diff -Nru ros-roscpp-core-0.5.6/cpp_common/CHANGELOG.rst ros-roscpp-core-0.6.0/cpp_common/CHANGELOG.rst
--- ros-roscpp-core-0.5.6/cpp_common/CHANGELOG.rst	2015-05-20 23:56:11.000000000 +0000
+++ ros-roscpp-core-0.6.0/cpp_common/CHANGELOG.rst	2016-03-17 21:44:05.000000000 +0000
@@ -2,6 +2,13 @@
 Changelog for package cpp_common
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.6.0 (2016-03-17)
+------------------
+
+0.5.7 (2016-03-09)
+------------------
+* export symbols for Header (`#46 <https://github.com/ros/roscpp_core/pull/46>`_)
+
 0.5.6 (2015-05-20)
 ------------------
 
diff -Nru ros-roscpp-core-0.5.6/cpp_common/include/ros/header.h ros-roscpp-core-0.6.0/cpp_common/include/ros/header.h
--- ros-roscpp-core-0.5.6/cpp_common/include/ros/header.h	2015-05-20 23:56:11.000000000 +0000
+++ ros-roscpp-core-0.6.0/cpp_common/include/ros/header.h	2016-03-17 21:44:05.000000000 +0000
@@ -41,6 +41,7 @@
 #include <boost/shared_array.hpp>
 
 #include "ros/datatypes.h"
+#include "cpp_common_decl.h"
 
 namespace ros
 {
@@ -48,7 +49,7 @@
 /**
  * \brief Provides functionality to parse a connection header and retrieve values from it
  */
-class Header
+class CPP_COMMON_DECL Header
 {
 public:
   Header();
diff -Nru ros-roscpp-core-0.5.6/cpp_common/package.xml ros-roscpp-core-0.6.0/cpp_common/package.xml
--- ros-roscpp-core-0.5.6/cpp_common/package.xml	2015-05-20 23:56:11.000000000 +0000
+++ ros-roscpp-core-0.6.0/cpp_common/package.xml	2016-03-17 21:44:05.000000000 +0000
@@ -1,6 +1,6 @@
 <package>
   <name>cpp_common</name>
-  <version>0.5.6</version>
+  <version>0.6.0</version>
   <description>
     cpp_common contains C++ code for doing things that are not necessarily ROS
     related, but are useful for multiple packages. This includes things like
diff -Nru ros-roscpp-core-0.5.6/debian/changelog ros-roscpp-core-0.6.0/debian/changelog
--- ros-roscpp-core-0.5.6/debian/changelog	2015-12-22 14:55:34.000000000 +0000
+++ ros-roscpp-core-0.6.0/debian/changelog	2016-07-21 09:54:10.000000000 +0000
@@ -1,4 +1,11 @@
-ros-roscpp-core (0.5.6-2~20151222) trusty; urgency=medium
+ros-roscpp-core (0.6.0-1~20160721) trusty; urgency=medium
+
+  * Imported Upstream version 0.6.0
+  * Refresh patches
+
+ -- Jochen Sprickerhof <debian@jochen.sprickerhof.de>  Sat, 18 Jun 2016 11:22:44 +0200
+
+ros-roscpp-core (0.5.6-2) unstable; urgency=medium
 
