Merge pull request #34 from herbrechtsmeier/master

add catkin configuration class and rework ros recipes
2013-02-18 09:11:14 -08:00 · 2013-02-18 09:11:14 -08:00 · 30306b6bba
parent 3ad00ae781 35a59f4ead
commit 30306b6bba
35 changed files with 381 additions and 507 deletions
--- a/classes/catkin.bbclass
+++ b/classes/catkin.bbclass
@ -0,0 +1,49 @@
 #
 # Copyright (c) 2013 Stefan Herbrechtsmeier, Bielefeld University
 # 
 inherit cmake distutils-base
 DEPENDS_prepend = "${@['catkin-native ', ''][d.getVar('BPN', True) == 'catkin']}"
 EXTRA_OECMAKE_CATKIN = "\
    -DCMAKE_PREFIX_PATH='${STAGING_DIR_HOST}/usr;${STAGING_DIR_NATIVE}/usr' \
    "
 EXTRA_OECMAKE_CATKIN_class-native = "\
    -DCMAKE_PREFIX_PATH=${STAGING_DIR_NATIVE}/usr \
    -DRT_LIBRARY=${libdir_native} \
    "
 EXTRA_OECMAKE_prepend = "\
    ${EXTRA_OECMAKE_CATKIN} \
    -DCATKIN_BUILD_BINARY_PACKAGE=ON \
    -DSETUPTOOLS_DEB_LAYOUT=OFF \
    "
 export BUILD_SYS
 export HOST_SYS
 FILES_SOLIBSDEV = ""
 FILES_${PN} += "${libdir}/lib*${SOLIBSDEV}"
 ROS_BPN = "${@d.getVar('BPN', True).replace('-', '_')}"
 ROS_BP = "${BPN}-${PV}"
 FILES_${PN} += "\
    ${prefix}/etc \
    ${datadir}/${BPN}/conf \
    ${datadir}/${BPN}/scripts \
    ${datadir}/${ROS_BPN}/conf \
    ${datadir}/${ROS_BPN}/scripts \
    "
 FILES_${PN}-dev += "\
    ${datadir}/${BPN}/cmake \
    ${datadir}/${BPN}/package.xml \
    ${datadir}/${BPN}/*.template \
    ${datadir}/${ROS_BPN}/cmake \
    ${datadir}/${ROS_BPN}/package.xml \
    ${datadir}/${ROS_BPN}/*.template \
    "
--- a/classes/distutils.bbclass
+++ b/classes/distutils.bbclass
@ -1,74 +0,0 @@
 inherit distutils-base
 DISTUTILS_BUILD_ARGS ?= ""
 DISTUTILS_STAGE_HEADERS_ARGS ?= "--install-dir=${STAGING_INCDIR}/${PYTHON_DIR}"
 DISTUTILS_STAGE_ALL_ARGS ?= "--prefix=${STAGING_DIR_HOST}${prefix} \
    --install-data=${STAGING_DATADIR}"
 DISTUTILS_INSTALL_ARGS ?= "--prefix=${D}/${prefix} \
    --install-data=${D}/${datadir}"
 distutils_do_compile() {
         STAGING_INCDIR=${STAGING_INCDIR} \
         STAGING_LIBDIR=${STAGING_LIBDIR} \
         BUILD_SYS=${BUILD_SYS} HOST_SYS=${HOST_SYS} \
         ${STAGING_BINDIR_NATIVE}/python-native/python setup.py build ${DISTUTILS_BUILD_ARGS} || \
         bbfatal "python setup.py build_ext execution failed."
 }
 distutils_stage_headers() {
        install -d ${STAGING_DIR_HOST}${PYTHON_SITEPACKAGES_DIR}
        BUILD_SYS=${BUILD_SYS} HOST_SYS=${HOST_SYS} \
        ${STAGING_BINDIR_NATIVE}/python-native/python setup.py install_headers ${DISTUTILS_STAGE_HEADERS_ARGS} || \
        bbfatal "python setup.py install_headers execution failed."
 }
 distutils_stage_all() {
        STAGING_INCDIR=${STAGING_INCDIR} \
        STAGING_LIBDIR=${STAGING_LIBDIR} \
        install -d ${STAGING_DIR_HOST}${PYTHON_SITEPACKAGES_DIR}
        PYTHONPATH=${STAGING_DIR_HOST}${PYTHON_SITEPACKAGES_DIR} \
        BUILD_SYS=${BUILD_SYS} HOST_SYS=${HOST_SYS} \
        ${STAGING_BINDIR_NATIVE}/python-native/python setup.py install ${DISTUTILS_STAGE_ALL_ARGS} || \
        bbfatal "python setup.py install (stage) execution failed."
 }
 distutils_do_install() {
        install -d ${D}${PYTHON_SITEPACKAGES_DIR}
        STAGING_INCDIR=${STAGING_INCDIR} \
        STAGING_LIBDIR=${STAGING_LIBDIR} \
        PYTHONPATH=${D}/${PYTHON_SITEPACKAGES_DIR} \
        BUILD_SYS=${BUILD_SYS} HOST_SYS=${HOST_SYS} \
        ${STAGING_BINDIR_NATIVE}/python-native/python setup.py install --install-lib=${D}/${PYTHON_SITEPACKAGES_DIR} ${DISTUTILS_INSTALL_ARGS} || \
        bbfatal "python setup.py install execution failed."
