diff --git a/pal-gazebo-plugins/depend.mk b/pal-gazebo-plugins/depend.mk
index d8f0bda820ad36b6fe3d7c8c8464f8d961e749c2..1b2805d46b4713a4caed6d86b7305e4c7704c88f 100644
--- a/pal-gazebo-plugins/depend.mk
+++ b/pal-gazebo-plugins/depend.mk
@@ -13,7 +13,8 @@ ifeq (+,$(PAL_GAZEBO_PLUGINS_DEPEND_MK)) # ---------------------------------
 
 include ../../wip/py-prf-ros-control/depend.common
 
-PREFER.pal-gazebo-plugins?=	${PREFER.pal}
+PREFER.pal-gazebo-plugins?=		${PREFER.pal}
+SYSTEM_PREFIX.pal-gazebo-plugins?=	${SYSTEM_PREFIX.pal}
 
 DEPEND_USE+=			pal-gazebo-plugins
 ifneq (,$(filter 16.04%,${OS_VERSION}))
diff --git a/pal-gazebo-worlds/depend.mk b/pal-gazebo-worlds/depend.mk
index d58003125d4aabad88305dc2be27fa2484186aee..8ab33d5ff305ec40927186282534357c5f838564 100644
--- a/pal-gazebo-worlds/depend.mk
+++ b/pal-gazebo-worlds/depend.mk
@@ -13,7 +13,8 @@ ifeq (+,$(PAL_GAZEBO_WORLDS_DEPEND_MK)) # ---------------------------------
 
 include ../../wip/py-prf-ros-control/depend.common
 
-PREFER.pal-gazebo-worlds?=	${PREFER.pal}
+PREFER.pal-gazebo-worlds?=		${PREFER.pal}
+SYSTEM_PREFIX.pal-gazebo-worlds?=	${SYSTEM_PREFIX.pal}
 
 DEPEND_USE+=			pal-gazebo-worlds
 
diff --git a/pal-gripper/depend.mk b/pal-gripper/depend.mk
index 4187de89e16655c00099bfc76a38fc3a5d23149a..63cff996c9865f904901983ac1021ca243c3cc8d 100644
--- a/pal-gripper/depend.mk
+++ b/pal-gripper/depend.mk
@@ -13,7 +13,8 @@ ifeq (+,$(PAL_GRIPPER_DEPEND_MK)) # ----------------------------------
 
 include ../../wip/py-prf-ros-control/depend.common
 
-PREFER.pal-gripper?=	${PREFER.pal}
+PREFER.pal-gripper?=		${PREFER.pal}
+SYSTEM_PREFIX.pal-gripper?=	${SYSTEM_PREFIX.pal}
 
 DEPEND_USE+=			pal-gripper
 
diff --git a/pal-hardware-gazebo/depend.mk b/pal-hardware-gazebo/depend.mk
index 13eee3e502c7500c2ba622aa50bc4b56422f2fec..2855d8a1db32bfb7a64e46d90d148e96fea34b81 100644
--- a/pal-hardware-gazebo/depend.mk
+++ b/pal-hardware-gazebo/depend.mk
@@ -14,6 +14,7 @@ ifeq (+,$(PAL_HARDWARE_GAZEBO_DEPEND_MK)) # ---------------------------------
 include ../../wip/py-prf-ros-control/depend.common
 
 PREFER.pal-hardware-gazebo?=		${PREFER.pal}
+SYSTEM_PREFIX.pal-hardware-gazebo?=		${SYSTEM_PREFIX.pal}
 
 DEPEND_USE+=				pal-hardware-gazebo
 ifneq (,$(filter 16.04%,${OS_VERSION}))
diff --git a/pal-hardware-interfaces/depend.mk b/pal-hardware-interfaces/depend.mk
index 1f39f7ddcea33eaf547f7c8519c2181e6d08f181..2bfa83d7b08f145e0c2608bcabc2e6d5abc7c807 100644
--- a/pal-hardware-interfaces/depend.mk
+++ b/pal-hardware-interfaces/depend.mk
@@ -14,6 +14,7 @@ ifeq (+,$(PAL_HWIFACES_DEPEND_MK)) # ---------------------------------
 include ../../wip/py-prf-ros-control/depend.common
 
 PREFER.pal-hardware-interfaces?=	${PREFER.pal}
+SYSTEM_PREFIX.pal-hardware-interfaces?=	${SYSTEM_PREFIX.pal}
 
