diff --git a/device/camera_reader/CMakeLists.txt b/device/camera_reader/CMakeLists.txt
deleted file mode 100644
index 042a958..0000000
--- a/device/camera_reader/CMakeLists.txt
+++ /dev/null
@@ -1,42 +0,0 @@
-cmake_minimum_required(VERSION 3.8)
-project(camera_reader)
-
-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(rclcpp REQUIRED)
-find_package(sensor_msgs REQUIRED)
-find_package(cv_bridge REQUIRED)
-find_package(image_transport REQUIRED)
-find_package(OpenCV REQUIRED)
-# uncomment the following section in order to fill in
-# further dependencies manually.
-# find_package(<dependency> REQUIRED)
-
-# Create executable
-add_executable(camera_reader src/camera_reader.cpp src/main.cpp)
-
-target_include_directories(camera_reader
-  PUBLIC
-  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-  $<INSTALL_INTERFACE:include>
-  ${OpenCV_INCLUDE_DIRS}
-)
-
-# Link dependencies
-ament_target_dependencies(camera_reader rclcpp sensor_msgs cv_bridge image_transport)
-
-target_link_libraries(camera_reader ${OpenCV_LIBRARIES})
-
-# Install targets
-install(TARGETS
-  camera_reader
-  DESTINATION lib/${PROJECT_NAME})
-
-install(DIRECTORY launch
-        DESTINATION share/${PROJECT_NAME})
-
-ament_package()
diff --git a/device/camera_reader/camera_reader/__init__.py b/device/camera_reader/camera_reader/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/device/camera_reader/camera_reader/camera.py b/device/camera_reader/camera_reader/camera.py
new file mode 100644
index 0000000..66d1397
--- /dev/null
+++ b/device/camera_reader/camera_reader/camera.py
@@ -0,0 +1,35 @@
+import rclpy
+from rclpy.node import Node
+from sensor_msgs.msg import Image
+import cv2
+from cv_bridge import CvBridge
+
+
+class Camera(Node):
+    def __init__(self):
+        super().__init__('camera')
+        self.publisher_=self.create_publisher(Image, 'camera_image', 10)
+        self.timer=self.create_timer(0.1, self.timer_callback)
+        self.cap=cv2.VideoCapture(0)
+        self.bridge=CvBridge()
+        if not self.cap.isOpened():
+            self.get_logger().error('Failed to open camera')
+            rclpy.shutdown()
+
+    def timer_callback(self):
+        ret,frame=self.cap.read()
+        if ret:
+            msg=self.bridge.cv2_to_imgmsg(frame, "bgr8")
+            self.publisher_.publish(msg)
+        else:
+            self.get_logger().error('Failed to capture image')
+
+def main(args=None):
+    rclpy.init(args=args)
+    camera=Camera()
+    rclpy.spin(camera)
+    camera.destroy_node()
+    rclpy.shutdown()
+
+if __name__=="__main__":
+    main()
diff --git a/device/camera_reader/include/camera_reader/camera_reader.hpp b/device/camera_reader/include/camera_reader/camera_reader.hpp
deleted file mode 100644
index f206ae6..0000000
--- a/device/camera_reader/include/camera_reader/camera_reader.hpp
+++ /dev/null
@@ -1,17 +0,0 @@
-#include <cv_bridge/cv_bridge.hpp>
-#include <image_transport/image_transport.hpp>
-#include <opencv2/opencv.hpp>
-#include <rclcpp/rclcpp.hpp>
-#include <sensor_msgs/msg/image.hpp>
-
-class CameraReader : public rclcpp::Node {
-public:
-    CameraReader();
-
-private:
-    void timer_callback();
-
-    image_transport::Publisher   publisher_;
-    rclcpp::TimerBase::SharedPtr timer_;
-    cv::VideoCapture             cap_;
-};
diff --git a/device/camera_reader/package.xml b/device/camera_reader/package.xml
index 4a50296..c0c2180 100644
--- a/device/camera_reader/package.xml
+++ b/device/camera_reader/package.xml
@@ -3,21 +3,15 @@
 <package format="3">
   <name>camera_reader</name>
   <version>0.0.0</version>
-  <description>ROS 2 package for receiving images</description>
