diff --git a/ros-moveit-msgs/depend.mk b/ros-moveit-msgs/depend.mk
index b8397fe02f23cb370e5e0afdf3662e1c879e21c4..2de73b8b22aa8b51c106c04d988a4d859f3858c4 100644
--- a/ros-moveit-msgs/depend.mk
+++ b/ros-moveit-msgs/depend.mk
@@ -11,9 +11,12 @@ endif
 
 ifeq (+,$(MOVEIT_MSGS_DEPEND_MK)) # --------------------------------------
 
-PREFER.ros-moveit-msgs?=	robotpkg
+include ../../meta-pkgs/ros-base/depend.common
+PREFER.ros-moveit-msgs?=	${PREFER.ros-base}
+SYSTEM_PREFIX.ros-moveit-msgs?=	${SYSTEM_PREFIX.ros-base}
 
 DEPEND_USE+=		ros-moveit-msgs
+ROS_DEPEND_USE+=		ros-moveit-msgs
 
 DEPEND_ABI.ros-moveit-msgs?=	moveit-msgs>=0.10.0
 DEPEND_DIR.ros-moveit-msgs?=	../../wip/ros-moveit-msgs
diff --git a/ros-moveit-resources/depend.mk b/ros-moveit-resources/depend.mk
index 428d444d9b43dbf33ab02f135478665504913096..fc16d2f035d28060676f4d44c826500369216e20 100644
--- a/ros-moveit-resources/depend.mk
+++ b/ros-moveit-resources/depend.mk
@@ -11,9 +11,12 @@ endif
 
 ifeq (+,$(UNIVERSAL_ROBOT_DEPEND_MK)) # --------------------------------------
 
-PREFER.ros-moveit-resources?=	robotpkg
+include ../../meta-pkgs/ros-base/depend.common
+PREFER.ros-moveit-resources?=	${PREFER.ros-base}
+SYSTEM_PREFIX.ros-moveit-resources?=	${SYSTEM_PREFIX.ros-base}
 
 DEPEND_USE+=		ros-moveit-resources
+ROS_DEPEND_USE+=		ros-moveit-resources
 
 DEPEND_ABI.ros-moveit-resources?=	moveit-resources>=0.6.4
 DEPEND_DIR.ros-moveit-resources?=	../../wip/ros-moveit-resources
diff --git a/ros-moveit/depend.mk b/ros-moveit/depend.mk
index de4a81aaad16b57b5b3350c427d848759a042d88..755d0fe4cceeccd942b3e333b5f736d567daa689 100644
--- a/ros-moveit/depend.mk
+++ b/ros-moveit/depend.mk
@@ -11,9 +11,12 @@ endif
 
 ifeq (+,$(MOVEIT_DEPEND_MK)) # --------------------------------------
 
-PREFER.ros-moveit?=	robotpkg
+include ../../meta-pkgs/ros-base/depend.common
+PREFER.ros-moveit?=	${PREFER.ros-base}
+SYSTEM_PREFIX.ros-moveit?=	${SYSTEM_PREFIX.ros-base}
 
 DEPEND_USE+=		ros-moveit
+ROS_DEPEND_USE+=		ros-moveit
 
 DEPEND_ABI.ros-moveit?=	moveit>=0.10.5
 DEPEND_DIR.ros-moveit?=	../../wip/ros-moveit
diff --git a/ros-object-recognition-msgs/depend.mk b/ros-object-recognition-msgs/depend.mk
index b863d950706c97e2e7f0b49b55c21087bb1b4123..e2b71f5931879cde47b8d9d3d0b52ed8e7819677 100644
--- a/ros-object-recognition-msgs/depend.mk
+++ b/ros-object-recognition-msgs/depend.mk
@@ -11,9 +11,12 @@ endif
 
 ifeq (+,$(OBJECT_RECOGNITION_MSGS_DEPEND_MK)) # --------------------------------------
 
-PREFER.ros-object-recognition-msgs?=	robotpkg
+include ../../meta-pkgs/ros-base/depend.common
+PREFER.ros-object-recognition-msgs?=	${PREFER.ros-base}
+SYSTEM_PREFIX.ros-object-recognition-msgs?=	${SYSTEM_PREFIX.ros-base}
 
 DEPEND_USE+=		ros-object-recognition-msgs
+ROS_DEPEND_USE+=		ros-object-recognition-msgs
 
 DEPEND_ABI.ros-object-recognition-msgs?=	object-recognition-msgs>=0.4.1
 DEPEND_DIR.ros-object-recognition-msgs?=	../../wip/ros-object-recognition-msgs
diff --git a/ros-octomap-msgs/depend.mk b/ros-octomap-msgs/depend.mk
index e386e02e46b7de6fde1f161f85c5912051620e31..4bb7259331a4f6027260af59984efeb89fd7bd37 100644
--- a/ros-octomap-msgs/depend.mk
+++ b/ros-octomap-msgs/depend.mk
@@ -11,9 +11,12 @@ endif
 
 ifeq (+,$(OCTOMAP_MSGS_DEPEND_MK)) # --------------------------------------
 
-PREFER.ros-octomap-msgs?=	robotpkg
+include ../../meta-pkgs/ros-base/depend.common
+PREFER.ros-octomap-msgs?=	${PREFER.ros-base}
+SYSTEM_PREFIX.ros-octomap-msgs?=	${SYSTEM_PREFIX.ros-base}
 
