diff --git a/do_everything.sh b/do_everything.sh
index fccd824..5b9af58 100755
--- a/do_everything.sh
+++ b/do_everything.sh
@@ -160,6 +160,9 @@ if [[ $skip -ne 1 ]] ; then
     # patch CMakeLists.txt for lz4 library - Build as a library
     apply_patch $my_loc/patches/lz4.patch
 
+    # patch rosbag_storage - Fix static linking due to missing BZIP2 dependency
+    apply_patch $my_loc/patches/rosbag_storage.patch
+
     # Patch collada - Build as static lib
     apply_patch $my_loc/patches/collada_dom.patch
 
@@ -218,8 +221,6 @@ if [[ $skip -ne 1 ]] ; then
     # Remove
     rm -fr $prefix/catkin_ws/src/geometry2/tf2_py
 
-    apply_patch $my_loc/patches/pcl_ros.patch
-
     # Patch roslib - weird issue with rospack.
     # TODO: Need to look further (only on catkin_make_isolated)
     # apply_patch /opt/roscpp_android/patches/roslib.patch
diff --git a/patches/pcl_ros.patch b/patches/pcl_ros.patch
deleted file mode 100644
index ee05e5e..0000000
--- a/patches/pcl_ros.patch
+++ /dev/null
@@ -1,50 +0,0 @@
---- catkin_ws/src/perception_pcl/pcl_ros/CMakeLists.txt
-+++ catkin_ws/src/perception_pcl/pcl_ros/CMakeLists.txt
-@@ -181,20 +181,20 @@ class_loader_hide_library_symbols(pcl_ros_surface)
- 
- ## Tools
- 
--add_executable(pcd_to_pointcloud tools/pcd_to_pointcloud.cpp)
--target_link_libraries(pcd_to_pointcloud ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${EIGEN3_LIBRARIES} ${PCL_LIBRARIES})
-+#add_executable(pcd_to_pointcloud tools/pcd_to_pointcloud.cpp)
-+#target_link_libraries(pcd_to_pointcloud ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${EIGEN3_LIBRARIES} ${PCL_LIBRARIES})
- 
--add_executable(pointcloud_to_pcd tools/pointcloud_to_pcd.cpp)
--target_link_libraries(pointcloud_to_pcd ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${EIGEN3_LIBRARY_DIRS} ${PCL_LIBRARIES})
-+#add_executable(pointcloud_to_pcd tools/pointcloud_to_pcd.cpp)
-+#target_link_libraries(pointcloud_to_pcd ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${EIGEN3_LIBRARY_DIRS} ${PCL_LIBRARIES})
- 
--add_executable(bag_to_pcd tools/bag_to_pcd.cpp)
--target_link_libraries(bag_to_pcd pcl_ros_tf ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${EIGEN3_LIBRARY_DIRS} ${PCL_LIBRARIES})
-+#add_executable(bag_to_pcd tools/bag_to_pcd.cpp)
-+#target_link_libraries(bag_to_pcd pcl_ros_tf ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${EIGEN3_LIBRARY_DIRS} ${PCL_LIBRARIES})
- 
--add_executable(convert_pcd_to_image tools/convert_pcd_to_image.cpp)
--target_link_libraries(convert_pcd_to_image ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${EIGEN3_LIBRARIES} ${PCL_LIBRARIES})
-+#add_executable(convert_pcd_to_image tools/convert_pcd_to_image.cpp)
-+#target_link_libraries(convert_pcd_to_image ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${EIGEN3_LIBRARIES} ${PCL_LIBRARIES})
- 
--add_executable(convert_pointcloud_to_image tools/convert_pointcloud_to_image.cpp)
--target_link_libraries(convert_pointcloud_to_image ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${EIGEN3_LIBRARIES} ${PCL_LIBRARIES})
-+#add_executable(convert_pointcloud_to_image tools/convert_pointcloud_to_image.cpp)
-+#target_link_libraries(convert_pointcloud_to_image ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${EIGEN3_LIBRARIES} ${PCL_LIBRARIES})
- 
- ## Downloads
- 
-@@ -231,11 +231,11 @@ install(
-     pcl_ros_filters
-     pcl_ros_surface
-     pcl_ros_segmentation
--    pcd_to_pointcloud
--    pointcloud_to_pcd
--    bag_to_pcd
--    convert_pcd_to_image
--    convert_pointcloud_to_image
-+#    pcd_to_pointcloud
-+#    pointcloud_to_pcd
-+#    bag_to_pcd
-+#    convert_pcd_to_image
-+#    convert_pointcloud_to_image
-   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
diff --git a/patches/rosbag_storage.patch b/patches/rosbag_storage.patch
new file mode 100644
index 0000000..a922490
--- /dev/null
+++ b/patches/rosbag_storage.patch
@@ -0,0 +1,11 @@
+--- catkin_ws/src/ros_comm/rosbag_storage/CMakeLists.txt
++++ catkin_ws/src/ros_comm/rosbag_storage/CMakeLists.txt
+@@ -15,7 +15,7 @@ catkin_package(
+   INCLUDE_DIRS include
+   LIBRARIES rosbag_storage
+   CATKIN_DEPENDS roslz4
+-  DEPENDS console_bridge Boost
++  DEPENDS console_bridge Boost BZIP2
+ )
+ 
+ # Support large bags (>2GB) on 32-bit systems