diff --git a/src/project_manager/ros_build_configuration.cpp b/src/project_manager/ros_build_configuration.cpp
index 7a980847..9d609d50 100644
--- a/src/project_manager/ros_build_configuration.cpp
+++ b/src/project_manager/ros_build_configuration.cpp
@@ -69,24 +69,21 @@ ROSBuildConfiguration::ROSBuildConfiguration(Target *parent, Core::Id id)
 {
 }
 
-void ROSBuildConfiguration::initialize(const ProjectExplorer::BuildInfo &info)
+void ROSBuildConfiguration::initialize()
 {
-    BuildConfiguration::initialize(info);
+    BuildConfiguration::initialize();
 
-    auto extraInfo = info.extraInfo.value<ROSExtraBuildInfo>();
+    const ROSExtraBuildInfo extra_info = extraInfo().value<ROSExtraBuildInfo>();
 
-    setDisplayName(info.displayName);
-    setDefaultDisplayName(info.displayName);
-    setBuildDirectory(info.buildDirectory);
-    setBuildSystem(extraInfo.buildSystem);
-    setCMakeBuildType(extraInfo.cmakeBuildType);
+    setBuildSystem(extra_info.buildSystem);
+    setCMakeBuildType(extra_info.cmakeBuildType);
 
     BuildStepList *buildSteps = stepList(ProjectExplorer::Constants::BUILDSTEPS_BUILD);
     BuildStepList *cleanSteps = stepList(ProjectExplorer::Constants::BUILDSTEPS_CLEAN);
     Q_ASSERT(buildSteps);
     Q_ASSERT(cleanSteps);
 
-    switch (extraInfo.buildSystem)
+    switch (extra_info.buildSystem)
     {
         case ROSUtils::CatkinMake:
         {
@@ -169,7 +166,7 @@ ROSProject *ROSBuildConfiguration::project()
 
 void ROSBuildConfiguration::updateQtEnvironment(const Utils::Environment &env)
 {
-    QList<Utils::EnvironmentItem> diff = baseEnvironment().diff(env);
+    const Utils::NameValueItems diff = baseEnvironment().diff(env);
     if (!diff.isEmpty())
       setUserEnvironmentChanges(diff);
 }
@@ -201,29 +198,17 @@ ROSBuildConfigurationFactory::~ROSBuildConfigurationFactory()
 {
 }
 
-QList<BuildInfo> ROSBuildConfigurationFactory::availableBuilds(const Target *parent) const
+QList<BuildInfo> ROSBuildConfigurationFactory::availableBuilds(const Kit *k,
+                                                               const Utils::FilePath &projectPath,
+                                                               bool forSetup) const
 {
-    QList<BuildInfo> result;
-
-    // Need to create a ROS Setting widget where the user sets the default build system to use here.
-    ROSUtils::BuildSystem buildSystem = static_cast<ROSProject *>(parent->project())->defaultBuildSystem();
+    Q_UNUSED(forSetup);
 
-    for (int type = ROSUtils::BuildTypeDebug; type <= ROSUtils::BuildTypeUserDefined; ++type)
-    {
-      ProjectExplorer::BuildInfo info = createBuildInfo(parent->kit(), buildSystem, ROSUtils::BuildType(type));
-      result << info;
-    }
-
-    return result;
-}
-
-QList<BuildInfo> ROSBuildConfigurationFactory::availableSetups(const Kit *k, const QString &projectPath) const
-{
     QList<BuildInfo> result;
 
     // Need to create a ROS Setting widget where the user sets the default build system to use here.
     ROSUtils::ROSProjectFileContent projectFileContent;
-    ROSUtils::parseQtCreatorWorkspaceFile(Utils::FilePath::fromString(projectPath), projectFileContent);
+    ROSUtils::parseQtCreatorWorkspaceFile(projectPath, projectFileContent);
 
     for (int type = ROSUtils::BuildTypeDebug; type <= ROSUtils::BuildTypeUserDefined; ++type) {
       ProjectExplorer::BuildInfo info = createBuildInfo(k, projectFileContent.defaultBuildSystem, ROSUtils::BuildType(type));
diff --git a/src/project_manager/ros_build_configuration.h b/src/project_manager/ros_build_configuration.h
index fb6008d3..1a43ab07 100644
--- a/src/project_manager/ros_build_configuration.h
+++ b/src/project_manager/ros_build_configuration.h
@@ -57,7 +57,7 @@ class ROSBuildConfiguration : public ProjectExplorer::BuildConfiguration
 public:
     ROSBuildConfiguration(ProjectExplorer::Target *parent, Core::Id id);
 
