diff --git a/tools/rosdep/src/rosdep/installers.py b/tools/rosdep/src/rosdep/installers.py
index c6c661a1..d8c89461 100644
--- a/tools/rosdep/src/rosdep/installers.py
+++ b/tools/rosdep/src/rosdep/installers.py
@@ -282,6 +282,63 @@ class AptInstaller(InstallerAPI):
         return [version_lock_map[r] for r in ret_list]
         
 
+class YumInstaller(InstallerAPI):
+    """ 
+    An implementation of the InstallerAPI for use on yum/fedora style
+    systems.
+    """
+    def __init__(self, arg_dict):
+        packages = arg_dict.get("packages", "")
+        if type(packages) == type("string"):
+            packages = packages.split()
+
+        self.packages = packages
+
+
+    def get_packages_to_install(self):
+         return list(set(self.packages) - set(self.dpkg_detect(self.packages)))
+
+
+    def check_presence(self):
+       return len(self.get_packages_to_install()) == 0
+
+
+    def generate_package_install_command(self, default_yes = False, execute = True, display = True):
+        script = '!#/bin/bash\n#no script'
+        packages_to_install = self.get_packages_to_install()
+        if not packages_to_install:
+            script = "#!/bin/bash\n#No Packages to install"
+        elif default_yes:
+            script = "#!/bin/bash\n#Packages %s\nsudo yum install -y "%packages_to_install + ' '.join(packages_to_install)        
+        else:
+            script = "#!/bin/bash\n#Packages %s\nsudo yum install "%packages_to_install + ' '.join(packages_to_install)
+
+        if execute:
+            return rosdep.core.create_tempfile_from_string_and_execute(script)
+        elif display:
+            print "To install packages: %s would have executed script\n{{{\n%s\n}}}"%(packages_to_install, script)
+        return False
+
+
+    def dpkg_detect(self, pkgs):
+        """ 
+        Given a list of packages, return the list of installed packages.
+        """
+        ret_list = []
+        #cmd = ['rpm', '-q', '--qf ""']  # suppress output for installed packages
+        cmd = ['rpm', '-q', '--qf', '%{NAME}\n']  # output: "pkg_name" for installed, error text for not installed packages
+        cmd.extend(pkgs)
+        
+        pop = subprocess.Popen(cmd, stdout=subprocess.PIPE, stderr=subprocess.PIPE)
+        (std_out, std_err) = pop.communicate()
+        out_lines = std_out.split('\n')
+        for line in out_lines:
+            # if there is no space, it's not an error text -> it's installed
+            if line and ' ' not in line:
+                ret_list.append(line)
+        return ret_list
+        
+
 class PipInstaller(InstallerAPI):
     """ 
     An implementation of the InstallerAPI for use on debian style
diff --git a/tools/rosdep/src/rosdep/redhat.py b/tools/rosdep/src/rosdep/redhat.py
index 64c27bab..eb47c1ab 100644
--- a/tools/rosdep/src/rosdep/redhat.py
+++ b/tools/rosdep/src/rosdep/redhat.py
@@ -34,40 +34,36 @@ import subprocess
 
 import rosdep.base_rosdep
 
-class YumInstall:
-    """This class provides the functions for installing using yum
-    it's methods partially implement the Rosdep OS api to complement 
-    the roslib.OSDetect API. """
-    def rpm_detect(self, p):
-        return subprocess.call(['rpm', '-q', p], stdout=subprocess.PIPE, stderr=subprocess.PIPE)    
-
-    def strip_detected_packages(self, packages):
-        return [p for p in packages if self.rpm_detect(p)]
-
-    def generate_package_install_command(self, packages, default_yes):
-        if not packages:
-            return "#No Packages to install"
-
-        if default_yes:
-            return "#Packages\nsudo yum -y install " + ' '.join(packages)
-        else:
-            return "#Packages\nsudo yum install " + ' '.join(packages)
-
-
 ###### Fedora SPECIALIZATION #########################
-class Fedora(roslib.os_detect.Fedora, YumInstall, rosdep.base_rosdep.RosdepBaseOS): 
-    """This class provides the Rosdep OS API for by combining the Fedora
-    OSDetect API and the YumInstall API
-    """
+class Fedora(roslib.os_detect.Fedora, rosdep.base_rosdep.RosdepBaseOS): 
+    """ This is an implementation of a standard interface for
+    interacting with rosdep.  This defines all Fedora sepecific
+    methods, including detecting the OS/Version number.  As well as
+    how to check for and install packages."""
+
+    def __init__(self):
+        self.installers = {}
+        self.installers['yum'] = rosdep.installers.YumInstaller
+        self.installers['pip'] = rosdep.installers.PipInstaller
+        self.installers['source'] = rosdep.installers.SourceInstaller
+        self.installers['default'] = rosdep.installers.YumInstaller
     pass
                  
 ###### END Fedora SPECIALIZATION ########################
 
 ###### Rhel SPECIALIZATION #########################
-class Rhel(roslib.os_detect.Rhel, YumInstall, rosdep.base_rosdep.RosdepBaseOS): 
-    """This class provides the Red Hat Enterprise Linux Rosdep OS API
-    for by combining the RHEL OSDetect API and the YumInstall API
-    """
+class Rhel(roslib.os_detect.Rhel, rosdep.base_rosdep.RosdepBaseOS): 
+    """ This is an implementation of a standard interface for
+    interacting with rosdep.  This defines all Fedora sepecific
+    methods, including detecting the OS/Version number.  As well as
+    how to check for and install packages."""
+
+    def __init__(self):
+        self.installers = {}
+        self.installers['yum'] = rosdep.installers.YumInstaller
+        self.installers['pip'] = rosdep.installers.PipInstaller
+        self.installers['source'] = rosdep.installers.SourceInstaller
+        self.installers['default'] = rosdep.installers.YumInstaller
     pass
 ###### END Rhel SPECIALIZATION ########################