diff --git a/pal-hardware-interfaces/Makefile b/pal-hardware-interfaces/Makefile
index 34ca45385b86cf2e62f54fdf850ed7c3ae9f5a90..846e755d90ffe039cf21f927b89c1a4b49e994f8 100644
--- a/pal-hardware-interfaces/Makefile
+++ b/pal-hardware-interfaces/Makefile
@@ -23,16 +23,8 @@ LICENSE= gnu-lgpl-v3
USE_BOOST_LIBS= thread
-include ../../wip/sysdep/pal-distro.mk
-
-# PREFER.pal-distro gives the user the choice to compile
-# over PAL packages or not.
-ifeq (erbium,${PREFER.pal-distro})
- ifeq (palerbium,${PALDISTRO})
- CMAKE_PREFIX_PATH+=/opt/pal/erbium
- else
- include ../../wip/py-prf-ros-control/depend.mk
- endif
+ifeq (16.04.pal,${OS_VERSION})
+ CMAKE_PREFIX_PATH+=/opt/pal/erbium
else
include ../../wip/py-prf-ros-control/depend.mk
endif
diff --git a/py-roscontrol-sot/Makefile b/py-roscontrol-sot/Makefile
index 59fa3d5e1ec4f91a0221cc206fb5bfd795afda0f..cf6caa0f24643bde7d4bc8cf3245d1dde8bb5ad2 100644
--- a/py-roscontrol-sot/Makefile
+++ b/py-roscontrol-sot/Makefile
@@ -48,28 +48,19 @@ include ../../wip/sot-core-v3/depend.mk
include ../../wip/sot-dynamic-pinocchio-v3/depend.mk
include ../../math/pinocchio/depend.mk
include ../../mk/robotpkg.prefs.mk
-include ../../wip/sysdep/pal-distro.mk
include ../../wip/pal-msgs/depend.mk
-include ../../wip/sysdep/pal-distro.mk
-ifeq (erbium,${PREFER.pal-distro})
- ifeq (palerbium,${PALDISTRO})
- CMAKE_PREFIX_PATH+=/opt/pal/erbium
- SYSTEM_PREFIX+=/opt/pal/erbium
- CXXFLAGS+="-I/opt/pal/erbium/include"
- PKG_CONFIG_DIRS=/opt/pal/erbium/lib/pkgconfig
- else
- include ../../wip/pal-hardware-interfaces/depend.mk
- include ../../wip/py-prf-ros-control/depend.mk
- include ../../wip/py-prf-ros-controllers/depend.mk
- endif
+ifeq (16.04.pal,${OS_VERSION})
+ CMAKE_PREFIX_PATH+=/opt/pal/erbium
+ SYSTEM_PREFIX+=/opt/pal/erbium
+ CXXFLAGS+="-I/opt/pal/erbium/include"
+ PKG_CONFIG_DIRS=/opt/pal/erbium/lib/pkgconfig
else
include ../../wip/pal-hardware-interfaces/depend.mk
include ../../wip/py-prf-ros-control/depend.mk
include ../../wip/py-prf-ros-controllers/depend.mk
endif
-
include ../../devel/ros-roscpp-core/depend.mk
include ../../devel/ros-catkin/depend.mk
include ../../pkgtools/pkg-config/depend.mk
diff --git a/sysdep/pal-distro.mk b/sysdep/pal-distro.mk
deleted file mode 100644
index 5484e8b987ab6dee27dc6b37919355fe2be2945b..0000000000000000000000000000000000000000
--- a/sysdep/pal-distro.mk
+++ /dev/null
@@ -1,29 +0,0 @@
-# robotpkg wip/pal-erbium
-# Created: Olivier Stasse on Mon 11 2018
-#
-ifndef _paldistro_mk
- _paldistro_mk:=defined
- WIP_DIR:=$(shell dirname $(shell dirname $(realpath $(firstword $(MAKEFILE_LIST)))))
- _paldistro:=$(shell ${SHELL} ${WIP_DIR}/sysdep/pal-distro.sh)
- export PALDISTRO:= $(word 1,${_paldistro})
-
- ifeq (ferrum,${PREFER.pal-distro})
- ifeq (palferrum,${PALDISTRO})
- ifeq (yes,$(call exists,${ROBOTPKG_DIR}/wip/sysdep/platform/${PALDISTRO}.mk))
- include ${ROBOTPKG_DIR}/wip/sysdep/platform/${PALDISTRO}.mk
- else
- $(error missing wip/sysdep/platform/${PALDISTRO}.mk)
- endif
- endif
- endif #Ferrum
-
- ifeq (erbium,${PREFER.pal-distro})
- ifeq (palerbium,${PALDISTRO})
- ifeq (yes,$(call exists,${ROBOTPKG_DIR}/wip/sysdep/platform/${PALDISTRO}.mk))
- include ${ROBOTPKG_DIR}/wip/sysdep/platform/${PALDISTRO}.mk
- else
- $(error missing wip/sysdep/platform/${PALDISTRO}.mk)
- endif
- endif
- endif # ERBIUM_ROS_FLAVOR
