diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
new file mode 100644
index 0000000..d7424fd
--- /dev/null
+++ b/.github/workflows/ci.yaml
@@ -0,0 +1,19 @@
+#
+# continuous integration workflow
+#
+name: build repo
+
+on:
+  push:
+    branches: [master]
+  pull_request:
+    branches: [master]
+  workflow_dispatch:
+    branches: [master]
+
+jobs:
+  build_ros2:
+    uses: ros-misc-utilities/ros_build_scripts/.github/workflows/ros2_recent_ci.yml@master
+    with:
+      repo: ${{ github.event.repository.name }}
+      # vcs_url: https://raw.githubusercontent.com/${{ github.repository }}/master/${{ github.event.repository.name }}.repos
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9f4fc73..abb2476 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,47 +1,59 @@
-cmake_minimum_required(VERSION 3.5)
-project(apriltag_mit)
+#
+# Copyright 2024 Bernd Pfrommer <bernd.pfrommer@gmail.com>
+#
 
-set(USE_ROS TRUE)
-set(CMAKE_CXX_STANDARD 11)
+cmake_minimum_required(VERSION 3.16)
+
+project(apriltag_mit VERSION 1.0.0 LANGUAGES CXX)
+
+include(CMakePackageConfigHelpers)
+include(GNUInstallDirs)
+
+set(CMAKE_CXX_CLANG_TIDY clang-tidy)
 
 find_package(Eigen3 REQUIRED)
-find_package(OpenCV REQUIRED)
-include_directories(include ${OpenCV_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIR})
-
-if(USE_ROS)
-  find_package(catkin REQUIRED COMPONENTS roslib)
-  catkin_package(DEPENDS
-                 OpenCV
-                 EIGEN3
-                 INCLUDE_DIRS
-                 include
-                 LIBRARIES
-                 ${PROJECT_NAME})
-
-  include_directories(${catkin_INCLUDE_DIRS})
-  file(GLOB CC_FILES ${PROJECT_SOURCE_DIR}/src/*.cc)
-  add_library(${PROJECT_NAME} SHARED ${CC_FILES})
-  target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBRARIES})
-
-  if(CATKIN_ENABLE_TESTING)
-    catkin_add_gtest(test_apriltag_mit test/test_apriltag_mit.cpp)
-    target_link_libraries(test_apriltag_mit ${catkin_LIBRARIES} ${PROJECT_NAME})
-  endif()
-
-  install(TARGETS ${PROJECT_NAME}
-          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})
-else()
-  message(STATUS "Source:  " ${PROJECT_SOURCE_DIR})
-  message(STATUS "Binary:  " ${PROJECT_BINARY_DIR})
-  set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
-  set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
-  link_directories(${PROJECT_SOURCE_DIR}/lib)
-
-  file(GLOB CC_FILES ${PROJECT_SOURCE_DIR}/src/*.cc)
-  add_library(${PROJECT_NAME} SHARED ${CC_FILES})
-  target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBRARIES})
-endif()
+find_package(OpenCV REQUIRED core calib3d)
+
+file(GLOB CC_FILES ${PROJECT_SOURCE_DIR}/src/*.cc)
+add_library(${PROJECT_NAME} SHARED ${CC_FILES})
+target_link_libraries(${PROJECT_NAME} PUBLIC opencv_core opencv_calib3d Eigen3::Eigen)
+set_target_properties(${PROJECT_NAME} PROPERTIES CXX_STANDARD 14)
+
+target_include_directories(
+    ${PROJECT_NAME}
+  PUBLIC
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+    $<INSTALL_INTERFACE:include>
+)
+
+install(TARGETS ${PROJECT_NAME}
+  EXPORT ${PROJECT_NAME}Targets
+  LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
+  INCLUDES DESTINATION include
+  )
+
+  install(DIRECTORY include/
+  DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
+
+# generate the ConfigVersion.cmake file that will be included by Config.cmake
+write_basic_package_version_file(
+  ${PROJECT_NAME}ConfigVersion.cmake
+  VERSION ${PACKAGE_VERSION}
+  COMPATIBILITY AnyNewerVersion
+  )
+
+# generate the *Config.cmake file
+configure_file(cmake/${PROJECT_NAME}Config.cmake.in ${PROJECT_NAME}Config.cmake @ONLY)
+
+# generate Targets.cmake file from exports learned during the installation
+install(EXPORT ${PROJECT_NAME}Targets
+  FILE ${PROJECT_NAME}Targets.cmake
+  NAMESPACE ${PROJECT_NAME}::
+  DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/${PROJECT_NAME}
+  )
+
+# install the generated version and config files
+install(FILES "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake"
+              "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake"
+        DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/${PROJECT_NAME}
+        )
diff --git a/cmake/apriltag_mitConfig.cmake.in b/cmake/apriltag_mitConfig.cmake.in
new file mode 100644
index 0000000..1b6b62b
--- /dev/null
+++ b/cmake/apriltag_mitConfig.cmake.in
@@ -0,0 +1,7 @@
+include(CMakeFindDependencyMacro)
+
+find_package(Eigen3 REQUIRED)
+find_package(OpenCV REQUIRED core)
+
+# Add the targets file
+include("${CMAKE_CURRENT_LIST_DIR}/apriltag_mitTargets.cmake")
\ No newline at end of file
diff --git a/package.xml b/package.xml
index 867bfcd..fa02dbc 100644
--- a/package.xml
+++ b/package.xml
@@ -1,13 +1,17 @@
-<package format="2">
+<?xml version="1.0"?>
+<package format="3">
   <name>apriltag_mit</name>
-  <version>0.3.0</version>
-  <description>A C++ Apriltag library</description>
+  <version>1.0.0</version>
+  <description>ROS2 package wrapper for the MIT apriltag detector</description>
   <author>Michael Kaess</author>
-  <maintainer email="quchao@seas.upenn.edu">Chao Qu</maintainer>
-  <license>GPLv3</license>
+  <maintainer email="bernd.pfrommer@gmail.com">Bernd Pfrommer</maintainer>
+  <license>GPLv2</license>
+
+  <depend>opencv</depend>
+  <depend>eigen</depend>
+
+  <export>
+    <build_type>cmake</build_type>
+  </export>
 
-  <buildtool_depend>catkin</buildtool_depend>
-  <depend>roslib</depend>
-  <test_depend>gtest</test_depend>
-  <test_depend>rosunit</test_depend>
 </package>