diff --git a/middleware/ros-comm/Makefile b/middleware/ros-comm/Makefile
index a76f7064d..adc06fb7a 100644
--- a/middleware/ros-comm/Makefile
+++ b/middleware/ros-comm/Makefile
@@ -3,7 +3,7 @@
 #
 
 ROS_PKG=		ros_comm
-ROS_VERSION=		1.14.4
+ROS_VERSION=		1.15.9
 ROS_METAPKG=		yes
 
 PKGNAME=		$(subst _,-,${ROS_PKG})-${ROS_VERSION}
diff --git a/middleware/ros-comm/PLIST b/middleware/ros-comm/PLIST
index 35d89df1a..cb98eeee4 100644
--- a/middleware/ros-comm/PLIST
+++ b/middleware/ros-comm/PLIST
@@ -343,9 +343,15 @@ lib/pkgconfig/test_rostest.pc
 lib/pkgconfig/test_rostopic.pc
 lib/pkgconfig/topic_tools.pc
 lib/pkgconfig/xmlrpcpp.pc
-${PYTHON_SITELIB}/message_filters-${PKGVERSION}-py${PYTHON_VERSION}.egg-info
+${PYTHON_SITELIB}/message_filters-${PKGVERSION}-py${PYTHON_VERSION}.egg-info/PKG-INFO
+${PYTHON_SITELIB}/message_filters-${PKGVERSION}-py${PYTHON_VERSION}.egg-info/SOURCES.txt
+${PYTHON_SITELIB}/message_filters-${PKGVERSION}-py${PYTHON_VERSION}.egg-info/dependency_links.txt
+${PYTHON_SITELIB}/message_filters-${PKGVERSION}-py${PYTHON_VERSION}.egg-info/top_level.txt
 ${PYTHON_SITELIB}/message_filters/__init__.py
-${PYTHON_SITELIB}/rosbag-${PKGVERSION}-py${PYTHON_VERSION}.egg-info
+${PYTHON_SITELIB}/rosbag-${PKGVERSION}-py${PYTHON_VERSION}.egg-info/PKG-INFO
+${PYTHON_SITELIB}/rosbag-${PKGVERSION}-py${PYTHON_VERSION}.egg-info/SOURCES.txt
+${PYTHON_SITELIB}/rosbag-${PKGVERSION}-py${PYTHON_VERSION}.egg-info/dependency_links.txt
+${PYTHON_SITELIB}/rosbag-${PKGVERSION}-py${PYTHON_VERSION}.egg-info/top_level.txt
 ${PYTHON_SITELIB}/rosbag/__init__.py
 ${PYTHON_SITELIB}/rosbag/bag.py
 ${PYTHON_SITELIB}/rosbag/migration.py
@@ -357,7 +363,10 @@ ${PYTHON_SITELIB}/roscpp/srv/_Empty.py
 ${PYTHON_SITELIB}/roscpp/srv/_GetLoggers.py
 ${PYTHON_SITELIB}/roscpp/srv/_SetLoggerLevel.py
 ${PYTHON_SITELIB}/roscpp/srv/__init__.py
-${PYTHON_SITELIB}/rosgraph-${PKGVERSION}-py${PYTHON_VERSION}.egg-info
+${PYTHON_SITELIB}/rosgraph-${PKGVERSION}-py${PYTHON_VERSION}.egg-info/PKG-INFO
+${PYTHON_SITELIB}/rosgraph-${PKGVERSION}-py${PYTHON_VERSION}.egg-info/SOURCES.txt
+${PYTHON_SITELIB}/rosgraph-${PKGVERSION}-py${PYTHON_VERSION}.egg-info/dependency_links.txt
+${PYTHON_SITELIB}/rosgraph-${PKGVERSION}-py${PYTHON_VERSION}.egg-info/top_level.txt
 ${PYTHON_SITELIB}/rosgraph/__init__.py
 ${PYTHON_SITELIB}/rosgraph/impl/__init__.py
 ${PYTHON_SITELIB}/rosgraph/impl/graph.py
@@ -368,7 +377,10 @@ ${PYTHON_SITELIB}/rosgraph/rosenv.py
 ${PYTHON_SITELIB}/rosgraph/rosgraph_main.py
 ${PYTHON_SITELIB}/rosgraph/roslogging.py
 ${PYTHON_SITELIB}/rosgraph/xmlrpc.py
-${PYTHON_SITELIB}/roslaunch-${PKGVERSION}-py${PYTHON_VERSION}.egg-info
+${PYTHON_SITELIB}/roslaunch-${PKGVERSION}-py${PYTHON_VERSION}.egg-info/PKG-INFO
+${PYTHON_SITELIB}/roslaunch-${PKGVERSION}-py${PYTHON_VERSION}.egg-info/SOURCES.txt
+${PYTHON_SITELIB}/roslaunch-${PKGVERSION}-py${PYTHON_VERSION}.egg-info/dependency_links.txt
+${PYTHON_SITELIB}/roslaunch-${PKGVERSION}-py${PYTHON_VERSION}.egg-info/top_level.txt
