diff --git a/.travis.yml b/.travis.yml
index 76e0c8219..c81e7280f 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -31,7 +31,7 @@ before_install:
   - sudo `which rosdep` init
   - rosdep update
   # Use rosdep to install dependencies
-  - rosdep install --default-yes --from-paths ./ --rosdistro $CI_ROS_DISTRO
+  - rosdep install --default-yes --ignore-src --from-paths ./ --rosdistro $CI_ROS_DISTRO
 
 install:
   # Create workspace
diff --git a/gazebo_dev/CMakeLists.txt b/gazebo_dev/CMakeLists.txt
new file mode 100644
index 000000000..563a8e74d
--- /dev/null
+++ b/gazebo_dev/CMakeLists.txt
@@ -0,0 +1,8 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(gazebo_dev)
+
+find_package(catkin REQUIRED)
+
+catkin_package(
+  CFG_EXTRAS gazebo_dev-extras.cmake
+)
diff --git a/gazebo_dev/cmake/gazebo_dev-extras.cmake b/gazebo_dev/cmake/gazebo_dev-extras.cmake
new file mode 100644
index 000000000..d4bdd3b81
--- /dev/null
+++ b/gazebo_dev/cmake/gazebo_dev-extras.cmake
@@ -0,0 +1,13 @@
+# Depend on system install of Gazebo
+find_package(gazebo REQUIRED)
+
+message(STATUS "Gazebo version: ${GAZEBO_VERSION}")
+
+# The following lines will tell catkin to add the Gazebo directories and libraries to the
+# respective catkin_* cmake variables.
+set(gazebo_dev_INCLUDE_DIRS ${GAZEBO_INCLUDE_DIRS})
+set(gazebo_dev_LIBRARY_DIRS ${GAZEBO_LIBRARY_DIRS})
+set(gazebo_dev_LIBRARIES ${GAZEBO_LIBRARIES})
+
+# Append gazebo CXX_FLAGS to CMAKE_CXX_FLAGS (c++11)
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}")
diff --git a/gazebo_dev/package.xml b/gazebo_dev/package.xml
new file mode 100644
index 000000000..bd8bf5a7d
--- /dev/null
+++ b/gazebo_dev/package.xml
@@ -0,0 +1,25 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>gazebo_dev</name>
+  <version>0.0.0</version>
+  <description>
+    Provides a cmake config for the default version of Gazebo for the ROS distribution.
+  </description>
+
+  <maintainer email="hsu@osrfoundation.org">John Hsu</maintainer>
+  <maintainer email="davetcoleman@gmail.com">Dave Coleman</maintainer>
+
+  <license>Apache 2.0</license>
+
+  <url type="website">http://gazebosim.org/tutorials?cat=connect_ros</url>
+  <url type="bugtracker">https://github.com/ros-simulation/gazebo_ros_pkgs/issues</url>
+  <url type="repository">https://github.com/ros-simulation/gazebo_ros_pkgs</url>
+
+  <author>Johannes Meyer</author>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <build_export_depend>gazebo</build_export_depend>
+  <exec_depend>gazebo</exec_depend>
+
+</package>
diff --git a/gazebo_msgs/package.xml b/gazebo_msgs/package.xml
index 8f10522af..3becfd216 100644
--- a/gazebo_msgs/package.xml
+++ b/gazebo_msgs/package.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<package>
+<package format="2">
   <name>gazebo_msgs</name>
   <version>2.4.11</version>
   <description>
@@ -25,12 +25,12 @@
   <build_depend>std_srvs</build_depend>
   <build_depend>message_generation</build_depend>
 
-  <run_depend>geometry_msgs</run_depend>
-  <run_depend>sensor_msgs</run_depend>
-  <run_depend>trajectory_msgs</run_depend>
-  <run_depend>std_msgs</run_depend>
-  <run_depend>message_runtime</run_depend>
-  <run_depend>std_srvs</run_depend>
+  <exec_depend>geometry_msgs</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+  <exec_depend>trajectory_msgs</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>message_runtime</exec_depend>
+  <exec_depend>std_srvs</exec_depend>
 </package>
 
 
diff --git a/gazebo_plugins/CMakeLists.txt b/gazebo_plugins/CMakeLists.txt
index d2c31c26d..3b7f7dcf2 100644
--- a/gazebo_plugins/CMakeLists.txt
+++ b/gazebo_plugins/CMakeLists.txt
@@ -2,6 +2,7 @@ cmake_minimum_required(VERSION 2.8.3)
 project(gazebo_plugins)
 
 find_package(catkin REQUIRED COMPONENTS 
+  gazebo_dev
   message_generation 
   gazebo_msgs 
   roscpp 
@@ -38,10 +39,7 @@ else()
   message(FATAL_ERROR "pkg-config is required; please install it")
 endif()
 
