diff --git a/.classpath b/.classpath
new file mode 100644
index 0000000..e8ba279
--- /dev/null
+++ b/.classpath
@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<classpath>
+	<classpathentry kind="src" path="application_management/src/main/java"/>
+	<classpathentry kind="src" path="listener/src/main/java"/>
+	<classpathentry kind="src" path="make_a_map/src/main/java"/>
+	<classpathentry kind="src" path="map_manager/src/main/java"/>
+	<classpathentry kind="src" path="map_nav/src/main/java"/>
+	<classpathentry kind="src" path="teleop/src/main/java"/>
+	<classpathentry kind="lib" path="gradle/wrapper/gradle-wrapper.jar"/>
+	<classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER"/>
+	<classpathentry kind="output" path="bin"/>
+</classpath>
diff --git a/.gitignore b/.gitignore
index 50961af..776c361 100644
--- a/.gitignore
+++ b/.gitignore
@@ -6,8 +6,6 @@ local.properties
 proguard-project.txt
 .gradle
 build
-.project
-.classpath
 
 # These are Android Studio files, might be worth including these later.
 .idea
diff --git a/.project b/.project
new file mode 100644
index 0000000..d48d709
--- /dev/null
+++ b/.project
@@ -0,0 +1,17 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+	<name>android_apps</name>
+	<comment></comment>
+	<projects>
+	</projects>
+	<buildSpec>
+		<buildCommand>
+			<name>org.eclipse.jdt.core.javabuilder</name>
+			<arguments>
+			</arguments>
+		</buildCommand>
+	</buildSpec>
+	<natures>
+		<nature>org.eclipse.jdt.core.javanature</nature>
+	</natures>
+</projectDescription>
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 70b2a2a..1e99343 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -3,7 +3,7 @@ project(android_apps)
 
 find_package(catkin REQUIRED rosjava_tools)
 
-catkin_android_setup(assembleRelease publishToMavenLocal)
+catkin_android_setup(assembleRelease uploadArchives)
 
 catkin_package()
 
diff --git a/README b/README
deleted file mode 100644
index 5c2c124..0000000
--- a/README
+++ /dev/null
@@ -1,10 +0,0 @@
-To configure (only need to do this the first time):
-
-./tools/configure.py
-
-To build:
-
-./gradlew debug
-
-You should find .apk files in the bin subdirectory of each project.
-
diff --git a/application_management/build.gradle b/application_management/build.gradle
index b826f5c..04b3ff0 100644
--- a/application_management/build.gradle
+++ b/application_management/build.gradle
@@ -15,15 +15,16 @@
  */
 
 dependencies {
-  compile 'ros.android_core:android_gingerbread_mr1:0.0.0-SNAPSHOT'
-  compile 'com.github.rosjava.android_extras:gingerbread:0.1.0'
-  compile 'ros.rosjava_core:rosjava:0.0.0-SNAPSHOT'
+  compile 'org.ros.android_core:android_gingerbread_mr1:0.1.+'
+  compile 'com.github.rosjava.android_extras:gingerbread:0.1.+'
+  compile 'org.ros.rosjava_core:rosjava:0.1.+'
+  compile 'org.ros.rosjava_messages:rocon_app_manager_msgs:0.6.+'
+  compile 'org.ros.rosjava_messages:gateway_msgs:0.6.+'
+  compile 'org.ros.rosjava_messages:diagnostic_msgs:1.10.+'
 }
 
 apply plugin: 'android-library'
 
 android {
     compileSdkVersion 10
-    buildToolsVersion androidBuildToolsVersion
 }
-
diff --git a/build.gradle b/build.gradle
index cda810b..b37aea3 100644
--- a/build.gradle
+++ b/build.gradle
@@ -13,55 +13,54 @@
  * License for the specific language governing permissions and limitations under
  * the License.
  */
-
 task wrapper(type: Wrapper) {
-    gradleVersion = '1.6'
-}
-
-allprojects {
-    group 'com.github.rosjava.android_apps'
-    version = '0.1.0'
+    gradleVersion = '1.7'
 }
 
-ext.androidBuildToolsVersion = "17"
-
-subprojects {
-    buildscript {
-        repositories {
-            mavenCentral()
-        }
-        dependencies {
-            classpath 'com.android.tools.build:gradle:0.5.0'
-        }
-    }
-
-    apply plugin: 'maven'
-
+buildscript {
+    def rosMavenPath = "$System.env.ROS_MAVEN_PATH".split(':').collect { 'file://' + it }
     repositories {
+        rosMavenPath.each { p ->
+            maven {
+                url p
+            }
+        }
         mavenLocal()
         maven {
             url 'https://github.com/rosjava/rosjava_mvn_repo/raw/master'
         }
     }
-    configurations.add('compile') {
-        exclude group: 'junit'
-        exclude group: 'xml-apis'
+    dependencies {
+        classpath group: 'org.ros.rosjava_bootstrap', name: 'gradle_plugins', version: '0.1.+'
     }
+}
 
+apply plugin: 'catkin'
+
+allprojects {
+    group 'com.github.rosjava.android_apps'
+    version = project.catkin.pkg.version
+}
 
