diff --git a/CMakeLists.txt b/CMakeLists.txt
index cc5dca619..ed5d5c07d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -25,10 +25,11 @@ install(DIRECTORY cmake/
   USE_SOURCE_PERMISSIONS
   )
 
-#install(
-#  FILES
-#  ${CMAKE_CURRENT_BINARY_DIR}/cmake_install/catkin-config.cmake
-#  DESTINATION share/cmake/catkin
-#  )
+configure_file(setup.sh.in ${CMAKE_CURRENT_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/setup.sh)
+install(FILES ${CMAKE_CURRENT_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/setup.sh
+  setup.bash
+  setup.zsh
+  DESTINATION /
+  )
 
 catkin_package(catkin)
diff --git a/cmake/em/rules.python_distutils.em b/cmake/em/rules.python_distutils.em
index 3436f7406..01649d6e1 100755
--- a/cmake/em/rules.python_distutils.em
+++ b/cmake/em/rules.python_distutils.em
@@ -18,7 +18,8 @@ override_dh_auto_configure:
 
 override_dh_auto_install:
 	dh_auto_install -Scmake
-	dh_auto_install -Spython_distutils -- --prefix="@(CMAKE_INSTALL_PREFIX)"
+	dh_auto_install -Spython_distutils -- \
+		--prefix="@(CMAKE_INSTALL_PREFIX)" --install-layout=deb
 
 override_dh_auto_build:
 	dh_auto_build -Scmake
diff --git a/setup.bash b/setup.bash
new file mode 100644
index 000000000..93a3e40f4
--- /dev/null
+++ b/setup.bash
@@ -0,0 +1,22 @@
+#!/bin/bash
+# IT IS UNLIKELY YOU WANT TO EDIT THIS FILE BY HAND
+# IF YOU WANT TO CHANGE THE ROS ENVIRONMENT VARIABLES
+# EDIT "setup.sh" IN THIS DIRECTORY.
+
+# Load the path of this particular setup.bash                                                                                                                  
+
+SCRIPT_PATH="${BASH_SOURCE[0]}";
+if([ -h "${SCRIPT_PATH}" ]) then
+  while([ -h "${SCRIPT_PATH}" ]) do SCRIPT_PATH=`readlink "${SCRIPT_PATH}"`; done
+fi
+pushd . > /dev/null
+cd `dirname ${SCRIPT_PATH}` > /dev/null
+SCRIPT_PATH=`pwd`;
+popd  > /dev/null
+
+
+. $SCRIPT_PATH/setup.sh
+
+if [ -e ${ROS_ROOT}/tools/rosbash/rosbash ]; then
+  . ${ROS_ROOT}/tools/rosbash/rosbash
+fi
diff --git a/setup.sh.in b/setup.sh.in
new file mode 100644
index 000000000..42eb3efc2
--- /dev/null
+++ b/setup.sh.in
@@ -0,0 +1,2 @@
+PYTHONPATH=@CMAKE_INSTALL_PREFIX@/lib/python$(python -c 'from sys import version_info as v; print "%u.%u" % (v.major, v.minor)'):$PYTHONPATH
+
diff --git a/setup.zsh b/setup.zsh
new file mode 100644
index 000000000..8aec48e96
--- /dev/null
+++ b/setup.zsh
@@ -0,0 +1,13 @@
+#!/bin/zsh
+# IT IS UNLIKELY YOU WANT TO EDIT THIS FILE BY HAND
+# IF YOU WANT TO CHANGE THE ROS ENVIRONMENT VARIABLES
+# EDIT "setup.sh" IN THIS DIRECTORY.
+
+# Load the path of this particular setup.zsh                                                                                                                  
+SCRIPT_PATH="$(dirname $0)";
+
+. $SCRIPT_PATH/setup.sh
+
+if [ -e ${ROS_ROOT}/tools/rosbash/roszsh ]; then
+  . ${ROS_ROOT}/tools/rosbash/roszsh
+fi