diff --git a/.github/workflows/package.yml b/.github/workflows/package.yml
new file mode 100644
index 0000000..899b53e
--- /dev/null
+++ b/.github/workflows/package.yml
@@ -0,0 +1,161 @@
+name: Package mc-openrtm
+
+# This workflow only runs when pushing to master or pushing a tag
+#
+# On master, it will:
+# - Build packages for selected Debian/Ubuntu distro
+# - Upload the packages to https://dl.bintray.com/gergondet/multi-contact-head
+#
+# On tagged versions it will:
+# - Create a GitHub release draft
+# - Attach the sources to the release
+# - Build packages for selected Debian/Ubuntu distro
+# - Upload the packages to https://dl.bintray.com/gergondet/multi-contact
+# - Finalize the release
+
+on:
+  push:
+    branches:
+      - master
+    tags:
+      - v*
+
+jobs:
+  # For a given tag vX.Y.Z, this checks:
+  # - set(PROJECT_VERSION X.Y.Z) in CMakeLists.txt
+  # - version X.Y.Z in debian/changelog
+  # If these checks fail, the tag is automatically deleted
+  #
+  # This job does not run on the master branch
+  check-tag:
+    runs-on: ubuntu-18.04
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        submodules: recursive
+      if: github.ref != 'refs/heads/master'
+    - name: Check version coherency
+      run: |
+        set -x
+        export VERSION=`echo ${{ github.ref }} | sed -e 's@refs/tags/v@@'`
+        echo "::set-env name=REJECTION::PROJECT_VERSION in CMakeLists.txt does not match tag"
+        grep -q "set(PROJECT_VERSION ${VERSION})" CMakeLists.txt
+        echo "::set-env name=REJECTION::Upstream version in debian/changelog does not match tag"
+        head -n 1 debian/changelog | grep -q "mc-openrtm (${VERSION}"
+        echo "::set-env name=REJECTION::"
+        export TAG=`echo ${{ github.ref }} | sed -e 's@refs/tags/@@'`
+        echo "::set-env name=RELEASE_TAG::${TAG}"
+      if: github.ref != 'refs/heads/master'
+    - name: Delete tag
+      run: |
+        set -x
+        curl --header 'authorization: Bearer ${{ secrets.GITHUB_TOKEN }}' -X DELETE https://api.github.com/repos/${{ github.repository }}/git/${{ github.ref }}
+      if: failure()
+    - name: Notify tag deletion
+      uses: archive/github-actions-slack@master
+      with:
+        slack-bot-user-oauth-access-token: ${{ secrets.SLACK_BOT_TOKEN }}
+        slack-channel: '#ci'
+        slack-text: >
+          Tag *${{ github.ref }}* in *${{ github.repository }}* was deleted:
+            ${{ env.REJECTION}}
+      if: failure()
+    - name: Create release
+      uses: jrl-umi3218/github-actions/create-release@master
+      with:
+        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        tag: ${{ env.RELEASE_TAG }}
+      if: github.ref != 'refs/heads/master'
+  # This job build binary packages for Ubuntu
+  build-packages:
+    needs: check-tag
+    strategy:
+      fail-fast: true
+      matrix:
+        dist: [xenial, bionic]
+        arch: [i386, amd64]
+    runs-on: ubuntu-18.04
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        submodules: recursive
+    - name: Setup environment
+      run: |
+        set -x
+        export REF=`echo ${{ github.ref }} | sed -e 's@refs/[a-z]*/@@'`
+        if [ $REF == "master" ]
+        then
+          echo "::set-env name=EXTRA_MIRROR::https://dl.bintray.com/gergondet/multi-contact-head"
+        else
+          echo "::set-env name=EXTRA_MIRROR::https://dl.bintray.com/gergondet/multi-contact-release"
+        fi
+    - name: Build package
+      uses: jrl-umi3218/github-actions/build-package-native@master
+      with:
+        dist: ${{ matrix.dist }}
+        arch: ${{ matrix.arch }}
+        other-mirrors: ${{ env.EXTRA_MIRROR }}
+        other-gpg-keys: "0x892EA6EE273707C6495A6FB6220D644C64666806"
