diff --git a/CMakeLists.txt b/CMakeLists.txt
index 7111d92b..b98b02c5 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,36 +1,22 @@
 cmake_minimum_required(VERSION 3.5)
 project(serial)
 
-# Add support for C++11
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 11)
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
 endif()
 
-find_package(ament_cmake REQUIRED)
-
-set(INCLUDE_DIRS include ${ament_cmake_INCLUDE_DIRS})
-include_directories(${INCLUDE_DIRS})
-
-set(LIBRARY_DIRS ${ament_cmake_LIBRARY_DIRS})
-
-link_directories(${LIBRARY_DIRS})
-
-set(LIBS ${ament_cmake_LIBRARIES})
-
 # Add support for C++11
 if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 11)
+  set(CMAKE_CXX_STANDARD 14)
 endif()
 
-find_package(ament_cmake REQUIRED)
-
-set(INCLUDE_DIRS include ${ament_cmake_INCLUDE_DIRS})
-
-set(LIBRARY_DIRS ${ament_cmake_LIBRARY_DIRS})
-
-set(LIBS ${ament_cmake_LIBRARIES})
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic -Werror)
+endif()
 
-# Find catkin
+# find dependencies
+find_package(ament_cmake REQUIRED)
 
 if(APPLE)
   find_library(IOKIT_LIBRARY IOKit)
@@ -38,31 +24,27 @@ if(APPLE)
 endif()
 
 if(UNIX AND NOT APPLE)
-  # If Linux, add rt and pthread
-  set(rt_LIBRARIES rt)
-  set(pthread_LIBRARIES pthread)
-else()
-  # Otherwise normal call
+  set(RT_LIBRARIES rt)
+  set(PTHREAD_LIBRARIES pthread)
 endif()
 
-## Sources
-set(serial_SRCS src/serial.cc include/serial/serial.h include/serial/v8stdint.h)
+set(SERIAL_SRCS
+  src/serial.cc)
+
 if(APPLE)
-  # If OSX
-  list(APPEND serial_SRCS src/impl/unix.cc)
-  list(APPEND serial_SRCS src/impl/list_ports/list_ports_osx.cc)
+  list(APPEND SERIAL_SRCS src/impl/list_ports/list_ports_osx.cc)
+  list(APPEND SERIAL_SRCS src/impl/unix.cc)
 elseif(UNIX)
-  # If unix
-  list(APPEND serial_SRCS src/impl/unix.cc)
-  list(APPEND serial_SRCS src/impl/list_ports/list_ports_linux.cc)
+  list(APPEND SERIAL_SRCS src/impl/list_ports/list_ports_linux.cc)
+  list(APPEND SERIAL_SRCS src/impl/unix.cc)
 else()
-  # If windows
-  list(APPEND serial_SRCS src/impl/win.cc)
-  list(APPEND serial_SRCS src/impl/list_ports/list_ports_win.cc)
+  list(APPEND SERIAL_SRCS src/impl/list_ports/list_ports_win.cc)
+  list(APPEND SERIAL_SRCS src/impl/win.cc)
 endif()
 
-## Add serial library
-add_library(${PROJECT_NAME} ${serial_SRCS})
+add_library(${PROJECT_NAME} SHARED
+  ${SERIAL_SRCS})
+
 if(APPLE)
   target_link_libraries(${PROJECT_NAME} ${FOUNDATION_LIBRARY} ${IOKIT_LIBRARY})
 elseif(UNIX)
@@ -71,33 +53,21 @@ else()
   target_link_libraries(${PROJECT_NAME} setupapi)
 endif()
 
-## Uncomment for example
-add_executable(serial_example examples/serial_example.cc)
-add_dependencies(serial_example ${PROJECT_NAME})
-target_link_libraries(serial_example ${PROJECT_NAME})
+target_include_directories(${PROJECT_NAME}
+  PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>)
 
-## Include headers
+install(
+  DIRECTORY include/
+  DESTINATION include)
 
-## Install executable
-install(TARGETS ${PROJECT_NAME} ARCHIVE DESTINATION lib LIBRARY DESTINATION lib)
+ament_export_include_directories(include)
+ament_export_libraries(${PROJECT_NAME})
 
-## Install headers
-install(FILES include/serial/serial.h include/serial/v8stdint.h
-  DESTINATION include/serial)
-
-## Tests
 if(BUILD_TESTING)
-  add_subdirectory(tests)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
 endif()
 
-ament_export_dependencies(ament_cmake)
-ament_export_include_directories(${INCLUDE_DIRS})
-ament_export_libraries(${PROJECT_NAME} ${LIBS})
-
-ament_package()
-
-ament_export_dependencies(ament_cmake)
-ament_export_include_directories(${INCLUDE_DIRS})
-ament_export_libraries(${PROJECT_NAME} ${LIBS})
-
 ament_package()
diff --git a/package.xml b/package.xml
index c1a16cee..4e1946c0 100644
--- a/package.xml
+++ b/package.xml
@@ -21,11 +21,11 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
   <test_depend>boost</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
   </export>
-
-  <buildtool_depend>ament_cmake</buildtool_depend>
 </package>