diff --git a/tracetools_launch/.gitignore b/tracetools_launch/.gitignore
new file mode 100644
index 0000000..eef29c1
--- /dev/null
+++ b/tracetools_launch/.gitignore
@@ -0,0 +1,3 @@
+*~
+*.pyc
+
diff --git a/tracetools_launch/launch/example.launch.py b/tracetools_launch/launch/example.launch.py
new file mode 100644
index 0000000..f5499db
--- /dev/null
+++ b/tracetools_launch/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/tracetools_launch/package.xml b/tracetools_launch/package.xml
new file mode 100644
index 0000000..b99c7a6
--- /dev/null
+++ b/tracetools_launch/package.xml
@@ -0,0 +1,23 @@
+<?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_launch</name>
+  <version>0.0.1</version>
+  <description>Launch integration for tracing</description>
+  <maintainer email="fixed-term.christophe.bourquebedard@de.bosch.com">Christophe Bedard</maintainer>
+  <license>TODO</license>
+  <author email="fixed-term.christophe.bourquebedard@de.bosch.com">Christophe Bedard</author>
+
+  <depend>launch</depend>
+  <depend>launch_ros</depend>
+  <depend>tracetools_trace</depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>
diff --git a/tracetools_launch/setup.cfg b/tracetools_launch/setup.cfg
new file mode 100644
index 0000000..b7ef5cb
--- /dev/null
+++ b/tracetools_launch/setup.cfg
@@ -0,0 +1,4 @@
+[develop]
+script-dir=$base/lib/tracetools_launch
+[install]
+install-scripts=$base/lib/tracetools_launch
diff --git a/tracetools_launch/setup.py b/tracetools_launch/setup.py
new file mode 100644
index 0000000..370b97c
--- /dev/null
+++ b/tracetools_launch/setup.py
@@ -0,0 +1,26 @@
+import glob
+
+from setuptools import find_packages
+from setuptools import setup
+
+package_name = 'tracetools_launch'
+
+setup(
+    name=package_name,
+    version='0.0.1',
+    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',
+    maintainer_email='fixed-term.christophe.bourquebedard@de.bosch.com',
+    author='Christophe Bedard',
+    author_email='fixed-term.christophe.bourquebedard@de.bosch.com',
+    # url='',
+    keywords=['ROS'],
+    description='Launch integration for tracing',
+    license='TODO',
+    tests_require=['pytest'],
+)
diff --git a/tracetools_launch/tracetools_launch/__init__.py b/tracetools_launch/tracetools_launch/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/tracetools_launch/tracetools_launch/trace.py b/tracetools_launch/tracetools_launch/trace.py
new file mode 100644
index 0000000..2c7cbff
--- /dev/null
+++ b/tracetools_launch/tracetools_launch/trace.py
@@ -0,0 +1,63 @@
+"""Module for the Trace action."""
+
+import os
+from typing import List
+from typing import Optional
+
+from launch.action import Action
+from launch.event import Event
+from launch.event_handlers import OnShutdown
+from launch.launch_context import LaunchContext
+from tracetools_trace.tools import lttng
+from tracetools_trace.tools import names
+
+
+class Trace(Action):
+    """
+    Tracing action for launch.
+
+    Sets up and enables tracing through a launch file description.
+    """
+
+    def __init__(
+        self,
+        *,
+        session_name: str,
+        base_path: str = '/tmp',
+        events_ust: List[str] = names.DEFAULT_EVENTS_ROS,
+        events_kernel: List[str] = names.DEFAULT_EVENTS_KERNEL,
+        **kwargs,
+    ) -> None:
+        """Constructor."""
+        super().__init__(**kwargs)
+        self.__session_name = session_name
+        self.__path = os.path.join(base_path, session_name)
+        self.__events_ust = events_ust
+        self.__events_kernel = events_kernel
+
+    def execute(self, context: LaunchContext) -> Optional[List[Action]]:
+        # TODO make sure this is done as late as possible
+        context.register_event_handler(OnShutdown(on_shutdown=self._destroy))
+        # TODO make sure this is done as early as possible
+        self._setup()
+
+    def _setup(self) -> None:
+        print('setting up tracing!')
+        lttng.lttng_init(
+            self.__session_name,
+            self.__path,
+            ros_events=self.__events_ust,
+            kernel_events=self.__events_kernel)
+
+    def _destroy(self, event: Event, context: LaunchContext) -> None:
+        print('destroying tracing session!')
+        lttng.lttng_fini(self.__session_name)
+
+    def __repr__(self):
+        return (
+            "Trace("
+            f"session_name='{self.__session_name}', "
+            f"path='{self.__path}', "
+            f"num_events_ust={len(self.__events_ust)}, "
+            f"num_events_kernel={len(self.__events_kernel)})"
+        )