diff --git a/classes/catkin.bbclass b/classes/catkin.bbclass
new file mode 100644
index 0000000000000000000000000000000000000000..47f396a562d03a576b9661240b555551bd412305
--- /dev/null
+++ b/classes/catkin.bbclass
@@ -0,0 +1,49 @@
+#
+# Copyright (c) 2013 Stefan Herbrechtsmeier, Bielefeld University
+# 
+
+inherit cmake distutils-base
+
+DEPENDS_prepend = "${@['catkin-native ', ''][d.getVar('BPN', True) == 'catkin']}"
+
+
+EXTRA_OECMAKE_CATKIN = "\
+    -DCMAKE_PREFIX_PATH='${STAGING_DIR_HOST}/usr;${STAGING_DIR_NATIVE}/usr' \
+    "
+
+EXTRA_OECMAKE_CATKIN_class-native = "\
+    -DCMAKE_PREFIX_PATH=${STAGING_DIR_NATIVE}/usr \
+    -DRT_LIBRARY=${libdir_native} \
+    "
+
+EXTRA_OECMAKE_prepend = "\
+    ${EXTRA_OECMAKE_CATKIN} \
+    -DCATKIN_BUILD_BINARY_PACKAGE=ON \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    "
+
+export BUILD_SYS
+export HOST_SYS
+
+FILES_SOLIBSDEV = ""
+FILES_${PN} += "${libdir}/lib*${SOLIBSDEV}"
+
+ROS_BPN = "${@d.getVar('BPN', True).replace('-', '_')}"
+ROS_BP = "${BPN}-${PV}"
+
+FILES_${PN} += "\
+    ${prefix}/etc \
+    ${datadir}/${BPN}/conf \
+    ${datadir}/${BPN}/scripts \
+    ${datadir}/${ROS_BPN}/conf \
+    ${datadir}/${ROS_BPN}/scripts \
+    "
+
+FILES_${PN}-dev += "\
+    ${datadir}/${BPN}/cmake \
+    ${datadir}/${BPN}/package.xml \
+    ${datadir}/${BPN}/*.template \
+    ${datadir}/${ROS_BPN}/cmake \
+    ${datadir}/${ROS_BPN}/package.xml \
+    ${datadir}/${ROS_BPN}/*.template \
+    "
diff --git a/classes/distutils.bbclass b/classes/distutils.bbclass
deleted file mode 100644
index f67297e3ba3441a727966829766ca56e9c6d4c92..0000000000000000000000000000000000000000
--- a/classes/distutils.bbclass
+++ /dev/null
@@ -1,74 +0,0 @@
-inherit distutils-base
-
-DISTUTILS_BUILD_ARGS ?= ""
-DISTUTILS_STAGE_HEADERS_ARGS ?= "--install-dir=${STAGING_INCDIR}/${PYTHON_DIR}"
-DISTUTILS_STAGE_ALL_ARGS ?= "--prefix=${STAGING_DIR_HOST}${prefix} \
-    --install-data=${STAGING_DATADIR}"
-DISTUTILS_INSTALL_ARGS ?= "--prefix=${D}/${prefix} \
-    --install-data=${D}/${datadir}"
-
-distutils_do_compile() {
-         STAGING_INCDIR=${STAGING_INCDIR} \
-         STAGING_LIBDIR=${STAGING_LIBDIR} \
-         BUILD_SYS=${BUILD_SYS} HOST_SYS=${HOST_SYS} \
-         ${STAGING_BINDIR_NATIVE}/python-native/python setup.py build ${DISTUTILS_BUILD_ARGS} || \
-         bbfatal "python setup.py build_ext execution failed."
-}
-
-distutils_stage_headers() {
-        install -d ${STAGING_DIR_HOST}${PYTHON_SITEPACKAGES_DIR}
-        BUILD_SYS=${BUILD_SYS} HOST_SYS=${HOST_SYS} \
-        ${STAGING_BINDIR_NATIVE}/python-native/python setup.py install_headers ${DISTUTILS_STAGE_HEADERS_ARGS} || \
-        bbfatal "python setup.py install_headers execution failed."
-}
-
-distutils_stage_all() {
-        STAGING_INCDIR=${STAGING_INCDIR} \
-        STAGING_LIBDIR=${STAGING_LIBDIR} \
-        install -d ${STAGING_DIR_HOST}${PYTHON_SITEPACKAGES_DIR}
-        PYTHONPATH=${STAGING_DIR_HOST}${PYTHON_SITEPACKAGES_DIR} \
-        BUILD_SYS=${BUILD_SYS} HOST_SYS=${HOST_SYS} \
-        ${STAGING_BINDIR_NATIVE}/python-native/python setup.py install ${DISTUTILS_STAGE_ALL_ARGS} || \
-        bbfatal "python setup.py install (stage) execution failed."
-}
-
-distutils_do_install() {
-        install -d ${D}${PYTHON_SITEPACKAGES_DIR}
-        STAGING_INCDIR=${STAGING_INCDIR} \
-        STAGING_LIBDIR=${STAGING_LIBDIR} \
-        PYTHONPATH=${D}/${PYTHON_SITEPACKAGES_DIR} \
-        BUILD_SYS=${BUILD_SYS} HOST_SYS=${HOST_SYS} \
-        ${STAGING_BINDIR_NATIVE}/python-native/python setup.py install --install-lib=${D}/${PYTHON_SITEPACKAGES_DIR} ${DISTUTILS_INSTALL_ARGS} || \
-        bbfatal "python setup.py install execution failed."
-
-        for i in `find ${D} -name "*.py"` ; do \
-            sed -i -e s:${D}::g $i
-        done
-
-        if test -e ${D}${bindir} ; then	
-            for i in ${D}${bindir}/* ; do \
-                sed -i -e s:${STAGING_BINDIR_NATIVE}/python-native/python:${bindir}/python:g $i
-                sed -i -e s:${STAGING_BINDIR_NATIVE}:${bindir}:g $i
-            done
-        fi
-
-        if test -e ${D}${sbindir}; then
-            for i in ${D}${sbindir}/* ; do \
-                sed -i -e s:${STAGING_BINDIR_NATIVE}/python-native/python:${bindir}/python:g $i
-                sed -i -e s:${STAGING_BINDIR_NATIVE}:${bindir}:g $i
-            done
-        fi
-
-        rm -f ${D}${PYTHON_SITEPACKAGES_DIR}/easy-install.pth
-        
-        #
-        # FIXME: Bandaid against wrong datadir computation
-        #
-        if test -e ${D}${datadir}/share; then
-            mv -f ${D}${datadir}/share/* ${D}${datadir}/
-        fi
-}
-
-EXPORT_FUNCTIONS do_compile do_install
-
-export LDSHARED="${CCLD} -shared"
diff --git a/recipes-ros/catkin/catkin/0001-catkin_package-use-relative-paths-in-PKG_CFG_EXTRAS.patch b/recipes-ros/catkin/catkin/0001-catkin_package-use-relative-paths-in-PKG_CFG_EXTRAS.patch
new file mode 100644
index 0000000000000000000000000000000000000000..780437af4bb61c78ef322f3b6833c8caf2eb66cd
--- /dev/null
+++ b/recipes-ros/catkin/catkin/0001-catkin_package-use-relative-paths-in-PKG_CFG_EXTRAS.patch
@@ -0,0 +1,57 @@
+From 812453c0fcd2db5b562b568c8e844a2b7764dc4e Mon Sep 17 00:00:00 2001
+From: Stefan Herbrechtsmeier <stefan@herbrechtsmeier.net>
+Date: Thu, 14 Feb 2013 11:46:34 +0100
+Subject: [PATCH 1/2] catkin_package: use relative paths in PKG_CFG_EXTRAS
+
+---
+ cmake/catkin_package.cmake         |    6 +++---
+ cmake/templates/pkgConfig.cmake.in |    6 +++++-
+ 2 files changed, 8 insertions(+), 4 deletions(-)
+
+diff --git a/cmake/catkin_package.cmake b/cmake/catkin_package.cmake
+index 73fc5bb..ee107c7 100644
+--- a/cmake/catkin_package.cmake
++++ b/cmake/catkin_package.cmake
+@@ -284,13 +284,13 @@ function(_catkin_package)
+         ${CMAKE_CURRENT_BINARY_DIR}/catkin_generated/${extra}.develspace.context.cmake.py
+         ${em_template}
+         ${CATKIN_DEVEL_PREFIX}/share/${PROJECT_NAME}/cmake/${extra})
+-      list(APPEND PKG_CFG_EXTRAS ${CATKIN_DEVEL_PREFIX}/share/${PROJECT_NAME}/cmake/${extra})
++      list(APPEND PKG_CFG_EXTRAS ${extra})
+     elseif(EXISTS ${base}.in)
+       configure_file(${base}.in
+         ${CATKIN_DEVEL_PREFIX}/share/${PROJECT_NAME}/cmake/${extra}
+         @ONLY
+       )
+-      list(APPEND PKG_CFG_EXTRAS ${CATKIN_DEVEL_PREFIX}/share/${PROJECT_NAME}/cmake/${extra})
++      list(APPEND PKG_CFG_EXTRAS ${extra})
+     else()
