diff --git a/classes/catkin.bbclass b/classes/catkin.bbclass
index 9fa086e..d0bb606 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='${ros_prefix}' \
+    -DCMAKE_PREFIX_PATH='${STAGING_DIR_NATIVE}${ros_prefix}' \
     -DCMAKE_INSTALL_PREFIX:PATH='${ros_prefix}' \
     -DRT_LIBRARY=${libdir_native} \
+    -DCATKIN_DEVEL_PREFIX='${WORKDIR}/devel' \
     "
 
 EXTRA_OECMAKE_prepend = "\
diff --git a/recipes-core/images/ros-sdk-test.bb b/recipes-core/images/ros-sdk-test.bb
new file mode 100644
index 0000000..72a4762
--- /dev/null
+++ b/recipes-core/images/ros-sdk-test.bb
@@ -0,0 +1,11 @@
+DESCRIPTION = "Image for testing meta-ros' SDK feature"
+
+IMAGE_INSTALL = "packagegroup-core-boot ${CORE_IMAGE_EXTRA_INSTALL}"
+
+inherit core-image
+
+IMAGE_ROOTFS_SIZE = "8192"
+
+IMAGE_INSTALL += "sshd roslaunch rostopic roscpp-dev std-msgs-dev"
+
+TOOLCHAIN_HOST_TASK += "nativesdk-cmake nativesdk-catkin"
diff --git a/recipes-devtools/cmake/cmake_%.bbappend b/recipes-devtools/cmake/cmake_%.bbappend
new file mode 100644
index 0000000..f39be49
--- /dev/null
+++ b/recipes-devtools/cmake/cmake_%.bbappend
@@ -0,0 +1 @@
+FILES_${PN}-dev_class-nativesdk = ""
diff --git a/recipes-devtools/python/python-catkin-pkg.inc b/recipes-devtools/python/python-catkin-pkg.inc
index 72ea002..206185d 100644
--- a/recipes-devtools/python/python-catkin-pkg.inc
+++ b/recipes-devtools/python/python-catkin-pkg.inc
@@ -9,4 +9,7 @@ SRC_URI[sha256sum] = "d4d069eaeb29d6a9ee71773b20c41515b6e0feb9ea2765ebaf3e599d0c
 
 inherit pypi
 
-BBCLASSEXTEND = "native"
+RDEPENDS_${PN} = "${PYTHON_PN}-unixadmin"
+RDEPENDS_${PN}_class-native = ""
+
+BBCLASSEXTEND = "native nativesdk"
diff --git a/recipes-devtools/python/python-empy.inc b/recipes-devtools/python/python-empy.inc
index 3a94a95..97bb8e1 100644
--- a/recipes-devtools/python/python-empy.inc
+++ b/recipes-devtools/python/python-empy.inc
@@ -10,4 +10,4 @@ SRC_URI[sha256sum] = "99f016af2770c48ab57a65df7aae251360dc69a1514c15851458a71d4d
 
 S = "${WORKDIR}/${SRCNAME}-${PV}"
 
-BBCLASSEXTEND = "native"
+BBCLASSEXTEND = "native nativesdk"
diff --git a/recipes-extended/kdl/orocos-kdl_1.3.0.bb b/recipes-extended/kdl/orocos-kdl_1.3.0.bb
index 5051c08..dba512d 100644
--- a/recipes-extended/kdl/orocos-kdl_1.3.0.bb
+++ b/recipes-extended/kdl/orocos-kdl_1.3.0.bb
@@ -11,6 +11,10 @@ do_install_append() {
         # remove sysroot library path from pkgconfig files
         sed -i -e 's#${STAGING_INCDIR}#${includedir}#g' \
                    ${D}${libdir}/pkgconfig/*.pc
+
+        # remove sysroot library path from cmake config files
+        sed -i -e 's#${STAGING_DIR_TARGET}##g' \
+                   ${D}${datadir}/orocos_kdl/*.cmake
 }
 
 FILES_${PN}-dev += "${datadir}/orocos_kdl/*"
diff --git a/recipes-extended/sophus/sophus_0.9.1.bb b/recipes-extended/sophus/sophus_0.9.1.bb
index ef5e50b..906ecf6 100644
--- a/recipes-extended/sophus/sophus_0.9.1.bb
+++ b/recipes-extended/sophus/sophus_0.9.1.bb
@@ -15,3 +15,9 @@ inherit cmake
 
 # CXXFLAGS are needed to compile eigen 3.3.1 headers properly
 CXXFLAGS += "-Wno-deprecated-declarations -Wno-misleading-indentation -Wno-int-in-bool-context -Wno-ignored-attributes"
+
+do_install_append() {
+        # remove sysroot library path from cmake config files
+        sed -i -e 's#${STAGING_DIR_TARGET}##g' \
+                   ${D}${datadir}/sophus/*.cmake
+}
diff --git a/recipes-ros/catkin/catkin-runtime_0.6.19.bb b/recipes-ros/catkin/catkin-runtime_0.6.19.bb
index 2f5256c..aea433d 100644
--- a/recipes-ros/catkin/catkin-runtime_0.6.19.bb
+++ b/recipes-ros/catkin/catkin-runtime_0.6.19.bb
@@ -11,13 +11,14 @@ 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} = "\
     ${PYTHON_PN}-catkin-pkg ${PYTHON_PN}-misc ${PYTHON_PN}-multiprocessing \
     ${PYTHON_PN}-shell ${PYTHON_PN}-xml ${PYTHON_PN}-pkgutil \
-    ${@'python-argparse python-subprocess' if d.getVar('PYTHON_PN', True) == 'python2' else ''}"
+    ${@'python-argparse python-subprocess' if d.getVar('PYTHON_PN', True) == 'python' else ''}"
 
