diff --git a/CMakeLists.txt b/CMakeLists.txt
index 7043c066..a1fd0540 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,8 +1,9 @@
 cmake_minimum_required(VERSION 2.8)
 project(ros)
 find_package(catkin REQUIRED)
-find_package(Boost REQUIRED COMPONENTS thread)
 catkin_stack()
+catkin_project(ros)
+find_package(Boost REQUIRED COMPONENTS thread)
 
 # Must call catkin_python_setup() early, to ensure that things like
 # rosunit are available in build-space, and can be found by things like
@@ -30,55 +31,26 @@ add_nosetests(tools/rosclean/test)
 add_nosetests(tools/roscreate/test)
 
 # INSTALLATION
-install(FILES stack.xml
-        DESTINATION share/ros)
 install(FILES config/rosconsole.config
-        DESTINATION share/ros/config)
+  DESTINATION ${PROJECT_SHARE_DESTINATION}/config)
 
 # setup our backwards-compatibility ROS_ROOT
 install(DIRECTORY core/rosbuild/
-  DESTINATION share/ros/core/rosbuild
+  DESTINATION ${PROJECT_SHARE_DESTINATION}/core/rosbuild
   PATTERN ".svn" EXCLUDE
   PATTERN "bin" EXCLUDE
   )
 install(PROGRAMS
-        core/rosbuild/bin/check_same_directories.py
-        core/rosbuild/bin/download_checkmd5.py
-        DESTINATION share/ros/core/rosbuild/bin)
+  core/rosbuild/bin/check_same_directories.py
+  core/rosbuild/bin/download_checkmd5.py
+  DESTINATION ${PROJECT_SHARE_DESTINATION}/core/rosbuild/bin)
 install(DIRECTORY core/mk/
-  DESTINATION share/ros/core/mk
+  DESTINATION ${PROJECT_SHARE_DESTINATION}/core/mk
   PATTERN ".svn" EXCLUDE
   )
 install(FILES core/roslang/cmake/roslang.cmake
-        DESTINATION share/roslang/cmake)
-
-# install all manifests
-# we do them one-by-one instead of using install_matching_to_share()
-# because we need to exclude some of them (e.g., mk and rosbuild are
-# handled above, and some directories contains manifests that are only for
-# testing.).
-install(FILES core/roslang/manifest.xml DESTINATION share/roslang)
-install(FILES core/roslib/manifest.xml DESTINATION share/roslib)
-install(FILES tools/rosbash/manifest.xml DESTINATION share/rosbash)
-install(FILES tools/rosmake/manifest.xml DESTINATION share/rosmake)
-install(FILES tools/rosunit/manifest.xml DESTINATION share/rosunit)
-install(FILES tools/rosclean/manifest.xml DESTINATION share/rosclean)
-install(FILES tools/roscreate/manifest.xml DESTINATION share/roscreate)
-install(FILES tools/rosboost_cfg/manifest.xml DESTINATION share/rosboost_cfg)
-
-# install python package-relative scripts
-install(PROGRAMS
-        tools/rosunit/scripts/test_results_dir.py
-        tools/rosunit/scripts/summarize_results.py
-        tools/rosunit/scripts/rosunit
-        tools/rosunit/scripts/pycoverage_to_html.py
-        tools/rosunit/scripts/clean_junit_xml.py
-        tools/rosunit/scripts/check_test_ran.py
-        DESTINATION share/rosunit/bin)
-
-install(FILES stack.xml DESTINATION share/${PROJECT_NAME})
+  DESTINATION share/roslang/cmake)
 
 install(DIRECTORY tools/roscreate/templates/
   DESTINATION share/roscreate/templates
-  PATTERN ".svn" EXCLUDE
-  )
+  PATTERN ".svn" EXCLUDE)
diff --git a/core/roslib/CMakeLists.txt b/core/roslib/CMakeLists.txt
index 8a3f5906..865a90bc 100644
--- a/core/roslib/CMakeLists.txt
+++ b/core/roslib/CMakeLists.txt
@@ -1,5 +1,9 @@
 project(roslib)
 find_package(catkin REQUIRED COMPONENTS rospack rosunit)
+catkin_project(roslib
+  LIBRARIES roslib
+  INCLUDE_DIRS include
+  )
 
 include_directories(include ${Boost_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS})
 link_directories(${catkin_LIBRARY_DIRS})
@@ -19,21 +23,15 @@ endif()
 
 #explicitly install library and includes
 install(TARGETS roslib
-  ARCHIVE DESTINATION lib
-  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION ${PROJECT_LIB_DESTINATION}
+  LIBRARY DESTINATION ${PROJECT_LIB_DESTINATION}
   )
 
 install(DIRECTORY include/
-        DESTINATION include
-        FILES_MATCHING PATTERN "*.h"
-        PATTERN ".svn" EXCLUDE)
+  DESTINATION ${PROJECT_INCLUDE_DESTINATION}
+  FILES_MATCHING PATTERN "*.h")
 install(PROGRAMS scripts/gendeps
-        DESTINATION share/roslib/bin)
-
-catkin_project(roslib
-  LIBRARIES roslib
-  INCLUDE_DIRS include
-  )
+  DESTINATION share/roslib/bin)
 
 #integration tests
 
diff --git a/tools/rosbash/CMakeLists.txt b/tools/rosbash/CMakeLists.txt
index 5611e3d9..f569fb4a 100644
--- a/tools/rosbash/CMakeLists.txt
+++ b/tools/rosbash/CMakeLists.txt
@@ -1,9 +1,12 @@
 cmake_minimum_required(VERSION 2.8)
 project(rosbash)
+find_package(catkin)
+catkin_project(rosbash)
+
 install(FILES rosbash rostcsh roszsh
-        DESTINATION share/rosbash)
+  DESTINATION ${PROJECT_SHARE_DESTINATION})
 install(PROGRAMS scripts/rosrun
-        DESTINATION bin)
+  DESTINATION ${GLOBAL_BIN_DESTINATION})
 
 message(STATUS "   Making toplevel forward script for bash script rosrun")
 set(BASH_SCRIPT ${CMAKE_CURRENT_SOURCE_DIR}/scripts/rosrun)
diff --git a/tools/rosunit/CMakeLists.txt b/tools/rosunit/CMakeLists.txt
index d666eaac..35db2cbb 100644
--- a/tools/rosunit/CMakeLists.txt
+++ b/tools/rosunit/CMakeLists.txt
@@ -4,3 +4,12 @@ find_package(catkin REQUIRED)
 catkin_project(${PROJECT_NAME}
   CFG_EXTRAS ${PROJECT_NAME}-extras.cmake
   )
+
+install(PROGRAMS
+  scripts/test_results_dir.py
+  scripts/summarize_results.py
+  scripts/rosunit
+  scripts/pycoverage_to_html.py
+  scripts/clean_junit_xml.py
+  scripts/check_test_ran.py
+  DESTINATION share/rosunit/bin)