+       message(FATAL_ERROR "catkin_package() could not find CFG_EXTRAS file.  Either 'cmake/${extra}', 'cmake/${extra}.em', 'cmake/${extra}.develspace.em' or 'cmake/${extra}.in' must exist.")
+     endif()
+@@ -376,7 +376,7 @@ function(_catkin_package)
+     else()
+       message(FATAL_ERROR "catkin_package() could not find CFG_EXTRAS file.  Either 'cmake/${extra}', 'cmake/${extra}.em', 'cmake/${extra}.installspace.em' or 'cmake/${extra}.in' must exist.")
+     endif()
+-    list(APPEND PKG_CFG_EXTRAS ${CMAKE_INSTALL_PREFIX}/share/${PROJECT_NAME}/cmake/${extra})
++    list(APPEND PKG_CFG_EXTRAS ${extra})
+   endforeach()
+   install(FILES
+     ${installable_cfg_extras}
+diff --git a/cmake/templates/pkgConfig.cmake.in b/cmake/templates/pkgConfig.cmake.in
+index 6ed4f96..8e451de 100644
+--- a/cmake/templates/pkgConfig.cmake.in
++++ b/cmake/templates/pkgConfig.cmake.in
+@@ -155,5 +155,9 @@ if(@PROJECT_NAME@_LIBRARIES)
+ endif()
+ 
+ foreach(extra @PKG_CFG_EXTRAS@)
+-  include(${extra})
++  if(IS_ABSOLUTE ${extra})
++    include(${extra})
++  else()
++    include(${CMAKE_CURRENT_LIST_DIR}/${extra})
++  endif()
+ endforeach()
+-- 
+1.7.0.4
+
diff --git a/recipes-ros/catkin/catkin/0002-catkinConfig-use-curent-path-for-catkin_EXTRA_DIR.patch b/recipes-ros/catkin/catkin/0002-catkinConfig-use-curent-path-for-catkin_EXTRA_DIR.patch
new file mode 100644
index 0000000000000000000000000000000000000000..12d2cabf9a096ff49ae8143af265ec7bc5fbaf7b
--- /dev/null
+++ b/recipes-ros/catkin/catkin/0002-catkinConfig-use-curent-path-for-catkin_EXTRA_DIR.patch
@@ -0,0 +1,35 @@
+From fcdeade11a2d2e882512fcbaa0ea32bc0d5fd6d0 Mon Sep 17 00:00:00 2001
+From: Stefan Herbrechtsmeier <stefan@herbrechtsmeier.net>
+Date: Fri, 15 Feb 2013 13:06:36 +0100
+Subject: [PATCH 2/2] catkinConfig: use curent path for catkin_EXTRA_DIR
+
+Signed-off-by: Stefan Herbrechtsmeier <stefan@herbrechtsmeier.net>
+---
+ cmake/catkin_package.cmake |    4 ++--
+ 1 files changed, 2 insertions(+), 2 deletions(-)
+
+diff --git a/cmake/catkin_package.cmake b/cmake/catkin_package.cmake
+index ee107c7..8b2bf2c 100644
+--- a/cmake/catkin_package.cmake
++++ b/cmake/catkin_package.cmake
+@@ -255,7 +255,7 @@ function(_catkin_package)
+   # prepend library path of this workspace
+   set(PKG_CONFIG_LIB_PATHS ${lib_paths})
+   list(INSERT PKG_CONFIG_LIB_PATHS 0 ${PROJECT_SPACE_DIR}/lib)
+-  set(PKG_CMAKE_DIR ${PROJECT_SPACE_DIR}/share/${PROJECT_NAME}/cmake)
++  set(PKG_CMAKE_DIR "\${CMAKE_CURRENT_LIST_DIR}")
+   if("${PROJECT_NAME}" STREQUAL "catkin")
+     set(PKG_CMAKE_DIR "${catkin_EXTRAS_DIR}")
+   endif()
+@@ -336,7 +336,7 @@ function(_catkin_package)
+   # prepend library path of this workspace
+   set(PKG_CONFIG_LIB_PATHS ${lib_paths})
+   list(INSERT PKG_CONFIG_LIB_PATHS 0 ${PROJECT_SPACE_DIR}/lib)
+-  set(PKG_CMAKE_DIR ${PROJECT_SPACE_DIR}/share/${PROJECT_NAME}/cmake)
++  set(PKG_CMAKE_DIR "\${CMAKE_CURRENT_LIST_DIR}")
+ 
+   # ensure that output folder exists
+   file(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/catkin_generated/installspace)
+-- 
+1.7.0.4
+
diff --git a/recipes-ros/catkin/catkin/catkin-change_default_for_debsetuptools.patch b/recipes-ros/catkin/catkin/catkin-change_default_for_debsetuptools.patch
deleted file mode 100644
index 5b2f4f594f7e27a65927dc6c835bc58468ba9dc4..0000000000000000000000000000000000000000
--- a/recipes-ros/catkin/catkin/catkin-change_default_for_debsetuptools.patch
+++ /dev/null
@@ -1,20 +0,0 @@
-diff -cr a/cmake/python.cmake b/cmake/python.cmake
-*** a/cmake/python.cmake	2012-12-22 03:30:48.000000000 +0100
---- b/cmake/python.cmake	2013-01-11 09:25:35.790346760 +0100
-***************
-*** 6,12 ****
-  set(PYTHON_VERSION_XDOTY ${PYTHON_VERSION_XDOTY} CACHE STRING "Python version")
-  
-  #This should be resolved automatically one day...
-! option(SETUPTOOLS_DEB_LAYOUT "ON for debian style python packages layout" ON)
-  
-  if(APPLE OR MSVC)
-    set(SETUPTOOLS_DEB_LAYOUT OFF)
---- 6,12 ----
-  set(PYTHON_VERSION_XDOTY ${PYTHON_VERSION_XDOTY} CACHE STRING "Python version")
-  
-  #This should be resolved automatically one day...
-! option(SETUPTOOLS_DEB_LAYOUT "ON for debian style python packages layout" OFF)
-  
-  if(APPLE OR MSVC)
-    set(SETUPTOOLS_DEB_LAYOUT OFF)
diff --git a/recipes-ros/catkin/catkin/catkin-remove_assertion_for_rt_library.patch b/recipes-ros/catkin/catkin/catkin-remove_assertion_for_rt_library.patch
deleted file mode 100644
index 8042ce0d898a70e5c74e8e510e6ab1aea519617f..0000000000000000000000000000000000000000
--- a/recipes-ros/catkin/catkin/catkin-remove_assertion_for_rt_library.patch
+++ /dev/null
@@ -1,21 +0,0 @@
-diff -crB a/cmake/tools/rt.cmake b/cmake/tools/rt.cmake
-*** a/cmake/tools/rt.cmake	2012-12-22 03:30:48.000000000 +0100
---- b/cmake/tools/rt.cmake	2013-01-31 08:09:48.789321920 +0100
-***************
-*** 39,45 ****
-      set(RT_LIBRARY rt CACHE FILEPATH "Hacked find of rt for cmake < 2.8.4")
-    else()
-      find_library(RT_LIBRARY rt)
-!     assert_file_exists(${RT_LIBRARY} "RT Library")
-    endif()
-    #message(STATUS "RT_LIBRARY: ${RT_LIBRARY}")
-  endif()
---- 39,45 ----
-      set(RT_LIBRARY rt CACHE FILEPATH "Hacked find of rt for cmake < 2.8.4")
-    else()
-      find_library(RT_LIBRARY rt)
-!     #assert_file_exists(${RT_LIBRARY} "RT Library")
-    endif()
-    #message(STATUS "RT_LIBRARY: ${RT_LIBRARY}")
-  endif()
-Only in b/cmake/tools: rt.cmake~
diff --git a/recipes-ros/catkin/catkin_0.5.58.bb b/recipes-ros/catkin/catkin_0.5.58.bb
index b3785d471738bd70e7d5f0a71737e97005e179ec..b4d74e54fbd6cef1f9ebae0453d9277f7d63d58d 100644
--- a/recipes-ros/catkin/catkin_0.5.58.bb
+++ b/recipes-ros/catkin/catkin_0.5.58.bb
@@ -3,26 +3,26 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=7;endline=7;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-SRC_URI = "https://github.com/ros/catkin/archive/0.5.58.tar.gz;downloadfile=catkin_0.5.58.tar.gz \
-  file://catkin-change_default_for_debsetuptools.patch \
-  file://catkin-remove_assertion_for_rt_library.patch \
-"
+DEPENDS = "cmake python-empy python-catkin-pkg"
+
+SRC_URI = "https://github.com/ros/${BPN}/archive/${PV}.tar.gz;downloadfilename=${BP}.tar.gz \
+           file://0001-catkin_package-use-relative-paths-in-PKG_CFG_EXTRAS.patch \
+           file://0002-catkinConfig-use-curent-path-for-catkin_EXTRA_DIR.patch \
+           "
+
 SRC_URI[md5sum] = "e4df85e60dc792af9324334547cc76aa"
 SRC_URI[sha256sum] = "dd99cc04eeaf16a13185dd0a2f576939fa997dfb16a40ba45068c4d2ebbcb44b"
 