        for i in `find ${D} -name "*.py"` ; do \
            sed -i -e s:${D}::g $i
        done
        if test -e ${D}${bindir} ; then	
            for i in ${D}${bindir}/* ; do \
                sed -i -e s:${STAGING_BINDIR_NATIVE}/python-native/python:${bindir}/python:g $i
                sed -i -e s:${STAGING_BINDIR_NATIVE}:${bindir}:g $i
            done
        fi
        if test -e ${D}${sbindir}; then
            for i in ${D}${sbindir}/* ; do \
                sed -i -e s:${STAGING_BINDIR_NATIVE}/python-native/python:${bindir}/python:g $i
                sed -i -e s:${STAGING_BINDIR_NATIVE}:${bindir}:g $i
            done
        fi
        rm -f ${D}${PYTHON_SITEPACKAGES_DIR}/easy-install.pth
        #
        # FIXME: Bandaid against wrong datadir computation
        #
        if test -e ${D}${datadir}/share; then
            mv -f ${D}${datadir}/share/* ${D}${datadir}/
        fi
 }
 EXPORT_FUNCTIONS do_compile do_install
 export LDSHARED="${CCLD} -shared"
--- a/recipes-ros/catkin/catkin/0001-catkin_package-use-relative-paths-in-PKG_CFG_EXTRAS.patch
+++ b/recipes-ros/catkin/catkin/0001-catkin_package-use-relative-paths-in-PKG_CFG_EXTRAS.patch
@ -0,0 +1,57 @@
 From 812453c0fcd2db5b562b568c8e844a2b7764dc4e Mon Sep 17 00:00:00 2001
 From: Stefan Herbrechtsmeier <stefan@herbrechtsmeier.net>
 Date: Thu, 14 Feb 2013 11:46:34 +0100
 Subject: [PATCH 1/2] catkin_package: use relative paths in PKG_CFG_EXTRAS
 ---
 cmake/catkin_package.cmake         |    6 +++---
 cmake/templates/pkgConfig.cmake.in |    6 +++++-
 2 files changed, 8 insertions(+), 4 deletions(-)
 diff --git a/cmake/catkin_package.cmake b/cmake/catkin_package.cmake
 index 73fc5bb..ee107c7 100644
 --- a/cmake/catkin_package.cmake
 +++ b/cmake/catkin_package.cmake
@@ -284,13 +284,13 @@ function(_catkin_package)
         ${CMAKE_CURRENT_BINARY_DIR}/catkin_generated/${extra}.develspace.context.cmake.py
         ${em_template}
         ${CATKIN_DEVEL_PREFIX}/share/${PROJECT_NAME}/cmake/${extra})
 -      list(APPEND PKG_CFG_EXTRAS ${CATKIN_DEVEL_PREFIX}/share/${PROJECT_NAME}/cmake/${extra})
 +      list(APPEND PKG_CFG_EXTRAS ${extra})
     elseif(EXISTS ${base}.in)
       configure_file(${base}.in
         ${CATKIN_DEVEL_PREFIX}/share/${PROJECT_NAME}/cmake/${extra}
         @ONLY
       )
 -      list(APPEND PKG_CFG_EXTRAS ${CATKIN_DEVEL_PREFIX}/share/${PROJECT_NAME}/cmake/${extra})
 +      list(APPEND PKG_CFG_EXTRAS ${extra})
     else()
       message(FATAL_ERROR "catkin_package() could not find CFG_EXTRAS file.  Either 'cmake/${extra}', 'cmake/${extra}.em', 'cmake/${extra}.develspace.em' or 'cmake/${extra}.in' must exist.")
     endif()
@@ -376,7 +376,7 @@ function(_catkin_package)
     else()
       message(FATAL_ERROR "catkin_package() could not find CFG_EXTRAS file.  Either 'cmake/${extra}', 'cmake/${extra}.em', 'cmake/${extra}.installspace.em' or 'cmake/${extra}.in' must exist.")
     endif()
 -    list(APPEND PKG_CFG_EXTRAS ${CMAKE_INSTALL_PREFIX}/share/${PROJECT_NAME}/cmake/${extra})
 +    list(APPEND PKG_CFG_EXTRAS ${extra})
   endforeach()
   install(FILES
     ${installable_cfg_extras}
 diff --git a/cmake/templates/pkgConfig.cmake.in b/cmake/templates/pkgConfig.cmake.in
 index 6ed4f96..8e451de 100644
 --- a/cmake/templates/pkgConfig.cmake.in
 +++ b/cmake/templates/pkgConfig.cmake.in
@@ -155,5 +155,9 @@ if(@PROJECT_NAME@_LIBRARIES)
 endif()
 foreach(extra @PKG_CFG_EXTRAS@)
 -  include(${extra})
 +  if(IS_ABSOLUTE ${extra})
 +    include(${extra})
 +  else()
 +    include(${CMAKE_CURRENT_LIST_DIR}/${extra})
 +  endif()
 endforeach()
 -- 
 1.7.0.4
--- a/recipes-ros/catkin/catkin/0002-catkinConfig-use-curent-path-for-catkin_EXTRA_DIR.patch
+++ b/recipes-ros/catkin/catkin/0002-catkinConfig-use-curent-path-for-catkin_EXTRA_DIR.patch
@ -0,0 +1,35 @@
 From fcdeade11a2d2e882512fcbaa0ea32bc0d5fd6d0 Mon Sep 17 00:00:00 2001
 From: Stefan Herbrechtsmeier <stefan@herbrechtsmeier.net>
 Date: Fri, 15 Feb 2013 13:06:36 +0100
 Subject: [PATCH 2/2] catkinConfig: use curent path for catkin_EXTRA_DIR
 Signed-off-by: Stefan Herbrechtsmeier <stefan@herbrechtsmeier.net>
 ---
 cmake/catkin_package.cmake |    4 ++--
 1 files changed, 2 insertions(+), 2 deletions(-)
 diff --git a/cmake/catkin_package.cmake b/cmake/catkin_package.cmake
 index ee107c7..8b2bf2c 100644
 --- a/cmake/catkin_package.cmake
 +++ b/cmake/catkin_package.cmake
@@ -255,7 +255,7 @@ function(_catkin_package)
   # prepend library path of this workspace
   set(PKG_CONFIG_LIB_PATHS ${lib_paths})
   list(INSERT PKG_CONFIG_LIB_PATHS 0 ${PROJECT_SPACE_DIR}/lib)
 -  set(PKG_CMAKE_DIR ${PROJECT_SPACE_DIR}/share/${PROJECT_NAME}/cmake)
 +  set(PKG_CMAKE_DIR "\${CMAKE_CURRENT_LIST_DIR}")
   if("${PROJECT_NAME}" STREQUAL "catkin")
     set(PKG_CMAKE_DIR "${catkin_EXTRAS_DIR}")
   endif()
@@ -336,7 +336,7 @@ function(_catkin_package)
   # prepend library path of this workspace
   set(PKG_CONFIG_LIB_PATHS ${lib_paths})
   list(INSERT PKG_CONFIG_LIB_PATHS 0 ${PROJECT_SPACE_DIR}/lib)
 -  set(PKG_CMAKE_DIR ${PROJECT_SPACE_DIR}/share/${PROJECT_NAME}/cmake)
 +  set(PKG_CMAKE_DIR "\${CMAKE_CURRENT_LIST_DIR}")
   # ensure that output folder exists
   file(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/catkin_generated/installspace)
 -- 
 1.7.0.4
--- a/recipes-ros/catkin/catkin/catkin-change_default_for_debsetuptools.patch
+++ b/recipes-ros/catkin/catkin/catkin-change_default_for_debsetuptools.patch
@ -1,20 +0,0 @@
 diff -cr a/cmake/python.cmake b/cmake/python.cmake
 *** a/cmake/python.cmake	2012-12-22 03:30:48.000000000 +0100
 --- b/cmake/python.cmake	2013-01-11 09:25:35.790346760 +0100
 ***************
 *** 6,12 ****
  set(PYTHON_VERSION_XDOTY ${PYTHON_VERSION_XDOTY} CACHE STRING "Python version")
  #This should be resolved automatically one day...
