diff --git a/.gitignore b/.gitignore
index 036b772a..73afe332 100644
--- a/.gitignore
+++ b/.gitignore
@@ -2,4 +2,6 @@
 *.pyc
 setup.py
 CMakeLists.txt.user
-
+CMakeUserPresets.json
+build/*
+.idea
diff --git a/lanelet2_core/CMakeLists.txt b/lanelet2_core/CMakeLists.txt
index c6d80403..d0f47ce9 100644
--- a/lanelet2_core/CMakeLists.txt
+++ b/lanelet2_core/CMakeLists.txt
@@ -1,87 +1,50 @@
-#set(MRT_PKG_VERSION 4.0.0)
-# Modify only if you know what you are doing!
 cmake_minimum_required(VERSION 3.5.1)
 project(lanelet2_core)
 
 ###################
 ## Find packages ##
 ###################
-#find_package(mrt_cmake_modules REQUIRED)
-#include(UseMrtStdCompilerFlags)
-#include(GatherDeps)
-
-# You can add a custom.cmake in order to add special handling for this package. E.g. you can do:
-# list(REMOVE_ITEM DEPENDEND_PACKAGES <package name 1> <package name 2> ...)
-# To remove libs which cannot be found automatically. You can also "find_package" other, custom dependencies there.
-# You can also set PROJECT_INSTALL_FILES to install files that are not installed by default.
-#if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/custom.cmake")
-#    include("${CMAKE_CURRENT_SOURCE_DIR}/custom.cmake")
-#endif()
-#
-#find_package(AutoDeps REQUIRED COMPONENTS ${DEPENDEND_PACKAGES})
-#
-#mrt_parse_package_xml()
+find_package(Boost REQUIRED)
+find_package(Eigen3 REQUIRED)
+find_package(GTest REQUIRED)
 
 ########################
 ## Add python modules ##
 ########################
-# This adds a python module if located under src/{PROJECT_NAME)
-#mrt_python_module_setup()
-
-#mrt_glob_files(PROJECT_PYTHON_SOURCE_FILES_SRC "python_api/*.cpp")
-#if (PROJECT_PYTHON_SOURCE_FILES_SRC)
-#    # Add a cpp-python api library. Make sure there are no name collisions with python modules in this project
-#    mrt_add_python_api( ${PROJECT_NAME}
-#        FILES ${PROJECT_PYTHON_SOURCE_FILES_SRC}
-#        )
-#endif()
+# Add python modules if located under src/{PROJECT_NAME)
 
 ############################
 ## Read source code files ##
 ############################
 file(GLOB PROJECT_SOURCE_FILES_SRC "${CMAKE_CURRENT_SOURCE_DIR}/src/*.cpp")
-#mrt_glob_files_recurse(PROJECT_HEADER_FILES_INC "include/*.h" "include/*.hpp" "include/*.cuh")
-#mrt_glob_files(PROJECT_SOURCE_FILES_INC "src/*.h" "src/*.hpp" "src/*.cuh")
-#mrt_glob_files(PROJECT_SOURCE_FILES_SRC "src/*.cpp" "src/*.cu")
-
 
 ###########
 ## Build ##
 ###########
 # Declare a cpp library
-#mrt_add_library(${PROJECT_NAME}
-#    INCLUDES ${PROJECT_HEADER_FILES_INC} ${PROJECT_SOURCE_FILES_INC}
-#    SOURCES ${PROJECT_SOURCE_FILES_SRC}
-#    )
-find_package(Boost REQUIRED)
-find_package(Eigen3 REQUIRED)
 add_library(${PROJECT_NAME} SHARED ${PROJECT_SOURCE_FILES_SRC})
 target_include_directories(${PROJECT_NAME} PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/include")
-target_link_libraries(${PROJECT_NAME} PUBLIC Boost::boost Eigen3::Eigen)
+target_link_libraries(${PROJECT_NAME} PUBLIC Boost::graph Eigen3::Eigen)
 
 #############
 ## Install ##
 #############
 # Install all targets, headers by default and scripts and other files if specified (folders or files).
-# This command also exports libraries and config files for dependent packages and this supersedes catkin_package.
-#mrt_install(PROGRAMS scripts FILES res data ${PROJECT_INSTALL_FILES})
+include(GNUInstallDirs)
 install(TARGETS ${PROJECT_NAME}
-        ARCHIVE DESTINATION ${PROJECT_INSTALL_FILES}
-        LIBRARY DESTINATION ${PROJECT_INSTALL_FILES}
-        RUNTIME DESTINATION ${PROJECT_INSTALL_FILES})
+        ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
+        LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
+        RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR})
+install(DIRECTORY include/ DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
+install(DIRECTORY doc/ DESTINATION "doc/${PROJECT_NAME}")
+install(DIRECTORY scripts/ DESTINATION "scripts/")
 
 #############
 ## Testing ##
 #############
 # Add test targets for cpp and python tests
-#if (CATKIN_ENABLE_TESTING)
-#    mrt_add_tests(test)
-#    mrt_add_nosetests(test)
-#endif ()
-
-if(LANELET2_ENABLE_TESTING)
+if (LANELET2_ENABLE_TESTING)
     include(GoogleTest)
-    find_package(GTest REQUIRED)
     file(GLOB PROJECT_SOURCE_FILES_TEST "${CMAKE_CURRENT_SOURCE_DIR}/test/*.cpp")
     add_executable("${PROJECT_NAME}_test" ${PROJECT_SOURCE_FILES_TEST})
     target_link_libraries("${PROJECT_NAME}_test" PRIVATE GTest::gtest_main ${PROJECT_NAME})
diff --git a/lanelet2_core/package.xml b/lanelet2_core/package.xml
deleted file mode 100644
index 911c8c52..00000000
--- a/lanelet2_core/package.xml
+++ /dev/null
@@ -1,27 +0,0 @@
-<?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="3">
-  <name>lanelet2_core</name>
-  <version>1.2.1</version>
-  <description>Lanelet2 core module</description>
-
-  <license>BSD</license>
-  <maintainer email="fabian.immel@kit.edu">Fabian Immel</maintainer>
-  <maintainer email="frank.bieder@kit.edu">Frank Bieder</maintainer>
-  <author email="fabian.poggenhans@kit.edu">Fabian Poggenhans</author>
-  <url type="repository">https://github.com/fzi-forschungszentrum-informatik/lanelet2.git</url>
-
-  <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
-  <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake_core</buildtool_depend>
-  <buildtool_depend>mrt_cmake_modules</buildtool_depend>
-  <buildtool_export_depend>mrt_cmake_modules</buildtool_export_depend>
-  <test_depend>gtest</test_depend>
-  <depend>eigen</depend>
-  <depend>boost</depend>
-
-  <export>
-    <build_type condition="$ROS_VERSION == 1">catkin</build_type>
-    <build_type condition="$ROS_VERSION == 2">ament_cmake</build_type>
-    <rosdoc config="../rosdoc.yaml" />
-  </export>
-</package>
diff --git a/lanelet2_core/res/lanelet_gdb.py b/lanelet2_core/scripts/lanelet_gdb.py
old mode 100755
new mode 100644
similarity index 100%
rename from lanelet2_core/res/lanelet_gdb.py
rename to lanelet2_core/scripts/lanelet_gdb.py
diff --git a/lanelet2_core/res/qtcreator_debugging_helpers.py b/lanelet2_core/scripts/qtcreator_debugging_helpers.py
old mode 100755
new mode 100644
similarity index 100%
rename from lanelet2_core/res/qtcreator_debugging_helpers.py
rename to lanelet2_core/scripts/qtcreator_debugging_helpers.py
diff --git a/lanelet2_io/CMakeLists.txt b/lanelet2_io/CMakeLists.txt
index 2e6d0440..dc335b6f 100644
--- a/lanelet2_io/CMakeLists.txt
+++ b/lanelet2_io/CMakeLists.txt
@@ -1,59 +1,27 @@
-#set(MRT_PKG_VERSION 4.0.0)
-# Modify only if you know what you are doing!
 cmake_minimum_required(VERSION 3.5.1)
 project(lanelet2_io)
 
