diff --git a/meta/recipes-extended/ros/ros.bb b/meta/recipes-extended/ros/ros.bb
index ce433d9..b9d31f6 100644
--- a/meta/recipes-extended/ros/ros.bb
+++ b/meta/recipes-extended/ros/ros.bb
@@ -4,7 +4,7 @@ HOMEPAGE = "http://ros.org"
 LICENSE = "CLOSED"
 # LIC_FILES_CHKSUM = "file://LICENSE.BSD;md5=62272bd11c97396d4aaf1c41bc11f7d8"
 
-DEPENDS = "python-empy-native python-rospkg-native python-native python-pyyaml-native python-nose-native"
+DEPENDS = "python-empy-native python-rospkg-native python-native python-pyyaml-native python-nose-native eglibc"
 
 PR = "r0"
 
@@ -13,8 +13,10 @@ SRC_URI = "file://ros_server.tar.gz \
 
 S = "${WORKDIR}"
 
+OECMAKE_SOURCEPATH = "${WORKDIR}/ros-underlay"
 EXTRA_OECMAKE = "-DSETUPTOOLS_DEB_LAYOUT=OFF"
 
+inherit pythonnative cmake
 
 do_configure_prepend () {   
 cat > /home/lukas/af_yocto/build/tmp/sysroots/x86_64-linux/usr/lib/python2.7/site-packages/easy-install.pth << EOF
@@ -25,49 +27,11 @@ import sys; new=sys.path[sys.__plen:]; del sys.path[sys.__plen:]; p=getattr(sys,
 EOF
 }
 
-DEPENDS += " cmake-native "
-
-# We need to unset CCACHE otherwise cmake gets too confused
-CCACHE = ""
-
-# We want the staging and installing functions from autotools
-inherit autotools
-
-# Use in-tree builds by default but allow this to be changed
-# since some packages do not support them (e.g. llvm 2.5).
-OECMAKE_SOURCEPATH ?= "."
-
-# If declaring this, make sure you also set EXTRA_OEMAKE to
-# "-C ${OECMAKE_BUILDPATH}". So it will run the right makefiles.
-OECMAKE_BUILDPATH ?= ""
-
-# C/C++ Compiler (without cpu arch/tune arguments)
-OECMAKE_C_COMPILER ?= "`echo ${CC} | sed 's/^\([^ ]*\).*/\1/'`"
-OECMAKE_CXX_COMPILER ?= "`echo ${CXX} | sed 's/^\([^ ]*\).*/\1/'`"
-
-# Compiler flags
-OECMAKE_C_FLAGS ?= "${HOST_CC_ARCH} ${TOOLCHAIN_OPTIONS} ${CPPFLAGS}"
-OECMAKE_CXX_FLAGS ?= "${HOST_CC_ARCH} ${TOOLCHAIN_OPTIONS} ${CXXFLAGS} -fpermissive"
-OECMAKE_C_FLAGS_RELEASE ?= "${SELECTED_OPTIMIZATION} ${CPPFLAGS} -DNDEBUG"
-OECMAKE_CXX_FLAGS_RELEASE ?= "${SELECTED_OPTIMIZATION} ${CXXFLAGS} -DNDEBUG"
-OECMAKE_C_LINK_FLAGS ?= "${HOST_CC_ARCH} ${TOOLCHAIN_OPTIONS} ${CPPFLAGS} ${LDFLAGS}"
-OECMAKE_CXX_LINK_FLAGS ?= "${HOST_CC_ARCH} ${TOOLCHAIN_OPTIONS} ${CXXFLAGS} ${LDFLAGS}"
-
-OECMAKE_RPATH ?= ""
-OECMAKE_PERLNATIVE_DIR ??= ""
-OECMAKE_EXTRA_ROOT_PATH ?= ""
-
-
-do_install () {
+do_rosinstall () {
 	echo "Installing ros"
         mkdir -p ./ros-underlay
 	rosinstall --catkin ./ros-underlay fuerte-ros-base.rosinstall
-	cd ./ros-underlay
-	mkdir -p build
-	cd ./build
-	cmake .. -DCMAKE_INSTALL_PREFIX=/opt/ros/fuerte -DSETUPTOOLS_DEB_LAYOUT=OFF
 }
-
-inherit pythonnative
+addtask rosinstall after do_patch before generate_toolchain_file