diff --git a/CMakeLists.txt b/CMakeLists.txt
index 1d65c12315..aa5dc10184 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -260,7 +260,12 @@ set(CMAKE_C_STANDARD_REQUIRED ON)
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 
 # For the catkin build process, unset build of dynamically-linked binaries
-if (CATKIN_DEVEL_PREFIX)
+# and do not change CMAKE_RUNTIME_OUTPUT_DIRECTORY
+if (NOT CATKIN_DEVEL_PREFIX)
+	set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PX4_BINARY_DIR})
+	set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${PX4_BINARY_DIR})
+	set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${PX4_BINARY_DIR})
+else()
 	SET(BUILD_SHARED_LIBS OFF)
 endif()
 
diff --git a/platforms/posix/CMakeLists.txt b/platforms/posix/CMakeLists.txt
index 6784612ee8..3c94cd1d27 100644
--- a/platforms/posix/CMakeLists.txt
+++ b/platforms/posix/CMakeLists.txt
@@ -5,6 +5,12 @@ include_directories(${CMAKE_CURRENT_BINARY_DIR})
 
 get_property(module_libraries GLOBAL PROPERTY PX4_MODULE_LIBRARIES)
 
+# When building with catkin, do not change CMAKE_RUNTIME_OUTPUT_DIR from
+# CMAKE_CURRENT_BINARY_DIR ''./platforms/posix' to './bin'
+if (NOT CATKIN_DEVEL_PREFIX)
+	set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin)
+endif()
+
 set(PX4_SHELL_COMMAND_PREFIX "px4-")
 
 add_definitions("-DPX4_SHELL_COMMAND_PREFIX=\"${PX4_SHELL_COMMAND_PREFIX}\"")