-    uploadArchives {
+subprojects {
+    apply plugin: 'maven'
+    apply plugin: 'ros'
+    apply plugin: 'ros-android'
+    buildscript {
         repositories {
-            mavenDeployer {
-                repository url: 'file://' + new File(System.getProperty('user.home'), '.m2/repository').absolutePath
-            }
+            mavenCentral()
+        }
+        dependencies {
+            classpath 'com.android.tools.build:gradle:0.5.6'
         }
-    }
-    task publishToMavenLocal() << {
-        description = 'installs .aar files to the local maven repository.'
     }
     afterEvaluate { Project project ->
-        if (plugins.findPlugin('android-library')) {
-            publishToMavenLocal.dependsOn('uploadArchives')
+        /* 
+         * Delayed configuration here, because we delay the decision for
+         * applying android or android-library plugins until inside the sub-projects.
+         */
+        project.android {
+            buildToolsVersion project.rosandroid.buildToolsVersion
         }
     }
 }
diff --git a/listener/build.gradle b/listener/build.gradle
index c438ec4..9b0dd37 100644
--- a/listener/build.gradle
+++ b/listener/build.gradle
@@ -15,8 +15,8 @@
  */
 
 dependencies {
-  compile 'ros.android_core:android_gingerbread_mr1:0.0.0-SNAPSHOT'
-  compile 'ros.rosjava_core:rosjava:0.0.0-SNAPSHOT'
+  compile 'org.ros.android_core:android_gingerbread_mr1:0.1.+'
+  compile 'org.ros.rosjava_core:rosjava:0.1.+'
   compile project(':application_management')
 }
 
@@ -24,6 +24,5 @@ apply plugin: 'android'
 
 android {
     compileSdkVersion 10
-    buildToolsVersion androidBuildToolsVersion
 }
  
diff --git a/make_a_map/build.gradle b/make_a_map/build.gradle
index 8c497a8..7ed045b 100644
--- a/make_a_map/build.gradle
+++ b/make_a_map/build.gradle
@@ -16,14 +16,14 @@
 
 dependencies {
   compile project(':application_management')
-  compile 'ros.android_core:android_honeycomb_mr2:0.0.0-SNAPSHOT'
-  compile 'ros.rosjava_core:rosjava_geometry:0.0.0-SNAPSHOT'
+  compile 'org.ros.android_core:android_honeycomb_mr2:0.1.+'
+  compile 'org.ros.rosjava_core:rosjava_geometry:0.1.+'
+  compile 'org.ros.rosjava_messages:map_store:0.3.+'
 }
 
 apply plugin: 'android'
 
 android {
     compileSdkVersion 13
-    buildToolsVersion androidBuildToolsVersion
 }
 
diff --git a/map_manager/build.gradle b/map_manager/build.gradle
index 3e529bd..727d069 100644
--- a/map_manager/build.gradle
+++ b/map_manager/build.gradle
@@ -15,13 +15,13 @@
  */
 dependencies {
   compile project(':application_management')
-  compile 'ros.android_core:android_honeycomb_mr2:0.0.0-SNAPSHOT'
+  compile 'org.ros.android_core:android_honeycomb_mr2:0.1.+'
+  compile 'org.ros.rosjava_messages:map_store:0.3.+'
 }
 
 apply plugin: 'android'
 
 android {
     compileSdkVersion 13
-    buildToolsVersion androidBuildToolsVersion
 }
 
diff --git a/map_nav/build.gradle b/map_nav/build.gradle
index bec0e43..8aefe3d 100644
--- a/map_nav/build.gradle
+++ b/map_nav/build.gradle
@@ -15,14 +15,15 @@
  */
 dependencies {
   compile project(':application_management')
-  compile 'ros.android_core:android_honeycomb_mr2:0.0.0-SNAPSHOT'
-  compile 'ros.rosjava_core:rosjava_geometry:0.0.0-SNAPSHOT'
+  compile 'org.ros.android_core:android_honeycomb_mr2:0.1.+'
+  compile 'org.ros.rosjava_core:rosjava_geometry:0.1.+'
+  compile 'org.ros.rosjava_messages:map_store:0.3.+'
+  compile 'org.ros.rosjava_messages:move_base_msgs:1.11.+'
 }
 
 apply plugin: 'android'
 
 android {
     compileSdkVersion 13
-    buildToolsVersion androidBuildToolsVersion
 }
 
diff --git a/package.xml b/package.xml
index 07c80ba..8bb2451 100644
--- a/package.xml
+++ b/package.xml
@@ -9,11 +9,13 @@
   <url type="repository">https://github.com/rosjava/android_apps</url>
   <url type="bugtracker">https://github.com/rosjava/android_apps/issues</url>
   <maintainer email="d.stonier@gmail.com">Daniel Stonier</maintainer>
+  <author email="d.stonier@gmail.com">Daniel Stonier</author>
   <author email="kattyokaccho3616@gmail.com">Kazuto Murase</author>
   <license>Apache 2.0</license>
 
   <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>rosjava_tools</build_depend>
+  <build_depend>rosjava_build_tools</build_depend>
+  <build_depend>rosjava_bootstrap</build_depend>
   <build_depend>android_core</build_depend>
   <build_depend>android_extras</build_depend>
   <build_depend>zeroconf_jmdns_suite</build_depend>
diff --git a/teleop/build.gradle b/teleop/build.gradle
index d97a8a7..0197221 100644
--- a/teleop/build.gradle
+++ b/teleop/build.gradle
@@ -15,14 +15,13 @@
  */
 dependencies {
   compile project(':application_management')
-  compile 'ros.android_core:android_honeycomb_mr2:0.0.0-SNAPSHOT'
+  compile 'org.ros.android_core:android_honeycomb_mr2:0.1.+'
 }
 
 apply plugin: 'android'
 
 android {
     compileSdkVersion 13
-    buildToolsVersion androidBuildToolsVersion
 }