diff --git a/3rdparty/xmlrpc++/CMakeLists.txt b/3rdparty/xmlrpc++/CMakeLists.txt
index 587afe0a..20278e63 100644
--- a/3rdparty/xmlrpc++/CMakeLists.txt
+++ b/3rdparty/xmlrpc++/CMakeLists.txt
@@ -1,13 +1,13 @@
 cmake_minimum_required(VERSION 2.4.6)
 include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
 rosbuild_init()
-rospack_add_library(XmlRpc src/XmlRpcClient.cpp
-                   src/XmlRpcDispatch.cpp
-                   src/XmlRpcServer.cpp
-                   src/XmlRpcServerConnection.cpp
-                   src/XmlRpcServerMethod.cpp
-                   src/XmlRpcSocket.cpp
-                   src/XmlRpcSource.cpp
-                   src/XmlRpcUtil.cpp
-                   src/XmlRpcValue.cpp)
+rosbuild_add_library(XmlRpc src/XmlRpcClient.cpp
+                     src/XmlRpcDispatch.cpp
+                     src/XmlRpcServer.cpp
+                     src/XmlRpcServerConnection.cpp
+                     src/XmlRpcServerMethod.cpp
+                     src/XmlRpcSocket.cpp
+                     src/XmlRpcSource.cpp
+                     src/XmlRpcUtil.cpp
+                     src/XmlRpcValue.cpp)
 
diff --git a/core/genmsg_cpp/CMakeLists.txt b/core/genmsg_cpp/CMakeLists.txt
index b573937f..c7505067 100644
--- a/core/genmsg_cpp/CMakeLists.txt
+++ b/core/genmsg_cpp/CMakeLists.txt
@@ -2,17 +2,15 @@ cmake_minimum_required(VERSION 2.4.6)
 include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
 set(ROS_BUILD_TYPE Release)
 rosbuild_init()
-rospack_add_executable(genmsg genmsg.cpp genmsg_main.cpp utils.cpp)
-rospack_add_executable(genmsgtest genmsgtest.cpp genmsg.cpp utils.cpp)
-rospack_add_executable(gensrv gensrv.cpp genmsg.cpp utils.cpp)
-rospack_add_executable(submsgs submsgs.cpp utils.cpp)
+rosbuild_add_executable(genmsg genmsg.cpp genmsg_main.cpp utils.cpp)
+rosbuild_add_executable(genmsgtest genmsgtest.cpp genmsg.cpp utils.cpp)
+rosbuild_add_executable(gensrv gensrv.cpp genmsg.cpp utils.cpp)
+rosbuild_add_executable(submsgs submsgs.cpp utils.cpp)
 
-rospack_add_executable(genmsg_lisp genmsg_lisp.cpp genmsg_main_lisp.cpp utils.cpp)
-rospack_add_executable(gensrv_lisp gensrv_lisp.cpp genmsg_lisp.cpp utils.cpp)
-
-rospack_add_executable(genmsg_oct genmsg_oct.cpp genmsg_main_oct.cpp utils.cpp)
-rospack_add_executable(gensrv_oct gensrv_oct.cpp genmsg_oct.cpp utils.cpp)
-
-rospack_add_executable(genmsg_java genmsg_java.cpp genmsg_main_java.cpp utils.cpp)
-rospack_add_executable(gensrv_java gensrv_java.cpp genmsg_java.cpp utils.cpp)
+rosbuild_add_executable(genmsg_lisp genmsg_lisp.cpp genmsg_main_lisp.cpp utils.cpp)
+rosbuild_add_executable(gensrv_lisp gensrv_lisp.cpp genmsg_lisp.cpp utils.cpp)
+rosbuild_add_executable(genmsg_oct genmsg_oct.cpp genmsg_main_oct.cpp utils.cpp)
+rosbuild_add_executable(gensrv_oct gensrv_oct.cpp genmsg_oct.cpp utils.cpp)
+rosbuild_add_executable(genmsg_java genmsg_java.cpp genmsg_main_java.cpp utils.cpp)
+rosbuild_add_executable(gensrv_java gensrv_java.cpp genmsg_java.cpp utils.cpp)
 
diff --git a/core/message_filters/CMakeLists.txt b/core/message_filters/CMakeLists.txt
index 16415e6e..9eb4e46b 100644
--- a/core/message_filters/CMakeLists.txt
+++ b/core/message_filters/CMakeLists.txt
@@ -1,12 +1,12 @@
 cmake_minimum_required(VERSION 2.4.6)
 include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
-rospack(message_filters)
+rosbuild_init()
 
 include_directories(include/message_filters)
 
-rospack_add_boost_directories()
-rospack_add_library(message_filters src/connection.cpp)
-rospack_link_boost(message_filters thread signals)
+rosbuild_add_boost_directories()
+rosbuild_add_library(message_filters src/connection.cpp)
+rosbuild_link_boost(message_filters thread signals)
 
 #rospack_add_executable(filter_example src/filter_example.cpp)
 #target_link_libraries(filter_example message_filters)
diff --git a/core/message_filters/test/CMakeLists.txt b/core/message_filters/test/CMakeLists.txt
index e3286b40..b91570b8 100644
--- a/core/message_filters/test/CMakeLists.txt
+++ b/core/message_filters/test/CMakeLists.txt
@@ -1,15 +1,15 @@
 set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR})
 
 # ********** Tests **********
-rospack_add_gtest(test/msg_cache_unittest msg_cache_unittest.cpp)
+rosbuild_add_gtest(test/msg_cache_unittest msg_cache_unittest.cpp)
 target_link_libraries(test/msg_cache_unittest message_filters)
 
-rospack_add_gtest(test/time_synchronizer_unittest time_synchronizer_unittest.cpp)
+rosbuild_add_gtest(test/time_synchronizer_unittest time_synchronizer_unittest.cpp)
 target_link_libraries(test/time_synchronizer_unittest message_filters)
 
 # Needs to be a rostest because it spins up a node, which blocks until it hears from the master (unfortunately)
-rospack_add_executable(test/time_sequencer_unittest EXCLUDE_FROM_ALL time_sequencer_unittest.cpp)
-rospack_declare_test(test/time_sequencer_unittest)
-rospack_add_gtest_build_flags(test/time_sequencer_unittest)
+rosbuild_add_executable(test/time_sequencer_unittest EXCLUDE_FROM_ALL time_sequencer_unittest.cpp)
+rosbuild_declare_test(test/time_sequencer_unittest)
+rosbuild_add_gtest_build_flags(test/time_sequencer_unittest)
 target_link_libraries(test/time_sequencer_unittest message_filters)
-rospack_add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/time_sequencer_unittest.xml)
\ No newline at end of file
+rosbuild_add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/time_sequencer_unittest.xml)
diff --git a/core/rosbuild/deprecated.cmake b/core/rosbuild/deprecated.cmake
index 4f855c41..58abc7d2 100644
--- a/core/rosbuild/deprecated.cmake
+++ b/core/rosbuild/deprecated.cmake
@@ -2,77 +2,77 @@
 # To-be-deprecated macros below
 
 macro(rospack)
-  #_rosbuild_warn("rospack(foo) is deprecated. Use rosbuild_init() instead")
+  _rosbuild_warn("rospack(foo) is deprecated. Use rosbuild_init() instead")
   rosbuild_init()
 endmacro(rospack)
 
 macro(find_ros_package pkgname) 
-  #_rosbuild_warn_deprecate_no_prefix(find_ros_package)
+  _rosbuild_warn_deprecate_no_prefix(find_ros_package)
   rosbuild_find_ros_package(${ARGV})
 endmacro(find_ros_package pkgname) 
 
 macro(rospack_add_compile_flags)
-  #_rosbuild_warn_deprecate_rospack_prefix(rospack_add_compile_flags)
+  _rosbuild_warn_deprecate_rospack_prefix(rospack_add_compile_flags)
   rosbuild_add_compile_flags(${ARGV})
 endmacro(rospack_add_compile_flags)
 
 macro(rospack_remove_compile_flags)
-  #_rosbuild_warn_deprecate_rospack_prefix(rospack_remove_compile_flags)
+  _rosbuild_warn_deprecate_rospack_prefix(rospack_remove_compile_flags)
   rosbuild_remove_compile_flags(${ARGV})
 endmacro(rospack_remove_compile_flags)
 
 macro(rospack_add_link_flags)
-  #_rosbuild_warn_deprecate_rospack_prefix(rospack_add_link_flags)
+  _rosbuild_warn_deprecate_rospack_prefix(rospack_add_link_flags)
   rosbuild_add_link_flags(${ARGV})
 endmacro(rospack_add_link_flags)
 
 macro(rospack_remove_link_flags)
-  #_rosbuild_warn_deprecate_rospack_prefix(rospack_remove_link_flags)
+  _rosbuild_warn_deprecate_rospack_prefix(rospack_remove_link_flags)
   rosbuild_remove_link_flags(${ARGV})
 endmacro(rospack_remove_link_flags)
 
