diff --git a/CMakeLists.txt b/CMakeLists.txt
index a22596b1b..c189e1c4c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.16)
 
 set(catkin_EXTRAS_DIR ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
 
diff --git a/cmake/all.cmake b/cmake/all.cmake
index 7768f968d..8e94d1fe1 100644
--- a/cmake/all.cmake
+++ b/cmake/all.cmake
@@ -34,7 +34,7 @@ if(EXISTS ${_catkin_marker_file})
   endif()
 else()
   # create a new develspace marker file
-  # NOTE: extra care must be taken when running multiple catkin jobs in parallel 
+  # NOTE: extra care must be taken when running multiple catkin jobs in parallel
   #       so that this does not overwrite the result of a similar call in another package
   file(WRITE ${_catkin_marker_file} "${CMAKE_SOURCE_DIR}")
 endif()
@@ -120,7 +120,7 @@ endif()
 include(CMakeParseArguments)
 
 # functions/macros: list_append_unique, safe_execute_process
-# python-integration: catkin_python_setup.cmake, interrogate_setup_dot_py.py, templates/__init__.py.in, templates/script.py.in, templates/python_distutils_install.bat.in, templates/python_distutils_install.sh.in, templates/safe_execute_install.cmake.in
+# python-integration: catkin_python_setup.cmake, interrogate_setup_dot_py.py, templates/__init__.py.in, templates/script.py.in, templates/python_install.bat.in, templates/python_install.sh.in, templates/safe_execute_install.cmake.in
 foreach(filename
     assert
     atomic_configure_file
diff --git a/cmake/catkin_python_setup.cmake b/cmake/catkin_python_setup.cmake
index e360706f3..307ca7f12 100644
--- a/cmake/catkin_python_setup.cmake
+++ b/cmake/catkin_python_setup.cmake
@@ -148,19 +148,20 @@ function(catkin_python_setup)
     set(SETUPTOOLS_EGG_INFO "")
   endif()
 
+  cmake_path(CONVERT "${CMAKE_BINARY_DIR}/setuptools_build" TO_NATIVE_PATH_LIST SETUPTOOLS_BUILD_DIR NORMALIZE)
   set(INSTALL_CMD_WORKING_DIRECTORY ${${PROJECT_NAME}_SOURCE_DIR})
   if(NOT WIN32)
     set(INSTALL_SCRIPT
-      ${CMAKE_CURRENT_BINARY_DIR}/catkin_generated/python_distutils_install.sh)
-    configure_file(${catkin_EXTRAS_DIR}/templates/python_distutils_install.sh.in
+      ${CMAKE_CURRENT_BINARY_DIR}/catkin_generated/python_install.sh)
+    configure_file(${catkin_EXTRAS_DIR}/templates/python_install.sh.in
       ${INSTALL_SCRIPT}
       @ONLY)
   else()
     # need to convert install prefix to native path for python setuptools --prefix (its fussy about \'s)
     file(TO_NATIVE_PATH ${CMAKE_INSTALL_PREFIX} PYTHON_INSTALL_PREFIX)
     set(INSTALL_SCRIPT
-      ${CMAKE_CURRENT_BINARY_DIR}/catkin_generated/python_distutils_install.bat)
-    configure_file(${catkin_EXTRAS_DIR}/templates/python_distutils_install.bat.in
+      ${CMAKE_CURRENT_BINARY_DIR}/catkin_generated/python_install.bat)
+    configure_file(${catkin_EXTRAS_DIR}/templates/python_install.bat.in
       ${INSTALL_SCRIPT}
       @ONLY)
   endif()
diff --git a/cmake/python.cmake b/cmake/python.cmake
index c72b85999..f141102b4 100644
--- a/cmake/python.cmake
+++ b/cmake/python.cmake
@@ -1,11 +1,16 @@
 # the CMake variable PYTHON_INSTALL_DIR has the same value as the Python function catkin.builder.get_python_install_dir()
 
 set(PYTHON_VERSION "$ENV{ROS_PYTHON_VERSION}" CACHE STRING "Specify specific Python version to use ('major.minor' or 'major')")
-find_package(PythonInterp ${PYTHON_VERSION} REQUIRED)
+find_package(Python ${PYTHON_VERSION} COMPONENTS Interpreter REQUIRED)
 
-message(STATUS "Using PYTHON_EXECUTABLE: ${PYTHON_EXECUTABLE}")
+# Set variables for compatibility with old find_package(PythonInterp)
+set(PYTHON_EXECUTABLE ${Python_EXECUTABLE})
+set(PYTHON_VERSION_STRING ${Python_VERSION})
+set(PYTHON_VERSION_MAJOR ${Python_VERSION_MAJOR})
+set(PYTHON_VERSION_MINOR ${Python_VERSION_MINOR})
+message(STATUS "Using Python_EXECUTABLE: ${Python_EXECUTABLE}")
 
