diff --git a/tf2_sensor_msgs/AMENT_IGNORE b/tf2_sensor_msgs/AMENT_IGNORE
deleted file mode 100644
index e69de29bb..000000000
diff --git a/tf2_sensor_msgs/CMakeLists.txt b/tf2_sensor_msgs/CMakeLists.txt
index 46dc8fb68..08ac2f23e 100644
--- a/tf2_sensor_msgs/CMakeLists.txt
+++ b/tf2_sensor_msgs/CMakeLists.txt
@@ -1,42 +1,49 @@
 cmake_minimum_required(VERSION 3.5)
 project(tf2_sensor_msgs)
 
-find_package(catkin REQUIRED COMPONENTS cmake_modules sensor_msgs tf2_ros tf2)
-find_package(Boost COMPONENTS thread REQUIRED)
-find_package(Eigen)
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra)
+endif()
 
-catkin_package(
-   INCLUDE_DIRS include
-   CATKIN_DEPENDS sensor_msgs tf2_ros tf2
-   DEPENDS Eigen
+find_package(ament_cmake_auto REQUIRED)
+set(required_dependencies
+  "sensor_msgs"
+  #"python_orocos_kdl"
+  "tf2"
+  "tf2_ros"
+  "Eigen3"
 )
 
+ament_auto_find_build_dependencies(REQUIRED ${required_dependencies})
 
 include_directories(include
-   ${catkin_INCLUDE_DIRS}
-)
-
-install(DIRECTORY include/${PROJECT_NAME}/
-  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  ${sensor_msgs_INCLUDE_DIRS}
+  ${tf2_INCLUDE_DIRS}
+  ${tf2_ros_INCLUDE_DIRS}
+  ${Eigen3_INCLUDE_DIRS}
 )
 
-catkin_python_setup()
-
-if(CATKIN_ENABLE_TESTING)
-  catkin_add_nosetests(test/test_tf2_sensor_msgs.py)
-
-find_package(catkin REQUIRED COMPONENTS sensor_msgs rostest tf2_ros tf2)
-
-include_directories(${EIGEN_INCLUDE_DIRS})
-
-add_executable(test_tf2_sensor_msgs_cpp EXCLUDE_FROM_ALL test/test_tf2_sensor_msgs.cpp)
-target_link_libraries(test_tf2_sensor_msgs_cpp ${catkin_LIBRARIES} ${GTEST_LIBRARIES})
-
-
-if(TARGET tests)
-  add_dependencies(tests test_tf2_sensor_msgs_cpp)
-endif()
-add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/test/test.launch)
-
-
-endif()
+# TODO enable tests
+#if(BUILD_TESTING)
+#  catkin_add_nosetests(test/test_tf2_sensor_msgs.py)
+
+#find_package(catkin REQUIRED COMPONENTS
+#  sensor_msgs
+#  rostest
+#  tf2_ros
+#  tf2
+#)
+#include_directories(${EIGEN_INCLUDE_DIRS})
+#add_executable(test_tf2_sensor_msgs_cpp EXCLUDE_FROM_ALL test/test_tf2_sensor_msgs.cpp)
+#target_link_libraries(test_tf2_sensor_msgs_cpp ${catkin_LIBRARIES} ${GTEST_LIBRARIES})
+#if(TARGET tests)
+#  add_dependencies(tests test_tf2_sensor_msgs_cpp)
+#endif()
+#add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/test/test.launch)
+#endif()
+
+ament_auto_package()
diff --git a/tf2_sensor_msgs/include/tf2_sensor_msgs/tf2_sensor_msgs.h b/tf2_sensor_msgs/include/tf2_sensor_msgs/tf2_sensor_msgs.h
index 7fdb6a4f1..bd401019b 100644
--- a/tf2_sensor_msgs/include/tf2_sensor_msgs/tf2_sensor_msgs.h
+++ b/tf2_sensor_msgs/include/tf2_sensor_msgs/tf2_sensor_msgs.h
@@ -31,8 +31,9 @@
 #define TF2_SENSOR_MSGS_H
 
 #include <tf2/convert.h>
-#include <sensor_msgs/PointCloud2.h>
-#include <sensor_msgs/point_cloud2_iterator.h>
+#include <tf2/time.h>
+#include <sensor_msgs/msg/point_cloud2.hpp>
+#include <sensor_msgs/point_cloud2_iterator.hpp>
 #include <Eigen/Eigen>
 #include <Eigen/Geometry>
 
@@ -46,17 +47,17 @@ namespace tf2
 // method to extract timestamp from object
 template <>
 inline
-tf2::TimePoint getTimestamp(const sensor_msgs::PointCloud2& p) {return p.header.stamp;}
+tf2::TimePoint getTimestamp(const sensor_msgs::msg::PointCloud2& p) {return tf2_ros::fromMsg(p.header.stamp);}
 
