Merge pull request #154 from bulwahn/pull-request-144

Rebased work from pull request #144 to current master

classes/catkin.bbclass

@@ -2,7 +2,7 @@
 # Copyright (c) 2013 Stefan Herbrechtsmeier, Bielefeld University
 # 
 
-inherit cmake distutils-base
+inherit cmake distutils-base ros
 
 DEPENDS_prepend = "${@['catkin-native ', ''][d.getVar('BPN', True) == 'catkin']}"
 
@@ -28,33 +28,6 @@ OECMAKE_BUILDPATH = "${S}/build"
 export BUILD_SYS
 export HOST_SYS
 
-FILES_SOLIBSDEV = ""
-FILES_${PN} += "${libdir}/lib*${SOLIBSDEV}"
-
-ROS_BPN = "${@d.getVar('BPN', True).replace('-', '_')}"
-ROS_BP = "${ROS_BPN}-${PV}"
-
-FILES_${PN} += "\
-    ${prefix}/etc \
-    ${datadir}/ros/config/${ROS_BPN}.config \
-    ${datadir}/${ROS_BPN} \
-    "
-
-FILES_${PN}-dev += "\
-    ${datadir}/${ROS_BPN}/cmake \
-    ${datadir}/${ROS_BPN}/*.template \
-    "
-
-FILES_${PN}-dbg += "\
-    ${libdir}/${ROS_BPN}/.debug/* \
-    "
-
-PACKAGES += "${PN}-commonlisp"
-
-FILES_${PN}-commonlisp += " \
-    ${datadir}/common-lisp/ \
-    "
-
 SYSROOT_PREPROCESS_FUNCS += "catkin_sysroot_preprocess"
 
 catkin_sysroot_preprocess () {

classes/ros.bbclass

@@ -0,0 +1,33 @@
+#
+# Copyright (c) 2013 Stefan Herbrechtsmeier, Bielefeld University
+# 
+
+ROS_BPN = "${@d.getVar('BPN', True).replace('-', '_')}"
+
+ROS_SPN ?= "${ROS_BPN}"
+ROS_SP = "${ROS_SPN}-${PV}"
+
+FILES_SOLIBSDEV = ""
+FILES_${PN} += "${libdir}/lib*${SOLIBSDEV}"
+
+FILES_${PN} += "\
+    ${prefix}/etc \
+    ${datadir}/ros/config/${ROS_BPN}.config \
+    ${datadir}/ros/core/${ROS_BPN} \
+    ${datadir}/${ROS_BPN} \
+    "
+
+FILES_${PN}-dev += "\
+    ${datadir}/${ROS_BPN}/cmake \
+    ${datadir}/${ROS_BPN}/*.template \
+    "
+
+FILES_${PN}-dbg += "\
+    ${libdir}/${ROS_BPN}/.debug/* \
+    "
+
+PACKAGES += "${PN}-commonlisp"
+
+FILES_${PN}-commonlisp += " \
+    ${datadir}/common-lisp/ \
+    "

recipes-ros/actionlib/actionlib/0001-check-for-CATKIN_ENABLE_TESTING.patch

@@ -0,0 +1,38 @@
+From f066ff531ecdea3b859881aa1f4b4b34cba910c1 Mon Sep 17 00:00:00 2001
+From: Dirk Thomas <dthomas@osrfoundation.org>
+Date: Wed, 3 Jul 2013 11:30:06 -0700
+Subject: [PATCH] check for CATKIN_ENABLE_TESTING
+
+---
+ CMakeLists.txt | 4 +++-
+ package.xml    | 2 +-
+ 2 files changed, 4 insertions(+), 2 deletions(-)
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 8a51426..20421f1 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -32,4 +32,6 @@ install(DIRECTORY include/${PROJECT_NAME}/
+   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+   FILES_MATCHING PATTERN "*.h")
+ 
+-add_subdirectory(test)
++if(CATKIN_ENABLE_TESTING)
++  add_subdirectory(test)
++endif()
+diff --git a/package.xml b/package.xml
+index 4d692ee..e45d984 100644
+--- a/package.xml
++++ b/package.xml
+@@ -14,7 +14,7 @@
+   <author>Eitan Marder-Eppstein</author>
+   <author>Vijay Pradeep</author>
+ 
+-  <buildtool_depend>catkin</buildtool_depend>
++  <buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
+ 
+   <build_depend>actionlib_msgs</build_depend>
+   <build_depend>boost</build_depend>
+-- 
+1.8.1.6
+

recipes-ros/actionlib/actionlib_1.10.1.bb

@@ -4,14 +4,12 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=11;endline=11;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-SRC_URI = "https://github.com/ros/${BPN}/archive/${PV}.tar.gz;downloadfilename=${BP}.tar.gz;name=archive"
-SRC_URI[archive.md5sum] = "8da88314483b1330906b0ecf89c33494"
-SRC_URI[archive.sha256sum] = "c76317f60afec9e4cdcce28e0b88b9aef7e355ba8295228e759aa914ed10aae4"
-
-SRC_URI += "https://github.com/ros/actionlib/commit/f066ff531ecdea3b859881aa1f4b4b34cba910c1.patch;name=patch"
-SRC_URI[patch.md5sum] = "ba32239ddb0c6837a4296119dda5f08a"
-SRC_URI[patch.sha256sum] = "d07e4cd0982fee417f574acac4e2e2a0387188bf254c6f49f7ab0f8c206082b8"
-
 DEPENDS = "actionlib-msgs roscpp rostest"
 
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
+SRC_URI[md5sum] = "8da88314483b1330906b0ecf89c33494"
+SRC_URI[sha256sum] = "c76317f60afec9e4cdcce28e0b88b9aef7e355ba8295228e759aa914ed10aae4"
+
+SRC_URI += "file://0001-check-for-CATKIN_ENABLE_TESTING.patch"
+
 inherit catkin

recipes-ros/bond-core/bond-core.inc

@@ -1,7 +1,9 @@
-SRC_URI = "https://github.com/ros/bond_core/archive/${PV}.tar.gz;downloadfilename=bond_core-${PV}.tar.gz"
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
 SRC_URI[md5sum] = "1bb6c5dd1148c67d2759e665d7ae75b3"
 SRC_URI[sha256sum] = "1145db3800591e585325131cb6322366e82e634c97dd3cbb4ab43e1c1f4ec415"
 
-S = "${WORKDIR}/bond_core-${PV}/${PN}"
+S = "${WORKDIR}/${ROS_SP}/${ROS_BPN}"
 
 inherit catkin
+
+ROS_SPN = "bond_core"

recipes-ros/catkin/catkin/0001-modify-logic-of-sourcing-env-hooks-to-provide-contex.patch

