diff --git a/NaviGator/utils/navigator_msgs/CMakeLists.txt b/NaviGator/utils/navigator_msgs/CMakeLists.txt
index a81379d29..b15781ee1 100644
--- a/NaviGator/utils/navigator_msgs/CMakeLists.txt
+++ b/NaviGator/utils/navigator_msgs/CMakeLists.txt
@@ -1,67 +1,16 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.5)
 project(navigator_msgs)
 
-find_package(catkin REQUIRED COMPONENTS
-  roscpp
-  std_msgs
-  message_generation
-  geometry_msgs
-  genmsg
-  actionlib_msgs
-  actionlib
-  sensor_msgs
-)
-
-add_message_files(
-  DIRECTORY msg
-  FILES
-  Acceleration.msg
-  PoseTwist.msg
-  Coordinates.msg
-  PoseTwistStamped.msg
-  PerceptionObject.msg
-  PerceptionObjectArray.msg
-  DockShape.msg
-  DockShapes.msg
-  KillStatus.msg
-  Host.msg
-  Hosts.msg
-  ColoramaDebug.msg
-  ScanTheCode.msg
-)
-
-add_service_files(
-  DIRECTORY srv
-  FILES
-  AcousticBeacon.srv
-  ChooseAnimal.srv
-  MoveToWaypoint.srv
-  ShooterManual.srv
-  VisionRequest.srv
-  GetDockShape.srv
-  GetDockShapes.srv
-  StartGate.srv
-  SetROI.srv
-  CoordinateConversion.srv
-  StereoShapeDetector.srv
-  ScanTheCodeMission.srv
-  ObjectDBQuery.srv
-  CameraDBQuery.srv
-  CameraToLidarTransform.srv
-  KeyboardControl.srv
-  ColorRequest.srv
-  FindPinger.srv
-  SetFrequency.srv
-  GetDockBays.srv
-  MessageDetectDock.srv
-  MessageEntranceExitGate.srv
-  MessageFindFling.srv
-  MessageFollowPath.srv
-  MessageReactReport.srv
-  MessageUAVReplenishment.srv
-  MessageUAVSearchReport.srv
-  TwoClosestCones.srv
-)
+find_package(rosidl_default_generators REQUIRED)
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(genmsg REQUIRED)
+find_package(actionlib_msgs REQUIRED)
+find_package(actionlib REQUIRED)
+find_package(sensor_msgs REQUIRED)
+set(CMAKE_CXX_STANDARD 14)
 
 add_action_files(
   DIRECTORY action
@@ -69,20 +18,56 @@ add_action_files(
   ClassifyUnknown.action
   ShooterDo.action
   )
-
-generate_messages(
-  DEPENDENCIES
-  std_msgs
-  geometry_msgs
-  actionlib_msgs
-  sensor_msgs
-)
-
-catkin_package(
-  CATKIN_DEPENDS
-  std_msgs
-  geometry_msgs
-  sensor_msgs
+rosidl_generate_interfaces(
+    ${PROJECT_NAME}
+        msg/Hosts.msg
+        msg/ColoramaDebug.msg
+        msg/PerceptionObject.msg
+        msg/Acceleration.msg
+        msg/PerceptionObjectArray.msg
+        msg/PoseTwistStamped.msg
+        msg/Host.msg
+        msg/DockShape.msg
+        msg/PoseTwist.msg
+        msg/ScanTheCode.msg
+        msg/KillStatus.msg
+        msg/DockShapes.msg
+        msg/Coordinates.msg
+        action/ShooterDo.action
+        action/ClassifyUnknown.action
+        srv/KeyboardControl.srv
+        srv/MessageReactReport.srv
+        srv/ObjectDBQuery.srv
+        srv/CameraDBQuery.srv
+        srv/ChooseAnimal.srv
+        srv/GetDockShape.srv
+        srv/ShooterManual.srv
+        srv/MessageUAVSearchReport.srv
+        srv/VisionRequest.srv
+        srv/MoveToWaypoint.srv
+        srv/ScanTheCodeMission.srv
+        srv/MessageDetectDock.srv
+        srv/StereoShapeDetector.srv
+        srv/SetFrequency.srv
+        srv/CameraToLidarTransform.srv
+        srv/GetDockBays.srv
+        srv/MessageFollowPath.srv
+        srv/FindPinger.srv