 ###################
 ## Find packages ##
 ###################
-#find_package(mrt_cmake_modules REQUIRED)
-#include(UseMrtStdCompilerFlags)
-#include(GatherDeps)
-
-# You can add a custom.cmake in order to add special handling for this package. E.g. you can do:
-# list(REMOVE_ITEM DEPENDEND_PACKAGES <package name 1> <package name 2> ...)
-# To remove libs which cannot be found automatically. You can also "find_package" other, custom dependencies there.
-# You can also set PROJECT_INSTALL_FILES to install files that are not installed by default.
-#if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/custom.cmake")
-#    include("${CMAKE_CURRENT_SOURCE_DIR}/custom.cmake")
-#endif()
-#
-#find_package(AutoDeps REQUIRED COMPONENTS ${DEPENDEND_PACKAGES})
-#
-#mrt_parse_package_xml()
+find_package(Boost REQUIRED)
+find_package(pugixml REQUIRED)
+find_package(GTest REQUIRED)
 
 ########################
 ## Add python modules ##
 ########################
-# This adds a python module if located under src/{PROJECT_NAME)
-#mrt_python_module_setup()
-#
-#mrt_glob_files(PROJECT_PYTHON_SOURCE_FILES_SRC "python_api/*.cpp")
-#if (PROJECT_PYTHON_SOURCE_FILES_SRC)
-#    # Add a cpp-python api library. Make sure there are no name collisions with python modules in this project
-#    mrt_add_python_api( ${PROJECT_NAME}
-#        FILES ${PROJECT_PYTHON_SOURCE_FILES_SRC}
-#        )
-#endif()
+# Add python modules if located under src/{PROJECT_NAME)
 
 ############################
 ## Read source code files ##
 ############################
-#mrt_glob_files_recurse(PROJECT_HEADER_FILES_INC "include/*.h" "include/*.hpp" "include/*.cuh")
-#mrt_glob_files(PROJECT_SOURCE_FILES_INC "src/*.h" "src/*.hpp" "src/*.cuh")
-#mrt_glob_files(PROJECT_SOURCE_FILES_SRC "src/*.cpp" "src/*.cu")
 file(GLOB PROJECT_SOURCE_FILES_SRC "${CMAKE_CURRENT_SOURCE_DIR}/src/*.cpp")
 
 ###########
 ## Build ##
 ###########
 # Declare a cpp library
-#mrt_add_library(${PROJECT_NAME}
-#    INCLUDES ${PROJECT_HEADER_FILES_INC} ${PROJECT_SOURCE_FILES_INC}
-#    SOURCES ${PROJECT_SOURCE_FILES_SRC}
-#    )
-find_package(Boost REQUIRED)
-find_package(pugixml REQUIRED)
 add_library(${PROJECT_NAME} SHARED ${PROJECT_SOURCE_FILES_SRC})
 target_include_directories(${PROJECT_NAME} PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/include")
 target_link_libraries(${PROJECT_NAME} PUBLIC lanelet2_core Boost::filesystem Boost::serialization pugixml::pugixml)
@@ -62,25 +30,19 @@ target_link_libraries(${PROJECT_NAME} PUBLIC lanelet2_core Boost::filesystem Boo
 ## Install ##
 #############
 # Install all targets, headers by default and scripts and other files if specified (folders or files).
-# This command also exports libraries and config files for dependent packages and this supersedes catkin_package.
-#mrt_install(PROGRAMS scripts FILES res data ${PROJECT_INSTALL_FILES})
+include(GNUInstallDirs)
 install(TARGETS ${PROJECT_NAME}
-        ARCHIVE DESTINATION ${PROJECT_INSTALL_FILES}
-        LIBRARY DESTINATION ${PROJECT_INSTALL_FILES}
-        RUNTIME DESTINATION ${PROJECT_INSTALL_FILES})
+        ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
+        LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
+        RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR})
+install(DIRECTORY include/ DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
 
 #############
 ## Testing ##
 #############
 # Add test targets for cpp and python tests
-#if (CATKIN_ENABLE_TESTING)
-#    mrt_add_tests(test)
-#    mrt_add_nosetests(test)
-#endif()
-
 if (LANELET2_ENABLE_TESTING)
     include(GoogleTest)
-    find_package(GTest REQUIRED)
     file(GLOB PROJECT_SOURCE_FILES_TEST "${CMAKE_CURRENT_SOURCE_DIR}/test/*.cpp")
     add_executable("${PROJECT_NAME}_test" ${PROJECT_SOURCE_FILES_TEST})
     target_link_libraries("${PROJECT_NAME}_test" PRIVATE GTest::gtest_main ${PROJECT_NAME})
diff --git a/lanelet2_io/package.xml b/lanelet2_io/package.xml
deleted file mode 100644
index ac5b3d47..00000000
--- a/lanelet2_io/package.xml
+++ /dev/null
@@ -1,27 +0,0 @@
-<?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="3">
-  <name>lanelet2_io</name>
-  <version>1.2.1</version>
-  <description>Parser/Writer module for lanelet2</description>
-
-  <license>BSD</license>
-  <maintainer email="fabian.immel@kit.edu">Fabian Immel</maintainer>
-  <author email="fabian.poggenhans@kit.edu">Fabian Poggenhans</author>
-  <url type="repository">https://github.com/fzi-forschungszentrum-informatik/lanelet2.git</url>
-
-  <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
-  <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake_core</buildtool_depend>
-  <buildtool_depend>mrt_cmake_modules</buildtool_depend>
-  <buildtool_export_depend>mrt_cmake_modules</buildtool_export_depend>
-  <test_depend>gtest</test_depend>
-  <depend>boost</depend>
-  <depend>lanelet2_core</depend>
-  <depend>pugixml-dev</depend>
-
-  <export>
-    <build_type condition="$ROS_VERSION == 1">catkin</build_type>
-    <build_type condition="$ROS_VERSION == 2">ament_cmake</build_type>
-    <rosdoc config="../rosdoc.yaml" />
-  </export>
-</package>
diff --git a/lanelet2_maps/CMakeLists.txt b/lanelet2_maps/CMakeLists.txt
index 80649924..bbc2e22d 100644
--- a/lanelet2_maps/CMakeLists.txt
+++ b/lanelet2_maps/CMakeLists.txt
@@ -1,56 +1,9 @@
-#set(MRT_PKG_VERSION 4.0.0)
-# Modify only if you know what you are doing!
 cmake_minimum_required(VERSION 3.5.1)
 project(lanelet2_maps)
 
