diff --git a/meta-ros-common/classes/ros_cmake.bbclass b/meta-ros-common/classes/ros_cmake.bbclass
index 6861788c123..75e53c5304c 100644
--- a/meta-ros-common/classes/ros_cmake.bbclass
+++ b/meta-ros-common/classes/ros_cmake.bbclass
@@ -1,3 +1,15 @@
 # Copyright (c) 2019 LG Electronics, Inc.
+# Copyright (c) Qualcomm Innovation Center, Inc. All rights reserved
 
 inherit cmake
+
+EXTRA_OECMAKE:prepend = "\
+    -DCMAKE_PREFIX_PATH='${STAGING_DIR_HOST}${ros_prefix};${STAGING_DIR_HOST}${prefix}' \
+    -DCMAKE_INSTALL_PREFIX:PATH='${ros_prefix}' \
+    -DCMAKE_MODULE_PATH='${STAGING_DIR_HOST}${ros_datadir}/cmake/Modules/' \
+"
+
+EXTRA_OECMAKE:prepend:class-native = "\
+    -DCMAKE_PREFIX_PATH='${STAGING_DIR_NATIVE}${ros_prefix};${STAGING_DIR_NATIVE}${prefix}' \
+    -DCMAKE_INSTALL_PREFIX:PATH='${ros_prefix}' \
+"
diff --git a/meta-ros-common/classes/ros_opt_prefix.bbclass b/meta-ros-common/classes/ros_opt_prefix.bbclass
index 9dd68f3a622..58c05e58d2b 100644
--- a/meta-ros-common/classes/ros_opt_prefix.bbclass
+++ b/meta-ros-common/classes/ros_opt_prefix.bbclass
@@ -1,17 +1,20 @@
 #
 # Copyright (c) 2013 Stefan Herbrechtsmeier, Bielefeld University
 # Copyright (c) 2019-2020 LG Electronics, Inc.
+# Copyright (c) Qualcomm Innovation Center, Inc. All rights reserved
 #
 
 ros_prefix ?= "${base_prefix}/opt/ros/${ROS_DISTRO}"
 
 ros_bindir = "${ros_prefix}/bin"
+ros_sbindir = "${ros_prefix}/sbin"
 ros_libdir = "${ros_prefix}/${baselib}"
 ros_libexecdir = "${ros_libdir}/${ROS_BPN}"
 ros_includedir = "${ros_prefix}/include"
 ros_datadir = "${ros_prefix}/share"
 ros_sysconfdir = "${ros_prefix}/etc"
 ros_stacksdir = "${ros_prefix}/stacks"
+ros_toolsdir = "${ros_prefix}/tools"
 
 # Used by chrpath.bbclass
 PREPROCESS_RELOCATE_DIRS += " \
@@ -35,6 +38,8 @@ FILES:${PN} += "\
     ${ros_datadir} \
     ${ros_sysconfdir} \
     ${ros_stacksdir} \
+    ${ros_toolsdir}/ \
+    ${ros_prefix} \
     "
 
 FILES:${PN}-dev += "\
@@ -65,6 +70,8 @@ SYSROOT_DIRS:append = " \
     ${ros_datadir} \
     ${ros_stacksdir} \
     ${ros_sysconfdir} \
+    ${ros_bindir} \
+    ${ros_sbindir} \
     "
 