@@ -0,0 +1,515 @@
+From a0d699a08f10424adad38eee25673c9a66120ec4 Mon Sep 17 00:00:00 2001
+From: Dirk Thomas <dthomas@osrfoundation.org>
+Date: Thu, 25 Jul 2013 14:54:43 -0700
+Subject: [PATCH 1/4] modify logic of sourcing env hooks to provide context of
+ workspace to each env hook (#490)
+
+---
+ cmake/templates/_setup_util.py.in | 26 +++++++++++++++++++++-----
+ cmake/templates/setup.sh.in       | 34 +++++++++++-----------------------
+ 2 files changed, 32 insertions(+), 28 deletions(-)
+
+diff --git a/cmake/templates/_setup_util.py.in b/cmake/templates/_setup_util.py.in
+index 6957b10..e7e57ee 100755
+--- a/cmake/templates/_setup_util.py.in
++++ b/cmake/templates/_setup_util.py.in
+@@ -200,7 +200,9 @@ def find_env_hooks(environ, cmake_prefix_path):
+     lines.append(comment('found environment hooks in workspaces'))
+ 
+     generic_env_hooks = []
++    generic_env_hooks_workspace = []
+     specific_env_hooks = []
++    specific_env_hooks_workspace = []
+     generic_env_hooks_by_filename = {}
+     specific_env_hooks_by_filename = {}
+     generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh'
+@@ -212,18 +214,32 @@ def find_env_hooks(environ, cmake_prefix_path):
+         if os.path.isdir(env_hook_dir):
+             for filename in sorted(os.listdir(env_hook_dir)):
+                 if filename.endswith('.%s' % generic_env_hook_ext):
+-                    generic_env_hooks.append(os.path.join(env_hook_dir, filename))
+                     # remove previous env hook with same name if present
+                     if filename in generic_env_hooks_by_filename:
+-                        generic_env_hooks.remove(generic_env_hooks_by_filename[filename])
++                        i = generic_env_hooks.index(generic_env_hooks_by_filename[filename])
++                        generic_env_hooks.pop(i)
++                        generic_env_hooks_workspace.pop(i)
++                    # append env hook
++                    generic_env_hooks.append(os.path.join(env_hook_dir, filename))
++                    generic_env_hooks_workspace.append(workspace)
+                     generic_env_hooks_by_filename[filename] = generic_env_hooks[-1]
+                 elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext):
+-                    specific_env_hooks.append(os.path.join(env_hook_dir, filename))
+                     # remove previous env hook with same name if present
+                     if filename in specific_env_hooks_by_filename:
+-                        specific_env_hooks.remove(specific_env_hooks_by_filename[filename])
++                        i = specific_env_hooks.index(specific_env_hooks_by_filename[filename])
++                        specific_env_hooks.pop(i)
++                        specific_env_hooks_workspace.pop(i)
++                    # append env hook
++                    specific_env_hooks.append(os.path.join(env_hook_dir, filename))
++                    specific_env_hooks_workspace.append(workspace)
+                     specific_env_hooks_by_filename[filename] = specific_env_hooks[-1]
+-    lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS', os.pathsep.join(generic_env_hooks + specific_env_hooks)))
++    env_hooks = generic_env_hooks + specific_env_hooks
++    env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace
++    count = len(env_hooks)
++    lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count))
++    for i in range(count):
++        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i]))
++        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i]))
+     return lines
+ 
+ 
+diff --git a/cmake/templates/setup.sh.in b/cmake/templates/setup.sh.in
+index c29adf5..fa28dfb 100644
+--- a/cmake/templates/setup.sh.in
++++ b/cmake/templates/setup.sh.in
+@@ -47,30 +47,18 @@ CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ > $_SETUP_TMP
+ . $_SETUP_TMP
+ rm -f $_SETUP_TMP
+ 
+-# save value of IFS, including if it was unset
+-# the "+x" syntax helps differentiate unset from empty
+-_IFS=$IFS
+-if [ -z ${IFS+x} ]; then
+-  _IFS_WAS_UNSET=1
+-fi
+-
+ # source all environment hooks
+-IFS=":"
+-for _envfile in $_CATKIN_ENVIRONMENT_HOOKS; do
+-  # restore value of IFS, including if it was unset
+-  IFS=$_IFS
+-  if [ $_IFS_WAS_UNSET ]; then
+-    unset IFS
+-  fi
++_i=0
++while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do
++  eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i
++  unset _CATKIN_ENVIRONMENT_HOOKS_$_i
++  eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
++  unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
++  # set workspace for environment hook
++  CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace
+   . "$_envfile"
++  unset CATKIN_ENV_HOOK_WORKSPACE
++  _i=$((_i + 1))
+ done
+ 
+-# restore value of IFS, including if it was unset
+-IFS=$_IFS
+-if [ $_IFS_WAS_UNSET ]; then
+-  unset IFS
+-  unset _IFS_WAS_UNSET
+-fi
+-unset _IFS
+-
+-unset _CATKIN_ENVIRONMENT_HOOKS
++unset _CATKIN_ENVIRONMENT_HOOKS_COUNT
+-- 
+1.8.1.6
+
+
+From 644daf7443bf3f3ed3f178800478cb5724298a16 Mon Sep 17 00:00:00 2001
+From: Dirk Thomas <dthomas@osrfoundation.org>
+Date: Thu, 25 Jul 2013 17:01:11 -0700
+Subject: [PATCH 2/4] update shell scripts to define or allow override
+ CATKIN_SETUP_DIR (#490)
+
+---
+ cmake/templates/_setup_util.py.in | 15 ++++++++-------
+ cmake/templates/env.sh.in         |  8 +++++---
+ cmake/templates/setup.bash.in     |  5 ++++-
+ cmake/templates/setup.sh.in       |  5 ++++-
+ cmake/templates/setup.zsh.in      |  3 ++-
+ 5 files changed, 23 insertions(+), 13 deletions(-)
+
+diff --git a/cmake/templates/_setup_util.py.in b/cmake/templates/_setup_util.py.in
+index e7e57ee..0d3c86a 100755
+--- a/cmake/templates/_setup_util.py.in
++++ b/cmake/templates/_setup_util.py.in
+@@ -41,13 +41,6 @@ import os
+ import platform
+ import sys
+ 
+-# environment at generation time
+-CMAKE_PREFIX_PATH = '@CMAKE_PREFIX_PATH_AS_IS@'.split(';')
+-setup_dir = '@SETUP_DIR@'
+-if setup_dir and setup_dir not in CMAKE_PREFIX_PATH:
+-    CMAKE_PREFIX_PATH.insert(0, setup_dir)
+-CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH)
+-
+ CATKIN_MARKER_FILE = '.catkin'
+ 
+ system = platform.system()
+@@ -256,6 +249,14 @@ if __name__ == '__main__':
+         print(e, file=sys.stderr)
+         exit(1)
+ 
++    # environment at generation time
++    CMAKE_PREFIX_PATH = '@CMAKE_PREFIX_PATH_AS_IS@'.split(';')
++    # prepend current workspace if not already part of CPP
++    base_path = os.path.dirname(__file__)
++    if base_path not in CMAKE_PREFIX_PATH:
++        CMAKE_PREFIX_PATH.insert(0, base_path)
++    CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH)
++
+     environ = dict(os.environ)
+     lines = []
+     if not args.extend:
+diff --git a/cmake/templates/env.sh.in b/cmake/templates/env.sh.in
+index 5d04650..ad259ea 100755
+--- a/cmake/templates/env.sh.in
++++ b/cmake/templates/env.sh.in
+@@ -5,7 +5,9 @@ if [ $# -eq 0 ] ; then
+   /bin/echo "Usage: env.sh COMMANDS"
+   /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually."
+   exit 1
+-else
+-  . "@SETUP_DIR@/@SETUP_FILENAME@.sh"
+-  exec "$@"
+ fi
++
++# source @SETUP_FILENAME@.sh from same directory as this file
++CATKIN_SETUP_DIR=$(cd `dirname $0`;pwd)
++. "$CATKIN_SETUP_DIR/@SETUP_FILENAME@.sh"
++exec "$@"
+diff --git a/cmake/templates/setup.bash.in b/cmake/templates/setup.bash.in
+index 078fd13..97e9e70 100644
+--- a/cmake/templates/setup.bash.in
++++ b/cmake/templates/setup.bash.in
+@@ -2,4 +2,7 @@
+ # generated from catkin/cmake/templates/setup.bash.in
+ 
+ CATKIN_SHELL=bash
+-. "@SETUP_DIR@/setup.sh"
++
++# source setup.sh from same directory as this file
++CATKIN_SETUP_DIR=$(cd `dirname ${BASH_SOURCE[0]}`;pwd)
++. "$CATKIN_SETUP_DIR/setup.sh"
+diff --git a/cmake/templates/setup.sh.in b/cmake/templates/setup.sh.in
+index fa28dfb..66b91ca 100644
+--- a/cmake/templates/setup.sh.in
++++ b/cmake/templates/setup.sh.in
+@@ -6,7 +6,10 @@
+ # Supported command line options:
+ # --extend: skips the undoing of changes from a previously sourced setup file
+ 
+-_SETUP_UTIL="@SETUP_DIR@/_setup_util.py"
++# since this file is sourced either use the provided CATKIN_SETUP_DIR
++# or fall back to the destination set at configure time
++: ${CATKIN_SETUP_DIR:=@SETUP_DIR@}
++_SETUP_UTIL="$CATKIN_SETUP_DIR/_setup_util.py"
+ 
+ if [ ! -f "$_SETUP_UTIL" ]; then
+   echo "Missing Python script: $_SETUP_UTIL"
+diff --git a/cmake/templates/setup.zsh.in b/cmake/templates/setup.zsh.in
+index 220d1fb..5e681e4 100644
+--- a/cmake/templates/setup.zsh.in
++++ b/cmake/templates/setup.zsh.in
+@@ -2,6 +2,7 @@
+ # generated from catkin/cmake/templates/setup.zsh.in
+ 
+ CATKIN_SHELL=zsh
++CATKIN_SETUP_DIR=$(cd `dirname $0`;pwd)
+ emulate sh # emulate POSIX
+-. "@SETUP_DIR@/setup.sh"
++. "$CATKIN_SETUP_DIR/setup.sh"
+ emulate zsh # back to zsh mode
+-- 
+1.8.1.6
+
+
+From 198c7b8afafc4e92ed912959e299935b301ac434 Mon Sep 17 00:00:00 2001
+From: Dirk Thomas <dthomas@osrfoundation.org>
+Date: Thu, 25 Jul 2013 17:02:08 -0700
+Subject: [PATCH 3/4] update exported include dirs in generated cmake config
+ files to not contain absolute paths (#490)
+
+---
+ cmake/catkin_package.cmake         | 2 +-
+ cmake/templates/pkgConfig.cmake.in | 7 +++++--
+ 2 files changed, 6 insertions(+), 3 deletions(-)
+
+diff --git a/cmake/catkin_package.cmake b/cmake/catkin_package.cmake
+index 574bce9..a543864 100644
+--- a/cmake/catkin_package.cmake
++++ b/cmake/catkin_package.cmake
+@@ -434,7 +434,7 @@ function(_catkin_package)
+   # absolute path to include dir under install prefix if any include dir is set
+   set(PROJECT_ABSOLUTE_INCLUDE_DIRS "")
+   if(NOT "${PROJECT_INCLUDE_DIRS}" STREQUAL "")
+-    set(PROJECT_ABSOLUTE_INCLUDE_DIRS ${PKG_INCLUDE_PREFIX}/include)
++    set(PROJECT_ABSOLUTE_INCLUDE_DIRS "${CATKIN_GLOBAL_INCLUDE_DESTINATION}")
+   endif()
+   if(PROJECT_DEPENDENCIES_INCLUDE_DIRS)
+     list(APPEND PROJECT_ABSOLUTE_INCLUDE_DIRS ${PROJECT_DEPENDENCIES_INCLUDE_DIRS})
+diff --git a/cmake/templates/pkgConfig.cmake.in b/cmake/templates/pkgConfig.cmake.in
+index dce3158..334e5f2 100644
+--- a/cmake/templates/pkgConfig.cmake.in
++++ b/cmake/templates/pkgConfig.cmake.in
+@@ -89,8 +89,11 @@ if(NOT "@PROJECT_ABSOLUTE_INCLUDE_DIRS@" STREQUAL "")
+   foreach(idir ${absolute_include_dirs})
+     if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir})
+       set(include ${idir})
+-    elseif(IS_DIRECTORY @PKG_INCLUDE_PREFIX@/${idir})
+-      set(include @PKG_INCLUDE_PREFIX@/${idir})
++    elseif("${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 '${include}'.  Ask the maintainer '@PROJECT_MAINTAINER@' to fix it.")
++      endif()
+     else()
+       message(FATAL_ERROR "Project '@PROJECT_NAME@' specifies '${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.")
+     endif()
+-- 
+1.8.1.6
+
+
+From 8067802506d0b66926b665ee301ca6ce77ab3deb Mon Sep 17 00:00:00 2001
+From: Dirk Thomas <dthomas@osrfoundation.org>
+Date: Thu, 25 Jul 2013 17:06:48 -0700
+Subject: [PATCH 4/4] update catkin_make_isolated to support installation with
+ DESTDIR (#490)
+
+---
+ bin/catkin_make_isolated |  5 +++-
+ python/catkin/builder.py | 63 +++++++++++++++++++++++++++++++++---------------
+ 2 files changed, 47 insertions(+), 21 deletions(-)
+
+diff --git a/bin/catkin_make_isolated b/bin/catkin_make_isolated
+index 25ed5db..6ea7d4d 100755
+--- a/bin/catkin_make_isolated
++++ b/bin/catkin_make_isolated
+@@ -107,6 +107,8 @@ def main():
+     if not sys.stdout.isatty():
+         opts.no_color = True
+ 
++    destdir = os.environ['DESTDIR'] if 'DESTDIR' in os.environ else None
++
+     build_workspace_isolated(
+         workspace=opts.workspace or '.',
+         sourcespace=opts.source,
+@@ -122,7 +124,8 @@ def main():
+         cmake_args=cmake_args,
+         make_args=opts.make_args,
+         catkin_make_args=opts.catkin_make_args,
+-        continue_from_pkg=opts.from_package is not None
++        continue_from_pkg=opts.from_package is not None,
++        destdir=destdir
+     )
+ 
+ if __name__ == '__main__':
+diff --git a/python/catkin/builder.py b/python/catkin/builder.py
+index b157d6e..932e720 100644
+--- a/python/catkin/builder.py
++++ b/python/catkin/builder.py
+@@ -163,18 +163,23 @@ def print_command_banner(cmd, cwd, color):
+         print('####')
+ 
+ 
+-def run_command_colorized(cmd, cwd, quiet=False):
+-    run_command(cmd, cwd, quiet=quiet, colorize=True)
++def run_command_colorized(cmd, cwd, quiet=False, add_env=None):
++    run_command(cmd, cwd, quiet=quiet, colorize=True, add_env=add_env)
+ 
+ 
+-def run_command(cmd, cwd, quiet=False, colorize=False):
++def run_command(cmd, cwd, quiet=False, colorize=False, add_env=None):
+     capture = (quiet or colorize)
+     stdout_pipe = subprocess.PIPE if capture else None
+     stderr_pipe = subprocess.STDOUT if capture else None
++    env = None
++    if add_env:
++        env = copy.copy(os.environ)
++        env.update(add_env)
+     try:
+         proc = subprocess.Popen(
+             cmd, cwd=cwd, shell=False,
+-            stdout=stdout_pipe, stderr=stderr_pipe
++            stdout=stdout_pipe, stderr=stderr_pipe,
++            env=env
+         )
+     except OSError as e:
+         raise OSError("Failed command '%s': %s" % (cmd, e))
+@@ -213,10 +218,11 @@ def _check_build_dir(name, workspace, buildspace):
+     return package_build_dir
+ 
+ 
+-def isolation_print_command(cmd, path=None):
++def isolation_print_command(cmd, path=None, add_env=None):
+     cprint(
+         blue_arrow + " " + sanitize(cmd) + "@|" +
+-        (" @!@{kf}in@| '@!" + sanitize(path) + "@|'" if path else '')
++        (" @!@{kf}in@| '@!" + sanitize(path) + "@|'" if path else '') +
++        (" @!@{kf}with@| '@!" + ' '.join(['%s=%s' % (k, v) for k, v in add_env.items()]) + "@|'" if add_env else '')
+     )
+ 
+ 
+@@ -280,7 +286,8 @@ def extract_jobs_flags(mflags):
+ def build_catkin_package(
+     path, package,
+     workspace, buildspace, develspace, installspace,
+-    install, force_cmake, quiet, last_env, cmake_args, make_args
++    install, force_cmake, quiet, last_env, cmake_args, make_args,
++    destdir=None
+ ):
+     cprint(
+         "Processing @{cf}catkin@| package: '@!@{bf}" +
+@@ -324,11 +331,12 @@ def build_catkin_package(
+             '-DCMAKE_INSTALL_PREFIX=' + installspace
+         ]
+         cmake_cmd.extend(cmake_args)
+-        isolation_print_command(' '.join(cmake_cmd), build_dir)
++        add_env = get_additional_environment(install, destdir, installspace)
++        isolation_print_command(' '.join(cmake_cmd), build_dir, add_env=add_env)
+         if last_env is not None:
+             cmake_cmd = [last_env] + cmake_cmd
+         try:
+-            run_command_colorized(cmake_cmd, build_dir, quiet)
++            run_command_colorized(cmake_cmd, build_dir, quiet, add_env=add_env)
+         except subprocess.CalledProcessError as e:
+             if os.path.exists(makefile):
+                 # remove Makefile to force CMake invocation next time
+@@ -338,11 +346,12 @@ def build_catkin_package(
+         print('Makefile exists, skipping explicit cmake invocation...')
+         # Check to see if cmake needs to be run via make
+         make_check_cmake_cmd = ['make', 'cmake_check_build_system']
+-        isolation_print_command(' '.join(make_check_cmake_cmd), build_dir)
++        add_env = get_additional_environment(install, destdir, installspace)
++        isolation_print_command(' '.join(make_check_cmake_cmd), build_dir, add_env=add_env)
+         if last_env is not None:
+             make_check_cmake_cmd = [last_env] + make_check_cmake_cmd
+         run_command_colorized(
+-            make_check_cmake_cmd, build_dir, quiet
++            make_check_cmake_cmd, build_dir, quiet, add_env=add_env
+         )
+ 
+     # Run make
+@@ -372,10 +381,18 @@ def has_make_target(path, target):
+     return target in targets
+ 
+ 
++def get_additional_environment(install, destdir, installspace):
++    add_env = {}
++    if install and destdir:
++        add_env['CATKIN_SETUP_DIR'] = os.path.join(destdir, installspace[1:])
++    return add_env
++
++
+ def build_cmake_package(
+     path, package,
+     workspace, buildspace, develspace, installspace,
+-    install, force_cmake, quiet, last_env, cmake_args, make_args
++    install, force_cmake, quiet, last_env, cmake_args, make_args,
++    destdir=None
+ ):
+     # Notify the user that we are processing a plain cmake package
+     cprint(
+@@ -496,19 +513,21 @@ def build_package(
+     path, package,
+     workspace, buildspace, develspace, installspace,
+     install, force_cmake, quiet, last_env, cmake_args, make_args, catkin_make_args,
++    destdir=None,
+     number=None, of=None
+ ):
+     if platform.system() in ['Linux', 'Darwin']:
+         status_msg = '{package_name} [{number} of {total}]'.format(package_name=package.name, number=number, total=of)
+         sys.stdout.write("\x1b]2;" + status_msg + "\x07")
+     cprint('@!@{gf}==>@| ', end='')
+-    new_last_env = get_new_env(package, develspace, installspace, install, last_env)
++    new_last_env = get_new_env(package, develspace, installspace, install, last_env, destdir)
+     build_type = _get_build_type(package)
+     if build_type == 'catkin':
+         build_catkin_package(
+             path, package,
+             workspace, buildspace, develspace, installspace,
+-            install, force_cmake, quiet, last_env, cmake_args, make_args + catkin_make_args
++            install, force_cmake, quiet, last_env, cmake_args, make_args + catkin_make_args,
++            destdir=destdir
+         )
+         if not os.path.exists(new_last_env):
+             raise RuntimeError(
+@@ -521,7 +540,8 @@ def build_package(
+         build_cmake_package(
+             path, package,
+             workspace, buildspace, develspace, installspace,
+-            install, force_cmake, quiet, last_env, cmake_args, make_args
++            install, force_cmake, quiet, last_env, cmake_args, make_args,
++            destdir=destdir
+         )
+     else:
+         sys.exit('Can not build package with unknown build_type')
+@@ -534,7 +554,7 @@ def build_package(
+     return new_last_env
+ 
+ 
+-def get_new_env(package, develspace, installspace, install, last_env):
++def get_new_env(package, develspace, installspace, install, last_env, destdir=None):
+     new_env = None
+     build_type = _get_build_type(package)
+     if build_type in ['catkin', 'cmake']:
+@@ -542,6 +562,8 @@ def get_new_env(package, develspace, installspace, install, last_env):
+             installspace if install else develspace,
+             'env.sh'
+         )
++        if destdir is not None:
++            new_env = os.path.join(destdir, new_env[1:])
+     return new_env
+ 
+ 
+@@ -572,7 +594,8 @@ def build_workspace_isolated(
+     cmake_args=None,
+     make_args=None,
+     catkin_make_args=None,
+-    continue_from_pkg=False
++    continue_from_pkg=False,
++    destdir=None
+ ):
+     '''
+     Runs ``cmake``, ``make`` and optionally ``make install`` for all
+@@ -603,6 +626,7 @@ def build_workspace_isolated(
+         packages, ``[str]``
+     :param continue_from_pkg: indicates whether or not cmi should continue
+         when a package is reached, ``bool``
++    :param destdir: define DESTDIR for cmake/invocation, ``string``
+     '''
+     if not colorize:
+         disable_ANSI_colors()
+@@ -738,6 +762,7 @@ def build_workspace_isolated(
+                     workspace, buildspace, pkg_develspace, installspace,
+                     install, force_cmake or (install_toggled and is_cmake_package),
+                     quiet, last_env, cmake_args, make_args, catkin_make_args,
++                    destdir=destdir,
+                     number=index + 1, of=len(ordered_packages)
+                 )
+             except subprocess.CalledProcessError as e:
+@@ -758,7 +783,7 @@ def build_workspace_isolated(
+                 sys.exit('Command failed, exiting.')
+         else:
+             cprint("Skipping package: '@!@{bf}" + package.name + "@|'")
+-            last_env = get_new_env(package, pkg_develspace, installspace, install, last_env)
++            last_env = get_new_env(package, pkg_develspace, installspace, install, last_env, destdir)
+ 
+     # Provide a top level devel space environment setup script
+     if not os.path.exists(develspace):
+@@ -793,7 +818,6 @@ def build_workspace_isolated(
+                     'CATKIN_GLOBAL_LIB_DESTINATION': 'lib',
+                     'CMAKE_PREFIX_PATH_AS_IS': ';'.join(os.environ['CMAKE_PREFIX_PATH'].split(os.pathsep)),
+                     'PYTHON_INSTALL_DIR': get_python_install_dir(),
+-                    'SETUP_DIR': '',
+                 }
+                 with open(generated_setup_util_py, 'w') as f:
+                     f.write(configure_file(os.path.join(get_cmake_path(), 'templates', '_setup_util.py.in'), variables))
+@@ -802,7 +826,6 @@ def build_workspace_isolated(
+                 sys.exit("Unable to process CMAKE_PREFIX_PATH from environment. Cannot generate environment files.")
+ 
+             variables = {
+-                'SETUP_DIR': develspace,
+                 'SETUP_FILENAME': 'setup'
+             }
+             with open(generated_env_sh, 'w') as f:
+-- 
+1.8.1.6
+