 DEPEND_USE+=			pal-hardware-interfaces
 
diff --git a/pal-msgs/depend.mk b/pal-msgs/depend.mk
index e9e19cedd7520acd9ebad95b75eeb44e1cb21128..e53e95a6c5dee1f8d3c57bd69cd63f3a8885db51 100644
--- a/pal-msgs/depend.mk
+++ b/pal-msgs/depend.mk
@@ -13,7 +13,8 @@ ifeq (+,$(PAL_MSGS_DEPEND_MK)) # ---------------------------------
 
 include ../../wip/py-prf-ros-control/depend.common
 
-PREFER.pal-msgs?=	${PREFER.pal}
+PREFER.pal-msgs?=		${PREFER.pal}
+SYSTEM_PREFIX.pal-msgs?=	${SYSTEM_PREFIX.pal}
 
 DEPEND_USE+=			pal-msgs
 
diff --git a/pal-navigation-sm/depend.mk b/pal-navigation-sm/depend.mk
index fb2b86e6545998956fe1d705089f22cbf866e8ad..7333b91c6c53f81ff2e380017109e56fe16935f2 100644
--- a/pal-navigation-sm/depend.mk
+++ b/pal-navigation-sm/depend.mk
@@ -13,7 +13,8 @@ ifeq (+,$(PAL_NAVIGATION_SM_DEPEND_MK)) # ----------------------------------
 
 include ../../wip/py-prf-ros-control/depend.common
 
-PREFER.pal-navigation-sm?=	${PREFER.pal}
+PREFER.pal-navigation-sm?=		${PREFER.pal}
+SYSTEM_PREFIX.pal-navigation-sm?=	${SYSTEM_PREFIX.pal}
 
 DEPEND_USE+=			pal-navigation-sm
 
diff --git a/pal-transmissions/depend.mk b/pal-transmissions/depend.mk
index 3d062b743f266fff6dcdb5f894e9003119f1fd85..8462ad7a2d912c18b98c11bb7dfb82c726dbcf88 100644
--- a/pal-transmissions/depend.mk
+++ b/pal-transmissions/depend.mk
@@ -13,7 +13,8 @@ ifeq (+,$(PAL_TRANSMISSIONS_DEPEND_MK)) # --------------------------------
 
 include ../../wip/py-prf-ros-control/depend.common
 
-PREFER.pal-transmissions?=	${PREFER.pal}
+PREFER.pal-transmissions?=		${PREFER.pal}
+SYSTEM_PREFIX.pal-transmissions?=	${SYSTEM_PREFIX.pal}
 
 DEPEND_USE+=			pal-transmissions
 
diff --git a/pal-wsg-gripper/depend.mk b/pal-wsg-gripper/depend.mk
index b86b61817b172aead57fc98943edbfb58fd58120..ea8e897be8437030c34f8951e87aae8dbdca40c7 100644
--- a/pal-wsg-gripper/depend.mk
+++ b/pal-wsg-gripper/depend.mk
@@ -14,6 +14,7 @@ ifeq (+,$(PAL_WSG_GRIPPER_DEPEND_MK)) # ---------------------------------
 include ../../wip/py-prf-ros-control/depend.common
 
 PREFER.pal-wsg-gripper?=	${PREFER.pal}
+SYSTEM_PREFIX.pal-wsg-gripper?=	${SYSTEM_PREFIX.pal}
 
 DEPEND_USE+=			pal-wsg-gripper
 
diff --git a/prf-roboticsgroup-gazebo-plugins/depend.mk b/prf-roboticsgroup-gazebo-plugins/depend.mk
index 033e56145d02e08cd0bd51ee6abaaffba5f8e683..a167baec119d896521f532846aceb878791fd1ed 100644
--- a/prf-roboticsgroup-gazebo-plugins/depend.mk
+++ b/prf-roboticsgroup-gazebo-plugins/depend.mk
@@ -13,7 +13,8 @@ ifeq (+,$(PRF_ROBOTICSGRP_GAZEBO_PLUGINS_DEPEND_MK)) # -------------------------
 
 include ../../wip/py-prf-ros-control/depend.common
 
-PREFER.prf-roboticsgroup-gazebo-plugins?=	${PREFER.pal}
+PREFER.prf-roboticsgroup-gazebo-plugins?=		${PREFER.pal}
+SYSTEM_PREFIX.prf-roboticsgroup-gazebo-plugins?=	${SYSTEM_PREFIX.pal}
 