 # Delete everything but the python packages in order to avoid
 # that the QA error [installed-vs-shipped] hits on us.
@@ -26,6 +27,27 @@ 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
 }
 
-BBCLASSEXTEND += "native"
+# Append environment hook for SDK
+do_install_append_class-nativesdk() {
+    mkdir -p ${D}${SDKPATHNATIVE}/environment-setup.d
+
+    script=${D}${SDKPATHNATIVE}/environment-setup.d/catkin-runtime.sh
+    echo "export ROSDISTRO=${ROSDISTRO}" >> $script
+    echo "export PATH=\$PATH:\${OECORE_NATIVE_SYSROOT}/opt/ros/\${ROSDISTRO}/bin" >> $script
+    echo "export PYTHONPATH=\${OECORE_NATIVE_SYSROOT}/opt/ros/\${ROSDISTRO}/lib/python2.7/site-packages" >> $script
+    echo "export ROS_ROOT=\${OECORE_TARGET_SYSROOT}/opt/ros/\${ROSDISTRO}/share/ros" >> $script
+    echo "export CMAKE_PREFIX_PATH=\${OECORE_TARGET_SYSROOT}/opt/ros/\${ROSDISTRO}:\${OECORE_NATIVE_SYSROOT}/opt/ros/${ROSDISTRO}" >> $script
+}
+
+FILES_${PN}_append_class-nativesdk = " ${SDKPATHNATIVE}"
+
+catkin_sysroot_preprocess_append() {
+    install -m 644 -t ${SYSROOT_DESTDIR}${ros_prefix} ${D}${ros_prefix}/.catkin
+}
+
+BBCLASSEXTEND += "native nativesdk"
diff --git a/recipes-ros/catkin/catkin.inc b/recipes-ros/catkin/catkin.inc
index 157c931..1039be1 100644
--- a/recipes-ros/catkin/catkin.inc
+++ b/recipes-ros/catkin/catkin.inc
@@ -10,23 +10,9 @@ 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 \
+    file://0001-allow-proper-cross-compilation-with-catkin.patch \
     ${@'file://0001-python.cmake-look-for-python3-first.patch' if d.getVar('PYTHON_PN', True) == 'python3' else ''} \
     "
 
 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..e4a4ba2 100644
--- a/recipes-ros/catkin/catkin_0.6.19.bb
+++ b/recipes-ros/catkin/catkin_0.6.19.bb
@@ -1,20 +1,40 @@
 require catkin.inc
 
-DEPENDS_class-native += "catkin-runtime"
+SRC_URI += "file://environment.d-catkin.sh"
 
-RDEPENDS_${PN}_class-native = "${PYTHON_PN}-catkin-pkg"
-RDEPENDS_${PN} = "cmake make binutils binutils-symlinks gcc gcc-symlinks g++ g++-symlinks \
-    catkin-runtime"
+DEPENDS_class-native += "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}
     rmdir ${D}${ros_libdir}/${PYTHON_DIR}
 }
 