-  <maintainer email="hiro@todo.todo">hiro</maintainer>
+  <description>Camera</description>
+  <maintainer email="yoshikawa.h.ah@m.titech.ac.jp">hiro</maintainer>
   <license>MIT License</license>
 
-  <buildtool_depend>ament_cmake</buildtool_depend>
-  <build_depend>rclcpp</build_depend>
-  <build_depend>sensor_msgs</build_depend>
-  <build_depend>cv_bridge</build_depend>
-  <build_depend>image_transport</build_depend>
-  <exec_depend>rclcpp</exec_depend>
+  <exec_depend>rclpy</exec_depend>
   <exec_depend>sensor_msgs</exec_depend>
   <exec_depend>cv_bridge</exec_depend>
-  <exec_depend>image_transport</exec_depend>
 
   <export>
-    <build_type>ament_cmake</build_type>
+    <build_type>ament_python</build_type>
   </export>
 </package>
diff --git a/device/camera_reader/resource/camera_reader b/device/camera_reader/resource/camera_reader
new file mode 100644
index 0000000..e69de29
diff --git a/device/camera_reader/setup.cfg b/device/camera_reader/setup.cfg
new file mode 100644
index 0000000..231851f
--- /dev/null
+++ b/device/camera_reader/setup.cfg
@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/camera_reader
+[install]
+install_scripts=$base/lib/camera_reader
diff --git a/device/camera_reader/setup.py b/device/camera_reader/setup.py
new file mode 100644
index 0000000..c7dc50c
--- /dev/null
+++ b/device/camera_reader/setup.py
@@ -0,0 +1,29 @@
+import os
+from glob import glob
+
+from setuptools import find_packages, setup
+
+package_name = 'camera_reader'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=[package_name],
+    data_files=[
+        ('share/ament_index/resource_index/packages',['resource/' + package_name]),
+        ('share/' + package_name,['package.xml']),
+        (os.path.join('share','package_name','launch'),glob(os.path.join('launch','*')))
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='hiro',
+    maintainer_email='yoshikawa.h.ah@m.titech.ac.jp',
+    description='Camera for ROS2',
+    license='MIT license',
+    tests_require=[],
+    entry_points={
+        'console_scripts': [
+            'camera=camera_reader.camera:main',
+        ],
+    },
+)
\ No newline at end of file
diff --git a/device/camera_reader/src/camera_reader.cpp b/device/camera_reader/src/camera_reader.cpp
deleted file mode 100644
index deb6345..0000000
--- a/device/camera_reader/src/camera_reader.cpp
+++ /dev/null
@@ -1,29 +0,0 @@
-#include "camera_reader/camera_reader.hpp"
-
-CameraReader::CameraReader() : Node("camera") {
-    publisher_ = image_transport::create_publisher(this, "camera/image");
-
-    // Open the default camera
-    cap_.open(0); // 0 is typically the default camera index
-
-    if (!cap_.isOpened()) {
-        RCLCPP_ERROR(this->get_logger(), "Failed to open camera");
-        return;
-    }
-
-    timer_ = this->create_wall_timer(
-        std::chrono::milliseconds(33), std::bind(&CameraReader::timer_callback, this)
-    );
-}
-
-void CameraReader::timer_callback() {
-    cv::Mat frame;
-    if (!cap_.read(frame)) {
-        return;
-    }
-    if (!frame.empty()) {
-        const auto msg
-            = cv_bridge::CvImage(std_msgs::msg::Header(), "bgr8", frame).toImageMsg();
-        publisher_.publish(msg);
-    }
-}
diff --git a/device/camera_reader/src/main.cpp b/device/camera_reader/src/main.cpp
deleted file mode 100644
index 3077468..0000000
--- a/device/camera_reader/src/main.cpp
+++ /dev/null
@@ -1,10 +0,0 @@
-#include "camera_reader/camera_reader.hpp"
-#include <rclcpp/rclcpp.hpp>
-
-int main(int argc, char* argv[]) {
-    rclcpp::init(argc, argv);
-    auto node = std::make_shared<CameraReader>();
-    rclcpp::spin(node);
-    rclcpp::shutdown();
-    return 0;
-}