diff --git a/distros/catkin-setup-hook/setup-hook.sh b/distros/catkin-setup-hook/setup-hook.sh
index e790677562..2b48a23f11 100644
--- a/distros/catkin-setup-hook/setup-hook.sh
+++ b/distros/catkin-setup-hook/setup-hook.sh
@@ -75,4 +75,10 @@ _catkinPostInstallHook() {
 }
 postInstallHooks+=(_catkinPostInstallHook)
 
+_catkinWrapperHook() {
+  makeWrapperArgs+=(--prefix ROS_PACKAGE_PATH : "${out}:${ROS_PACKAGE_PATH}")
+  wrapPythonPrograms
+}
+postFixupHooks+=(_catkinWrapperHook)
+
 export CATKIN_SHELL=bash
diff --git a/distros/distro-overlay.nix b/distros/distro-overlay.nix
index 998f339918..6a8d6bc780 100644
--- a/distros/distro-overlay.nix
+++ b/distros/distro-overlay.nix
@@ -40,7 +40,11 @@ let
     }: let
       setupHook = self.callPackage ./catkin-setup-hook { };
     in {
-      propagatedBuildInputs = [ self.cmake setupHook ] ++ propagatedBuildInputs;
+      propagatedBuildInputs = [
+        self.cmake
+        rosSelf.pythonPackages.wrapPython
+        setupHook
+      ] ++ propagatedBuildInputs;
 
       postPatch = postPatch + ''
         patchShebangs cmake