diff --git a/LICENSE b/LICENSE
new file mode 100644
index 0000000..d645695
--- /dev/null
+++ b/LICENSE
@@ -0,0 +1,202 @@
+
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+
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diff --git a/README.md b/README.md
index 4a81012..9c01a71 100644
--- a/README.md
+++ b/README.md
@@ -1 +1,7 @@
-# ROS 2 Coobooks
\ No newline at end of file
+# ROS 2 Cookbooks
+
+Currently, this repo hosts the chef cookbook for setting up a Windows machine for ROS 2 development or binaries, but it may be home to more soon!
+
+## ROS 2 Windows
+
+See the cookbook level [README.md](cookbooks/ros2_windows/README.md)
diff --git a/cookbooks/chefignore b/cookbooks/chefignore
new file mode 100644
index 0000000..38e7379
--- /dev/null
+++ b/cookbooks/chefignore
@@ -0,0 +1,107 @@
+# Put files/directories that should be ignored in this file when uploading
+# to a chef-server or supermarket.
+# Lines that start with '# ' are comments.
+
+# OS generated files #
+######################
+.DS_Store
+Icon?
+nohup.out
+ehthumbs.db
+Thumbs.db
+
+# SASS #
+########
+.sass-cache
+
+# EDITORS #
+###########
+\#*
+.#*
+*~
+*.sw[a-z]
+*.bak
+REVISION
+TAGS*
+tmtags
+*_flymake.*
+*_flymake
+*.tmproj
+.project
+.settings
+mkmf.log
+
+## COMPILED ##
+##############
+a.out
+*.o
+*.pyc
+*.so
+*.com
+*.class
+*.dll
+*.exe
+*/rdoc/
+
+# Testing #
+###########
+.watchr
+.rspec
+spec/*
+spec/fixtures/*
+test/*
+features/*
+examples/*
+Guardfile
+Procfile
+.kitchen*
+.rubocop.yml
+spec/*
+Rakefile
+.travis.yml
+.foodcritic
+.codeclimate.yml
+
+# SCM #
+#######
+.git
+*/.git
+.gitignore
+.gitmodules
+.gitconfig
+.gitattributes
+.svn
+*/.bzr/*
+*/.hg/*
+*/.svn/*
+
+# Berkshelf #
+#############
+Berksfile
+Berksfile.lock
+cookbooks/*
+tmp
+
+# Policyfile #
+##############
+Policyfile.rb
+Policyfile.lock.json
+
+# Cookbooks #
+#############
+CONTRIBUTING*
+CHANGELOG*
+TESTING*
+MAINTAINERS.toml
+
+# Strainer #
+############
+Colanderfile
+Strainerfile
+.colander
+.strainer
+
+# Vagrant #
+###########
+.vagrant
+Vagrantfile
diff --git a/cookbooks/ros2_windows/Berksfile b/cookbooks/ros2_windows/Berksfile
new file mode 100644
index 0000000..60446bf
--- /dev/null
+++ b/cookbooks/ros2_windows/Berksfile
@@ -0,0 +1,5 @@
+# frozen_string_literal: true
+source 'https://supermarket.chef.io'
+
+# Checks metadata.rb for dependencies
+metadata
diff --git a/cookbooks/ros2_windows/README.md b/cookbooks/ros2_windows/README.md
new file mode 100644
index 0000000..4be28b5
--- /dev/null
+++ b/cookbooks/ros2_windows/README.md
@@ -0,0 +1,83 @@
+# ROS 2 Windows Cookbook
+
+This cookbook configures a host machine for ROS 2 development or binary installation.
+
+## Windows Install
+
+This walkthrough will install the following:
+* chef/chef-solo
+* chocolatey
+* git
+
+In powershell, install chef:
+```
+> . { iwr -useb https://omnitruck.cinc.sh/install.ps1 } | iex; install
+```
+
+In same shell, install chocolatey and git
+```
+> Set-ExecutionPolicy Bypass -Scope Process -Force;. { iwr -useb https://chocolatey.org/install.ps1 } | iex
+> choco install -y git
+> restart-computer
+```
+
+After the computer restarts, in the cmd shell (not powershell) clone this repo:
+```
+> git clone https://github.com/ros-infrastructure/ros2-cookbooks
+```
+
+Run `berks` to get the cookbook dependencies
+```
+cd ros2-cookbooks/coobooks/ros2_windows
+berks vendor ..
+```
+
+Run chef-solo to configure machine.
+```
+> c:\cinc-project\cinc\bin\cinc-solo -c ros2-cookbooks\.chef\solo.rb -j ros2_windows.json
+```
+
+Type yes to accept the standard Chef licenses.
+
+Debug any issues that arise until running chef-solo completes successfully.
+
+## Configuration options
+
+The file `ros2_windows.json` may be modified for your own installation.
+Please check the available attributes in [cookbooks/ros2_windows/attributes](cookbooks/ros2_windows/attributes)
+
+For example, the following will configure the installation to setup the machine for development with connext and opensplice.
+
+Adjust the `rti_connext` parameters to match your installation files.
+
+```json
+{
+  "default_attributes": {
+    "ros2_windows": {
+      "download_sources": "false",
+      "vs_version": "buildtools",
+      "ros2_ws": "C:/ci",
+      "install_connext": "true",
+      "install_opensplice": "true",
+      "rti_connext": {
+        "target_platform": "x64Win64",
+        "min_vs_version": "2017",
+        "license_file": "C:\\TEMP\\rticonnextdds-license\\rti_license.dat",
+        "installer_dir": "C:\\TEMP\\rticonnextdds-src",
+        "version": "5.3.1",
+        "edition": "pro",
+        "openssl_version": "1.0.2n"
+      }
+    }
+  },
+  "run_list": ["role[ros2-development]"]
+}
+```
+
+## Automating Qt installation
+
+For the most part the Qt installation is fully automated.
+However, downloading Qt binaries requires creating a login.
+If you already have a login and would like this process to complete successfully on a fresh machine, add the file at `${HOME}\AppData\Roaming\Qt\qtaccount.ini` from a previously setup Windows machine to the files directory, before deploying this to a new machine.
+If you skip this step, the Qt installer will pause and require you to create a login before continuing.
+Importantly, on a headless setup, you will not be able to see this GUI feedback and your installation will pause indefinitely.
diff --git a/cookbooks/ros2_windows/attributes/ros2.rb b/cookbooks/ros2_windows/attributes/ros2.rb
new file mode 100644
index 0000000..77f3b16
--- /dev/null
+++ b/cookbooks/ros2_windows/attributes/ros2.rb
@@ -0,0 +1,18 @@
+# github.com/ros2/ros2 branch version, "master", "dashing", "dashing-release", etc.
