diff --git a/recipes-ros/ros/files/0001-resolve-rosunit-path-in-installspace-at-runtime-with.patch b/recipes-ros/ros/files/0001-resolve-rosunit-path-in-installspace-at-runtime-with.patch
new file mode 100644
index 0000000000000000000000000000000000000000..2e2ba0786447f8d949febea6418c400f90267b40
--- /dev/null
+++ b/recipes-ros/ros/files/0001-resolve-rosunit-path-in-installspace-at-runtime-with.patch
@@ -0,0 +1,139 @@
+From 7628b0d56df5fec691be9d8f913cf026fb125f6a Mon Sep 17 00:00:00 2001
+From: Dirk Thomas <dthomas@osrfoundation.org>
+Date: Fri, 2 Aug 2013 17:54:03 -0700
+Subject: [PATCH] resolve rosunit path in installspace at runtime without
+ find_program(), update env hooks to use runtime context (ros/catkin#490)
+
+---
+ core/rosbuild/env-hooks/10.rosbuild.sh.em | 2 +-
+ core/rosbuild/package.xml | 2 +-
+ core/roslib/cmake/roslib-extras.cmake.em | 2 +-
+ core/roslib/env-hooks/10.ros.sh.em | 2 +-
+ core/roslib/package.xml | 2 +-
+ tools/rosbash/env-hooks/15.rosbash.bash.em | 2 +-
+ tools/rosbash/package.xml | 2 +-
+ tools/rosunit/cmake/rosunit-extras.cmake.em | 22 ++++++----------------
+ 8 files changed, 13 insertions(+), 23 deletions(-)
+
+diff --git a/core/rosbuild/env-hooks/10.rosbuild.sh.em b/core/rosbuild/env-hooks/10.rosbuild.sh.em
+index af16b15..ebbfb0f 100644
+--- a/core/rosbuild/env-hooks/10.rosbuild.sh.em
++++ b/core/rosbuild/env-hooks/10.rosbuild.sh.em
+@@ -5,5 +5,5 @@
+ export ROS_ROOT="@(CMAKE_CURRENT_SOURCE_DIR)"
+ @[else]@
+ # env variables in installspace
+-export ROS_ROOT="@(CMAKE_INSTALL_PREFIX)/@(CATKIN_GLOBAL_SHARE_DESTINATION)/ros"
++export ROS_ROOT="$CATKIN_ENV_HOOK_WORKSPACE/@(CATKIN_GLOBAL_SHARE_DESTINATION)/ros"
+ @[end if]@
+diff --git a/core/rosbuild/package.xml b/core/rosbuild/package.xml
+index f96160a..d0c8836 100644
+--- a/core/rosbuild/package.xml
++++ b/core/rosbuild/package.xml
+@@ -12,7 +12,7 @@
+ <author>Troy Straszheim</author>
+ <author>Morgan Quigley</author>
+
+- <buildtool_depend>catkin</buildtool_depend>
++ <buildtool_depend version_gte="0.5.72">catkin</buildtool_depend>
+
+ <build_depend>pkg-config</build_depend>
+
+diff --git a/core/roslib/cmake/roslib-extras.cmake.em b/core/roslib/cmake/roslib-extras.cmake.em
+index bf4742b..cf4ccb5 100644
+--- a/core/roslib/cmake/roslib-extras.cmake.em
++++ b/core/roslib/cmake/roslib-extras.cmake.em
+@@ -5,5 +5,5 @@
+ set(gendeps_exe @(CMAKE_CURRENT_SOURCE_DIR)/scripts/gendeps)
+ @[else]@
+ # set path to gendeps executable in installspace
+-set(gendeps_exe @(CMAKE_INSTALL_PREFIX)/lib/roslib/gendeps)
++set(gendeps_exe ${genlib_DIR}/../../../@(CATKIN_PACKAGE_BIN_DESTINATION)/gendeps)
+ @[end if]@
+diff --git a/core/roslib/env-hooks/10.ros.sh.em b/core/roslib/env-hooks/10.ros.sh.em
+index 39cde1b..bf4c0a2 100644
+--- a/core/roslib/env-hooks/10.ros.sh.em
++++ b/core/roslib/env-hooks/10.ros.sh.em
+@@ -37,7 +37,7 @@ export ROS_PACKAGE_PATH="`python -c \"$PYTHON_CODE_BUILD_ROS_PACKAGE_PATH\"`"
+ export ROS_ETC_DIR="@(CATKIN_DEVEL_PREFIX)/@(CATKIN_GLOBAL_ETC_DESTINATION)/ros"
+ @[else]@
+ # env variables in installspace
+-export ROS_ETC_DIR="@(CMAKE_INSTALL_PREFIX)/@(CATKIN_GLOBAL_ETC_DESTINATION)/ros"
++export ROS_ETC_DIR="$CATKIN_ENV_HOOK_WORKSPACE/@(CATKIN_GLOBAL_ETC_DESTINATION)/ros"
+ @[end if]@
+
+ # unset ROS workspace