-# DEPENDS = "python-setuptools"
-DEPENDS = "python-empy-native python-catkin-pkg-native python"
+inherit catkin
 
-EXTRA_OECMAKE = "-DSETUPTOOLS_DEB_LAYOUT=OFF"
+FILES_${PN}-dev += "\
+    ${datadir}/eigen/cmake \
+    ${datadir}/ros/cmake \
+    ${prefix}/.catkin \
+    ${prefix}/.rosinstall \
+    ${prefix}/_setup_util.py \
+    ${prefix}/env.sh \
+    ${prefix}/setup.* \
+    "
 
 BBCLASSEXTEND += "native"
-inherit cmake pythonnative python-dir
-
-FILES_${PN} += "${libdir}/${PYTHON_DIR}/* ${PYTHON_SITEPACKAGES_DIR}/*"
-# FILES_${PN}-dev += "${libdir}/${PYTHON_DIR}/* ${PYTHON_SITEPACKAGES_DIR}/*"
-
-export BUILD_SYS
-export HOST_SYS
-export STAGING_LIBDIR
-export STAGING_INCDIR
-
diff --git a/recipes-ros/gencpp/gencpp_0.4.11.bb b/recipes-ros/gencpp/gencpp_0.4.11.bb
index 394bed16a0c596bdff89803c2302beefc185e0c6..574530b1033d556bf9f4f87f0739b50530416cf0 100644
--- a/recipes-ros/gencpp/gencpp_0.4.11.bb
+++ b/recipes-ros/gencpp/gencpp_0.4.11.bb
@@ -3,23 +3,10 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=7;endline=7;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-SRC_URI = "https://github.com/ros-gbp/gencpp-release/archive/release/gencpp/0.4.11.tar.gz;downloadfilename=gencpp_0.4.11.tar.gz"
-SRC_URI[md5sum] = "7a3e28fb0719805aa3a2059b6b0514fd"
-SRC_URI[sha256sum] = "63258067e6c2ba034bfbcf6aaf396eb36c3c407023d7db0de1af774bbb12b6a9"
+DEPENDS = "genmsg"
 
-S = "${WORKDIR}/gencpp-release-release-gencpp-0.4.11"
+SRC_URI = "https://github.com/ros/${BPN}/archive/${PV}.tar.gz;downloadfilename=${BP}.tar.gz"
+SRC_URI[md5sum] = "be0b3986e98f3370fef4c1fffe3a69f4"
+SRC_URI[sha256sum] = "c68b4518dbc5d65fd19d43724e5c9b0e66c769ef6066e3d511a6ffce2623f3c7"
 
-DEPENDS = "catkin-native genmsg"
-
-FILES_${PN} += "${libdir}/*"
-
-inherit cmake pythonnative
-
-EXTRA_OECMAKE = " \
-  -Dgenmsg_DIR=${STAGING_DATADIR}/genmsg/cmake/ \
-  "
-
-export BUILD_SYS
-export HOST_SYS
-export STAGING_LIBDIR
-export STAGING_INCDIR
+inherit catkin
diff --git a/recipes-ros/genlisp/genlisp_0.4.10.bb b/recipes-ros/genlisp/genlisp_0.4.10.bb
index 62b700d13b78ba5389b84efbcc2333a7c2259034..cf39779e63165fcffaffd5256403bab567d7e3c2 100644
--- a/recipes-ros/genlisp/genlisp_0.4.10.bb
+++ b/recipes-ros/genlisp/genlisp_0.4.10.bb
@@ -3,24 +3,10 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=9;endline=9;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-SRC_URI = "https://github.com/ros-gbp/genlisp-release/archive/release/genlisp/0.4.10.tar.gz;downloadfilename=genlisp_0.4.10.tar.gz"
-SRC_URI[md5sum] = "ce2d424a6e0496248dc2dd0c1c383f12"
-SRC_URI[sha256sum] = "d9be2ac2c64f05745ca7716bfea0e3e5857554f4caf769c8550e3502d5fc257d"
+DEPENDS = "genmsg"
 
-S = "${WORKDIR}/genlisp-release-release-genlisp-0.4.10"
-
-DEPENDS = "catkin-native genmsg"
-
-FILES_${PN} += "${libdir}/*"
-
-inherit cmake pythonnative
-
-EXTRA_OECMAKE = " \
-  -Dgenmsg_DIR=${STAGING_DATADIR}/genmsg/cmake/ \
-  "
-
-export BUILD_SYS
-export HOST_SYS
-export STAGING_LIBDIR
-export STAGING_INCDIR
+SRC_URI = "https://github.com/ros/${BPN}/archive/${PV}.tar.gz;downloadfilename=${BP}.tar.gz"
+SRC_URI[md5sum] = "ae3026fd36a31d286f79a9111450adfa"
+SRC_URI[sha256sum] = "13f606f23eec18c0f653a259d972d9bdb13251111e4af280830a961a4858c475"
 
