diff --git a/.yottaci.yml b/.yottaci.yml
index 0665b5dcee..771c2056bc 100644
--- a/.yottaci.yml
+++ b/.yottaci.yml
@@ -4,6 +4,7 @@ bitbake_ref: master
 oecore_ref: master
 localconf: |
   LICENSE_FLAGS_WHITELIST = "commercial"
+  DISTRO_FEATURES += "directfb opengl x11"
 dependencies:
   - url: git://git.openembedded.org/meta-openembedded
     ref: master
diff --git a/recipes-extended/wxwidgets/wxpython_2.9.5.0.bb b/recipes-extended/wxwidgets/wxpython_3.0.2.0.bb
similarity index 77%
rename from recipes-extended/wxwidgets/wxpython_2.9.5.0.bb
rename to recipes-extended/wxwidgets/wxpython_3.0.2.0.bb
index 5b92565f79..836e63b491 100644
--- a/recipes-extended/wxwidgets/wxpython_2.9.5.0.bb
+++ b/recipes-extended/wxwidgets/wxpython_3.0.2.0.bb
@@ -7,14 +7,14 @@ LIC_FILES_CHKSUM = "file://licence/licence.txt;md5=18346072db6eb834b6edbd2cdc4f1
 DEPENDS = "wxwidgets"
 
 SRC_URI = "${SOURCEFORGE_MIRROR}/wxpython/wxPython-src-${PV}.tar.bz2"
-SRC_URI[md5sum] = "a2a28fe8223391c93bf8788316767c9e"
-SRC_URI[sha256sum] = "1a5b7e771eff467538d0834136188e8a7506a4fe6e85d0a46c40158cdbd4c48c"
+SRC_URI[md5sum] = "922b02ff2c0202a7bf1607c98bbbbc04"
+SRC_URI[sha256sum] = "d54129e5fbea4fb8091c87b2980760b72c22a386cb3b9dd2eebc928ef5e8df61"
 
 S = "${WORKDIR}/wxPython-src-${PV}/wxPython"
 
 inherit pkgconfig pythonnative python-dir distutils
 
-CFLAGS += "-I${STAGING_INCDIR}/wx-2.9/ -I${STAGING_LIBDIR}/wx/include/${TARGET_PREFIX}gtk2-unicode-2.9/"
+CFLAGS += "-I${STAGING_INCDIR}/wx-3.0/ -I${STAGING_LIBDIR}/wx/include/${TARGET_PREFIX}gtk2-unicode-3.0/"
 CFLAGS += "-std=gnu++11"
 
 # Enable output on stdout for buildpaths
diff --git a/recipes-extended/wxwidgets/wxwidgets_2.9.5.bb b/recipes-extended/wxwidgets/wxwidgets_3.0.3.bb
similarity index 74%
rename from recipes-extended/wxwidgets/wxwidgets_2.9.5.bb
rename to recipes-extended/wxwidgets/wxwidgets_3.0.3.bb
index 1996556186..088238aec0 100644
--- a/recipes-extended/wxwidgets/wxwidgets_2.9.5.bb
+++ b/recipes-extended/wxwidgets/wxwidgets_3.0.3.bb
@@ -4,11 +4,11 @@ HOMEPAGE = "http://www.wxwidgets.org"
 LICENSE = "WXwindows"
 LIC_FILES_CHKSUM = "file://docs/licence.txt;md5=18346072db6eb834b6edbd2cdc4f109b"
 
-DEPENDS = "webkit-gtk gstreamer gtk+ jpeg tiff libpng zlib expat libxinerama libglu"
+DEPENDS = "webkitgtk gstreamer gtk+ jpeg tiff libpng zlib expat libxinerama libglu"
 
-SRC_URI = "${SOURCEFORGE_MIRROR}/wxwindows/wxWidgets-${PV}.tar.bz2"
-SRC_URI[md5sum] = "e98c5f92805493f150656403ffef3bb0"
-SRC_URI[sha256sum] = "b74ba96ca537cc5d049d21ec9ab5eb2670406a4aa9f1ea4845ea84a9955a6e02"
+SRC_URI = "https://github.com/wxWidgets/wxWidgets/releases/download/v${PV}/wxWidgets-${PV}.tar.bz2"
+SRC_URI[md5sum] = "ba23578300f33eeb26bc75894b9aaf11"
+SRC_URI[sha256sum] = "08c8033f48ec1b23520f036cde37b5ae925a6a65f137ded665633ca159b9307b"
 
 S = "${WORKDIR}/wxWidgets-${PV}"
 
@@ -40,9 +40,11 @@ do_install_prepend() {
 
 # wx-config doesn't handle the suffixed libwx_media, xrc, etc, make a compat symlink
 do_install_append() {
-	for lib in adv aui core html media propgrid qa ribbon richtext stc webview xrc ; do
-		ln -sf libwx_gtk2u_$lib-2.9.so.5.0.0 ${D}${libdir}/libwx_gtk2u_$lib-2.9.so
+	for lib in adv aui core gl html media propgrid qa ribbon richtext stc xrc ; do
+		ln -sf libwx_gtk2u_$lib-3.0.so.0.3.0 ${D}${libdir}/libwx_gtk2u_$lib-3.0.so
 	done
+	rm ${D}${bindir}/wx-config
+	cp -f ${S}/wx-config ${D}${bindir}/wx-config
 }
 
 SYSROOT_PREPROCESS_FUNCS += "wxwidgets_sysroot_preprocess"
diff --git a/recipes-ros/packagegroups/packagegroup-ros-world.bb b/recipes-ros/packagegroups/packagegroup-ros-world.bb
index 2e44281f77..9ddeeceb90 100644
--- a/recipes-ros/packagegroups/packagegroup-ros-world.bb
+++ b/recipes-ros/packagegroups/packagegroup-ros-world.bb
@@ -194,11 +194,11 @@ RDEPENDS_${PN} = "\
     mavros \
     mavros-extras \
     mavlink \
+    joint-state-publisher \
 "
 
 # kdl-parser-py requires python-orocos-kdl, which current fails due to #469.
 # urdfdom-headers is an empty deploy package.
 # image-view requires gtk+, but it cannot be found by cmake for some reason.
 # sound-play requires python-gst (which is not available in any layers' master branch)
-# joint-state-publisher requires opengl distro feature and has further issues building.
 # freenect-camera and freenect-launch requires opengl distro feature.
diff --git a/recipes-ros/robot-model/joint-state-publisher_1.11.14.bb b/recipes-ros/robot-model/joint-state-publisher_1.11.14.bb
index 1839fd3a52..87c08a323c 100644
--- a/recipes-ros/robot-model/joint-state-publisher_1.11.14.bb
+++ b/recipes-ros/robot-model/joint-state-publisher_1.11.14.bb
@@ -2,7 +2,7 @@ DESCRIPTION = "This package contains a tool for setting and publishing \
 joint state values for a given URDF."
 SECTION = "devel"
 LICENSE = "BSD"
-LIC_FILES_CHKSUM = "file://package.xml;beginline=9;endline=9;md5=d566ef916e9dedc494f5f793a6690ba5"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=12;endline=12;md5=d566ef916e9dedc494f5f793a6690ba5"
 
 DEPENDS = "rospy wxpython sensor-msgs"