-# Depend on system install of Gazebo and SDFormat
-find_package(gazebo REQUIRED)
 find_package(Boost REQUIRED COMPONENTS thread)
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}")
 
 execute_process(COMMAND
   pkg-config --variable=plugindir OGRE
@@ -61,22 +59,18 @@ generate_dynamic_reconfigure_options(
 include_directories(include
   ${Boost_INCLUDE_DIRS}
   ${catkin_INCLUDE_DIRS}
-  ${GAZEBO_INCLUDE_DIRS}
   ${OGRE_INCLUDE_DIRS}
   ${OGRE-Terrain_INCLUDE_DIRS}
   ${OGRE-Paging_INCLUDE_DIRS}
 )
 
 link_directories(
-  ${GAZEBO_LIBRARY_DIRS}
+  ${catkin_LIBRARY_DIRS}
   ${OGRE_LIBRARY_DIRS}
   ${OGRE-Terrain_LIBRARY_DIRS}
   ${OGRE-Paging_LIBRARY_DIRS}
-  ${catkin_LIBRARY_DIRS}
 )
 
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}")
-
 if (NOT GAZEBO_VERSION VERSION_LESS 6.0)
   catkin_package(  INCLUDE_DIRS include LIBRARIES gazebo_ros_elevator)
 endif()
@@ -117,7 +111,7 @@ catkin_package(
   gazebo_ros_planar_move
   
   CATKIN_DEPENDS 
-  message_generation 
+  message_runtime
   gazebo_msgs 
   roscpp 
   rospy 
@@ -138,9 +132,6 @@ catkin_package(
   rosconsole
   camera_info_manager
   std_msgs
-  DEPENDS 
-    gazebo 
-    SDF
   )
 add_dependencies(${PROJECT_NAME}_gencfg ${catkin_EXPORTED_TARGETS})
 
@@ -152,7 +143,7 @@ target_link_libraries(hokuyo_node
 )
 
 add_library(gazebo_ros_utils src/gazebo_ros_utils.cpp)
-target_link_libraries(gazebo_ros_utils ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+target_link_libraries(gazebo_ros_utils ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
 add_library(vision_reconfigure src/vision_reconfigure.cpp)
 add_dependencies(vision_reconfigure ${PROJECT_NAME}_gencfg)
@@ -163,7 +154,7 @@ add_dependencies(camera_synchronizer ${PROJECT_NAME}_gencfg)
 target_link_libraries(camera_synchronizer vision_reconfigure ${catkin_LIBRARIES})
 
 add_executable(pub_joint_trajectory_test test/pub_joint_trajectory_test.cpp)
-target_link_libraries(pub_joint_trajectory_test ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+target_link_libraries(pub_joint_trajectory_test ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 add_dependencies(pub_joint_trajectory_test ${catkin_EXPORTED_TARGETS}) # don't build until gazebo_msgs is done
 
 add_definitions(-fPIC) # what is this for?
@@ -171,112 +162,112 @@ add_definitions(-fPIC) # what is this for?
 ## Plugins
 add_library(gazebo_ros_camera_utils src/gazebo_ros_camera_utils.cpp)
 add_dependencies(gazebo_ros_camera_utils ${PROJECT_NAME}_gencfg)
-target_link_libraries(gazebo_ros_camera_utils ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+target_link_libraries(gazebo_ros_camera_utils ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
 add_library(MultiCameraPlugin src/MultiCameraPlugin.cpp)
-target_link_libraries(MultiCameraPlugin ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+target_link_libraries(MultiCameraPlugin ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
 add_library(gazebo_ros_camera src/gazebo_ros_camera.cpp)
 add_dependencies(gazebo_ros_camera ${PROJECT_NAME}_gencfg)
-target_link_libraries(gazebo_ros_camera gazebo_ros_camera_utils ${GAZEBO_LIBRARIES} CameraPlugin ${catkin_LIBRARIES})
+target_link_libraries(gazebo_ros_camera gazebo_ros_camera_utils CameraPlugin ${catkin_LIBRARIES})
 
