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}"