diff --git a/README.md b/README.md
index 2929d8a..07cf649 100644
--- a/README.md
+++ b/README.md
@@ -126,10 +126,13 @@ Currently, this layer is still under continuous development.
 
   to the /etc/hosts file, and set up the environment with
 
-    export ROS_ROOT=/usr
+    export ROS_ROOT=/opt/ros/hydro
+    export PATH=$PATH:/opt/ros/hydro/bin
+    export LD_LIBRARY_PATH=/opt/ros/hydro/lib
+    export PYTHONPATH=/opt/ros/hydro/lib/python2.7/site-packages
     export ROS_MASTER_URI=http://localhost:11311
-    export CMAKE_PREFIX_PATH=/usr
-    touch /usr/.catkin
+    export CMAKE_PREFIX_PATH=/opt/ros/hydro
+    touch /opt/ros/hydro/.catkin
 
   Finally, you can start roscore with
 
diff --git a/classes/catkin.bbclass b/classes/catkin.bbclass
index 5286c4e..b22b19e 100644
--- a/classes/catkin.bbclass
+++ b/classes/catkin.bbclass
@@ -7,11 +7,13 @@ inherit cmake distutils-base ros faulty-solibs
 DEPENDS_prepend = "${@['catkin-native ', ''][d.getVar('BPN', True) == 'catkin']}"
 
 EXTRA_OECMAKE_CATKIN = "\
-    -DCMAKE_PREFIX_PATH='${STAGING_DIR_HOST}/usr;${STAGING_DIR_NATIVE}/usr' \
+    -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}' \
     "
 
 EXTRA_OECMAKE_CATKIN_class-native = "\
-    -DCMAKE_PREFIX_PATH=${STAGING_DIR_NATIVE}/usr \
+    -DCMAKE_PREFIX_PATH='${ros_prefix}' \
+    -DCMAKE_INSTALL_PREFIX:PATH='${ros_prefix}' \
     -DRT_LIBRARY=${libdir_native} \
     "
 
@@ -29,7 +31,6 @@ export BUILD_SYS
 export HOST_SYS
 
 SYSROOT_PREPROCESS_FUNCS += "catkin_sysroot_preprocess"
-
 catkin_sysroot_preprocess () {
-    sysroot_stage_dir ${D}${prefix}/etc ${SYSROOT_DESTDIR}${prefix}/etc
+    sysroot_stage_dir ${D}${ros_sysconfdir} ${SYSROOT_DESTDIR}${ros_sysconfdir}
 }
diff --git a/classes/ros.bbclass b/classes/ros.bbclass
index 4e181ba..3b016a4 100644
--- a/classes/ros.bbclass
+++ b/classes/ros.bbclass
@@ -7,20 +7,55 @@ ROS_BPN = "${@d.getVar('BPN', True).replace('-', '_')}"
 ROS_SPN ?= "${ROS_BPN}"
 ROS_SP = "${ROS_SPN}-${PV}"
 
+export ros_prefix = "/opt/ros/${ROSDISTRO}"
+ros_prefix_virtclass-native = "${STAGING_DIR_NATIVE}/opt/ros/${ROSDISTRO}"
+
+export ros_bindir = "${ros_prefix}/bin"
+export ros_libdir = "${ros_prefix}/${baselib}"
+export ros_libexecdir = "${ros_libdir}/${ROS_BPN}"
+export ros_includedir = "${ros_prefix}/include"
+export ros_datadir = "${ros_prefix}/share"
+export ros_sysconfdir = "${ros_prefix}/etc"
+export ros_stacksdir = "${ros_prefix}/stacks"
+
+PREPROCESS_RELOCATE_DIRS += " \
+    ${ros_bindir} \
+    ${ros_libdir} \
+"
+
+PKG_CONFIG_PATH .= ":${PKG_CONFIG_DIR}:${STAGING_DIR_HOST}${ros_libdir}/pkgconfig:${STAGING_DATADIR}/pkgconfig"
+PYTHON_SITEPACKAGES_DIR = "${ros_libdir}/${PYTHON_DIR}/site-packages"
+export PYTHONPATH = "${STAGING_DIR_NATIVE}${PYTHON_SITEPACKAGES_DIR}"
+PYTHONPATH_virtclass-native = "${PYTHON_SITEPACKAGES_DIR}"
+
 FILES_${PN} += "\
-    ${prefix}/etc \
-    ${datadir}/ros/config/${ROS_BPN}.config \
-    ${datadir}/ros/core/${ROS_BPN} \
-    ${datadir}/${ROS_BPN} \
+    ${ros_bindir}/* ${ros_libexecdir}/* ${ros_libdir}/lib*.so \
+    ${PYTHON_SITEPACKAGES_DIR} \
+    ${ros_datadir} \
+    ${ros_sysconfdir} \
+    ${ros_stacksdir} \
     "
 
 FILES_${PN}-dev += "\
+    ${ros_includedir} \
+    ${ros_libdir}/pkgconfig \
+    ${PYTHON_SITEPACKAGES_DIR}/*.la \
+    ${ros_datadir}/${ROS_BPN}/cmake \
     ${datadir}/${ROS_BPN}/cmake \
     ${datadir}/${ROS_BPN}/*.template \
     "
 
 FILES_${PN}-dbg += "\
-    ${libdir}/${ROS_BPN}/.debug/* \
+    ${ros_bindir}/.debug ${ros_libexecdir}/.debug ${ros_libdir}/.debug \
+    ${ros_datadir}/*/bin/.debug \
+    ${PYTHON_SITEPACKAGES_DIR}/.debug \
+    ${PYTHON_SITEPACKAGES_DIR}/*/.debug \
+    ${PYTHON_SITEPACKAGES_DIR}/*/*/.debug \
+    "
+
+FILES_${PN}-staticdev += "\
+    ${ros_libdir}/*.a \
+    ${ros_libdir}/${BPN}/*.a \
     "
 