-BBCLASSEXTEND += "native"
+# Append environment hook for SDK
+do_install_append_class-nativesdk() {
+    mkdir -p ${D}${SDKPATHNATIVE}/environment-setup.d
+    install -m 644 ${WORKDIR}/environment.d-catkin.sh ${D}${SDKPATHNATIVE}/environment-setup.d/catkin.sh
+}
+
+FILES_${PN}_append_class-nativesdk = " ${SDKPATHNATIVE}"
+
+BBCLASSEXTEND += "native nativesdk"
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
-
diff --git a/recipes-ros/catkin/files/0001-allow-proper-cross-compilation-with-catkin.patch b/recipes-ros/catkin/files/0001-allow-proper-cross-compilation-with-catkin.patch
new file mode 100644
index 0000000..0309579
--- /dev/null
+++ b/recipes-ros/catkin/files/0001-allow-proper-cross-compilation-with-catkin.patch
@@ -0,0 +1,175 @@
+From e6179255b99264a51f8733f52d92ca579fbacb61 Mon Sep 17 00:00:00 2001
+From: Lukas Bulwahn <lukas.bulwahn@gmail.com>
+Date: Sun, 15 Apr 2018 02:11:42 +0200
+Subject: [PATCH] allow proper cross-compilation with catkin
+
+The original patch is:
+
+From: Dominique Hunziker <dominique.hunziker@gmail.com>
+Date: Fri, 2 Jun 2017 12:12:33 +0200
+
+I just re-applied it to the current version 0.6.19 and adjusted
+the context of the patch as reaction to bitbake warning:
+
+WARNING: catkin-runtime-0.6.19-r0 do_patch:
+Some of the context lines in patches were ignored. This can lead to incorrectly applied patches.
+
+Upstream-Status: Pending
+
+Signed-off-by: Lukas Bulwahn <lukas.bulwahn@gmail.com>
+---
+ cmake/all.cmake                    |  1 +
+ cmake/catkin_package.cmake         |  8 ++++++++
+ cmake/catkin_strip_root_path.cmake | 32 +++++++++++++++++++++++++++++
+ cmake/templates/pkgConfig.cmake.in | 42 ++++++++++++++++++++++++++++++++++----
+ 4 files changed, 79 insertions(+), 4 deletions(-)
+ create mode 100644 cmake/catkin_strip_root_path.cmake
+
+diff --git a/cmake/all.cmake b/cmake/all.cmake
+index 6910906..e421b76 100644
+--- a/cmake/all.cmake
++++ b/cmake/all.cmake
+@@ -118,6 +118,7 @@ foreach(filename
+     catkin_metapackage
+     catkin_package
+     catkin_package_xml
++    catkin_strip_root_path
+     catkin_workspace
+     debug_message
+     em_expand
+diff --git a/cmake/catkin_package.cmake b/cmake/catkin_package.cmake
+index 8ef6c48..d6bc68f 100644
+--- a/cmake/catkin_package.cmake
++++ b/cmake/catkin_package.cmake
+@@ -432,6 +432,14 @@ function(_catkin_package)
+   # package cmake dir is the folder where the generated pkgConfig.cmake is located
+   set(PKG_CMAKE_DIR "\${${PROJECT_NAME}_DIR}")
+ 
++  if(CMAKE_CROSSCOMPILING)
++    catkin_strip_root_path(PROJECT_CMAKE_CONFIG_INCLUDE_DIRS UNIQUE)
++    catkin_strip_root_path(PROJECT_PKG_CONFIG_INCLUDE_DIRS UNIQUE)
++    catkin_strip_root_path(PKG_CONFIG_LIBRARIES)
++    catkin_strip_root_path(PKG_CONFIG_LIBRARIES_WITH_PREFIX)
++    catkin_strip_root_path(PKG_CONFIG_LIB_PATHS UNIQUE)
++  endif()
++
+   if(NOT PROJECT_SKIP_PKG_CONFIG_GENERATION)
+     # ensure that output folder exists
+     file(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/catkin_generated/installspace)
+diff --git a/cmake/catkin_strip_root_path.cmake b/cmake/catkin_strip_root_path.cmake
+new file mode 100644
+index 0000000..ca5c453
+--- /dev/null
++++ b/cmake/catkin_strip_root_path.cmake
+@@ -0,0 +1,32 @@
++#
++# Strip CMAKE_FIND_ROOT_PATH prefixes from each path in the list ``var``.
++#
++# .. note:: Used for cross-compilation.
++#
++# :param var: the input / output variable name
++# :type var: string
++# :param UNIQUE: if specified the stripped list will contain unique paths, i.e.,
++#   duplicate paths are not appended a second time
++# :type UNIQUE: option
++#
++function(catkin_strip_root_path var)
++  cmake_parse_arguments(ARG "UNIQUE" "" "" ${ARGN})
++  set(output)
++  foreach(element ${${var}})
++    if(IS_ABSOLUTE ${element})
++      foreach(root_path ${CMAKE_FIND_ROOT_PATH})
++        if(element MATCHES "^${root_path}/")
++          string(LENGTH ${root_path} root_path_length)
++          string(SUBSTRING ${element} ${root_path_length} -1 element)
++          break()
++        endif()
++      endforeach()
++    endif()
++    if(ARG_UNIQUE)
++      list_append_unique(output ${element})
++    else()
++      list(APPEND output ${element})
++    endif()
++  endforeach()
++  set(${var} ${output} PARENT_SCOPE)
++endfunction()
+diff --git a/cmake/templates/pkgConfig.cmake.in b/cmake/templates/pkgConfig.cmake.in
+index d99b811..3af5c71 100644
+--- a/cmake/templates/pkgConfig.cmake.in
++++ b/cmake/templates/pkgConfig.cmake.in
+@@ -78,6 +78,15 @@ else()
+   set(@PROJECT_NAME@_PREFIX ${@PROJECT_NAME@_INSTALL_PREFIX})
+ endif()
+ 
++if(CMAKE_CROSSCOMPILING)
++  if("@DEVELSPACE@" STREQUAL "TRUE")
++    # can not disable host filesystem altogether; otherwise files in src/devel are no longer found
++    set(_find_root_path_both CMAKE_FIND_ROOT_PATH_BOTH)
++  else()
++    set(_find_root_path_both)
++  endif()
++endif()
++
+ # warn when using a deprecated package
+ if(NOT "@PROJECT_DEPRECATED@" STREQUAL "")
+   set(_msg "WARNING: package '@PROJECT_NAME@' is deprecated")
+@@ -95,7 +104,19 @@ if(NOT "@PROJECT_CMAKE_CONFIG_INCLUDE_DIRS@ " STREQUAL " ")
+   set(@PROJECT_NAME@_INCLUDE_DIRS "")
+   set(_include_dirs "@PROJECT_CMAKE_CONFIG_INCLUDE_DIRS@")
+   foreach(idir ${_include_dirs})
+-    if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir})
++    if(IS_ABSOLUTE ${idir} AND CMAKE_CROSSCOMPILING)
++      get_filename_component(idir_path ${idir} DIRECTORY)
++      get_filename_component(idir_name ${idir} NAME)
++      set(include_dir_path "include_dir_path-NOTFOUND")
++      # use find_path to locate absolute path nested under potential root path
++      find_path(include_dir_path ${idir_name}
++        PATHS ${idir_path}
++        NO_DEFAULT_PATH ${_find_root_path_both})
++      if(NOT include_dir_path)
++        message(FATAL_ERROR "Project '@PROJECT_NAME@' specifies '${idir}' as an include dir, which is not found.  It does not exist in any of the root filesystems.  Ask the maintainer '@PROJECT_MAINTAINER@' to fix it.")
++      endif()
++      set(include "${include_dir_path}/${idir_name}")
++    elseif(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir})
+       set(include ${idir})
+     elseif("${idir} " STREQUAL "@CATKIN_GLOBAL_INCLUDE_DESTINATION@ ")
