diff --git a/CMakeLists.txt b/CMakeLists.txt
deleted file mode 100644
index 9945ebb..0000000
--- a/CMakeLists.txt
+++ /dev/null
@@ -1,146 +0,0 @@
-cmake_minimum_required(VERSION 2.8.3)
-project(gl_depth_sim)
-
-add_compile_options(-std=c++14 -Wall -Wextra)
-
-find_package(catkin REQUIRED COMPONENTS
-  roscpp # Used for ROS examples
-  pcl_ros # Used for interfaces extension
-  tf2_ros # Used for ROS example
-  tf2_eigen # Used for ROS example
-  visualization_msgs # Used for ROS example
-)
-
-# Required for core functionality
-find_package(glfw3 REQUIRED)
-find_package(OpenGL REQUIRED)
-find_package(Eigen3 REQUIRED)
-
-# Extensions
-find_package(assimp REQUIRED) # Just used for loading models in mesh_loader.h
-find_package(OpenCV REQUIRED) # Used for interface extension
-
-catkin_package(
-  INCLUDE_DIRS include
-  LIBRARIES ${PROJECT_NAME} ${PROJECT_NAME}_interfaces
-  CATKIN_DEPENDS
-    roscpp
-    pcl_ros
-    tf2_ros
-    tf2_eigen
-    visualization_msgs
-  DEPENDS OpenCV
-)
-
-include_directories(
-  include
-  ${catkin_INCLUDE_DIRS}
-  ${EIGEN3_INCLUDE_DIRS}
-)
-
-# Primary rendering library
-# Independent of ROS, but does need glfw3 and assimp for model loading
-add_library(${PROJECT_NAME}
-  src/${PROJECT_NAME}/sim_depth_camera.cpp
-  src/${PROJECT_NAME}/mesh_loader.cpp
-  src/${PROJECT_NAME}/mesh.cpp
-  src/${PROJECT_NAME}/renderable_mesh.cpp
-  src/${PROJECT_NAME}/shader_program.cpp
-  src/${PROJECT_NAME}/glad.c
-  src/${PROJECT_NAME}/glfw_guard.cpp
-)
-add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-target_link_libraries(${PROJECT_NAME}
-  ${OPENGL_LIBRARIES}
-  ${ASSIMP_LIBRARIES}
-  dl
-  glfw
-)
-
-# Libaries for interfacing with opencv and pcl
-add_library(${PROJECT_NAME}_interfaces
-  src/interfaces/pcl_interface.cpp
-  src/interfaces/opencv_interface.cpp
-)
-add_dependencies(${PROJECT_NAME}_interfaces ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-target_link_libraries(${PROJECT_NAME}_interfaces
-  ${PROJECT_NAME}
-  ${catkin_LIBRARIES}
-  ${OpenCV_LIBRARIES}
-)
-
-# Simulated laser scanner library
-add_library(${PROJECT_NAME}_sim_laser_scanner
-  src/${PROJECT_NAME}/sim_laser_scanner.cpp
-)
-add_dependencies(${PROJECT_NAME}_interfaces ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-target_link_libraries(${PROJECT_NAME}_sim_laser_scanner
-  ${catkin_LIBRARIES}
-  ${PROJECT_NAME}
-  ${PROJECT_NAME}_interfaces
-)
-
-# Example showing basic usage
-add_executable(${PROJECT_NAME}_test src/usage_example.cpp)
-set_target_properties(${PROJECT_NAME}_test PROPERTIES OUTPUT_NAME depth_example PREFIX "")
-target_link_libraries(${PROJECT_NAME}_test
-  ${PROJECT_NAME}
-  ${PROJECT_NAME}_interfaces
-  ${catkin_LIBRARIES}
-)
-
-# Example showing an orbiting camera
-add_executable(${PROJECT_NAME}_orbit src/camera_orbit_example.cpp)
-set_target_properties(${PROJECT_NAME}_orbit PROPERTIES OUTPUT_NAME orbit_example PREFIX "")
-target_link_libraries(${PROJECT_NAME}_orbit
-  ${PROJECT_NAME}
-  ${PROJECT_NAME}_interfaces
-  ${catkin_LIBRARIES}
-)
-
-# Example showing orbiting camera with point cloud publishing in ROS
