diff --git a/launch/example.launch.py b/launch/example.launch.py
new file mode 100644
index 0000000..f5499db
--- /dev/null
+++ b/launch/example.launch.py
@@ -0,0 +1,21 @@
+# Example launch file for the Trace action
+
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from tracetools_launch.trace import Trace
+
+
+def generate_launch_description():
+    return LaunchDescription([
+        Trace(
+            session_name='my-tracing-session',
+            base_path='/tmp'),
+        Node(
+            package='examples_rclcpp_minimal_publisher',
+            node_executable='publisher_member_function',
+            output='screen'),
+        Node(
+            package='examples_rclcpp_minimal_subscriber',
+            node_executable='subscriber_member_function',
+            output='screen'),
+    ])
diff --git a/setup.py b/setup.py
index 5480236..370b97c 100644
--- a/setup.py
+++ b/setup.py
@@ -1,3 +1,5 @@
+import glob
+
 from setuptools import find_packages
 from setuptools import setup
 
@@ -9,6 +11,7 @@ setup(
     packages=find_packages(exclude=['test']),
     data_files=[
         ('share/' + package_name, ['package.xml']),
+        ('share/' + package_name + '/launch', glob.glob('launch/*.launch.py')),
     ],
     install_requires=['setuptools'],
     maintainer='Christophe Bedard',