+       get_filename_component(include "${@PROJECT_NAME@_DIR}/../../../@CATKIN_GLOBAL_INCLUDE_DESTINATION@" ABSOLUTE)
+@@ -116,18 +137,31 @@ foreach(library ${libraries})
+     list(APPEND @PROJECT_NAME@_LIBRARIES ${library})
+   elseif(TARGET ${library})
+     list(APPEND @PROJECT_NAME@_LIBRARIES ${library})
++  elseif(IS_ABSOLUTE ${library} AND CMAKE_CROSSCOMPILING)
++    get_filename_component(lib_path ${library} DIRECTORY)
++    get_filename_component(lib_name ${library} NAME)
++    set(lib "lib-NOTFOUND")
++    # use find_library to locate library given by absolute path nested under potential root path
++    find_library(lib ${lib_name}
++      PATHS ${lib_path}
++      NO_DEFAULT_PATH ${_find_root_path_both})
++    if(NOT lib)
++      message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'.  The library is neither a target nor built/installed properly.  Did you compile project '@PROJECT_NAME@'?  Did you find_package() it before the subdirectory containing its code is included?")
++    endif()
++    _list_append_unique(@PROJECT_NAME@_LIBRARY_DIRS ${lib_path})
++    list(APPEND @PROJECT_NAME@_LIBRARIES ${lib})
+   elseif(IS_ABSOLUTE ${library})
+     list(APPEND @PROJECT_NAME@_LIBRARIES ${library})
+   else()
+     set(lib_path "")
+-    set(lib "${library}-NOTFOUND")
++    set(lib "lib-NOTFOUND")
+     # since the path where the library is found is returned we have to iterate over the paths manually
+     foreach(path @PKG_CONFIG_LIB_PATHS@)
+       find_library(lib ${library}
+         PATHS ${path}
+-        NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
++        NO_DEFAULT_PATH ${_find_root_path_both})
+       if(lib)
+-        set(lib_path ${path})
++        get_filename_component(lib_path ${lib} DIRECTORY)
+         break()
+       endif()
+     endforeach()
+-- 
+2.7.4
+
diff --git a/recipes-ros/catkin/files/0001-avoid-using-host-s-paths-when-cross-compiling.patch b/recipes-ros/catkin/files/0001-avoid-using-host-s-paths-when-cross-compiling.patch
deleted file mode 100644
index 35d0dfe..0000000
--- a/recipes-ros/catkin/files/0001-avoid-using-host-s-paths-when-cross-compiling.patch
+++ /dev/null
@@ -1,76 +0,0 @@
-From 1aa4eeea5b693e67f41e59cf1b0019f45d3a8976 Mon Sep 17 00:00:00 2001
-From: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>
-Date: Mon, 6 Feb 2017 16:15:16 +0200
-Subject: [PATCH 1/2] avoid using host's paths when cross-compiling
-
-This patch makes catkin to look for libraries only under Yocto's
-sysroots and if a library is found the actual directory is used
-for that library. Not the one that was provided to CMake's
-find_library() command.
-
-For better insights please refer to this WONTFIX'ed issue
-https://github.com/ros/catkin/issues/379
-
-Upstream-Status: Inappropriate [suitable for Yocto only]
-
-Signed-off-by: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>
-
----
- cmake/catkin_package.cmake         | 10 ++++++++--
- cmake/templates/pkgConfig.cmake.in |  4 ++--
- 2 files changed, 10 insertions(+), 4 deletions(-)
-
-diff --git a/cmake/catkin_package.cmake b/cmake/catkin_package.cmake
-index 7d56edf..71f700f 100644
---- a/cmake/catkin_package.cmake
-+++ b/cmake/catkin_package.cmake
-@@ -104,6 +104,9 @@ function(_catkin_package)
-     message(FATAL_ERROR "catkin_package() called with unused arguments: ${PROJECT_UNPARSED_ARGUMENTS}")
-   endif()
- 
-+  # cmake.bbclass always sets $STAGING_DIR as the first value of CMAKE_FIND_ROOT_PATH
-+  list(GET CMAKE_FIND_ROOT_PATH 0 ROOT_PATH)
-+
-   if(NOT ${PROJECT_NAME} STREQUAL "catkin")
-     list(FIND ${PROJECT_NAME}_BUILDTOOL_DEPENDS "catkin" _index)
-     if(_index EQUAL -1)
-@@ -231,7 +234,8 @@ function(_catkin_package)
-   # get library paths from all workspaces
-   set(lib_paths "")
-   foreach(workspace ${CATKIN_WORKSPACES})
--    list_append_unique(lib_paths ${workspace}/lib)
-+    string(REPLACE ${ROOT_PATH} "" tweaked_ws ${workspace})
-+    list_append_unique(lib_paths ${tweaked_ws}/lib)
-   endforeach()
- 
-   # merge explicitly listed libraries and libraries from non-catkin but find_package()-ed packages
-@@ -250,7 +254,9 @@ function(_catkin_package)
-   catkin_pack_libraries_with_build_configuration(_PKG_CONFIG_LIBRARIES ${_PKG_CONFIG_LIBRARIES})
-   set(PKG_CONFIG_LIBRARIES "")
-   foreach(library ${_PKG_CONFIG_LIBRARIES})
--    list_append_deduplicate(PKG_CONFIG_LIBRARIES ${library})
-+    string(REPLACE ${ROOT_PATH} "" newlib ${library})
-+    get_filename_component(newlib ${newlib} NAME)
-+    list_append_deduplicate(PKG_CONFIG_LIBRARIES ${newlib})
-   endforeach()
-   catkin_unpack_libraries_with_build_configuration(PKG_CONFIG_LIBRARIES ${PKG_CONFIG_LIBRARIES})
- 
-diff --git a/cmake/templates/pkgConfig.cmake.in b/cmake/templates/pkgConfig.cmake.in
-index d99b811..c692108 100644
---- a/cmake/templates/pkgConfig.cmake.in
-+++ b/cmake/templates/pkgConfig.cmake.in
-@@ -125,9 +125,9 @@ foreach(library ${libraries})
-     foreach(path @PKG_CONFIG_LIB_PATHS@)
-       find_library(lib ${library}
-         PATHS ${path}
--        NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
-+        NO_DEFAULT_PATH ONLY_CMAKE_FIND_ROOT_PATH)
-       if(lib)
--        set(lib_path ${path})
-+        get_filename_component(lib_path ${lib} DIRECTORY)
-         break()
-       endif()
-     endforeach()
--- 
-2.7.4
-
diff --git a/recipes-ros/catkin/files/0001-ignore-LD_LIBRARY_PATH-set-in-environment_cache.py.patch b/recipes-ros/catkin/files/0001-ignore-LD_LIBRARY_PATH-set-in-environment_cache.py.patch
index 0721315..2985667 100644
--- a/recipes-ros/catkin/files/0001-ignore-LD_LIBRARY_PATH-set-in-environment_cache.py.patch
+++ b/recipes-ros/catkin/files/0001-ignore-LD_LIBRARY_PATH-set-in-environment_cache.py.patch
@@ -1,4 +1,4 @@
-From f58947cf910ec4de1a9f093b4eb1fe68e6cfd602 Mon Sep 17 00:00:00 2001
+From 64d33f250beaeb375cc1c93226c2b45a746d51c2 Mon Sep 17 00:00:00 2001
 From: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>
 Date: Thu, 27 Apr 2017 11:04:27 +0300
 Subject: [PATCH] ignore LD_LIBRARY_PATH set in environment_cache.py
@@ -26,6 +26,7 @@ by bitbake.
 Upstream-Status: Inappropriate [upstream doesn't use bitbake and the change may break on-target development]
 
