diff --git a/map_msgs/CMakeLists.txt b/map_msgs/CMakeLists.txt
index a22127e..2484110 100644
--- a/map_msgs/CMakeLists.txt
+++ b/map_msgs/CMakeLists.txt
@@ -1,41 +1,45 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
+
 project(map_msgs)
 
-find_package(catkin REQUIRED
-  COMPONENTS
-    std_msgs
-    sensor_msgs
-    nav_msgs
-    message_generation
-)
+# 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")
+  # we dont use add_compile_options with pedantic in message packages
+  # because the Python C extensions dont comply with it
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Wpedantic")
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+find_package(nav_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(std_msgs REQUIRED)
 
-add_message_files(
-  FILES
-    OccupancyGridUpdate.msg
-    PointCloud2Update.msg
-    ProjectedMapInfo.msg
-    ProjectedMap.msg
+set(msg_files
+  "msg/OccupancyGridUpdate.msg"
+  "msg/PointCloud2Update.msg"
+  "msg/ProjectedMapInfo.msg"
+  "msg/ProjectedMap.msg"
 )
-add_service_files(
-  FILES
-    GetMapROI.srv
-    GetPointMapROI.srv
-    GetPointMap.srv
-    ProjectedMapsInfo.srv
-    SaveMap.srv
-    SetMapProjections.srv
+set(srv_files
+  "srv/GetMapROI.srv"
+  "srv/GetPointMapROI.srv"
+  "srv/GetPointMap.srv"
+  "srv/ProjectedMapsInfo.srv"
+  "srv/SaveMap.srv"
+  "srv/SetMapProjections.srv"
 )
-
-generate_messages(
-  DEPENDENCIES
-    std_msgs
-    sensor_msgs
-    nav_msgs
+rosidl_generate_interfaces(${PROJECT_NAME}
+  ${msg_files}
+  ${srv_files}
+  DEPENDENCIES nav_msgs sensor_msgs std_msgs
+  ADD_LINTER_TESTS
 )
 
-catkin_package(
-  CATKIN_DEPENDS
-    std_msgs
-    sensor_msgs
-    nav_msgs
-)
+ament_export_dependencies(rosidl_default_runtime)
+
+ament_package()
diff --git a/map_msgs/msg/OccupancyGridUpdate.msg b/map_msgs/msg/OccupancyGridUpdate.msg
index 1014606..3587fa8 100644
--- a/map_msgs/msg/OccupancyGridUpdate.msg
+++ b/map_msgs/msg/OccupancyGridUpdate.msg
@@ -1,4 +1,4 @@
-Header header
+std_msgs/Header header
 int32 x
 int32 y
 uint32 width
diff --git a/map_msgs/msg/PointCloud2Update.msg b/map_msgs/msg/PointCloud2Update.msg
index d5619d2..7637784 100644
--- a/map_msgs/msg/PointCloud2Update.msg
+++ b/map_msgs/msg/PointCloud2Update.msg
@@ -1,5 +1,5 @@
 uint32 ADD=0
 uint32 DELETE=1
-Header header
+std_msgs/Header header
 uint32 type          # type of update, one of ADD or DELETE
 sensor_msgs/PointCloud2 points
diff --git a/map_msgs/package.xml b/map_msgs/package.xml
index 7890979..dc6bb80 100644
--- a/map_msgs/package.xml
+++ b/map_msgs/package.xml
@@ -1,27 +1,37 @@
-<package>
-   <name>map_msgs</name>
-   <version>1.13.0</version>
-   <description>
-      This package defines messages commonly used in mapping packages.
-   </description>
-   <author>Stéphane Magnenat</author>
-   <maintainer email="davidvlu@gmail.com">David V. Lu!!</maintainer>
-   <maintainer email="mferguson@fetchrobotics.com">Michael Ferguson</maintainer>
-
-   <license>BSD</license>
-   <url type="website">http://ros.org/wiki/map_msgs</url>
-   <url type="bugtracker">https://github.com/ros-planning/navigation_msgs/issues</url>
-
-   <buildtool_depend>catkin</buildtool_depend>
-
-   <build_depend>message_generation</build_depend>
-   <build_depend>std_msgs</build_depend>
-   <build_depend>sensor_msgs</build_depend>
-   <build_depend>nav_msgs</build_depend>
-
-   <run_depend>message_runtime</run_depend>
-   <run_depend>std_msgs</run_depend>
-   <run_depend>sensor_msgs</run_depend>
-   <run_depend>nav_msgs</run_depend>
+<?xml version="1.0"?>
+<?xml-model
+    href="http://download.ros.org/schema/package_format3.xsd"
+    schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+    <name>map_msgs</name>
+    <version>2.0.0</version>
+    <description>
+        This package defines messages commonly used in mapping packages.
+    </description>
+    <author>Stéphane Magnenat</author>
+    <maintainer email="davidvlu@gmail.com">David V. Lu!!</maintainer>
+    <maintainer email="mferguson@fetchrobotics.com">Michael Ferguson</maintainer>
+    <maintainer email="william@osrfoundation.org">William Woodall</maintainer>
+
+    <license>BSD</license>
+    <url type="website">http://ros.org/wiki/map_msgs</url>
+    <url type="bugtracker">https://github.com/ros-planning/navigation_msgs/issues</url>
+
+    <buildtool_depend>ament_cmake</buildtool_depend>
+
+    <buildtool_depend>rosidl_default_generators</buildtool_depend>
+
+    <build_depend>nav_msgs</build_depend>
+    <build_depend>sensor_msgs</build_depend>
+    <build_depend>std_msgs</build_depend>
+
+    <exec_depend>nav_msgs</exec_depend>
+    <exec_depend>rosidl_default_runtime</exec_depend>
+    <exec_depend>sensor_msgs</exec_depend>
+    <exec_depend>std_msgs</exec_depend>
+
+    <test_depend>ament_lint_common</test_depend>
+
+    <member_of_group>rosidl_interface_packages</member_of_group>
 