+        srv/ColorRequest.srv
+        srv/TwoClosestCones.srv
+        srv/StartGate.srv
+        srv/CoordinateConversion.srv
+        srv/MessageEntranceExitGate.srv
+        srv/MessageUAVReplenishment.srv
+        srv/SetROI.srv
+        srv/MessageFindFling.srv
+        srv/GetDockShapes.srv
+        srv/AcousticBeacon.srv
+    DEPENDENCIES
+        geometry_msgs
+        std_msgs
+        actionlib_msgs
+        sensor_msgs
 )
 
 #catkin_package(
@@ -92,3 +77,5 @@ catkin_package(
   #message_runtime
   #actionlib_msgs
 #)
+ament_export_dependencies(std_msgs geometry_msgs sensor_msgs)
+ament_package()
diff --git a/NaviGator/utils/navigator_msgs/action/ShooterDo.action b/NaviGator/utils/navigator_msgs/action/ShooterDo.action
index c69ed3145..4fb4bfe85 100644
--- a/NaviGator/utils/navigator_msgs/action/ShooterDo.action
+++ b/NaviGator/utils/navigator_msgs/action/ShooterDo.action
@@ -1,13 +1,12 @@
-
 ---
 # Define the result
 bool success
 string error
-string ALREADY_RUNNING=ALREADY_RUNNING
-string NOT_LOADED=NOT_LOADED
-string ALREADY_LOADED=ALREADY_LOADED
-string MANUAL_CONTROL_USED=MANUAL_CONTROL_USED
-string KILLED=KILLED
+string ALREADY_RUNNING==ALREADY_RUNNING
+string NOT_LOADED==NOT_LOADED
+string ALREADY_LOADED==ALREADY_LOADED
+string MANUAL_CONTROL_USED==MANUAL_CONTROL_USED
+string KILLED==KILLED
 ---
 # Define a feedback message
-duration time_remaining
+builtin_interfaces/Duration time_remaining
diff --git a/NaviGator/utils/navigator_msgs/msg/DockShape.msg b/NaviGator/utils/navigator_msgs/msg/DockShape.msg
index f2998ca16..bce3407b0 100644
--- a/NaviGator/utils/navigator_msgs/msg/DockShape.msg
+++ b/NaviGator/utils/navigator_msgs/msg/DockShape.msg
@@ -1,19 +1,15 @@
 string Shape
-string CROSS=CROSS
-string TRIANGLE=TRIANGLE
-string CIRCLE =CIRCLE
-
+string CROSS==CROSS
+string TRIANGLE==TRIANGLE
+string CIRCLE==CIRCLE
 string Color
-string RED=RED
-string BLUE=BLUE
-string GREEN=GREEN
-
+string RED==RED
+string BLUE==BLUE
+string GREEN==GREEN
 uint32 CenterX
 uint32 CenterY
-
 uint16 img_width
-Header header
+std_msgs/Header header
 geometry_msgs/Point[] points
-
 float32 color_confidence
 float32 shape_confidence
diff --git a/NaviGator/utils/navigator_msgs/msg/PoseTwistStamped.msg b/NaviGator/utils/navigator_msgs/msg/PoseTwistStamped.msg
index 631c35232..ac1f1adae 100644
--- a/NaviGator/utils/navigator_msgs/msg/PoseTwistStamped.msg
+++ b/NaviGator/utils/navigator_msgs/msg/PoseTwistStamped.msg
@@ -1,3 +1,2 @@
-# pose is in header.frame_id. twist is in frame defined by pose (ie. body)
-Header header
+# pose is in header.frame_id. twist is in frame defined by pose (ie. body)std_msgs/Header header
 PoseTwist posetwist
diff --git a/NaviGator/utils/navigator_msgs/package.xml b/NaviGator/utils/navigator_msgs/package.xml
index 3d2adcefe..911650cfa 100644
--- a/NaviGator/utils/navigator_msgs/package.xml
+++ b/NaviGator/utils/navigator_msgs/package.xml
@@ -1,26 +1,25 @@
 <?xml version="1.0"?>
-<package>
+<?xml-model
+  href="http://download.ros.org/schema/package_format3.xsd"
+  schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
   <name>navigator_msgs</name>
   <version>1.0.0</version>
