diff --git a/dev-ros/gazebo_plugins/Manifest b/dev-ros/gazebo_plugins/Manifest
index b9b68a8338452..a0d2a406e4185 100644
--- a/dev-ros/gazebo_plugins/Manifest
+++ b/dev-ros/gazebo_plugins/Manifest
@@ -1 +1,2 @@
 DIST gazebo_ros_pkgs-2.6.2.tar.gz 1830633 BLAKE2B 8365084619d57d8427753e33d4a3128162c44b10552166c7070eaabde3f806cee9981c60b30b18b6cbe80b83e2871b0100b51329a1a6bd9747320245f21ec1a4 SHA512 f932eebbc88f4922c0275625d50ad5723446744cbf4a59138437d9bdd75a9b5232fdf8df2012460313eb2224d4287daebc3a28181ab3f1b81e67d70a8b8ed5d3
+DIST gazebo_ros_pkgs-2.7.3.tar.gz 1836260 BLAKE2B 7867bec1461769923ba36ea2e56b21d85cf1db254cd50a028af5953fe1b5373015b68785a90d242e245d12a2da2c7a8ff26db66c0c466e6a6e029fbb74340a06 SHA512 66590a248f0813ab0f2a80df234f9dd8d448c500726b62d3fc74397d3a618d6fae994c3e463bb0c4a8892cef35ba1729229c471f3d21d4b3a2091d5ad74cc33b
diff --git a/dev-ros/gazebo_plugins/gazebo_plugins-2.7.3.ebuild b/dev-ros/gazebo_plugins/gazebo_plugins-2.7.3.ebuild
new file mode 100644
index 0000000000000..ef6837eae89c0
--- /dev/null
+++ b/dev-ros/gazebo_plugins/gazebo_plugins-2.7.3.ebuild
@@ -0,0 +1,53 @@
+# Copyright 1999-2018 Gentoo Foundation
+# Distributed under the terms of the GNU General Public License v2
+
+EAPI=5
+ROS_REPO_URI="https://github.com/ros-simulation/gazebo_ros_pkgs"
+KEYWORDS="~amd64"
+PYTHON_COMPAT=( python{2_7,3_4,3_5} )
+CATKIN_HAS_MESSAGES=yes
+ROS_SUBDIR=${PN}
+
+inherit ros-catkin
+
+DESCRIPTION="Robot-independent Gazebo plugins for sensors, motors and dynamic reconfigurable components"
+LICENSE="BSD Apache-2.0"
+SLOT="0"
+IUSE=""
+
+RDEPEND="
+	dev-ros/gazebo_dev
+	dev-ros/gazebo_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+	dev-ros/roscpp
+	dev-ros/rospy
+	dev-ros/nodelet
+	dev-ros/angles
+	dev-ros/std_srvs
+	dev-ros/geometry_msgs[${CATKIN_MESSAGES_CXX_USEDEP},${CATKIN_MESSAGES_PYTHON_USEDEP}]
+	dev-ros/sensor_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+	dev-ros/nav_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+	dev-ros/urdf
+	dev-ros/tf
+	dev-ros/tf2_ros
+	dev-ros/dynamic_reconfigure[${PYTHON_USEDEP}]
+	dev-ros/driver_base[${PYTHON_USEDEP}]
+	dev-ros/rosgraph_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+	dev-ros/trajectory_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+	dev-ros/pcl_conversions
+	dev-ros/image_transport
+	dev-ros/rosconsole
+	dev-ros/cv_bridge
+	media-libs/opencv:=
+	dev-ros/polled_camera
+	dev-ros/diagnostic_updater
+	dev-ros/camera_info_manager
+	dev-ros/moveit_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+	dev-libs/libxml2
+	>=sci-electronics/gazebo-7:=
+	dev-libs/protobuf:=
+	dev-games/ogre
+	sci-libs/pcl
+	dev-libs/boost:=
+	dev-ros/roslib[${PYTHON_USEDEP}]
+"
+DEPEND="${RDEPEND}"
diff --git a/dev-ros/gazebo_plugins/gazebo_plugins-9999.ebuild b/dev-ros/gazebo_plugins/gazebo_plugins-9999.ebuild
index c15813880a8a6..ef6837eae89c0 100644
--- a/dev-ros/gazebo_plugins/gazebo_plugins-9999.ebuild
+++ b/dev-ros/gazebo_plugins/gazebo_plugins-9999.ebuild
@@ -16,6 +16,7 @@ SLOT="0"
 IUSE=""
 
 RDEPEND="
+	dev-ros/gazebo_dev
 	dev-ros/gazebo_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
 	dev-ros/roscpp
 	dev-ros/rospy