 if (NOT GAZEBO_VERSION VERSION_LESS 6.0)
   add_library(gazebo_ros_elevator src/gazebo_ros_elevator.cpp)
   add_dependencies(gazebo_ros_elevator ${PROJECT_NAME}_gencfg)
-  target_link_libraries(gazebo_ros_elevator ${GAZEBO_LIBRARIES} ElevatorPlugin ${catkin_LIBRARIES})
+  target_link_libraries(gazebo_ros_elevator ElevatorPlugin ${catkin_LIBRARIES})
 endif()
 
 add_library(gazebo_ros_multicamera src/gazebo_ros_multicamera.cpp)
 add_dependencies(gazebo_ros_multicamera ${PROJECT_NAME}_gencfg)
-target_link_libraries(gazebo_ros_multicamera gazebo_ros_camera_utils ${GAZEBO_LIBRARIES} MultiCameraPlugin ${catkin_LIBRARIES})
+target_link_libraries(gazebo_ros_multicamera gazebo_ros_camera_utils MultiCameraPlugin ${catkin_LIBRARIES})
 
 add_library(gazebo_ros_depth_camera src/gazebo_ros_depth_camera.cpp)
 add_dependencies(gazebo_ros_depth_camera ${PROJECT_NAME}_gencfg)
-target_link_libraries(gazebo_ros_depth_camera gazebo_ros_camera_utils ${GAZEBO_LIBRARIES} DepthCameraPlugin ${catkin_LIBRARIES})
+target_link_libraries(gazebo_ros_depth_camera gazebo_ros_camera_utils DepthCameraPlugin ${catkin_LIBRARIES})
 
 add_library(gazebo_ros_openni_kinect src/gazebo_ros_openni_kinect.cpp)
 add_dependencies(gazebo_ros_openni_kinect ${PROJECT_NAME}_gencfg)
-target_link_libraries(gazebo_ros_openni_kinect gazebo_ros_camera_utils ${GAZEBO_LIBRARIES} DepthCameraPlugin ${catkin_LIBRARIES})
+target_link_libraries(gazebo_ros_openni_kinect gazebo_ros_camera_utils DepthCameraPlugin ${catkin_LIBRARIES})
 
 add_library(gazebo_ros_gpu_laser src/gazebo_ros_gpu_laser.cpp)
-target_link_libraries(gazebo_ros_gpu_laser ${catkin_LIBRARIES} ${GAZEBO_LIBRARIES} GpuRayPlugin)
+target_link_libraries(gazebo_ros_gpu_laser ${catkin_LIBRARIES} GpuRayPlugin)
 
 if (NOT GAZEBO_VERSION VERSION_LESS 7.3)
   add_library(gazebo_ros_harness src/gazebo_ros_harness.cpp)
   add_dependencies(gazebo_ros_harness ${catkin_EXPORTED_TARGETS})
-  target_link_libraries(gazebo_ros_harness ${GAZEBO_LIBRARIES}
+  target_link_libraries(gazebo_ros_harness
     ${Boost_LIBRARIES} HarnessPlugin ${catkin_LIBRARIES})
 endif()
 
 add_library(gazebo_ros_laser src/gazebo_ros_laser.cpp)
-target_link_libraries(gazebo_ros_laser ${GAZEBO_LIBRARIES} RayPlugin ${catkin_LIBRARIES})
+target_link_libraries(gazebo_ros_laser RayPlugin ${catkin_LIBRARIES})
 
 add_library(gazebo_ros_block_laser src/gazebo_ros_block_laser.cpp)
-target_link_libraries(gazebo_ros_block_laser ${GAZEBO_LIBRARIES} RayPlugin ${catkin_LIBRARIES})
+target_link_libraries(gazebo_ros_block_laser RayPlugin ${catkin_LIBRARIES})
 
