diff --git a/pal-gazebo-plugins/depend.mk b/pal-gazebo-plugins/depend.mk
index 3257cc11db51deef1c6e978be90dc2ce509125cd..d8f0bda820ad36b6fe3d7c8c8464f8d961e749c2 100644
--- a/pal-gazebo-plugins/depend.mk
+++ b/pal-gazebo-plugins/depend.mk
@@ -11,9 +11,9 @@ endif
 
 ifeq (+,$(PAL_GAZEBO_PLUGINS_DEPEND_MK)) # ---------------------------------
 
-include ../../mk/robotpkg.prefs.mk  # for OS_VERSION
+include ../../wip/py-prf-ros-control/depend.common
 
-PREFER.pal-gazebo-plugins?=	robotpkg
+PREFER.pal-gazebo-plugins?=	${PREFER.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 95b3ec3a0e32f0059f6f11b2a4b33107ff18d73f..d58003125d4aabad88305dc2be27fa2484186aee 100644
--- a/pal-gazebo-worlds/depend.mk
+++ b/pal-gazebo-worlds/depend.mk
@@ -11,7 +11,9 @@ endif
 
 ifeq (+,$(PAL_GAZEBO_WORLDS_DEPEND_MK)) # ---------------------------------
 
-PREFER.pal-gazebo-worlds?=	robotpkg
+include ../../wip/py-prf-ros-control/depend.common
+
+PREFER.pal-gazebo-worlds?=	${PREFER.pal}
 
 DEPEND_USE+=			pal-gazebo-worlds
 
diff --git a/pal-gripper/depend.mk b/pal-gripper/depend.mk
index e6eb1edb336ecced51ee9dfe0d4b56c244a39a63..4187de89e16655c00099bfc76a38fc3a5d23149a 100644
--- a/pal-gripper/depend.mk
+++ b/pal-gripper/depend.mk
@@ -11,7 +11,9 @@ endif
 
 ifeq (+,$(PAL_GRIPPER_DEPEND_MK)) # ----------------------------------
 
-PREFER.pal-gripper?=	robotpkg
+include ../../wip/py-prf-ros-control/depend.common
+
+PREFER.pal-gripper?=	${PREFER.pal}
 
 DEPEND_USE+=			pal-gripper
 
diff --git a/pal-hardware-gazebo/depend.mk b/pal-hardware-gazebo/depend.mk
index e89bf6ed39aa25be849602efb68ded7a3c38d3b3..13eee3e502c7500c2ba622aa50bc4b56422f2fec 100644
--- a/pal-hardware-gazebo/depend.mk
+++ b/pal-hardware-gazebo/depend.mk
@@ -11,9 +11,9 @@ endif
 
 ifeq (+,$(PAL_HARDWARE_GAZEBO_DEPEND_MK)) # ---------------------------------
 
-include ../../mk/robotpkg.prefs.mk  # for OS_VERSION
+include ../../wip/py-prf-ros-control/depend.common
 
-PREFER.pal-hardware-gazebo?=		robotpkg
+PREFER.pal-hardware-gazebo?=		${PREFER.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 832e71e984b474da5d5c0101ce0109116a0a2142..1f39f7ddcea33eaf547f7c8519c2181e6d08f181 100644
--- a/pal-hardware-interfaces/depend.mk
+++ b/pal-hardware-interfaces/depend.mk
@@ -11,7 +11,9 @@ endif
 
 ifeq (+,$(PAL_HWIFACES_DEPEND_MK)) # ---------------------------------
 
-PREFER.pal-hardware-interfaces?=	robotpkg
+include ../../wip/py-prf-ros-control/depend.common
+
+PREFER.pal-hardware-interfaces?=	${PREFER.pal}
 
