diff --git a/topic_tools/CMakeLists.txt b/topic_tools/CMakeLists.txt
index 24b372f..fec002f 100644
--- a/topic_tools/CMakeLists.txt
+++ b/topic_tools/CMakeLists.txt
@@ -1,6 +1,10 @@
 cmake_minimum_required(VERSION 3.8)
 project(topic_tools)
 
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_components REQUIRED)
+find_package(topic_tools_interfaces REQUIRED)
+
 if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 17)
 endif()
@@ -9,26 +13,18 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-# find dependencies
-find_package(ament_cmake_auto REQUIRED)
-ament_auto_find_build_dependencies()
-
-ament_python_install_package(${PROJECT_NAME}
-  SETUP_CFG
-    ${PROJECT_NAME}/setup.cfg
-  SCRIPTS_DESTINATION
-    lib/${PROJECT_NAME}
-)
+include_directories(include)
 
-ament_auto_add_library(relay_node SHARED
+add_library(relay_node SHARED
   src/relay_node.cpp
   src/tool_base_node.cpp
 )
+ament_target_dependencies(relay_node rclcpp rclcpp_components)
 target_compile_definitions(relay_node PRIVATE "TOPIC_TOOLS_BUILDING_LIBRARY")
 
 rclcpp_components_register_nodes(relay_node "topic_tools::RelayNode")
 
-ament_auto_add_executable(relay
+add_executable(relay
   src/relay.cpp
 )
 
@@ -36,15 +32,16 @@ target_link_libraries(relay
   relay_node
 )
 
-ament_auto_add_library(throttle_node SHARED
+add_library(throttle_node SHARED
   src/throttle_node.cpp
   src/tool_base_node.cpp
 )
+ament_target_dependencies(throttle_node rclcpp rclcpp_components)
 target_compile_definitions(throttle_node PRIVATE "TOPIC_TOOLS_BUILDING_LIBRARY")
 
 rclcpp_components_register_nodes(throttle_node "topic_tools::ThrottleNode")
 
-ament_auto_add_executable(throttle
+add_executable(throttle
   src/throttle.cpp
 )
 
@@ -52,15 +49,16 @@ target_link_libraries(throttle
   throttle_node
 )
 
-ament_auto_add_library(drop_node SHARED
+add_library(drop_node SHARED
   src/drop_node.cpp
   src/tool_base_node.cpp
 )
+ament_target_dependencies(drop_node rclcpp rclcpp_components)
 target_compile_definitions(drop_node PRIVATE "TOPIC_TOOLS_BUILDING_LIBRARY")
 
 rclcpp_components_register_nodes(drop_node "topic_tools::DropNode")
 
-ament_auto_add_executable(drop
+add_executable(drop
   src/drop.cpp
 )
 
@@ -68,15 +66,16 @@ target_link_libraries(drop
   drop_node
 )
 
-ament_auto_add_library(mux_node SHARED
+add_library(mux_node SHARED
   src/mux_node.cpp
   src/tool_base_node.cpp
 )
+ament_target_dependencies(mux_node rclcpp rclcpp_components topic_tools_interfaces)
 target_compile_definitions(mux_node PRIVATE "TOPIC_TOOLS_BUILDING_LIBRARY")
 
 rclcpp_components_register_nodes(mux_node "topic_tools::MuxNode")
 
-ament_auto_add_executable(mux
+add_executable(mux
   src/mux.cpp
 )
 
@@ -84,15 +83,16 @@ target_link_libraries(mux
   mux_node
 )
 
-ament_auto_add_library(demux_node SHARED
+add_library(demux_node SHARED
   src/demux_node.cpp
   src/tool_base_node.cpp
 )
+ament_target_dependencies(demux_node rclcpp rclcpp_components topic_tools_interfaces)
 target_compile_definitions(demux_node PRIVATE "TOPIC_TOOLS_BUILDING_LIBRARY")
 
 rclcpp_components_register_nodes(demux_node "topic_tools::DemuxNode")
 
-ament_auto_add_executable(demux
+add_executable(demux
   src/demux.cpp
 )
 
@@ -100,15 +100,16 @@ target_link_libraries(demux
   demux_node
 )
 
-ament_auto_add_library(delay_node SHARED
+add_library(delay_node SHARED
   src/delay_node.cpp
   src/tool_base_node.cpp
 )
+ament_target_dependencies(delay_node rclcpp rclcpp_components)
 target_compile_definitions(delay_node PRIVATE "TOPIC_TOOLS_BUILDING_LIBRARY")
 
 rclcpp_components_register_nodes(delay_node "topic_tools::DelayNode")
 
-ament_auto_add_executable(delay
+add_executable(delay
   src/delay.cpp
 )
 
@@ -181,7 +182,12 @@ if(BUILD_TESTING)
   )
 endif()
 
-ament_auto_package(
-  INSTALL_TO_SHARE
-    launch
+install(TARGETS relay_node relay throttle_node throttle drop_node drop mux_node mux demux_node demux delay_node delay
+  DESTINATION lib/${PROJECT_NAME}
 )
+
+install(DIRECTORY launch
+  DESTINATION share/${PROJECT_NAME}
+)
+
+ament_package()
diff --git a/topic_tools/package.xml b/topic_tools/package.xml
index c01acd6..40bc762 100644
--- a/topic_tools/package.xml
+++ b/topic_tools/package.xml
@@ -11,7 +11,6 @@
   <maintainer email="ros-tooling@googlegroups.com">ROS Tooling Working Group</maintainer>
   <license>Apache License 2.0</license>
 
-  <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>ament_cmake_python</buildtool_depend>
   <buildtool_depend>rosidl_default_generators</buildtool_depend>
 
diff --git a/topic_tools_interfaces/CMakeLists.txt b/topic_tools_interfaces/CMakeLists.txt
index 5cf3d36..731471f 100644
--- a/topic_tools_interfaces/CMakeLists.txt
+++ b/topic_tools_interfaces/CMakeLists.txt
@@ -11,8 +11,8 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-find_package(ament_cmake_auto REQUIRED)
-ament_auto_find_build_dependencies()
+find_package(rosidl_default_generators REQUIRED)
+find_package(builtin_interfaces REQUIRED)
 
 rosidl_generate_interfaces(${PROJECT_NAME}
   "srv/DemuxAdd.srv"
@@ -32,4 +32,4 @@ if(BUILD_TESTING)
   ament_lint_auto_find_test_dependencies()
 endif()
 
-ament_auto_package()
+ament_package()
diff --git a/topic_tools_interfaces/package.xml b/topic_tools_interfaces/package.xml
index cfe9efa..d88f6c5 100644
--- a/topic_tools_interfaces/package.xml
+++ b/topic_tools_interfaces/package.xml
@@ -8,7 +8,6 @@
   <maintainer email="ros-tooling@googlegroups.com">ROS Tooling Working Group</maintainer>
   <license>Apache License 2.0</license>
 
-  <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
   <build_depend>rosidl_default_generators</build_depend>