 DEPEND_USE+=		ros-octomap-msgs
+ROS_DEPEND_USE+=		ros-octomap-msgs
 
 DEPEND_ABI.ros-octomap-msgs?=	octomap-msgs>=0.3.3
 DEPEND_DIR.ros-octomap-msgs?=	../../wip/ros-octomap-msgs
diff --git a/ros-py-urdf-parser/depend.mk b/ros-py-urdf-parser/depend.mk
index f459732f2884f5b5951cada11fcc37becce65c81..9cabc9f8c6573ddf4af1db93fc96ee255d89dc2b 100644
--- a/ros-py-urdf-parser/depend.mk
+++ b/ros-py-urdf-parser/depend.mk
@@ -11,9 +11,12 @@ endif
 
 ifeq (+,$(PY_URDF_PARSER_DEPEND_MK)) # --------------------------------------
 
-PREFER.ros-py-urdf-parser?=	robotpkg
+include ../../meta-pkgs/ros-base/depend.common
+PREFER.ros-py-urdf-parser?=	${PREFER.ros-base}
+SYSTEM_PREFIX.ros-py-urdf-parser?=	${SYSTEM_PREFIX.ros-base}
 
 DEPEND_USE+=		ros-py-urdf-parser
+ROS_DEPEND_USE+=		ros-py-urdf-parser
 
 DEPEND_ABI.ros-py-urdf-parser?=	${PKGTAG.python-}urdf-parser>=0.4.0
 DEPEND_DIR.ros-py-urdf-parser?=	../../wip/ros-py-urdf-parser
diff --git a/ros-srdfdom/depend.mk b/ros-srdfdom/depend.mk
index a335eecd5834905ce835b4958ab1e9befde98e97..65c7b44a7a3a6c7d377d15a9693faf0e9848f320 100644
--- a/ros-srdfdom/depend.mk
+++ b/ros-srdfdom/depend.mk
@@ -11,9 +11,12 @@ endif
 
 ifeq (+,$(SRDFDOM_DEPEND_MK)) # --------------------------------------
 
-PREFER.ros-srdfdom?=	robotpkg
+include ../../meta-pkgs/ros-base/depend.common
+PREFER.ros-srdfdom?=	${PREFER.ros-base}
+SYSTEM_PREFIX.ros-srdfdom?=	${SYSTEM_PREFIX.ros-base}
 
 DEPEND_USE+=		ros-srdfdom
+ROS_DEPEND_USE+=		ros-srdfdom
 
 DEPEND_ABI.ros-srdfdom?=	srdfdom>=0.4.2
 DEPEND_DIR.ros-srdfdom?=	../../wip/ros-srdfdom
diff --git a/ros-universal-robot/depend.mk b/ros-universal-robot/depend.mk
index 01a5116dcc044ae09eefc1b9d4159edb7015d40e..480e931a9e99a0badd3b18dbd016beb710419b90 100644
--- a/ros-universal-robot/depend.mk
+++ b/ros-universal-robot/depend.mk
@@ -11,9 +11,12 @@ endif
 
 ifeq (+,$(UNIVERSAL_ROBOT_DEPEND_MK)) # --------------------------------------
 
-PREFER.ros-universal-robot?=	robotpkg
+include ../../meta-pkgs/ros-base/depend.common
+PREFER.ros-universal-robot?=	${PREFER.ros-base}
+SYSTEM_PREFIX.ros-class-loader?=${SYSTEM_PREFIX.ros-base}
 
 DEPEND_USE+=		ros-universal-robot
+ROS_DEPEND_USE+=		ros-universal-robot
 
 DEPEND_ABI.ros-universal-robot?=	universal-robot>=1.2.1
 DEPEND_DIR.ros-universal-robot?=	../../wip/ros-universal-robot
diff --git a/ros-warehouse-ros/depend.mk b/ros-warehouse-ros/depend.mk
index a5cceff60f89e987753408da97cbc7e845683e33..9a3ff3d83bff284a2bd5fbc83bdb596ab935c465 100644
--- a/ros-warehouse-ros/depend.mk
+++ b/ros-warehouse-ros/depend.mk
@@ -11,9 +11,12 @@ endif
 
 ifeq (+,$(WAREHOUSE_ROS_DEPEND_MK)) # --------------------------------------
 
-PREFER.ros-warehouse-ros?=	robotpkg
+include ../../meta-pkgs/ros-base/depend.common
+PREFER.ros-warehouse-ros?=	${PREFER.ros-base}
+SYSTEM_PREFIX.ros-warehouse-ros?=	${SYSTEM_PREFIX.ros-base}
 
 DEPEND_USE+=		ros-warehouse-ros
+ROS_DEPEND_USE+=		ros-warehouse-ros
 
 DEPEND_ABI.ros-warehouse-ros?=	warehouse-ros>=0.9.2
 DEPEND_DIR.ros-warehouse-ros?=	../../wip/ros-warehouse-ros