diff --git a/.gitignore b/.gitignore
index 91479bda..43aa36d0 100644
--- a/.gitignore
+++ b/.gitignore
@@ -54,6 +54,7 @@
 *.toml
 *.ubjson
 *.xml
+!package.xml
 *.yml
 *.yaml
 
@@ -94,4 +95,4 @@ share/python-wheels/
 MANIFEST
 
 # Docs
-site/
\ No newline at end of file
+site/
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 193f9f47..71c8ce2b 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -143,6 +143,8 @@ endif ()
 
 project(reflectcpp VERSION 0.23.0 LANGUAGES CXX)
 
+find_package(ament_cmake QUIET)
+
 if (PROJECT_IS_TOP_LEVEL)
     set(REFLECTCPP_INSTALL ON)
 endif()
@@ -508,3 +510,7 @@ set(CPACK_RPM_PACKAGE_REQUIRES "")
 
 include(CPack)
 
+if (ament_cmake_FOUND)
+    ament_package()
+endif()
+
diff --git a/docs/install.md b/docs/install.md
index ef099db3..daba7af2 100644
--- a/docs/install.md
+++ b/docs/install.md
@@ -128,3 +128,42 @@ If you want to include all formats supported on Conan, do the following:
 ```bash
 conan build . --build=missing -s compiler.cppstd=gnu20 -o *:with_cbor=True -o *:with_flatbuffers=True -o *:with_msgpack=True -o *:with_toml=True -o *:with_ubjson=True -o *:with_xml=True -o *:with_yaml=True
 ```
+
+## Option 7: Integrate as a ROS2 package
+
+reflect-cpp now ships with an `ament_cmake` package manifest so it can be
+built directly in a ROS 2 workspace and consumed like any other
+CMake-config package.
+
+1. Fetch the sources with `vcs` using the `.repos` file from the
+   [tea-ros2](https://github.com/getml/tea-ros2) workspace, which already
+   tracks `reflect-cpp`:
+
+   ```bash
+   mkdir -p ~/ros2_ws/src
+   cd ~/ros2_ws
+   # adding the entry to your vcs .repos file, or create one
+   # reflect-cpp:
+   #   type: git
+   #   url: git@github.com:getml/reflect-cpp.git
+   #   version: main
+   vcs import src < src/.repos
+   ```
+
+2. Build the package with `colcon` (package name: `reflectcpp`). The build
+   enables installation automatically when invoked from an ament workspace:
+
+   ```bash
+   colcon build --packages-select reflectcpp
+   ```
+
+3. Link against reflect-cpp from your ROS 2 package via the exported CMake
+   config.
+
+   ```cmake
+   find_package(reflectcpp REQUIRED)
+   target_link_libraries(${PROJECT_NAME} reflectcpp::reflectcpp)
+   ```
+
+   This makes the `reflectcpp::reflectcpp` target available to your nodes
+   while keeping the ROS build flow unchanged.
diff --git a/package.xml b/package.xml
new file mode 100644
index 00000000..b2960e8d
--- /dev/null
+++ b/package.xml
@@ -0,0 +1,15 @@
+<?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>reflectcpp</name>
+  <version>0.23.0</version>
+  <description>C++ reflection library</description>
+  <maintainer email="liuzicheng1987@example.com">liuzicheng1987</maintainer>
+  <license>MIT</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>