diff --git a/CMakeLists.txt b/CMakeLists.txt
index 1a3b45fa..dc37f55d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -24,6 +24,7 @@ find_package(geometry_msgs REQUIRED)
 find_package(px4_msgs REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(sensor_msgs REQUIRED)
+find_package(rclpy REQUIRED)
 
 #################
 # Setup targets #
@@ -111,4 +112,17 @@ if(BUILD_TESTING)
 	ament_lint_auto_find_test_dependencies()
 endif()
 
+###########
+# Python ##
+###########
+
+# Install Python modules
+ament_python_install_package(${PROJECT_NAME})
+
+# Install Python executables
+install(PROGRAMS
+  src/examples/offboard_py/offboard_control.py
+  DESTINATION lib/${PROJECT_NAME}
+)
+
 ament_package()
diff --git a/px4_ros_com/__init__.py b/px4_ros_com/__init__.py
new file mode 100644
index 00000000..e69de29b
diff --git a/px4_ros_com/module_to_import.py b/px4_ros_com/module_to_import.py
new file mode 100644
index 00000000..e69de29b
diff --git a/src/examples/offboard_py/offboard_control.py b/src/examples/offboard_py/offboard_control.py
old mode 100644
new mode 100755
index b23e9cd2..7d59f536
--- a/src/examples/offboard_py/offboard_control.py
+++ b/src/examples/offboard_py/offboard_control.py
@@ -1,3 +1,5 @@
+#!/usr/bin/env python3
+
 import rclpy
 from rclpy.node import Node
 from rclpy.qos import QoSProfile, ReliabilityPolicy, HistoryPolicy, DurabilityPolicy