 </package>
diff --git a/map_msgs/srv/GetPointMap.srv b/map_msgs/srv/GetPointMap.srv
index 493155b..89668e6 100644
--- a/map_msgs/srv/GetPointMap.srv
+++ b/map_msgs/srv/GetPointMap.srv
@@ -1,3 +1,3 @@
-# Get the map as a sensor_msgs/PointCloud2 
+# Get the map as a sensor_msgs/PointCloud2
 ---
 sensor_msgs/PointCloud2 map
diff --git a/map_msgs/srv/SaveMap.srv b/map_msgs/srv/SaveMap.srv
index f70181a..7e5208f 100644
--- a/map_msgs/srv/SaveMap.srv
+++ b/map_msgs/srv/SaveMap.srv
@@ -1,2 +1,2 @@
 # Save the map to the filesystem
-std_msgs/String filename 
+std_msgs/String filename
diff --git a/move_base_msgs/AMENT_IGNORE b/move_base_msgs/AMENT_IGNORE
new file mode 100644
index 0000000..e69de29
diff --git a/move_base_msgs/ROS2_README.md b/move_base_msgs/ROS2_README.md
new file mode 100644
index 0000000..53349b5
--- /dev/null
+++ b/move_base_msgs/ROS2_README.md
@@ -0,0 +1 @@
+TODO(wjwwood): port this when actions are supported
\ No newline at end of file
diff --git a/move_base_msgs/package.xml b/move_base_msgs/package.xml
index a57def4..ed6ba04 100644
--- a/move_base_msgs/package.xml
+++ b/move_base_msgs/package.xml
@@ -3,11 +3,11 @@
     <version>1.13.0</version>
     <description>
 
-        Holds the action description and relevant messages for the move_base package
+        Holds the action description and relevant messages for the move_base package.
 
     </description>
     <author>Eitan Marder-Eppstein</author>
-    <author>contradict@gmail.com</author>
+    <author email="contradict@gmail.com">contradict@gmail.com</author>
     <maintainer email="davidvlu@gmail.com">David V. Lu!!</maintainer>
     <maintainer email="mferguson@fetchrobotics.com">Michael Ferguson</maintainer>
     <license>BSD</license>