   <description>The navigator_msgs package</description>
   <maintainer email="zachgoins@todo.todo">zachgoins</maintainer>
   <license>BSD</license>
-  <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>actionlib</build_depend>
-  <build_depend>actionlib</build_depend>
-  <build_depend>actionlib_msgs</build_depend>
-  <build_depend>actionlib_msgs</build_depend>
-  <build_depend>geometry_msgs</build_depend>
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+  <depend>actionlib</depend>
+  <depend>actionlib_msgs</depend>
+  <depend>geometry_msgs</depend>
+  <depend>message_runtime</depend>
+  <depend>sensor_msgs</depend>
+  <depend>std_msgs</depend>
   <build_depend>message_generation</build_depend>
-  <build_depend>message_runtime</build_depend>
-  <build_depend>sensor_msgs</build_depend>
-  <build_depend>std_msgs</build_depend>
-  <run_depend>sensor_msgs</run_depend>
-  <run_depend>actionlib</run_depend>
-  <run_depend>actionlib_msgs</run_depend>
-  <run_depend>std_msgs</run_depend>
-  <run_depend>geometry_msgs</run_depend>
-  <run_depend>message_runtime</run_depend>
-  <run_depend>actionlib_msgs</run_depend>
-  <export/>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+  <member_of_group>rosidl_interface_packages</member_of_group>
 </package>
diff --git a/NaviGator/utils/navigator_msgs/srv/CameraToLidarTransform.srv b/NaviGator/utils/navigator_msgs/srv/CameraToLidarTransform.srv
index 152ab55a6..d4f2ab0f0 100644
--- a/NaviGator/utils/navigator_msgs/srv/CameraToLidarTransform.srv
+++ b/NaviGator/utils/navigator_msgs/srv/CameraToLidarTransform.srv
@@ -1,12 +1,12 @@
-Header header #Stamp of time point was seen for tf
+std_msgs/Header header      #Stamp of time point was seen for tf
 geometry_msgs/Point point #X and Y of point in camera frame, Z is ignored
-uint16 tolerance #Number of pixels the projected 3D lidar point can be from the target point to be included in the response
+uint16 tolerance#Number of pixels the projected 3D lidar point can be from the target point to be included in the response
 ---
-bool success #True if at least one point found in lidar and transformed
-geometry_msgs/Point[] transformed #Points in  3-D in camera frame if success is true
-geometry_msgs/Point closest #3D point that is the closest to the target point when transformed and projected
-geometry_msgs/Vector3 normal #Normal unit vector in camera frame estimated from transformed points
-float64 distance #mean z of transformed points
-string error #Describes when went wrong if success if false
-string CLOUD_NOT_FOUND=pointcloud not found
-string NO_POINTS_FOUND=no points
+bool success#True if at least one point found in lidar and transformed
+geometry_msgs/Point[] transformed#Points in  3-D in camera frame if success is true
+geometry_msgs/Point closest#3D point that is the closest to the target point when transformed and projected
+geometry_msgs/Vector3 normal#Normal unit vector in camera frame estimated from transformed points
+float64 distance#mean z of transformed points
+string error#Describes when went wrong if success if false
+string CLOUD_NOT_FOUND==pointcloud not found
+string NO_POINTS_FOUND==no points