 ! option(SETUPTOOLS_DEB_LAYOUT "ON for debian style python packages layout" ON)
  if(APPLE OR MSVC)
    set(SETUPTOOLS_DEB_LAYOUT OFF)
 --- 6,12 ----
  set(PYTHON_VERSION_XDOTY ${PYTHON_VERSION_XDOTY} CACHE STRING "Python version")
  #This should be resolved automatically one day...
 ! option(SETUPTOOLS_DEB_LAYOUT "ON for debian style python packages layout" OFF)
  if(APPLE OR MSVC)
    set(SETUPTOOLS_DEB_LAYOUT OFF)
--- a/recipes-ros/catkin/catkin/catkin-remove_assertion_for_rt_library.patch
+++ b/recipes-ros/catkin/catkin/catkin-remove_assertion_for_rt_library.patch
@ -1,21 +0,0 @@
 diff -crB a/cmake/tools/rt.cmake b/cmake/tools/rt.cmake
 *** a/cmake/tools/rt.cmake	2012-12-22 03:30:48.000000000 +0100
 --- b/cmake/tools/rt.cmake	2013-01-31 08:09:48.789321920 +0100
 ***************
 *** 39,45 ****
      set(RT_LIBRARY rt CACHE FILEPATH "Hacked find of rt for cmake < 2.8.4")
    else()
      find_library(RT_LIBRARY rt)
 !     assert_file_exists(${RT_LIBRARY} "RT Library")
    endif()
    #message(STATUS "RT_LIBRARY: ${RT_LIBRARY}")
  endif()
 --- 39,45 ----
      set(RT_LIBRARY rt CACHE FILEPATH "Hacked find of rt for cmake < 2.8.4")
    else()
      find_library(RT_LIBRARY rt)
 !     #assert_file_exists(${RT_LIBRARY} "RT Library")
    endif()
    #message(STATUS "RT_LIBRARY: ${RT_LIBRARY}")
  endif()
 Only in b/cmake/tools: rt.cmake~
--- a/recipes-ros/catkin/catkin_0.5.58.bb
+++ b/recipes-ros/catkin/catkin_0.5.58.bb
@ -3,26 +3,26 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=7;endline=7;md5=d566ef916e9dedc494f5f793a6690ba5"
-SRC_URI = "https://github.com/ros/catkin/archive/0.5.58.tar.gz;downloadfile=catkin_0.5.58.tar.gz \
+DEPENDS = "cmake python-empy python-catkin-pkg"
-  file://catkin-change_default_for_debsetuptools.patch \
+
-  file://catkin-remove_assertion_for_rt_library.patch \
+SRC_URI = "https://github.com/ros/${BPN}/archive/${PV}.tar.gz;downloadfilename=${BP}.tar.gz \
-"
+           file://0001-catkin_package-use-relative-paths-in-PKG_CFG_EXTRAS.patch \
           file://0002-catkinConfig-use-curent-path-for-catkin_EXTRA_DIR.patch \
           "
 SRC_URI[md5sum] = "e4df85e60dc792af9324334547cc76aa"
 SRC_URI[sha256sum] = "dd99cc04eeaf16a13185dd0a2f576939fa997dfb16a40ba45068c4d2ebbcb44b"
-# DEPENDS = "python-setuptools"
+inherit catkin
 DEPENDS = "python-empy-native python-catkin-pkg-native python"
-EXTRA_OECMAKE = "-DSETUPTOOLS_DEB_LAYOUT=OFF"
+FILES_${PN}-dev += "\
    ${datadir}/eigen/cmake \
    ${datadir}/ros/cmake \
    ${prefix}/.catkin \
    ${prefix}/.rosinstall \
    ${prefix}/_setup_util.py \
    ${prefix}/env.sh \
    ${prefix}/setup.* \
    "
 BBCLASSEXTEND += "native"
 inherit cmake pythonnative python-dir
 FILES_${PN} += "${libdir}/${PYTHON_DIR}/* ${PYTHON_SITEPACKAGES_DIR}/*"
 # FILES_${PN}-dev += "${libdir}/${PYTHON_DIR}/* ${PYTHON_SITEPACKAGES_DIR}/*"
 export BUILD_SYS
 export HOST_SYS
 export STAGING_LIBDIR
 export STAGING_INCDIR
--- a/recipes-ros/gencpp/gencpp_0.4.11.bb
+++ b/recipes-ros/gencpp/gencpp_0.4.11.bb
@ -3,23 +3,10 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=7;endline=7;md5=d566ef916e9dedc494f5f793a6690ba5"
-SRC_URI = "https://github.com/ros-gbp/gencpp-release/archive/release/gencpp/0.4.11.tar.gz;downloadfilename=gencpp_0.4.11.tar.gz"
+DEPENDS = "genmsg"
 SRC_URI[md5sum] = "7a3e28fb0719805aa3a2059b6b0514fd"
 SRC_URI[sha256sum] = "63258067e6c2ba034bfbcf6aaf396eb36c3c407023d7db0de1af774bbb12b6a9"
-S = "${WORKDIR}/gencpp-release-release-gencpp-0.4.11"
+SRC_URI = "https://github.com/ros/${BPN}/archive/${PV}.tar.gz;downloadfilename=${BP}.tar.gz"
 SRC_URI[md5sum] = "be0b3986e98f3370fef4c1fffe3a69f4"
 SRC_URI[sha256sum] = "c68b4518dbc5d65fd19d43724e5c9b0e66c769ef6066e3d511a6ffce2623f3c7"
-DEPENDS = "catkin-native genmsg"
+inherit catkin
 FILES_${PN} += "${libdir}/*"
 inherit cmake pythonnative
 EXTRA_OECMAKE = " \
  -Dgenmsg_DIR=${STAGING_DATADIR}/genmsg/cmake/ \
  "
 export BUILD_SYS
 export HOST_SYS
 export STAGING_LIBDIR
 export STAGING_INCDIR
--- a/recipes-ros/genlisp/genlisp_0.4.10.bb
+++ b/recipes-ros/genlisp/genlisp_0.4.10.bb
@ -3,24 +3,10 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=9;endline=9;md5=d566ef916e9dedc494f5f793a6690ba5"
-SRC_URI = "https://github.com/ros-gbp/genlisp-release/archive/release/genlisp/0.4.10.tar.gz;downloadfilename=genlisp_0.4.10.tar.gz"
+DEPENDS = "genmsg"
 SRC_URI[md5sum] = "ce2d424a6e0496248dc2dd0c1c383f12"
 SRC_URI[sha256sum] = "d9be2ac2c64f05745ca7716bfea0e3e5857554f4caf769c8550e3502d5fc257d"
-S = "${WORKDIR}/genlisp-release-release-genlisp-0.4.10"
+SRC_URI = "https://github.com/ros/${BPN}/archive/${PV}.tar.gz;downloadfilename=${BP}.tar.gz"
-
+SRC_URI[md5sum] = "ae3026fd36a31d286f79a9111450adfa"
-DEPENDS = "catkin-native genmsg"
+SRC_URI[sha256sum] = "13f606f23eec18c0f653a259d972d9bdb13251111e4af280830a961a4858c475"
 FILES_${PN} += "${libdir}/*"