 Signed-off-by: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>
+
 ---
  python/catkin/environment_cache.py | 3 ++-
  1 file changed, 2 insertions(+), 1 deletion(-)
@@ -43,6 +44,3 @@ index 3defa52..dba2c50 100755
 +            code.append('export %s="%s"' % (key, value))
      else:
          code.append('set %s=%s' % (key, value))
--- 
-2.9.3
-
diff --git a/recipes-ros/catkin/files/0001-python.cmake-look-for-python3-first.patch b/recipes-ros/catkin/files/0001-python.cmake-look-for-python3-first.patch
index 36455eb..ced1b54 100644
--- a/recipes-ros/catkin/files/0001-python.cmake-look-for-python3-first.patch
+++ b/recipes-ros/catkin/files/0001-python.cmake-look-for-python3-first.patch
@@ -1,4 +1,4 @@
-From 224186a1af40cd3b7efb4f0648a3a4ca6ca1e7fa Mon Sep 17 00:00:00 2001
+From a429081b23223b1d6729da2c9087318bc08a808c Mon Sep 17 00:00:00 2001
 From: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>
 Date: Thu, 6 Apr 2017 15:25:13 +0300
 Subject: [PATCH] python.cmake: look for python3 first
@@ -6,6 +6,7 @@ Subject: [PATCH] python.cmake: look for python3 first
 Upstream-Status: Inappropriate [the patch overrides ROS's default to python2]
 
