diff --git a/dependencies.rosinstall b/dependencies.rosinstall
index c13e782..adf4c7f 100644
--- a/dependencies.rosinstall
+++ b/dependencies.rosinstall
@@ -21,3 +21,9 @@
     local-name: cmake_common_scripts
     uri: 'https://github.com/ros-industrial/cmake_common_scripts.git'
     version: 15450c289e1a92c51e9b6d953f4d07d7e7ccaa18
+
+# Message serialization
+- git:
+    local-name: message_serialization
+    uri: 'https://github.com/swri-robotics/message_serialization.git'
+    version: 0.1.0
\ No newline at end of file
diff --git a/opp_area_selection/src/selection_artist.cpp b/opp_area_selection/src/selection_artist.cpp
index 28ac0d9..5b4ae74 100644
--- a/opp_area_selection/src/selection_artist.cpp
+++ b/opp_area_selection/src/selection_artist.cpp
@@ -23,7 +23,7 @@
 
 #include <eigen_conversions/eigen_msg.h>
 #include <geometry_msgs/PointStamped.h>
-#include <opp_msgs_serialization/serialize.h>
+#include <message_serialization/serialize.h>
 #include <ros/package.h>
 #include <shape_msgs/Mesh.h>
 #include <tf/tf.h>
@@ -291,7 +291,7 @@ bool SelectionArtist::collectROIPointsCb(opp_msgs::GetROISelectionRequest& req,
   pcl::fromROSMsg(req.input_cloud, *cloud);
 
   AreaSelectorParameters params;
-  bool success = opp_msgs_serialization::deserialize(area_selection_config_file, params);
+  bool success = message_serialization::deserialize(area_selection_config_file, params);
   if (!success)
   {
     ROS_ERROR_STREAM("Could not load area selection config from: " << area_selection_config_file);
diff --git a/opp_database/CMakeLists.txt b/opp_database/CMakeLists.txt
index 88cc6c7..076a48d 100644
--- a/opp_database/CMakeLists.txt
+++ b/opp_database/CMakeLists.txt
@@ -13,9 +13,6 @@ find_package(catkin REQUIRED COMPONENTS
 find_package(Qt5 REQUIRED COMPONENTS Sql)
 find_package(Boost REQUIRED)
 
-# Prevents certain runtime errors in Ubuntu 18.04
-add_definitions(${PCL_DEFINITIONS})
-
 catkin_package(
   INCLUDE_DIRS
     include
@@ -27,8 +24,9 @@ catkin_package(
     opp_msgs
     opp_msgs_serialization
   DEPENDS
-    Qt5
     Boost
+  CFG_EXTRAS
+    ${PROJECT_NAME}-extras.cmake
 )
 
 include_directories(
@@ -46,7 +44,6 @@ target_link_libraries(${PROJECT_NAME}_cpp
   Qt5::Sql
 )
 
-
 #############
 ## Install ##
 #############
diff --git a/opp_database/cmake/opp_database-extras.cmake b/opp_database/cmake/opp_database-extras.cmake
new file mode 100644
index 0000000..06a3e4d
--- /dev/null
+++ b/opp_database/cmake/opp_database-extras.cmake
@@ -0,0 +1 @@
+find_package(Qt5 REQUIRED COMPONENTS Sql)
diff --git a/opp_database/src/opp_database_interface_cpp.cpp b/opp_database/src/opp_database_interface_cpp.cpp
index 011fae8..afef7b3 100644
--- a/opp_database/src/opp_database_interface_cpp.cpp
+++ b/opp_database/src/opp_database_interface_cpp.cpp
@@ -26,7 +26,7 @@
 
 #include <ros/console.h>
 
-#include <opp_msgs_serialization/serialize.h>
+#include <message_serialization/serialize.h>
 #include <opp_msgs_serialization/opp_msgs_yaml.h>
 
 namespace opp_db
@@ -66,7 +66,7 @@ long int ROSDatabaseInterface::addJobToDatabase(const opp_msgs::Job& job, std::s
 
   std::string filepath =
       save_dir_ + "/job_" + job.name + "_" + boost::posix_time::to_iso_string(ros::Time::now().toBoost()) + ".yaml";
-  bool success = opp_msgs_serialization::serialize(filepath, job.paths);
+  bool success = message_serialization::serialize(filepath, job.paths);
   if (!success)
   {
     message = "Failed to save tool paths to file at '" + filepath + "'";
@@ -92,7 +92,7 @@ long int ROSDatabaseInterface::addPartToDatabase(const opp_msgs::Part& part, std
 
   // touchoff_points
   std::string filepath = save_dir_ + "/touch_pts_" + part.name + "_" + time + ".yaml";
-  bool success = opp_msgs_serialization::serialize(filepath, part.touch_points);
+  bool success = message_serialization::serialize(filepath, part.touch_points);
   if (!success)
   {
     message = "Failed to save touchoff points to file '" + filepath + "'";
@@ -103,7 +103,7 @@ long int ROSDatabaseInterface::addPartToDatabase(const opp_msgs::Part& part, std
 