-endif
diff --git a/talos-metapkg-ros-control-sot/Makefile b/talos-metapkg-ros-control-sot/Makefile
index abb5a7176c39a973dd7cf8dccd53868d0c42c7c6..049c979c2682e3f63717f5de89fe12cbad559806 100644
--- a/talos-metapkg-ros-control-sot/Makefile
+++ b/talos-metapkg-ros-control-sot/Makefile
@@ -39,30 +39,12 @@ include ../../middleware/ros-actionlib/depend.mk
include ../../middleware/ros-comm/depend.mk
include ../../wip/py-dynamic-graph-bridge-v3/depend.mk
-include ../../wip/sysdep/pal-distro.mk
-
-ifeq (erbium,${PREFER.pal-distro})
- ifeq (palerbium,${PALDISTRO})
- CMAKE_PREFIX_PATH+=/opt/pal/erbium
- else
- include ../../wip/pal-hardware-interfaces/depend.mk
- include ../../wip/py-prf-ros-controllers/depend.mk
- include ../../motion/ros-control-toolbox/depend.mk
- endif
-
-displaytalosmetapkg:
- echo 'PREFER.pal-distro:${PREFER.pal-distro}'
- echo 'pal-distro-erbium'
-
+ifeq (16.04.pal,${OS_VERSION})
+ CMAKE_PREFIX_PATH+=/opt/pal/erbium
else
include ../../wip/pal-hardware-interfaces/depend.mk
include ../../wip/py-prf-ros-controllers/depend.mk
include ../../motion/ros-control-toolbox/depend.mk
-
-displaytalosmetapkg:
- echo 'PREFER.pal-distro:${PREFER.pal-distro}'
- echo 'pal-distro-xenial'
-
endif
include ../../wip/py-roscontrol-sot/depend.mk
diff --git a/talos-simulation/Makefile b/talos-simulation/Makefile
index 1899b9411de7d7e3b82f7f98829e85c726bf0c97..69a2f34a8b15658dff2cd7ed936984e0e51b24ce 100644
--- a/talos-simulation/Makefile
+++ b/talos-simulation/Makefile
@@ -36,16 +36,8 @@ include ../../math/ros-geometry/depend.mk
include ../../middleware/ros-actionlib/depend.mk
include ../../middleware/ros-comm/depend.mk
-# Check if we on a pal distro
-include ../../wip/sysdep/pal-distro.mk
-
-# PREFER.pal-distro gives the user the choice to compile
-# over PAL packages or not.
-ifeq (erbium,${PREFER.pal-distro})
- ifeq (palerbium,${PALDISTRO})
- # If yes then it does not make sense to continue
- $(error "talos-simulation is useless on PAL erbium.")
- endif
+ifeq (16.04.pal,${OS_VERSION})
+ $(error "talos-simulation is useless on PAL erbium.")
endif
diff --git a/tiago-metapkg-ros-control-sot/Makefile b/tiago-metapkg-ros-control-sot/Makefile
index ddd99b45171afb5570df04807599f4390b4779ce..5b8b3a2c72dac20677fcb2463ef81f547cc162a1 100644
--- a/tiago-metapkg-ros-control-sot/Makefile
+++ b/tiago-metapkg-ros-control-sot/Makefile
@@ -35,30 +35,12 @@ include ../../middleware/ros-actionlib/depend.mk
include ../../middleware/ros-comm/depend.mk
include ../../wip/py-dynamic-graph-bridge-v3/depend.mk
-include ../../wip/sysdep/pal-distro.mk
-
-ifeq (erbium,${PREFER.pal-distro})
- ifeq (palerbium,${PALDISTRO})
- CMAKE_PREFIX_PATH+=/opt/pal/erbium
- else
- include ../../wip/pal-hardware-interfaces/depend.mk
- include ../../wip/py-prf-ros-controllers/depend.mk
- include ../../motion/ros-control-toolbox/depend.mk
- endif
-
-displaytiagometapkg:
- echo 'PREFER.pal-distro:${PREFER.pal-distro}'
- echo 'pal-distro-erbium'
-
+ifeq (16.04.pal,${OS_VERSION})
+ CMAKE_PREFIX_PATH+=/opt/pal/erbium
else
include ../../wip/pal-hardware-interfaces/depend.mk
include ../../wip/py-prf-ros-controllers/depend.mk
include ../../motion/ros-control-toolbox/depend.mk
-
-displaytiagometapkg:
- echo 'PREFER.pal-distro:${PREFER.pal-distro}'
- echo 'pal-distro-xenial'
-
endif
include ../../wip/py-roscontrol-sot/depend.mk