diff --git a/CMakeLists.txt b/CMakeLists.txt
index 3a8f697..e8a4bf3 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,18 +1,18 @@
-CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
-PROJECT(asio_serial_device)
+cmake_minimum_required(VERSION 2.8.3)
+project(asio-serial-device)
 
-SET(CMAKE_BUILD_TYPE Release)
+find_package(catkin REQUIRED)
+find_package(Boost REQUIRED COMPONENTS thread system)
 
-INCLUDE_DIRECTORIES(include)
+include_directories(include ${catkin_INCLUDE_DIRS})
 
-ADD_LIBRARY(asio_serial_device SHARED src/ASIOSerialDevice.cc)
+catkin_package(
+    DEPENDS
+    CATKIN_DEPENDS # TODO
+    INCLUDE_DIRS include
+    LIBRARIES # TODO
+)
 
-FIND_PACKAGE(Boost COMPONENTS system thread REQUIRED)
-TARGET_LINK_LIBRARIES(asio_serial_device
-                                       ${Boost_SYSTEM_LIBRARY}
-                                       ${Boost_THREAD_LIBRARY})
+add_library(asio_serial_device src/ASIOSerialDevice.cc)
 
-SET(CMAKE_SKIP_BUILD_RPATH  FALSE)
-SET(LIBRARY_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/lib)
-
-INSTALL(TARGETS asio_serial_device DESTINATION lib)
+target_link_libraries(asio_serial_device ${Boost_SYSTEM_LIBRARY} ${Boost_THREAD_LIBRARY})
\ No newline at end of file
diff --git a/Makefile b/Makefile
deleted file mode 100644
index 8bc3ea7..0000000
--- a/Makefile
+++ /dev/null
@@ -1,12 +0,0 @@
-MAKE_DIR = $(shell dirname $(realpath $(lastword $(MAKEFILE_LIST))))
-
-.phony: all clean wipe
-
-all:
-	mkdir -p $(MAKE_DIR)/build && cd $(MAKE_DIR)/build && cmake .. && make
-
-clean:
-	cd $(MAKE_DIR)/build && make clean
-
-wipe:
-	rm -fr $(MAKE_DIR)/build && rm -fr $(MAKE_DIR)/lib
diff --git a/cmake/FindASIO_SERIAL_DEVICE.cmake b/cmake/FindASIO_SERIAL_DEVICE.cmake
deleted file mode 100644
index 5dacfc2..0000000
--- a/cmake/FindASIO_SERIAL_DEVICE.cmake
+++ /dev/null
@@ -1,16 +0,0 @@
-find_path(ASIO_SERIAL_DEVICE_INCLUDE_DIR asio_serial_device/ASIOSerialDevice.h
-  PATHS "${CMAKE_CURRENT_LIST_DIR}/../include"
-  PATH_SUFFIXES asio_serial_device)
-set(ASIO_SERIAL_DEVICE_INCLUDE_DIRS ${ASIO_SERIAL_DEVICE_INCLUDE_DIR})
-
-find_library(ASIO_SERIAL_DEVICE_LIBRARY NAMES asio_serial_device
-  PATHS "${CMAKE_CURRENT_LIST_DIR}/../lib")
-set(ASIO_SERIAL_DEVICE_LIBRARIES ${ASIO_SERIAL_DEVICE_LIBRARY})
-
-include(FindPackageHandleStandardArgs)
-find_package_handle_standard_args(ASIO_SERIAL_DEVICE
-  DEFAULT_MSG
-  ASIO_SERIAL_DEVICE_LIBRARY
-  ASIO_SERIAL_DEVICE_INCLUDE_DIR)
-
-mark_as_advanced(ASIO_SERIAL_DEVICE_INCLUDE_DIR ASIO_SERIAL_DEVICE_LIBRARY)
diff --git a/manifest.xml b/manifest.xml
deleted file mode 100644
index f467d82..0000000
--- a/manifest.xml
+++ /dev/null
@@ -1,17 +0,0 @@
-<package>
-  <description brief="asio-serial-device">
-    Boost ASIO serial device wrapper
-  </description>
-  <author>Nathan Michael</author>
-  <license>GPL</license>
-  <review status="unreviewed" notes=""/>
-  <url>https://github.com/nmichael/asio-serial-device</url>
-
-  <export>
-    <cpp cflags="-I${prefix}/include `rosboost-cfg --cflags`"
-         lflags="-Wl,-rpath,${prefix}/lib -L${prefix}/lib -lasio_serial_device `rosboost-cfg --lflags system,thread`"/>
-  </export>
-
-</package>
-
-
diff --git a/package.xml b/package.xml
new file mode 100644
index 0000000..b58fe47
--- /dev/null
+++ b/package.xml
@@ -0,0 +1,18 @@
+<package>
+  <name>asio-serial-device</name>
+  <version>1.0.0</version>
+  <description>asio-serial-device</description>
+  <maintainer email="nmichael@users.noreply.github.com">Nathan Michael</maintainer>
+
+  <license>GPL</license>
+
+  <url type="website">https://github.com/nmichael/asio-serial-device</url>
+  <!-- <url type="bugtracker"></url> -->
+
+  <author>Nathan Michael</author>
+
+  <!-- Dependencies which this package needs to build itself. -->
+  <buildtool_depend>catkin</buildtool_depend>
+
+
+</package>
\ No newline at end of file