-add_executable(${PROJECT_NAME}_ros_orbit src/camera_ros_example.cpp)
-set_target_properties(${PROJECT_NAME}_ros_orbit PROPERTIES OUTPUT_NAME ros_example PREFIX "")
-target_link_libraries(${PROJECT_NAME}_ros_orbit
-  ${PROJECT_NAME}
-  ${PROJECT_NAME}_interfaces
-  ${catkin_LIBRARIES}
-)
-
-# Example showing sweeping laser scan with point cloud publishing in ROS
-add_executable(${PROJECT_NAME}_laser_example src/laser_example.cpp)
-set_target_properties(${PROJECT_NAME}_laser_example PROPERTIES OUTPUT_NAME laser_example PREFIX "")
-target_link_libraries(${PROJECT_NAME}_laser_example
-  ${PROJECT_NAME}_sim_laser_scanner
-  ${catkin_LIBRARIES}
-)
-
-install(
-  TARGETS
-    ${PROJECT_NAME}
-    ${PROJECT_NAME}_interfaces
-    ${PROJECT_NAME}_sim_laser_scanner
-    ${PROJECT_NAME}_test
-    ${PROJECT_NAME}_orbit
-    ${PROJECT_NAME}_ros_orbit
-    ${PROJECT_NAME}_laser_example
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
-
-install(DIRECTORY include/${PROJECT_NAME}/
-  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-)
-
-#############
-## Testing ##
-#############
-#if(CATKIN_ENABLE_TESTING)
-#  find_package(rostest REQUIRED)
-#  catkin_add_gtest(utest_node test/utest.cpp)
-#  target_link_libraries(utest_node
-#    ${catkin_LIBRARIES}
-#    ${PROJECT_NAME}_sim_laser_scanner
-#  )
-#endif()
diff --git a/gl_depth_sim/CMakeLists.txt b/gl_depth_sim/CMakeLists.txt
new file mode 100644
index 0000000..da71465
--- /dev/null
+++ b/gl_depth_sim/CMakeLists.txt
@@ -0,0 +1,132 @@
+cmake_minimum_required(VERSION 3.5.0)
+project(gl_depth_sim VERSION 0.2.0 LANGUAGES C CXX)
+
+# Required for core functionality
+find_package(glfw3 REQUIRED)
+find_package(OpenGL REQUIRED)
+find_package(Eigen3 REQUIRED)
+find_package(PCL REQUIRED)
+find_package(OpenCV REQUIRED)
+
+find_package(Threads REQUIRED)
+set(THREADS_PREFER_PTHREAD_FLAG ON)
+
+# Extensions
+find_package(assimp REQUIRED) # Just used for loading models in mesh_loader.h
+find_package(OpenCV REQUIRED) # Used for interface extension
+
+add_library(glad SHARED src/${PROJECT_NAME}/glad.c)
+target_include_directories(glad PRIVATE
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+    "$<INSTALL_INTERFACE:include>")
+
+# Primary rendering library
+# Independent of ROS, but does need glfw3 and assimp for model loading
+add_library(${PROJECT_NAME} SHARED
+  src/${PROJECT_NAME}/sim_depth_camera.cpp
+  src/${PROJECT_NAME}/mesh_loader.cpp
+  src/${PROJECT_NAME}/mesh.cpp
+  src/${PROJECT_NAME}/renderable_mesh.cpp
+  src/${PROJECT_NAME}/shader_program.cpp
+  src/${PROJECT_NAME}/glfw_guard.cpp)
+target_compile_options(${PROJECT_NAME} PRIVATE -std=c++14)
+target_compile_options(${PROJECT_NAME} PUBLIC -mno-avx -pthread)
+target_include_directories(${PROJECT_NAME} PUBLIC
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+    "$<INSTALL_INTERFACE:include>")
+target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
+    ${EIGEN3_INCLUDE_DIR})
+target_link_libraries(${PROJECT_NAME} PUBLIC
+  ${ASSIMP_LIBRARIES}
+  ${OPENGL_LIBRARIES}
+  glad
+  dl
+  glfw
+  )
+
+# Libaries for interfacing with opencv and pcl
+add_library(${PROJECT_NAME}_interfaces SHARED
