diff --git a/CMakeLists.txt b/CMakeLists.txt
index dab1d55..7d340fb 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,43 +1,44 @@
-cmake_minimum_required(VERSION 2.4.6)
-include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
-
-# Set the build type.  Options are:
-#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
-#  Debug          : w/ debug symbols, w/o optimization
-#  Release        : w/o debug symbols, w/ optimization
-#  RelWithDebInfo : w/ debug symbols, w/ optimization
-#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
-#set(ROS_BUILD_TYPE RelWithDebInfo)
-
-rosbuild_init()
-
-#set the default path for built executables to the "bin" directory
-set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
-#set the default path for built libraries to the "lib" directory
-set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
-
-#uncomment if you have defined messages
-rosbuild_genmsg()
-#uncomment if you have defined services
-#rosbuild_gensrv()
-
-#common commands for building c++ executables and libraries
-#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
-#target_link_libraries(${PROJECT_NAME} another_library)
-#rosbuild_add_boost_directories()
-#rosbuild_link_boost(${PROJECT_NAME} thread)
-#rosbuild_add_executable(example examples/example.cpp)
-#target_link_libraries(example ${PROJECT_NAME})
-# Change two lines below according to your installation
-set(OPENNI2_DIR ~/dev/OpenNI2)
-set(NITE2_DIR ~/dev/NiTE-Linux-x64-2.2/)
-#set the default path for built executables to the "bin" directory
-set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
-#set the default path for built libraries to the "lib" directory
-set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
-link_directories(${OPENNI2_DIR}/Bin/x64-Release)
-include_directories(${OPENNI2_DIR}/Include)
-link_directories(${NITE2_DIR}/Redist)
-include_directories(${NITE2_DIR}/Include)
-rosbuild_add_executable(tracker src/tracker.cpp)
-target_link_libraries(tracker OpenNI2 NiTE2)
+cmake_minimum_required(VERSION 2.8.3)
+project(openni2_tracker)
+
+if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
+  set(CMAKE_BUILD_TYPE Release)
+endif()
+
+find_package(catkin REQUIRED COMPONENTS
+             roscpp
+             rospy
+             message_generation   
+             geometry_msgs 
+             tf
+             std_msgs   )
+
+add_message_files(
+   FILES
+   TrackerUser.msg
+   TrackerUserArray.msg
+ )
+
+generate_messages( DEPENDENCIES geometry_msgs std_msgs )
+
+catkin_package(
+INCLUDE_DIRS # include
+CATKIN_DEPENDS geometry_msgs std_msgs message_runtime
+)
+
+set(OPENNI2_DIR ~/OpenNI/OpenNI2)
+set(NITE2_DIR ~/OpenNI/NiTE-2.0.0/)
+
+include_directories(
+  # include
+  ${catkin_INCLUDE_DIRS}
+  ${OPENNI2_DIR}/Include
+  ${NITE2_DIR}/Include
+)
+
+link_directories(${OPENNI2_DIR}/Bin/x64-Release
+                 ${NITE2_DIR}/Redist)
+
+add_executable(tracker src/tracker.cpp)
+add_dependencies(tracker ${PROJECT_NAME}_gencpp)
+target_link_libraries(tracker OpenNI2 NiTE2 ${catkin_LIBRARIES} )
diff --git a/Makefile b/Makefile
deleted file mode 100644
index b75b928..0000000
--- a/Makefile
+++ /dev/null
@@ -1 +0,0 @@
-include $(shell rospack find mk)/cmake.mk
\ No newline at end of file
diff --git a/mainpage.dox b/mainpage.dox
deleted file mode 100644
index 0f7c625..0000000
--- a/mainpage.dox
+++ /dev/null
@@ -1,14 +0,0 @@
-/**
-\mainpage
-\htmlinclude manifest.html
-
-\b openni2_tracker 
-
-<!-- 
-Provide an overview of your package.
--->
-
--->
-
-
-*/
diff --git a/manifest.xml b/manifest.xml
deleted file mode 100644
index 47bedfa..0000000
--- a/manifest.xml
+++ /dev/null
@@ -1,18 +0,0 @@
-<package>
-  <description brief="openni2_tracker">
-
-     openni2_tracker
-
-  </description>
-  <author>Kelleher Guerin</author>
-  <license>BSD</license>
-  <review status="unreviewed" notes=""/>
-  <url>http://ros.org/wiki/openni2_tracker</url>
-  <depend package="roscpp"/>
-  <depend package="roslib"/>
-  <depend package="geometry_msgs"/>
-  <depend package="kdl_conversions"/>
-  <depend package="tf"/>
-</package>
-
-
diff --git a/package.xml b/package.xml
new file mode 100644
index 0000000..dfce5cf
--- /dev/null
+++ b/package.xml
@@ -0,0 +1,31 @@
+<?xml version="1.0"?>
+<package>
+  <name>openni2_tracker</name>
+  <version>0.0.0</version>
+  <description>openni2_tracker</description>
+
+  <author>Kelleher Guerin</author>
+  <maintainer email="email@email.com">Kelleher Guerin</maintainer>
+
+  <license>BSD</license>
+  
+  <url type="website">http://ros.org/wiki/openni2_tracker</url>
+  
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <build_depend>geometry_msgs</build_depend> <!-- nav_msgs, sensor_msgs, geometry_msgs -->
+  <build_depend>std_msgs</build_depend>
+
+  <run_depend>geometry_msgs</run_depend> <!-- nav_msgs, sensor_msgs, geometry_msgs -->
+  <run_depend>std_msgs</run_depend>
+
+  <run_depend>image_common</run_depend>
+  <run_depend>ros</run_depend>
+  <run_depend>ros_comm</run_depend>  <!-- rospy, roscpp -->
+  <run_depend>kdl_conversions</run_depend>
+  <run_depend>tf</run_depend>
+
+  <build_depend>message_generation</build_depend>
+  <run_depend>message_runtime</run_depend>
+  
+</package>