-###################
-## Find packages ##
-###################
-#find_package(mrt_cmake_modules REQUIRED)
-#include(UseMrtStdCompilerFlags)
-#include(GatherDeps)
-
-# You can add a custom.cmake in order to add special handling for this package. E.g. you can do:
-# list(REMOVE_ITEM DEPENDEND_PACKAGES <package name 1> <package name 2> ...)
-# To remove libs which cannot be found automatically. You can also "find_package" other, custom dependencies there.
-# You can also set PROJECT_INSTALL_FILES to install files that are not installed by default.
-#if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/custom.cmake")
-#    include("${CMAKE_CURRENT_SOURCE_DIR}/custom.cmake")
-#endif()
-#
-#find_package(AutoDeps REQUIRED COMPONENTS ${DEPENDEND_PACKAGES})
-#
-#mrt_parse_package_xml()
-
-########################
-## Add python modules ##
-########################
-# This adds a python module if located under src/{PROJECT_NAME)
-#mrt_python_module_setup()
-#
-#mrt_glob_files(PROJECT_PYTHON_SOURCE_FILES_SRC "python_api/*.cpp")
-#if (PROJECT_PYTHON_SOURCE_FILES_SRC)
-#    # Add a cpp-python api library. Make sure there are no name collisions with python modules in this project
-#    mrt_add_python_api( ${PROJECT_NAME}
-#        FILES ${PROJECT_PYTHON_SOURCE_FILES_SRC}
-#        )
-#endif()
-
-############################
-## Read source code files ##
-############################
-#mrt_glob_files_recurse(PROJECT_HEADER_FILES_INC "include/*.h" "include/*.hpp" "include/*.cuh")
-#mrt_glob_files(PROJECT_SOURCE_FILES_INC "src/*.h" "src/*.hpp" "src/*.cuh")
-#mrt_glob_files(PROJECT_SOURCE_FILES_SRC "src/*.cpp" "src/*.cu")
-
 ###########
 ## Build ##
 ###########
-# Declare a cpp library
-#mrt_add_library(${PROJECT_NAME}
-#    INCLUDES ${PROJECT_HEADER_FILES_INC} ${PROJECT_SOURCE_FILES_INC}
-#    SOURCES ${PROJECT_SOURCE_FILES_SRC}
-#    )
 add_custom_target(${PROJECT_NAME})
 add_custom_command(
         TARGET ${PROJECT_NAME}
@@ -62,13 +15,5 @@ add_custom_command(
 #############
 # Install all targets, headers by default and scripts and other files if specified (folders or files).
 # This command also exports libraries and config files for dependent packages and this supersedes catkin_package.
-#mrt_install(PROGRAMS scripts FILES res data ${PROJECT_INSTALL_FILES})
-
-#############
-## Testing ##
-#############
-# Add test targets for cpp and python tests
-#if (CATKIN_ENABLE_TESTING)
-#    mrt_add_tests(test)
-#    mrt_add_nosetests(test)
-#endif ()
+install(DIRECTORY res/ DESTINATION "res/")
+install(DIRECTORY josm/ DESTINATION "res/" PATTERN ".gitignore" EXCLUDE)
diff --git a/lanelet2_maps/package.xml b/lanelet2_maps/package.xml
deleted file mode 100644
index 907f78fb..00000000
--- a/lanelet2_maps/package.xml
+++ /dev/null
@@ -1,22 +0,0 @@
-<?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="3">
-  <name>lanelet2_maps</name>
-  <version>1.2.1</version>
-  <description>Example maps in the lanelet2-format</description>
-
-  <license>BSD</license>
-  <maintainer email="fabian.immel@kit.edu">Fabian Immel</maintainer>
-  <author email="fabian.poggenhans@kit.edu">Fabian Poggenhans</author>
-  <url type="repository">https://github.com/fzi-forschungszentrum-informatik/lanelet2.git</url>
-
-  <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
-  <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake_core</buildtool_depend>
-  <buildtool_depend>mrt_cmake_modules</buildtool_depend>
-  <buildtool_export_depend>mrt_cmake_modules</buildtool_export_depend>
-  <exec_depend>lanelet2_core</exec_depend>
-  <export>
-    <build_type condition="$ROS_VERSION == 1">catkin</build_type>
-    <build_type condition="$ROS_VERSION == 2">ament_cmake</build_type>
-  </export>
-</package>
diff --git a/lanelet2_matching/CMakeLists.txt b/lanelet2_matching/CMakeLists.txt
index 8bf9ef14..2342e88d 100644
--- a/lanelet2_matching/CMakeLists.txt
+++ b/lanelet2_matching/CMakeLists.txt
@@ -1,57 +1,25 @@
-#set(MRT_PKG_VERSION 4.0.0)
-# Modify only if you know what you are doing!
 cmake_minimum_required(VERSION 3.5.1)
 project(lanelet2_matching)
 
 ###################
 ## Find packages ##
 ###################
-#find_package(mrt_cmake_modules REQUIRED)
-#include(UseMrtStdCompilerFlags)
-#include(GatherDeps)
-
-# You can add a custom.cmake in order to add special handling for this package. E.g. you can do:
-# list(REMOVE_ITEM DEPENDEND_PACKAGES <package name 1> <package name 2> ...)
-# To remove libs which cannot be found automatically. You can also "find_package" other, custom dependencies there.
-# You can also set PROJECT_INSTALL_FILES to install files that are not installed by default.
-#if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/custom.cmake")
-#    include("${CMAKE_CURRENT_SOURCE_DIR}/custom.cmake")
-#endif()
-
-#find_package(AutoDeps REQUIRED COMPONENTS ${DEPENDEND_PACKAGES})
-
-#mrt_parse_package_xml()
+find_package(GTest REQUIRED)
 
