diff --git a/CMakeLists.txt b/CMakeLists.txt
index 6a284c9c..d0ed8bbb 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,60 +1,43 @@
 cmake_minimum_required(VERSION 3.5)
 project(usb_cam)
 
-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
-
-# find_package(camera_info_manager REQUIRED)
-# find_package(image_transport REQUIRED)
-find_package(builtin_interfaces REQUIRED)
-find_package(rclcpp REQUIRED)
-find_package(std_msgs REQUIRED)
-find_package(std_srvs REQUIRED)
-find_package(sensor_msgs REQUIRED)
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
 
 ## pkg-config libraries
 find_package(PkgConfig REQUIRED)
 pkg_check_modules(avcodec libavcodec REQUIRED)
 pkg_check_modules(swscale libswscale REQUIRED)
 
-# idl stuff
-# msg/Format.msg
-
 include_directories(include
   ${avcodec_INCLUDE_DIRS}
   ${swscale_INCLUDE_DIRS}
 )
 
 ## Build the USB camera library
-add_library(${PROJECT_NAME} src/usb_cam.cpp)
-target_link_libraries(${PROJECT_NAME}
-  ${avcodec_LIBRARIES}
-  ${swscale_LIBRARIES}
+ament_auto_add_library(${PROJECT_NAME} SHARED
+  src/usb_cam.cpp
 )
 
 ## Declare a cpp executable
-add_executable(${PROJECT_NAME}_node nodes/usb_cam_node.cpp)
+ament_auto_add_executable(${PROJECT_NAME}_node src/usb_cam_node.cpp)
 target_link_libraries(${PROJECT_NAME}_node
   ${PROJECT_NAME}
   ${avcodec_LIBRARIES}
   ${swscale_LIBRARIES}
   # TODO(lucasw) should this have been in libavcodec?
-  avutil
-)
-
-ament_target_dependencies(${PROJECT_NAME}
-  "builtin_interfaces"
-  "rclcpp"
-  "sensor_msgs"
-  "std_msgs"
-  "std_srvs"
+  #avutil
 )
 
-install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node DESTINATION lib/${PROJECT_NAME})
 install(PROGRAMS scripts/show_image.py DESTINATION lib/${PROJECT_NAME})
 
-install(DIRECTORY config DESTINATION share/${PROJECT_NAME})
-install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
-
-ament_package()
+ament_auto_package()
diff --git a/package.xml b/package.xml
index a0703991..e8de5b07 100644
--- a/package.xml
+++ b/package.xml
@@ -17,6 +17,15 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <depend>rclcpp</depend>
+  <depend>std_msgs</depend>
+  <depend>std_srvs</depend>
+  <depend>sensor_msgs</depend>
+  <depend>camera_info_manager</depend>
+  <depend>builtin_interfaces</depend>
+  <depend>image_transport</depend>
+  <depend>v4l-utils</depend>
+
   <depend>ffmpeg</depend>
   <depend>libboost-dev</depend>
   <depend>libboost-lexical-cast-dev</depend>
@@ -24,22 +33,6 @@
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
 
-<!--
-  <build_depend>std_msgs</build_depend>
-  <build_depend>std_srvs</build_depend>
-  <build_depend>sensor_msgs</build_depend>
-  <build_depend>ffmpeg</build_depend>
-  <build_depend>camera_info_manager</build_depend>
-
-  <run_depend>image_transport</run_depend>
-  <run_depend>roscpp</run_depend>
-  <run_depend>std_msgs</run_depend>
-  <run_depend>std_srvs</run_depend>
-  <run_depend>sensor_msgs</run_depend>
-  <run_depend>ffmpeg</run_depend>
-  <run_depend>camera_info_manager</run_depend>
-  <run_depend>v4l-utils</run_depend>
--->
 
   <buildtool_depend>rosidl_default_generators</buildtool_depend>
   <exec_depend>rosidl_default_runtime</exec_depend>
diff --git a/nodes/usb_cam_node.cpp b/src/usb_cam_node.cpp
similarity index 100%
rename from nodes/usb_cam_node.cpp
rename to src/usb_cam_node.cpp