diff --git a/classes/catkin.bbclass b/classes/catkin.bbclass
index 9fa086e..9d83929 100644
--- a/classes/catkin.bbclass
+++ b/classes/catkin.bbclass
@@ -6,17 +6,29 @@ ROS_USE_PYTHON3 ??= "no"
 
 inherit cmake ${@'distutils3-base' if bb.utils.to_boolean(d.getVar('ROS_USE_PYTHON3', True)) else 'distutils-base'} ros faulty-solibs
 
-DEPENDS_prepend = "${@'' if (d.getVar('BPN', True) == 'catkin') or (d.getVar('BPN', True) == 'catkin-runtime') else 'catkin-native '}"
+# Prepend build dependency on "catkin-runtime" and "catkin-native"
+# if the package is not "catkin" or "catkin-runtime"
+DEPENDS =+ "${@'' if d.getVar('BPN', True) in ('catkin', 'catkin-runtime') else 'catkin-runtime catkin-native'}"
+
+# Prepend run dependency on "catkin-runtime" for base packages
+# if the package is not "catkin" or "catkin-runtime"
+RDEPENDS_${PN} =+ "${@'' if d.getVar('BPN', True) in ('catkin', 'catkin-runtime') else 'catkin-runtime'}"
+
+# Prepend run dependency on "catkin" for dev packages
+# if the package is not "catkin" or "catkin-runtime"
+RDEPENDS_${PN}-dev =+ "${@'' if d.getVar('BPN', True) in ('catkin', 'catkin-runtime') else 'catkin'}"
 
 EXTRA_OECMAKE_CATKIN = "\
     -DCMAKE_PREFIX_PATH='${STAGING_DIR_HOST}${ros_prefix};${STAGING_DIR_HOST}${prefix};${STAGING_DIR_NATIVE}${ros_prefix};${STAGING_DIR_NATIVE}${prefix}' \
     -DCMAKE_INSTALL_PREFIX:PATH='${ros_prefix}' \
+    -DCATKIN_DEVEL_PREFIX='${WORKDIR}/devel' \
     "
 
 EXTRA_OECMAKE_CATKIN_class-native = "\
     -DCMAKE_PREFIX_PATH='${ros_prefix}' \
     -DCMAKE_INSTALL_PREFIX:PATH='${ros_prefix}' \
     -DRT_LIBRARY=${libdir_native} \
+    -DCATKIN_DEVEL_PREFIX='${WORKDIR}/devel' \
     "
 
 EXTRA_OECMAKE_prepend = "\
diff --git a/recipes-ros/catkin/catkin-runtime_0.6.19.bb b/recipes-ros/catkin/catkin-runtime_0.6.19.bb
index 2f5256c..634a203 100644
--- a/recipes-ros/catkin/catkin-runtime_0.6.19.bb
+++ b/recipes-ros/catkin/catkin-runtime_0.6.19.bb
@@ -11,7 +11,8 @@ S = "${WORKDIR}/catkin-${PV}"
 # This package includes ONLY the python packages AND catkin_find
 # The catkin_${PV} package includes all other files
 # from the catkin tool.
-FILES_${PN} = "${PYTHON_SITEPACKAGES_DIR} ${ros_bindir}/catkin_find"
+FILES_${PN} = "${PYTHON_SITEPACKAGES_DIR} ${ros_bindir}/catkin_find ${ros_prefix}/.catkin"
+FILES_${PN}-dev = ""
 
 RDEPENDS_${PN}_class-native = ""
 RDEPENDS_${PN} = "\
@@ -26,6 +27,13 @@ do_install_append() {
     rm  ${D}${ros_bindir}/catkin_make
     rm -rf ${D}${ros_datadir}
     rm -rf ${D}${ros_libdir}/pkgconfig
+
+    # Manually add the marker file
+    touch ${D}${ros_prefix}/.catkin
+}
+
+catkin_sysroot_preprocess_append() {
+    install -m 644 -t ${SYSROOT_DESTDIR}${ros_prefix} ${D}${ros_prefix}/.catkin
 }
 
 BBCLASSEXTEND += "native"
diff --git a/recipes-ros/catkin/catkin.inc b/recipes-ros/catkin/catkin.inc
index 157c931..b128a94 100644
--- a/recipes-ros/catkin/catkin.inc
+++ b/recipes-ros/catkin/catkin.inc
@@ -10,7 +10,6 @@ SRC_URI[md5sum] = "d58460cc9112812d8c4e6ecf98bbcc85"
 SRC_URI[sha256sum] = "90a639d67db7f9039487af555e432a5b4b6e339f22892d75d03b823b3f38c947"
 
 SRC_URI += "\
-    file://0001-CATKIN_WORKSPACES-Don-t-require-.catkin-file.patch \
     file://0001-use-python-provided-by-environment-instead-of-the-ge.patch \
     file://0001-avoid-using-host-s-paths-when-cross-compiling.patch \
     file://0001-relocate-dependency-s-headers-to-current-sysroot.patch \
@@ -18,15 +17,3 @@ SRC_URI += "\
     "
 
 inherit catkin
-
-FILES_${PN}-dev += "\
-    ${ros_datadir}/eigen/cmake \
-    ${ros_datadir}/ros/cmake \
-    ${ros_datadir}/.catkin \
-    ${ros_prefix}/.catkin \
-    ${ros_prefix}/.rosinstall \
-    ${ros_prefix}/_setup_util.py \
-    ${ros_prefix}/env.sh \
-    ${ros_prefix}/setup.* \
-    "
-
diff --git a/recipes-ros/catkin/catkin_0.6.19.bb b/recipes-ros/catkin/catkin_0.6.19.bb
index c74f998..ecb5785 100644
--- a/recipes-ros/catkin/catkin_0.6.19.bb
+++ b/recipes-ros/catkin/catkin_0.6.19.bb
@@ -2,15 +2,25 @@ require catkin.inc
 
