diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..51f2338
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,2 @@
+# ignore the build folder
+build/
\ No newline at end of file
diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644
index 0000000..857b786
--- /dev/null
+++ b/CMakeLists.txt
@@ -0,0 +1,63 @@
+project(stl_reader)
+cmake_minimum_required(VERSION 3.16)
+
+# add the stl_reader as a single target:
+add_library(stl_reader INTERFACE)
+
+target_include_directories(stl_reader
+  INTERFACE
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>
+)
+
+include(GNUInstallDirs)
+
+install(DIRECTORY include/stl_reader DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
+
+# define the export of our cmake target:
+install(
+  TARGETS stl_reader
+  EXPORT stl_readerTargets
+  LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
+  ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
+  RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
+  INCLUDES DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
+)
+
+install(
+  EXPORT stl_readerTargets
+  FILE stl_readerTargets.cmake
+  NAMESPACE stl_reader::
+  DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/stl_reader
+)
+
+# include some helper macros for generating cmake config files:
+include(CMakePackageConfigHelpers)
+
+# create the cmake config files:
+configure_package_config_file(${CMAKE_CURRENT_SOURCE_DIR}/cmake/Config.cmake.in
+  "${CMAKE_CURRENT_BINARY_DIR}/stl_readerConfig.cmake"
+  INSTALL_DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/stl_reader
+)
+
+# install the configuration files that we using the helper macros above:
+install(
+  FILES
+  "${CMAKE_CURRENT_BINARY_DIR}/stl_readerConfig.cmake" # cmake config file
+  "${CMAKE_CURRENT_BINARY_DIR}/stl_readerConfigVersion.cmake" # cmake version file
+  DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/stl_reader
+)
+
+set(version 1.0.0)
+
+# generate the version file for the config file
+write_basic_package_version_file(
+  "${CMAKE_CURRENT_BINARY_DIR}/stl_readerConfigVersion.cmake"
+  VERSION "${version}"
+  COMPATIBILITY AnyNewerVersion # probably don't want to set this. Would need to check other options.
+)
+
+if (COLCON_BUILD)
+  find_package(ament_cmake REQUIRED)
+  ament_package()
+endif()
\ No newline at end of file
diff --git a/cmake/Config.cmake.in b/cmake/Config.cmake.in
new file mode 100644
index 0000000..bece25f
--- /dev/null
+++ b/cmake/Config.cmake.in
@@ -0,0 +1,5 @@
+@PACKAGE_INIT@
+
+include("${CMAKE_CURRENT_LIST_DIR}/stl_readerTargets.cmake")
+check_required_components(stl_reader)
+
diff --git a/colcon.pkg b/colcon.pkg
new file mode 100644
index 0000000..7e31378
--- /dev/null
+++ b/colcon.pkg
@@ -0,0 +1,3 @@
+{
+  "cmake-args": ["-DCOLCON_BUILD=ON"]
+}
\ No newline at end of file
diff --git a/stl_reader.h b/include/stl_reader/stl_reader.h
similarity index 100%
rename from stl_reader.h
rename to include/stl_reader/stl_reader.h
diff --git a/package.xml b/package.xml
new file mode 100644
index 0000000..ca78b04
--- /dev/null
+++ b/package.xml
@@ -0,0 +1,16 @@
+<?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>stl_reader</name>
+  <version>0.0.0</version>
+  <description>A simple package for reading STL files.</description>
+  <maintainer email="jeff.hough@maerobotics.com">Jeff Hough</maintainer>
+  <license>Nonstandard</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+
+</package>