diff --git a/CMakeLists.txt b/CMakeLists.txt
index a72acb8..0e33932 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,78 +1,50 @@
 cmake_minimum_required(VERSION 2.8.3)
+
 project(serial)
 
-# Find catkin
-find_package(catkin REQUIRED)
-
+find_package(ament_cmake REQUIRED)
 if(APPLE)
-	find_library(IOKIT_LIBRARY IOKit)
-	find_library(FOUNDATION_LIBRARY Foundation)
-endif()
-
-if(UNIX AND NOT APPLE)
-    # If Linux, add rt and pthread
-    catkin_package(
-        LIBRARIES ${PROJECT_NAME}
-        INCLUDE_DIRS include
-        DEPENDS rt pthread
-    )
-else()
-    # Otherwise normal call
-    catkin_package(
-        LIBRARIES ${PROJECT_NAME}
-        INCLUDE_DIRS include
-    )
-endif()
-
-## Sources
-set(serial_SRCS
-    src/serial.cc
-    include/serial/serial.h
-    include/serial/v8stdint.h
-)
-if(APPLE)
-	# If OSX
-	list(APPEND serial_SRCS src/impl/unix.cc)
-	list(APPEND serial_SRCS src/impl/list_ports/list_ports_osx.cc)
-elseif(UNIX)
-    # If unix
-    list(APPEND serial_SRCS src/impl/unix.cc)
-    list(APPEND serial_SRCS src/impl/list_ports/list_ports_linux.cc)
-else()
-    # If windows
-    list(APPEND serial_SRCS src/impl/win.cc)
-    list(APPEND serial_SRCS src/impl/list_ports/list_ports_win.cc)
+    find_library(IOKIT_LIBRARY IOKit)
+    find_library(FOUNDATION_LIBRARY Foundation)
 endif()
 
 ## Add serial library
-add_library(${PROJECT_NAME} ${serial_SRCS})
 if(APPLE)
-	target_link_libraries(${PROJECT_NAME} ${FOUNDATION_LIBRARY} ${IOKIT_LIBRARY})
-elseif(UNIX)
-	target_link_libraries(${PROJECT_NAME} rt pthread)
-else()
-	target_link_libraries(${PROJECT_NAME} setupapi)
+add_library(${PROJECT_NAME} SHARED
+    src/serial.cc
+	src/impl/unix.cc
+    src/impl/list_ports/list_ports_osx.cc
+)
+elseif(UNIX)    
+add_library(${PROJECT_NAME} SHARED
+    src/serial.cc
+	src/impl/unix.cc
+	src/impl/list_ports/list_ports_linux.cc
+)
 endif()
 
-## Uncomment for example
-add_executable(serial_example examples/serial_example.cc)
-add_dependencies(serial_example ${PROJECT_NAME})
-target_link_libraries(serial_example ${PROJECT_NAME})
+
+if(APPLE)
+    target_link_libraries(${PROJECT_NAME} ${FOUNDATION_LIBRARY} ${IOKIT_LIBRARY})
+elseif(UNIX)    
+    target_link_libraries(${PROJECT_NAME} rt pthread)
+endif()
+
+ament_export_libraries(${PROJECT_NAME})
+
+ament_package()
 
 ## Include headers
 include_directories(include)
 
-## Install executable
-install(TARGETS ${PROJECT_NAME}
-    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+install(
+	TARGETS ${PROJECT_NAME}
+	ARCHIVE DESTINATION lib
+	LIBRARY DESTINATION lib
+	RUNTIME DESTINATION bin
 )
 
-## Install headers
-install(FILES include/serial/serial.h include/serial/v8stdint.h
-  DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION}/serial)
-
-## Tests
-if(CATKIN_ENABLE_TESTING)
-    add_subdirectory(tests)
-endif()
+install(
+  DIRECTORY include/
+  DESTINATION include
+)
diff --git a/package.xml b/package.xml
index 70c2bb9..72118a8 100644
--- a/package.xml
+++ b/package.xml
@@ -1,11 +1,10 @@
 <?xml version="1.0"?>
-<package>
+<package format="2">
   <name>serial</name>
   <version>1.2.1</version>
   <description>
     Serial is a cross-platform, simple to use library for using serial ports on computers.  This library provides a C++, object oriented interface for interacting with RS-232 like devices on Linux and Windows.
   </description>
-
   <maintainer email="william@osrfoundation.org">William Woodall</maintainer>
 
   <license>MIT</license>
@@ -14,11 +13,9 @@
   <url type="repository">https://github.com/wjwwood/serial</url>
   <url type="bugtracker">https://github.com/wjwwood/serial/issues</url>
 
-  <author email="wjwwood@gmail.com">William Woodall</author>
-  <author email="ash.gti@gmail.com">John Harrison</author>
-
-  <buildtool_depend>catkin</buildtool_depend>
-
-  <test_depend>boost</test_depend>
+  <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
 </package>