recipes-ros/catkin/catkin_0.5.71.bb

@@ -3,19 +3,17 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=7;endline=7;md5=d566ef916e9dedc494f5f793a6690ba5"
 
+PR = "r1"
+
 DEPENDS = "cmake python-empy python-catkin-pkg python-empy-native python-catkin-pkg-native"
 
-RDEPENDS_${PN}_class-native = ""
-RDEPENDS_${PN} = "cmake make binutils binutils-symlinks gcc gcc-symlinks g++ g++-symlinks \
-    python-catkin-pkg python-argparse python-misc python-multiprocessing \
-    python-shell python-subprocess python-xml"
-
-SRC_URI = "https://github.com/ros/catkin/archive/${PV}.tar.gz;downloadfilename=${ROS_BP}.tar.gz \
-           file://0001-CATKIN_WORKSPACES-Don-t-require-.catkin-file.patch \
-           "
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
 SRC_URI[md5sum] = "1c30ac4fcc82ce2aedf610ea972ab4d2"
 SRC_URI[sha256sum] = "2494dbe3446fe94a55f57c74260e072f97d72944d89610fe4994dbc79cf1a561"
 
+SRC_URI += "file://0001-modify-logic-of-sourcing-env-hooks-to-provide-contex.patch"
+SRC_URI += "file://0001-CATKIN_WORKSPACES-Don-t-require-.catkin-file.patch"
+
 inherit catkin
 
 FILES_${PN}-dev += "\
@@ -27,3 +25,8 @@ FILES_${PN}-dev += "\
     ${prefix}/env.sh \
     ${prefix}/setup.* \
     "
+
+RDEPENDS_${PN}_class-native = ""
+RDEPENDS_${PN} = "cmake make binutils binutils-symlinks gcc gcc-symlinks g++ g++-symlinks \
+    python-catkin-pkg python-argparse python-misc python-multiprocessing \
+    python-shell python-subprocess python-xml"

recipes-ros/class-loader/class-loader_0.2.2.bb

@@ -6,17 +6,16 @@ runtime libraries (e.g. .so/.dll files), introspect the library for exported \
 plugin classes, and allows users to instantiate objects of said exported \
 classes without the explicit declaration (i.e. header file) for those classes.\
 "
-
 SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=9;endline=9;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-SRC_URI = "https://github.com/ros/${ROS_BPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_BP}.tar.gz"
+DEPENDS = "console-bridge libpoco"
+
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
 SRC_URI[md5sum] = "c3bbc15c580dbf3b814b8af84218a777"
 SRC_URI[sha256sum] = "afaa155be9e34d905396c96eac040007e23b4ba90d2b2677ab67a1b32086fe13"
 
-DEPENDS = "console-bridge libpoco"
-
-S = "${WORKDIR}/${ROS_BP}"
+S = "${WORKDIR}/${ROS_SP}"
 
 inherit catkin

recipes-ros/common-msgs/common-msgs.inc

@@ -1,9 +1,11 @@
-SRC_URI = "https://github.com/ros/common_msgs/archive/${PV}.tar.gz;downloadfilename=common_msgs-${PV}.tar.gz"
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
 SRC_URI[md5sum] = "6259ec362103ed96abbcf7d67703aed5"
 SRC_URI[sha256sum] = "54864270e973cec64f9315aed9e07f8d3837c409602dd18653c843c7a35690d0"
 
+DEPENDS += "cpp-common roscpp-serialization message-generation-native message-runtime-native std-msgs"
+
+S = "${WORKDIR}/${ROS_SP}/${ROS_BPN}"
+
 inherit catkin
 
-S = "${WORKDIR}/common_msgs-${PV}/${ROS_BPN}"
-
-DEPENDS = "cpp-common roscpp-serialization message-generation-native message-runtime-native std-msgs"
+ROS_SPN = "common_msgs"

recipes-ros/common-msgs/nav-msgs_1.10.0.bb

@@ -3,6 +3,6 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=9;endline=9;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-require common-msgs.inc
+DEPENDS = "actionlib-msgs geometry-msgs"
 
-DEPENDS += "actionlib-msgs geometry-msgs"
+require common-msgs.inc

recipes-ros/common-msgs/sensor-msgs_1.10.0.bb

@@ -4,6 +4,6 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=9;endline=9;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-require common-msgs.inc
+DEPENDS = "geometry-msgs"
 
-DEPENDS += "geometry-msgs"
+require common-msgs.inc

recipes-ros/common-msgs/shape-msgs_1.10.0.bb

@@ -3,6 +3,6 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-require common-msgs.inc
+DEPENDS = "geometry-msgs"
 
-DEPENDS += "geometry-msgs"
+require common-msgs.inc

recipes-ros/common-msgs/stereo-msgs_1.10.0.bb

@@ -4,6 +4,6 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-require common-msgs.inc
+DEPENDS = "sensor-msgs"
 
-DEPENDS += "sensor-msgs"
+require common-msgs.inc

recipes-ros/common-msgs/trajectory-msgs_1.10.0.bb

@@ -3,6 +3,6 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-require common-msgs.inc
+DEPENDS = "geometry-msgs"
 
-DEPENDS += "geometry-msgs"
+require common-msgs.inc

recipes-ros/common-msgs/visualization-msgs_1.10.0.bb

@@ -4,6 +4,6 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=12;endline=12;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-require common-msgs.inc
+DEPENDS = "geometry-msgs"
 
-DEPENDS += "geometry-msgs"
+require common-msgs.inc

recipes-ros/common-tutorials/common-tutorials.inc

@@ -1,7 +1,9 @@
-SRC_URI = "https://github.com/ros/common_tutorials/archive/${PV}.tar.gz;downloadfilename=common_tutorials-${PV}.tar.gz"
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
 SRC_URI[md5sum] = "0055265f3854afcf4cc0abff06a9f023"
 SRC_URI[sha256sum] = "257f45f36463d5ffc04e1d60ac1fc6a2e7c1b11d012daa43b2eb43001383048c"
 
-S = "${WORKDIR}/common_tutorials-${PV}/${ROS_BPN}"
+S = "${WORKDIR}/${ROS_SP}/${ROS_BPN}"
 
 inherit catkin
+
+ROS_SPN = "common_tutorials"

recipes-ros/console-bridge/console-bridge_0.2.4.bb

@@ -3,9 +3,7 @@ console_bridge is a ROS-independent, pure CMake package that provides logging \
 calls that mirror those found in rosconsole, but for applications that are \
 not necessarily using ROS.\
 "
-
 SECTION = "devel"
-
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "\
   file://include/console_bridge/console.h;beginline=1;endline=33;md5=279eed49072cc9f6ebe38974afcc4803 \
@@ -14,13 +12,10 @@ LIC_FILES_CHKSUM = "\
 
 DEPENDS = "boost"
 
-SRC_URI = "https://github.com/ros/console_bridge/archive/${PV}.tar.gz;downloadfilename=${BP}.tar.gz"
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
 SRC_URI[md5sum] = "e484d34bf0170ee12311d0fc6dd5f4fe"
 SRC_URI[sha256sum] = "d4bdd0b6bce0c6fa9ff18b8926d4953161451bc49dd11497211eb1a62cfe72b7"
 
-S = "${WORKDIR}/console_bridge-${PV}"
+S = "${WORKDIR}/${ROS_SP}"
 
-inherit cmake
-
-FILES_SOLIBSDEV = ""
-FILES_${PN} += "${libdir}/lib*${SOLIBSDEV}"
+inherit cmake ros

recipes-ros/dynamic-reconfigure/dynamic-reconfigure/0001-resolve-dynamic_reconfigure-path-in-installspace-at-.patch

@@ -0,0 +1,26 @@
+From b7b222534f7259ca457ea354d92c5708f895202e Mon Sep 17 00:00:00 2001
+From: Dirk Thomas <dthomas@osrfoundation.org>
+Date: Mon, 29 Jul 2013 11:51:23 -0700
+Subject: [PATCH] resolve dynamic_reconfigure path in installspace at runtime
+ (ros/catkin#490)
+
+---
+ cmake/extras.cmake.em | 2 +-
+ 1 file changed, 1 insertion(+), 1 deletion(-)
+
+diff --git a/cmake/extras.cmake.em b/cmake/extras.cmake.em
+index de2082e..e37b1fa 100644
+--- a/cmake/extras.cmake.em
++++ b/cmake/extras.cmake.em
+@@ -3,7 +3,7 @@
+ set(dynamic_reconfigure_BASE_DIR "@(CMAKE_CURRENT_SOURCE_DIR)")
+ @[else]@
+ # base dir in installspace
+-set(dynamic_reconfigure_BASE_DIR "@(CMAKE_INSTALL_PREFIX)/@(CATKIN_PACKAGE_SHARE_DESTINATION)")
++set(dynamic_reconfigure_BASE_DIR "${dynamic_reconfigure_DIR}/..")
+ @[end if]@
+ 
+ macro(generate_dynamic_reconfigure_options)
+-- 
+1.8.1.6
+

recipes-ros/dynamic-reconfigure/dynamic-reconfigure_1.5.32.bb

@@ -1,22 +1,20 @@
 DESCRIPTION = "\
 This unary stack contains the dynamic_reconfigure package which provides a means to change \
 node parameters at any time without having to restart the node."
-
 SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=9;endline=9;md5=5ee5b8b046ae48ad94a2037ca953a67b"
 
-SRC_URI = "https://github.com/ros/${ROS_BPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_BP}.tar.gz;name=archive"
-SRC_URI[archive.md5sum] = "9061fd30e5a04e8376eaddffaae86b07"
-SRC_URI[archive.sha256sum] = "4203b0a8389d9ac3203110b507d23fa353262cf26253f40abece6418d6c2bdd4"
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
+SRC_URI[md5sum] = "9061fd30e5a04e8376eaddffaae86b07"
+SRC_URI[sha256sum] = "4203b0a8389d9ac3203110b507d23fa353262cf26253f40abece6418d6c2bdd4"
 
-SRC_URI += "https://github.com/ros/dynamic_reconfigure/commit/b7b222534f7259ca457ea354d92c5708f895202e.patch;name=patch"
-SRC_URI[patch.md5sum] = "0607963ca3f940362c9e78b5f8019cb9"
-SRC_URI[patch.sha256sum] = "e132ed52fe35c287658700857f7d9439793ff2be7f9fa9a19731024152ccaf29"
+SRC_URI += "file://0001-resolve-dynamic_reconfigure-path-in-installspace-at-.patch"
 
 DEPENDS = "roscpp std-msgs roslib"
-RDEPENDS_${PN} = "roslib"
 
-S = "${WORKDIR}/${ROS_BP}"
+S = "${WORKDIR}/${ROS_SP}"
 
 inherit catkin
+
+RDEPENDS_${PN} = "roslib"

recipes-ros/gencpp/gencpp/0001-gencpp-extras.cmake.em-Use-find_program-for-GENCPP_B.patch

