diff --git a/classes/ros.bbclass b/classes/ros.bbclass
index 9e830a6..3fb19ca 100644
--- a/classes/ros.bbclass
+++ b/classes/ros.bbclass
@@ -3,7 +3,9 @@
 # 
 
 ROS_BPN = "${@d.getVar('BPN', True).replace('-', '_')}"
-ROS_BP = "${ROS_BPN}-${PV}"
+
+ROS_SPN ?= "${ROS_BPN}"
+ROS_SP = "${ROS_SPN}-${PV}"
 
 FILES_SOLIBSDEV = ""
 FILES_${PN} += "${libdir}/lib*${SOLIBSDEV}"
diff --git a/recipes-ros/actionlib/actionlib_1.10.1.bb b/recipes-ros/actionlib/actionlib_1.10.1.bb
index 01eae00..f3bb4b5 100644
--- a/recipes-ros/actionlib/actionlib_1.10.1.bb
+++ b/recipes-ros/actionlib/actionlib_1.10.1.bb
@@ -4,14 +4,14 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=11;endline=11;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-SRC_URI = "https://github.com/ros/${BPN}/archive/${PV}.tar.gz;downloadfilename=${BP}.tar.gz;name=archive"
-SRC_URI[archive.md5sum] = "8da88314483b1330906b0ecf89c33494"
-SRC_URI[archive.sha256sum] = "c76317f60afec9e4cdcce28e0b88b9aef7e355ba8295228e759aa914ed10aae4"
+DEPENDS = "actionlib-msgs roscpp rostest"
 
-SRC_URI += "https://github.com/ros/actionlib/commit/f066ff531ecdea3b859881aa1f4b4b34cba910c1.patch;name=patch"
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
+SRC_URI[md5sum] = "8da88314483b1330906b0ecf89c33494"
+SRC_URI[sha256sum] = "c76317f60afec9e4cdcce28e0b88b9aef7e355ba8295228e759aa914ed10aae4"
+
+SRC_URI += "https://github.com/ros/${ROS_SPN}/commit/f066ff531ecdea3b859881aa1f4b4b34cba910c1.patch;name=patch"
 SRC_URI[patch.md5sum] = "ba32239ddb0c6837a4296119dda5f08a"
 SRC_URI[patch.sha256sum] = "d07e4cd0982fee417f574acac4e2e2a0387188bf254c6f49f7ab0f8c206082b8"
 
-DEPENDS = "actionlib-msgs roscpp rostest"
-
 inherit catkin
diff --git a/recipes-ros/bond-core/bond-core.inc b/recipes-ros/bond-core/bond-core.inc
index 24f2f42..4302ea2 100644
--- a/recipes-ros/bond-core/bond-core.inc
+++ b/recipes-ros/bond-core/bond-core.inc
@@ -1,7 +1,9 @@
-SRC_URI = "https://github.com/ros/bond_core/archive/${PV}.tar.gz;downloadfilename=bond_core-${PV}.tar.gz"
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
 SRC_URI[md5sum] = "1bb6c5dd1148c67d2759e665d7ae75b3"
 SRC_URI[sha256sum] = "1145db3800591e585325131cb6322366e82e634c97dd3cbb4ab43e1c1f4ec415"
 
-S = "${WORKDIR}/bond_core-${PV}/${PN}"
+S = "${WORKDIR}/${ROS_SP}/${ROS_BPN}"
 
 inherit catkin
+
+ROS_SPN = "bond_core"
diff --git a/recipes-ros/catkin/catkin_0.5.71.bb b/recipes-ros/catkin/catkin_0.5.71.bb
index d39e762..66c6a0b 100644
--- a/recipes-ros/catkin/catkin_0.5.71.bb
+++ b/recipes-ros/catkin/catkin_0.5.71.bb
@@ -5,17 +5,13 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=7;endline=7;md5=d566ef916e9dedc
 
 DEPENDS = "cmake python-empy python-catkin-pkg python-empy-native python-catkin-pkg-native"
 
-RDEPENDS_${PN}_class-native = ""
-RDEPENDS_${PN} = "cmake make binutils binutils-symlinks gcc gcc-symlinks g++ g++-symlinks \
-    python-catkin-pkg python-argparse python-misc python-multiprocessing \
-    python-shell python-subprocess python-xml"
 
-SRC_URI = "https://github.com/ros/catkin/archive/${PV}.tar.gz;downloadfilename=${ROS_BP}.tar.gz \
-           file://0001-CATKIN_WORKSPACES-Don-t-require-.catkin-file.patch \
-           "
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
 SRC_URI[md5sum] = "1c30ac4fcc82ce2aedf610ea972ab4d2"
 SRC_URI[sha256sum] = "2494dbe3446fe94a55f57c74260e072f97d72944d89610fe4994dbc79cf1a561"
 
+SRC_URI += "file://0001-CATKIN_WORKSPACES-Don-t-require-.catkin-file.patch"
+
 inherit catkin
 
 FILES_${PN}-dev += "\
@@ -27,3 +23,8 @@ FILES_${PN}-dev += "\
     ${prefix}/env.sh \
     ${prefix}/setup.* \
     "
+
+RDEPENDS_${PN}_class-native = ""
+RDEPENDS_${PN} = "cmake make binutils binutils-symlinks gcc gcc-symlinks g++ g++-symlinks \
+    python-catkin-pkg python-argparse python-misc python-multiprocessing \
+    python-shell python-subprocess python-xml"
diff --git a/recipes-ros/class-loader/class-loader_0.2.2.bb b/recipes-ros/class-loader/class-loader_0.2.2.bb
index bfbd03b..9e4745e 100644
--- a/recipes-ros/class-loader/class-loader_0.2.2.bb
+++ b/recipes-ros/class-loader/class-loader_0.2.2.bb
@@ -6,17 +6,16 @@ runtime libraries (e.g. .so/.dll files), introspect the library for exported \
 plugin classes, and allows users to instantiate objects of said exported \
 classes without the explicit declaration (i.e. header file) for those classes.\
 "
-
 SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=9;endline=9;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-SRC_URI = "https://github.com/ros/${ROS_BPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_BP}.tar.gz"
+DEPENDS = "console-bridge libpoco"
+
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
 SRC_URI[md5sum] = "c3bbc15c580dbf3b814b8af84218a777"
 SRC_URI[sha256sum] = "afaa155be9e34d905396c96eac040007e23b4ba90d2b2677ab67a1b32086fe13"
 
-DEPENDS = "console-bridge libpoco"
-
-S = "${WORKDIR}/${ROS_BP}"
+S = "${WORKDIR}/${ROS_SP}"
 
 inherit catkin
diff --git a/recipes-ros/common-msgs/common-msgs.inc b/recipes-ros/common-msgs/common-msgs.inc
index 01b915f..5f8e521 100644
--- a/recipes-ros/common-msgs/common-msgs.inc
+++ b/recipes-ros/common-msgs/common-msgs.inc
@@ -1,9 +1,11 @@
-SRC_URI = "https://github.com/ros/common_msgs/archive/${PV}.tar.gz;downloadfilename=common_msgs-${PV}.tar.gz"
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
 SRC_URI[md5sum] = "6259ec362103ed96abbcf7d67703aed5"
 SRC_URI[sha256sum] = "54864270e973cec64f9315aed9e07f8d3837c409602dd18653c843c7a35690d0"
 