 Signed-off-by: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>
+
 ---
  cmake/python.cmake | 1 +
  1 file changed, 1 insertion(+)
@@ -22,6 +23,3 @@ index 70f3d26..38f8320 100644
  find_package(PythonInterp REQUIRED)
  message(STATUS "Using PYTHON_EXECUTABLE: ${PYTHON_EXECUTABLE}")
  
--- 
-2.9.3
-
diff --git a/recipes-ros/catkin/files/0001-relocate-dependency-s-headers-to-current-sysroot.patch b/recipes-ros/catkin/files/0001-relocate-dependency-s-headers-to-current-sysroot.patch
deleted file mode 100644
index 4370787..0000000
--- a/recipes-ros/catkin/files/0001-relocate-dependency-s-headers-to-current-sysroot.patch
+++ /dev/null
@@ -1,80 +0,0 @@
-From b0ad0d6e6a7872c59180596d29ac5f52723c4317 Mon Sep 17 00:00:00 2001
-From: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>
-Date: Wed, 22 Feb 2017 13:48:37 +0200
-Subject: [PATCH] relocate dependency's headers to current sysroot
-
-If a package (A) depends on another package (B) and the package
-B depends on Boost then it might happen that B produces BConfig.cmake
-file where absolute paths to Boost's headers are put (because CMake's
-standard FindBoost.cmake module reports absolute paths). In case of
-Yocto it means that BConfig.cmake will contain something like
-/path/to/build/tmp-glibc/work/i586/package_B/0.0.1/recipe-sysroot/usr/include.
-The path may not exist at the moment when the package A is being built.
-And that leads to the failure of the check this patch switches off.
-
-The problem has been reported to catkin's issue tracker:
-https://github.com/ros/catkin/issues/851
-
-This patch "relocates" required headers from dependencies' sysroots
-to the current sysroot by removing sysroot prefix from include dirs
-in *Config.cmake files at the moment the files get created and
-by prepending the include dirs again with the current sysroot prefix.
-
-Upstream-Status: Inappropriate [suitable for Yocto's RSS feature only]
-
-Signed-off-by: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>
-
----
- cmake/catkin_package.cmake         |  5 ++++-
- cmake/templates/pkgConfig.cmake.in | 10 +++++++---
- 2 files changed, 11 insertions(+), 4 deletions(-)
-
-diff --git a/cmake/catkin_package.cmake b/cmake/catkin_package.cmake
-index 71f700f..818ccd9 100644
---- a/cmake/catkin_package.cmake
-+++ b/cmake/catkin_package.cmake
-@@ -161,7 +161,10 @@ function(_catkin_package)
-           if(NOT ${${depend_name}_FOUND})
-             message(FATAL_ERROR "catkin_package() DEPENDS on '${depend_name}' which must be find_package()-ed before. If it is a catkin package it can be declared as CATKIN_DEPENDS instead without find_package()-ing it.")
-           endif()
--          list(APPEND PROJECT_DEPENDENCIES_INCLUDE_DIRS ${${depend_name}_INCLUDE_DIRS})
-+          foreach(incdir ${${depend_name}_INCLUDE_DIRS})
-+            string(REPLACE ${ROOT_PATH} "" tweaked_idir ${incdir})
-+            list_append_deduplicate(PROJECT_DEPENDENCIES_INCLUDE_DIRS ${tweaked_idir})
-+          endforeach()
-           list(APPEND PROJECT_DEPENDENCIES_LIBRARIES ${${depend_name}_LIBRARIES})
-         endif()
-       endforeach()
-diff --git a/cmake/templates/pkgConfig.cmake.in b/cmake/templates/pkgConfig.cmake.in
-index c692108..683ef67 100644
---- a/cmake/templates/pkgConfig.cmake.in
-+++ b/cmake/templates/pkgConfig.cmake.in
-@@ -94,18 +94,22 @@ set(@PROJECT_NAME@_FOUND_CATKIN_PROJECT TRUE)
- if(NOT "@PROJECT_CMAKE_CONFIG_INCLUDE_DIRS@ " STREQUAL " ")
-   set(@PROJECT_NAME@_INCLUDE_DIRS "")
-   set(_include_dirs "@PROJECT_CMAKE_CONFIG_INCLUDE_DIRS@")
-+  list(GET CMAKE_FIND_ROOT_PATH 0 root_path)
-   foreach(idir ${_include_dirs})
-+    if(IS_ABSOLUTE ${idir} AND NOT "${idir}" MATCHES "^${root_path}.*")
-+      set(idir "${root_path}${idir}")
-+    endif()
-     if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir})
--      set(include ${idir})
-+      _list_append_unique(@PROJECT_NAME@_INCLUDE_DIRS ${idir})
-     elseif("${idir} " STREQUAL "@CATKIN_GLOBAL_INCLUDE_DESTINATION@ ")
-       get_filename_component(include "${@PROJECT_NAME@_DIR}/../../../@CATKIN_GLOBAL_INCLUDE_DESTINATION@" ABSOLUTE)
-       if(NOT IS_DIRECTORY ${include})
-         message(FATAL_ERROR "Project '@PROJECT_NAME@' specifies '${idir}' as an include dir, which is not found.  It does not exist in '${include}'.  Ask the maintainer '@PROJECT_MAINTAINER@' to fix it.")
-       endif()
-+      _list_append_unique(@PROJECT_NAME@_INCLUDE_DIRS ${include})
-     else()
--      message(FATAL_ERROR "Project '@PROJECT_NAME@' specifies '${idir}' as an include dir, which is not found.  It does neither exist as an absolute directory nor in '@PKG_INCLUDE_PREFIX@/${idir}'.  Ask the maintainer '@PROJECT_MAINTAINER@' to fix it.")
-+      message(WARNING "Project '@PROJECT_NAME@' specifies '${idir}' as an include dir, which is not found.  It does neither exist as an absolute directory nor in '@PKG_INCLUDE_PREFIX@/${idir}'.  Ask the maintainer '@PROJECT_MAINTAINER@' to fix it.")
-     endif()
--    _list_append_unique(@PROJECT_NAME@_INCLUDE_DIRS ${include})
-   endforeach()
- endif()
- 
--- 
-2.7.4
-
diff --git a/recipes-ros/catkin/files/0001-use-python-provided-by-environment-instead-of-the-ge.patch b/recipes-ros/catkin/files/0001-use-python-provided-by-environment-instead-of-the-ge.patch
index df8fbd1..56dd7a9 100644
--- a/recipes-ros/catkin/files/0001-use-python-provided-by-environment-instead-of-the-ge.patch
+++ b/recipes-ros/catkin/files/0001-use-python-provided-by-environment-instead-of-the-ge.patch
@@ -1,4 +1,4 @@
-From 431739f10027022b6e3d2cd75cffa04c848cd14d Mon Sep 17 00:00:00 2001
+From 7894487c0d749124c3b0d82fcebff2309a84024a Mon Sep 17 00:00:00 2001
 From: Lukas Bulwahn <lukas.bulwahn@bmw-carit.de>
 Date: Tue, 31 May 2016 15:38:05 +0200
 Subject: [PATCH] use python provided by environment instead of the generated
@@ -13,12 +13,13 @@ bf12b40c2 [1]. We revert this change here to address the issue #384 [2].
 