   // verification_points
   filepath = save_dir_ + "/verification_points_" + part.name + "_" + time + ".yaml";
-  success = opp_msgs_serialization::serialize(filepath, part.verification_points);
+  success = message_serialization::serialize(filepath, part.verification_points);
   if (!success)
   {
     message = "Failed to save verification points to file '" + filepath + "'";
@@ -147,7 +147,7 @@ bool ROSDatabaseInterface::getJobFromDatabase(const unsigned int job_id, std::st
   job.part_id = result.value("part_id").toUInt();
 
   const std::string file_path = result.value("paths").toString().toStdString();
-  bool success = opp_msgs_serialization::deserialize(file_path, job.paths);
+  bool success = message_serialization::deserialize(file_path, job.paths);
   if (!success)
   {
     message = "Failed to load tool paths file from '" + file_path + "'";
@@ -191,7 +191,7 @@ bool ROSDatabaseInterface::getAllJobsFromDatabase(const unsigned int part_id,
     j.part_id = result.value("part_id").toUInt();
 
     const std::string filepath = result.value("paths").toString().toStdString();
-    bool success = opp_msgs_serialization::deserialize(filepath, j.paths);
+    bool success = message_serialization::deserialize(filepath, j.paths);
     if (!success)
     {
       message = "Failed to load tool path file from '" + filepath + "'";
@@ -237,7 +237,7 @@ bool ROSDatabaseInterface::getPartFromDatabase(const unsigned int part_id, std::
   part.mesh_resource = result.value("mesh_resource").toString().toStdString();
 
   const std::string touchoff_pts_filename = result.value("touchoff_points").toString().toStdString();
-  bool success = opp_msgs_serialization::deserialize(touchoff_pts_filename, part.touch_points);
+  bool success = message_serialization::deserialize(touchoff_pts_filename, part.touch_points);
   if (!success)
   {
     message = "Failed to load touchoff points from '" + touchoff_pts_filename + "'";
@@ -245,7 +245,7 @@ bool ROSDatabaseInterface::getPartFromDatabase(const unsigned int part_id, std::
   }
 
   const std::string verification_pts_filename = result.value("verification_points").toString().toStdString();
-  success = opp_msgs_serialization::deserialize(verification_pts_filename, part.verification_points);
+  success = message_serialization::deserialize(verification_pts_filename, part.verification_points);
   if (!success)
   {
     message = "Failed to load verification points from '" + verification_pts_filename + "'";
@@ -285,7 +285,7 @@ bool ROSDatabaseInterface::getAllPartsFromDatabase(std::string& message, std::ma
     p.mesh_resource = result.value("mesh_resource").toString().toStdString();
 
     const std::string touch_pts_filename = result.value("touchoff_points").toString().toStdString();
-    bool success = opp_msgs_serialization::deserialize(touch_pts_filename, p.touch_points);
+    bool success = message_serialization::deserialize(touch_pts_filename, p.touch_points);
     if (!success)
     {
       message = "Failed to load touchoff points from '" + touch_pts_filename + "'";
@@ -293,7 +293,7 @@ bool ROSDatabaseInterface::getAllPartsFromDatabase(std::string& message, std::ma
     }
 
     const std::string verification_pts_filename = result.value("verification_points").toString().toStdString();
-    success = opp_msgs_serialization::deserialize(verification_pts_filename, p.verification_points);
+    success = message_serialization::deserialize(verification_pts_filename, p.verification_points);
     if (!success)
     {
       message = "Failed to load verification points from '" + verification_pts_filename + "'";
diff --git a/opp_gui/CMakeLists.txt b/opp_gui/CMakeLists.txt
index aa7fa1f..03af7a0 100644
--- a/opp_gui/CMakeLists.txt
+++ b/opp_gui/CMakeLists.txt
@@ -15,6 +15,7 @@ find_package(catkin REQUIRED COMPONENTS
   opp_area_selection
   opp_msgs
   opp_database
+  pcl_ros
   rviz
   shape_msgs
   std_srvs
@@ -27,9 +28,6 @@ find_package(Qt5 REQUIRED COMPONENTS
   Sql
 )
 
-find_package(PCL 1.9 REQUIRED)
-add_definitions(${PCL_DEFINITIONS})
-
 catkin_package(
   INCLUDE_DIRS
     include
@@ -49,13 +47,13 @@ catkin_package(
     opp_area_selection
     opp_msgs
     opp_database
+    pcl_ros
     rviz
     shape_msgs
     std_srvs
     visualization_msgs
-  DEPENDS
-    Qt5
-    PCL
+  CFG_EXTRAS
+    ${PROJECT_NAME}-extras.cmake
 )
 
 ###########
@@ -66,7 +64,6 @@ include_directories(
   include
   ${catkin_INCLUDE_DIRS}
   ${CMAKE_CURRENT_BINARY_DIR}
-  ${PCL_INCLUDE_DIRS}
 )
 
 set(opp_gui_UIS
@@ -129,7 +126,6 @@ target_link_libraries(${PROJECT_NAME}_utils
   ${catkin_LIBRARIES}
   ${PCL_LIBRARIES}
   Qt5::Core
-  Qt5::Sql
 )
 
