diff --git a/assimp/Makefile b/assimp/Makefile
deleted file mode 100644
index c3d6157..0000000
--- a/assimp/Makefile
+++ /dev/null
@@ -1,36 +0,0 @@
-all: installed
-
-PACKAGE_NAME=`rospack find assimp`
-# Regular download
-TARBALL_NAME = assimp-svn-811
-TARBALL = build/$(TARBALL_NAME).tar.gz
-TARBALL_URL = http://pr.willowgarage.com/downloads/$(TARBALL_NAME).tar.gz
-TARBALL_PATCH = assimp.patch define_arch_arm.patch
-UNPACK_CMD = tar xzf
-SOURCE_DIR = build/$(TARBALL_NAME)
-include $(shell rospack find mk)/download_unpack_build.mk
-
-ASSIMP_DIR = $(shell rospack find assimp)
-BOOST_INCLUDE_DIRS = $(shell rosboost-cfg --include_dirs)
-BOOST_LIBRARY_DIRS = $(shell rosboost-cfg --lib_dirs signals,thread)
-BOOST_LIBRARIES = $(shell rosboost-cfg --lflags signals,thread)
-CMAKE_ARGS = -DCMAKE_INSTALL_PREFIX=$(PACKAGE_NAME) \
- -D CMAKE_BUILD_TYPE=RelWithDebInfo \
- -D boost_include_dirs=$(BOOST_INCLUDE_DIRS) \
- -D boost_library_dirs=$(BOOST_LIBRARY_DIRS) \
- -D boost_libraries="$(BOOST_LIBRARIES)"
-
-installed: $(SOURCE_DIR)/unpacked
- cd $(SOURCE_DIR) && mkdir -p build && cd build && cmake $(CMAKE_ARGS) .. && export PARALLEL_JOBS=ROS_PARALLEL_JOBS && make $(ROS_PARALLEL_JOBS) && make install
- mkdir -p $(PACKAGE_NAME)/include/assimp
- cp -r $(SOURCE_DIR)/include/* $(PACKAGE_NAME)/include/assimp/
- touch installed
-
-clean:
- -cd $(SOURCE_DIR)/build && make clean
- -rm -f installed
- -rm -rf include lib
-
-wipe: clean
- rm -rf build
-
diff --git a/assimp/assimp.patch b/assimp/assimp.patch
deleted file mode 100644
index 2e2866d..0000000
--- a/assimp/assimp.patch
+++ /dev/null
@@ -1,56 +0,0 @@
-Index: code/CMakeLists.txt
-===================================================================
---- code/CMakeLists.txt (revision 811)
-+++ code/CMakeLists.txt (working copy)
-@@ -742,6 +742,8 @@
- SOVERSION ${LIBRARY_SOVERSION}
- )
-
-+target_link_libraries(assimp ${boost_libraries})
-+
- INSTALL( TARGETS assimp DESTINATION ${LIB_INSTALL_DIR} )
- INSTALL( FILES ${PUBLIC_HEADERS} DESTINATION ${INCLUDE_INSTALL_DIR}/assimp )
- INSTALL( FILES ${COMPILER_HEADERS} DESTINATION ${INCLUDE_INSTALL_DIR}/assimp/Compiler )
-Index: CMakeLists.txt
-===================================================================
---- CMakeLists.txt (revision 811)
-+++ CMakeLists.txt (working copy)
-@@ -25,26 +25,21 @@
- CONFIGURE_FILE( "${CMAKE_SOURCE_DIR}/assimp.pc.in" "${CMAKE_BINARY_DIR}/assimp.pc" @ONLY )
- INSTALL( FILES "${CMAKE_BINARY_DIR}/assimp.pc" DESTINATION ${LIB_INSTALL_DIR}/pkgconfig/ )
-
--# Globally enbale Boost resp. the Boost workaround – it is also needed by the
--# tools which include the Assimp headers.
--IF ( ENABLE_BOOST_WORKAROUND )
-- INCLUDE_DIRECTORIES( BoostWorkaround )
-- ADD_DEFINITIONS( -DASSIMP_BUILD_BOOST_WORKAROUND )
-- MESSAGE( STATUS "Building a non-boost version of Assimp." )
--ELSE ( ENABLE_BOOST_WORKAROUND )
-- FIND_PACKAGE( Boost 1.35 )
-+SET (boost_include_dirs "" CACHE STRING "Boost include paths. Use this to override automatic detection.")