-    void initialize(const ProjectExplorer::BuildInfo &info) override;
+    void initialize() override;
 
     ProjectExplorer::NamedWidget *createConfigWidget() override;
     QList<ProjectExplorer::NamedWidget *> createSubConfigWidgets() override;
@@ -100,9 +100,9 @@ class ROSBuildConfigurationFactory : public ProjectExplorer::BuildConfigurationF
     explicit ROSBuildConfigurationFactory();
     ~ROSBuildConfigurationFactory();
 
-    QList<ProjectExplorer::BuildInfo> availableBuilds(const ProjectExplorer::Target *parent) const override;
-    QList<ProjectExplorer::BuildInfo> availableSetups(const ProjectExplorer::Kit *k,
-                                                        const QString &projectPath) const override;
+    QList<ProjectExplorer::BuildInfo> availableBuilds(const ProjectExplorer::Kit *k,
+                                                      const Utils::FilePath &projectPath,
+                                                      bool forSetup) const override;
 
 private:
     ProjectExplorer::BuildInfo createBuildInfo(const ProjectExplorer::Kit *k, const ROSUtils::BuildSystem &build_system, const ROSUtils::BuildType &type) const;
diff --git a/src/project_manager/ros_build_system.cpp b/src/project_manager/ros_build_system.cpp
new file mode 100644
index 00000000..2f00bc86
--- /dev/null
+++ b/src/project_manager/ros_build_system.cpp
@@ -0,0 +1,31 @@
+#include "ros_build_system.h"
+
+#include "ros_build_configuration.h"
+
+using namespace ProjectExplorer;
+
+namespace ROSProjectManager {
+namespace Internal {
+
+// --------------------------------------------------------------------
+// ROSBuildSystem:
+// --------------------------------------------------------------------
+
+ROSBuildSystem::ROSBuildSystem(ROSProject *p)
+    : BuildSystem(p)
+{
+    //
+}
+
+bool ROSBuildSystem::validateParsingContext(const ParsingContext &ctx)
+{
+    return ctx.project && qobject_cast<ROSBuildConfiguration *>(ctx.buildConfiguration);
+}
+
+void ROSBuildSystem::parseProject(ParsingContext &&ctx)
+{
+    ctx.guard.markAsSuccess();
+}
+
+} // namespace Internal
+} // namespace ROSProjectManager
diff --git a/src/project_manager/ros_build_system.h b/src/project_manager/ros_build_system.h
new file mode 100644
index 00000000..9a4f4e3f
--- /dev/null
+++ b/src/project_manager/ros_build_system.h
@@ -0,0 +1,27 @@
+#pragma once
+
+#include <projectexplorer/buildsystem.h>
+
+namespace ROSProjectManager {
+namespace Internal {
+
+class ROSProject;
+
+// --------------------------------------------------------------------
+// ROSBuildSystem:
+// --------------------------------------------------------------------
+
+class ROSBuildSystem : public ProjectExplorer::BuildSystem
+{
+    Q_OBJECT
+
+public:
+    explicit ROSBuildSystem(ROSProject *project);
+
+protected:
+    bool validateParsingContext(const ParsingContext &ctx) final;
+    void parseProject(ParsingContext &&ctx) final;
+};
+
+} // namespace Internal
+} // namespace ROSProjectManager
diff --git a/src/project_manager/ros_catkin_make_step.cpp b/src/project_manager/ros_catkin_make_step.cpp
index 30ff1d70..a9b7c410 100644
--- a/src/project_manager/ros_catkin_make_step.cpp
+++ b/src/project_manager/ros_catkin_make_step.cpp
@@ -128,8 +128,7 @@ bool ROSCatkinMakeStep::init()
     // addToEnvironment() to not screw up the users run environment.
     env.set(QLatin1String("LC_ALL"), QLatin1String("C"));
     pp->setEnvironment(env);
-    pp->setCommand(Utils::FilePath::fromString(makeCommand()));
-    pp->setArguments(allArguments(bc->cmakeBuildType()));
+    pp->setCommandLine(makeCommand(allArguments(bc->cmakeBuildType())));
     pp->resolveAll();
 