+DEPENDS += "cpp-common roscpp-serialization message-generation-native message-runtime-native std-msgs"
+
+S = "${WORKDIR}/${ROS_SP}/${ROS_BPN}"
+
 inherit catkin
 
-S = "${WORKDIR}/common_msgs-${PV}/${ROS_BPN}"
-
-DEPENDS = "cpp-common roscpp-serialization message-generation-native message-runtime-native std-msgs"
+ROS_SPN = "common_msgs"
diff --git a/recipes-ros/common-msgs/nav-msgs_1.10.0.bb b/recipes-ros/common-msgs/nav-msgs_1.10.0.bb
index 8d76ba3..6b5825e 100644
--- a/recipes-ros/common-msgs/nav-msgs_1.10.0.bb
+++ b/recipes-ros/common-msgs/nav-msgs_1.10.0.bb
@@ -3,6 +3,6 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=9;endline=9;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-require common-msgs.inc
+DEPENDS = "actionlib-msgs geometry-msgs"
 
-DEPENDS += "actionlib-msgs geometry-msgs"
+require common-msgs.inc
diff --git a/recipes-ros/common-msgs/sensor-msgs_1.10.0.bb b/recipes-ros/common-msgs/sensor-msgs_1.10.0.bb
index 8690899..1f74e39 100644
--- a/recipes-ros/common-msgs/sensor-msgs_1.10.0.bb
+++ b/recipes-ros/common-msgs/sensor-msgs_1.10.0.bb
@@ -4,6 +4,6 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=9;endline=9;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-require common-msgs.inc
+DEPENDS = "geometry-msgs"
 
-DEPENDS += "geometry-msgs"
+require common-msgs.inc
diff --git a/recipes-ros/common-msgs/shape-msgs_1.10.0.bb b/recipes-ros/common-msgs/shape-msgs_1.10.0.bb
index a37676f..b311bcc 100644
--- a/recipes-ros/common-msgs/shape-msgs_1.10.0.bb
+++ b/recipes-ros/common-msgs/shape-msgs_1.10.0.bb
@@ -3,6 +3,6 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-require common-msgs.inc
+DEPENDS = "geometry-msgs"
 
-DEPENDS += "geometry-msgs"
+require common-msgs.inc
diff --git a/recipes-ros/common-msgs/stereo-msgs_1.10.0.bb b/recipes-ros/common-msgs/stereo-msgs_1.10.0.bb
index fb64ca3..7561a1d 100644
--- a/recipes-ros/common-msgs/stereo-msgs_1.10.0.bb
+++ b/recipes-ros/common-msgs/stereo-msgs_1.10.0.bb
@@ -4,6 +4,6 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-require common-msgs.inc
+DEPENDS = "sensor-msgs"
 
-DEPENDS += "sensor-msgs"
+require common-msgs.inc
diff --git a/recipes-ros/common-msgs/trajectory-msgs_1.10.0.bb b/recipes-ros/common-msgs/trajectory-msgs_1.10.0.bb
index 2f0d3c1..05227b6 100644
--- a/recipes-ros/common-msgs/trajectory-msgs_1.10.0.bb
+++ b/recipes-ros/common-msgs/trajectory-msgs_1.10.0.bb
@@ -3,6 +3,6 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-require common-msgs.inc
+DEPENDS = "geometry-msgs"
 
-DEPENDS += "geometry-msgs"
+require common-msgs.inc
diff --git a/recipes-ros/common-msgs/visualization-msgs_1.10.0.bb b/recipes-ros/common-msgs/visualization-msgs_1.10.0.bb
index d05f185..909caea 100644
--- a/recipes-ros/common-msgs/visualization-msgs_1.10.0.bb
+++ b/recipes-ros/common-msgs/visualization-msgs_1.10.0.bb
@@ -4,6 +4,6 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=12;endline=12;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-require common-msgs.inc
+DEPENDS = "geometry-msgs"
 
-DEPENDS += "geometry-msgs"
+require common-msgs.inc
diff --git a/recipes-ros/common-tutorials/common-tutorials.inc b/recipes-ros/common-tutorials/common-tutorials.inc
index ee7f39b..6c4dffb 100644
--- a/recipes-ros/common-tutorials/common-tutorials.inc
+++ b/recipes-ros/common-tutorials/common-tutorials.inc
@@ -1,7 +1,9 @@
-SRC_URI = "https://github.com/ros/common_tutorials/archive/${PV}.tar.gz;downloadfilename=common_tutorials-${PV}.tar.gz"
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
 SRC_URI[md5sum] = "0055265f3854afcf4cc0abff06a9f023"
 SRC_URI[sha256sum] = "257f45f36463d5ffc04e1d60ac1fc6a2e7c1b11d012daa43b2eb43001383048c"
 
-S = "${WORKDIR}/common_tutorials-${PV}/${ROS_BPN}"
+S = "${WORKDIR}/${ROS_SP}/${ROS_BPN}"
 
 inherit catkin
+
+ROS_SPN = "common_tutorials"
diff --git a/recipes-ros/console-bridge/console-bridge_0.2.4.bb b/recipes-ros/console-bridge/console-bridge_0.2.4.bb
index 5514c29..0053d4b 100644
--- a/recipes-ros/console-bridge/console-bridge_0.2.4.bb
+++ b/recipes-ros/console-bridge/console-bridge_0.2.4.bb
@@ -3,9 +3,7 @@ console_bridge is a ROS-independent, pure CMake package that provides logging \
 calls that mirror those found in rosconsole, but for applications that are \
 not necessarily using ROS.\
 "
-
 SECTION = "devel"
-
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "\
   file://include/console_bridge/console.h;beginline=1;endline=33;md5=279eed49072cc9f6ebe38974afcc4803 \
@@ -14,10 +12,10 @@ LIC_FILES_CHKSUM = "\
 
 DEPENDS = "boost"
 
-SRC_URI = "https://github.com/ros/${ROS_BPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_BP}.tar.gz"
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
 SRC_URI[md5sum] = "e484d34bf0170ee12311d0fc6dd5f4fe"
 SRC_URI[sha256sum] = "d4bdd0b6bce0c6fa9ff18b8926d4953161451bc49dd11497211eb1a62cfe72b7"
 
-S = "${WORKDIR}/${ROS_BP}"
+S = "${WORKDIR}/${ROS_SP}"
 
 inherit cmake ros
diff --git a/recipes-ros/dynamic-reconfigure/dynamic-reconfigure_1.5.32.bb b/recipes-ros/dynamic-reconfigure/dynamic-reconfigure_1.5.32.bb
index dc2dc3a..ea4dcc3 100644
--- a/recipes-ros/dynamic-reconfigure/dynamic-reconfigure_1.5.32.bb
+++ b/recipes-ros/dynamic-reconfigure/dynamic-reconfigure_1.5.32.bb
@@ -1,22 +1,22 @@
 DESCRIPTION = "\
 This unary stack contains the dynamic_reconfigure package which provides a means to change \
 node parameters at any time without having to restart the node."
-
 SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=9;endline=9;md5=5ee5b8b046ae48ad94a2037ca953a67b"
 