 add_library(gazebo_ros_p3d src/gazebo_ros_p3d.cpp)
-target_link_libraries(gazebo_ros_p3d ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+target_link_libraries(gazebo_ros_p3d ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
 add_library(gazebo_ros_imu src/gazebo_ros_imu.cpp)
-target_link_libraries(gazebo_ros_imu ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+target_link_libraries(gazebo_ros_imu ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
 add_library(gazebo_ros_f3d src/gazebo_ros_f3d.cpp)
-target_link_libraries(gazebo_ros_f3d ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+target_link_libraries(gazebo_ros_f3d ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
 add_library(gazebo_ros_bumper src/gazebo_ros_bumper.cpp)
 add_dependencies(gazebo_ros_bumper ${catkin_EXPORTED_TARGETS})
-target_link_libraries(gazebo_ros_bumper ${GAZEBO_LIBRARIES} ${Boost_LIBRARIES} ContactPlugin ${catkin_LIBRARIES})
+target_link_libraries(gazebo_ros_bumper ${Boost_LIBRARIES} ContactPlugin ${catkin_LIBRARIES})
 
 add_library(gazebo_ros_projector src/gazebo_ros_projector.cpp)
-target_link_libraries(gazebo_ros_projector ${GAZEBO_LIBRARIES} ${Boost_LIBRARIES} ${catkin_LIBRARIES})
+target_link_libraries(gazebo_ros_projector ${Boost_LIBRARIES} ${catkin_LIBRARIES})
 
 add_library(gazebo_ros_prosilica src/gazebo_ros_prosilica.cpp)
 add_dependencies(gazebo_ros_prosilica ${PROJECT_NAME}_gencfg)
-target_link_libraries(gazebo_ros_prosilica gazebo_ros_camera_utils ${GAZEBO_LIBRARIES} CameraPlugin ${catkin_LIBRARIES})
+target_link_libraries(gazebo_ros_prosilica gazebo_ros_camera_utils CameraPlugin ${catkin_LIBRARIES})
 
 add_library(gazebo_ros_force src/gazebo_ros_force.cpp)
-target_link_libraries(gazebo_ros_force ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+target_link_libraries(gazebo_ros_force ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
 add_library(gazebo_ros_joint_trajectory src/gazebo_ros_joint_trajectory.cpp)
 add_dependencies(gazebo_ros_joint_trajectory ${catkin_EXPORTED_TARGETS})
-target_link_libraries(gazebo_ros_joint_trajectory ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+target_link_libraries(gazebo_ros_joint_trajectory ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
 
 add_library(gazebo_ros_joint_state_publisher src/gazebo_ros_joint_state_publisher.cpp)
 set_target_properties(gazebo_ros_joint_state_publisher PROPERTIES LINK_FLAGS "${ld_flags}")
 set_target_properties(gazebo_ros_joint_state_publisher PROPERTIES COMPILE_FLAGS "${cxx_flags}")
 add_dependencies(gazebo_ros_joint_state_publisher ${catkin_EXPORTED_TARGETS})
-target_link_libraries(gazebo_ros_joint_state_publisher ${GAZEBO_LIBRARIES} ${SDFormat_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+target_link_libraries(gazebo_ros_joint_state_publisher ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
 add_library(gazebo_ros_joint_pose_trajectory src/gazebo_ros_joint_pose_trajectory.cpp)
 add_dependencies(gazebo_ros_joint_pose_trajectory ${catkin_EXPORTED_TARGETS})
-target_link_libraries(gazebo_ros_joint_pose_trajectory ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+target_link_libraries(gazebo_ros_joint_pose_trajectory ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
 add_library(gazebo_ros_diff_drive src/gazebo_ros_diff_drive.cpp)
-target_link_libraries(gazebo_ros_diff_drive gazebo_ros_utils ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+target_link_libraries(gazebo_ros_diff_drive gazebo_ros_utils ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
 add_library(gazebo_ros_tricycle_drive src/gazebo_ros_tricycle_drive.cpp)
-target_link_libraries(gazebo_ros_tricycle_drive gazebo_ros_utils ${GAZEBO_LIBRARIES} ${Boost_LIBRARIES} ${catkin_LIBRARIES})
+target_link_libraries(gazebo_ros_tricycle_drive gazebo_ros_utils ${Boost_LIBRARIES} ${catkin_LIBRARIES})
 
 add_library(gazebo_ros_skid_steer_drive src/gazebo_ros_skid_steer_drive.cpp)
-target_link_libraries(gazebo_ros_skid_steer_drive ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+target_link_libraries(gazebo_ros_skid_steer_drive ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
 add_library(gazebo_ros_video src/gazebo_ros_video.cpp)
-target_link_libraries(gazebo_ros_video ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${OGRE_LIBRARIES})
+target_link_libraries(gazebo_ros_video ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${OGRE_LIBRARIES})
 