 # Qt Widgets
@@ -143,6 +139,7 @@ target_link_libraries(${PROJECT_NAME}_widgets
   ${PCL_LIBRARIES}
   ${PROJECT_NAME}_utils
   Qt5::Widgets
+  Qt5::Sql
 )
 
 # Rviz Panel
@@ -194,7 +191,6 @@ target_link_libraries(touch_point_editor_demo_app
 ## Install ##
 #############
 
-# Mark executables and/or libraries for installation
 install(
   TARGETS
     ${PROJECT_NAME}_panels
@@ -209,15 +205,14 @@ install(
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
 
-# Mark cpp header files for installation
 install(DIRECTORY include/${PROJECT_NAME}/
   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
 )
 
-# Mark other files for installation (e.g. launch and bag files, etc.)
 install(DIRECTORY ui/
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/ui
 )
+
 install(
   FILES
     plugin_description.xml
diff --git a/opp_gui/cmake/opp_gui-extras.cmake b/opp_gui/cmake/opp_gui-extras.cmake
new file mode 100644
index 0000000..bf8253c
--- /dev/null
+++ b/opp_gui/cmake/opp_gui-extras.cmake
@@ -0,0 +1 @@
+find_package(Qt5 REQUIRED COMPONENTS Core Widgets Sql)
diff --git a/opp_gui/package.xml b/opp_gui/package.xml
index 859cf71..ab5c278 100644
--- a/opp_gui/package.xml
+++ b/opp_gui/package.xml
@@ -31,6 +31,7 @@
   <depend>opp_area_selection</depend>
   <depend>opp_msgs</depend>
   <depend>opp_database</depend>
+  <depend>pcl_ros</depend>
   <depend>rviz</depend>
   <depend>shape_msgs</depend>
   <depend>std_srvs</depend>
diff --git a/opp_msgs_serialization/CMakeLists.txt b/opp_msgs_serialization/CMakeLists.txt
index 4b75006..3dfcb17 100644
--- a/opp_msgs_serialization/CMakeLists.txt
+++ b/opp_msgs_serialization/CMakeLists.txt
@@ -11,14 +11,9 @@ find_package(catkin REQUIRED COMPONENTS
   geometry_msgs
   sensor_msgs
   std_msgs
-  roscpp_serialization
+  message_serialization
 )
 
-find_package(yaml-cpp REQUIRED)
-
-# Prevents certain runtime errors in Ubuntu 18.04
-add_definitions(${PCL_DEFINITIONS})
-
 catkin_package(
   INCLUDE_DIRS
     include
@@ -31,8 +26,7 @@ catkin_package(
     noether_msgs
     roscpp
     opp_msgs
-  DEPENDS
-    YAML_CPP
+    message_serialization
 )
 
 ###########
@@ -42,7 +36,6 @@ catkin_package(
 include_directories(
   include
   ${catkin_INCLUDE_DIRS}
-  ${YAML_CPP_INCLUDE_DIRS}
 )
 
