diff --git a/.github/workflows/release-plz.yml b/.github/workflows/release-plz.yml
new file mode 100644
index 000000000..271ed2281
--- /dev/null
+++ b/.github/workflows/release-plz.yml
@@ -0,0 +1,75 @@
+name: Release-plz
+
+on:
+  push:
+    branches:
+      - main
+
+jobs:
+  release-plz-release:
+    name: Release-plz release
+    runs-on: ubuntu-latest
+    if: ${{ github.repository_owner == 'ros2-rust' }}
+    permissions:
+      contents: write
+    steps:
+      # Generating a GitHub token, so that PRs and tags created by
+      # the release-plz-action can trigger actions workflows.
+      - name: Generate GitHub token
+        uses: actions/create-github-app-token@v2
+        id: generate-token
+        with:
+          # GitHub App ID secret name
+          app-id: ${{ secrets.APP_ID }}
+          # GitHub App private key secret name
+          private-key: ${{ secrets.APP_PRIVATE_KEY }}
+      - name: Checkout repository
+        uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+          token: ${{ steps.generate-token.outputs.token }}
+      - name: Install Rust toolchain
+        uses: dtolnay/rust-toolchain@stable
+      - name: Run release-plz
+        uses: release-plz/action@v0.5
+        with:
+          command: release
+        env:
+          GITHUB_TOKEN: ${{ steps.generate-token.outputs.token }}
+          CARGO_REGISTRY_TOKEN: ${{ secrets.CARGO_REGISTRY_TOKEN }}
+
+  release-plz-pr:
+    name: Release-plz PR
+    runs-on: ubuntu-latest
+    if: ${{ github.repository_owner == 'ros2-rust' }}
+    permissions:
+      pull-requests: write
+      contents: write
+    concurrency:
+      group: release-plz-${{ github.ref }}
+      cancel-in-progress: false
+    steps:
+      # Generating a GitHub token, so that PRs and tags created by
+      # the release-plz-action can trigger actions workflows.
+      - name: Generate GitHub token
+        uses: actions/create-github-app-token@v2
+        id: generate-token
+        with:
+          # GitHub App ID secret name
+          app-id: ${{ secrets.APP_ID }}
+          # GitHub App private key secret name
+          private-key: ${{ secrets.APP_PRIVATE_KEY }}
+      - name: Checkout repository
+        uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+          token: ${{ steps.generate-token.outputs.token }}
+      - name: Install Rust toolchain
+        uses: dtolnay/rust-toolchain@stable
+      - name: Run release-plz
+        uses: release-plz/action@v0.5
+        with:
+          command: release-pr
+        env:
+          GITHUB_TOKEN: ${{ steps.generate-token.outputs.token }}
+          CARGO_REGISTRY_TOKEN: ${{ secrets.CARGO_REGISTRY_TOKEN }}
diff --git a/Cargo.toml b/Cargo.toml
new file mode 100644
index 000000000..afac85b2a
--- /dev/null
+++ b/Cargo.toml
@@ -0,0 +1,5 @@
+[workspace]
+members = [
+  "rclrs",
+]
+resolver = "2"
diff --git a/release-plz.toml b/release-plz.toml
new file mode 100644
index 000000000..14a99fb05
--- /dev/null
+++ b/release-plz.toml
@@ -0,0 +1,6 @@
+[workspace]
+
+[[package]]
+name = "rclrs"
+publish_features = ["use_ros_shim"]
+publish_all_features = false