diff --git a/build_cpp.sh b/build_catkin_workspace.sh
similarity index 100%
rename from build_cpp.sh
rename to build_catkin_workspace.sh
diff --git a/do_everything.sh b/do_everything.sh
index 989be32..5d1ceb0 100755
--- a/do_everything.sh
+++ b/do_everything.sh
@@ -113,43 +113,15 @@ export TARGET_DIR=$prefix/target
 export RBA_TOOLCHAIN=$ANDROID_NDK_HOME/build/cmake/android.toolchain.cmake
 apply_patch $my_loc/patches/android.toolchain.cmake.patch -d $ANDROID_NDK_HOME/build/cmake
 
-# Now get boost with a specialized build
-[ -d $prefix/libs/boost ] || run_cmd get_library boost $prefix/libs
-[ -d $prefix/libs/bzip2 ] || run_cmd get_library bzip2 $prefix/libs
-[ -d $prefix/libs/uuid ] || run_cmd get_library uuid $prefix/libs
-[ -d $prefix/libs/poco-1.8.0 ] || run_cmd get_library poco $prefix/libs
-[ -d $prefix/libs/tinyxml ] || run_cmd get_library tinyxml $prefix/libs
-[ -d $prefix/libs/tinyxml2 ] || run_cmd get_library tinyxml2 $prefix/libs
-[ -d $prefix/libs/console_bridge ] || run_cmd get_library console_bridge $prefix/libs
-[ -d $prefix/libs/lz4-r131 ] || run_cmd get_library lz4 $prefix/libs
-[ -d $prefix/libs/curl-7.47.0 ] || run_cmd get_library curl $prefix/libs
-[ -d $prefix/libs/urdfdom/ ] || run_cmd get_library urdfdom $prefix/libs
-[ -d $prefix/libs/urdfdom_headers ] || run_cmd get_library urdfdom_headers $prefix/libs
-[ -d $prefix/libs/libiconv-1.15 ] || run_cmd get_library libiconv $prefix/libs
-[ -d $prefix/libs/libxml2-2.9.7 ] || run_cmd get_library libxml2 $prefix/libs
-[ -d $prefix/libs/collada_dom ] || run_cmd get_library collada_dom $prefix/libs
-[ -d $prefix/libs/eigen-3.3.5 ] || run_cmd get_library eigen $prefix/libs
-[ -d $prefix/libs/assimp-3.1.1 ] || run_cmd get_library assimp $prefix/libs
-[ -d $prefix/libs/qhull-2015.2 ] || run_cmd get_library qhull $prefix/libs
-[ -d $prefix/libs/yaml-cpp-yaml-cpp-0.6.2 ] || run_cmd get_library yaml-cpp $prefix/libs
-[ -d $prefix/libs/flann ] || run_cmd get_library flann $prefix/libs
-[ -d $prefix/libs/pcl-pcl-1.8.1 ] || run_cmd get_library pcl $prefix/libs
-[ -d $prefix/libs/bullet ] || run_cmd get_library bullet $prefix/libs
-[ -d $prefix/libs/SDL-1.2.15 ] || run_cmd get_library sdl $prefix/libs
-[ -d $prefix/libs/SDL_image ] || run_cmd get_library sdl-image $prefix/libs
-[ -d $prefix/libs/libogg-1.3.3 ] || run_cmd get_library ogg $prefix/libs
-[ -d $prefix/libs/libvorbis-1.3.6 ] || run_cmd get_library vorbis $prefix/libs
-[ -d $prefix/libs/libtheora-1.1.1 ] || run_cmd get_library theora $prefix/libs
-
-# get rospkg dependency for pluginlib support at build time
-[ -d $my_loc/files/rospkg ] || run_cmd get_library rospkg $my_loc/files
+# Get all library dependencies.
+run_cmd get_system_dependencies $my_loc/system_deps.rosinstall $prefix/libs $my_loc/files
 
 echo
 echo -e '\e[34mGetting ROS packages\e[39m'
 echo
 
 if [[ $skip -ne 1 ]] ; then
-    run_cmd get_ros_stuff $prefix
+    run_cmd get_catkin_packages $prefix
 