 DEPEND_USE+=			pal-hardware-interfaces
 
diff --git a/pal-msgs/depend.mk b/pal-msgs/depend.mk
index 329cbe2e931bddd5ba654f1dc00ff3e6abf8e950..e9e19cedd7520acd9ebad95b75eeb44e1cb21128 100644
--- a/pal-msgs/depend.mk
+++ b/pal-msgs/depend.mk
@@ -11,7 +11,9 @@ endif
 
 ifeq (+,$(PAL_MSGS_DEPEND_MK)) # ---------------------------------
 
-PREFER.pal-msgs?=	robotpkg
+include ../../wip/py-prf-ros-control/depend.common
+
+PREFER.pal-msgs?=	${PREFER.pal}
 
 DEPEND_USE+=			pal-msgs
 
diff --git a/pal-navigation-sm/depend.mk b/pal-navigation-sm/depend.mk
index 0190edf4983e650cd293dcc4cde0795234e712e5..fb2b86e6545998956fe1d705089f22cbf866e8ad 100644
--- a/pal-navigation-sm/depend.mk
+++ b/pal-navigation-sm/depend.mk
@@ -11,7 +11,9 @@ endif
 
 ifeq (+,$(PAL_NAVIGATION_SM_DEPEND_MK)) # ----------------------------------
 
-PREFER.pal-navigation-sm?=	robotpkg
+include ../../wip/py-prf-ros-control/depend.common
+
+PREFER.pal-navigation-sm?=	${PREFER.pal}
 
 DEPEND_USE+=			pal-navigation-sm
 
diff --git a/pal-transmissions/depend.mk b/pal-transmissions/depend.mk
index 50846436fd9664201763b545770cfd3e85158a3b..3d062b743f266fff6dcdb5f894e9003119f1fd85 100644
--- a/pal-transmissions/depend.mk
+++ b/pal-transmissions/depend.mk
@@ -11,7 +11,9 @@ endif
 
 ifeq (+,$(PAL_TRANSMISSIONS_DEPEND_MK)) # --------------------------------
 
-PREFER.pal-transmissions?=	robotpkg
+include ../../wip/py-prf-ros-control/depend.common
+
+PREFER.pal-transmissions?=	${PREFER.pal}
 
 DEPEND_USE+=			pal-transmissions
 
diff --git a/pal-wsg-gripper/depend.mk b/pal-wsg-gripper/depend.mk
index 8f802499167902194875c54b1cbaed9ec2173b0b..b86b61817b172aead57fc98943edbfb58fd58120 100644
--- a/pal-wsg-gripper/depend.mk
+++ b/pal-wsg-gripper/depend.mk
@@ -11,7 +11,9 @@ endif
 
 ifeq (+,$(PAL_WSG_GRIPPER_DEPEND_MK)) # ---------------------------------
 
-PREFER.pal-wsg-gripper?=	robotpkg
+include ../../wip/py-prf-ros-control/depend.common
+
+PREFER.pal-wsg-gripper?=	${PREFER.pal}
 
 DEPEND_USE+=			pal-wsg-gripper
 
diff --git a/prf-roboticsgroup-gazebo-plugins/depend.mk b/prf-roboticsgroup-gazebo-plugins/depend.mk
index f5766269043c7a266762848155a59807f8d17bc3..033e56145d02e08cd0bd51ee6abaaffba5f8e683 100644
--- a/prf-roboticsgroup-gazebo-plugins/depend.mk
+++ b/prf-roboticsgroup-gazebo-plugins/depend.mk
@@ -11,7 +11,9 @@ endif
 
 ifeq (+,$(PRF_ROBOTICSGRP_GAZEBO_PLUGINS_DEPEND_MK)) # ----------------------------------
 
-PREFER.prf-roboticsgroup-gazebo-plugins?=	robotpkg
+include ../../wip/py-prf-ros-control/depend.common
+
+PREFER.prf-roboticsgroup-gazebo-plugins?=	${PREFER.pal}
 