 ${PYTHON_SITELIB}/roslaunch/__init__.py
 ${PYTHON_SITELIB}/roslaunch/arg_dump.py
 ${PYTHON_SITELIB}/roslaunch/child.py
@@ -391,10 +403,16 @@ ${PYTHON_SITELIB}/roslaunch/scriptapi.py
 ${PYTHON_SITELIB}/roslaunch/server.py
 ${PYTHON_SITELIB}/roslaunch/substitution_args.py
 ${PYTHON_SITELIB}/roslaunch/xmlloader.py
-${PYTHON_SITELIB}/roslz4-${PKGVERSION}-py${PYTHON_VERSION}.egg-info
+${PYTHON_SITELIB}/roslz4-${PKGVERSION}-py${PYTHON_VERSION}.egg-info/PKG-INFO
+${PYTHON_SITELIB}/roslz4-${PKGVERSION}-py${PYTHON_VERSION}.egg-info/SOURCES.txt
+${PYTHON_SITELIB}/roslz4-${PKGVERSION}-py${PYTHON_VERSION}.egg-info/dependency_links.txt
+${PYTHON_SITELIB}/roslz4-${PKGVERSION}-py${PYTHON_VERSION}.egg-info/top_level.txt
 ${PYTHON_SITELIB}/roslz4/__init__.py
-${PYTHON_SITELIB}/roslz4/_roslz4.so
-${PYTHON_SITELIB}/rosmaster-${PKGVERSION}-py${PYTHON_VERSION}.egg-info
+${PYTHON_SITELIB}/roslz4/_roslz4${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/rosmaster-${PKGVERSION}-py${PYTHON_VERSION}.egg-info/PKG-INFO
+${PYTHON_SITELIB}/rosmaster-${PKGVERSION}-py${PYTHON_VERSION}.egg-info/SOURCES.txt
+${PYTHON_SITELIB}/rosmaster-${PKGVERSION}-py${PYTHON_VERSION}.egg-info/dependency_links.txt
+${PYTHON_SITELIB}/rosmaster-${PKGVERSION}-py${PYTHON_VERSION}.egg-info/top_level.txt
 ${PYTHON_SITELIB}/rosmaster/__init__.py
 ${PYTHON_SITELIB}/rosmaster/exceptions.py
 ${PYTHON_SITELIB}/rosmaster/main.py
@@ -405,13 +423,25 @@ ${PYTHON_SITELIB}/rosmaster/registrations.py
 ${PYTHON_SITELIB}/rosmaster/threadpool.py
 ${PYTHON_SITELIB}/rosmaster/util.py
 ${PYTHON_SITELIB}/rosmaster/validators.py
-${PYTHON_SITELIB}/rosmsg-${PKGVERSION}-py${PYTHON_VERSION}.egg-info
+${PYTHON_SITELIB}/rosmsg-${PKGVERSION}-py${PYTHON_VERSION}.egg-info/PKG-INFO
+${PYTHON_SITELIB}/rosmsg-${PKGVERSION}-py${PYTHON_VERSION}.egg-info/SOURCES.txt
+${PYTHON_SITELIB}/rosmsg-${PKGVERSION}-py${PYTHON_VERSION}.egg-info/dependency_links.txt
+${PYTHON_SITELIB}/rosmsg-${PKGVERSION}-py${PYTHON_VERSION}.egg-info/top_level.txt
 ${PYTHON_SITELIB}/rosmsg/__init__.py
-${PYTHON_SITELIB}/rosnode-${PKGVERSION}-py${PYTHON_VERSION}.egg-info
+${PYTHON_SITELIB}/rosnode-${PKGVERSION}-py${PYTHON_VERSION}.egg-info/PKG-INFO
+${PYTHON_SITELIB}/rosnode-${PKGVERSION}-py${PYTHON_VERSION}.egg-info/SOURCES.txt
+${PYTHON_SITELIB}/rosnode-${PKGVERSION}-py${PYTHON_VERSION}.egg-info/dependency_links.txt
+${PYTHON_SITELIB}/rosnode-${PKGVERSION}-py${PYTHON_VERSION}.egg-info/top_level.txt
 ${PYTHON_SITELIB}/rosnode/__init__.py
-${PYTHON_SITELIB}/rosparam-${PKGVERSION}-py${PYTHON_VERSION}.egg-info
+${PYTHON_SITELIB}/rosparam-${PKGVERSION}-py${PYTHON_VERSION}.egg-info/PKG-INFO
+${PYTHON_SITELIB}/rosparam-${PKGVERSION}-py${PYTHON_VERSION}.egg-info/SOURCES.txt
+${PYTHON_SITELIB}/rosparam-${PKGVERSION}-py${PYTHON_VERSION}.egg-info/dependency_links.txt
+${PYTHON_SITELIB}/rosparam-${PKGVERSION}-py${PYTHON_VERSION}.egg-info/top_level.txt
 ${PYTHON_SITELIB}/rosparam/__init__.py
