diff --git a/README.md b/README.md
index e7da834..4a3ae81 100644
--- a/README.md
+++ b/README.md
@@ -86,6 +86,12 @@ resolved in the past.
   branch: master  
   revision: HEAD  
 
+  **meta-intel-realsense** (since 4a5ba0f20094dd3d07c0a0c1dede2ba40e9d6abf)
+  URI: https://github.com/IntelRealSense/meta-intel-realsense
+  branch: master
+  revision: HEAD
+  This layer is required only if you need to build realsense-camera driver.
+
   **bitbake** > 1.20
 
 
diff --git a/recipes-extended/librealsense/librealsense_1.11.2.bb b/recipes-extended/librealsense/librealsense_1.11.2.bb
deleted file mode 100644
index 960739e..0000000
--- a/recipes-extended/librealsense/librealsense_1.11.2.bb
+++ /dev/null
@@ -1,14 +0,0 @@
-DESCRIPTION = "Cross-platform camera capture for Intel® RealSense™ F200, SR300 and R200"
-LICENSE = "Apache-2.0"
-LIC_FILES_CHKSUM = "file://LICENSE;md5=3b83ef96387f14655fc854ddc3c6bd57"
-
-SRC_URI = "https://github.com/IntelRealSense/librealsense/archive/v${PV}.tar.gz"
-SRC_URI[md5sum] = "27ce627c02731623c23894baeb73b2b1"
-
-EXTRA_OECMAKE_prepend = "\
-    -DROS_BUILD_TYPE=TRUE \
-    "
-
-DEPENDS = "libusb1"
-
-inherit catkin
diff --git a/recipes-extended/realsense-camera/realsense-camera/0001-Add-option-to-link-against-non-catkin-librealsense.patch b/recipes-extended/realsense-camera/realsense-camera/0001-Add-option-to-link-against-non-catkin-librealsense.patch
new file mode 100644
index 0000000..20d649a
--- /dev/null
+++ b/recipes-extended/realsense-camera/realsense-camera/0001-Add-option-to-link-against-non-catkin-librealsense.patch
@@ -0,0 +1,96 @@
+From abaadefbb17d7ecebd5c4081122621f524a92b07 Mon Sep 17 00:00:00 2001
+From: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>
+Date: Wed, 15 Feb 2017 10:44:55 +0200
+Subject: [PATCH 1/2] Add option to link against non-catkin librealsense
+
+In OpenEmbedded setups where both meta-ros and
+meta-intel-realsense layers are used it's problematic
+to avoid two copies of librealsense installed onto
+an embedded target: one catkit-based installed under
+/opt/ros and one other installed to a standard system
+location.
+
+This patch adds an option making realsense_camera link
+against librealsense provided by the host system.
+
+By default the currently existing behavior is preserved.
+
+Upstream-Status: Submitted [https://github.com/intel-ros/realsense/pull/204]
+
+Signed-off-by: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>
+---
+ CMakeLists.txt | 37 ++++++++++++++++++++++++++++++-------
+ 1 file changed, 30 insertions(+), 7 deletions(-)
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 796da59..ae10f84 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -14,8 +14,9 @@ set(CMAKE_EXE_LINKER_FLAGS "-pie -z noexecstack -z relro -z now")
+ # Flags shared libraries
+ set(CMAKE_SHARED_LINKER_FLAGS "-z noexecstack -z relro -z now ${CMAKE_SHARED_LINKER_FLAGS}")
+ 
+-find_package(catkin REQUIRED COMPONENTS
+-  librealsense
++option(USE_SYSTEM_LIBREALSENSE "Build realsense_camera against system librealsense, not the one built with catkin" OFF)
++
++set(REALSENSE_CATKIN_BASED_DEPS
+   dynamic_reconfigure
+   roscpp
+   nodelet
+@@ -30,6 +31,16 @@ find_package(catkin REQUIRED COMPONENTS
+   roslint
+ )
+ 
++if(USE_SYSTEM_LIBREALSENSE)
++  find_package(realsense REQUIRED)
++else()
++  list(APPEND REALSENSE_CATKIN_BASED_DEPS librealsense)
++endif()
++
++find_package(catkin REQUIRED COMPONENTS
++  ${REALSENSE_CATKIN_BASED_DEPS}
++)
++
+ add_message_files(
+   FILES
+   IMUInfo.msg
+@@ -71,11 +82,20 @@ roslint_add_test()
+ # LIBRARIES: libraries you create in this project that dependent projects also need
+ # CATKIN_DEPENDS: catkin_packages dependent projects also need
+ # DEPENDS: system dependencies of this project that dependent projects also need