 #############
@@ -64,6 +57,5 @@ if(CATKIN_ENABLE_TESTING)
   )
   target_link_libraries(${PROJECT_NAME}_test
     ${catkin_LIBRARIES}
-    yaml-cpp
   )
 endif()
diff --git a/opp_msgs_serialization/include/opp_msgs_serialization/binary_serialization.h b/opp_msgs_serialization/include/opp_msgs_serialization/binary_serialization.h
deleted file mode 100644
index 8d2cef6..0000000
--- a/opp_msgs_serialization/include/opp_msgs_serialization/binary_serialization.h
+++ /dev/null
@@ -1,54 +0,0 @@
-#ifndef OPP_MSGS_SERIALIZATION_BINARY_SERIALIZATION_H
-#define OPP_MSGS_SERIALIZATION_BINARY_SERIALIZATION_H
-
-#include <fstream>
-
-#include <ros/serialization.h>
-
-namespace opp_msgs_serialization
-{
-template <typename T>
-inline bool serializeToBinary(const std::string& file, const T& message)
-{
-  uint32_t serial_size = ros::serialization::serializationLength(message);
-  boost::shared_array<uint8_t> buffer(new uint8_t[serial_size]);
-  ros::serialization::OStream stream(buffer.get(), serial_size);
-  ros::serialization::serialize(stream, message);
-
-  std::ofstream ofs(file, std::ios::out | std::ios::binary);
-  if (ofs)
-  {
-    ofs.write((char*)buffer.get(), serial_size);
-    return ofs.good();
-  }
-
-  return false;
-}
-
-template <typename T>
-inline bool deserializeFromBinary(const std::string& file, T& message)
-{
-  std::ifstream ifs(file, std::ios::in | std::ios::binary);
-  if (!ifs)
-  {
-    return false;
-  }
-
-  ifs.seekg(0, std::ios::end);
-  std::streampos end = ifs.tellg();
-  ifs.seekg(0, std::ios::beg);
-  std::streampos begin = ifs.tellg();
-  uint32_t file_size = end - begin;
-
-  boost::shared_array<uint8_t> ibuffer(new uint8_t[file_size]);
-  ifs.read((char*)ibuffer.get(), file_size);
-  ros::serialization::IStream istream(ibuffer.get(), file_size);
-  ros::serialization::deserialize(istream, message);
-
-  ifs.close();
-  return true;
-}
-
-}  // namespace opp_msgs_serialization
-
-#endif  // OPP_MSGS_SERIALIZATION_BINARY_SERIALIZATION_H
diff --git a/opp_msgs_serialization/include/opp_msgs_serialization/eigen_yaml.h b/opp_msgs_serialization/include/opp_msgs_serialization/eigen_yaml.h
deleted file mode 100644
index 7117971..0000000
--- a/opp_msgs_serialization/include/opp_msgs_serialization/eigen_yaml.h
+++ /dev/null
@@ -1,67 +0,0 @@
-/*
- * Copyright 2018 Southwest Research Institute
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-#ifndef OPP_MSGS_SERIALIZATION_EIGEN_YAML_H
-#define OPP_MSGS_SERIALIZATION_EIGEN_YAML_H
-
-#include <eigen_conversions/eigen_msg.h>
-
-#include "opp_msgs_serialization/geometry_msgs_yaml.h"
-
-namespace YAML
-{
-template <>
-struct convert<Eigen::Affine3d>
-{
-  static Node encode(const Eigen::Affine3d& rhs)
-  {
-    geometry_msgs::Pose msg;
-    tf::poseEigenToMsg(rhs, msg);
-    Node node = Node(msg);
-    return node;
-  }
-
-  static bool decode(const Node& node, Eigen::Affine3d& rhs)
-  {
-    geometry_msgs::Pose msg;
-    msg = node.as<geometry_msgs::Pose>();
-    tf::poseMsgToEigen(msg, rhs);
-    return true;
-  }
-};
-
-template <>
-struct convert<Eigen::Vector3d>
-{
-  static Node encode(const Eigen::Vector3d& rhs)
-  {
-    geometry_msgs::Point msg;
-    tf::pointEigenToMsg(rhs, msg);
-    Node node = Node(msg);
-    return node;
-  }
-
-  static bool decode(const Node& node, Eigen::Vector3d& rhs)
-  {
-    geometry_msgs::Point msg;
-    msg = node.as<geometry_msgs::Point>();
-    tf::pointMsgToEigen(msg, rhs);
-    return true;
-  }
-};
-
-}  // namespace YAML
-
-#endif  // OPP_MSGS_SERIALIZATION_EIGEN_YAML_H
diff --git a/opp_msgs_serialization/include/opp_msgs_serialization/geometry_msgs_yaml.h b/opp_msgs_serialization/include/opp_msgs_serialization/geometry_msgs_yaml.h
deleted file mode 100644
index 6f58a2a..0000000
--- a/opp_msgs_serialization/include/opp_msgs_serialization/geometry_msgs_yaml.h
+++ /dev/null
@@ -1,225 +0,0 @@
-/*
- * Copyright 2018 Southwest Research Institute
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-#ifndef OPP_MSGS_SERIALIZATION_GEOMETRY_MSGS_YAML
-#define OPP_MSGS_SERIALIZATION_GEOMETRY_MSGS_YAML
-
-#include <geometry_msgs/PoseArray.h>
-#include <geometry_msgs/PoseStamped.h>
-#include <geometry_msgs/TransformStamped.h>
-
-#include "opp_msgs_serialization/std_msgs_yaml.h"
-
-namespace YAML
-{
-template <>
-struct convert<geometry_msgs::Vector3>
-{
-  static Node encode(const geometry_msgs::Vector3& rhs)
-  {
-    Node node;
-    node["x"] = rhs.x;
-    node["y"] = rhs.y;
-    node["z"] = rhs.z;
-
-    return node;
-  }
-
-  static bool decode(const Node& node, geometry_msgs::Vector3& rhs)
-  {
-    if (node.size() != 3)
-      return false;
-
-    rhs.x = node["x"].as<double>();
