diff --git a/CMakeLists.txt b/CMakeLists.txt
index 106f832..6343cbd 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -15,22 +15,19 @@ list(APPEND serial_SRCS src/impl/list_ports/list_ports_linux.cc)
 
 ## Add serial library
 add_library(${PROJECT_NAME} SHARED ${serial_SRCS})
-	target_link_libraries(${PROJECT_NAME} rt pthread)
-
-add_executable(serial_example examples/serial_example.cc)
-add_dependencies(serial_example ${PROJECT_NAME})
-target_link_libraries(serial_example ${PROJECT_NAME})
+target_link_libraries(${PROJECT_NAME} rt pthread)
 
 ## Include headers
 include_directories(include)
 
-## Install executable
-install(TARGETS ${PROJECT_NAME}
-    ARCHIVE DESTINATION /usr/lib
-    LIBRARY DESTINATION /usr/lib
+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 /usr/include/serial)
-
+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>