diff --git a/CMakeLists.txt b/CMakeLists.txt
index 35c6ca9..2292ca3 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -213,7 +213,7 @@ install(DIRECTORY include/ DESTINATION include)
 # Install shared resources
 install(DIRECTORY launch    DESTINATION share/${PROJECT_NAME})
 
-ament_export_targets(export_${PROJECT_NAME} rviz_visual_tools_binding_utilsTargets HAS_LIBRARY_TARGET)
+ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
 ament_export_dependencies(geometry_msgs
   shape_msgs
   rclcpp
@@ -257,27 +257,14 @@ endif()
 find_package(Python3 REQUIRED COMPONENTS Interpreter Development)
 find_package(pybind11_vendor REQUIRED)
 find_package(pybind11 REQUIRED)
+find_package(py_binding_tools REQUIRED)
 
 ament_python_install_package(rviz_visual_tools PACKAGE_DIR python/rviz_visual_tools)
 
-add_library(rviz_visual_tools_binding_utils SHARED python/src/binding_utils.cpp)
-ament_target_dependencies(rviz_visual_tools_binding_utils rclcpp pybind11)
-target_include_directories(rviz_visual_tools_binding_utils PUBLIC
-  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/python/include>
-  $<INSTALL_INTERFACE:include/rviz_visual_tools>
-)
-
 pybind11_add_module(pyrviz_visual_tools python/src/rviz_visual_tools.cpp)
-target_link_libraries(pyrviz_visual_tools PRIVATE rviz_visual_tools rviz_visual_tools_binding_utils)
+target_link_libraries(pyrviz_visual_tools PRIVATE rviz_visual_tools py_binding_tools::py_binding_tools)
 ament_target_dependencies(pyrviz_visual_tools pybind11)
-install(
-  TARGETS
-    rviz_visual_tools_binding_utils
-  EXPORT
-    rviz_visual_tools_binding_utilsTargets
-  ARCHIVE DESTINATION lib
-  LIBRARY DESTINATION lib
-)
+
 install(DIRECTORY python/include/ DESTINATION include/rviz_visual_tools)
 install(TARGETS pyrviz_visual_tools
         LIBRARY DESTINATION ${PYTHON_INSTALL_DIR}/rviz_visual_tools)
@@ -285,5 +272,6 @@ install(PROGRAMS
   python/examples/rviz_visual_tools_demo.py
   DESTINATION lib/${PROJECT_NAME}
 )
+ament_export_dependencies(py_binding_tools)
 
 ament_package()
diff --git a/package.xml b/package.xml
index dd807fd..71aa3fb 100644
--- a/package.xml
+++ b/package.xml
@@ -38,6 +38,7 @@
   <depend>visualization_msgs</depend>
   <depend>std_msgs</depend>
   <depend>trajectory_msgs</depend>
+  <depend>py_binding_tools</depend>
 
   <build_depend>qtbase5-dev</build_depend>
   <build_depend>eigen</build_depend>
diff --git a/python/examples/rviz_visual_tools_demo.py b/python/examples/rviz_visual_tools_demo.py
index c926391..f7a6495 100755
--- a/python/examples/rviz_visual_tools_demo.py
+++ b/python/examples/rviz_visual_tools_demo.py
@@ -6,11 +6,12 @@
 from threading import Thread
 import numpy as np
 from copy import deepcopy
+import rclcpp
 
 LOGGER = get_logger("rviz_visual_tools_demo")
 