     echo
     echo -e '\e[34mApplying patches.\e[39m'
@@ -347,29 +319,29 @@ echo
 [ -f $TARGET_DIR/lib/libbz2.a ] || run_cmd build_library bzip2 $prefix/libs/bzip2
 [ -f $TARGET_DIR/lib/libuuid.a ] || run_cmd build_library uuid $prefix/libs/uuid
 [ -f $TARGET_DIR/lib/libboost_system.a ] || run_cmd copy_boost $prefix/libs/boost
-[ -f $TARGET_DIR/lib/libPocoFoundation.a ] || run_cmd build_library_with_toolchain poco $prefix/libs/poco-1.8.0
+[ -f $TARGET_DIR/lib/libPocoFoundation.a ] || run_cmd build_library_with_toolchain poco $prefix/libs/poco
 [ -f $TARGET_DIR/lib/libtinyxml.a ] || run_cmd build_library tinyxml $prefix/libs/tinyxml
 [ -f $TARGET_DIR/lib/libtinyxml2.a ] || run_cmd build_library tinyxml2 $prefix/libs/tinyxml2
 [ -f $TARGET_DIR/lib/libconsole_bridge.a ] || run_cmd build_library console_bridge $prefix/libs/console_bridge
-[ -f $TARGET_DIR/lib/liblz4.a ] || run_cmd build_library lz4 $prefix/libs/lz4-r131/cmake_unofficial
-[ -f $TARGET_DIR/lib/libcurl.a ] || run_cmd build_library_with_toolchain curl $prefix/libs/curl-7.47.0
+[ -f $TARGET_DIR/lib/liblz4.a ] || run_cmd build_library lz4 $prefix/libs/lz4/cmake_unofficial
+[ -f $TARGET_DIR/lib/libcurl.a ] || run_cmd build_library_with_toolchain curl $prefix/libs/curl
 [ -f $TARGET_DIR/include/urdf_model/model.h ] || run_cmd build_library urdfdom_headers $prefix/libs/urdfdom_headers
 [ -f $TARGET_DIR/lib/liburdfdom_model.a ] || run_cmd build_library urdfdom $prefix/libs/urdfdom
-[ -f $TARGET_DIR/lib/libiconv.a ] || run_cmd build_library_with_toolchain libiconv $prefix/libs/libiconv-1.15
-[ -f $TARGET_DIR/lib/libxml2.a ] || run_cmd build_library_with_toolchain libxml2 $prefix/libs/libxml2-2.9.7
+[ -f $TARGET_DIR/lib/libiconv.a ] || run_cmd build_library_with_toolchain libiconv $prefix/libs/libiconv
+[ -f $TARGET_DIR/lib/libxml2.a ] || run_cmd build_library_with_toolchain libxml2 $prefix/libs/libxml2
 [ -f $TARGET_DIR/lib/libcollada-dom2.4-dp.a ] || run_cmd build_library collada_dom $prefix/libs/collada_dom
-[ -f $TARGET_DIR/lib/libassimp.a ] || run_cmd build_library assimp $prefix/libs/assimp-3.1.1
-[ -f $TARGET_DIR/include/eigen3/signature_of_eigen3_matrix_library ] || run_cmd build_library eigen $prefix/libs/eigen-3.3.5
-[ -f $TARGET_DIR/lib/libqhullstatic.a ] || run_cmd build_library qhull $prefix/libs/qhull-2015.2
-[ -f $TARGET_DIR/lib/libyaml-cpp.a ] || run_cmd build_library yaml-cpp $prefix/libs/yaml-cpp-yaml-cpp-0.6.2
+[ -f $TARGET_DIR/lib/libassimp.a ] || run_cmd build_library assimp $prefix/libs/assimp
+[ -f $TARGET_DIR/include/eigen3/signature_of_eigen3_matrix_library ] || run_cmd build_library eigen $prefix/libs/eigen
+[ -f $TARGET_DIR/lib/libqhullstatic.a ] || run_cmd build_library qhull $prefix/libs/qhull
+[ -f $TARGET_DIR/lib/libyaml-cpp.a ] || run_cmd build_library yaml-cpp $prefix/libs/yaml-cpp
 [ -f $TARGET_DIR/lib/libflann_cpp_s.a ] || run_cmd build_library flann $prefix/libs/flann
-[ -f $TARGET_DIR/lib/libpcl_common.a ] || run_cmd build_library pcl $prefix/libs/pcl-pcl-1.8.1
+[ -f $TARGET_DIR/lib/libpcl_common.a ] || run_cmd build_library pcl $prefix/libs/pcl
 [ -f $TARGET_DIR/lib/libBulletSoftBody.a ] || run_cmd build_library bullet $prefix/libs/bullet
-[ -f $TARGET_DIR/lib/libSDL.a ] || run_cmd build_library_with_toolchain sdl $prefix/libs/SDL-1.2.15
-[ -f $TARGET_DIR/lib/libSDL_image.a ] || run_cmd build_library_with_toolchain sdl-image $prefix/libs/SDL_image
-[ -f $TARGET_DIR/lib/libogg.a ] || run_cmd build_library_with_toolchain ogg $prefix/libs/libogg-1.3.3
-[ -f $TARGET_DIR/lib/libvorbis.a ] || run_cmd build_library_with_toolchain vorbis $prefix/libs/libvorbis-1.3.6
-[ -f $TARGET_DIR/lib/libtheora.a ] || run_cmd build_library_with_toolchain theora $prefix/libs/libtheora-1.1.1
+[ -f $TARGET_DIR/lib/libSDL.a ] || run_cmd build_library_with_toolchain sdl $prefix/libs/sdl
+[ -f $TARGET_DIR/lib/libSDL_image.a ] || run_cmd build_library_with_toolchain sdl-image $prefix/libs/sdl-image
+[ -f $TARGET_DIR/lib/libogg.a ] || run_cmd build_library_with_toolchain ogg $prefix/libs/ogg
+[ -f $TARGET_DIR/lib/libvorbis.a ] || run_cmd build_library_with_toolchain vorbis $prefix/libs/vorbis
+[ -f $TARGET_DIR/lib/libtheora.a ] || run_cmd build_library_with_toolchain theora $prefix/libs/theora
 
