diff --git a/classes/ros.bbclass b/classes/ros.bbclass
index 9e830a60f4be7ce294b2dd79035f34c3e4d8984d..3fb19ca7893ee1a45b2a05470646a777b73f4a70 100644
--- a/classes/ros.bbclass
+++ b/classes/ros.bbclass
@@ -3,7 +3,9 @@
 # 
 
 ROS_BPN = "${@d.getVar('BPN', True).replace('-', '_')}"
-ROS_BP = "${ROS_BPN}-${PV}"
+
+ROS_SPN ?= "${ROS_BPN}"
+ROS_SP = "${ROS_SPN}-${PV}"
 
 FILES_SOLIBSDEV = ""
 FILES_${PN} += "${libdir}/lib*${SOLIBSDEV}"
diff --git a/recipes-ros/actionlib/actionlib_1.10.1.bb b/recipes-ros/actionlib/actionlib_1.10.1.bb
index 01eae00e51dbb8c46449835024afa558608372f1..f3bb4b50f6404769e891c768dbd4e255f3b64064 100644
--- a/recipes-ros/actionlib/actionlib_1.10.1.bb
+++ b/recipes-ros/actionlib/actionlib_1.10.1.bb
@@ -4,14 +4,14 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=11;endline=11;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-SRC_URI = "https://github.com/ros/${BPN}/archive/${PV}.tar.gz;downloadfilename=${BP}.tar.gz;name=archive"
-SRC_URI[archive.md5sum] = "8da88314483b1330906b0ecf89c33494"
-SRC_URI[archive.sha256sum] = "c76317f60afec9e4cdcce28e0b88b9aef7e355ba8295228e759aa914ed10aae4"
+DEPENDS = "actionlib-msgs roscpp rostest"
+
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
+SRC_URI[md5sum] = "8da88314483b1330906b0ecf89c33494"
+SRC_URI[sha256sum] = "c76317f60afec9e4cdcce28e0b88b9aef7e355ba8295228e759aa914ed10aae4"
 
-SRC_URI += "https://github.com/ros/actionlib/commit/f066ff531ecdea3b859881aa1f4b4b34cba910c1.patch;name=patch"
+SRC_URI += "https://github.com/ros/${ROS_SPN}/commit/f066ff531ecdea3b859881aa1f4b4b34cba910c1.patch;name=patch"
 SRC_URI[patch.md5sum] = "ba32239ddb0c6837a4296119dda5f08a"
 SRC_URI[patch.sha256sum] = "d07e4cd0982fee417f574acac4e2e2a0387188bf254c6f49f7ab0f8c206082b8"
 
-DEPENDS = "actionlib-msgs roscpp rostest"
-
 inherit catkin
diff --git a/recipes-ros/bond-core/bond-core.inc b/recipes-ros/bond-core/bond-core.inc
index 24f2f42eeade828595872fdd1d2ae1762fb3d462..4302ea2dd9906da852a182324a947313b5f36ee6 100644
--- a/recipes-ros/bond-core/bond-core.inc
+++ b/recipes-ros/bond-core/bond-core.inc
@@ -1,7 +1,9 @@
-SRC_URI = "https://github.com/ros/bond_core/archive/${PV}.tar.gz;downloadfilename=bond_core-${PV}.tar.gz"
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
 SRC_URI[md5sum] = "1bb6c5dd1148c67d2759e665d7ae75b3"
 SRC_URI[sha256sum] = "1145db3800591e585325131cb6322366e82e634c97dd3cbb4ab43e1c1f4ec415"
 
-S = "${WORKDIR}/bond_core-${PV}/${PN}"
+S = "${WORKDIR}/${ROS_SP}/${ROS_BPN}"
 
 inherit catkin
+
+ROS_SPN = "bond_core"
diff --git a/recipes-ros/catkin/catkin_0.5.71.bb b/recipes-ros/catkin/catkin_0.5.71.bb
index d39e7623fd31972afc3111b0d69701f99d78c3f4..66c6a0bacb36b8e0d9bc340928e33bcb5f74c52c 100644
--- a/recipes-ros/catkin/catkin_0.5.71.bb
+++ b/recipes-ros/catkin/catkin_0.5.71.bb
@@ -5,17 +5,13 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=7;endline=7;md5=d566ef916e9dedc
 
 DEPENDS = "cmake python-empy python-catkin-pkg python-empy-native python-catkin-pkg-native"
 
-RDEPENDS_${PN}_class-native = ""
-RDEPENDS_${PN} = "cmake make binutils binutils-symlinks gcc gcc-symlinks g++ g++-symlinks \
-    python-catkin-pkg python-argparse python-misc python-multiprocessing \
-    python-shell python-subprocess python-xml"
 
-SRC_URI = "https://github.com/ros/catkin/archive/${PV}.tar.gz;downloadfilename=${ROS_BP}.tar.gz \
-           file://0001-CATKIN_WORKSPACES-Don-t-require-.catkin-file.patch \
-           "
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
 SRC_URI[md5sum] = "1c30ac4fcc82ce2aedf610ea972ab4d2"
 SRC_URI[sha256sum] = "2494dbe3446fe94a55f57c74260e072f97d72944d89610fe4994dbc79cf1a561"
 
+SRC_URI += "file://0001-CATKIN_WORKSPACES-Don-t-require-.catkin-file.patch"
+
 inherit catkin
 
 FILES_${PN}-dev += "\
@@ -27,3 +23,8 @@ FILES_${PN}-dev += "\
     ${prefix}/env.sh \
     ${prefix}/setup.* \
     "
+
+RDEPENDS_${PN}_class-native = ""
+RDEPENDS_${PN} = "cmake make binutils binutils-symlinks gcc gcc-symlinks g++ g++-symlinks \
+    python-catkin-pkg python-argparse python-misc python-multiprocessing \
+    python-shell python-subprocess python-xml"
diff --git a/recipes-ros/class-loader/class-loader_0.2.2.bb b/recipes-ros/class-loader/class-loader_0.2.2.bb
index bfbd03b1c04da2c84c26b0939b11b7a62c5cae96..9e4745e87c083f5d8c79a79035db0ab600c65b43 100644
--- a/recipes-ros/class-loader/class-loader_0.2.2.bb
+++ b/recipes-ros/class-loader/class-loader_0.2.2.bb
@@ -6,17 +6,16 @@ runtime libraries (e.g. .so/.dll files), introspect the library for exported \
 plugin classes, and allows users to instantiate objects of said exported \
 classes without the explicit declaration (i.e. header file) for those classes.\
 "
-
 SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=9;endline=9;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-SRC_URI = "https://github.com/ros/${ROS_BPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_BP}.tar.gz"
+DEPENDS = "console-bridge libpoco"
+
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
 SRC_URI[md5sum] = "c3bbc15c580dbf3b814b8af84218a777"
 SRC_URI[sha256sum] = "afaa155be9e34d905396c96eac040007e23b4ba90d2b2677ab67a1b32086fe13"
 
-DEPENDS = "console-bridge libpoco"
-
-S = "${WORKDIR}/${ROS_BP}"
+S = "${WORKDIR}/${ROS_SP}"
 
 inherit catkin
diff --git a/recipes-ros/common-msgs/common-msgs.inc b/recipes-ros/common-msgs/common-msgs.inc
index 01b915fc339bdd45a2cbca932b0ab2c66f37d0fa..5f8e521727e179be0816acc1fb1656aaacca37bf 100644
--- a/recipes-ros/common-msgs/common-msgs.inc
+++ b/recipes-ros/common-msgs/common-msgs.inc
@@ -1,9 +1,11 @@
-SRC_URI = "https://github.com/ros/common_msgs/archive/${PV}.tar.gz;downloadfilename=common_msgs-${PV}.tar.gz"
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
 SRC_URI[md5sum] = "6259ec362103ed96abbcf7d67703aed5"
 SRC_URI[sha256sum] = "54864270e973cec64f9315aed9e07f8d3837c409602dd18653c843c7a35690d0"
 
-inherit catkin
+DEPENDS += "cpp-common roscpp-serialization message-generation-native message-runtime-native std-msgs"
+
+S = "${WORKDIR}/${ROS_SP}/${ROS_BPN}"
 