-rvt.init()
-node = rvt.RvizVisualToolsNode("rviz_visual_tools_demo")
+rclcpp.init()
+node = rclcpp.Node("rviz_visual_tools_demo")
 visual_tools = rvt.RvizVisualTools(node, "world", "/rviz_visual_tools")
 visual_tools.load_marker_publisher(True)
 visual_tools.delete_all_markers()
diff --git a/python/include/rviz_visual_tools/binding_utils.hpp b/python/include/rviz_visual_tools/binding_utils.hpp
deleted file mode 100644
index b303e35..0000000
--- a/python/include/rviz_visual_tools/binding_utils.hpp
+++ /dev/null
@@ -1,121 +0,0 @@
-#pragma once
-
-#include <pybind11/pybind11.h>
-#include <rclcpp/executors/single_threaded_executor.hpp>
-#include <rclcpp/node.hpp>
-#include <rclcpp/serialization.hpp>
-#include <rclcpp/serialized_message.hpp>
-#include <rosidl_runtime_cpp/traits.hpp>
-
-PYBIND11_EXPORT pybind11::object createMessage(const std::string& ros_msg_name);
-
-PYBIND11_EXPORT bool convertible(const pybind11::handle& h, const std::string& ros_msg_name);
-
-namespace pybind11
-{
-namespace detail
-{
-// Base class for type conversion (C++ <-> python) of ROS message types
-template <typename T>
-struct RosMsgTypeCaster
-{
-  // C++ -> Python
-  static handle cast(const T& src, return_value_policy /* policy */, handle /* parent */)
-  {
-    // serialize src
-    rclcpp::Serialization<T> serializer;
-    rclcpp::SerializedMessage serialized_msg;
-    serializer.serialize_message(&src, &serialized_msg);
-    pybind11::bytes bytes = pybind11::bytes(
-        reinterpret_cast<const char*>(serialized_msg.get_rcl_serialized_message().buffer),
-        serialized_msg.get_rcl_serialized_message().buffer_length);
-
-    // get Python object type
-    const std::string ros_msg_name = rosidl_generator_traits::name<T>();
-
-    // find delimiting '/' in ros_msg_name
-    std::size_t pos1 = ros_msg_name.find('/');
-    std::size_t pos2 = ros_msg_name.find('/', pos1 + 1);
-    pybind11::module m = pybind11::module::import((ros_msg_name.substr(0, pos1) + ".msg").c_str());
-
-    // retrieve type instance
-    pybind11::object cls = m.attr(ros_msg_name.substr(pos2 + 1).c_str());
-
-    // deserialize into python object
-    pybind11::module rclpy = pybind11::module::import("rclpy.serialization");
-    pybind11::object msg = rclpy.attr("deserialize_message")(bytes, cls);
-
-    return msg.release();
-  }
-
-  // Python -> C++
-  bool load(handle src, bool /*convert*/)
-  {
-    // check datatype of src
-    if (!convertible(src, rosidl_generator_traits::name<T>()))
-      return false;
-
-    // serialize src into python buffer
-    pybind11::module rclpy = pybind11::module::import("rclpy.serialization");
-    pybind11::bytes bytes = rclpy.attr("serialize_message")(src);
-
-    // deserialize into C++ object
-    rcl_serialized_message_t rcl_serialized_msg = rmw_get_zero_initialized_serialized_message();
-    char* serialized_buffer;
-    Py_ssize_t length;
-    if (PYBIND11_BYTES_AS_STRING_AND_SIZE(bytes.ptr(), &serialized_buffer, &length))
-    {
-      throw pybind11::error_already_set();
-    }
-    if (length < 0)
-    {
-      throw pybind11::error_already_set();
-    }
-    rcl_serialized_msg.buffer_capacity = length;
-    rcl_serialized_msg.buffer_length = length;
-    rcl_serialized_msg.buffer = reinterpret_cast<uint8_t*>(serialized_buffer);
-    rmw_ret_t rmw_ret = rmw_deserialize(
-        &rcl_serialized_msg, rosidl_typesupport_cpp::get_message_type_support_handle<T>(), &value);
-    if (RMW_RET_OK != rmw_ret)
-    {
-      throw std::runtime_error("failed to deserialize ROS message");
-    }
-    return true;
-  }
-
-  PYBIND11_TYPE_CASTER(T, _<T>());
-};
-
-template <typename T>
-struct type_caster<T, enable_if_t<rosidl_generator_traits::is_message<T>::value>>
-  : RosMsgTypeCaster<T>
-{
-};
-}  // namespace detail
-}  // namespace pybind11
-
-namespace rviz_visual_tools
-{
-// The idea was taken from
-// https://github.com/RobotLocomotion/drake-ros/blob/main/drake_ros/core/drake_ros.h
-/** A ROS interface that wraps a live rclcpp node.*/
-class RvizVisualToolsNode final : public rclcpp::Node
-{
-public:
-  RCLCPP_SMART_PTR_DEFINITIONS(RvizVisualToolsNode)
-
-  RvizVisualToolsNode(const std::string& node_name);
-
-  ~RvizVisualToolsNode();
-
-  void spin_all(int timeout_millis = 0);
-
-  void start_spin_thread();
-
-  void stop_spin_thread();
-
-private:
-  rclcpp::executors::SingleThreadedExecutor executor;
-  std::thread executor_thread;
-};
-}  // namespace rviz_visual_tools
diff --git a/python/rviz_visual_tools/__init__.py b/python/rviz_visual_tools/__init__.py
index 9a6f1e3..76e32fd 100644
--- a/python/rviz_visual_tools/__init__.py
+++ b/python/rviz_visual_tools/__init__.py
@@ -1,9 +1,6 @@
 from rviz_visual_tools.pyrviz_visual_tools import (
-    init,
-    shutdown,
     Scales,
     Colors,
     EulerConvention,
     RvizVisualTools,
-    RvizVisualToolsNode,
 )
diff --git a/python/src/binding_utils.cpp b/python/src/binding_utils.cpp
deleted file mode 100644
index 0538bf6..0000000
--- a/python/src/binding_utils.cpp
+++ /dev/null
@@ -1,57 +0,0 @@
-#include <rclcpp/rclcpp.hpp>
-#include <rclcpp/serialization.hpp>
-#include <rviz_visual_tools/binding_utils.hpp>
-
-namespace py = pybind11;
-
-PYBIND11_EXPORT py::object createMessage(const std::string& ros_msg_name)
-{
-  // find delimiting '/' in ros msg name
-  std::size_t pos = ros_msg_name.find('/');
-  // import module
-  py::module m = py::module::import((ros_msg_name.substr(0, pos) + ".msg").c_str());
-  // retrieve type instance
-  py::object cls = m.attr(ros_msg_name.substr(pos + 1).c_str());
-  // create message instance
-  return cls();
-}
-
-PYBIND11_EXPORT bool convertible(const pybind11::handle& h, const std::string& ros_msg_name)
-{
-  PyObject* o = h.attr("__class__").attr("__name__").ptr();
-  std::size_t pos = ros_msg_name.find_last_of('/');
-  std::string class_name = ros_msg_name.substr(pos + 1);
-  return py::cast<std::string>(o) == class_name;
-}
-
-rviz_visual_tools::RvizVisualToolsNode::RvizVisualToolsNode(const std::string& node_name)
-  : Node(node_name)
-{
-  executor.add_node(get_node_base_interface());
-}
-
-rviz_visual_tools::RvizVisualToolsNode::~RvizVisualToolsNode()
-{
-  executor.remove_node(get_node_base_interface());
-  stop_spin_thread();
-}
-
-void rviz_visual_tools::RvizVisualToolsNode::spin_all(int timeout_millis)
-{
-  executor.spin_all(std::chrono::milliseconds(timeout_millis));
-}
-
-void rviz_visual_tools::RvizVisualToolsNode::start_spin_thread()
-{
-  stop_spin_thread();
-  executor_thread = std::thread([this] { executor.spin(); });
-}
-
-void rviz_visual_tools::RvizVisualToolsNode::stop_spin_thread()
-{
-  executor.cancel();
-  if (executor_thread.joinable())
-  {
-    executor_thread.join();
-  }
-}
diff --git a/python/src/rviz_visual_tools.cpp b/python/src/rviz_visual_tools.cpp
index 1821034..8334af5 100644
--- a/python/src/rviz_visual_tools.cpp
+++ b/python/src/rviz_visual_tools.cpp
@@ -2,7 +2,7 @@
 #include <pybind11/eigen.h>
 #include <pybind11/stl.h>
 #include <rviz_visual_tools/rviz_visual_tools.hpp>
-#include <rviz_visual_tools/binding_utils.hpp>
+#include <py_binding_tools/ros_msg_typecasters.h>
 