-set(_PYTHON_PATH_VERSION_SUFFIX "${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}")
+set(_PYTHON_PATH_VERSION_SUFFIX "${Python_VERSION_MAJOR}.${Python_VERSION_MINOR}")
 
 set(enable_setuptools_deb_layout OFF)
 if(EXISTS "/etc/debian_version")
@@ -16,10 +21,10 @@ option(SETUPTOOLS_DEB_LAYOUT "Enable debian style python package layout" ${enabl
 if(SETUPTOOLS_DEB_LAYOUT)
   message(STATUS "Using Debian Python package layout")
   set(PYTHON_PACKAGES_DIR dist-packages)
-  set(SETUPTOOLS_ARG_EXTRA "--install-layout=deb")
+  set(PIP_EXTRA_ENV "DEB_PYTHON_INSTALL_LAYOUT=deb")
   # use major version only when installing 3.x with debian layout
-  if("${PYTHON_VERSION_MAJOR}" STREQUAL "3")
-    set(_PYTHON_PATH_VERSION_SUFFIX "${PYTHON_VERSION_MAJOR}")
+  if("${Python_VERSION_MAJOR}" STREQUAL "3")
+    set(_PYTHON_PATH_VERSION_SUFFIX "${Python_VERSION_MAJOR}")
   endif()
 else()
   message(STATUS "Using default Python package layout")
diff --git a/cmake/templates/python_distutils_install.sh.in b/cmake/templates/python_distutils_install.sh.in
deleted file mode 100755
index dd35f732b..000000000
--- a/cmake/templates/python_distutils_install.sh.in
+++ /dev/null
@@ -1,33 +0,0 @@
-#!/bin/sh
-
-if [ -n "$DESTDIR" ] ; then
-    case $DESTDIR in
-        /*) # ok
-            ;;
-        *)
-            /bin/echo "DESTDIR argument must be absolute... "
-            /bin/echo "otherwise python's distutils will bork things."
-            exit 1
-    esac
-fi
-
-echo_and_run() { echo "+ $@" ; "$@" ; }
-
-echo_and_run cd "@INSTALL_CMD_WORKING_DIRECTORY@"
-
-# ensure that Python install destination exists
-echo_and_run mkdir -p "$DESTDIR@CMAKE_INSTALL_PREFIX@/@PYTHON_INSTALL_DIR@"
-
-# Note that PYTHONPATH is pulled from the environment to support installing
-# into one location when some dependencies were installed in another
-# location, #123.
-echo_and_run /usr/bin/env \
-    PYTHONPATH="@CMAKE_INSTALL_PREFIX@/@PYTHON_INSTALL_DIR@:@CMAKE_BINARY_DIR@/@PYTHON_INSTALL_DIR@:$PYTHONPATH" \
-    CATKIN_BINARY_DIR="@CMAKE_BINARY_DIR@" \
-    "@PYTHON_EXECUTABLE@" \
-    "@CMAKE_CURRENT_SOURCE_DIR@/setup.py" \
-    @SETUPTOOLS_EGG_INFO@ \
-    build --build-base "@CMAKE_CURRENT_BINARY_DIR@" \
-    install \
-    --root="${DESTDIR-/}" \
-    @SETUPTOOLS_ARG_EXTRA@ --prefix="@CMAKE_INSTALL_PREFIX@" --install-scripts="@CMAKE_INSTALL_PREFIX@/@CATKIN_GLOBAL_BIN_DESTINATION@"
diff --git a/cmake/templates/python_distutils_install.bat.in b/cmake/templates/python_install.bat.in
similarity index 58%
rename from cmake/templates/python_distutils_install.bat.in
rename to cmake/templates/python_install.bat.in
index a6b1f6f28..f2168394d 100644
--- a/cmake/templates/python_distutils_install.bat.in
+++ b/cmake/templates/python_install.bat.in
@@ -12,16 +12,14 @@ if NOT EXIST "@SETUPTOOLS_INSTALL_PREFIX@\@PYTHON_INSTALL_DIR@\" (
 )
 
 set "PYTHONPATH=@SETUPTOOLS_INSTALL_PREFIX@\@PYTHON_INSTALL_DIR@;@CMAKE_BINARY_DIR@\@PYTHON_INSTALL_DIR@"
-set "CATKIN_BINARY_DIR=@CMAKE_BINARY_DIR@"
 for /f "usebackq tokens=*" %%a in ('@SETUPTOOLS_INSTALL_PREFIX@') do (
   set _SETUPTOOLS_INSTALL_PATH=%%~pna
   set _SETUPTOOLS_INSTALL_ROOT=%%~da
 )
 