-S = "${WORKDIR}/common_msgs-${PV}/${ROS_BPN}"
+inherit catkin
 
-DEPENDS = "cpp-common roscpp-serialization message-generation-native message-runtime-native std-msgs"
+ROS_SPN = "common_msgs"
diff --git a/recipes-ros/common-msgs/nav-msgs_1.10.0.bb b/recipes-ros/common-msgs/nav-msgs_1.10.0.bb
index 8d76ba371262b8f8954f0290ec6fd449778dcc90..6b5825efc8cbe7bef12a053674bc8052cb6956d9 100644
--- a/recipes-ros/common-msgs/nav-msgs_1.10.0.bb
+++ b/recipes-ros/common-msgs/nav-msgs_1.10.0.bb
@@ -3,6 +3,6 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=9;endline=9;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-require common-msgs.inc
+DEPENDS = "actionlib-msgs geometry-msgs"
 
-DEPENDS += "actionlib-msgs geometry-msgs"
+require common-msgs.inc
diff --git a/recipes-ros/common-msgs/sensor-msgs_1.10.0.bb b/recipes-ros/common-msgs/sensor-msgs_1.10.0.bb
index 8690899aba3114300fe7dfdfde4018a4c7191022..1f74e396e8b91283fe05ff0c567a98976030f8b2 100644
--- a/recipes-ros/common-msgs/sensor-msgs_1.10.0.bb
+++ b/recipes-ros/common-msgs/sensor-msgs_1.10.0.bb
@@ -4,6 +4,6 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=9;endline=9;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-require common-msgs.inc
+DEPENDS = "geometry-msgs"
 
-DEPENDS += "geometry-msgs"
+require common-msgs.inc
diff --git a/recipes-ros/common-msgs/shape-msgs_1.10.0.bb b/recipes-ros/common-msgs/shape-msgs_1.10.0.bb
index a37676f3b3fab1f1935724da5bebe3b6da2c6c3a..b311bcc7bdc0646af0f65054796196389829d1dc 100644
--- a/recipes-ros/common-msgs/shape-msgs_1.10.0.bb
+++ b/recipes-ros/common-msgs/shape-msgs_1.10.0.bb
@@ -3,6 +3,6 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-require common-msgs.inc
+DEPENDS = "geometry-msgs"
 
-DEPENDS += "geometry-msgs"
+require common-msgs.inc
diff --git a/recipes-ros/common-msgs/stereo-msgs_1.10.0.bb b/recipes-ros/common-msgs/stereo-msgs_1.10.0.bb
index fb64ca3db495fb2404e9fb52faec6cd33e50e46d..7561a1dd2f5471f1aa5f89024641d09bfb5fc13f 100644
--- a/recipes-ros/common-msgs/stereo-msgs_1.10.0.bb
+++ b/recipes-ros/common-msgs/stereo-msgs_1.10.0.bb
@@ -4,6 +4,6 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-require common-msgs.inc
+DEPENDS = "sensor-msgs"
 
-DEPENDS += "sensor-msgs"
+require common-msgs.inc
diff --git a/recipes-ros/common-msgs/trajectory-msgs_1.10.0.bb b/recipes-ros/common-msgs/trajectory-msgs_1.10.0.bb
index 2f0d3c1ec361b8b423dce74984ed2e563b3295c3..05227b649fb768d2bc93b43a3e2eff2e60aff113 100644
--- a/recipes-ros/common-msgs/trajectory-msgs_1.10.0.bb
+++ b/recipes-ros/common-msgs/trajectory-msgs_1.10.0.bb
@@ -3,6 +3,6 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-require common-msgs.inc
+DEPENDS = "geometry-msgs"
 
-DEPENDS += "geometry-msgs"
+require common-msgs.inc
diff --git a/recipes-ros/common-msgs/visualization-msgs_1.10.0.bb b/recipes-ros/common-msgs/visualization-msgs_1.10.0.bb
index d05f1856676a38527c96633613d03675333167d5..909caeacf007e80fb04d26fd5b92e650d6b64bf7 100644
--- a/recipes-ros/common-msgs/visualization-msgs_1.10.0.bb
+++ b/recipes-ros/common-msgs/visualization-msgs_1.10.0.bb
@@ -4,6 +4,6 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=12;endline=12;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-require common-msgs.inc
+DEPENDS = "geometry-msgs"
 
-DEPENDS += "geometry-msgs"
+require common-msgs.inc
diff --git a/recipes-ros/common-tutorials/common-tutorials.inc b/recipes-ros/common-tutorials/common-tutorials.inc
index ee7f39b78c34b2f0f05e2388fe2cd2fc7c39754d..6c4dffb518f4e8b8de5bb173897f2ad97a60d4f8 100644
--- a/recipes-ros/common-tutorials/common-tutorials.inc
+++ b/recipes-ros/common-tutorials/common-tutorials.inc
@@ -1,7 +1,9 @@
-SRC_URI = "https://github.com/ros/common_tutorials/archive/${PV}.tar.gz;downloadfilename=common_tutorials-${PV}.tar.gz"
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
 SRC_URI[md5sum] = "0055265f3854afcf4cc0abff06a9f023"
 SRC_URI[sha256sum] = "257f45f36463d5ffc04e1d60ac1fc6a2e7c1b11d012daa43b2eb43001383048c"
 
-S = "${WORKDIR}/common_tutorials-${PV}/${ROS_BPN}"
+S = "${WORKDIR}/${ROS_SP}/${ROS_BPN}"
 
 inherit catkin
+
+ROS_SPN = "common_tutorials"
diff --git a/recipes-ros/console-bridge/console-bridge_0.2.4.bb b/recipes-ros/console-bridge/console-bridge_0.2.4.bb
index 5514c29a65cfc5675dac095e06bc15f8566a52a9..0053d4ba2a851a6aa96a8c60d63717bab0bf53c5 100644
--- a/recipes-ros/console-bridge/console-bridge_0.2.4.bb
+++ b/recipes-ros/console-bridge/console-bridge_0.2.4.bb
@@ -3,9 +3,7 @@ console_bridge is a ROS-independent, pure CMake package that provides logging \
 calls that mirror those found in rosconsole, but for applications that are \
 not necessarily using ROS.\
 "
-
 SECTION = "devel"
-
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "\
   file://include/console_bridge/console.h;beginline=1;endline=33;md5=279eed49072cc9f6ebe38974afcc4803 \
@@ -14,10 +12,10 @@ LIC_FILES_CHKSUM = "\
 
 DEPENDS = "boost"
 
-SRC_URI = "https://github.com/ros/${ROS_BPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_BP}.tar.gz"
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
 SRC_URI[md5sum] = "e484d34bf0170ee12311d0fc6dd5f4fe"
 SRC_URI[sha256sum] = "d4bdd0b6bce0c6fa9ff18b8926d4953161451bc49dd11497211eb1a62cfe72b7"
 
-S = "${WORKDIR}/${ROS_BP}"
+S = "${WORKDIR}/${ROS_SP}"
 
 inherit cmake ros
diff --git a/recipes-ros/dynamic-reconfigure/dynamic-reconfigure_1.5.32.bb b/recipes-ros/dynamic-reconfigure/dynamic-reconfigure_1.5.32.bb
index dc2dc3a341582c02029f811ebfddb3a1dd3fda58..ea4dcc3391eeca52473b67c46e95c5b58de1a62d 100644
--- a/recipes-ros/dynamic-reconfigure/dynamic-reconfigure_1.5.32.bb
+++ b/recipes-ros/dynamic-reconfigure/dynamic-reconfigure_1.5.32.bb
@@ -1,22 +1,22 @@
 DESCRIPTION = "\
 This unary stack contains the dynamic_reconfigure package which provides a means to change \
 node parameters at any time without having to restart the node."
-
 SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=9;endline=9;md5=5ee5b8b046ae48ad94a2037ca953a67b"
 
-SRC_URI = "https://github.com/ros/${ROS_BPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_BP}.tar.gz;name=archive"
-SRC_URI[archive.md5sum] = "9061fd30e5a04e8376eaddffaae86b07"
-SRC_URI[archive.sha256sum] = "4203b0a8389d9ac3203110b507d23fa353262cf26253f40abece6418d6c2bdd4"
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
+SRC_URI[md5sum] = "9061fd30e5a04e8376eaddffaae86b07"
+SRC_URI[sha256sum] = "4203b0a8389d9ac3203110b507d23fa353262cf26253f40abece6418d6c2bdd4"
 