 DEPEND_USE+=			prf-roboticsgroup-gazebo-plugins
 
diff --git a/prf-teleop-tools/depend.mk b/prf-teleop-tools/depend.mk
index 9476c1835126af314a2b2f8aefbb6a8f04ee1b90..64452c70d5d1bc620991bbfdc1303f89b0f4cf49 100644
--- a/prf-teleop-tools/depend.mk
+++ b/prf-teleop-tools/depend.mk
@@ -13,7 +13,8 @@ ifeq (+,$(TELEOP_TOOLS_DEPEND_MK)) # ----------------------------------
 
 include ../../wip/py-prf-ros-control/depend.common
 
-PREFER.prf-teleop-tools?=	${PREFER.pal}
+PREFER.prf-teleop-tools?=		${PREFER.pal}
+SYSTEM_PREFIX.prf-teleop-tools?=	${SYSTEM_PREFIX.pal}
 
 DEPEND_USE+=			prf-teleop-tools
 
diff --git a/py-prf-gazebo-ros-pkgs/depend.mk b/py-prf-gazebo-ros-pkgs/depend.mk
index 24ce6674177cbcf811a1783aa236e257890ccec6..7ed317101f59902ac5c5ea65bd6017fcfa257816 100644
--- a/py-prf-gazebo-ros-pkgs/depend.mk
+++ b/py-prf-gazebo-ros-pkgs/depend.mk
@@ -14,7 +14,8 @@ ifeq (+,$(PY_PRF_GAZEBO_ROS_PKGS_DEPEND_MK)) # ---------------------------
 include ../../wip/py-prf-ros-control/depend.common
 include ../../mk/sysdep/python.mk   # for PKGTAG.python
 
-PREFER.py-prf-gazebo-ros-pkgs?=		${PREFER.pal}
+PREFER.py-prf-gazebo-ros-pkgs?=			${PREFER.pal}
+SYSTEM_PREFIX.py-prf-gazebo-ros-pkgs?=		${SYSTEM_PREFIX.pal}
 
 DEPEND_USE+=				py-prf-gazebo-ros-pkgs
 
diff --git a/py-prf-ros-control/depend.common b/py-prf-ros-control/depend.common
index e9d936c913c71d47d4eb0f95a148f7e168db6aeb..1af166bdbcdbd39f9808dfc2e991d76a09ce6497 100644
--- a/py-prf-ros-control/depend.common
+++ b/py-prf-ros-control/depend.common
@@ -7,7 +7,14 @@
 include ../../mk/robotpkg.prefs.mk  # for OS_VERSION
 
 ifneq (,$(filter %.pal,${OS_VERSION}))
-  PREFER.pal?=		system
+  PREFER.pal?=			system
+  ifneq (,$(filter 14.04.pal,${OS_VERSION}))
+    PAL_DISTRO?=		dubnium
+  else ifneq (,$(filter 16.04.pal,${OS_VERSION}))
+    PAL_DISTRO?=		erbium
+  endif
+  SYSTEM_PREFIX.pal?=	/opt/pal/${PAL_DISTRO} ${SYSTEM_PREFIX}
 else
   PREFER.pal?=		robotpkg
+  SYSTEM_PREFIX.pal?=	${SYSTEM_PREFIX}
 endif
diff --git a/py-prf-ros-control/depend.mk b/py-prf-ros-control/depend.mk
index 482d539f503a82a6006b58e4ae535f46edf02b62..e29df8a7bfa8c9375148c15f5c64a924d9a7dbd2 100644
--- a/py-prf-ros-control/depend.mk
+++ b/py-prf-ros-control/depend.mk
@@ -13,7 +13,8 @@ ifeq (+,$(PY_PRF_ROS_CONTROL_DEPEND_MK)) # ----------------------------------
 
 include ../../wip/py-prf-ros-control/depend.common
 
-PREFER.py-prf-ros-control?=	${PREFER.pal}
+PREFER.py-prf-ros-control?=		${PREFER.pal}
+SYSTEM_PREFIX.py-prf-ros-control?=	${SYSTEM_PREFIX.pal}
 
 DEPEND_USE+=			py-prf-ros-control
 
diff --git a/py-prf-ros-controllers/depend.mk b/py-prf-ros-controllers/depend.mk
index e2181afbec7ab9ec1cc547e389df090b586506fd..a3b141310a2e2a77c6d544c02cee92a9f56ce44a 100644
--- a/py-prf-ros-controllers/depend.mk
+++ b/py-prf-ros-controllers/depend.mk
@@ -13,7 +13,8 @@ ifeq (+,$(PY_PRF_ROS_CONTROLLERS_DEPEND_MK)) # ---------------------------------
 
 include ../../wip/py-prf-ros-control/depend.common
 
-PREFER.py-prf-ros-controllers?=	${PREFER.pal}
+PREFER.py-prf-ros-controllers?=		${PREFER.pal}
+SYSTEM_PREFIX.py-prf-ros-controllers?=	${SYSTEM_PREFIX.pal}
 
 DEPEND_USE+=			py-prf-ros-controllers