diff --git a/classes/catkin.bbclass b/classes/catkin.bbclass
new file mode 100644
index 0000000..47f396a
--- /dev/null
+++ b/classes/catkin.bbclass
@@ -0,0 +1,49 @@
+#
+# Copyright (c) 2013 Stefan Herbrechtsmeier, Bielefeld University
+# 
+
+inherit cmake distutils-base
+
+DEPENDS_prepend = "${@['catkin-native ', ''][d.getVar('BPN', True) == 'catkin']}"
+
+
+EXTRA_OECMAKE_CATKIN = "\
+    -DCMAKE_PREFIX_PATH='${STAGING_DIR_HOST}/usr;${STAGING_DIR_NATIVE}/usr' \
+    "
+
+EXTRA_OECMAKE_CATKIN_class-native = "\
+    -DCMAKE_PREFIX_PATH=${STAGING_DIR_NATIVE}/usr \
+    -DRT_LIBRARY=${libdir_native} \
+    "
+
+EXTRA_OECMAKE_prepend = "\
+    ${EXTRA_OECMAKE_CATKIN} \
+    -DCATKIN_BUILD_BINARY_PACKAGE=ON \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    "
+
+export BUILD_SYS
+export HOST_SYS
+
+FILES_SOLIBSDEV = ""
+FILES_${PN} += "${libdir}/lib*${SOLIBSDEV}"
+
+ROS_BPN = "${@d.getVar('BPN', True).replace('-', '_')}"
+ROS_BP = "${BPN}-${PV}"
+
+FILES_${PN} += "\
+    ${prefix}/etc \
+    ${datadir}/${BPN}/conf \
+    ${datadir}/${BPN}/scripts \
+    ${datadir}/${ROS_BPN}/conf \
+    ${datadir}/${ROS_BPN}/scripts \
+    "
+
+FILES_${PN}-dev += "\
+    ${datadir}/${BPN}/cmake \
+    ${datadir}/${BPN}/package.xml \
+    ${datadir}/${BPN}/*.template \
+    ${datadir}/${ROS_BPN}/cmake \
+    ${datadir}/${ROS_BPN}/package.xml \
+    ${datadir}/${ROS_BPN}/*.template \
+    "