diff --git a/trunk/ann/Makefile b/trunk/ann/Makefile
deleted file mode 100644
index e0a54f864dececba71f391c49a8a519578ef0dd8..0000000000000000000000000000000000000000
--- a/trunk/ann/Makefile
+++ /dev/null
@@ -1,37 +0,0 @@
-all: installed
-
-#
-# Download, extract and compile from a released tarball:
-#
-TARBALL = build/ann_1.1.2.tar.gz
-TARBALL_URL = http://www.cs.umd.edu/~mount/ANN/Files/1.1.2/ann_1.1.2.tar.gz
-TARBALL_PATCH = fANN.diff
-INITIAL_DIR = build/ann_1.1.2
-SOURCE_DIR = build/ann-tar
-include $(shell rospack find mk)/download_unpack_build.mk
-
-INSTALL_DIR = ann
-CMAKE = cmake
-CMAKE_ARGS = -D CMAKE_BUILD_TYPE="Release" -D CMAKE_INSTALL_PREFIX=`rospack find ann`/$(INSTALL_DIR)
-MAKE_ARGS = linux-g++
-MAKE = make
-
-installed: wiped $(SOURCE_DIR)/unpacked
- cd $(SOURCE_DIR) && make $(ROS_PARALLEL_JOBS) $(MAKE_ARGS)
- mkdir -p $(INSTALL_DIR)/include
- mkdir -p $(INSTALL_DIR)/include/ANN
- cp -r $(SOURCE_DIR)/include/ANN/*.h $(INSTALL_DIR)/include/ANN
- cp -r $(SOURCE_DIR)/bin $(INSTALL_DIR)
- cp -r $(SOURCE_DIR)/lib $(INSTALL_DIR)
- touch installed
-
-clean:
- rm -rf build
- rm -rf $(INSTALL_DIR) installed
-
-wiped: Makefile
- make wipe
- touch wiped
-
-wipe: clean
- rm -rf build patched
diff --git a/trunk/ann/fANN.diff b/trunk/ann/fANN.diff
deleted file mode 100644
index 6c7650f3e8501faf8ac77151ce3218f5fb232a23..0000000000000000000000000000000000000000
--- a/trunk/ann/fANN.diff
+++ /dev/null
@@ -1,24 +0,0 @@
-diff -purN ann_1.1.2/include/ANN/ANN.h ann_1.1.2_modified/include/ANN/ANN.h
---- include/ANN/ANN.h 2010-01-27 20:40:01.000000000 -0800
-+++ include/ANN/ANN.h 2011-08-30 12:13:26.629632052 -0700
-@@ -232,7 +232,7 @@ const ANNdist ANN_DIST_INF = ANN_DBL_MAX
- // strictly positive.
- //----------------------------------------------------------------------
-
--const ANNbool ANN_ALLOW_SELF_MATCH = ANNtrue;
-+const ANNbool ANN_ALLOW_SELF_MATCH = ANNfalse;
-
- //----------------------------------------------------------------------
- // Norms and metrics:
-diff -purN ann_1.1.2/Make-config ann_1.1.2_modified/Make-config
---- Make-config 2010-01-27 20:40:01.000000000 -0800
-+++ Make-config 2011-08-30 12:12:42.916876291 -0700
-@@ -72,7 +72,7 @@ linux-g++:
- $(MAKE) targets \
- "ANNLIB = libANN.a" \
- "C++ = g++" \
-- "CFLAGS = -O3" \
-+ "CFLAGS = -O3 -fPIC" \
- "MAKELIB = ar ruv" \
- "RANLIB = true"
-
diff --git a/trunk/ann/fPIC.diff b/trunk/ann/fPIC.diff
deleted file mode 100644
index 8fb372dace2ec45c93b4a7d49400979e3da23e47..0000000000000000000000000000000000000000
--- a/trunk/ann/fPIC.diff
+++ /dev/null
@@ -1,11 +0,0 @@
---- Make-config 2010-01-27 20:40:01.000000000 -0800
-+++ Make-config 2011-08-25 14:29:00.000000000 -0700
-@@ -72,7 +72,7 @@ linux-g++:
- $(MAKE) targets \
- "ANNLIB = libANN.a" \
- "C++ = g++" \
-- "CFLAGS = -O3" \
-+ "CFLAGS = -O3 -fPIC" \
- "MAKELIB = ar ruv" \
- "RANLIB = true"
-
diff --git a/trunk/ann/mainpage.dox b/trunk/ann/mainpage.dox
deleted file mode 100644
index dcdfd4167fa49fa22710274e39aad23db4051a9a..0000000000000000000000000000000000000000
--- a/trunk/ann/mainpage.dox
+++ /dev/null
@@ -1,26 +0,0 @@
-/**
-\mainpage
-\htmlinclude manifest.html
-
-\b ann is ...
