diff --git a/CMakeLists.txt b/CMakeLists.txt
deleted file mode 100644
index 8e50278..0000000
--- a/CMakeLists.txt
+++ /dev/null
@@ -1,17 +0,0 @@
-cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
-project(urdfdom_py)
-
-find_package(catkin REQUIRED)
-catkin_package()
-
-catkin_python_setup()
-
-catkin_install_python(PROGRAMS
-  scripts/display_urdf
-  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
-
-if (CATKIN_ENABLE_TESTING)
-  catkin_add_nosetests(test/test_urdf.py)
-  catkin_add_nosetests(test/test_urdf_error.py)
-endif()
diff --git a/package.xml b/package.xml
index b5bba9f..ef2241e 100644
--- a/package.xml
+++ b/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>urdfdom_py</name>
-  <version>0.4.1</version>
+  <version>1.0.0</version>
   <description>Python implementation of the URDF parser.</description>
 
   <license>BSD</license>
@@ -21,17 +21,13 @@
   <url type="bugtracker">https://github.com/ros/urdf_parser_py/issues</url>
   <url type="repository">https://github.com/ros/urdf_parser_py</url>
 
-  <buildtool_depend>catkin</buildtool_depend>
+  <exec_depend>rclpy</exec_depend>
 
-  <exec_depend>rospy</exec_depend>
-
-  <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-lxml</exec_depend>
-  <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-lxml</exec_depend>
-
-  <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-yaml</exec_depend>
-  <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-yaml</exec_depend>
-
-  <test_depend condition="$ROS_PYTHON_VERSION == 2">python-mock</test_depend>
-  <test_depend condition="$ROS_PYTHON_VERSION == 3">python3-mock</test_depend>
+  <exec_depend>python3-lxml</exec_depend>
+  <exec_depend>python3-yaml</exec_depend>
+  <test_depend>python3-mock</test_depend>
 
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
 </package>
diff --git a/resource/urdfdom_py b/resource/urdfdom_py
new file mode 100644
index 0000000..e69de29
diff --git a/setup.py b/setup.py
index 7728af3..069a49b 100644
--- a/setup.py
+++ b/setup.py
@@ -1,9 +1,29 @@
-from distutils.core import setup
-from catkin_pkg.python_setup import generate_distutils_setup
+from glob import glob
+from setuptools import setup
 
-d = generate_distutils_setup(
+package_name = 'urdfdom_py'
+
+setup(
+    name=package_name,
+    version='1.0.0',
+    package_dir={'': 'src'},
     packages=['urdf_parser_py', 'urdf_parser_py.xml_reflection'],
-    package_dir={'': 'src'}
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+        ('share/' + package_name + '/scripts', glob('scripts/display_urdf')),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    keywords=['ROS2'],
+    classifiers=[
+        'Intended Audience :: Developers',
+        'License :: OSI Approved :: BSD',
+        'Programming Language :: Python',
+        'Topic :: Software Development',
+    ],
+    description='Python implementation of the URDF parser.',
+    license='BSD',
+    tests_require=['pytest'],
 )
-
-setup(**d)