     // If we are cleaning, then make can fail with an error code, but that doesn't mean
@@ -202,9 +201,11 @@ QString ROSCatkinMakeStep::allArguments(ROSUtils::BuildType buildType, bool incl
     return args;
 }
 
-QString ROSCatkinMakeStep::makeCommand() const
+Utils::CommandLine ROSCatkinMakeStep::makeCommand(const QString &args) const
 {
-    return QLatin1String("catkin_make");
+    Utils::CommandLine cmd(QLatin1String("catkin_make"));
+    cmd.addArgs(args, Utils::CommandLine::RawType::Raw);
+    return cmd;
 }
 
 void ROSCatkinMakeStep::stdOutput(const QString &line)
@@ -302,8 +303,7 @@ void ROSCatkinMakeStepWidget::updateDetails()
     param.setMacroExpander(bc->macroExpander());
     param.setWorkingDirectory(workspaceInfo.buildPath);
     param.setEnvironment(bc->environment());
-    param.setCommand(Utils::FilePath::fromString(m_makeStep->makeCommand()));
-    param.setArguments(m_makeStep->allArguments(bc->cmakeBuildType(), false));
+    param.setCommandLine(m_makeStep->makeCommand(m_makeStep->allArguments(bc->cmakeBuildType(), false)));
     m_summaryText = param.summary(displayName());
     emit updateSummary();
 }
diff --git a/src/project_manager/ros_catkin_make_step.h b/src/project_manager/ros_catkin_make_step.h
index 4dce229f..6901570e 100644
--- a/src/project_manager/ros_catkin_make_step.h
+++ b/src/project_manager/ros_catkin_make_step.h
@@ -55,7 +55,7 @@ class ROSCatkinMakeStep : public ProjectExplorer::AbstractProcessStep
     BuildTargets buildTarget() const;
     void setBuildTarget(const BuildTargets &target);
     QString allArguments(ROSUtils::BuildType buildType, bool includeDefault = true) const;
-    QString makeCommand() const;
+    Utils::CommandLine makeCommand(const QString &args) const;
     void stdOutput(const QString &line) override;
 
     QVariantMap toMap() const override;
diff --git a/src/project_manager/ros_catkin_tools_step.cpp b/src/project_manager/ros_catkin_tools_step.cpp
index 067c3728..c035cb32 100644
--- a/src/project_manager/ros_catkin_tools_step.cpp
+++ b/src/project_manager/ros_catkin_tools_step.cpp
@@ -140,8 +140,7 @@ bool ROSCatkinToolsStep::init()
     // addToEnvironment() to not screw up the users run environment.
     env.set(QLatin1String("LC_ALL"), QLatin1String("C"));
     pp->setEnvironment(env);
-    pp->setCommand(Utils::FilePath::fromString(makeCommand()));
-    pp->setArguments(allArguments(bc->cmakeBuildType()));
+    pp->setCommandLine(makeCommand(allArguments(bc->cmakeBuildType())));
     pp->resolveAll();
 
     // If we are cleaning, then make can fail with an error code, but that doesn't mean
@@ -229,9 +228,11 @@ QString ROSCatkinToolsStep::allArguments(ROSUtils::BuildType buildType, bool inc
     return args;
 }
 
-QString ROSCatkinToolsStep::makeCommand() const
+Utils::CommandLine ROSCatkinToolsStep::makeCommand(const QString &args) const
 {
-    return QLatin1String("catkin");
+    Utils::CommandLine cmd(QLatin1String("catkin"));
+    cmd.addArgs(args, Utils::CommandLine::RawType::Raw);
+    return cmd;
 }
 