 SYSROOT_DIRS_NATIVE:append = " \
diff --git a/meta-ros2-humble/recipes-bbappends/ros-workspace/ros-workspace/0001-Don-t-use-CMAKE_INSTALL_PREFIX-as-sysroot-for-cross-.patch b/meta-ros2-humble/recipes-bbappends/ros-workspace/ros-workspace/0001-PATCH-Set-cross-compile-prefix-to-CMAKE_INSTALL_PREF.patch
similarity index 61%
rename from meta-ros2-humble/recipes-bbappends/ros-workspace/ros-workspace/0001-Don-t-use-CMAKE_INSTALL_PREFIX-as-sysroot-for-cross-.patch
rename to meta-ros2-humble/recipes-bbappends/ros-workspace/ros-workspace/0001-PATCH-Set-cross-compile-prefix-to-CMAKE_INSTALL_PREF.patch
index f7493976f7a..a6d0088f68f 100644
--- a/meta-ros2-humble/recipes-bbappends/ros-workspace/ros-workspace/0001-Don-t-use-CMAKE_INSTALL_PREFIX-as-sysroot-for-cross-.patch
+++ b/meta-ros2-humble/recipes-bbappends/ros-workspace/ros-workspace/0001-PATCH-Set-cross-compile-prefix-to-CMAKE_INSTALL_PREF.patch
@@ -1,16 +1,14 @@
-From a1e3a61864ad7e81653c4adcc0360231b7a6238f Mon Sep 17 00:00:00 2001
-From: JeongBong Seo <jb.seo@lge.com>
-Date: Fri, 5 Apr 2019 14:54:08 +0900
-Subject: [PATCH] Don't use CMAKE_INSTALL_PREFIX as sysroot for cross-compile
-
-Upstream-Status: Pending
+From 107260818dc02e51a0e47ea1a2007d7531fb55b1 Mon Sep 17 00:00:00 2001
+From: Jiaxing Shi <quic_jiaxshi@quicinc.com>
+Date: Wed, 15 May 2024 14:45:56 +0800
+Subject: [PATCH] [PATCH] Set cross-compile prefix to CMAKE_INSTALL_PREFIX
 
 ---
  CMakeLists.txt | 2 +-
  1 file changed, 1 insertion(+), 1 deletion(-)
 
 diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 880d8ea..544785c 100644
+index 99c9e2d..f56a56c 100644
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
 @@ -14,7 +14,7 @@ else()
@@ -18,7 +16,10 @@ index 880d8ea..544785c 100644
    set(SHELL_EXT "sh")
  endif()
 -set(AMENT_PACKAGE_DIR "${CMAKE_INSTALL_PREFIX}/${PYTHON_INSTALL_DIR}/ament_package")
-+set(AMENT_PACKAGE_DIR "$ENV{STAGING_DIR_NATIVE}/usr/${PYTHON_INSTALL_DIR}/ament_package")
++set(AMENT_PACKAGE_DIR "$ENV{STAGING_DIR_NATIVE}/${CMAKE_INSTALL_PREFIX}/${PYTHON_INSTALL_DIR}/ament_package")
  if(NOT EXISTS "${AMENT_PACKAGE_DIR}")
    # Check for an .egg-link file and use the listed directory if it exists
    get_filename_component(AMENT_PACKAGE_EGG_LINK "${AMENT_PACKAGE_DIR}" DIRECTORY)
+-- 
+2.17.1
+
diff --git a/meta-ros2-humble/recipes-bbappends/ros-workspace/ros-workspace_%.bbappend b/meta-ros2-humble/recipes-bbappends/ros-workspace/ros-workspace_%.bbappend
deleted file mode 100644
index 2d82f957cda..00000000000
--- a/meta-ros2-humble/recipes-bbappends/ros-workspace/ros-workspace_%.bbappend
+++ /dev/null
@@ -1,58 +0,0 @@
-# Copyright (c) 2019 LG Electronics, Inc.
-
-# ASSERT(<prefix> == /usr)
-# ros-workspace installs its setup scripts under <prefix>, which is an unnatural location when <prefix> is /usr. Move them to be
-# under <sysconfdir>/profile.d/ros and create "ros_" prefixed symlinks to them under <bindir>.
-#
-# Create a ros.sh that sources ros/setup.sh, thereby setting up the ROS workspace for every login. Place it in a separate package
-# which will be added to images when IMAGE_FEATURES contains "ros-implicit-workspace"
-do_install:append() {
-    profile_dir=${sysconfdir}/profile.d/ros
-    mkdir -p ${D}$profile_dir
-    cd ${D}$profile_dir
-
-    mv ${D}${prefix}/*setup.bash .
-    mv ${D}${prefix}/*setup.zsh .
-    mv ${D}${prefix}/*setup.sh .
-    mv ${D}${prefix}/_local_setup_util.py .
-
-    for f in *setup.bash *setup.zsh; do
-        # Hardcode AMENT_CURRENT_PREFIX and the directory where these files reside.
-        sed -i -e '/AMENT_CURRENT_PREFIX=/ s@=.*@=${prefix}@' \
-               -e '/\$AMENT_CURRENT_PREFIX/ s@\$AMENT_CURRENT_PREFIX@'$profile_dir'@' $f
-    done
-
-    # Add special case handling for AMENT_CURRENT_PREFIX == /usr
-    sed -i -e '/for _path.*_UNIQUE_PREFIX_PATH.*do/ s@do.*@do [ $_path = ${prefix} ] \&\& _path='$profile_dir'@' \
-           -e '/AMENT_CURRENT_PREFIX=.*_path/ s@_path.*@_path; [ $_path = '$profile_dir' ] \&\& AMENT_CURRENT_PREFIX=${prefix}@' \
-           setup.sh
-
-    # Don't attempt to use the build-time Python executable on the target and hardcode the directory where _order_packages.py
-    # resides.
-    sed -i -e '/^_ament_python_executable=/ s@=.*@=${bindir}/${PYTHON_PN}@' \
-           -e '/_local_setup_util\.py/ s@\$_ament_prefix_sh_AMENT_CURRENT_PREFIX/@'$profile_dir'/@' \
-           local_setup.sh
-
-    # This script assumes, that it's installed in root of ROS distro instalation (e.g. /opt/ros/eloquent/_local_setup_util.py
-    # in our setup it's installed in /etc/profile.d/ros/_local_setup_util.py) and uses it's path to search for ament packages:
-    # https://github.com/ament/ament_package/commit/0a41c282b36902cee6b64f7c80138b93c729fb7b#diff-f837dfb214b29ba2075cb54047ffa159R54
-    # and then also passes it's path in get_commands() call as a prefix:
-    # https://github.com/ament/ament_package/commit/0a41c282b36902cee6b64f7c80138b93c729fb7b#diff-f837dfb214b29ba2075cb54047ffa159R62
-    # so it wasn't finding anything in our setup, change it to ${prefix} and drop all this when we switch ROS2 to use ros_opt_prefix.bbclass
-    sed -i -e "s#__file__#'${libdir}'#g" _local_setup_util.py
-
-    mkdir -p ${D}${bindir}
-    for f in *setup.bash *setup.zsh *setup.sh; do
-        ln -s $profile_dir/$f ${D}${bindir}/ros_$f
-    done
-
-    echo ". $profile_dir/setup.sh" > ../ros.sh
-
-    cd - > /dev/null
-}
-
-PACKAGES =+ "${PN}-implicitworkspace"
-
-FILES:${PN}-implicitworkspace = " \
-    ${sysconfdir}/profile.d/ros.sh \
-"
diff --git a/meta-ros2-humble/recipes-bbappends/ros-workspace/ros-workspace_1.0.2-2.bbappend b/meta-ros2-humble/recipes-bbappends/ros-workspace/ros-workspace_1.0.2-2.bbappend
index ff96a40ae9a..d3eb809b37c 100644
--- a/meta-ros2-humble/recipes-bbappends/ros-workspace/ros-workspace_1.0.2-2.bbappend
+++ b/meta-ros2-humble/recipes-bbappends/ros-workspace/ros-workspace_1.0.2-2.bbappend
@@ -11,4 +11,4 @@ ROS_BUILDTOOL_DEPENDS += " \
 # Need to pass the native sysroot folder path.
 export STAGING_DIR_NATIVE
 FILESEXTRAPATHS:prepend := "${THISDIR}/${BPN}:"
-SRC_URI:append = " file://0001-Don-t-use-CMAKE_INSTALL_PREFIX-as-sysroot-for-cross-.patch"
+SRC_URI:append = " file://0001-PATCH-Set-cross-compile-prefix-to-CMAKE_INSTALL_PREF.patch"
diff --git a/meta-ros2/classes/ros2_distro.bbclass b/meta-ros2/classes/ros2_distro.bbclass
index 59949e5b54b..b1dff6272b1 100644
--- a/meta-ros2/classes/ros2_distro.bbclass
+++ b/meta-ros2/classes/ros2_distro.bbclass
@@ -1,6 +1,7 @@
 # Copyright (c) 2019-2020 LG Electronics, Inc.
 