-SRC_URI = "https://github.com/ros/${ROS_BPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_BP}.tar.gz;name=archive"
-SRC_URI[archive.md5sum] = "9061fd30e5a04e8376eaddffaae86b07"
-SRC_URI[archive.sha256sum] = "4203b0a8389d9ac3203110b507d23fa353262cf26253f40abece6418d6c2bdd4"
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
+SRC_URI[md5sum] = "9061fd30e5a04e8376eaddffaae86b07"
+SRC_URI[sha256sum] = "4203b0a8389d9ac3203110b507d23fa353262cf26253f40abece6418d6c2bdd4"
 
-SRC_URI += "https://github.com/ros/dynamic_reconfigure/commit/b7b222534f7259ca457ea354d92c5708f895202e.patch;name=patch"
+SRC_URI += "https://github.com/ros/${ROS_SPN}/commit/b7b222534f7259ca457ea354d92c5708f895202e.patch;name=patch"
 SRC_URI[patch.md5sum] = "0607963ca3f940362c9e78b5f8019cb9"
 SRC_URI[patch.sha256sum] = "e132ed52fe35c287658700857f7d9439793ff2be7f9fa9a19731024152ccaf29"
 
 DEPENDS = "roscpp std-msgs roslib"
-RDEPENDS_${PN} = "roslib"
 
-S = "${WORKDIR}/${ROS_BP}"
+S = "${WORKDIR}/${ROS_SP}"
 
 inherit catkin
+
+RDEPENDS_${PN} = "roslib"
diff --git a/recipes-ros/gencpp/gencpp_0.4.13.bb b/recipes-ros/gencpp/gencpp_0.4.13.bb
index 7b74c68..e9cb4ba 100644
--- a/recipes-ros/gencpp/gencpp_0.4.13.bb
+++ b/recipes-ros/gencpp/gencpp_0.4.13.bb
@@ -7,9 +7,10 @@ DEPENDS = "genmsg-native"
 
 PR = "r1"
 
-SRC_URI = "https://github.com/ros/${BPN}/archive/${PV}.tar.gz;downloadfilename=${BP}.tar.gz \
-           file://0001-gencpp-extras.cmake.em-Use-find_program-for-GENCPP_B.patch"
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
 SRC_URI[md5sum] = "801b40dcfab468f761dbdae33f848782"
 SRC_URI[sha256sum] = "d1dcd6655c8c4d4325ab067c25284032d40e00aa3409a5a5cf069d310a60d485"
 
+SRC_URI += "file://0001-gencpp-extras.cmake.em-Use-find_program-for-GENCPP_B.patch"
+
 inherit catkin
diff --git a/recipes-ros/genlisp/genlisp_0.4.11.bb b/recipes-ros/genlisp/genlisp_0.4.11.bb
index 13f19a3..a51863d 100644
--- a/recipes-ros/genlisp/genlisp_0.4.11.bb
+++ b/recipes-ros/genlisp/genlisp_0.4.11.bb
@@ -7,9 +7,10 @@ DEPENDS = "genmsg-native"
 
 PR = "r1"
 
-SRC_URI = "https://github.com/ros/${BPN}/archive/${PV}.tar.gz;downloadfilename=${BP}.tar.gz \
-           file://0001-genlisp-extras.cmake.em-Use-find_program-for-GENLISP.patch"
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
 SRC_URI[md5sum] = "b9be0a57abf76187a1057fb62cdc31e1"
 SRC_URI[sha256sum] = "cc373440fcbf57cafb758795cb50045fdd96de717b93d3d5956b7a1a2af4d3e2"
 
+SRC_URI += "file://0001-genlisp-extras.cmake.em-Use-find_program-for-GENLISP.patch"
+
 inherit catkin
diff --git a/recipes-ros/genmsg/genmsg_0.4.21.bb b/recipes-ros/genmsg/genmsg_0.4.21.bb
index c7d59d0..c434adb 100644
--- a/recipes-ros/genmsg/genmsg_0.4.21.bb
+++ b/recipes-ros/genmsg/genmsg_0.4.21.bb
@@ -5,14 +5,13 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=9;endline=9;md5=d566ef916e9dedc
 
 PR = "r1"
 
-SRC_URI = "https://github.com/ros/${BPN}/archive/${PV}.tar.gz;downloadfilename=${BP}.tar.gz \
-           file://0001-modify-msg-file-handling-to-reference-them-relatively.patch \
-           "
-
-RDEPENDS_${PN} = "python-stringold python-pprint"
-RDEPENDS_${PN}_class-native = ""
-
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
 SRC_URI[md5sum] = "03ff82b1efa75552d4a5a000e0576cc4"
 SRC_URI[sha256sum] = "e7e4b23eadb97b0deca53874532c0b42f10f406a9db2affd7d6f04101a4a2901"
 
+SRC_URI += "file://0001-modify-msg-file-handling-to-reference-them-relatively.patch"
+
 inherit catkin
+
+RDEPENDS_${PN} = "python-stringold python-pprint"
+RDEPENDS_${PN}_class-native = ""
diff --git a/recipes-ros/genpy/genpy_0.4.13.bb b/recipes-ros/genpy/genpy_0.4.13.bb
index 0828b2d..11c74ef 100644
--- a/recipes-ros/genpy/genpy_0.4.13.bb
+++ b/recipes-ros/genpy/genpy_0.4.13.bb
@@ -4,14 +4,16 @@ LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=7;endline=7;md5=d566ef916e9dedc494f5f793a6690ba5"
 
 DEPENDS = "genmsg-native"
-RDEPENDS_${PN} = "python-math genmsg python-shell"
-RDEPENDS_${PN}_class-native = ""
 
 PR = "r2"
 
-SRC_URI = "https://github.com/ros/${BPN}/archive/${PV}.tar.gz;downloadfilename=${BP}.tar.gz \
-           file://0001-genpy-extras.cmake.em-use-find_program-for-GENxxx_PY_BIN.patch"
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
 SRC_URI[md5sum] = "201e3f1aa5e12ccc09159b1a3d9272f7"
 SRC_URI[sha256sum] = "9dae768e9350c835ae8a40f19d230e3fe023bfc1e259a14be8b3ae7c4c632d3c"
 
+SRC_URI += "file://0001-genpy-extras.cmake.em-use-find_program-for-GENxxx_PY_BIN.patch"
+
 inherit catkin
+
+RDEPENDS_${PN} = "python-math genmsg python-shell"
+RDEPENDS_${PN}_class-native = ""
diff --git a/recipes-ros/geometry-angles-utils/angles_1.9.9.bb b/recipes-ros/geometry-angles-utils/angles_1.9.9.bb
index 8c5dd73..3ee1f9f 100644
--- a/recipes-ros/geometry-angles-utils/angles_1.9.9.bb
+++ b/recipes-ros/geometry-angles-utils/angles_1.9.9.bb
@@ -3,14 +3,14 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=15;endline=15;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-SRC_URI = "https://github.com/ros/${BPN}/archive/${PV}.tar.gz;downloadfilename=${BP}.tar.gz;name=archive"
-SRC_URI[archive.md5sum] = "c2a841dbeb1f3036449919773ac70876"
-SRC_URI[archive.sha256sum] = "5e690bf611bead83c2fdcab5a9617b622a9869e55fd1742c00b4015ddf4f8cfc"
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
+SRC_URI[md5sum] = "c2a841dbeb1f3036449919773ac70876"
+SRC_URI[sha256sum] = "5e690bf611bead83c2fdcab5a9617b622a9869e55fd1742c00b4015ddf4f8cfc"
 