+-catkin_package(
+-  INCLUDE_DIRS include
+-  CATKIN_DEPENDS librealsense std_msgs message_runtime sensor_msgs
+-  LIBRARIES ${PROJECT_NAME}_nodelet
+-)
++if(USE_SYSTEM_LIBREALSENSE)
++  catkin_package(
++    INCLUDE_DIRS include
++    CATKIN_DEPENDS std_msgs message_runtime sensor_msgs
++    DEPENDS realsense
++    LIBRARIES ${PROJECT_NAME}_nodelet
++  )
++else()
++  catkin_package(
++    INCLUDE_DIRS include
++    CATKIN_DEPENDS std_msgs message_runtime sensor_msgs librealsense
++    LIBRARIES ${PROJECT_NAME}_nodelet
++  )
++endif()
+ 
+ # Specify additional locations of header files
+ include_directories(
+@@ -93,6 +113,9 @@ add_dependencies(${PROJECT_NAME}_nodelet ${catkin_EXPORTED_TARGETS})
+ 
+ add_executable(get_debug_info src/get_debug_info.cpp)
+ target_link_libraries(get_debug_info ${catkin_LIBRARIES})
++if(USE_SYSTEM_LIBREALSENSE)
++  target_link_libraries(get_debug_info PRIVATE realsense::realsense)
++endif()
+ 
+ if (CATKIN_ENABLE_TESTING)
+   find_package(rostest REQUIRED)
+-- 
+2.7.4
+
diff --git a/recipes-extended/realsense-camera/realsense-camera/0001-realsense-camera-don-t-ignore-linker-flags-set-by-us.patch b/recipes-extended/realsense-camera/realsense-camera/0001-realsense-camera-don-t-ignore-linker-flags-set-by-us.patch
deleted file mode 100644
index 6f45adc..0000000
--- a/recipes-extended/realsense-camera/realsense-camera/0001-realsense-camera-don-t-ignore-linker-flags-set-by-us.patch
+++ /dev/null
@@ -1,37 +0,0 @@
-From 6eac973eb36a6f10dd7278b6bc3798a216e52e16 Mon Sep 17 00:00:00 2001
-From: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>
-Date: Mon, 12 Dec 2016 11:11:58 +0200
-Subject: [PATCH] realsense-camera: don't ignore linker flags set by user
-
-Yocto's bitbake sets global LDFLAGS that include the option
---hash-style=gnu. If this option is ignored then bitbake's
-QA checks report that
-
-QA Issue: No GNU_HASH in the elf binary: '/[...]/opt/ros/indigo/lib/librealsense_camera_nodelet.so' [ldflags]
-
-The patch includes user defined linker flags to
-CMAKE_SHARED_LINKER_FLAGS defined in the project's CMakeList.txt.
-
-Upstream-Status: Submitted [https://github.com/intel-ros/realsense/pull/162]
-
-Signed-off-by: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>
----
- realsense_camera/CMakeLists.txt | 2 +-
- 1 file changed, 1 insertion(+), 1 deletion(-)
-
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index c5cfffe..307fd97 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -12,7 +12,7 @@ set(CMAKE_CXX_FLAGS "-fPIE -fPIC -std=c++11 -O2 -D_FORTIFY_SOURCE=2 -fstack-prot
- # Flags executables
- set(CMAKE_EXE_LINKER_FLAGS "-pie -z noexecstack -z relro -z now")
- # Flags shared libraries
--set(CMAKE_SHARED_LINKER_FLAGS "-z noexecstack -z relro -z now")
-+set(CMAKE_SHARED_LINKER_FLAGS "-z noexecstack -z relro -z now ${CMAKE_SHARED_LINKER_FLAGS}")
- 
- find_package(catkin REQUIRED COMPONENTS
-   librealsense
--- 
-2.7.4
-
diff --git a/recipes-extended/realsense-camera/realsense-camera/0002-Enable-roslint-when-CATKIN_ENABLE_TESTING-is-True.patch b/recipes-extended/realsense-camera/realsense-camera/0002-Enable-roslint-when-CATKIN_ENABLE_TESTING-is-True.patch
new file mode 100644
index 0000000..597031a
--- /dev/null
+++ b/recipes-extended/realsense-camera/realsense-camera/0002-Enable-roslint-when-CATKIN_ENABLE_TESTING-is-True.patch
@@ -0,0 +1,68 @@
+From 787ebb1f9b598e4444ab820a9d6c36142935f793 Mon Sep 17 00:00:00 2001
+From: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>
+Date: Fri, 17 Mar 2017 10:40:26 +0200
+Subject: [PATCH 2/2] Enable roslint when CATKIN_ENABLE_TESTING is True
+
+roslint depends on catkin_run_tests_target() which is defined only
+when CATKIN_ENABLE_TESTING is True.
