diff --git a/mil_common/gnc/odometry_utils/CMakeLists.txt b/mil_common/gnc/odometry_utils/CMakeLists.txt
index 8b56afe02..49ff1f4bd 100644
--- a/mil_common/gnc/odometry_utils/CMakeLists.txt
+++ b/mil_common/gnc/odometry_utils/CMakeLists.txt
@@ -1,44 +1,76 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.5)
 project(odometry_utils)
 
-find_package(catkin
-  REQUIRED COMPONENTS
-    nav_msgs
-    roscpp
-    eigen_conversions
-    odom_estimator
-    geometry_msgs
-    tf
-    nodelet
-    tf_conversions
-)
+# Use C++17
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+endif()
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
 
-catkin_package(
-  DEPENDS
-  CATKIN_DEPENDS
-    nav_msgs
-    roscpp
-    eigen_conversions
-    odom_estimator
-    geometry_msgs
-    tf
-    nodelet
-    tf_conversions
-  INCLUDE_DIRS
-  LIBRARIES
-)
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_components REQUIRED)
+find_package(nav_msgs REQUIRED)
+find_package(eigen_conversions REQUIRED)
+find_package(odom_estimator REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package()
+find_package(tf2 REQUIRED)
+find_package(tf2_ros REQUIRED)
+find_package(tf2_eigen REQUIRED)
+find_package(tf2_geometry_msgs REQUIRED)
 
-include_directories(
-  ${Boost_INCLUDE_DIR}
-  ${catkin_INCLUDE_DIRS}
-)
+include_directories(include ${Boost_INCLUDE_DIRS})
 
 add_library(transform_odometry src/transform_odometry.cpp)
-target_link_libraries(transform_odometry ${catkin_LIBRARIES})
-add_dependencies(transform_odometry ${catkin_EXPORTED_TARGETS})
-set_target_properties(transform_odometry PROPERTIES COMPILE_FLAGS "-O3 -std=c++11")
+ament_target_dependencies(transform_odometry
+   rclcpp
+   geometry_msgs
+   odom_estimator
+   eigen_conversions
+   nav_msgs
+   tf2
+   tf2_ros
+   tf2_eigen
+   tf2_geometry_msgs)
+rclcpp_components_register_nodes(transform_odometry "odometry_utils::TransformOdometry")
+set_target_properties(transform_odometry PROPERTIES COMPILE_FLAGS "-O3 -std=c++17")
 
