diff --git a/controller_manager/CMakeLists.txt b/controller_manager/CMakeLists.txt
index 80747eeb4d..e8bc782b18 100644
--- a/controller_manager/CMakeLists.txt
+++ b/controller_manager/CMakeLists.txt
@@ -6,6 +6,7 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
 endif()
 
 find_package(ament_cmake REQUIRED)
+find_package(ament_cmake_python REQUIRED)
 find_package(ament_cmake_core REQUIRED)
 find_package(ament_index_cpp REQUIRED)
 find_package(controller_interface REQUIRED)
@@ -53,14 +54,6 @@ install(DIRECTORY include/
   DESTINATION include
 )
 
-install(PROGRAMS
-  scripts/spawner
-  scripts/spawner.py  # Deprecated
-  scripts/unspawner
-  scripts/unspawner.py  # Deprecated
-  DESTINATION lib/${PROJECT_NAME}
-)
-
 if(BUILD_TESTING)
   find_package(ament_cmake_gmock REQUIRED)
   find_package(ament_cmake_gtest REQUIRED)
@@ -160,7 +153,7 @@ if(BUILD_TESTING)
 endif()
 
 # Install Python modules
-ament_python_install_package(${PROJECT_NAME})
+ament_python_install_package(${PROJECT_NAME} SCRIPTS_DESTINATION lib/${PROJECT_NAME})
 
 ament_export_libraries(
   controller_manager
diff --git a/controller_manager/scripts/spawner.py b/controller_manager/controller_manager/spawner.py
old mode 100755
new mode 100644
similarity index 100%
rename from controller_manager/scripts/spawner.py
rename to controller_manager/controller_manager/spawner.py
diff --git a/controller_manager/scripts/unspawner.py b/controller_manager/controller_manager/unspawner.py
old mode 100755
new mode 100644
similarity index 100%
rename from controller_manager/scripts/unspawner.py
rename to controller_manager/controller_manager/unspawner.py
diff --git a/controller_manager/package.xml b/controller_manager/package.xml
index adfbea7dbc..1dae4cbfe1 100644
--- a/controller_manager/package.xml
+++ b/controller_manager/package.xml
@@ -8,6 +8,7 @@
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>ament_cmake_python</buildtool_depend>
 
   <depend>ament_index_cpp</depend>
   <depend>controller_interface</depend>
diff --git a/controller_manager/scripts/spawner b/controller_manager/scripts/spawner
deleted file mode 100755
index ae4d8d33e5..0000000000
--- a/controller_manager/scripts/spawner
+++ /dev/null
@@ -1,21 +0,0 @@
-#!/usr/bin/env python3
-# Copyright 2021 PAL Robotics S.L.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-import sys
-from spawner import main
-
-if __name__ == "__main__":
-    ret = main()
-    sys.exit(ret)
diff --git a/controller_manager/scripts/unspawner b/controller_manager/scripts/unspawner
deleted file mode 100755
index 4227e7b7b6..0000000000
--- a/controller_manager/scripts/unspawner
+++ /dev/null
@@ -1,21 +0,0 @@
-#!/usr/bin/env python3
-# Copyright 2021 PAL Robotics S.L.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-import sys
-from unspawner import main
-
-if __name__ == "__main__":
-    ret = main()
-    sys.exit(ret)
diff --git a/controller_manager/setup.cfg b/controller_manager/setup.cfg
new file mode 100644
index 0000000000..ef02ee65bd
--- /dev/null
+++ b/controller_manager/setup.cfg
@@ -0,0 +1,4 @@
+[options.entry_points]
+console_scripts =
+    spawner = controller_manager.spawner:main
+    unspawner = controller_manager.unspawner:main