 Upstream-Status: Inappropriate [only for our setup]
 Signed-off-by: Lukas Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
+
 ---
  cmake/templates/_setup_util.py.in | 2 +-
  1 file changed, 1 insertion(+), 1 deletion(-)
 
 diff --git a/cmake/templates/_setup_util.py.in b/cmake/templates/_setup_util.py.in
-index cace21c..ff2c6b4 100755
+index 1949c4c..f8807f3 100755
 --- a/cmake/templates/_setup_util.py.in
 +++ b/cmake/templates/_setup_util.py.in
 @@ -1,4 +1,4 @@
@@ -27,6 +28,3 @@ index cace21c..ff2c6b4 100755
  # -*- coding: utf-8 -*-
  
  # Software License Agreement (BSD License)
--- 
-1.9.1
-
diff --git a/recipes-ros/catkin/files/environment.d-catkin.sh b/recipes-ros/catkin/files/environment.d-catkin.sh
new file mode 100644
index 0000000..5c31049
--- /dev/null
+++ b/recipes-ros/catkin/files/environment.d-catkin.sh
@@ -0,0 +1,10 @@
+alias catkin_make=" \
+    catkin_make \
+    -DCMAKE_TOOLCHAIN_FILE=$OECORE_NATIVE_SYSROOT/usr/share/cmake/OEToolchainConfig.cmake \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+"
+alias catkin_make_isolated=" \
+    catkin_make_isolated \
+    -DCMAKE_TOOLCHAIN_FILE=$OECORE_NATIVE_SYSROOT/usr/share/cmake/OEToolchainConfig.cmake \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+"
diff --git a/recipes-ros/ros-comm/roscpp/0001-make-implicit-cast-explicit.patch b/recipes-ros/ros-comm/roscpp/0001-make-implicit-cast-explicit.patch
new file mode 100644
index 0000000..895dee6
--- /dev/null
+++ b/recipes-ros/ros-comm/roscpp/0001-make-implicit-cast-explicit.patch
@@ -0,0 +1,22 @@
+diff --git a/clients/roscpp/src/libros/callback_queue.cpp b/clients/roscpp/src/libros/callback_queue.cpp
+index cd2f4f8..fa600d5 100644
+--- a/clients/roscpp/src/libros/callback_queue.cpp
++++ b/clients/roscpp/src/libros/callback_queue.cpp
+@@ -229,7 +229,7 @@ CallbackQueue::CallOneResult CallbackQueue::callOne(ros::WallDuration timeout)
+     {
+       if (!timeout.isZero())
+       {
+-        condition_.timed_wait(lock, boost::posix_time::microseconds(timeout.toSec() * 1000000.0f));
++        condition_.timed_wait(lock, boost::posix_time::microseconds(static_cast<int64_t>(timeout.toSec() * 1000000.0f)));
+       }
+ 
+       if (callbacks_.empty())
+@@ -305,7 +305,7 @@ void CallbackQueue::callAvailable(ros::WallDuration timeout)
+     {
+       if (!timeout.isZero())
+       {
+-        condition_.timed_wait(lock, boost::posix_time::microseconds(timeout.toSec() * 1000000.0f));
++        condition_.timed_wait(lock, boost::posix_time::microseconds(static_cast<int64_t>(timeout.toSec() * 1000000.0f)));
+       }
+ 
+       if (callbacks_.empty() || !enabled_)
diff --git a/recipes-ros/ros-comm/roscpp_1.11.21.bb b/recipes-ros/ros-comm/roscpp_1.11.21.bb
index 04e3b61..b878e5a 100644
--- a/recipes-ros/ros-comm/roscpp_1.11.21.bb
+++ b/recipes-ros/ros-comm/roscpp_1.11.21.bb
@@ -10,7 +10,9 @@ DEPENDS = "cpp-common message-generation rosconsole roscpp-serialization roscpp-
 
 require ros-comm.inc
 
-SRC_URI += "file://0001-roscpp-add-missing-header-for-writev.patch;striplevel=3"
+SRC_URI += "\
+    file://0001-roscpp-add-missing-header-for-writev.patch;striplevel=3\
+    file://0001-make-implicit-cast-explicit.patch;striplevel=3"
 
 ROS_PKG_SUBDIR = "clients"
 
diff --git a/recipes-ros/ros-comm/roslaunch_1.11.21.bb b/recipes-ros/ros-comm/roslaunch_1.11.21.bb
index 2b49148..069d675 100644
--- a/recipes-ros/ros-comm/roslaunch_1.11.21.bb
+++ b/recipes-ros/ros-comm/roslaunch_1.11.21.bb
@@ -16,7 +16,7 @@ SRC_URI += "file://0001-increase-rosmaster-timeout.patch;patchdir=../.. \
 ROS_PKG_SUBDIR = "tools"
 
