diff --git a/fetch_auto_dock_msgs/CMakeLists.txt b/fetch_auto_dock_msgs/CMakeLists.txt
index eaa1eb5..b3665a6 100644
--- a/fetch_auto_dock_msgs/CMakeLists.txt
+++ b/fetch_auto_dock_msgs/CMakeLists.txt
@@ -1,30 +1,30 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.5)
 project(fetch_auto_dock_msgs)
 
-find_package(catkin REQUIRED
-  COMPONENTS
-    actionlib
-    actionlib_msgs
-    geometry_msgs
-    message_generation
-)
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
 
-add_action_files(
-  FILES
-    Dock.action
-    Undock.action
-)
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
 
-generate_messages(
-  DEPENDENCIES
-    actionlib_msgs
-    geometry_msgs
-)
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(action_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(std_msgs REQUIRED)
 
-catkin_package(
-   CATKIN_DEPENDS
-    actionlib
-    actionlib_msgs
-    geometry_msgs
-    message_runtime
-)
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "action/Dock.action"
+  "action/Undock.action"
+  DEPENDENCIES action_msgs geometry_msgs std_msgs)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
diff --git a/fetch_auto_dock_msgs/package.xml b/fetch_auto_dock_msgs/package.xml
index c24f685..74297a0 100644
--- a/fetch_auto_dock_msgs/package.xml
+++ b/fetch_auto_dock_msgs/package.xml
@@ -1,5 +1,6 @@
 <?xml version="1.0"?>
-<package format="2">
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
   <name>fetch_auto_dock_msgs</name>
   <version>1.2.0</version>
   <description>
@@ -15,12 +16,26 @@
   <license>BSD</license>
   <url>http://wiki.ros.org/fetch_auto_dock_msgs</url>
 
-  <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>message_generation</build_depend>
-  <depend>actionlib</depend>
-  <depend>actionlib_msgs</depend>
-  <depend>geometry_msgs</depend>
-  
-  <build_export_depend>message_runtime</build_export_depend>
-  <exec_depend>message_runtime</exec_depend>
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+
+  <build_depend>action_msgs</build_depend>
+  <build_depend>builtin_interfaces</build_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>std_msgs</build_depend>
+
+  <exec_depend>action_msgs</exec_depend>
+  <exec_depend>builtin_interfaces</exec_depend>
+  <exec_depend>geometry_msgs</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
 </package>
diff --git a/fetch_driver_msgs/CMakeLists.txt b/fetch_driver_msgs/CMakeLists.txt
index 75eb84e..f510371 100644
--- a/fetch_driver_msgs/CMakeLists.txt
+++ b/fetch_driver_msgs/CMakeLists.txt
@@ -1,47 +1,39 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.5)
 project(fetch_driver_msgs)
 
-find_package(catkin REQUIRED
-  COMPONENTS
-    actionlib
-    actionlib_msgs
-    geometry_msgs
-    message_generation
-    power_msgs
-    std_msgs
-)
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
 
-add_action_files(
-  FILES
-    DisableCharging.action
-)
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
 
-add_message_files(
-  FILES
-    BoardState.msg
-    ChargerState.msg
-    JointState.msg
-    GripperState.msg
-    Gyro.msg
-    MotorState.msg
-    RobotState.msg
-    SafetyLaserState.msg
-)
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(action_msgs REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(power_msgs REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(std_msgs REQUIRED)
 
-generate_messages(
-  DEPENDENCIES
-    actionlib_msgs
-    geometry_msgs
-    power_msgs
-    std_msgs
-)
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "action/DisableCharging.action"
+  "msg/BoardState.msg"
+  "msg/ChargerState.msg"
+  "msg/JointState.msg"
+  "msg/GripperState.msg"
+  "msg/Gyro.msg"
+  "msg/MotorState.msg"
+  "msg/RobotState.msg"
+  "msg/SafetyLaserState.msg"
+  DEPENDENCIES action_msgs builtin_interfaces geometry_msgs power_msgs std_msgs)
 
-catkin_package(
-  CATKIN_DEPENDS
-    actionlib
-    actionlib_msgs
-    geometry_msgs
-    message_runtime
-    power_msgs
-    std_msgs
-)
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
diff --git a/fetch_driver_msgs/action/DisableCharging.action b/fetch_driver_msgs/action/DisableCharging.action
index b82b95c..b0ccf88 100644
--- a/fetch_driver_msgs/action/DisableCharging.action
+++ b/fetch_driver_msgs/action/DisableCharging.action
@@ -1,5 +1,5 @@
 # Disable charging for a specific amount of time
-duration disable_duration
+builtin_interfaces/Duration disable_duration
 ---
 # Returns true if charging was successfully disabled,
 # false if we are unable to disable charging
diff --git a/fetch_driver_msgs/package.xml b/fetch_driver_msgs/package.xml
index f6ade91..29b6402 100644
--- a/fetch_driver_msgs/package.xml
+++ b/fetch_driver_msgs/package.xml
@@ -1,5 +1,6 @@
 <?xml version="1.0"?>
-<package format="2">
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
   <name>fetch_driver_msgs</name>
   <version>1.2.0</version>
   <description>
@@ -17,16 +18,28 @@
   <license>BSD</license>
   <url>http://wiki.ros.org/fetch_driver_msgs</url>
 
-  <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>message_generation</build_depend>
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
 
-  <depend>actionlib</depend>
-  <depend>actionlib_msgs</depend>
-  <depend>geometry_msgs</depend>
-  <depend>power_msgs</depend>
-  <depend>std_msgs</depend>
+  <build_depend>action_msgs</build_depend>
+  <build_depend>builtin_interfaces</build_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>power_msgs</build_depend>
+  <build_depend>std_msgs</build_depend>
 
-  <build_export_depend>message_runtime</build_export_depend>
-  <exec_depend>message_runtime</exec_depend>
+  <exec_depend>action_msgs</exec_depend>
+  <exec_depend>builtin_interfaces</exec_depend>
+  <exec_depend>geometry_msgs</exec_depend>
+  <exec_depend>power_msgs</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
 
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
 </package>