   * Convert to new catkin with multiarch
 
diff -Nru ros-roscpp-core-0.5.6/debian/patches/0002-Add-Debian-specific-SONAMEs.patch ros-roscpp-core-0.6.0/debian/patches/0002-Add-Debian-specific-SONAMEs.patch
--- ros-roscpp-core-0.5.6/debian/patches/0002-Add-Debian-specific-SONAMEs.patch	2015-12-17 22:50:46.000000000 +0000
+++ ros-roscpp-core-0.6.0/debian/patches/0002-Add-Debian-specific-SONAMEs.patch	2016-07-21 08:31:21.000000000 +0000
@@ -33,7 +33,7 @@
  install(TARGETS roscpp_serialization
    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
 diff --git a/rostime/CMakeLists.txt b/rostime/CMakeLists.txt
-index 7ecc67f..af6b777 100644
+index c395f28..a3d3bc8 100644
 --- a/rostime/CMakeLists.txt
 +++ b/rostime/CMakeLists.txt
 @@ -16,6 +16,7 @@ add_library(rostime
diff -Nru ros-roscpp-core-0.5.6/roscpp_core/package.xml ros-roscpp-core-0.6.0/roscpp_core/package.xml
--- ros-roscpp-core-0.5.6/roscpp_core/package.xml	2015-05-20 23:56:11.000000000 +0000
+++ ros-roscpp-core-0.6.0/roscpp_core/package.xml	2016-03-17 21:44:05.000000000 +0000
@@ -1,6 +1,6 @@
 <package>
   <name>roscpp_core</name>
-  <version>0.5.6</version>
+  <version>0.6.0</version>
   <description>
     Underlying data libraries for roscpp messages.
   </description>
diff -Nru ros-roscpp-core-0.5.6/roscpp_serialization/CHANGELOG.rst ros-roscpp-core-0.6.0/roscpp_serialization/CHANGELOG.rst
--- ros-roscpp-core-0.5.6/roscpp_serialization/CHANGELOG.rst	2015-05-20 23:56:11.000000000 +0000
+++ ros-roscpp-core-0.6.0/roscpp_serialization/CHANGELOG.rst	2016-03-17 21:44:05.000000000 +0000
@@ -2,6 +2,13 @@
 Changelog for package roscpp_serialization
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.6.0 (2016-03-17)
+------------------
+
+0.5.7 (2016-03-09)
+------------------
+* fix serializer bool on ARM (`#44 <https://github.com/ros/roscpp_core/pull/44>`_)
+
 0.5.6 (2015-05-20)
 ------------------
 
diff -Nru ros-roscpp-core-0.5.6/roscpp_serialization/include/ros/serialization.h ros-roscpp-core-0.6.0/roscpp_serialization/include/ros/serialization.h
--- ros-roscpp-core-0.5.6/roscpp_serialization/include/ros/serialization.h	2015-05-20 23:56:11.000000000 +0000
+++ ros-roscpp-core-0.6.0/roscpp_serialization/include/ros/serialization.h	2016-03-17 21:44:05.000000000 +0000
@@ -243,7 +243,7 @@
   {
     uint8_t b = (uint8_t)v;
 #if defined(__arm__) || defined(__arm)
-    memcpy(stream.advance(sizeof(1)), &b, 1 );
+    memcpy(stream.advance(1), &b, 1 );
 #else
     *reinterpret_cast<uint8_t*>(stream.advance(1)) = b;
 #endif
@@ -253,7 +253,7 @@
   {
     uint8_t b;
 #if defined(__arm__) || defined(__arm)
-    memcpy(&b, stream.advance(sizeof(1)), 1 );
+    memcpy(&b, stream.advance(1), 1 );
 #else
     b = *reinterpret_cast<uint8_t*>(stream.advance(1));
 #endif
diff -Nru ros-roscpp-core-0.5.6/roscpp_serialization/package.xml ros-roscpp-core-0.6.0/roscpp_serialization/package.xml
--- ros-roscpp-core-0.5.6/roscpp_serialization/package.xml	2015-05-20 23:56:11.000000000 +0000
+++ ros-roscpp-core-0.6.0/roscpp_serialization/package.xml	2016-03-17 21:44:05.000000000 +0000
@@ -1,6 +1,6 @@
 <package>
   <name>roscpp_serialization</name>
-  <version>0.5.6</version>
+  <version>0.6.0</version>
   <description>
     roscpp_serialization contains the code for serialization as described in
     <a href="http://www.ros.org/wiki/roscpp/Overview/MessagesSerializationAndAdaptingTypes">MessagesSerializationAndAdaptingTypes</a>.
diff -Nru ros-roscpp-core-0.5.6/roscpp_traits/CHANGELOG.rst ros-roscpp-core-0.6.0/roscpp_traits/CHANGELOG.rst
--- ros-roscpp-core-0.5.6/roscpp_traits/CHANGELOG.rst	2015-05-20 23:56:11.000000000 +0000
+++ ros-roscpp-core-0.6.0/roscpp_traits/CHANGELOG.rst	2016-03-17 21:44:05.000000000 +0000
@@ -2,6 +2,12 @@
 Changelog for package roscpp_traits
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.6.0 (2016-03-17)
+------------------
+
+0.5.7 (2016-03-09)
+------------------
+
 0.5.6 (2015-05-20)
 ------------------
 * fix for compile issue on OS X 10.10 (`#34 <https://github.com/ros/roscpp_core/pull/34>`_)
diff -Nru ros-roscpp-core-0.5.6/roscpp_traits/include/ros/message_traits.h ros-roscpp-core-0.6.0/roscpp_traits/include/ros/message_traits.h
--- ros-roscpp-core-0.5.6/roscpp_traits/include/ros/message_traits.h	2015-05-20 23:56:11.000000000 +0000
+++ ros-roscpp-core-0.6.0/roscpp_traits/include/ros/message_traits.h	2016-03-17 21:44:05.000000000 +0000
@@ -168,8 +168,8 @@
 template<typename M, typename Enable = void>
 struct Header
 {
-  static std_msgs::Header* pointer(M& m) { return 0; }
-  static std_msgs::Header const* pointer(const M& m) { return 0; }
+  static std_msgs::Header* pointer(M& m) { (void)m; return 0; }
+  static std_msgs::Header const* pointer(const M& m) { (void)m; return 0; }
 };
 
