diff --git a/models/dave_worlds/CMakeLists.txt b/models/dave_worlds/CMakeLists.txt
index b284b552..d068ab5d 100644
--- a/models/dave_worlds/CMakeLists.txt
+++ b/models/dave_worlds/CMakeLists.txt
@@ -1,21 +1,14 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.8)
 project(dave_worlds)
 
-if(NOT "${CMAKE_VERSION}" VERSION_LESS "3.16")
-    set(CMAKE_CXX_STANDARD 17)
-    set(CMAKE_CXX_STANDARD_REQUIRED ON)
-else()
-    add_compile_options(-std=c++11)
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-find_package(catkin REQUIRED COMPONENTS
-  gazebo_plugins
-  uuv_sensor_ros_plugins
-  ds_sim)
-
-catkin_package()
+find_package(ament_cmake REQUIRED)
 
 install(DIRECTORY media worlds
-        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+        DESTINATION share/${PROJECT_NAME}
         PATTERN "*~" EXCLUDE)
 
+ament_package()
diff --git a/models/dave_worlds/package.xml b/models/dave_worlds/package.xml
index 8eb7f465..9bb79d41 100644
--- a/models/dave_worlds/package.xml
+++ b/models/dave_worlds/package.xml
@@ -1,5 +1,6 @@
 <?xml version="1.0"?>
-<package format="2">
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
   <name>dave_worlds</name>
   <version>3.1.1</version>
   <description>The dave_worlds package</description>
@@ -7,15 +8,14 @@
   <maintainer email="dtdavi1@nps.edu">dtdavis</maintainer>
   <license>Apache 2.0</license>
 
-  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <depend>gazebo_ros</depend>
-  <depend>uuv_sensor_ros_plugins</depend>
-  <depend>ds_sim</depend>
+  <exec_depend>gazebo_ros</exec_depend>
+  <exec_depend>uuv_sensor_ros_plugins</exec_depend>
+  <exec_depend>ds_sim</exec_depend>
 
   <export>
     <gazebo_ros gazebo_media_path="${prefix}/worlds"/>
     <gazebo_ros gazebo_media_path="${prefix}/media"/>
   </export>
-
 </package>