-    rhs.y = node["y"].as<double>();
-    rhs.z = node["z"].as<double>();
-    return true;
-  }
-};
-
-template <>
-struct convert<geometry_msgs::Point>
-{
-  static Node encode(const geometry_msgs::Point& rhs)
-  {
-    Node node;
-    node["x"] = rhs.x;
-    node["y"] = rhs.y;
-    node["z"] = rhs.z;
-    return node;
-  }
-
-  static bool decode(const Node& node, geometry_msgs::Point& rhs)
-  {
-    if (node.size() != 3)
-      return false;
-
-    rhs.x = node["x"].as<double>();
-    rhs.y = node["y"].as<double>();
-    rhs.z = node["z"].as<double>();
-
-    return true;
-  }
-};
-
-template <>
-struct convert<geometry_msgs::Quaternion>
-{
-  static Node encode(const geometry_msgs::Quaternion& rhs)
-  {
-    Node node;
-    node["x"] = rhs.x;
-    node["y"] = rhs.y;
-    node["z"] = rhs.z;
-    node["w"] = rhs.w;
-
-    return node;
-  }
-
-  static bool decode(const Node& node, geometry_msgs::Quaternion& rhs)
-  {
-    if (node.size() != 4)
-      return false;
-
-    rhs.x = node["x"].as<double>();
-    rhs.y = node["y"].as<double>();
-    rhs.z = node["z"].as<double>();
-    rhs.w = node["w"].as<double>();
-
-    return true;
-  }
-};
-
-template <>
-struct convert<geometry_msgs::Pose>
-{
-  static Node encode(const geometry_msgs::Pose& rhs)
-  {
-    Node node;
-    node["position"] = rhs.position;
-    node["orientation"] = rhs.orientation;
-
-    return node;
-  }
-
-  static bool decode(const Node& node, geometry_msgs::Pose& rhs)
-  {
-    if (node.size() != 2)
-      return false;
-
-    rhs.position = node["position"].as<geometry_msgs::Point>();
-    rhs.orientation = node["orientation"].as<geometry_msgs::Quaternion>();
-    return true;
-  }
-};
-
-template <>
-struct convert<geometry_msgs::PoseStamped>
-{
-  static Node encode(const geometry_msgs::PoseStamped& rhs)
-  {
-    Node node;
-    node["header"] = rhs.header;
-    node["pose"] = rhs.pose;
-
-    return node;
-  }
-
-  static bool decode(const Node& node, geometry_msgs::PoseStamped& rhs)
-  {
-    if (node.size() != 2)
-      return false;
-
-    rhs.header = node["header"].as<std_msgs::Header>();
-    rhs.pose = node["pose"].as<geometry_msgs::Pose>();
-    return true;
-  }
-};
-
-template <>
-struct convert<geometry_msgs::PoseArray>
-{
-  static Node encode(const geometry_msgs::PoseArray& rhs)
-  {
-    Node node;
-    node["header"] = rhs.header;
-    node["poses"] = rhs.poses;
-
-    return node;
-  }
-
-  static bool decode(const Node& node, geometry_msgs::PoseArray& rhs)
-  {
-    if (node.size() != 2)
-      return false;
-
-    rhs.header = node["header"].as<std_msgs::Header>();
-    rhs.poses = node["poses"].as<std::vector<geometry_msgs::Pose> >();
-    return true;
-  }
-};
-
-template <>
-struct convert<geometry_msgs::Transform>
-{
-  static Node encode(const geometry_msgs::Transform& rhs)
-  {
-    Node node;
-    node["rotation"] = rhs.rotation;
-    node["translation"] = rhs.translation;
-
-    return node;
-  }
-
-  static bool decode(const Node& node, geometry_msgs::Transform& rhs)
-  {
-    if (node.size() != 2)
-      return false;
-
-    rhs.rotation = node["rotation"].as<geometry_msgs::Quaternion>();
-    rhs.translation = node["translation"].as<geometry_msgs::Vector3>();
-
-    return true;
-  }
-};
-
-template <>
-struct convert<geometry_msgs::TransformStamped>
-{
-  static Node encode(const geometry_msgs::TransformStamped& rhs)
-  {
-    Node node;
-    node["header"] = rhs.header;
-    node["child_frame_id"] = rhs.child_frame_id;
-    node["transform"] = rhs.transform;
-
-    return node;
-  }
-
-  static bool decode(const Node& node, geometry_msgs::TransformStamped& rhs)
-  {
-    if (node.size() != 3)
-      return false;
-
-    rhs.header = node["header"].as<std_msgs::Header>();
-    rhs.child_frame_id = node["child_frame_id"].as<std::string>();
-    rhs.transform = node["transform"].as<geometry_msgs::Transform>();
-    return true;
-  }
-};
-
-}  // namespace YAML
-
-#endif  // OPP_MSGS_SERIALIZATION_GEOMETRY_MSGS_YAML
diff --git a/opp_msgs_serialization/include/opp_msgs_serialization/opp_msgs_yaml.h b/opp_msgs_serialization/include/opp_msgs_serialization/opp_msgs_yaml.h
index 6396f2d..eeec05b 100644
--- a/opp_msgs_serialization/include/opp_msgs_serialization/opp_msgs_yaml.h
+++ b/opp_msgs_serialization/include/opp_msgs_serialization/opp_msgs_yaml.h
@@ -22,8 +22,8 @@
 #include <opp_msgs/Job.h>
 #include <opp_msgs/ToolPath.h>
 #include <opp_msgs/TouchPoint.h>
-#include "opp_msgs_serialization/geometry_msgs_yaml.h"
-#include "opp_msgs_serialization/sensor_msgs_yaml.h"
+#include <message_serialization/geometry_msgs_yaml.h>
+#include <message_serialization/sensor_msgs_yaml.h>
 
