diff --git a/map/lanelet2_extension/CMakeLists.txt b/map/lanelet2_extension/CMakeLists.txt
index c755d45eee3e0..9ec02cf66324e 100644
--- a/map/lanelet2_extension/CMakeLists.txt
+++ b/map/lanelet2_extension/CMakeLists.txt
@@ -1,18 +1,8 @@
 cmake_minimum_required(VERSION 3.5)
 project(lanelet2_extension)
 
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
-  set(CMAKE_CXX_STANDARD_REQUIRED ON)
-  set(CMAKE_CXX_EXTENSIONS OFF)
-endif()
-
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic -Werror)
-endif()
-
-find_package(ament_cmake_auto REQUIRED)
-ament_auto_find_build_dependencies()
+find_package(autoware_cmake REQUIRED)
+autoware_package()
 
 find_package(PkgConfig)
 find_path(GeographicLib_INCLUDE_DIR GeographicLib/Config.h
@@ -72,7 +62,6 @@ target_link_libraries(autoware_lanelet2_validation
 )
 
 if(BUILD_TESTING)
-  find_package(ament_cmake_gtest REQUIRED)
   ament_add_gtest(message_conversion-test test/src/test_message_conversion.cpp)
   target_link_libraries(message_conversion-test lanelet2_extension_lib)
   ament_add_gtest(projector-test test/src/test_projector.cpp)
@@ -83,8 +72,6 @@ if(BUILD_TESTING)
   target_link_libraries(regulatory_elements-test lanelet2_extension_lib)
   ament_add_gtest(utilities-test test/src/test_utilities.cpp)
   target_link_libraries(utilities-test lanelet2_extension_lib)
-  find_package(ament_lint_auto REQUIRED)
-  ament_lint_auto_find_test_dependencies()
 endif()
 
 ament_auto_package()
diff --git a/map/lanelet2_extension/package.xml b/map/lanelet2_extension/package.xml
index 3f1af3a245186..bc9cdfc5a387d 100644
--- a/map/lanelet2_extension/package.xml
+++ b/map/lanelet2_extension/package.xml
@@ -8,8 +8,8 @@
 
   <license>Apache License 2.0</license>
 
-  <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  <build_depend>autoware_cmake</build_depend>
 
   <depend>autoware_auto_mapping_msgs</depend>
   <depend>geographiclib</depend>