 void ROSCatkinToolsStep::stdOutput(const QString &line)
@@ -383,8 +384,7 @@ void ROSCatkinToolsStepWidget::updateDetails()
     param.setMacroExpander(bc->macroExpander());
     param.setEnvironment(bc->environment());
     param.setWorkingDirectory(Utils::FilePath::fromString(m_makeStep->m_catkinToolsWorkingDir));
-    param.setCommand(Utils::FilePath::fromString(m_makeStep->makeCommand()));
-    param.setArguments(m_makeStep->allArguments(bc->cmakeBuildType(), false));
+    param.setCommandLine(m_makeStep->makeCommand(m_makeStep->allArguments(bc->cmakeBuildType(), false)));
     m_summaryText = param.summary(displayName());
     emit updateSummary();
 }
diff --git a/src/project_manager/ros_catkin_tools_step.h b/src/project_manager/ros_catkin_tools_step.h
index 75d5eed4..eb991ba3 100644
--- a/src/project_manager/ros_catkin_tools_step.h
+++ b/src/project_manager/ros_catkin_tools_step.h
@@ -67,7 +67,7 @@ class ROSCatkinToolsStep : public ProjectExplorer::AbstractProcessStep
     void setActiveProfile(const QString &profileName);
 
     QString allArguments(ROSUtils::BuildType buildType, bool includeDefault = true) const;
-    QString makeCommand() const;
+    Utils::CommandLine makeCommand(const QString &args) const;
     void stdOutput(const QString &line) override;
 
     QVariantMap toMap() const override;
diff --git a/src/project_manager/ros_colcon_step.cpp b/src/project_manager/ros_colcon_step.cpp
index 0f6f131b..3a5d6a17 100644
--- a/src/project_manager/ros_colcon_step.cpp
+++ b/src/project_manager/ros_colcon_step.cpp
@@ -128,8 +128,7 @@ bool ROSColconStep::init()
     // addToEnvironment() to not screw up the users run environment.
     env.set(QLatin1String("LC_ALL"), QLatin1String("C"));
     pp->setEnvironment(env);
-    pp->setCommand(Utils::FilePath::fromString(makeCommand()));
-    pp->setArguments(allArguments(bc->cmakeBuildType()));
+    pp->setCommandLine(makeCommand(allArguments(bc->cmakeBuildType())));
     pp->resolveAll();
 
     // If we are cleaning, then make can fail with an error code, but that doesn't mean
@@ -200,16 +199,24 @@ QString ROSColconStep::allArguments(ROSUtils::BuildType buildType, bool includeD
     return args;
 }
 
-QString ROSColconStep::makeCommand() const
+Utils::CommandLine ROSColconStep::makeCommand(const QString &args) const
 {
+    QLatin1String exec;
     switch(m_target) {
     case BUILD:
-        return QLatin1String("colcon");
+        exec = QLatin1String("colcon");
+        break;
     case CLEAN:
-        return QLatin1String("rm");
+        exec = QLatin1String("rm");
+        break;
     default:
-        return QLatin1String("colcon");
+        exec = QLatin1String("colcon");
+        break;
     }
+
+    Utils::CommandLine cmd(exec);
+    cmd.addArgs(args, Utils::CommandLine::RawType::Raw);
+    return cmd;
 }
 
 void ROSColconStep::stdOutput(const QString &line)
@@ -305,8 +312,7 @@ void ROSColconStepWidget::updateDetails()
     param.setMacroExpander(bc->macroExpander());
     param.setWorkingDirectory(workspaceInfo.buildPath);
     param.setEnvironment(bc->environment());
-    param.setCommand(Utils::FilePath::fromString(m_makeStep->makeCommand()));
-    param.setArguments(m_makeStep->allArguments(bc->cmakeBuildType(), false));
+    param.setCommandLine(m_makeStep->makeCommand(m_makeStep->allArguments(bc->cmakeBuildType(), false)));
     m_summaryText = param.summary(displayName());
     emit updateSummary();
 }
diff --git a/src/project_manager/ros_colcon_step.h b/src/project_manager/ros_colcon_step.h
index c9acea82..215f9469 100644
--- a/src/project_manager/ros_colcon_step.h
+++ b/src/project_manager/ros_colcon_step.h
@@ -56,7 +56,7 @@ class ROSColconStep : public ProjectExplorer::AbstractProcessStep
     void setBuildTarget(const BuildTargets &target);
 
     QString allArguments(ROSUtils::BuildType buildType, bool includeDefault = true) const;
-    QString makeCommand() const;
+    Utils::CommandLine makeCommand(const QString &args) const;
     void stdOutput(const QString &line) override;
 