@@ -1,42 +0,0 @@
-From 4e51c828b27eb1d67a3199c692aac1783f853493 Mon Sep 17 00:00:00 2001
-From: Lukas Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
-Date: Fri, 12 Jul 2013 09:59:13 +0200
-Subject: [PATCH] gencpp-extras.cmake.em: Use find_program for GENCPP_BIN
-
-This patch was originally created by
-Stefan Herbrechtsmeier <stefan@herbrechtsmeier.net>.
-I only adjusted it to the current version.
-
-Signed-off-by: Lukas Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
----
- cmake/gencpp-extras.cmake.em |   10 +++++++---
- 1 file changed, 7 insertions(+), 3 deletions(-)
-
-diff --git a/cmake/gencpp-extras.cmake.em b/cmake/gencpp-extras.cmake.em
-index 87f46fd..4fc5284 100644
---- a/cmake/gencpp-extras.cmake.em
-+++ b/cmake/gencpp-extras.cmake.em
-@@ -1,13 +1,17 @@
- @[if DEVELSPACE]@
- # bin and template dir variables in develspace
--set(GENCPP_BIN "@(CMAKE_CURRENT_SOURCE_DIR)/scripts/gen_cpp.py")
-+set(GENCPP_BIN_DIR "@(CMAKE_CURRENT_SOURCE_DIR)/scripts")
- set(GENCPP_TEMPLATE_DIR "@(CMAKE_CURRENT_SOURCE_DIR)/scripts")
-+set(CATKIN_FIND_ROOT_PATH_MODE NO_CMAKE_FIND_ROOT_PATH)
- @[else]@
- # bin and template dir variables in installspace
--set(GENCPP_BIN "@(CMAKE_INSTALL_PREFIX)/@(CATKIN_PACKAGE_BIN_DESTINATION)/gen_cpp.py")
--set(GENCPP_TEMPLATE_DIR "@(CMAKE_INSTALL_PREFIX)/@(CATKIN_PACKAGE_SHARE_DESTINATION)")
-+set(GENCPP_BIN_DIR "@(CMAKE_INSTALL_PREFIX)/@(CATKIN_PACKAGE_BIN_DESTINATION)")
-+set(GENCPP_TEMPLATE_DIR "${CMAKE_CURRENT_LIST_DIR}/..")
-+set(CATKIN_FIND_ROOT_PATH_MODE "")
- @[end if]@
- 
-+find_program(GENCPP_BIN gen_cpp.py PATHS ${GENCPP_BIN_DIR} NO_DEFAULT_PATH ${CATKIN_FIND_ROOT_PATH_MODE})
-+
- # Generate .msg->.h for cpp
- # The generated .h files should be added ALL_GEN_OUTPUT_FILES_cpp
- macro(_generate_msg_cpp ARG_PKG ARG_MSG ARG_IFLAGS ARG_MSG_DEPS ARG_GEN_OUTPUT_DIR)
--- 
-1.7.9.5
-

recipes-ros/gencpp/gencpp/0001-resolve-gencpp-path-in-installspace-at-runtime.patch

@@ -0,0 +1,28 @@
+From e5acaf690d6276d427f6b0ecaab67b52f55bbe8a Mon Sep 17 00:00:00 2001
+From: Dirk Thomas <dthomas@osrfoundation.org>
+Date: Fri, 26 Jul 2013 13:33:58 -0700
+Subject: [PATCH] resolve gencpp path in installspace at runtime
+ (ros/catkin#490)
+
+---
+ cmake/gencpp-extras.cmake.em | 4 ++--
+ 1 file changed, 2 insertions(+), 2 deletions(-)
+
+diff --git a/cmake/gencpp-extras.cmake.em b/cmake/gencpp-extras.cmake.em
+index 87f46fd..88ce935 100644
+--- a/cmake/gencpp-extras.cmake.em
++++ b/cmake/gencpp-extras.cmake.em
+@@ -4,8 +4,8 @@ set(GENCPP_BIN "@(CMAKE_CURRENT_SOURCE_DIR)/scripts/gen_cpp.py")
+ set(GENCPP_TEMPLATE_DIR "@(CMAKE_CURRENT_SOURCE_DIR)/scripts")
+ @[else]@
+ # bin and template dir variables in installspace
+-set(GENCPP_BIN "@(CMAKE_INSTALL_PREFIX)/@(CATKIN_PACKAGE_BIN_DESTINATION)/gen_cpp.py")
+-set(GENCPP_TEMPLATE_DIR "@(CMAKE_INSTALL_PREFIX)/@(CATKIN_PACKAGE_SHARE_DESTINATION)")
++set(GENCPP_BIN "${gencpp_DIR}/../../../@(CATKIN_PACKAGE_BIN_DESTINATION)/gen_cpp.py")
++set(GENCPP_TEMPLATE_DIR "${gencpp_DIR}/..")
+ @[end if]@
+ 
+ # Generate .msg->.h for cpp
+-- 
+1.8.1.6
+

recipes-ros/gencpp/gencpp_0.4.13.bb

@@ -5,11 +5,12 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=7;endline=7;md5=d566ef916e9dedc
 
 DEPENDS = "genmsg-native"
 
-PR = "r1"
+PR = "r2"
 
-SRC_URI = "https://github.com/ros/${BPN}/archive/${PV}.tar.gz;downloadfilename=${BP}.tar.gz \
-           file://0001-gencpp-extras.cmake.em-Use-find_program-for-GENCPP_B.patch"
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
 SRC_URI[md5sum] = "801b40dcfab468f761dbdae33f848782"
 SRC_URI[sha256sum] = "d1dcd6655c8c4d4325ab067c25284032d40e00aa3409a5a5cf069d310a60d485"
 
+SRC_URI += "file://0001-resolve-gencpp-path-in-installspace-at-runtime.patch"
+
 inherit catkin

recipes-ros/genlisp/genlisp/0001-genlisp-extras.cmake.em-Use-find_program-for-GENLISP.patch

@@ -1,38 +0,0 @@
-From 4efc32314f5ee02e5be759ea288e11b6de64f1a1 Mon Sep 17 00:00:00 2001
-From: Stefan Herbrechtsmeier <stefan@herbrechtsmeier.net>
-Date: Tue, 4 Jun 2013 17:58:41 +0200
-Subject: [PATCH] genlisp-extras.cmake.em: Use find_program for GENLISP_BIN
-
-Signed-off-by: Stefan Herbrechtsmeier <stefan@herbrechtsmeier.net>
----
- cmake/genlisp-extras.cmake.em |   10 +++++++---
- 1 files changed, 7 insertions(+), 3 deletions(-)
-
-diff --git a/cmake/genlisp-extras.cmake.em b/cmake/genlisp-extras.cmake.em
-index 0d135d0..db52d54 100644
---- a/cmake/genlisp-extras.cmake.em
-+++ b/cmake/genlisp-extras.cmake.em
-@@ -1,13 +1,17 @@
- @[if DEVELSPACE]@
- # bin and template dir variables in develspace
--set(GENLISP_BIN "@(CMAKE_CURRENT_SOURCE_DIR)/scripts/gen_lisp.py")
-+set(GENLISP_BIN_DIR "@(CMAKE_CURRENT_SOURCE_DIR)/scripts/gen_lisp.py")
- set(GENLISP_TEMPLATE_DIR "@(CMAKE_CURRENT_SOURCE_DIR)/scripts")
-+set(CATKIN_FIND_ROOT_PATH_MODE NO_CMAKE_FIND_ROOT_PATH)
- @[else]@
- # bin and template dir variables in installspace
--set(GENLISP_BIN "@(CMAKE_INSTALL_PREFIX)/@(CATKIN_PACKAGE_BIN_DESTINATION)/gen_lisp.py")
--set(GENLISP_TEMPLATE_DIR "@(CMAKE_INSTALL_PREFIX)/@(CATKIN_PACKAGE_SHARE_DESTINATION)")
-+set(GENLISP_BIN_DIR "@(CMAKE_INSTALL_PREFIX)/@(CATKIN_PACKAGE_BIN_DESTINATION)/")
-+set(GENLISP_TEMPLATE_DIR "${CMAKE_CURRENT_LIST_DIR}/..")
-+set(CATKIN_FIND_ROOT_PATH_MODE "")
- @[end if]@
- 
-+find_program(GENLISP_BIN gen_lisp.py PATHS ${GENLISP_BIN_DIR} NO_DEFAULT_PATH ${CATKIN_FIND_ROOT_PATH_MODE})
-+
- # Generate .msg or .srv -> .lisp
- # The generated .lisp files should be added ALL_GEN_OUTPUT_FILES_lisp
- macro(_generate_lisp ARG_PKG ARG_MSG ARG_IFLAGS ARG_MSG_DEPS ARG_GEN_OUTPUT_DIR)
--- 
-1.7.0.4
-

recipes-ros/genlisp/genlisp/0001-resolve-genlisp-path-in-installspace-at-runtime.patch

@@ -0,0 +1,28 @@
+From 42458c1d0a4ca1d3e78b8b1b2cac5e8fb2169a60 Mon Sep 17 00:00:00 2001
+From: Dirk Thomas <dthomas@osrfoundation.org>
+Date: Fri, 26 Jul 2013 13:34:11 -0700
+Subject: [PATCH] resolve genlisp path in installspace at runtime
+ (ros/catkin#490)
+
+---
+ cmake/genlisp-extras.cmake.em | 4 ++--
+ 1 file changed, 2 insertions(+), 2 deletions(-)
+
+diff --git a/cmake/genlisp-extras.cmake.em b/cmake/genlisp-extras.cmake.em
+index a8dec4b..c62037d 100644
+--- a/cmake/genlisp-extras.cmake.em
++++ b/cmake/genlisp-extras.cmake.em
+@@ -4,8 +4,8 @@ set(GENLISP_BIN "@(CMAKE_CURRENT_SOURCE_DIR)/scripts/gen_lisp.py")
+ set(GENLISP_TEMPLATE_DIR "@(CMAKE_CURRENT_SOURCE_DIR)/scripts")
+ @[else]@
+ # bin and template dir variables in installspace
+-set(GENLISP_BIN "@(CMAKE_INSTALL_PREFIX)/@(CATKIN_PACKAGE_BIN_DESTINATION)/gen_lisp.py")
+-set(GENLISP_TEMPLATE_DIR "@(CMAKE_INSTALL_PREFIX)/@(CATKIN_PACKAGE_SHARE_DESTINATION)")
++set(GENLISP_BIN "${genlisp_DIR}/../../../@(CATKIN_PACKAGE_BIN_DESTINATION)/gen_lisp.py")
++set(GENLISP_TEMPLATE_DIR "${genlisp_DIR}/..")
+ @[end if]@
+ 
+ # Generate .msg or .srv -> .lisp
+-- 
+1.8.1.6
+

recipes-ros/genlisp/genlisp_0.4.11.bb

@@ -5,11 +5,12 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=9;endline=9;md5=d566ef916e9dedc
 
 DEPENDS = "genmsg-native"
 
-PR = "r1"
+PR = "r2"
 
-SRC_URI = "https://github.com/ros/${BPN}/archive/${PV}.tar.gz;downloadfilename=${BP}.tar.gz \
-           file://0001-genlisp-extras.cmake.em-Use-find_program-for-GENLISP.patch"
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
 SRC_URI[md5sum] = "b9be0a57abf76187a1057fb62cdc31e1"
 SRC_URI[sha256sum] = "cc373440fcbf57cafb758795cb50045fdd96de717b93d3d5956b7a1a2af4d3e2"
 
+SRC_URI += "file://0001-resolve-genlisp-path-in-installspace-at-runtime.patch"
+
 inherit catkin

recipes-ros/genmsg/genmsg/0001-modify-msg-file-handling-to-reference-them-relatively.patch

@@ -1,25 +0,0 @@
-diff -Naur a/cmake/genmsg-extras.cmake.em b/cmake/genmsg-extras.cmake.em
---- a/cmake/genmsg-extras.cmake.em	2013-07-12 09:10:43.810555389 +0200
-+++ b/cmake/genmsg-extras.cmake.em	2013-07-12 09:14:17.122564232 +0200
-@@ -202,8 +202,7 @@
-     ${CATKIN_DEVEL_PREFIX}/share/${PROJECT_NAME}/cmake/${PROJECT_NAME}-msg-paths.cmake
-     @@ONLY)
-   # generate and install config of message include dirs for project
--  _prepend_path(${CMAKE_INSTALL_PREFIX}/share/${PROJECT_NAME} "${${PROJECT_NAME}_MSG_INCLUDE_DIRS_INSTALLSPACE}" INCLUDE_DIRS_W_PATH UNIQUE)
--  set(PKG_MSG_INCLUDE_DIRS "${INCLUDE_DIRS_W_PATH}")
-+  set(PKG_MSG_INCLUDE_DIRS "${${PROJECT_NAME}_MSG_INCLUDE_DIRS_INSTALLSPACE}")
-   configure_file(
-     ${genmsg_CMAKE_DIR}/pkg-msg-paths.cmake.in
-     ${CMAKE_CURRENT_BINARY_DIR}/catkin_generated/installspace/${PROJECT_NAME}-msg-paths.cmake
-diff -Naur a/cmake/pkg-msg-paths.cmake.in b/cmake/pkg-msg-paths.cmake.in
---- a/cmake/pkg-msg-paths.cmake.in	2013-07-12 09:10:43.814555390 +0200
-+++ b/cmake/pkg-msg-paths.cmake.in	2013-07-12 09:15:35.818567495 +0200
-@@ -1,2 +1,7 @@
--set(@PROJECT_NAME@_MSG_INCLUDE_DIRS "@PKG_MSG_INCLUDE_DIRS@")
-+if(@DEVELSPACE@)
-+  set(@PROJECT_NAME@_MSG_INCLUDE_DIRS @PKG_MSG_INCLUDE_DIRS@)
-+else()
-+  _prepend_path(${@PROJECT_NAME@_DIR}/.. "@PKG_MSG_INCLUDE_DIRS@" INCLUDE_DIRS_W_PATH)
-+  set(@PROJECT_NAME@_MSG_INCLUDE_DIRS "${INCLUDE_DIRS_W_PATH}")
-+endif()
- set(@PROJECT_NAME@_MSG_DEPENDENCIES @ARG_DEPENDENCIES@)

recipes-ros/genmsg/genmsg/0001-resolve-path-of-message-file-and-include-dirs-in-ins.patch