-+SET (boost_library_dirs "" CACHE STRING "Boost library paths. Use this to override automatic detection.")
-+SET (boost_libraries "" CACHE STRING "Boost libraries. Use this to override automatic detection.")
-
-- IF ( NOT Boost_FOUND )
-- MESSAGE( FATAL_ERROR
-- "Boost libraries (http://www.boost.org/) not found. "
-- "You can build a non-boost version of Assimp with slightly reduced "
-- "functionality by specifying -DENABLE_BOOST_WORKAROUND=ON."
-- )
-- ENDIF ( NOT Boost_FOUND )
-
-- INCLUDE_DIRECTORIES( ${Boost_INCLUDE_DIRS} )
--ENDIF ( ENABLE_BOOST_WORKAROUND )
-+message(status " debug: ${boost_include_dirs} ${boost_libraries}" )
-+INCLUDE_DIRECTORIES(
-+ include
-+ ${boost_include_dirs}
-+)
-
-+LINK_DIRECTORIES(
-+ ${boost_library_dirs}
-+)
-+
- ADD_SUBDIRECTORY( code/ )
- IF ( WIN32 )
- ADD_SUBDIRECTORY( test/ )
diff --git a/assimp/define_arch_arm.patch b/assimp/define_arch_arm.patch
deleted file mode 100644
index d4305b6..0000000
--- a/assimp/define_arch_arm.patch
+++ /dev/null
@@ -1,29 +0,0 @@
---- code/Importer.cpp.orig 2011-06-20 11:57:37.234886987 +0200
-+++ code/Importer.cpp 2011-06-20 11:58:26.891136987 +0200
-@@ -904,6 +904,10 @@
- << " amd64"
- #elif defined(ASSIMP_BUILD_IA_64BIT_ARCHITECTURE)
- << " itanium"
-+#elif defined(ASSIMP_BUILD_PPC_32BIT_ARCHITECTURE)
-+ << " ppc32"
-+#elif defined(ASSIMP_BUILD_ARM_32BIT_ARCHITECTURE)
-+ << " arm"
- #else
- # error unknown architecture
- #endif
---- include/aiDefines.h.orig 2011-06-20 11:57:41.570824487 +0200
-+++ include/aiDefines.h 2011-06-20 11:59:24.648949487 +0200
-@@ -238,8 +238,12 @@
- # define ASSIMP_BUILD_X86_32BIT_ARCHITECTURE
- # elif defined(__x86_64__)
- # define ASSIMP_BUILD_X86_64BIT_ARCHITECTURE
-+# elif defined(__ppc__)
-+# define ASSIMP_BUILD_PPC_32BIT_ARCHITECTURE
-+# elif defined(__arm__)
-+# define ASSIMP_BUILD_ARM_32BIT_ARCHITECTURE
- # else
--# error unknown architecture
-+# error "unknown architecture"
- # endif
- #else
- # error unknown compiler
diff --git a/assimp/manifest.xml b/assimp/manifest.xml
deleted file mode 100644
index 5e88929..0000000
--- a/assimp/manifest.xml
+++ /dev/null
@@ -1,25 +0,0 @@
-
-
-
- Open Asset Import Library (Short name: Assimp) is a free library to import various well-known 3D model formats
- into applications. The library has been designed for maximum stability and efficiency. Written in C++, it is
- licensed under the BSD license. The API is provided for both C and C++. Wrappers for Python and D are available,
- more bindings are in development.
-
- The library loads models in a straightforward in-memory format that can be easily read and processed by applications.
- Various post processing steps can be executed on the imported data to optimize it for a particular purpose.
-
-
-
- ASSIMP Development Team
- BSD
-
- http://assimp.sourceforge.net/
-
-
-
-
-
-
-
-
diff --git a/stack.xml b/stack.xml
index a4e1815..b1cffe5 100644
--- a/stack.xml
+++ b/stack.xml
@@ -10,6 +10,7 @@
BSD,GPL,MIT
http://ros.org/wiki/robot_model
+