diff --git a/rosbag2_py/CMakeLists.txt b/rosbag2_py/CMakeLists.txt
new file mode 100644
index 0000000000..f182466337
--- /dev/null
+++ b/rosbag2_py/CMakeLists.txt
@@ -0,0 +1,33 @@
+cmake_minimum_required(VERSION 3.5)
+project(rosbag2_py)
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic -Werror)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(ament_cmake_ros REQUIRED)
+find_package(rosbag2 REQUIRED)
+
+find_package(pybind11 REQUIRED)
+
+ament_python_install_package(${PROJECT_NAME})
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+
+  # TODO(jacobperron): Add pytests
+endif()
+
+ament_package()
diff --git a/rosbag2_py/package.xml b/rosbag2_py/package.xml
new file mode 100644
index 0000000000..a6c8cb30a5
--- /dev/null
+++ b/rosbag2_py/package.xml
@@ -0,0 +1,23 @@
+<?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>rosbag2_py</name>
+  <version>0.2.4</version>
+  <description>Python API for rosbag2</description>
+  <maintainer email="jacob@openrobotics.org">Jacob Perron</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake_ros</buildtool_depend>
+
+  <depend>pybind11_vendor</depend>
+  <depend>rosbag2</depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/rosbag2_py/rosbag2_py/__init__.py b/rosbag2_py/rosbag2_py/__init__.py
new file mode 100644
index 0000000000..e69de29bb2