 // method to extract frame id from object
 template <>
 inline
-std::string getFrameId(const sensor_msgs::PointCloud2 &p) {return p.header.frame_id;}
+std::string getFrameId(const sensor_msgs::msg::PointCloud2 &p) {return p.header.frame_id;}
 
 // this method needs to be implemented by client library developers
 template <>
 inline
-void doTransform(const sensor_msgs::PointCloud2 &p_in, sensor_msgs::PointCloud2 &p_out, const geometry_msgs::TransformStamped& t_in)
+void doTransform(const sensor_msgs::msg::PointCloud2 &p_in, sensor_msgs::msg::PointCloud2 &p_out, const geometry_msgs::msg::TransformStamped& t_in)
 {
   p_out = p_in;
   p_out.header = t_in.header;
@@ -65,13 +66,13 @@ void doTransform(const sensor_msgs::PointCloud2 &p_in, sensor_msgs::PointCloud2
                                                                      t_in.transform.rotation.w, t_in.transform.rotation.x,
                                                                      t_in.transform.rotation.y, t_in.transform.rotation.z);
 
-  sensor_msgs::PointCloud2ConstIterator<float> x_in(p_in, "x");
-  sensor_msgs::PointCloud2ConstIterator<float> y_in(p_in, "y");
-  sensor_msgs::PointCloud2ConstIterator<float> z_in(p_in, "z");
+  sensor_msgs::PointCloud2ConstIterator<float> x_in(p_in, std::string("x"));
+  sensor_msgs::PointCloud2ConstIterator<float> y_in(p_in, std::string("y"));
+  sensor_msgs::PointCloud2ConstIterator<float> z_in(p_in, std::string("z"));
 
-  sensor_msgs::PointCloud2Iterator<float> x_out(p_out, "x");
-  sensor_msgs::PointCloud2Iterator<float> y_out(p_out, "y");
-  sensor_msgs::PointCloud2Iterator<float> z_out(p_out, "z");
+  sensor_msgs::PointCloud2Iterator<float> x_out(p_out, std::string("x"));
+  sensor_msgs::PointCloud2Iterator<float> y_out(p_out, std::string("y"));
+  sensor_msgs::PointCloud2Iterator<float> z_out(p_out, std::string("z"));
 
   Eigen::Vector3f point;
   for(; x_in != x_in.end(); ++x_in, ++y_in, ++z_in, ++x_out, ++y_out, ++z_out) {
@@ -82,12 +83,12 @@ void doTransform(const sensor_msgs::PointCloud2 &p_in, sensor_msgs::PointCloud2
   }
 }
 inline
-sensor_msgs::PointCloud2 toMsg(const sensor_msgs::PointCloud2 &in)
+sensor_msgs::msg::PointCloud2 toMsg(const sensor_msgs::msg::PointCloud2 &in)
 {
   return in;
 }
 inline
-void fromMsg(const sensor_msgs::PointCloud2 &msg, sensor_msgs::PointCloud2 &out)
+void fromMsg(const sensor_msgs::msg::PointCloud2 &msg, sensor_msgs::msg::PointCloud2 &out)
 {
   out = msg;
 }
diff --git a/tf2_sensor_msgs/package.xml b/tf2_sensor_msgs/package.xml
index dda4d1575..f02e95241 100644
--- a/tf2_sensor_msgs/package.xml
+++ b/tf2_sensor_msgs/package.xml
@@ -1,4 +1,4 @@
-<package>
+<package format="2">
   <name>tf2_sensor_msgs</name>
   <version>0.9.1</version>
   <description>
@@ -9,23 +9,20 @@
   <license>BSD</license>
 
   <url type="website">http://www.ros.org/wiki/tf2_ros</url>
-    
-  <buildtool_depend version_gte="0.5.6">catkin</buildtool_depend>
 
-  <build_depend>cmake_modules</build_depend>
-  <build_depend>eigen</build_depend>
-  <build_depend>sensor_msgs</build_depend>
-  <build_depend>tf2</build_depend>
-  <build_depend>tf2_ros</build_depend>
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
-  <run_depend>cmake_modules</run_depend>
-  <run_depend>eigen</run_depend>
-  <run_depend>sensor_msgs</run_depend>
-  <run_depend>tf2_ros</run_depend>
-  <run_depend>tf2</run_depend>
-  <run_depend>python_orocos_kdl</run_depend>
+  <depend>cmake_modules</depend>
+  <depend>Eigen3</depend>
+  <depend>sensor_msgs</depend>
+  <depend>tf2</depend>
+  <depend>tf2_ros</depend>
+  <!-- <depend>python_orocos_kdl</depend> -->
+  <!-- <test_depend>rostest</test_depend> -->
 
-  <test_depend>rostest</test_depend>
+  <test_depend>ament_cmake_gtest</test_depend>
 