 template<typename M>
@@ -187,8 +187,8 @@
 template<typename M, typename Enable = void>
 struct FrameId
 {
-  static std::string* pointer(M& m) { return 0; }
-  static std::string const* pointer(const M& m) { return 0; }
+  static std::string* pointer(M& m) { (void)m; return 0; }
+  static std::string const* pointer(const M& m) { (void)m; return 0; }
 };
 
 template<typename M>
@@ -207,8 +207,8 @@
 template<typename M, typename Enable = void>
 struct TimeStamp
 {
-  static ros::Time* pointer(M& m) { return 0; }
-  static ros::Time const* pointer(const M& m) { return 0; }
+  static ros::Time* pointer(M& m) { (void)m; return 0; }
+  static ros::Time const* pointer(const M& m) { (void)m; return 0; }
 };
 
 template<typename M>
diff -Nru ros-roscpp-core-0.5.6/roscpp_traits/package.xml ros-roscpp-core-0.6.0/roscpp_traits/package.xml
--- ros-roscpp-core-0.5.6/roscpp_traits/package.xml	2015-05-20 23:56:11.000000000 +0000
+++ ros-roscpp-core-0.6.0/roscpp_traits/package.xml	2016-03-17 21:44:05.000000000 +0000
@@ -1,6 +1,6 @@
 <package>
   <name>roscpp_traits</name>
-  <version>0.5.6</version>
+  <version>0.6.0</version>
   <description>
     roscpp_traits contains the message traits code as described in
     <a href="http://www.ros.org/wiki/roscpp/Overview/MessagesTraits">MessagesTraits</a>.
diff -Nru ros-roscpp-core-0.5.6/rostime/CHANGELOG.rst ros-roscpp-core-0.6.0/rostime/CHANGELOG.rst
--- ros-roscpp-core-0.5.6/rostime/CHANGELOG.rst	2015-05-20 23:56:11.000000000 +0000
+++ ros-roscpp-core-0.6.0/rostime/CHANGELOG.rst	2016-03-17 21:44:05.000000000 +0000
@@ -2,6 +2,15 @@
 Changelog for package rostime
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.6.0 (2016-03-17)
+------------------
+* change Duration:sleep return semantic (`#47 <https://github.com/ros/roscpp_core/pull/47>`_)
+
+0.5.7 (2016-03-09)
+------------------
+* Adjust return value of sleep() function (`#45 <https://github.com/ros/roscpp_core/pull/45>`_)
+* fix WallRate(Duration) constructor (`#40 <https://github.com/ros/roscpp_core/pull/40>`_)
+
 0.5.6 (2015-05-20)
 ------------------
 
diff -Nru ros-roscpp-core-0.5.6/rostime/CMakeLists.txt ros-roscpp-core-0.6.0/rostime/CMakeLists.txt
--- ros-roscpp-core-0.5.6/rostime/CMakeLists.txt	2015-05-20 23:56:11.000000000 +0000
+++ ros-roscpp-core-0.6.0/rostime/CMakeLists.txt	2016-03-17 21:44:05.000000000 +0000
@@ -32,6 +32,10 @@
   FILES_MATCHING PATTERN "*.h")
 