+    - uses: actions/upload-artifact@v1
+      with:
+        name: packages-${{ matrix.dist }}-${{ matrix.arch }}
+        path: /tmp/packages-${{ matrix.dist }}-${{ matrix.arch }}
+  # This job upload binary packages for Ubuntu
+  upload-packages:
+    needs: build-packages
+    strategy:
+      max-parallel: 1
+      fail-fast: true
+      matrix:
+        dist: [xenial, bionic]
+        arch: [i386, amd64]
+    runs-on: ubuntu-18.04
+    steps:
+    - name: Set upload parameters
+      run: |
+        export REF=`echo ${{ github.ref }} | sed -e 's@refs/[a-z]*/@@'`
+        if [ $REF == "master" ]
+        then
+          echo "::set-env name=BINTRAY_REPO::multi-contact-head"
+          echo "::set-env name=BINTRAY_VERSION::HEAD"
+        else
+          echo "::set-env name=BINTRAY_REPO::multi-contact-release"
+          echo "::set-env name=BINTRAY_VERSION::${REF}"
+        fi
+    - name: Download packages
+      uses: actions/download-artifact@v1
+      with:
+        name: packages-${{ matrix.dist }}-${{ matrix.arch }}
+    - name: Upload
+      uses: jrl-umi3218/github-actions/upload-package@master
+      with:
+        dist: ${{ matrix.dist }}
+        arch: ${{ matrix.arch }}
+        subject: gergondet
+        repo: ${{ env.BINTRAY_REPO }}
+        package: |
+          name: mc-openrtm
+          desc: "Interface between OpenRTM and mc_rtc"
+          licenses: [BSD 2-Clause]
+          vcs_url: https://github.com/jrl-umi3218/mc_openrtm
+        version: ${{ env.BINTRAY_VERSION }}
+        path: packages-${{ matrix.dist }}-${{ matrix.arch }}
+        BINTRAY_API_KEY: ${{ secrets.BINTRAY_API_KEY }}
+        GPG_PASSPHRASE: ${{ secrets.GPG_PASSPHRASE }}
+  # This job forces a mirror sync
+  mirror-sync:
+    needs: upload-packages
+    runs-on: ubuntu-18.04
+    steps:
+    - name: Set repository parameters
+      run: |
+        export REF=`echo ${{ github.ref }} | sed -e 's@refs/[a-z]*/@@'`
+        if [ $REF == "master" ]
+        then
+          echo "::set-env name=BINTRAY_REPO::multi-contact-head"
+        else
+          echo "::set-env name=BINTRAY_REPO::multi-contact-release"
+        fi
+    - name: Request mirror sync
+      run: |
+        curl -ugergondet:${{ secrets.BINTRAY_API_KEY }} --header "X-GPG-PASSPHRASE: ${{ secrets.GPG_PASSPHRASE }}" -X POST https://api.bintray.com/calc_metadata/gergondet/${{ env.BINTRAY_REPO }}
diff --git a/debian/changelog b/debian/changelog
new file mode 100644
index 0000000..f66be31
--- /dev/null
+++ b/debian/changelog
@@ -0,0 +1,5 @@
+mc-openrtm (1.0.0-1ubuntu1) unstable; urgency=medium
+
+  * Initial release
+
+ -- Pierre Gergondet <pierre.gergondet+ppa@gmail.com>  Mon, 30 Dec 2019 16:40:13 +0800
diff --git a/debian/compat b/debian/compat
new file mode 100644
index 0000000..ec63514
--- /dev/null
+++ b/debian/compat
@@ -0,0 +1 @@
+9
diff --git a/debian/control b/debian/control
new file mode 100644
index 0000000..c78cc5c
--- /dev/null
+++ b/debian/control
@@ -0,0 +1,33 @@
+Source: mc-openrtm
+Priority: optional
+Maintainer: Pierre Gergondet <pierre.gergondet+ppa@gmail.com>
+Standards-Version: 3.9.5
+Section: science
+Homepage: https://github.com/jrl-umi3218/mc_openrtm
+Vcs-Git: https://github.com/jrl-umi3218/mc_openrtm
+Vcs-Browser: https://github.com/jrl-umi3218/mc_openrtm
+Build-Depends: debhelper (>= 9),
+               cmake,
+               hrpsys-base,
+               libcnoid-dev,
+               libmc-rtc-dev
+
+Package: mc-openrtm
+Section: science
+Architecture: any
+Depends: ${shlibs:Depends},
+         ${misc:Depends}
+Suggests: jvrc-choreonoid
+Description: mc-openrtm - Interface between OpenRTM and mc_rtc
+ This package contains an interface between OpenRTM and mc_rtc to be used in
+ the Choreonoid simulation interface.
