diff --git a/core/mk/manifest.xml b/core/mk/manifest.xml
index 076ed4e0..ed284762 100644
--- a/core/mk/manifest.xml
+++ b/core/mk/manifest.xml
@@ -3,4 +3,6 @@
   <author>Morgan Quigley, Brian Gerkey</author>
   <license>BSD</license>
   <review status="Doc reviewed" notes="2010/01/12"/>
+
+  <buil
 </package>
diff --git a/core/mk/package.xml b/core/mk/package.xml
new file mode 100644
index 00000000..27e17dac
--- /dev/null
+++ b/core/mk/package.xml
@@ -0,0 +1,15 @@
+<package>
+  <name>mk</name>
+  <version>1.9.9</version>
+  <description>
+A collection of .mk include files for building ROS architectural elements.  Most package authors should use cmake .mk, which calls CMake for the build of the package.  The other files in this package are intended for use in exotic situations that mostly arise when importing 3rdparty code.
+  </description>
+  <maintainer email="dthomas@willowgarage.com">Dirk Thomas</maintainer>
+  <license>BSD</license>
+  
+  <url>http://www.ros.org/wiki/ROS</url>
+  <author>Morgan Quigley</author>
+  <author>Brian Gerkey</author>
+
+  <build_depend>catkin</build_depend>
+</package>
diff --git a/core/rosbuild/package.xml b/core/rosbuild/package.xml
new file mode 100644
index 00000000..981439bf
--- /dev/null
+++ b/core/rosbuild/package.xml
@@ -0,0 +1,18 @@
+<package>
+  <name>rosbuild</name>
+  <version>1.9.9</version>
+  <description>
+
+  rosbuild contains scripts for managing the CMake-based build system for ROS.
+
+  </description>
+  <maintainer email="dthomas@willowgarage.com">Dirk Thomas</maintainer>
+  <license>BSD</license>
+
+  <url>http://ros.org/wiki/rosbuild</url>
+  <author>Brian Gerkey</author>
+  <author>Troy Straszheim</author>
+  <author>Morgan Quigley</author>
+
+  <build_depend>catkin<build_depend>
+</package>
diff --git a/core/roslang/CMakeLists.txt b/core/roslang/CMakeLists.txt
index a47aaef8..2b638e5f 100644
--- a/core/roslang/CMakeLists.txt
+++ b/core/roslang/CMakeLists.txt
@@ -1,7 +1,7 @@
 cmake_minimum_required(VERSION 2.8)
 project(roslang)
 find_package(catkin REQUIRED)
-catkin_project(${PROJECT_NAME})
+catkin_package_export()
 
 install(FILES cmake/roslang.cmake
   DESTINATION ${CATKIN_PROJECT_SHARE_DESTINATION}/cmake)
diff --git a/core/roslang/package.xml b/core/roslang/package.xml
new file mode 100644
index 00000000..0b880537
--- /dev/null
+++ b/core/roslang/package.xml
@@ -0,0 +1,19 @@
+<package>
+  <name>roslang</name>
+  <version>1.9.9</version>
+  <description brief="ROS client library base">
+
+    roslang is a common package that all
+    <a href="http://www.ros.org/wiki/Client%20Libraries">ROS client
+    libraries</a> depend on.  This is mainly used to find client
+    libraries (via 'rospack depends-on1 roslang').
+
+  </description>
+  <maintainer email="dthomas@willowgarage.com">Dirk Thomas</maintainer>
+  <license>BSD</license>
+
+  <url>http://ros.org/wiki/roslang</url>
+  <author email="gerkey@willowgarage.com">Brian Gerkey</author>
+
+  <build_depend>catkin</build_depend>
+</package>
diff --git a/core/roslib/package.xml b/core/roslib/package.xml
new file mode 100644
index 00000000..a5648b81
--- /dev/null
+++ b/core/roslib/package.xml
@@ -0,0 +1,25 @@
+<package>
+  <name>roslib</name>
+  <version>1.9.9</version>
+  <description brief="ROS base library">
+
+  Base dependencies and support libraries for ROS. roslib contains many of the common data structures and tools that are shared across ROS client library implementations.