 add_library(gazebo_ros_planar_move src/gazebo_ros_planar_move.cpp)
-target_link_libraries(gazebo_ros_planar_move ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+target_link_libraries(gazebo_ros_planar_move ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
 add_library(gazebo_ros_hand_of_god src/gazebo_ros_hand_of_god.cpp)
 set_target_properties(gazebo_ros_hand_of_god PROPERTIES LINK_FLAGS "${ld_flags}")
 set_target_properties(gazebo_ros_hand_of_god PROPERTIES COMPILE_FLAGS "${cxx_flags}")
-target_link_libraries(gazebo_ros_hand_of_god ${GAZEBO_LIBRARIES} ${SDFormat_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+target_link_libraries(gazebo_ros_hand_of_god ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
 add_library(gazebo_ros_ft_sensor src/gazebo_ros_ft_sensor.cpp)
-target_link_libraries(gazebo_ros_ft_sensor ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+target_link_libraries(gazebo_ros_ft_sensor ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
 add_library(gazebo_ros_range src/gazebo_ros_range.cpp)
-target_link_libraries(gazebo_ros_range ${catkin_LIBRARIES} ${GAZEBO_LIBRARIES} ${Boost_LIBRARIES} RayPlugin)
+target_link_libraries(gazebo_ros_range ${catkin_LIBRARIES} ${Boost_LIBRARIES} RayPlugin)
 
 ##
 ## Add your new plugin here
@@ -284,7 +275,7 @@ target_link_libraries(gazebo_ros_range ${catkin_LIBRARIES} ${GAZEBO_LIBRARIES} $
 
 ## Template
 add_library(gazebo_ros_template src/gazebo_ros_template.cpp)
-target_link_libraries(gazebo_ros_template ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+target_link_libraries(gazebo_ros_template ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
 install(TARGETS 
   hokuyo_node 
diff --git a/gazebo_plugins/package.xml b/gazebo_plugins/package.xml
index 1db5e0e16..e1419c800 100644
--- a/gazebo_plugins/package.xml
+++ b/gazebo_plugins/package.xml
@@ -1,4 +1,5 @@
-<package>
+<?xml version="1.0"?>
+<package format="2">
   <name>gazebo_plugins</name>
   <version>2.4.11</version>
   <description>
@@ -17,60 +18,35 @@
 
   <buildtool_depend>catkin</buildtool_depend>
 
-  <build_depend>gazebo</build_depend>
-  <build_depend>gazebo_msgs</build_depend>
-  <build_depend>geometry_msgs</build_depend>
-  <build_depend>sensor_msgs</build_depend>
-  <build_depend>trajectory_msgs</build_depend>
-  <build_depend>std_srvs</build_depend>
-  <build_depend>roscpp</build_depend>
-  <build_depend>rospy</build_depend>
-  <build_depend>nodelet</build_depend>
-  <build_depend>angles</build_depend>
-  <build_depend>nav_msgs</build_depend>
-  <build_depend>urdf</build_depend>
-  <build_depend>tf</build_depend>
-  <build_depend>tf2_ros</build_depend>
-  <build_depend>dynamic_reconfigure</build_depend>
-  <build_depend>driver_base</build_depend>
-  <build_depend>rosgraph_msgs</build_depend>
-  <build_depend>image_transport</build_depend>
-  <build_depend>rosconsole</build_depend>
+  <build_depend>gazebo_dev</build_depend>
+  <exec_depend>gazebo</exec_depend>
+
+  <depend>gazebo_msgs</depend>
+  <depend>geometry_msgs</depend>
+  <depend>sensor_msgs</depend>
+  <depend>trajectory_msgs</depend>
+  <depend>std_srvs</depend>
+  <depend>roscpp</depend>
+  <depend>rospy</depend>
+  <depend>nodelet</depend>
+  <depend>angles</depend>
+  <depend>nav_msgs</depend>
+  <depend>urdf</depend>
+  <depend>tf</depend>
+  <depend>tf2_ros</depend>
+  <depend>dynamic_reconfigure</depend>
+  <depend>driver_base</depend>
+  <depend>rosgraph_msgs</depend>
+  <depend>image_transport</depend>
+  <depend>rosconsole</depend>
   <build_depend>message_generation</build_depend>
-  <build_depend>cv_bridge</build_depend>
-  <build_depend>polled_camera</build_depend>
-  <build_depend>diagnostic_updater</build_depend>
-  <build_depend>camera_info_manager</build_depend>
-  <build_depend>std_msgs</build_depend>
-
-  <run_depend>gazebo</run_depend>
-  <run_depend>gazebo_msgs</run_depend>
-  <run_depend>gazebo_ros</run_depend>
-  <run_depend>geometry_msgs</run_depend>
-  <run_depend>sensor_msgs</run_depend>
-  <run_depend>trajectory_msgs</run_depend>
-  <run_depend>std_srvs</run_depend>
-  <run_depend>roscpp</run_depend>
-  <run_depend>rospy</run_depend>
-  <run_depend>nodelet</run_depend>
-  <run_depend>angles</run_depend>
-  <run_depend>nav_msgs</run_depend>
-  <run_depend>urdf</run_depend>
-  <run_depend>tf</run_depend>
-  <run_depend>tf2_ros</run_depend>
-  <run_depend>dynamic_reconfigure</run_depend>
-  <run_depend>driver_base</run_depend>
-  <run_depend>rosgraph_msgs</run_depend>
-  <run_depend>image_transport</run_depend>
-  <run_depend>rosconsole</run_depend>
-  <run_depend>message_generation</run_depend>
-  <run_depend>cv_bridge</run_depend>
-  <run_depend>polled_camera</run_depend>
-  <run_depend>camera_info_manager</run_depend>
-  <run_depend>std_msgs</run_depend>
-
-  <!-- When moved to format 2, this can be turned test_depend -->
-  <build_depend>rostest</build_depend>
-  <run_depend>rostest</run_depend>
+  <exec_depend>message_runtime</exec_depend>
+  <depend>cv_bridge</depend>
+  <depend>polled_camera</depend>
+  <depend>diagnostic_updater</depend>
+  <depend>camera_info_manager</depend>
+  <depend>std_msgs</depend>
+
+  <test_depend>rostest</test_depend>
 