@@ -0,0 +1,128 @@
+From cb45b131576a898ced69e3e5e9758173365dc5cf Mon Sep 17 00:00:00 2001
+From: Dirk Thomas <dthomas@osrfoundation.org>
+Date: Fri, 26 Jul 2013 13:35:17 -0700
+Subject: [PATCH] resolve path of message file and include dirs in installspace
+ at runtime (ros/catkin#490)
+
+---
+ CMakeLists.txt                 |  3 ++-
+ cmake/genmsg-extras.cmake.em   | 29 ++++++++++++++++++-----------
+ cmake/pkg-msg-paths.cmake.em   | 10 ++++++++++
+ cmake/pkg-msg-paths.cmake.in   |  2 --
+ cmake/pkg-msg-paths.context.in |  8 ++++++++
+ 5 files changed, 38 insertions(+), 14 deletions(-)
+ create mode 100644 cmake/pkg-msg-paths.cmake.em
+ delete mode 100644 cmake/pkg-msg-paths.cmake.in
+ create mode 100644 cmake/pkg-msg-paths.context.in
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 5e8fcf0..aa66f86 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -9,7 +9,8 @@ install(
+   cmake/pkg-genmsg.cmake.em
+   cmake/pkg-genmsg.context.in
+   cmake/pkg-msg-extras.cmake.in
+-  cmake/pkg-msg-paths.cmake.in
++  cmake/pkg-msg-paths.cmake.em
++  cmake/pkg-msg-paths.context.in
+   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/cmake)
+ 
+ catkin_python_setup()
+diff --git a/cmake/genmsg-extras.cmake.em b/cmake/genmsg-extras.cmake.em
+index 3ba4b37..b57af38 100644
+--- a/cmake/genmsg-extras.cmake.em
++++ b/cmake/genmsg-extras.cmake.em
+@@ -106,7 +106,7 @@ macro(add_message_files)
+     install(FILES ${FILES_W_PATH}
+       DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${ARG_DIRECTORY})
+ 
+-    _prepend_path("${CMAKE_INSTALL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/${ARG_DIRECTORY}" "${ARG_FILES}" FILES_W_PATH)
++    _prepend_path("${ARG_DIRECTORY}" "${ARG_FILES}" FILES_W_PATH)
+     list(APPEND ${PROJECT_NAME}_INSTALLED_MESSAGE_FILES ${FILES_W_PATH})
+   endif()
+ endmacro()
+@@ -196,18 +196,21 @@ macro(generate_messages)
+   catkin_destinations()
+ 
+   # generate devel space config of message include dirs for project
++  set(DEVELSPACE TRUE)
++  set(INSTALLSPACE FALSE)
+   set(PKG_MSG_INCLUDE_DIRS "${${PROJECT_NAME}_MSG_INCLUDE_DIRS_DEVELSPACE}")
+-  configure_file(
+-    ${genmsg_CMAKE_DIR}/pkg-msg-paths.cmake.in
+-    ${CATKIN_DEVEL_PREFIX}/share/${PROJECT_NAME}/cmake/${PROJECT_NAME}-msg-paths.cmake
+-    @@ONLY)
++  em_expand(${genmsg_CMAKE_DIR}/pkg-msg-paths.context.in
++    ${CMAKE_CURRENT_BINARY_DIR}/catkin_generated/${PROJECT_NAME}-msg-paths-context.py
++    ${genmsg_CMAKE_DIR}/pkg-msg-paths.cmake.em
++    ${CATKIN_DEVEL_PREFIX}/share/${PROJECT_NAME}/cmake/${PROJECT_NAME}-msg-paths.cmake)
+   # generate and install config of message include dirs for project
+-  _prepend_path(${CMAKE_INSTALL_PREFIX}/share/${PROJECT_NAME} "${${PROJECT_NAME}_MSG_INCLUDE_DIRS_INSTALLSPACE}" INCLUDE_DIRS_W_PATH UNIQUE)
+-  set(PKG_MSG_INCLUDE_DIRS "${INCLUDE_DIRS_W_PATH}")
+-  configure_file(
+-    ${genmsg_CMAKE_DIR}/pkg-msg-paths.cmake.in
+-    ${CMAKE_CURRENT_BINARY_DIR}/catkin_generated/installspace/${PROJECT_NAME}-msg-paths.cmake
+-    @@ONLY)
++  set(DEVELSPACE FALSE)
++  set(INSTALLSPACE TRUE)
++  set(PKG_MSG_INCLUDE_DIRS "${${PROJECT_NAME}_MSG_INCLUDE_DIRS_INSTALLSPACE}")
++  em_expand(${genmsg_CMAKE_DIR}/pkg-msg-paths.context.in
++    ${CMAKE_CURRENT_BINARY_DIR}/catkin_generated/installspace/${PROJECT_NAME}-msg-paths-context.py
++    ${genmsg_CMAKE_DIR}/pkg-msg-paths.cmake.em
++    ${CMAKE_CURRENT_BINARY_DIR}/catkin_generated/installspace/${PROJECT_NAME}-msg-paths.cmake)
+   install(FILES ${CMAKE_CURRENT_BINARY_DIR}/catkin_generated/installspace/${PROJECT_NAME}-msg-paths.cmake
+     DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/cmake)
+ 
+@@ -256,6 +259,10 @@ macro(generate_messages)
+     include(${config})
+     unset(config CACHE)
+ 
++    # explicitly set message include dirs for current project since information from pkg-msg-paths.cmake is not yet available
++    if(${dep} STREQUAL ${PROJECT_NAME})
++      set(${dep}_MSG_INCLUDE_DIRS ${${PROJECT_NAME}_MSG_INCLUDE_DIRS_DEVELSPACE})
++    endif()
+     foreach(path ${${dep}_MSG_INCLUDE_DIRS})
+       list(APPEND MSG_INCLUDE_DIRS "${dep}")
+       list(APPEND MSG_INCLUDE_DIRS "${path}")
+diff --git a/cmake/pkg-msg-paths.cmake.em b/cmake/pkg-msg-paths.cmake.em
+new file mode 100644
+index 0000000..eb6f88a
+--- /dev/null
++++ b/cmake/pkg-msg-paths.cmake.em
+@@ -0,0 +1,10 @@
++# generated from genmsg/cmake/pkg-msg-paths.cmake.em
++
++@[if DEVELSPACE]@
++# message include dirs in develspace
++set(@(PROJECT_NAME)_MSG_INCLUDE_DIRS "@(PKG_MSG_INCLUDE_DIRS)")
++@[else]@
++# message include dirs in installspace
++_prepend_path("${@(PROJECT_NAME)_DIR}/.." "@(PKG_MSG_INCLUDE_DIRS)" @(PROJECT_NAME)_MSG_INCLUDE_DIRS UNIQUE)
++@[end if]@
++set(@(PROJECT_NAME)_MSG_DEPENDENCIES @(ARG_DEPENDENCIES))
+diff --git a/cmake/pkg-msg-paths.cmake.in b/cmake/pkg-msg-paths.cmake.in
+deleted file mode 100644
+index c40966c..0000000
+--- a/cmake/pkg-msg-paths.cmake.in
++++ /dev/null
+@@ -1,2 +0,0 @@
+-set(@PROJECT_NAME@_MSG_INCLUDE_DIRS "@PKG_MSG_INCLUDE_DIRS@")
+-set(@PROJECT_NAME@_MSG_DEPENDENCIES @ARG_DEPENDENCIES@)
+diff --git a/cmake/pkg-msg-paths.context.in b/cmake/pkg-msg-paths.context.in
+new file mode 100644
+index 0000000..499e2f9
+--- /dev/null
++++ b/cmake/pkg-msg-paths.context.in
+@@ -0,0 +1,8 @@
++# generated from genmsg/cmake/pkg-msg-paths.context.in
++
++DEVELSPACE = '@DEVELSPACE@' == 'TRUE'
++INSTALLSPACE = '@INSTALLSPACE@' == 'TRUE'
++
++PROJECT_NAME = '@PROJECT_NAME@'
++PKG_MSG_INCLUDE_DIRS = '@PKG_MSG_INCLUDE_DIRS@'
++ARG_DEPENDENCIES = '@ARG_DEPENDENCIES@'
+-- 
+1.8.1.6
+

recipes-ros/genmsg/genmsg_0.4.21.bb

@@ -3,16 +3,15 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=9;endline=9;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-PR = "r1"
-
-SRC_URI = "https://github.com/ros/${BPN}/archive/${PV}.tar.gz;downloadfilename=${BP}.tar.gz \
-           file://0001-modify-msg-file-handling-to-reference-them-relatively.patch \
-           "
-
-RDEPENDS_${PN} = "python-stringold python-pprint"
-RDEPENDS_${PN}_class-native = ""
+PR = "r2"
 
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
 SRC_URI[md5sum] = "03ff82b1efa75552d4a5a000e0576cc4"
 SRC_URI[sha256sum] = "e7e4b23eadb97b0deca53874532c0b42f10f406a9db2affd7d6f04101a4a2901"
 
+SRC_URI += "file://0001-resolve-path-of-message-file-and-include-dirs-in-ins.patch"
+
 inherit catkin
+
+RDEPENDS_${PN} = "python-stringold python-pprint"
+RDEPENDS_${PN}_class-native = ""

recipes-ros/genpy/genpy/0001-genpy-extras.cmake.em-use-find_program-for-GENxxx_PY_BIN.patch

@@ -1,21 +0,0 @@
-diff -Naur a/cmake/genpy-extras.cmake.em b/cmake/genpy-extras.cmake.em
---- a/cmake/genpy-extras.cmake.em	2013-05-30 12:31:39.000000000 +0200
-+++ b/cmake/genpy-extras.cmake.em	2013-05-30 12:43:02.000000000 +0200
-@@ -1,13 +1,15 @@
- @[if DEVELSPACE]@
- # bin dir variables in develspace
- set(GENPY_BIN_DIR "@(CMAKE_CURRENT_SOURCE_DIR)/scripts")
-+set(CATKIN_FIND_ROOT_PATH_MODE NO_CMAKE_FIND_ROOT_PATH)
- @[else]@
- # bin dir variables in installspace
- set(GENPY_BIN_DIR "@(CMAKE_INSTALL_PREFIX)/@(CATKIN_PACKAGE_BIN_DESTINATION)")
-+set(CATKIN_FIND_ROOT_PATH_MODE "")
- @[end if]@
- 
-+find_program(GENMSG_PY_BIN genmsg_py.py PATHS ${GENPY_BIN_DIR} NO_DEFAULT_PATH CATKIN_FIND_ROOT_PATH_MODE)
-+find_program(GENSRV_PY_BIN gensrv_py.py PATHS ${GENPY_BIN_DIR} NO_DEFAULT_PATH CATKIN_FIND_ROOT_PATH_MODE)
--set(GENMSG_PY_BIN ${GENPY_BIN_DIR}/genmsg_py.py)
--set(GENSRV_PY_BIN ${GENPY_BIN_DIR}/gensrv_py.py)
- 
- # Generate .msg->.h for py
- # The generated .h files should be added ALL_GEN_OUTPUT_FILES_py

recipes-ros/genpy/genpy/0001-resolve-genpy-path-in-installspace-at-runtime.patch

@@ -0,0 +1,30 @@
+From 1bc78ac23e465c1b3ef040d11c53d89cdc00b8ae Mon Sep 17 00:00:00 2001
+From: Dirk Thomas <dthomas@osrfoundation.org>
+Date: Fri, 26 Jul 2013 13:34:18 -0700
+Subject: [PATCH] resolve genpy path in installspace at runtime
+ (ros/catkin#490)
+
+---
+ cmake/genpy-extras.cmake.em | 6 +++---
+ 1 file changed, 3 insertions(+), 3 deletions(-)
+
+diff --git a/cmake/genpy-extras.cmake.em b/cmake/genpy-extras.cmake.em
+index fd78a97..5a57285 100644
+--- a/cmake/genpy-extras.cmake.em
++++ b/cmake/genpy-extras.cmake.em
+@@ -1,9 +1,9 @@
+ @[if DEVELSPACE]@
+-# bin dir variables in develspace
++# location of scripts in develspace
+ set(GENPY_BIN_DIR "@(CMAKE_CURRENT_SOURCE_DIR)/scripts")
+ @[else]@
+-# bin dir variables in installspace
+-set(GENPY_BIN_DIR "@(CMAKE_INSTALL_PREFIX)/@(CATKIN_PACKAGE_BIN_DESTINATION)")
++# location of scripts in installspace
++set(GENPY_BIN_DIR "${genpy_DIR}/../../../@(CATKIN_PACKAGE_BIN_DESTINATION)")
+ @[end if]@
+ 
+ set(GENMSG_PY_BIN ${GENPY_BIN_DIR}/genmsg_py.py)
+-- 
+1.8.1.6
+

recipes-ros/genpy/genpy_0.4.13.bb

@@ -4,14 +4,16 @@ LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=7;endline=7;md5=d566ef916e9dedc494f5f793a6690ba5"
 
 DEPENDS = "genmsg-native"
-RDEPENDS_${PN} = "python-math genmsg python-shell"
-RDEPENDS_${PN}_class-native = ""
 
-PR = "r2"
+PR = "r3"
 
-SRC_URI = "https://github.com/ros/${BPN}/archive/${PV}.tar.gz;downloadfilename=${BP}.tar.gz \
-           file://0001-genpy-extras.cmake.em-use-find_program-for-GENxxx_PY_BIN.patch"
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
 SRC_URI[md5sum] = "201e3f1aa5e12ccc09159b1a3d9272f7"
 SRC_URI[sha256sum] = "9dae768e9350c835ae8a40f19d230e3fe023bfc1e259a14be8b3ae7c4c632d3c"
 
+SRC_URI += "file://0001-resolve-genpy-path-in-installspace-at-runtime.patch"
+
 inherit catkin
+
+RDEPENDS_${PN} = "python-math genmsg python-shell"
+RDEPENDS_${PN}_class-native = ""

recipes-ros/geometry-angles-utils/angles/0001-check-for-CATKIN_ENABLE_TESTING.patch

@@ -0,0 +1,36 @@
+From 8b1879e93b8ae2f89df345edaf688521e5c0ab97 Mon Sep 17 00:00:00 2001
+From: Lukas Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
+Date: Mon, 15 Jul 2013 14:04:43 +0200
+Subject: [PATCH] check for CATKIN_ENABLE_TESTING
+
+---
+ angles/CMakeLists.txt | 4 +++-
+ angles/package.xml    | 2 +-
+ 2 files changed, 4 insertions(+), 2 deletions(-)
+
+diff --git a/angles/CMakeLists.txt b/angles/CMakeLists.txt
+index a2cc37f..4026fc6 100644
+--- a/angles/CMakeLists.txt
++++ b/angles/CMakeLists.txt
+@@ -10,4 +10,6 @@ install(DIRECTORY include/${PROJECT_NAME}/
+ 
+ include_directories(include)
+ 
+-add_subdirectory(test)
++if(CATKIN_ENABLE_TESTING)
++  add_subdirectory(test)
++endif()
+diff --git a/angles/package.xml b/angles/package.xml
+index fe7f848..2409595 100644
+--- a/angles/package.xml
++++ b/angles/package.xml
+@@ -16,5 +16,5 @@
+ 
+   <url>http://ros.org/wiki/angles</url>
+ 
+-  <buildtool_depend>catkin</buildtool_depend>
++  <buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
+ </package>
+-- 
+1.8.1.6
+

recipes-ros/geometry-angles-utils/angles_1.9.9.bb

@@ -3,14 +3,12 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=15;endline=15;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-SRC_URI = "https://github.com/ros/${BPN}/archive/${PV}.tar.gz;downloadfilename=${BP}.tar.gz;name=archive"
-SRC_URI[archive.md5sum] = "c2a841dbeb1f3036449919773ac70876"
-SRC_URI[archive.sha256sum] = "5e690bf611bead83c2fdcab5a9617b622a9869e55fd1742c00b4015ddf4f8cfc"
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
+SRC_URI[md5sum] = "c2a841dbeb1f3036449919773ac70876"
+SRC_URI[sha256sum] = "5e690bf611bead83c2fdcab5a9617b622a9869e55fd1742c00b4015ddf4f8cfc"
 