 inherit cmake pythonnative
 EXTRA_OECMAKE = " \
  -Dgenmsg_DIR=${STAGING_DATADIR}/genmsg/cmake/ \
  "
 export BUILD_SYS
 export HOST_SYS
 export STAGING_LIBDIR
 export STAGING_INCDIR
 inherit catkin
--- a/recipes-ros/genmsg/genmsg_0.4.17.bb
+++ b/recipes-ros/genmsg/genmsg_0.4.17.bb
@ -3,20 +3,8 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=9;endline=9;md5=d566ef916e9dedc494f5f793a6690ba5"
-SRC_URI = "https://github.com/ros-gbp/genmsg-release/archive/release/genmsg/0.4.17.tar.gz;downloadfilename=genmsg_0.4.17.tar.gz"
+SRC_URI = "https://github.com/ros/${BPN}/archive/${PV}.tar.gz;downloadfilename=${BP}.tar.gz"
-SRC_URI[md5sum] = "cd88647b1f37987e75a543ff826dbfcb"
+SRC_URI[md5sum] = "de385f1796bf025915ed7b20e1e1acc4"
-SRC_URI[sha256sum] = "12509645b02dbe8180321fc263abb45feded4cc1172eb485a2780ed93607e64e"
+SRC_URI[sha256sum] = "e510caa7692a4b0a0948688b9d2d8f6ff2f329980d7f78787276afec030806b7"
 S = "${WORKDIR}/genmsg-release-release-genmsg-0.4.17"
 DEPENDS = "catkin-native"
 FILES_${PN} += "${libdir}/*"
 inherit distutils cmake pythonnative
 export BUILD_SYS
 export HOST_SYS
 export STAGING_LIBDIR
 export STAGING_INCDIR
 inherit  catkin 
--- a/recipes-ros/genpy/genpy_0.4.10.bb
+++ b/recipes-ros/genpy/genpy_0.4.10.bb
@ -3,24 +3,10 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=7;endline=7;md5=d566ef916e9dedc494f5f793a6690ba5"
-SRC_URI = "https://github.com/ros-gbp/genpy-release/archive/release/genpy/0.4.10.tar.gz;downloadfilename=genpy_0.4.10.tar.gz"
+DEPENDS = "genmsg"
 SRC_URI[md5sum] = "694f2e0841c81a05874cf3f5801b16c1"
 SRC_URI[sha256sum] = "00d585627d1f17090a99de3978dec2eef290bdadede397cf3588f7b2584ba975"
-S = "${WORKDIR}/genpy-release-release-genpy-0.4.10"
+SRC_URI = "https://github.com/ros/${BPN}/archive/${PV}.tar.gz;downloadfilename=${BP}.tar.gz"
-
+SRC_URI[md5sum] = "23915e68167ba6d58c65920bfabd2fad"
-DEPENDS = "catkin-native genmsg"
+SRC_URI[sha256sum] = "6c77bde606c9637b0fa9e6f4ed85882e98547500a7472d2643bcc52b6c8a8b78"
 FILES_${PN} += "${libdir}/*"
 inherit cmake pythonnative
 EXTRA_OECMAKE = " \
  -Dgenmsg_DIR=${STAGING_DATADIR}/genmsg/cmake/ \
  "
 export BUILD_SYS
 export HOST_SYS
 export STAGING_LIBDIR
 export STAGING_INCDIR
 inherit catkin
--- a/recipes-ros/message-generation/message-generation_0.2.9.bb
+++ b/recipes-ros/message-generation/message-generation_0.2.9.bb
@ -3,18 +3,12 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=7;endline=7;md5=d566ef916e9dedc494f5f793a6690ba5"
-SRC_URI = "https://github.com/ros-gbp/message_generation-release/archive/release/message_generation/0.2.9.tar.gz;downloadfilename=message-generation_0.2.9.tar.gz"
+DEPENDS = "gencpp"
 SRC_URI[md5sum] = "9458c88437cb9bc3f3b70dd4d67bf1f3"
 SRC_URI[sha256sum] = "c474649944ec01ad2df80dc2674d235705771cd9a9cf3794fc9490b5fe9c0d5e"
-S = "${WORKDIR}/message_generation-release-release-message_generation-0.2.9"
+SRC_URI = "https://github.com/ros/${ROS_BPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_BP}.tar.gz"
 SRC_URI[md5sum] = "b3086fbe24cc103f412cb30d83362e36"
 SRC_URI[sha256sum] = "9ce9c5b4e995933c575f2a5cb5c4b042b39913637bca06554092a52c3bb24c12"
-DEPENDS = "catkin-native gencpp"
+S = "${WORKDIR}/${ROS_BPN}-${PV}"
-FILES_${PN} += "${libdir}/*"
+inherit catkin
 inherit cmake pythonnative
 EXTRA_OECMAKE = " \
  -Dgencpp_DIR=${STAGING_DATADIR}/gencpp/cmake/ \
  "
--- a/recipes-ros/packagegroups/packagegroup-ros-comm.bb
+++ b/recipes-ros/packagegroups/packagegroup-ros-comm.bb
@ -0,0 +1,30 @@
 DESCRIPTION = "ros-comm package group"
 LICENSE = "MIT"
 inherit packagegroup
 PACKAGES = "${PN}"
 RDEPENDS_${PN} = "\
    rosconsole \
    rosparam \
    catkin \
    genmsg \
    rosgraph \
    genpy \
    rospack \
    roslib \
    rosunit \
    roscpp-serialization \
    roscpp-traits \
    rostest \
    message-generation \
    cpp-common \
    genlisp \
    rosgraph-msgs \
    xmlrpcpp \
    roswtf \
    std-msgs \
    rostime \
    gencpp \
    "
--- a/recipes-ros/ros-comm/ros-comm.inc
+++ b/recipes-ros/ros-comm/ros-comm.inc
@ -0,0 +1,5 @@
 SRC_URI = "https://github.com/ros/ros_comm/archive/${PV}.tar.gz;downloadfilename=ros_comm-${PV}.tar.gz"
 SRC_URI[md5sum] = "80b68959b8e6d5162c50a361a55d9b1a"
 SRC_URI[sha256sum] = "b0422f914ca27f928e5acacf25353cb44bd7e3be8ba8942253013fe85cc355f8"
 inherit catkin
--- a/recipes-ros/ros-comm/rosconsole_1.9.41.bb
+++ b/recipes-ros/ros-comm/rosconsole_1.9.41.bb
@ -3,20 +3,8 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=6;endline=6;md5=d566ef916e9dedc494f5f793a6690ba5"
-SRC_URI = "https://github.com/ros-gbp/ros_comm-release/archive/release/rosconsole/1.9.41.tar.gz;downloadfilename=rosconsole_1.9.41.tar.gz"
+DEPENDS = "apr boost cpp-common log4cxx rostime rosunit-native"
 SRC_URI[md5sum] = "b1aa08c225ae0f81728452e08effe933"
 SRC_URI[sha256sum] = "40c86e3121de8651dafed5238b8647347cf40be96066e5fa01a82875aff4a6d3"
