diff --git a/tracetools/CMakeLists.txt b/tracetools/CMakeLists.txt
new file mode 100644
index 0000000..328185e
--- /dev/null
+++ b/tracetools/CMakeLists.txt
@@ -0,0 +1,94 @@
+cmake_minimum_required(VERSION 3.5)
+project(tracetools)
+
+# 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 -fPIC)
+endif()
+
+find_package(ament_cmake REQUIRED)
+
+option(WITH_LTTNG "Include support for tracing with LTTng" OFF)
+if(WITH_LTTNG)
+  # Try to find LTTng
+  find_package(PkgConfig REQUIRED)
+  pkg_check_modules(LTTNG REQUIRED lttng-ust)
+endif()
+if(LTTNG_FOUND)
+  # Generate necessary LTTng files
+  # If successful, enable tracing
+  add_custom_command(OUTPUT ${PROJECT_SOURCE_DIR}/src/tp_call.c
+    COMMAND lttng-gen-tp tp_call.tp -o ../src/tp_call.c -o ../src/tp_call.h
+    WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/lttng
+    DEPENDS ${PROJECT_SOURCE_DIR}/lttng/tp_call.tp
+  )
+  set(LTTNG_GENERATED
+    src/tp_call.h
+    src/tp_call.c
+  )
+  set(TRACING_ENABLED TRUE)
+  message("LTTng found: tracing enabled")
+elseif(WITH_LTTNG)
+  message("LTTng NOT found: tracing disabled")
+endif()
+
+include_directories(include)
+
+# Status checking tool
+add_executable(${PROJECT_NAME}_status
+  src/status.c
+  src/tracetools.c
+)
+target_link_libraries(${PROJECT_NAME}_status
+  ${PROJECT_NAME}
+)
+ament_target_dependencies(${PROJECT_NAME}_status
+  ${PROJECT_NAME}
+)
+install(TARGETS
+  ${PROJECT_NAME}_status
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+# Tracetools lib
+set(SOURCES
+  src/tracetools.c
+)
+if(TRACING_ENABLED)
+  list(APPEND SOURCES ${LTTNG_GENERATED})
+endif()
+
+add_library(${PROJECT_NAME} ${SOURCES})
+if(TRACING_ENABLED)
+  target_compile_definitions(${PROJECT_NAME} PUBLIC WITH_LTTNG)
+  target_link_libraries(${PROJECT_NAME} ${LTTNG_LIBRARIES} -ldl)
+else()
+  target_link_libraries(${PROJECT_NAME})
+endif()
+
+ament_export_interfaces(${PROJECT_NAME}_export HAS_LIBRARY_TARGET)
+install(
+  DIRECTORY include/
+  DESTINATION include
+)
+install(
+  TARGETS ${PROJECT_NAME}
+  EXPORT ${PROJECT_NAME}_export
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib
+  RUNTIME DESTINATION bin
+  INCLUDES DESTINATION include
+)
+
+ament_export_include_directories(include)
+if(TRACING_ENABLED)
+  ament_export_libraries(${PROJECT_NAME} ${LTTNG_LIBRARIES})
+else()
+  ament_export_libraries(${PROJECT_NAME})
+endif()
+
+ament_package()
diff --git a/tracetools/package.xml b/tracetools/package.xml
new file mode 100644
index 0000000..2d80723
--- /dev/null
+++ b/tracetools/package.xml
@@ -0,0 +1,19 @@
+<?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>tracetools</name>
+  <version>0.0.1</version>
+  <description>ROS 2 wrapper for instrumentation</description>
+  <author email="bedard.christophe@gmail.com">Christophe Bedard</author>
+  <maintainer email="bedard.christophe@gmail.com">Christophe Bedard</maintainer>
+  <license>APLv2</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>pkg-config</buildtool_depend>
+
+  <!-- explicitly not depending on LTTng -->
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>