diff --git a/CMakeLists.txt b/CMakeLists.txt
deleted file mode 100644
index 7c98e9d..0000000
--- a/CMakeLists.txt
+++ /dev/null
@@ -1,16 +0,0 @@
-cmake_minimum_required( VERSION 2.8 FATAL_ERROR )
-project(urdfdom_py)
-
-find_package(catkin REQUIRED)
-catkin_package()
-
-catkin_python_setup()
-
-catkin_install_python(PROGRAMS
-  scripts/display_urdf
-  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
-
-if (CATKIN_ENABLE_TESTING)
-  catkin_add_nosetests(test/test_urdf.py)
-endif()
diff --git a/README.md b/README.md
index 4fd97ad..51a10da 100644
--- a/README.md
+++ b/README.md
@@ -17,6 +17,9 @@ Not yet sure how to get it to generate catkin-like development installs, which u
 *	Kelsey Hawkins - `urdf_parser_python` implementation, integration
 *	Antonio El Khoury - bugfixes
 *	Eric Cousineau - reflection (serialization?) changes
+* Ioan Sucan
+* Jackie Kay
+* Víctor Mayoral Vilches - port to ROS 2
 
 ## Reflection (or just Serialization?)
 
diff --git a/package.xml b/package.xml
index 358099d..5106940 100644
--- a/package.xml
+++ b/package.xml
@@ -1,5 +1,6 @@
 <?xml version="1.0"?>
-<package format="2">
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
   <name>urdfdom_py</name>
   <version>0.3.3</version>
   <description>Python implementation of the URDF parser.</description>
@@ -13,6 +14,7 @@
   <author>Eric Cousineau</author>
   <author email="isucan@gmail.com">Ioan Sucan</author>
   <author email="jacquelinekay1@gmail.com">Jackie Kay</author>
+  <author email="vmayoral@acutronicrobotics.com">Víctor Mayoral Vilches</author>
 
   <maintainer email="clalancette@osrfoundation.org">Chris Lalancette</maintainer>
   <maintainer email="sloretz@osrfoundation.org">Shane Loretz</maintainer>
@@ -21,13 +23,13 @@
   <url type="bugtracker">https://github.com/ros/urdf_parser_py/issues</url>
   <url type="repository">https://github.com/ros/urdf_parser_py</url>
 
-  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <depend>python</depend>
-
-  <exec_depend>python-lxml</exec_depend>
-  <exec_depend>python-yaml</exec_depend>
-
-  <test_depend>python-mock</test_depend>
+  <exec_depend>python3-lxml</exec_depend>
+  <exec_depend>python3-yaml</exec_depend>
+  <test_depend>python3-mock</test_depend>
 
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
 </package>
diff --git a/setup.py b/setup.py
index 2b1050e..333f1b8 100644
--- a/setup.py
+++ b/setup.py
@@ -1,11 +1,30 @@
-#!/usr/bin/env python
+from setuptools import setup
 
-from distutils.core import setup
-from catkin_pkg.python_setup import generate_distutils_setup
+package_name = 'urdfdom_py'
 
-d = generate_distutils_setup(
+setup(
+    name=package_name,
+    version='0.3.3',
+    package_dir={'': 'src'},
     packages=['urdf_parser_py', 'urdf_parser_py.xml_reflection'],
-    package_dir={'': 'src'}
+    data_files=[
+        ('scripts/display_urdf',
+        ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    author='Victor Mayoral Vilches',
+    author_email='vmayoral@acutronicrobotics.com',
+    maintainer='Victor Mayoral Vilches',
+    maintainer_email='vmayoral@acutronicrobotics.com',
+    keywords=['ROS2'],
+    classifiers=[
+        'Intended Audience :: Developers',
+        'License :: OSI Approved :: Apache Software License',
+        'Programming Language :: Python',
+        'Topic :: Software Development',
+    ],
+    description='Python implementation of the URDF parser.',
+    license='Apache License, Version 2.0',
+    tests_require=['pytest'],
 )
-
-setup(**d)
diff --git a/src/urdf_parser_py/xml_reflection/basics.py b/src/urdf_parser_py/xml_reflection/basics.py
index f206088..ca2a608 100644
--- a/src/urdf_parser_py/xml_reflection/basics.py
+++ b/src/urdf_parser_py/xml_reflection/basics.py
@@ -10,9 +10,9 @@
 
 def xml_string(rootXml, addHeader=True):
     # Meh
-    xmlString = etree.tostring(rootXml, pretty_print=True)
+    xmlString = etree.tostring(rootXml, pretty_print=True, encoding=str)
     if addHeader:
-        xmlString = '<?xml version="1.0"?>\n' + xmlString
+        xmlString = "<?xml version=\"1.0\"?>\n" + xmlString
     return xmlString