 macro(rospack_add_executable)
-  #_rosbuild_warn_deprecate_rospack_prefix(rospack_add_executable)
+  _rosbuild_warn_deprecate_rospack_prefix(rospack_add_executable)
   rosbuild_add_executable(${ARGV})
 endmacro(rospack_add_executable)
 
 macro(rospack_add_library)
-  #_rosbuild_warn_deprecate_rospack_prefix(rospack_add_library)
+  _rosbuild_warn_deprecate_rospack_prefix(rospack_add_library)
   rosbuild_add_library(${ARGV})
 endmacro(rospack_add_library)
 
 macro(rospack_add_gtest_build_flags)
-  #_rosbuild_warn_deprecate_rospack_prefix(rospack_add_gtest_build_flags)
+  _rosbuild_warn_deprecate_rospack_prefix(rospack_add_gtest_build_flags)
   rosbuild_add_gtest_build_flags(${ARGV})
 endmacro(rospack_add_gtest_build_flags)
 
 macro(rospack_declare_test)
-  #_rosbuild_warn_deprecate_rospack_prefix(rospack_declare_test)
+  _rosbuild_warn_deprecate_rospack_prefix(rospack_declare_test)
   rosbuild_declare_test(${ARGV})
 endmacro(rospack_declare_test)
 
 macro(rospack_add_gtest)
-  #_rosbuild_warn_deprecate_rospack_prefix(rospack_add_gtest)
+  _rosbuild_warn_deprecate_rospack_prefix(rospack_add_gtest)
   rosbuild_add_gtest(${ARGV})
 endmacro(rospack_add_gtest)
 
 macro(rospack_add_gtest_future)
-  #_rosbuild_warn_deprecate_rospack_prefix(rospack_add_gtest_future)
+  _rosbuild_warn_deprecate_rospack_prefix(rospack_add_gtest_future)
   rosbuild_add_gtest_future(${ARGV})
 endmacro(rospack_add_gtest_future)
 
 macro(rospack_add_rostest)
-  #_rosbuild_warn_deprecate_rospack_prefix(rospack_add_rostest)
+  _rosbuild_warn_deprecate_rospack_prefix(rospack_add_rostest)
   rosbuild_add_rostest(${ARGV})
 endmacro(rospack_add_rostest)
 
 macro(rospack_add_rostest_future)
-  #_rosbuild_warn_deprecate_rospack_prefix(rospack_add_rostest_future)
+  _rosbuild_warn_deprecate_rospack_prefix(rospack_add_rostest_future)
   rosbuild_add_rostest_future(${ARGV})
 endmacro(rospack_add_rostest_future)
 
 macro(rospack_add_rostest_graphical)
-  #_rosbuild_warn_deprecate_rospack_prefix(rospack_add_rostest_graphical)
+  _rosbuild_warn_deprecate_rospack_prefix(rospack_add_rostest_graphical)
   rosbuild_add_rostest_graphical(${ARGV})
 endmacro(rospack_add_rostest_graphical)
 
@@ -82,17 +82,17 @@ macro(rosbuild_add_rostest_graphical)
 endmacro(rosbuild_add_rostest_graphical)
 
 macro(rospack_add_pyunit)
-  #_rosbuild_warn_deprecate_rospack_prefix(rospack_add_pyunit)
+  _rosbuild_warn_deprecate_rospack_prefix(rospack_add_pyunit)
   rosbuild_add_pyunit(${ARGV})
 endmacro(rospack_add_pyunit)
 
 macro(rospack_add_pyunit_future)
-  #_rosbuild_warn_deprecate_rospack_prefix(rospack_add_pyunit_future)
+  _rosbuild_warn_deprecate_rospack_prefix(rospack_add_pyunit_future)
   rosbuild_add_pyunit_future(${ARGV})
 endmacro(rospack_add_pyunit_future)
 
 macro(rospack_add_pyunit_graphical)
-  #_rosbuild_warn_deprecate_rospack_prefix(rospack_add_pyunit_graphical)
+  _rosbuild_warn_deprecate_rospack_prefix(rospack_add_pyunit_graphical)
   rosbuild_add_pyunit_graphical(${ARGV})
 endmacro(rospack_add_pyunit_graphical)
 
@@ -102,52 +102,52 @@ macro(rosbuild_add_pyunit_graphical)
 endmacro(rosbuild_add_pyunit_graphical)
 
 macro(get_msgs)
-  #_rosbuild_warn_deprecate_no_prefix(get_msgs)
+  _rosbuild_warn_deprecate_no_prefix(get_msgs)
   rosbuild_get_msgs(${ARGV})
 endmacro(get_msgs)
 
 macro(get_srvs)
-  #_rosbuild_warn_deprecate_no_prefix(get_srvs)
+  _rosbuild_warn_deprecate_no_prefix(get_srvs)
   rosbuild_get_srvs(${ARGV})
 endmacro(get_srvs)
 
 macro(gendeps)
-  #_rosbuild_warn_deprecate_no_prefix(gendeps)
+  _rosbuild_warn_deprecate_no_prefix(gendeps)
   rosbuild_gendeps(${ARGV})
 endmacro(gendeps)
 
 macro(gensrv)
-  #_rosbuild_warn_deprecate_no_prefix(gensrv)
+  _rosbuild_warn_deprecate_no_prefix(gensrv)
   rosbuild_gensrv(${ARGV})
 endmacro(gensrv)
 
 macro(genmsg)
-  #_rosbuild_warn_deprecate_no_prefix(genmsg)
+  _rosbuild_warn_deprecate_no_prefix(genmsg)
   rosbuild_genmsg(${ARGV})
 endmacro(genmsg)
 
 macro(rospack_add_boost_directories)
-  #_rosbuild_warn_deprecate_rospack_prefix(rospack_add_boost_directories)
+  _rosbuild_warn_deprecate_rospack_prefix(rospack_add_boost_directories)
   rosbuild_add_boost_directories(${ARGV})
 endmacro(rospack_add_boost_directories)
 
 macro(rospack_link_boost)
-  #_rosbuild_warn_deprecate_rospack_prefix(rospack_link_boost)
+  _rosbuild_warn_deprecate_rospack_prefix(rospack_link_boost)
   rosbuild_link_boost(${ARGV})
 endmacro(rospack_link_boost)
 
 macro(rospack_download_test_data)
-  #_rosbuild_warn_deprecate_rospack_prefix(rospack_download_test_data)
+  _rosbuild_warn_deprecate_rospack_prefix(rospack_download_test_data)
   rosbuild_download_test_data(${ARGV})
 endmacro(rospack_download_test_data)
 
 macro(rospack_add_openmp_flags)
-  #_rosbuild_warn_deprecate_rospack_prefix(rospack_add_openmp_flags)
+  _rosbuild_warn_deprecate_rospack_prefix(rospack_add_openmp_flags)
   rosbuild_add_openmp_flags(${ARGV})
 endmacro(rospack_add_openmp_flags)
 
 macro(_rospack_invoke)
-  #_rosbuild_warn("_rospack_invoke() is deprecated; use rosbuild_invoke_rospack() instead")
+  _rosbuild_warn("_rospack_invoke() is deprecated; use rosbuild_invoke_rospack() instead")
   rosbuild_invoke_rospack(${ARGV})
 endmacro(_rospack_invoke)
 
diff --git a/core/rosconsole/CMakeLists.txt b/core/rosconsole/CMakeLists.txt
index 17f70ffc..bd5cacc1 100644
--- a/core/rosconsole/CMakeLists.txt
+++ b/core/rosconsole/CMakeLists.txt
@@ -9,21 +9,21 @@ rosbuild_init()
 include_directories(include/rosconsole)
 set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
 
-rospack_add_boost_directories()
+rosbuild_add_boost_directories()
 
-rospack_add_library(${PROJECT_NAME} src/rosconsole/rosconsole.cpp)
+rosbuild_add_library(${PROJECT_NAME} src/rosconsole/rosconsole.cpp)
 target_link_libraries(${PROJECT_NAME} log4cxx)
-rospack_link_boost(${PROJECT_NAME} thread)
+rosbuild_link_boost(${PROJECT_NAME} thread)
 
-rospack_add_executable(example examples/example.cpp)
+rosbuild_add_executable(example examples/example.cpp)
 target_link_libraries(example ${PROJECT_NAME})
 set_target_properties(example PROPERTIES RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/examples)
 