-${PYTHON_SITELIB}/rospy-${PKGVERSION}-py${PYTHON_VERSION}.egg-info
+${PYTHON_SITELIB}/rospy-${PKGVERSION}-py${PYTHON_VERSION}.egg-info/PKG-INFO
+${PYTHON_SITELIB}/rospy-${PKGVERSION}-py${PYTHON_VERSION}.egg-info/SOURCES.txt
+${PYTHON_SITELIB}/rospy-${PKGVERSION}-py${PYTHON_VERSION}.egg-info/dependency_links.txt
+${PYTHON_SITELIB}/rospy-${PKGVERSION}-py${PYTHON_VERSION}.egg-info/top_level.txt
 ${PYTHON_SITELIB}/rospy/__init__.py
 ${PYTHON_SITELIB}/rospy/client.py
 ${PYTHON_SITELIB}/rospy/core.py
@@ -441,17 +471,29 @@ ${PYTHON_SITELIB}/rospy/rostime.py
 ${PYTHON_SITELIB}/rospy/service.py
 ${PYTHON_SITELIB}/rospy/timer.py
 ${PYTHON_SITELIB}/rospy/topics.py
-${PYTHON_SITELIB}/rosservice-${PKGVERSION}-py${PYTHON_VERSION}.egg-info
+${PYTHON_SITELIB}/rosservice-${PKGVERSION}-py${PYTHON_VERSION}.egg-info/PKG-INFO
+${PYTHON_SITELIB}/rosservice-${PKGVERSION}-py${PYTHON_VERSION}.egg-info/SOURCES.txt
+${PYTHON_SITELIB}/rosservice-${PKGVERSION}-py${PYTHON_VERSION}.egg-info/dependency_links.txt
+${PYTHON_SITELIB}/rosservice-${PKGVERSION}-py${PYTHON_VERSION}.egg-info/top_level.txt
 ${PYTHON_SITELIB}/rosservice/__init__.py
-${PYTHON_SITELIB}/rostest-${PKGVERSION}-py${PYTHON_VERSION}.egg-info
+${PYTHON_SITELIB}/rostest-${PKGVERSION}-py${PYTHON_VERSION}.egg-info/PKG-INFO
+${PYTHON_SITELIB}/rostest-${PKGVERSION}-py${PYTHON_VERSION}.egg-info/SOURCES.txt
+${PYTHON_SITELIB}/rostest-${PKGVERSION}-py${PYTHON_VERSION}.egg-info/dependency_links.txt
+${PYTHON_SITELIB}/rostest-${PKGVERSION}-py${PYTHON_VERSION}.egg-info/top_level.txt
 ${PYTHON_SITELIB}/rostest/__init__.py
 ${PYTHON_SITELIB}/rostest/rostest_main.py
 ${PYTHON_SITELIB}/rostest/rostest_parent.py
 ${PYTHON_SITELIB}/rostest/rostestutil.py
 ${PYTHON_SITELIB}/rostest/runner.py
-${PYTHON_SITELIB}/rostopic-${PKGVERSION}-py${PYTHON_VERSION}.egg-info
+${PYTHON_SITELIB}/rostopic-${PKGVERSION}-py${PYTHON_VERSION}.egg-info/PKG-INFO
+${PYTHON_SITELIB}/rostopic-${PKGVERSION}-py${PYTHON_VERSION}.egg-info/SOURCES.txt
+${PYTHON_SITELIB}/rostopic-${PKGVERSION}-py${PYTHON_VERSION}.egg-info/dependency_links.txt
+${PYTHON_SITELIB}/rostopic-${PKGVERSION}-py${PYTHON_VERSION}.egg-info/top_level.txt
 ${PYTHON_SITELIB}/rostopic/__init__.py
-${PYTHON_SITELIB}/roswtf-${PKGVERSION}-py${PYTHON_VERSION}.egg-info
+${PYTHON_SITELIB}/roswtf-${PKGVERSION}-py${PYTHON_VERSION}.egg-info/PKG-INFO
+${PYTHON_SITELIB}/roswtf-${PKGVERSION}-py${PYTHON_VERSION}.egg-info/SOURCES.txt
+${PYTHON_SITELIB}/roswtf-${PKGVERSION}-py${PYTHON_VERSION}.egg-info/dependency_links.txt
+${PYTHON_SITELIB}/roswtf-${PKGVERSION}-py${PYTHON_VERSION}.egg-info/top_level.txt
 ${PYTHON_SITELIB}/roswtf/__init__.py
 ${PYTHON_SITELIB}/roswtf/context.py
 ${PYTHON_SITELIB}/roswtf/environment.py
@@ -586,7 +628,10 @@ ${PYTHON_SITELIB}/test_rostopic/msg/_Simple.py
 ${PYTHON_SITELIB}/test_rostopic/msg/_TVals.py
 ${PYTHON_SITELIB}/test_rostopic/msg/_Val.py
 ${PYTHON_SITELIB}/test_rostopic/msg/__init__.py
-${PYTHON_SITELIB}/topic_tools-${PKGVERSION}-py${PYTHON_VERSION}.egg-info