+# Only used if downloading sources
+default['ros2_windows']['source']['ros2.repos'] = 'master'
+
+# Location of ros2 workspace
+default['ros2_windows']['ros2_ws'] = 'C:\\dev\\ros2_ws'
+
+# ROS 2 binary versions, dashing/eloquent/foxy etc
+default['ros2_windows']['release_version'] = 'eloquent'
+
+# Binary build version, 'release' or 'debug'
+default['ros2_windows']['build_type'] = 'release'
+
+# Current binary locations, update as new releases become available
+default['ros2_windows']['eloquent']['release'] = 'https://github.com/ros2/ros2/releases/download/release-eloquent-20191122/ros2-eloquent-20191122-windows-release-amd64.zip'
+default['ros2_windows']['eloquent']['debug'] = 'https://github.com/ros2/ros2/releases/download/release-eloquent-20191122/ros2-eloquent-20191122-windows-debug-amd64.zip'
+default['ros2_windows']['dashing']['release'] = 'https://github.com/ros2/ros2/releases/download/release-dashing-20200319/ros2-dashing-20200319-windows-amd64.zip'
+default['ros2_windows']['dashing']['debug'] = 'https://github.com/ros2/ros2/releases/download/release-dashing-20200319/ros2-dashing-20200319-windows-debug-amd64.zip'
diff --git a/cookbooks/ros2_windows/attributes/rti_connext.rb b/cookbooks/ros2_windows/attributes/rti_connext.rb
new file mode 100644
index 0000000..d7ee0a7
--- /dev/null
+++ b/cookbooks/ros2_windows/attributes/rti_connext.rb
@@ -0,0 +1,18 @@
+# MAJOR.MINOR.PATCH version of rti, match to your install package
+default['ros2_windows']['rti_connext']['version'] = nil
+
+# Edition of your connext installer ('evaluation', 'pro')
+default['ros2_windows']['rti_connext']['edition'] = nil
+
+# Match these to the values in your install package
+default['ros2_windows']['rti_connext']['target_platform'] = 'x64Win64'
+default['ros2_windows']['rti_connext']['min_vs_version'] = '2017'
+
+# Path to your rti_connext installer file
+default['ros2_windows']['rti_connext']['license_file'] = nil
+
+# Path to the directory container your installer packages
+default['ros2_windows']['rti_connext']['installer_dir'] = nil
+
+# Openssl version used specifically for rti-connext, match to the installer package
+default['ros2_windows']['rti_connext']['openssl_version'] = nil
diff --git a/cookbooks/ros2_windows/attributes/visual_studio.rb b/cookbooks/ros2_windows/attributes/visual_studio.rb
new file mode 100644
index 0000000..b0a5238
--- /dev/null
+++ b/cookbooks/ros2_windows/attributes/visual_studio.rb
@@ -0,0 +1,2 @@
+# Visual studio version, "buildtools" or "community"
+default['ros2_windows']['vs_version'] = 'buildtools'
diff --git a/cookbooks/ros2_windows/files/qt-installer.qs b/cookbooks/ros2_windows/files/qt-installer.qs
new file mode 100644
index 0000000..120419b
--- /dev/null
+++ b/cookbooks/ros2_windows/files/qt-installer.qs
@@ -0,0 +1,237 @@
+/* eslint-disable no-alert, no-console, no-var, linebreak-style, prefer-arrow-callback,
+   prefer-template, no-restricted-syntax, quote-props, prefer-destructuring */
+// eslint disables were chosen because they are incompatible with the Qt JavaScript Engine
+
+// Copyright 2016 Ben Lau
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//    http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+// File adapted and modified from the following examples
+// https://github.com/benlau/qtci/blob/master/bin/extract-qt-installer
+// Modified from shell script to .qs file, and adapted to specific ros2/ci use
+
+// Command line usage
+// qt-unified-windows-x86-3.1.1-online.exe --verbose --script qt-installer.qs [Option=Value]
+// Options:
+//    MsvcVersion=[2015,2017,2019,...]
+//    ErrorLogArgName='C:\Path\To\Writeable\Logfile'
+
+/* global installer:writeable, gui:writeable, buttons, QMessageBox */
+
+var DefaultMsvcVersion = '2019';
+var BuildToolsPrefix = 'win64_msvc';
+var BuildToolsSuffix = '_64';
+var Qt5ComponentPrefix = 'qt.qt5.';
+var ErrorLogArgName = 'ErrorLogname';
+var MsvcVersionArgName = 'MsvcVersion';
+
+var CheckCategory = function CheckCategory(gui, category, shouldCheck) {
+  var page = gui.pageWidgetByObjectName('ComponentSelectionPage');
+  var checkBox = gui.findChild(page, category);
+  if (checkBox) {
+    if (checkBox.checked !== shouldCheck) {
+      checkBox.click();
+    }
+  }
+};
+
+var FindLatestCompatibleVersion = function FindLatestCompatibleVersion(regex, filterFn) {
+  var versions = [];
+  var components = installer.components();
+  var id;
+  var matchResult;
+
+  for (id in components) {
+    if (Object.prototype.hasOwnProperty.call(components, id)) {
+      // Documentation about QtQmL regex https://doc.qt.io/qt-5/qregexp.html
+      matchResult = components[id].name.match(regex);
+      if (matchResult && filterFn(matchResult[1])) {
+        console.log('Match result: ' + matchResult[1]);
+        versions.push(matchResult[1]);
+      }
+    }
+  }
+  if (versions.length === 0) {
+    return null;
+  }
+  // We want latest, so sort in descending order
+  versions.sort(function DescendingOrder(a, b) { return b - a; });
+  return versions[0];
+};
+
+var FindMostRecentLTS = function FindMostRecentLTS() {
+  var regex = '(?:qt.qt5.)(\\d+)$';
+  // Match component names of the form qt.qt5.5xyz and capture just the 5xyz
+  return FindLatestCompatibleVersion(regex, function IncludeAll() { return true; });
+};
+
+var FindMostRecentBuildTools = function FindMostRecentBuildTools(prefix, desiredMsvcYear) {
+  var regex = '(?:' + prefix + '.' + BuildToolsPrefix + ')(\\d{4})(?:' + BuildToolsSuffix + ')$';
+  var filter = function LessThanOrEqualTo(value) { return Number(value) <= desiredMsvcYear; };
+  return FindLatestCompatibleVersion(regex, filter);
+};
+
+var SelectQtComponent = function SelectQtComponent() {
+  var widget = gui.currentPageWidget();
+
+  var latestVersion = FindMostRecentLTS();
+  var targetBuildVersion = installer.value(MsvcVersionArgName, DefaultMsvcVersion);
+
+  var prefix;
+  var buildToolsVersion;
+  var componentId;
+  var emptyDiskSpace;
+
+  if (!latestVersion) {
+    throw new Error('Finding latest version failed');
+  }
+  prefix = Qt5ComponentPrefix + latestVersion;
+
+  console.log('Target MSVC Version ' + targetBuildVersion);
+  buildToolsVersion = FindMostRecentBuildTools(prefix, targetBuildVersion);
+  if (!buildToolsVersion) {
+    throw new Error('Finding a component compatibile with the desired buildtools version (' + targetBuildVersion + '}) failed');