     QVariantMap toMap() const override;
diff --git a/src/project_manager/ros_project.cpp b/src/project_manager/ros_project.cpp
index 8af23ebb..2365c8c2 100644
--- a/src/project_manager/ros_project.cpp
+++ b/src/project_manager/ros_project.cpp
@@ -126,9 +126,10 @@ static FolderNode *recursiveFindOrCreateFolderNode(FolderNode *folder,
 const int UPDATE_INTERVAL = 300;
 
 ROSProject::ROSProject(const Utils::FilePath &fileName) :
-    ProjectExplorer::Project(Constants::ROS_MIME_TYPE, fileName, [this]() { refresh(); }),
+    ProjectExplorer::Project(Constants::ROS_MIME_TYPE, fileName),
     m_cppCodeModelUpdater(new CppTools::CppProjectUpdater),
     m_project_loaded(false),
+    m_build_system(nullptr),
     m_asyncUpdateFutureInterface(nullptr),
     m_asyncBuildCodeModelFutureInterface(nullptr)
 {
@@ -270,7 +271,9 @@ void ROSProject::updateProjectTree()
     }
   }
 
-  emitParsingFinished(true);
+  // delete the build system and its parse guard to notify that parsing finished
+  delete m_build_system;
+  m_build_system = nullptr;
 }
 
 void ROSProject::buildProjectTree(const Utils::FilePath projectFilePath, const QStringList watchDirectories, QFutureInterface<FutureWatcherResults> &fi)
@@ -292,13 +295,11 @@ void ROSProject::buildProjectTree(const Utils::FilePath projectFilePath, const Q
     const ProjectExplorer::FolderNode::FolderNodeFactory &factory = [](const Utils::FilePath &fn) { return std::make_unique<ROSFolderNode>(fn); };
 
     std::vector<std::unique_ptr<ProjectExplorer::FileNode>> childNodes;
-    QHashIterator<QString, ROSUtils::FolderContent> item(results.workspaceContent);
+    QHash<QString, ROSUtils::FolderContent>::const_iterator item = results.workspaceContent.constBegin();
     int cnt = 0;
     double max = results.workspaceContent.size();
-    while (item.hasNext())
+    while(item != results.workspaceContent.constEnd())
     {
-      item.next();
-
       if (item.value().files.empty()) {
         // This is required so empty directories show up in project tree
         Utils::FilePath empty_directory = Utils::FilePath::fromString(item.key());
@@ -322,6 +323,7 @@ void ROSProject::buildProjectTree(const Utils::FilePath projectFilePath, const Q
 
       cnt += 1;
       fi.setProgressValue(static_cast<int>(100.0 * static_cast<double>(cnt) / max));
+      ++item;
     }
 
     project_node->addNestedNodes(std::move(childNodes), Utils::FilePath(), factory);
@@ -373,8 +375,10 @@ void ROSProject::fileSystemChanged(const QString &path)
 
 void ROSProject::asyncUpdate()
 {
-  if (!isParsing())
-      emitParsingStarted();
+  if (!m_build_system) {
+      m_build_system = new ROSBuildSystem(this);
+      m_build_system->requestParse();
+  }
 
   m_futureWatcher.waitForFinished();
 
