diff --git a/.github/workflows/build-publish-debian-packages.yml b/.github/workflows/build-publish-debian-packages.yml
new file mode 100644
index 0000000..e1f25e1
--- /dev/null
+++ b/.github/workflows/build-publish-debian-packages.yml
@@ -0,0 +1,72 @@
+name: Build publish debian packages
+
+on:
+  release:
+    types: [published]
+  pull_request:
+    branches:
+      - '*'
+
+jobs:
+  build:
+    name: Build debian packages
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        platform: [linux/amd64, linux/arm64]
+        distro:
+        - ubuntu: jammy
+          ros2: humble
+        - ubuntu: jammy
+          ros2: rolling
+        - ubuntu: focal
+          ros2: foxy
+
+    steps:
+      - uses: actions/checkout@v4
+      - name: Set up QEMU
+        uses: docker/setup-qemu-action@v3
+
+      - name: Set version
+        if: ${{ github.event_name == 'release' }}
+        run: sed -i "s/<version>.*<\/version>/<version>${{ github.event.release.tag_name }}<\/version>/" px4_ros2_cpp/package.xml
+
+      - name: Build build environment
+        run: |
+          docker build . -f Dockerfile.debian-buildenv \
+            --platform ${{ matrix.platform }} \
+            --build-arg="ROS2_DISTRO=${{ matrix.distro.ros2 }}" \
+            --build-arg="UBUNTU_DISTRO=${{ matrix.distro.ubuntu }}" \
+            -t buildenv:current
+
+      - name: Build debian packages
+        working-directory: px4_ros2_cpp
+        run: |
+          docker run --rm -v .:/work --platform ${{ matrix.platform }} buildenv:current
+
+      - name: Upload artifacts to github actions
+        uses: actions/upload-artifact@v3
+        with:
+          name: debian-packages
+          path: px4_ros2_cpp/output/*.deb
+
+
+      - name: Generate upload information
+        run: |
+          echo "DEBIAN_PACKAGE=$(ls px4_ros2_cpp/output/ | grep '\.deb')" >> $GITHUB_ENV
+
+      - run: |
+          echo "DEBIAN PACKAGE FILE: ${{ env.DEBIAN_PACKAGE }}"
+
+      - name: Push package to cloudsmith
+        if: ${{ github.event_name == 'release' }}
+        uses: cloudsmith-io/action@master
+        with:
+          api-key: ${{ secrets.AUTERION_CI_CLOUDSMITH_API_KEY }}
+          command: 'push'
+          format: 'deb'
+          owner: auterion
+          repo: public
+          distro: ubuntu
+          release: ${{ matrix.distro.ubuntu }}
+          file: px4_ros2_cpp/output/${{ env.DEBIAN_PACKAGE }}
diff --git a/Dockerfile.debian-buildenv b/Dockerfile.debian-buildenv
new file mode 100644
index 0000000..1607b64
--- /dev/null
+++ b/Dockerfile.debian-buildenv
@@ -0,0 +1,40 @@
+# Dockerfile for a build environment to build Debian packages
+
+ARG ROS2_DISTRO
+ARG UBUNTU_DISTRO
+
+FROM ros:${ROS2_DISTRO}-ros-base-${UBUNTU_DISTRO}
+
+# Re-request ARGs to make them available in this stage
+ARG ROS2_DISTRO
+
+ENV DEBIAN_FRONTEND=noninteractive
+RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 4B63CF8FDE49746E98FA01DDAD19BAB3CBF125EA
+RUN apt update && apt install -y \
+    dh-make \
+    python3-bloom \
+    python3-rosdep \
+    fakeroot \
+    dh-python
+
+# Add auterion cloudsmith
+RUN curl -1sLf \
+  'https://dl.cloudsmith.io/public/auterion/public/setup.deb.sh' \
+  | bash
+
+RUN echo "yaml file:///work/rosdep-${ROS2_DISTRO}.yaml" > /etc/ros/rosdep/sources.list.d/99-local.list
+
+RUN echo "#!/bin/bash" > /build_package.sh && \
+    echo "cd /work" >> /build_package.sh && \
+    echo "rosdep init" >> /build_package.sh && \
+    echo "rosdep update --rosdistro=$ROS2_DISTRO" >> /build_package.sh && \
+    echo "rosdep install --from-paths ." >> /build_package.sh && \
+    echo "bloom-generate rosdebian" >> /build_package.sh && \
+    echo "fakeroot debian/rules binary" >> /build_package.sh && \
+    echo "mkdir -p /work/output" >> /build_package.sh && \
+    echo "cp ../*.deb /work/output" >> /build_package.sh && \
+    chmod +x /build_package.sh
+
+WORKDIR /work
+
+CMD [ "/ros_entrypoint.sh", "/build_package.sh" ]
diff --git a/px4_ros2_cpp/rosdep-foxy.yaml b/px4_ros2_cpp/rosdep-foxy.yaml
new file mode 100644
index 0000000..30124ee
--- /dev/null
+++ b/px4_ros2_cpp/rosdep-foxy.yaml
@@ -0,0 +1,3 @@
+px4_msgs:
+  ubuntu:
+    - ros-foxy-px4-msgs
\ No newline at end of file
diff --git a/px4_ros2_cpp/rosdep-humble.yaml b/px4_ros2_cpp/rosdep-humble.yaml
new file mode 100644
index 0000000..12515b0
--- /dev/null
+++ b/px4_ros2_cpp/rosdep-humble.yaml
@@ -0,0 +1,3 @@
+px4_msgs:
+  ubuntu:
+    - ros-humble-px4-msgs
\ No newline at end of file
diff --git a/px4_ros2_cpp/rosdep-rolling.yaml b/px4_ros2_cpp/rosdep-rolling.yaml
new file mode 100644
index 0000000..f56a488
--- /dev/null
+++ b/px4_ros2_cpp/rosdep-rolling.yaml
@@ -0,0 +1,3 @@
+px4_msgs:
+  ubuntu:
+    - ros-rolling-px4-msgs
\ No newline at end of file