diff --git a/gz_ros2_control/CMakeLists.txt b/gz_ros2_control/CMakeLists.txt
new file mode 100644
index 00000000..acc7d047
--- /dev/null
+++ b/gz_ros2_control/CMakeLists.txt
@@ -0,0 +1,122 @@
+cmake_minimum_required(VERSION 3.5)
+project(gz_ros2_control)
+
+# Default to C11
+if(NOT CMAKE_C_STANDARD)
+    set(CMAKE_C_STANDARD 11)
+endif()
+# Default to C++17
+if(NOT CMAKE_CXX_STANDARD)
+    set(CMAKE_CXX_STANDARD 17)
+endif()
+
+# Compiler options
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# Find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(ament_index_cpp REQUIRED)
+find_package(controller_manager REQUIRED)
+find_package(hardware_interface REQUIRED)
+find_package(pluginlib REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(yaml_cpp_vendor REQUIRED)
+
+set(GZ_PLUGIN)
+set(GZ_SIM)
+
+if("$ENV{GZ_VERSION}" STREQUAL "garden")
+  find_package(gz-sim7 REQUIRED)
+  set(GZ_SIM_VER ${gz-sim7_VERSION_MAJOR})
+  message(STATUS "Compiling against Gazebo Garden")
+  find_package(gz-plugin2 REQUIRED)
+  set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR})
+  set(GZ_PLUGIN gz-plugin${GZ_PLUGIN_VER}::register)
+  set(GZ_SIM gz-sim${GZ_SIM_VER}::core)
+  add_definitions(-DGZ_HEADERS)
+elseif("$ENV{GZ_VERSION}" STREQUAL "harmonic")
+  find_package(gz-sim8 REQUIRED)
+  set(GZ_SIM_VER ${gz-sim8_VERSION_MAJOR})
+  message(STATUS "Compiling against Gazebo Harmonic")
+  find_package(gz-plugin2 REQUIRED)
+  set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR})
+  set(GZ_PLUGIN gz-plugin${GZ_PLUGIN_VER}::register)
+  set(GZ_SIM gz-sim${GZ_SIM_VER}::core)
+  add_definitions(-DGZ_HEADERS)
+else()
+  find_package(ignition-gazebo6 REQUIRED)
+  set(GZ_SIM_VER ${ignition-gazebo6_VERSION_MAJOR})
+  message(STATUS "Compiling against Gazebo Fortress")
+  find_package(ignition-plugin1 REQUIRED)
+  set(GZ_PLUGIN_VER ${ignition-plugin1_VERSION_MAJOR})
+  set(GZ_PLUGIN ignition-plugin${GZ_PLUGIN_VER}::register)
+  set(GZ_SIM ignition-gazebo${GZ_SIM_VER}::core)
+endif()
+
+include_directories(include)
+
+add_library(${PROJECT_NAME}-system SHARED
+  src/gz_ros2_control_plugin.cpp
+)
+
+target_link_libraries(${PROJECT_NAME}-system
+  ${GZ_SIM}
+  ${GZ_PLUGIN}
+)
+ament_target_dependencies(${PROJECT_NAME}-system
+  ament_index_cpp
+  controller_manager
+  hardware_interface
+  pluginlib
+  rclcpp
+  yaml_cpp_vendor
+  rclcpp_lifecycle
+)
+
+#########
+
+add_library(gz_hardware_plugins SHARED
+  src/gz_system.cpp
+)
+ament_target_dependencies(gz_hardware_plugins
+  rclcpp_lifecycle
+  hardware_interface
+  rclcpp
+)
+target_link_libraries(gz_hardware_plugins
+  ${GZ_SIM}
+)
+
+## Install
+install(TARGETS
+  gz_hardware_plugins
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+install(DIRECTORY
+  include/
+  DESTINATION include
+)
+
+# Testing and linting
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_export_include_directories(include)
+ament_export_libraries(${PROJECT_NAME}-system gz_hardware_plugins)
+
+# Install directories
+install(TARGETS ${PROJECT_NAME}-system
+  DESTINATION lib
+)
+
+pluginlib_export_plugin_description_file(gz_ros2_control gz_hardware_plugins.xml)
+
+# Setup the project
+ament_package()