 namespace py = pybind11;
 using py::literals::operator""_a;
@@ -11,36 +11,6 @@ namespace rviz_visual_tools
 {
 PYBIND11_MODULE(pyrviz_visual_tools, m)
 {
-  py::class_<RvizVisualToolsNode, RvizVisualToolsNode::SharedPtr>(m, "RvizVisualToolsNode")
-      .def(py::init<const std::string&>(), "node_name"_a)
-      .def("spin_all", &RvizVisualToolsNode::spin_all, "timeout_millis"_a = 0)
-      .def("start_spin_thread", &RvizVisualToolsNode::start_spin_thread)
-      .def("stop_spin_thread", &RvizVisualToolsNode::stop_spin_thread);
-
-  /**Initialize ROS 2's global context.
-   This function decorates a `rclcpp::init` invocation.
-  */
-  m.def(
-      "init",
-      [](std::vector<std::string> args) {
-        if (args.empty())
-        {
-          args = py::module::import("sys").attr("argv").cast<std::vector<std::string>>();
-        }
-        std::vector<const char*> raw_args;
-        raw_args.reserve(args.size());
-        for (const auto& arg : args)
-        {
-          raw_args.push_back(arg.c_str());
-        }
-        if (!rclcpp::ok())
-        {
-          rclcpp::init(raw_args.size(), raw_args.data());
-        }
-      },
-      py::arg("args") = std::vector<std::string>{});
-  m.def("shutdown", &rclcpp::shutdown);
-
   py::enum_<Colors>(m, "Colors")
       .value("BLACK", Colors::BLACK)
       .value("BROWN", Colors::BROWN)
@@ -83,7 +53,7 @@ PYBIND11_MODULE(pyrviz_visual_tools, m)
       .value("ZXZ", EulerConvention::ZXZ);
 
   py::class_<RvizVisualTools>(m, "RvizVisualTools")
-      .def(py::init([](const RvizVisualToolsNode::SharedPtr& node, const std::string& base_frame,
+      .def(py::init([](const rclcpp::Node::SharedPtr& node, const std::string& base_frame,
                        const std::string& marker_topic) {
         return RvizVisualTools(base_frame, marker_topic, node);
       }))