diff --git a/src/rover_urdf_pkg/CMakeLists.txt b/src/rover_urdf_pkg/CMakeLists.txt
deleted file mode 100755
index 2c7a1d5..0000000
--- a/src/rover_urdf_pkg/CMakeLists.txt
+++ /dev/null
@@ -1,14 +0,0 @@
-cmake_minimum_required(VERSION 2.8.3)
-
-project(rover_urdf_pkg)
-
-find_package(catkin REQUIRED)
-
-catkin_package()
-
-find_package(roslaunch)
-
-foreach(dir config launch meshes urdf)
-	install(DIRECTORY ${dir}/
-		DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
-endforeach(dir)
diff --git a/src/rover_urdf_pkg/package.xml b/src/rover_urdf_pkg/package.xml
index 0d76d75..3e693c5 100755
--- a/src/rover_urdf_pkg/package.xml
+++ b/src/rover_urdf_pkg/package.xml
@@ -1,21 +1,17 @@
-<package format="2">
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
   <name>rover_urdf_pkg</name>
   <version>1.0.0</version>
-  <description>
-    <p>URDF Description package for Clucky's arm</p>
-    <p>This package contains configuration data, 3D models and launch files
-for Clucky's arm</p>
-  </description>
-  <author>David Sharpe</author>
-  <maintainer email="ds0196@uah.edu" />
+  <description>This package contains configuration data, 3D models and launch files for Clucky's arm</description>
+  <maintainer email="ds0196@uah.edu">David Sharpe</maintainer>
   <license>BSD</license>
-  <buildtool_depend>catkin</buildtool_depend>
-  <depend>roslaunch</depend>
+
+  <depend>rclpy</depend>
   <depend>robot_state_publisher</depend>
-  <depend>rviz</depend>
-  <depend>joint_state_publisher_gui</depend>
-  <depend>gazebo</depend>
+  <depend>rviz2</depend>
+
   <export>
-    <architecture_independent />
+    <build_type>ament_python</build_type>
   </export>
-</package>
\ No newline at end of file
+</package>
diff --git a/src/rover_urdf_pkg/resource/rover_urdf_pkg b/src/rover_urdf_pkg/resource/rover_urdf_pkg
new file mode 100644
index 0000000..e69de29
diff --git a/src/rover_urdf_pkg/setup.cfg b/src/rover_urdf_pkg/setup.cfg
new file mode 100644
index 0000000..be09fb6
--- /dev/null
+++ b/src/rover_urdf_pkg/setup.cfg
@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/ik_pkg
+[install]
+install_scripts=$base/lib/ik_pkg
diff --git a/src/rover_urdf_pkg/setup.py b/src/rover_urdf_pkg/setup.py
new file mode 100644
index 0000000..965a1c5
--- /dev/null
+++ b/src/rover_urdf_pkg/setup.py
@@ -0,0 +1,28 @@
+from setuptools import find_packages, setup
+import os
+from glob import glob
+
+package_name = 'rover_urdf_pkg'
+
+list_of_folders = ["config", "launch", "meshes", "textures", "urdf"]
+
+setup_data_files = [
+    ('share/ament_index/resource_index/packages', ['resource/' + package_name]),
+    ('share/' + package_name, ['package.xml'])
+]
+
+for folder in list_of_folders:
+    setup_data_files.append((os.path.join('share', package_name, folder), glob(folder + '/*')))
+
+setup(
+    name=package_name,
+    version='1.0.0',
+    packages=find_packages(exclude=['test']),
+    data_files=setup_data_files,  # created above with for loop
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='David Sharpe',
+    maintainer_email='ds0196@uah.edu',
+    description='This package contains configuration data, 3D models and launch files for Clucky\'s arm',
+    license='BSD'
+)