 echo
 echo -e '\e[34mCross-compiling ROS.\e[39m'
@@ -378,10 +350,10 @@ echo
 
 if [[ $debugging -eq 1 ]];then
     echo "Build type = DEBUG"
-    run_cmd build_cpp -p $prefix -b Debug -v $verbose
+    run_cmd build_catkin_workspace -p $prefix -b Debug -v $verbose
 else
     echo "Build type = RELEASE"
-    run_cmd build_cpp -p $prefix -b Release -v $verbose
+    run_cmd build_catkin_workspace -p $prefix -b Release -v $verbose
 fi
 
 if [[ $samples -eq 1 ]];then
diff --git a/get_ros_stuff.sh b/get_catkin_packages.sh
similarity index 81%
rename from get_ros_stuff.sh
rename to get_catkin_packages.sh
index 094cd4e..a1a8692 100755
--- a/get_ros_stuff.sh
+++ b/get_catkin_packages.sh
@@ -22,9 +22,9 @@ mkdir -p catkin_ws/src && cd catkin_ws
 
 if [ -f src/.rosinstall ]; then
   cd src/
-  wstool merge $my_loc/ndk.rosinstall --merge-replace
+  wstool merge $my_loc/ros.rosinstall --merge-replace
   wstool update
   cd ..
 else
-  wstool init -j$PARALLEL_JOBS src $my_loc/ndk.rosinstall
+  wstool init -j$PARALLEL_JOBS src $my_loc/ros.rosinstall
 fi
diff --git a/get_system_dependencies.sh b/get_system_dependencies.sh
new file mode 100755
index 0000000..76aba70
--- /dev/null
+++ b/get_system_dependencies.sh
@@ -0,0 +1,43 @@
+#!/bin/bash
+
+# Abort script on any failures
+set -e
+
+my_loc="$(cd "$(dirname $0)" && pwd)"
+source $my_loc/config.sh
+source $my_loc/utils.sh
+
+if [ $# != 3 ] || [ $1 == '-h' ] || [ $1 == '--help' ]; then
+    echo "Usage: $0 system_deps_rosinstall library_prefix_path files_prefix_path"
+    echo "  example: $0 /home/user/ros_android/system_deps.rosinstall /home/user/my_workspace/output/libs /home/user/ros_android/files"
+    echo $@
+    exit 1
+fi
+
+echo
+echo -e '\e[34mGetting system libraries.\e[39m'
+echo
+
+rosinstall_file=$1
+lib_prefix=$(cd $2 && pwd)
+files_prefix=$(cd $3 && pwd)
+
+# Get everything
+if [ -f $lib_prefix/.rosinstall ]; then
+  pushd $lib_prefix
+  wstool merge $rosinstall_file --merge-replace
+  wstool update -j$PARALLEL_JOBS
+  popd
+else
+  wstool init -j$PARALLEL_JOBS $lib_prefix $rosinstall_file
+fi
+
+# Library-specific patches / actions.
+
+# Boost
+pushd $lib_prefix/boost
+[ -d build/out ] || bash -x ./build-android.sh $ANDROID_NDK_HOME --boost=1.68.0 --arch=$ANDROID_ABI
+popd
+
+# Rospkg
+cp -r $lib_prefix/rospkg $files_prefix
diff --git a/patches/assimp.patch b/patches/assimp.patch
index 79dc293..e5affd9 100644
--- a/patches/assimp.patch
+++ b/patches/assimp.patch
@@ -1,7 +1,7 @@
-diff --git libs/assimp-3.1.1/CMakeLists.txt libs/assimp-3.1.1/CMakeLists.txt
+diff --git libs/assimp/CMakeLists.txt libs/assimp/CMakeLists.txt
 index d332428..1af59dc 100644
---- libs/assimp-3.1.1/CMakeLists.txt
-+++ libs/assimp-3.1.1/CMakeLists.txt
+--- libs/assimp/CMakeLists.txt
++++ libs/assimp/CMakeLists.txt
 @@ -76,7 +76,7 @@ SET( ASSIMP_INCLUDE_INSTALL_DIR "include" CACHE PATH
  	"Path the header files are installed to." )
  SET( ASSIMP_BIN_INSTALL_DIR "bin" CACHE PATH
@@ -11,10 +11,10 @@ index d332428..1af59dc 100644
      "Build a static (.a) version of the library" )
  
