This is The Linux UPnP Internet Gateway Device 2. It is modified from the original Linux UPnP Internet Gateway Device [http://linux-igd.sourceforge.net/] according to UPnP InternetGatewayDevice:2 specifications. It has been imported from https://gitorious.org/igd2-for-linux.
upnpd[4605]: UPnP SDK Successfully Initialized.
upnpd[4605]: Succesfully set the Web Server Root Directory.
upnpd[4605]: IPv6 Error registering the root device with descDocUrl: http://[2002:f000:barr:0001:0000:0000:0000:0001]:49152/gatedesc.xml
upnpd[4605]: UpnpRegisterRootDevice returned -204