diff --git a/.gitignore b/.gitignore
new file mode 100644
index 00000000..a9d29000
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,3 @@
+*.pyc
+build/
+*~
diff --git a/urdf_parser_py/Makefile b/urdf_parser_py/Makefile
new file mode 100644
index 00000000..b75b928f
--- /dev/null
+++ b/urdf_parser_py/Makefile
@@ -0,0 +1 @@
+include $(shell rospack find mk)/cmake.mk
\ No newline at end of file
diff --git a/urdf_parser_py/package.xml b/urdf_parser_py/package.xml
index ebef8568..ac15e6ba 100644
--- a/urdf_parser_py/package.xml
+++ b/urdf_parser_py/package.xml
@@ -19,8 +19,10 @@ Xml Robot Description Format (URDF).
   <buildtool_depend>catkin</buildtool_depend>
   <build_depend>rospy</build_depend>
   <run_depend>rospy</run_depend>
+  <run_depend>xml_reflection</run_depend>
 
   <export>
     <rosdoc config="rosdoc.yaml" />
+    <python path="${prefix}/src"/>
   </export>
 </package>
diff --git a/xml_reflection/CMakeLists.txt b/xml_reflection/CMakeLists.txt
new file mode 100644
index 00000000..39b1e93b
--- /dev/null
+++ b/xml_reflection/CMakeLists.txt
@@ -0,0 +1,6 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(xml_reflection)
+
+find_package(catkin REQUIRED COMPONENTS rospy)
+catkin_python_setup()
+catkin_package()
diff --git a/xml_reflection/Makefile b/xml_reflection/Makefile
new file mode 100644
index 00000000..b75b928f
--- /dev/null
+++ b/xml_reflection/Makefile
@@ -0,0 +1 @@
+include $(shell rospack find mk)/cmake.mk
\ No newline at end of file
diff --git a/xml_reflection/ROS_NOBUILD b/xml_reflection/ROS_NOBUILD
deleted file mode 100644
index e69de29b..00000000
diff --git a/xml_reflection/manifest.xml b/xml_reflection/manifest.xml
deleted file mode 100644
index 609d89f5..00000000
--- a/xml_reflection/manifest.xml
+++ /dev/null
@@ -1,17 +0,0 @@
-<package>
-  <description brief="XML Reflection (Python)">
-
-    Reflection a la SDF from Gazebo
-
-  </description>
-  <author>Eric Cousineau</author>
-  <license>BSD</license>
-  <review status="unreviewed" notes=""/>
-  <url>http://ros.org/wiki/blerg</url>
-
-  <export>
-    <python path="${prefix}/src"/>
-  </export>
-
-  <depend package="rospy"/>
-</package>
diff --git a/xml_reflection/package.xml b/xml_reflection/package.xml
new file mode 100644
index 00000000..2eaec70e
--- /dev/null
+++ b/xml_reflection/package.xml
@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+<package>
+  <name>xml_reflection</name>
+  <version>0.1.0</version>
+  <description>
+
+Reflection a la SDF from Gazebo.
+
+  </description>
+  <author email="eacousineau@gmail.com">Eric Cousineau</author>
+  <maintainer email="eacousineau@gmail.com">Eric Cousineau</maintainer>
+
+  <license>BSD</license>
+  <url type="website">http://ros.org/wiki/xml_reflection</url>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>rospy</build_depend>
+  <run_depend>rospy</run_depend>
+
+  <export>
+    <python path="${prefix}/src"/>
+  </export>
+</package>
diff --git a/xml_reflection/setup.py b/xml_reflection/setup.py
new file mode 100644
index 00000000..c9998169
--- /dev/null
+++ b/xml_reflection/setup.py
@@ -0,0 +1,11 @@
+#!/usr/bin/env python
+
+from distutils.core import setup
+from catkin_pkg.python_setup import generate_distutils_setup
+
+d = generate_distutils_setup(
+    packages=['xml_reflection'],
+    package_dir={'': 'src'}
+)
+
+setup(**d)