-SRC_URI += "https://github.com/bulwahn/angles/commit/8b1879e93b8ae2f89df345edaf688521e5c0ab97.patch;striplevel=2;name=patch"
-SRC_URI[patch.md5sum] = "d55c70b7328ed6e9d00d3185ddf4b0bf"
-SRC_URI[patch.sha256sum] = "2b7303ca01e355680adadd18c3b97dfb1071715375c14a3759ad96f807fc09e5"
+SRC_URI += "file://0001-check-for-CATKIN_ENABLE_TESTING.patch;striplevel=2"
 
-S = "${WORKDIR}/${BP}/${BPN}"
+S = "${WORKDIR}/${ROS_SP}/${ROS_BPN}"
 
 inherit catkin

recipes-ros/geometry-experimental/geometry-experimental.inc

@@ -1,7 +1,9 @@
-SRC_URI = "https://github.com/ros/geometry_experimental/archive/${PV}.tar.gz;downloadfilename=geometry_experimental-${PV}.tar.gz"
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
 SRC_URI[md5sum] = "530cbf52308427e15a0568f5226313aa"
 SRC_URI[sha256sum] = "10a95045136510c1db5743481930ced6d164c6990d9e1a7c2afd9d6fa5062d02"
 
+S = "${WORKDIR}/${ROS_SP}/${ROS_BPN}"
+
 inherit catkin
 
-S = "${WORKDIR}/geometry_experimental-${PV}/${ROS_BPN}"
+ROS_SPN = "geometry_experimental"

recipes-ros/geometry/geometry.inc

@@ -1,7 +1,9 @@
-SRC_URI = "https://github.com/ros/geometry/archive/${PV}.tar.gz;downloadfilename=geometry-${PV}.tar.gz"
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
 SRC_URI[md5sum] = "ccaadd38c183c2c257e75ac907868c87"
 SRC_URI[sha256sum] = "30527d91f182478b7819a947237c92ce1effe61cd11d2d710e0408c971f2bc74"
 
+S = "${WORKDIR}/${ROS_SP}/${ROS_BPN}"
+
 inherit catkin
 
-S = "${WORKDIR}/geometry-${PV}/${ROS_BPN}"
+ROS_SPN = "geometry"

recipes-ros/image-common/image-common.inc

@@ -1,7 +1,9 @@
-SRC_URI = "https://github.com/ros-perception/image_common/archive/${PV}.tar.gz;downloadfilename=image_common-${PV}.tar.gz"
+SRC_URI = "https://github.com/ros-perception/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
 SRC_URI[md5sum] = "72dc5897c021987cca04756cbf3ddc27"
 SRC_URI[sha256sum] = "022f3c81ade13e644cf7f3c96712a362dc668f2edf37c125f3b9411818eb294a"
 
+S = "${WORKDIR}/${ROS_SP}/${ROS_BPN}"
+
 inherit catkin
 
-S = "${WORKDIR}/image_common-${PV}/${ROS_BPN}"
+ROS_SPN = "image_common"

recipes-ros/message-generation/message-generation_0.2.9.bb

@@ -5,10 +5,10 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=7;endline=7;md5=d566ef916e9dedc
 
 DEPENDS = "gencpp-native genlisp-native genmsg-native genpy-native"
 
-SRC_URI = "https://github.com/ros/${ROS_BPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_BP}.tar.gz"
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
 SRC_URI[md5sum] = "b3086fbe24cc103f412cb30d83362e36"
 SRC_URI[sha256sum] = "9ce9c5b4e995933c575f2a5cb5c4b042b39913637bca06554092a52c3bb24c12"
 
-S = "${WORKDIR}/${ROS_BP}"
+S = "${WORKDIR}/${ROS_SP}"
 
 inherit catkin

recipes-ros/message-runtime/message-runtime_0.4.11.bb

@@ -5,10 +5,10 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=7;endline=7;md5=d566ef916e9dedc
 
 DEPENDS = "gencpp-native"
 
-SRC_URI = "https://github.com/ros/${ROS_BPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_BP}.tar.gz"
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
 SRC_URI[md5sum] = "10a516326a3bf18f5b5b4523c6e53940"
 SRC_URI[sha256sum] = "87f6b56679ea6b90512e2f2d299dd129d361b4a5d167237a9d28ac56ce6f2a36"
 
-S = "${WORKDIR}/${ROS_BP}"
+S = "${WORKDIR}/${ROS_SP}"
 
 inherit catkin

recipes-ros/nodelet-core/nodelet-core.inc

@@ -1,7 +1,9 @@
-SRC_URI = "https://github.com/ros/nodelet_core/archive/${PV}.tar.gz;downloadfilename=${BP}.tar.gz"
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
 SRC_URI[md5sum] = "b4ec524761d1d2494f5901b77ad35f9b"
 SRC_URI[sha256sum] = "ad79f48e0916490d2095ea9ea81a796a060553d4e60ba5b148b96a95369b8124"
 
-S = "${WORKDIR}/nodelet_core-${PV}/${ROS_BPN}"
+S = "${WORKDIR}/${ROS_SP}/${ROS_BPN}"
 
 inherit catkin
+
+ROS_SPN = "nodelet_core"

recipes-ros/nodelet-core/nodelet-topic-tools_1.8.0.bb

@@ -1,5 +1,4 @@
 DESCRIPTION = "This package contains common nodelet tools such as a mux, demux and throttle."
-
 SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=d566ef916e9dedc494f5f793a6690ba5"

recipes-ros/nodelet-core/nodelet_1.8.0.bb

@@ -6,7 +6,6 @@ This package provides both the nodelet base class needed for \
 implementing a nodelet, as well as the NodeletLoader class used \
 for instantiating nodelets\
 "
-
 SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=14;endline=14;md5=d566ef916e9dedc494f5f793a6690ba5"

recipes-ros/pluginlib/pluginlib_1.9.21.bb

@@ -2,12 +2,11 @@ DESCRIPTION = "\
 The pluginlib package provides tools for writing and dynamically loading plugins using the ROS build infrastructure.\
 To work, these tools require plugin providers to register their plugins in the package.xml of their package.\
 "
-
 SECTION = "devel"
 LICENSE = "BSD & BSL-1.0"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=9;endline=10;md5=bbbb6ab628b1f3daee74dd9c62bee312"
 
-SRC_URI = "https://github.com/ros/${PN}/archive/${PV}.tar.gz;downloadfilename=${BP}.tar.gz"
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
 SRC_URI[md5sum] = "c506945693bc53e60600a849275e4a98"
 SRC_URI[sha256sum] = "a8c5aa266a27810c39a2ced76d531358880c7728a948f7e7a8972b70ed42a425"
 

recipes-ros/ros-comm/files/0001-fix-roslaunch-check-script-in-install-space.patch

@@ -0,0 +1,25 @@
+From 60f0f657bd9aabfedba0b00374ae8398e5e92359 Mon Sep 17 00:00:00 2001
+From: Dirk Thomas <dthomas@osrfoundation.org>
+Date: Wed, 24 Jul 2013 00:19:21 -0700
+Subject: [PATCH] fix roslaunch check script in install space (fix #257)
+
+---
+ tools/roslaunch/cmake/roslaunch-extras.cmake.em | 2 +-
+ 1 file changed, 1 insertion(+), 1 deletion(-)
+
+diff --git a/tools/roslaunch/cmake/roslaunch-extras.cmake.em b/tools/roslaunch/cmake/roslaunch-extras.cmake.em
+index 10c0ce2..bb1ae40 100644
+--- a/tools/roslaunch/cmake/roslaunch-extras.cmake.em
++++ b/tools/roslaunch/cmake/roslaunch-extras.cmake.em
+@@ -5,7 +5,7 @@
+ set(roslaunch_check_script @(CMAKE_CURRENT_SOURCE_DIR)/scripts/roslaunch-check)
+ @[else]@
+ # set path to roslaunch-check.py installspace
+-set(roslaunch_check_script @(CMAKE_INSTALL_PREFIX)/${CATKIN_PACKAGE_SHARE_DESTINATION}/scripts/roslaunch-check)
++set(roslaunch_check_script @(CMAKE_INSTALL_PREFIX)/@(CATKIN_PACKAGE_SHARE_DESTINATION)/scripts/roslaunch-check)
+ @[end if]@
+ 
+ #
+-- 
+1.8.1.6
+

recipes-ros/ros-comm/files/0002-resolve-roslaunch-rostest-paths-in-installspace-at-r.patch

@@ -0,0 +1,57 @@
+From e0366e14128ed0083e9450bbe9f98fd9b2806454 Mon Sep 17 00:00:00 2001
+From: Dirk Thomas <dthomas@osrfoundation.org>
+Date: Fri, 26 Jul 2013 13:37:23 -0700
+Subject: [PATCH] resolve roslaunch/rostest paths in installspace at runtime
+ without find_program()  (ros/catkin#490)
+
+---
+ tools/roslaunch/cmake/roslaunch-extras.cmake.em |  6 +++---
+ tools/rostest/cmake/rostest-extras.cmake.em     | 12 ++++--------
+ 2 files changed, 7 insertions(+), 11 deletions(-)
+
+diff --git a/tools/roslaunch/cmake/roslaunch-extras.cmake.em b/tools/roslaunch/cmake/roslaunch-extras.cmake.em
+index bb1ae40..6df3a14 100644
+--- a/tools/roslaunch/cmake/roslaunch-extras.cmake.em
++++ b/tools/roslaunch/cmake/roslaunch-extras.cmake.em
+@@ -1,11 +1,11 @@
+ # generated from ros_comm/tools/roslaunch/cmake/roslaunch-extras.cmake.em
+ 
+ @[if DEVELSPACE]@
+-# set path to roslaunch-check.py in develspace
++# set path to roslaunch-check script in develspace
+ set(roslaunch_check_script @(CMAKE_CURRENT_SOURCE_DIR)/scripts/roslaunch-check)
+ @[else]@
+-# set path to roslaunch-check.py installspace
+-set(roslaunch_check_script @(CMAKE_INSTALL_PREFIX)/@(CATKIN_PACKAGE_SHARE_DESTINATION)/scripts/roslaunch-check)
++# set path to roslaunch-check script installspace
++set(roslaunch_check_script ${roslaunch_DIR}/../scripts/roslaunch-check)
+ @[end if]@
+ 
+ #
+diff --git a/tools/rostest/cmake/rostest-extras.cmake.em b/tools/rostest/cmake/rostest-extras.cmake.em
+index 1fca6bc..93ca8ff 100644
+--- a/tools/rostest/cmake/rostest-extras.cmake.em
++++ b/tools/rostest/cmake/rostest-extras.cmake.em
+@@ -8,15 +8,11 @@ function(add_rostest file)
+   _warn_if_skip_testing("add_rostest")
+ 
+ @[if DEVELSPACE]@
+-  # find program in develspace
+-  find_program_required(ROSTEST_EXE rostest 
+-    PATHS @(PROJECT_SOURCE_DIR)/scripts
+-    NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
++  # bin in develspace
++  set(ROSTEST_EXE "@(PROJECT_SOURCE_DIR)/scripts/rostest")
+ @[else]@
+-  # find program in installspace
+-  find_program_required(ROSTEST_EXE rostest 
+-    PATHS @(CMAKE_INSTALL_PREFIX)/bin
+-    NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
++  # bin in installspace
++  set(ROSTEST_EXE "${rostest_DIR}/../../../@(CATKIN_GLOBAL_BIN_DESTINATION)/rostest")
+ @[end if]@
+ 
+   cmake_parse_arguments(_rostest "" "WORKING_DIRECTORY" "ARGS" ${ARGN})
+-- 
+1.8.1.6
+

recipes-ros/ros-comm/message-filters_1.9.47.bb

@@ -7,4 +7,4 @@ DEPENDS = "boost rosconsole roscpp rostest-native rosunit-native xmlrpcpp"
 
 require ros-comm.inc
 
-S = "${WORKDIR}/ros_comm-${PV}/utilities/${ROS_BPN}"
+ROS_PKG_SUBDIR = "utilities"

recipes-ros/ros-comm/ros-comm.inc

@@ -1,5 +1,13 @@
-SRC_URI = "https://github.com/ros/ros_comm/archive/${PV}.tar.gz;downloadfilename=ros_comm-${PV}.tar.gz"
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
 SRC_URI[md5sum] = "2d4b8083abc6598857e01b698f4b0d20"
 SRC_URI[sha256sum] = "44c5a076a604134e44d044e08b2c15b185aefac277b8632b5ca2d011ec8d3da6"
 
+SRC_URI += "file://0001-fix-roslaunch-check-script-in-install-space.patch;patchdir=../.."
+SRC_URI += "file://0002-resolve-roslaunch-rostest-paths-in-installspace-at-r.patch;patchdir=../.."
+
+ROS_PKG_SUBDIR ?= ""
+S = "${WORKDIR}/${ROS_SP}/${ROS_PKG_SUBDIR}/${ROS_BPN}"
+
 inherit catkin
+
+ROS_SPN = "ros_comm"

recipes-ros/ros-comm/rosbag_1.9.47.bb

@@ -8,9 +8,10 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=10;endline=10;md5=d566ef916e9de
 DEPENDS = "boost bzip2 cpp-common python-imaging \
   rosconsole roscpp roscpp-serialization topic-tools \
   xmlrpcpp"
-RDEPENDS_${PN} = "python-compression python-threading python-pyyaml python-io \
-  genmsg genpy roslib rospy"
 
 require ros-comm.inc
 
-S = "${WORKDIR}/ros_comm-${PV}/tools/${BPN}"
+ROS_PKG_SUBDIR = "tools"
+
+RDEPENDS_${PN} = "python-compression python-threading python-pyyaml python-io \
+  genmsg genpy roslib rospy"

recipes-ros/ros-comm/rosconsole_1.9.47.bb

@@ -7,4 +7,4 @@ DEPENDS = "apr boost cpp-common log4cxx rostime rosunit-native"
 
 require ros-comm.inc
 
-S = "${WORKDIR}/ros_comm-${PV}/tools/${BPN}"
+ROS_PKG_SUBDIR = "tools"

recipes-ros/ros-comm/roscpp_1.9.47.bb

@@ -13,8 +13,8 @@ DEPENDS = "\
 
 require ros-comm.inc
 
-SRC_URI += "file://0001-roscpp-do-not-try-to-find-pthread-by-own-methods.patch;striplevel=3"
+SRC_URI += "file://0001-roscpp-do-not-try-to-find-pthread-by-own-methods.patch;patchdir=../.."
 
