diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0f754ff..7bf945c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,16 +1,17 @@
 cmake_minimum_required(VERSION 3.14)
 set(CMAKE_LEGACY_CYGWIN_WIN32 0)
 
-project(g2o)
+project(libg2o)
+find_package(ament_cmake REQUIRED)
 
 include(CPack)
 include(GNUInstallDirs)
 
 # The library prefix
-set(LIB_PREFIX g2o_)
+set(LIB_PREFIX libg2o_)
 
-set(g2o_C_FLAGS)
-set(g2o_CXX_FLAGS)
+set(libg2o_C_FLAGS)
+set(libg2o_CXX_FLAGS)
 
 # default built type
 if(NOT CMAKE_BUILD_TYPE)
@@ -61,15 +62,15 @@ if(APPLE)
 endif(APPLE)
 
 # Set the output directory for the build executables and libraries
-set(g2o_RUNTIME_OUTPUT_DIRECTORY ${g2o_SOURCE_DIR}/bin CACHE PATH "Target for the binaries")
+set(g2o_RUNTIME_OUTPUT_DIRECTORY ${libg2o_SOURCE_DIR}/bin CACHE PATH "Target for the binaries")
 if(WIN32)
-  set(g2o_LIBRARY_OUTPUT_DIRECTORY ${g2o_SOURCE_DIR}/bin CACHE PATH "Target for the libraries")
+  set(g2o_LIBRARY_OUTPUT_DIRECTORY ${libg2o_SOURCE_DIR}/bin CACHE PATH "Target for the libraries")
 else(WIN32)
-  set(g2o_LIBRARY_OUTPUT_DIRECTORY ${g2o_SOURCE_DIR}/lib CACHE PATH "Target for the libraries")
+  set(g2o_LIBRARY_OUTPUT_DIRECTORY ${libg2o_SOURCE_DIR}/lib CACHE PATH "Target for the libraries")
 endif(WIN32)
-set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${g2o_LIBRARY_OUTPUT_DIRECTORY})
-set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${g2o_LIBRARY_OUTPUT_DIRECTORY})
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${g2o_RUNTIME_OUTPUT_DIRECTORY})
+set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${libg2o_LIBRARY_OUTPUT_DIRECTORY})
+set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${libg2o_LIBRARY_OUTPUT_DIRECTORY})
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${libg2o_RUNTIME_OUTPUT_DIRECTORY})
 
 # Set standard installation directories
 set(RUNTIME_DESTINATION ${CMAKE_INSTALL_BINDIR})
@@ -80,7 +81,7 @@ set(INCLUDES_INSTALL_DIR ${INCLUDES_DESTINATION}/g2o)
 
 # Set search directory for looking for our custom CMake scripts to
 # look for SuiteSparse, QGLViewer, and Eigen3.
-list(APPEND CMAKE_MODULE_PATH ${g2o_SOURCE_DIR}/cmake_modules)
+list(APPEND CMAKE_MODULE_PATH ${libg2o_SOURCE_DIR}/cmake_modules)
 
 # Detect OS and define macros appropriately
 if(WIN32)
@@ -157,8 +158,8 @@ if(G2O_USE_OPENMP)
   find_package(OpenMP)
   if(OPENMP_FOUND)
     set (G2O_OPENMP 1)
-    set(g2o_C_FLAGS "${g2o_C_FLAGS} ${OpenMP_C_FLAGS}")
-    set(g2o_CXX_FLAGS "${g2o_CXX_FLAGS} -DEIGEN_DONT_PARALLELIZE ${OpenMP_CXX_FLAGS}")
+    set(libg2o_C_FLAGS "${libg2o_C_FLAGS} ${OpenMP_C_FLAGS}")
+    set(libg2o_CXX_FLAGS "${libg2o_CXX_FLAGS} -DEIGEN_DONT_PARALLELIZE ${OpenMP_CXX_FLAGS}")
     message(STATUS "Compiling with OpenMP support")
   endif(OPENMP_FOUND)
 endif(G2O_USE_OPENMP)
@@ -358,8 +359,8 @@ endif()
 option(BUILD_CODE_COVERAGE "Enable coverage reporting" OFF)
 if(BUILD_CODE_COVERAGE AND CMAKE_CXX_COMPILER_ID MATCHES "GNU|Clang")
   message(STATUS "Enabling coverage compiler flags")
-  set(g2o_C_FLAGS "${g2o_C_FLAGS} --coverage")
-  set(g2o_CXX_FLAGS "${g2o_CXX_FLAGS} --coverage")
+  set(libg2o_C_FLAGS "${libg2o_C_FLAGS} --coverage")
+  set(libg2o_CXX_FLAGS "${libg2o_CXX_FLAGS} --coverage")
 endif()
 
