diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644
index 0000000..3c086fa
--- /dev/null
+++ b/CMakeLists.txt
@@ -0,0 +1,30 @@
+cmake_minimum_required(VERSION 2.8.3)
+
+project(transforms3d NONE)
+
+enable_testing()
+
+find_package(PythonInterp REQUIRED)
+find_program(NOSE nosetests)
+
+if (NOT NOSE)
+	message(FATAL_ERROR "could not find nosetests program")
+endif()
+
+set(setup_py ${CMAKE_CURRENT_SOURCE_DIR}/setup.py)
+
+add_custom_target(python_build ALL ${PYTHON_EXECUTABLE}
+	${setup_py} build
+	WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+	)
+
+install(CODE "execute_process(
+	COMMAND ${PYTHON_EXECUTABLE} ${setup_py} install
+	--prefix=${CMAKE_INSTALL_PREFIX}
+	--install-layout=deb
+	WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+	)")
+
+install(FILES package.xml DESTINATION share/transforms3d)
+
+add_test(nose ${NOSE} ${CMAKE_CURRENT_SOURCE_DIR}/transforms3d)
diff --git a/package.xml b/package.xml
new file mode 100644
index 0000000..ca7f543
--- /dev/null
+++ b/package.xml
@@ -0,0 +1,17 @@
+<?xml version="1.0"?>
+<package>
+  <name>transforms3d</name>
+  <version>0.3.0</version>
+  <description>The transforms3d package</description>
+  <maintainer email="james.goppert@gmail.com">jgoppert</maintainer>
+  <license>BSD</license>
+  <url type="repository">https://github.com/matthew-brett/transforms3d</url> 
+  <test_depend>python-nose</test_depend> 
+  <run_depend>catkin</run_depend> 
+  <buildtool_depend>catkin</buildtool_depend>
+  <export>
+    <build_type>cmake</build_type>
+  </export>
+</package>
+
+<!-- vim: set et fenc=utf-8 ff=unix sts=0 sw=2 ts=2 : -->