diff --git a/CMakeLists.txt b/CMakeLists.txt
index aba4c38d..6ad4c8c3 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -2,17 +2,18 @@ cmake_minimum_required(VERSION 3.5)
 project(xacro)
 
 find_package(ament_cmake REQUIRED)
+find_package(ament_cmake_python REQUIRED)
 
 install(FILES scripts/completion.bash DESTINATION share/${PROJECT_NAME}/environment)
 
-## The following manually installs the python package and the entry-point script
-## Using ament_cmake, we cannot actually use setup.py to install these...
+# install xacro python package and it's console_script entry-point script
+ament_python_install_package(${PROJECT_NAME} SCRIPTS_DESTINATION lib/${PROJECT_NAME})
 
-# install xacro python package
-ament_python_install_package(xacro)
-# install main script
-install(PROGRAMS scripts/xacro DESTINATION bin)
-install(PROGRAMS scripts/xacro DESTINATION lib/${PROJECT_NAME})
+# install entry-point script(s) in bin as well
+install(
+    DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/ament_cmake_python/${PROJECT_NAME}/scripts/
+    DESTINATION bin/
+    USE_SOURCE_PERMISSIONS)
 
 if(BUILD_TESTING)
   ## run linters as defined in package.xml
diff --git a/package.xml b/package.xml
index 1378222f..4ae16c9f 100644
--- a/package.xml
+++ b/package.xml
@@ -20,6 +20,8 @@
   <author>Robert Haschke</author>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>ament_cmake_python</buildtool_depend>
+
   <depend>ament_index_python</depend>
   <depend>python3-yaml</depend>
   <test_depend>ament_lint_auto</test_depend>
diff --git a/scripts/xacro b/scripts/xacro
deleted file mode 100755
index c0e08895..00000000
--- a/scripts/xacro
+++ /dev/null
@@ -1,33 +0,0 @@
-#! /usr/bin/env python3
-# Copyright (c) 2013, Willow Garage, Inc.
-# All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-#     * Redistributions of source code must retain the above copyright
-#       notice, this list of conditions and the following disclaimer.
-#     * Redistributions in binary form must reproduce the above copyright
-#       notice, this list of conditions and the following disclaimer in the
-#       documentation and/or other materials provided with the distribution.
-#     * Neither the name of the Willow Garage, Inc. nor the names of its
-#       contributors may be used to endorse or promote products derived from
-#       this software without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-
-# Author: Stuart Glaser
-# Maintainer: William Woodall <wwoodall@willowgarage.com>
-
-import xacro
-xacro.main()
diff --git a/setup.cfg b/setup.cfg
new file mode 100644
index 00000000..efc71ad4
--- /dev/null
+++ b/setup.cfg
@@ -0,0 +1,3 @@
+[options.entry_points]
+console_scripts =
+    xacro = xacro:main
diff --git a/setup.py b/setup.py
deleted file mode 100644
index 3d1142e6..00000000
--- a/setup.py
+++ /dev/null
@@ -1,35 +0,0 @@
-from setuptools import find_packages
-from setuptools import setup
-
-package_name = 'xacro'
-
-setup(
-    name=package_name,
-    python_requires='>=3',
-    packages=find_packages(),
-    data_files=[
-        ('share/' + package_name, ['package.xml']),
-        ('share/' + package_name + '/environment', ['scripts/completion.bash']),
-    ],
-    install_requires=['setuptools'],
-    zip_safe=True,
-    maintainer='Robert Haschke',
-    maintainer_email='rhaschke@techfak.uni-bielefeld.de',
-    url='https://github.com/ros/xacro',
-    keywords=['ROS'],
-    classifiers=[
-        'Intended Audience :: Developers',
-        'Programming Language :: Python',
-        'Topic :: Software Development',
-    ],
-    description='Xacro is an XML macro language.\n'
-                'With xacro, you can construct shorter and more readable XML files '
-                'by using macros that expand to larger XML expressions.',
-    license='BSD',
-    tests_require=['pytest'],
-    entry_points={
-        'console_scripts': [
-            'xacro = xacro:main'
-        ],
-    },
-)