+inherit catkin
diff --git a/recipes-ros/genmsg/genmsg_0.4.17.bb b/recipes-ros/genmsg/genmsg_0.4.17.bb
index 7dd30a73a340958054440c83f6c90da83b87639b..5a885b357a70f10ce2679fdc846844956c853503 100644
--- a/recipes-ros/genmsg/genmsg_0.4.17.bb
+++ b/recipes-ros/genmsg/genmsg_0.4.17.bb
@@ -3,20 +3,8 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=9;endline=9;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-SRC_URI = "https://github.com/ros-gbp/genmsg-release/archive/release/genmsg/0.4.17.tar.gz;downloadfilename=genmsg_0.4.17.tar.gz"
-SRC_URI[md5sum] = "cd88647b1f37987e75a543ff826dbfcb"
-SRC_URI[sha256sum] = "12509645b02dbe8180321fc263abb45feded4cc1172eb485a2780ed93607e64e"
-
-S = "${WORKDIR}/genmsg-release-release-genmsg-0.4.17"
-
-DEPENDS = "catkin-native"
-
-FILES_${PN} += "${libdir}/*"
-
-inherit distutils cmake pythonnative
-
-export BUILD_SYS
-export HOST_SYS
-export STAGING_LIBDIR
-export STAGING_INCDIR
+SRC_URI = "https://github.com/ros/${BPN}/archive/${PV}.tar.gz;downloadfilename=${BP}.tar.gz"
+SRC_URI[md5sum] = "de385f1796bf025915ed7b20e1e1acc4"
+SRC_URI[sha256sum] = "e510caa7692a4b0a0948688b9d2d8f6ff2f329980d7f78787276afec030806b7"
 
+inherit  catkin 
diff --git a/recipes-ros/genpy/genpy_0.4.10.bb b/recipes-ros/genpy/genpy_0.4.10.bb
index bc0e6f5e4b0f670964220e4a2310e1ac89856e26..eb413cf8b1c9bf8174268f10d565b76f5ee7db42 100644
--- a/recipes-ros/genpy/genpy_0.4.10.bb
+++ b/recipes-ros/genpy/genpy_0.4.10.bb
@@ -3,24 +3,10 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=7;endline=7;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-SRC_URI = "https://github.com/ros-gbp/genpy-release/archive/release/genpy/0.4.10.tar.gz;downloadfilename=genpy_0.4.10.tar.gz"
-SRC_URI[md5sum] = "694f2e0841c81a05874cf3f5801b16c1"
-SRC_URI[sha256sum] = "00d585627d1f17090a99de3978dec2eef290bdadede397cf3588f7b2584ba975"
+DEPENDS = "genmsg"
 
-S = "${WORKDIR}/genpy-release-release-genpy-0.4.10"
-
-DEPENDS = "catkin-native genmsg"
-
-FILES_${PN} += "${libdir}/*"
-
-inherit cmake pythonnative
-
-EXTRA_OECMAKE = " \
-  -Dgenmsg_DIR=${STAGING_DATADIR}/genmsg/cmake/ \
-  "
-
-export BUILD_SYS
-export HOST_SYS
-export STAGING_LIBDIR
-export STAGING_INCDIR
+SRC_URI = "https://github.com/ros/${BPN}/archive/${PV}.tar.gz;downloadfilename=${BP}.tar.gz"
+SRC_URI[md5sum] = "23915e68167ba6d58c65920bfabd2fad"
+SRC_URI[sha256sum] = "6c77bde606c9637b0fa9e6f4ed85882e98547500a7472d2643bcc52b6c8a8b78"
 
+inherit catkin
diff --git a/recipes-ros/message-generation/message-generation_0.2.9.bb b/recipes-ros/message-generation/message-generation_0.2.9.bb
index 7b0af1e8e4768258280f21556e68040c2c6928d4..ae7df6d2050a51f4ca3cf4825f19cc2fc5944881 100644
--- a/recipes-ros/message-generation/message-generation_0.2.9.bb
+++ b/recipes-ros/message-generation/message-generation_0.2.9.bb
@@ -3,18 +3,12 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=7;endline=7;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-SRC_URI = "https://github.com/ros-gbp/message_generation-release/archive/release/message_generation/0.2.9.tar.gz;downloadfilename=message-generation_0.2.9.tar.gz"
-SRC_URI[md5sum] = "9458c88437cb9bc3f3b70dd4d67bf1f3"
-SRC_URI[sha256sum] = "c474649944ec01ad2df80dc2674d235705771cd9a9cf3794fc9490b5fe9c0d5e"
+DEPENDS = "gencpp"
 
-S = "${WORKDIR}/message_generation-release-release-message_generation-0.2.9"
+SRC_URI = "https://github.com/ros/${ROS_BPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_BP}.tar.gz"
+SRC_URI[md5sum] = "b3086fbe24cc103f412cb30d83362e36"
+SRC_URI[sha256sum] = "9ce9c5b4e995933c575f2a5cb5c4b042b39913637bca06554092a52c3bb24c12"
 
-DEPENDS = "catkin-native gencpp"
+S = "${WORKDIR}/${ROS_BPN}-${PV}"
 
-FILES_${PN} += "${libdir}/*"
-
-inherit cmake pythonnative
-
-EXTRA_OECMAKE = " \
-  -Dgencpp_DIR=${STAGING_DATADIR}/gencpp/cmake/ \
-  "
+inherit catkin
diff --git a/recipes-ros/packagegroups/packagegroup-ros-comm.bb b/recipes-ros/packagegroups/packagegroup-ros-comm.bb
new file mode 100644
index 0000000000000000000000000000000000000000..6fa2a087176ad823edfebfa950fad052dc1c90fd
--- /dev/null
+++ b/recipes-ros/packagegroups/packagegroup-ros-comm.bb
@@ -0,0 +1,30 @@
+DESCRIPTION = "ros-comm package group"
+LICENSE = "MIT"
+
+inherit packagegroup
+
+PACKAGES = "${PN}"
+
+RDEPENDS_${PN} = "\
+    rosconsole \
+    rosparam \
+    catkin \
+    genmsg \
+    rosgraph \
+    genpy \
+    rospack \
+    roslib \
+    rosunit \
+    roscpp-serialization \
+    roscpp-traits \
+    rostest \
+    message-generation \
+    cpp-common \
+    genlisp \
+    rosgraph-msgs \
+    xmlrpcpp \
+    roswtf \
+    std-msgs \
+    rostime \
+    gencpp \
+    "
diff --git a/recipes-ros/ros-comm/ros-comm.inc b/recipes-ros/ros-comm/ros-comm.inc
new file mode 100644
index 0000000000000000000000000000000000000000..66f280d9686e7e17ea219cf2e013bfb2dbb10c0f
--- /dev/null
+++ b/recipes-ros/ros-comm/ros-comm.inc
@@ -0,0 +1,5 @@
+SRC_URI = "https://github.com/ros/ros_comm/archive/${PV}.tar.gz;downloadfilename=ros_comm-${PV}.tar.gz"
+SRC_URI[md5sum] = "80b68959b8e6d5162c50a361a55d9b1a"
+SRC_URI[sha256sum] = "b0422f914ca27f928e5acacf25353cb44bd7e3be8ba8942253013fe85cc355f8"
+
+inherit catkin
diff --git a/recipes-ros/ros-comm/rosconsole_1.9.41.bb b/recipes-ros/ros-comm/rosconsole_1.9.41.bb
index c55ce897a2b9c947e6c41f7b4f5baa973bfaef50..bc251ef983ef11bc5ced113face6cecbb32f34d4 100644
--- a/recipes-ros/ros-comm/rosconsole_1.9.41.bb
+++ b/recipes-ros/ros-comm/rosconsole_1.9.41.bb
@@ -3,20 +3,8 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=6;endline=6;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-SRC_URI = "https://github.com/ros-gbp/ros_comm-release/archive/release/rosconsole/1.9.41.tar.gz;downloadfilename=rosconsole_1.9.41.tar.gz"
-SRC_URI[md5sum] = "b1aa08c225ae0f81728452e08effe933"
-SRC_URI[sha256sum] = "40c86e3121de8651dafed5238b8647347cf40be96066e5fa01a82875aff4a6d3"
+DEPENDS = "apr boost cpp-common log4cxx rostime rosunit-native"
 
-S = "${WORKDIR}/ros_comm-release-release-rosconsole-1.9.41"
+require ros-comm.inc
 
