diff --git a/.ci/Dockerfile.bionic b/.ci/Dockerfile.bionic
index 4c28eb97..6af02f5d 100644
--- a/.ci/Dockerfile.bionic
+++ b/.ci/Dockerfile.bionic
@@ -11,6 +11,7 @@ RUN apt-get update && apt-get install -y \
     libeigen3-dev \
     libpoco-dev \
     rename \
+    rpm \
     valgrind \
     lsb-release \
     dpkg \
diff --git a/.ci/Dockerfile.focal b/.ci/Dockerfile.focal
index 92a7a609..a149c8ce 100644
--- a/.ci/Dockerfile.focal
+++ b/.ci/Dockerfile.focal
@@ -12,6 +12,7 @@ RUN apt-get update && apt-get install -y \
     libeigen3-dev \
     libpoco-dev \
     rename \
+    rpm \
     valgrind \
     lsb-release \
     dpkg \
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 905e8ebf..f99fc0dd 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -176,13 +176,35 @@ endif()
 
 ## Packaging
 set(CPACK_PACKAGE_VENDOR "Franka Emika GmbH")
-set(CPACK_GENERATOR "DEB;TGZ")
+set(CPACK_GENERATOR "DEB;TGZ;RPM")
 set(CPACK_PACKAGE_VERSION ${libfranka_VERSION})
 set(CPACK_SYSTEM_NAME ${CMAKE_HOST_SYSTEM_PROCESSOR})
 
-# Debian versions require a dash
-set(CPACK_DEBIAN_PACKAGE_VERSION ${CPACK_PACKAGE_VERSION}-1)
-set(CPACK_DEBIAN_PACKAGE_MAINTAINER "Franka Emika GmbH")
+# Default permissions for directories created implicitly during installation of files by install() and file(INSTALL).
+set(CMAKE_INSTALL_DEFAULT_DIRECTORY_PERMISSIONS
+  OWNER_READ
+  OWNER_WRITE
+  OWNER_EXECUTE
+  GROUP_READ
+  GROUP_EXECUTE
+  WORLD_READ
+  WORLD_EXECUTE
+)
+
+# shared package info
+set(PACKAGE_RELEASE 1) # adds build info MAJOR.MINOR.PATCH-RELEASE
+set(PACKAGE_MAINTAINER "Franka Emika GmbH")
+
+# RPM package info
+set(CPACK_RPM_PACKAGE_RELEASE_DIST "%{dist}")
+set(CPACK_RPM_PACKAGE_RELEASE ${PACKAGE_RELEASE})
+set(CPACK_RPM_PACKAGE_MAINTAINER ${PACKAGE_MAINTAINER})
+set(CPACK_RPM_PACKAGE_DEPENDS "poco-devel")
+set(CPACK_RPM_PACKAGE_CONFLICTS "ros-libfranka-devel")
+
+# Debian
+set(CPACK_DEBIAN_PACKAGE_RELEASE ${PACKAGE_RELEASE})
+set(CPACK_DEBIAN_PACKAGE_MAINTAINER ${PACKAGE_MAINTAINER})
 set(CPACK_DEBIAN_PACKAGE_DEPENDS "libpoco-dev")
 set(CPACK_DEBIAN_PACKAGE_CONFLICTS "ros-kinetic-libfranka, ros-melodic-libfranka, ros-noetic-libfranka, ros-foxy-libfranka")
 include(CPack)