 RDEPENDS_${PN} = "\
-    ${@'python-textutils' if d.getVar('PYTHON_PN', True) == 'python2' else ''} \
+    ${@'python-textutils' if d.getVar('PYTHON_PN', True) == 'python' else ''} \
     ${PYTHON_PN}-logging \
     ${PYTHON_PN}-threading \
     ${PYTHON_PN}-rospkg \
diff --git a/recipes-ros/ros/files/0001-use-env-to-get-python-exec.patch b/recipes-ros/ros/files/0001-use-env-to-get-python-exec.patch
new file mode 100644
index 0000000..bc228c0
--- /dev/null
+++ b/recipes-ros/ros/files/0001-use-env-to-get-python-exec.patch
@@ -0,0 +1,32 @@
+From 4254977bbfc67a3083e3881a56b50b729bf57d9f Mon Sep 17 00:00:00 2001
+From: Dominique Hunziker <dominique.hunziker@gmail.com>
+Date: Fri, 2 Jun 2017 11:57:54 +0200
+
+Upstream-Status: Pending
+
+---
+ core/roslib/env-hooks/10.ros.sh.em | 4 ++--
+ 1 file changed, 2 insertions(+), 2 deletions(-)
+
+diff --git a/core/roslib/env-hooks/10.ros.sh.em b/core/roslib/env-hooks/10.ros.sh.em
+index caed342..1c64fc4 100644
+--- a/core/roslib/env-hooks/10.ros.sh.em
++++ b/core/roslib/env-hooks/10.ros.sh.em
+@@ -1,7 +1,7 @@
+ # generated from ros/env-hooks/10.ros.sh.em
+ 
+ # scrub old ROS bin dirs, to avoid accidentally finding the wrong executables
+-export PATH="`@(PYTHON_EXECUTABLE) -c \"import os; print(os.pathsep.join([x for x in \\\"$PATH\\\".split(os.pathsep) if not any([d for d in ['cturtle', 'diamondback', 'electric', 'fuerte'] if d in x])]))\"`"
++export PATH="`/usr/bin/env python -c \"import os; print(os.pathsep.join([x for x in \\\"$PATH\\\".split(os.pathsep) if not any([d for d in ['cturtle', 'diamondback', 'electric', 'fuerte'] if d in x])]))\"`"
+ 
+ if [ -n "$ROS_DISTRO" -a "$ROS_DISTRO" != "indigo" ]; then
+   echo "ROS_DISTRO was set to '$ROS_DISTRO' before. Please make sure that the environment does not mix paths from different distributions."
+@@ -30,7 +30,7 @@ for workspace in workspaces:
+ print(os.pathsep.join(paths))
+ EOF
+ )
+-export ROS_PACKAGE_PATH="`@(PYTHON_EXECUTABLE) -c \"$PYTHON_CODE_BUILD_ROS_PACKAGE_PATH\"`"
++export ROS_PACKAGE_PATH="`/usr/bin/env python -c \"$PYTHON_CODE_BUILD_ROS_PACKAGE_PATH\"`"
+ 
+ @[if DEVELSPACE]@
+ # env variables in develspace
diff --git a/recipes-ros/ros/roslib_1.11.14.bb b/recipes-ros/ros/roslib_1.11.14.bb
index 6438d61..9919e1e 100644
--- a/recipes-ros/ros/roslib_1.11.14.bb
+++ b/recipes-ros/ros/roslib_1.11.14.bb
@@ -9,4 +9,6 @@ require ros.inc
 
 ROS_PKG_SUBDIR = "core"
 
+SRC_URI += "file://0001-use-env-to-get-python-exec.patch;striplevel=3"
+
 RDEPENDS_${PN} = "${PYTHON_PN}-rospkg catkin-runtime"
diff --git a/recipes-ros/roscpp-core/files/0001-remove-implicit-cast.patch b/recipes-ros/roscpp-core/files/0001-remove-implicit-cast.patch
new file mode 100644
index 0000000..f367160
--- /dev/null
+++ b/recipes-ros/roscpp-core/files/0001-remove-implicit-cast.patch
@@ -0,0 +1,26 @@
+diff --git a/rostime/include/ros/impl/duration.h b/rostime/include/ros/impl/duration.h
+index 2ca2f5b..7ebd202 100644
+--- a/rostime/include/ros/impl/duration.h
++++ b/rostime/include/ros/impl/duration.h
+@@ -179,7 +179,7 @@ namespace ros {
+ #if defined(BOOST_DATE_TIME_HAS_NANOSECONDS)
+     return bt::seconds(sec) + bt::nanoseconds(nsec);
+ #else
+-    return bt::seconds(sec) + bt::microseconds(nsec/1000.0);
++    return bt::seconds(sec) + bt::microseconds(nsec/1000);
+ #endif
+   }
+ }
+diff --git a/rostime/include/ros/impl/time.h b/rostime/include/ros/impl/time.h
+index ec991e6..61b686c 100644
+--- a/rostime/include/ros/impl/time.h
++++ b/rostime/include/ros/impl/time.h
+@@ -167,7 +167,7 @@ namespace ros
+ #if defined(BOOST_DATE_TIME_HAS_NANOSECONDS)
+     return pt::from_time_t(sec) + pt::nanoseconds(nsec);
+ #else
+-    return pt::from_time_t(sec) + pt::microseconds(nsec/1000.0);
++    return pt::from_time_t(sec) + pt::microseconds(nsec/1000);
+ #endif
+   }
+ 
diff --git a/recipes-ros/roscpp-core/rostime_0.5.8.bb b/recipes-ros/roscpp-core/rostime_0.5.8.bb
index 51dd349..40ad83a 100644
--- a/recipes-ros/roscpp-core/rostime_0.5.8.bb
+++ b/recipes-ros/roscpp-core/rostime_0.5.8.bb
@@ -6,3 +6,5 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=d566ef916e9dedc
 DEPENDS = "boost cpp-common"
 
 require roscpp-core.inc
+
+SRC_URI += "file://0001-remove-implicit-cast.patch;striplevel=2"
diff --git a/recipes-ros/rospack/rospack_2.2.8.bb b/recipes-ros/rospack/rospack_2.2.8.bb
index 80a7fed..e07e214 100644
--- a/recipes-ros/rospack/rospack_2.2.8.bb
+++ b/recipes-ros/rospack/rospack_2.2.8.bb
@@ -14,4 +14,4 @@ SRC_URI[sha256sum] = "a8fecbe03f9757510fe47137642e39a7c31b823d5bf7fa7890acc11691
 inherit catkin
 
 RDEPENDS_${PN} = "${PYTHON_PN}-rosdep \
-                  ${@'python-subprocess' if d.getVar('PYTHON_PN', True) == 'python2' else ''}"
+                  ${@'python-subprocess' if d.getVar('PYTHON_PN', True) == 'python' else ''}"