-DEPENDS = "catkin-native apr boost cpp-common log4cxx rostime rosunit"
-
-FILES_${PN} += "${libdir}/*"
-
-inherit cmake pythonnative
-
-EXTRA_OECMAKE = " \
-  -Dcpp_common_DIR=${STAGING_DATADIR}/cpp_common/cmake/ \
-  -Drostime_DIR=${STAGING_DATADIR}/rostime/cmake/ \
-  -Drosunit_DIR=${STAGING_DATADIR}/rosunit/cmake/ \
-  "
+S = "${WORKDIR}/ros_comm-${PV}/tools/${BPN}"
diff --git a/recipes-ros/ros-comm/rosgraph-msgs_1.9.41.bb b/recipes-ros/ros-comm/rosgraph-msgs_1.9.41.bb
index f39fd8d2be32a6a31e823d7b5a1193237cc55c9e..cba96c44c0ba87584e916a3a9d3496c2f560cfb3 100644
--- a/recipes-ros/ros-comm/rosgraph-msgs_1.9.41.bb
+++ b/recipes-ros/ros-comm/rosgraph-msgs_1.9.41.bb
@@ -3,19 +3,8 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-SRC_URI = "https://github.com/ros-gbp/ros_comm-release/archive/release/rosgraph_msgs/1.9.41.tar.gz;downloadfilename=rosgraph-msgs_1.9.41.tar.gz"
-SRC_URI[md5sum] = "741009a25766157ac436f836b5bf5519"
-SRC_URI[sha256sum] = "ec8302229ad51d1174c72d12f5e849c924a8e6d5a13c42fee76f7738d15405f2"
+DEPENDS = "message-generation std-msgs"
 
-S = "${WORKDIR}/ros_comm-release-release-rosgraph_msgs-1.9.41"
-
-DEPENDS = "catkin-native message-generation std-msgs"
-
-FILES_${PN} += "${libdir}/*"
-
-inherit cmake pythonnative
-
-EXTRA_OECMAKE = " \
-  -Dmessage_generation_DIR=${STAGING_DATADIR}/message_generation/cmake/ \
-  "
+require ros-comm.inc
 
+S = "${WORKDIR}/ros_comm-${PV}/messages/${ROS_BPN}"
diff --git a/recipes-ros/ros-comm/rosgraph_1.9.41.bb b/recipes-ros/ros-comm/rosgraph_1.9.41.bb
index 004e11ae45c28460b1ea651b1bb002326c7ed65f..a581207bd20dd483083ca30160277c89373d5d6b 100644
--- a/recipes-ros/ros-comm/rosgraph_1.9.41.bb
+++ b/recipes-ros/ros-comm/rosgraph_1.9.41.bb
@@ -4,23 +4,6 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=10;endline=10;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-SRC_URI = "https://github.com/ros-gbp/ros_comm-release/archive/release/rosgraph/1.9.41.tar.gz;downloadfilename=rosgraph_1.9.41.tar.gz"
-SRC_URI[md5sum] = "c4a6fe2109e36f08e00634a60efa2b46"
-SRC_URI[sha256sum] = "69c23ece0af24c68b404622bcbd224e84fa19da88cb08f80b62769849ba26e70"
-
-S = "${WORKDIR}/ros_comm-release-release-rosgraph-1.9.41"
-
-DEPENDS = "catkin-native"
-
-FILES_${PN} += "${libdir}/*"
-
-inherit cmake pythonnative
-
-EXTRA_OECMAKE = " \
-  "
-
-export BUILD_SYS
-export HOST_SYS
-export STAGING_LIBDIR
-export STAGING_INCDIR
+require ros-comm.inc
 
+S = "${WORKDIR}/ros_comm-${PV}/tools/${BPN}"
diff --git a/recipes-ros/ros-comm/rosparam_1.9.41.bb b/recipes-ros/ros-comm/rosparam_1.9.41.bb
index d11d8923bfb4a1fe3155b43816d8196035a829d5..be50d6e9dd361876c95e085c4f72a8657b1c6fbb 100644
--- a/recipes-ros/ros-comm/rosparam_1.9.41.bb
+++ b/recipes-ros/ros-comm/rosparam_1.9.41.bb
@@ -4,23 +4,6 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=15;endline=15;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-SRC_URI = "https://github.com/ros-gbp/ros_comm-release/archive/release/rosparam/1.9.41.tar.gz;downloadfilename=rosparam_1.9.41.tar.gz"
-SRC_URI[md5sum] = "9539b0fbb6e50d44a6038d2f4d57d67b"
-SRC_URI[sha256sum] = "49a6e4c5d8607bebf3b995fe2b4f2105898ebbac04e542008e953baa0892b255"
-
-S = "${WORKDIR}/ros_comm-release-release-rosparam-1.9.41"
-
-DEPENDS = "catkin-native"
-
-FILES_${PN} += "${libdir}/*"
-
-inherit distutils cmake pythonnative
-
-EXTRA_OECMAKE = " \
-  "
-
-export BUILD_SYS
-export HOST_SYS
-export STAGING_LIBDIR
-export STAGING_INCDIR
+require ros-comm.inc
 
+S = "${WORKDIR}/ros_comm-${PV}/tools/${BPN}"
diff --git a/recipes-ros/ros-comm/rostest_1.9.41.bb b/recipes-ros/ros-comm/rostest_1.9.41.bb
index 7a26b61a039329639dbb7554f52c669143ca861a..baf723ab57ec3186dea58ac53794774e6ba47fc0 100644
--- a/recipes-ros/ros-comm/rostest_1.9.41.bb
+++ b/recipes-ros/ros-comm/rostest_1.9.41.bb
@@ -3,24 +3,8 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-SRC_URI = "https://github.com/ros-gbp/ros_comm-release/archive/release/rostest/1.9.41.tar.gz;downloadfilename=rostest_1.9.41.tar.gz"
-SRC_URI[md5sum] = "82c09640a27dedc6b1eabed2951a23dd"
-SRC_URI[sha256sum] = "f259d89e5ce02359c65dfc5bdb6c62be104600ddcb62ce6f9cffd630ff99a55d"
+DEPENDS = "boost rosunit-native"
 
-S = "${WORKDIR}/ros_comm-release-release-rostest-1.9.41"
-
-DEPENDS = "catkin-native boost rosunit"
-
-FILES_${PN} += "${libdir}/*"
-
-inherit cmake pythonnative
-
-EXTRA_OECMAKE = " \
-  -Drosunit_DIR=${STAGING_DATADIR}/rosunit/cmake/ \
-  "
-
-export BUILD_SYS
-export HOST_SYS
-export STAGING_LIBDIR
-export STAGING_INCDIR
+require ros-comm.inc
 
+S = "${WORKDIR}/ros_comm-${PV}/tools/${BPN}"
diff --git a/recipes-ros/ros-comm/roswtf_1.9.41.bb b/recipes-ros/ros-comm/roswtf_1.9.41.bb
index 1a1784037b6b6aea56dd46ddba2442d992b3f651..11cd30a4c8f0ca72de93c3dc640f435ef144cb25 100644
--- a/recipes-ros/ros-comm/roswtf_1.9.41.bb
+++ b/recipes-ros/ros-comm/roswtf_1.9.41.bb
@@ -3,18 +3,8 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-SRC_URI = "https://github.com/ros-gbp/ros_comm-release/archive/release/roswtf/1.9.41.tar.gz;downloadfilename=roswtf_1.9.41.tar.gz"
-SRC_URI[md5sum] = "422724ca5fb8bb1424f1cd7f73c9f7aa"
-SRC_URI[sha256sum] = "74f8028c7eb43e2507d70461257c48cca3c4ea162eaf66e0163d307846d32ce3"
+DEPENDS = "rostest"
 