 add_library(odometry_to_tf src/odometry_to_tf.cpp)
-target_link_libraries(odometry_to_tf ${catkin_LIBRARIES})
-add_dependencies(odometry_to_tf ${catkin_EXPORTED_TARGETS})
-set_target_properties(odometry_to_tf PROPERTIES COMPILE_FLAGS "-O3 -std=c++11")
+ament_target_dependencies(odometry_to_tf
+   rclcpp
+   geometry_msgs
+   odom_estimator
+   eigen_conversions
+   nav_msgs
+   tf2
+   tf2_ros
+   tf2_eigen
+   tf2_geometry_msgs)
+rclcpp_components_register_nodes(odometry_to_tf "odometry_utils::OdometryToTf")
+set_target_properties(odometry_to_tf PROPERTIES COMPILE_FLAGS "-O3 -std=c++17")
+
+# Install libraries
+install(TARGETS transform_odometry odometry_to_tf
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+# Install launch files, config files, etc.
+# install(DIRECTORY
+#   launch
+#   config
+#   DESTINATION share/${PROJECT_NAME}
+# )
+
+# Export dependencies
+ament_export_dependencies(rclcpp geometry_msgs nav_msgs odom_estimator eigen_conversions tf2 tf2_ros tf2_eigen tf2_geometry_msgs)
+ament_export_include_directories(include)
+ament_export_libraries(transform_odometry odometry_to_tf)
+
+# Add linters if desired
+# find_package(ament_lint_auto REQUIRED)
+# ament_lint_auto_find_test_dependencies()
+
+ament_package()
diff --git a/mil_common/gnc/odometry_utils/package.xml b/mil_common/gnc/odometry_utils/package.xml
index 6b160fc8c..d012766d6 100644
--- a/mil_common/gnc/odometry_utils/package.xml
+++ b/mil_common/gnc/odometry_utils/package.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<package>
+<package format="2">
   <name>odometry_utils</name>
   <version>1.0.0</version>
   <description>odometry_utils</description>
@@ -9,25 +9,19 @@
   <!-- <url type="bugtracker"></url> -->
   <author>Forrest Voight</author>
   <!-- Dependencies which this package needs to build itself. -->
-  <buildtool_depend>catkin</buildtool_depend>
-  <!-- Dependencies needed to compile this package. -->
-  <build_depend>eigen_conversions</build_depend>
-  <build_depend>geometry_msgs</build_depend>
-  <build_depend>nav_msgs</build_depend>
-  <build_depend>nodelet</build_depend>
-  <build_depend>odom_estimator</build_depend>
-  <build_depend>roscpp</build_depend>
-  <build_depend>tf</build_depend>
-  <build_depend>tf_conversions</build_depend>
-  <!-- Dependencies needed after this package is compiled. -->
-  <run_depend>nav_msgs</run_depend>
-  <run_depend>roscpp</run_depend>
-  <run_depend>eigen_conversions</run_depend>
-  <run_depend>tf</run_depend>
-  <run_depend>geometry_msgs</run_depend>
-  <run_depend>odom_estimator</run_depend>
-  <run_depend>nodelet</run_depend>
-  <run_depend>tf_conversions</run_depend>
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <!-- Dependencies needed to compile this package and use at runtime. -->
+  <depend>eigen_conversions</depend>
+  <depend>geometry_msgs</depend>
+  <depend>nav_msgs</depend>
+  <depend>nodelet</depend>
+  <depend>odom_estimator</depend>
+  <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
+  <depend>tf2</depend>
+  <depend>tf2_ros</depend>
+  <depend>tf2_eigen</depend>
+  <depend>tf2_geometry_msgs</depend>
   <!-- Dependencies needed only for running tests. -->
   <!-- <test_depend>nav_msgs</test_depend> -->
   <!-- <test_depend>roscpp</test_depend> -->
@@ -38,6 +32,6 @@
   <!-- <test_depend>nodelet</test_depend> -->
   <!-- <test_depend>tf_conversions</test_depend> -->
   <export>
-    <nodelet plugin="${prefix}/nodelet.xml"/>
+    <build_type>ament_cmake</build_type>
   </export>
 </package>
diff --git a/mil_common/gnc/odometry_utils/nodelet.xml b/mil_common/gnc/odometry_utils/plugin.xml
similarity index 76%
rename from mil_common/gnc/odometry_utils/nodelet.xml
rename to mil_common/gnc/odometry_utils/plugin.xml
index 355afcd02..91051b8ad 100644
--- a/mil_common/gnc/odometry_utils/nodelet.xml
+++ b/mil_common/gnc/odometry_utils/plugin.xml
@@ -1,12 +1,12 @@
 <library path="lib/libtransform_odometry">
-  <class name="odometry_utils/transform_odometry" type="odometry_utils::transform_odometry" base_class_type="nodelet::Nodelet">
+  <class name="odometry_utils/transform_odometry" type="odometry_utils::transform_odometry" base_class_type="rclcpp::Node">
     <description>
       odometry frame converter
     </description>
   </class>
 </library>
 <library path="lib/libodometry_to_tf">
-  <class name="odometry_utils/odometry_to_tf" type="odometry_utils::odometry_to_tf" base_class_type="nodelet::Nodelet">
+  <class name="odometry_utils/odometry_to_tf" type="odometry_utils::odometry_to_tf" base_class_type="rclcpp::Node">
     <description>
       odometry frame converter
     </description>
diff --git a/mil_common/gnc/odometry_utils/src/odometry_to_tf.cpp b/mil_common/gnc/odometry_utils/src/odometry_to_tf.cpp
index 6c2794453..777dc9a0c 100644
--- a/mil_common/gnc/odometry_utils/src/odometry_to_tf.cpp
+++ b/mil_common/gnc/odometry_utils/src/odometry_to_tf.cpp
@@ -1,33 +1,43 @@
 #include <nav_msgs/Odometry.h>
-#include <nodelet/nodelet.h>
-#include <ros/ros.h>
-#include <tf/transform_broadcaster.h>
-#include <tf/transform_datatypes.h>
+#include <tf2/LinearMath/Quaternion.h>
+#include <tf2/transform_datatypes.h>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#include <tf2_ros/transform_broadcaster.h>
 
