diff --git a/CMakeLists.txt b/CMakeLists.txt
index 846b4448d..401699aea 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1078,3 +1078,7 @@ install (DIRECTORY ${_glog_BINARY_CMake_DATADIR}
 
 install (EXPORT glog-targets NAMESPACE glog:: DESTINATION
   ${_glog_CMake_INSTALLDIR})
+
+# installation for ROS 2
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_package()
diff --git a/cmake/GetCacheVariables.cmake b/cmake/GetCacheVariables.cmake
index ead35895a..69e0d42d2 100644
--- a/cmake/GetCacheVariables.cmake
+++ b/cmake/GetCacheVariables.cmake
@@ -1,5 +1,5 @@
 cmake_policy (PUSH)
-cmake_policy (VERSION 3.3)
+cmake_policy (VERSION 3.5)
 
 include (CMakeParseArguments)
 
diff --git a/package.xml b/package.xml
new file mode 100644
index 000000000..2a7872452
--- /dev/null
+++ b/package.xml
@@ -0,0 +1,16 @@
+<?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>glog</name>
+  <version>0.1.0</version>
+  <description>The TIERIV glog ros vendor package</description>
+
+  <maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>