-S = "${WORKDIR}/ros_comm-release-release-roswtf-1.9.41"
+require ros-comm.inc
 
-DEPENDS = "catkin-native rostest"
-
-FILES_${PN} += "${libdir}/*"
-
-inherit cmake pythonnative
-
-EXTRA_OECMAKE = " \
-  -Drostest_DIR=${STAGING_DATADIR}/rostest/cmake/ \
-  "
+S = "${WORKDIR}/ros_comm-${PV}/utilities/${BPN}"
diff --git a/recipes-ros/ros-comm/xmlrpcpp_1.9.41.bb b/recipes-ros/ros-comm/xmlrpcpp_1.9.41.bb
index 9ffc5a9711e8754ffe472b9d2709f94c9e9d48b0..1be06ac2ea4e710c517e9421d618e21f93846153 100644
--- a/recipes-ros/ros-comm/xmlrpcpp_1.9.41.bb
+++ b/recipes-ros/ros-comm/xmlrpcpp_1.9.41.bb
@@ -4,22 +4,11 @@ DESCRIPTION = \
     support roscpp's threading model. As such, we are maintaining our \
     own fork."
 SECTION = "devel"
-LICENSE = "LGPL"
+LICENSE = "LGPLv2.1"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=11;endline=11;md5=46ee8693f40a89a31023e97ae17ecf19"
 
-SRC_URI = "https://github.com/ros-gbp/ros_comm-release/archive/release/xmlrpcpp/1.9.41.tar.gz;downloadfilename=xmlrpcpp_1.9.41.tar.gz"
-SRC_URI[md5sum] = "036a6544a574faca48c52489e6767530"
-SRC_URI[sha256sum] = "1e3ced256ecbbd05f0c1821ce99c33127cbdd5284e4b789bced55508f2581c48"
+DEPENDS = "cpp-common"
 
-S = "${WORKDIR}/ros_comm-release-release-xmlrpcpp-1.9.41"
-
-DEPENDS = "catkin-native cpp-common"
-
-FILES_${PN} += "${libdir}/*"
-
-inherit distutils cmake pythonnative
-
-EXTRA_OECMAKE = " \
-  -Dcpp_common_DIR=${STAGING_DATADIR}/cpp_common/cmake/ \
-  "
+require ros-comm.inc
 
+S = "${WORKDIR}/ros_comm-${PV}/utilities/${BPN}"
diff --git a/recipes-ros/ros/ros.inc b/recipes-ros/ros/ros.inc
new file mode 100644
index 0000000000000000000000000000000000000000..ac46f06931c746d6ad7862b7319b8fe7c057bd45
--- /dev/null
+++ b/recipes-ros/ros/ros.inc
@@ -0,0 +1,5 @@
+SRC_URI = "https://github.com/ros/ros/archive/${PV}.tar.gz;downloadfilename=ros_${PV}.tar.gz"
+SRC_URI[md5sum] = "e38f95785dc6dcbb8f8620c9298c2752"
+SRC_URI[sha256sum] = "2d8997e1f6980c9cea85a27f39e17beb58db924283fc337c8df11fd79bcb3cb2"
+
+inherit catkin
diff --git a/recipes-ros/ros/roslib_1.9.42.bb b/recipes-ros/ros/roslib_1.9.42.bb
index 95bc1d68d0a317bc0a05ad49113d1a61efd3b217..619a386ab4e56fd7f47f40272a70793bb112c7cf 100644
--- a/recipes-ros/ros/roslib_1.9.42.bb
+++ b/recipes-ros/ros/roslib_1.9.42.bb
@@ -3,24 +3,8 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=9;endline=9;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-SRC_URI = "https://github.com/ros-gbp/ros-release/archive/release/roslib/1.9.42.tar.gz;downloadfilename=roslib_1.9.42.tar.gz"
-SRC_URI[md5sum] = "3234ab5475e80e2598a534ab94066b40"
-SRC_URI[sha256sum] = "9443166266ba025984552d764c0a74e7d4a79f9ef3b533c5de6d3220f4aa03e8"
+DEPENDS = "boost rospack"
 
-S = "${WORKDIR}/ros-release-release-roslib-1.9.42"
-
-DEPENDS = "catkin-native boost rospack"
-
-FILES_${PN} += "${libdir}/*"
-
-inherit cmake pythonnative
-
-EXTRA_OECMAKE = " \
-    -Drospack_DIR=${STAGING_DATADIR}/rospack/cmake/ \
-  "
-
-export BUILD_SYS
-export HOST_SYS
-export STAGING_LIBDIR
-export STAGING_INCDIR
+require ros.inc
 
+S = "${WORKDIR}/ros-${PV}/core/${BPN}"
diff --git a/recipes-ros/ros/rosunit_1.9.42.bb b/recipes-ros/ros/rosunit_1.9.42.bb
index 0a7255513692ebaff2ca73fd23d82225f0ddafdb..3af46053b56bab1a38f3d361ac66a7846e8b55a0 100644
--- a/recipes-ros/ros/rosunit_1.9.42.bb
+++ b/recipes-ros/ros/rosunit_1.9.42.bb
@@ -3,23 +3,8 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-SRC_URI = "https://github.com/ros-gbp/ros-release/archive/release/rosunit/1.9.42.tar.gz;downloadfilename=rosunit_1.9.42.tar.gz"
-SRC_URI[md5sum] = "1ddf9898fdde848e7ccaea88abb62296"
-SRC_URI[sha256sum] = "65ef24469c572f5b4105b95db3830a565e0de71f8f9c8982ecf80b3244ca9a33"
+require ros.inc
 
-S = "${WORKDIR}/ros-release-release-rosunit-1.9.42"
-
-DEPENDS = "catkin-native"
-
-FILES_${PN} += "${libdir}/*"
-
-inherit cmake pythonnative
-
-EXTRA_OECMAKE = " \
-  "
-
-export BUILD_SYS
-export HOST_SYS
-export STAGING_LIBDIR
-export STAGING_INCDIR
+S = "${WORKDIR}/ros-${PV}/tools/${BPN}"
 
+BBCLASSEXTEND += "native"
diff --git a/recipes-ros/roscpp-core/cpp-common_0.3.11.bb b/recipes-ros/roscpp-core/cpp-common_0.3.11.bb
deleted file mode 100644
index db7be6f25cdf394948428f96bf0e71d7814eefd7..0000000000000000000000000000000000000000
--- a/recipes-ros/roscpp-core/cpp-common_0.3.11.bb
+++ /dev/null
@@ -1,22 +0,0 @@
-DESCRIPTION = "Low-level build system macros and infrastructure for ROS"
-SECTION = "devel"
-LICENSE = "BSD"
-LIC_FILES_CHKSUM = "file://package.xml;beginline=13;endline=13;md5=d566ef916e9dedc494f5f793a6690ba5"
-
-SRC_URI = "https://github.com/ros-gbp/roscpp_core-release/archive/release/cpp_common/0.3.11.tar.gz;downloadfilename=cpp-common_0.3.11.tar.gz"
-SRC_URI[md5sum] = "7bf32963b9e2c82911bf089531c18482"
-SRC_URI[sha256sum] = "86018219aa77f109d3340d332e7a041a9e047fd48d3d0e03bf2a4bd9baa66bde"
-
-S = "${WORKDIR}/roscpp_core-release-release-cpp_common-0.3.11"
-
-DEPENDS = "catkin-native"
-
-ALLOW_EMPTY = "1"
-
-EXTRA_OECMAKE = ""
-
-inherit cmake pythonnative
-
-FILES_${PN} += "${libdir}/*"
-FILES_${PN}-dev += "${datadir}/*"
-
diff --git a/recipes-ros/roscpp-core/cpp-common_0.3.12.bb b/recipes-ros/roscpp-core/cpp-common_0.3.12.bb
new file mode 100644
index 0000000000000000000000000000000000000000..b8764bc6826a3ad9627f8e2a6dfc0376440583fc
--- /dev/null
+++ b/recipes-ros/roscpp-core/cpp-common_0.3.12.bb
@@ -0,0 +1,8 @@
+DESCRIPTION = "Low-level build system macros and infrastructure for ROS"
+SECTION = "devel"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=13;endline=13;md5=d566ef916e9dedc494f5f793a6690ba5"
+
+require roscpp-core.inc
+
+S = "${WORKDIR}/roscpp_core-${PV}/${ROS_BPN}"
diff --git a/recipes-ros/roscpp-core/roscpp-core.inc b/recipes-ros/roscpp-core/roscpp-core.inc
new file mode 100644
index 0000000000000000000000000000000000000000..78b38e30f0279f16e9b98249266d328853dfa492
--- /dev/null
+++ b/recipes-ros/roscpp-core/roscpp-core.inc
@@ -0,0 +1,7 @@
+SRC_URI = "https://github.com/ros/roscpp_core/archive/${PV}.tar.gz;downloadfilename=rosscpp_core-${PV}.tar.gz"
+SRC_URI[md5sum] = "ddbed4b9c97e406ecf104915eb31319c"
+SRC_URI[sha256sum] = "662595304df7ba932906aa30774dfd4c3074cc4b7773620fc80de2d724769ef8"
+
+S = "${WORKDIR}/roscpp_core-${PV}/${BPN}"
+
+inherit catkin
diff --git a/recipes-ros/roscpp-core/roscpp-core_0.3.12.bb b/recipes-ros/roscpp-core/roscpp-core_0.3.12.bb
index 402b172207cd2009d266b87058afb00d6ad0f69f..d57d092cc4f1315f52c30c48e8065ca723868f56 100644
--- a/recipes-ros/roscpp-core/roscpp-core_0.3.12.bb
+++ b/recipes-ros/roscpp-core/roscpp-core_0.3.12.bb
@@ -3,21 +3,8 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-SRC_URI = "https://github.com/ros-gbp/roscpp_core-release/archive/release/roscpp_core/0.3.12.tar.gz;downloadfilename=roscpp-cppcore_0.3.12.tar.gz"
-SRC_URI[md5sum] = "56cfd5b11cba6d28f742106a1eeafc92"
-SRC_URI[sha256sum] = "b9ed9dadb21430deb87d56f4051da80238a36feea972ec0d3cecbfe91bb42d84"
+DEPENDS = "cpp-common roscpp-serialization roscpp-traits rostime"
 