 if(CATKIN_ENABLE_TESTING)
+  catkin_add_gtest(${PROJECT_NAME}-test_duration test/duration.cpp)
+  if(TARGET ${PROJECT_NAME}-test_duration)
+    target_link_libraries(${PROJECT_NAME}-test_duration ${catkin_LIBRARIES} rostime)
+  endif()
   catkin_add_gtest(${PROJECT_NAME}-test_time test/time.cpp)
   if(TARGET ${PROJECT_NAME}-test_time)
     target_link_libraries(${PROJECT_NAME}-test_time ${catkin_LIBRARIES} rostime)
diff -Nru ros-roscpp-core-0.5.6/rostime/include/ros/duration.h ros-roscpp-core-0.6.0/rostime/include/ros/duration.h
--- ros-roscpp-core-0.5.6/rostime/include/ros/duration.h	2015-05-20 23:56:11.000000000 +0000
+++ ros-roscpp-core-0.6.0/rostime/include/ros/duration.h	2016-03-17 21:44:05.000000000 +0000
@@ -120,6 +120,7 @@
   explicit Duration(const Rate&);
   /**
    * \brief sleep for the amount of time specified by this Duration.  If a signal interrupts the sleep, resleeps for the time remaining.
+   * @return True if the desired sleep duration was met, false otherwise.
    */
   bool sleep() const;
 };
@@ -147,6 +148,7 @@
   explicit WallDuration(const Rate&);
   /**
    * \brief sleep for the amount of time specified by this Duration.  If a signal interrupts the sleep, resleeps for the time remaining.
+   * @return True if the desired sleep duration was met, false otherwise.
    */
   bool sleep() const;
 };
diff -Nru ros-roscpp-core-0.5.6/rostime/include/ros/rate.h ros-roscpp-core-0.6.0/rostime/include/ros/rate.h
--- ros-roscpp-core-0.5.6/rostime/include/ros/rate.h	2015-05-20 23:56:11.000000000 +0000
+++ ros-roscpp-core-0.6.0/rostime/include/ros/rate.h	2016-03-17 21:44:05.000000000 +0000
@@ -101,7 +101,7 @@
 
   /**
    * @brief  Sleeps for any leftover time in a cycle. Calculated from the last time sleep, reset, or the constructor was called.
-   * @return Passes through the return value from WallDuration::sleep() if it slept, otherwise True
+   * @return Passes through the return value from WallDuration::sleep() if it slept, false otherwise.
    */
   bool sleep();
 
diff -Nru ros-roscpp-core-0.5.6/rostime/include/ros/time.h ros-roscpp-core-0.6.0/rostime/include/ros/time.h
--- ros-roscpp-core-0.5.6/rostime/include/ros/time.h	2015-05-20 23:56:11.000000000 +0000
+++ ros-roscpp-core-0.6.0/rostime/include/ros/time.h	2016-03-17 21:44:05.000000000 +0000
@@ -186,6 +186,7 @@
     static Time now();
     /**
      * \brief Sleep until a specific time has been reached.
+     * @return True if the desired sleep time was met, false otherwise.
      */
     static bool sleepUntil(const Time& end);
 
@@ -241,6 +242,7 @@
 
     /**
      * \brief Sleep until a specific time has been reached.
+     * @return True if the desired sleep time was met, false otherwise.
      */
     static bool sleepUntil(const WallTime& end);
 
diff -Nru ros-roscpp-core-0.5.6/rostime/package.xml ros-roscpp-core-0.6.0/rostime/package.xml
--- ros-roscpp-core-0.5.6/rostime/package.xml	2015-05-20 23:56:11.000000000 +0000
+++ ros-roscpp-core-0.6.0/rostime/package.xml	2016-03-17 21:44:05.000000000 +0000
@@ -1,6 +1,6 @@
 <package>
   <name>rostime</name>
-  <version>0.5.6</version>
+  <version>0.6.0</version>
   <description>
     Time and Duration implementations for C++ libraries, including roscpp.
   </description>
diff -Nru ros-roscpp-core-0.5.6/rostime/src/rate.cpp ros-roscpp-core-0.6.0/rostime/src/rate.cpp
--- ros-roscpp-core-0.5.6/rostime/src/rate.cpp	2015-05-20 23:56:11.000000000 +0000
+++ ros-roscpp-core-0.6.0/rostime/src/rate.cpp	2016-03-17 21:44:05.000000000 +0000
@@ -83,7 +83,8 @@
     {
       start_ = actual_end;
     }
-    return true;
+    // return false to show that the desired rate was not met
+    return false;
   }
 
   return sleep_time.sleep();
@@ -107,7 +108,7 @@
 
 WallRate::WallRate(const Duration& d)
 : start_(WallTime::now())
-, expected_cycle_time_(1.0 / d.toSec())
+, expected_cycle_time_(d.sec, d.nsec)
 , actual_cycle_time_(0.0)
 {}
 
