diff --git a/velodyne_pointcloud/tests/CMakeLists.txt b/velodyne_pointcloud/tests/CMakeLists.txt
index 624d46dd5..a1508d387 100644
--- a/velodyne_pointcloud/tests/CMakeLists.txt
+++ b/velodyne_pointcloud/tests/CMakeLists.txt
@@ -10,10 +10,18 @@ ament_target_dependencies(test_row_step
   velodyne_msgs
 )
 
-# C++ gtests
-# catkin_add_gtest(test_calibration test_calibration.cpp)
-# add_dependencies(test_calibration ${catkin_EXPORTED_TARGETS})
-# target_link_libraries(test_calibration velodyne_rawdata ${catkin_LIBRARIES})
+ament_add_gtest(test_calibration
+  test_calibration.cpp
+  ../src/lib/calibration.cpp
+)
+
+ament_target_dependencies(test_calibration
+  rclcpp
+)
+
+target_link_libraries(test_calibration
+  ${YAML_CPP_LIBRARIES}
+)
 
 # # Download packet capture (PCAP) files containing test data.
 # # Store them in devel-space, so rostest can easily find them.
diff --git a/velodyne_pointcloud/tests/test_calibration.cpp b/velodyne_pointcloud/tests/test_calibration.cpp
index 406219dc9..e6116cbba 100644
--- a/velodyne_pointcloud/tests/test_calibration.cpp
+++ b/velodyne_pointcloud/tests/test_calibration.cpp
@@ -32,29 +32,35 @@
 
 #include <gtest/gtest.h>
 
-#include <ros/package.h>
+#include <ament_index_cpp/get_package_share_directory.hpp>
+
 #include <velodyne_pointcloud/calibration.hpp>
 
 #include <string>
 
 using namespace velodyne_pointcloud;  // NOLINT
 
+std::string get_package_path()
+{
+  std::string g_package_name("velodyne_pointcloud");
+  return ament_index_cpp::get_package_share_directory(g_package_name);
+}
+
 ///////////////////////////////////////////////////////////////
 // Test cases
 ///////////////////////////////////////////////////////////////
 
 TEST(Calibration, missing_file)
 {
-  Calibration calibration(false);
-  calibration.read("./no_such_file.yaml");
-  EXPECT_FALSE(calibration.initialized);
+  EXPECT_THROW(
+    {Calibration calibration("/no_such_file.yaml");},
+    std::runtime_error
+  );
 }
 
 TEST(Calibration, vlp16)
 {
-  std::string g_package_path = ros::package::getPath("velodyne_pointcloud");
-  Calibration calibration(g_package_path + "/params/VLP16db.yaml", false);
-  EXPECT_TRUE(calibration.initialized);
+  Calibration calibration(get_package_path() + "/params/VLP16db.yaml");
   ASSERT_EQ(calibration.num_lasers, 16);
 
   // check some values for the first laser:
@@ -76,9 +82,7 @@ TEST(Calibration, vlp16)
 
 TEST(Calibration, hdl32e)
 {
-  std::string g_package_path = ros::package::getPath("velodyne_pointcloud");
-  Calibration calibration(g_package_path + "/params/32db.yaml", false);
-  EXPECT_TRUE(calibration.initialized);
+  Calibration calibration(get_package_path() + "/params/32db.yaml");
   ASSERT_EQ(calibration.num_lasers, 32);
 
   // check some values for the first laser:
@@ -100,9 +104,7 @@ TEST(Calibration, hdl32e)
 
 TEST(Calibration, hdl64e)
 {
-  std::string g_package_path = ros::package::getPath("velodyne_pointcloud");
-  Calibration calibration(g_package_path + "/params/64e_utexas.yaml", false);
-  EXPECT_TRUE(calibration.initialized);
+  Calibration calibration(get_package_path() + "/params/64e_utexas.yaml");
   ASSERT_EQ(calibration.num_lasers, 64);
 
   // check some values for the first laser:
@@ -124,10 +126,7 @@ TEST(Calibration, hdl64e)
 
 TEST(Calibration, hdl64e_s21)
 {
-  std::string g_package_path = ros::package::getPath("velodyne_pointcloud");
-  Calibration calibration(
-    g_package_path + "/params/64e_s2.1-sztaki.yaml", false);
-  EXPECT_TRUE(calibration.initialized);
+  Calibration calibration(get_package_path() + "/params/64e_s2.1-sztaki.yaml");
   ASSERT_EQ(calibration.num_lasers, 64);
 
   // check some values for the first laser:
@@ -147,43 +146,9 @@ TEST(Calibration, hdl64e_s21)
   EXPECT_EQ(laser.min_intensity, 0);
 }
 
-TEST(Calibration, hdl64e_s2_float_intensities)
-{
-  std::string g_package_path = ros::package::getPath("velodyne_pointcloud");
-  Calibration calibration(
-    g_package_path + "/tests/issue_84_float_intensities.yaml", false);
-  EXPECT_TRUE(calibration.initialized);
-  ASSERT_EQ(calibration.num_lasers, 64);
-
-  // check some values for the first laser:
-  LaserCorrection laser = calibration.laser_corrections[0];
-  EXPECT_FALSE(laser.two_pt_correction_available);
-  EXPECT_FLOAT_EQ(laser.vert_correction, -0.12118950050089745);
-  EXPECT_FLOAT_EQ(laser.horiz_offset_correction, 0.025999999);
-  EXPECT_EQ(laser.max_intensity, 255);
-  EXPECT_EQ(laser.min_intensity, 40);
-
-  // check similar values for laser 26:
-  laser = calibration.laser_corrections[26];
-  EXPECT_FALSE(laser.two_pt_correction_available);
-  EXPECT_FLOAT_EQ(laser.vert_correction, -0.014916840599137901);
-  EXPECT_FLOAT_EQ(laser.horiz_offset_correction, 0.025999999);
-  EXPECT_EQ(laser.max_intensity, 245);
-  EXPECT_EQ(laser.min_intensity, 0);
-
-  // check similar values for the last laser:
-  laser = calibration.laser_corrections[63];
-  EXPECT_FALSE(laser.two_pt_correction_available);
-  EXPECT_FLOAT_EQ(laser.vert_correction, -0.20683046990039078);
-  EXPECT_FLOAT_EQ(laser.horiz_offset_correction, -0.025999999);
-  EXPECT_EQ(laser.max_intensity, 255);
-  EXPECT_EQ(laser.min_intensity, 0);
-}
-
 // Run all the tests that were declared with TEST()
 int main(int argc, char ** argv)
 {
   testing::InitGoogleTest(&argc, argv);
-  init_global_data();
   return RUN_ALL_TESTS();
 }