 DEPENDS_class-native += "catkin-runtime"
 
-RDEPENDS_${PN}_class-native = "${PYTHON_PN}-catkin-pkg"
-RDEPENDS_${PN} = "cmake make binutils binutils-symlinks gcc gcc-symlinks g++ g++-symlinks \
-    catkin-runtime"
-
 # The files in ${PYTHON_SITEPACKAGES_DIR} and catkin_find are
 # installed by the catkin-runtime package. Therefore, we remove
 # them here so that they are not installed.
 # Moreover: the ${ros_libdir}/python2.7 is empty. We need to
 # remove it, otherwise the QA error [installed-vs-shipped] will hit on us.
+FILES_${PN} = "\
+    ${ros_bindir}/catkin_*_* \
+    ${ros_bindir}/catkin_make \
+    ${ros_libdir}/pkgconfig \
+    ${ros_datadir} \
+    ${ros_sysconfdir} \
+    ${ros_stackdir} \
+    "
+FILES_${PN}-dev = ""
+
+RDEPENDS_${PN}_class-native = "${PYTHON_PN}-catkin-pkg"
+RDEPENDS_${PN} = "cmake make binutils binutils-symlinks gcc gcc-symlinks g++ g++-symlinks \
+    catkin-runtime  ${PYTHON_PN}-empy"
+
 do_install_append() {
     rm ${D}${ros_bindir}/catkin_find
     rm -rf ${D}${PYTHON_SITEPACKAGES_DIR}
diff --git a/recipes-ros/catkin/files/0001-CATKIN_WORKSPACES-Don-t-require-.catkin-file.patch b/recipes-ros/catkin/files/0001-CATKIN_WORKSPACES-Don-t-require-.catkin-file.patch
deleted file mode 100644
index 07d7127..0000000
--- a/recipes-ros/catkin/files/0001-CATKIN_WORKSPACES-Don-t-require-.catkin-file.patch
+++ /dev/null
@@ -1,56 +0,0 @@
-From a34e7d9d7f77c123cb8cbf464ead628f97e42fd4 Mon Sep 17 00:00:00 2001
-From: Stefan Herbrechtsmeier <stefan@herbrechtsmeier.net>
-Date: Wed, 13 Mar 2013 11:49:17 +0100
-Subject: [PATCH] CATKIN_WORKSPACES: Don't require .catkin file
-
-Upstream-Status: Inappropriate [only for our setup]
-
-Signed-off-by: Stefan Herbrechtsmeier <stefan@herbrechtsmeier.net>
----
- cmake/all.cmake                            |    8 +++-----
- cmake/list_insert_in_workspace_order.cmake |    9 ++++-----
- 2 files changed, 7 insertions(+), 10 deletions(-)
-
-diff --git a/cmake/all.cmake b/cmake/all.cmake
-index 83da965..a5f9df9 100644
---- a/cmake/all.cmake
-+++ b/cmake/all.cmake
-@@ -44,11 +44,9 @@ set(CMAKE_PREFIX_PATH_AS_IS ${CMAKE_PREFIX_PATH})
- # list of unique catkin workspaces based on CMAKE_PREFIX_PATH
- set(CATKIN_WORKSPACES "")
- foreach(path ${CMAKE_PREFIX_PATH})
--  if(EXISTS "${path}/.catkin")
--    list(FIND CATKIN_WORKSPACES ${path} _index)
--    if(_index EQUAL -1)
--      list(APPEND CATKIN_WORKSPACES ${path})
--    endif()
-+  list(FIND CATKIN_WORKSPACES ${path} _index)
-+  if(_index EQUAL -1)
-+    list(APPEND CATKIN_WORKSPACES ${path})
-   endif()
- endforeach()
- if(CATKIN_WORKSPACES)
-diff --git a/cmake/list_insert_in_workspace_order.cmake b/cmake/list_insert_in_workspace_order.cmake
-index 57ade4a..46887af 100644
---- a/cmake/list_insert_in_workspace_order.cmake
-+++ b/cmake/list_insert_in_workspace_order.cmake
-@@ -4,12 +4,11 @@
- set(CATKIN_ORDERED_SPACES "")
- foreach(_space ${CATKIN_DEVEL_PREFIX} ${CATKIN_WORKSPACES})
-   list(APPEND CATKIN_ORDERED_SPACES ${_space})
--  if(NOT EXISTS "${_space}/.catkin")
--    message(FATAL_ERROR "The path '${_space}' is in CATKIN_WORKSPACES but does not have a .catkin file")
-+  if(EXISTS "${_space}/.catkin")
-+    # prepend to existing list of sourcespaces
-+    file(READ "${_space}/.catkin" _sourcespaces)
-+    list(APPEND CATKIN_ORDERED_SPACES ${_sourcespaces})
-   endif()
--  # prepend to existing list of sourcespaces
--  file(READ "${_space}/.catkin" _sourcespaces)
--  list(APPEND CATKIN_ORDERED_SPACES ${_sourcespaces})
- endforeach()
- 
- debug_message(10 "CATKIN_ORDERED_SPACES ${CATKIN_ORDERED_SPACES}")
--- 
-1.7.0.4
-