 # Compiler specific options for gcc
@@ -390,8 +391,8 @@ if(CMAKE_COMPILER_IS_GNUCXX)
     set(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -march=native")
   endif()
   # activate warnings !!!
-  set(g2o_C_FLAGS "${g2o_C_FLAGS} -Wall -W")
-  set(g2o_CXX_FLAGS "${g2o_CXX_FLAGS} -Wall -W")
+  set(libg2o_C_FLAGS "${libg2o_C_FLAGS} -Wall -W")
+  set(libg2o_CXX_FLAGS "${libg2o_CXX_FLAGS} -Wall -W")
 endif(CMAKE_COMPILER_IS_GNUCXX)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
@@ -409,11 +410,11 @@ if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   endif()
 
   # activate all warnings
-  #set(g2o_C_FLAGS "${g2o_C_FLAGS} -Weverything")
-  #set(g2o_CXX_FLAGS "${g2o_CXX_FLAGS} -Weverything")
-  set(g2o_C_FLAGS "${g2o_C_FLAGS} -Wall")
-  set(g2o_CXX_FLAGS "${g2o_CXX_FLAGS} -Wall")
-  #set(g2o_CXX_FLAGS "${g2o_CXX_FLAGS} -Wall -stdlib=libc++")
+  #set(libg2o_C_FLAGS "${libg2o_C_FLAGS} -Weverything")
+  #set(libg2o_CXX_FLAGS "${libg2o_CXX_FLAGS} -Weverything")
+  set(libg2o_C_FLAGS "${libg2o_C_FLAGS} -Wall")
+  set(libg2o_CXX_FLAGS "${libg2o_CXX_FLAGS} -Wall")
+  #set(libg2o_CXX_FLAGS "${libg2o_CXX_FLAGS} -Wall -stdlib=libc++")
 endif()
 
 if(MSVC)
@@ -477,8 +478,8 @@ set(CMAKE_CXX_STANDARD 14)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
 # specifying compiler flags
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${g2o_CXX_FLAGS}")
-set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${g2o_C_FLAGS}")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${libg2o_CXX_FLAGS}")
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${libg2o_C_FLAGS}")
 
 # Find Eigen3. If it defines the target, this is used. If not,
 # fall back to the using the module form.
@@ -491,7 +492,7 @@ else()
 endif ()
 
 # Set up the top-level include directories
-include_directories(${g2o_SOURCE_DIR} ${PROJECT_BINARY_DIR})
+include_directories(${libg2o_SOURCE_DIR} ${PROJECT_BINARY_DIR})
 
 # Generate config.h
 set(G2O_OPENGL_FOUND ${OPENGL_FOUND})
@@ -503,11 +504,11 @@ set(G2O_CXX_COMPILER "${CMAKE_CXX_COMPILER_ID} ${CMAKE_CXX_COMPILER}")
 
 # Generate cmake configuration scripts
 set(G2O_GENERATED_DIR "${CMAKE_CURRENT_BINARY_DIR}/generated")
-set(G2O_VERSION_CONFIG "${G2O_GENERATED_DIR}/${PROJECT_NAME}ConfigVersion.cmake")
-set(G2O_PROJECT_CONFIG "${G2O_GENERATED_DIR}/${PROJECT_NAME}Config.cmake")
-set(G2O_TARGETS_EXPORT_NAME "${PROJECT_NAME}Targets")
-set(G2O_CONFIG_INSTALL_DIR "lib/cmake/${PROJECT_NAME}")
-set(G2O_NAMESPACE "${PROJECT_NAME}::")
+set(G2O_VERSION_CONFIG "${G2O_GENERATED_DIR}/g2oConfigVersion.cmake")
+set(G2O_PROJECT_CONFIG "${G2O_GENERATED_DIR}/g2oConfig.cmake")
+set(G2O_TARGETS_EXPORT_NAME "g2oTargets")
+set(G2O_CONFIG_INSTALL_DIR "lib/cmake/g2o")
+set(G2O_NAMESPACE "g2o::")
 set(G2O_SRC_DIR "${PROJECT_SOURCE_DIR}")
 set(G2O_VERSION 1.0.0)
 
@@ -519,8 +520,8 @@ WRITE_BASIC_PACKAGE_VERSION_FILE(
 configure_file(config.h.in "${PROJECT_BINARY_DIR}/g2o/config.h")
 install(FILES ${PROJECT_BINARY_DIR}/g2o/config.h DESTINATION ${INCLUDES_DESTINATION}/g2o)
 
-configure_file("${g2o_SOURCE_DIR}/cmake_modules/Config.cmake.in" "${G2O_PROJECT_CONFIG}" @ONLY)
-configure_file("${g2o_SOURCE_DIR}/script/codecov.sh.in" "${CMAKE_CURRENT_BINARY_DIR}/codecov.sh" @ONLY)
+configure_file("${libg2o_SOURCE_DIR}/cmake_modules/Config.cmake.in" "${G2O_PROJECT_CONFIG}" @ONLY)
+configure_file("${libg2o_SOURCE_DIR}/script/codecov.sh.in" "${CMAKE_CURRENT_BINARY_DIR}/codecov.sh" @ONLY)
 
 install(
     FILES "${G2O_PROJECT_CONFIG}" "${G2O_VERSION_CONFIG}"
@@ -551,3 +552,5 @@ endif()
 
 # Include the subdirectories
 add_subdirectory(g2o)
+
+ament_package()