 </package>
diff --git a/gazebo_ros/CMakeLists.txt b/gazebo_ros/CMakeLists.txt
index 66a59c7dc..b2a78eb28 100644
--- a/gazebo_ros/CMakeLists.txt
+++ b/gazebo_ros/CMakeLists.txt
@@ -2,6 +2,7 @@ cmake_minimum_required(VERSION 2.8.3)
 project(gazebo_ros)
 
 find_package(catkin REQUIRED COMPONENTS
+  gazebo_dev
   cmake_modules
   roslib
   roscpp
@@ -10,7 +11,6 @@ find_package(catkin REQUIRED COMPONENTS
   tf
   rosgraph_msgs
   dynamic_reconfigure
-  message_generation
   std_msgs
   gazebo_msgs
 )
@@ -22,10 +22,6 @@ else()
   message(FATAL_ERROR "pkg-config is required; please install it")
 endif()
 
-# Depend on system install of Gazebo
-find_package(gazebo REQUIRED)
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}")
-
 find_package(Boost REQUIRED COMPONENTS thread)
 
 find_package(TinyXML REQUIRED)
@@ -47,7 +43,6 @@ catkin_package(
   tf
   rosgraph_msgs
   dynamic_reconfigure
-  message_generation
   std_msgs
   gazebo_msgs
 
@@ -59,8 +54,6 @@ include_directories(
   include
   ${Boost_INCLUDE_DIRS}
   ${catkin_INCLUDE_DIRS}
-  ${GAZEBO_INCLUDE_DIRS}
-  ${SDFormat_INCLUDE_DIRS}
   ${TinyXML_INCLUDE_DIRS})
 
 link_directories(${catkin_LIBRARY_DIRS})
@@ -75,20 +68,18 @@ foreach (item ${GAZEBO_LDFLAGS})
   set(ld_flags "${ld_flags} ${item}")
 endforeach ()
 
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}")
-
 ## Plugins
 add_library(gazebo_ros_api_plugin src/gazebo_ros_api_plugin.cpp)
 add_dependencies(gazebo_ros_api_plugin ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 set_target_properties(gazebo_ros_api_plugin PROPERTIES LINK_FLAGS "${ld_flags}")
 set_target_properties(gazebo_ros_api_plugin PROPERTIES COMPILE_FLAGS "${cxx_flags}")
-target_link_libraries(gazebo_ros_api_plugin ${GAZEBO_LIBRARIES} ${SDFormat_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${TinyXML_LIBRARIES})
+target_link_libraries(gazebo_ros_api_plugin ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${TinyXML_LIBRARIES})
 
