diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index 7216bfc..75e2c53 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -2,6 +2,17 @@
 Changelog for package octomap_msgs
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.0.1 (2024-11-08)
+------------------
+* Fix CMake install of headers (`#20 <https://github.com/OctoMap/octomap_msgs/issues/20>`_)
+* Contributors: Tyler Weaver, Wolfgang Merkt
+
+2.0.0 (2020-07-01)
+------------------
+* Change version to 2.0.0 for ROS2; update maintainer
+* Porting to ROS2, based on ROS version 0.3.3 `#13 <https://github.com/OctoMap/octomap_msgs/pull/13>`_
+* Contributors: Yan Yu, Ibai Apellaniz, Henning Kayser, Wolfgang Merkt
+
 0.3.3 (2016-06-11)
 ------------------
 * Fix for binary ColorOcTrees messages
diff --git a/CMakeLists.txt b/CMakeLists.txt
index bc73c30..f535eb0 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,27 +1,44 @@
-cmake_minimum_required(VERSION 2.8)
+cmake_minimum_required(VERSION 3.5)
 project(octomap_msgs)
 
-find_package(catkin REQUIRED COMPONENTS message_generation geometry_msgs std_msgs)
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+# Disable Wredundant-decls warnings since rosidl generates redundant function declarations 
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Wpedantic -Wno-redundant-decls")
+endif()
 
 include_directories(include)
 
-add_message_files(
-  DIRECTORY msg
-  FILES Octomap.msg OctomapWithPose.msg
-  )
+find_package(ament_cmake REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
 
-add_service_files(
-  DIRECTORY srv
-  FILES GetOctomap.srv BoundingBoxQuery.srv
+set(msg_files
+	"msg/Octomap.msg"
+	"msg/OctomapWithPose.msg"
+)
+set(srv_files
+	"srv/BoundingBoxQuery.srv"
+	"srv/GetOctomap.srv"
 )
 
-generate_messages(DEPENDENCIES std_msgs geometry_msgs)
-
-catkin_package(DEPENDS message_runtime geometry_msgs std_msgs
-               INCLUDE_DIRS include
+rosidl_generate_interfaces(${PROJECT_NAME}
+  ${msg_files}
+  ${srv_files}
+	DEPENDENCIES
+		std_msgs
+		geometry_msgs
 )
 
 install(DIRECTORY include/
-        DESTINATION include
+        DESTINATION include/${PROJECT_NAME}
         FILES_MATCHING PATTERN "*.h"
         PATTERN ".svn" EXCLUDE)
+
+ament_export_dependencies(rosidl_default_runtime)
+ament_package()
diff --git a/include/octomap_msgs/conversions.h b/include/octomap_msgs/conversions.h
index 311bf41..fc3ec77 100644
--- a/include/octomap_msgs/conversions.h
+++ b/include/octomap_msgs/conversions.h
@@ -39,7 +39,7 @@
 #define OCTOMAP_MSGS_CONVERT_MSGS_H
 
 #include <octomap/octomap.h>
-#include <octomap_msgs/Octomap.h>
+#include <octomap_msgs/msg/octomap.hpp>
 #include <octomap/ColorOcTree.h>
 
 // new conversion functions  
@@ -52,7 +52,7 @@ namespace octomap_msgs{
    * full map information (i.e., binary is false) and returns an AbstractOcTree*
    * to it. You will need to free the memory when you're done.
    */  
-  static inline octomap::AbstractOcTree* fullMsgToMap(const Octomap& msg){
+  static inline octomap::AbstractOcTree* fullMsgToMap(const octomap_msgs::msg::Octomap& msg){
     octomap::AbstractOcTree* tree = octomap::AbstractOcTree::createTree(msg.id, msg.resolution);    
     if (tree){
       std::stringstream datastream;
@@ -67,7 +67,7 @@ namespace octomap_msgs{
 
 
   template<class TreeType>
-  void readTree(TreeType* octree, const Octomap& msg){
+  void readTree(TreeType* octree, const octomap_msgs::msg::Octomap& msg){
     std::stringstream datastream;
     if (msg.data.size() > 0){
       datastream.write((const char*) &msg.data[0], msg.data.size());
@@ -82,7 +82,7 @@ namespace octomap_msgs{
    * This creates a new OcTree object and returns a pointer to it.
    * You will need to free the memory when you're done.
    */
-  static inline octomap::AbstractOcTree* binaryMsgToMap(const Octomap& msg){
+  static inline octomap::AbstractOcTree* binaryMsgToMap(const octomap_msgs::msg::Octomap& msg){
     if (!msg.binary)
       return NULL;
 