+  src/interfaces/pcl_interface.cpp
+  src/interfaces/opencv_interface.cpp)
+target_compile_options(${PROJECT_NAME}_interfaces PRIVATE -std=c++14)
+target_include_directories(${PROJECT_NAME} PUBLIC
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+    "$<INSTALL_INTERFACE:include>")
+target_include_directories(${PROJECT_NAME}_interfaces SYSTEM PUBLIC
+    ${PCL_INCLUDE_DIRS})
+target_link_libraries(${PROJECT_NAME}_interfaces PUBLIC
+  ${PROJECT_NAME}
+  ${OpenCV_LIBRARIES}
+  ${PCL_LIBRARIES}
+)
+
+# Simulated laser scanner library
+add_library(${PROJECT_NAME}_laser_scanner SHARED
+  src/${PROJECT_NAME}/sim_laser_scanner.cpp
+)
+target_compile_options(${PROJECT_NAME}_laser_scanner PRIVATE -std=c++14)
+target_include_directories(${PROJECT_NAME} PUBLIC
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+    "$<INSTALL_INTERFACE:include>"
+)
+target_link_libraries(${PROJECT_NAME}_laser_scanner PUBLIC
+  ${PROJECT_NAME}
+  ${PROJECT_NAME}_interfaces
+)
+
+# Example showing basic usage
+add_executable(${PROJECT_NAME}_test src/usage_example.cpp)
+target_compile_options(${PROJECT_NAME}_test PRIVATE -std=c++14)
+set_target_properties(${PROJECT_NAME}_test PROPERTIES OUTPUT_NAME depth_example PREFIX "")
+target_include_directories(${PROJECT_NAME}_test PUBLIC
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCEDIR}/include>"
+    "$<INSTALL_INTERFACE:include>")
+target_link_libraries(${PROJECT_NAME}_test PUBLIC
+  ${PROJECT_NAME}
+  ${PROJECT_NAME}_interfaces)
+
+# Example showing an orbiting camera
+add_executable(${PROJECT_NAME}_orbit src/camera_orbit_example.cpp)
+target_compile_options(${PROJECT_NAME}_orbit PRIVATE -std=c++14)
+set_target_properties(${PROJECT_NAME}_orbit PROPERTIES OUTPUT_NAME orbit_example PREFIX "")
+target_include_directories(${PROJECT_NAME}_orbit PUBLIC
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+    "$<INSTALL_INTERFACE:include>")
+target_link_libraries(${PROJECT_NAME}_orbit PUBLIC
+  ${PROJECT_NAME}
+  ${PROJECT_NAME}_interfaces)
+
+install(DIRECTORY include/${PROJECT_NAME}
+  DESTINATION include)
+
+install(TARGETS
+  glad
+  ${PROJECT_NAME}
+  ${PROJECT_NAME}_interfaces
+  ${PROJECT_NAME}_laser_scanner
+  ${PROJECT_NAME}_test
+  ${PROJECT_NAME}_orbit
+        EXPORT ${PROJECT_NAME}-targets
+        RUNTIME DESTINATION bin
+        LIBRARY DESTINATION lib
+        ARCHIVE DESTINATION lib)
+install(EXPORT ${PROJECT_NAME}-targets NAMESPACE gl_depth_sim:: DESTINATION lib/cmake/${PROJECT_NAME})
+
+install(FILES package.xml DESTINATION share/${PROJECT_NAME})
+
+# Create cmake config files
+include(CMakePackageConfigHelpers)
+configure_package_config_file(${CMAKE_CURRENT_LIST_DIR}/cmake/${PROJECT_NAME}-config.cmake.in
+  ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}-config.cmake
+  INSTALL_DESTINATION lib/cmake/${PROJECT_NAME}
+  NO_CHECK_REQUIRED_COMPONENTS_MACRO)
+
+write_basic_package_version_file(${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}-config-version.cmake
+  VERSION ${PROJECT_VERSION} COMPATIBILITY ExactVersion)
+
+install(FILES
+  "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}-config.cmake"