+${PYTHON_SITELIB}/topic_tools-${PKGVERSION}-py${PYTHON_VERSION}.egg-info/PKG-INFO
+${PYTHON_SITELIB}/topic_tools-${PKGVERSION}-py${PYTHON_VERSION}.egg-info/SOURCES.txt
+${PYTHON_SITELIB}/topic_tools-${PKGVERSION}-py${PYTHON_VERSION}.egg-info/dependency_links.txt
+${PYTHON_SITELIB}/topic_tools-${PKGVERSION}-py${PYTHON_VERSION}.egg-info/top_level.txt
 ${PYTHON_SITELIB}/topic_tools/__init__.py
 ${PYTHON_SITELIB}/topic_tools/srv/_DemuxAdd.py
 ${PYTHON_SITELIB}/topic_tools/srv/_DemuxDelete.py
@@ -929,6 +974,7 @@ share/roslaunch/resources/example-pass_all_args.launch
 share/roslaunch/resources/example-ssh.launch
 share/roslaunch/resources/example.launch
 share/roslaunch/resources/roscore.xml
+share/roslaunch/resources/timeouts.launch
 share/roslaunch/scripts/roslaunch-check
 share/roslz4/cmake/roslz4Config-version.cmake
 share/roslz4/cmake/roslz4Config.cmake
@@ -961,6 +1007,7 @@ share/rosservice/package.xml
 share/rostest/cmake/rostest-extras.cmake
 share/rostest/cmake/rostestConfig-version.cmake
 share/rostest/cmake/rostestConfig.cmake
+share/rostest/nodes/advertisetest
 share/rostest/nodes/hztest
 share/rostest/nodes/paramtest
 share/rostest/nodes/publishtest
diff --git a/middleware/ros-comm/distinfo b/middleware/ros-comm/distinfo
index a8ac0607e..bdfcd6dbc 100644
--- a/middleware/ros-comm/distinfo
+++ b/middleware/ros-comm/distinfo
@@ -1,6 +1,6 @@
-SHA1 (ros/ros_comm/1.14.4.tar.gz) = 67b47acbf0eff4448105cb773407629d275e68e2
-RMD160 (ros/ros_comm/1.14.4.tar.gz) = 0227504cd972fa3cb19bafcc96b9d258358b61c7
-Size (ros/ros_comm/1.14.4.tar.gz) = 1069096 bytes
+SHA1 (ros/ros_comm/1.15.9.tar.gz) = 78b967294ba8c18a6f4dc421fa58a9515f94e353
+RMD160 (ros/ros_comm/1.15.9.tar.gz) = 9b8b0f2fa0f6dad4200c2648ac8d17cd20e20d92
+Size (ros/ros_comm/1.15.9.tar.gz) = 1087337 bytes
 SHA1 (patch-ab) = 53856cc60bfdb9683cd7875875bfeaf30cd63abf
 SHA1 (patch-ac) = ddfa8a5688bd918e0e5c4483b9d681c52e7d7408
 SHA1 (patch-ae) = fc1a79a163a7fb9961c3715dc1a92839125ceb9b
@@ -11,5 +11,4 @@ SHA1 (patch-aj) = 5c85f5c1f4adb01dd7b01e041aac389bd97454fb
 SHA1 (patch-ak) = 5c43630b6b73675ff100d868b286d84c7fa6f655
 SHA1 (patch-al) = ef854fb5746070e0165dbcce60243bee55fd4c25
 SHA1 (patch-am) = b524cc9deeaaf0daba8913c7565e5a0831de0104
-SHA1 (patch-an) = 4ecf61857573341ea5d687ba36ca1408f4760648
-SHA1 (patch-ao) = 7a2efb13f840c8c4856d0027086c15652a85191e
+SHA1 (patch-ao) = bbdfb264633b46702475b5cde76316d3edb2b1f8
diff --git a/middleware/ros-comm/patches/patch-an b/middleware/ros-comm/patches/patch-an
deleted file mode 100644
index 05c5ceac3..000000000
--- a/middleware/ros-comm/patches/patch-an
+++ /dev/null
@@ -1,18 +0,0 @@
-fix for CMake >= 3.15, ref
-https://gitlab.kitware.com/cmake/cmake/-/merge_requests/3317
-
---- clients/roscpp/CMakeLists.txt.orig	2020-02-21 01:13:08.000000000 +0100
-+++ clients/roscpp/CMakeLists.txt	2020-03-17 16:17:46.644892888 +0100
-@@ -26,10 +26,10 @@
- 
- # Make sure we use CLOCK_MONOTONIC for the condition variable wait_for if not Apple.
