diff --git a/camera_calibration_parsers/CMakeLists.txt b/camera_calibration_parsers/CMakeLists.txt
index b70b8530..4f081879 100644
--- a/camera_calibration_parsers/CMakeLists.txt
+++ b/camera_calibration_parsers/CMakeLists.txt
@@ -1,14 +1,10 @@
-cmake_minimum_required(VERSION 2.8)
+cmake_minimum_required(VERSION 3.0.2)
 project(camera_calibration_parsers)
 
 find_package(catkin REQUIRED sensor_msgs rosconsole roscpp roscpp_serialization)
 
 find_package(PythonLibs REQUIRED)
-if(PYTHONLIBS_VERSION_STRING VERSION_LESS 3)
-  find_package(Boost REQUIRED COMPONENTS filesystem python)
-else()
-  find_package(Boost REQUIRED COMPONENTS filesystem python3)
-endif()
+find_package(Boost REQUIRED COMPONENTS filesystem python)
 include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} ${PYTHON_INCLUDE_DIRS})
 
 catkin_python_setup()
diff --git a/camera_calibration_parsers/setup.py b/camera_calibration_parsers/setup.py
index 07d1142b..d8a0816a 100644
--- a/camera_calibration_parsers/setup.py
+++ b/camera_calibration_parsers/setup.py
@@ -1,8 +1,9 @@
 # ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD
 
-from distutils.core import setup
 from catkin_pkg.python_setup import generate_distutils_setup
 
+from setuptools import setup
+
 # fetch values from package.xml
 setup_args = generate_distutils_setup(
     packages=['camera_calibration_parsers'],
diff --git a/camera_calibration_parsers/src/parse_wrapper.cpp b/camera_calibration_parsers/src/parse_wrapper.cpp
index 6a99faa5..e7c627ef 100644
--- a/camera_calibration_parsers/src/parse_wrapper.cpp
+++ b/camera_calibration_parsers/src/parse_wrapper.cpp
@@ -63,7 +63,11 @@ boost::python::tuple readCalibrationWrapper(const std::string& file_name)
   sensor_msgs::CameraInfo camera_info;
   bool result = readCalibration(file_name, camera_name, camera_info);
   std::string cam_info = to_python(camera_info);
-  return boost::python::make_tuple(result, camera_name, cam_info);
+  PyObject * cam_info_py = PyBytes_FromStringAndSize(cam_info.c_str(), cam_info.size());
+  return boost::python::make_tuple(
+    result,
+    camera_name,
+    boost::python::object(boost::python::handle<>(cam_info_py)));
 }
 
 BOOST_PYTHON_MODULE(camera_calibration_parsers_wrapper)
diff --git a/camera_calibration_parsers/test/parser.py b/camera_calibration_parsers/test/parser.py
index 2d0af4ca..887e15be 100644
--- a/camera_calibration_parsers/test/parser.py
+++ b/camera_calibration_parsers/test/parser.py
@@ -44,7 +44,7 @@ def test_ini(self):
             for dir in [ '', './']:
                 p = subprocess.Popen('rosrun camera_calibration_parsers convert $(rospack find camera_calibration_parsers)/test/%s %s%s' % (files[0], dir, files[1]), shell=True, stderr=subprocess.PIPE)
                 out, err = p.communicate()
-                self.assertEqual(err, '')
+                self.assertEqual(err, b'')
 
     def test_readCalibration(self):
         script_dir = os.path.dirname(os.path.realpath(__file__))
diff --git a/camera_info_manager/CMakeLists.txt b/camera_info_manager/CMakeLists.txt
index 7ba1486e..ddf9d1f3 100644
--- a/camera_info_manager/CMakeLists.txt
+++ b/camera_info_manager/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8)
+cmake_minimum_required(VERSION 3.0.2)
 project(camera_info_manager)
 
 find_package(catkin REQUIRED COMPONENTS camera_calibration_parsers image_transport roscpp roslib sensor_msgs)
diff --git a/image_common/CMakeLists.txt b/image_common/CMakeLists.txt
index 9b8a748e..79f13bee 100644
--- a/image_common/CMakeLists.txt
+++ b/image_common/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(image_common)
 find_package(catkin REQUIRED)
 catkin_metapackage()
diff --git a/image_transport/CMakeLists.txt b/image_transport/CMakeLists.txt
index 21a62c75..578205b8 100644
--- a/image_transport/CMakeLists.txt
+++ b/image_transport/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(image_transport)
 
 find_package(catkin REQUIRED
diff --git a/image_transport/tutorial/CMakeLists.txt b/image_transport/tutorial/CMakeLists.txt
index ed5f28fe..191edc45 100644
--- a/image_transport/tutorial/CMakeLists.txt
+++ b/image_transport/tutorial/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8)
+cmake_minimum_required(VERSION 3.0.2)
 project(image_transport_tutorial)
 
 find_package(catkin REQUIRED COMPONENTS cv_bridge image_transport message_generation sensor_msgs)
diff --git a/image_transport/tutorial/src/my_publisher.cpp b/image_transport/tutorial/src/my_publisher.cpp
index 701dbddf..acb45ed6 100644
--- a/image_transport/tutorial/src/my_publisher.cpp
+++ b/image_transport/tutorial/src/my_publisher.cpp
@@ -10,7 +10,7 @@ int main(int argc, char** argv)
   image_transport::ImageTransport it(nh);
   image_transport::Publisher pub = it.advertise("camera/image", 1);
 
-  cv::Mat image = cv::imread(argv[1], CV_LOAD_IMAGE_COLOR);
+  cv::Mat image = cv::imread(argv[1], cv::IMREAD_COLOR);
   sensor_msgs::ImagePtr msg = cv_bridge::CvImage(std_msgs::Header(), "bgr8", image).toImageMsg();
 
   ros::Rate loop_rate(5);
diff --git a/polled_camera/CMakeLists.txt b/polled_camera/CMakeLists.txt
index eb95f75f..9e2645d6 100644
--- a/polled_camera/CMakeLists.txt
+++ b/polled_camera/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8)
+cmake_minimum_required(VERSION 3.0.2)
 project(polled_camera)
 
 # generate the server