 PACKAGES += "${PN}-commonlisp"
@@ -28,3 +63,19 @@ PACKAGES += "${PN}-commonlisp"
 FILES_${PN}-commonlisp += " \
     ${datadir}/common-lisp/ \
     "
+
+SYSROOT_PREPROCESS_FUNCS += "ros_sysroot_preprocess"
+ros_sysroot_preprocess () {
+    sysroot_stage_dir ${D}${ros_includedir} ${SYSROOT_DESTDIR}${ros_includedir}
+    if [ "${BUILD_SYS}" = "${HOST_SYS}" ]; then
+        sysroot_stage_dir ${D}${ros_bindir} ${SYSROOT_DESTDIR}${ros_bindir}
+        sysroot_stage_dir ${D}${ros_sysconfdir} ${SYSROOT_DESTDIR}${ros_sysconfdir}
+    fi
+    if [ -d ${D}${ros_libdir} ]; then
+        sysroot_stage_libdir ${D}${ros_libdir} ${SYSROOT_DESTDIR}${ros_libdir}
+    fi
+    sysroot_stage_dir ${D}${ros_datadir} ${SYSROOT_DESTDIR}${ros_datadir}
+    if [ -d ${D}${ros_stacksdir} ]; then
+        sysroot_stage_dir ${D}${ros_stacksdir} ${SYSROOT_DESTDIR}${ros_stacksdir}
+    fi
+}
diff --git a/conf/layer.conf b/conf/layer.conf
index 6ef59ea..6bcc666 100644
--- a/conf/layer.conf
+++ b/conf/layer.conf
@@ -9,3 +9,5 @@ BBFILE_PATTERN_ros-layer := "^${LAYERDIR}/"
 BBFILE_PRIORITY_ros-layer = "7"
 
 LICENSE_PATH += "${LAYERDIR}/licenses"
+
+ROSDISTRO := "hydro"
diff --git a/recipes-ros/geometry-experimental/tf2-py_0.4.11.bb b/recipes-ros/geometry-experimental/tf2-py_0.4.11.bb
index 52d2a6d..75b6f2f 100644
--- a/recipes-ros/geometry-experimental/tf2-py_0.4.11.bb
+++ b/recipes-ros/geometry-experimental/tf2-py_0.4.11.bb
@@ -5,4 +5,8 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=14;endline=14;md5=d566ef916e9de
 
 DEPENDS = "rospy tf2"
 
+EXTRA_OECMAKE += "\
+    -DCMAKE_SKIP_RPATH=ON \
+    "
+
 require geometry-experimental.inc
diff --git a/recipes-ros/ros-realtime-tests/communication-tests_0.1.2.bb b/recipes-ros/ros-realtime-tests/communication-tests_0.1.3.bb
similarity index 100%
rename from recipes-ros/ros-realtime-tests/communication-tests_0.1.2.bb
rename to recipes-ros/ros-realtime-tests/communication-tests_0.1.3.bb
diff --git a/recipes-ros/ros-realtime-tests/cyclic-timer-tests_0.1.2.bb b/recipes-ros/ros-realtime-tests/cyclic-timer-tests_0.1.3.bb
similarity index 100%
rename from recipes-ros/ros-realtime-tests/cyclic-timer-tests_0.1.2.bb
rename to recipes-ros/ros-realtime-tests/cyclic-timer-tests_0.1.3.bb
diff --git a/recipes-ros/ros-realtime-tests/oneshot-timer-tests_0.1.2.bb b/recipes-ros/ros-realtime-tests/oneshot-timer-tests_0.1.3.bb
similarity index 100%
rename from recipes-ros/ros-realtime-tests/oneshot-timer-tests_0.1.2.bb
rename to recipes-ros/ros-realtime-tests/oneshot-timer-tests_0.1.3.bb
diff --git a/recipes-ros/ros-realtime-tests/ros-realtime-tests.inc b/recipes-ros/ros-realtime-tests/ros-realtime-tests.inc
index d525f0a..9a2714d 100644
--- a/recipes-ros/ros-realtime-tests/ros-realtime-tests.inc
+++ b/recipes-ros/ros-realtime-tests/ros-realtime-tests.inc
@@ -1,6 +1,6 @@
 SRC_URI = "https://github.com/bmwcarit/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
-SRC_URI[md5sum] = "8fbf5ff2bd671584da27272d45e11bc9"
-SRC_URI[sha256sum] = "0b36c6ee0035ab8c5c5e048d6a66bd83a55bcfe1d8ec6150fa8e62cab9fc4c4d"
+SRC_URI[md5sum] = "350c87a343c6657bc1516b4c7437a6c0"
+SRC_URI[sha256sum] = "2c6f17e4f84ef0f9663d0ced05417501dc770961951e4cd13871b75adbb8c72a"
 
 S = "${WORKDIR}/${ROS_SP}/${ROS_BPN}"
 
diff --git a/recipes-ros/ros-realtime-tests/rt-tests-support_0.1.2.bb b/recipes-ros/ros-realtime-tests/rt-tests-support_0.1.3.bb
similarity index 100%
rename from recipes-ros/ros-realtime-tests/rt-tests-support_0.1.2.bb
rename to recipes-ros/ros-realtime-tests/rt-tests-support_0.1.3.bb