diff --git a/debian/changelog.em b/debian/changelog.em
new file mode 100644
index 0000000..3585909
--- /dev/null
+++ b/debian/changelog.em
@@ -0,0 +1,7 @@
+@[for change_version, change_date, changelog, main_name, main_email in changelogs]@(Package) (@(change_version)@(DebianInc)@(Distribution)) @(Distribution); urgency=high
+
+@(changelog)
+
+ -- @(main_name) <@(main_email)>  @(change_date)
+
+@[end for]
diff --git a/debian/compat.em b/debian/compat.em
new file mode 100644
index 0000000..7a87216
--- /dev/null
+++ b/debian/compat.em
@@ -0,0 +1 @@
+@(debhelper_version)
diff --git a/debian/control.em b/debian/control.em
new file mode 100644
index 0000000..6d7b65c
--- /dev/null
+++ b/debian/control.em
@@ -0,0 +1,14 @@
+Source: @(Package)
+Section: misc
+Priority: optional
+Maintainer: @(Maintainer)
+Build-Depends: debhelper (>= @(debhelper_version).0.0), @(', '.join(BuildDepends))
+Homepage: @(Homepage)
+Standards-Version: 3.9.2
+
+Package: @(Package)
+Architecture: any
+Depends: ${shlibs:Depends}, ${misc:Depends}, @(', '.join(Depends))
+@[if Conflicts]Conflicts: @(', '.join(Conflicts))@\n@[end if]@
+@[if Replaces]Replaces: @(', '.join(Replaces))@\n@[end if]@
+Description: @(Description)
diff --git a/debian/copyright.em b/debian/copyright.em
new file mode 100644
index 0000000..bc82fd5
--- /dev/null
+++ b/debian/copyright.em
@@ -0,0 +1,11 @@
+Format: Bloom subset of https://www.debian.org/doc/packaging-manuals/copyright-format/1.0/
+Upstream-Name: @(Name)
+@[if BugTracker]Upstream-Contact: @(BugTracker)@\n@[end if]@
+@[if Source]Source: @(Source)@\n@[end if]@
+@[for License, Text in Licenses]@
+
+Files: See file headers in repository for details
+Copyright: See package copyright in source code for details
+License: @(License)
+ @(Text)
+@[end for]@
diff --git a/debian/gbp.conf.em b/debian/gbp.conf.em
new file mode 100644
index 0000000..ad24a16
--- /dev/null
+++ b/debian/gbp.conf.em
@@ -0,0 +1,3 @@
+[git-buildpackage]
+upstream-tag=@(release_tag)
+upstream-tree=tag
diff --git a/debian/rules.em b/debian/rules.em
new file mode 100755
index 0000000..a856369
--- /dev/null
+++ b/debian/rules.em
@@ -0,0 +1,67 @@
+#!/usr/bin/make -f
+# -*- makefile -*-
+# Sample debian/rules that uses debhelper.
+# This file was originally written by Joey Hess and Craig Small.
+# As a special exception, when this file is copied by dh-make into a
+# dh-make output file, you may use that output file without restriction.
+# This special exception was added by Craig Small in version 0.37 of dh-make.
+
+# Uncomment this to turn on verbose mode.
+export DH_VERBOSE=1
+# TODO: remove the LDFLAGS override.  It's here to avoid esoteric problems
+# of this sort:
+#  https://code.ros.org/trac/ros/ticket/2977
+#  https://code.ros.org/trac/ros/ticket/3842
+export LDFLAGS=
+export PKG_CONFIG_PATH=@(InstallationPrefix)/lib/pkgconfig
+# Explicitly enable -DNDEBUG, see:
+# 	https://github.com/ros-infrastructure/bloom/issues/327
+export DEB_CXXFLAGS_MAINT_APPEND=-DNDEBUG
+ifneq ($(filter nocheck,$(DEB_BUILD_OPTIONS)),)
+	BUILD_TESTING_ARG=-DBUILD_TESTING=OFF
+endif
+
+DEB_HOST_GNU_TYPE ?= $(shell dpkg-architecture -qDEB_HOST_GNU_TYPE)
+
+%:
+	dh $@@ -v --buildsystem=cmake --builddirectory=.obj-$(DEB_HOST_GNU_TYPE)
+
+override_dh_auto_configure:
+	# In case we're installing to a non-standard location, look for a setup.sh
+	# in the install tree and source it.  It will set things like
+	# CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH.
+	if [ -f "@(InstallationPrefix)/setup.sh" ]; then . "@(InstallationPrefix)/setup.sh"; fi && \
+	dh_auto_configure -- \
+		-DCMAKE_INSTALL_PREFIX="@(InstallationPrefix)" \
+		-DAMENT_PREFIX_PATH="@(InstallationPrefix)" \
+		-DCMAKE_PREFIX_PATH="@(InstallationPrefix)" \
+		$(BUILD_TESTING_ARG)
+
+override_dh_auto_build:
+	# In case we're installing to a non-standard location, look for a setup.sh
+	# in the install tree and source it.  It will set things like
+	# CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH.
+	if [ -f "@(InstallationPrefix)/setup.sh" ]; then . "@(InstallationPrefix)/setup.sh"; fi && \
+	dh_auto_build
+
+override_dh_auto_test:
+	# In case we're installing to a non-standard location, look for a setup.sh
+	# in the install tree and source it.  It will set things like
+	# CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH.
+	echo -- Running tests. Even if one of them fails the build is not canceled.
+	if [ -f "@(InstallationPrefix)/setup.sh" ]; then . "@(InstallationPrefix)/setup.sh"; fi && \
+	dh_auto_test || true
+
+override_dh_shlibdeps:
+	# In case we're installing to a non-standard location, look for a setup.sh
+	# in the install tree and source it.  It will set things like
+	# CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH.
+	if [ -f "@(InstallationPrefix)/setup.sh" ]; then . "@(InstallationPrefix)/setup.sh"; fi && \
+	dh_shlibdeps -l$(CURDIR)/debian/@(Package)/@(InstallationPrefix)/lib/:$(CURDIR)/debian/@(Package)/@(InstallationPrefix)/opt/@(Name)/lib/
+
+override_dh_auto_install:
+	# In case we're installing to a non-standard location, look for a setup.sh
+	# in the install tree and source it.  It will set things like
+	# CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH.
+	if [ -f "@(InstallationPrefix)/setup.sh" ]; then . "@(InstallationPrefix)/setup.sh"; fi && \
+	dh_auto_install
diff --git a/debian/source/format.em b/debian/source/format.em
new file mode 100644
index 0000000..9666bf4
--- /dev/null
+++ b/debian/source/format.em
@@ -0,0 +1 @@
+3.0 (@(format))
diff --git a/debian/source/options.em b/debian/source/options.em
new file mode 100644
index 0000000..8c4c78b
--- /dev/null
+++ b/debian/source/options.em
@@ -0,0 +1,6 @@
+@[if format and format == 'quilt']@
+# Automatically add upstream changes to the quilt overlay.
+# http://manpages.ubuntu.com/manpages/trusty/man1/dpkg-source.1.html
+# This supports reusing the orig.tar.gz for debian increments.
+auto-commit
+@[end if]