+diff --git a/core/roslib/package.xml b/core/roslib/package.xml
+index 5e17842..9f2dc3e 100644
+--- a/core/roslib/package.xml
++++ b/core/roslib/package.xml
+@@ -13,7 +13,7 @@
+ <author email="mquigley@cs.stanford.edu">Morgan Quigley</author>
+ <author email="jfaust@willowgarage.com">Josh Faust</author>
+
+- <buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
++ <buildtool_depend version_gte="0.5.72">catkin</buildtool_depend>
+
+ <build_depend>boost</build_depend>
+ <build_depend>rospack</build_depend>
+diff --git a/tools/rosbash/env-hooks/15.rosbash.bash.em b/tools/rosbash/env-hooks/15.rosbash.bash.em
+index 0430caf..07bd623 100644
+--- a/tools/rosbash/env-hooks/15.rosbash.bash.em
++++ b/tools/rosbash/env-hooks/15.rosbash.bash.em
+@@ -3,5 +3,5 @@
+ @[if DEVELSPACE]@
+ . "@(CMAKE_CURRENT_SOURCE_DIR)/rosbash"
+ @[else]@
+-. "@(CMAKE_INSTALL_PREFIX)/share/rosbash/rosbash"
++. "$CATKIN_ENV_HOOK_WORKSPACE/share/rosbash/rosbash"
+ @[end if]@
+diff --git a/tools/rosbash/package.xml b/tools/rosbash/package.xml
+index 50b969a..6642437 100644
+--- a/tools/rosbash/package.xml
++++ b/tools/rosbash/package.xml
+@@ -11,7 +11,7 @@
+ <author>Jeremy Leibs</author>
+ <author>Thibault Kruse</author>
+
+- <buildtool_depend>catkin</buildtool_depend>
++ <buildtool_depend version_gte="0.5.72">catkin</buildtool_depend>
+
+ <run_depend>catkin</run_depend>
+ </package>
+diff --git a/tools/rosunit/cmake/rosunit-extras.cmake.em b/tools/rosunit/cmake/rosunit-extras.cmake.em
+index 47bd120..aad1a22 100644
+--- a/tools/rosunit/cmake/rosunit-extras.cmake.em
++++ b/tools/rosunit/cmake/rosunit-extras.cmake.em
+@@ -2,23 +2,13 @@ include(CMakeParseArguments)
+
+ macro(rosunit_initialize_tests)
+ @[if DEVELSPACE]@
+- # find binary and scripts in develspace
+- find_program(ROSUNIT_EXE rosunit
+- PATHS "@(PROJECT_SOURCE_DIR)/scripts"
+- NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
+- if(NOT ROSUNIT_EXE)
+- message(FATAL_ERROR "'rosunit' not found")
+- endif()
+- set(ROSUNIT_SCRIPTS_DIR @(PROJECT_SOURCE_DIR)/scripts)
++ # binary and script in develspace
++ set(ROSUNIT_SCRIPTS_DIR "@(CMAKE_CURRENT_SOURCE_DIR)/scripts")
++ set(ROSUNIT_EXE "${ROSUNIT_SCRIPTS_DIR}/rosunit")
+ @[else]@
+- # find binary and scripts in installspace
+- find_program(ROSUNIT_EXE rosunit
+- PATHS "@(CMAKE_INSTALL_PREFIX)/bin"
+- NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
+- if(NOT ROSUNIT_EXE)
+- message(FATAL_ERROR "'rosunit' not found")
+- endif()
+- set(ROSUNIT_SCRIPTS_DIR @(CMAKE_INSTALL_PREFIX)/@(CATKIN_PACKAGE_SHARE_DESTINATION)/scripts)
++ # binary and script in installspace
++ set(ROSUNIT_SCRIPTS_DIR "${rosunit_DIR}/../scripts")
++ set(ROSUNIT_EXE "${rosunit_DIR}/../../../@(CATKIN_GLOBAL_BIN_DESTINATION)/rosunit")
+ @[end if]@
+ endmacro()
+
+--
+1.8.1.6
+
diff --git a/recipes-ros/ros/ros.inc b/recipes-ros/ros/ros.inc
index e537ef02d719a025b52c93a9351ce1f31a15ad3e..e6922bf1d870bbae838bd33b838c17e5e21681ec 100644
--- a/recipes-ros/ros/ros.inc
+++ b/recipes-ros/ros/ros.inc
@@ -2,6 +2,8 @@ SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilena
SRC_URI[md5sum] = "26ad8652a18bc11b530b0054bbb204b3"
SRC_URI[sha256sum] = "ae3b8db6bf26867c38b1215e1e014616f00a396847fea31df64da63d2eac6ef2"
+SRC_URI += "file://0001-resolve-rosunit-path-in-installspace-at-runtime-with.patch;patchdir=../.."