-SRC_URI += "https://github.com/bulwahn/angles/commit/8b1879e93b8ae2f89df345edaf688521e5c0ab97.patch;striplevel=2;name=patch"
+SRC_URI += "https://github.com/bulwahn/${ROS_SPN}/commit/8b1879e93b8ae2f89df345edaf688521e5c0ab97.patch;striplevel=2;name=patch"
 SRC_URI[patch.md5sum] = "d55c70b7328ed6e9d00d3185ddf4b0bf"
 SRC_URI[patch.sha256sum] = "2b7303ca01e355680adadd18c3b97dfb1071715375c14a3759ad96f807fc09e5"
 
-S = "${WORKDIR}/${BP}/${BPN}"
+S = "${WORKDIR}/${ROS_SP}/${ROS_BPN}"
 
 inherit catkin
diff --git a/recipes-ros/geometry-experimental/geometry-experimental.inc b/recipes-ros/geometry-experimental/geometry-experimental.inc
index b5aaab5..a8f4982 100644
--- a/recipes-ros/geometry-experimental/geometry-experimental.inc
+++ b/recipes-ros/geometry-experimental/geometry-experimental.inc
@@ -1,7 +1,9 @@
-SRC_URI = "https://github.com/ros/geometry_experimental/archive/${PV}.tar.gz;downloadfilename=geometry_experimental-${PV}.tar.gz"
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
 SRC_URI[md5sum] = "530cbf52308427e15a0568f5226313aa"
 SRC_URI[sha256sum] = "10a95045136510c1db5743481930ced6d164c6990d9e1a7c2afd9d6fa5062d02"
 
+S = "${WORKDIR}/${ROS_SP}/${ROS_BPN}"
+
 inherit catkin
 
-S = "${WORKDIR}/geometry_experimental-${PV}/${ROS_BPN}"
+ROS_SPN = "geometry_experimental"
diff --git a/recipes-ros/geometry/geometry.inc b/recipes-ros/geometry/geometry.inc
index c94353d..ebba3b5 100644
--- a/recipes-ros/geometry/geometry.inc
+++ b/recipes-ros/geometry/geometry.inc
@@ -1,7 +1,9 @@
-SRC_URI = "https://github.com/ros/geometry/archive/${PV}.tar.gz;downloadfilename=geometry-${PV}.tar.gz"
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
 SRC_URI[md5sum] = "ccaadd38c183c2c257e75ac907868c87"
 SRC_URI[sha256sum] = "30527d91f182478b7819a947237c92ce1effe61cd11d2d710e0408c971f2bc74"
 
+S = "${WORKDIR}/${ROS_SP}/${ROS_BPN}"
+
 inherit catkin
 
-S = "${WORKDIR}/geometry-${PV}/${ROS_BPN}"
+ROS_SPN = "geometry"
diff --git a/recipes-ros/image-common/image-common.inc b/recipes-ros/image-common/image-common.inc
index 7997af1..4eb2cc7 100644
--- a/recipes-ros/image-common/image-common.inc
+++ b/recipes-ros/image-common/image-common.inc
@@ -1,7 +1,9 @@
-SRC_URI = "https://github.com/ros-perception/image_common/archive/${PV}.tar.gz;downloadfilename=image_common-${PV}.tar.gz"
+SRC_URI = "https://github.com/ros-perception/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
 SRC_URI[md5sum] = "72dc5897c021987cca04756cbf3ddc27"
 SRC_URI[sha256sum] = "022f3c81ade13e644cf7f3c96712a362dc668f2edf37c125f3b9411818eb294a"
 
+S = "${WORKDIR}/${ROS_SP}/${ROS_BPN}"
+
 inherit catkin
 
-S = "${WORKDIR}/image_common-${PV}/${ROS_BPN}"
+ROS_SPN = "image_common"
diff --git a/recipes-ros/message-generation/message-generation_0.2.9.bb b/recipes-ros/message-generation/message-generation_0.2.9.bb
index 17aefcb..8f112a5 100644
--- a/recipes-ros/message-generation/message-generation_0.2.9.bb
+++ b/recipes-ros/message-generation/message-generation_0.2.9.bb
@@ -5,10 +5,10 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=7;endline=7;md5=d566ef916e9dedc
 
 DEPENDS = "gencpp-native genlisp-native genmsg-native genpy-native"
 
-SRC_URI = "https://github.com/ros/${ROS_BPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_BP}.tar.gz"
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
 SRC_URI[md5sum] = "b3086fbe24cc103f412cb30d83362e36"
 SRC_URI[sha256sum] = "9ce9c5b4e995933c575f2a5cb5c4b042b39913637bca06554092a52c3bb24c12"
 
-S = "${WORKDIR}/${ROS_BP}"
+S = "${WORKDIR}/${ROS_SP}"
 
 inherit catkin
diff --git a/recipes-ros/message-runtime/message-runtime_0.4.11.bb b/recipes-ros/message-runtime/message-runtime_0.4.11.bb
index 9b030d8..b798971 100644
--- a/recipes-ros/message-runtime/message-runtime_0.4.11.bb
+++ b/recipes-ros/message-runtime/message-runtime_0.4.11.bb
@@ -5,10 +5,10 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=7;endline=7;md5=d566ef916e9dedc
 
 DEPENDS = "gencpp-native"
 
-SRC_URI = "https://github.com/ros/${ROS_BPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_BP}.tar.gz"
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
 SRC_URI[md5sum] = "10a516326a3bf18f5b5b4523c6e53940"
 SRC_URI[sha256sum] = "87f6b56679ea6b90512e2f2d299dd129d361b4a5d167237a9d28ac56ce6f2a36"
 
-S = "${WORKDIR}/${ROS_BP}"
+S = "${WORKDIR}/${ROS_SP}"
 
 inherit catkin
diff --git a/recipes-ros/nodelet-core/nodelet-core.inc b/recipes-ros/nodelet-core/nodelet-core.inc
index 6e98fda..7c365b3 100644
--- a/recipes-ros/nodelet-core/nodelet-core.inc
+++ b/recipes-ros/nodelet-core/nodelet-core.inc
@@ -1,7 +1,9 @@
-SRC_URI = "https://github.com/ros/nodelet_core/archive/${PV}.tar.gz;downloadfilename=${BP}.tar.gz"
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
 SRC_URI[md5sum] = "b4ec524761d1d2494f5901b77ad35f9b"
 SRC_URI[sha256sum] = "ad79f48e0916490d2095ea9ea81a796a060553d4e60ba5b148b96a95369b8124"
 