+  }
+  console.log('Available Buildtools version: ' + buildToolsVersion);
+
+  // Should be of the form qt.qt5.5126.win64_msvc2017_64
+  componentId = prefix + '.' + BuildToolsPrefix + buildToolsVersion + BuildToolsSuffix;
+  console.log('Attempting to check ' + componentId);
+  widget.deselectAll();
+  emptyDiskSpace = installer.requiredDiskSpace();
+  widget.selectComponent(componentId);
+  if (emptyDiskSpace === installer.requiredDiskSpace()) {
+    throw new Error('Selecting component ' + componentId + ' failed');
+  }
+  return { 'latestVersion': latestVersion, 'buildToolsVersion': buildToolsVersion };
+};
+
+var GetDirectoryFromVersion = function GetDirectoryFromVersion(version) {
+  // The versions are of the form 5123, where the first character is the 4/5 version
+  // and the last character is the minor version (even if 0), and the middle characters
+  // are the major version
+  var versionString = String(version);
+  var length = version.length;
+  if (length < 3 || length > 4) {
+    throw new Error('Assertion failed: (version.length < 3 || version.length > 4)');
+  }
+  return versionString[0] + '.' + versionString.slice(1, length - 1) + '.' + versionString[length - 1];
+};
+
+
+function Controller() {
+  installer.installationFinished.connect(function ClickNext() {
+    gui.clickButton(buttons.NextButton);
+  });
+  // If any message boxes need to be rejected, they'll need custom callbacks
+  installer.autoAcceptMessageBoxes();
+  installer.setMessageBoxAutomaticAnswer('OverwriteTargetDirectory', QMessageBox.Yes);
+  installer.setMessageBoxAutomaticAnswer('installationErrorWithRetry', QMessageBox.Ignore);
+}
+
+Controller.prototype.WelcomePageCallback = function WelcomePageCallback() {
+  // Connects with Qt over internet
+  gui.clickButton(buttons.NextButton, 3000);
+};
+
+Controller.prototype.CredentialsPageCallback = function CredentialsPageCallback() {
+  gui.clickButton(buttons.CommitButton);
+};
+
+Controller.prototype.ComponentSelectionPageCallback = function ComponentSelectionPageCallback() {
+  var page = gui.pageWidgetByObjectName('ComponentSelectionPage');
+  var fetchButton = gui.findChild(page, 'FetchCategoryButton');
+  var path = installer.value(ErrorLogArgName, '%temp%\\installer.err');
+  var qt5Path;
+  // These should be the defaults, but just in case...
+  CheckCategory(gui, 'LTS', false);
+  CheckCategory(gui, 'Archive', false);
+  CheckCategory(gui, 'Latest releases', true);
+  CheckCategory(gui, 'Preview', false);
+  if (fetchButton) {
+    // Refresh components if any of the checkboxes above changed
+    fetchButton.click();
+  }
+
+  try {
+    this.installedVersion = SelectQtComponent();
+    if (typeof this.installedVersion !== 'undefined') {
+      qt5Path = '@TargetDir@\\' + GetDirectoryFromVersion(this.installedVersion.latestVersion)
+        + '\\msvc' + this.installedVersion.buildToolsVersion + '_64';
+      console.log('Setting Qt5_DIR Environment Variable to ' + qt5Path);
+      installer.performOperation('EnvironmentVariable', ['Qt5_DIR', qt5Path, true, false]);
+    }
+  } catch (err) {
+    // Cancel install if any error is encountered
+    console.log(err.fileName + ':' + err.lineNumber + ' ' + err.message);
+    console.log('Writing error to file ' + path);
+    installer.performOperation('AppendFile', [path, err.message]);
+    gui.clickButton(buttons.CancelButton, 5000);
+    throw err;
+  }
+
+  gui.clickButton(buttons.NextButton);
+};
+
+Controller.prototype.IntroductionPageCallback = function IntroductionPageCallback() {
+  console.log('Retrieving meta information from remote repository');
+  gui.clickButton(buttons.NextButton);
+};
+
+Controller.prototype.TargetDirectoryPageCallback = function TargetDirectoryPageCallback() {
+  // Default location is C:\Qt\Qt5.12.6
+  gui.clickButton(buttons.NextButton);
+};
+
+Controller.prototype.ObligationsPageCallback = function ObligationsPageCallback() {
+  var widget = gui.currentPageWidget();
+  widget.obligationsAgreement.click();
+  for (var id in widget.obligationsAgreement) {
+    console.log(id);
+  }
+
+  gui.clickButton(buttons.NextButton);
+};
+
+Controller.prototype.LicenseAgreementPageCallback = function LicenseAgreementPageCallback() {
+  var widget = gui.currentPageWidget();
+  if (widget != null) {
+    widget.AcceptLicenseRadioButton.setChecked(true);
+  }
+  gui.clickButton(buttons.NextButton);
+};
+
+Controller.prototype.ReadyForInstallationPageCallback = function ReadyForInstallPageCallback() {
+  gui.clickButton(buttons.CommitButton);
+};
+
+Controller.prototype.FinishedPageCallback = function FinishedPageCallback() {
+  var widget = gui.currentPageWidget();
+  if (widget.LaunchQtCreatorCheckBoxForm) {
+    // No this form for minimal platform
+    widget.LaunchQtCreatorCheckBoxForm.launchQtCreatorCheckBox.setChecked(false);
+  }
+
+  gui.clickButton(buttons.FinishButton);
+};
+
+// Telemetry disabled
+Controller.prototype.DynamicTelemetryPluginFormCallback = function DynamicTelemetryFormCallback() {
+  var page = gui.pageWidgetByObjectName('DynamicTelemetryPluginForm');
+  page.statisticGroupBox.disableStatisticRadioButton.setChecked(true);
+  gui.clickButton(buttons.NextButton);
+};
+
+Controller.prototype.StartMenuDirectoryPageCallback = function StartMenuDirectoryPageCallback() {
+  gui.clickButton(buttons.NextButton);
+};
diff --git a/cookbooks/ros2_windows/files/qt-maintenance.qs b/cookbooks/ros2_windows/files/qt-maintenance.qs
new file mode 100644
index 0000000..ddf2431
--- /dev/null
+++ b/cookbooks/ros2_windows/files/qt-maintenance.qs
@@ -0,0 +1,223 @@
+/* eslint-disable no-alert, no-console, no-var, linebreak-style, prefer-arrow-callback,
+   prefer-template, no-restricted-syntax, quote-props, prefer-destructuring */
+// eslint disables were chosen because they are incompatible with the Qt JavaScript Engine
+
+// Copyright 2016 Ben Lau
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//    http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+// File adapted and modified from the following examples
+// https://github.com/benlau/qtci/blob/master/bin/extract-qt-installer
+// Modified from shell script to .qs file, and adapted to specific ros2/ci use
+
+// Command line usage
+// qt-unified-windows-x86-3.1.1-online.exe --verbose --script qt-installer.qs [Option=Value]
+// Options:
+//    MsvcVersion=[2015,2017,2019,...]
