diff --git a/CMakeLists.txt b/CMakeLists.txt
index d692545..f83c7f7 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -3,16 +3,14 @@ project(ypspur_ros)
 
 find_package(catkin REQUIRED COMPONENTS
   roscpp
-  rospy
-  roslint
-  rostest
+  message_generation
+
   geometry_msgs
-  sensor_msgs
   nav_msgs
+  sensor_msgs
   std_msgs
   tf
   trajectory_msgs
-  message_generation
 )
 
 add_message_files(
@@ -29,10 +27,11 @@ generate_messages(
 )
 
 catkin_package(CATKIN_DEPENDS
+  roscpp
+
   geometry_msgs
   nav_msgs
-  roscpp
-  rospy
+  sensor_msgs
   std_msgs
   tf
   trajectory_msgs
@@ -95,7 +94,9 @@ install(TARGETS
 ## Testing ##
 #############
 
-roslint_cpp()
 if(CATKIN_ENABLE_TESTING)
+  find_package(rostest REQUIRED)
+  find_package(roslint REQUIRED)
+  roslint_cpp()
   roslint_add_test()
 endif()
diff --git a/package.xml b/package.xml
index 8bf5d89..b0cda03 100644
--- a/package.xml
+++ b/package.xml
@@ -1,38 +1,24 @@
 <?xml version="1.0"?>
-<package>
+<package format="2">
   <name>ypspur_ros</name>
   <version>0.2.0</version>
   <description>ROS wrapper for the mobile robot control platform YP-Spur</description>
 
   <maintainer email="atsushi.w@openspur.org">Atsushi Watanabe</maintainer>
   <license>BSD</license>
-  <!-- <url type="website">http://wiki.ros.org/ypspur_ros</url> -->
   <author email="atsushi.w@openspur.org">Atsushi Watanabe</author>
 
   <buildtool_depend>catkin</buildtool_depend>
 
-  <build_depend>roscpp</build_depend>
-  <build_depend>roslint</build_depend>
-  <build_depend>rospy</build_depend>
-  <build_depend>rostest</build_depend>
-  <build_depend>geometry_msgs</build_depend>
-  <build_depend>nav_msgs</build_depend>
-  <build_depend>sensor_msgs</build_depend>
-  <build_depend>std_msgs</build_depend>
-  <build_depend>tf</build_depend>
-  <build_depend>trajectory_msgs</build_depend>
-  <build_depend>ypspur</build_depend>
+  <depend>roscpp</depend>
+  <test_depend>roslint</test_depend>
+  <test_depend>rostest</test_depend>
 
-  <run_depend>roscpp</run_depend>
-  <run_depend>rospy</run_depend>
-  <run_depend>geometry_msgs</run_depend>
-  <run_depend>nav_msgs</run_depend>
-  <run_depend>sensor_msgs</run_depend>
-  <run_depend>std_msgs</run_depend>
-  <run_depend>tf</run_depend>
-  <run_depend>trajectory_msgs</run_depend>
-  <run_depend>ypspur</run_depend>
-
-  <export>
-  </export>
+  <depend>geometry_msgs</depend>
+  <depend>nav_msgs</depend>
+  <depend>sensor_msgs</depend>
+  <depend>std_msgs</depend>
+  <depend>tf</depend>
+  <depend>trajectory_msgs</depend>
+  <depend>ypspur</depend>
 </package>