-"@PYTHON_EXECUTABLE@" ^
-    "@CMAKE_CURRENT_SOURCE_DIR@\setup.py" ^
-    build --build-base "@CMAKE_CURRENT_BINARY_DIR@" ^
-    install %DESTDIR_ARG% @SETUPTOOLS_ARG_EXTRA@ ^
-    --prefix="%_SETUPTOOLS_INSTALL_PATH%" ^
-    --install-scripts="%_SETUPTOOLS_INSTALL_PATH%\@CATKIN_GLOBAL_BIN_DESTINATION@" ^
-    --root=%_SETUPTOOLS_INSTALL_ROOT%\
+"@PYTHON_EXECUTABLE@" -m build --wheel --outdir "@SETUPTOOLS_BUILD_DIR@" --no-isolation ^
+    @SETUPTOOLS_OVERRIDE_BUILD_BASE@ ^
+    "@CMAKE_CURRENT_SOURCE_DIR@" &&
+
+"@PYTHON_EXECUTABLE@" -m pip install --prefix "%_SETUPTOOLS_INSTALL_PATH%" --ignore-installed --no-deps ^
+    "@SETUPTOOLS_BUILD_DIR@"\*.whl
diff --git a/cmake/templates/python_install.sh.in b/cmake/templates/python_install.sh.in
new file mode 100755
index 000000000..d49824807
--- /dev/null
+++ b/cmake/templates/python_install.sh.in
@@ -0,0 +1,46 @@
+#!/bin/sh
+
+if [ -n "$DESTDIR" ] ; then
+    case $DESTDIR in
+        /*) # ok
+            ;;
+        *)
+            /bin/echo "DESTDIR argument must be absolute... "
+            /bin/echo "otherwise python's distutils will bork things."
+            exit 1
+    esac
+fi
+
+echo_and_run() { echo "+ $@" ; "$@" ; }
+
+echo_and_run cd "@INSTALL_CMD_WORKING_DIRECTORY@"
+
+# ensure that Python install destination exists
+echo_and_run mkdir -p "$DESTDIR@CMAKE_INSTALL_PREFIX@/@PYTHON_INSTALL_DIR@"
+
+# Note that PYTHONPATH is pulled from the environment to support installing
+# into one location when some dependencies were installed in another
+# location, #123.
+echo_and_run /usr/bin/env \
+    @PIP_EXTRA_ENV@ \
+    PYTHONPATH="@CMAKE_INSTALL_PREFIX@/@PYTHON_INSTALL_DIR@:@CMAKE_BINARY_DIR@/@PYTHON_INSTALL_DIR@:$PYTHONPATH" \
+    "@PYTHON_EXECUTABLE@" -m build \
+      --wheel \
+      --outdir @SETUPTOOLS_BUILD_DIR@ \
+      --no-isolation \
+      --config-setting=--build-option=build --config-setting=--build-option=--build-base=@SETUPTOOLS_BUILD_DIR@ \
+      "@CMAKE_CURRENT_SOURCE_DIR@" &&
+
+# Remove temporary *.egg-info directories created by setuptools during build
+echo_and_run find -L "@CMAKE_CURRENT_SOURCE_DIR@" -name "*.egg-info" -print -exec rm -r {} + &&
+
+echo_and_run /usr/bin/env \
+    @PIP_EXTRA_ENV@ \
+    PIP_BREAK_SYSTEM_PACKAGES=1 \
+    PYTHONPATH="@CMAKE_INSTALL_PREFIX@/@PYTHON_INSTALL_DIR@:@CMAKE_BINARY_DIR@/@PYTHON_INSTALL_DIR@:$PYTHONPATH" \
+    "@PYTHON_EXECUTABLE@" -m pip install \
+      --prefix "@CMAKE_INSTALL_PREFIX@" \
+      ${DESTDIR:+--root "$DESTDIR"} \
+      --ignore-installed \
+      --no-deps \
+      "@SETUPTOOLS_BUILD_DIR@"/*.whl
diff --git a/cmake/toplevel.cmake b/cmake/toplevel.cmake
index 744c4b249..3bfc96722 100644
--- a/cmake/toplevel.cmake
+++ b/cmake/toplevel.cmake
@@ -1,7 +1,7 @@
 # toplevel CMakeLists.txt for a catkin workspace
 # catkin/cmake/toplevel.cmake
 
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.16)
 
 project(Project)
 
diff --git a/doc/adv_user_guide/catkin_migration.rst b/doc/adv_user_guide/catkin_migration.rst
index 6cd3a8a53..862fa8f28 100644
--- a/doc/adv_user_guide/catkin_migration.rst
+++ b/doc/adv_user_guide/catkin_migration.rst
@@ -75,7 +75,7 @@ The contents of the /stick/stick/package.xml must look like this::
 
