diff --git a/.dockerignore b/.dockerignore
new file mode 100644
index 0000000..177f786
--- /dev/null
+++ b/.dockerignore
@@ -0,0 +1,3 @@
+.github
+nanosaur_tools
+Dockerfile*
\ No newline at end of file
diff --git a/.github/FUNDING.yml b/.github/FUNDING.yml
new file mode 100644
index 0000000..cfea5f7
--- /dev/null
+++ b/.github/FUNDING.yml
@@ -0,0 +1,5 @@
+# These are supported funding model platforms
+
+github: rbonghi
+patreon: rbonghi
+custom: https://rnext.it
\ No newline at end of file
diff --git a/Dockerfile b/Dockerfile
index 65f9ac4..850ab0f 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -35,3 +35,24 @@ ENV CUDA=10.2
 # Disable terminal interaction for apt
 ENV DEBIAN_FRONTEND=noninteractive
 
+################ NANOSAUR PKGS ####################
+
+# Download and build nanosaur_ei
+ENV ROS_WS /opt/ros_ws
+
+# Copy wstool ei.rosinstall
+COPY nanosaur_ei/rosinstall/ei.rosinstall ei.rosinstall
+
+RUN mkdir -p ${ROS_WS}/src && \
+    vcs import ${ROS_WS}/src < ei.rosinstall
+
+ADD . $ROS_WS/src/nanosaur_ei
+
+# Change workdir
+WORKDIR $ROS_WS
+
+# Build nanosaur edge impulse package
+RUN . /opt/ros/$ROS_DISTRO/install/setup.sh && \
+    colcon build --symlink-install \
+    --cmake-args \
+    -DCMAKE_BUILD_TYPE=Release
\ No newline at end of file
diff --git a/nanosaur_ei/package.xml b/nanosaur_ei/package.xml
new file mode 100644
index 0000000..9f9632b
--- /dev/null
+++ b/nanosaur_ei/package.xml
@@ -0,0 +1,50 @@
+<?xml version="1.0"?>
+<!--
+Copyright (C) 2022, Raffaello Bonghi <raffaello@rnext.it>
+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.
+3. Neither the name of the copyright holder nor the names of its 
+   contributors may be used to endorse or promote products derived 
+   from this software without specific prior written permission.
+ 
+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.
+-->
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+    <name>nanosaur_ei</name>
+    <version>0.1.0</version>
+    <description>nanosaur edge impulse</description>
+
+    <author email="raffaello@rnext.it">Raffaello Bonghi</author>
+    <maintainer email="raffaello@rnext.it">Raffaello Bonghi</maintainer>
+    <license>MIT</license>
+
+    <url type="website">https://nanosaur.ai/</url>
+    <url type="repository">https://github.com/rnanosaur/nanosaur_ei</url>
+    <url type="bugtracker">https://github.com/rnanosaur/nanosaur_ei/issues</url>
+
+    <buildtool_depend>ament_cmake</buildtool_depend>
+
+    <test_depend>ament_lint_auto</test_depend>
+    <test_depend>ament_lint_common</test_depend>
+
+    <export>
+        <build_type>ament_cmake</build_type>
+    </export>
+</package>
\ No newline at end of file
diff --git a/nanosaur_ei/rosinstall/ei.rosinstall b/nanosaur_ei/rosinstall/ei.rosinstall
new file mode 100644
index 0000000..fa60653
--- /dev/null
+++ b/nanosaur_ei/rosinstall/ei.rosinstall
@@ -0,0 +1,8 @@
+- git:
+    local-name: nanosaur
+    version: foxy
+    uri: https://github.com/rnanosaur/nanosaur.git
+- git:
+    local-name: edgeimpulse_ros
+    version: 0.0.1
+    uri: https://github.com/gbr1/edgeimpulse_ros.git
\ No newline at end of file