7(-),ros_messages_cxx(-)] >=dev-vcs/git-1.8.2.1[curl] sys-devel/make >=dev-util/cmake-3.9.6 python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-util/catkin[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/empy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ros_messages_cxx? ( dev-ros/gencpp:= dev-ros/gencpp[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_eus? ( dev-ros/geneus:= dev-ros/geneus[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_python? ( dev-ros/genpy:= dev-ros/genpy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_lisp? ( dev-ros/genlisp:= dev-ros/genlisp[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_nodejs? ( dev-ros/gennodejs:= dev-ros/gennodejs[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) dev-ros/message_runtime dev-ros/message_generation dev-ros/genmsg[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
 DESCRIPTION=The second generation Transform Library in ROS
 EAPI=5
 HOMEPAGE=https://wiki.ros.org/tf2_geometry_msgs https://github.com/ros/geometry2
-IUSE=python_targets_python2_7 test
+IUSE=python_targets_python2_7 test +ros_messages_python +ros_messages_cxx ros_messages_eus ros_messages_lisp ros_messages_nodejs
 LICENSE=BSD
-RDEPEND=dev-ros/rospy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/tf2_ros[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/python_orocos_kdl[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/tf2 sci-libs/orocos_kdl dev-ros/geometry_msgs[ros_messages_python(-),python_targets_python2_7(-)?,-python_single_target_python2_7(-),ros_messages_cxx(-)] python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
+RDEPEND=dev-ros/rospy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/tf2_ros[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/python_orocos_kdl[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-ros/tf2 sci-libs/orocos_kdl dev-ros/geometry_msgs[ros_messages_python(-),python_targets_python2_7(-)?,-python_single_target_python2_7(-),ros_messages_cxx(-)] python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ros_messages_cxx? ( dev-ros/gencpp:= dev-ros/gencpp[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_eus? ( dev-ros/geneus:= dev-ros/geneus[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_python? ( dev-ros/genpy:= dev-ros/genpy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_lisp? ( dev-ros/genlisp:= dev-ros/genlisp[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) ros_messages_nodejs? ( dev-ros/gennodejs:= dev-ros/gennodejs[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] ) dev-ros/message_runtime
 REQUIRED_USE=|| ( python_targets_python2_7 )
 SLOT=0
 _eclasses_=cmake-utils	57384a259cf0c7985ce651b2c0865405	desktop	1b286a7e7143d8c4ec89cd0d2743a097	eapi7-ver	d97a56a62c7df8614afddcb25f5ff00f	epatch	9a5f039771f143195164a15a4faa41a1	estack	43ddf5aaffa7a8d0482df54d25a66a1f	eutils	b43d08fe0771faf2f5e7be19c2789d33	flag-o-matic	5128c4729303400bd8d4b0b966530955	git-r3	8f6de46b0aa318aea0e8cac62ece098b	ltprune	607e058da37aa6dabfa408b7d61da72e	multibuild	35719a9cd25ec71ee49c966f6868454c	multilib	97f470f374f2e94ccab04a2fb21d811e	multiprocessing	cac3169468f893670dac3e7cb940e045	ninja-utils	d2e7e7d290428bb25c56dcf2502badc1	preserve-libs	ef207dc62baddfddfd39a164d9797648	python-r1	0b5829eb6369d7af3a834b6eed7b7107	python-utils-r1	7db901256449fef43c3aaa4d486c1c63	ros-catkin	6429c6e498fae480f42ae74b75aa7f55	toolchain-funcs	1e35303c63cd707f6c3422b4493d5607	vcs-clean	2a0f74a496fa2b1552c4f3398258b7bf	xdg-utils	f2c8335407f0b935b0a96d4adf23ef25