-S = "${WORKDIR}/ros_comm-release-release-rosconsole-1.9.41"
+require ros-comm.inc
-DEPENDS = "catkin-native apr boost cpp-common log4cxx rostime rosunit"
+S = "${WORKDIR}/ros_comm-${PV}/tools/${BPN}"
 FILES_${PN} += "${libdir}/*"
 inherit cmake pythonnative
 EXTRA_OECMAKE = " \
  -Dcpp_common_DIR=${STAGING_DATADIR}/cpp_common/cmake/ \
  -Drostime_DIR=${STAGING_DATADIR}/rostime/cmake/ \
  -Drosunit_DIR=${STAGING_DATADIR}/rosunit/cmake/ \
  "
--- a/recipes-ros/ros-comm/rosgraph-msgs_1.9.41.bb
+++ b/recipes-ros/ros-comm/rosgraph-msgs_1.9.41.bb
@ -3,19 +3,8 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=d566ef916e9dedc494f5f793a6690ba5"
-SRC_URI = "https://github.com/ros-gbp/ros_comm-release/archive/release/rosgraph_msgs/1.9.41.tar.gz;downloadfilename=rosgraph-msgs_1.9.41.tar.gz"
+DEPENDS = "message-generation std-msgs"
 SRC_URI[md5sum] = "741009a25766157ac436f836b5bf5519"
 SRC_URI[sha256sum] = "ec8302229ad51d1174c72d12f5e849c924a8e6d5a13c42fee76f7738d15405f2"
-S = "${WORKDIR}/ros_comm-release-release-rosgraph_msgs-1.9.41"
+require ros-comm.inc
 DEPENDS = "catkin-native message-generation std-msgs"
 FILES_${PN} += "${libdir}/*"
 inherit cmake pythonnative
 EXTRA_OECMAKE = " \
  -Dmessage_generation_DIR=${STAGING_DATADIR}/message_generation/cmake/ \
  "
 S = "${WORKDIR}/ros_comm-${PV}/messages/${ROS_BPN}"
--- a/recipes-ros/ros-comm/rosgraph_1.9.41.bb
+++ b/recipes-ros/ros-comm/rosgraph_1.9.41.bb
@ -4,23 +4,6 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=10;endline=10;md5=d566ef916e9dedc494f5f793a6690ba5"
-SRC_URI = "https://github.com/ros-gbp/ros_comm-release/archive/release/rosgraph/1.9.41.tar.gz;downloadfilename=rosgraph_1.9.41.tar.gz"
+require ros-comm.inc
 SRC_URI[md5sum] = "c4a6fe2109e36f08e00634a60efa2b46"
 SRC_URI[sha256sum] = "69c23ece0af24c68b404622bcbd224e84fa19da88cb08f80b62769849ba26e70"
 S = "${WORKDIR}/ros_comm-release-release-rosgraph-1.9.41"
 DEPENDS = "catkin-native"
 FILES_${PN} += "${libdir}/*"
 inherit cmake pythonnative
 EXTRA_OECMAKE = " \
  "
 export BUILD_SYS
 export HOST_SYS
 export STAGING_LIBDIR
 export STAGING_INCDIR
 S = "${WORKDIR}/ros_comm-${PV}/tools/${BPN}"
--- a/recipes-ros/ros-comm/rosparam_1.9.41.bb
+++ b/recipes-ros/ros-comm/rosparam_1.9.41.bb
@ -4,23 +4,6 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=15;endline=15;md5=d566ef916e9dedc494f5f793a6690ba5"
-SRC_URI = "https://github.com/ros-gbp/ros_comm-release/archive/release/rosparam/1.9.41.tar.gz;downloadfilename=rosparam_1.9.41.tar.gz"
+require ros-comm.inc
 SRC_URI[md5sum] = "9539b0fbb6e50d44a6038d2f4d57d67b"
 SRC_URI[sha256sum] = "49a6e4c5d8607bebf3b995fe2b4f2105898ebbac04e542008e953baa0892b255"
 S = "${WORKDIR}/ros_comm-release-release-rosparam-1.9.41"
 DEPENDS = "catkin-native"
 FILES_${PN} += "${libdir}/*"
 inherit distutils cmake pythonnative
 EXTRA_OECMAKE = " \
  "
 export BUILD_SYS
 export HOST_SYS
 export STAGING_LIBDIR
 export STAGING_INCDIR
 S = "${WORKDIR}/ros_comm-${PV}/tools/${BPN}"
--- a/recipes-ros/ros-comm/rostest_1.9.41.bb
+++ b/recipes-ros/ros-comm/rostest_1.9.41.bb
@ -3,24 +3,8 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=d566ef916e9dedc494f5f793a6690ba5"
-SRC_URI = "https://github.com/ros-gbp/ros_comm-release/archive/release/rostest/1.9.41.tar.gz;downloadfilename=rostest_1.9.41.tar.gz"
+DEPENDS = "boost rosunit-native"
 SRC_URI[md5sum] = "82c09640a27dedc6b1eabed2951a23dd"
 SRC_URI[sha256sum] = "f259d89e5ce02359c65dfc5bdb6c62be104600ddcb62ce6f9cffd630ff99a55d"
-S = "${WORKDIR}/ros_comm-release-release-rostest-1.9.41"
+require ros-comm.inc
 DEPENDS = "catkin-native boost rosunit"
 FILES_${PN} += "${libdir}/*"
 inherit cmake pythonnative
 EXTRA_OECMAKE = " \
  -Drosunit_DIR=${STAGING_DATADIR}/rosunit/cmake/ \
  "
 export BUILD_SYS
 export HOST_SYS
 export STAGING_LIBDIR
 export STAGING_INCDIR
 S = "${WORKDIR}/ros_comm-${PV}/tools/${BPN}"
--- a/recipes-ros/ros-comm/roswtf_1.9.41.bb
+++ b/recipes-ros/ros-comm/roswtf_1.9.41.bb
@ -3,18 +3,8 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=d566ef916e9dedc494f5f793a6690ba5"
-SRC_URI = "https://github.com/ros-gbp/ros_comm-release/archive/release/roswtf/1.9.41.tar.gz;downloadfilename=roswtf_1.9.41.tar.gz"
+DEPENDS = "rostest"
 SRC_URI[md5sum] = "422724ca5fb8bb1424f1cd7f73c9f7aa"
 SRC_URI[sha256sum] = "74f8028c7eb43e2507d70461257c48cca3c4ea162eaf66e0163d307846d32ce3"
-S = "${WORKDIR}/ros_comm-release-release-roswtf-1.9.41"
+require ros-comm.inc
-DEPENDS = "catkin-native rostest"
+S = "${WORKDIR}/ros_comm-${PV}/utilities/${BPN}"
 FILES_${PN} += "${libdir}/*"
 inherit cmake pythonnative
 EXTRA_OECMAKE = " \
  -Drostest_DIR=${STAGING_DATADIR}/rostest/cmake/ \
  "
--- a/recipes-ros/ros-comm/xmlrpcpp_1.9.41.bb
+++ b/recipes-ros/ros-comm/xmlrpcpp_1.9.41.bb
@ -4,22 +4,11 @@ DESCRIPTION = \
    support roscpp's threading model. As such, we are maintaining our \
    own fork."