+  "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}-config-version.cmake"
+  DESTINATION lib/cmake/${PROJECT_NAME})
+
+export(EXPORT ${PROJECT_NAME}-targets NAMESPACE gl_depth_sim:: FILE ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}-targets.cmake)
diff --git a/gl_depth_sim/cmake/gl_depth_sim-config.cmake.in b/gl_depth_sim/cmake/gl_depth_sim-config.cmake.in
new file mode 100644
index 0000000..683229b
--- /dev/null
+++ b/gl_depth_sim/cmake/gl_depth_sim-config.cmake.in
@@ -0,0 +1,15 @@
+@PACKAGE_INIT@
+
+set(@PROJECT_NAME@_FOUND ON)
+set_and_check(@PROJECT_NAME@_INCLUDE_DIRS "${PACKAGE_PREFIX_DIR}/include")
+set_and_check(@PROJECT_NAME@_LIBRARY_DIRS "${PACKAGE_PREFIX_DIR}/lib")
+
+include(CMakeFindDependencyMacro)
+find_dependency(Eigen3)
+find_dependency(assimp)
+find_dependency(OpenCV)
+find_dependency(OpenGL)
+find_dependency(glfw3)
+
+
+include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@-targets.cmake")
diff --git a/docs/depth.gif b/gl_depth_sim/docs/depth.gif
similarity index 100%
rename from docs/depth.gif
rename to gl_depth_sim/docs/depth.gif
diff --git a/docs/laser.gif b/gl_depth_sim/docs/laser.gif
similarity index 100%
rename from docs/laser.gif
rename to gl_depth_sim/docs/laser.gif
diff --git a/include/gl_depth_sim/KHR/khrplatform.h b/gl_depth_sim/include/gl_depth_sim/KHR/khrplatform.h
similarity index 100%
rename from include/gl_depth_sim/KHR/khrplatform.h
rename to gl_depth_sim/include/gl_depth_sim/KHR/khrplatform.h
diff --git a/include/gl_depth_sim/camera_properties.h b/gl_depth_sim/include/gl_depth_sim/camera_properties.h
similarity index 100%
rename from include/gl_depth_sim/camera_properties.h
rename to gl_depth_sim/include/gl_depth_sim/camera_properties.h
diff --git a/include/gl_depth_sim/glad/glad.h b/gl_depth_sim/include/gl_depth_sim/glad/glad.h
similarity index 100%
rename from include/gl_depth_sim/glad/glad.h
rename to gl_depth_sim/include/gl_depth_sim/glad/glad.h
diff --git a/include/gl_depth_sim/glfw_guard.h b/gl_depth_sim/include/gl_depth_sim/glfw_guard.h
similarity index 100%
rename from include/gl_depth_sim/glfw_guard.h
rename to gl_depth_sim/include/gl_depth_sim/glfw_guard.h
diff --git a/include/gl_depth_sim/interfaces/opencv_interface.h b/gl_depth_sim/include/gl_depth_sim/interfaces/opencv_interface.h
similarity index 100%
rename from include/gl_depth_sim/interfaces/opencv_interface.h
rename to gl_depth_sim/include/gl_depth_sim/interfaces/opencv_interface.h
diff --git a/include/gl_depth_sim/interfaces/pcl_interface.h b/gl_depth_sim/include/gl_depth_sim/interfaces/pcl_interface.h
similarity index 100%
rename from include/gl_depth_sim/interfaces/pcl_interface.h
rename to gl_depth_sim/include/gl_depth_sim/interfaces/pcl_interface.h
diff --git a/include/gl_depth_sim/mesh.h b/gl_depth_sim/include/gl_depth_sim/mesh.h
similarity index 95%
rename from include/gl_depth_sim/mesh.h
rename to gl_depth_sim/include/gl_depth_sim/mesh.h
index 6d4c545..5e59d7c 100644
--- a/include/gl_depth_sim/mesh.h
+++ b/gl_depth_sim/include/gl_depth_sim/mesh.h
@@ -10,7 +10,6 @@ namespace gl_depth_sim
 template <typename T>
