diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..28105dd5aa07a561c1429ae4530c22e0e36b34ec
--- /dev/null
+++ b/CMakeLists.txt
@@ -0,0 +1,17 @@
+cmake_minimum_required(VERSION 2.4.6)
+include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+
+# Append to CPACK_SOURCE_IGNORE_FILES a semicolon-separated list of
+# directories (or patterns, but directories should suffice) that should
+# be excluded from the distro.  This is not the place to put things that
+# should be ignored everywhere, like "build" directories; that happens in
+# rosbuild/rosbuild.cmake.  Here should be listed packages that aren't
+# ready for inclusion in a distro.
+#
+# This list is combined with the list in rosbuild/rosbuild.cmake.  Note
+# that CMake 2.6 may be required to ensure that the two lists are combined
+# properly.  CMake 2.4 seems to have unpredictable scoping rules for such
+# variables.
+#list(APPEND CPACK_SOURCE_IGNORE_FILES /core/experimental)
+
+rosbuild_make_distribution(0.1.0)
diff --git a/Makefile b/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..a818ccadb911aa86a9120d25981d64abf102dd30
--- /dev/null
+++ b/Makefile
@@ -0,0 +1 @@
+include $(shell rospack find mk)/cmake_stack.mk
\ No newline at end of file
diff --git a/stack.xml b/stack.xml
new file mode 100644
index 0000000000000000000000000000000000000000..693e310b050d210e7c377245e912dbb675a2c668
--- /dev/null
+++ b/stack.xml
@@ -0,0 +1,12 @@
+<stack>
+  <description brief="fcl_ros">fcl_ros</description>
+  <author>Maintained by Jia Pan, Dinesh Manocha, Sachin Chitta</author>
+  <license>BSD</license>  
+  <review status="unreviewed" notes=""/>
+  <url>http://ros.org/wiki/fcl_ros</url>
+  <depend stack="arm_navigation" /> <!-- planning_models, geometric_shapes -->
+  <depend stack="bullet" /> <!-- bullet -->
+  <depend stack="ros" />
+  <depend stack="ros_comm" /> <!-- rosconsole -->
+
+</stack>