+//    ErrorLogArgName='C:\Path\To\Writeable\Logfile'
+
+/* global installer:writeable, gui:writeable, buttons, QMessageBox */
+
+var DefaultMsvcVersion = '2019';
+var BuildToolsPrefix = 'win64_msvc';
+var BuildToolsSuffix = '_64';
+var Qt5ComponentPrefix = 'qt.qt5.';
+var ErrorLogArgName = 'ErrorLogname';
+var MsvcVersionArgName = 'MsvcVersion';
+
+var CheckCategory = function CheckCategory(gui, category, shouldCheck) {
+  var page = gui.pageWidgetByObjectName('ComponentSelectionPage');
+  var checkBox = gui.findChild(page, category);
+  if (checkBox) {
+    if (checkBox.checked !== shouldCheck) {
+      checkBox.click();
+    }
+  }
+};
+
+var FindLatestCompatibleVersion = function FindLatestCompatibleVersion(regex, filterFn) {
+  var versions = [];
+  var components = installer.components();
+  var id;
+  var matchResult;
+
+  for (id in components) {
+    if (Object.prototype.hasOwnProperty.call(components, id)) {
+      // Documentation about QtQmL regex https://doc.qt.io/qt-5/qregexp.html
+      matchResult = components[id].name.match(regex);
+      if (matchResult && filterFn(matchResult[1])) {
+        console.log('Match result: ' + matchResult[1]);
+        versions.push(matchResult[1]);
+      }
+    }
+  }
+  if (versions.length === 0) {
+    return null;
+  }
+  // We want latest, so sort in descending order
+  versions.sort(function DescendingOrder(a, b) { return b - a; });
+  return versions[0];
+};
+
+var FindMostRecentLTS = function FindMostRecentLTS() {
+  var regex = '(?:qt.qt5.)(\\d+)$';
+  // Match component names of the form qt.qt5.5xyz and capture just the 5xyz
+  return FindLatestCompatibleVersion(regex, function IncludeAll() { return true; });
+};
+
+var FindMostRecentBuildTools = function FindMostRecentBuildTools(prefix, desiredMsvcYear) {
+  var regex = '(?:' + prefix + '.' + BuildToolsPrefix + ')(\\d{4})(?:' + BuildToolsSuffix + ')$';
+  var filter = function LessThanOrEqualTo(value) { return Number(value) <= desiredMsvcYear; };
+  return FindLatestCompatibleVersion(regex, filter);
+};
+
+var SelectQtComponent = function SelectQtComponent() {
+  var widget = gui.currentPageWidget();
+
+  var latestVersion = FindMostRecentLTS();
+  var targetBuildVersion = installer.value(MsvcVersionArgName, DefaultMsvcVersion);
+
+  var prefix;
+  var buildToolsVersion;
+  var componentId;
+  var beforeDiskSpace;
+  var selectedComponent;
+
+  if (!latestVersion) {
+    throw new Error('Finding latest version failed');
+  }
+  prefix = Qt5ComponentPrefix + latestVersion;
+
+  console.log('Target MSVC Version ' + targetBuildVersion);
+  buildToolsVersion = FindMostRecentBuildTools(prefix, targetBuildVersion);
+  if (!buildToolsVersion) {
+    throw new Error('Finding a component compatibile with the desired buildtools version (' + targetBuildVersion + '}) failed');
+  }
+  console.log('Available Buildtools version: ' + buildToolsVersion);
+
+  // Should be of the form qt.qt5.5126.win64_msvc2017_64
+  componentId = prefix + '.' + BuildToolsPrefix + buildToolsVersion + BuildToolsSuffix;
+  console.log('Attempting to check ' + componentId);
+
+  // We're only installing one component, deselecting will cause everything else to be uninstalled.
+  // If this gets run on systems that need more Qt stuff installed, this logic should be adjusted to
+  // just uninstall older msvc components.
+  beforeDiskSpace = installer.requiredDiskSpace();
+  widget.deselectAll();
+  widget.selectComponent(componentId);
+  selectedNewComponent = (beforeDiskSpace !== installer.requiredDiskSpace());
+  return {
+    'selectedNewComponent': selectedNewComponent,
+    'latestVersion': latestVersion,
+    'buildToolsVersion': buildToolsVersion
+  };
+};
+
+var GetDirectoryFromVersion = function GetDirectoryFromVersion(version) {
+  // The versions are of the form 5123, where the first character is the 4/5 version
+  // and the last character is the minor version (even if 0), and the middle characters
+  // are the major version
+  var versionString = String(version);
+  var length = version.length;
+  if (length < 3 || length > 4) {
+    throw new Error('Assertion failed: (version.length < 3 || version.length > 4)');
+  }
+  return versionString[0] + '.' + versionString.slice(1, length - 1) + '.' + versionString[length - 1];
+};
+
+
+function Controller() {
+  installer.installationFinished.connect(function ClickNext() {
+    // gui.clickButton(buttons.NextButton);
+  });
+  // If any message boxes need to be rejected, they'll need custom callbacks
+  installer.autoAcceptMessageBoxes();
+  installer.setMessageBoxAutomaticAnswer('OverwriteTargetDirectory', QMessageBox.Yes);
+  installer.setMessageBoxAutomaticAnswer('installationErrorWithRetry', QMessageBox.Ignore);
+}
+
+Controller.prototype.WelcomePageCallback = function WelcomePageCallback() {
+  // Connects with Qt over internet
+  gui.clickButton(buttons.NextButton, 3000);
+};
+
+Controller.prototype.CredentialsPageCallback = function CredentialsPageCallback() {
+  gui.clickButton(buttons.CommitButton);
+};
+
+Controller.prototype.IntroductionPageCallback = function IntroductionPageCallback() {
+  console.log('Retrieving meta information from remote repository');
+  var widget = gui.currentPageWidget();
+  widget.findChild('PackageManagerRadioButton').checked = true;
+  gui.clickButton(buttons.NextButton);
+};
+
+Controller.prototype.ComponentSelectionPageCallback = function ComponentSelectionPageCallback() {
+  var page = gui.pageWidgetByObjectName('ComponentSelectionPage');
+  var fetchButton = gui.findChild(page, 'FetchCategoryButton');
+  var path = installer.value(ErrorLogArgName, '%temp%\\installer.err');
+  var qt5Path;
+  // Check archive so deselection works
+  CheckCategory(gui, 'LTS', false);
+  CheckCategory(gui, 'Archive', true);
+  CheckCategory(gui, 'Latest releases', true);
+  CheckCategory(gui, 'Preview', false);
+  if (fetchButton) {
+    // Refresh components if any of the checkboxes above changed
+    fetchButton.click();
+  }
+
+  try {
+    this.installedVersion = SelectQtComponent();
+    if (typeof this.installedVersion !== 'undefined') {
+      if (this.installedVersion.selectedNewComponent) {
+        qt5Path = '@TargetDir@\\' + GetDirectoryFromVersion(this.installedVersion.latestVersion)
+          + '\\msvc' + this.installedVersion.buildToolsVersion + '_64';
+        console.log('Setting Qt5_DIR Environment Variable to ' + qt5Path);
+        installer.performOperation('EnvironmentVariable', ['Qt5_DIR', qt5Path, true, false]);
+      } else {
+        // Installer won't let us do anything if component selections don't change.
