diff --git a/swri_cli_tools/CMakeLists.txt b/swri_cli_tools/CMakeLists.txt
deleted file mode 100644
index f24807e95..000000000
--- a/swri_cli_tools/CMakeLists.txt
+++ /dev/null
@@ -1,24 +0,0 @@
-cmake_minimum_required(VERSION 3.8)
-project(swri_cli_tools)
-
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic)
-endif()
-
-# find dependencies
-find_package(ament_cmake REQUIRED)
-find_package(marti_introspection_msgs REQUIRED)
-
-if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  # the following line skips the linter which checks for copyrights
-  # comment the line when a copyright and license is added to all source files
-  set(ament_cmake_copyright_FOUND TRUE)
-  # the following line skips cpplint (only works in a git repo)
-  # comment the line when this package is in a git repo and when
-  # a copyright and license is added to all source files
-  set(ament_cmake_cpplint_FOUND TRUE)
-  ament_lint_auto_find_test_dependencies()
-endif()
-
-ament_package()
diff --git a/swri_cli_tools/package.xml b/swri_cli_tools/package.xml
index 598256c41..5814dedb1 100644
--- a/swri_cli_tools/package.xml
+++ b/swri_cli_tools/package.xml
@@ -4,17 +4,22 @@
   <name>swri_cli_tools</name>
   <version>3.6.0</version>
   <description>Command line tools for introspecting ROS systems</description>
+
   <maintainer email="swri-robotics@swri.org">Southwest Research Institute</maintainer>
   <author email="david.anthony@swri.org">David Anthony</author>
-  <license>BSD 3 Clause</license>
 
-  <buildtool_depend>ament_cmake</buildtool_depend>
+  <license>BSD 3 Clause</license>
 
   <depend>marti_introspection_msgs</depend>
   <depend>python3-natsort</depend>
+  <depend>rcl_interfaces</depend>
+  <depend>rclpy</depend>
+  <depend>ros2cli</depend>
 
-  <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_lint_common</test_depend>
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>ament_xmllint</test_depend>
 
   <export>
     <build_type>ament_python</build_type>
diff --git a/swri_cli_tools/setup.py b/swri_cli_tools/setup.py
index 79e936b1a..10ae910be 100644
--- a/swri_cli_tools/setup.py
+++ b/swri_cli_tools/setup.py
@@ -1,5 +1,5 @@
-from setuptools import find_packages
-from setuptools import setup
+import os
+from setuptools import find_packages, setup
 
 package_name = 'swri_cli_tools'
 
@@ -8,11 +8,10 @@
     version='3.6.0',
     packages=find_packages(exclude=['test']),
     data_files=[
-        ('share/' + package_name, ['package.xml']),
-        ('share/ament_index/resource_index/packages',
-            ['resource/' + package_name])
+        ('share/ament_index/resource_index/packages', ['resource/' + package_name]),
+        (os.path.join('share', package_name), ['package.xml']),
     ],
-    install_requires=['ros2cli'],
+    install_requires=['ros2cli', 'setuptools'],
     zip_safe=True,
     author='David Anthony',
     author_email='david.anthony@swri.org',
@@ -21,6 +20,7 @@
     url='https://github.com/swri-robotics/marti_common',
     keywords=['ROS'],
     classifiers=[
+        'Environment :: Console',
         'Intended Audience :: Developers',
         'License :: OSI Approved :: BSD 3 Clause',
         'Programming Language :: Python',
diff --git a/swri_cli_tools/swri_cli_tools/api/_node_info.py b/swri_cli_tools/swri_cli_tools/api/_node_info.py
index 07b72cbc7..f7e659719 100644
--- a/swri_cli_tools/swri_cli_tools/api/_node_info.py
+++ b/swri_cli_tools/swri_cli_tools/api/_node_info.py
@@ -1,11 +1,36 @@
-"""Holds information about node in ROS 2 system."""
+# Copyright (c) 2023, Southwest Research Institute® (SwRI®)
+# 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 Southwest Research Institute® (SwRI®) 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 <COPYRIGHT HOLDER> 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.
 
-from __future__ import annotations
 from typing import List
 
 from rcl_interfaces.msg import ParameterType
 from ros2node.api import TopicInfo
 
+from swri_cli_tools.api._node_info import NodeInfo
+from swri_cli_tools.api._node_info import ParameterInfo
+
 
 def print_node_infos(nodes: List(NodeInfo)):
     """Print information about nodes."""
diff --git a/swri_cli_tools/swri_cli_tools/command/swri.py b/swri_cli_tools/swri_cli_tools/command/swri.py
index 5a5032250..4d2779f08 100644
--- a/swri_cli_tools/swri_cli_tools/command/swri.py
+++ b/swri_cli_tools/swri_cli_tools/command/swri.py
@@ -1,10 +1,34 @@
+# Copyright (c) 2023, Southwest Research Institute® (SwRI®)
+# 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 Southwest Research Institute® (SwRI®) 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 <COPYRIGHT HOLDER> 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.
+
 from ros2cli.command import add_subparsers_on_demand
 from ros2cli.command import CommandExtension
 
 
 class SwriCommand(CommandExtension):
     """Execute SwRI CLI command"""
-
     def add_arguments(self, parser, cli_name):
         """Add arguments"""
         self._subparser = parser
diff --git a/swri_cli_tools/swri_cli_tools/document/_document.py b/swri_cli_tools/swri_cli_tools/document/_document.py
index d9caa13f0..ccd88caa2 100644
--- a/swri_cli_tools/swri_cli_tools/document/_document.py
+++ b/swri_cli_tools/swri_cli_tools/document/_document.py
@@ -1,3 +1,28 @@
+# Copyright (c) 2023, Southwest Research Institute® (SwRI®)
+# 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 Southwest Research Institute® (SwRI®) 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 <COPYRIGHT HOLDER> 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.
+
 from natsort import natsorted
 