 #include <map>
-#include <pluginlib/class_list_macros.hpp>
+#include <nav_msgs/msg/odometry.hpp>
+#include <rclcpp/rclcpp.hpp>
 #include <string>
 
 namespace odometry_utils
 {
-class odometry_to_tf : public nodelet::Nodelet
+class odometry_to_tf : public rclcpp::Node
 {
 private:
-  ros::Subscriber odom_sub;
-  tf::TransformBroadcaster tf_br;
-  std::map<std::string, ros::Time> _last_tf_stamps;
+  rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr odom_sub;
+  std::unique_ptr<tf2_ros::TransformBroadcaster> tf_br_;
+  std::map<std::string, rclcpp::Time> _last_tf_stamps;
 
-  void handle_odom(const nav_msgs::Odometry::ConstPtr& msg)
+  void handle_odom(const nav_msgs::msg::Odometry::ConstPtr& msg)
   {
-    tf::Transform transform;
-    poseMsgToTF(msg->pose.pose, transform);
+    geometry_msgs::msg::TransformStamped stamped_transform;
+
+    stamped_transform.header.stamp = msg->header.stamp;
+    stamped_transform.header.frame_id = msg->header.frame_id;
+    stamped_transform.child_frame_id = msg->child_frame_id;
+
+    stamped_transform.transform.translation.x = msg->pose.pose.position.x;
+    stamped_transform.transform.translation.y = msg->pose.pose.position.y;
+    stamped_transform.transform.translation.z = msg->pose.pose.position.z;
+    stamped_transform.transform.rotation = msg->pose.pose.orientation;
+
     if (_last_tf_stamps.count(msg->header.frame_id) && _last_tf_stamps[msg->header.frame_id] == msg->header.stamp)
     {
       return;
     }
     _last_tf_stamps[msg->header.frame_id] = msg->header.stamp;
-    tf::StampedTransform stamped_transform(transform, msg->header.stamp, msg->header.frame_id, msg->child_frame_id);
-    tf_br.sendTransform(stamped_transform);
+
+    tf_br_->sendTransform(stamped_transform);
   }
 
 public:
@@ -37,10 +47,12 @@ class odometry_to_tf : public nodelet::Nodelet
 
   virtual void onInit()
   {
-    odom_sub =
-        getNodeHandle().subscribe<nav_msgs::Odometry>("odom", 10, boost::bind(&odometry_to_tf::handle_odom, this, _1));
+    tf_br_ = std::make_unique<tf2_ros::TransformBroadcaster>(this);
+    odom_sub = this->create_subscription<nav_msgs::msg::Odometry>(
+        "odom", 10, std::bind(&OdometryToTf::handle_odom, this, std::placeholders::_1));
   }
 };
 