  SET(ASSIMP_DEBUG_POSTFIX "d" CACHE STRING "Debug Postfitx for lib, samples and tools")
-diff --git libs/assimp-3.1.1/code/BlenderDNA.cpp libs/assimp-3.1.1/code/BlenderDNA.cpp
+diff --git libs/assimp/code/BlenderDNA.cpp libs/assimp/code/BlenderDNA.cpp
 index 16e639e..fdd49eb 100644
---- libs/assimp-3.1.1/code/BlenderDNA.cpp
-+++ libs/assimp-3.1.1/code/BlenderDNA.cpp
+--- libs/assimp/code/BlenderDNA.cpp
++++ libs/assimp/code/BlenderDNA.cpp
 @@ -56,10 +56,10 @@ using namespace Assimp::Formatter;
  #define for_each BOOST_FOREACH
  bool match4(StreamReaderAny& stream, const char* string) {
diff --git a/patches/log4cxx.patch b/patches/log4cxx.patch
deleted file mode 100644
index ef09041..0000000
--- a/patches/log4cxx.patch
+++ /dev/null
@@ -1,31 +0,0 @@
---- libs/apache-log4cxx-0.10.0/src/examples/cpp/console.cpp	2015-01-09 00:45:11.380992240 -0300
-+++ libs/apache-log4cxx-0.10.0/src/examples/cpp/console.cpp	2015-01-09 00:49:43.140979871 -0300
-@@ -22,6 +22,8 @@
- #include <log4cxx/logmanager.h>
- #include <iostream>
- #include <locale.h>
-+#include <cstring>
-+#include <cstdio>
- 
- using namespace log4cxx;
- using namespace log4cxx::helpers;
---- libs/apache-log4cxx-0.10.0/src/main/cpp/socketoutputstream.cpp	2015-01-09 00:42:28.728999643 -0300
-+++ libs/apache-log4cxx-0.10.0/src/main/cpp/socketoutputstream.cpp	2015-01-09 00:42:43.916998952 -0300
-@@ -19,6 +19,7 @@
- #include <log4cxx/helpers/socketoutputstream.h>
- #include <log4cxx/helpers/socket.h>
- #include <log4cxx/helpers/bytebuffer.h>
-+#include <cstring>
- 
- using namespace log4cxx;
- using namespace log4cxx::helpers;
---- libs/apache-log4cxx-0.10.0/src/main/cpp/inputstreamreader.cpp	2015-01-09 00:39:04.933008919 -0300
-+++ libs/apache-log4cxx-0.10.0/src/main/cpp/inputstreamreader.cpp	2015-01-09 00:39:51.201006813 -0300
-@@ -20,6 +20,7 @@
- #include <log4cxx/helpers/exception.h>
- #include <log4cxx/helpers/pool.h>
- #include <log4cxx/helpers/bytebuffer.h>
-+#include <cstring>
- 
- using namespace log4cxx;
- using namespace log4cxx::helpers;
diff --git a/patches/lz4.patch b/patches/lz4.patch
index 0a0cfdf..9335b9f 100644
--- a/patches/lz4.patch
+++ b/patches/lz4.patch
@@ -1,5 +1,5 @@
---- libs/lz4-r131/cmake_unofficial/CMakeLists.txt
-+++ libs/lz4-r131/cmake_unofficial/CMakeLists.txt
+--- libs/lz4/cmake_unofficial/CMakeLists.txt