+
+        gui.clickButton(buttons.CancelButton);
+      }
+    }
+  } catch (err) {
+    // Cancel install if any error is encountered
+    console.log(err.fileName + ':' + err.lineNumber + ' ' + err.message);
+    console.log('Writing error to file ' + path);
+    installer.performOperation('AppendFile', [path, err.message]);
+    throw err;
+  }
+
+  gui.clickButton(buttons.NextButton);
+};
+
+Controller.prototype.ReadyForInstallationPageCallback = function ReadyForInstallPageCallback() {
+  console.log('ReadyForInstallPageCallback');
+  gui.clickButton(buttons.CommitButton);
+};
+
+Controller.prototype.FinishedPageCallback = function FinishedPageCallback() {
+  var widget = gui.currentPageWidget();
+  if (widget.LaunchQtCreatorCheckBoxForm) {
+    widget.LaunchQtCreatorCheckBoxForm.launchQtCreatorCheckBox.setChecked(false);
+  }
+
+  gui.clickButton(buttons.FinishButton);
+};
+
+Controller.prototype.PerformInstallationPageCallback = function PerformInstallationPageCallback() {
+  console.log('In perform installation callback');
+  var page = gui.currentPageWidget();
+  page.setAutomatedPageSwitchEnabled(true);
+};
diff --git a/cookbooks/ros2_windows/metadata.rb b/cookbooks/ros2_windows/metadata.rb
new file mode 100644
index 0000000..4c6949f
--- /dev/null
+++ b/cookbooks/ros2_windows/metadata.rb
@@ -0,0 +1,23 @@
+name 'ros2_windows'
+maintainer 'Stephen Brawner'
+maintainer_email 'brawner@gmail.com'
+license 'All Rights Reserved'
+description 'Installs/Configures ros2_windows'
+long_description 'Installs/Configures ros2_windows'
+version '0.1.0'
+chef_version '>= 12.1' if respond_to?(:chef_version)
+
+# The `issues_url` points to the location where issues for this cookbook are
+# tracked.  A `View Issues` link will be displayed on this cookbook's page when
+# uploaded to a Supermarket.
+#
+# issues_url 'https://github.com/osrf/chef-osrf/issues'
+
+# The `source_url` points to the development repository for this cookbook.  A
+# `View Source` link will be displayed on this cookbook's page when uploaded to
+# a Supermarket.
+#
+# source_url 'https://github.com/osrf/chef-osrf'
+depends 'chocolatey'
+depends 'seven_zip'
+depends 'windows'
diff --git a/cookbooks/ros2_windows/recipes/chocolatey_installs.rb b/cookbooks/ros2_windows/recipes/chocolatey_installs.rb
new file mode 100644
index 0000000..2ecbbaa
--- /dev/null
+++ b/cookbooks/ros2_windows/recipes/chocolatey_installs.rb
@@ -0,0 +1,31 @@
+execute 'cppcheck' do
+  command 'choco install -y git cmake curl vcredist2013 vcredist140 patch cppcheck'
+end
+
+windows_env 'PATH' do
+  key_name 'PATH'
+  value 'C:\\Program Files\\Git\\cmd;C:\\Program Files\\CMake\\bin'
+  delim ';'
+  action :modify
+end
+
+custom_chocolatey_packages = {
+  'asio' => 'asio.1.12.1',
+  'bullet' => 'bullet.2.89.0',
+  'cunit' => 'cunit.2.1.3',
+  'eigen' => 'eigen.3.3.4',
+  'log4cxx' => 'log4cxx.0.10.0',
+  'tinyxml-usestl' => 'tinyxml-usestl.2.6.2',
+  'tinyxml2' => 'tinyxml2.6.0.0'
+}
+
+custom_chocolatey_packages.each do |name, pkg|
+  remote_file "#{pkg}.nupkg" do
+    source "https://github.com/ros2/choco-packages/releases/download/2020-02-24/#{pkg}.nupkg"
+  end
+
+  chocolatey_package 'custom_packages' do
+    package_name "#{name}"
+    source '.\\'
+  end
+end
diff --git a/cookbooks/ros2_windows/recipes/opencv.rb b/cookbooks/ros2_windows/recipes/opencv.rb
new file mode 100644
index 0000000..7c208fc
--- /dev/null
+++ b/cookbooks/ros2_windows/recipes/opencv.rb
@@ -0,0 +1,18 @@
+seven_zip_archive 'open_cv_zip' do
+  path 'C:\\opencv'
+  source 'https://github.com/ros2/ros2/releases/download/opencv-archives/opencv-3.4.6-vc16.VS2019.zip'
+  overwrite true
+end
+
+windows_env 'OpenCV_DIR' do
+  key_name 'OpenCV_DIR'
+  value 'C:\\opencv'
+  action :create
+end
+
+windows_env 'PATH' do
+  key_name 'PATH'
+  value 'C:\\opencv'
+  delim ';'
+  action :modify
+end
diff --git a/cookbooks/ros2_windows/recipes/opensplice.rb b/cookbooks/ros2_windows/recipes/opensplice.rb
new file mode 100644
index 0000000..97a7303
--- /dev/null
+++ b/cookbooks/ros2_windows/recipes/opensplice.rb
@@ -0,0 +1,11 @@
+seven_zip_archive 'opensplice' do
+  path 'C:\opensplice'
+  source 'https://github.com/ADLINK-IST/opensplice/releases/download/OSPL_V6_9_190925OSS_RELEASE/PXXX-VortexOpenSplice-6.9.190925OSS-HDE-x86_64.win-vs2019-installer.zip'
+  overwrite true
+end
+
+windows_env 'OSPL_HOME' do
+  key_name 'OSPL_HOME'
+  value 'C:\\opensplice\\HDE\\x86_64.win64'
+  action :create
+end
diff --git a/cookbooks/ros2_windows/recipes/openssl.rb b/cookbooks/ros2_windows/recipes/openssl.rb
new file mode 100644
index 0000000..282df66
--- /dev/null
+++ b/cookbooks/ros2_windows/recipes/openssl.rb
@@ -0,0 +1,17 @@
+windows_package 'openssl' do
+  source 'https://slproweb.com/download/Win64OpenSSL-1_0_2u.exe'
+  options '/VERYSILENT'
+end
+
+windows_env 'OPENSSL_CONF' do
+  key_name 'OPENSSL_CONF'
+  value 'C:\\OpenSSL-Win64\\bin\\openssl.cfg'
+  action :create
+end
+
+windows_env 'PATH' do
+  key_name 'PATH'
+  value 'C:\\OpenSSL-Win64\\bin'
+  delim ';'
+  action :modify
+end
diff --git a/cookbooks/ros2_windows/recipes/pip_installs.rb b/cookbooks/ros2_windows/recipes/pip_installs.rb
new file mode 100644
index 0000000..418d1a4
--- /dev/null
+++ b/cookbooks/ros2_windows/recipes/pip_installs.rb
@@ -0,0 +1,51 @@
+required_pip_packages = %w[
+  pydot
+  PyQt5
+  vcstool
+  colcon-common-extensions
+  catkin_pkg
+  cryptography
+  EmPy
+  ifcfg
+  lark-parser
+  lxml
+  netifaces
+  numpy
+  opencv-python
+  pyparsing
+  pyyaml
+  pytest
+  pytest-mock
+  coverage
+  mock
+]
+
+development_pip_packages = %w[
+  flake8
+  flake8-blind-except
+  flake8-builtins
+  flake8-class-newline
+  flake8-comprehensions
+  flake8-deprecated
+  flake8-docstrings
+  flake8-import-order
+  flake8-quotes
+  mypy
+  pep8
+  pydocstyle
+]
+