 ########################
 ## Add python modules ##
 ########################
-# This adds a python module if located under src/{PROJECT_NAME)
-#mrt_python_module_setup()
-
-#mrt_glob_files(PROJECT_PYTHON_SOURCE_FILES_SRC "python_api/*.cpp")
-#if (PROJECT_PYTHON_SOURCE_FILES_SRC)
-#     Add a cpp-python api library. Make sure there are no name collisions with python modules in this project
-#    mrt_add_python_api( ${PROJECT_NAME}
-#        FILES ${PROJECT_PYTHON_SOURCE_FILES_SRC}
-#        )
-#endif()
+# Add python modules if located under src/{PROJECT_NAME)
 
 ############################
 ## Read source code files ##
 ############################
-#mrt_glob_files_recurse(PROJECT_HEADER_FILES_INC "include/*.h" "include/*.hpp" "include/*.cuh")
-#mrt_glob_files(PROJECT_SOURCE_FILES_INC "src/*.h" "src/*.hpp" "src/*.cuh")
-#mrt_glob_files(PROJECT_SOURCE_FILES_SRC "src/*.cpp" "src/*.cu")
 file(GLOB PROJECT_SOURCE_FILES_SRC "${CMAKE_CURRENT_SOURCE_DIR}/src/*.cpp")
 
 ###########
 ## Build ##
 ###########
 # Declare a cpp library
-#mrt_add_library(${PROJECT_NAME}
-#    INCLUDES ${PROJECT_HEADER_FILES_INC} ${PROJECT_SOURCE_FILES_INC}
-#    SOURCES ${PROJECT_SOURCE_FILES_SRC}
-#    )
 add_library(${PROJECT_NAME} SHARED ${PROJECT_SOURCE_FILES_SRC})
 target_include_directories(${PROJECT_NAME} PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/include")
 target_link_libraries(${PROJECT_NAME} PUBLIC lanelet2_core lanelet2_io lanelet2_projection lanelet2_traffic_rules)
@@ -61,25 +29,19 @@ target_link_libraries(${PROJECT_NAME} PUBLIC lanelet2_core lanelet2_io lanelet2_
 ## Install ##
 #############
 # Install all targets, headers by default and scripts and other files if specified (folders or files).
-# This command also exports libraries and config files for dependent packages and this supersedes catkin_package.
-#mrt_install(PROGRAMS scripts FILES res data ${PROJECT_INSTALL_FILES})
+include(GNUInstallDirs)
 install(TARGETS ${PROJECT_NAME}
-        ARCHIVE DESTINATION ${PROJECT_INSTALL_FILES}
-        LIBRARY DESTINATION ${PROJECT_INSTALL_FILES}
-        RUNTIME DESTINATION ${PROJECT_INSTALL_FILES})
+        ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
+        LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
+        RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR})
+install(DIRECTORY include/ DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
 
 #############
 ## Testing ##
 #############
 # Add test targets for cpp and python tests
-if (CATKIN_ENABLE_TESTING)
-    mrt_add_tests(test)
-    mrt_add_nosetests(test)
-endif ()
-
 if (LANELET2_ENABLE_TESTING)
     include(GoogleTest)
-    find_package(GTest REQUIRED)
     file(GLOB PROJECT_SOURCE_FILES_TEST "${CMAKE_CURRENT_SOURCE_DIR}/test/*.cpp")
     add_executable("${PROJECT_NAME}_test" ${PROJECT_SOURCE_FILES_TEST})
     target_link_libraries("${PROJECT_NAME}_test" PRIVATE GTest::gtest_main ${PROJECT_NAME})
@@ -91,5 +53,4 @@ if (LANELET2_ENABLE_TESTING)
             COMMAND ${CMAKE_COMMAND} -E copy_if_different "$<TARGET_FILE:lanelet2_projection>" "$<TARGET_FILE_DIR:${PROJECT_NAME}_test>")
 
     gtest_discover_tests("${PROJECT_NAME}_test")
-    #    add_dependencies("${PROJECT_NAME}_test" lanelet2_maps)
 endif ()
\ No newline at end of file
diff --git a/lanelet2_matching/custom.cmake b/lanelet2_matching/custom.cmake
deleted file mode 100644
index 4d998550..00000000
--- a/lanelet2_matching/custom.cmake
+++ /dev/null
@@ -1 +0,0 @@
-add_definitions(-DPKG_DIR="${CMAKE_CURRENT_LIST_DIR}")
diff --git a/lanelet2_matching/package.xml b/lanelet2_matching/package.xml
deleted file mode 100644
index 7668c526..00000000
--- a/lanelet2_matching/package.xml
+++ /dev/null
@@ -1,31 +0,0 @@
-<?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="3">
-  <name>lanelet2_matching</name>
-  <version>1.2.1</version>
-  <description>Library to match objects to lanelets</description>
-
-  <license>BSD</license>
-  <maintainer email="fabian.immel@kit.edu">Fabian Immel</maintainer>
-  <author email="maximilian.naumann@kit.edu">Maximilian Naumann</author>
-  <url type="repository">https://github.com/fzi-forschungszentrum-informatik/lanelet2.git</url>
-
-  <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
-  <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake_core</buildtool_depend>
-  <buildtool_depend>mrt_cmake_modules</buildtool_depend>
-  <buildtool_export_depend>mrt_cmake_modules</buildtool_export_depend>
-  <test_depend>gtest</test_depend>
-
-  <depend>lanelet2_core</depend>
-  <depend>lanelet2_traffic_rules</depend>
-
-  <test_depend>lanelet2_io</test_depend>
-  <test_depend>lanelet2_projection</test_depend>
-  <test_depend>lanelet2_maps</test_depend>
-
-  <export>
-    <build_type condition="$ROS_VERSION == 1">catkin</build_type>
-    <build_type condition="$ROS_VERSION == 2">ament_cmake</build_type>
-    <rosdoc config="../rosdoc.yaml" />
-  </export>
-</package>
diff --git a/lanelet2_projection/CMakeLists.txt b/lanelet2_projection/CMakeLists.txt
index 7f874bc2..13096c06 100644
--- a/lanelet2_projection/CMakeLists.txt
+++ b/lanelet2_projection/CMakeLists.txt
@@ -1,84 +1,48 @@
-#set(MRT_PKG_VERSION 4.0.0)
-# Modify only if you know what you are doing!
 cmake_minimum_required(VERSION 3.5.1)
 project(lanelet2_projection)
 