 SECTION = "devel"
-LICENSE = "LGPL"
+LICENSE = "LGPLv2.1"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=11;endline=11;md5=46ee8693f40a89a31023e97ae17ecf19"
-SRC_URI = "https://github.com/ros-gbp/ros_comm-release/archive/release/xmlrpcpp/1.9.41.tar.gz;downloadfilename=xmlrpcpp_1.9.41.tar.gz"
+DEPENDS = "cpp-common"
 SRC_URI[md5sum] = "036a6544a574faca48c52489e6767530"
 SRC_URI[sha256sum] = "1e3ced256ecbbd05f0c1821ce99c33127cbdd5284e4b789bced55508f2581c48"
-S = "${WORKDIR}/ros_comm-release-release-xmlrpcpp-1.9.41"
+require ros-comm.inc
 DEPENDS = "catkin-native cpp-common"
 FILES_${PN} += "${libdir}/*"
 inherit distutils cmake pythonnative
 EXTRA_OECMAKE = " \
  -Dcpp_common_DIR=${STAGING_DATADIR}/cpp_common/cmake/ \
  "
 S = "${WORKDIR}/ros_comm-${PV}/utilities/${BPN}"
--- a/recipes-ros/ros/ros.inc
+++ b/recipes-ros/ros/ros.inc
@ -0,0 +1,5 @@
 SRC_URI = "https://github.com/ros/ros/archive/${PV}.tar.gz;downloadfilename=ros_${PV}.tar.gz"
 SRC_URI[md5sum] = "e38f95785dc6dcbb8f8620c9298c2752"
 SRC_URI[sha256sum] = "2d8997e1f6980c9cea85a27f39e17beb58db924283fc337c8df11fd79bcb3cb2"
 inherit catkin
--- a/recipes-ros/ros/roslib_1.9.42.bb
+++ b/recipes-ros/ros/roslib_1.9.42.bb
@ -3,24 +3,8 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=9;endline=9;md5=d566ef916e9dedc494f5f793a6690ba5"
-SRC_URI = "https://github.com/ros-gbp/ros-release/archive/release/roslib/1.9.42.tar.gz;downloadfilename=roslib_1.9.42.tar.gz"
+DEPENDS = "boost rospack"
 SRC_URI[md5sum] = "3234ab5475e80e2598a534ab94066b40"
 SRC_URI[sha256sum] = "9443166266ba025984552d764c0a74e7d4a79f9ef3b533c5de6d3220f4aa03e8"
-S = "${WORKDIR}/ros-release-release-roslib-1.9.42"
+require ros.inc
 DEPENDS = "catkin-native boost rospack"
 FILES_${PN} += "${libdir}/*"
 inherit cmake pythonnative
 EXTRA_OECMAKE = " \
    -Drospack_DIR=${STAGING_DATADIR}/rospack/cmake/ \
  "
 export BUILD_SYS
 export HOST_SYS
 export STAGING_LIBDIR
 export STAGING_INCDIR
 S = "${WORKDIR}/ros-${PV}/core/${BPN}"
--- a/recipes-ros/ros/rosunit_1.9.42.bb
+++ b/recipes-ros/ros/rosunit_1.9.42.bb
@ -3,23 +3,8 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=d566ef916e9dedc494f5f793a6690ba5"
-SRC_URI = "https://github.com/ros-gbp/ros-release/archive/release/rosunit/1.9.42.tar.gz;downloadfilename=rosunit_1.9.42.tar.gz"
+require ros.inc
 SRC_URI[md5sum] = "1ddf9898fdde848e7ccaea88abb62296"
 SRC_URI[sha256sum] = "65ef24469c572f5b4105b95db3830a565e0de71f8f9c8982ecf80b3244ca9a33"
-S = "${WORKDIR}/ros-release-release-rosunit-1.9.42"
+S = "${WORKDIR}/ros-${PV}/tools/${BPN}"
 DEPENDS = "catkin-native"
 FILES_${PN} += "${libdir}/*"
 inherit cmake pythonnative
 EXTRA_OECMAKE = " \
  "
 export BUILD_SYS
 export HOST_SYS
 export STAGING_LIBDIR
 export STAGING_INCDIR
 BBCLASSEXTEND += "native"
--- a/recipes-ros/roscpp-core/cpp-common_0.3.11.bb
+++ b/recipes-ros/roscpp-core/cpp-common_0.3.11.bb
@ -1,22 +0,0 @@
 DESCRIPTION = "Low-level build system macros and infrastructure for ROS"
 SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=13;endline=13;md5=d566ef916e9dedc494f5f793a6690ba5"
 SRC_URI = "https://github.com/ros-gbp/roscpp_core-release/archive/release/cpp_common/0.3.11.tar.gz;downloadfilename=cpp-common_0.3.11.tar.gz"
 SRC_URI[md5sum] = "7bf32963b9e2c82911bf089531c18482"
 SRC_URI[sha256sum] = "86018219aa77f109d3340d332e7a041a9e047fd48d3d0e03bf2a4bd9baa66bde"
 S = "${WORKDIR}/roscpp_core-release-release-cpp_common-0.3.11"
 DEPENDS = "catkin-native"
 ALLOW_EMPTY = "1"
 EXTRA_OECMAKE = ""
 inherit cmake pythonnative
 FILES_${PN} += "${libdir}/*"
 FILES_${PN}-dev += "${datadir}/*"
--- a/recipes-ros/roscpp-core/cpp-common_0.3.12.bb
+++ b/recipes-ros/roscpp-core/cpp-common_0.3.12.bb
@ -0,0 +1,8 @@
 DESCRIPTION = "Low-level build system macros and infrastructure for ROS"
 SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=13;endline=13;md5=d566ef916e9dedc494f5f793a6690ba5"
 require roscpp-core.inc
 S = "${WORKDIR}/roscpp_core-${PV}/${ROS_BPN}"
--- a/recipes-ros/roscpp-core/roscpp-core.inc
+++ b/recipes-ros/roscpp-core/roscpp-core.inc
@ -0,0 +1,7 @@
 SRC_URI = "https://github.com/ros/roscpp_core/archive/${PV}.tar.gz;downloadfilename=rosscpp_core-${PV}.tar.gz"
 SRC_URI[md5sum] = "ddbed4b9c97e406ecf104915eb31319c"
 SRC_URI[sha256sum] = "662595304df7ba932906aa30774dfd4c3074cc4b7773620fc80de2d724769ef8"
 S = "${WORKDIR}/roscpp_core-${PV}/${BPN}"
 inherit catkin
--- a/recipes-ros/roscpp-core/roscpp-core_0.3.12.bb
+++ b/recipes-ros/roscpp-core/roscpp-core_0.3.12.bb
@ -3,21 +3,8 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=d566ef916e9dedc494f5f793a6690ba5"
-SRC_URI = "https://github.com/ros-gbp/roscpp_core-release/archive/release/roscpp_core/0.3.12.tar.gz;downloadfilename=roscpp-cppcore_0.3.12.tar.gz"