@@ -141,7 +142,7 @@
     {
       start_ = actual_end;
     }
-    return true;
+    return false;
   }
 
   return sleep_time.sleep();
diff -Nru ros-roscpp-core-0.5.6/rostime/src/time.cpp ros-roscpp-core-0.6.0/rostime/src/time.cpp
--- ros-roscpp-core-0.5.6/rostime/src/time.cpp	2015-05-20 23:56:11.000000000 +0000
+++ ros-roscpp-core-0.6.0/rostime/src/time.cpp	2016-03-17 21:44:05.000000000 +0000
@@ -404,9 +404,11 @@
             end = TIME_MAX;
           }
 
+        bool rc = false;
         while (!g_stopped && (Time::now() < end))
           {
             ros_wallsleep(0, 1000000);
+            rc = true;
 
             // If we started at time 0 wait for the first actual time to arrive before starting the timer on
             // our sleep
@@ -423,7 +425,7 @@
               }
           }
 
-        return true;
+        return rc && !g_stopped;
       }
   }
 
diff -Nru ros-roscpp-core-0.5.6/rostime/test/duration.cpp ros-roscpp-core-0.6.0/rostime/test/duration.cpp
--- ros-roscpp-core-0.5.6/rostime/test/duration.cpp	1970-01-01 00:00:00.000000000 +0000
+++ ros-roscpp-core-0.6.0/rostime/test/duration.cpp	2016-03-17 21:44:05.000000000 +0000
@@ -0,0 +1,54 @@
+/*
+ * Copyright (c) 2016, Open Source Robotics Foundation, Inc..
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of Willow Garage, Inc. nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include <gtest/gtest.h>
+#include <ros/duration.h>
+#include <ros/time.h>
+
+using namespace ros;
+
+TEST(Duration, sleepWithSimTime)
+{
+  ros::Time::init();
+
+  Time start = Time::now();
+  start -= Duration(2.0);
+  Time::setNow(start);
+
+  Time::shutdown();
+
+  Duration d(1.0);
+  bool rc = d.sleep();
+  ASSERT_FALSE(rc);
+}
+
+int main(int argc, char **argv){
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}
diff -Nru ros-roscpp-core-0.5.6/rostime/test/time.cpp ros-roscpp-core-0.6.0/rostime/test/time.cpp
--- ros-roscpp-core-0.5.6/rostime/test/time.cpp	2015-05-20 23:56:11.000000000 +0000
+++ ros-roscpp-core-0.6.0/rostime/test/time.cpp	2016-03-17 21:44:05.000000000 +0000
@@ -428,10 +428,11 @@
   alarm(1);
   Time start = Time::now();
   Duration d(2.0);
-  d.sleep();
+  bool rc = d.sleep();
   Time end = Time::now();
 
   ASSERT_GT(end - start, d);
+  ASSERT_TRUE(rc);
 }
 
 TEST(Rate, constructFromDuration){
@@ -440,6 +441,25 @@
   EXPECT_EQ(r.expectedCycleTime(), d);
 }
 
+TEST(Rate, sleep_return_value_true){
+  Rate r(Duration(0.2));
+  Duration(r.expectedCycleTime() * 0.5).sleep();
+  EXPECT_TRUE(r.sleep());
+}
+
+TEST(Rate, sleep_return_value_false){
+  Rate r(Duration(0.2));
+  Duration(r.expectedCycleTime() * 2).sleep();
+  EXPECT_FALSE(r.sleep());  // requested rate cannot be achieved
+}
+
+TEST(WallRate, constructFromDuration){
+  Duration d(4, 0);
+  WallRate r(d);
+  WallDuration wd(4, 0);
+  EXPECT_EQ(r.expectedCycleTime(), wd);
+}
+
 ///////////////////////////////////////////////////////////////////////////////////
 // WallTime/WallDuration
 ///////////////////////////////////////////////////////////////////////////////////