diff --git a/classes/catkin.bbclass b/classes/catkin.bbclass
index dffb8d9..9fa086e 100644
--- a/classes/catkin.bbclass
+++ b/classes/catkin.bbclass
@@ -29,6 +29,14 @@ EXTRA_OECMAKE_prepend = "\
 OECMAKE_SOURCEPATH = "${S}"
 OECMAKE_BUILDPATH = "${S}/build"
 
+# Having a command like `find_package(catkin COMPONENTS roscpp)` in a package's CMakeLists.txt
+# leads to adding "-Wl,-rpath=${RECIPE_SYSROOT}${ros_libdir}" option to the cross-linker.
+# However starting from binutils 2.29 the cross-linker prepends this path with the value
+# of --sysroot option thus producing wrong effective path (see https://sourceware.org/ml/binutils/2017-03/msg00161.html)
+# These options help to aleviate the problem.
+OECMAKE_C_LINK_FLAGS += "-Wl,-rpath-link=${RECIPE_SYSROOT}${ros_libdir}"
+OECMAKE_CXX_LINK_FLAGS += "-Wl,-rpath-link=${RECIPE_SYSROOT}${ros_libdir}"
+
 export BUILD_SYS
 export HOST_SYS