diff --git a/.gitignore b/.gitignore
new file mode 100644
index 00000000..35d74bb7
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,51 @@
+devel/
+logs/
+build/
+bin/
+lib/
+msg_gen/
+srv_gen/
+msg/*Action.msg
+msg/*ActionFeedback.msg
+msg/*ActionGoal.msg
+msg/*ActionResult.msg
+msg/*Feedback.msg
+msg/*Goal.msg
+msg/*Result.msg
+msg/_*.py
+build_isolated/
+devel_isolated/
+
+# Generated by dynamic reconfigure
+*.cfgc
+/cfg/cpp/
+/cfg/*.py
+
+# Ignore generated docs
+*.dox
+*.wikidoc
+
+# eclipse stuff
+.project
+.cproject
+
+# qcreator stuff
+CMakeLists.txt.user
+
+srv/_*.py
+*.pcd
+*.pyc
+qtcreator-*
+*.user
+
+/planning/cfg
+/planning/docs
+/planning/src
+
+*~
+
+# Emacs
+.#*
+
+# Catkin custom files
+CATKIN_IGNORE
diff --git a/README.md b/README.md
new file mode 100644
index 00000000..2c79fbf5
--- /dev/null
+++ b/README.md
@@ -0,0 +1,103 @@
+# bosdyn_msgs
+
+## How to build `.deb`
+
+(Largely borrowed from [here](https://gist.github.com/awesomebytes/196eab972a94dd8fcdd69adfe3bd1152))
+
+### Get dependencies
+You may need the latest pip, follow the [official instructions](https://pip.pypa.io/en/stable/installing/).
+
+Install [bloom](http://ros-infrastructure.github.io/bloom/):
+
+```bash
+sudo apt-get install python-bloom
+```
+
+or (recommended)
+
+```bash
+sudo pip install -U bloom
+```
+
+Install fakeroot:
+
+```bash
+sudo apt-get install fakeroot
+```
+
+### Get ready
+
+To make a debian folder structure from the ROS package you must cd into
+the package to be in the same folder where `package.xml` file is.
+
+### Create debian structure
+
+```bash
+bloom-generate rosdebian --os-name ubuntu --os-version jammy --ros-distro humble
+```
+
+You can also let the tool guess some stuff:
+```bash
+bloom-generate rosdebian --ros-distro humble
+```
+
+You'll get something like this:
+
+```bash
+~/ws/src/bosdyn_msgs$ bloom-generate rosdebian --os-name ubuntu --os-version jammy --ros-distro humble
+/usr/lib/python3/dist-packages/pkg_resources/__init__.py:116: PkgResourcesDeprecationWarning:  is an invalid version and will not be supported in a future release
+  warnings.warn(
+/usr/lib/python3/dist-packages/pkg_resources/__init__.py:116: PkgResourcesDeprecationWarning:  is an invalid version and will not be supported in a future release
+  warnings.warn(
+ROS Distro index file associate with commit 'e7ba7d4d4fa7ad70260b34fb0e03f4b96e6f62bb'
+New ROS Distro index url: 'https://raw.githubusercontent.com/ros/rosdistro/e7ba7d4d4fa7ad70260b34fb0e03f4b96e6f62bb/index-v4.yaml'
+==> Generating debs for ubuntu:jammy for package(s) ['bosdyn_msgs']
+No homepage set, defaulting to ''
+No historical releaser history, using current maintainer name and email for each versioned changelog entry.
+No CHANGELOG.rst found for package 'bosdyn_msgs'
+Package 'bosdyn-msgs' has dependencies:
+Run Dependencies:
+  rosdep key           => jammy key
+  rosidl_default_runtime => ['ros-humble-rosidl-default-runtime']
+Build and Build Tool Dependencies:
+  rosdep key           => jammy key
+  builtin_interfaces   => ['ros-humble-builtin-interfaces']
+  common_interfaces    => ['ros-humble-common-interfaces']
+  std_msgs             => ['ros-humble-std-msgs']
+  sensor_msgs          => ['ros-humble-sensor-msgs']
+  ament_cmake          => ['ros-humble-ament-cmake']
+  rosidl_default_generators => ['ros-humble-rosidl-default-generators']
+==> Placing templates files in the 'debian' folder.
+==> In place processing templates in 'debian' folder.
+Expanding 'debian/rules.em' -> 'debian/rules'
+Expanding 'debian/compat.em' -> 'debian/compat'
+Expanding 'debian/changelog.em' -> 'debian/changelog'
+Expanding 'debian/copyright.em' -> 'debian/copyright'
+Expanding 'debian/control.em' -> 'debian/control'
+Expanding 'debian/source/format.em' -> 'debian/source/format'
+Expanding 'debian/source/options.em' -> 'debian/source/options'
+
+```
+
+### Create binary debian
+
+Having sourced the necessary dependencies (most probably `source /opt/ros/humble/setup.bash`) execute:
+
+```bash
+fakeroot debian/rules binary
+```
+
+If you get the error:
+```bash
+dh: Command not found
+```
+You need to install:
+```bash
+sudo apt-get install dpkg-dev debhelper
+```
+
+In the end you'll get a line like:
+
+```
+dpkg-deb: building package 'ros-humble-bosdyn-msgs' in '../ros-humble-bosdyn-msgs_0.0.0-0jammy_amd64.deb'.
+```