-rospack_add_gtest(test/utest test/utest.cpp)
+rosbuild_add_gtest(test/utest test/utest.cpp)
 target_link_libraries(test/utest ${PROJECT_NAME})
 
 if(${CMAKE_SYSTEM_NAME} STREQUAL Linux)
-  rospack_add_gtest(test/assertion_test test/assertion_test.cpp)
+  rosbuild_add_gtest(test/assertion_test test/assertion_test.cpp)
   target_link_libraries(test/assertion_test ${PROJECT_NAME})
 endif(${CMAKE_SYSTEM_NAME} STREQUAL Linux)
 
diff --git a/core/roscpp/CMakeLists.txt b/core/roscpp/CMakeLists.txt
index 32f80ed2..79fe1b49 100644
--- a/core/roscpp/CMakeLists.txt
+++ b/core/roscpp/CMakeLists.txt
@@ -5,7 +5,7 @@ set(ROS_BUILD_TYPE RelWithDebInfo)
 #set(ROS_BUILD_TYPE Debug)
 
 rosbuild_init()
-genmsg()
-gensrv()
+rosbuild_genmsg()
+rosbuild_gensrv()
 add_subdirectory(src)
 add_subdirectory(test EXCLUDE_FROM_ALL) 
diff --git a/core/roscpp/cmake/roscpp.cmake b/core/roscpp/cmake/roscpp.cmake
index eb788542..b3d691af 100644
--- a/core/roscpp/cmake/roscpp.cmake
+++ b/core/roscpp/cmake/roscpp.cmake
@@ -2,13 +2,13 @@ rosbuild_find_ros_package(genmsg_cpp)
 
 # Message-generation support.
 macro(genmsg_cpp)
-  get_msgs(_msglist)
+  rosbuild_get_msgs(_msglist)
   set(_autogen "")
   foreach(_msg ${_msglist})
     # Construct the path to the .msg file
     set(_input ${PROJECT_SOURCE_DIR}/msg/${_msg})
   
-    gendeps(${PROJECT_NAME} ${_msg})
+    rosbuild_gendeps(${PROJECT_NAME} ${_msg})
   
     set(genmsg_cpp_exe ${genmsg_cpp_PACKAGE_PATH}/genmsg)
 
@@ -34,13 +34,13 @@ genmsg_cpp()
 
 # Service-generation support.
 macro(gensrv_cpp)
-  get_srvs(_srvlist)
+  rosbuild_get_srvs(_srvlist)
   set(_autogen "")
   foreach(_srv ${_srvlist})
     # Construct the path to the .srv file
     set(_input ${PROJECT_SOURCE_DIR}/srv/${_srv})
   
-    gendeps(${PROJECT_NAME} ${_srv})
+    rosbuild_gendeps(${PROJECT_NAME} ${_srv})
   
     set(gensrv_cpp_exe ${genmsg_cpp_PACKAGE_PATH}/gensrv)
 
diff --git a/core/roscpp/src/libros/CMakeLists.txt b/core/roscpp/src/libros/CMakeLists.txt
index 6733c2af..085bf73e 100644
--- a/core/roscpp/src/libros/CMakeLists.txt
+++ b/core/roscpp/src/libros/CMakeLists.txt
@@ -10,9 +10,9 @@ CHECK_FUNCTION_EXISTS(trunc HAVE_TRUNC)
 CONFIGURE_FILE(${CMAKE_CURRENT_SOURCE_DIR}/config.h.in ${CMAKE_CURRENT_BINARY_DIR}/config.h)
 include_directories(${CMAKE_CURRENT_BINARY_DIR})
 
-rospack_add_boost_directories()
+rosbuild_add_boost_directories()
 
-rospack_add_library(ros 
+rosbuild_add_library(ros 
                     common.cpp 
                     poll_set.cpp 
                     header.cpp
@@ -53,4 +53,4 @@ rospack_add_library(ros
                     timer.cpp
                     wall_timer.cpp
                     )
-rospack_link_boost(ros thread signals)
+rosbuild_link_boost(ros thread signals)
diff --git a/core/roscpp/test/CMakeLists.txt b/core/roscpp/test/CMakeLists.txt
index 6723b6ab..a5175a39 100644
--- a/core/roscpp/test/CMakeLists.txt
+++ b/core/roscpp/test/CMakeLists.txt
@@ -1,14 +1,14 @@
-rospack_add_gtest(test/test_version test_version.cpp)
+rosbuild_add_gtest(test/test_version test_version.cpp)
 target_link_libraries(test/test_version)
 
-rospack_add_gtest(test/test_header test_header.cpp)
+rosbuild_add_gtest(test/test_header test_header.cpp)
 target_link_libraries(test/test_header ros)
 
-rospack_add_gtest(test/test_poll_set test_poll_set.cpp)
+rosbuild_add_gtest(test/test_poll_set test_poll_set.cpp)
 target_link_libraries(test/test_poll_set ros)
 
-rospack_add_gtest(test/test_transport_tcp test_transport_tcp.cpp)
+rosbuild_add_gtest(test/test_transport_tcp test_transport_tcp.cpp)
 target_link_libraries(test/test_transport_tcp ros)
 
-rospack_add_gtest(test/test_subscription_queue subscription_queue.cpp)
+rosbuild_add_gtest(test/test_subscription_queue subscription_queue.cpp)
 target_link_libraries(test/test_subscription_queue ros)
diff --git a/core/roslib/CMakeLists.txt b/core/roslib/CMakeLists.txt
index 5600d17b..435f4ce4 100644
--- a/core/roslib/CMakeLists.txt
+++ b/core/roslib/CMakeLists.txt
@@ -7,14 +7,14 @@ rosbuild_genmsg()
 CONFIGURE_FILE(${CMAKE_CURRENT_SOURCE_DIR}/config.h.in ${CMAKE_CURRENT_BINARY_DIR}/config.h)
 include_directories(${CMAKE_CURRENT_BINARY_DIR})
 
-rospack_add_boost_directories()
+rosbuild_add_boost_directories()
 
-rospack_add_library(roslib src/time.cpp src/rate.cpp src/package.cpp)
-rospack_link_boost(roslib thread)
+rosbuild_add_library(roslib src/time.cpp src/rate.cpp src/package.cpp)
+rosbuild_link_boost(roslib thread)
 
-rospack_add_gtest(test_time test/time.cpp)
+rosbuild_add_gtest(test_time test/time.cpp)
 target_link_libraries(test_time roslib)
 
-rospack_add_gtest(test_package test/package.cpp)
+rosbuild_add_gtest(test_package test/package.cpp)
 target_link_libraries(test_package roslib)
  
diff --git a/core/rosout/CMakeLists.txt b/core/rosout/CMakeLists.txt
index 47c0cfab..4bc3d2e3 100644
--- a/core/rosout/CMakeLists.txt
+++ b/core/rosout/CMakeLists.txt
@@ -1,4 +1,4 @@
 cmake_minimum_required(VERSION 2.4.6)
 include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
 rosbuild_init()
-rospack_add_executable(rosout rosout.cpp)
+rosbuild_add_executable(rosout rosout.cpp)
diff --git a/core/rospy/cmake/rospy.cmake b/core/rospy/cmake/rospy.cmake
index 617f6456..8d6c64be 100644
--- a/core/rospy/cmake/rospy.cmake
+++ b/core/rospy/cmake/rospy.cmake
@@ -2,13 +2,13 @@ rosbuild_find_ros_package(rospy)
 
 # Message-generation support.
 macro(genmsg_py)
-  get_msgs(_msglist)
+  rosbuild_get_msgs(_msglist)
   set(_autogen "")
   foreach(_msg ${_msglist})
     # Construct the path to the .msg file
     set(_input ${PROJECT_SOURCE_DIR}/msg/${_msg})
   
-    gendeps(${PROJECT_NAME} ${_msg})
+    rosbuild_gendeps(${PROJECT_NAME} ${_msg})
   
     set(genmsg_py_exe ${rospy_PACKAGE_PATH}/scripts/genmsg_py)
 
@@ -40,13 +40,13 @@ genmsg_py()
 
 # Service-generation support.
 macro(gensrv_py)
-  get_srvs(_srvlist)
+  rosbuild_get_srvs(_srvlist)
   set(_autogen "")
   foreach(_srv ${_srvlist})
     # Construct the path to the .srv file
     set(_input ${PROJECT_SOURCE_DIR}/srv/${_srv})
   