 using EigenAlignedVec = std::vector<T, Eigen::aligned_allocator<T>>;
 
-
 class Mesh
 {
 public:
@@ -22,6 +21,8 @@ class Mesh
   const std::vector<unsigned>& indices() const { return indices_; }
   const EigenAlignedVec<Eigen::Vector3f>& vertices() const { return vertices_; }
 
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
 private:
   EigenAlignedVec<Eigen::Vector3f> vertices_;
   std::vector<unsigned> indices_;
diff --git a/include/gl_depth_sim/mesh_loader.h b/gl_depth_sim/include/gl_depth_sim/mesh_loader.h
similarity index 100%
rename from include/gl_depth_sim/mesh_loader.h
rename to gl_depth_sim/include/gl_depth_sim/mesh_loader.h
diff --git a/include/gl_depth_sim/renderable_mesh.h b/gl_depth_sim/include/gl_depth_sim/renderable_mesh.h
similarity index 100%
rename from include/gl_depth_sim/renderable_mesh.h
rename to gl_depth_sim/include/gl_depth_sim/renderable_mesh.h
diff --git a/include/gl_depth_sim/shader_program.h b/gl_depth_sim/include/gl_depth_sim/shader_program.h
similarity index 93%
rename from include/gl_depth_sim/shader_program.h
rename to gl_depth_sim/include/gl_depth_sim/shader_program.h
index 05cbbf1..908f964 100644
--- a/include/gl_depth_sim/shader_program.h
+++ b/gl_depth_sim/include/gl_depth_sim/shader_program.h
@@ -19,6 +19,8 @@ class ShaderProgram
   void setInt(const std::string& attr, int val);
   void setUniformMat4(const std::string &attr, const Eigen::Matrix4f& mat);
 
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
 private:
   unsigned int id_;
 };
diff --git a/include/gl_depth_sim/sim_depth_camera.h b/gl_depth_sim/include/gl_depth_sim/sim_depth_camera.h
similarity index 88%
rename from include/gl_depth_sim/sim_depth_camera.h
rename to gl_depth_sim/include/gl_depth_sim/sim_depth_camera.h
index 404955a..218e46a 100644
--- a/include/gl_depth_sim/sim_depth_camera.h
+++ b/gl_depth_sim/include/gl_depth_sim/sim_depth_camera.h
@@ -1,10 +1,12 @@
 #ifndef GL_DEPTH_SIM_SIM_DEPTH_CAMERA_H
 #define GL_DEPTH_SIM_SIM_DEPTH_CAMERA_H
 
-#include "gl_depth_sim/camera_properties.h"
-#include "gl_depth_sim/glfw_guard.h"
-#include "gl_depth_sim/renderable_mesh.h"
-#include "gl_depth_sim/shader_program.h"
+#include <gl_depth_sim/camera_properties.h>
+#include <gl_depth_sim/glfw_guard.h>
+#include <gl_depth_sim/renderable_mesh.h>
+#include <gl_depth_sim/shader_program.h>
+
+#include <Eigen/Core>
 
 #include <memory>
 #include <vector>
@@ -16,6 +18,9 @@ struct GLFWwindow;
 namespace gl_depth_sim
 {
 
+template <typename T>
+using EigenAlignedVec = std::vector<T, Eigen::aligned_allocator<T>>;
+
 /**
  * @brief Utility data structure used internally by @class SimDepthCamera
  */
@@ -23,6 +28,7 @@ struct RenderableObjectState
 {
   std::unique_ptr<RenderableMesh> mesh;
   Eigen::Isometry3d pose;
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 };
 
 /**
@@ -38,6 +44,8 @@ struct RenderableObjectState
 class SimDepthCamera
 {
 public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
   /**
    * @brief Creates an OpenGL context and window using the given camera parameters. Only one of these should be created
    * at a time.
