diff --git a/src/rospack.cpp b/src/rospack.cpp
index 929e971..0c46da0 100644
--- a/src/rospack.cpp
+++ b/src/rospack.cpp
@@ -147,6 +147,8 @@ class Stackage
     std::string manifest_path_;
     // \brief filename of the stackage manifest
     std::string manifest_name_;
+    // \brief package's license with a support for multi-license.
+    std::vector<std::string> licenses_;
     // \brief have we already loaded the manifest?
     bool manifest_loaded_;
     // \brief TinyXML structure, filled in during parsing
@@ -182,6 +184,12 @@ class Stackage
         name_ = el->GetText();
         break;
       }
+      // Get license texts, where there may be multiple elements for.
+      std::string tagname_license = "license";
+      for(TiXmlElement* el = root->FirstChildElement(tagname_license); el; el = el->NextSiblingElement(tagname_license ))
+      {
+        licenses_.push_back(el->GetText());
+      }
       // check if package is a metapackage
       for(TiXmlElement* el = root->FirstChildElement("export"); el; el = el->NextSiblingElement("export"))
       {
diff --git a/test/benchmark/measure_performace.sh b/test/benchmark/measure_performace.sh
new file mode 100755
index 0000000..f27d751
--- /dev/null
+++ b/test/benchmark/measure_performace.sh
@@ -0,0 +1,45 @@
+# Copyright (C) 2016, Open Source Robotics Foundation
+#
+# 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 names of Stanford University or Open Source Robotics Foundation. 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.
+
+function iterate_command {
+  command=${1:-"rospack profile"};
+  num_iteration=${2:-10000};
+  for i in $(seq 1 ${num_iteration}); do
+    echo "${i}th iteration.";
+    $command;
+  done
+}
+
+function measure_performance {
+  command=${1:-"rospack profile"};
+  num_iteration=${2:-100000};
+  output_filename=${3:-"straceResult_${command// /-}_${num_iteration}_`date +%Y%m%d%H%M%S`.log"};
+  echo "Command to be measured: ${command}";
+
+  export ROS_CACHE_TIMEOUT=0.0 # Needed to not use cache.
+
+  # strace doesn't easily call a function. http://unix.stackexchange.com/questions/339173/strace-not-finding-shell-function-with-cant-stat-error
+  strace -o ${output_filename} -c -Ttt bash -c "$(typeset -f iterate_command); iterate_command '${command}' $num_iteration";
+}