-SRC_URI += "https://github.com/ros/dynamic_reconfigure/commit/b7b222534f7259ca457ea354d92c5708f895202e.patch;name=patch"
+SRC_URI += "https://github.com/ros/${ROS_SPN}/commit/b7b222534f7259ca457ea354d92c5708f895202e.patch;name=patch"
 SRC_URI[patch.md5sum] = "0607963ca3f940362c9e78b5f8019cb9"
 SRC_URI[patch.sha256sum] = "e132ed52fe35c287658700857f7d9439793ff2be7f9fa9a19731024152ccaf29"
 
 DEPENDS = "roscpp std-msgs roslib"
-RDEPENDS_${PN} = "roslib"
 
-S = "${WORKDIR}/${ROS_BP}"
+S = "${WORKDIR}/${ROS_SP}"
 
 inherit catkin
+
+RDEPENDS_${PN} = "roslib"
diff --git a/recipes-ros/gencpp/gencpp_0.4.13.bb b/recipes-ros/gencpp/gencpp_0.4.13.bb
index 7b74c686a195e09f1da5a6b19c7f7d5c7cbf83dc..e9cb4ba5d93306fef8a51626c92f366a14ff9ea8 100644
--- a/recipes-ros/gencpp/gencpp_0.4.13.bb
+++ b/recipes-ros/gencpp/gencpp_0.4.13.bb
@@ -7,9 +7,10 @@ DEPENDS = "genmsg-native"
 
 PR = "r1"
 
-SRC_URI = "https://github.com/ros/${BPN}/archive/${PV}.tar.gz;downloadfilename=${BP}.tar.gz \
-           file://0001-gencpp-extras.cmake.em-Use-find_program-for-GENCPP_B.patch"
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
 SRC_URI[md5sum] = "801b40dcfab468f761dbdae33f848782"
 SRC_URI[sha256sum] = "d1dcd6655c8c4d4325ab067c25284032d40e00aa3409a5a5cf069d310a60d485"
 
+SRC_URI += "file://0001-gencpp-extras.cmake.em-Use-find_program-for-GENCPP_B.patch"
+
 inherit catkin
diff --git a/recipes-ros/genlisp/genlisp_0.4.11.bb b/recipes-ros/genlisp/genlisp_0.4.11.bb
index 13f19a347637d59b570ebf76697f9fd939003747..a51863d96f4fd48f0429c4ef9ef687162476f315 100644
--- a/recipes-ros/genlisp/genlisp_0.4.11.bb
+++ b/recipes-ros/genlisp/genlisp_0.4.11.bb
@@ -7,9 +7,10 @@ DEPENDS = "genmsg-native"
 
 PR = "r1"
 
-SRC_URI = "https://github.com/ros/${BPN}/archive/${PV}.tar.gz;downloadfilename=${BP}.tar.gz \
-           file://0001-genlisp-extras.cmake.em-Use-find_program-for-GENLISP.patch"
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
 SRC_URI[md5sum] = "b9be0a57abf76187a1057fb62cdc31e1"
 SRC_URI[sha256sum] = "cc373440fcbf57cafb758795cb50045fdd96de717b93d3d5956b7a1a2af4d3e2"
 
+SRC_URI += "file://0001-genlisp-extras.cmake.em-Use-find_program-for-GENLISP.patch"
+
 inherit catkin
diff --git a/recipes-ros/genmsg/genmsg_0.4.21.bb b/recipes-ros/genmsg/genmsg_0.4.21.bb
index c7d59d0701a417dc0ea557920cf70c7617f0c6ae..c434adbb2b0d4834180ba3663259a07f2a8a7e71 100644
--- a/recipes-ros/genmsg/genmsg_0.4.21.bb
+++ b/recipes-ros/genmsg/genmsg_0.4.21.bb
@@ -5,14 +5,13 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=9;endline=9;md5=d566ef916e9dedc
 
 PR = "r1"
 
-SRC_URI = "https://github.com/ros/${BPN}/archive/${PV}.tar.gz;downloadfilename=${BP}.tar.gz \
-           file://0001-modify-msg-file-handling-to-reference-them-relatively.patch \
-           "
-
-RDEPENDS_${PN} = "python-stringold python-pprint"
-RDEPENDS_${PN}_class-native = ""
-
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
 SRC_URI[md5sum] = "03ff82b1efa75552d4a5a000e0576cc4"
 SRC_URI[sha256sum] = "e7e4b23eadb97b0deca53874532c0b42f10f406a9db2affd7d6f04101a4a2901"
 
+SRC_URI += "file://0001-modify-msg-file-handling-to-reference-them-relatively.patch"
+
 inherit catkin
+
+RDEPENDS_${PN} = "python-stringold python-pprint"
+RDEPENDS_${PN}_class-native = ""
diff --git a/recipes-ros/genpy/genpy_0.4.13.bb b/recipes-ros/genpy/genpy_0.4.13.bb
index 0828b2d12d23f7387482b95929f6b7c4ecae30b3..11c74efa1376bdcfc7fe0c13f4ba7c8b6cd7fd37 100644
--- a/recipes-ros/genpy/genpy_0.4.13.bb
+++ b/recipes-ros/genpy/genpy_0.4.13.bb
@@ -4,14 +4,16 @@ LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=7;endline=7;md5=d566ef916e9dedc494f5f793a6690ba5"
 
 DEPENDS = "genmsg-native"
-RDEPENDS_${PN} = "python-math genmsg python-shell"
-RDEPENDS_${PN}_class-native = ""
 
 PR = "r2"
 
-SRC_URI = "https://github.com/ros/${BPN}/archive/${PV}.tar.gz;downloadfilename=${BP}.tar.gz \
-           file://0001-genpy-extras.cmake.em-use-find_program-for-GENxxx_PY_BIN.patch"
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
 SRC_URI[md5sum] = "201e3f1aa5e12ccc09159b1a3d9272f7"
 SRC_URI[sha256sum] = "9dae768e9350c835ae8a40f19d230e3fe023bfc1e259a14be8b3ae7c4c632d3c"
 
+SRC_URI += "file://0001-genpy-extras.cmake.em-use-find_program-for-GENxxx_PY_BIN.patch"
+
 inherit catkin
+
+RDEPENDS_${PN} = "python-math genmsg python-shell"
+RDEPENDS_${PN}_class-native = ""
diff --git a/recipes-ros/geometry-angles-utils/angles_1.9.9.bb b/recipes-ros/geometry-angles-utils/angles_1.9.9.bb
index 8c5dd73a1b75eaf20c28bdf94e4b6c1198e3ebb3..3ee1f9f82c6098ee82cc38ee114110c2d15c978d 100644
--- a/recipes-ros/geometry-angles-utils/angles_1.9.9.bb
+++ b/recipes-ros/geometry-angles-utils/angles_1.9.9.bb
@@ -3,14 +3,14 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=15;endline=15;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-SRC_URI = "https://github.com/ros/${BPN}/archive/${PV}.tar.gz;downloadfilename=${BP}.tar.gz;name=archive"
-SRC_URI[archive.md5sum] = "c2a841dbeb1f3036449919773ac70876"
-SRC_URI[archive.sha256sum] = "5e690bf611bead83c2fdcab5a9617b622a9869e55fd1742c00b4015ddf4f8cfc"
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
+SRC_URI[md5sum] = "c2a841dbeb1f3036449919773ac70876"
+SRC_URI[sha256sum] = "5e690bf611bead83c2fdcab5a9617b622a9869e55fd1742c00b4015ddf4f8cfc"
 
-SRC_URI += "https://github.com/bulwahn/angles/commit/8b1879e93b8ae2f89df345edaf688521e5c0ab97.patch;striplevel=2;name=patch"
+SRC_URI += "https://github.com/bulwahn/${ROS_SPN}/commit/8b1879e93b8ae2f89df345edaf688521e5c0ab97.patch;striplevel=2;name=patch"
 SRC_URI[patch.md5sum] = "d55c70b7328ed6e9d00d3185ddf4b0bf"
 SRC_URI[patch.sha256sum] = "2b7303ca01e355680adadd18c3b97dfb1071715375c14a3759ad96f807fc09e5"
 