-
-<!--
-Provide an overview of your package.
--->
-
-
-\section codeapi Code API
-
-<!--
-Provide links to specific auto-generated API documentation within your
-package that is of particular interest to a reader. Doxygen will
-document pretty much every part of your code, so do your best here to
-point the reader to the actual API.
-
-If your codebase is fairly large or has different sets of APIs, you
-should use the doxygen 'group' tag to keep these APIs together. For
-example, the roscpp documentation has 'libros' group.
--->
-
-
-*/
diff --git a/trunk/ann/manifest.xml b/trunk/ann/manifest.xml
deleted file mode 100644
index a6db3d649d290f1f3706389003ebeaeb735d6aae..0000000000000000000000000000000000000000
--- a/trunk/ann/manifest.xml
+++ /dev/null
@@ -1,15 +0,0 @@
-<package>
- <description brief="ann">
- This package is a wrapper on the ann library available from <a href="http://www.cs.umd.edu/~mount/ANN/">ANN library</a>. This package does not modify the contents of the original library in any manner and only wraps it for easy distribution with the ROS packaging system.
- </description>
- <author>Maintained by Jia Pan, Sachin Chitta</author>
- <license>BSD</license>
- <review status="unreviewed" notes=""/>
- <url>http://ros.org/wiki/ann</url>
- <export>
- <cpp cflags="-I${prefix}/ann/include" lflags="-L${prefix}/ann/lib -Wl,-rpath,${prefix}/ann/lib -lANN"/>
- </export>
-
-</package>
-
-
diff --git a/trunk/fcl/manifest.xml b/trunk/fcl/manifest.xml
index 1e40ab292da7e77fbd739eadfda49239563f794e..c9b5c18758c9e354eef3eb7791498073a8c26a50 100644
--- a/trunk/fcl/manifest.xml
+++ b/trunk/fcl/manifest.xml
@@ -8,10 +8,12 @@
<license>BSD</license>
<review status="unreviewed" notes=""/>
<url>http://ros.org/wiki/fcl</url>
- <depend package="libccd"/>
+
<!-- <depend package="ann"/> -->
<depend package="common_rosdeps"/>
<rosdep name="flann" />
+ <rosdep name="libccd" />
+
<export>
<cpp cflags="-I${prefix}/include" lflags="-Wl,-rpath,${prefix}/lib -L${prefix}/lib -lfcl"/>
</export>
diff --git a/trunk/libccd/Makefile b/trunk/libccd/Makefile
deleted file mode 100644
index 707e57b882b1a2e642b1246811c828123ae98dc1..0000000000000000000000000000000000000000
--- a/trunk/libccd/Makefile
+++ /dev/null
@@ -1,36 +0,0 @@
-all: installed
-
-#
-# Download, extract and compile from a released tarball:
-#
-TARBALL = build/libccd_1.0.tar.gz
-TARBALL_URL = http://libccd.danfis.cz/files/libccd-1.0.tar.gz
-TARBALL_PATCH = fPIC.diff
-INITIAL_DIR = build/libccd-1.0
-SOURCE_DIR = build/libccd-tar
-include $(shell rospack find mk)/download_unpack_build.mk
-
-INSTALL_DIR = libccd
-CMAKE = cmake
-CMAKE_ARGS = -D CMAKE_BUILD_TYPE="Release" -D CMAKE_INSTALL_PREFIX=`rospack find libccd`/$(INSTALL_DIR)
-MAKE = make
