diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644
index 0000000..ee2745c
--- /dev/null
+++ b/CMakeLists.txt
@@ -0,0 +1,43 @@
+cmake_minimum_required(VERSION 3.5)
+
+project(libyaml_vendor VERSION 1.0.0)
+
+find_package(ament_cmake REQUIRED)
+
+macro(build_libyaml)
+  set(extra_cmake_args)
+  if(DEFINED CMAKE_BUILD_TYPE)
+    list(APPEND extra_cmake_args -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE})
+  endif()
+
+  list(APPEND extra_cmake_args -DBUILD_SHARED_LIBS=ON)
+  list(APPEND extra_cmake_args -DBUILD_TESTING=OFF)
+  # Disable MSVC warnings
+  if(CMAKE_C_COMPILER_ID MATCHES "MSVC")
+    set(win_c_flags "${CMAKE_C_FLAGS} /wd4244 /wd4267 /wd4996")
+    list(APPEND extra_cmake_args -DCMAKE_C_FLAGS=${win_c_flags})
+  endif()
+
+  include(ExternalProject)
+  ExternalProject_Add(libyaml-10c9078
+    URL https://github.com/yaml/libyaml/archive/10c907871f1ccd779c7fccf6b81a62762b5c4e7b.zip
+    URL_MD5 b595f0ab0735c04c7f6ed0a798a3eff7
+    TIMEOUT 60
+    CMAKE_ARGS
+      -DCMAKE_INSTALL_PREFIX=${CMAKE_CURRENT_BINARY_DIR}/libyaml_install
+      ${extra_cmake_args}
+  )
+
+  # The external project will install to the build folder, but we'll install that on make install.
+  install(
+    DIRECTORY
+      ${CMAKE_CURRENT_BINARY_DIR}/libyaml_install/
+    DESTINATION
+      ${CMAKE_INSTALL_PREFIX}
+    PATTERN config.h EXCLUDE
+  )
+endmacro()
+
+build_libyaml()
+
+ament_package()
diff --git a/package.xml b/package.xml
new file mode 100644
index 0000000..fb6a750
--- /dev/null
+++ b/package.xml
@@ -0,0 +1,22 @@
+<?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>libyaml_vendor</name>
+  <version>1.0.0</version>
+  <description>
+    Wrapper around libyaml, provides the last version (1.8.0 rc) that ships with a CMake module
+  </description>
+  <maintainer email="mikael@osrfoundation.org">Mikael Arguedas</maintainer>
+  <license>Apache License 2.0</license>  <!-- the contents of this package are Apache 2.0 -->
+  <license>MIT</license>  <!-- libyaml is MIT -->
+
+  <url type="website">https://github.com/yaml/libyaml</url>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>