- if(NOT APPLE AND NOT WIN32)
--  if(Boost_VERSION LESS 106100)
-+  if(Boost_VERSION_MACRO LESS 106100)
-     message(FATAL_ERROR "${PROJECT_NAME} requires Boost 1.61 or above.")
-   endif()
--  if(Boost_VERSION LESS 106700)
-+  if(Boost_VERSION_MACRO LESS 106700)
-     # CLOCK_MONOTONIC became the default in Boost 1.67:
-     # https://github.com/boostorg/thread/commit/1e84b978b2bb0aae830cc14533dea3b7ddda5cde
-     add_definitions(-DBOOST_THREAD_HAS_CONDATTR_SET_CLOCK_MONOTONIC)
diff --git a/middleware/ros-comm/patches/patch-ao b/middleware/ros-comm/patches/patch-ao
index 16736d2a0..ad88c2bdf 100644
--- a/middleware/ros-comm/patches/patch-ao
+++ b/middleware/ros-comm/patches/patch-ao
@@ -1,27 +1,26 @@
 Add missing console-bridge dependency
-
---- test/test_rosbag_storage/CMakeLists.txt~	2020-02-21 01:13:08.000000000 +0100
-+++ test/test_rosbag_storage/CMakeLists.txt	2020-03-25 17:09:50.858923565 +0100
-@@ -3,6 +3,7 @@
- project(test_rosbag_storage)
- 
+--- test/test_rosbag_storage/CMakeLists.txt.orig	2020-10-16 22:02:46.000000000 +0200
++++ test/test_rosbag_storage/CMakeLists.txt	2021-03-12 17:58:58.198646859 +0100
+@@ -5,6 +5,7 @@
  find_package(catkin REQUIRED COMPONENTS rosbag_storage std_msgs)
-+find_package(console_bridge REQUIRED)
  
  find_package(Boost REQUIRED)
++find_package(console_bridge REQUIRED)
+ 
+ catkin_package()
  
---- tools/rosbag/CMakeLists.txt~	2020-02-21 01:13:08.000000000 +0100
-+++ tools/rosbag/CMakeLists.txt	2020-03-25 17:11:20.922476297 +0100
+--- tools/rosbag/CMakeLists.txt.orig	2020-10-16 22:02:46.000000000 +0200
++++ tools/rosbag/CMakeLists.txt	2021-03-12 17:59:15.426644373 +0100
 @@ -6,6 +6,7 @@
  endif()
  
  find_package(catkin REQUIRED COMPONENTS rosbag_storage rosconsole roscpp std_srvs topic_tools xmlrpcpp)
 +find_package(console_bridge REQUIRED)
- find_package(Boost REQUIRED COMPONENTS date_time regex program_options filesystem)
+ find_package(Boost REQUIRED COMPONENTS date_time filesystem program_options regex thread)
  find_package(BZip2 REQUIRED)
  
---- test/test_rosbag/CMakeLists.txt~	2020-02-21 01:13:08.000000000 +0100
-+++ test/test_rosbag/CMakeLists.txt	2020-03-25 17:12:18.622049556 +0100
+--- test/test_rosbag/CMakeLists.txt.orig	2020-10-16 22:02:46.000000000 +0200
++++ test/test_rosbag/CMakeLists.txt	2021-03-12 17:59:34.822641519 +0100
 @@ -7,6 +7,7 @@
  endif()