-
-installed: wiped $(SOURCE_DIR)/unpacked
- cd $(SOURCE_DIR)/src && make $(ROS_PARALLEL_JOBS)
- mkdir -p $(INSTALL_DIR)/lib
- mkdir -p $(INSTALL_DIR)/include
- mkdir -p $(INSTALL_DIR)/include/ccd
- cp -r $(SOURCE_DIR)/src/ccd/*.h $(INSTALL_DIR)/include/ccd
- cp -r $(SOURCE_DIR)/src/*.a $(INSTALL_DIR)/lib
- touch installed
-
-clean:
- rm -rf build
- rm -rf $(INSTALL_DIR) installed
-
-wiped: Makefile
- make wipe
- touch wiped
-
-wipe: clean
- rm -rf build patched
diff --git a/trunk/libccd/fPIC.diff b/trunk/libccd/fPIC.diff
deleted file mode 100644
index 042b73b7ae741e7eff746bcf8c26f3f4bc7340c6..0000000000000000000000000000000000000000
--- a/trunk/libccd/fPIC.diff
+++ /dev/null
@@ -1,11 +0,0 @@
---- src/Makefile 2010-11-04 09:46:32.000000000 -0700
-+++ src/Makefile 2011-08-25 14:49:52.000000000 -0700
-@@ -17,7 +17,7 @@
-
- -include Makefile.include
-
--CFLAGS += -I.
-+CFLAGS += -I. -fPIC
-
- TARGETS = libccd.a
- OBJS = ccd.o mpr.o support.o vec3.o alloc.o polytope.o
diff --git a/trunk/libccd/mainpage.dox b/trunk/libccd/mainpage.dox
deleted file mode 100644
index 3231eae26c1ff9cf702431f9803235d6cdcceb5c..0000000000000000000000000000000000000000
--- a/trunk/libccd/mainpage.dox
+++ /dev/null
@@ -1,26 +0,0 @@
-/**
-\mainpage
-\htmlinclude manifest.html
-
-\b libccd is ...
-
-<!--
-Provide an overview of your package.
--->
-
-
-\section codeapi Code API
-
-<!--
-Provide links to specific auto-generated API documentation within your
-package that is of particular interest to a reader. Doxygen will
-document pretty much every part of your code, so do your best here to
-point the reader to the actual API.
-
-If your codebase is fairly large or has different sets of APIs, you
-should use the doxygen 'group' tag to keep these APIs together. For
-example, the roscpp documentation has 'libros' group.
--->
-
-
-*/
diff --git a/trunk/libccd/manifest.xml b/trunk/libccd/manifest.xml
deleted file mode 100644
index 4b74422553d6155683c1eba7be217e6094cfd4bc..0000000000000000000000000000000000000000
--- a/trunk/libccd/manifest.xml
+++ /dev/null
@@ -1,15 +0,0 @@
-<package>
- <description brief="libccd">
- This package is a wrapper on the libccd library available from <a href="http://libccd.danfis.cz/">here</a>. This package does not modify the contents of the original library in any manner and only wraps it for easy distribution with the ROS packaging system.
- </description>
- <author>Maintained by Jia Pan and Sachin Chitta</author>
- <license>BSD</license>
- <review status="unreviewed" notes=""/>
- <url>http://ros.org/wiki/libccd</url>
- <export>
- <cpp cflags="-I${prefix}/libccd/include" lflags="-L${prefix}/libccd/lib -Wl,-rpath,${prefix}/libccd/lib -lccd"/>
- </export>
-
-</package>
-
-