diff --git a/manifest.xml b/manifest.xml
deleted file mode 100644
index 4bdc0f7b..00000000
--- a/manifest.xml
+++ /dev/null
@@ -1,20 +0,0 @@
-<package>
-  <description brief="opengv">
-
-     opengv
-
-  </description>
-  <author>Laurent Kneip</author>
-  <license>FreeBSD</license>
-  <review status="reviewed" notes=""/>
-  <url>http://ros.org/wiki/opengv</url>
-  <rosdep name="eigen"/>
-  
-  <export> 
-        <cpp cflags="-I${prefix}/include -I${prefix}/cfg/cpp"  lflags="-L${prefix}/lib -lopengv"/>
-  </export>
-  
-  
-</package>
-
-
diff --git a/package.xml b/package.xml
new file mode 100644
index 00000000..50060e19
--- /dev/null
+++ b/package.xml
@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="2">
+  <name>opengv</name>
+  <version>0.0.0</version>
+  <description>
+    OpenGV is a collection of computer vision methods for solving geometric vision problems.
+  </description>
+  <maintainer email="kneip.laurent@gmail.com">Laurent Kneip</maintainer>
+  <license>FreeBSD</license>
+
+  <buildtool_depend>cmake</buildtool_depend>
+  
+  <build_depend>eigen</build_depend>
+
+  <export>
+    <build_type>cmake</build_type>
+  </export>
+</package>