 inherit ros_distro
+inherit ros_opt_prefix
 
 # Place metadata unique to ROS 2 distros here.
 
diff --git a/meta-ros2/classes/ros_ament_cmake.bbclass b/meta-ros2/classes/ros_ament_cmake.bbclass
index dd4d4d3bdb2..49249dea79b 100644
--- a/meta-ros2/classes/ros_ament_cmake.bbclass
+++ b/meta-ros2/classes/ros_ament_cmake.bbclass
@@ -1,3 +1,5 @@
+# Copyright (c) Qualcomm Innovation Center, Inc. All rights reserved
+
 # The SOABI setting changed in newer python3 with:
 # http://git.openembedded.org/openembedded-core/commit/?h=warrior&id=f3326309c7c22a6034917f6eee21908c61f44a2f
 # https://github.com/python/cpython/pull/13196/commits/752b61141da76e81e53700bdbea81cd95af617b6
@@ -19,10 +21,20 @@ EXTRA_OECMAKE:append:class-target = " -DPYTHON_SOABI=${PYTHON_SOABI}"
 #
 #    "Could not find ROS middleware implementation 'NOTFOUND'"
 #
-export AMENT_PREFIX_PATH="${STAGING_DIR_HOST}${prefix};${STAGING_DIR_NATIVE}${prefix}"
+export AMENT_PREFIX_PATH="${STAGING_DIR_HOST}${prefix};${STAGING_DIR_NATIVE}${prefix};${STAGING_DIR_HOST}${ros_prefix};${STAGING_DIR_NATIVE}${ros_prefix}"
 
 inherit cmake python3native
 
 FILES:${PN}:prepend = " \
     ${datadir}/ament_index \
 "
+
+EXTRA_OECMAKE:prepend = "\
+    -DCMAKE_PREFIX_PATH='${STAGING_DIR_HOST}${ros_prefix};${STAGING_DIR_HOST}${prefix}' \
+    -DCMAKE_INSTALL_PREFIX:PATH='${ros_prefix}' \
+"
+
+EXTRA_OECMAKE:prepend:class-native = "\
+    -DCMAKE_PREFIX_PATH='${ros_prefix}' \
+    -DCMAKE_INSTALL_PREFIX:PATH='${ros_prefix}' \
+"
diff --git a/meta-ros2/classes/ros_ament_python.bbclass b/meta-ros2/classes/ros_ament_python.bbclass
index 0d0f72c7fcd..b6251b18600 100644
--- a/meta-ros2/classes/ros_ament_python.bbclass
+++ b/meta-ros2/classes/ros_ament_python.bbclass
@@ -1,18 +1,34 @@
 # Copyright (c) 2018-2019 LG Electronics, Inc.
+# Copyright (c) Qualcomm Innovation Center, Inc. All rights reserved
 
 inherit setuptools3_legacy
 
 do_install:append() {
-    mkdir -p ${D}${datadir}/ament_index/resource_index/packages
-    touch ${D}${datadir}/ament_index/resource_index/packages/${ROS_BPN}
-    if test -e ${D}${libdir}/${ROS_BPN}; then
-        for i in ${D}${libdir}/${ROS_BPN}/* ${D}${libdir}/${ROS_BPN}/*/*; do
+    mkdir -p ${D}${ros_datadir}/ament_index/resource_index/packages
+    touch ${D}${ros_datadir}/ament_index/resource_index/packages/${ROS_BPN}
+    if test -e ${D}${ros_libdir}/${ROS_BPN}; then
+        for i in ${D}${ros_libdir}/${ROS_BPN}/* ${D}${ros_libdir}/${ROS_BPN}/*/*; do
             [ -f $i ] && sed -i '1c#!/usr/bin/python3' $i
         done
         true
     fi
+
+    # similar to what setuptools3_legacy.bbclass does here:
+    for i in ${D}${ros_bindir}/* ${D}${ros_sbindir}/*; do
+        if [ -f "$i" ]; then
+            sed -i -e s:${PYTHON}:${USRBINPATH}/env\ ${SETUPTOOLS_PYTHON}:g $i
+            sed -i -e s:${STAGING_BINDIR_NATIVE}:${bindir}:g $i
+        fi
+    done
 }
 
 FILES:${PN}:prepend = " \
-    ${datadir}/ament_index \
+    ${ros_datadir}/ament_index \
 "
+
+PYTHON_SITEPACKAGES_DIR = "${ros_libdir}/${PYTHON_DIR}/site-packages"
+
+SETUPTOOLS_INSTALL_ARGS = "--root=${D} \
+    --prefix=${ros_prefix} \
+    --install-lib=${PYTHON_SITEPACKAGES_DIR} \
+    --install-data=${ros_datadir}"