diff --git a/.gitignore b/.gitignore
index e69de29..66e6c1e 100644
--- a/.gitignore
+++ b/.gitignore
@@ -0,0 +1 @@
+/ompl-0.9.3-Source.tar.gz
diff --git a/ompl-0.9.3.fixinstall.patch b/ompl-0.9.3.fixinstall.patch
new file mode 100644
index 0000000..48f3003
--- /dev/null
+++ b/ompl-0.9.3.fixinstall.patch
@@ -0,0 +1,12 @@
+diff -up ./src/ompl/CMakeLists.txt.fixinstall ./src/ompl/CMakeLists.txt
+--- ./src/ompl/CMakeLists.txt.fixinstall	2011-05-15 20:36:58.604995907 -0400
++++ ./src/ompl/CMakeLists.txt	2011-05-15 20:37:24.203868735 -0400
+@@ -79,7 +79,7 @@ else(OMPL_IN_ROS)
+ endif(OMPL_IN_ROS)
+ 
+ # install the library
+-install(TARGETS ompl DESTINATION lib/)
++install(TARGETS ompl DESTINATION lib${LIB_SUFFIX}/)
+ get_target_property(OMPL_LIBRARY_LOC ompl LOCATION)
+ add_custom_command(TARGET ompl POST_BUILD
+     COMMAND ${CMAKE_COMMAND} -E copy "${OMPL_LIBRARY_LOC}"
diff --git a/ompl.spec b/ompl.spec
new file mode 100644
index 0000000..acb449c
--- /dev/null
+++ b/ompl.spec
@@ -0,0 +1,90 @@
+Name:           ompl
+Version:        0.9.3
+Release:        2%{?dist}
+Summary:        The Open Motion Planning Library
+
+Group:          System Environment/Libraries
+License:        BSD
+URL:            http://ompl.kavrakilab.org/
+Source0:        http://downloads.sourceforge.net/%{name}/%{name}-%{version}-Source.tar.gz
+# This patch adds LIB_SUFFIX to the library installation directory, so that
+# libraries get installed to /usr/lib64 on 64 bit systems.
+# Not yet submitted upstream
+Patch0:         ompl-0.9.3.fixinstall.patch
+
+BuildRequires:  boost-devel >= 1.42.0
+BuildRequires:  cmake >= 2.8.2
+BuildRequires:  doxygen
+BuildRequires:  graphviz
+BuildRequires:  ode-devel
+BuildRequires:  python
+BuildRequires:  ruby
+
+%description
+The Open Motion Planning Library (OMPL) consists of many state-of-the-art 
+sampling-based motion planning algorithms. OMPL itself does not contain 
+any code related to, e.g., collision checking or visualization. This is 
+a deliberate design choice, so that OMPL is not tied to a particular 
+collision checker or visualization front end.
+
+%package        devel
+Summary:        Development files for %{name}
+Group:          Development/Libraries
+Requires:       %{name} = %{version}-%{release}
+
+%description    devel
+The %{name}-devel package contains libraries and header files for
+developing applications that use %{name}.
+
+
+%prep
+%setup -q -n %{name}-%{version}-Source
+%patch0 -p0 -b .fixinstalldir
+
+%build
+# Python bindings are disabled because dependencies pygccxml and pyplusplus are not packaged for Fedora
+%cmake -DCMAKE_SKIP_RPATH=ON -DOMPL_BUILD_PYBINDINGS=OFF -DBOOST_LIBRARYDIR=%{_libdir} -DODE_LIB_PATH=%{_libdir}
+make %{?_smp_mflags}
+make doc
+rm -f doc/html/installdox
+
+%install
+make install DESTDIR=%{buildroot}
+
+rm -f %{buildroot}%{_datadir}/%{name}/demos/*.py
+rm -rf %{buildroot}%{_includedir}/%{name}/CMakeFiles
+
+
+%post -p /sbin/ldconfig
+
+%postun -p /sbin/ldconfig
+
+
+%files
+%defattr(-,root,root,-)
+%doc LICENSE README.txt
+%{_libdir}/libompl.so.*
+
+%files devel
+%defattr(-,root,root,-)
+%doc doc/html
+%{_libdir}/libompl.so
+%{_includedir}/%{name}
+%{_datadir}/%{name}
+
+
+%changelog
+* Thu Jul 21 2011 Rich Mattes <richmattes@gmail.com> - 0.9.3-2
+- Add python build requirement
+
+* Sun May 15 2011 Rich Mattes <richmattes@gmail.com> - 0.9.3-1
+- Update to 0.9.3
+- Remove upstreamed patches
+
+* Sun Apr 24 2011 Rich Mattes <richmattes@gmail.com> - 0.9.2-2
+- Add patch to fix missing soname
+- Removed CMakeFiles being installed in the includedir
+- Fixed download directory
+
+* Sun Jan 23 2011 Rich Mattes <richmattes@gmail.com> - 0.9.2-1
+- Initial Package
diff --git a/sources b/sources
index e69de29..1a691e4 100644
--- a/sources
+++ b/sources
@@ -0,0 +1 @@
+b95b4b3a6eebc15a668a52a133384cc1  ompl-0.9.3-Source.tar.gz