-S = "${WORKDIR}/nodelet_core-${PV}/${ROS_BPN}"
+S = "${WORKDIR}/${ROS_SP}/${ROS_BPN}"
 
 inherit catkin
+
+ROS_SPN = "nodelet_core"
diff --git a/recipes-ros/nodelet-core/nodelet-topic-tools_1.8.0.bb b/recipes-ros/nodelet-core/nodelet-topic-tools_1.8.0.bb
index 0072127..5953ea7 100644
--- a/recipes-ros/nodelet-core/nodelet-topic-tools_1.8.0.bb
+++ b/recipes-ros/nodelet-core/nodelet-topic-tools_1.8.0.bb
@@ -1,5 +1,4 @@
 DESCRIPTION = "This package contains common nodelet tools such as a mux, demux and throttle."
-
 SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=d566ef916e9dedc494f5f793a6690ba5"
diff --git a/recipes-ros/nodelet-core/nodelet_1.8.0.bb b/recipes-ros/nodelet-core/nodelet_1.8.0.bb
index 5a27a75..da4e757 100644
--- a/recipes-ros/nodelet-core/nodelet_1.8.0.bb
+++ b/recipes-ros/nodelet-core/nodelet_1.8.0.bb
@@ -6,7 +6,6 @@ This package provides both the nodelet base class needed for \
 implementing a nodelet, as well as the NodeletLoader class used \
 for instantiating nodelets\
 "
-
 SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=14;endline=14;md5=d566ef916e9dedc494f5f793a6690ba5"
diff --git a/recipes-ros/pluginlib/pluginlib_1.9.21.bb b/recipes-ros/pluginlib/pluginlib_1.9.21.bb
index 94a1447..fd25111 100644
--- a/recipes-ros/pluginlib/pluginlib_1.9.21.bb
+++ b/recipes-ros/pluginlib/pluginlib_1.9.21.bb
@@ -2,12 +2,11 @@ DESCRIPTION = "\
 The pluginlib package provides tools for writing and dynamically loading plugins using the ROS build infrastructure.\
 To work, these tools require plugin providers to register their plugins in the package.xml of their package.\
 "
-
 SECTION = "devel"
 LICENSE = "BSD & BSL-1.0"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=9;endline=10;md5=bbbb6ab628b1f3daee74dd9c62bee312"
 
-SRC_URI = "https://github.com/ros/${PN}/archive/${PV}.tar.gz;downloadfilename=${BP}.tar.gz"
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
 SRC_URI[md5sum] = "c506945693bc53e60600a849275e4a98"
 SRC_URI[sha256sum] = "a8c5aa266a27810c39a2ced76d531358880c7728a948f7e7a8972b70ed42a425"
 
diff --git a/recipes-ros/ros-comm/message-filters_1.9.47.bb b/recipes-ros/ros-comm/message-filters_1.9.47.bb
index 6260489..339948f 100644
--- a/recipes-ros/ros-comm/message-filters_1.9.47.bb
+++ b/recipes-ros/ros-comm/message-filters_1.9.47.bb
@@ -7,4 +7,4 @@ DEPENDS = "boost rosconsole roscpp rostest-native rosunit-native xmlrpcpp"
 
 require ros-comm.inc
 
-S = "${WORKDIR}/ros_comm-${PV}/utilities/${ROS_BPN}"
+ROS_PKG_SUBDIR = "utilities"
diff --git a/recipes-ros/ros-comm/ros-comm.inc b/recipes-ros/ros-comm/ros-comm.inc
index 3ddfa24..91b1e03 100644
--- a/recipes-ros/ros-comm/ros-comm.inc
+++ b/recipes-ros/ros-comm/ros-comm.inc
@@ -1,5 +1,10 @@
-SRC_URI = "https://github.com/ros/ros_comm/archive/${PV}.tar.gz;downloadfilename=ros_comm-${PV}.tar.gz"
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
 SRC_URI[md5sum] = "2d4b8083abc6598857e01b698f4b0d20"
 SRC_URI[sha256sum] = "44c5a076a604134e44d044e08b2c15b185aefac277b8632b5ca2d011ec8d3da6"
 
+ROS_PKG_SUBDIR ?= ""
+S = "${WORKDIR}/${ROS_SP}/${ROS_PKG_SUBDIR}/${ROS_BPN}"
+
 inherit catkin
+
+ROS_SPN = "ros_comm"
diff --git a/recipes-ros/ros-comm/rosbag_1.9.47.bb b/recipes-ros/ros-comm/rosbag_1.9.47.bb
index c3217c1..1201a99 100644
--- a/recipes-ros/ros-comm/rosbag_1.9.47.bb
+++ b/recipes-ros/ros-comm/rosbag_1.9.47.bb
@@ -8,9 +8,10 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=10;endline=10;md5=d566ef916e9de
 DEPENDS = "boost bzip2 cpp-common python-imaging \
   rosconsole roscpp roscpp-serialization topic-tools \
   xmlrpcpp"
-RDEPENDS_${PN} = "python-compression python-threading python-pyyaml python-io \
-  genmsg genpy roslib rospy"
 
 require ros-comm.inc
 
-S = "${WORKDIR}/ros_comm-${PV}/tools/${BPN}"
+ROS_PKG_SUBDIR = "tools"
+
+RDEPENDS_${PN} = "python-compression python-threading python-pyyaml python-io \
+  genmsg genpy roslib rospy"
diff --git a/recipes-ros/ros-comm/rosconsole_1.9.47.bb b/recipes-ros/ros-comm/rosconsole_1.9.47.bb
index bc251ef..51cc89e 100644
--- a/recipes-ros/ros-comm/rosconsole_1.9.47.bb
+++ b/recipes-ros/ros-comm/rosconsole_1.9.47.bb
@@ -7,4 +7,4 @@ DEPENDS = "apr boost cpp-common log4cxx rostime rosunit-native"
 
 require ros-comm.inc
 
-S = "${WORKDIR}/ros_comm-${PV}/tools/${BPN}"
+ROS_PKG_SUBDIR = "tools"
diff --git a/recipes-ros/ros-comm/roscpp_1.9.47.bb b/recipes-ros/ros-comm/roscpp_1.9.47.bb
index 9033388..15ff417 100644
--- a/recipes-ros/ros-comm/roscpp_1.9.47.bb
+++ b/recipes-ros/ros-comm/roscpp_1.9.47.bb
@@ -13,8 +13,8 @@ DEPENDS = "\
 
 require ros-comm.inc
 
-SRC_URI += "file://0001-roscpp-do-not-try-to-find-pthread-by-own-methods.patch;striplevel=3"
+SRC_URI += "file://0001-roscpp-do-not-try-to-find-pthread-by-own-methods.patch;patchdir=../.."
 
-S = "${WORKDIR}/ros_comm-${PV}/clients/${BPN}"
+ROS_PKG_SUBDIR = "clients"
 
 CXXFLAGS_append = " -I${OECMAKE_BUILDPATH}/devel/include"
diff --git a/recipes-ros/ros-comm/rosgraph-msgs_1.9.47.bb b/recipes-ros/ros-comm/rosgraph-msgs_1.9.47.bb
index 918212f..6a8af06 100644
--- a/recipes-ros/ros-comm/rosgraph-msgs_1.9.47.bb
+++ b/recipes-ros/ros-comm/rosgraph-msgs_1.9.47.bb
@@ -7,4 +7,4 @@ DEPENDS = "message-generation-native message-runtime-native std-msgs roscpp-seri
 
 require ros-comm.inc
 
-S = "${WORKDIR}/ros_comm-${PV}/messages/${ROS_BPN}"
+ROS_PKG_SUBDIR = "messages"
diff --git a/recipes-ros/ros-comm/rosgraph_1.9.47.bb b/recipes-ros/ros-comm/rosgraph_1.9.47.bb
index 3c8c322..6f742d3 100644
--- a/recipes-ros/ros-comm/rosgraph_1.9.47.bb
+++ b/recipes-ros/ros-comm/rosgraph_1.9.47.bb
@@ -8,4 +8,4 @@ RDEPENDS_${PN} = "python-xmlrpc python-threading python-rospkg rospy python-neti
 