-PLUGINLIB_EXPORT_CLASS(odometry_utils::odometry_to_tf, nodelet::Nodelet);
 }  // namespace odometry_utils
+#include <rclcpp_components/register_node_macro.hpp>           // Include macro to register the component
+RCLCPP_COMPONENTS_REGISTER_NODE(odometry_utils::OdometryToTf)  // Register the node as a component
diff --git a/mil_common/gnc/odometry_utils/src/transform_odometry.cpp b/mil_common/gnc/odometry_utils/src/transform_odometry.cpp
index 568f8cd95..43d08736b 100644
--- a/mil_common/gnc/odometry_utils/src/transform_odometry.cpp
+++ b/mil_common/gnc/odometry_utils/src/transform_odometry.cpp
@@ -1,15 +1,18 @@
 #include <eigen_conversions/eigen_msg.h>
-#include <nodelet/nodelet.h>
 #include <odom_estimator/odometry.h>
 #include <odom_estimator/unscented_transform.h>
 #include <odom_estimator/util.h>
-#include <ros/ros.h>
-#include <tf/LinearMath/Quaternion.h>
-#include <tf/transform_datatypes.h>
-#include <tf/transform_listener.h>
-#include <tf_conversions/tf_eigen.h>
+#include <rclcpp/rclcpp.h>
+#include <tf2/LinearMath/Quaternion.h>
+#include <tf2/convert.h>
+#include <tf2/transform_datatypes.h>
+#include <tf2_eigen/tf2_eigen.h>
+#include <tf2_ros/buffer.h>
+#include <tf2_ros/transform_listener.h>
 
+#include <nav_msgs/msg/odometry.hpp>
 #include <pluginlib/class_list_macros.hpp>
+#include <rclcpp/node.hpp>
 
 namespace odometry_utils
 {
@@ -17,58 +20,58 @@ using namespace odom_estimator;
 
 using namespace Eigen;
 
-class transform_odometry : public nodelet::Nodelet
+class transform_odometry : public rclcpp::Node
 {
 private:
   std::string frame_id;
   std::string child_frame_id;
 
-  tf::TransformListener listener;
+  tf2_ros::Buffer tf_buffer_;
+  std::shared_ptr<tf2_ros::TransformListener> tf_listener_;
 
-  ros::Subscriber sub;
-  ros::Publisher pub;
+  rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr sub;
+  rclcpp::Publisher<nav_msgs::msg::Odometry>::SharedPtr pub;
 
-  void handle(const nav_msgs::Odometry::ConstPtr &msgp)
+  void handle(const nav_msgs::msg::Odometry::SharedPtr msgp)
   {
-    tf::StampedTransform lefttransform;
+    geometry_msgs::msg::TransformStamped lefttransform;
     try
     {
-      listener.lookupTransform(frame_id, msgp->header.frame_id, ros::Time(0), lefttransform);
+      lefttransform = tf_buffer_.lookupTransform(frame_id, msgp->header.frame_id, tf2::TimePointZero);
     }
-    catch (tf::TransformException ex)
+    catch (tf2::TransformException &ex)
     {
-      ROS_ERROR_THROTTLE(10.0, "%s", ex.what());
+      RCLCPP_ERROR_THROTTLE(this->get_logger(), *this->get_clock(), 10.0, "%s", ex.what());
       return;
     }
 
-    tf::StampedTransform righttransform;
+    geometry_msgs::msg::TransformStamped righttransform;
     try
     {
-      listener.lookupTransform(msgp->child_frame_id, child_frame_id, ros::Time(0), righttransform);
+      righttransform = tf_buffer_.lookupTransform(msgp->child_frame_id, child_frame_id, tf2::TimePointZero);
     }
-    catch (tf::TransformException ex)
+    catch (tf2::TransformException &ex)
     {
-      ROS_ERROR_THROTTLE(10.0, "%s", ex.what());
+      RCLCPP_ERROR_THROTTLE(this->get_logger(), *this->get_clock(), 10.0, "%s", ex.what());
       return;
     }
 
