diff --git a/CMakeLists.txt b/CMakeLists.txt
index 34359754a1..34a2705110 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -8,6 +8,9 @@ if (POLICY CMP0054)
   cmake_policy(SET CMP0054 NEW)
 endif()
 
+# Define global caktin_lint suppressions
+#catkin_lint: ignore uninstalled_script missing_install_target
+
 find_package(Boost REQUIRED
   COMPONENTS
   filesystem
@@ -115,7 +118,6 @@ add_definitions(-DQT_NO_KEYWORDS)
 
 find_package(catkin REQUIRED
   COMPONENTS
-  angles
   cmake_modules
   geometry_msgs
   image_transport
@@ -138,7 +140,6 @@ find_package(catkin REQUIRED
   tf
   urdf
   visualization_msgs
-  urdfdom_headers
 )
 
 if(${tf_VERSION} VERSION_LESS "1.11.3")
@@ -149,8 +150,7 @@ find_package(PythonLibs "${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}" REQUIR
 
 find_package(Eigen3 QUIET)
 if(NOT EIGEN3_FOUND)
-  # Fallback to cmake_modules
-  find_package(cmake_modules REQUIRED)
+  #catkin_lint: ignore_once deprecated_cmake_module
   find_package(Eigen REQUIRED)
   set(EIGEN3_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS})
   set(EIGEN3_LIBRARIES ${EIGEN_LIBRARIES})  # Not strictly necessary as Eigen is head only
diff --git a/ogre_media/fonts/liberation-sans/LiberationSans-Bold.ttf b/ogre_media/fonts/liberation-sans/LiberationSans-Bold.ttf
old mode 100755
new mode 100644
diff --git a/ogre_media/fonts/liberation-sans/LiberationSans-BoldItalic.ttf b/ogre_media/fonts/liberation-sans/LiberationSans-BoldItalic.ttf
old mode 100755
new mode 100644
diff --git a/ogre_media/fonts/liberation-sans/LiberationSans-Italic.ttf b/ogre_media/fonts/liberation-sans/LiberationSans-Italic.ttf
old mode 100755
new mode 100644
diff --git a/ogre_media/fonts/liberation-sans/LiberationSans-Regular.ttf b/ogre_media/fonts/liberation-sans/LiberationSans-Regular.ttf
old mode 100755
new mode 100644
diff --git a/ogre_media/fonts/liberation-sans/SIL Open Font License.txt b/ogre_media/fonts/liberation-sans/SIL Open Font License.txt
old mode 100755
new mode 100644
diff --git a/package.xml b/package.xml
index 45941cc198..0bf67327bb 100644
--- a/package.xml
+++ b/package.xml
@@ -1,11 +1,11 @@
-<package>
+<package format="2">
   <name>rviz</name>
   <version>1.13.1</version>
   <description>
      3D visualization tool for ROS.
   </description>
-  <maintainer email="dhood@osrfoundation.org">D. Hood</maintainer>
   <maintainer email="william@osrfoundation.org">William Woodall</maintainer>
+  <maintainer email="rhaschke@techfak.uni-bielefeld.de">Robert Haschke</maintainer>
   <license>BSD</license>
   <license>Creative Commons</license>
 
@@ -18,71 +18,48 @@
 
   <buildtool_depend>catkin</buildtool_depend>
 
-  <build_depend>assimp-dev</build_depend>
   <build_depend>cmake_modules</build_depend>
   <build_depend>eigen</build_depend>
-  <build_depend>geometry_msgs</build_depend>
-  <build_depend>image_transport</build_depend>
-  <build_depend>interactive_markers</build_depend>
-  <build_depend>laser_geometry</build_depend>
-  <build_depend>libogre-dev</build_depend>
   <build_depend>qtbase5-dev</build_depend>
   <build_depend>libqt5-opengl-dev</build_depend>
-  <build_depend>map_msgs</build_depend>
-  <build_depend>message_filters</build_depend>
-  <build_depend>nav_msgs</build_depend>
-  <build_depend>pluginlib</build_depend>
-  <build_depend>python_qt_binding</build_depend>
-  <build_depend>resource_retriever</build_depend>
-  <build_depend>rosbag</build_depend>
-  <build_depend>rosconsole</build_depend>
-  <build_depend>roscpp</build_depend>
-  <build_depend>roslib</build_depend>
-  <build_depend>rospy</build_depend>
-  <build_depend>sensor_msgs</build_depend>
-  <build_depend>std_msgs</build_depend>
-  <build_depend>std_srvs</build_depend>
-  <build_depend>tf</build_depend>
-  <build_depend>tinyxml2</build_depend>
-  <build_depend>urdf</build_depend>
-  <build_depend>visualization_msgs</build_depend>
-  <build_depend>yaml-cpp</build_depend>
-  <build_depend>opengl</build_depend>
+  <build_depend>liburdfdom-dev</build_depend>
   <build_depend>liburdfdom-headers-dev</build_depend>
 