 ###################
 ## Find packages ##
 ###################
-#find_package(mrt_cmake_modules REQUIRED)
-#include(UseMrtStdCompilerFlags)
-#include(GatherDeps)
-
-# You can add a custom.cmake in order to add special handling for this package. E.g. you can do:
-# list(REMOVE_ITEM DEPENDEND_PACKAGES <package name 1> <package name 2> ...)
-# To remove libs which cannot be found automatically. You can also "find_package" other, custom dependencies there.
-# You can also set PROJECT_INSTALL_FILES to install files that are not installed by default.
-#if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/custom.cmake")
-#    include("${CMAKE_CURRENT_SOURCE_DIR}/custom.cmake")
-#endif()
-#
-#find_package(AutoDeps REQUIRED COMPONENTS ${DEPENDEND_PACKAGES})
-#
-#mrt_parse_package_xml()
+find_package(GeographicLib REQUIRED)
+find_package(GTest REQUIRED)
 
 ########################
 ## Add python modules ##
 ########################
-# This adds a python module if located under src/{PROJECT_NAME)
-#mrt_python_module_setup()
-#
-#mrt_glob_files(PROJECT_PYTHON_SOURCE_FILES_SRC "python_api/*.cpp")
-#if (PROJECT_PYTHON_SOURCE_FILES_SRC)
-#    # Add a cpp-python api library. Make sure there are no name collisions with python modules in this project
-#    mrt_add_python_api( ${PROJECT_NAME}
-#        FILES ${PROJECT_PYTHON_SOURCE_FILES_SRC}
-#        )
-#endif()
+# Add python modules if located under src/{PROJECT_NAME)
 
 ############################
 ## Read source code files ##
 ############################
-#mrt_glob_files_recurse(PROJECT_HEADER_FILES_INC "include/*.h" "include/*.hpp" "include/*.cuh")
-#mrt_glob_files(PROJECT_SOURCE_FILES_INC "src/*.h" "src/*.hpp" "src/*.cuh")
-#mrt_glob_files(PROJECT_SOURCE_FILES_SRC "src/*.cpp" "src/*.cu")
 file(GLOB PROJECT_SOURCE_FILES_SRC "${CMAKE_CURRENT_SOURCE_DIR}/src/*.cpp")
 
 ###########
 ## Build ##
 ###########
 # Declare a cpp library
-#mrt_add_library(${PROJECT_NAME}
-#    INCLUDES ${PROJECT_HEADER_FILES_INC} ${PROJECT_SOURCE_FILES_INC}
-#    SOURCES ${PROJECT_SOURCE_FILES_SRC}
-#    )
-find_package(GeographicLib REQUIRED)
 add_library(${PROJECT_NAME} SHARED ${PROJECT_SOURCE_FILES_SRC})
 target_include_directories(${PROJECT_NAME} PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/include")
-target_link_libraries(${PROJECT_NAME} PUBLIC lanelet2_io GeographicLib::GeographicLib)
+target_link_libraries(${PROJECT_NAME} PUBLIC lanelet2_core lanelet2_io GeographicLib::GeographicLib)
 
 #############
 ## Install ##
 #############
 # Install all targets, headers by default and scripts and other files if specified (folders or files).
-# This command also exports libraries and config files for dependent packages and this supersedes catkin_package.
-#mrt_install(PROGRAMS scripts FILES res data ${PROJECT_INSTALL_FILES})
+include(GNUInstallDirs)
 install(TARGETS ${PROJECT_NAME}
-        ARCHIVE DESTINATION ${PROJECT_INSTALL_FILES}
-        LIBRARY DESTINATION ${PROJECT_INSTALL_FILES}
-        RUNTIME DESTINATION ${PROJECT_INSTALL_FILES})
+        ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
+        LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
+        RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR})
+install(DIRECTORY include/ DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
+install(DIRECTORY doc/ DESTINATION "doc/${PROJECT_NAME}")
 
 #############
 ## Testing ##
 #############
 # Add test targets for cpp and python tests
-#if (CATKIN_ENABLE_TESTING)
-#    mrt_add_tests(test)
-#    mrt_add_nosetests(test)
-#endif()
 if (LANELET2_ENABLE_TESTING)
     include(GoogleTest)
-    find_package(GTest REQUIRED)
     file(GLOB PROJECT_SOURCE_FILES_TEST "${CMAKE_CURRENT_SOURCE_DIR}/test/*.cpp")
     add_executable("${PROJECT_NAME}_test" ${PROJECT_SOURCE_FILES_TEST})
     target_link_libraries("${PROJECT_NAME}_test" PRIVATE GTest::gtest_main ${PROJECT_NAME})
diff --git a/lanelet2_projection/package.xml b/lanelet2_projection/package.xml
deleted file mode 100644
index 6a24333f..00000000
--- a/lanelet2_projection/package.xml
+++ /dev/null
@@ -1,29 +0,0 @@
-<?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="3">
-  <name>lanelet2_projection</name>
-  <version>1.2.1</version>
-  <description>Lanelet2 projection library for lat/lon to local x/y conversion</description>
-
-  <license>BSD</license>
-  <maintainer email="jan-hendrik.pauls@kit.edu">Jan-Hendrik Pauls</maintainer>
-  <author email="maximilian.naumann@kit.edu">Maximilian Naumann</author>
-  <author email="fabian.poggenhans@kit.edu">Fabian Poggenhans</author>
-  <author email="jan-hendrik.pauls@kit.edu">Jan-Hendrik Pauls</author>
-  <author email="michal.antkiewicz@uwaterloo.ca">Michał Antkiewicz</author>
-  <url type="repository">https://github.com/fzi-forschungszentrum-informatik/lanelet2.git</url>
-
-  <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
-  <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake_core</buildtool_depend>
-  <buildtool_depend>mrt_cmake_modules</buildtool_depend>
-  <buildtool_export_depend>mrt_cmake_modules</buildtool_export_depend>
-  <test_depend>gtest</test_depend>
-  <depend>lanelet2_io</depend>
-  <depend>geographiclib</depend>
-
-  <export>
-    <build_type condition="$ROS_VERSION == 1">catkin</build_type>
-    <build_type condition="$ROS_VERSION == 2">ament_cmake</build_type>
-    <rosdoc config="../rosdoc.yaml" />
-  </export>
-</package>
diff --git a/lanelet2_routing/CMakeLists.txt b/lanelet2_routing/CMakeLists.txt
index 2351111b..c9124c54 100644
--- a/lanelet2_routing/CMakeLists.txt
+++ b/lanelet2_routing/CMakeLists.txt
@@ -1,58 +1,26 @@
-#set(MRT_PKG_VERSION 4.0.0)
-# Modify only if you know what you are doing!
 cmake_minimum_required(VERSION 3.5.1)
 project(lanelet2_routing)
 