 require ros-comm.inc
 
-S = "${WORKDIR}/ros_comm-${PV}/tools/${BPN}"
+ROS_PKG_SUBDIR = "tools"
diff --git a/recipes-ros/ros-comm/roslaunch_1.9.47.bb b/recipes-ros/ros-comm/roslaunch_1.9.47.bb
index 762b0f5..927a035 100644
--- a/recipes-ros/ros-comm/roslaunch_1.9.47.bb
+++ b/recipes-ros/ros-comm/roslaunch_1.9.47.bb
@@ -3,6 +3,11 @@ via SSH, as well as setting parameters on the Parameter Server."
 SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=16;endline=16;md5=d566ef916e9dedc494f5f793a6690ba5"
+
+require ros-comm.inc
+
+ROS_PKG_SUBDIR = "tools"
+
 RDEPENDS_${PN} = "\
   coreutils \
   python-textutils \
@@ -20,7 +25,3 @@ RDEPENDS_${PN} = "\
   rosout \
   rosparam \
 "
-
-require ros-comm.inc
-
-S = "${WORKDIR}/ros_comm-${PV}/tools/${BPN}"
diff --git a/recipes-ros/ros-comm/rosmaster_1.9.47.bb b/recipes-ros/ros-comm/rosmaster_1.9.47.bb
index c31e3ab..062372e 100644
--- a/recipes-ros/ros-comm/rosmaster_1.9.47.bb
+++ b/recipes-ros/ros-comm/rosmaster_1.9.47.bb
@@ -5,4 +5,4 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=d566ef916e9dedc
 
 require ros-comm.inc
 
-S = "${WORKDIR}/ros_comm-${PV}/tools/${BPN}"
+ROS_PKG_SUBDIR = "tools"
diff --git a/recipes-ros/ros-comm/rosmsg_1.9.47.bb b/recipes-ros/ros-comm/rosmsg_1.9.47.bb
index 60bf7ac..eaf6198 100644
--- a/recipes-ros/ros-comm/rosmsg_1.9.47.bb
+++ b/recipes-ros/ros-comm/rosmsg_1.9.47.bb
@@ -7,4 +7,4 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=14;endline=14;md5=d566ef916e9de
 
 require ros-comm.inc
 
-S = "${WORKDIR}/ros_comm-${PV}/tools/${BPN}"
+ROS_PKG_SUBDIR = "tools"
diff --git a/recipes-ros/ros-comm/rosnode_1.9.47.bb b/recipes-ros/ros-comm/rosnode_1.9.47.bb
index 762900b..817425d 100644
--- a/recipes-ros/ros-comm/rosnode_1.9.47.bb
+++ b/recipes-ros/ros-comm/rosnode_1.9.47.bb
@@ -9,4 +9,4 @@ RDEPENDS_${PN} = "python-io python-xmlrpc rosgraph rostopic"
 
 require ros-comm.inc
 
-S = "${WORKDIR}/ros_comm-${PV}/tools/${BPN}"
+ROS_PKG_SUBDIR = "tools"
diff --git a/recipes-ros/ros-comm/rosout_1.9.47.bb b/recipes-ros/ros-comm/rosout_1.9.47.bb
index f4edc17..5d6720b 100644
--- a/recipes-ros/ros-comm/rosout_1.9.47.bb
+++ b/recipes-ros/ros-comm/rosout_1.9.47.bb
@@ -7,4 +7,4 @@ DEPENDS = "log4cxx roscpp rosgraph-msgs"
 
 require ros-comm.inc
 
-S = "${WORKDIR}/ros_comm-${PV}/tools/${BPN}"
+ROS_PKG_SUBDIR = "tools"
diff --git a/recipes-ros/ros-comm/rosparam_1.9.47.bb b/recipes-ros/ros-comm/rosparam_1.9.47.bb
index be50d6e..ff5e1b2 100644
--- a/recipes-ros/ros-comm/rosparam_1.9.47.bb
+++ b/recipes-ros/ros-comm/rosparam_1.9.47.bb
@@ -6,4 +6,4 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=15;endline=15;md5=d566ef916e9de
 
 require ros-comm.inc
 
-S = "${WORKDIR}/ros_comm-${PV}/tools/${BPN}"
+ROS_PKG_SUBDIR = "tools"
diff --git a/recipes-ros/ros-comm/rospy_1.9.47.bb b/recipes-ros/ros-comm/rospy_1.9.47.bb
index 154705d..802be6f 100644
--- a/recipes-ros/ros-comm/rospy_1.9.47.bb
+++ b/recipes-ros/ros-comm/rospy_1.9.47.bb
@@ -8,4 +8,4 @@ RDEPENDS_${PN} = "std-msgs genpy python-logging python-pyyaml rosgraph roslib ro
 
 require ros-comm.inc
 
-S = "${WORKDIR}/ros_comm-${PV}/clients/${BPN}"
+ROS_PKG_SUBDIR = "clients"
diff --git a/recipes-ros/ros-comm/rosservice_1.9.47.bb b/recipes-ros/ros-comm/rosservice_1.9.47.bb
index d7fbe98..344328a 100644
--- a/recipes-ros/ros-comm/rosservice_1.9.47.bb
+++ b/recipes-ros/ros-comm/rosservice_1.9.47.bb
@@ -5,4 +5,4 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=13;endline=13;md5=d566ef916e9de
 
 require ros-comm.inc
 
-S = "${WORKDIR}/ros_comm-${PV}/tools/${BPN}"
+ROS_PKG_SUBDIR = "tools"
diff --git a/recipes-ros/ros-comm/rostest_1.9.47.bb b/recipes-ros/ros-comm/rostest_1.9.47.bb
index 68518aa..07927d5 100644
--- a/recipes-ros/ros-comm/rostest_1.9.47.bb
+++ b/recipes-ros/ros-comm/rostest_1.9.47.bb
@@ -8,6 +8,6 @@ DEPENDS_class-native = "boost-native rosunit-native"
 
 require ros-comm.inc
 
-S = "${WORKDIR}/ros_comm-${PV}/tools/${BPN}"
+ROS_PKG_SUBDIR = "tools"
 
 OECMAKE_EXTRA_ROOT_PATH_class-native = "${OECMAKE_BUILDPATH}/devel"
diff --git a/recipes-ros/ros-comm/rostopic_1.9.47.bb b/recipes-ros/ros-comm/rostopic_1.9.47.bb
index 914b627..2108f54 100644
--- a/recipes-ros/ros-comm/rostopic_1.9.47.bb
+++ b/recipes-ros/ros-comm/rostopic_1.9.47.bb
@@ -5,8 +5,9 @@ LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=17;endline=17;md5=d566ef916e9dedc494f5f793a6690ba5"
 