+
+  </description>
+  <maintainer email="dthomas@willowgarage.com">Dirk Thomas</maintainer>
+  <license>BSD</license>
+
+  <url>http://ros.org/wiki/roslib</url>
+  <author email="kwc@willowgarage.com">Ken Conley</author>
+  <author email="mquigley@cs.stanford.edu">Morgan Quigley</author>
+  <author email="jfaust@willowgarage.com">Josh Faust</author>
+
+  <build_depend>catkin</build_depend>
+  <build_depend>boost</build_depend>
+  <build_depend>python</build_depend>
+
+  <export>
+     <rosdoc config="${prefix}/rosdoc.yaml" />
+  </export>
+		       
+</package>
diff --git a/tools/rosbash/package.xml b/tools/rosbash/package.xml
new file mode 100644
index 00000000..2be5cc01
--- /dev/null
+++ b/tools/rosbash/package.xml
@@ -0,0 +1,24 @@
+<package>
+  <name>rosbash</name>
+  <version>1.9.9</version>
+  <description>
+
+  Assorted shell commands for using ros with bash.
+
+  </description>
+  <maintainer email="dthomas@willowgarage.com">Dirk Thomas</maintainer>
+  <license>BSD</license>
+
+  <url>http://www.ros.org/wiki/rosbash</url>
+  <author>Jeremy Leibs</author>
+  <author>Thibault Kruse</author>
+
+  <build_depend>catkin</build_depend>
+
+  <export>
+    <platform os="ubuntu" version="9.04"/>
+    <platform os="ubuntu" version="9.10"/>
+    <platform os="ubuntu" version="10.04"/>
+    <platform os="macports" version="macports"/>
+  </export>
+</package>
diff --git a/tools/rosboost_cfg/CMakeLists.txt b/tools/rosboost_cfg/CMakeLists.txt
index 0fac4d10..d0258b36 100644
--- a/tools/rosboost_cfg/CMakeLists.txt
+++ b/tools/rosboost_cfg/CMakeLists.txt
@@ -1,4 +1,4 @@
 cmake_minimum_required(VERSION 2.8)
 project(rosboost_cfg)
 find_package(catkin REQUIRED)
-catkin_project(${PROJECT_NAME})
+catkin_package_export()
diff --git a/tools/rosboost_cfg/package.xml b/tools/rosboost_cfg/package.xml
new file mode 100644
index 00000000..2e1e9984
--- /dev/null
+++ b/tools/rosboost_cfg/package.xml
@@ -0,0 +1,16 @@
+<package>
+  <name>rosboost_cfg</name>
+  <version>1.9.9</version>
+  <description>
+
+    Contains scripts used by the rosboost-cfg tool for determining cflags/lflags/etc. of boost on your system
+
+  </description>
+  <maintainer email="dthomas@willowgarage.com">Dirk Thomas</maintainer>
+  <license>BSD</license>
+
+  <url>http://ros.org/wiki/rosboost_cfg</url>
+  <author>Josh Faust</author>
+
+  <build_depend>catkin</build_depend>
+</package>
diff --git a/tools/rosclean/CMakeLists.txt b/tools/rosclean/CMakeLists.txt
index 2dd549d5..caa56beb 100644
--- a/tools/rosclean/CMakeLists.txt
+++ b/tools/rosclean/CMakeLists.txt
@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 2.8)
 project(rosclean)
 find_package(catkin REQUIRED)
-catkin_project(${PROJECT_NAME})
+catkin_package_export()
 
 catkin_add_nosetests(test)
diff --git a/tools/rosclean/package.xml b/tools/rosclean/package.xml
new file mode 100644
index 00000000..6fc5b3e3
--- /dev/null
+++ b/tools/rosclean/package.xml
@@ -0,0 +1,16 @@
+<package>
+  <name>ros</name>
+  <version>1.9.9</version>
+  <description brief="rosclean">
+
+    rosclean: cleanup filesystem resources (e.g. log files).
+
+  </description>
+  <maintainer email="dthomas@willowgarage.com">Dirk Thomas</maintainer>
+  <license>BSD</license>
+
+  <url>http://ros.org/wiki/rosclean</url>
+  <author>Ken Conley</author>
+
+  <build_depend>catkin</build_depend>
+</package>