+
ROS_PKG_SUBDIR ?= ""
S = "${WORKDIR}/${ROS_SP}/${ROS_PKG_SUBDIR}/${ROS_BPN}"
diff --git a/recipes-ros/ros/rosunit/0001-rosunit-extras.cmake.em-remove-NO_CMAKE_FIND_ROOT_PA.patch b/recipes-ros/ros/rosunit/0001-rosunit-extras.cmake.em-remove-NO_CMAKE_FIND_ROOT_PA.patch
deleted file mode 100644
index 1f5cd27fe24c3d6f7c744cbc2d0f651e813bb255..0000000000000000000000000000000000000000
--- a/recipes-ros/ros/rosunit/0001-rosunit-extras.cmake.em-remove-NO_CMAKE_FIND_ROOT_PA.patch
+++ /dev/null
@@ -1,25 +0,0 @@
-From 2dc8c3356e38a9b6343c362f70c0cf900ed51296 Mon Sep 17 00:00:00 2001
-From: Stefan Herbrechtsmeier <stefan@herbrechtsmeier.net>
-Date: Thu, 21 Feb 2013 10:33:19 +0100
-Subject: [PATCH] rosunit-extras.cmake.em: remove NO_CMAKE_FIND_ROOT_PATH from find_program
-
----
- tools/rosunit/cmake/rosunit-extras.cmake.em | 2 +-
- 1 files changed, 1 insertions(+), 1 deletions(-)
-
-diff --git a/tools/rosunit/cmake/rosunit-extras.cmake.em b/tools/rosunit/cmake/rosunit-extras.cmake.em
-index 4b9bb0d..30db4d1 100644
---- a/tools/rosunit/cmake/rosunit-extras.cmake.em
-+++ b/tools/rosunit/cmake/rosunit-extras.cmake.em
-@@ -14,7 +14,7 @@ macro(rosunit_initialize_tests)
- # find binary and scripts in installspace
- find_program(ROSUNIT_EXE rosunit
- PATHS "@(CMAKE_INSTALL_PREFIX)/bin"
-- NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
-+ NO_DEFAULT_PATH)
- if(NOT ROSUNIT_EXE)
- message(FATAL_ERROR "'rosunit' not found")
- endif()
---
-1.7.0.4
-
diff --git a/recipes-ros/ros/rosunit_1.10.4.bb b/recipes-ros/ros/rosunit_1.10.4.bb
index 379028ded3764cca5e5ee35aacd5a2d14d9cc58b..3308912e2cdac54ec4c1c0f59ebf94e18fbf3b4f 100644
--- a/recipes-ros/ros/rosunit_1.10.4.bb
+++ b/recipes-ros/ros/rosunit_1.10.4.bb
@@ -5,6 +5,4 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=d566ef916e9dedc
require ros.inc
-SRC_URI += "file://0001-rosunit-extras.cmake.em-remove-NO_CMAKE_FIND_ROOT_PA.patch;striplevel=3"
-
ROS_PKG_SUBDIR = "tools"