 DEPENDS = "rostest-native"
-RDEPENDS_${PN} = "rosbag"
 
 require ros-comm.inc
 
-S = "${WORKDIR}/ros_comm-${PV}/tools/${BPN}"
+ROS_PKG_SUBDIR = "tools"
+
+RDEPENDS_${PN} = "rosbag"
diff --git a/recipes-ros/ros-comm/roswtf_1.9.47.bb b/recipes-ros/ros-comm/roswtf_1.9.47.bb
index a321073..afeb36d 100644
--- a/recipes-ros/ros-comm/roswtf_1.9.47.bb
+++ b/recipes-ros/ros-comm/roswtf_1.9.47.bb
@@ -7,4 +7,4 @@ DEPENDS = "rostest-native"
 
 require ros-comm.inc
 
-S = "${WORKDIR}/ros_comm-${PV}/utilities/${BPN}"
+ROS_PKG_SUBDIR = "utilities"
diff --git a/recipes-ros/ros-comm/std-srvs_1.9.47.bb b/recipes-ros/ros-comm/std-srvs_1.9.47.bb
index b0c7c6c..adc4f72 100644
--- a/recipes-ros/ros-comm/std-srvs_1.9.47.bb
+++ b/recipes-ros/ros-comm/std-srvs_1.9.47.bb
@@ -7,4 +7,4 @@ DEPENDS = "message-generation-native message-runtime-native"
 
 require ros-comm.inc
 
-S = "${WORKDIR}/ros_comm-${PV}/messages/${ROS_BPN}"
+ROS_PKG_SUBDIR = "messages"
diff --git a/recipes-ros/ros-comm/topic-tools_1.9.47.bb b/recipes-ros/ros-comm/topic-tools_1.9.47.bb
index bd57d2c..05eab9b 100644
--- a/recipes-ros/ros-comm/topic-tools_1.9.47.bb
+++ b/recipes-ros/ros-comm/topic-tools_1.9.47.bb
@@ -8,4 +8,4 @@ DEPENDS = "rostest-native rostest roscpp"
 
 require ros-comm.inc
 
-S = "${WORKDIR}/ros_comm-${PV}/tools/${ROS_BPN}"
+ROS_PKG_SUBDIR = "tools"
diff --git a/recipes-ros/ros-comm/xmlrpcpp_1.9.47.bb b/recipes-ros/ros-comm/xmlrpcpp_1.9.47.bb
index 423e556..6ff0a9d 100644
--- a/recipes-ros/ros-comm/xmlrpcpp_1.9.47.bb
+++ b/recipes-ros/ros-comm/xmlrpcpp_1.9.47.bb
@@ -11,4 +11,4 @@ DEPENDS = "cpp-common"
 
 require ros-comm.inc
 
-S = "${WORKDIR}/ros_comm-${PV}/utilities/${BPN}"
+ROS_PKG_SUBDIR = "utilities"
diff --git a/recipes-ros/ros-tutorials/ros-tutorials.inc b/recipes-ros/ros-tutorials/ros-tutorials.inc
index 403171b..27942b4 100644
--- a/recipes-ros/ros-tutorials/ros-tutorials.inc
+++ b/recipes-ros/ros-tutorials/ros-tutorials.inc
@@ -1,7 +1,9 @@
-SRC_URI = "https://github.com/ros/ros_tutorials/archive/${PV}.tar.gz;downloadfilename=ros_tutorials-${PV}.tar.gz;name=archive"
-SRC_URI[archive.md5sum] = "e1763e2ccc91976ac98b07d3f423478d"
-SRC_URI[archive.sha256sum] = "827622a42eb14119c3303665c91635fd4c1eb401e1585a9f1fde819f7651bdbf"
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
+SRC_URI[md5sum] = "e1763e2ccc91976ac98b07d3f423478d"
+SRC_URI[sha256sum] = "827622a42eb14119c3303665c91635fd4c1eb401e1585a9f1fde819f7651bdbf"
 
-S = "${WORKDIR}/ros_tutorials-${PV}/${ROS_BPN}"
+S = "${WORKDIR}/${ROS_SP}/${ROS_BPN}"
 
 inherit catkin
+
+ROS_SPN = "ros_tutorials"
diff --git a/recipes-ros/ros-tutorials/rospy-tutorials_0.3.11.bb b/recipes-ros/ros-tutorials/rospy-tutorials_0.3.11.bb
index 6a5e832..7be700b 100644
--- a/recipes-ros/ros-tutorials/rospy-tutorials_0.3.11.bb
+++ b/recipes-ros/ros-tutorials/rospy-tutorials_0.3.11.bb
@@ -7,6 +7,6 @@ DEPENDS = "message-generation rostest std-msgs cpp-common roscpp-serialization"
 
 require ros-tutorials.inc
 
-SRC_URI += "https://github.com/ros/ros_tutorials/commit/1e559b3f811a6cf3daac59088d6d86ca1d31b261.patch;striplevel=2;name=patch"
+SRC_URI += "https://github.com/ros/${ROS_SPN}/commit/1e559b3f811a6cf3daac59088d6d86ca1d31b261.patch;striplevel=2;name=patch"
 SRC_URI[patch.md5sum] = "c9e4af54266205ad233acc064a456840"
 SRC_URI[patch.sha256sum] = "838ad3cbe2da1c625a44af80c4351f1187478e6ec52adc1c535942337252a719"
diff --git a/recipes-ros/ros/mk_1.10.4.bb b/recipes-ros/ros/mk_1.10.4.bb
index 608f111..3de04cc 100644
--- a/recipes-ros/ros/mk_1.10.4.bb
+++ b/recipes-ros/ros/mk_1.10.4.bb
@@ -5,4 +5,4 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=10;endline=10;md5=d566ef916e9de
 
 require ros.inc
 
-S = "${WORKDIR}/ros-${PV}/core/${BPN}"
+ROS_PKG_SUBDIR = "core"
diff --git a/recipes-ros/ros/ros.inc b/recipes-ros/ros/ros.inc
index 5c421c5..e537ef0 100644
--- a/recipes-ros/ros/ros.inc
+++ b/recipes-ros/ros/ros.inc
@@ -1,5 +1,10 @@
-SRC_URI = "https://github.com/ros/ros/archive/${PV}.tar.gz;downloadfilename=ros_${PV}.tar.gz"
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
 SRC_URI[md5sum] = "26ad8652a18bc11b530b0054bbb204b3"
 SRC_URI[sha256sum] = "ae3b8db6bf26867c38b1215e1e014616f00a396847fea31df64da63d2eac6ef2"
 
+ROS_PKG_SUBDIR ?= ""
+S = "${WORKDIR}/${ROS_SP}/${ROS_PKG_SUBDIR}/${ROS_BPN}"
+
 inherit catkin
+
+ROS_SPN = "ros"
diff --git a/recipes-ros/ros/rosbash_1.10.4.bb b/recipes-ros/ros/rosbash_1.10.4.bb
index e4ab00a..a04deb1 100644
--- a/recipes-ros/ros/rosbash_1.10.4.bb
+++ b/recipes-ros/ros/rosbash_1.10.4.bb
@@ -5,6 +5,6 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=d566ef916e9dedc
 
 require ros.inc
 
-RDEPENDS_${PN} = "bash findutils"
+ROS_PKG_SUBDIR = "tools"
 