@@ -433,11 +437,11 @@ void ROSProject::asyncUpdateCppCodeModel(bool success)
         // TODO: Figure out why running this async causes segfaults
         if (async)
         {
-          Utils::runAsync(ProjectExplorer::ProjectExplorerPlugin::sharedThreadPool(), QThread::LowestPriority, [this, workspaceInfo, k]() { ROSProject::buildCppCodeModel(workspaceInfo, projectFilePath(), m_workspaceFiles, k, m_wsPackageInfo, m_wsPackageBuildInfo, *m_asyncBuildCodeModelFutureInterface); });
+          Utils::runAsync(ProjectExplorer::ProjectExplorerPlugin::sharedThreadPool(), QThread::LowestPriority, [this, workspaceInfo, k, current_environment]() { ROSProject::buildCppCodeModel(workspaceInfo, projectFilePath(), m_workspaceFiles, k, current_environment, m_wsPackageInfo, m_wsPackageBuildInfo, *m_asyncBuildCodeModelFutureInterface); });
         }
         else
         {
-          ROSProject::buildCppCodeModel(workspaceInfo, projectFilePath(), m_workspaceFiles, k, m_wsPackageInfo, m_wsPackageBuildInfo, *m_asyncBuildCodeModelFutureInterface);
+          ROSProject::buildCppCodeModel(workspaceInfo, projectFilePath(), m_workspaceFiles, k, current_environment, m_wsPackageInfo, m_wsPackageBuildInfo, *m_asyncBuildCodeModelFutureInterface);
         }
     }
 }
@@ -446,6 +450,7 @@ void ROSProject::buildCppCodeModel(const ROSUtils::WorkspaceInfo workspaceInfo,
                                    const Utils::FilePath projectFilePath,
                                    const QStringList workspaceFiles,
                                    const Kit *k,
+                                   const Utils::Environment &env,
                                    const ROSUtils::PackageInfoMap wsPackageInfo,
                                    const ROSUtils::PackageBuildInfoMap wsPackageBuildInfo,
                                    QFutureInterface<CppToolsFutureResults> &fi)
@@ -456,12 +461,12 @@ void ROSProject::buildCppCodeModel(const ROSUtils::WorkspaceInfo workspaceInfo,
 
     const Utils::FilePath sysRoot = SysRootKitAspect::sysRoot(k);
 
-    CppTools::ProjectPart::QtVersion activeQtVersion = CppTools::ProjectPart::NoQt;
+    Utils::QtVersion activeQtVersion = Utils::QtVersion::None;
     if (QtSupport::BaseQtVersion *qtVersion = QtSupport::QtKitAspect::qtVersion(k)) {
         if (qtVersion->qtVersion() < QtSupport::QtVersionNumber(5,0,0))
-            activeQtVersion = CppTools::ProjectPart::Qt4;
+            activeQtVersion = Utils::QtVersion::Qt4;
         else
-            activeQtVersion = CppTools::ProjectPart::Qt5;
+            activeQtVersion = Utils::QtVersion::Qt5;
     }
 
     // Get all of the workspace includes directories
@@ -476,7 +481,7 @@ void ROSProject::buildCppCodeModel(const ROSUtils::WorkspaceInfo workspaceInfo,
       }
     }
 
-    CppTools::RawProjectParts rpps;
+    ProjectExplorer::RawProjectParts rpps;
 
     ToolChain *cxxToolChain = ToolChainKitAspect::toolChain(k, ProjectExplorer::Constants::CXX_LANGUAGE_ID);
 
@@ -506,7 +511,7 @@ void ROSProject::buildCppCodeModel(const ROSUtils::WorkspaceInfo workspaceInfo,
 
         for (const ROSUtils::PackageTargetInfo& targetInfo : buildInfo.targets)
         {
-            CppTools::RawProjectPart rpp;
+            ProjectExplorer::RawProjectPart rpp;
             const QString defineArg
                     = Utils::transform(targetInfo.defines, [](const QString &s) -> QString {
                         QString result = QString::fromLatin1("#define ") + s;
@@ -523,7 +528,7 @@ void ROSProject::buildCppCodeModel(const ROSUtils::WorkspaceInfo workspaceInfo,
             rpp.setMacros(ProjectExplorer::Macro::toMacros(defineArg.toUtf8()));
 
             QSet<QString> toolChainIncludes;
-            for (const HeaderPath &hp : cxxToolChain->builtInHeaderPaths(targetInfo.flags, sysRoot)) {
+            for (const HeaderPath &hp : cxxToolChain->builtInHeaderPaths(targetInfo.flags, sysRoot, env)) {
                 toolChainIncludes.insert(hp.path);
             }
 
@@ -559,7 +564,7 @@ void ROSProject::updateCppCodeModel()
     QtSupport::CppKitInfo kitInfo(this);
     QTC_ASSERT(kitInfo.isValid(), return);
 
-    m_cppCodeModelUpdater->update({this, kitInfo, std::move(m_futureBuildCodeModelWatcher.result().parts)});
+    m_cppCodeModelUpdater->update({this, kitInfo, rosBuildConfiguration()->environment(), m_futureBuildCodeModelWatcher.result().parts});
 
     m_asyncBuildCodeModelFutureInterface->reportFinished();
     delete m_asyncBuildCodeModelFutureInterface;
@@ -578,7 +583,7 @@ Project::RestoreResult ROSProject::fromMap(const QVariantMap &map, QString *erro
 