-S = "${WORKDIR}/${BP}/${BPN}"
+S = "${WORKDIR}/${ROS_SP}/${ROS_BPN}"
 
 inherit catkin
diff --git a/recipes-ros/geometry-experimental/geometry-experimental.inc b/recipes-ros/geometry-experimental/geometry-experimental.inc
index b5aaab5ece82cc0fd9be5bd8b3e16729992125fa..a8f4982000ad1e104ef0f79c9e58dbc155ae6bf6 100644
--- a/recipes-ros/geometry-experimental/geometry-experimental.inc
+++ b/recipes-ros/geometry-experimental/geometry-experimental.inc
@@ -1,7 +1,9 @@
-SRC_URI = "https://github.com/ros/geometry_experimental/archive/${PV}.tar.gz;downloadfilename=geometry_experimental-${PV}.tar.gz"
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
 SRC_URI[md5sum] = "530cbf52308427e15a0568f5226313aa"
 SRC_URI[sha256sum] = "10a95045136510c1db5743481930ced6d164c6990d9e1a7c2afd9d6fa5062d02"
 
+S = "${WORKDIR}/${ROS_SP}/${ROS_BPN}"
+
 inherit catkin
 
-S = "${WORKDIR}/geometry_experimental-${PV}/${ROS_BPN}"
+ROS_SPN = "geometry_experimental"
diff --git a/recipes-ros/geometry/geometry.inc b/recipes-ros/geometry/geometry.inc
index c94353d48dccae9355403b43d24fd19cd52711fb..ebba3b5619fe9c6465331e76c54a96ccfdbfc245 100644
--- a/recipes-ros/geometry/geometry.inc
+++ b/recipes-ros/geometry/geometry.inc
@@ -1,7 +1,9 @@
-SRC_URI = "https://github.com/ros/geometry/archive/${PV}.tar.gz;downloadfilename=geometry-${PV}.tar.gz"
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
 SRC_URI[md5sum] = "ccaadd38c183c2c257e75ac907868c87"
 SRC_URI[sha256sum] = "30527d91f182478b7819a947237c92ce1effe61cd11d2d710e0408c971f2bc74"
 
+S = "${WORKDIR}/${ROS_SP}/${ROS_BPN}"
+
 inherit catkin
 
-S = "${WORKDIR}/geometry-${PV}/${ROS_BPN}"
+ROS_SPN = "geometry"
diff --git a/recipes-ros/image-common/image-common.inc b/recipes-ros/image-common/image-common.inc
index 7997af1e6d59c0c300831761526ea6e194a49419..4eb2cc7882b3dd1bcbd79f8c6844ed564cbf9b89 100644
--- a/recipes-ros/image-common/image-common.inc
+++ b/recipes-ros/image-common/image-common.inc
@@ -1,7 +1,9 @@
-SRC_URI = "https://github.com/ros-perception/image_common/archive/${PV}.tar.gz;downloadfilename=image_common-${PV}.tar.gz"
+SRC_URI = "https://github.com/ros-perception/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
 SRC_URI[md5sum] = "72dc5897c021987cca04756cbf3ddc27"
 SRC_URI[sha256sum] = "022f3c81ade13e644cf7f3c96712a362dc668f2edf37c125f3b9411818eb294a"
 
+S = "${WORKDIR}/${ROS_SP}/${ROS_BPN}"
+
 inherit catkin
 
-S = "${WORKDIR}/image_common-${PV}/${ROS_BPN}"
+ROS_SPN = "image_common"
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 17aefcbd3fc6cc0b4be6aeb0f9da4c50d0887880..8f112a5e8e4d8c3c624d3929fbc0ad9a6001e1e6 100644
--- a/recipes-ros/message-generation/message-generation_0.2.9.bb
+++ b/recipes-ros/message-generation/message-generation_0.2.9.bb
@@ -5,10 +5,10 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=7;endline=7;md5=d566ef916e9dedc
 
 DEPENDS = "gencpp-native genlisp-native genmsg-native genpy-native"
 
-SRC_URI = "https://github.com/ros/${ROS_BPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_BP}.tar.gz"
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
 SRC_URI[md5sum] = "b3086fbe24cc103f412cb30d83362e36"
 SRC_URI[sha256sum] = "9ce9c5b4e995933c575f2a5cb5c4b042b39913637bca06554092a52c3bb24c12"
 
-S = "${WORKDIR}/${ROS_BP}"
+S = "${WORKDIR}/${ROS_SP}"
 
 inherit catkin
diff --git a/recipes-ros/message-runtime/message-runtime_0.4.11.bb b/recipes-ros/message-runtime/message-runtime_0.4.11.bb
index 9b030d87b03d34f2a282066902a6f8c32aa14509..b798971db14d711fb6ee78b1b9c9adfd015b6fd0 100644
--- a/recipes-ros/message-runtime/message-runtime_0.4.11.bb
+++ b/recipes-ros/message-runtime/message-runtime_0.4.11.bb
@@ -5,10 +5,10 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=7;endline=7;md5=d566ef916e9dedc
 
 DEPENDS = "gencpp-native"
 
-SRC_URI = "https://github.com/ros/${ROS_BPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_BP}.tar.gz"
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
 SRC_URI[md5sum] = "10a516326a3bf18f5b5b4523c6e53940"
 SRC_URI[sha256sum] = "87f6b56679ea6b90512e2f2d299dd129d361b4a5d167237a9d28ac56ce6f2a36"
 
-S = "${WORKDIR}/${ROS_BP}"
+S = "${WORKDIR}/${ROS_SP}"
 
 inherit catkin
diff --git a/recipes-ros/nodelet-core/nodelet-core.inc b/recipes-ros/nodelet-core/nodelet-core.inc
index 6e98fda53a98c15acab53920de14ebadc51f1b02..7c365b3a75f1b6db3e3cfd936c6a1836663caf91 100644
--- a/recipes-ros/nodelet-core/nodelet-core.inc
+++ b/recipes-ros/nodelet-core/nodelet-core.inc
@@ -1,7 +1,9 @@
-SRC_URI = "https://github.com/ros/nodelet_core/archive/${PV}.tar.gz;downloadfilename=${BP}.tar.gz"
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
 SRC_URI[md5sum] = "b4ec524761d1d2494f5901b77ad35f9b"
 SRC_URI[sha256sum] = "ad79f48e0916490d2095ea9ea81a796a060553d4e60ba5b148b96a95369b8124"
 
-S = "${WORKDIR}/nodelet_core-${PV}/${ROS_BPN}"
+S = "${WORKDIR}/${ROS_SP}/${ROS_BPN}"
 
 inherit catkin
+
+ROS_SPN = "nodelet_core"
diff --git a/recipes-ros/nodelet-core/nodelet-topic-tools_1.8.0.bb b/recipes-ros/nodelet-core/nodelet-topic-tools_1.8.0.bb
index 007212736f84ac162c880233f50b2f56751567a8..5953ea79e8f920b319d0a89c03bcbe8c8fc79b2f 100644
--- a/recipes-ros/nodelet-core/nodelet-topic-tools_1.8.0.bb
+++ b/recipes-ros/nodelet-core/nodelet-topic-tools_1.8.0.bb
@@ -1,5 +1,4 @@
 DESCRIPTION = "This package contains common nodelet tools such as a mux, demux and throttle."
-
 SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=d566ef916e9dedc494f5f793a6690ba5"
diff --git a/recipes-ros/nodelet-core/nodelet_1.8.0.bb b/recipes-ros/nodelet-core/nodelet_1.8.0.bb
index 5a27a757ee569b216d159e198b08db3a4178a724..da4e7571c47fee37d3a2193e0c9b7a11f1855cb7 100644
--- a/recipes-ros/nodelet-core/nodelet_1.8.0.bb
+++ b/recipes-ros/nodelet-core/nodelet_1.8.0.bb
@@ -6,7 +6,6 @@ This package provides both the nodelet base class needed for \
 implementing a nodelet, as well as the NodeletLoader class used \
 for instantiating nodelets\
 "
-
 SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=14;endline=14;md5=d566ef916e9dedc494f5f793a6690ba5"
diff --git a/recipes-ros/pluginlib/pluginlib_1.9.21.bb b/recipes-ros/pluginlib/pluginlib_1.9.21.bb
index 94a14476804999353111595d9ee82c3332579f8a..fd25111a12350de1fb044f91a6fc0c5d284b23e5 100644
--- a/recipes-ros/pluginlib/pluginlib_1.9.21.bb
+++ b/recipes-ros/pluginlib/pluginlib_1.9.21.bb
@@ -2,12 +2,11 @@ DESCRIPTION = "\
 The pluginlib package provides tools for writing and dynamically loading plugins using the ROS build infrastructure.\
 To work, these tools require plugin providers to register their plugins in the package.xml of their package.\
 "
-
 SECTION = "devel"
 LICENSE = "BSD & BSL-1.0"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=9;endline=10;md5=bbbb6ab628b1f3daee74dd9c62bee312"
 
