diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
new file mode 100644
index 0000000..9c22531
--- /dev/null
+++ b/.github/workflows/ci.yaml
@@ -0,0 +1,40 @@
+name: drake colcon ws
+
+on:
+  push:
+
+jobs:
+  build_testing:
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: ros-tooling/setup-ros@v0.7
+        with:
+          required-ros-distributions: humble
+      - uses: ros-tooling/action-ros-ci@v0.3
+        with:
+          package-name: drake
+          target-ros2-distro: humble
+          skip-tests: true
+          # Remove cmake-target after https://github.com/RobotLocomotion/ros-drake-vendor/issues/10
+          colcon-defaults: |
+            {
+              "build": {
+                "cmake-target": "install",
+                "merge-install": true
+              }
+            }
+      - name: checkout
+        uses: actions/checkout@v4
+        with:
+          repository: RobotLocomotion/drake-external-examples
+          ref: main
+          path: ros_ws/src
+      - name: build tests
+        shell: bash
+        working-directory: ros_ws
+        run: |
+          # gflags is required by drake_cmake_installed
+          sudo apt-get update && sudo apt-get install -y libgflags-dev
+          . /opt/ros/humble/setup.bash
+          . install/setup.bash
+          colcon build --merge-install --packages-select drake_cmake_installed drake_ament_cmake_installed --event-handlers console_direct+
diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644
index 0000000..0ac9230
--- /dev/null
+++ b/CMakeLists.txt
@@ -0,0 +1,23 @@
+cmake_minimum_required(VERSION 3.10)
+project(drake CXX)
+
+find_package(ament_cmake REQUIRED)
+find_package(ament_cmake_vendor_package REQUIRED)
+
+ament_vendor(drake
+  VCS_URL https://github.com/RobotLocomotion/drake
+  VCS_VERSION v1.26.0
+  CMAKE_ARGS
+# At the moment, closed-source dependencies are disabled.
+    -DWITH_GUROBI:BOOL=OFF
+    -DWITH_MOSEK:BOOL=OFF 
+    -DWITH_SNOPT:BOOL=OFF
+# Drake should use the Ament version of these dependencies found by CMake,
+# not the Ubuntu version found in /usr/include.
+    -DWITH_USER_EIGEN:BOOL=ON
+    -DWITH_USER_FMT:BOOL=ON
+    -DWITH_USER_SPDLOG:BOOL=ON
+  GLOBAL_HOOK
+)
+
+ament_package(CONFIG_EXTRAS drake-extras.cmake)
diff --git a/README.md b/README.md
index 5378719..12fe904 100644
--- a/README.md
+++ b/README.md
@@ -1,2 +1,17 @@
-# ros-drake-vendor
-Maintainer scripts that package Drake in the ROS build farm
+# Drake installation for ROS environments
+
+The repository contains the sources for installing the
+[Drake toolbox](http://drake.mit.edu) inside the [ROS](http://ros.org)
+ecosystem. These sources are ready to be installed using the ROS
+Buildfarm or any other ROS related build process.
+
+These sources specifically install the Drake Toolbox software. It's important
+to note that this is distinct from other code installations that may involve
+ROS helpers or ROS wrappers for Drake.
+
+# Installation process
+
+The repository defines a ROS package named drake, which facilitates the
+download of the Drake sources from its official repository. Subsequently, it
+invokes the CMake build system within these sources to facilitate the
+generation of a system installation for the toolbox.
diff --git a/drake-extras.cmake b/drake-extras.cmake
new file mode 100644
index 0000000..ee5b6eb
--- /dev/null
+++ b/drake-extras.cmake
@@ -0,0 +1,21 @@
+# The code will search for the upstream drake-config.cmake file
+# installed under the root of the ROS installation + /opt/drake
+# (i.e /opt/ros/rolling/opt/drake ).
+#
+# Long explanation of how this file works can be found in:
+# https://github.com/RobotLocomotion/ros-drake-vendor/issues/7#issuecomment-1979757703
+
+# drake_DIR will return the absolute path to the ROS package
+# of drake (share/drake/cmake under the ROS root installation)
+# The relative path should drive us to the root of the drake
+# upstream installation done under ROS.
+set(_drake_path "${drake_DIR}/../../../opt/drake")
+
+# Since the upstream installation has the same CMake module name
+# than the ROS package we need to unset the cache variable
+# that points to the ROS package to be sure to force the
+# find_package to find the drake config module under the
+# paths
+unset(drake_DIR CACHE)
+
+find_package(drake PATHS ${_drake_path} NO_DEFAULT_PATH)
diff --git a/package.xml b/package.xml
new file mode 100644
index 0000000..b07df20
--- /dev/null
+++ b/package.xml
@@ -0,0 +1,61 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="2">
+  <name>drake</name>
+  <version>1.26.0</version>
+  <description>
+    The drake package provides a ROS installation for the Drake project:
+    https://drake.mit.edu/. The package uses ament_vendor to
+    download and build a given Drake version.
+  </description>
+  <maintainer email="drake-users@mit.edu">Drake Users</maintainer>
+  <license>BSD</license>  <!-- See https://github.com/RobotLocomotion/ros-drake-vendor/issues/13 -->
+  <!--
+      Missing Ubuntu dependencies in rosdistro from the list:
+      https://github.com/RobotLocomotion/drake/blob/v1.24.0/setup/ubuntu/source_distribution/packages-jammy.txt
+
+   - libg-dev (installed indirectly by opengl)
+   - libglx-dev (installed indirectly by qtbase5-dev)
+   - libmumps-seq-dev (installed indirectly, dependecy of coinor-libipopt-dev)
+   - patch (core dependency for any jammy system)
+   - python3-all-dev (equivalent to python3-dev)
+      Deb packages depends:
+        - python3 (python3-dev rosdep)
+        - libpython3-all-dev (python3-dev rosdep via libpython3-dev dep)
+        - python3-all:
+          Deb packages depends:
+           - python3 (python3-dev rosdep)
+           - python3-distutils (python3-dev rosdep)
+        - python3-dev (python3-dev rosdep)
+        - python3.8-dev (python3-dev rosdep)
+  -->
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>ament_cmake_vendor_package</buildtool_depend>
+  <buildtool_depend>clang</buildtool_depend>
+  <buildtool_depend>file</buildtool_depend>
+  <buildtool_depend>gfortran</buildtool_depend>
+  <buildtool_depend>git</buildtool_depend>
+  <buildtool_depend>lsb-release</buildtool_depend>
+  <buildtool_depend>nasm</buildtool_depend>
+  <buildtool_depend>opencl-headers</buildtool_depend>
+  <buildtool_depend>patchelf</buildtool_depend>
+  <buildtool_depend>pkg-config</buildtool_depend>
+  <depend>coinor-libipopt-dev</depend>
+  <depend>java</depend>
+  <depend>libclang-dev</depend>
+  <depend>libjchart2d-java</depend>
+  <depend>libglib-dev</depend>
+  <depend>liblapack-dev</depend>
+  <depend>libx11-dev</depend>
+  <depend>ocl-icd-opencl-dev</depend>
+  <depend>opengl</depend>
+  <depend>python3-dev</depend>
+  <depend>python3-distutils</depend>
+  <depend>python3-matplotlib</depend>
+  <depend>qtbase5-dev</depend>
+  <depend>zlib</depend>
+  <!-- External dependencies supported by CMake  -->
+  <buildtool_depend>eigen</buildtool_depend>
+  <depend>fmt</depend>
+  <depend>spdlog</depend>
+</package>