 namespace YAML
 {
diff --git a/opp_msgs_serialization/include/opp_msgs_serialization/sensor_msgs_yaml.h b/opp_msgs_serialization/include/opp_msgs_serialization/sensor_msgs_yaml.h
deleted file mode 100644
index 3532e50..0000000
--- a/opp_msgs_serialization/include/opp_msgs_serialization/sensor_msgs_yaml.h
+++ /dev/null
@@ -1,147 +0,0 @@
-/*
- * Copyright 2018 Southwest Research Institute
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-#ifndef OPP_MSGS_SERIALIZATION_SENSOR_MSGS_YAML
-#define OPP_MSGS_SERIALIZATION_SENSOR_MSGS_YAML
-
-#include <sensor_msgs/CameraInfo.h>
-#include <sensor_msgs/JointState.h>
-
-#include "opp_msgs_serialization/std_msgs_yaml.h"
-
-namespace YAML
-{
-template <>
-struct convert<sensor_msgs::RegionOfInterest>
-{
-  static Node encode(const sensor_msgs::RegionOfInterest& rhs)
-  {
-    Node node;
-
-    node["x_offset"] = rhs.x_offset;
-    node["y_offset"] = rhs.y_offset;
-    node["height"] = rhs.height;
-    node["width"] = rhs.width;
-    node["do_rectify"] = rhs.do_rectify;
-
-    return node;
-  }
-
-  static bool decode(const Node& node, sensor_msgs::RegionOfInterest& rhs)
-  {
-    if (node.size() != 5)
-      return false;
-
-    rhs.x_offset = node["x_offset"].as<decltype(rhs.x_offset)>();
-    rhs.y_offset = node["y_offset"].as<decltype(rhs.y_offset)>();
-    rhs.height = node["height"].as<decltype(rhs.height)>();
-    rhs.width = node["width"].as<decltype(rhs.width)>();
-    rhs.do_rectify = node["do_rectify"].as<decltype(rhs.do_rectify)>();
-
-    return true;
-  }
-};
-
-template <>
-struct convert<sensor_msgs::CameraInfo>
-{
-  static Node encode(const sensor_msgs::CameraInfo& rhs)
-  {
-    Node node;
-
-    node["header"] = rhs.header;
-    node["height"] = rhs.height;
-    node["width"] = rhs.width;
-    node["distortion_model"] = rhs.distortion_model;
-
-    std::vector<double> K_vec, R_vec, P_vec;
-
-    std::copy_n(rhs.K.begin(), rhs.K.size(), std::back_inserter(K_vec));
-    std::copy_n(rhs.R.begin(), rhs.R.size(), std::back_inserter(R_vec));
-    std::copy_n(rhs.P.begin(), rhs.P.size(), std::back_inserter(P_vec));
-
-    node["D"] = rhs.D;
-    node["K"] = K_vec;
-    node["R"] = R_vec;
-    node["P"] = P_vec;
-    node["binning_x"] = rhs.binning_x;
-    node["binning_y"] = rhs.binning_y;
-    node["roi"] = rhs.roi;
-
-    return node;
-  }
-
-  static bool decode(const Node& node, sensor_msgs::CameraInfo& rhs)
-  {
-    if (node.size() != 11)
-      return false;
-
-    rhs.header = node["header"].as<decltype(rhs.header)>();
-    rhs.height = node["height"].as<decltype(rhs.height)>();
-    rhs.width = node["width"].as<decltype(rhs.width)>();
-    rhs.distortion_model = node["distortion_model"].as<decltype(rhs.distortion_model)>();
-    rhs.D = node["D"].as<decltype(rhs.D)>();
-
-    std::vector<double> K_vec, R_vec, P_vec;
-    K_vec = node["K"].as<decltype(K_vec)>();
-    R_vec = node["R"].as<decltype(R_vec)>();
-    P_vec = node["P"].as<decltype(P_vec)>();
-
-    std::copy_n(K_vec.begin(), K_vec.size(), rhs.K.begin());
-    std::copy_n(R_vec.begin(), R_vec.size(), rhs.R.begin());
-    std::copy_n(P_vec.begin(), P_vec.size(), rhs.P.begin());
-
-    rhs.binning_x = node["binning_x"].as<decltype(rhs.binning_x)>();
-    rhs.binning_y = node["binning_y"].as<decltype(rhs.binning_y)>();
-    rhs.roi = node["roi"].as<decltype(rhs.roi)>();
-
-    return true;
-  }
-};
-
-template <>
-struct convert<sensor_msgs::JointState>
-{
-  static Node encode(const sensor_msgs::JointState& rhs)
-  {
-    Node node;
-
-    node["header"] = rhs.header;
-    node["name"] = rhs.name;
-    node["position"] = rhs.position;
-    node["velocity"] = rhs.velocity;
-    node["effort"] = rhs.effort;
-
-    return node;
-  }
-
-  static bool decode(const Node& node, sensor_msgs::JointState& rhs)
-  {
-    if (node.size() != 5)
-      return false;
-
-    rhs.header = node["header"].as<decltype(rhs.header)>();
-    rhs.name = node["name"].as<decltype(rhs.name)>();
-    rhs.position = node["position"].as<decltype(rhs.position)>();
-    rhs.velocity = node["velocity"].as<decltype(rhs.velocity)>();
-    rhs.effort = node["effort"].as<decltype(rhs.effort)>();
-
-    return true;
-  }
-};
-
-}  // namespace YAML
-
-#endif  // OPP_MSGS_SERIALIZATION_SENSOR_MSGS_YAML
diff --git a/opp_msgs_serialization/include/opp_msgs_serialization/serialize.h b/opp_msgs_serialization/include/opp_msgs_serialization/serialize.h
deleted file mode 100644
index c11d605..0000000
--- a/opp_msgs_serialization/include/opp_msgs_serialization/serialize.h
+++ /dev/null
@@ -1,61 +0,0 @@
-/*
- * Copyright 2018 Southwest Research Institute
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-#ifndef OPP_MSGS_SERIALIZATION_SERIALIZE_H
-#define OPP_MSGS_SERIALIZATION_SERIALIZE_H
-
-#include <fstream>
-
-#include <yaml-cpp/yaml.h>
-
-#include <ros/console.h>
-
-namespace opp_msgs_serialization
-{
-template <class T>
-bool serialize(const std::string& file, const T& val)
-{