+
+Thus run roslint functions in CMakeLists.txt only when testing
+is enabled.
+
+Upstream-Status: Submitted [https://github.com/intel-ros/realsense/pull/204]
+
+Signed-off-by: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>
+---
+ CMakeLists.txt | 15 +++++++++------
+ 1 file changed, 9 insertions(+), 6 deletions(-)
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index ae10f84..a1ec2f6 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -28,7 +28,6 @@ set(REALSENSE_CATKIN_BASED_DEPS
+   std_msgs
+   sensor_msgs
+   pcl_ros
+-  roslint
+ )
+ 
+ if(USE_SYSTEM_LIBREALSENSE)
+@@ -37,6 +36,10 @@ else()
+   list(APPEND REALSENSE_CATKIN_BASED_DEPS librealsense)
+ endif()
+ 
++if(CATKIN_ENABLE_TESTING)
++  list(APPEND REALSENSE_CATKIN_BASED_DEPS roslint)
++endif()
++
+ find_package(catkin REQUIRED COMPONENTS
+   ${REALSENSE_CATKIN_BASED_DEPS}
+ )
+@@ -68,11 +71,6 @@ generate_dynamic_reconfigure_options(
+   cfg/zr300_params.cfg
+ )
+ 
+-# ROS Lint the code
+-roslint_cpp()
+-roslint_python()
+-roslint_add_test()
+-
+ #################################
+ # catkin specific configuration #
+ #################################
+@@ -120,6 +118,11 @@ endif()
+ if (CATKIN_ENABLE_TESTING)
+   find_package(rostest REQUIRED)
+ 
++  # ROS Lint the code
++  roslint_cpp()
++  roslint_python()
++  roslint_add_test()
++
+   add_executable(tests_camera_core test/camera_core.cpp)
+   target_link_libraries(tests_camera_core
+     ${catkin_LIBRARIES}
+-- 
+2.7.4
+
diff --git a/recipes-extended/realsense-camera/realsense-camera_1.6.1.bb b/recipes-extended/realsense-camera/realsense-camera_1.6.1.bb
deleted file mode 100644
index b707730..0000000
--- a/recipes-extended/realsense-camera/realsense-camera_1.6.1.bb
+++ /dev/null
@@ -1,14 +0,0 @@
-DESCRIPTION = "ROS driver for RealSense camera"
-LICENSE = "BSD"
-LIC_FILES_CHKSUM = "file://package.xml;beginline=11;endline=11;md5=4bcd5f0e140091c68f8c0bcfdd6181e0"
-
-DEPENDS = "librealsense cv-bridge camera-info-manager pcl-ros roscpp"
-
-SRC_URI = "https://github.com/intel-ros/realsense/archive/${PV}.tar.gz \
-           file://0001-realsense-camera-don-t-ignore-linker-flags-set-by-us.patch \
-           "
-SRC_URI[md5sum] = "4adab9a45a0b7a84cd28f1de538d0de8"
-
-S = "${WORKDIR}/realsense-${PV}/realsense_camera"
-
-inherit catkin
diff --git a/recipes-extended/realsense-camera/realsense-camera_1.7.2.bb b/recipes-extended/realsense-camera/realsense-camera_1.7.2.bb
new file mode 100644
index 0000000..4fa4520
--- /dev/null
+++ b/recipes-extended/realsense-camera/realsense-camera_1.7.2.bb
@@ -0,0 +1,18 @@
+DESCRIPTION = "ROS driver for RealSense camera"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=9;endline=9;md5=4bcd5f0e140091c68f8c0bcfdd6181e0"
+
+DEPENDS = "librealsense cv-bridge camera-info-manager pcl-ros roscpp"
+
+SRC_URI = "https://github.com/intel-ros/realsense/archive/${PV}.tar.gz \
+           file://0001-Add-option-to-link-against-non-catkin-librealsense.patch \
+           file://0002-Enable-roslint-when-CATKIN_ENABLE_TESTING-is-True.patch \
+           "
+SRC_URI[md5sum] = "aaa0d0ddaaee210e2a2529767ba45a4b"
+SRC_URI[sha256sum] = "65c6c4a0b6bd0214dffa8528033f03c0fbc4be00e52e058cfbd96b4f7d733b10"
+
+S = "${WORKDIR}/realsense-${PV}/realsense_camera"
+
+inherit catkin
+
+EXTRA_OECMAKE = "-DUSE_SYSTEM_LIBREALSENSE:BOOL=ON"