diff --git a/classes/catkin.bbclass b/classes/catkin.bbclass
index 397784f..1c477b3 100644
--- a/classes/catkin.bbclass
+++ b/classes/catkin.bbclass
@@ -3,9 +3,9 @@
 # Copyright (c) 2019 LG Electronics, Inc.
 #
 
-ROS_USE_PYTHON3 ??= "no"
-
-inherit cmake ${@'distutils3-base' if bb.utils.to_boolean(d.getVar('ROS_USE_PYTHON3', True)) else 'distutils-base'} catkin_ros_prefix faulty-solibs
+inherit catkin_ros_prefix
+# ROS_PYTHON_VERSION is set in generated-ros-distro.inc, ie, it will never be unset here.
+inherit cmake ${@'distutils3-base' if d.getVar('ROS_PYTHON_VERSION', True) == '3' else 'distutils-base'} faulty-solibs
 
 # Prepend build dependency on "catkin-runtime" and "catkin-native"
 # if the package is not "catkin" or "catkin-runtime"
diff --git a/classes/catkin_ros_prefix.bbclass b/classes/catkin_ros_prefix.bbclass
index 99ac146..c6ff553 100644
--- a/classes/catkin_ros_prefix.bbclass
+++ b/classes/catkin_ros_prefix.bbclass
@@ -23,6 +23,9 @@ PREPROCESS_RELOCATE_DIRS += " \
     ${ros_libdir} \
 "
 
+# ROS_PYTHON_VERSION is set in generated-ros-distro.inc, ie, it will never be unset here.
+inherit ${@'python3-dir' if d.getVar('ROS_PYTHON_VERSION', True) == '3' else 'python-dir'}
+
 PKG_CONFIG_PATH .= ":${PKG_CONFIG_DIR}:${STAGING_DIR_HOST}${ros_libdir}/pkgconfig:${STAGING_DATADIR}/pkgconfig"
 PYTHON_SITEPACKAGES_DIR = "${ros_libdir}/${PYTHON_DIR}/site-packages"
 export PYTHONPATH = "${STAGING_DIR_NATIVE}${PYTHON_SITEPACKAGES_DIR}"