diff --git a/superflore/generators/bitbake/gen_packages.py b/superflore/generators/bitbake/gen_packages.py
index 9e96ee33..dba1ce49 100644
--- a/superflore/generators/bitbake/gen_packages.py
+++ b/superflore/generators/bitbake/gen_packages.py
@@ -12,8 +12,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import os
-
 from catkin_pkg.package import InvalidPackage
 from rosdistro.dependency_walker import DependencyWalker
 from rosdistro.manifest_provider import get_release_tag
@@ -163,8 +161,9 @@ def _gen_recipe_for_package(
     pkg_rosinstall, srcrev_cache, skip_keys
 ):
     pkg_names = get_package_names(distro)
-    pkg_dep_walker = DependencyWalker(distro,
-                                      evaluate_condition_context=os.environ)
+    pkg_dep_walker = DependencyWalker(
+        distro,
+        evaluate_condition_context=yoctoRecipe._get_condition_context(distro))
     pkg_buildtool_deps = pkg_dep_walker.get_depends(pkg_name, "buildtool")
     pkg_build_deps = pkg_dep_walker.get_depends(pkg_name, "build")
     pkg_build_export_deps = pkg_dep_walker.get_depends(
diff --git a/superflore/generators/bitbake/run.py b/superflore/generators/bitbake/run.py
index 74153d64..bcb8b69b 100644
--- a/superflore/generators/bitbake/run.py
+++ b/superflore/generators/bitbake/run.py
@@ -39,7 +39,6 @@
 
 
 def main():
-    os.environ["ROS_OS_OVERRIDE"] = "openembedded"
     overlay = None
     parser = get_parser(
         'Generate OpenEmbedded recipes for ROS packages',
@@ -162,6 +161,7 @@ def main():
             for adistro in selected_targets:
                 yoctoRecipe.reset()
                 distro = get_distro(adistro)
+
                 distro_installers, _, distro_changes =\
                     generate_installers(
                         distro,
diff --git a/superflore/generators/bitbake/yocto_recipe.py b/superflore/generators/bitbake/yocto_recipe.py
index 2ee3ec0c..1e670f2a 100644
--- a/superflore/generators/bitbake/yocto_recipe.py
+++ b/superflore/generators/bitbake/yocto_recipe.py
@@ -503,6 +503,14 @@ def _get_ros_version(distro):
     def _get_ros_python_version(distro):
         return '2' if distro not in ['melodic'] else '3'
 
+    @staticmethod
+    def _get_condition_context(distro):
+        context = dict()
+        context["ROS_OS_OVERRIDE"] = "openembedded"
+        context["ROS_VERSION"] = yoctoRecipe._get_ros_version(distro)
+        context["ROS_PYTHON_VERSION"] = yoctoRecipe._get_ros_python_version(
+            distro)
+
     @staticmethod
     def generate_superflore_datetime_inc(basepath, dist, now):
         datetime_dir = '{0}/meta-ros{1}-{2}/conf/ros-distro/include/{2}/' \
@@ -567,7 +575,7 @@ def generate_ros_distro_inc(
                 conf_file.write('# DO NOT OVERRIDE ROS_PYTHON_VERSION\n')
                 conf_file.write(
                     'ROS_PYTHON_VERSION = "{}"\n\n'.format(
-                    yoctoRecipe._get_ros_python_version(distro)))
+                        yoctoRecipe._get_ros_python_version(distro)))
                 oe_skip_keys = map(
                     lambda skip_key: yoctoRecipe.convert_to_oe_name(skip_key),
                     skip_keys