diff --git a/ros/CMakeLists.txt b/ros/CMakeLists.txt
new file mode 100644
index 00000000..ecec0d56
--- /dev/null
+++ b/ros/CMakeLists.txt
@@ -0,0 +1,6 @@
+cmake_minimum_required(VERSION 2.8)
+project(ros)
+find_package(catkin REQUIRED)
+catkin_package()
+
+catkin_add_env_hooks(10.ros SHELLS bat sh DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/env-hooks)
diff --git a/ros/env-hooks/10.ros.bat.in b/ros/env-hooks/10.ros.bat.in
new file mode 100644
index 00000000..340da051
--- /dev/null
+++ b/ros/env-hooks/10.ros.bat.in
@@ -0,0 +1,37 @@
+REM generated from ros/env-hooks/10.ros.bat.in
+
+REM scrub old ROS bin dirs, to avoid accidentally finding the wrong executables
+set PATH=`python -c "import os; print(os.pathsep.join([x for x in \"$PATH\".split(os.pathsep) if not any([d for d in ['cturtle', 'diamondback', 'electric', 'fuerte'] if d in x])]))"`
+
+set ROS_DISTRO=groovy
+
+REM python function to generate ROS package path based on all parent workspaces (prepends the separator if necessary)
+REM do not use EnableDelayedExpansion here, it messes with the != symbols
+echo from __future__ import print_function > _parent_package_path.py
+echo import os >> _parent_package_path.py
+echo env_name = 'CATKIN_WORKSPACES' >> _parent_package_path.py
+echo items = os.environ[env_name].split(';') if env_name in os.environ and os.environ[env_name] != '' else [] >> _parent_package_path.py
+echo path = '' >> _parent_package_path.py
+echo for item in items: >> _parent_package_path.py
+echo     path += ':' + (os.path.join(item, 'share') if item.find(':') == -1 else item.split(':')[1]) >> _parent_package_path.py
+echo print(path) >> _parent_package_path.py
+
+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@
+)
+
+del _parent_package_path.py
+
+endlocal
diff --git a/ros/env-hooks/10.ros.sh.in b/ros/env-hooks/10.ros.sh.in
new file mode 100644
index 00000000..a3513c99
--- /dev/null
+++ b/ros/env-hooks/10.ros.sh.in
@@ -0,0 +1,39 @@
+# generated from ros/env-hooks/10.ros.sh.in
+
+# 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 \"$PATH\".split(os.pathsep) if not any([d for d in ['cturtle', 'diamondback', 'electric', 'fuerte'] if d in x])]))"`
+
+export ROS_DISTRO=groovy
+
+# python function to generate ROS package path based on all workspaces
+PYTHON_CODE_BUILD_ROS_PACKAGE_PATH=$(cat <<EOF
+from __future__ import print_function
+import os
+env_name = 'CMAKE_PREFIX_PATH'
+paths = [path for path in os.environ[env_name].split(os.pathsep)] if env_name in os.environ and os.environ[env_name] != '' else []
+workspaces = [path for path in paths if os.path.exists(os.path.join(path, '.CATKIN_WORKSPACE'))]
+paths = []
+for workspace in workspaces:
+    filename = os.path.join(workspace, '.CATKIN_WORKSPACE')
+    data = ''
+    with open(filename) as f:
+        data = f.read()
+    if data == '':
+        paths.append(os.path.join(workspace, 'share'))
+        paths.append(os.path.join(workspace, 'stacks'))
+    else:
+        for source_path in data.split(';'):
+            paths.append(source_path)
+print(os.pathsep.join(paths))
+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
diff --git a/ros/package.xml b/ros/package.xml
index b696af0a..10ff73d2 100644
--- a/ros/package.xml
+++ b/ros/package.xml
@@ -18,6 +18,8 @@
   <author>Morgan Quigley</author>
   <author>Rob Wheeler</author>
 
+  <build_depend>catkin</build_depend>
+
   <run_depend>mk</run_depend>
   <run_depend>rosbuild</run_depend>
   <run_depend>roslang</run_depend>
@@ -28,8 +30,4 @@
   <run_depend>roscreate</run_depend>
   <run_depend>rosmake</run_depend>
   <run_depend>rosunit</run_depend>
-
-  <export>
-    <metapackage/>
-  </export>
 </package>