diff --git a/include/gl_depth_sim/sim_laser_scanner.h b/gl_depth_sim/include/gl_depth_sim/sim_laser_scanner.h
similarity index 100%
rename from include/gl_depth_sim/sim_laser_scanner.h
rename to gl_depth_sim/include/gl_depth_sim/sim_laser_scanner.h
diff --git a/launch/laser_example.launch b/gl_depth_sim/launch/laser_example.launch
similarity index 100%
rename from launch/laser_example.launch
rename to gl_depth_sim/launch/laser_example.launch
diff --git a/launch/laser_example.rviz b/gl_depth_sim/launch/laser_example.rviz
similarity index 100%
rename from launch/laser_example.rviz
rename to gl_depth_sim/launch/laser_example.rviz
diff --git a/package.xml b/gl_depth_sim/package.xml
similarity index 62%
rename from package.xml
rename to gl_depth_sim/package.xml
index 5518c5c..dfa3564 100644
--- a/package.xml
+++ b/gl_depth_sim/package.xml
@@ -8,18 +8,15 @@
 
   <license>LGPLv3</license>
 
-  <buildtool_depend>catkin</buildtool_depend>
-  <depend>roscpp</depend>
-
-  <!--Used for examples and interfacing-->
-  <depend>tf2_ros</depend>
-  <depend>tf2_eigen</depend>
-  <depend>pcl_ros</depend>
-  <depend>visualization_msgs</depend>
-
   <!-- system dependency -->
   <build_depend>libglfw3-dev</build_depend>
+
   <depend>assimp</depend>
   <depend>libopencv-dev</depend>
+  <depend>libpcl-all-dev</depend>
+  <depend>eigen</depend>
 
+  <export>
+    <build_type>cmake</build_type>
+  </export>
 </package>
diff --git a/src/camera_orbit_example.cpp b/gl_depth_sim/src/camera_orbit_example.cpp
similarity index 100%
rename from src/camera_orbit_example.cpp
rename to gl_depth_sim/src/camera_orbit_example.cpp
diff --git a/src/gl_depth_sim/glad.c b/gl_depth_sim/src/gl_depth_sim/glad.c
similarity index 100%
rename from src/gl_depth_sim/glad.c
rename to gl_depth_sim/src/gl_depth_sim/glad.c
diff --git a/src/gl_depth_sim/glfw_guard.cpp b/gl_depth_sim/src/gl_depth_sim/glfw_guard.cpp
similarity index 100%
rename from src/gl_depth_sim/glfw_guard.cpp
rename to gl_depth_sim/src/gl_depth_sim/glfw_guard.cpp
diff --git a/src/gl_depth_sim/mesh.cpp b/gl_depth_sim/src/gl_depth_sim/mesh.cpp
similarity index 100%
rename from src/gl_depth_sim/mesh.cpp
rename to gl_depth_sim/src/gl_depth_sim/mesh.cpp
diff --git a/src/gl_depth_sim/mesh_loader.cpp b/gl_depth_sim/src/gl_depth_sim/mesh_loader.cpp
similarity index 100%
rename from src/gl_depth_sim/mesh_loader.cpp
rename to gl_depth_sim/src/gl_depth_sim/mesh_loader.cpp
diff --git a/src/gl_depth_sim/renderable_mesh.cpp b/gl_depth_sim/src/gl_depth_sim/renderable_mesh.cpp
similarity index 100%
rename from src/gl_depth_sim/renderable_mesh.cpp
rename to gl_depth_sim/src/gl_depth_sim/renderable_mesh.cpp
diff --git a/src/gl_depth_sim/shader_program.cpp b/gl_depth_sim/src/gl_depth_sim/shader_program.cpp
similarity index 100%