-S = "${WORKDIR}/roscpp_core-release-release-roscpp_core-0.3.12"
-
-ALLOW_EMPTY = "1"
-
-DEPENDS = "\
-  cpp-common \
-  roscpp-serialization \
-  roscpp-traits \
-  rostime \
-"
-
-FILES_${PN} = ""
-FILES_${PN}-dev = ""
+require roscpp-core.inc
 
+S = "${WORKDIR}/roscpp_core-${PV}/${ROS_BPN}"
diff --git a/recipes-ros/roscpp-core/roscpp-serialization_0.3.12.bb b/recipes-ros/roscpp-core/roscpp-serialization_0.3.12.bb
index 6f985844ba7daae63964d65e111c8e528bd8e20b..03a283323d26b902712ed7e38ad2b095f2a0a5ba 100644
--- a/recipes-ros/roscpp-core/roscpp-serialization_0.3.12.bb
+++ b/recipes-ros/roscpp-core/roscpp-serialization_0.3.12.bb
@@ -3,23 +3,8 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=11;endline=11;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-SRC_URI = "https://github.com/ros-gbp/roscpp_core-release/archive/release/roscpp_serialization/0.3.12.tar.gz;downloadfilename=roscpp-serialization_0.3.12.tar.gz"
-SRC_URI[md5sum] = "38827d61eb88211d6be597d3be30ee58"
-SRC_URI[sha256sum] = "27581440aabb75df787e850124daaec252fdca8f5b70f8a4996f82bb8eb65eb7"
+DEPENDS = "cpp-common roscpp-traits rostime"
 
-S = "${WORKDIR}/roscpp_core-release-release-roscpp_serialization-0.3.12"
+require roscpp-core.inc
 
-ALLOW_EMPTY = "1"
-
-DEPENDS = "catkin-native \
-  cpp-common \
-  roscpp-traits \
-  rostime"
-
-EXTRA_OECMAKE = " \
-    -Dcpp_common_DIR=${STAGING_DATADIR}/cpp_common/cmake/ \
-    -Droscpp_traits_DIR=${STAGING_DATADIR}/roscpp_traits/cmake/ \
-    -Drostime_DIR=${STAGING_DATADIR}/rostime/cmake/ \
-  "
-
-inherit cmake pythonnative
+S = "${WORKDIR}/roscpp_core-${PV}/${ROS_BPN}"
diff --git a/recipes-ros/roscpp-core/roscpp-traits_0.3.12.bb b/recipes-ros/roscpp-core/roscpp-traits_0.3.12.bb
index 0d6945f2d06243cc7ad79e34815d488d8adbba0e..f3c21f202580563026346057901e3033917cc418 100644
--- a/recipes-ros/roscpp-core/roscpp-traits_0.3.12.bb
+++ b/recipes-ros/roscpp-core/roscpp-traits_0.3.12.bb
@@ -3,14 +3,6 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=11;endline=11;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-SRC_URI = "https://github.com/ros-gbp/roscpp_core-release/archive/release/roscpp_traits/0.3.12.tar.gz;downloadfilename=roscpp-traits_0.3.12.tar.gz"
-SRC_URI[md5sum] = "bf9d1ef41bb21a8ee1b2defa415cc0d8"
-SRC_URI[sha256sum] = "f35cd1e29b50a2ffd89b36a9c919653ba2f6242c4b92618b544ded4f005ab912"
+require roscpp-core.inc
 
-S = "${WORKDIR}/roscpp_core-release-release-roscpp_traits-0.3.12"
-
-ALLOW_EMPTY = "1"
-
-DEPENDS = "catkin-native"
-
-inherit cmake pythonnative
+S = "${WORKDIR}/roscpp_core-${PV}/${ROS_BPN}"
diff --git a/recipes-ros/roscpp-core/rostime_0.3.12.bb b/recipes-ros/roscpp-core/rostime_0.3.12.bb
index aa2c2059a8d7ec632ed9eb56e12fe55062b8b61c..51dd3499c44ec6f95a047cd0d35709f34c030a31 100644
--- a/recipes-ros/roscpp-core/rostime_0.3.12.bb
+++ b/recipes-ros/roscpp-core/rostime_0.3.12.bb
@@ -3,18 +3,6 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-SRC_URI = "https://github.com/ros-gbp/roscpp_core-release/archive/release/rostime/0.3.12.tar.gz;downloadfilename=rostime_0.3.12.tar.gz"
-SRC_URI[md5sum] = "ad80d12cf7dac87e7a5ef4573ced9db7"
-SRC_URI[sha256sum] = "887a89406d9682dc49c4049b4fe0766b6613208fd9df95a0efa55579b93cc965"
+DEPENDS = "boost cpp-common"
 
-S = "${WORKDIR}/roscpp_core-release-release-rostime-0.3.12"
-
-DEPENDS = "catkin-native boost cpp-common"
-
-FILES_${PN} += "${libdir}/*"
-
-inherit cmake pythonnative
-
-EXTRA_OECMAKE = " \
-  -Dcpp_common_DIR=${STAGING_DATADIR}/cpp_common/cmake/ \
-  "
+require roscpp-core.inc
diff --git a/recipes-ros/rospack/rospack_2.1.16.bb b/recipes-ros/rospack/rospack_2.1.16.bb
index 6231d841d33b912f804726a5488764fb81f3c452..456fe72ee735c4e095f4950842b40b738e40b97c 100644
--- a/recipes-ros/rospack/rospack_2.1.16.bb
+++ b/recipes-ros/rospack/rospack_2.1.16.bb
@@ -3,17 +3,10 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=6;endline=6;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-SRC_URI = "https://github.com/ros-gbp/rospack-release/archive/release/rospack/2.1.16.tar.gz;downloadfilename=rospack_2.1.16.tar.gz"
-SRC_URI[md5sum] = "35b37d6bea2ed092e9265dd975b3be17"
-SRC_URI[sha256sum] = "a9a997ea584ef2c41a78e03e3b24d315dc1020545b2a1a0cde474d24fe912f24"
+DEPENDS = "boost python libtinyxml"
 