 The contents of the /stick/stick/CMakeLists.txt looks like this::
 
-  cmake_minimum_required(VERSION 3.0.2)
+  cmake_minimum_required(VERSION 3.16)
   project(stick)
   find_package(catkin REQUIRED)
   catkin_metapackage()
diff --git a/doc/howto/format1/catkin_overview.rst b/doc/howto/format1/catkin_overview.rst
index da858168e..147b8921a 100644
--- a/doc/howto/format1/catkin_overview.rst
+++ b/doc/howto/format1/catkin_overview.rst
@@ -84,7 +84,7 @@ CMakeLists.txt
 Catkin ``CMakeLists.txt`` files mostly contain ordinary CMake
 commands, plus a few catkin-specific ones.  They begin like this::
 
-  cmake_minimum_required(VERSION 3.0.2)
+  cmake_minimum_required(VERSION 3.16)
   project(your_package)
 
 Substitute the actual name of your package in the ``project()``
diff --git a/doc/howto/format2/catkin_overview.rst b/doc/howto/format2/catkin_overview.rst
index b6f2a8625..cf46757a0 100644
--- a/doc/howto/format2/catkin_overview.rst
+++ b/doc/howto/format2/catkin_overview.rst
@@ -85,7 +85,7 @@ CMakeLists.txt
 Catkin ``CMakeLists.txt`` files mostly contain ordinary CMake
 commands, plus a few catkin-specific ones.  They begin like this::
 
-  cmake_minimum_required(VERSION 3.0.2)
+  cmake_minimum_required(VERSION 3.16)
   project(your_package)
 
 Substitute the actual name of your package in the ``project()``
diff --git a/doc/user_guide/standards.rst b/doc/user_guide/standards.rst
index d4ea9dfbe..2663977e2 100644
--- a/doc/user_guide/standards.rst
+++ b/doc/user_guide/standards.rst
@@ -13,7 +13,7 @@ For inspiration, look at the guideline examples here:
 
 The following lines must always appear the CMakeLists.txt in this order::
 
-  cmake_minimum_required(VERSION 3.0.2)
+  cmake_minimum_required(VERSION 3.16)
   project(myproject)
   find_package(catkin REQUIRED <COMPONENTS ...>)
   catkin_package(<...>)
diff --git a/package.xml b/package.xml
index 4ad37eb69..42d699fa7 100644
--- a/package.xml
+++ b/package.xml
@@ -30,9 +30,15 @@
   <buildtool_depend>cmake</buildtool_depend>
   <buildtool_depend condition="$ROS_PYTHON_VERSION == 2">python-setuptools</buildtool_depend>
   <buildtool_depend condition="$ROS_PYTHON_VERSION == 3">python3-setuptools</buildtool_depend>
+  <buildtool_depend condition="$ROS_PYTHON_VERSION == 2">python-pip</buildtool_depend>
+  <buildtool_depend condition="$ROS_PYTHON_VERSION == 3">python3-pip</buildtool_depend>
+  <buildtool_depend condition="$ROS_PYTHON_VERSION == 3">python3-build</buildtool_depend>
 
   <buildtool_export_depend>cmake</buildtool_export_depend>
   <buildtool_export_depend condition="$ROS_PYTHON_VERSION == 3">python3-setuptools</buildtool_export_depend>
+  <buildtool_export_depend condition="$ROS_PYTHON_VERSION == 2">python-pip</buildtool_export_depend>
+  <buildtool_export_depend condition="$ROS_PYTHON_VERSION == 3">python3-pip</buildtool_export_depend>
+  <buildtool_export_depend condition="$ROS_PYTHON_VERSION == 3">python3-build</buildtool_export_depend>
 
   <build_export_depend>google-mock</build_export_depend>
   <build_export_depend>gtest</build_export_depend>
diff --git a/test/mock_resources/src-fail/badly_specified_changelog/CMakeLists.txt b/test/mock_resources/src-fail/badly_specified_changelog/CMakeLists.txt
index 5e4c06765..5e6ff8646 100644
--- a/test/mock_resources/src-fail/badly_specified_changelog/CMakeLists.txt
+++ b/test/mock_resources/src-fail/badly_specified_changelog/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.16)
 
 project(badly_specified_changelog)
 find_package(catkin)
diff --git a/test/mock_resources/src-fail/noproject/CMakeLists.txt b/test/mock_resources/src-fail/noproject/CMakeLists.txt
index 4f112c75f..da13c4ca4 100644
--- a/test/mock_resources/src-fail/noproject/CMakeLists.txt
+++ b/test/mock_resources/src-fail/noproject/CMakeLists.txt
@@ -1,7 +1,6 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.16)
 # commented to cause failure
 # project(noproject)
 find_package(catkin)
 
 catkin_package()
-