+
+Package: jvrc-choreonoid
+Section: science
+Architecture: any
+Depends: mc-openrtm (= ${binary:Version}),
+         ${shlibs:Depends},
+         choreonoid
+Description: Choreonoid project for mc_openrtm and JVRC1
+ This package contains a sample Choreonoid project using the JVRC1 robot and
+ the correct mc_rtc interface.
diff --git a/debian/copyright b/debian/copyright
new file mode 100644
index 0000000..03239f6
--- /dev/null
+++ b/debian/copyright
@@ -0,0 +1,53 @@
+Format: http://www.debian.org/doc/packaging-manuals/copyright-format/1.0/
+Upstream-Name: mc_openrtm
+Source: https://gite.lirmm.fr/multi-contact/mc_openrtm
+
+Files: *
+Copyright: 2016-2019 CNRS-UM LIRMM
+           2016-2019 CNRS-AIST JRL
+License: BSD-2-Clause
+ BSD 2-Clause License
+ .
+ Copyright (c) 2016-2019, CNRS-UM LIRMM, CNRS-AIST JRL
+ All rights reserved.
+ .
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions are met:
+ .
+ 1. Redistributions of source code must retain the above copyright notice, this
+    list of conditions and the following disclaimer.
+ .
+ 2. Redistributions in binary form must reproduce the above copyright notice,
+    this list of conditions and the following disclaimer in the documentation
+    and/or other materials provided with the distribution.
+ .
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+
+Files: debian/*
+Copyright: 2019 Pierre Gergondet <pierre.gergondet+ppa@gmail.com>
+License: GPL-2+
+ This package is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 2 of the License, or
+ (at your option) any later version.
+ .
+ This package is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+ .
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>
+ .
+ On Debian systems, the complete text of the GNU General
+ Public License version 2 can be found in "/usr/share/common-licenses/GPL-2".
diff --git a/debian/docs b/debian/docs
new file mode 100644
index 0000000..b43bf86
--- /dev/null
+++ b/debian/docs
@@ -0,0 +1 @@
+README.md
diff --git a/debian/jvrc-choreonoid.install b/debian/jvrc-choreonoid.install
new file mode 100644
index 0000000..fb72495
--- /dev/null
+++ b/debian/jvrc-choreonoid.install
@@ -0,0 +1,2 @@
+usr/share/OpenHRP-3.1/*
+usr/lib/choreonoid*/*
diff --git a/debian/mc-openrtm.install b/debian/mc-openrtm.install
new file mode 100644
index 0000000..ef475ab
--- /dev/null
+++ b/debian/mc-openrtm.install
@@ -0,0 +1,4 @@
+usr/bin/MCControlComp
+usr/lib/MCControl.so
+usr/lib/python2.7/*
+usr/share/hrpsys/*
diff --git a/debian/rules b/debian/rules
new file mode 100755
index 0000000..95e5041
--- /dev/null
+++ b/debian/rules
@@ -0,0 +1,5 @@
+#!/usr/bin/make -f
+# -*- makefile -*-
+
+%:
+	dh $@ --parallel
diff --git a/debian/source.lintian-overrides b/debian/source.lintian-overrides
new file mode 100644
index 0000000..1cfe16f
--- /dev/null
+++ b/debian/source.lintian-overrides
@@ -0,0 +1 @@
+mc-rtc source: source-is-missing cmake/doxygen/MathJax/*
diff --git a/debian/source/format b/debian/source/format
new file mode 100644
index 0000000..163aaf8
--- /dev/null
+++ b/debian/source/format
@@ -0,0 +1 @@
+3.0 (quilt)