-S = "${WORKDIR}/rospack-release-release-rospack-2.1.16"
+SRC_URI = "https://github.com/ros/${BPN}/archive/${PV}.tar.gz;downloadfilename=${BP}.tar.gz"
+SRC_URI[md5sum] = "1383bdce36fe6319884e7b158c22d8b4"
+SRC_URI[sha256sum] = "5bfdcc93db555fe23dead5d471f8bba25dc72c2f0f928bd2319e06bf42f9d117"
 
-DEPENDS = "catkin-native boost python libtinyxml"
-
-FILES_${PN} += "${libdir}/*"
-
-inherit cmake pythonnative
-
-EXTRA_OECMAKE = " \
-  "
+inherit catkin
diff --git a/recipes-ros/std-msgs/std-msgs_0.5.7.bb b/recipes-ros/std-msgs/std-msgs_0.5.7.bb
index 062d3c099a1ba6c92fff4a96d84888e32acb0bea..b7fdc406da4f22b25534f5399f266bd80d7e4894 100644
--- a/recipes-ros/std-msgs/std-msgs_0.5.7.bb
+++ b/recipes-ros/std-msgs/std-msgs_0.5.7.bb
@@ -4,20 +4,12 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=9;endline=9;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-SRC_URI = "https://github.com/ros-gbp/std_msgs-release/archive/release/std_msgs/0.5.7.tar.gz;downloadfilename=std-msgs_0.5.7.tar.gz"
-SRC_URI[md5sum] = "7665733101cc69106dd7a2902dc67f19"
-SRC_URI[sha256sum] = "636f0871d52531d6764d7b26ded476a49881e5e9166999efed2f1a6ee3787fec"
+DEPENDS = "message-generation genlisp"
 
-S = "${WORKDIR}/std_msgs-release-release-std_msgs-0.5.7"
+SRC_URI = "https://github.com/ros/${ROS_BPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_BP}.tar.gz"
+SRC_URI[md5sum] = "ea40e6dd8ea19fe54a2b476358c0ceea"
+SRC_URI[sha256sum] = "acc3d6aed8ede795e4bc6676c1849924699a418769b3d29016a9a2ac08319a56"
 
-DEPENDS = "catkin-native message-generation"
-# also depends on genlisp
-
-FILES_${PN} += "${libdir}/*"
-
-inherit cmake pythonnative
-
-EXTRA_OECMAKE = " \
-  -Dmessage_generation_DIR=${STAGING_DATADIR}/message_generation/cmake/ \
-  "
+S = "${WORKDIR}/${ROS_BPN}-${PV}"
 
+inherit catkin
diff --git a/scripts/create-packagegroup.py b/scripts/create-packagegroup.py
new file mode 100755
index 0000000000000000000000000000000000000000..2148f7ee7a6e6bbb5e3f42aa3b1de735f6133eda
--- /dev/null
+++ b/scripts/create-packagegroup.py
@@ -0,0 +1,36 @@
+#!/usr/bin/env python
+#
+# Copyright (c) 2013 Stefan Herbrechtsmeier, Bielefeld University
+# 
+
+import sys
+import httplib
+import re
+
+name = 'ros_comm'
+
+if len(sys.argv) > 1:
+    name = sys.argv[1]
+
+conn = httplib.HTTPConnection('packages.ros.org')
+conn.request('GET', '/web/rosinstall/generate/raw/groovy/' + name)
+res = conn.getresponse()
+data = res.read()
+conn.close()
+
+packages = []
+for p in re.findall('local-name:.(\w+)' ,data):
+    packages.append(p.replace('_', '-'))
+
+name = name.replace('_', '-')
+
+print('packagegroup-' + name + '.bb')
+print('')
+print('DESCRIPTION = "' + name + ' package group"');
+print('LICENSE = "MIT"')
+print('')
+print('inherit packagegroup')
+print('')
+print('PACKAGES = "${PN}"')
+print('')
+print('RDEPENDS_${PN} = "\\\n    ' + ' \\\n    '.join(packages) + ' \\\n    "')
diff --git a/scripts/create-recipe.py b/scripts/create-recipe.py
old mode 100644
new mode 100755
index 473d7e03ad4b60348d0c3d16bc4568b3156762f2..22ef214d814cea133d2f713e39e398284b1275f7
--- a/scripts/create-recipe.py
+++ b/scripts/create-recipe.py
@@ -1,45 +1,71 @@
 #!/usr/bin/env python
 #
-# Copyright (c) 2013 Lukas Bulwahn, BMW Car IT GmbH
-#
-# Permission is hereby granted, free of charge, to any person obtaining a copy 
-# of this software and associated documentation files (the "Software"), to
-# deal  in the Software without restriction, including without limitation the 
-# rights to use, copy, modify, merge, publish, distribute, sublicense, and/or 
-# sell copies of the Software, and to permit persons to whom the Software is 
-# furnished to do so, subject to the following conditions:
-#
-# The above copyright notice and this permission notice shall be included in 
-# all copies or substantial portions of the Software.
-#
-# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 
-# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 
-# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 
-# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 
-# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
-# FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS 
-# IN THE SOFTWARE.
-#
+# Copyright (c) 2013 Stefan Herbrechtsmeier, Bielefeld University
+# 
+
+import sys
+import os
+import xml.etree.ElementTree as ElementTree
+import hashlib
+
+filename = 'package.xml'
+
+if len(sys.argv) > 1:
+    filename = sys.argv[1]
 
-info = {'description' : '',
-  'license' : '', 'lic_file_beginline' : '', 'lic_file_endline' : '', 'lic_file_md5' : '',
-  'url' : '', 'downloadfilename' : '', 'md5sum' : '', 'sha256sum' : '', 'directoryname' : ''}
+if not os.path.isfile(filename):
+    exit(-1)
 
-print '''DESCRIPTION = "%(description)s"
-SECTION = "devel"
-LICENSE = "%(license)s"
-LIC_FILES_CHKSUM = "file://package.xml;beginline=%(lic_file_beginline)s;endline=%(lic_file_endline)s;md5=%(lic_file_md5)s"
+tree  = ElementTree.parse(filename)
+root = tree.getroot()
 
-SRC_URI = "%(url)s;downloadfilename=%(downloadfilename)s"
-SRC_URI[md5sum] = "%(md5sum)s"
-SRC_URI[sha256sum] = "%(sha256sum)s"
+name = tree.findtext('name', '')
+version = tree.findtext('version', '')
+description = tree.findtext('description', '').strip()
+license = tree.findtext('license', '')
+homepage = tree.findtext('url', '')
 
-S = "${WORKDIR}/%(directoryname)s"
+f = file(filename)
+license_line = ''
+license_md5 = ''
+i = 0
+for line in f:
+    i += 1
+    if 'license' in line:
+        license_line = str(i)
+        md5 = hashlib.md5()
+        md5.update(line)
+        license_md5 = md5.hexdigest()
+        break
 
-DEPENDS = "catkin-native"
 
-inherit cmake pythonnative
+buildtools = []
+for e in root.findall('buildtool_depend'):
+    buildtools.append(e.text)
 
-''' % info
+depends = []
+for e in root.findall('build_depend'):
+    depends.append(e.text.replace('_', '-'))
 
+print(name + '_' + version + ".bb")
+print('')
+print('DESCRIPTION = "' + description + '"')
+if homepage:
+  print('HOMEPAGE = "' + homepage + '"')
+print('SECTION = "devel"')
+print('LICENSE = "' + license + '"')
+print('LIC_FILES_CHKSUM = "file://package.xml;beginline=' + license_line +
+      ';endline=' + license_line + ';md5=' + license_md5 + '"')
+if depends:
+    print('')
+    print('DEPENDS = "' + ' '.join(depends) + '"')
+print('')
+print('SRC_URI = ";downloadfilename=${P}.tar.gz"')
+print('SRC_URI[md5sum] = ""')
+print('SRC_URI[sha256sum] = ""')
+print('')
+print('S = "${WORKDIR}/-${PV}"')
+print('')
+if buildtools:
+    print('inherit ' + ' '.join(buildtools))