diff --git a/kimera_common/CMakeLists.txt b/kimera_common/CMakeLists.txt
new file mode 100644
index 0000000..220fcbc
--- /dev/null
+++ b/kimera_common/CMakeLists.txt
@@ -0,0 +1,13 @@
+cmake_minimum_required(VERSION 3.5)
+project(kimera_common NONE)
+
+find_package(ament_cmake_core REQUIRED)
+
+ament_package(
+    CONFIG_EXTRAS "kimera_common-extras.cmake"
+)
+
+install(
+    DIRECTORY cmake
+    DESTINATION share/${PROJECT_NAME}
+)
diff --git a/kimera_common/cmake/kimera_package.cmake b/kimera_common/cmake/kimera_package.cmake
new file mode 100644
index 0000000..a836427
--- /dev/null
+++ b/kimera_common/cmake/kimera_package.cmake
@@ -0,0 +1,22 @@
+#
+# Standard Kimera project setup
+#
+# @public
+#
+macro(kimera_package)
+
+  # Default to C++14
+  if(NOT CMAKE_CXX_STANDARD)
+    set(CMAKE_CXX_STANDARD 14)
+  endif()
+
+  if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    add_compile_options(
+      -Wall
+      -Wextra
+      -Wpedantic
+      -Werror
+      -Wdeprecated
+    )
+  endif()
+endmacro()
diff --git a/kimera_common/kimera_common-extras.cmake b/kimera_common/kimera_common-extras.cmake
new file mode 100644
index 0000000..092af8f
--- /dev/null
+++ b/kimera_common/kimera_common-extras.cmake
@@ -0,0 +1,3 @@
+set(AMENT_BUILD_CONFIGURATION_KEYWORD_SEPARATOR ":")
+
+include("${kimera_common_DIR}/kimera_package.cmake")
diff --git a/kimera_common/package.xml b/kimera_common/package.xml
new file mode 100644
index 0000000..ebd87fb
--- /dev/null
+++ b/kimera_common/package.xml
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<package format="3">
+  <name>kimera_common</name>
+  <version>0.0.1</version>
+  <description>Common support functionality used throughout the Kimera stack</description>
+  <maintainer email="roxfoxpox@gmail.com">Ruffin White</maintainer>
+  <license>BSD</license>
+
+  <buildtool_depend>ament_cmake_core</buildtool_depend>
+
+  <buildtool_export_depend>ament_cmake_core</buildtool_export_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>