diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0604a02..dd7ed3f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,138 +1,18 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(nmea_navsat_driver)
 
-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
-find_package(catkin REQUIRED COMPONENTS geometry_msgs nmea_msgs sensor_msgs)
+find_package(catkin REQUIRED COMPONENTS roslint)
 
-## System dependencies are found with CMake's conventions
-# find_package(Boost REQUIRED COMPONENTS system)
-
-
-## Uncomment this if the package has a setup.py. This macro ensures
-## modules and global scripts declared therein get installed
-## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
 catkin_python_setup()
+catkin_package()
 
-#######################################
-## Declare ROS messages and services ##
-#######################################
-
-## Generate messages in the 'msg' folder
-# add_message_files(
-#   FILES
-#   Message1.msg
-#   Message2.msg
-# )
-
-## Generate services in the 'srv' folder
-# add_service_files(
-#   FILES
-#   Service1.srv
-#   Service2.srv
-# )
-
-## Generate added messages and services with any dependencies listed here
-# generate_messages(
-#   DEPENDENCIES
-#   geometry_msgs#   nmea_msgs#   sensor_msgs
-# )
-
-###################################
-## catkin specific configuration ##
-###################################
-## The catkin_package macro generates cmake config files for your package
-## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if you package contains header files
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
-catkin_package(
-  CATKIN_DEPENDS geometry_msgs nmea_msgs sensor_msgs
-)
-
-###########
-## Build ##
-###########
-
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
-# include_directories(include)
-include_directories(
-  ${catkin_INCLUDE_DIRS}
-)
-
-## Declare a cpp library
-# add_library(nmea_navsat_driver
-#   src/${PROJECT_NAME}/nmea_navsat_driver.cpp
-# )
-
-## Declare a cpp executable
-# add_executable(nmea_navsat_driver_node src/nmea_navsat_driver_node.cpp)
-
-## Add cmake target dependencies of the executable/library
-## as an example, message headers may need to be generated before nodes
-# add_dependencies(nmea_navsat_driver_node nmea_navsat_driver_generate_messages_cpp)
-
-## Specify libraries to link a library or executable target against
-# target_link_libraries(nmea_navsat_driver_node
-#   ${catkin_LIBRARIES}
-# )
-
-#############
-## Install ##
-#############
-
-# all install targets should use catkin DESTINATION variables
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
-
-## Mark executable scripts (Python etc.) for installation
-## not required for python when using catkin_python_setup()
- install(PROGRAMS
+install(PROGRAMS
    scripts/nmea_serial_driver
    scripts/nmea_topic_driver
    scripts/nmea_topic_serial_reader
    DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
- )
-
-## Mark executable scripts (Python etc.) for installation
-## in contrast to setup.py, you can choose the destination
-# install(PROGRAMS
-#   scripts/my_python_script
-#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark executables and/or libraries for installation
-# install(TARGETS nmea_navsat_driver nmea_navsat_driver_node
-#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark cpp header files for installation
-# install(DIRECTORY include/${PROJECT_NAME}/
-#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-#   FILES_MATCHING PATTERN "*.h"
-#   PATTERN ".svn" EXCLUDE
-# )
-
-## Mark other files for installation (e.g. launch and bag files, etc.)
-# install(FILES
-#   # myfile1
-#   # myfile2
-#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
-
-#############
-## Testing ##
-#############
-
-## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_nmea_navsat_driver.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
+)
 
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)
+# Check package for pep8 style, add a test to fail on violations.
+roslint_python()
+roslint_add_test()
diff --git a/package.xml b/package.xml
index 08ebe3c..f77b89c 100644
--- a/package.xml
+++ b/package.xml
@@ -9,54 +9,29 @@
   <!-- One maintainer tag required, multiple allowed, one person per tag --> 
   <maintainer email="eric@ericperko.com">Eric Perko</maintainer>
 
-
   <!-- One license tag required, multiple allowed, one license per tag -->
-  <!-- Commonly used license strings: -->
-  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
   <license>BSD</license>
 
-
   <!-- Url tags are optional, but mutiple are allowed, one per tag -->
   <!-- Optional attribute type can be: website, bugtracker, or repository -->
   <url type="website">http://ros.org/wiki/nmea_navsat_driver</url>
 
-
   <!-- Author tags are optional, mutiple are allowed, one per tag -->
   <!-- Authors do not have to be maintianers, but could be -->
   <author email="eric@ericperko.com">Eric Perko</author>
   <author>Steven Martin</author>
 
-  <!-- The *_depend tags are used to specify dependencies -->
-  <!-- Dependencies can be catkin packages or system dependencies -->
-  <!-- Examples: -->
-  <!-- Use build_depend for packages you need at compile time: -->
-  <!--   <build_depend>message_generation</build_depend> -->
-  <!-- Use buildtool_depend for build tool packages: -->
-  <!--   <buildtool_depend>catkin</buildtool_depend> -->
-  <!-- Use run_depend for packages you need at runtime: -->
-  <!--   <run_depend>message_runtime</run_depend> -->
-  <!-- Use test_depend for packages you need only for testing: -->
-  <!--   <test_depend>gtest</test_depend> -->
   <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>geometry_msgs</build_depend>
-  <build_depend>nmea_msgs</build_depend>
-  <build_depend>sensor_msgs</build_depend>
+  <build_depend>roslint</build_depend>
   <run_depend>rospy</run_depend>
   <run_depend>python-serial</run_depend>
   <run_depend>geometry_msgs</run_depend>
   <run_depend>nmea_msgs</run_depend>
   <run_depend>sensor_msgs</run_depend>
 
-
   <!-- The export tag contains other, unspecified, tags -->
   <export>
     <!-- This is a pure Python package, so mark it architecture independent -->
     <architecture_independent/>
-
-    <!-- You can specify that this package is a metapackage here: -->
-    <!-- <metapackage/> -->
-
-    <!-- Other tools can request additional information be placed here -->
-
   </export>
 </package>