diff --git a/setup.py b/setup.py
index 5af7b7997..09ae92899 100644
--- a/setup.py
+++ b/setup.py
@@ -2,17 +2,37 @@
 
 from setuptools import setup
 
+import os
+
+catkin_scripts = [
+    'bin/catkin_find',
+    'bin/catkin_init_workspace',
+    'bin/catkin_make',
+    'bin/catkin_make_isolated',
+    'bin/catkin_test_results',
+    'bin/catkin_topological_order',
+]
+
+if os.name == 'nt':
+    import sys
+    import shutil
+    if sys.version_info.major == 2:
+        # On Windows\Python2, Python scripts making use of multiprocessing
+        # have to meet several requirements to work.
+        # (catkin_pkg makes use of it to do parallel package parser.)
+        #
+        # One is that the scripts have to be ended with .py extension;
+        # Otherwise, it will manifest as ImportError.
+        if not os.path.isdir('build/bin'):
+            os.makedirs('build/bin')
+        for script in catkin_scripts:
+            shutil.copyfile(script, 'build/%s.py' % script)
+        catkin_scripts = ['build/%s.py' % script for script in catkin_scripts]
+
 d = generate_distutils_setup(
     packages=['catkin'],
     package_dir={'': 'python'},
-    scripts=[
-        'bin/catkin_find',
-        'bin/catkin_init_workspace',
-        'bin/catkin_make',
-        'bin/catkin_make_isolated',
-        'bin/catkin_test_results',
-        'bin/catkin_topological_order',
-    ],
+    scripts=catkin_scripts,
 )
 
 setup(**d)