-    Vector3d left_p;
-    tf::vectorTFToEigen(lefttransform.getOrigin(), left_p);
-    Quaterniond left_q;
-    tf::quaternionTFToEigen(lefttransform.getRotation(), left_q);
-    Vector3d right_p;
-    tf::vectorTFToEigen(righttransform.getOrigin(), right_p);
-    Quaterniond right_q;
-    tf::quaternionTFToEigen(righttransform.getRotation(), right_q);
+    Eigen::Vector3d left_p;
+    tf2::fromMsg(transformStamped.transform.translation, left_p);
+    Eigen::Quaterniond left_q;
+    tf2::fromMsg(transformStamped.transform.rotation, left_q);
+
+    Eigen::Vector3d right_p;
+    tf2::fromMsg(righttransform.transform.translation, right_p);
+    Eigen::Quaterniond right_q;
+    tf2::fromMsg(righttransform.transform.rotation, right_q);
 
     EasyDistributionFunction<Odom, Odom, Vec<0> > transformer(
         [this, &left_p, &left_q, &right_p, &right_q](Odom const &odom, Vec<0> const &extra)
         {
-          return Odom(odom.stamp, frame_id, child_frame_id,
-                      left_p + left_q._transformVector(odom.pos + odom.orient._transformVector(right_p)),
-                      left_q * odom.orient * right_q,
-                      right_q.inverse()._transformVector(odom.vel - right_p.cross(odom.ang_vel)),
-                      right_q.inverse()._transformVector(odom.ang_vel));
+          return Odom(odom.stamp, frame_id, child_frame_id, left_p + left_q * (odom.pos + odom.orient * right_p),
+                      left_q * odom.orient * right_q, right_q.inverse() * (odom.vel - right_p.cross(odom.ang_vel)),
+                      right_q.inverse() * odom.ang_vel);
         },
         GaussianDistribution<Vec<0> >(Vec<0>(), SqMat<0>()));
 
@@ -77,24 +80,28 @@ class transform_odometry : public nodelet::Nodelet
 
 public:
   transform_odometry()
+    : Node("transform_odometry")
+    , tf_buffer_(this->get_clock())
+    , tf_listener_(std::make_shared<tf2_ros::TransformListener>(tf_buffer_))
   {
-  }
+    this->declare_parameter<std::string>("frame_id", "default_frame_id");              // Default value as example
+    this->declare_parameter<std::string>("child_frame_id", "default_child_frame_id");  // Default value as example
 
-  virtual void onInit()
-  {
-    if (!getPrivateNodeHandle().getParam("frame_id", frame_id))
+    if (!this->get_parameter("frame_id", frame_id))
     {
-      throw std::runtime_error("param frame_id required");
+      throw std::runtime_error("param 'frame_id' required");
     }
-    if (!getPrivateNodeHandle().getParam("child_frame_id", child_frame_id))
+    if (!this->get_parameter("child_frame_id", child_frame_id))
     {
-      throw std::runtime_error("param child_frame_id required");
+      throw std::runtime_error("param 'child_frame_id' required");
     }
 
-    sub = getNodeHandle().subscribe<nav_msgs::Odometry>("orig_odom", 10,
-                                                        boost::bind(&transform_odometry::handle, this, _1));
-    pub = getNodeHandle().advertise<nav_msgs::Odometry>("odom", 10);
-  }
-};
-PLUGINLIB_EXPORT_CLASS(odometry_utils::transform_odometry, nodelet::Nodelet);
-}  // namespace odometry_utils
+    sub = this->create_subscription<nav_msgs::msg::Odometry>(
+        "orig_odom", 10, std::bind(&TransformOdometry::handle, this, std::placeholders::_1));
+
+    pub = this->create_publisher<nav_msgs::msg::Odometry>("odom", 10);
+  };
+
+#include <rclcpp_components/register_node_macro.hpp>
+  RCLCPP_COMPONENTS_REGISTER_NODE(odometry_utils::TransformOdometry)
+}