-    gendeps(${PROJECT_NAME} ${_srv})
+    rosbuild_gendeps(${PROJECT_NAME} ${_srv})
   
     set(gensrv_py_exe ${rospy_PACKAGE_PATH}/scripts/gensrv_py)
 
diff --git a/test/performance/test_roscpp_serialization_perf/CMakeLists.txt b/test/performance/test_roscpp_serialization_perf/CMakeLists.txt
index 5b989fda..98522946 100644
--- a/test/performance/test_roscpp_serialization_perf/CMakeLists.txt
+++ b/test/performance/test_roscpp_serialization_perf/CMakeLists.txt
@@ -2,8 +2,8 @@ cmake_minimum_required(VERSION 2.4.6)
 include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
 set(ROS_BUILD_TYPE Release)
 rosbuild_init()
-genmsg()
-rospack_add_executable(pointcloud_serdes pointcloud_serdes.cpp)
+rosbuild_genmsg()
+rosbuild_add_executable(pointcloud_serdes pointcloud_serdes.cpp)
 #rospack_add_compile_flags(pointcloud_serdes "-O3 -funroll-loops")
 #rospack_add_compile_flags(pointcloud_serdes "-march=prescott")
 
diff --git a/test/rostest/CMakeLists.txt b/test/rostest/CMakeLists.txt
index 395b9ef7..dcdc3818 100644
--- a/test/rostest/CMakeLists.txt
+++ b/test/rostest/CMakeLists.txt
@@ -8,4 +8,4 @@ rosbuild_init()
 configure_file(bin/rostest $ENV{ROS_ROOT}/bin/rostest COPYONLY)
 set_directory_properties(PROPERTIES ADDITIONAL_MAKE_CLEAN_FILES $ENV{ROS_ROOT}/bin/rostest)
 
-rospack_add_gtest(test/test_permuter test/test_permuter.cpp)
+rosbuild_add_gtest(test/test_permuter test/test_permuter.cpp)
diff --git a/test/test_crosspackage/CMakeLists.txt b/test/test_crosspackage/CMakeLists.txt
index e99c1555..8e264ca3 100644
--- a/test/test_crosspackage/CMakeLists.txt
+++ b/test/test_crosspackage/CMakeLists.txt
@@ -17,7 +17,7 @@ set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
 set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
 
 #uncomment if you have defined messages
-genmsg()
+rosbuild_genmsg()
 #uncomment if you have defined services
 #gensrv()
 
diff --git a/test/test_ros/CMakeLists.txt b/test/test_ros/CMakeLists.txt
index e21ea308..52981201 100644
--- a/test/test_ros/CMakeLists.txt
+++ b/test/test_ros/CMakeLists.txt
@@ -3,4 +3,4 @@ include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
 rosbuild_init()
 rosbuild_genmsg()
 rosbuild_gensrv()
-rospack_add_rostest(test/test-param-server.xml)
+rosbuild_add_rostest(test/test-param-server.xml)
diff --git a/test/test_rosbagmigration/CMakeLists.txt b/test/test_rosbagmigration/CMakeLists.txt
index 2772f598..a0f67bea 100644
--- a/test/test_rosbagmigration/CMakeLists.txt
+++ b/test/test_rosbagmigration/CMakeLists.txt
@@ -3,11 +3,11 @@ include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
 
 rosbuild_init()
 
-genmsg()
+rosbuild_genmsg()
 
 set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
 set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
 
-rospack_add_pyunit(test/migrate_test.py)
+rosbuild_add_pyunit(test/migrate_test.py)
 
 
diff --git a/test/test_roscpp/CMakeLists.txt b/test/test_roscpp/CMakeLists.txt
index ce5e7197..c37640fe 100644
--- a/test/test_roscpp/CMakeLists.txt
+++ b/test/test_roscpp/CMakeLists.txt
@@ -2,8 +2,8 @@ cmake_minimum_required(VERSION 2.4.6)
 include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
 rosbuild_init()
 
-genmsg()
-gensrv()
+rosbuild_genmsg()
+rosbuild_gensrv()
 
 set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
 
diff --git a/test/test_roscpp/src/CMakeLists.txt b/test/test_roscpp/src/CMakeLists.txt
index fe52b55c..2d651ce3 100644
--- a/test/test_roscpp/src/CMakeLists.txt
+++ b/test/test_roscpp/src/CMakeLists.txt
@@ -1,163 +1,163 @@
-rospack_add_executable(handles handles.cpp)
-rospack_add_gtest_build_flags(handles)
+rosbuild_add_executable(handles handles.cpp)
+rosbuild_add_gtest_build_flags(handles)
 target_link_libraries(handles ros)
 
-rospack_add_executable(timer_callbacks timer_callbacks.cpp)
-rospack_add_gtest_build_flags(timer_callbacks)
+rosbuild_add_executable(timer_callbacks timer_callbacks.cpp)
+rosbuild_add_gtest_build_flags(timer_callbacks)
 target_link_libraries(timer_callbacks ros)
 
-rospack_add_executable(latching_publisher latching_publisher)
-rospack_add_gtest_build_flags(latching_publisher)
+rosbuild_add_executable(latching_publisher latching_publisher)
+rosbuild_add_gtest_build_flags(latching_publisher)
 target_link_libraries(latching_publisher ros)
 
-rospack_add_executable(publish_n_fast publish_n_fast.cpp)
-rospack_declare_test(publish_n_fast)
+rosbuild_add_executable(publish_n_fast publish_n_fast.cpp)
+rosbuild_declare_test(publish_n_fast)
 target_link_libraries(publish_n_fast ros)
 
-rospack_add_executable(subscribe_self subscribe_self.cpp)
-rospack_add_gtest_build_flags(subscribe_self)
+rosbuild_add_executable(subscribe_self subscribe_self.cpp)
+rosbuild_add_gtest_build_flags(subscribe_self)
 target_link_libraries(subscribe_self ros)
 
-rospack_add_executable(pub_sub pub_sub.cpp)
-rospack_declare_test(pub_sub)
+rosbuild_add_executable(pub_sub pub_sub.cpp)
+rosbuild_declare_test(pub_sub)
 target_link_libraries(pub_sub ros)
 
-rospack_add_executable(sub_pub sub_pub.cpp)
-rospack_add_gtest_build_flags(sub_pub)
+rosbuild_add_executable(sub_pub sub_pub.cpp)
+rosbuild_add_gtest_build_flags(sub_pub)
 target_link_libraries(sub_pub ros)
 
-rospack_add_executable(publish_empty publish_empty.cpp)
-rospack_declare_test(publish_empty)
+rosbuild_add_executable(publish_empty publish_empty.cpp)
+rosbuild_declare_test(publish_empty)
 target_link_libraries(publish_empty ros)
 
-rospack_add_executable(publish_onsub publish_onsub.cpp)
-rospack_declare_test(publish_onsub)
+rosbuild_add_executable(publish_onsub publish_onsub.cpp)
+rosbuild_declare_test(publish_onsub)
 target_link_libraries(publish_onsub ros)
 
-rospack_add_executable(subscribe_n_fast subscribe_n_fast.cpp)
-rospack_add_gtest_build_flags(subscribe_n_fast)
+rosbuild_add_executable(subscribe_n_fast subscribe_n_fast.cpp)
+rosbuild_add_gtest_build_flags(subscribe_n_fast)
 target_link_libraries(subscribe_n_fast ros)
 
-rospack_add_executable(subscribe_empty subscribe_empty.cpp)
-rospack_add_gtest_build_flags(subscribe_empty)
+rosbuild_add_executable(subscribe_empty subscribe_empty.cpp)
+rosbuild_add_gtest_build_flags(subscribe_empty)
 target_link_libraries(subscribe_empty ros)
 
-rospack_add_executable(subscribe_resubscribe subscribe_resubscribe.cpp)
-rospack_add_gtest_build_flags(subscribe_resubscribe)
+rosbuild_add_executable(subscribe_resubscribe subscribe_resubscribe.cpp)
+rosbuild_add_gtest_build_flags(subscribe_resubscribe)
 target_link_libraries(subscribe_resubscribe ros)
 
-rospack_add_executable(subscribe_unsubscribe subscribe_unsubscribe.cpp)
-rospack_add_gtest_build_flags(subscribe_unsubscribe)
+rosbuild_add_executable(subscribe_unsubscribe subscribe_unsubscribe.cpp)
+rosbuild_add_gtest_build_flags(subscribe_unsubscribe)
 target_link_libraries(subscribe_unsubscribe ros)
 
-rospack_add_executable(publish_unadvertise publish_unadvertise.cpp)
-rospack_add_gtest_build_flags(publish_unadvertise)
+rosbuild_add_executable(publish_unadvertise publish_unadvertise.cpp)
+rosbuild_add_gtest_build_flags(publish_unadvertise)
 target_link_libraries(publish_unadvertise ros)
 
-rospack_add_executable(subscribe_unsubscribe_repeatedly subscribe_unsubscribe_repeatedly.cpp)
-rospack_declare_test(subscribe_unsubscribe_repeatedly)
+rosbuild_add_executable(subscribe_unsubscribe_repeatedly subscribe_unsubscribe_repeatedly.cpp)
+rosbuild_declare_test(subscribe_unsubscribe_repeatedly)
 target_link_libraries(subscribe_unsubscribe_repeatedly ros)
 
-rospack_add_executable(publish_constantly publish_constantly.cpp)
-rospack_declare_test(publish_constantly)
+rosbuild_add_executable(publish_constantly publish_constantly.cpp)
+rosbuild_declare_test(publish_constantly)
 target_link_libraries(publish_constantly ros)
 