+DEPENDS = "cpp-common roscpp-serialization roscpp-traits rostime"
 SRC_URI[md5sum] = "56cfd5b11cba6d28f742106a1eeafc92"
 SRC_URI[sha256sum] = "b9ed9dadb21430deb87d56f4051da80238a36feea972ec0d3cecbfe91bb42d84"
-S = "${WORKDIR}/roscpp_core-release-release-roscpp_core-0.3.12"
+require roscpp-core.inc
 ALLOW_EMPTY = "1"
 DEPENDS = "\
  cpp-common \
  roscpp-serialization \
  roscpp-traits \
  rostime \
 "
 FILES_${PN} = ""
 FILES_${PN}-dev = ""
 S = "${WORKDIR}/roscpp_core-${PV}/${ROS_BPN}"
--- a/recipes-ros/roscpp-core/roscpp-serialization_0.3.12.bb
+++ b/recipes-ros/roscpp-core/roscpp-serialization_0.3.12.bb
@ -3,23 +3,8 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=11;endline=11;md5=d566ef916e9dedc494f5f793a6690ba5"
-SRC_URI = "https://github.com/ros-gbp/roscpp_core-release/archive/release/roscpp_serialization/0.3.12.tar.gz;downloadfilename=roscpp-serialization_0.3.12.tar.gz"
+DEPENDS = "cpp-common roscpp-traits rostime"
 SRC_URI[md5sum] = "38827d61eb88211d6be597d3be30ee58"
 SRC_URI[sha256sum] = "27581440aabb75df787e850124daaec252fdca8f5b70f8a4996f82bb8eb65eb7"
-S = "${WORKDIR}/roscpp_core-release-release-roscpp_serialization-0.3.12"
+require roscpp-core.inc
-ALLOW_EMPTY = "1"
+S = "${WORKDIR}/roscpp_core-${PV}/${ROS_BPN}"
 DEPENDS = "catkin-native \
  cpp-common \
  roscpp-traits \
  rostime"
 EXTRA_OECMAKE = " \
    -Dcpp_common_DIR=${STAGING_DATADIR}/cpp_common/cmake/ \
    -Droscpp_traits_DIR=${STAGING_DATADIR}/roscpp_traits/cmake/ \
    -Drostime_DIR=${STAGING_DATADIR}/rostime/cmake/ \
  "
 inherit cmake pythonnative
--- a/recipes-ros/roscpp-core/roscpp-traits_0.3.12.bb
+++ b/recipes-ros/roscpp-core/roscpp-traits_0.3.12.bb
@ -3,14 +3,6 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=11;endline=11;md5=d566ef916e9dedc494f5f793a6690ba5"
-SRC_URI = "https://github.com/ros-gbp/roscpp_core-release/archive/release/roscpp_traits/0.3.12.tar.gz;downloadfilename=roscpp-traits_0.3.12.tar.gz"
+require roscpp-core.inc
 SRC_URI[md5sum] = "bf9d1ef41bb21a8ee1b2defa415cc0d8"
 SRC_URI[sha256sum] = "f35cd1e29b50a2ffd89b36a9c919653ba2f6242c4b92618b544ded4f005ab912"
-S = "${WORKDIR}/roscpp_core-release-release-roscpp_traits-0.3.12"
+S = "${WORKDIR}/roscpp_core-${PV}/${ROS_BPN}"
 ALLOW_EMPTY = "1"
 DEPENDS = "catkin-native"
 inherit cmake pythonnative
--- a/recipes-ros/roscpp-core/rostime_0.3.12.bb
+++ b/recipes-ros/roscpp-core/rostime_0.3.12.bb
@ -3,18 +3,6 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=d566ef916e9dedc494f5f793a6690ba5"
-SRC_URI = "https://github.com/ros-gbp/roscpp_core-release/archive/release/rostime/0.3.12.tar.gz;downloadfilename=rostime_0.3.12.tar.gz"
+DEPENDS = "boost cpp-common"
 SRC_URI[md5sum] = "ad80d12cf7dac87e7a5ef4573ced9db7"
 SRC_URI[sha256sum] = "887a89406d9682dc49c4049b4fe0766b6613208fd9df95a0efa55579b93cc965"
-S = "${WORKDIR}/roscpp_core-release-release-rostime-0.3.12"
+require roscpp-core.inc
 DEPENDS = "catkin-native boost cpp-common"
 FILES_${PN} += "${libdir}/*"
 inherit cmake pythonnative
 EXTRA_OECMAKE = " \
  -Dcpp_common_DIR=${STAGING_DATADIR}/cpp_common/cmake/ \
  "
--- a/recipes-ros/rospack/rospack_2.1.16.bb
+++ b/recipes-ros/rospack/rospack_2.1.16.bb
@ -3,17 +3,10 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=6;endline=6;md5=d566ef916e9dedc494f5f793a6690ba5"
-SRC_URI = "https://github.com/ros-gbp/rospack-release/archive/release/rospack/2.1.16.tar.gz;downloadfilename=rospack_2.1.16.tar.gz"
+DEPENDS = "boost python libtinyxml"
 SRC_URI[md5sum] = "35b37d6bea2ed092e9265dd975b3be17"
 SRC_URI[sha256sum] = "a9a997ea584ef2c41a78e03e3b24d315dc1020545b2a1a0cde474d24fe912f24"
-S = "${WORKDIR}/rospack-release-release-rospack-2.1.16"
+SRC_URI = "https://github.com/ros/${BPN}/archive/${PV}.tar.gz;downloadfilename=${BP}.tar.gz"
 SRC_URI[md5sum] = "1383bdce36fe6319884e7b158c22d8b4"
 SRC_URI[sha256sum] = "5bfdcc93db555fe23dead5d471f8bba25dc72c2f0f928bd2319e06bf42f9d117"
-DEPENDS = "catkin-native boost python libtinyxml"
+inherit catkin
 FILES_${PN} += "${libdir}/*"
 inherit cmake pythonnative
 EXTRA_OECMAKE = " \
  "
--- a/recipes-ros/std-msgs/std-msgs_0.5.7.bb
+++ b/recipes-ros/std-msgs/std-msgs_0.5.7.bb
@ -4,20 +4,12 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=9;endline=9;md5=d566ef916e9dedc494f5f793a6690ba5"
-SRC_URI = "https://github.com/ros-gbp/std_msgs-release/archive/release/std_msgs/0.5.7.tar.gz;downloadfilename=std-msgs_0.5.7.tar.gz"
+DEPENDS = "message-generation genlisp"
 SRC_URI[md5sum] = "7665733101cc69106dd7a2902dc67f19"
 SRC_URI[sha256sum] = "636f0871d52531d6764d7b26ded476a49881e5e9166999efed2f1a6ee3787fec"
-S = "${WORKDIR}/std_msgs-release-release-std_msgs-0.5.7"
+SRC_URI = "https://github.com/ros/${ROS_BPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_BP}.tar.gz"
 SRC_URI[md5sum] = "ea40e6dd8ea19fe54a2b476358c0ceea"