 DEPEND_USE+=			prf-roboticsgroup-gazebo-plugins
 
diff --git a/prf-teleop-tools/depend.mk b/prf-teleop-tools/depend.mk
index 36de57786eb493dc807f3d10cce00d94b21a4a8a..9476c1835126af314a2b2f8aefbb6a8f04ee1b90 100644
--- a/prf-teleop-tools/depend.mk
+++ b/prf-teleop-tools/depend.mk
@@ -11,7 +11,9 @@ endif
 
 ifeq (+,$(TELEOP_TOOLS_DEPEND_MK)) # ----------------------------------
 
-PREFER.teleop-tools?=	robotpkg
+include ../../wip/py-prf-ros-control/depend.common
+
+PREFER.prf-teleop-tools?=	${PREFER.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 3e922315a0e11acdaa33abd7de5bab2097ca6996..24ce6674177cbcf811a1783aa236e257890ccec6 100644
--- a/py-prf-gazebo-ros-pkgs/depend.mk
+++ b/py-prf-gazebo-ros-pkgs/depend.mk
@@ -11,14 +11,10 @@ endif
 
 ifeq (+,$(PY_PRF_GAZEBO_ROS_PKGS_DEPEND_MK)) # ---------------------------
 
-include ../../mk/robotpkg.prefs.mk  # for OS_VERSION
+include ../../wip/py-prf-ros-control/depend.common
 include ../../mk/sysdep/python.mk   # for PKGTAG.python
 
-ifneq (,$(filter 16.04.pal 18.04.pal,${OS_VERSION}))
-  PREFER.py-prf-gazebo-ros-pkgs?=	system
-else
-  PREFER.py-prf-gazebo-ros-pkgs?=	robotpkg
-endif
+PREFER.py-prf-gazebo-ros-pkgs?=		${PREFER.pal}
 
 DEPEND_USE+=				py-prf-gazebo-ros-pkgs
 
diff --git a/py-prf-ros-control/depend.common b/py-prf-ros-control/depend.common
new file mode 100644
index 0000000000000000000000000000000000000000..e9d936c913c71d47d4eb0f95a148f7e168db6aeb
--- /dev/null
+++ b/py-prf-ros-control/depend.common
@@ -0,0 +1,13 @@
+# robotpkg depend.common for:	wip/py-prf-ros-control
+# Created:			Guilhem Saurel on Tue, 9 Jun 2020
+#
+
+# This file ease the choice for system vs robotpkg packages for PAL & PRF
+
+include ../../mk/robotpkg.prefs.mk  # for OS_VERSION
+
+ifneq (,$(filter %.pal,${OS_VERSION}))
+  PREFER.pal?=		system
+else
+  PREFER.pal?=		robotpkg
+endif
diff --git a/py-prf-ros-control/depend.mk b/py-prf-ros-control/depend.mk
index 6acd57707655f14b1894c657c815725abef423fa..482d539f503a82a6006b58e4ae535f46edf02b62 100644
--- a/py-prf-ros-control/depend.mk
+++ b/py-prf-ros-control/depend.mk
@@ -11,11 +11,9 @@ endif
 
 ifeq (+,$(PY_PRF_ROS_CONTROL_DEPEND_MK)) # ----------------------------------
 
-ifneq (,$(filter 16.04.pal 18.04.pal,${OS_VERSION}))
-  PREFER.py-prf-ros-control?=	system
-else
-  PREFER.py-prf-ros-control?=	robotpkg
-endif
+include ../../wip/py-prf-ros-control/depend.common
+
+PREFER.py-prf-ros-control?=	${PREFER.pal}
 
 DEPEND_USE+=			py-prf-ros-control
 
diff --git a/py-prf-ros-controllers/depend.mk b/py-prf-ros-controllers/depend.mk
index 98ede2490e9a5ad7dad0158672a1135c36e588e8..e2181afbec7ab9ec1cc547e389df090b586506fd 100644
--- a/py-prf-ros-controllers/depend.mk
+++ b/py-prf-ros-controllers/depend.mk
@@ -11,7 +11,9 @@ endif
 
 ifeq (+,$(PY_PRF_ROS_CONTROLLERS_DEPEND_MK)) # ----------------------------------
 
-PREFER.ros-controllers?=	robotpkg
+include ../../wip/py-prf-ros-control/depend.common
+
+PREFER.py-prf-ros-controllers?=	${PREFER.pal}
 
 DEPEND_USE+=			py-prf-ros-controllers