diff --git a/ros/env-hooks/10.ros.bat.in b/core/roslib/env-hooks/10.ros.bat.em
similarity index 68%
rename from ros/env-hooks/10.ros.bat.in
rename to core/roslib/env-hooks/10.ros.bat.em
index 340da051..366e26f7 100644
--- a/ros/env-hooks/10.ros.bat.in
+++ b/core/roslib/env-hooks/10.ros.bat.em
@@ -1,4 +1,4 @@
-REM generated from ros/env-hooks/10.ros.bat.in
+REM generated from ros/env-hooks/10.ros.bat.em
 
 REM scrub old ROS bin dirs, to avoid accidentally finding the wrong executables
 set PATH=`python -c "import os; print(os.pathsep.join([x for x in \"$PATH\".split(os.pathsep) if not any([d for d in ['cturtle', 'diamondback', 'electric', 'fuerte'] if d in x])]))"`
@@ -21,16 +21,17 @@ setlocal EnableDelayedExpansion
 set ROS_PACKAGE_PATH_PARENTS=
 for /f %%a in ('python _parent_package_path.py') do set ROS_PACKAGE_PATH_PARENTS=!ROS_PACKAGE_PATH_PARENTS!%%a
 
-if [@BUILDSPACE@]==[true] (
-    set ROS_PACKAGE_PATH=@CMAKE_SOURCE_DIR@$ROS_PACKAGE_PATH_PARENTS
-    set ROS_ROOT=@CMAKE_CURRENT_SOURCE_DIR@
-    set ROS_ETC_DIR=@CATKIN_BUILD_PREFIX@/@CATKIN_PACKAGE_ETC_DESTINATION@
-)
-if [@INSTALLSPACE@]==[true] (
-    set ROS_PACKAGE_PATH=@CMAKE_INSTALL_PREFIX@/share:@CMAKE_INSTALL_PREFIX@/stacks$ROS_PACKAGE_PATH_PARENTS
-    set ROS_ROOT=@CMAKE_INSTALL_PREFIX@/@CATKIN_PACKAGE_SHARE_DESTINATION@
-    set ROS_ETC_DIR=@CMAKE_INSTALL_PREFIX@/@CATKIN_PACKAGE_ETC_DESTINATION@
-)
+@[if BUILDSPACE]@
+REM env variables in buildspace
+set ROS_PACKAGE_PATH=@(CMAKE_SOURCE_DIR)$ROS_PACKAGE_PATH_PARENTS
+set ROS_ROOT=@(CMAKE_CURRENT_SOURCE_DIR)
+set ROS_ETC_DIR=@(CATKIN_BUILD_PREFIX)/@(CATKIN_PACKAGE_ETC_DESTINATION)
+@[else]@
+REM env variables in installspace
+set ROS_PACKAGE_PATH=@(CMAKE_INSTALL_PREFIX)/share:@(CMAKE_INSTALL_PREFIX)/stacks$ROS_PACKAGE_PATH_PARENTS
+set ROS_ROOT=@(CMAKE_INSTALL_PREFIX)/@(CATKIN_PACKAGE_SHARE_DESTINATION)
+set ROS_ETC_DIR=@(CMAKE_INSTALL_PREFIX)/@(CATKIN_PACKAGE_ETC_DESTINATION)
+@[end if]@
 
 del _parent_package_path.py
 
diff --git a/ros/env-hooks/10.ros.sh.in b/core/roslib/env-hooks/10.ros.sh.em
similarity index 74%
rename from ros/env-hooks/10.ros.sh.in
rename to core/roslib/env-hooks/10.ros.sh.em
index e4cc509b..4ddc9f03 100644
--- a/ros/env-hooks/10.ros.sh.in
+++ b/core/roslib/env-hooks/10.ros.sh.em
@@ -1,4 +1,4 @@
-# generated from ros/env-hooks/10.ros.sh.in
+# generated from ros/env-hooks/10.ros.sh.em
 
 # scrub old ROS bin dirs, to avoid accidentally finding the wrong executables
 export PATH=`python -c "import os; print(os.pathsep.join([x for x in \"$PATH\".split(os.pathsep) if not any([d for d in ['cturtle', 'diamondback', 'electric', 'fuerte'] if d in x])]))"`
@@ -29,11 +29,12 @@ EOF
 )
 export ROS_PACKAGE_PATH=`python -c "$PYTHON_CODE_BUILD_ROS_PACKAGE_PATH"`
 
-if @BUILDSPACE@; then
-    export ROS_ROOT=@CMAKE_CURRENT_SOURCE_DIR@/..
-    export ROS_ETC_DIR=@CATKIN_BUILD_PREFIX@/@CATKIN_PACKAGE_ETC_DESTINATION@
-fi
-if @INSTALLSPACE@; then
-    export ROS_ROOT=@CMAKE_INSTALL_PREFIX@/@CATKIN_PACKAGE_SHARE_DESTINATION@
-    export ROS_ETC_DIR=@CMAKE_INSTALL_PREFIX@/@CATKIN_PACKAGE_ETC_DESTINATION@
-fi
+@[if BUILDSPACE]@
+# env variables in buildspace
+export ROS_ROOT=@(CMAKE_CURRENT_SOURCE_DIR)/../..
+export ROS_ETC_DIR=@(CATKIN_BUILD_PREFIX)/@(CATKIN_GLOBAL_ETC_DESTINATION)/ros
+@[else]@
+# env variables in installspace
+export ROS_ROOT=@(CMAKE_INSTALL_PREFIX)/@(CATKIN_PACKAGE_SHARE_DESTINATION)
+export ROS_ETC_DIR=@(CMAKE_INSTALL_PREFIX)/@(CATKIN_PACKAGE_ETC_DESTINATION)
+@[end if]@
diff --git a/ros/CMakeLists.txt b/ros/CMakeLists.txt
deleted file mode 100644
index fa4bd186..00000000
--- a/ros/CMakeLists.txt
+++ /dev/null
@@ -1,10 +0,0 @@
-cmake_minimum_required(VERSION 2.8.3)
-project(ros)
-find_package(catkin REQUIRED)
-catkin_package()
-
-if(CMAKE_HOST_UNIX)
-  catkin_add_env_hooks(10.ros SHELLS sh DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/env-hooks)
-else()
-  catkin_add_env_hooks(10.ros SHELLS bat DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/env-hooks)
-endif()
diff --git a/ros/package.xml b/ros/package.xml
index f5884dea..be438593 100644
--- a/ros/package.xml
+++ b/ros/package.xml
@@ -18,8 +18,6 @@
   <author>Morgan Quigley</author>
   <author>Rob Wheeler</author>
 
-  <build_depend>catkin</build_depend>
-
   <run_depend>catkin</run_depend> <!-- only for backward compatibility with rosbuild -->
   <run_depend>mk</run_depend>
   <run_depend>rosbuild</run_depend>
@@ -31,4 +29,8 @@
   <run_depend>roscreate</run_depend>
   <run_depend>rosmake</run_depend>
   <run_depend>rosunit</run_depend>
+
+  <export>
+    <metapackage/>
+  </export>
 </package>