-S = "${WORKDIR}/ros_comm-${PV}/clients/${BPN}"
+ROS_PKG_SUBDIR = "clients"
 
 CXXFLAGS_append = " -I${OECMAKE_BUILDPATH}/devel/include"

recipes-ros/ros-comm/rosgraph-msgs_1.9.47.bb

@@ -7,4 +7,4 @@ DEPENDS = "message-generation-native message-runtime-native std-msgs roscpp-seri
 
 require ros-comm.inc
 
-S = "${WORKDIR}/ros_comm-${PV}/messages/${ROS_BPN}"
+ROS_PKG_SUBDIR = "messages"

recipes-ros/ros-comm/rosgraph_1.9.47.bb

@@ -8,4 +8,4 @@ RDEPENDS_${PN} = "python-xmlrpc python-threading python-rospkg rospy python-neti
 
 require ros-comm.inc
 
-S = "${WORKDIR}/ros_comm-${PV}/tools/${BPN}"
+ROS_PKG_SUBDIR = "tools"

recipes-ros/ros-comm/roslaunch_1.9.47.bb

@@ -3,6 +3,11 @@ via SSH, as well as setting parameters on the Parameter Server."
 SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=16;endline=16;md5=d566ef916e9dedc494f5f793a6690ba5"
+
+require ros-comm.inc
+
+ROS_PKG_SUBDIR = "tools"
+
 RDEPENDS_${PN} = "\
   coreutils \
   python-textutils \
@@ -20,7 +25,3 @@ RDEPENDS_${PN} = "\
   rosout \
   rosparam \
 "
-
-require ros-comm.inc
-
-S = "${WORKDIR}/ros_comm-${PV}/tools/${BPN}"

recipes-ros/ros-comm/rosmaster_1.9.47.bb

@@ -5,4 +5,4 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=d566ef916e9dedc
 
 require ros-comm.inc
 
-S = "${WORKDIR}/ros_comm-${PV}/tools/${BPN}"
+ROS_PKG_SUBDIR = "tools"

recipes-ros/ros-comm/rosmsg_1.9.47.bb

@@ -7,4 +7,4 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=14;endline=14;md5=d566ef916e9de
 
 require ros-comm.inc
 
-S = "${WORKDIR}/ros_comm-${PV}/tools/${BPN}"
+ROS_PKG_SUBDIR = "tools"

recipes-ros/ros-comm/rosnode_1.9.47.bb

@@ -9,4 +9,4 @@ RDEPENDS_${PN} = "python-io python-xmlrpc rosgraph rostopic"
 
 require ros-comm.inc
 
-S = "${WORKDIR}/ros_comm-${PV}/tools/${BPN}"
+ROS_PKG_SUBDIR = "tools"

recipes-ros/ros-comm/rosout_1.9.47.bb

@@ -7,4 +7,4 @@ DEPENDS = "log4cxx roscpp rosgraph-msgs"
 
 require ros-comm.inc
 
-S = "${WORKDIR}/ros_comm-${PV}/tools/${BPN}"
+ROS_PKG_SUBDIR = "tools"

recipes-ros/ros-comm/rosparam_1.9.47.bb

@@ -6,4 +6,4 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=15;endline=15;md5=d566ef916e9de
 
 require ros-comm.inc
 
-S = "${WORKDIR}/ros_comm-${PV}/tools/${BPN}"
+ROS_PKG_SUBDIR = "tools"

recipes-ros/ros-comm/rospy_1.9.47.bb

@@ -8,4 +8,4 @@ RDEPENDS_${PN} = "std-msgs genpy python-logging python-pyyaml rosgraph roslib ro
 
 require ros-comm.inc
 
-S = "${WORKDIR}/ros_comm-${PV}/clients/${BPN}"
+ROS_PKG_SUBDIR = "clients"

recipes-ros/ros-comm/rosservice_1.9.47.bb

@@ -5,4 +5,4 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=13;endline=13;md5=d566ef916e9de
 
 require ros-comm.inc
 
-S = "${WORKDIR}/ros_comm-${PV}/tools/${BPN}"
+ROS_PKG_SUBDIR = "tools"

recipes-ros/ros-comm/rostest_1.9.47.bb

@@ -8,6 +8,6 @@ DEPENDS_class-native = "boost-native rosunit-native"
 
 require ros-comm.inc
 
-S = "${WORKDIR}/ros_comm-${PV}/tools/${BPN}"
+ROS_PKG_SUBDIR = "tools"
 
 OECMAKE_EXTRA_ROOT_PATH_class-native = "${OECMAKE_BUILDPATH}/devel"

recipes-ros/ros-comm/rostopic_1.9.47.bb

@@ -5,8 +5,9 @@ LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=17;endline=17;md5=d566ef916e9dedc494f5f793a6690ba5"
 
 DEPENDS = "rostest-native"
-RDEPENDS_${PN} = "rosbag"
 
 require ros-comm.inc
 
-S = "${WORKDIR}/ros_comm-${PV}/tools/${BPN}"
+ROS_PKG_SUBDIR = "tools"
+
+RDEPENDS_${PN} = "rosbag"

recipes-ros/ros-comm/roswtf_1.9.47.bb

@@ -7,4 +7,4 @@ DEPENDS = "rostest-native"
 
 require ros-comm.inc
 
-S = "${WORKDIR}/ros_comm-${PV}/utilities/${BPN}"
+ROS_PKG_SUBDIR = "utilities"

recipes-ros/ros-comm/std-srvs_1.9.47.bb

@@ -7,4 +7,4 @@ DEPENDS = "message-generation-native message-runtime-native"
 
 require ros-comm.inc
 
-S = "${WORKDIR}/ros_comm-${PV}/messages/${ROS_BPN}"
+ROS_PKG_SUBDIR = "messages"

recipes-ros/ros-comm/topic-tools_1.9.47.bb

@@ -8,4 +8,4 @@ DEPENDS = "rostest-native rostest roscpp"
 
 require ros-comm.inc
 
-S = "${WORKDIR}/ros_comm-${PV}/tools/${ROS_BPN}"
+ROS_PKG_SUBDIR = "tools"

recipes-ros/ros-comm/xmlrpcpp_1.9.47.bb

@@ -11,4 +11,4 @@ DEPENDS = "cpp-common"
 
 require ros-comm.inc
 
-S = "${WORKDIR}/ros_comm-${PV}/utilities/${BPN}"
+ROS_PKG_SUBDIR = "utilities"

recipes-ros/ros-tutorials/ros-tutorials.inc

@@ -1,7 +1,9 @@
-SRC_URI = "https://github.com/ros/ros_tutorials/archive/${PV}.tar.gz;downloadfilename=ros_tutorials-${PV}.tar.gz;name=archive"
-SRC_URI[archive.md5sum] = "e1763e2ccc91976ac98b07d3f423478d"
-SRC_URI[archive.sha256sum] = "827622a42eb14119c3303665c91635fd4c1eb401e1585a9f1fde819f7651bdbf"
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
+SRC_URI[md5sum] = "e1763e2ccc91976ac98b07d3f423478d"
+SRC_URI[sha256sum] = "827622a42eb14119c3303665c91635fd4c1eb401e1585a9f1fde819f7651bdbf"
 
-S = "${WORKDIR}/ros_tutorials-${PV}/${ROS_BPN}"
+S = "${WORKDIR}/${ROS_SP}/${ROS_BPN}"
 
 inherit catkin
+
+ROS_SPN = "ros_tutorials"

recipes-ros/ros-tutorials/rospy-tutorials/0001-check-for-CATKIN_ENABLE_TESTING.patch

@@ -0,0 +1,65 @@
+From 1e559b3f811a6cf3daac59088d6d86ca1d31b261 Mon Sep 17 00:00:00 2001
+From: Dirk Thomas <dthomas@osrfoundation.org>
+Date: Wed, 3 Jul 2013 11:22:45 -0700
+Subject: [PATCH] check for CATKIN_ENABLE_TESTING
+
+---
+ rospy_tutorials/CMakeLists.txt | 24 +++++++++++++-----------
+ rospy_tutorials/package.xml    |  2 +-
+ 2 files changed, 14 insertions(+), 12 deletions(-)
+
+diff --git a/rospy_tutorials/CMakeLists.txt b/rospy_tutorials/CMakeLists.txt
+index bcd4ddd..b588dfc 100644
+--- a/rospy_tutorials/CMakeLists.txt
++++ b/rospy_tutorials/CMakeLists.txt
+@@ -10,17 +10,6 @@ generate_messages(DEPENDENCIES std_msgs)
+ 
+ catkin_package(CATKIN_DEPENDS message_runtime std_msgs)
+ 
+-foreach(T
+-    test/test-add-two-ints.launch
+-    test/test-peer-subscribe-notify.launch
+-    test/test-add-two-ints-with-roscpp-server.launch
+-    test/test-talker-listener.launch
+-    test/test-talker-listener-with-roscpp.launch
+-    test/test-on-shutdown.launch
+-    test/test-connection-header.launch)
+-  add_rostest(${T})
+-endforeach()
+-
+ # do not wildcard install files since the root folder of the package will contain a debian folder for releasing
+ foreach(T
+     001_talker_listener
+@@ -36,3 +25,16 @@ foreach(T
+     DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+     USE_SOURCE_PERMISSIONS)
+ endforeach()
++
++if(CATKIN_ENABLE_TESTING)
++  foreach(T
++      test/test-add-two-ints.launch
++      test/test-peer-subscribe-notify.launch
++      test/test-add-two-ints-with-roscpp-server.launch
++      test/test-talker-listener.launch
++      test/test-talker-listener-with-roscpp.launch
++      test/test-on-shutdown.launch
++      test/test-connection-header.launch)
++     add_rostest(${T})
++  endforeach()
++endif()
+diff --git a/rospy_tutorials/package.xml b/rospy_tutorials/package.xml
+index 1be85c0..f7517e8 100644
+--- a/rospy_tutorials/package.xml
++++ b/rospy_tutorials/package.xml
+@@ -14,7 +14,7 @@
+   <url type="repository">https://github.com/ros/ros_tutorials</url>
+   <author>Ken Conley</author>
+ 
+-  <buildtool_depend>catkin</buildtool_depend>
++  <buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
+ 
+   <build_depend>message_generation</build_depend>
+   <build_depend>rostest</build_depend>
+-- 
+1.8.1.6
+

recipes-ros/ros-tutorials/rospy-tutorials_0.3.11.bb

@@ -7,6 +7,4 @@ DEPENDS = "message-generation rostest std-msgs cpp-common roscpp-serialization"
 
 require ros-tutorials.inc
 
-SRC_URI += "https://github.com/ros/ros_tutorials/commit/1e559b3f811a6cf3daac59088d6d86ca1d31b261.patch;striplevel=2;name=patch"
-SRC_URI[patch.md5sum] = "c9e4af54266205ad233acc064a456840"
-SRC_URI[patch.sha256sum] = "838ad3cbe2da1c625a44af80c4351f1187478e6ec52adc1c535942337252a719"
+SRC_URI += "file://0001-check-for-CATKIN_ENABLE_TESTING.patch;striplevel=2"

recipes-ros/ros/files/0001-resolve-rosunit-path-in-installspace-at-runtime-with.patch