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
 </package>
-
diff --git a/tf2_sensor_msgs/test/test_tf2_sensor_msgs.cpp b/tf2_sensor_msgs/test/test_tf2_sensor_msgs.cpp
index 5ec3cfc24..f9361d182 100644
--- a/tf2_sensor_msgs/test/test_tf2_sensor_msgs.cpp
+++ b/tf2_sensor_msgs/test/test_tf2_sensor_msgs.cpp
@@ -41,14 +41,14 @@ static const double EPS = 1e-3;
 
 TEST(Tf2Sensor, PointCloud2)
 {
-  sensor_msgs::PointCloud2 cloud;
-  sensor_msgs::PointCloud2Modifier modifier(cloud);
+  sensor_msgs::msg::PointCloud2 cloud;
+  sensor_msgs::msg::PointCloud2Modifier modifier(cloud);
   modifier.setPointCloud2FieldsByString(2, "xyz", "rgb");
   modifier.resize(1);
 
-  sensor_msgs::PointCloud2Iterator<float> iter_x(cloud, "x");
-  sensor_msgs::PointCloud2Iterator<float> iter_y(cloud, "y");
-  sensor_msgs::PointCloud2Iterator<float> iter_z(cloud, "z");
+  sensor_msgs::msg::PointCloud2Iterator<float> iter_x(cloud, "x");
+  sensor_msgs::msg::PointCloud2Iterator<float> iter_y(cloud, "y");
+  sensor_msgs::msg::PointCloud2Iterator<float> iter_z(cloud, "z");
 
   *iter_x = 1;
   *iter_y = 2;
@@ -58,20 +58,20 @@ TEST(Tf2Sensor, PointCloud2)
   cloud.header.frame_id = "A";
 
   // simple api
-  sensor_msgs::PointCloud2 cloud_simple = tf_buffer->transform(cloud, "B", tf2::durationFromSec(2.0));
-  sensor_msgs::PointCloud2Iterator<float> iter_x_after(cloud_simple, "x");
-  sensor_msgs::PointCloud2Iterator<float> iter_y_after(cloud_simple, "y");
-  sensor_msgs::PointCloud2Iterator<float> iter_z_after(cloud_simple, "z");
+  sensor_msgs::msg::PointCloud2 cloud_simple = tf_buffer->transform(cloud, "B", tf2::durationFromSec(2.0));
+  sensor_msgs::msg::PointCloud2Iterator<float> iter_x_after(cloud_simple, "x");
+  sensor_msgs::msg::PointCloud2Iterator<float> iter_y_after(cloud_simple, "y");
+  sensor_msgs::msg::PointCloud2Iterator<float> iter_z_after(cloud_simple, "z");
   EXPECT_NEAR(*iter_x_after, -9, EPS);
   EXPECT_NEAR(*iter_y_after, 18, EPS);
   EXPECT_NEAR(*iter_z_after, 27, EPS);
 
   // advanced api
-  sensor_msgs::PointCloud2 cloud_advanced = tf_buffer->transform(cloud, "B", builtin_interfaces::msg::Time(2.0),
+  sensor_msgs::msg::PointCloud2 cloud_advanced = tf_buffer->transform(cloud, "B", builtin_interfaces::msg::Time(2.0),
                                                                  "A", tf2::durationFromSec(3.0));
-  sensor_msgs::PointCloud2Iterator<float> iter_x_advanced(cloud_advanced, "x");
-  sensor_msgs::PointCloud2Iterator<float> iter_y_advanced(cloud_advanced, "y");
-  sensor_msgs::PointCloud2Iterator<float> iter_z_advanced(cloud_advanced, "z");
+  sensor_msgs::msg::PointCloud2Iterator<float> iter_x_advanced(cloud_advanced, "x");
+  sensor_msgs::msg::PointCloud2Iterator<float> iter_y_advanced(cloud_advanced, "y");
+  sensor_msgs::msg::PointCloud2Iterator<float> iter_z_advanced(cloud_advanced, "z");
   EXPECT_NEAR(*iter_x_advanced, -9, EPS);
   EXPECT_NEAR(*iter_y_advanced, 18, EPS);
   EXPECT_NEAR(*iter_z_advanced, 27, EPS);
@@ -82,10 +82,11 @@ int main(int argc, char **argv){
   ros::init(argc, argv, "test");
   ros::NodeHandle n;
 
-  tf_buffer = new tf2_ros::Buffer();
+  rclcpp::Clock::SharedPtr clock = std::make_shared<rclcpp::Clock>(RCL_SYSTEM_TIME);
+  tf_buffer = new tf2_ros::Buffer(clock);
 
   // populate buffer
-  geometry_msgs::TransformStamped t;
+  geometry_msgs::msg::TransformStamped t;
   t.transform.translation.x = 10;
   t.transform.translation.y = 20;
   t.transform.translation.z = 30;