++++ libs/lz4/cmake_unofficial/CMakeLists.txt
 @@ -14,7 +14,7 @@
      MESSAGE( STATUS "64 bit architecture detected size of void * is " ${SIZEOF_VOID_P})
  ENDIF()
diff --git a/patches/pcl-1.8.1.patch b/patches/pcl-1.8.1.patch
index 2a4c7e2..340fb12 100644
--- a/patches/pcl-1.8.1.patch
+++ b/patches/pcl-1.8.1.patch
@@ -1,5 +1,5 @@
---- libs/pcl-pcl-1.8.1/CMakeLists.txt
-+++ libs/pcl-pcl-1.8.1/CMakeLists.txt
+--- libs/pcl/CMakeLists.txt
++++ libs/pcl/CMakeLists.txt
 @@ -1,6 +1,8 @@
  ### ---[ PCL global CMake
  cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
@@ -13,7 +13,7 @@ diff --git a/android_pcl_config_minimal.cmake b/android_pcl_config_minimal.cmake
 new file mode 100644
 index 0000000..be84634
 --- /dev/null
-+++ libs/pcl-pcl-1.8.1/android_pcl_config_minimal.cmake
++++ libs/pcl/android_pcl_config_minimal.cmake
 @@ -0,0 +1,15 @@
 +set(WITH_FZAPI FALSE CACHE BOOL "fzapi: disabled (forced)" FORCE)
 +set(WITH_LIBUSB FALSE CACHE BOOL "libusb: disabled (forced)" FORCE)
@@ -31,8 +31,8 @@ index 0000000..be84634
 +set(HAVE_MM_MALLOC_EXITCODE "2" CACHE STRING "Result from TRY_RUN for HAVE_MM_MALLOC" FORCE)
 +set(HAVE_POSIX_MEMALIGN_EXITCODE "2" CACHE STRING "Result from TRY_RUN for HAVE_POSIX_MEMALIGN" FORCE)
 +
---- libs/pcl-pcl-1.8.1/PCLConfig.cmake.in
-+++ libs/pcl-pcl-1.8.1/PCLConfig.cmake.in
+--- libs/pcl/PCLConfig.cmake.in
++++ libs/pcl/PCLConfig.cmake.in
 @@ -853,8 +853,9 @@
        set(PCL_${COMPONENT}_LIBRARY ${PCL_${COMPONENT}_LIBRARY_DEBUG})
      endif(NOT PCL_${COMPONENT}_LIBRARY AND WIN32)
@@ -52,8 +52,8 @@ index 0000000..be84634
          endif(PCL_${INT_DEP}_LIBRARIES) 
        endif(PCL_${INT_DEP}_FOUND)
      endforeach(int_dep)
---- libs/pcl-pcl-1.8.1/cmake/pcl_pclconfig.cmake
-+++ libs/pcl-pcl-1.8.1/cmake/pcl_pclconfig.cmake
+--- libs/pcl/cmake/pcl_pclconfig.cmake
++++ libs/pcl/cmake/pcl_pclconfig.cmake
 @@ -61,6 +61,13 @@
      endif(_status)
  endforeach(_ss)
diff --git a/patches/poco.patch b/patches/poco.patch
index e65e3c4..458bbcd 100644
--- a/patches/poco.patch
+++ b/patches/poco.patch
@@ -1,5 +1,5 @@
---- libs/poco-1.8.0/Foundation/include/Poco/SharedLibrary.h
-+++ libs/poco-1.8.0/Foundation/include/Poco/SharedLibrary.h
+--- libs/poco/Foundation/include/Poco/SharedLibrary.h
++++ libs/poco/Foundation/include/Poco/SharedLibrary.h
 @@ -23,7 +23,9 @@
  #include "Poco/Foundation.h"
  
