diff --git a/.github/workflows/test.yaml b/.github/workflows/test.yaml
index 5ab1b61e..3876b447 100644
--- a/.github/workflows/test.yaml
+++ b/.github/workflows/test.yaml
@@ -96,5 +96,49 @@ jobs:
             --verbose \
             ./python
       - name: "Python: Test"
+        env:
+          # libopenarm_can.so is installed into a non-standard location.
+          LD_LIBRARY_PATH: ${{ github.workspace }}/install/lib
         run: |
           python3 -c "import openarm_can"
+
+  ros:
+    name: ROS ${{ matrix.distro }}
+    runs-on: ubuntu-latest
+    timeout-minutes: 10
+    container: ros:${{ matrix.distro }}-ros-base
+    strategy:
+      fail-fast: false
+      matrix:
+        distro:
+          - humble
+          - jazzy
+          - rolling
+    steps:
+      - uses: actions/checkout@v7
+        with:
+          path: src/openarm_can
+          submodules: recursive
+      - name: Install dependencies
+        run: |
+          apt update
+          rosdep update --rosdistro ${{ matrix.distro }}
+          rosdep install \
+            --default-yes \
+            --from-paths src \
+            --ignore-src \
+            --rosdistro ${{ matrix.distro }}
+      - name: Build Debian package
+        working-directory: src/openarm_can
+        run: |
+          apt install -y -V \
+            debhelper \
+            dpkg-dev \
+            fakeroot \
+            python3-bloom
+          bloom-generate rosdebian --ros-distro ${{ matrix.distro }}
+          fakeroot debian/rules binary
+      - uses: actions/upload-artifact@v7
+        with:
+          name: ros-${{ matrix.distro }}-debian-packages
+          path: src/*.deb
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 37a4ece8..085da707 100755
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -28,6 +28,8 @@ include(CTest)
 
 include(GNUInstallDirs)
 
+option(BUILD_SHARED_LIBS "Build shared libraries" ON)
+
 # Create the main library
 add_library(
   openarm_can
diff --git a/package.xml b/package.xml
index decdc578..2e164143 100644
--- a/package.xml
+++ b/package.xml
@@ -16,10 +16,12 @@ limitations under the License. -->
   <name>openarm_can</name>
   <version>1.4.0</version>
   <description>Low-level SocketCAN library and tools for OpenArm manipulators.</description>
-  <maintainer email="openarm_dev@enactic.ai">Enactic, Inc.</maintainer>
+  <maintainer email="opensource@enactic.ai">Enactic, Inc.</maintainer>
   <license>Apache-2.0</license>
 
-  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>cmake</buildtool_depend>
+
+  <build_depend>cli11</build_depend>
 
   <export>
     <build_type>cmake</build_type>
diff --git a/packages/debian/rules b/packages/debian/rules
index 13716911..d7aa46d1 100755
--- a/packages/debian/rules
+++ b/packages/debian/rules
@@ -22,7 +22,6 @@ export DEB_BUILD_MAINT_OPTIONS = hardening=+all
 override_dh_auto_configure:
 	dh_auto_configure \
 		-- \
-		-DBUILD_SHARED_LIBS=ON \
 		-DCMAKE_BUILD_TYPE=RelWithDebInfo
 	dh_auto_configure \
 		--buildsystem=pybuild \