-SRC_URI = "https://github.com/ros/${PN}/archive/${PV}.tar.gz;downloadfilename=${BP}.tar.gz"
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
 SRC_URI[md5sum] = "c506945693bc53e60600a849275e4a98"
 SRC_URI[sha256sum] = "a8c5aa266a27810c39a2ced76d531358880c7728a948f7e7a8972b70ed42a425"
 
diff --git a/recipes-ros/ros-comm/message-filters_1.9.47.bb b/recipes-ros/ros-comm/message-filters_1.9.47.bb
index 6260489c92c63671982ad0525a7e96d7e3c695b6..339948fdc37282014ebc047fe38da5376379bc6f 100644
--- a/recipes-ros/ros-comm/message-filters_1.9.47.bb
+++ b/recipes-ros/ros-comm/message-filters_1.9.47.bb
@@ -7,4 +7,4 @@ DEPENDS = "boost rosconsole roscpp rostest-native rosunit-native xmlrpcpp"
 
 require ros-comm.inc
 
-S = "${WORKDIR}/ros_comm-${PV}/utilities/${ROS_BPN}"
+ROS_PKG_SUBDIR = "utilities"
diff --git a/recipes-ros/ros-comm/ros-comm.inc b/recipes-ros/ros-comm/ros-comm.inc
index 3ddfa24f35becafd9989e3765921e007019996f0..91b1e03a1de90c073fd7da05f098d4ef9b1343e2 100644
--- a/recipes-ros/ros-comm/ros-comm.inc
+++ b/recipes-ros/ros-comm/ros-comm.inc
@@ -1,5 +1,10 @@
-SRC_URI = "https://github.com/ros/ros_comm/archive/${PV}.tar.gz;downloadfilename=ros_comm-${PV}.tar.gz"
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
 SRC_URI[md5sum] = "2d4b8083abc6598857e01b698f4b0d20"
 SRC_URI[sha256sum] = "44c5a076a604134e44d044e08b2c15b185aefac277b8632b5ca2d011ec8d3da6"
 
+ROS_PKG_SUBDIR ?= ""
+S = "${WORKDIR}/${ROS_SP}/${ROS_PKG_SUBDIR}/${ROS_BPN}"
+
 inherit catkin
+
+ROS_SPN = "ros_comm"
diff --git a/recipes-ros/ros-comm/rosbag_1.9.47.bb b/recipes-ros/ros-comm/rosbag_1.9.47.bb
index c3217c199427a4d86a5066d1a4325fb219981738..1201a9999ea174cbabfb46fc650e9f8b6f7c6f43 100644
--- a/recipes-ros/ros-comm/rosbag_1.9.47.bb
+++ b/recipes-ros/ros-comm/rosbag_1.9.47.bb
@@ -8,9 +8,10 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=10;endline=10;md5=d566ef916e9de
 DEPENDS = "boost bzip2 cpp-common python-imaging \
   rosconsole roscpp roscpp-serialization topic-tools \
   xmlrpcpp"
-RDEPENDS_${PN} = "python-compression python-threading python-pyyaml python-io \
-  genmsg genpy roslib rospy"
 
 require ros-comm.inc
 
-S = "${WORKDIR}/ros_comm-${PV}/tools/${BPN}"
+ROS_PKG_SUBDIR = "tools"
+
+RDEPENDS_${PN} = "python-compression python-threading python-pyyaml python-io \
+  genmsg genpy roslib rospy"
diff --git a/recipes-ros/ros-comm/rosconsole_1.9.47.bb b/recipes-ros/ros-comm/rosconsole_1.9.47.bb
index bc251ef983ef11bc5ced113face6cecbb32f34d4..51cc89e846b605272dc1fcf0df5a3226d80bfc2d 100644
--- a/recipes-ros/ros-comm/rosconsole_1.9.47.bb
+++ b/recipes-ros/ros-comm/rosconsole_1.9.47.bb
@@ -7,4 +7,4 @@ DEPENDS = "apr boost cpp-common log4cxx rostime rosunit-native"
 
 require ros-comm.inc
 
-S = "${WORKDIR}/ros_comm-${PV}/tools/${BPN}"
+ROS_PKG_SUBDIR = "tools"
diff --git a/recipes-ros/ros-comm/roscpp_1.9.47.bb b/recipes-ros/ros-comm/roscpp_1.9.47.bb
index 9033388c6f30f4b35c094c14ee990923349f5773..15ff417a6cb27c8f0148c6a6f5ebff28d7cda9e9 100644
--- a/recipes-ros/ros-comm/roscpp_1.9.47.bb
+++ b/recipes-ros/ros-comm/roscpp_1.9.47.bb
@@ -13,8 +13,8 @@ DEPENDS = "\
 
 require ros-comm.inc
 
-SRC_URI += "file://0001-roscpp-do-not-try-to-find-pthread-by-own-methods.patch;striplevel=3"
+SRC_URI += "file://0001-roscpp-do-not-try-to-find-pthread-by-own-methods.patch;patchdir=../.."
 
-S = "${WORKDIR}/ros_comm-${PV}/clients/${BPN}"
+ROS_PKG_SUBDIR = "clients"
 
 CXXFLAGS_append = " -I${OECMAKE_BUILDPATH}/devel/include"
diff --git a/recipes-ros/ros-comm/rosgraph-msgs_1.9.47.bb b/recipes-ros/ros-comm/rosgraph-msgs_1.9.47.bb
index 918212f642dfa3426c7e3c75cbaa71a07a8b3936..6a8af0695042178ea19dc091e0c5328f2637c09e 100644
--- a/recipes-ros/ros-comm/rosgraph-msgs_1.9.47.bb
+++ b/recipes-ros/ros-comm/rosgraph-msgs_1.9.47.bb
@@ -7,4 +7,4 @@ DEPENDS = "message-generation-native message-runtime-native std-msgs roscpp-seri
 
 require ros-comm.inc
 
-S = "${WORKDIR}/ros_comm-${PV}/messages/${ROS_BPN}"
+ROS_PKG_SUBDIR = "messages"
diff --git a/recipes-ros/ros-comm/rosgraph_1.9.47.bb b/recipes-ros/ros-comm/rosgraph_1.9.47.bb
index 3c8c3227bbbaf360e1ca6c7bf91c131af171844f..6f742d37867a1fdac4542ca8771eab2d7a671ede 100644
--- a/recipes-ros/ros-comm/rosgraph_1.9.47.bb
+++ b/recipes-ros/ros-comm/rosgraph_1.9.47.bb
@@ -8,4 +8,4 @@ RDEPENDS_${PN} = "python-xmlrpc python-threading python-rospkg rospy python-neti
 