-rospack_add_executable(param_update_test param_update_test.cpp)
-rospack_declare_test(param_update_test)
+rosbuild_add_executable(param_update_test param_update_test.cpp)
+rosbuild_declare_test(param_update_test)
 target_link_libraries(param_update_test ros)
 
  
-rospack_add_executable(real_time_test real_time_test.cpp)
-rospack_declare_test(real_time_test)
-rospack_add_gtest_build_flags(real_time_test)
+rosbuild_add_executable(real_time_test real_time_test.cpp)
+rosbuild_declare_test(real_time_test)
+rosbuild_add_gtest_build_flags(real_time_test)
 target_link_libraries(real_time_test ros)
 
-rospack_add_executable(sim_time_test sim_time_test.cpp)
-rospack_declare_test(sim_time_test)
-rospack_add_gtest_build_flags(sim_time_test)
+rosbuild_add_executable(sim_time_test sim_time_test.cpp)
+rosbuild_declare_test(sim_time_test)
+rosbuild_add_gtest_build_flags(sim_time_test)
 target_link_libraries(sim_time_test ros)
 
 # Call a service
-rospack_add_executable(service_adv service_adv.cpp)
-rospack_declare_test(service_adv)
+rosbuild_add_executable(service_adv service_adv.cpp)
+rosbuild_declare_test(service_adv)
 target_link_libraries(service_adv ros)
 
-rospack_add_executable(service_adv_unadv service_adv_unadv.cpp)
-rospack_declare_test(service_adv_unadv)
-rospack_add_gtest_build_flags(service_adv_unadv)
+rosbuild_add_executable(service_adv_unadv service_adv_unadv.cpp)
+rosbuild_declare_test(service_adv_unadv)
+rosbuild_add_gtest_build_flags(service_adv_unadv)
 target_link_libraries(service_adv_unadv ros)
 
-rospack_add_executable(service_call service_call.cpp)
-rospack_add_gtest_build_flags(service_call)
+rosbuild_add_executable(service_call service_call.cpp)
+rosbuild_add_gtest_build_flags(service_call)
 target_link_libraries(service_call ros)
 
-rospack_add_executable(service_call_repeatedly service_call_repeatedly.cpp)
-rospack_declare_test(service_call_repeatedly)
+rosbuild_add_executable(service_call_repeatedly service_call_repeatedly.cpp)
+rosbuild_declare_test(service_call_repeatedly)
 target_link_libraries(service_call_repeatedly ros)
 
 
 # Repeatedly call ros::init()
-rospack_add_executable(multiple_init_fini multiple_init_fini.cpp)
-rospack_add_gtest_build_flags(multiple_init_fini)
+rosbuild_add_executable(multiple_init_fini multiple_init_fini.cpp)
+rosbuild_add_gtest_build_flags(multiple_init_fini)
 target_link_libraries(multiple_init_fini ros)
 
 # Test node inspection functionality
-rospack_add_executable(inspection inspection.cpp)
-rospack_add_gtest_build_flags(inspection)
+rosbuild_add_executable(inspection inspection.cpp)
+rosbuild_add_gtest_build_flags(inspection)
 target_link_libraries(inspection ros)
 
 # Test logging functionality
-rospack_add_executable(log log.cpp)
-rospack_add_gtest_build_flags(log)
+rosbuild_add_executable(log log.cpp)
+rosbuild_add_gtest_build_flags(log)
 target_link_libraries(log ros)
 
 # Test that advertising a service multiple times fails
-rospack_add_executable(service_adv_multiple service_adv_multiple.cpp)
-rospack_add_gtest_build_flags(service_adv_multiple)
+rosbuild_add_executable(service_adv_multiple service_adv_multiple.cpp)
+rosbuild_add_gtest_build_flags(service_adv_multiple)
 target_link_libraries(service_adv_multiple ros)
 
 # Test that the second node to advertise a service "wins"
-rospack_add_executable(service_adv_a service_adv_a.cpp)
-rospack_add_gtest_build_flags(service_adv_a)
+rosbuild_add_executable(service_adv_a service_adv_a.cpp)
+rosbuild_add_gtest_build_flags(service_adv_a)
 target_link_libraries(service_adv_a ros)
 
-rospack_add_executable(service_wait_a_adv_b service_wait_a_adv_b.cpp)
-rospack_add_gtest_build_flags(service_wait_a_adv_b)
+rosbuild_add_executable(service_wait_a_adv_b service_wait_a_adv_b.cpp)
+rosbuild_add_gtest_build_flags(service_wait_a_adv_b)
 target_link_libraries(service_wait_a_adv_b ros)
 
-rospack_add_executable(service_call_expect_b service_call_expect_b.cpp)
-rospack_add_gtest_build_flags(service_call_expect_b)
+rosbuild_add_executable(service_call_expect_b service_call_expect_b.cpp)
+rosbuild_add_gtest_build_flags(service_call_expect_b)
 target_link_libraries(service_call_expect_b ros)
 
 # Test command-line name remapping
-rospack_add_executable(name_remapping name_remapping.cpp)
-rospack_add_gtest_build_flags(name_remapping)
+rosbuild_add_executable(name_remapping name_remapping.cpp)
+rosbuild_add_gtest_build_flags(name_remapping)
 target_link_libraries(name_remapping ros)
-rospack_add_executable(name_remapping_with_ns name_remapping_with_ns.cpp)
-rospack_add_gtest_build_flags(name_remapping_with_ns)
+rosbuild_add_executable(name_remapping_with_ns name_remapping_with_ns.cpp)
+rosbuild_add_gtest_build_flags(name_remapping_with_ns)
 target_link_libraries(name_remapping_with_ns ros)
 
 # Test namespaces
-rospack_add_executable(namespaces namespaces.cpp)
-rospack_add_gtest_build_flags(namespaces)
+rosbuild_add_executable(namespaces namespaces.cpp)
+rosbuild_add_gtest_build_flags(namespaces)
 target_link_libraries(namespaces ros)
 
 # Test params
-rospack_add_executable(params params.cpp)
-rospack_add_gtest_build_flags(params)
+rosbuild_add_executable(params params.cpp)
+rosbuild_add_gtest_build_flags(params)
 target_link_libraries(params ros)
 
 # Test getting information from the master
-rospack_add_executable(get_master_information get_master_information.cpp)
-rospack_add_gtest_build_flags(get_master_information)
+rosbuild_add_executable(get_master_information get_master_information.cpp)
+rosbuild_add_gtest_build_flags(get_master_information)
 target_link_libraries(get_master_information ros)
 
 # Test multiple subscriptions
-rospack_add_executable(multiple_subscriptions multiple_subscriptions.cpp)
-rospack_add_gtest_build_flags(multiple_subscriptions)
+rosbuild_add_executable(multiple_subscriptions multiple_subscriptions.cpp)
+rosbuild_add_gtest_build_flags(multiple_subscriptions)
 target_link_libraries(multiple_subscriptions ros)
 
-rospack_add_executable(check_master check_master.cpp)
-rospack_add_gtest_build_flags(check_master)
+rosbuild_add_executable(check_master check_master.cpp)
+rosbuild_add_gtest_build_flags(check_master)
 target_link_libraries(check_master ros)
 
diff --git a/test/test_roscpp/test/CMakeLists.txt b/test/test_roscpp/test/CMakeLists.txt
index 75345ba2..32e1852c 100644
--- a/test/test_roscpp/test/CMakeLists.txt
+++ b/test/test_roscpp/test/CMakeLists.txt
@@ -1,77 +1,77 @@
-rospack_add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/real_time_test.xml)
-rospack_add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/sim_time_test.xml)
+rosbuild_add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/real_time_test.xml)
+rosbuild_add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/sim_time_test.xml)
 
 # Publish one message
-rospack_add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/pubsub_once.xml)
+rosbuild_add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/pubsub_once.xml)
 
 # Publish a bunch of messages back to back
-rospack_add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/pubsub_n_fast.xml)
-rospack_add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/pubsub_n_fast_udp.xml)
+rosbuild_add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/pubsub_n_fast.xml)
+rosbuild_add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/pubsub_n_fast_udp.xml)
 
 # Publish a bunch of empty messages
-rospack_add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/pubsub_empty.xml)
+rosbuild_add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/pubsub_empty.xml)
 
 # Publish only to the subscriber from the subscriber callback
-rospack_add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/pub_onsub.xml)
+rosbuild_add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/pub_onsub.xml)
 
 # Publish a bunch of large messages back to back
-rospack_add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/pubsub_n_fast_large_message.xml)
+rosbuild_add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/pubsub_n_fast_large_message.xml)
 
 # Subscribe, listen, unsubscribe, re-subscribe to a different topic, listen
 # again
-rospack_add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/pubsub_resub_once.xml)
+rosbuild_add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/pubsub_resub_once.xml)
 
