diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index c2d73a6..c4d09a2 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -1,6 +1,16 @@
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 Changelog for package genmsg
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.5.14 (2020-01-17)
+-------------------
+* switch to setuptools, add add buildtool depend on setuptools (`#90 <https://github.com/ros/genmsg/issues/90>`_)
+
+0.5.13 (2020-01-16)
+-------------------
+* fix escape sequences (`#89 <https://github.com/ros/genmsg/issues/89>`_)
+* Python 3 compatibility (`#86 <https://github.com/ros/genmsg/issues/86>`_)
+* improve MsgNotFound exception information
 
 0.5.12 (2019-03-04)
 -------------------
diff --git a/CMakeLists.txt b/CMakeLists.txt
index a259a05..1254555 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -15,7 +15,7 @@
 
 catkin_python_setup()
 
-install(
+catkin_install_python(
   PROGRAMS scripts/genmsg_check_deps.py
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
 
diff --git a/package.xml b/package.xml
index 34ef4f5..82fad21 100644
--- a/package.xml
+++ b/package.xml
@@ -1,24 +1,31 @@
 <?xml version="1.0"?>
-<package>
+<?xml-model
+  href="http://download.ros.org/schema/package_format3.xsd"
+  schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
   <name>genmsg</name>
-  <version>0.5.12</version>
+  <version>0.5.14</version>
   <description>
     Standalone Python library for generating ROS message and service data structures for various languages.
   </description>
   <maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
   <license>BSD</license>
 
-  <url type="website">http://www.ros.org/wiki/genmsg</url>
+  <url type="website">http://wiki.ros.org/genmsg</url>
   <url type="bugtracker">https://github.com/ros/genmsg/issues</url>
   <url type="repository">https://github.com/ros/genmsg</url>
 
   <author>Troy Straszheim</author>
   <author>Morten Kjaergaard</author>
   <author>Ken Conley</author>
+  <author>Dirk Thomas</author>
 
   <buildtool_depend version_gte="0.5.74">catkin</buildtool_depend>
-  <run_depend>catkin</run_depend>
-  <run_depend>python-empy</run_depend>
+  <buildtool_depend condition="$ROS_PYTHON_VERSION == 2">python-setuptools</buildtool_depend>
+  <buildtool_depend condition="$ROS_PYTHON_VERSION == 3">python3-setuptools</buildtool_depend>
+  <exec_depend>catkin</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-empy</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-empy</exec_depend>
 
   <export>
     <rosdoc config="rosdoc.yaml"/>
diff --git a/setup.py b/setup.py
old file mode 100755
new file mode 100644
index 5fcae99..a9b9fc6 100644
--- a/setup.py
+++ b/setup.py
@@ -1,6 +1,4 @@
-#!/usr/bin/env python
-
-from distutils.core import setup
+from setuptools import setup
 from catkin_pkg.python_setup import generate_distutils_setup
 
 d = generate_distutils_setup(
diff --git a/src/genmsg/gentools.py b/src/genmsg/gentools.py
index 6f3e23d..c41f8be 100644
--- a/src/genmsg/gentools.py
+++ b/src/genmsg/gentools.py
@@ -1,4 +1,3 @@
-#! /usr/bin/env python
 # Software License Agreement (BSD License)
 #
 # Copyright (c) 2008, Willow Garage, Inc.
diff --git a/src/genmsg/names.py b/src/genmsg/names.py
index c0f3ef5..7818a9b 100644
--- a/src/genmsg/names.py
+++ b/src/genmsg/names.py
@@ -113,7 +113,7 @@
 # NAME VALIDATORS
 
 #ascii char followed by (alphanumeric, _, /)
-RESOURCE_NAME_LEGAL_CHARS_P = re.compile('^[A-Za-z][\w_\/]*$') 
+RESOURCE_NAME_LEGAL_CHARS_P = re.compile(r'^[A-Za-z][\w_\/]*$') 
 def is_legal_resource_name(name):
     """
     Check if name is a legal ROS name for filesystem resources
@@ -131,7 +131,7 @@
     # '//' check makes sure there isn't double-slashes
     return m is not None and m.group(0) == name and not '//' in name
 
-BASE_RESOURCE_NAME_LEGAL_CHARS_P = re.compile('^[A-Za-z][\w_]*$') #ascii char followed by (alphanumeric, _)
+BASE_RESOURCE_NAME_LEGAL_CHARS_P = re.compile(r'^[A-Za-z][\w_]*$') #ascii char followed by (alphanumeric, _)
 def is_legal_resource_base_name(name):
     """
     Validates that name is a legal resource base name. A base name has
diff --git a/test/test_genmsg_gentools.py b/test/test_genmsg_gentools.py
index 8797d82..8c7a9ec 100644
--- a/test/test_genmsg_gentools.py
+++ b/test/test_genmsg_gentools.py
@@ -1,4 +1,3 @@
-#!/usr/bin/env python
 # Software License Agreement (BSD License)
 #
 # Copyright (c) 2008, Willow Garage, Inc.
diff --git a/test/test_genmsg_msgs.py b/test/test_genmsg_msgs.py
index 7d55cd5..6e25189 100644
--- a/test/test_genmsg_msgs.py
+++ b/test/test_genmsg_msgs.py
@@ -191,7 +191,7 @@
 
     # types and names mismatch
     try:
-        MsgSpec(['int32', 'int32'], ['intval'], [], 'int32 intval\int32 y', 'x/Mismatch')
+        MsgSpec(['int32', 'int32'], ['intval'], [], 'int32 intval\nint32 y', 'x/Mismatch')
         assert False, "types and names must align"
     except: pass