+# Use explicit location because python may not be on the PATH if chef-solo has not been run before
+execute 'pip_update' do
+  command 'C:\Python37\python.exe -m pip install -U pip setuptools'
+end
+
+execute 'pip_required' do
+  command 'C:\Python37\python.exe -m pip install -U ' + required_pip_packages.join(' ')
+end
+
+if node['ros2_windows']['development'] == true
+  execute 'pip_additional' do
+    command 'C:\Python37\python.exe -m pip install -U ' + development_pip_packages.join(' ')
+  end
+end
diff --git a/cookbooks/ros2_windows/recipes/python.rb b/cookbooks/ros2_windows/recipes/python.rb
new file mode 100644
index 0000000..3712ccf
--- /dev/null
+++ b/cookbooks/ros2_windows/recipes/python.rb
@@ -0,0 +1,4 @@
+windows_package 'python' do
+  source 'https://www.python.org/ftp/python/3.7.6/python-3.7.6-amd64.exe'
+  options '/quiet TargetDir=C:\\Python37 PrependPath=1 Include_debug=1 Include_symbols=1'
+end
diff --git a/cookbooks/ros2_windows/recipes/qt5.rb b/cookbooks/ros2_windows/recipes/qt5.rb
new file mode 100644
index 0000000..2789435
--- /dev/null
+++ b/cookbooks/ros2_windows/recipes/qt5.rb
@@ -0,0 +1,56 @@
+directory 'AppData_Qt' do
+  path File.join(Dir.home(), "AppData\\Roaming\\Qt")
+end
+
+# Installing Qt5 requires an account. This file contains a username and secret account token
+cookbook_file 'qtaccount.ini' do
+  path File.join(Dir.home(), "AppData\\Roaming\\Qt\\qtaccount.ini")
+  source 'qtaccount.ini'
+  action :create_if_missing
+
+  # If the deploying user did not add this file to `files` continue anyway.
+  ignore_failure true
+end
+
+cookbook_file 'qt-installer.qs' do
+  source 'qt-installer.qs'
+end
+
+cookbook_file 'qt-maintenance.qs' do
+  source 'qt-maintenance.qs'
+end
+
+# Install Qt5 with automated install script, no msvc2019 version exists but 2017 is compatible
+# Updater/silentUpdate options did not work for me.
+# Install scripts finds and installs the most recent LTS version
+error_filename = File.join(Dir.home(), "qt_install.err")
+
+windows_package 'Qt Maintenance' do
+  source 'c:\\Qt\\MaintenanceTool.exe'
+  installer_type :custom
+  # I couldn't find documentation, but return codes don't seem to correspond with an actual failure.
+  # Instead error information is written to the ErrorLogname below
+  returns [0, 1, 3]
+  options '--script qt-maintenance.qs MsvcVersion=2019 ErrorLogname="' + error_filename + '"'
+  timeout 2000
+  only_if {::File.exist?('c:\\Qt\\MaintenanceTool.exe')}
+end
+
+windows_package 'Qt Install' do
+  source 'http://download.qt.io/official_releases/online_installers/qt-unified-windows-x86-online.exe'
+  installer_type :custom
+  # I couldn't find documentation, but return codes don't seem to correspond with an actual failure.
+  # Instead error information is written to the ErrorLogname below
+  returns [0, 1, 3]
+  options '--script qt-installer.qs MsvcVersion=2019 ErrorLogname="' + error_filename + '"'
+  timeout 2000
+  not_if {::File.exist?('c:\\Qt\\MaintenanceTool.exe')}
+end
+
+ruby_block 'error_exist?' do
+  block do
+    if ::File.exist?(error_filename)
+      raise 'Error install Qt5, see ' + error_filename
+    end
+  end
+end
diff --git a/cookbooks/ros2_windows/recipes/ros2.rb b/cookbooks/ros2_windows/recipes/ros2.rb
new file mode 100644
index 0000000..126e2b1
--- /dev/null
+++ b/cookbooks/ros2_windows/recipes/ros2.rb
@@ -0,0 +1,12 @@
+include_recipe 'chocolatey'
+
+# Using seven_zip also for general zip files because it can download and extract in a single resource
+include_recipe 'seven_zip'
+include_recipe 'ros2_windows::python'
+include_recipe 'ros2_windows::pip_installs'
+include_recipe 'ros2_windows::opencv'
+include_recipe 'ros2_windows::openssl'
+include_recipe 'ros2_windows::chocolatey_installs'
+include_recipe 'ros2_windows::visual_studio'
+include_recipe 'ros2_windows::qt5'
+include_recipe 'ros2_windows::xmllint'
diff --git a/cookbooks/ros2_windows/recipes/ros2_binaries.rb b/cookbooks/ros2_windows/recipes/ros2_binaries.rb
new file mode 100644
index 0000000..2dd3d68
--- /dev/null
+++ b/cookbooks/ros2_windows/recipes/ros2_binaries.rb
@@ -0,0 +1,7 @@
+release_version = node['ros2_windows']['release_version']
+build_type = node['ros2_windows']['build_type']
+
+seven_zip_archive 'ros2' do
+  source node['ros2_windows'][release_version][build_type]
+  path node['ros2_windows']['ros2_ws']
+end
diff --git a/cookbooks/ros2_windows/recipes/ros2_sources.rb b/cookbooks/ros2_windows/recipes/ros2_sources.rb
new file mode 100644
index 0000000..70f4e91
--- /dev/null
+++ b/cookbooks/ros2_windows/recipes/ros2_sources.rb
@@ -0,0 +1,22 @@
+directory 'ros2_ws' do
+  path node['ros2_windows']['ros2_ws']
+  action :create
+  recursive true
+end
+
+ros2_src_dir = File.join(node['ros2_windows']['ros2_ws'], 'src')
+directory 'ros2_ws_src' do
+  path ros2_src_dir
+  action :create
+  recursive true
+end
+
+ros2_repos_path = File.join(node['ros2_windows']['ros2_ws'], 'ros2.repos')
+remote_file 'ros2.repos' do
+  source "https://raw.githubusercontent.com/ros2/ros2/#{node['ros2_windows']['source']['ros2.repos']}/ros2.repos"
+  path ros2_repos_path
+end
+
+execute 'vcs_import' do
+  command "C:\\Python37\\Scripts\\vcs.exe import --input #{ros2_repos_path} #{ros2_src_dir}"
+end
diff --git a/cookbooks/ros2_windows/recipes/rti_connext.rb b/cookbooks/ros2_windows/recipes/rti_connext.rb
new file mode 100644
index 0000000..5611766
--- /dev/null
+++ b/cookbooks/ros2_windows/recipes/rti_connext.rb
@@ -0,0 +1,160 @@
+bin_dir_installed = (ENV.key?('RTI_OPENSSL_BIN') && Dir.exists?(ENV['RTI_OPENSSL_BIN']))
+lib_dir_installed = (ENV.key?('RTI_OPENSSL_LIB') && Dir.exists?(ENV['RTI_OPENSSL_LIB']))
+if bin_dir_installed != lib_dir_installed
+  Chef::Log.fatal(
+      'RTI Connext has already been installed, but the environment is not properly configured. ' +
+      'Uninstall Connext and retry installation.')