 add_library(gazebo_ros_paths_plugin src/gazebo_ros_paths_plugin.cpp)
 add_dependencies(gazebo_ros_paths_plugin ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 set_target_properties(gazebo_ros_paths_plugin PROPERTIES COMPILE_FLAGS "${cxx_flags}")
 set_target_properties(gazebo_ros_paths_plugin PROPERTIES LINK_FLAGS "${ld_flags}")
-target_link_libraries(gazebo_ros_paths_plugin ${GAZEBO_LIBRARIES} ${SDFormat_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+target_link_libraries(gazebo_ros_paths_plugin ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
 # Install Gazebo System Plugins
 install(TARGETS gazebo_ros_api_plugin gazebo_ros_paths_plugin
diff --git a/gazebo_ros/package.xml b/gazebo_ros/package.xml
index 1a6726955..ff406cbdf 100644
--- a/gazebo_ros/package.xml
+++ b/gazebo_ros/package.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<package>
+<package format="2">
   <name>gazebo_ros</name>
   <version>2.4.11</version>
   <description>
@@ -23,31 +23,21 @@
   <buildtool_depend>catkin</buildtool_depend>
 
   <build_depend>cmake_modules</build_depend>
-  <build_depend>gazebo</build_depend>
-  <build_depend>gazebo_msgs</build_depend>
-  <build_depend>roslib</build_depend>
-  <build_depend>roscpp</build_depend>
-  <build_depend>tf</build_depend>
-  <build_depend>std_srvs</build_depend>
-  <build_depend>rosgraph_msgs</build_depend>
-  <build_depend>dynamic_reconfigure</build_depend>
-  <build_depend>std_msgs</build_depend>
-  <build_depend>geometry_msgs</build_depend>
-  <build_depend>message_generation</build_depend>
-  <build_depend>std_msgs</build_depend>
-  <build_depend>tinyxml</build_depend>
-
-  <run_depend>gazebo</run_depend>
-  <run_depend>gazebo_msgs</run_depend>
-  <run_depend>roslib</run_depend>
-  <run_depend>roscpp</run_depend>
-  <run_depend>tf</run_depend>
-  <run_depend>std_srvs</run_depend>
-  <run_depend>rosgraph_msgs</run_depend>
-  <run_depend>dynamic_reconfigure</run_depend>
-  <run_depend>geometry_msgs</run_depend>
-  <run_depend>message_generation</run_depend>
-  <run_depend>std_msgs</run_depend>
-  <run_depend>tinyxml</run_depend>
+  <build_depend>gazebo_dev</build_depend>
+  <!--
+    Need to use gazebo_dev since run script needs pkg-config
+    See: https://github.com/ros-simulation/gazebo_ros_pkgs/issues/323 for more info
+  -->
+  <exec_depend>gazebo_dev</exec_depend>
+  <depend>gazebo_msgs</depend>
+  <depend>roslib</depend>
+  <depend>roscpp</depend>
+  <depend>tf</depend>
+  <depend>std_srvs</depend>
+  <depend>rosgraph_msgs</depend>
+  <depend>dynamic_reconfigure</depend>
+  <depend>std_msgs</depend>
+  <depend>geometry_msgs</depend>
+  <depend>tinyxml</depend>
 
 </package>
diff --git a/gazebo_ros_control/CMakeLists.txt b/gazebo_ros_control/CMakeLists.txt
index cf228b007..36201c74a 100644
--- a/gazebo_ros_control/CMakeLists.txt
+++ b/gazebo_ros_control/CMakeLists.txt
@@ -3,6 +3,7 @@ project(gazebo_ros_control)
 
 # Load catkin and all dependencies required for this package
 find_package(catkin REQUIRED COMPONENTS
+  gazebo_dev
   roscpp
   std_msgs
   control_toolbox
@@ -15,10 +16,6 @@ find_package(catkin REQUIRED COMPONENTS
   angles
 )
 
-# Depend on system install of Gazebo 
-find_package(gazebo REQUIRED)
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}")
-
 catkin_package(
   CATKIN_DEPENDS
     roscpp
@@ -33,27 +30,23 @@ catkin_package(
     angles
   INCLUDE_DIRS include
   LIBRARIES ${PROJECT_NAME} default_robot_hw_sim
-  DEPENDS gazebo
 )
 
 link_directories(
-  ${GAZEBO_LIBRARY_DIRS}
   ${catkin_LIBRARY_DIRS}
 )
 
 include_directories(include
   ${Boost_INCLUDE_DIR}
   ${catkin_INCLUDE_DIRS}
-  ${GAZEBO_INCLUDE_DIRS}
 )
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}")
 