-S = "${WORKDIR}/ros-${PV}/tools/${BPN}"
+RDEPENDS_${PN} = "bash findutils"
diff --git a/recipes-ros/ros/rosboost-cfg_1.10.4.bb b/recipes-ros/ros/rosboost-cfg_1.10.4.bb
index a229ef5..0396812 100644
--- a/recipes-ros/ros/rosboost-cfg_1.10.4.bb
+++ b/recipes-ros/ros/rosboost-cfg_1.10.4.bb
@@ -5,4 +5,4 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=d566ef916e9dedc
 
 require ros.inc
 
-S = "${WORKDIR}/ros-${PV}/tools/${ROS_BPN}"
+ROS_PKG_SUBDIR = "tools"
diff --git a/recipes-ros/ros/rosbuild_1.10.4.bb b/recipes-ros/ros/rosbuild_1.10.4.bb
index b65e743..6a89e21 100644
--- a/recipes-ros/ros/rosbuild_1.10.4.bb
+++ b/recipes-ros/ros/rosbuild_1.10.4.bb
@@ -5,4 +5,4 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=d566ef916e9dedc
 
 require ros.inc
 
-S = "${WORKDIR}/ros-${PV}/core/${BPN}"
+ROS_PKG_SUBDIR = "core"
diff --git a/recipes-ros/ros/rosclean_1.10.4.bb b/recipes-ros/ros/rosclean_1.10.4.bb
index dcb02cc..e838955 100644
--- a/recipes-ros/ros/rosclean_1.10.4.bb
+++ b/recipes-ros/ros/rosclean_1.10.4.bb
@@ -5,4 +5,4 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=d566ef916e9dedc
 
 require ros.inc
 
-S = "${WORKDIR}/ros-${PV}/tools/${BPN}"
+ROS_PKG_SUBDIR = "tools"
diff --git a/recipes-ros/ros/roscreate_1.10.4.bb b/recipes-ros/ros/roscreate_1.10.4.bb
index 312d466..213319a 100644
--- a/recipes-ros/ros/roscreate_1.10.4.bb
+++ b/recipes-ros/ros/roscreate_1.10.4.bb
@@ -5,4 +5,4 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=10;endline=10;md5=d566ef916e9de
 
 require ros.inc
 
-S = "${WORKDIR}/ros-${PV}/tools/${BPN}"
+ROS_PKG_SUBDIR = "tools"
diff --git a/recipes-ros/ros/roslang_1.10.4.bb b/recipes-ros/ros/roslang_1.10.4.bb
index ae486f8..8d2ad54 100644
--- a/recipes-ros/ros/roslang_1.10.4.bb
+++ b/recipes-ros/ros/roslang_1.10.4.bb
@@ -5,4 +5,4 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=9;endline=9;md5=d566ef916e9dedc
 
 require ros.inc
 
-S = "${WORKDIR}/ros-${PV}/core/${BPN}"
+ROS_PKG_SUBDIR = "core"
diff --git a/recipes-ros/ros/roslib_1.10.4.bb b/recipes-ros/ros/roslib_1.10.4.bb
index d07e509..38ce4aa 100644
--- a/recipes-ros/ros/roslib_1.10.4.bb
+++ b/recipes-ros/ros/roslib_1.10.4.bb
@@ -4,8 +4,9 @@ LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=9;endline=9;md5=d566ef916e9dedc494f5f793a6690ba5"
 
 DEPENDS = "boost rospack-native rospack"
-RDEPENDS_${PN} = "python-rospkg catkin"
 
 require ros.inc
 
-S = "${WORKDIR}/ros-${PV}/core/${BPN}"
+ROS_PKG_SUBDIR = "core"
+
+RDEPENDS_${PN} = "python-rospkg catkin"
diff --git a/recipes-ros/ros/rosmake_1.10.4.bb b/recipes-ros/ros/rosmake_1.10.4.bb
index 0241519..3e771e9 100644
--- a/recipes-ros/ros/rosmake_1.10.4.bb
+++ b/recipes-ros/ros/rosmake_1.10.4.bb
@@ -5,4 +5,4 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=9;endline=9;md5=d566ef916e9dedc
 
 require ros.inc
 
-S = "${WORKDIR}/ros-${PV}/tools/${BPN}"
+ROS_PKG_SUBDIR = "tools"
diff --git a/recipes-ros/ros/rosunit_1.10.4.bb b/recipes-ros/ros/rosunit_1.10.4.bb
index 4679440..379028d 100644
--- a/recipes-ros/ros/rosunit_1.10.4.bb
+++ b/recipes-ros/ros/rosunit_1.10.4.bb
@@ -7,4 +7,4 @@ require ros.inc
 
 SRC_URI += "file://0001-rosunit-extras.cmake.em-remove-NO_CMAKE_FIND_ROOT_PA.patch;striplevel=3"
 
-S = "${WORKDIR}/ros-${PV}/tools/${BPN}"
+ROS_PKG_SUBDIR = "tools"
diff --git a/recipes-ros/roscpp-core/roscpp-core.inc b/recipes-ros/roscpp-core/roscpp-core.inc
index 0aa7f98..56307a1 100644
--- a/recipes-ros/roscpp-core/roscpp-core.inc
+++ b/recipes-ros/roscpp-core/roscpp-core.inc
@@ -1,7 +1,9 @@
-SRC_URI = "https://github.com/ros/roscpp_core/archive/${PV}.tar.gz;downloadfilename=rosscpp_core-${PV}.tar.gz"
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
 SRC_URI[md5sum] = "d02c9d1270d1f68487944fb0e76adcb7"
 SRC_URI[sha256sum] = "805b08c5b7044dd93bfaf4a0dd5807b391d1d86db9f6d143f9946b5528500eda"
 
-S = "${WORKDIR}/roscpp_core-${PV}/${ROS_BPN}"
+S = "${WORKDIR}/${ROS_SP}/${ROS_BPN}"
 
 inherit catkin
+
+ROS_SPN = "roscpp_core"
diff --git a/recipes-ros/rospack/rospack_2.1.21.bb b/recipes-ros/rospack/rospack_2.1.21.bb
index 3610377..2e2c958 100644
--- a/recipes-ros/rospack/rospack_2.1.21.bb
+++ b/recipes-ros/rospack/rospack_2.1.21.bb
@@ -4,10 +4,11 @@ LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=6;endline=6;md5=d566ef916e9dedc494f5f793a6690ba5"
 
 DEPENDS = "boost python-rospkg-native libtinyxml"
-RDEPENDS_${PN} = "python-rosdep python-subprocess"
 
-SRC_URI = "https://github.com/ros/${BPN}/archive/${PV}.tar.gz;downloadfilename=${BP}.tar.gz"
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
 SRC_URI[md5sum] = "0bb1d12a115b7902d5b1f8546d63cdf8"
 SRC_URI[sha256sum] = "43a7e64015c4e28fbfda071dcb9451a6ac0443df75242a32c23cfda68d230f93"
 
 inherit catkin
+
+RDEPENDS_${PN} = "python-rosdep python-subprocess"
diff --git a/recipes-ros/std-msgs/std-msgs_0.5.7.bb b/recipes-ros/std-msgs/std-msgs_0.5.7.bb
index 5e3fc16..32acf1c 100644
--- a/recipes-ros/std-msgs/std-msgs_0.5.7.bb
+++ b/recipes-ros/std-msgs/std-msgs_0.5.7.bb
@@ -6,10 +6,10 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=9;endline=9;md5=5ee5b8b046ae48a
 
 DEPENDS = "message-generation-native message-runtime-native"
 
-SRC_URI = "https://github.com/ros/${ROS_BPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_BP}.tar.gz"
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
 SRC_URI[md5sum] = "ea40e6dd8ea19fe54a2b476358c0ceea"
 SRC_URI[sha256sum] = "acc3d6aed8ede795e4bc6676c1849924699a418769b3d29016a9a2ac08319a56"
 
-S = "${WORKDIR}/${ROS_BP}"
+S = "${WORKDIR}/${ROS_SP}"
 
 inherit catkin