-_md5_=668fe24aa044b274f964fc6c07a7b459
+_md5_=e295f69cbd036a74d48e5c0f254fda0d
diff --git a/metadata/md5-cache/dev-ros/voxel_grid-1.13.1 b/metadata/md5-cache/dev-ros/voxel_grid-1.13.1
deleted file mode 100644
index b4570dd30271..000000000000
--- a/metadata/md5-cache/dev-ros/voxel_grid-1.13.1
+++ /dev/null
@@ -1,14 +0,0 @@
-DEFINED_PHASES=compile configure install prepare test
-DEPEND=dev-ros/roscpp test? ( dev-cpp/gtest ) sys-devel/make >=dev-util/cmake-3.9.6 python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-util/catkin[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/empy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
-DESCRIPTION=Implementation of an efficient 3D voxel grid
-EAPI=5
-HOMEPAGE=https://wiki.ros.org/voxel_grid https://github.com/ros-planning/navigation
-IUSE=python_targets_python2_7 test
-KEYWORDS=~amd64 ~arm
-LICENSE=BSD
-RDEPEND=dev-ros/roscpp python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
-REQUIRED_USE=|| ( python_targets_python2_7 )
-SLOT=0
-SRC_URI=https://github.com/ros-planning/navigation/archive/1.13.1.tar.gz -> navigation-1.13.1.tar.gz
-_eclasses_=cmake-utils	57384a259cf0c7985ce651b2c0865405	desktop	1b286a7e7143d8c4ec89cd0d2743a097	eapi7-ver	d97a56a62c7df8614afddcb25f5ff00f	epatch	9a5f039771f143195164a15a4faa41a1	estack	43ddf5aaffa7a8d0482df54d25a66a1f	eutils	b43d08fe0771faf2f5e7be19c2789d33	flag-o-matic	5128c4729303400bd8d4b0b966530955	ltprune	607e058da37aa6dabfa408b7d61da72e	multibuild	35719a9cd25ec71ee49c966f6868454c	multilib	97f470f374f2e94ccab04a2fb21d811e	multiprocessing	cac3169468f893670dac3e7cb940e045	ninja-utils	d2e7e7d290428bb25c56dcf2502badc1	preserve-libs	ef207dc62baddfddfd39a164d9797648	python-r1	0b5829eb6369d7af3a834b6eed7b7107	python-utils-r1	7db901256449fef43c3aaa4d486c1c63	ros-catkin	6429c6e498fae480f42ae74b75aa7f55	toolchain-funcs	1e35303c63cd707f6c3422b4493d5607	vcs-clean	2a0f74a496fa2b1552c4f3398258b7bf	xdg-utils	f2c8335407f0b935b0a96d4adf23ef25
-_md5_=8c00c2053caf79fa8fc2b49253711d6f
diff --git a/metadata/md5-cache/dev-ros/voxel_grid-1.14.0 b/metadata/md5-cache/dev-ros/voxel_grid-1.14.0
deleted file mode 100644
index 129b641c2e7e..000000000000
--- a/metadata/md5-cache/dev-ros/voxel_grid-1.14.0
+++ /dev/null
@@ -1,14 +0,0 @@
-DEFINED_PHASES=compile configure install prepare test
-DEPEND=dev-ros/roscpp test? ( dev-cpp/gtest ) sys-devel/make >=dev-util/cmake-3.9.6 python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-util/catkin[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/empy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
-DESCRIPTION=Implementation of an efficient 3D voxel grid
-EAPI=5
-HOMEPAGE=https://wiki.ros.org/voxel_grid https://github.com/ros-planning/navigation
-IUSE=python_targets_python2_7 test
-KEYWORDS=~amd64 ~arm
-LICENSE=BSD
-RDEPEND=dev-ros/roscpp python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
-REQUIRED_USE=|| ( python_targets_python2_7 )
-SLOT=0