@@ -11,8 +11,8 @@
  #include "Poco/SharedLibrary_HPUX.h"
  #elif defined(POCO_VXWORKS)
  #include "Poco/SharedLibrary_VX.h"
---- libs/poco-1.8.0/Foundation/src/SharedLibrary.cpp
-+++ libs/poco-1.8.0/Foundation/src/SharedLibrary.cpp
+--- libs/poco/Foundation/src/SharedLibrary.cpp
++++ libs/poco/Foundation/src/SharedLibrary.cpp
 @@ -18,7 +18,9 @@
  #include "Poco/Exception.h"
  
@@ -25,7 +25,7 @@
  #elif defined(POCO_VXWORKS)
  #include "SharedLibrary_VX.cpp"
 --- /dev/null
-+++ libs/poco-1.8.0/Foundation/src/SharedLibrary_ANDROID_STATIC.cpp
++++ libs/poco/Foundation/src/SharedLibrary_ANDROID_STATIC.cpp
 @@ -0,0 +1,119 @@
 +//
 +// SharedLibrary_ANDROID.cpp
@@ -147,7 +147,7 @@
 +
 +} // namespace Poco
 --- /dev/null
-+++ libs/poco-1.8.0/build/config/Android_static
++++ libs/poco/build/config/Android_static
 @@ -0,0 +1,91 @@
 +#
 +# $Id: //poco/1.4/build/config/Android#3 $
diff --git a/patches/qhull.patch b/patches/qhull.patch
index e5ceec5..fc8949d 100644
--- a/patches/qhull.patch
+++ b/patches/qhull.patch
@@ -1,5 +1,5 @@
---- libs/qhull-2012.1/CMakeLists.txt	2014-12-19 18:26:42.612712590 -0300
-+++ libs/qhull-2012.1/CMakeLists.txt	2014-12-19 18:44:18.124752493 -0300
+--- libs/qhull/CMakeLists.txt	2014-12-19 18:26:42.612712590 -0300
++++ libs/qhull/CMakeLists.txt	2014-12-19 18:44:18.124752493 -0300
 @@ -241,7 +241,7 @@
  