 # Subscribe and unsubscribe repeatedly, ensuring that callbacks don't get
 # called when not subscribed.
-rospack_add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/pubsub_unsub.xml)
+rosbuild_add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/pubsub_unsub.xml)
 
 # Advertise, then unadvertise, and ensure that subscriber callback doesn't
 # get invoked afterward, while a subscriber is constantly subscribing and
 # unsubscribing
-rospack_add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/pubsub_unadv.xml)
+rosbuild_add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/pubsub_unadv.xml)
 
 # Call a service
-rospack_add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/service_call.xml)
+rosbuild_add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/service_call.xml)
 
-rospack_add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/service_call_unadv.xml)
+rosbuild_add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/service_call_unadv.xml)
 
 # Repeatedly call ros::init() and ros::fini()
-rospack_add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/multiple_init_fini.xml)
+rosbuild_add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/multiple_init_fini.xml)
 
 # Test node inspection functionality
-rospack_add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/inspection.xml)
+rosbuild_add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/inspection.xml)
 
 # Test logging functionality
-rospack_add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/log.xml)
+rosbuild_add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/log.xml)
 
 # Test that advertising a service multiple times fails
-rospack_add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/service_adv_multiple.xml)
+rosbuild_add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/service_adv_multiple.xml)
 
 # Test that the second node to advertise a service "wins"
-rospack_add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/service_multiple_providers.xml)
+rosbuild_add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/service_multiple_providers.xml)
 
 # Test command-line name remapping
-rospack_add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/name_remapping.xml)
+rosbuild_add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/name_remapping.xml)
 
 # Test namespaces
-rospack_add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/namespaces.xml)
+rosbuild_add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/namespaces.xml)
 
 # Test params
-rospack_add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/params.xml)
+rosbuild_add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/params.xml)
 
 # Test getting information from the master
-rospack_add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/get_master_information.xml)
+rosbuild_add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/get_master_information.xml)
 
 # Test multiple subscriptions
-rospack_add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/multiple_subscriptions.xml)
+rosbuild_add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/multiple_subscriptions.xml)
 
-rospack_add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/pingpong.xml)
-rospack_add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/pingpong_large.xml)
+rosbuild_add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/pingpong.xml)
+rosbuild_add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/pingpong_large.xml)
 
-rospack_add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/subscribe_self.xml)
+rosbuild_add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/subscribe_self.xml)
 
-rospack_add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/check_master.xml)
+rosbuild_add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/check_master.xml)
 
-rospack_add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/handles.xml)
-rospack_add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/timer_callbacks.xml)
-rospack_add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/latching_publisher.xml)
+rosbuild_add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/handles.xml)
+rosbuild_add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/timer_callbacks.xml)
+rosbuild_add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/latching_publisher.xml)
diff --git a/test/test_roslaunch/CMakeLists.txt b/test/test_roslaunch/CMakeLists.txt
index 4e9f1e37..aa84d775 100644
--- a/test/test_roslaunch/CMakeLists.txt
+++ b/test/test_roslaunch/CMakeLists.txt
@@ -1,15 +1,15 @@
 cmake_minimum_required(VERSION 2.4.6)
 include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
 rosbuild_init()
-rospack_add_rostest(test/test-params-basic.xml)
-rospack_add_rostest(test/test-env.xml)
-rospack_add_pyunit(test/test_core.py)
-rospack_add_pyunit(test/test_nodeprocess.py)
-rospack_add_pyunit(test/test_xmlloader.py)
-rospack_add_pyunit(test/test_roslaunch_child.py)
-rospack_add_pyunit(test/test_roslaunch_node_args.py)
-rospack_add_pyunit(test/test_roslaunch_parent.py)
-rospack_add_pyunit(test/test_roslaunch_pmon.py)
-rospack_add_pyunit(test/test_roslaunch_remote.py)
-rospack_add_pyunit(test/test_roslaunch_server.py)
-rospack_add_pyunit(test/test_roslaunch_rlutil.py)
+rosbuild_add_rostest(test/test-params-basic.xml)
+rosbuild_add_rostest(test/test-env.xml)
+rosbuild_add_pyunit(test/test_core.py)
+rosbuild_add_pyunit(test/test_nodeprocess.py)
+rosbuild_add_pyunit(test/test_xmlloader.py)
+rosbuild_add_pyunit(test/test_roslaunch_child.py)
+rosbuild_add_pyunit(test/test_roslaunch_node_args.py)
+rosbuild_add_pyunit(test/test_roslaunch_parent.py)
+rosbuild_add_pyunit(test/test_roslaunch_pmon.py)
+rosbuild_add_pyunit(test/test_roslaunch_remote.py)
+rosbuild_add_pyunit(test/test_roslaunch_server.py)
+rosbuild_add_pyunit(test/test_roslaunch_rlutil.py)
diff --git a/test/test_roslib/CMakeLists.txt b/test/test_roslib/CMakeLists.txt
index c5bf96d5..e678d68f 100644
--- a/test/test_roslib/CMakeLists.txt
+++ b/test/test_roslib/CMakeLists.txt
@@ -1,23 +1,23 @@
 cmake_minimum_required(VERSION 2.4.6)
 include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
 rosbuild_init()
-genmsg()
+rosbuild_genmsg()
 # unit tests
-rospack_add_pyunit(test/test_md5sums.py)
-rospack_add_pyunit(test/test_roslib_exceptions.py)
-rospack_add_pyunit(test/test_roslib_rosenv.py)
-rospack_add_pyunit(test/test_roslib_manifest.py)
-rospack_add_pyunit(test/test_roslib_manifestlib.py)
-rospack_add_pyunit(test/test_roslib_message.py)
-rospack_add_pyunit(test/test_roslib_msgs.py)
-rospack_add_pyunit(test/test_roslib_names.py)
-rospack_add_pyunit(test/test_roslib_network.py)
-rospack_add_pyunit(test/test_roslib_packages.py)
-rospack_add_pyunit(test/test_roslib_params.py)
-rospack_add_pyunit(test/test_roslib_rostime.py)
-rospack_add_pyunit(test/test_roslib_genpy.py)
-rospack_add_pyunit(test/test_roslib_gentools.py)
-rospack_add_pyunit(test/test_roslib_scriptutil.py)
-rospack_add_pyunit(test/test_roslib_substitution_args.py)
-rospack_add_pyunit(test/test_roslib_xmlrpc.py)
+rosbuild_add_pyunit(test/test_md5sums.py)
+rosbuild_add_pyunit(test/test_roslib_exceptions.py)
+rosbuild_add_pyunit(test/test_roslib_rosenv.py)
+rosbuild_add_pyunit(test/test_roslib_manifest.py)
+rosbuild_add_pyunit(test/test_roslib_manifestlib.py)
+rosbuild_add_pyunit(test/test_roslib_message.py)
+rosbuild_add_pyunit(test/test_roslib_msgs.py)
+rosbuild_add_pyunit(test/test_roslib_names.py)
+rosbuild_add_pyunit(test/test_roslib_network.py)
+rosbuild_add_pyunit(test/test_roslib_packages.py)
+rosbuild_add_pyunit(test/test_roslib_params.py)
+rosbuild_add_pyunit(test/test_roslib_rostime.py)
+rosbuild_add_pyunit(test/test_roslib_genpy.py)
+rosbuild_add_pyunit(test/test_roslib_gentools.py)
+rosbuild_add_pyunit(test/test_roslib_scriptutil.py)
+rosbuild_add_pyunit(test/test_roslib_substitution_args.py)
+rosbuild_add_pyunit(test/test_roslib_xmlrpc.py)
  
diff --git a/test/test_rosmsg/CMakeLists.txt b/test/test_rosmsg/CMakeLists.txt
index 6d9890e2..b29eae54 100644
--- a/test/test_rosmsg/CMakeLists.txt
+++ b/test/test_rosmsg/CMakeLists.txt
@@ -9,18 +9,18 @@ include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
 #  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
 #set(ROS_BUILD_TYPE RelWithDebInfo)
 
-rospack(test_rosmsg)
+rosbuild_init()
 
 #set the default path for built executables to the "bin" directory
 set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
 #set the default path for built libraries to the "lib" directory
 set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
 
-rospack_add_pyunit(test/test_rosmsg_command_line.py)
-rospack_add_pyunit(test/test_rosmsg.py)
+rosbuild_add_pyunit(test/test_rosmsg_command_line.py)
+rosbuild_add_pyunit(test/test_rosmsg.py)
 