@@ -107,7 +107,7 @@ namespace octomap_msgs{
    * \brief Convert an octomap representation to a new octree (full probabilities
    * or binary). You will need to free the memory. Return NULL on error.
    **/
-  static inline octomap::AbstractOcTree* msgToMap(const Octomap& msg){
+  static inline octomap::AbstractOcTree* msgToMap(const octomap_msgs::msg::Octomap& msg){
     if (msg.binary)
       return binaryMsgToMap(msg);
     else
@@ -163,7 +163,7 @@ namespace octomap_msgs{
    * @return success of serialization
    */
   template <class OctomapT>
-  static inline bool binaryMapToMsg(const OctomapT& octomap, Octomap& msg){
+  static inline bool binaryMapToMsg(const OctomapT& octomap, octomap_msgs::msg::Octomap& msg){
     msg.resolution = octomap.getResolution();
     msg.id = octomap.getTreeType();
     msg.binary = true;
@@ -185,7 +185,7 @@ namespace octomap_msgs{
    * @return success of serialization
    */
   template <class OctomapT>
-  static inline bool fullMapToMsg(const OctomapT& octomap, Octomap& msg){
+  static inline bool fullMapToMsg(const OctomapT& octomap, octomap_msgs::msg::Octomap& msg){
     msg.resolution = octomap.getResolution();
     msg.id = octomap.getTreeType();
     msg.binary = false;
diff --git a/msg/Octomap.msg b/msg/Octomap.msg
index fd67295..1cc59d7 100644
--- a/msg/Octomap.msg
+++ b/msg/Octomap.msg
@@ -1,5 +1,5 @@
 # A 3D map in binary format, as Octree
-Header header
+std_msgs/Header header
 
 # Flag to denote a binary (only free/occupied) or full occupancy octree (.bt/.ot file)
 bool binary
diff --git a/msg/OctomapWithPose.msg b/msg/OctomapWithPose.msg
index 5a6e8ac..2963922 100644
--- a/msg/OctomapWithPose.msg
+++ b/msg/OctomapWithPose.msg
@@ -1,7 +1,7 @@
 # A 3D map in binary format, as Octree
-Header header
+std_msgs/Header header
 
-# The pose of the octree with respect to the header frame 
+# The pose of the octree with respect to the header frame
 geometry_msgs/Pose origin
 
 # The actual octree msg
diff --git a/package.xml b/package.xml
index 4ae26fd..6ddfa99 100644
--- a/package.xml
+++ b/package.xml
@@ -1,26 +1,33 @@
-<package>
+<package format="3">
   <name>octomap_msgs</name>
-  <version>0.3.3</version>
+  <version>2.0.1</version>
   <description>
-   This package provides messages and serializations / conversion for the <a href="http://octomap.github.com">OctoMap library</a>.    
+   This package provides messages and serializations / conversion for the <a href="http://octomap.github.com">OctoMap library</a>.
+   This ROS2 version is based on version 0.3.3 of the ROS1 package.
   </description>
 
   <author email="armin@hornung.io">Armin Hornung</author>
-  <maintainer email="armin@hornung.io">Armin Hornung</maintainer>
+  <maintainer email="opensource@wolfgangmerkt.com">Wolfgang Merkt</maintainer>
 
-  <license>BSD</license>  
+  <license>BSD</license>
 
   <url type="website">http://ros.org/wiki/octomap_msgs</url>
   <url type="bugtracker">https://github.com/OctoMap/octomap_msgs/issues</url>
 
-  <buildtool_depend>catkin</buildtool_depend>
- 
-  <build_depend>message_generation</build_depend>
-  <build_depend>geometry_msgs</build_depend>
-  <build_depend>std_msgs</build_depend>
-  
-  <run_depend>geometry_msgs</run_depend>
-  <run_depend>std_msgs</run_depend>
-  <run_depend>message_runtime</run_depend>
+  <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+
+  <build_depend>rosidl_default_generators</build_depend>
+
+  <depend>std_msgs</depend>
+  <depend>geometry_msgs</depend>
+
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
 </package>