diff --git a/CMakeLists.txt b/CMakeLists.txt
index c3b03ef5..0f1ffcf2 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -184,7 +184,7 @@ set(CPACK_SYSTEM_NAME ${CMAKE_HOST_SYSTEM_PROCESSOR})
 set(CPACK_DEBIAN_PACKAGE_VERSION ${CPACK_PACKAGE_VERSION}-1)
 set(CPACK_DEBIAN_PACKAGE_MAINTAINER "Franka Emika GmbH")
 set(CPACK_DEBIAN_PACKAGE_DEPENDS "libpoco-dev")
-set(CPACK_DEBIAN_PACKAGE_CONFLICTS "ros-kinetic-libfranka, ros-melodic-libfranka, ros-noetic-libfranka, ros-foxy-libfranka")
+set(CPACK_DEBIAN_PACKAGE_CONFLICTS "ros-kinetic-libfranka, ros-melodic-libfranka, ros-noetic-libfranka, ros-foxy-libfranka, ros-humble-libfranka")
 include(CPack)
 
 ## Tools
diff --git a/package.xml b/package.xml
new file mode 100644
index 00000000..c94d85fc
--- /dev/null
+++ b/package.xml
@@ -0,0 +1,30 @@
+<?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>libfranka</name>
+  <version>0.9.2</version>
+  <description>libfranka is a C++ library for Franka Robotics research robots</description>
+  <maintainer email="support@franka.de">Franka Robotics GmbH</maintainer>
+  <license>Apache 2.0</license>
+
+  <url type="website">http://wiki.ros.org/libfranka</url>
+  <url type="repository">https://github.com/frankaemika/libfranka</url>
+  <url type="bugtracker">https://github.com/frankaemika/libfranka/issues</url>
+  <author>Franka Robotics GmbH</author>
+
+  <buildtool_depend>cmake</buildtool_depend>
+
+  <build_depend>eigen</build_depend>
+  <build_depend>libpoco-dev</build_depend>
+
+  <exec_depend>libpoco-dev</exec_depend>
+
+  <doc_depend>doxygen</doc_depend>
+  <doc_depend>graphviz</doc_depend>
+
+  <export>
+    <build_type>cmake</build_type>
+  </export>
+</package>