-  std::ofstream ofh(file);
-  if (!ofh)
-  {
-    return false;
-  }
-
-  YAML::Node n = YAML::Node(val);
-  ofh << n;
-  return true;
-}
-
-template <class T>
-bool deserialize(const std::string& file, T& val)
-{
-  try
-  {
-    YAML::Node node;
-    node = YAML::LoadFile(file);
-    val = node.as<T>();
-    return true;
-  }
-  catch (const YAML::Exception& ex)
-  {
-    ROS_ERROR_STREAM("An exception was thrown while processing file: " << file);
-    ROS_ERROR_STREAM(ex.what());
-    return false;
-  }
-}
-
-}  // namespace opp_msgs_serialization
-
-#endif  // OPP_MSGS_SERIALIZATION_SERIALIZE_H
diff --git a/opp_msgs_serialization/include/opp_msgs_serialization/std_msgs_yaml.h b/opp_msgs_serialization/include/opp_msgs_serialization/std_msgs_yaml.h
deleted file mode 100644
index 5ae7600..0000000
--- a/opp_msgs_serialization/include/opp_msgs_serialization/std_msgs_yaml.h
+++ /dev/null
@@ -1,77 +0,0 @@
-/*
- * Copyright 2018 Southwest Research Institute
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-#ifndef OPP_MSGS_SERIALIZATION_STD_MSGS_YAML
-#define OPP_MSGS_SERIALIZATION_STD_MSGS_YAML
-
-#include <yaml-cpp/yaml.h>
-
-#include <std_msgs/Header.h>
-
-namespace YAML
-{
-template <>
-struct convert<ros::Time>
-{
-  static Node encode(const ros::Time& rhs)
-  {
-    Node node;
-    node["sec"] = rhs.sec;
-    node["nsec"] = rhs.nsec;
-    return node;
-  }
-
-  static bool decode(const Node& node, ros::Time& rhs)
-  {
-    if (node.size() != 2)
-      return false;
-
-    rhs.sec = node["sec"].as<uint32_t>();
-    rhs.nsec = node["nsec"].as<uint32_t>();
-
-    return true;
-  }
-};
-
-template <>
-struct convert<std_msgs::Header>
-{
-  static Node encode(const std_msgs::Header& rhs)
-  {
-    Node node;
-    node["seq"] = rhs.seq;
-    node["stamp"] = rhs.stamp;
-    node["frame_id"] = rhs.frame_id;
-    return node;
-  }
-
-  static bool decode(const Node& node, std_msgs::Header& rhs)
-  {
-    if (node.size() != 3)
-      return false;
-
-    rhs.seq = node["seq"].as<uint32_t>();
-    rhs.stamp = node["stamp"].as<ros::Time>();
-    rhs.frame_id = node["frame_id"].as<std::string>();
-
-    return true;
-  }
-};
-
-// TODO: Duration
-
-}  // namespace YAML
-
-#endif  // OPP_MSGS_SERIALIZATION_STD_MSGS_YAML
diff --git a/opp_msgs_serialization/include/opp_msgs_serialization/trajectory_msgs_yaml.h b/opp_msgs_serialization/include/opp_msgs_serialization/trajectory_msgs_yaml.h
deleted file mode 100644
index 01713eb..0000000
--- a/opp_msgs_serialization/include/opp_msgs_serialization/trajectory_msgs_yaml.h
+++ /dev/null
@@ -1,82 +0,0 @@
-/*
- * Copyright 2018 Southwest Research Institute
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-#ifndef OPP_MSGS_SERIALIZATION_TRAJECTORY_MSGS_YAML
-#define OPP_MSGS_SERIALIZATION_TRAJECTORY_MSGS_YAML
-
-#include <trajectory_msgs/JointTrajectory.h>
-
-#include "opp_msgs_serialization/std_msgs_yaml.h"
-
-namespace YAML
-{
-template <>
-struct convert<trajectory_msgs::JointTrajectoryPoint>
-{
-  static Node encode(const trajectory_msgs::JointTrajectoryPoint& rhs)
-  {
-    Node node;
-    node["positions"] = rhs.positions;
-    node["velocities"] = rhs.velocities;
-    node["accelerations"] = rhs.accelerations;
-    node["effort"] = rhs.effort;
-    node["time_from_start"] = rhs.time_from_start.toSec();
-
-    return node;
-  }
-
-  static bool decode(const Node& node, trajectory_msgs::JointTrajectoryPoint& rhs)
-  {
-    if (node.size() != 5)
-      return false;
-
-    rhs.positions = node["positions"].as<std::vector<double> >();
-    rhs.velocities = node["velocities"].as<std::vector<double> >();
-    rhs.accelerations = node["accelerations"].as<std::vector<double> >();
-    rhs.effort = node["effort"].as<std::vector<double> >();
-    rhs.time_from_start = ros::Duration(node["time_from_start"].as<double>());
-
-    return true;
-  }
-};
-
-template <>
-struct convert<trajectory_msgs::JointTrajectory>
-{
-  static Node encode(const trajectory_msgs::JointTrajectory& rhs)
-  {
-    Node node;
-    node["header"] = rhs.header;
-    node["joint_names"] = rhs.joint_names;
-    node["points"] = rhs.points;
-    return node;
-  }
-
-  static bool decode(const Node& node, trajectory_msgs::JointTrajectory& rhs)
-  {
-    if (node.size() != 3)
-      return false;
-
-    rhs.header = node["header"].as<std_msgs::Header>();
-    rhs.joint_names = node["joint_names"].as<std::vector<std::string> >();
-    rhs.points = node["points"].as<std::vector<trajectory_msgs::JointTrajectoryPoint> >();
-
-    return true;
-  }
-};
-
-}  // namespace YAML
-
-#endif  // OPP_MSGS_SERIALIZATION_TRAJECTORY_MSGS_YAML
diff --git a/opp_msgs_serialization/package.xml b/opp_msgs_serialization/package.xml
index 68f628e..c38dff6 100644
--- a/opp_msgs_serialization/package.xml
+++ b/opp_msgs_serialization/package.xml
@@ -18,6 +18,7 @@
   <depend>sensor_msgs</depend>
   <depend>std_msgs</depend>
   <depend>roscpp_serialization</depend>
+  <depend>message_serialization</depend>
 