 require ros-comm.inc
 
-S = "${WORKDIR}/ros_comm-${PV}/tools/${BPN}"
+ROS_PKG_SUBDIR = "tools"
diff --git a/recipes-ros/ros-comm/roslaunch_1.9.47.bb b/recipes-ros/ros-comm/roslaunch_1.9.47.bb
index 762b0f5033b561e31805ea60bb0d993ac6cca2ab..927a0354d31837263c64fcb2c7b4cd15f590e491 100644
--- a/recipes-ros/ros-comm/roslaunch_1.9.47.bb
+++ b/recipes-ros/ros-comm/roslaunch_1.9.47.bb
@@ -3,6 +3,11 @@ via SSH, as well as setting parameters on the Parameter Server."
 SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=16;endline=16;md5=d566ef916e9dedc494f5f793a6690ba5"
+
+require ros-comm.inc
+
+ROS_PKG_SUBDIR = "tools"
+
 RDEPENDS_${PN} = "\
   coreutils \
   python-textutils \
@@ -20,7 +25,3 @@ RDEPENDS_${PN} = "\
   rosout \
   rosparam \
 "
-
-require ros-comm.inc
-
-S = "${WORKDIR}/ros_comm-${PV}/tools/${BPN}"
diff --git a/recipes-ros/ros-comm/rosmaster_1.9.47.bb b/recipes-ros/ros-comm/rosmaster_1.9.47.bb
index c31e3ab857d550bc49cb5fed1746066fb37cea2b..062372e59b38f78d0a87dff7652c39a0a1750cda 100644
--- a/recipes-ros/ros-comm/rosmaster_1.9.47.bb
+++ b/recipes-ros/ros-comm/rosmaster_1.9.47.bb
@@ -5,4 +5,4 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=d566ef916e9dedc
 
 require ros-comm.inc
 
-S = "${WORKDIR}/ros_comm-${PV}/tools/${BPN}"
+ROS_PKG_SUBDIR = "tools"
diff --git a/recipes-ros/ros-comm/rosmsg_1.9.47.bb b/recipes-ros/ros-comm/rosmsg_1.9.47.bb
index 60bf7acdf2de33e752d2a483dc62b32744e41384..eaf6198b7f44b8cb2913a32b327b6fcd94e959b4 100644
--- a/recipes-ros/ros-comm/rosmsg_1.9.47.bb
+++ b/recipes-ros/ros-comm/rosmsg_1.9.47.bb
@@ -7,4 +7,4 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=14;endline=14;md5=d566ef916e9de
 
 require ros-comm.inc
 
-S = "${WORKDIR}/ros_comm-${PV}/tools/${BPN}"
+ROS_PKG_SUBDIR = "tools"
diff --git a/recipes-ros/ros-comm/rosnode_1.9.47.bb b/recipes-ros/ros-comm/rosnode_1.9.47.bb
index 762900b6b12e257ba705f30267217e9afc66e9e6..817425d5b048377bfcf61025281e4b1fec8f59d4 100644
--- a/recipes-ros/ros-comm/rosnode_1.9.47.bb
+++ b/recipes-ros/ros-comm/rosnode_1.9.47.bb
@@ -9,4 +9,4 @@ RDEPENDS_${PN} = "python-io python-xmlrpc rosgraph rostopic"
 
 require ros-comm.inc
 
-S = "${WORKDIR}/ros_comm-${PV}/tools/${BPN}"
+ROS_PKG_SUBDIR = "tools"
diff --git a/recipes-ros/ros-comm/rosout_1.9.47.bb b/recipes-ros/ros-comm/rosout_1.9.47.bb
index f4edc171eb867a78e350271f26bf442c46c3f2b3..5d6720b6f892dabb8a550590cafbbf0b2730bd06 100644
--- a/recipes-ros/ros-comm/rosout_1.9.47.bb
+++ b/recipes-ros/ros-comm/rosout_1.9.47.bb
@@ -7,4 +7,4 @@ DEPENDS = "log4cxx roscpp rosgraph-msgs"
 
 require ros-comm.inc
 
-S = "${WORKDIR}/ros_comm-${PV}/tools/${BPN}"
+ROS_PKG_SUBDIR = "tools"
diff --git a/recipes-ros/ros-comm/rosparam_1.9.47.bb b/recipes-ros/ros-comm/rosparam_1.9.47.bb
index be50d6e9dd361876c95e085c4f72a8657b1c6fbb..ff5e1b25d575cc4d41f67016ecf4e47ddb463684 100644
--- a/recipes-ros/ros-comm/rosparam_1.9.47.bb
+++ b/recipes-ros/ros-comm/rosparam_1.9.47.bb
@@ -6,4 +6,4 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=15;endline=15;md5=d566ef916e9de
 
 require ros-comm.inc
 
-S = "${WORKDIR}/ros_comm-${PV}/tools/${BPN}"
+ROS_PKG_SUBDIR = "tools"
diff --git a/recipes-ros/ros-comm/rospy_1.9.47.bb b/recipes-ros/ros-comm/rospy_1.9.47.bb
index 154705d3f62718ba97476acd143627735c8b0cee..802be6f14d10efb1137c2a264ae47b8d33f4aae6 100644
--- a/recipes-ros/ros-comm/rospy_1.9.47.bb
+++ b/recipes-ros/ros-comm/rospy_1.9.47.bb
@@ -8,4 +8,4 @@ RDEPENDS_${PN} = "std-msgs genpy python-logging python-pyyaml rosgraph roslib ro
 
 require ros-comm.inc
 
-S = "${WORKDIR}/ros_comm-${PV}/clients/${BPN}"
+ROS_PKG_SUBDIR = "clients"
diff --git a/recipes-ros/ros-comm/rosservice_1.9.47.bb b/recipes-ros/ros-comm/rosservice_1.9.47.bb
index d7fbe98a812d19076a6dcc790aa041ad5cc53a44..344328a54f252437854253229549194b2cded045 100644
--- a/recipes-ros/ros-comm/rosservice_1.9.47.bb
+++ b/recipes-ros/ros-comm/rosservice_1.9.47.bb
@@ -5,4 +5,4 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=13;endline=13;md5=d566ef916e9de
 
 require ros-comm.inc
 
-S = "${WORKDIR}/ros_comm-${PV}/tools/${BPN}"
+ROS_PKG_SUBDIR = "tools"
diff --git a/recipes-ros/ros-comm/rostest_1.9.47.bb b/recipes-ros/ros-comm/rostest_1.9.47.bb
index 68518aa8bba6cb124d8af697e178531d6bbb7eba..07927d550db15c11a53a3244af864118e6047a29 100644
--- a/recipes-ros/ros-comm/rostest_1.9.47.bb
+++ b/recipes-ros/ros-comm/rostest_1.9.47.bb
@@ -8,6 +8,6 @@ DEPENDS_class-native = "boost-native rosunit-native"
 
 require ros-comm.inc
 
-S = "${WORKDIR}/ros_comm-${PV}/tools/${BPN}"
+ROS_PKG_SUBDIR = "tools"
 
 OECMAKE_EXTRA_ROOT_PATH_class-native = "${OECMAKE_BUILDPATH}/devel"
diff --git a/recipes-ros/ros-comm/rostopic_1.9.47.bb b/recipes-ros/ros-comm/rostopic_1.9.47.bb
index 914b627ba833cb971c8b748480ec424e2586a0f3..2108f54f38e1acbfbfb8306056975f1175f1793d 100644
--- a/recipes-ros/ros-comm/rostopic_1.9.47.bb
+++ b/recipes-ros/ros-comm/rostopic_1.9.47.bb
@@ -5,8 +5,9 @@ LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=17;endline=17;md5=d566ef916e9dedc494f5f793a6690ba5"
 