+  raise
+end
+
+if bin_dir_installed && lib_dir_installed
+  log 'Previous installation exists' do
+    message 'RTI Connext has been previously installed, skipping.'
+  end
+  return
+end
+
+connext_params = node['ros2_windows']['rti_connext']
+
+include_recipe 'seven_zip'
+
+output="#{Chef::JSONCompat.to_json_pretty(node.to_hash)}"
+
+# These will fail if the rti_connext parameters have not been specified because the defaults are 'nil'
+if connext_params['license_file'].nil?
+  Chef::Log.fatal("License file has not been specified");
+  raise
+end
+
+unless File.exists?(connext_params['license_file'])
+  Chef::Log.fatal("License file location does not exist: #{connext_params['license_file']}")
+  raise
+end
+
+if connext_params['installer_dir'].nil?
+  Chef::Log.fatal("Installer directory does not exist");
+  raise
+end
+
+unless Dir.exists?(connext_params['installer_dir'])
+  Chef::Log.fatal("Installer directory does not exist: #{connext_params['installer_dir']}")
+  raise
+end
+
+if connext_params['version'].nil?
+  Chef::Log.fatal("Version is nil, requires MAJOR.MINOR.PATCH (e.g. '5.3.1')")
+  raise
+end
+
+if connext_params['edition'].nil?
+  Chef::Log.fatal("Edition is nil, requires one of ('evaluation', 'pro')")
+  raise
+end
+
+if connext_params['min_vs_version'].nil?
+  Chef::Log.fatal("Minimum Visual Studio version is required (e.g. '2017')")
+  raise
+end
+
+if connext_params['openssl_version'].nil?
+  Chef::Log.fatal("OpenSSL version is required (e.g. '1.0.2n')")
+  raise
+end
+
+host_installer_filename = "rti_connext_dds-#{connext_params['version']}-#{connext_params['edition']}-host-#{connext_params['target_platform']}.exe"
+host_installer_path = File.join(connext_params['installer_dir'], host_installer_filename)
+
+target_platform_vs_version = connext_params['target_platform'] + 'VS' + connext_params['min_vs_version']
+
+openssl_installer_zip = File.join(connext_params['installer_dir'],
+                                   "openssl-#{connext_params['openssl_version']}-target-#{target_platform_vs_version}.zip")
+
+openssl_installer_path = File.join(connext_params['installer_dir'],
+                                   "openssl-#{connext_params['openssl_version']}-host-#{connext_params['target_platform']}.rtipkg")
+
+target_installer_filename = "rti_connext_dds-#{connext_params['version']}-#{connext_params['edition']}-target-#{target_platform_vs_version}.rtipkg"
+target_installer_path = File.join(connext_params['installer_dir'],
+                                  target_installer_filename)
+
+rtipkginstall_bat = File.join(ENV['ProgramFiles'],
+                              "rti_connext_dds-#{connext_params['version']}",
+                              'bin',
+                              'rtipkginstall.bat')
+
+security_plugins_host_filename = "rti_security_plugins-#{connext_params['version']}-host-#{connext_params['target_platform']}.rtipkg"
+security_plugins_host_path = File.join(connext_params['installer_dir'], security_plugins_host_filename)
+
+security_plugins_target_filename = "rti_security_plugins-#{connext_params['version']}-target-#{target_platform_vs_version}.rtipkg"
+
+security_plugins_target_path = File.join(connext_params['installer_dir'], security_plugins_target_filename)
+
+rti_openssl_base_dir = File.join('C:/connext',
+                                 "openssl-#{connext_params['openssl_version']}",
+                                 target_platform_vs_version,
+                                 'release')
+
+log 'connext_install_message' do
+  message 'Using the following paths for RTI Connext install: ' +
+           'License file: ' + connext_params['license_file'] +
+           ', Host installer: ' + host_installer_path +
+           ', Target installer: ' + target_installer_path +
+           ', Openssl installer: ' + openssl_installer_path +
+           ', Host security plugins installer: ' + security_plugins_host_path +
+           ', Target security plugins installer: ' + security_plugins_target_path +
+           ', Installed openssl dir: ' + rti_openssl_base_dir +
+           ', rtipkg batch script: ' + rtipkginstall_bat
+  level :info
+end
+
+directory "C:/connext" do
+  path "C:/connext"
+  action :create
+end
+
+powershell_script 'copy_license_file' do
+  code "copy #{connext_params['license_file']} C:/connext/"
+end
+
+seven_zip_archive 'openssl_zip' do
+  path 'C:/connext/'
+  source openssl_installer_zip
+  overwrite false
+end
+
+windows_env 'RTI_LICENSE_FILE' do
+  key_name 'RTI_LICENSE_FILE'
+  value 'C:/connext/rti_license.dat'
+  action :create
+end
+
+powershell_script 'rti_connext' do
+  code host_installer_path + ' --mode unattended --unattendedmodeui minimalWithDialogs --prefix "' + ENV['ProgramFiles'] + '"'
+end
+
+execute 'rtipkginstall_openssl' do
+  command  "\"#{rtipkginstall_bat}\" #{openssl_installer_path}"
+end
+
+execute 'rtipkginstall_rti_connext_dds_target' do
+  command "\"#{rtipkginstall_bat}\" #{target_installer_path}"
+end
+
+execute 'rtipkginstall_rti_security_plugins_host' do
+  command "\"#{rtipkginstall_bat}\" #{security_plugins_host_path}"
+end
+
+execute 'rtipkginstall_rti_security_plugins_target' do
+  command "\"#{rtipkginstall_bat}\" #{security_plugins_target_path}"
+end
+