rename from src/gl_depth_sim/shader_program.cpp
rename to gl_depth_sim/src/gl_depth_sim/shader_program.cpp
diff --git a/src/gl_depth_sim/sim_depth_camera.cpp b/gl_depth_sim/src/gl_depth_sim/sim_depth_camera.cpp
similarity index 99%
rename from src/gl_depth_sim/sim_depth_camera.cpp
rename to gl_depth_sim/src/gl_depth_sim/sim_depth_camera.cpp
index 599e407..74a263f 100644
--- a/src/gl_depth_sim/sim_depth_camera.cpp
+++ b/gl_depth_sim/src/gl_depth_sim/sim_depth_camera.cpp
@@ -44,8 +44,8 @@ static Eigen::Matrix4d createProjectionMatrix(const gl_depth_sim::CameraProperti
 }
 
 gl_depth_sim::SimDepthCamera::SimDepthCamera(const gl_depth_sim::CameraProperties& camera)
-  : camera_{camera}
-  , proj_{createProjectionMatrix(camera)}
+  : camera_(camera)
+  , proj_(createProjectionMatrix(camera))
 {
   // Load GLFW and OpenGL libraries; create window; create extensions
   initGLFW();
diff --git a/src/gl_depth_sim/sim_laser_scanner.cpp b/gl_depth_sim/src/gl_depth_sim/sim_laser_scanner.cpp
similarity index 100%
rename from src/gl_depth_sim/sim_laser_scanner.cpp
rename to gl_depth_sim/src/gl_depth_sim/sim_laser_scanner.cpp
diff --git a/src/interfaces/opencv_interface.cpp b/gl_depth_sim/src/interfaces/opencv_interface.cpp
similarity index 100%
rename from src/interfaces/opencv_interface.cpp
rename to gl_depth_sim/src/interfaces/opencv_interface.cpp
diff --git a/src/interfaces/pcl_interface.cpp b/gl_depth_sim/src/interfaces/pcl_interface.cpp
similarity index 100%
rename from src/interfaces/pcl_interface.cpp
rename to gl_depth_sim/src/interfaces/pcl_interface.cpp
diff --git a/src/usage_example.cpp b/gl_depth_sim/src/usage_example.cpp
similarity index 100%
rename from src/usage_example.cpp
rename to gl_depth_sim/src/usage_example.cpp
diff --git a/test/cylinder_r1.stl b/gl_depth_sim/test/cylinder_r1.stl
similarity index 100%
rename from test/cylinder_r1.stl
rename to gl_depth_sim/test/cylinder_r1.stl
diff --git a/test/stanford_dragon.stl b/gl_depth_sim/test/stanford_dragon.stl
similarity index 100%
rename from test/stanford_dragon.stl
rename to gl_depth_sim/test/stanford_dragon.stl
diff --git a/test/utest.cpp b/gl_depth_sim/test/utest.cpp
similarity index 100%
rename from test/utest.cpp
rename to gl_depth_sim/test/utest.cpp
diff --git a/roscpp_gl_depth_sim_demos/CMakeLists.txt b/roscpp_gl_depth_sim_demos/CMakeLists.txt
new file mode 100644
index 0000000..eb86e66
--- /dev/null
+++ b/roscpp_gl_depth_sim_demos/CMakeLists.txt
@@ -0,0 +1,58 @@
+cmake_minimum_required(VERSION 3.5.0)
+project(roscpp_gl_depth_sim_demos)
+
+if (NOT $ENV{ROS_VERSION} EQUAL "1")
+  message(WARNING "ROS Version 1 not found, skipping project ${PROJECT_NAME}")
+  return()
+endif()
+
+find_package(gl_depth_sim REQUIRED)
+
+find_package(catkin REQUIRED COMPONENTS