  set(
diff --git a/patches/yaml-cpp.patch b/patches/yaml-cpp.patch
index f9b6ba0..4061b8a 100644
--- a/patches/yaml-cpp.patch
+++ b/patches/yaml-cpp.patch
@@ -1,5 +1,5 @@
---- libs/yaml-cpp-yaml-cpp-0.6.2/CMakeLists.txt
-+++ libs/yaml-cpp-yaml-cpp-0.6.2/CMakeLists.txt
+--- libs/yaml-cpp/CMakeLists.txt
++++ libs/yaml-cpp/CMakeLists.txt
 @@ -38,7 +38,11 @@ enable_testing()
  ### Project options
  ###
diff --git a/ndk.rosinstall b/ros.rosinstall
similarity index 100%
rename from ndk.rosinstall
rename to ros.rosinstall
diff --git a/system_deps.rosinstall b/system_deps.rosinstall
new file mode 100644
index 0000000..788bc20
--- /dev/null
+++ b/system_deps.rosinstall
@@ -0,0 +1,108 @@
+- git:
+    local-name: assimp
+    uri: https://github.com/assimp/assimp.git
+    version: v3.1.1
+- git:
+    local-name: boost
+    uri: https://github.com/moritz-wundke/Boost-for-Android.git
+    version: 286a548aa9b058402cc88766e818a0218725e163
+- git:
+    local-name: bullet
+    uri: https://github.com/bulletphysics/bullet3
+    version: 2.83.6
+- git:
+    local-name: bzip2
+    uri: https://github.com/osrf/bzip2_cmake.git
+    version: 0496eaaf58746516124c838e10084951ac4a57e9
+- git:
+    local-name: collada_dom
+    uri: https://github.com/rdiankov/collada-dom.git
+    version: v2.4.4
+- git:
+    local-name: console_bridge
+    uri: https://github.com/ros/console_bridge.git
+    version: 0.3.2
+- tar:
+    local-name: curl
+    uri: http://curl.haxx.se/download/curl-7.47.0.tar.bz2
+    version: curl-7.47.0
+- tar:
+    local-name: eigen
+    uri: https://bitbucket.org/eigen/eigen/get/3.3.5.tar.gz
+    version: eigen-eigen-b3f3d4950030
+- git:
+    local-name: flann
+    uri: https://github.com/chadrockey/flann_cmake.git
+    version: de1c59fd75479efdf04d3a32988c2fa1061ed7ff
+- tar:
+    local-name: libiconv
+    uri: http://ftp.gnu.org/pub/gnu/libiconv/libiconv-1.15.tar.gz
+    version: libiconv-1.15
+- tar:
+    local-name: libxml2
+    uri: ftp://xmlsoft.org/libxml2/libxml2-2.9.7.tar.gz
+    version: libxml2-2.9.7
+- tar:
+    local-name: lz4
+    uri: https://github.com/Cyan4973/lz4/archive/r131.tar.gz
+    version: lz4-r131
+- tar:
+    local-name: ogg
+    uri: http://downloads.xiph.org/releases/ogg/libogg-1.3.3.tar.gz
+    version: libogg-1.3.3
+- tar:
+    local-name: pcl
+    uri: https://github.com/PointCloudLibrary/pcl/archive/pcl-1.8.1.tar.gz
+    version: pcl-pcl-1.8.1
+- tar:
+    local-name: poco
+    uri: http://pocoproject.org/releases/poco-1.8.0/poco-1.8.0.tar.gz
+    version: poco-1.8.0
+- tar:
+    local-name: qhull
+    uri: http://www.qhull.org/download/qhull-2015-src-7.2.0.tgz
+    version: qhull-2015.2
+- git:
+    local-name: rospkg
+    uri: https://github.com/ros-infrastructure/rospkg.git
+    version: 93b1b72f256badf22ccc926b22646f2e83b720fd
+- tar:
+    local-name: sdl
+    uri: https://www.libsdl.org/release/SDL-1.2.15.tar.gz
+    version: SDL-1.2.15
+- tar:
+    local-name: sdl-image
+    uri: http://hg.libsdl.org/SDL_image/archive/d46c630f2cd6.tar.gz
+    version: SDL_image-d46c630f2cd6
+- tar:
+    local-name: theora
+    uri: http://downloads.xiph.org/releases/theora/libtheora-1.1.1.tar.bz2
+    version: libtheora-1.1.1
+- git:
+    local-name: tinyxml
+    uri: https://github.com/chadrockey/tinyxml_cmake
+    version: cbacc92a6e9b5359567336776b9d9eaf92d88355
+- git:
+    local-name: tinyxml2
+    uri: https://github.com/leethomason/tinyxml2
+    version: 7.0.1
+- git:
+    local-name: urdfdom
+    uri: https://github.com/ros/urdfdom.git
+    version: 0.4.2
+- git:
+    local-name: urdfdom_headers
+    uri: https://github.com/ros/urdfdom_headers.git
+    version: 0.4.2
+- git:
+    local-name: uuid
+    uri: https://github.com/chadrockey/uuid_cmake
+    version: 2e7e31f12397474c9465acbae868d13170b3337b
+- tar:
+    local-name: vorbis
+    uri: http://downloads.xiph.org/releases/vorbis/libvorbis-1.3.6.tar.gz
+    version: libvorbis-1.3.6
+- tar:
+    local-name: yaml-cpp
+    uri: https://github.com/jbeder/yaml-cpp/archive/yaml-cpp-0.6.2.tar.gz
+    version: yaml-cpp-yaml-cpp-0.6.2
diff --git a/utils.sh b/utils.sh
index 9f18ad2..e99c113 100644
--- a/utils.sh
+++ b/utils.sh
@@ -7,35 +7,6 @@ die() {
     exit 1
 }
 
-download() {
-    if [ ! -z $1 ]; then
-        cmd_exists curl && curl -L $1 -O || wget $1
-    else 
-        echo "skipping download of $1 as it's already local"
-    fi
-}
-
-download_bz2() {
-    echo "downloading $1"
-    ( cmd_exists curl && curl -L $1 || wget -O - $1 ) | tar jx -C $2
-}
-
-download_gz() {
-    echo "downloading $1"
-    ( cmd_exists curl && curl -L $1 || wget -O - $1 ) | tar zx -C $2
-}
-
-download_zip() {
-    cmd_exists unzip || die 'could not find unzip'
-
-    echo "downloading $1"
-
-    tmpdir=$(mktemp -d /tmp/rba.XXXX)
-    tmpfile=$tmpdir/gtest.zip
-    ( cmd_exists curl && curl -L $1 -o $tmpfile || wget $1 -O $tmpfile ) && unzip $tmpfile -d $2
-    rm -rf $tmpdir
-}
-
 cmake_build() {
     cmd_exists cmake || die 'cmake was not found'