+windows_env 'RTI_OPENSSL_BIN' do
+  key_name 'RTI_OPENSSL_BIN'
+  value File.join(rti_openssl_base_dir, 'bin')
+  action :create
+end
+
+windows_env 'RTI_OPENSSL_LIB' do
+  key_name 'RTI_OPENSSL_LIB'
+  value File.join(rti_openssl_base_dir, 'lib')
+  action :create
+end
diff --git a/cookbooks/ros2_windows/recipes/visual_studio.rb b/cookbooks/ros2_windows/recipes/visual_studio.rb
new file mode 100644
index 0000000..9df46b6
--- /dev/null
+++ b/cookbooks/ros2_windows/recipes/visual_studio.rb
@@ -0,0 +1,54 @@
+# For more information about command line arguments, see:
+# https://docs.microsoft.com/en-us/visualstudio/install/use-command-line-parameters-to-install-visual-studio?view=vs-2019
+
+# If BuildTools is not already installed, install it
+packages_to_install =  %w[
+  Microsoft.Net.Component.4.8.SDK
+  Microsoft.VisualStudio.Workload.VCTools
+  Microsoft.Component.MSBuild
+  Microsoft.VisualStudio.Component.VC.CLI.Support
+]
+
+if node['ros2_windows']['vs_version'] != 'buildtools' then
+  packages_to_install += ['Microsoft.VisualStudio.Workload.NativeDesktop',]
+end
+
+package_arguments = packages_to_install.map{ |pkg| '--add ' + pkg}.join(' ')
+base_options = '--quiet --wait --norestart --includeRecommended '
+
+installer_options = base_options + package_arguments
+
+visual_studio_source = 'https://aka.ms/vs/16/release/vs_%s.exe' % node['ros2_windows']['vs_version']
+
+vs_version_camel_case = {
+  'buildtools' => 'BuildTools',
+  'community' => 'Community',
+  'professional' => 'Professional',
+  'enterprise' => 'Enterprise'
+}[node['ros2_windows']['vs_version']]
+
+visual_studio_path = 'c:\\Program Files (x86)\\Microsoft Visual Studio\\2019\\%s' % vs_version_camel_case
+windows_package 'Update VS' do
+  source visual_studio_source
+  installer_type :custom
+  returns [0, 3010]
+  options 'update ' + installer_options
+  timeout 1200
+  only_if {::Dir.exist?(visual_studio_path)}
+end
+
+windows_package 'Install vs_buildtools' do
+  source visual_studio_source
+  installer_type :custom
+  action :install
+  returns [0, 1605, 1614, 1641, 3010]
+  options installer_options
+  timeout 1200
+  not_if {::Dir.exist?(visual_studio_path)}
+end
+
+windows_env 'VCTargetsPath' do
+  key_name 'VCTargetsPath'
+  value File.join(visual_studio_path, 'MSBuild\\Microsoft\\VC\\v160\\')
+  action :create
+end
diff --git a/cookbooks/ros2_windows/recipes/xmllint.rb b/cookbooks/ros2_windows/recipes/xmllint.rb
new file mode 100644
index 0000000..55ee445
--- /dev/null
+++ b/cookbooks/ros2_windows/recipes/xmllint.rb
@@ -0,0 +1,24 @@
+seven_zip_archive 'libxml2' do
+  path 'C:\\xmllint'
+  source 'https://www.zlatkovic.com/pub/libxml/64bit/libxml2-2.9.3-win32-x86_64.7z'
+  overwrite true
+end
+
+seven_zip_archive 'zlib' do
+  path 'C:\\xmllint'
+  source 'https://www.zlatkovic.com/pub/libxml/64bit/zlib-1.2.8-win32-x86_64.7z'
+  overwrite true
+end
+
+seven_zip_archive 'iconv' do
+  path 'C:\\xmllint'
+  source 'https://www.zlatkovic.com/pub/libxml/64bit/iconv-1.14-win32-x86_64.7z'
+  overwrite true
+end
+
+windows_env 'PATH' do
+  key_name 'PATH'
+  value 'C:\\xmllint\\bin'
+  delim ';'
+  action :modify
+end
diff --git a/roles/ros2-binaries.json b/roles/ros2-binaries.json
new file mode 100644
index 0000000..c9c07de
--- /dev/null
+++ b/roles/ros2-binaries.json
@@ -0,0 +1,19 @@
+{
+  "name": "ros2-binaries",
+  "description": "Install necessary ROS 2 dependencies and ROS 2 binaries",
+  "json_class": "Chef::Role",
+  "default_attributes": {
+    "ros2_windows": {
+      "development": false,
+      "release_version": "eloquent",
+      "vs_version": "buildtools",
+      "ros2_ws": "C:\\dev\\ros2_eloquent",
+      "install_connext": false,
+      "install_opensplice": false,
+    }
+  },
+  "chef_type": "role",
+  "run_list": [
+    "recipe[ros2_windows::ros2]"
+  ],
+}
diff --git a/roles/ros2-debug-binaries.json b/roles/ros2-debug-binaries.json
new file mode 100644
index 0000000..f0d2abf
--- /dev/null
+++ b/roles/ros2-debug-binaries.json
@@ -0,0 +1,14 @@
+{
+  "name": "ros2-binaries",
+  "description": "Install necessary ROS 2 dependencies and ROS 2 debug binaries",
+  "json_class": "Chef::Role",
+  "default_attributes": {
+    "ros2_windows": {
+      "build_type": "debug",
+    }
+  },
+  "chef_type": "role",
+  "run_list": [
+    "role[ros2-binaries]"
+  ],
+}
diff --git a/roles/ros2-development.json b/roles/ros2-development.json
new file mode 100644
index 0000000..df7254b
--- /dev/null
+++ b/roles/ros2-development.json
@@ -0,0 +1,20 @@
+{
+  "name": "ros2-development",
+  "description": "Install necessary dependencies and set up a machine for ROS 2 development",
+  "json_class": "Chef::Role",
+  "default_attributes": {
+    "ros2_windows": {
+      "development": "true",
+      "download_sources": "true",
+      "vs_version": "buildtools",
+      "source": {
+        "ros2.repos": "master"
+      },
+      "ros2_ws": "C:/dev/ros2_ws",
+      "install_connext": "false",
+      "install_opensplice": "true"
+    }
+  },
+  "chef_type": "role",
+  "run_list": [ "recipe[ros2_windows::ros2]" ]
+}
diff --git a/ros2_windows.json b/ros2_windows.json
new file mode 100644
index 0000000..b1eba06
--- /dev/null
+++ b/ros2_windows.json
@@ -0,0 +1 @@
+{ "run_list": ["role[ros2-development]"]}