 DEPENDS = "rostest-native"
-RDEPENDS_${PN} = "rosbag"
 
 require ros-comm.inc
 
-S = "${WORKDIR}/ros_comm-${PV}/tools/${BPN}"
+ROS_PKG_SUBDIR = "tools"
+
+RDEPENDS_${PN} = "rosbag"
diff --git a/recipes-ros/ros-comm/roswtf_1.9.47.bb b/recipes-ros/ros-comm/roswtf_1.9.47.bb
index a321073b4c31aefa84e3593eb4a2cb38a7575ada..afeb36dc6b71ef35cc9f86a3a9a0a4f3744138e1 100644
--- a/recipes-ros/ros-comm/roswtf_1.9.47.bb
+++ b/recipes-ros/ros-comm/roswtf_1.9.47.bb
@@ -7,4 +7,4 @@ DEPENDS = "rostest-native"
 
 require ros-comm.inc
 
-S = "${WORKDIR}/ros_comm-${PV}/utilities/${BPN}"
+ROS_PKG_SUBDIR = "utilities"
diff --git a/recipes-ros/ros-comm/std-srvs_1.9.47.bb b/recipes-ros/ros-comm/std-srvs_1.9.47.bb
index b0c7c6cf1e1ceb56e81df7f2fc6d7eb0d1a17c3b..adc4f723a3666781b825875125acbb92892faa56 100644
--- a/recipes-ros/ros-comm/std-srvs_1.9.47.bb
+++ b/recipes-ros/ros-comm/std-srvs_1.9.47.bb
@@ -7,4 +7,4 @@ DEPENDS = "message-generation-native message-runtime-native"
 
 require ros-comm.inc
 
-S = "${WORKDIR}/ros_comm-${PV}/messages/${ROS_BPN}"
+ROS_PKG_SUBDIR = "messages"
diff --git a/recipes-ros/ros-comm/topic-tools_1.9.47.bb b/recipes-ros/ros-comm/topic-tools_1.9.47.bb
index bd57d2c4af823a1bb6b4622220d717e1ae58ed6d..05eab9b72ee3a1ea28548d7cd96d388401e805f8 100644
--- a/recipes-ros/ros-comm/topic-tools_1.9.47.bb
+++ b/recipes-ros/ros-comm/topic-tools_1.9.47.bb
@@ -8,4 +8,4 @@ DEPENDS = "rostest-native rostest roscpp"
 
 require ros-comm.inc
 
-S = "${WORKDIR}/ros_comm-${PV}/tools/${ROS_BPN}"
+ROS_PKG_SUBDIR = "tools"
diff --git a/recipes-ros/ros-comm/xmlrpcpp_1.9.47.bb b/recipes-ros/ros-comm/xmlrpcpp_1.9.47.bb
index 423e556293998fc4749507654f6e23f22c98ec16..6ff0a9da9ad7f1f3be3443d6504af56b1151aa04 100644
--- a/recipes-ros/ros-comm/xmlrpcpp_1.9.47.bb
+++ b/recipes-ros/ros-comm/xmlrpcpp_1.9.47.bb
@@ -11,4 +11,4 @@ DEPENDS = "cpp-common"
 
 require ros-comm.inc
 
-S = "${WORKDIR}/ros_comm-${PV}/utilities/${BPN}"
+ROS_PKG_SUBDIR = "utilities"
diff --git a/recipes-ros/ros-tutorials/ros-tutorials.inc b/recipes-ros/ros-tutorials/ros-tutorials.inc
index 403171b7b117b8d1248ca564ec0b535564372dc1..27942b4c0934fa257f308de24cf2c9e08a25d5e8 100644
--- a/recipes-ros/ros-tutorials/ros-tutorials.inc
+++ b/recipes-ros/ros-tutorials/ros-tutorials.inc
@@ -1,7 +1,9 @@
-SRC_URI = "https://github.com/ros/ros_tutorials/archive/${PV}.tar.gz;downloadfilename=ros_tutorials-${PV}.tar.gz;name=archive"
-SRC_URI[archive.md5sum] = "e1763e2ccc91976ac98b07d3f423478d"
-SRC_URI[archive.sha256sum] = "827622a42eb14119c3303665c91635fd4c1eb401e1585a9f1fde819f7651bdbf"
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
+SRC_URI[md5sum] = "e1763e2ccc91976ac98b07d3f423478d"
+SRC_URI[sha256sum] = "827622a42eb14119c3303665c91635fd4c1eb401e1585a9f1fde819f7651bdbf"
 
-S = "${WORKDIR}/ros_tutorials-${PV}/${ROS_BPN}"
+S = "${WORKDIR}/${ROS_SP}/${ROS_BPN}"
 
 inherit catkin
+
+ROS_SPN = "ros_tutorials"
diff --git a/recipes-ros/ros-tutorials/rospy-tutorials_0.3.11.bb b/recipes-ros/ros-tutorials/rospy-tutorials_0.3.11.bb
index 6a5e832dc8d003609c9c185f53a4e8136afaabc6..7be700bb7e966c54812e117f696c7dd28d238e04 100644
--- a/recipes-ros/ros-tutorials/rospy-tutorials_0.3.11.bb
+++ b/recipes-ros/ros-tutorials/rospy-tutorials_0.3.11.bb
@@ -7,6 +7,6 @@ DEPENDS = "message-generation rostest std-msgs cpp-common roscpp-serialization"
 
 require ros-tutorials.inc
 
-SRC_URI += "https://github.com/ros/ros_tutorials/commit/1e559b3f811a6cf3daac59088d6d86ca1d31b261.patch;striplevel=2;name=patch"
+SRC_URI += "https://github.com/ros/${ROS_SPN}/commit/1e559b3f811a6cf3daac59088d6d86ca1d31b261.patch;striplevel=2;name=patch"
 SRC_URI[patch.md5sum] = "c9e4af54266205ad233acc064a456840"
 SRC_URI[patch.sha256sum] = "838ad3cbe2da1c625a44af80c4351f1187478e6ec52adc1c535942337252a719"
diff --git a/recipes-ros/ros/mk_1.10.4.bb b/recipes-ros/ros/mk_1.10.4.bb
index 608f11189e42c74622253e5dc73164502a28eaaf..3de04cc4627e4ad2c9bafc12eb6d1f5ab14bf800 100644
--- a/recipes-ros/ros/mk_1.10.4.bb
+++ b/recipes-ros/ros/mk_1.10.4.bb
@@ -5,4 +5,4 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=10;endline=10;md5=d566ef916e9de
 
 require ros.inc
 
-S = "${WORKDIR}/ros-${PV}/core/${BPN}"
+ROS_PKG_SUBDIR = "core"
diff --git a/recipes-ros/ros/ros.inc b/recipes-ros/ros/ros.inc
index 5c421c535d588e4a97dcfd59a3df2dc4c6ce7e3c..e537ef02d719a025b52c93a9351ce1f31a15ad3e 100644
--- a/recipes-ros/ros/ros.inc
+++ b/recipes-ros/ros/ros.inc
@@ -1,5 +1,10 @@
-SRC_URI = "https://github.com/ros/ros/archive/${PV}.tar.gz;downloadfilename=ros_${PV}.tar.gz"
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
 SRC_URI[md5sum] = "26ad8652a18bc11b530b0054bbb204b3"
 SRC_URI[sha256sum] = "ae3b8db6bf26867c38b1215e1e014616f00a396847fea31df64da63d2eac6ef2"
 
+ROS_PKG_SUBDIR ?= ""
+S = "${WORKDIR}/${ROS_SP}/${ROS_PKG_SUBDIR}/${ROS_BPN}"
+
 inherit catkin
+
+ROS_SPN = "ros"
diff --git a/recipes-ros/ros/rosbash_1.10.4.bb b/recipes-ros/ros/rosbash_1.10.4.bb
index e4ab00a84fe2ab92bd507a96df1fa9eecf51b514..a04deb19c04d8ad02aa4832a3ee0bcc55312e891 100644
--- a/recipes-ros/ros/rosbash_1.10.4.bb
+++ b/recipes-ros/ros/rosbash_1.10.4.bb
@@ -5,6 +5,6 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=d566ef916e9dedc
 
 require ros.inc
 
-RDEPENDS_${PN} = "bash findutils"
+ROS_PKG_SUBDIR = "tools"
 