       Kit *defaultKit = KitManager::defaultKit();
       if (!activeTarget() && defaultKit)
-          addTarget(createTarget(defaultKit));
+          addTargetForKit(defaultKit);
 
       // Sanity check: We need both a buildconfiguration and a runconfiguration!
       QList<Target *> targetList = targets();
diff --git a/src/project_manager/ros_project.h b/src/project_manager/ros_project.h
index d176302c..61259636 100644
--- a/src/project_manager/ros_project.h
+++ b/src/project_manager/ros_project.h
@@ -23,6 +23,7 @@
 
 #include "ros_project_plugin.h"
 #include "ros_utils.h"
+#include "ros_build_system.h"
 
 #include <projectexplorer/project.h>
 #include <projectexplorer/projectnodes.h>
@@ -30,7 +31,7 @@
 #include <projectexplorer/toolchain.h>
 #include <projectexplorer/buildconfiguration.h>
 #include <coreplugin/idocument.h>
-#include <cpptools/cpprawprojectpart.h>
+#include <projectexplorer/rawprojectpart.h>
 
 #include <QFuture>
 #include <QFutureWatcher>
@@ -96,6 +97,7 @@ private slots:
     QStringList m_workspaceFiles;
     QStringList m_workspaceDirectories;
     bool m_project_loaded;
+    ROSBuildSystem *m_build_system;
 
 
     struct FutureWatcherResults
@@ -108,7 +110,7 @@ private slots:
 
     struct CppToolsFutureResults
     {
-      CppTools::RawProjectParts parts;
+      ProjectExplorer::RawProjectParts parts;
       ROSUtils::PackageInfoMap wsPackageInfo;
       ROSUtils::PackageBuildInfoMap wsPackageBuildInfo;
     };
@@ -127,6 +129,7 @@ private slots:
                                   const Utils::FilePath projectFilePath,
                                   const QStringList workspaceFiles,
                                   const ProjectExplorer::Kit *k,
+                                  const Utils::Environment &env,
                                   const ROSUtils::PackageInfoMap wsPackageInfo,
                                   const ROSUtils::PackageBuildInfoMap  wsPackageBuildInfo,
                                   QFutureInterface<CppToolsFutureResults> &fi);
diff --git a/src/project_manager/ros_project_nodes.cpp b/src/project_manager/ros_project_nodes.cpp
index 3776b71b..ced5b68e 100644
--- a/src/project_manager/ros_project_nodes.cpp
+++ b/src/project_manager/ros_project_nodes.cpp
@@ -81,12 +81,6 @@ bool ROSProjectNode::addFiles(const QStringList &filePaths, QStringList *notAdde
   return true;
 }
 
-bool ROSProjectNode::removeFiles(const QStringList &filePaths, QStringList *notRemoved)
-{
-  ProjectExplorer::ProjectNode::removeFiles(filePaths, notRemoved);
-  return true;
-}
-
 bool ROSProjectNode::deleteFiles(const QStringList &filePaths)
 {
   ProjectExplorer::ProjectNode::deleteFiles(filePaths);
diff --git a/src/project_manager/ros_project_nodes.h b/src/project_manager/ros_project_nodes.h
index e4621e09..d04304a6 100644
--- a/src/project_manager/ros_project_nodes.h
+++ b/src/project_manager/ros_project_nodes.h
@@ -47,8 +47,6 @@ class ROSProjectNode : public ProjectExplorer::ProjectNode
 
     bool addFiles(const QStringList &filePaths, QStringList *notAdded = nullptr) override;
 
-    bool removeFiles(const QStringList &filePaths, QStringList *notRemoved = nullptr) override;
-
     bool deleteFiles(const QStringList &filePaths) override;
 
     bool renameFile(const QString &filePath, const QString &newFilePath) override;
diff --git a/src/project_manager/ros_project_plugin.cpp b/src/project_manager/ros_project_plugin.cpp
index c85cf410..b8839528 100644
--- a/src/project_manager/ros_project_plugin.cpp
+++ b/src/project_manager/ros_project_plugin.cpp
@@ -95,8 +95,6 @@ class ROSProjectPluginPrivate
       settingsPage(new ROSSettingsPage(settings))
     {
       settings->fromSettings(ICore::settings());
-
-      runDebugWorkerFactory.addSupportedRunMode(ProjectExplorer::Constants::DEBUG_RUN_MODE);
     }
 