@@ -0,0 +1,139 @@
+From 7628b0d56df5fec691be9d8f913cf026fb125f6a Mon Sep 17 00:00:00 2001
+From: Dirk Thomas <dthomas@osrfoundation.org>
+Date: Fri, 2 Aug 2013 17:54:03 -0700
+Subject: [PATCH] resolve rosunit path in installspace at runtime without
+ find_program(), update env hooks to use runtime context (ros/catkin#490)
+
+---
+ core/rosbuild/env-hooks/10.rosbuild.sh.em   |  2 +-
+ core/rosbuild/package.xml                   |  2 +-
+ core/roslib/cmake/roslib-extras.cmake.em    |  2 +-
+ core/roslib/env-hooks/10.ros.sh.em          |  2 +-
+ core/roslib/package.xml                     |  2 +-
+ tools/rosbash/env-hooks/15.rosbash.bash.em  |  2 +-
+ tools/rosbash/package.xml                   |  2 +-
+ tools/rosunit/cmake/rosunit-extras.cmake.em | 22 ++++++----------------
+ 8 files changed, 13 insertions(+), 23 deletions(-)
+
+diff --git a/core/rosbuild/env-hooks/10.rosbuild.sh.em b/core/rosbuild/env-hooks/10.rosbuild.sh.em
+index af16b15..ebbfb0f 100644
+--- a/core/rosbuild/env-hooks/10.rosbuild.sh.em
++++ b/core/rosbuild/env-hooks/10.rosbuild.sh.em
+@@ -5,5 +5,5 @@
+ export ROS_ROOT="@(CMAKE_CURRENT_SOURCE_DIR)"
+ @[else]@
+ # env variables in installspace
+-export ROS_ROOT="@(CMAKE_INSTALL_PREFIX)/@(CATKIN_GLOBAL_SHARE_DESTINATION)/ros"
++export ROS_ROOT="$CATKIN_ENV_HOOK_WORKSPACE/@(CATKIN_GLOBAL_SHARE_DESTINATION)/ros"
+ @[end if]@
+diff --git a/core/rosbuild/package.xml b/core/rosbuild/package.xml
+index f96160a..d0c8836 100644
+--- a/core/rosbuild/package.xml
++++ b/core/rosbuild/package.xml
+@@ -12,7 +12,7 @@
+   <author>Troy Straszheim</author>
+   <author>Morgan Quigley</author>
+ 
+-  <buildtool_depend>catkin</buildtool_depend>
++  <buildtool_depend version_gte="0.5.72">catkin</buildtool_depend>
+ 
+   <build_depend>pkg-config</build_depend>
+ 
+diff --git a/core/roslib/cmake/roslib-extras.cmake.em b/core/roslib/cmake/roslib-extras.cmake.em
+index bf4742b..cf4ccb5 100644
+--- a/core/roslib/cmake/roslib-extras.cmake.em
++++ b/core/roslib/cmake/roslib-extras.cmake.em
+@@ -5,5 +5,5 @@
+ set(gendeps_exe @(CMAKE_CURRENT_SOURCE_DIR)/scripts/gendeps)
+ @[else]@
+ # set path to gendeps executable in installspace
+-set(gendeps_exe @(CMAKE_INSTALL_PREFIX)/lib/roslib/gendeps)
++set(gendeps_exe ${genlib_DIR}/../../../@(CATKIN_PACKAGE_BIN_DESTINATION)/gendeps)
+ @[end if]@
+diff --git a/core/roslib/env-hooks/10.ros.sh.em b/core/roslib/env-hooks/10.ros.sh.em
+index 39cde1b..bf4c0a2 100644
+--- a/core/roslib/env-hooks/10.ros.sh.em
++++ b/core/roslib/env-hooks/10.ros.sh.em
+@@ -37,7 +37,7 @@ export ROS_PACKAGE_PATH="`python -c \"$PYTHON_CODE_BUILD_ROS_PACKAGE_PATH\"`"
+ export ROS_ETC_DIR="@(CATKIN_DEVEL_PREFIX)/@(CATKIN_GLOBAL_ETC_DESTINATION)/ros"
+ @[else]@
+ # env variables in installspace
+-export ROS_ETC_DIR="@(CMAKE_INSTALL_PREFIX)/@(CATKIN_GLOBAL_ETC_DESTINATION)/ros"
++export ROS_ETC_DIR="$CATKIN_ENV_HOOK_WORKSPACE/@(CATKIN_GLOBAL_ETC_DESTINATION)/ros"
+ @[end if]@
+ 
+ # unset ROS workspace
+diff --git a/core/roslib/package.xml b/core/roslib/package.xml
+index 5e17842..9f2dc3e 100644
+--- a/core/roslib/package.xml
++++ b/core/roslib/package.xml
+@@ -13,7 +13,7 @@
+   <author email="mquigley@cs.stanford.edu">Morgan Quigley</author>
+   <author email="jfaust@willowgarage.com">Josh Faust</author>
+ 
+-  <buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
++  <buildtool_depend version_gte="0.5.72">catkin</buildtool_depend>
+ 
+   <build_depend>boost</build_depend>
+   <build_depend>rospack</build_depend>
+diff --git a/tools/rosbash/env-hooks/15.rosbash.bash.em b/tools/rosbash/env-hooks/15.rosbash.bash.em
+index 0430caf..07bd623 100644
+--- a/tools/rosbash/env-hooks/15.rosbash.bash.em
++++ b/tools/rosbash/env-hooks/15.rosbash.bash.em
+@@ -3,5 +3,5 @@
+ @[if DEVELSPACE]@
+ . "@(CMAKE_CURRENT_SOURCE_DIR)/rosbash"
+ @[else]@
+-. "@(CMAKE_INSTALL_PREFIX)/share/rosbash/rosbash"
++. "$CATKIN_ENV_HOOK_WORKSPACE/share/rosbash/rosbash"
+ @[end if]@
+diff --git a/tools/rosbash/package.xml b/tools/rosbash/package.xml
+index 50b969a..6642437 100644
+--- a/tools/rosbash/package.xml
++++ b/tools/rosbash/package.xml
+@@ -11,7 +11,7 @@
+   <author>Jeremy Leibs</author>
+   <author>Thibault Kruse</author>
+ 
+-  <buildtool_depend>catkin</buildtool_depend>
++  <buildtool_depend version_gte="0.5.72">catkin</buildtool_depend>
+ 
+   <run_depend>catkin</run_depend>
+ </package>
+diff --git a/tools/rosunit/cmake/rosunit-extras.cmake.em b/tools/rosunit/cmake/rosunit-extras.cmake.em
+index 47bd120..aad1a22 100644
+--- a/tools/rosunit/cmake/rosunit-extras.cmake.em
++++ b/tools/rosunit/cmake/rosunit-extras.cmake.em
+@@ -2,23 +2,13 @@ include(CMakeParseArguments)
+ 
+ macro(rosunit_initialize_tests)
+ @[if DEVELSPACE]@
+-  # find binary and scripts in develspace
+-  find_program(ROSUNIT_EXE rosunit
+-    PATHS "@(PROJECT_SOURCE_DIR)/scripts"
+-    NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
+-  if(NOT ROSUNIT_EXE)
+-    message(FATAL_ERROR "'rosunit' not found")
+-  endif()
+-  set(ROSUNIT_SCRIPTS_DIR @(PROJECT_SOURCE_DIR)/scripts)
++  # binary and script in develspace
++  set(ROSUNIT_SCRIPTS_DIR "@(CMAKE_CURRENT_SOURCE_DIR)/scripts")
++  set(ROSUNIT_EXE "${ROSUNIT_SCRIPTS_DIR}/rosunit")
+ @[else]@
+-  # find binary and scripts in installspace
+-  find_program(ROSUNIT_EXE rosunit
+-    PATHS "@(CMAKE_INSTALL_PREFIX)/bin"
+-    NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
+-  if(NOT ROSUNIT_EXE)
+-    message(FATAL_ERROR "'rosunit' not found")
+-  endif()
+-  set(ROSUNIT_SCRIPTS_DIR @(CMAKE_INSTALL_PREFIX)/@(CATKIN_PACKAGE_SHARE_DESTINATION)/scripts)
++  # binary and script in installspace
++  set(ROSUNIT_SCRIPTS_DIR "${rosunit_DIR}/../scripts")
++  set(ROSUNIT_EXE "${rosunit_DIR}/../../../@(CATKIN_GLOBAL_BIN_DESTINATION)/rosunit")
+ @[end if]@
+ endmacro()
+ 
+-- 
+1.8.1.6
+

recipes-ros/ros/mk_1.10.4.bb

@@ -5,4 +5,4 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=10;endline=10;md5=d566ef916e9de
 
 require ros.inc
 
-S = "${WORKDIR}/ros-${PV}/core/${BPN}"
+ROS_PKG_SUBDIR = "core"

recipes-ros/ros/ros.inc

@@ -1,5 +1,12 @@
-SRC_URI = "https://github.com/ros/ros/archive/${PV}.tar.gz;downloadfilename=ros_${PV}.tar.gz"
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
 SRC_URI[md5sum] = "26ad8652a18bc11b530b0054bbb204b3"
 SRC_URI[sha256sum] = "ae3b8db6bf26867c38b1215e1e014616f00a396847fea31df64da63d2eac6ef2"
 
+SRC_URI += "file://0001-resolve-rosunit-path-in-installspace-at-runtime-with.patch;patchdir=../.."
+
+ROS_PKG_SUBDIR ?= ""
+S = "${WORKDIR}/${ROS_SP}/${ROS_PKG_SUBDIR}/${ROS_BPN}"
+
 inherit catkin
+
+ROS_SPN = "ros"

recipes-ros/ros/rosbash_1.10.4.bb

@@ -5,6 +5,6 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=d566ef916e9dedc
 
 require ros.inc
 
-RDEPENDS_${PN} = "bash findutils"
+ROS_PKG_SUBDIR = "tools"
 
-S = "${WORKDIR}/ros-${PV}/tools/${BPN}"
+RDEPENDS_${PN} = "bash findutils"

recipes-ros/ros/rosboost-cfg_1.10.4.bb

@@ -5,4 +5,4 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=d566ef916e9dedc
 
 require ros.inc
 
-S = "${WORKDIR}/ros-${PV}/tools/${ROS_BPN}"
+ROS_PKG_SUBDIR = "tools"

recipes-ros/ros/rosbuild_1.10.4.bb

@@ -5,4 +5,4 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=d566ef916e9dedc
 
 require ros.inc
 
-S = "${WORKDIR}/ros-${PV}/core/${BPN}"
+ROS_PKG_SUBDIR = "core"

recipes-ros/ros/rosclean_1.10.4.bb

@@ -5,4 +5,4 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=d566ef916e9dedc
 
 require ros.inc
 
-S = "${WORKDIR}/ros-${PV}/tools/${BPN}"
+ROS_PKG_SUBDIR = "tools"

recipes-ros/ros/roscreate_1.10.4.bb

@@ -5,4 +5,4 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=10;endline=10;md5=d566ef916e9de
 
 require ros.inc
 
-S = "${WORKDIR}/ros-${PV}/tools/${BPN}"
+ROS_PKG_SUBDIR = "tools"

recipes-ros/ros/roslang_1.10.4.bb

@@ -5,4 +5,4 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=9;endline=9;md5=d566ef916e9dedc
 
 require ros.inc
 
-S = "${WORKDIR}/ros-${PV}/core/${BPN}"
+ROS_PKG_SUBDIR = "core"

recipes-ros/ros/roslib_1.10.4.bb

@@ -4,8 +4,9 @@ LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=9;endline=9;md5=d566ef916e9dedc494f5f793a6690ba5"
 
 DEPENDS = "boost rospack-native rospack"
-RDEPENDS_${PN} = "python-rospkg catkin"
 
 require ros.inc
 
-S = "${WORKDIR}/ros-${PV}/core/${BPN}"
+ROS_PKG_SUBDIR = "core"
+
+RDEPENDS_${PN} = "python-rospkg catkin"

recipes-ros/ros/rosmake_1.10.4.bb

@@ -5,4 +5,4 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=9;endline=9;md5=d566ef916e9dedc
 
 require ros.inc
 
-S = "${WORKDIR}/ros-${PV}/tools/${BPN}"
+ROS_PKG_SUBDIR = "tools"

recipes-ros/ros/rosunit/0001-rosunit-extras.cmake.em-remove-NO_CMAKE_FIND_ROOT_PA.patch

@@ -1,25 +0,0 @@
-From 2dc8c3356e38a9b6343c362f70c0cf900ed51296 Mon Sep 17 00:00:00 2001
-From: Stefan Herbrechtsmeier <stefan@herbrechtsmeier.net>
-Date: Thu, 21 Feb 2013 10:33:19 +0100
-Subject: [PATCH] rosunit-extras.cmake.em: remove NO_CMAKE_FIND_ROOT_PATH from find_program
-
----
- tools/rosunit/cmake/rosunit-extras.cmake.em |    2 +-
- 1 files changed, 1 insertions(+), 1 deletions(-)
-
-diff --git a/tools/rosunit/cmake/rosunit-extras.cmake.em b/tools/rosunit/cmake/rosunit-extras.cmake.em
-index 4b9bb0d..30db4d1 100644
---- a/tools/rosunit/cmake/rosunit-extras.cmake.em
-+++ b/tools/rosunit/cmake/rosunit-extras.cmake.em
-@@ -14,7 +14,7 @@ macro(rosunit_initialize_tests)
-   # find binary and scripts in installspace
-   find_program(ROSUNIT_EXE rosunit
-     PATHS "@(CMAKE_INSTALL_PREFIX)/bin"
--    NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
-+    NO_DEFAULT_PATH)
-   if(NOT ROSUNIT_EXE)
-     message(FATAL_ERROR "'rosunit' not found")
-   endif()
--- 
-1.7.0.4
-

recipes-ros/ros/rosunit_1.10.4.bb

@@ -5,6 +5,4 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=d566ef916e9dedc
 
 require ros.inc
 
-SRC_URI += "file://0001-rosunit-extras.cmake.em-remove-NO_CMAKE_FIND_ROOT_PA.patch;striplevel=3"
-
-S = "${WORKDIR}/ros-${PV}/tools/${BPN}"
+ROS_PKG_SUBDIR = "tools"

recipes-ros/roscpp-core/roscpp-core.inc

@@ -1,7 +1,9 @@
-SRC_URI = "https://github.com/ros/roscpp_core/archive/${PV}.tar.gz;downloadfilename=rosscpp_core-${PV}.tar.gz"
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
 SRC_URI[md5sum] = "d02c9d1270d1f68487944fb0e76adcb7"
 SRC_URI[sha256sum] = "805b08c5b7044dd93bfaf4a0dd5807b391d1d86db9f6d143f9946b5528500eda"
 
-S = "${WORKDIR}/roscpp_core-${PV}/${ROS_BPN}"
+S = "${WORKDIR}/${ROS_SP}/${ROS_BPN}"
 
 inherit catkin
+
+ROS_SPN = "roscpp_core"

recipes-ros/rospack/rospack_2.1.21.bb

@@ -4,10 +4,11 @@ LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=6;endline=6;md5=d566ef916e9dedc494f5f793a6690ba5"
 
 DEPENDS = "boost python-rospkg-native libtinyxml"
-RDEPENDS_${PN} = "python-rosdep python-subprocess"
 
-SRC_URI = "https://github.com/ros/${BPN}/archive/${PV}.tar.gz;downloadfilename=${BP}.tar.gz"
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
 SRC_URI[md5sum] = "0bb1d12a115b7902d5b1f8546d63cdf8"
 SRC_URI[sha256sum] = "43a7e64015c4e28fbfda071dcb9451a6ac0443df75242a32c23cfda68d230f93"
 
 inherit catkin
+
+RDEPENDS_${PN} = "python-rosdep python-subprocess"

recipes-ros/std-msgs/std-msgs_0.5.7.bb

@@ -6,10 +6,10 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=9;endline=9;md5=5ee5b8b046ae48a
 
 DEPENDS = "message-generation-native message-runtime-native"
 
-SRC_URI = "https://github.com/ros/${ROS_BPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_BP}.tar.gz"
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
 SRC_URI[md5sum] = "ea40e6dd8ea19fe54a2b476358c0ceea"
 SRC_URI[sha256sum] = "acc3d6aed8ede795e4bc6676c1849924699a418769b3d29016a9a2ac08319a56"
 
-S = "${WORKDIR}/${ROS_BP}"
+S = "${WORKDIR}/${ROS_SP}"
 
 inherit catkin