 #uncomment if you have defined messages
-genmsg()
+rosbuild_genmsg()
 #uncomment if you have defined services
 #gensrv()
 
diff --git a/test/test_rosnode/CMakeLists.txt b/test/test_rosnode/CMakeLists.txt
index 77ca0a37..9ff51545 100644
--- a/test/test_rosnode/CMakeLists.txt
+++ b/test/test_rosnode/CMakeLists.txt
@@ -9,12 +9,12 @@ include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
 #  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
 #set(ROS_BUILD_TYPE RelWithDebInfo)
 
-rospack(test_rosnode)
+rosbuild_init()
 
 #set the default path for built executables to the "bin" directory
 set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
 #set the default path for built libraries to the "lib" directory
 set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
 
-rospack_add_pyunit(test/test_rosnode_command_offline.py)
-rospack_add_rostest(test/rosnode.test)
+rosbuild_add_pyunit(test/test_rosnode_command_offline.py)
+rosbuild_add_rostest(test/rosnode.test)
diff --git a/test/test_rospy/CMakeLists.txt b/test/test_rospy/CMakeLists.txt
index 6a0236bb..f06d5375 100644
--- a/test/test_rospy/CMakeLists.txt
+++ b/test/test_rospy/CMakeLists.txt
@@ -4,35 +4,35 @@ rosbuild_init()
 rosbuild_genmsg()
 rosbuild_gensrv()
 # unit tests
-rospack_add_pyunit(test/test_genmsg_py.py)
-rospack_add_pyunit(test/test_rospy_api.py)
-rospack_add_pyunit(test/test_rospy_core.py)
-rospack_add_pyunit(test/test_rospy_client.py) 
-rospack_add_pyunit(test/test_rospy_exceptions.py)
-rospack_add_pyunit(test/test_rospy_masterdata.py)
-rospack_add_pyunit(test/test_rospy_msg.py)
-rospack_add_pyunit(test/test_rospy_msnode.py)
-rospack_add_pyunit(test/test_rospy_names.py)
-rospack_add_pyunit(test/test_rospy_numpy.py)
-rospack_add_pyunit(test/test_rospy_paramserver.py)
-rospack_add_pyunit(test/test_rospy_registration.py)
-rospack_add_pyunit(test/test_rospy_rostime.py)
-rospack_add_pyunit(test/test_rospy_service.py)
-rospack_add_pyunit(test/test_rospy_tcpros.py)
-rospack_add_pyunit(test/test_rospy_tcpros_base.py)
-rospack_add_pyunit(test/test_rospy_tcpros_pubsub.py)
-rospack_add_pyunit(test/test_rospy_tcpros_service.py)
-rospack_add_pyunit(test/test_rospy_topics.py)
-rospack_add_pyunit(test/test_rospy_transport.py)
-rospack_add_pyunit(test/test_rospy_validators.py)
+rosbuild_add_pyunit(test/test_genmsg_py.py)
+rosbuild_add_pyunit(test/test_rospy_api.py)
+rosbuild_add_pyunit(test/test_rospy_core.py)
+rosbuild_add_pyunit(test/test_rospy_client.py) 
+rosbuild_add_pyunit(test/test_rospy_exceptions.py)
+rosbuild_add_pyunit(test/test_rospy_masterdata.py)
+rosbuild_add_pyunit(test/test_rospy_msg.py)
+rosbuild_add_pyunit(test/test_rospy_msnode.py)
+rosbuild_add_pyunit(test/test_rospy_names.py)
+rosbuild_add_pyunit(test/test_rospy_numpy.py)
+rosbuild_add_pyunit(test/test_rospy_paramserver.py)
+rosbuild_add_pyunit(test/test_rospy_registration.py)
+rosbuild_add_pyunit(test/test_rospy_rostime.py)
+rosbuild_add_pyunit(test/test_rospy_service.py)
+rosbuild_add_pyunit(test/test_rospy_tcpros.py)
+rosbuild_add_pyunit(test/test_rospy_tcpros_base.py)
+rosbuild_add_pyunit(test/test_rospy_tcpros_pubsub.py)
+rosbuild_add_pyunit(test/test_rospy_tcpros_service.py)
+rosbuild_add_pyunit(test/test_rospy_topics.py)
+rosbuild_add_pyunit(test/test_rospy_transport.py)
+rosbuild_add_pyunit(test/test_rospy_validators.py)
 # integration tests
 # - accidentally wrote two integration tests for client param API. They are different enough that it's no harm in having both
-rospack_add_rostest(test/client-param-server.test)
-rospack_add_rostest(test/client-param-api-2.test)
-rospack_add_rostest(test/services.test)
-rospack_add_rostest(test/deregister.test)
-rospack_add_rostest(test/pubsub-order.test)
-rospack_add_rostest(test/embed-msg.test)
-rospack_add_rostest(test/zenmaster.test)
-rospack_add_rostest(test/param-server-zenmaster.test)
-rospack_add_rostest(test/node.test)
+rosbuild_add_rostest(test/client-param-server.test)
+rosbuild_add_rostest(test/client-param-api-2.test)
+rosbuild_add_rostest(test/services.test)
+rosbuild_add_rostest(test/deregister.test)
+rosbuild_add_rostest(test/pubsub-order.test)
+rosbuild_add_rostest(test/embed-msg.test)
+rosbuild_add_rostest(test/zenmaster.test)
+rosbuild_add_rostest(test/param-server-zenmaster.test)
+rosbuild_add_rostest(test/node.test)
diff --git a/test/test_rosrecord/CMakeLists.txt b/test/test_rosrecord/CMakeLists.txt
index 6d3124d1..4a707fa5 100644
--- a/test/test_rosrecord/CMakeLists.txt
+++ b/test/test_rosrecord/CMakeLists.txt
@@ -17,7 +17,7 @@ set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
 set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
 
 #uncomment if you have defined messages
-genmsg()
+rosbuild_genmsg()
 #uncomment if you have defined services
 #gensrv()
 
@@ -30,5 +30,5 @@ genmsg()
 #target_link_libraries(example ${PROJECT_NAME})
 
 # unit tests
-rospack_download_test_data(http://pr.willowgarage.com/data/rosrecord/rosrecord_rename_test.bag test/rosrecord_rename_test.bag 09c6e106c77b06ed3e836a5280c8a7c2)
-rospack_add_rostest(test/rename_test.xml)
+rosbuild_download_test_data(http://pr.willowgarage.com/data/rosrecord/rosrecord_rename_test.bag test/rosrecord_rename_test.bag 09c6e106c77b06ed3e836a5280c8a7c2)
+rosbuild_add_rostest(test/rename_test.xml)
diff --git a/test/test_rosservice/CMakeLists.txt b/test/test_rosservice/CMakeLists.txt
index e425771f..02aa27ff 100644
--- a/test/test_rosservice/CMakeLists.txt
+++ b/test/test_rosservice/CMakeLists.txt
@@ -9,13 +9,13 @@ include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
 #  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
 #set(ROS_BUILD_TYPE RelWithDebInfo)
 
-rospack(test_rosservice)
+rosbuild_init()
 
 #uncomment if you have defined messages
 #genmsg()
 #uncomment if you have defined services
 #gensrv()
 
-rospack_add_pyunit(test/test_rosservice_command_line_offline.py)
-rospack_add_rostest(test/rosservice.test)
+rosbuild_add_pyunit(test/test_rosservice_command_line_offline.py)
+rosbuild_add_rostest(test/rosservice.test)
 
diff --git a/test/test_rostopic/CMakeLists.txt b/test/test_rostopic/CMakeLists.txt
index 093c9ea1..540abee2 100644
--- a/test/test_rostopic/CMakeLists.txt
+++ b/test/test_rostopic/CMakeLists.txt
@@ -9,12 +9,12 @@ include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
 #  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
 #set(ROS_BUILD_TYPE RelWithDebInfo)
 
-rospack(rostopic)
+rosbuild_init()
 
 #uncomment if you have defined messages
 #genmsg()
 #uncomment if you have defined services
 #gensrv()
 
-rospack_add_pyunit(test/test_rostopic_command_line_offline.py)
-rospack_add_rostest(test/rostopic.test)
+rosbuild_add_pyunit(test/test_rostopic_command_line_offline.py)
+rosbuild_add_rostest(test/rostopic.test)
diff --git a/tools/rosdep/CMakeLists.txt b/tools/rosdep/CMakeLists.txt
index 3091b727..3d7eb31b 100644
--- a/tools/rosdep/CMakeLists.txt
+++ b/tools/rosdep/CMakeLists.txt
@@ -4,5 +4,5 @@ rosbuild_init()
 add_subdirectory(yaml-cpp)
 set(EXECUTABLE_OUTPUT_PATH $ENV{ROS_ROOT}/bin)
 include_directories(include ${PROJECT_SOURCE_DIR}/yaml-cpp/include)
-rospack_add_executable(rosdep rosdep.cpp)
+rosbuild_add_executable(rosdep rosdep.cpp)
 target_link_libraries(rosdep yaml-cpp)
diff --git a/tools/rosgraph/CMakeLists.txt b/tools/rosgraph/CMakeLists.txt
index 02f098ac..3698a4c4 100644
--- a/tools/rosgraph/CMakeLists.txt
+++ b/tools/rosgraph/CMakeLists.txt
@@ -9,7 +9,7 @@ include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
 #  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
 #set(ROS_BUILD_TYPE RelWithDebInfo)
 