   <test_depend>rostest</test_depend>
 </package>
diff --git a/opp_msgs_serialization/test/serialization_test.cpp b/opp_msgs_serialization/test/serialization_test.cpp
index 8417972..21c8f3f 100644
--- a/opp_msgs_serialization/test/serialization_test.cpp
+++ b/opp_msgs_serialization/test/serialization_test.cpp
@@ -15,7 +15,7 @@
  */
 
 #include <opp_msgs_serialization/opp_msgs_yaml.h>
-#include <opp_msgs_serialization/serialize.h>
+#include <message_serialization/serialize.h>
 #include <gtest/gtest.h>
 
 TEST(opp_serialization, process_type)
@@ -24,11 +24,11 @@ TEST(opp_serialization, process_type)
   opp_msgs::ProcessType orig_msg;
   orig_msg.val = opp_msgs::ProcessType::PROCESS_PAINT;
 
-  bool result = opp_msgs_serialization::serialize(file, orig_msg);
+  bool result = message_serialization::serialize(file, orig_msg);
   EXPECT_TRUE(result);
 
   opp_msgs::ProcessType new_msg;
-  bool load_result = opp_msgs_serialization::deserialize(file, new_msg);
+  bool load_result = message_serialization::deserialize(file, new_msg);
   EXPECT_TRUE(load_result);
 
   bool eq = (orig_msg.val == new_msg.val);
@@ -49,11 +49,11 @@ TEST(opp_serialization, touch_point)
   orig_msg.transform.pose.orientation.y = 1.0;
   orig_msg.transform.pose.orientation.z = 1.0;
 
-  bool save_result = opp_msgs_serialization::serialize(file, orig_msg);
+  bool save_result = message_serialization::serialize(file, orig_msg);
   EXPECT_TRUE(save_result);
 
   opp_msgs::TouchPoint new_msg;
-  bool load_result = opp_msgs_serialization::deserialize(file, new_msg);
+  bool load_result = message_serialization::deserialize(file, new_msg);
   EXPECT_TRUE(load_result);
 
   EXPECT_EQ(new_msg.name, orig_msg.name);
@@ -101,11 +101,11 @@ TEST(opp_serialization, tool_path)
     orig_msg.paths.push_back(std::move(segment));
   }
 
-  bool result = opp_msgs_serialization::serialize(file, orig_msg);
+  bool result = message_serialization::serialize(file, orig_msg);
   EXPECT_TRUE(result);
 
   opp_msgs::ToolPath new_msg;
-  bool load_result = opp_msgs_serialization::deserialize(file, new_msg);
+  bool load_result = message_serialization::deserialize(file, new_msg);
   EXPECT_TRUE(load_result);
 
   EXPECT_EQ(new_msg.process_type.val, orig_msg.process_type.val);