-S = "${WORKDIR}/ros-${PV}/tools/${BPN}"
+RDEPENDS_${PN} = "bash findutils"
diff --git a/recipes-ros/ros/rosboost-cfg_1.10.4.bb b/recipes-ros/ros/rosboost-cfg_1.10.4.bb
index a229ef51a749973a26f4e9a2d7ded4c7a1af80ef..03968121094d28da9a42517cb674a79e944aa927 100644
--- a/recipes-ros/ros/rosboost-cfg_1.10.4.bb
+++ b/recipes-ros/ros/rosboost-cfg_1.10.4.bb
@@ -5,4 +5,4 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=d566ef916e9dedc
 
 require ros.inc
 
-S = "${WORKDIR}/ros-${PV}/tools/${ROS_BPN}"
+ROS_PKG_SUBDIR = "tools"
diff --git a/recipes-ros/ros/rosbuild_1.10.4.bb b/recipes-ros/ros/rosbuild_1.10.4.bb
index b65e743040f0155e82627af55301f52adf4a3843..6a89e21bf53b3560f6cddf88ae06faccffb16d22 100644
--- a/recipes-ros/ros/rosbuild_1.10.4.bb
+++ b/recipes-ros/ros/rosbuild_1.10.4.bb
@@ -5,4 +5,4 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=d566ef916e9dedc
 
 require ros.inc
 
-S = "${WORKDIR}/ros-${PV}/core/${BPN}"
+ROS_PKG_SUBDIR = "core"
diff --git a/recipes-ros/ros/rosclean_1.10.4.bb b/recipes-ros/ros/rosclean_1.10.4.bb
index dcb02ccb2e16acc11b810de447bced4e22a1b90d..e83895561e457864749df041822de8487582af92 100644
--- a/recipes-ros/ros/rosclean_1.10.4.bb
+++ b/recipes-ros/ros/rosclean_1.10.4.bb
@@ -5,4 +5,4 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=d566ef916e9dedc
 
 require ros.inc
 
-S = "${WORKDIR}/ros-${PV}/tools/${BPN}"
+ROS_PKG_SUBDIR = "tools"
diff --git a/recipes-ros/ros/roscreate_1.10.4.bb b/recipes-ros/ros/roscreate_1.10.4.bb
index 312d466e6c99fcac6c9f23a11337a2de8563dd1d..213319ac9f658b52781ffc309a6a6a0b21ae2cc7 100644
--- a/recipes-ros/ros/roscreate_1.10.4.bb
+++ b/recipes-ros/ros/roscreate_1.10.4.bb
@@ -5,4 +5,4 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=10;endline=10;md5=d566ef916e9de
 
 require ros.inc
 
-S = "${WORKDIR}/ros-${PV}/tools/${BPN}"
+ROS_PKG_SUBDIR = "tools"
diff --git a/recipes-ros/ros/roslang_1.10.4.bb b/recipes-ros/ros/roslang_1.10.4.bb
index ae486f8a562492f07f128e65bc21a0567468bcfc..8d2ad547a190495c743570976c3f7451e3d302cb 100644
--- a/recipes-ros/ros/roslang_1.10.4.bb
+++ b/recipes-ros/ros/roslang_1.10.4.bb
@@ -5,4 +5,4 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=9;endline=9;md5=d566ef916e9dedc
 
 require ros.inc
 
-S = "${WORKDIR}/ros-${PV}/core/${BPN}"
+ROS_PKG_SUBDIR = "core"
diff --git a/recipes-ros/ros/roslib_1.10.4.bb b/recipes-ros/ros/roslib_1.10.4.bb
index d07e5097799dc812ff643973c55633cf0b7cba0c..38ce4aac3997e03780ef09e8deb12f926a48fc9c 100644
--- a/recipes-ros/ros/roslib_1.10.4.bb
+++ b/recipes-ros/ros/roslib_1.10.4.bb
@@ -4,8 +4,9 @@ LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=9;endline=9;md5=d566ef916e9dedc494f5f793a6690ba5"
 
 DEPENDS = "boost rospack-native rospack"
-RDEPENDS_${PN} = "python-rospkg catkin"
 
 require ros.inc
 
-S = "${WORKDIR}/ros-${PV}/core/${BPN}"
+ROS_PKG_SUBDIR = "core"
+
+RDEPENDS_${PN} = "python-rospkg catkin"
diff --git a/recipes-ros/ros/rosmake_1.10.4.bb b/recipes-ros/ros/rosmake_1.10.4.bb
index 02415198a9ffc99c9134e1d07411485b1920bd12..3e771e9a4a30f0af02136796088811ebdb94e201 100644
--- a/recipes-ros/ros/rosmake_1.10.4.bb
+++ b/recipes-ros/ros/rosmake_1.10.4.bb
@@ -5,4 +5,4 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=9;endline=9;md5=d566ef916e9dedc
 
 require ros.inc
 
-S = "${WORKDIR}/ros-${PV}/tools/${BPN}"
+ROS_PKG_SUBDIR = "tools"
diff --git a/recipes-ros/ros/rosunit_1.10.4.bb b/recipes-ros/ros/rosunit_1.10.4.bb
index 4679440999178b4b67a7664c10e35687433167c8..379028ded3764cca5e5ee35aacd5a2d14d9cc58b 100644
--- a/recipes-ros/ros/rosunit_1.10.4.bb
+++ b/recipes-ros/ros/rosunit_1.10.4.bb
@@ -7,4 +7,4 @@ require ros.inc
 
 SRC_URI += "file://0001-rosunit-extras.cmake.em-remove-NO_CMAKE_FIND_ROOT_PA.patch;striplevel=3"
 
-S = "${WORKDIR}/ros-${PV}/tools/${BPN}"
+ROS_PKG_SUBDIR = "tools"
diff --git a/recipes-ros/roscpp-core/roscpp-core.inc b/recipes-ros/roscpp-core/roscpp-core.inc
index 0aa7f984885b318ba24431cc1f59913d281eb60a..56307a160c2c23507a5e8e27c3a2c83f4f9fc1f9 100644
--- a/recipes-ros/roscpp-core/roscpp-core.inc
+++ b/recipes-ros/roscpp-core/roscpp-core.inc
@@ -1,7 +1,9 @@
-SRC_URI = "https://github.com/ros/roscpp_core/archive/${PV}.tar.gz;downloadfilename=rosscpp_core-${PV}.tar.gz"
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
 SRC_URI[md5sum] = "d02c9d1270d1f68487944fb0e76adcb7"
 SRC_URI[sha256sum] = "805b08c5b7044dd93bfaf4a0dd5807b391d1d86db9f6d143f9946b5528500eda"
 
-S = "${WORKDIR}/roscpp_core-${PV}/${ROS_BPN}"
+S = "${WORKDIR}/${ROS_SP}/${ROS_BPN}"
 
 inherit catkin
+
+ROS_SPN = "roscpp_core"
diff --git a/recipes-ros/rospack/rospack_2.1.21.bb b/recipes-ros/rospack/rospack_2.1.21.bb
index 3610377108928333232ee3f0483fc4732505ee80..2e2c958fab0fd860a4039cbc94319cfe5545e1f9 100644
--- a/recipes-ros/rospack/rospack_2.1.21.bb
+++ b/recipes-ros/rospack/rospack_2.1.21.bb
@@ -4,10 +4,11 @@ LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=6;endline=6;md5=d566ef916e9dedc494f5f793a6690ba5"
 
 DEPENDS = "boost python-rospkg-native libtinyxml"
-RDEPENDS_${PN} = "python-rosdep python-subprocess"
 
-SRC_URI = "https://github.com/ros/${BPN}/archive/${PV}.tar.gz;downloadfilename=${BP}.tar.gz"
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
 SRC_URI[md5sum] = "0bb1d12a115b7902d5b1f8546d63cdf8"
 SRC_URI[sha256sum] = "43a7e64015c4e28fbfda071dcb9451a6ac0443df75242a32c23cfda68d230f93"
 
 inherit catkin
+
+RDEPENDS_${PN} = "python-rosdep python-subprocess"
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 5e3fc1689d609ef57ed57e8c50448e5b2b346d8e..32acf1c02fcf36b16e0d25d841e5b4c000774298 100644
--- a/recipes-ros/std-msgs/std-msgs_0.5.7.bb
+++ b/recipes-ros/std-msgs/std-msgs_0.5.7.bb
@@ -6,10 +6,10 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=9;endline=9;md5=5ee5b8b046ae48a
 
 DEPENDS = "message-generation-native message-runtime-native"
 
-SRC_URI = "https://github.com/ros/${ROS_BPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_BP}.tar.gz"
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
 SRC_URI[md5sum] = "ea40e6dd8ea19fe54a2b476358c0ceea"
 SRC_URI[sha256sum] = "acc3d6aed8ede795e4bc6676c1849924699a418769b3d29016a9a2ac08319a56"
 
-S = "${WORKDIR}/${ROS_BP}"
+S = "${WORKDIR}/${ROS_SP}"
 
 inherit catkin