 ###################
 ## Find packages ##
 ###################
-#find_package(mrt_cmake_modules REQUIRED)
-#include(UseMrtStdCompilerFlags)
-#include(GatherDeps)
-
-# You can add a custom.cmake in order to add special handling for this package. E.g. you can do:
-# list(REMOVE_ITEM DEPENDEND_PACKAGES <package name 1> <package name 2> ...)
-# To remove libs which cannot be found automatically. You can also "find_package" other, custom dependencies there.
-# You can also set PROJECT_INSTALL_FILES to install files that are not installed by default.
-#if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/custom.cmake")
-#    include("${CMAKE_CURRENT_SOURCE_DIR}/custom.cmake")
-#endif()
-#
-#find_package(AutoDeps REQUIRED COMPONENTS ${DEPENDEND_PACKAGES})
-#
-#mrt_parse_package_xml()
+find_package(Boost REQUIRED)
+find_package(GTest REQUIRED)
 
 ########################
 ## Add python modules ##
 ########################
-# This adds a python module if located under src/{PROJECT_NAME)
-#mrt_python_module_setup()
-#
-#mrt_glob_files(PROJECT_PYTHON_SOURCE_FILES_SRC "python_api/*.cpp")
-#if (PROJECT_PYTHON_SOURCE_FILES_SRC)
-#    # Add a cpp-python api library. Make sure there are no name collisions with python modules in this project
-#    mrt_add_python_api( ${PROJECT_NAME}
-#        FILES ${PROJECT_PYTHON_SOURCE_FILES_SRC}
-#        )
-#endif()
+# Add python modules if located under src/{PROJECT_NAME)
 
 ############################
 ## Read source code files ##
 ############################
-#mrt_glob_files_recurse(PROJECT_HEADER_FILES_INC "include/*.h" "include/*.hpp" "include/*.cuh")
-#mrt_glob_files(PROJECT_SOURCE_FILES_INC "src/*.h" "src/*.hpp" "src/*.cuh")
-#mrt_glob_files(PROJECT_SOURCE_FILES_SRC "src/*.cpp" "src/*.cu")
 file(GLOB PROJECT_SOURCE_FILES_SRC "${CMAKE_CURRENT_SOURCE_DIR}/src/*.cpp")
 
 ###########
 ## Build ##
 ###########
 # Declare a cpp library
-#mrt_add_library(${PROJECT_NAME}
-#    INCLUDES ${PROJECT_HEADER_FILES_INC} ${PROJECT_SOURCE_FILES_INC}
-#    SOURCES ${PROJECT_SOURCE_FILES_SRC}
-#    )
-find_package(Boost REQUIRED)
 add_library(${PROJECT_NAME} SHARED ${PROJECT_SOURCE_FILES_SRC})
 target_include_directories(${PROJECT_NAME} PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/include")
 target_link_libraries(${PROJECT_NAME} PUBLIC lanelet2_core lanelet2_traffic_rules Boost::filesystem)
@@ -61,24 +29,21 @@ target_link_libraries(${PROJECT_NAME} PUBLIC lanelet2_core lanelet2_traffic_rule
 ## Install ##
 #############
 # Install all targets, headers by default and scripts and other files if specified (folders or files).
-# This command also exports libraries and config files for dependent packages and this supersedes catkin_package.
-#mrt_install(PROGRAMS scripts FILES res data ${PROJECT_INSTALL_FILES})
+include(GNUInstallDirs)
 install(TARGETS ${PROJECT_NAME}
-        ARCHIVE DESTINATION ${PROJECT_INSTALL_FILES}
-        LIBRARY DESTINATION ${PROJECT_INSTALL_FILES}
-        RUNTIME DESTINATION ${PROJECT_INSTALL_FILES})
+        ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
+        LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
+        RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR})
+install(DIRECTORY include/ DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
+install(DIRECTORY doc/ DESTINATION "doc/${PROJECT_NAME}")
+install(DIRECTORY res/ DESTINATION "res/")
 
 #############
 ## Testing ##
 #############
 # Add test targets for cpp and python tests
-#if (CATKIN_ENABLE_TESTING)
-#    mrt_add_tests(test)
-#    mrt_add_nosetests(test)
-#endif()
 if (LANELET2_ENABLE_TESTING)
     include(GoogleTest)
-    find_package(GTest REQUIRED)
     file(GLOB PROJECT_SOURCE_FILES_TEST "${CMAKE_CURRENT_SOURCE_DIR}/test/*.cpp")
     add_executable("${PROJECT_NAME}_test" ${PROJECT_SOURCE_FILES_TEST})
     target_link_libraries("${PROJECT_NAME}_test" PRIVATE GTest::gtest_main ${PROJECT_NAME})
diff --git a/lanelet2_routing/package.xml b/lanelet2_routing/package.xml
deleted file mode 100644
index 54f2152f..00000000
--- a/lanelet2_routing/package.xml
+++ /dev/null
@@ -1,27 +0,0 @@
-<?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="3">
-  <name>lanelet2_routing</name>
-  <version>1.2.1</version>
-  <description>Routing module for lanelet2</description>
-
-  <license>BSD</license>
-  <maintainer email="fabian.immel@kit.edu">Fabian Immel</maintainer>
-  <author email="mayr@fzi.de">Matthias Mayr</author>
-  <url type="repository">https://github.com/fzi-forschungszentrum-informatik/lanelet2.git</url>
-  
-  <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
-  <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake_core</buildtool_depend>
-  <buildtool_depend>mrt_cmake_modules</buildtool_depend>
-  <buildtool_export_depend>mrt_cmake_modules</buildtool_export_depend>
-  <test_depend>gtest</test_depend>
-  <depend>boost</depend>
-  <depend>lanelet2_core</depend>
-  <depend>lanelet2_traffic_rules</depend>
-
-  <export>
-    <build_type condition="$ROS_VERSION == 1">catkin</build_type>
-    <build_type condition="$ROS_VERSION == 2">ament_cmake</build_type>
-    <rosdoc config="../rosdoc.yaml" />
-  </export>
-</package>
diff --git a/lanelet2_traffic_rules/CMakeLists.txt b/lanelet2_traffic_rules/CMakeLists.txt
index c2d9a2f9..95875a8f 100644
--- a/lanelet2_traffic_rules/CMakeLists.txt
+++ b/lanelet2_traffic_rules/CMakeLists.txt
@@ -1,57 +1,25 @@
-#set(MRT_PKG_VERSION 4.0.0)
-# Modify only if you know what you are doing!
 cmake_minimum_required(VERSION 3.5.1)
 project(lanelet2_traffic_rules)
 