-  <run_depend>assimp</run_depend>
-  <run_depend>eigen</run_depend>
-  <run_depend>geometry_msgs</run_depend>
-  <run_depend>image_transport</run_depend>
-  <run_depend>interactive_markers</run_depend>
-  <run_depend>laser_geometry</run_depend>
-  <run_depend>libogre-dev</run_depend>
-  <run_depend>libqt5-core</run_depend>
-  <run_depend>libqt5-gui</run_depend>
-  <run_depend>libqt5-widgets</run_depend>
-  <run_depend>libqt5-opengl</run_depend>
-  <run_depend>map_msgs</run_depend>
-  <run_depend>media_export</run_depend>
-  <run_depend>message_filters</run_depend>
-  <run_depend>nav_msgs</run_depend>
-  <run_depend>pluginlib</run_depend>
-  <run_depend>python_qt_binding</run_depend>
-  <run_depend>resource_retriever</run_depend>
-  <run_depend>rosbag</run_depend>
-  <run_depend>rosconsole</run_depend>
-  <run_depend>roscpp</run_depend>
-  <run_depend>roslib</run_depend>
-  <run_depend>rospy</run_depend>
-  <run_depend>sensor_msgs</run_depend>
-  <run_depend>std_msgs</run_depend>
-  <run_depend>std_srvs</run_depend>
-  <run_depend>tf</run_depend>
-  <run_depend>tinyxml2</run_depend>
-  <run_depend>urdf</run_depend>
-  <run_depend>visualization_msgs</run_depend>
-  <run_depend>yaml-cpp</run_depend>
-  <run_depend>opengl</run_depend>
-  <run_depend>liburdfdom-headers-dev</run_depend>
+  <depend>assimp-dev</depend>
+  <depend>geometry_msgs</depend>
+  <depend>image_transport</depend>
+  <depend>interactive_markers</depend>
+  <depend>laser_geometry</depend>
+  <depend>libogre-dev</depend>
+  <depend>map_msgs</depend>
+  <depend>message_filters</depend>
+  <depend>nav_msgs</depend>
+  <depend>pluginlib</depend>
+  <depend>python_qt_binding</depend>
+  <depend>resource_retriever</depend>
+  <depend>rosbag</depend>
+  <depend>rosconsole</depend>
+  <depend>roscpp</depend>
+  <depend>roslib</depend>
+  <depend>rospy</depend>
+  <depend>sensor_msgs</depend>
+  <depend>std_msgs</depend>
+  <depend>std_srvs</depend>
+  <depend>tf</depend>
+  <depend>tinyxml2</depend>
+  <depend>urdf</depend>
+  <depend>visualization_msgs</depend>
+  <depend>yaml-cpp</depend>
+  <depend>opengl</depend>
+
+  <exec_depend>libqt5-core</exec_depend>
+  <exec_depend>libqt5-gui</exec_depend>
+  <exec_depend>libqt5-widgets</exec_depend>
+  <exec_depend>libqt5-opengl</exec_depend>
+  <exec_depend>media_export</exec_depend>
+
+  <test_depend>rostest</test_depend>
+  <test_depend>rosunit</test_depend>
 
   <export>
     <rviz plugin="${prefix}/plugin_description.xml"/>
diff --git a/src/python_bindings/CMakeLists.txt b/src/python_bindings/CMakeLists.txt
index fa1d4983f0..aedb7ad06b 100644
--- a/src/python_bindings/CMakeLists.txt
+++ b/src/python_bindings/CMakeLists.txt
@@ -4,7 +4,7 @@ set(rviz_BINDINGS "")
 # add_subdirectory(shiboken)
 add_subdirectory(sip)
 