     ROSRunConfigurationFactory runConfigFactory;
@@ -106,9 +104,6 @@ class ROSProjectPluginPrivate
     ROSTestStepFactory rosTestStepFactory;
     ROSCatkinTestResultsStepFactory rosCatkinTestResultsStepFactory;
 
-    SimpleRunWorkerFactory<ROSRunWorker, ROSRunConfiguration> runWorkerFactory;
-    SimpleRunWorkerFactory<ROSDebugRunWorker, ROSRunConfiguration> runDebugWorkerFactory;
-
     ROSBuildConfigurationFactory buildConfigFactory;
     ROSCatkinMakeStepFactory catkinMakeStepFactory;
     ROSCatkinToolsStepFactory catkinToolsStepFactory;
diff --git a/src/project_manager/ros_run_configuration.cpp b/src/project_manager/ros_run_configuration.cpp
index 36e27845..6ef59db7 100644
--- a/src/project_manager/ros_run_configuration.cpp
+++ b/src/project_manager/ros_run_configuration.cpp
@@ -244,7 +244,7 @@ void ROSDebugRunWorker::pidFound(ProjectExplorer::DeviceProcessItem process)
     m_timer.stop();
     setAttachPid(Utils::ProcessHandle(process.pid));
     setId(tr("Process %1").arg(process.pid));
-    setInferiorExecutable(process.exe);
+    setInferiorExecutable(Utils::FilePath::fromString(process.exe));
     setStartMode(Debugger::AttachExternal);
     setCloseMode(Debugger::DetachAtClose);
     setContinueAfterAttach(m_debugContinueOnAttach);
diff --git a/src/project_manager/ros_run_step.cpp b/src/project_manager/ros_run_step.cpp
index fcd97a3f..cf4c45a1 100644
--- a/src/project_manager/ros_run_step.cpp
+++ b/src/project_manager/ros_run_step.cpp
@@ -430,10 +430,5 @@ ProjectExplorer::Target *RunStepList::target() const
     return 0;
 }
 
-ProjectExplorer::Project *RunStepList::project() const
-{
-    return target()->project();
-}
-
 } // namespace Internal
 } // namespace ROSProjectManager
diff --git a/src/project_manager/ros_run_step.h b/src/project_manager/ros_run_step.h
index 195fbb0f..7742c4f4 100644
--- a/src/project_manager/ros_run_step.h
+++ b/src/project_manager/ros_run_step.h
@@ -182,7 +182,6 @@ class RunStepList : public ProjectExplorer::ProjectConfiguration
     RunStep *at(int position);
 
     ProjectExplorer::Target *target() const;
-    ProjectExplorer::Project *project() const override;
 
     virtual QVariantMap toMap() const override;
     bool fromMap(const QVariantMap &map) override;
diff --git a/src/project_manager/ros_utils.cpp b/src/project_manager/ros_utils.cpp
index 79d0f8bb..b2a41d7c 100644
--- a/src/project_manager/ros_utils.cpp
+++ b/src/project_manager/ros_utils.cpp
@@ -527,11 +527,9 @@ ROSUtils::PackageInfoMap ROSUtils::getWorkspacePackageInfo(const WorkspaceInfo &
     PackageInfoMap wsPackageInfo;
     QMap<QString, QString> packages =  ROSUtils::getWorkspacePackagePaths(workspaceInfo);
 
-    QMapIterator<QString, QString> it(packages);
-    while (it.hasNext())
+    for(const auto& it : packages)
     {
-        it.next();
-        Utils::FilePath pkgXml = Utils::FilePath::fromString(it.value()).pathAppended("package.xml");
+        Utils::FilePath pkgXml = Utils::FilePath::fromString(it).pathAppended("package.xml");
         ROSUtils::PackageInfo packageInfo;
         ROSPackageXmlParser pkgParser;
         if (pkgParser.parsePackageXml(pkgXml, packageInfo))