 ## Libraries
 add_library(${PROJECT_NAME} src/gazebo_ros_control_plugin.cpp)
-target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${GAZEBO_LIBRARIES})
+target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
 
 add_library(default_robot_hw_sim src/default_robot_hw_sim.cpp)
-target_link_libraries(default_robot_hw_sim ${catkin_LIBRARIES} ${GAZEBO_LIBRARIES})
+target_link_libraries(default_robot_hw_sim ${catkin_LIBRARIES})
 
 ## Install
 install(TARGETS ${PROJECT_NAME} default_robot_hw_sim
diff --git a/gazebo_ros_control/package.xml b/gazebo_ros_control/package.xml
index e71a22981..9cc98061c 100644
--- a/gazebo_ros_control/package.xml
+++ b/gazebo_ros_control/package.xml
@@ -1,4 +1,5 @@
-<package>
+<?xml version="1.0"?>
+<package format="2">
   <name>gazebo_ros_control</name>
   <version>2.4.11</version>
   <description>gazebo_ros_control</description>
@@ -17,30 +18,19 @@
 
   <buildtool_depend>catkin</buildtool_depend>
 
-  <build_depend>roscpp</build_depend> 
-  <build_depend>std_msgs</build_depend>
-  <build_depend>gazebo</build_depend>
-  <build_depend>control_toolbox</build_depend> 
-  <build_depend>controller_manager</build_depend> 
-  <build_depend>pluginlib</build_depend> 
-  <build_depend>hardware_interface</build_depend>
-  <build_depend>transmission_interface</build_depend> 
-  <build_depend>joint_limits_interface</build_depend>
-  <build_depend>urdf</build_depend>
-  <build_depend>angles</build_depend>
-  
-  <run_depend>roscpp</run_depend>
-  <run_depend>std_msgs</run_depend>
-  <run_depend>gazebo</run_depend>
-  <run_depend>gazebo_ros</run_depend> 
-  <run_depend>control_toolbox</run_depend> 
-  <run_depend>controller_manager</run_depend> 
-  <run_depend>pluginlib</run_depend> 
-  <run_depend>hardware_interface</run_depend>
-  <run_depend>transmission_interface</run_depend> 
-  <run_depend>joint_limits_interface</run_depend>
-  <run_depend>urdf</run_depend>
-  <run_depend>angles</run_depend>
+  <build_depend>gazebo_dev</build_depend>
+  <exec_depend>gazebo</exec_depend>
+  <exec_depend>gazebo_ros</exec_depend>
+  <depend>roscpp</depend>
+  <depend>std_msgs</depend>
+  <depend>control_toolbox</depend>
+  <depend>controller_manager</depend>
+  <depend>pluginlib</depend>
+  <depend>hardware_interface</depend>
+  <depend>transmission_interface</depend>
+  <depend>joint_limits_interface</depend>
+  <depend>urdf</depend>
+  <depend>angles</depend>
 
   <export>
     <gazebo_ros_control plugin="${prefix}/robot_hw_sim_plugins.xml"/>
diff --git a/gazebo_ros_pkgs/package.xml b/gazebo_ros_pkgs/package.xml
index 7216aff1e..533e9649a 100644
--- a/gazebo_ros_pkgs/package.xml
+++ b/gazebo_ros_pkgs/package.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<package>
+<package format="2">
   <name>gazebo_ros_pkgs</name> <!-- This is a meta package! -->
   <version>2.4.11</version>
   <description>Interface for using ROS with the <a href="http://gazebosim.org/">Gazebo</a> simulator.</description>
@@ -16,9 +16,10 @@
 
   <buildtool_depend>catkin</buildtool_depend>
 
-  <run_depend>gazebo_msgs</run_depend>
-  <run_depend>gazebo_plugins</run_depend>
-  <run_depend>gazebo_ros</run_depend>
+  <exec_depend>gazebo_dev</exec_depend>
+  <exec_depend>gazebo_msgs</exec_depend>
+  <exec_depend>gazebo_plugins</exec_depend>
+  <exec_depend>gazebo_ros</exec_depend>
 
   <export>
     <metapackage/>