 ###################
 ## Find packages ##
 ###################
-#find_package(mrt_cmake_modules REQUIRED)
-#include(UseMrtStdCompilerFlags)
-#include(GatherDeps)
-
-# You can add a custom.cmake in order to add special handling for this package. E.g. you can do:
-# list(REMOVE_ITEM DEPENDEND_PACKAGES <package name 1> <package name 2> ...)
-# To remove libs which cannot be found automatically. You can also "find_package" other, custom dependencies there.
-# You can also set PROJECT_INSTALL_FILES to install files that are not installed by default.
-#if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/custom.cmake")
-#    include("${CMAKE_CURRENT_SOURCE_DIR}/custom.cmake")
-#endif()
-
-#find_package(AutoDeps REQUIRED COMPONENTS ${DEPENDEND_PACKAGES})
-#
-#mrt_parse_package_xml()
+find_package(GTest REQUIRED)
 
 ########################
 ## Add python modules ##
 ########################
-# This adds a python module if located under src/{PROJECT_NAME)
-#mrt_python_module_setup()
-#
-#mrt_glob_files(PROJECT_PYTHON_SOURCE_FILES_SRC "python_api/*.cpp")
-#if (PROJECT_PYTHON_SOURCE_FILES_SRC)
-#    # Add a cpp-python api library. Make sure there are no name collisions with python modules in this project
-#    mrt_add_python_api( ${PROJECT_NAME}
-#        FILES ${PROJECT_PYTHON_SOURCE_FILES_SRC}
-#        )
-#endif()
+# Add python modules if located under src/{PROJECT_NAME)
 
 ############################
 ## Read source code files ##
 ############################
-#mrt_glob_files_recurse(PROJECT_HEADER_FILES_INC "include/*.h" "include/*.hpp" "include/*.cuh")
-#mrt_glob_files(PROJECT_SOURCE_FILES_INC "src/*.h" "src/*.hpp" "src/*.cuh")
-#mrt_glob_files(PROJECT_SOURCE_FILES_SRC "src/*.cpp" "src/*.cu")
 file(GLOB PROJECT_SOURCE_FILES_SRC "${CMAKE_CURRENT_SOURCE_DIR}/src/*.cpp")
 
 ###########
 ## Build ##
 ###########
 # Declare a cpp library
-#mrt_add_library(${PROJECT_NAME}
-#    INCLUDES ${PROJECT_HEADER_FILES_INC} ${PROJECT_SOURCE_FILES_INC}
-#    SOURCES ${PROJECT_SOURCE_FILES_SRC}
-#    )
 add_library(${PROJECT_NAME} SHARED ${PROJECT_SOURCE_FILES_SRC})
 target_include_directories(${PROJECT_NAME} PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/include")
 target_link_libraries(${PROJECT_NAME} PUBLIC lanelet2_core)
@@ -60,25 +28,19 @@ target_link_libraries(${PROJECT_NAME} PUBLIC lanelet2_core)
 ## Install ##
 #############
 # Install all targets, headers by default and scripts and other files if specified (folders or files).
-# This command also exports libraries and config files for dependent packages and this supersedes catkin_package.
-#mrt_install(PROGRAMS scripts FILES res data ${PROJECT_INSTALL_FILES})
+include(GNUInstallDirs)
 install(TARGETS ${PROJECT_NAME}
-        ARCHIVE DESTINATION ${PROJECT_INSTALL_FILES}
-        LIBRARY DESTINATION ${PROJECT_INSTALL_FILES}
-        RUNTIME DESTINATION ${PROJECT_INSTALL_FILES})
+        ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
+        LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
+        RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR})
+install(DIRECTORY include/ DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
 
 #############
 ## Testing ##
 #############
 # Add test targets for cpp and python tests
-#if (CATKIN_ENABLE_TESTING)
-#    mrt_add_tests(test)
-#    mrt_add_nosetests(test)
-#endif()
-
 if (LANELET2_ENABLE_TESTING)
     include(GoogleTest)
-    find_package(GTest REQUIRED)
     file(GLOB PROJECT_SOURCE_FILES_TEST "${CMAKE_CURRENT_SOURCE_DIR}/test/*.cpp")
     add_executable("${PROJECT_NAME}_test" ${PROJECT_SOURCE_FILES_TEST})
     target_link_libraries("${PROJECT_NAME}_test" PRIVATE GTest::gtest_main ${PROJECT_NAME})
diff --git a/lanelet2_traffic_rules/package.xml b/lanelet2_traffic_rules/package.xml
deleted file mode 100644
index 258b37ee..00000000
--- a/lanelet2_traffic_rules/package.xml
+++ /dev/null
@@ -1,24 +0,0 @@
-<?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="3">
-  <name>lanelet2_traffic_rules</name>
-  <version>1.2.1</version>
-  <description>Package for interpreting traffic rules in a lanelet map</description>
-
-  <license>BSD</license>
-  <maintainer email="fabian.immel@kit.edu">Fabian Immel</maintainer>
-  <author email="fabian.poggenhans@kit.edu">Fabian Poggenhans</author>
-  <url type="repository">https://github.com/fzi-forschungszentrum-informatik/lanelet2.git</url>
-
-  <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
-  <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake_core</buildtool_depend>
-  <buildtool_depend>mrt_cmake_modules</buildtool_depend>
-  <buildtool_export_depend>mrt_cmake_modules</buildtool_export_depend>
-  <test_depend>gtest</test_depend>
-  <depend>lanelet2_core</depend>
-  <export>
-    <build_type condition="$ROS_VERSION == 1">catkin</build_type>
-    <build_type condition="$ROS_VERSION == 2">ament_cmake</build_type>
-    <rosdoc config="../rosdoc.yaml" />
-  </export>
-</package>
diff --git a/lanelet2_validation/CMakeLists.txt b/lanelet2_validation/CMakeLists.txt
index 8519dbcd..dc168ace 100644
--- a/lanelet2_validation/CMakeLists.txt
+++ b/lanelet2_validation/CMakeLists.txt
@@ -1,74 +1,31 @@
-#set(MRT_PKG_VERSION 4.0.0)
-# Modify only if you know what you are doing!
 cmake_minimum_required(VERSION 3.5.1)
 project(lanelet2_validation)
 