-SRC_URI=https://github.com/ros-planning/navigation/archive/1.14.0.tar.gz -> navigation-1.14.0.tar.gz
-_eclasses_=cmake-utils	57384a259cf0c7985ce651b2c0865405	desktop	1b286a7e7143d8c4ec89cd0d2743a097	eapi7-ver	d97a56a62c7df8614afddcb25f5ff00f	epatch	9a5f039771f143195164a15a4faa41a1	estack	43ddf5aaffa7a8d0482df54d25a66a1f	eutils	b43d08fe0771faf2f5e7be19c2789d33	flag-o-matic	5128c4729303400bd8d4b0b966530955	ltprune	607e058da37aa6dabfa408b7d61da72e	multibuild	35719a9cd25ec71ee49c966f6868454c	multilib	97f470f374f2e94ccab04a2fb21d811e	multiprocessing	cac3169468f893670dac3e7cb940e045	ninja-utils	d2e7e7d290428bb25c56dcf2502badc1	preserve-libs	ef207dc62baddfddfd39a164d9797648	python-r1	0b5829eb6369d7af3a834b6eed7b7107	python-utils-r1	7db901256449fef43c3aaa4d486c1c63	ros-catkin	6429c6e498fae480f42ae74b75aa7f55	toolchain-funcs	1e35303c63cd707f6c3422b4493d5607	vcs-clean	2a0f74a496fa2b1552c4f3398258b7bf	xdg-utils	f2c8335407f0b935b0a96d4adf23ef25
-_md5_=659cf35acc7340c807acc1779b9e9da3
diff --git a/metadata/md5-cache/dev-ros/voxel_grid-1.14.2 b/metadata/md5-cache/dev-ros/voxel_grid-1.14.2
deleted file mode 100644
index 35759928b777..000000000000
--- a/metadata/md5-cache/dev-ros/voxel_grid-1.14.2
+++ /dev/null
@@ -1,14 +0,0 @@
-DEFINED_PHASES=compile configure install prepare test
-DEPEND=dev-ros/roscpp test? ( dev-cpp/gtest ) sys-devel/make >=dev-util/cmake-3.9.6 python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-util/catkin[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/empy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
-DESCRIPTION=Implementation of an efficient 3D voxel grid
-EAPI=5
-HOMEPAGE=https://wiki.ros.org/voxel_grid https://github.com/ros-planning/navigation
-IUSE=python_targets_python2_7 test
-KEYWORDS=~amd64 ~arm
-LICENSE=BSD
-RDEPEND=dev-ros/roscpp python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
-REQUIRED_USE=|| ( python_targets_python2_7 )
-SLOT=0
-SRC_URI=https://github.com/ros-planning/navigation/archive/1.14.2.tar.gz -> navigation-1.14.2.tar.gz
-_eclasses_=cmake-utils	57384a259cf0c7985ce651b2c0865405	desktop	1b286a7e7143d8c4ec89cd0d2743a097	eapi7-ver	d97a56a62c7df8614afddcb25f5ff00f	epatch	9a5f039771f143195164a15a4faa41a1	estack	43ddf5aaffa7a8d0482df54d25a66a1f	eutils	b43d08fe0771faf2f5e7be19c2789d33	flag-o-matic	5128c4729303400bd8d4b0b966530955	ltprune	607e058da37aa6dabfa408b7d61da72e	multibuild	35719a9cd25ec71ee49c966f6868454c	multilib	97f470f374f2e94ccab04a2fb21d811e	multiprocessing	cac3169468f893670dac3e7cb940e045	ninja-utils	d2e7e7d290428bb25c56dcf2502badc1	preserve-libs	ef207dc62baddfddfd39a164d9797648	python-r1	0b5829eb6369d7af3a834b6eed7b7107	python-utils-r1	7db901256449fef43c3aaa4d486c1c63	ros-catkin	6429c6e498fae480f42ae74b75aa7f55	toolchain-funcs	1e35303c63cd707f6c3422b4493d5607	vcs-clean	2a0f74a496fa2b1552c4f3398258b7bf	xdg-utils	f2c8335407f0b935b0a96d4adf23ef25
-_md5_=14274b6c3eff4da3cbf89fe1df207571
diff --git a/metadata/md5-cache/dev-ros/voxel_grid-1.15.1 b/metadata/md5-cache/dev-ros/voxel_grid-1.15.1
deleted file mode 100644
index 7b2058972b2f..000000000000
--- a/metadata/md5-cache/dev-ros/voxel_grid-1.15.1
+++ /dev/null
@@ -1,14 +0,0 @@
-DEFINED_PHASES=compile configure install prepare test