+  pcl_conversions
+  pcl_ros
+  roscpp
+  tf2_ros
+  tf2_eigen
+  visualization_msgs
+)
+
+catkin_package(
+  CATKIN_DEPENDS
+    pcl_conversions
+    pcl_ros
+    roscpp
+    tf2_ros
+    tf2_eigen
+    visualization_msgs
+  DEPENDS gl_depth_sim
+)
+
+add_executable(${PROJECT_NAME}_laser_example src/laser_example.cpp)
+set_target_properties(${PROJECT_NAME}_laser_example PROPERTIES OUTPUT_NAME laser_example PREFIX "")
+target_compile_options(${PROJECT_NAME}_laser_example PRIVATE -std=c++14)
+target_include_directories(${PROJECT_NAME}_laser_example SYSTEM PUBLIC
+    ${catkin_INCLUDE_DIRS})
+target_link_libraries(${PROJECT_NAME}_laser_example
+  ${catkin_LIBRARIES}
+  gl_depth_sim::gl_depth_sim_laser_scanner
+)
+
+add_executable(${PROJECT_NAME}_camera_example src/camera_example.cpp)
+set_target_properties(${PROJECT_NAME}_camera_example PROPERTIES OUTPUT_NAME camera_example PREFIX "")
+target_compile_options(${PROJECT_NAME}_camera_example PRIVATE -std=c++14)
+target_include_directories(${PROJECT_NAME}_camera_example SYSTEM PUBLIC
+    ${catkin_INCLUDE_DIRS})
+target_link_libraries(${PROJECT_NAME}_camera_example
+  ${catkin_LIBRARIES}
+  gl_depth_sim::gl_depth_sim_interfaces
+)
+
+install(
+  TARGETS
+    ${PROJECT_NAME}_camera_example
+    ${PROJECT_NAME}_laser_example
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
diff --git a/roscpp_gl_depth_sim_demos/package.xml b/roscpp_gl_depth_sim_demos/package.xml
new file mode 100644
index 0000000..3b1ad58
--- /dev/null
+++ b/roscpp_gl_depth_sim_demos/package.xml
@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<package format="3">
+  <name>roscpp_gl_depth_sim_demos</name>
+  <version>0.0.1</version>
+  <description>The roscpp_gl_depth_sim_demos package</description>
+
+  <maintainer email="Jmeyer1292@gmail.com">Jonathan Meyer</maintainer>
+
+  <license>LGPLv3</license>
+
+  <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
+
+  <depend condition="$ROS_VERSION == 1">gl_depth_sim</depend>
+  <depend condition="$ROS_VERSION == 1">pcl_conversions</depend>
+  <depend condition="$ROS_VERSION == 1">pcl_ros</depend>
+  <depend condition="$ROS_VERSION == 1">roscpp</depend>
+  <depend condition="$ROS_VERSION == 1">tf2_ros</depend>
+  <depend condition="$ROS_VERSION == 1">tf2_eigen</depend>
+  <depend condition="$ROS_VERSION == 1">visualization_msgs</depend>
+
+</package>
diff --git a/src/camera_ros_example.cpp b/roscpp_gl_depth_sim_demos/src/camera_example.cpp
similarity index 100%
rename from src/camera_ros_example.cpp
rename to roscpp_gl_depth_sim_demos/src/camera_example.cpp
diff --git a/src/laser_example.cpp b/roscpp_gl_depth_sim_demos/src/laser_example.cpp
similarity index 100%
rename from src/laser_example.cpp
rename to roscpp_gl_depth_sim_demos/src/laser_example.cpp