diff --git a/CMakeLists.txt b/CMakeLists.txt
index 92afbd8..a2f0928 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,6 +1,8 @@
 cmake_minimum_required(VERSION 3.16)
 
-PROJECT(amrl-shared-lib)
+project(amrl_shared_lib)
+
+find_package(ament_cmake REQUIRED)
 
 SET(CMAKE_INCLUDE_CURRENT_DIR ON)
 
@@ -23,6 +25,12 @@ ADD_LIBRARY(${AMRL_LIBRARY_NAME}
             util/random.cc
             util/serialization.cc
             util/terminal_colors.cc)
+
+target_include_directories(${AMRL_LIBRARY_NAME} PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
+  $<INSTALL_INTERFACE:include>
+)
+
 TARGET_LINK_LIBRARIES(${AMRL_LIBRARY_NAME} ${LIBS})
 
 IF(GENERATE_SHARED_LIB_UNITTESTS)
@@ -38,7 +46,18 @@ IF(GENERATE_SHARED_LIB_UNITTESTS)
 ENDIF()
 
 install(TARGETS ${AMRL_LIBRARY_NAME}
+  EXPORT export_${PROJECT_NAME}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION bin
 )
+
+install(DIRECTORY math util
+  DESTINATION include
+)
+
+ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
+ament_export_libraries(${AMRL_LIBRARY_NAME})
+ament_export_include_directories(include)
+
+ament_package()
diff --git a/package.xml b/package.xml
new file mode 100644
index 0000000..bfaab02
--- /dev/null
+++ b/package.xml
@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>amrl_shared_lib</name>
+  <version>0.1.0</version>
+  <description>Common AMRL C++ utilities (math, timing, helpers) packaged for ROS 2 workspaces.</description>
+  <maintainer email="amrl_robot@cs.utexas.edu">amrl_robot</maintainer>
+  <license>LGPL-3.0-or-later</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <!-- System deps: logging and threading -->
+  <depend>libgoogle-glog-dev</depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
+