diff --git a/dev-ros/imu_transformer/Manifest b/dev-ros/imu_transformer/Manifest
new file mode 100644
index 0000000000000..dc8ff723c39dc
--- /dev/null
+++ b/dev-ros/imu_transformer/Manifest
@@ -0,0 +1 @@
+DIST imu_pipeline-0.2.1.tar.gz 7962 SHA256 91e0d491bd08dce8629876bf6005a1aaabcb130413ed749c4ab168e17f0118fa SHA512 43c990e3b5a813661111f15bbaf6101794480de0f5bd9af663ce48ebbcf75ee79fa388cf228216427e7ffcbc575a317f3b0ee3ae5b8e6cca2cc0cab736c139e4 WHIRLPOOL 189279d535c11add08df686ca84598f4e1c5a6a9835416b4f10bef2a85c192359da1795d52171d083d19cfee7e43ef011a676304046893d7f75d4a33a72c204c
diff --git a/dev-ros/imu_transformer/imu_transformer-0.2.1.ebuild b/dev-ros/imu_transformer/imu_transformer-0.2.1.ebuild
new file mode 100644
index 0000000000000..bfb09b7fac111
--- /dev/null
+++ b/dev-ros/imu_transformer/imu_transformer-0.2.1.ebuild
@@ -0,0 +1,29 @@
+# Copyright 1999-2014 Gentoo Foundation
+# Distributed under the terms of the GNU General Public License v2
+# $Id$
+
+EAPI=5
+ROS_REPO_URI="https://github.com/ros-perception/imu_pipeline"
+KEYWORDS="~amd64 ~arm"
+ROS_SUBDIR=${PN}
+
+inherit ros-catkin
+
+DESCRIPTION="Node/nodelet combination to transform sensor_msgs::Imu data from one frame into another"
+LICENSE="GPL-2"
+SLOT="0"
+IUSE=""
+
+RDEPEND="
+	dev-ros/message_filters
+	dev-ros/nodelet
+	dev-ros/roscpp
+	dev-ros/roslaunch
+	dev-ros/tf2
+	dev-ros/tf2_ros
+	dev-ros/topic_tools
+	dev-ros/tf2_sensor_msgs
+	dev-ros/sensor_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+	dev-ros/geometry_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+"
+DEPEND="${RDEPEND}"
diff --git a/dev-ros/imu_transformer/imu_transformer-9999.ebuild b/dev-ros/imu_transformer/imu_transformer-9999.ebuild
new file mode 100644
index 0000000000000..bfb09b7fac111
--- /dev/null
+++ b/dev-ros/imu_transformer/imu_transformer-9999.ebuild
@@ -0,0 +1,29 @@
+# Copyright 1999-2014 Gentoo Foundation
+# Distributed under the terms of the GNU General Public License v2
+# $Id$
+
+EAPI=5
+ROS_REPO_URI="https://github.com/ros-perception/imu_pipeline"
+KEYWORDS="~amd64 ~arm"
+ROS_SUBDIR=${PN}
+
+inherit ros-catkin
+
+DESCRIPTION="Node/nodelet combination to transform sensor_msgs::Imu data from one frame into another"
+LICENSE="GPL-2"
+SLOT="0"
+IUSE=""
+
+RDEPEND="
+	dev-ros/message_filters
+	dev-ros/nodelet
+	dev-ros/roscpp
+	dev-ros/roslaunch
+	dev-ros/tf2
+	dev-ros/tf2_ros
+	dev-ros/topic_tools
+	dev-ros/tf2_sensor_msgs
+	dev-ros/sensor_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+	dev-ros/geometry_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+"
+DEPEND="${RDEPEND}"
diff --git a/dev-ros/imu_transformer/metadata.xml b/dev-ros/imu_transformer/metadata.xml
new file mode 100644
index 0000000000000..c42ea5b15cf63
--- /dev/null
+++ b/dev-ros/imu_transformer/metadata.xml
@@ -0,0 +1,5 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE pkgmetadata SYSTEM "http://www.gentoo.org/dtd/metadata.dtd">
+<pkgmetadata>
+<herd>ros</herd>
+</pkgmetadata>