diff --git a/fetch_calibration/CMakeLists.txt b/fetch_calibration/CMakeLists.txt
index de157c1f..a4e4b842 100644
--- a/fetch_calibration/CMakeLists.txt
+++ b/fetch_calibration/CMakeLists.txt
@@ -2,7 +2,6 @@ cmake_minimum_required(VERSION 3.0.2)
 project(fetch_calibration)
 
 find_package(catkin)
-catkin_python_setup()
 catkin_package()
 
 install(DIRECTORY config
@@ -13,7 +12,12 @@ install(DIRECTORY launch
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )
 
-install(
+catkin_install_python(
   PROGRAMS scripts/camera_reconfigure.py
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
+
+catkin_install_python(
+   PROGRAMS scripts/calibrate_robot
+   DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+)
diff --git a/fetch_calibration/package.xml b/fetch_calibration/package.xml
index 2c2c9520..f5730e3a 100644
--- a/fetch_calibration/package.xml
+++ b/fetch_calibration/package.xml
@@ -20,8 +20,6 @@
   <url type="repository">https://github.com/fetchrobotics/fetch_ros</url>
   
   <buildtool_depend>catkin</buildtool_depend>
-  <buildtool_depend condition="$ROS_PYTHON_VERSION == 2">python-setuptools</buildtool_depend>
-  <buildtool_depend condition="$ROS_PYTHON_VERSION == 3">python3-setuptools</buildtool_depend>
 
   <exec_depend version_gte="0.5.1">robot_calibration</exec_depend>
 </package>
diff --git a/fetch_calibration/setup.py b/fetch_calibration/setup.py
deleted file mode 100644
index cd991806..00000000
--- a/fetch_calibration/setup.py
+++ /dev/null
@@ -1,10 +0,0 @@
-#!/usr/bin/env python
-
-from setuptools import setup
-from catkin_pkg.python_setup import generate_distutils_setup
-
-d = generate_distutils_setup(
-    scripts=['scripts/calibrate_robot'],
-    )
-
-setup(**d)
diff --git a/fetch_depth_layer/src/depth_layer.cpp b/fetch_depth_layer/src/depth_layer.cpp
index ff36c5e0..5b7679c6 100644
--- a/fetch_depth_layer/src/depth_layer.cpp
+++ b/fetch_depth_layer/src/depth_layer.cpp
@@ -146,7 +146,7 @@ void FetchDepthLayer::onInitialize()
   depth_image_sub_.reset(new message_filters::Subscriber<sensor_msgs::Image>(private_nh, camera_depth_topic, 10));
   depth_image_filter_ = boost::shared_ptr< tf2_ros::MessageFilter<sensor_msgs::Image> >(
     new tf2_ros::MessageFilter<sensor_msgs::Image>(*depth_image_sub_, *tf_, global_frame_, 10, private_nh));
-  depth_image_filter_->registerCallback(boost::bind(&FetchDepthLayer::depthImageCallback, this, _1));
+  depth_image_filter_->registerCallback([this](auto msg){ depthImageCallback(msg); });
   observation_subscribers_.push_back(depth_image_sub_);
   observation_notifiers_.push_back(depth_image_filter_);
   observation_notifiers_.back()->setTolerance(ros::Duration(0.05));
diff --git a/fetch_ikfast_plugin/CMakeLists.txt b/fetch_ikfast_plugin/CMakeLists.txt
index b85b25f9..99e375e0 100644
--- a/fetch_ikfast_plugin/CMakeLists.txt
+++ b/fetch_ikfast_plugin/CMakeLists.txt
@@ -1,8 +1,6 @@
 cmake_minimum_required(VERSION 3.0.2)
 project(fetch_ikfast_plugin)
 
-add_compile_options(-std=c++14)
-
 find_package(catkin REQUIRED COMPONENTS
   moveit_core
   pluginlib