diff --git a/CMakeLists.txt b/CMakeLists.txt
index 59d757e7494268a1a6da8df0bb865235aaf67f74..089adacb1cffc0224bc2464b54fe8e83762875e9 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -42,7 +42,6 @@ IF(BUILD_PYTHON_INTERFACE)
   ADD_PROJECT_DEPENDENCY(dynamic-graph-python REQUIRED
     PKG_CONFIG_REQUIRES dynamic-graph-python)
   SET(CATKIN_REQUIRED_COMPONENTS ${CATKIN_REQUIRED_COMPONENTS} rospy)
-  SET(BOOST_COMPONENTS ${BOOST_COMPONENTS} python)
 ENDIF(BUILD_PYTHON_INTERFACE)
 
 find_package(catkin REQUIRED COMPONENTS ${CATKIN_REQUIRED_COMPONENTS})
diff --git a/cmake b/cmake
index fb4c22c319ec5320f9a85527eb1a4130954846f5..9dcde03a880cccc86531019a6845708f5c54c35d 160000
--- a/cmake
+++ b/cmake
@@ -1 +1 @@
-Subproject commit fb4c22c319ec5320f9a85527eb1a4130954846f5
+Subproject commit 9dcde03a880cccc86531019a6845708f5c54c35d
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index b074170fc62d160fadebc4c3334a26a62192f355..a1917df3b2213cb6ee544987b57ab69997284028 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -25,7 +25,8 @@ FOREACH(plugin ${plugins})
   IF(BUILD_PYTHON_INTERFACE)
     STRING(REPLACE - _ PYTHON_LIBRARY_NAME ${LIBRARY_NAME})
     DYNAMIC_GRAPH_PYTHON_MODULE("ros/${PYTHON_LIBRARY_NAME}"
-      ${LIBRARY_NAME} ${PROJECT_NAME}-${PYTHON_LIBRARY_NAME}-wrap)
+      ${LIBRARY_NAME} ${PROJECT_NAME}-${PYTHON_LIBRARY_NAME}-wrap
+      MODULE_HEADER ${CMAKE_CURRENT_SOURCE_DIR}/${plugin}-python.hh)
   ENDIF(BUILD_PYTHON_INTERFACE)
 ENDFOREACH(plugin)
 
diff --git a/src/ros_publish-python.hh b/src/ros_publish-python.hh
new file mode 100644
index 0000000000000000000000000000000000000000..7be650a276301a6b4eabf71e2fe433d632796eb4
--- /dev/null
+++ b/src/ros_publish-python.hh
@@ -0,0 +1,3 @@
+#include "ros_publish.hh"
+
+typedef boost::mpl::vector< dynamicgraph::RosPublish > entities_t;
diff --git a/src/ros_queued_subscribe-python.hh b/src/ros_queued_subscribe-python.hh
new file mode 100644
index 0000000000000000000000000000000000000000..e6880f8daf1c0b5447e9ec0cb92c1c8390fdd52b
--- /dev/null
+++ b/src/ros_queued_subscribe-python.hh
@@ -0,0 +1,3 @@
+#include "ros_queued_subscribe.hh"
+
+typedef boost::mpl::vector< dynamicgraph::RosQueuedSubscribe > entities_t;
diff --git a/src/ros_subscribe-python.hh b/src/ros_subscribe-python.hh
new file mode 100644
index 0000000000000000000000000000000000000000..4a0bb03afa8c34ef1bf178534179698ea40e91b7
--- /dev/null
+++ b/src/ros_subscribe-python.hh
@@ -0,0 +1,3 @@
+#include "ros_subscribe.hh"
+
+typedef boost::mpl::vector< dynamicgraph::RosSubscribe > entities_t;
diff --git a/src/ros_tf_listener-python.hh b/src/ros_tf_listener-python.hh
new file mode 100644
index 0000000000000000000000000000000000000000..492d61ffbcaa383d36ecc7d7fd56a89f1bbcf56c
--- /dev/null
+++ b/src/ros_tf_listener-python.hh
@@ -0,0 +1,3 @@
+#include "ros_tf_listener.hh"
+
+typedef boost::mpl::vector< dynamicgraph::RosTfListener > entities_t;
diff --git a/src/ros_tf_listener.hh b/src/ros_tf_listener.hh
index 85b7e802298cc4b3994fab32d7f6c1c581c777fc..c046bee10bcda930541882f9177eec72db15290a 100644
--- a/src/ros_tf_listener.hh
+++ b/src/ros_tf_listener.hh
@@ -13,6 +13,8 @@
 
 #include <sot/core/matrix-geometry.hh>
 
+#include <dynamic_graph_bridge/ros_init.hh>
+
 namespace dynamicgraph {
 class RosTfListener;
 
diff --git a/src/ros_time-python.hh b/src/ros_time-python.hh
new file mode 100644
index 0000000000000000000000000000000000000000..24b46c70e415a7011ea9cb17ccb0492ceb553157
--- /dev/null
+++ b/src/ros_time-python.hh
@@ -0,0 +1,3 @@
+#include "ros_time.hh"
+
+typedef boost::mpl::vector< dynamicgraph::RosTime > entities_t;
diff --git a/src/ros_time.hh b/src/ros_time.hh
index 19c503d8738894f8248e0ecf3dcf4b7370506570..a9472f389ef23ec0b447b6d73ef01f151b08fcb4 100644
--- a/src/ros_time.hh
+++ b/src/ros_time.hh
@@ -28,6 +28,8 @@ class RosTime : public dynamicgraph::Entity {
   static const std::string docstring_;
 };  // class RosTime
 
+template <> struct signal_io<boost::posix_time::ptime> : signal_io_unimplemented<boost::posix_time::ptime> {};
+
 }  // namespace dynamicgraph
 
 #endif  // DYNAMIC_GRAPH_ROS_TIME_HH