-rospack(rosgraph)
+rosbuild_init()
 
 #set the default path for built executables to the "bin" directory
 set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
diff --git a/tools/rosrecord/CMakeLists.txt b/tools/rosrecord/CMakeLists.txt
index cf97a1ee..c47f939f 100644
--- a/tools/rosrecord/CMakeLists.txt
+++ b/tools/rosrecord/CMakeLists.txt
@@ -11,14 +11,14 @@ SET(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
 
 #rospack_add_executable(demo src/demo/demo.cpp)
 
-rospack_add_library(rosrecorder src/rosrecord/recorder.cpp)
+rosbuild_add_library(rosrecorder src/rosrecord/recorder.cpp)
 
-rospack_add_executable(rosrecord src/rosrecord/rosrecord.cpp)
+rosbuild_add_executable(rosrecord src/rosrecord/rosrecord.cpp)
 target_link_libraries(rosrecord rosrecorder)
 
-rospack_add_executable(rosplay src/rosplay/rosplay.cpp src/rosplay/time_publisher.cpp)
+rosbuild_add_executable(rosplay src/rosplay/rosplay.cpp src/rosplay/time_publisher.cpp)
 
 INSTALL(TARGETS rosrecord rosplay
         RUNTIME DESTINATION $ENV{ROS_ROOT}/bin)
 
-rospack_add_pyunit(test/test_rosrecord_offline.py)
+rosbuild_add_pyunit(test/test_rosrecord_offline.py)
diff --git a/tools/rxtools/CMakeLists.txt b/tools/rxtools/CMakeLists.txt
index 11c91fab..3b35fd9f 100644
--- a/tools/rxtools/CMakeLists.txt
+++ b/tools/rxtools/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 2.4.6)
 include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
 rosbuild_init()
 
-rospack_add_boost_directories()
+rosbuild_add_boost_directories()
 
 set(wxWidgets_USE_LIBS base core)
 
@@ -23,7 +23,7 @@ set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
 include_directories(${PROJECT_SOURCE_DIR}/src)
 
 # shared library (for C++)
-rospack_add_library(${PROJECT_NAME} src/rxtools/topic_display.cpp
+rosbuild_add_library(${PROJECT_NAME} src/rxtools/topic_display.cpp
                                     src/rxtools/topic_display_generated.cpp
         				                    src/rxtools/topic_display_dialog.cpp
         				                    src/rxtools/rosout_generated.cpp 
@@ -33,14 +33,14 @@ rospack_add_library(${PROJECT_NAME} src/rxtools/topic_display.cpp
                                     src/rxtools/logger_level_panel.cpp
                                     src/rxtools/init_roscpp.cpp)
 target_link_libraries(${PROJECT_NAME} ${wxWidgets_LIBRARIES})
-rospack_link_boost(${PROJECT_NAME} thread regex)
+rosbuild_link_boost(${PROJECT_NAME} thread regex)
 
 # Find the combined swig flags for this project
-_rospack_invoke(${PROJECT_NAME} ${PROJECT_NAME} SWIG_FLAGS "export" "--lang=swig" "--attrib=flags")
+rosbuild_invoke_rospack(${PROJECT_NAME} ${PROJECT_NAME} SWIG_FLAGS "export" "--lang=swig" "--attrib=flags")
 set(SWIG_FLAGS ${${PROJECT_NAME}_SWIG_FLAGS})
 
 # Find the wxswig executable
-find_ros_package(wxswig)
+rosbuild_find_ros_package(wxswig)
 set(WXSWIG_EXECUTABLE ${wxswig_PACKAGE_PATH}/bin/swig)
 
 # Add a custom command for generating the swig output files
@@ -70,7 +70,7 @@ add_custom_command(OUTPUT   ${SWIG_OUTPUT_CPP_FILE}
 # workaround for a deficiency in CMake 2.4's handling of generated sources.
 include_directories(${PROJECT_SOURCE_DIR}/src/rxtools)
 # shared library (with SWIG)
-rospack_add_library(python_${PROJECT_NAME} ${SWIG_OUTPUT_CPP_FILE})
+rosbuild_add_library(python_${PROJECT_NAME} ${SWIG_OUTPUT_CPP_FILE})
 target_link_libraries(python_${PROJECT_NAME} ${PROJECT_NAME} ${PYTHON_LIBRARIES})
 
 # swig python needs a shared library named _<modulename>.[so|dll|...]
@@ -80,11 +80,11 @@ set_target_properties(python_${PROJECT_NAME}
                       PREFIX "")
                       
 #rxconsole binary
-rospack_add_executable(rxconsole src/rxconsole/rxconsole.cpp)
+rosbuild_add_executable(rxconsole src/rxconsole/rxconsole.cpp)
 target_link_libraries(rxconsole ${PROJECT_NAME})
 
 #rxloggerlevel binary
-rospack_add_executable(rxloggerlevel src/rxloggerlevel/rxloggerlevel.cpp)
+rosbuild_add_executable(rxloggerlevel src/rxloggerlevel/rxloggerlevel.cpp)
 target_link_libraries(rxloggerlevel ${PROJECT_NAME})
 
 add_subdirectory(src/rxconsole)
diff --git a/tools/rxtools/src/rxconsole/CMakeLists.txt b/tools/rxtools/src/rxconsole/CMakeLists.txt
index a27cfca1..a45f00a5 100644
--- a/tools/rxtools/src/rxconsole/CMakeLists.txt
+++ b/tools/rxtools/src/rxconsole/CMakeLists.txt
@@ -1,6 +1,6 @@
 #build a separate executable into ROS_ROOT/bin
 
 set(EXECUTABLE_OUTPUT_PATH $ENV{ROS_ROOT}/bin)
-rospack_add_executable(global_rxconsole rxconsole.cpp)
+rosbuild_add_executable(global_rxconsole rxconsole.cpp)
 target_link_libraries(global_rxconsole rxtools)
 SET_TARGET_PROPERTIES(global_rxconsole PROPERTIES OUTPUT_NAME rxconsole)
diff --git a/tools/rxtools/src/rxloggerlevel/CMakeLists.txt b/tools/rxtools/src/rxloggerlevel/CMakeLists.txt
index c6cee63a..50bd03c4 100644
--- a/tools/rxtools/src/rxloggerlevel/CMakeLists.txt
+++ b/tools/rxtools/src/rxloggerlevel/CMakeLists.txt
@@ -1,6 +1,6 @@
 #build a separate executable into ROS_ROOT/bin
 
 set(EXECUTABLE_OUTPUT_PATH $ENV{ROS_ROOT}/bin)
-rospack_add_executable(global_rxloggerlevel rxloggerlevel.cpp)
+rosbuild_add_executable(global_rxloggerlevel rxloggerlevel.cpp)
 target_link_libraries(global_rxloggerlevel rxtools)
 SET_TARGET_PROPERTIES(global_rxloggerlevel PROPERTIES OUTPUT_NAME rxloggerlevel)
diff --git a/tools/topic_tools/CMakeLists.txt b/tools/topic_tools/CMakeLists.txt
index 068d1936..ac3e4f18 100644
--- a/tools/topic_tools/CMakeLists.txt
+++ b/tools/topic_tools/CMakeLists.txt
@@ -3,21 +3,21 @@ include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
 rosbuild_init()
 rosbuild_gensrv()
 
-rospack_add_library(topic_tools src/shape_shifter.cpp)
+rosbuild_add_library(topic_tools src/shape_shifter.cpp)
 
-rospack_add_executable(bin/switch_mux src/switch_mux.cpp)
+rosbuild_add_executable(bin/switch_mux src/switch_mux.cpp)
 
-rospack_add_executable(bin/mux src/mux.cpp)
+rosbuild_add_executable(bin/mux src/mux.cpp)
 target_link_libraries(bin/mux topic_tools)
 
-rospack_add_executable(bin/relay src/relay.cpp)
+rosbuild_add_executable(bin/relay src/relay.cpp)
 target_link_libraries(bin/relay topic_tools)
 
-rospack_add_executable(bin/drop src/drop.cpp)
+rosbuild_add_executable(bin/drop src/drop.cpp)
 target_link_libraries(bin/drop topic_tools)
 
 #rospack_add_executable(demux demux.cpp)
 #target_link_libraries(demux topic_tools)
 
-rospack_add_executable(bin/throttle src/throttle.cpp)
+rosbuild_add_executable(bin/throttle src/throttle.cpp)
 target_link_libraries(bin/throttle topic_tools)