 from swri_cli_tools.api._node_info import NodeInfo
diff --git a/swri_cli_tools/swri_cli_tools/verb/document.py b/swri_cli_tools/swri_cli_tools/verb/document.py
index ef8a1bdfb..0d9b8de8e 100644
--- a/swri_cli_tools/swri_cli_tools/verb/document.py
+++ b/swri_cli_tools/swri_cli_tools/verb/document.py
@@ -1,4 +1,27 @@
-import sys
+# Copyright (c) 2023, Southwest Research Institute® (SwRI®)
+# 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 Southwest Research Institute® (SwRI®) 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 <COPYRIGHT HOLDER> 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.
 
 from ros2cli.node.strategy import add_arguments as add_strategy_node_arguments
 from swri_cli_tools.document import document_system
diff --git a/swri_console_util/package.xml b/swri_console_util/package.xml
index 9e5dc1642..5c6d4c217 100644
--- a/swri_console_util/package.xml
+++ b/swri_console_util/package.xml
@@ -1,3 +1,5 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>swri_console_util</name>
   <version>3.6.0</version>
diff --git a/swri_dbw_interface/package.xml b/swri_dbw_interface/package.xml
index b96c856b0..f6426f099 100644
--- a/swri_dbw_interface/package.xml
+++ b/swri_dbw_interface/package.xml
@@ -1,4 +1,5 @@
 <?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>swri_dbw_interface</name>
   <version>3.6.0</version>
diff --git a/swri_geometry_util/package.xml b/swri_geometry_util/package.xml
index 1a4e47780..113e39dd6 100644
--- a/swri_geometry_util/package.xml
+++ b/swri_geometry_util/package.xml
@@ -1,3 +1,5 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>swri_geometry_util</name>
   <version>3.6.0</version>
diff --git a/swri_image_util/package.xml b/swri_image_util/package.xml
index dc6b0e27d..60d2f6f48 100644
--- a/swri_image_util/package.xml
+++ b/swri_image_util/package.xml
@@ -1,3 +1,5 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>swri_image_util</name>
   <version>3.6.0</version>
diff --git a/swri_math_util/package.xml b/swri_math_util/package.xml
index 1759121ad..ea6a40c14 100644
--- a/swri_math_util/package.xml
+++ b/swri_math_util/package.xml
@@ -1,3 +1,5 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>swri_math_util</name>
   <version>3.6.0</version>
diff --git a/swri_opencv_util/package.xml b/swri_opencv_util/package.xml
index 7374976a3..0611c17c9 100644
--- a/swri_opencv_util/package.xml
+++ b/swri_opencv_util/package.xml
@@ -1,3 +1,5 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>swri_opencv_util</name>
   <version>3.6.0</version>
diff --git a/swri_prefix_tools/package.xml b/swri_prefix_tools/package.xml
index c1fa01582..79a5880ae 100644
--- a/swri_prefix_tools/package.xml
+++ b/swri_prefix_tools/package.xml
@@ -1,3 +1,5 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>swri_prefix_tools</name>
   <version>3.6.0</version>
@@ -8,14 +10,13 @@
 
   </description>
   <author>Elliot Johnson</author>
-  <maintainer email="preed@swri.org">P. J. Reed</maintainer>
+  <maintainer email="swri-robotics@swri.org">Southwest Research Institute</maintainer>
   <license>BSD</license>
   <url>https://github.com/swri-robotics/marti_common</url>
   
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-psutil</exec_depend>
-  <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-psutil</exec_depend>
+  <exec_depend>python3-psutil</exec_depend>
   
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/swri_roscpp/package.xml b/swri_roscpp/package.xml
index e937b6d9b..58808ad01 100644
--- a/swri_roscpp/package.xml
+++ b/swri_roscpp/package.xml
@@ -1,4 +1,5 @@
-<?xml version="1.0" ?>
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>swri_roscpp</name>
   <version>3.6.0</version>
diff --git a/swri_route_util/package.xml b/swri_route_util/package.xml
index 1184dbaeb..2eedbb3dc 100644
--- a/swri_route_util/package.xml
+++ b/swri_route_util/package.xml
@@ -1,4 +1,5 @@
 <?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>swri_route_util</name>
   <version>3.6.0</version>
diff --git a/swri_serial_util/package.xml b/swri_serial_util/package.xml
index 6c0b0a2c6..818c1fa46 100644
--- a/swri_serial_util/package.xml
+++ b/swri_serial_util/package.xml
@@ -1,3 +1,5 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>swri_serial_util</name>
   <version>3.6.0</version>
diff --git a/swri_system_util/package.xml b/swri_system_util/package.xml
index 16b69e241..28e29d95e 100644
--- a/swri_system_util/package.xml
+++ b/swri_system_util/package.xml
@@ -1,3 +1,5 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>swri_system_util</name>
   <version>3.6.0</version>
diff --git a/swri_transform_util/package.xml b/swri_transform_util/package.xml
index 94711521b..6fcc3b251 100644
--- a/swri_transform_util/package.xml
+++ b/swri_transform_util/package.xml
@@ -1,3 +1,5 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>swri_transform_util</name>
   <version>3.6.0</version>