diff --git a/CMakeLists.txt b/CMakeLists.txt
index 348085e..7e00b0c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -65,9 +65,12 @@ install(PROGRAMS
 
 set_target_properties(${PROJECT_NAME} PROPERTIES WINDOWS_EXPORT_ALL_SYMBOLS TRUE)
 
+ament_python_install_package(${PROJECT_NAME})
+
 if(BUILD_TESTING)
   find_package(ament_cmake_gtest REQUIRED)
-  ament_add_gtest(test_parser test/srdf_parser.test)
+  find_package(ament_cmake_pytest REQUIRED)
+  ament_add_pytest_test(self_parser_test "test/test.py")
 
   add_definitions(-DTEST_RESOURCE_LOCATION="${CMAKE_SOURCE_DIR}/test/resources")
   execute_process(COMMAND bash -c "locale -a | grep -q ^en_US"
@@ -77,8 +80,10 @@ if(BUILD_TESTING)
     message(STATUS "Locale nl_NL not available. Locale test will not be meaningful.")
   endif()
 
-  ament_add_gtest(test_cpp test/srdf_parser_cpp.test test/test_parser.cpp)
-  target_link_libraries(test_cpp ${PROJECT_NAME})
+  foreach(LOCALE IN ITEMS C nl_NL.UTF-8)
+    ament_add_gtest(test_cpp_${LOCALE} test/test_parser.cpp ENV LC_ALL=${LOCALE})
+    target_link_libraries(test_cpp_${LOCALE} ${PROJECT_NAME})
+  endforeach()
 
   # ament_lint
   find_package(ament_lint_auto REQUIRED)
diff --git a/package.xml b/package.xml
index 2efa152..80ba6ee 100644
--- a/package.xml
+++ b/package.xml
@@ -15,6 +15,7 @@
   <url type="repository">https://github.com/ros-planning/srdfdom</url>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>ament_cmake_python</buildtool_depend>
   <build_depend>libboost-dev</build_depend>
   <build_depend>console_bridge_vendor</build_depend>
   <build_depend>libconsole-bridge-dev</build_depend>
@@ -29,6 +30,7 @@
   <exec_depend>urdfdom_py</exec_depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>ament_cmake_pytest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_cmake</test_depend>
   <export>
diff --git a/setup.py b/setup.py
deleted file mode 100644
index 0ce2a2a..0000000
--- a/setup.py
+++ /dev/null
@@ -1,9 +0,0 @@
-#!/usr/bin/env python
-
-from setuptools import setup
-from catkin_pkg.python_setup import generate_distutils_setup
-
-# fetch values from package.xml
-setup_args = generate_distutils_setup(packages=["srdfdom"], package_dir={"": "src"})
-
-setup(**setup_args)
diff --git a/src/srdfdom/__init__.py b/srdfdom/__init__.py
similarity index 100%
rename from src/srdfdom/__init__.py
rename to srdfdom/__init__.py
diff --git a/src/srdfdom/srdf.py b/srdfdom/srdf.py
similarity index 100%
rename from src/srdfdom/srdf.py
rename to srdfdom/srdf.py
diff --git a/test/srdf_parser.test b/test/srdf_parser.test
deleted file mode 100644
index e40ee04..0000000
--- a/test/srdf_parser.test
+++ /dev/null
@@ -1,3 +0,0 @@
-<launch>
-  <test test-name="test_srdf_parser_python" pkg="srdfdom" type="test.py" />
-</launch>
diff --git a/test/srdf_parser_cpp.test b/test/srdf_parser_cpp.test
deleted file mode 100644
index d7a3ce3..0000000
--- a/test/srdf_parser_cpp.test
+++ /dev/null
@@ -1,8 +0,0 @@
-<launch>
-  <test test-name="test_srdf_parser_cpp" pkg="srdfdom" type="test_cpp">
-    <env name="LC_ALL" value="C" />
-  </test>
-  <test test-name="test_srdf_parser_cpp_locale" pkg="srdfdom" type="test_cpp">
-    <env name="LC_ALL" value="nl_NL.UTF-8" />
-  </test>
-</launch>
diff --git a/test/test.py b/test/test.py
index 34c4317..3fa0dc6 100755
--- a/test/test.py
+++ b/test/test.py
@@ -1,18 +1,13 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 PKG = "srdfdom"
 
 import sys
-import rospkg
+import os
 import unittest
 from srdfdom.srdf import SRDF
 from xml.dom.minidom import parseString
 import xml.dom
 
-try:
-    string_types = (str, unicode)
-except NameError:
-    string_types = str
-
 # xml match code from test_xacro.py
 # by Stuart Glaser and William Woodall
 
@@ -91,9 +86,9 @@ def elements_match(a, b):
 
 
 def xml_matches(a, b):
-    if isinstance(a, string_types):
+    if isinstance(a, str):
         return xml_matches(parseString(a).documentElement, b)
-    if isinstance(b, string_types):
+    if isinstance(b, str):
         return xml_matches(a, parseString(b).documentElement)
     if a.nodeType == xml.dom.Node.DOCUMENT_NODE:
         return xml_matches(a.documentElement, b)
@@ -102,7 +97,6 @@ def xml_matches(a, b):
     if not elements_match(a, b):
         print("Match failed:")
         a.writexml(sys.stdout)
-        print
         print("=" * 78)
         b.writexml(sys.stdout)
         return False
@@ -170,7 +164,7 @@ def test_full_srdf(self):
         self.assertTrue(xml_matches(robot.to_xml_string(), expected))
 
     def test_simple_srdf(self):
-        datadir = rospkg.RosPack().get_path("srdfdom") + "/test/resources/"
+        datadir = os.path.dirname(os.path.realpath(__file__)) + "/resources/"
         stream = open(datadir + "pr2_desc.1.srdf", "r")
         robot = SRDF.from_xml_string(stream.read())
         stream.close()
@@ -190,7 +184,7 @@ def test_simple_srdf(self):
         self.assertTrue(len(robot.end_effectors) == 0)
 
     def test_complex_srdf(self):
-        datadir = rospkg.RosPack().get_path("srdfdom") + "/test/resources/"
+        datadir = os.path.dirname(os.path.realpath(__file__)) + "/resources/"
         stream = open(datadir + "pr2_desc.3.srdf", "r")
         robot = SRDF.from_xml_string(stream.read())
         stream.close()
@@ -258,6 +252,8 @@ def test_complex_srdf(self):
 
 
 if __name__ == "__main__":
-    import rostest
-
-    rostest.rosrun(PKG, "srdf_python_parser_test", TestSRDFParser)
+    suite = unittest.TestSuite()
+    suite.addTest(TestSRDFParser("test_full_srdf"))
+    suite.addTest(TestSRDFParser("test_simple_srdf"))
+    suite.addTest(TestSRDFParser("test_complex_srdf"))
+    unittest.TextTestRunner(verbosity=2).run(suite)