 SRC_URI[sha256sum] = "acc3d6aed8ede795e4bc6676c1849924699a418769b3d29016a9a2ac08319a56"
-DEPENDS = "catkin-native message-generation"
+S = "${WORKDIR}/${ROS_BPN}-${PV}"
 # also depends on genlisp
 FILES_${PN} += "${libdir}/*"
 inherit cmake pythonnative
 EXTRA_OECMAKE = " \
  -Dmessage_generation_DIR=${STAGING_DATADIR}/message_generation/cmake/ \
  "
 inherit catkin
--- a/scripts/create-packagegroup.py
+++ b/scripts/create-packagegroup.py
@ -0,0 +1,36 @@
 #!/usr/bin/env python
 #
 # Copyright (c) 2013 Stefan Herbrechtsmeier, Bielefeld University
 # 
 import sys
 import httplib
 import re
 name = 'ros_comm'
 if len(sys.argv) > 1:
    name = sys.argv[1]
 conn = httplib.HTTPConnection('packages.ros.org')
 conn.request('GET', '/web/rosinstall/generate/raw/groovy/' + name)
 res = conn.getresponse()
 data = res.read()
 conn.close()
 packages = []
 for p in re.findall('local-name:.(\w+)' ,data):
    packages.append(p.replace('_', '-'))
 name = name.replace('_', '-')
 print('packagegroup-' + name + '.bb')
 print('')
 print('DESCRIPTION = "' + name + ' package group"');
 print('LICENSE = "MIT"')
 print('')
 print('inherit packagegroup')
 print('')
 print('PACKAGES = "${PN}"')
 print('')
 print('RDEPENDS_${PN} = "\\\n    ' + ' \\\n    '.join(packages) + ' \\\n    "')
--- a/scripts/create-recipe.py
+++ b/scripts/create-recipe.py
@ -1,45 +1,71 @@
 #!/usr/bin/env python
 #
-# Copyright (c) 2013 Lukas Bulwahn, BMW Car IT GmbH
+# Copyright (c) 2013 Stefan Herbrechtsmeier, Bielefeld University
-#
+# 
 # Permission is hereby granted, free of charge, to any person obtaining a copy 
 # of this software and associated documentation files (the "Software"), to
 # deal  in the Software without restriction, including without limitation the 
 # rights to use, copy, modify, merge, publish, distribute, sublicense, and/or 
 # sell copies of the Software, and to permit persons to whom the Software is 
 # furnished to do so, subject to the following conditions:
 #
 # The above copyright notice and this permission notice shall be included in 
 # all copies or substantial portions of the Software.
 #
 # THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 
 # IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 
 # FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 
 # AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 
 # LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
 # FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS 
 # IN THE SOFTWARE.
 #
-info = {'description' : '',
+import sys
-  'license' : '', 'lic_file_beginline' : '', 'lic_file_endline' : '', 'lic_file_md5' : '',
+import os
-  'url' : '', 'downloadfilename' : '', 'md5sum' : '', 'sha256sum' : '', 'directoryname' : ''}
+import xml.etree.ElementTree as ElementTree
 import hashlib
-print '''DESCRIPTION = "%(description)s"
+filename = 'package.xml'
 SECTION = "devel"
 LICENSE = "%(license)s"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=%(lic_file_beginline)s;endline=%(lic_file_endline)s;md5=%(lic_file_md5)s"
-SRC_URI = "%(url)s;downloadfilename=%(downloadfilename)s"
+if len(sys.argv) > 1:
-SRC_URI[md5sum] = "%(md5sum)s"
+    filename = sys.argv[1]
 SRC_URI[sha256sum] = "%(sha256sum)s"
-S = "${WORKDIR}/%(directoryname)s"
+if not os.path.isfile(filename):
    exit(-1)
-DEPENDS = "catkin-native"
+tree  = ElementTree.parse(filename)
 root = tree.getroot()
-inherit cmake pythonnative
+name = tree.findtext('name', '')
 version = tree.findtext('version', '')
 description = tree.findtext('description', '').strip()
 license = tree.findtext('license', '')
 homepage = tree.findtext('url', '')
-''' % info
+f = file(filename)
 license_line = ''
 license_md5 = ''
 i = 0
 for line in f:
    i += 1
    if 'license' in line:
        license_line = str(i)
        md5 = hashlib.md5()
        md5.update(line)
        license_md5 = md5.hexdigest()
        break
 buildtools = []
 for e in root.findall('buildtool_depend'):
    buildtools.append(e.text)
 depends = []
 for e in root.findall('build_depend'):
    depends.append(e.text.replace('_', '-'))
 print(name + '_' + version + ".bb")
 print('')
 print('DESCRIPTION = "' + description + '"')
 if homepage:
  print('HOMEPAGE = "' + homepage + '"')
 print('SECTION = "devel"')
 print('LICENSE = "' + license + '"')
 print('LIC_FILES_CHKSUM = "file://package.xml;beginline=' + license_line +
      ';endline=' + license_line + ';md5=' + license_md5 + '"')
 if depends:
    print('')
    print('DEPENDS = "' + ' '.join(depends) + '"')
 print('')
 print('SRC_URI = ";downloadfilename=${P}.tar.gz"')
 print('SRC_URI[md5sum] = ""')
 print('SRC_URI[sha256sum] = ""')
 print('')
 print('S = "${WORKDIR}/-${PV}"')
 print('')
 if buildtools:
    print('inherit ' + ' '.join(buildtools))