-message("Python binding generators: ${rviz_BINDINGS}")
+message(STATUS "Python binding generators: ${rviz_BINDINGS}")
 if(NOT rviz_BINDINGS)
   message(FATAL_ERROR "No Python binding generator found.")
 endif()
diff --git a/src/python_bindings/shiboken/CMakeLists.txt b/src/python_bindings/shiboken/CMakeLists.txt
index f787fb6305..24ea0964db 100644
--- a/src/python_bindings/shiboken/CMakeLists.txt
+++ b/src/python_bindings/shiboken/CMakeLists.txt
@@ -5,6 +5,7 @@ set(rviz_shiboken_QT_COMPONENTS
   QtGui
 )
 
+#catkin_lint: ignore_once duplicate_find
 find_package(python_qt_binding REQUIRED)
 include(${python_qt_binding_EXTRAS_DIR}/shiboken_helper.cmake)
 
diff --git a/src/python_bindings/sip/CMakeLists.txt b/src/python_bindings/sip/CMakeLists.txt
index c91a6be254..64096a17ef 100644
--- a/src/python_bindings/sip/CMakeLists.txt
+++ b/src/python_bindings/sip/CMakeLists.txt
@@ -36,7 +36,9 @@ set(rviz_sip_DEPENDENT_FILES
   ${rviz_HDRS_DIR}/yaml_config_writer.h
 )
 
+#catkin_lint: ignore_once duplicate_find
 find_package(python_qt_binding REQUIRED)
+#catkin_lint: ignore_once external_file
 include(${python_qt_binding_EXTRAS_DIR}/sip_helper.cmake)
 
 # maintain context for different named target
@@ -61,6 +63,7 @@ if(sip_helper_FOUND)
   else()
     set(rviz_sip_LIBRARY_FILE librviz_sip${CMAKE_SHARED_LIBRARY_SUFFIX})
   endif()
+  #catkin_lint: ignore_once missing_file external_file
   install(FILES ${CATKIN_DEVEL_PREFIX}/${PYTHON_INSTALL_DIR}/rviz/${rviz_sip_LIBRARY_FILE}
     DESTINATION ${CATKIN_PACKAGE_PYTHON_DESTINATION})
 endif()
diff --git a/src/rviz/CMakeLists.txt b/src/rviz/CMakeLists.txt
index d2d629a652..2a30e8444b 100644
--- a/src/rviz/CMakeLists.txt
+++ b/src/rviz/CMakeLists.txt
@@ -1,4 +1,3 @@
-find_package(PkgConfig)
 pkg_check_modules(NEW_YAMLCPP yaml-cpp>=0.5)
 if(NEW_YAMLCPP_FOUND)
   add_definitions(-DRVIZ_HAVE_YAMLCPP_05)
@@ -16,7 +15,8 @@ include_directories(.)
 # source for access at run-time.
 set(ENV_CONFIG_FILE ${CMAKE_CURRENT_BINARY_DIR}/env_config.cpp)
 set(RVIZ_VERSION ${rviz_VERSION})
-message("making version ${RVIZ_VERSION}.")
+message(STATUS "making version ${RVIZ_VERSION}.")
+#catkin_lint: ignore_once env_var
 set(ROS_DISTRO $ENV{ROS_DISTRO})
 
 configure_file(env_config.cpp.in ${ENV_CONFIG_FILE} @ONLY)
diff --git a/src/rviz/default_plugin/CMakeLists.txt b/src/rviz/default_plugin/CMakeLists.txt
index e290829572..2d2761df82 100644
--- a/src/rviz/default_plugin/CMakeLists.txt
+++ b/src/rviz/default_plugin/CMakeLists.txt
@@ -91,6 +91,7 @@ file(GENERATE
   OUTPUT "${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/cmake/default_plugin_location.cmake"
   CONTENT "set(rviz_DEFAULT_PLUGIN_FILE_NAME $<TARGET_FILE_NAME:${rviz_DEFAULT_PLUGIN_LIBRARY_TARGET_NAME}>)"
 )
+#catkin_lint: ignore_once missing_file external_file
 # Install from the devel space to the install space.
 install(FILES "${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/cmake/default_plugin_location.cmake"
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/cmake