diff --git a/README.md b/README.md
index 13b1bd7b..a8ddeb99 100644
--- a/README.md
+++ b/README.md
@@ -22,7 +22,7 @@ Please ask support questions on [ROS Answers](http://answers.ros.org/questions/)
 
 On ROS Indigo or Jade, the `indigo-devel` branch is recommended.
 
-On ROS Kinetic, the `master` branch is recommended.
+On ROS Kinetic, Melodic and Noetic, the `master` branch is recommended.
 
 # Development, Branch and Release Policy
 
@@ -32,6 +32,6 @@ The `sound_play`, `groovy-devel` and `hydro-devel` branches are from previous RO
 
 The `indigo-devel` branch is the stable branch; only bug fixes are accepted on this branch. Periodic releases are done from `indigo-devel` into ROS Indigo and ROS Jade, with version numbers in the 0.2.x range.
 
-The `master` branch is currently considered the development branch, and is released into ROS Kinetic with version numbers in the 0.3.x range. `master` is accepting new, non-breaking features and bug fixes.
+The `master` branch is currently considered the development branch, and is released into ROS Kinetic, Melodic and Noetic with version numbers in the 0.3.x range. `master` is accepting new, non-breaking features and bug fixes.
 
 Large, breaking changes such as changes to dependencies or the package API will be considered, but they will probably be staged into a development branch for release into the next major release of ROS (ROS L)
diff --git a/sound_play/CMakeLists.txt b/sound_play/CMakeLists.txt
index 92bd8e01..552a04ea 100644
--- a/sound_play/CMakeLists.txt
+++ b/sound_play/CMakeLists.txt
@@ -16,29 +16,28 @@ generate_messages(DEPENDENCIES actionlib_msgs)
 catkin_package(CATKIN_DEPENDS message_runtime actionlib_msgs
                INCLUDE_DIRS include)
 
-# if(CATKIN_ENABLE_TESTING)
-#     catkin_add_nosetests(scripts/test)
-#
-#     add_subdirectory(test)
-# endif()
-
-install(PROGRAMS
-   scripts/playbuiltin.py
-   scripts/play.py
-   scripts/say.py
-   scripts/shutup.py
-   scripts/soundplay_node.py
-   scripts/test.py
-   scripts/test_actionlib_client.py
-      DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+catkin_install_python(PROGRAMS
+  scripts/playbuiltin.py
+  scripts/play.py
+  scripts/say.py
+  scripts/shutup.py
+  scripts/soundplay_node.py
+  scripts/test.py
+  scripts/test_actionlib_client.py
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
 
 install(FILES
-   soundplay_node.launch
-   test.launch
-      DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+  soundplay_node.launch
+  test.launch
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
 
 install(DIRECTORY include/${PROJECT_NAME}/
         DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
 
 install(DIRECTORY sounds
         DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+# if(CATKIN_ENABLE_TESTING)
+#   catkin_add_nosetests(scripts/test)
+#   add_subdirectory(test)
+# endif()
diff --git a/sound_play/package.xml b/sound_play/package.xml
index cf89c78f..92a9a8ca 100644
--- a/sound_play/package.xml
+++ b/sound_play/package.xml
@@ -1,4 +1,8 @@
-<package>
+<?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>sound_play</name>
    <version>0.3.4</version>
    <description>
@@ -12,6 +16,8 @@
    <url type="bugtracker">https://github.com/ros-drivers/audio_common/issues</url>
 
    <buildtool_depend>catkin</buildtool_depend>
+   <buildtool_depend condition="$ROS_PYTHON_VERSION == 2">python-setuptools</buildtool_depend>
+   <buildtool_depend condition="$ROS_PYTHON_VERSION == 3">python3-setuptools</buildtool_depend>
 
    <build_depend>roscpp</build_depend>
    <build_depend>roslib</build_depend>
@@ -21,21 +27,22 @@
    <build_depend>diagnostic_msgs</build_depend>
    <build_depend>message_generation</build_depend>
 
-   <run_depend>roscpp</run_depend>
-   <run_depend>roslib</run_depend>
-   <run_depend>actionlib_msgs</run_depend>
-   <run_depend>audio_common_msgs</run_depend>
-   <run_depend>diagnostic_msgs</run_depend>
+   <exec_depend>roscpp</exec_depend>
+   <exec_depend>roslib</exec_depend>
+   <exec_depend>actionlib_msgs</exec_depend>
+   <exec_depend>audio_common_msgs</exec_depend>
+   <exec_depend>diagnostic_msgs</exec_depend>
 
-   <run_depend>python-gi</run_depend>
-   <run_depend>gstreamer1.0</run_depend>
-   <run_depend>gstreamer1.0-plugins-base</run_depend>
-   <run_depend>gstreamer1.0-plugins-ugly</run_depend>
-   <run_depend>gstreamer1.0-plugins-good</run_depend>
+   <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-gi</exec_depend>
+   <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-gi</exec_depend>
+   <exec_depend>gstreamer1.0</exec_depend>
+   <exec_depend>gstreamer1.0-plugins-base</exec_depend>
+   <exec_depend>gstreamer1.0-plugins-ugly</exec_depend>
+   <exec_depend>gstreamer1.0-plugins-good</exec_depend>
 
-   <run_depend>rospy</run_depend>
-   <run_depend>festival</run_depend>
-   <run_depend>message_runtime</run_depend>
+   <exec_depend>rospy</exec_depend>
+   <exec_depend>festival</exec_depend>
+   <exec_depend>message_runtime</exec_depend>
 
    <export>
       <cpp cflags="-I${prefix}/include -I${prefix}/msg/cpp" />
diff --git a/sound_play/setup.py b/sound_play/setup.py
index e335d64a..29c05038 100644
--- a/sound_play/setup.py
+++ b/sound_play/setup.py
@@ -1,6 +1,4 @@
-#!/usr/bin/env python
-
-from distutils.core import setup
+from setuptools import setup
 from catkin_pkg.python_setup import generate_distutils_setup
 
 d = generate_distutils_setup(
diff --git a/sound_play/src/sound_play/__init__.py b/sound_play/src/sound_play/__init__.py
index fa64a038..8a611cb3 100644
--- a/sound_play/src/sound_play/__init__.py
+++ b/sound_play/src/sound_play/__init__.py
@@ -30,4 +30,4 @@
 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 # POSSIBILITY OF SUCH DAMAGE.
 
-import libsoundplay as libsoundplay
+import sound_play.libsoundplay as libsoundplay
diff --git a/sound_play/src/sound_play/libsoundplay.py b/sound_play/src/sound_play/libsoundplay.py
index 6254fb88..b1622a62 100644
--- a/sound_play/src/sound_play/libsoundplay.py
+++ b/sound_play/src/sound_play/libsoundplay.py
@@ -1,5 +1,3 @@
-#!/usr/bin/env python
-
 #***********************************************************
 #* Software License Agreement (BSD License)
 #*