 ###################
 ## Find packages ##
 ###################
-#find_package(mrt_cmake_modules REQUIRED)
-#include(UseMrtStdCompilerFlags)
-#include(GatherDeps)
-
-# You can add a custom.cmake in order to add special handling for this package. E.g. you can do:
-# list(REMOVE_ITEM DEPENDEND_PACKAGES <package name 1> <package name 2> ...)
-# To remove libs which cannot be found automatically. You can also "find_package" other, custom dependencies there.
-# You can also set PROJECT_INSTALL_FILES to install files that are not installed by default.
-#if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/custom.cmake")
-#    include("${CMAKE_CURRENT_SOURCE_DIR}/custom.cmake")
-#endif()
-#
-#find_package(AutoDeps REQUIRED COMPONENTS ${DEPENDEND_PACKAGES})
-#
-#mrt_parse_package_xml()
+find_package(GTest REQUIRED)
 
 ########################
 ## Add python modules ##
 ########################
-# This adds a python module if located under src/{PROJECT_NAME)
-#mrt_python_module_setup()
-#
-#mrt_glob_files(PROJECT_PYTHON_SOURCE_FILES_SRC "python_api/*.cpp")
-#if (PROJECT_PYTHON_SOURCE_FILES_SRC)
-#    # Add a cpp-python api library. Make sure there are no name collisions with python modules in this project
-#    mrt_add_python_api( ${PROJECT_NAME}
-#        FILES ${PROJECT_PYTHON_SOURCE_FILES_SRC}
-#        )
-#endif()
+# Add python modules if located under src/{PROJECT_NAME)
 
 ############################
 ## Read source code files ##
 ############################
-#mrt_glob_files_recurse(PROJECT_HEADER_FILES_INC "include/*.h" "include/*.hpp" "include/*.cuh")
-#mrt_glob_files(PROJECT_SOURCE_FILES_INC "src/*.h" "src/*.hpp" "src/*.cuh")
-#mrt_glob_files_recurse(PROJECT_SOURCE_FILES_SRC "src/*.cpp" "src/*.cu")
 file(GLOB_RECURSE PROJECT_SOURCE_FILES_SRC "${CMAKE_CURRENT_SOURCE_DIR}/src/*.cpp")
 
 ###########
 ## Build ##
 ###########
 # Declare a cpp library
-#mrt_add_library(${PROJECT_NAME}
-#    INCLUDES ${PROJECT_HEADER_FILES_INC} ${PROJECT_SOURCE_FILES_INC}
-#    SOURCES ${PROJECT_SOURCE_FILES_SRC}
-#    )
 find_package(Boost REQUIRED)
 add_library(${PROJECT_NAME} SHARED ${PROJECT_SOURCE_FILES_SRC})
 target_include_directories(${PROJECT_NAME} PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/include")
 target_link_libraries(${PROJECT_NAME} PUBLIC lanelet2_core lanelet2_io lanelet2_traffic_rules lanelet2_projection lanelet2_routing Boost::program_options)
 
 # Add executables in "tools"
-#glob_folders(TOOL_DIRECTORIES "${CMAKE_CURRENT_SOURCE_DIR}/tools")
-#if (TOOL_DIRECTORIES)
-#    # Found subfolders, add executable for each subfolder
-#    foreach(TOOL_DIR ${TOOL_DIRECTORIES})
-#        mrt_add_executable(${TOOL_DIR} FOLDER "tools/${TOOL_DIR}")
-#    endforeach()
-#else()
-#    # No subfolder found, add executable and python modules for tools folder
-#    mrt_add_executable(${PROJECT_NAME} FOLDER "tools")
-#endif()
-
 set(TOOL_TARGETS)
 file(GLOB TOOL_DIRECTORIES RELATIVE "${CMAKE_CURRENT_SOURCE_DIR}/tools" "${CMAKE_CURRENT_SOURCE_DIR}/tools/*")
 foreach (TOOL_DIR ${TOOL_DIRECTORIES})
@@ -93,22 +50,17 @@ endif ()
 ## Install ##
 #############
 # Install all targets, headers by default and scripts and other files if specified (folders or files).
-# This command also exports libraries and config files for dependent packages and this supersedes catkin_package.
-#mrt_install(PROGRAMS scripts FILES res data ${PROJECT_INSTALL_FILES})
-install(TARGETS ${PROJECT_NAME} ${EXECUTABLE_TARGETS}
-        ARCHIVE DESTINATION ${PROJECT_INSTALL_FILES}
-        LIBRARY DESTINATION ${PROJECT_INSTALL_FILES}
-        RUNTIME DESTINATION ${PROJECT_INSTALL_FILES})
+include(GNUInstallDirs)
+install(TARGETS ${PROJECT_NAME}
+        ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
+        LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
+        RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR})
+install(DIRECTORY include/ DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
 
 #############
 ## Testing ##
 #############
 # Add test targets for cpp and python tests
-#if (CATKIN_ENABLE_TESTING)
-#    mrt_add_tests(test)
-#    mrt_add_nosetests(test)
-#endif ()
-
 if (LANELET2_ENABLE_TESTING)
     include(GoogleTest)
     find_package(GTest REQUIRED)
diff --git a/lanelet2_validation/package.xml b/lanelet2_validation/package.xml
deleted file mode 100644
index 6ec41574..00000000
--- a/lanelet2_validation/package.xml
+++ /dev/null
@@ -1,30 +0,0 @@
-<?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="3">
-  <name>lanelet2_validation</name>
-  <version>1.2.1</version>
-  <description>Package for sanitizing lanelet maps</description>
-
-  <license>BSD</license>
-  <maintainer email="fabian.immel@kit.edu">Fabian Immel</maintainer>
-  <author email="fabian.poggenhans@kit.edu">Fabian Poggenhans</author>
-  <url type="repository">https://github.com/fzi-forschungszentrum-informatik/lanelet2.git</url>
-
-  <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
-  <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake_core</buildtool_depend>
-  <buildtool_depend>mrt_cmake_modules</buildtool_depend>
-  <buildtool_export_depend>mrt_cmake_modules</buildtool_export_depend>
-  <test_depend>gtest</test_depend>
-  <depend>lanelet2_core</depend>
-  <depend>lanelet2_routing</depend>
-  <depend>lanelet2_io</depend>
-  <depend>lanelet2_projection</depend>
-  <depend>lanelet2_traffic_rules</depend>
-  <test_depend>lanelet2_maps</test_depend>
-
-  <export>
-    <build_type condition="$ROS_VERSION == 1">catkin</build_type>
-    <build_type condition="$ROS_VERSION == 2">ament_cmake</build_type>
-    <rosdoc config="../rosdoc.yaml" />
-  </export>
-</package>
diff --git a/rosdoc.yaml b/rosdoc.yaml
deleted file mode 100644
index 243d7f1b..00000000
--- a/rosdoc.yaml
+++ /dev/null
@@ -1,4 +0,0 @@
-- builder: doxygen
-  name: C++ API
-  output_dir: doxygen
-  file_patterns: '*.c *.cpp *.h *.cc *.hh *.dox *.md'