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diff --git a/PKGBUILD b/PKGBUILD
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+# Maintainer: Timon Engelke <aur@timonengelke.de>
+pkgdesc="ROS - experimental packages for moveit"
+url='http://ros.org/wiki/chomp_motion_planner'
+
+pkgname='ros-melodic-moveit-experimental'
+pkgver='0.10.5'
+_pkgver_patch=0
+arch=('any')
+pkgrel=1
+license=('BSD')
+
+ros_makedepends=(console-bridge
+  'ros-melodic-pluginlib>=1.11.2'
+  ros-melodic-octomap-msgs
+  ros-melodic-moveit-msgs
+  ros-melodic-actionlib-msgs
+  ros-melodic-geometry-msgs
+  ros-melodic-sensor-msgs
+  ros-melodic-shape-msgs
+  ros-melodic-std-msgs
+  ros-melodic-trajectory-msgs
+  ros-melodic-visualization-msgs
+  ros-melodic-octomap
+  ros-melodic-kdl-parser
+  ros-melodic-eigen-stl-containers
+  ros-melodic-tf2-eigen
+  'ros-melodic-geometric-shapes>=0.3.4'
+  ros-melodic-roslib
+  ros-melodic-rostime
+  ros-melodic-rosconsole
+  ros-melodic-moveit-core)
+makedepends=('eigen' 'cmake' 'boost' 'assimp' 'urdfdom' 'urdfdom-headers'
+  ${ros_makedepends[@]})
+
+ros_depends=(console-bridge
+  'ros-melodic-pluginlib>=1.11.2'
+  ros-melodic-octomap-msgs
+  ros-melodic-moveit-msgs
+  ros-melodic-actionlib-msgs
+  ros-melodic-geometry-msgs
+  ros-melodic-sensor-msgs
+  ros-melodic-shape-msgs
+  ros-melodic-std-msgs
+  ros-melodic-trajectory-msgs
+  ros-melodic-visualization-msgs
+  ros-melodic-octomap
+  ros-melodic-kdl-parser
+  ros-melodic-eigen-stl-containers
+  ros-melodic-tf2-eigen
+  'ros-melodic-geometric-shapes>=0.3.4'
+  ros-melodic-roslib
+  ros-melodic-rostime
+  ros-melodic-rosconsole
+  ros-melodic-moveit-core)
+depends=('eigen' 'cmake' 'boost' 'assimp' 'urdfdom' 'urdfdom-headers'
+  ${ros_makedepends[@]})
+
+# Tarball version (faster download)
+_dir="moveit-release-release-melodic-moveit_experimental-${pkgver}-${_pkgver_patch}"
+source=("${pkgname}-${pkgver}-${_pkgver_patch}.tar.gz"::"https://github.com/ros-gbp/moveit-release/archive/release/melodic/moveit_experimental/${pkgver}-${_pkgver_patch}.tar.gz")
+sha256sums=('1a5c675fee0f1ee3b36ead7c63454687eab1c86e75c674465522df5bb83b1814')
+
+build() {
+  # Use ROS environment variables
+  source /usr/share/ros-build-tools/clear-ros-env.sh
+  [ -f /opt/ros/melodic/setup.bash ] && source /opt/ros/melodic/setup.bash
+
+  # Create build directory
+  [ -d ${srcdir}/build ] || mkdir ${srcdir}/build
+  cd ${srcdir}/build
+
+  # Fix Python2/Python3 conflicts
+  /usr/share/ros-build-tools/fix-python-scripts.sh -v 3 ${srcdir}/${_dir}
+
+  export PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/opt/ros/melodic/lib64/pkgconfig
+
+  # Build project
+  cmake ${srcdir}/${_dir} \
+        -DCMAKE_BUILD_TYPE=Release \
+        -DCATKIN_BUILD_BINARY_PACKAGE=ON \
+        -DCMAKE_INSTALL_PREFIX=/opt/ros/melodic \
+        -DPYTHON_EXECUTABLE=/usr/bin/python3 \
+        -DPYTHON_INCLUDE_DIR=/usr/include/python3.7m \
+        -DPYTHON_LIBRARY=/usr/lib/libpython3.7m.so \
+        -DPYTHON_BASENAME=-python3.7m \
+        -DSETUPTOOLS_DEB_LAYOUT=OFF
+  make
+}
+
+package() {
+  cd "${srcdir}/build"
+  make DESTDIR="${pkgdir}/" install
+}