diff --git a/.circleci/config.yml b/.circleci/config.yml
new file mode 100644
index 0000000..1e1294f
--- /dev/null
+++ b/.circleci/config.yml
@@ -0,0 +1,27 @@
+version: 2
+jobs:
+  foxy:
+    docker:
+      - image: ros:foxy
+    steps:
+      - checkout
+      - run:
+          name: Set Up Container
+          command: |
+            apt update -qq && apt install -y build-essential cmake python3-colcon-common-extensions python3-rosdep python3-pip
+            pip3 install --upgrade pytest
+            apt upgrade -y
+            source `find /opt/ros -maxdepth 2 -name local_setup.bash | sort | head -1`
+            mkdir -p src/radar_msgs && mv `find -maxdepth 1 -not -name . -not -name src` src/radar_msgs/
+            rosdep update
+            rosdep install -y --ignore-src --from-paths src
+      - run:
+          name: Build
+          command: |
+            source `find /opt/ros -maxdepth 2 -name local_setup.bash | sort | head -1`
+            colcon build --parallel-workers 1
+workflows:
+  version: 2
+  ros_build:
+    jobs:
+      - foxy
diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644
index 0000000..54bb8f1
--- /dev/null
+++ b/CMakeLists.txt
@@ -0,0 +1,19 @@
+cmake_minimum_required(VERSION 3.5)
+project(radar_msgs)
+
+find_package(ament_cmake REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(std_msgs REQUIRED)
+
+nav2_package()
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/RadarReturn.msg"
+  "msg/RadarScan.msg"
+  DEPENDENCIES builtin_interfaces std_msgs action_msgs nav_msgs
+)
+
+ament_export_dependencies(rosidl_default_runtime)
+
+ament_package()
diff --git a/package.xml b/package.xml
new file mode 100644
index 0000000..48685c8
--- /dev/null
+++ b/package.xml
@@ -0,0 +1,21 @@
+<?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>radar_msgs</name>
+  <version>0.1.0</version>
+  <description>Standard ROS messages for radars</description>
+  <maintainer email="stevenmacenski@gmail.com">Steve Macenski</maintainer>
+  <license>Apache-2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>std_msgs</depend>
+  <depend>rosidl_default_generators</depend>
+  <depend>builtin_interfaces</depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>