diff --git a/CATKIN_IGNORE b/CATKIN_IGNORE
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/COLCON_IGNORE b/COLCON_IGNORE
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/COLCON_IGNORE.README b/COLCON_IGNORE.README
deleted file mode 100644
index 859582b4ef..0000000000
--- a/COLCON_IGNORE.README
+++ /dev/null
@@ -1,7 +0,0 @@
-Since 2024-Jul, MRPT is no longer built as a monolithic ROS package. Instead,
-please, clone the new repository: 
-
-   https://github.com/MRPT/mrpt-ros
-
-which leads to generating finer-grained MRPT ROS packages.
-
diff --git a/doc/source/doxygen-docs/changelog.md b/doc/source/doxygen-docs/changelog.md
index 3d5fdb9ae7..7efb8efc2e 100644
--- a/doc/source/doxygen-docs/changelog.md
+++ b/doc/source/doxygen-docs/changelog.md
@@ -1,15 +1,11 @@
 \page changelog Change Log
 
-# Version 2.13.5: UNRELEASED
+# Version 2.13.5: Released Aug 5th, 2024
 - Changes in libraries:
   - \ref mrpt_ros2bridge_grp:
     - mrpt::ros2bridge::toROS() conversion from `PointCloud2` to mrpt::maps::CPointsMapXYZIRT:
       - Recognize timestamp field names `"t"` and `"timestamp"`, apart of `"time"`.
       - Fixed detection of timestamp fields in `Float64` format, and convert them from absolute to relative timestamps.
-- Build system:
-  - This main MRPT repository is no longer directly built as a ROS package. Please, use the wrappers for better modularity:
-    - https://github.com/MRPT/mrpt_ros
-    - https://github.com/MRPT/python_mrpt_ros
 - BUG FIXES:
   - ros1bridge and ros2bridge: fix conversion to PointCloud XYZI.
   - CWaypointsNavigator::waypoints_navigationStep() stops aligning with target after the waypoint is considered as reached.
diff --git a/package.xml b/package.xml
new file mode 100644
index 0000000000..868d3f9523
--- /dev/null
+++ b/package.xml
@@ -0,0 +1,89 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<!-- This is a ROS package file, intended to allow MRPT 2.x to be built
+     side-by-side to real ROS packages in a catkin/ament environment.
+     Real MRPT ROS packages are found elsewhere: https://github.com/mrpt-ros-pkg
+-->
+<package format="3">
+  <name>mrpt2</name>
+  <!-- Before updating version number, read [MRPT_ROOT]/version_prefix.txt first -->
+  <version>2.13.5</version>
+  <description>Mobile Robot Programming Toolkit (MRPT) version 2.x</description>
+
+  <author email="joseluisblancoc@gmail.com">Jose-Luis Blanco-Claraco</author>
+  <maintainer email="joseluisblancoc@gmail.com">Jose-Luis Blanco-Claraco</maintainer>
+
+  <url type="website">https://www.mrpt.org/</url>
+  <url type="bugtracker">https://github.com/MRPT/mrpt/issues</url>
+
+  <license>BSD</license>
+
+  <!-- Deps required by user code (they are in public headers or built as ROS (vs system) packages -->
+  <depend>eigen</depend>
+  <depend>geometry_msgs</depend>
+  <depend>glut</depend>
+  <depend>libglfw3-dev</depend>
+  <depend>libxrandr</depend>
+  <depend>libxxf86vm</depend>
+  <depend>nav_msgs</depend>
+  <depend>opengl</depend>
+  <depend>sensor_msgs</depend>
+  <depend>std_msgs</depend>
+  <depend>stereo_msgs</depend>
+  <depend>suitesparse</depend>
+  <depend>tf2_msgs</depend>
+  <depend>tf2</depend>
+
+  <!-- COMMON DEPS: This ensures we have ROS_DISTRO, etc. env vars -->
+  <build_depend>ros_environment</build_depend>
+
+  <!-- Deps required by building only -->
+  <build_depend>assimp-dev</build_depend>
+  <build_depend>ffmpeg</build_depend>
+  <build_depend>libfreenect-dev</build_depend>
+  <build_depend condition="$ROS_VERSION == 2">libfyaml-dev</build_depend>
+  <build_depend>libjpeg</build_depend>
+  <build_depend>libjsoncpp-dev</build_depend>
+  <build_depend>libopenni2-dev</build_depend>
+  <build_depend>libpcap</build_depend>
+  <build_depend>libudev-dev</build_depend>
+  <build_depend>libusb-1.0-dev</build_depend>
+  <build_depend>pkg-config</build_depend>
+  <build_depend>pybind11-dev</build_depend>
+  <build_depend>python3-pip</build_depend>
+  <build_depend>tinyxml2</build_depend>
+  <build_depend>wx-common</build_depend>
+  <build_depend>wxwidgets</build_depend>
+  <build_depend>zlib</build_depend>
+
+  <!--  <build_depend>libqt5-opengl-dev</build_depend> -->
+  <!--  <build_depend>qtbase5-dev</build_depend> -->
+
+  <!-- Required for cmake scripts to find ament_cmake and then realize we are in ROS 2, not ROS 1 -->
+  <build_depend condition="$ROS_VERSION == 2">ament_cmake</build_depend>
+
+  <!-- Deps for ros1bridge/ros2bridge -->
+  <depend>cv_bridge</depend>
+  <depend>libopencv-dev</depend>
+  <depend>liboctomap-dev</depend>
+  <!--<depend>pcl_conversions</depend> WAS: To run unit tests only -->
+
+  <depend condition="$ROS_VERSION == 1">rosbag_storage</depend>
+  <depend condition="$ROS_VERSION == 2">rosbag2_storage</depend>
+  <depend condition="$ROS_VERSION == 1">roscpp</depend>
+  <depend condition="$ROS_VERSION == 2">rclcpp</depend>
+
+  <!-- for rosbag2rawlog (ROS 1 only, ROS 2 version lives in the mrpt_navigation repository) -->
+  <depend condition="$ROS_VERSION == 1">tf2_geometry_msgs</depend>
+
+  <doc_depend>doxygen</doc_depend>
+
+  <!-- Minimum entries to release non-catkin pkgs: -->
+  <buildtool_depend>cmake</buildtool_depend>
+  <export>
+    <build_type>cmake</build_type>
+    <rosdoc config="doc/rosdoc.yaml" />
+  </export>
+  <!-- End -->
+
+</package>