diff --git a/CMakeLists.txt b/CMakeLists.txt
index 665ede4a67aec09f8b363ef909263bafd731ad06..3f0ca9d9b41fd6edff0f4cac9233f0f04824f3a1 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -91,3 +91,5 @@ ADD_SUBDIRECTORY(test)
 IF(BUILD_PYTHON_INTERFACE)
   ADD_SUBDIRECTORY(python)
 ENDIF(BUILD_PYTHON_INTERFACE)
+
+INSTALL(FILES package.xml DESTINATION share/${PROJECT_NAME})
diff --git a/package.xml b/package.xml
new file mode 100644
index 0000000000000000000000000000000000000000..dd7f9583e3e22687f47387192df90e2a902626b1
--- /dev/null
+++ b/package.xml
@@ -0,0 +1,15 @@
+<?xml version='1.0'?>
+<package format='2'>
+    <name>hpp-centroidal-dynamics</name>
+    <version>4.11.0</version>
+    <description>Testing equilibrium of a system in contact with the environment</description>
+
+    <maintainer email='guilhem.saurel@laas.fr'>Guilhem Saurel</maintainer>
+    <license>BSD</license>
+
+    <author>Andrea Del Prete</author>
+    <author>Pierre Fernbach</author>
+    <author>Steve Tonneau</author>
+
+    <buildtool_depend>catkin</buildtool_depend>
+</package>