diff --git a/src/pf_description/CMakeLists.txt b/src/pf_description/CMakeLists.txt
index e306f2bd..c244214e 100644
--- a/src/pf_description/CMakeLists.txt
+++ b/src/pf_description/CMakeLists.txt
@@ -1,28 +1,14 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.7)
 project(pf_description)
 
-## Compile as C++11, supported in ROS Kinetic and newer
-# add_compile_options(-std=c++11)
+find_package(ament_cmake REQUIRED)
 
-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
-find_package(catkin REQUIRED)
-
-catkin_package(
-#  INCLUDE_DIRS include
-#  LIBRARIES pf_description
-#  CATKIN_DEPENDS joint_state_publisher robot_state_publisher rviz urdf xacro
-#  DEPENDS system_lib
-)
+if(BUILD_TESTING)
+  find_package(launch_testing_ament_cmake)
+  add_launch_test(tests/test_r2000_bringup.launch)
+  add_launch_test(tests/test_r2300_bringup.launch)
+endif()
 
-install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
-install(DIRECTORY urdf DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
-install(DIRECTORY meshes DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
-install(DIRECTORY rviz DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+install(DIRECTORY launch meshes rviz urdf DESTINATION share/${PROJECT_NAME})
 
-if(CATKIN_ENABLE_TESTING)
-  find_package(rostest REQUIRED)
-  add_rostest(tests/test_r2000_bringup.launch)
-  add_rostest(tests/test_r2300_bringup.launch)
-endif()
+ament_package()
diff --git a/src/pf_description/package.xml b/src/pf_description/package.xml
index c9a5e26a..61c6aa06 100644
--- a/src/pf_description/package.xml
+++ b/src/pf_description/package.xml
@@ -20,6 +20,6 @@
   <test_depend>python3-pytest</test_depend>
 
   <export>
-    <build_type>ament_python</build_type>
+    <build_type>ament_cmake</build_type>
   </export>
 </package>
diff --git a/src/pf_description/setup.cfg b/src/pf_description/setup.cfg
deleted file mode 100644
index da1c5fb5..00000000
--- a/src/pf_description/setup.cfg
+++ /dev/null
@@ -1,4 +0,0 @@
-[develop]
-script-dir=$base/lib/pf_description
-[install]
-install-scripts=$base/lib/pf_description
diff --git a/src/pf_description/setup.py b/src/pf_description/setup.py
deleted file mode 100644
index c3b60a0f..00000000
--- a/src/pf_description/setup.py
+++ /dev/null
@@ -1,31 +0,0 @@
-import os
-from glob import glob
-from setuptools import setup
-
-package_name = 'pf_description'
-
-setup(
-    name=package_name,
-    version='1.2.0',
-    packages=[package_name],
-    data_files=[
-        ('share/ament_index/resource_index/packages',
-            ['resource/' + package_name]),
-        ('share/' + package_name, ['package.xml']),
-        (os.path.join('share', package_name, 'launch'), glob('launch/*')),
-        (os.path.join('share', package_name, 'meshes'), glob('meshes/*')),
-        (os.path.join('share', package_name, 'rviz'), glob('rviz/*')),
-        (os.path.join('share', package_name, 'urdf'), glob('urdf/*')),
-    ],
-    install_requires=['setuptools'],
-    zip_safe=True,
-    maintainer='Harsh Deshpande',
-    maintainer_email='harshavardhan.deshpande@ipa.fraunhofer.de',
-    description='The pf_description package',
-    license='Apache2.0',
-    tests_require=['pytest'],
-    entry_points={
-        'console_scripts': [
-        ],
-    },
-)
\ No newline at end of file