-DEPEND=dev-ros/roscpp test? ( dev-cpp/gtest ) sys-devel/make >=dev-util/cmake-3.9.6 python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-util/catkin[python_targets_python2_7(-)?,-python_single_target_python2_7(-)] dev-python/empy[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
-DESCRIPTION=Implementation of an efficient 3D voxel grid
-EAPI=5
-HOMEPAGE=https://wiki.ros.org/voxel_grid https://github.com/ros-planning/navigation
-IUSE=python_targets_python2_7 test
-KEYWORDS=~amd64 ~arm
-LICENSE=BSD
-RDEPEND=dev-ros/roscpp python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
-REQUIRED_USE=|| ( python_targets_python2_7 )
-SLOT=0
-SRC_URI=https://github.com/ros-planning/navigation/archive/1.15.1.tar.gz -> navigation-1.15.1.tar.gz
-_eclasses_=cmake-utils	57384a259cf0c7985ce651b2c0865405	desktop	1b286a7e7143d8c4ec89cd0d2743a097	eapi7-ver	d97a56a62c7df8614afddcb25f5ff00f	epatch	9a5f039771f143195164a15a4faa41a1	estack	43ddf5aaffa7a8d0482df54d25a66a1f	eutils	b43d08fe0771faf2f5e7be19c2789d33	flag-o-matic	5128c4729303400bd8d4b0b966530955	ltprune	607e058da37aa6dabfa408b7d61da72e	multibuild	35719a9cd25ec71ee49c966f6868454c	multilib	97f470f374f2e94ccab04a2fb21d811e	multiprocessing	cac3169468f893670dac3e7cb940e045	ninja-utils	d2e7e7d290428bb25c56dcf2502badc1	preserve-libs	ef207dc62baddfddfd39a164d9797648	python-r1	0b5829eb6369d7af3a834b6eed7b7107	python-utils-r1	7db901256449fef43c3aaa4d486c1c63	ros-catkin	6429c6e498fae480f42ae74b75aa7f55	toolchain-funcs	1e35303c63cd707f6c3422b4493d5607	vcs-clean	2a0f74a496fa2b1552c4f3398258b7bf	xdg-utils	f2c8335407f0b935b0a96d4adf23ef25
-_md5_=14274b6c3eff4da3cbf89fe1df207571
diff --git a/metadata/md5-cache/dev-ros/voxel_grid-1.13.0 b/metadata/md5-cache/dev-ros/voxel_grid-1.16.0
index a5f2dbd14ce2..f5ef3d716dc8 100644
--- a/metadata/md5-cache/dev-ros/voxel_grid-1.13.0
+++ b/metadata/md5-cache/dev-ros/voxel_grid-1.16.0
@@ -9,6 +9,6 @@ LICENSE=BSD
 RDEPEND=dev-ros/roscpp python_targets_python2_7? ( >=dev-lang/python-2.7.5-r2:2.7 ) >=dev-lang/python-exec-2:=[python_targets_python2_7(-)?,-python_single_target_python2_7(-)]
 REQUIRED_USE=|| ( python_targets_python2_7 )
 SLOT=0
-SRC_URI=https://github.com/ros-planning/navigation/archive/1.13.0.tar.gz -> navigation-1.13.0.tar.gz
+SRC_URI=https://github.com/ros-planning/navigation/archive/1.16.0.tar.gz -> navigation-1.16.0.tar.gz
 _eclasses_=cmake-utils	57384a259cf0c7985ce651b2c0865405	desktop	1b286a7e7143d8c4ec89cd0d2743a097	eapi7-ver	d97a56a62c7df8614afddcb25f5ff00f	epatch	9a5f039771f143195164a15a4faa41a1	estack	43ddf5aaffa7a8d0482df54d25a66a1f	eutils	b43d08fe0771faf2f5e7be19c2789d33	flag-o-matic	5128c4729303400bd8d4b0b966530955	ltprune	607e058da37aa6dabfa408b7d61da72e	multibuild	35719a9cd25ec71ee49c966f6868454c	multilib	97f470f374f2e94ccab04a2fb21d811e	multiprocessing	cac3169468f893670dac3e7cb940e045	ninja-utils	d2e7e7d290428bb25c56dcf2502badc1	preserve-libs	ef207dc62baddfddfd39a164d9797648	python-r1	0b5829eb6369d7af3a834b6eed7b7107	python-utils-r1	7db901256449fef43c3aaa4d486c1c63	ros-catkin	6429c6e498fae480f42ae74b75aa7f55	toolchain-funcs	1e35303c63cd707f6c3422b4493d5607	vcs-clean	2a0f74a496fa2b1552c4f3398258b7bf	xdg-utils	f2c8335407f0b935b0a96d4adf23ef25
-_md5_=8c00c2053caf79fa8fc2b49253711d6f
+_md5_=7a3b333f83f6dfe5a0782e85e11a567f