diff --git a/.github/workflows/create-ros2-package.yaml b/.github/workflows/create-ros2-package.yaml
new file mode 100644
index 0000000..f7c891f
--- /dev/null
+++ b/.github/workflows/create-ros2-package.yaml
@@ -0,0 +1,81 @@
+name: create-ros2-package
+
+on:
+  workflow_dispatch:
+    inputs:
+      package-name:
+        description: "Name of the ROS 2 package to create"
+        required: true
+        type: string
+      maintainer-email:
+        description: "Email of the maintainer"
+        required: true
+        type: string
+      maintainer-name:
+        description: "Name of the maintainer"
+        required: true
+        type: string
+
+jobs:
+  create-package:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Generate token
+        id: generate-token
+        uses: tibdex/github-app-token@v2
+        with:
+          app_id: ${{ secrets.APP_ID }}
+          private_key: ${{ secrets.PRIVATE_KEY }}
+
+      - name: Check out repository
+        uses: actions/checkout@v4
+
+      - name: Create ROS 2 package
+        run: |
+          if [ -d ${{ inputs.package-name }} ]; then
+            echo "Package ${{ inputs.package-name }} already exists."
+            exit 1
+          fi
+
+          mkdir ${{ inputs.package-name}} && cd ${{ inputs.package-name}}
+
+          if [[ "${{ inputs.package-name }}" != *_msgs ]]; then
+            mkdir src && touch src/.gitkeep
+            mkdir include/${{ inputs.package-name}} && touch include/${{ inputs.package-name}}/.gitkeep
+            mkdir launch && touch launch/.gitkeep
+            cp ../.template-package/.CMakeLists.txt ./CMakeLists.txt
+            cp ../.template-package/.package.xml ./package.xml
+          else
+            mkdir msg && touch msg/.gitkeep
+            cp ../.template-interface-package/.CMakeLists.txt ./CMakeLists.txt
+            cp ../.template-interface-package/.package.xml ./package.xml
+          fi
+
+          sed 's/__PACKAGE_NAME__/package-name/g' ./CMakeLists.txt > "./CMakeLists.txt.tmp"
+          mv "./CMakeLists.txt.tmp" "./CMakeLists.txt"
+          sed -e 's/__PACKAGE_NAME__/package-name/g' -e 's/__MAINTAINER_EMAIL__/maintainer-email/g' -e 's/__MAINTAINER_NAME__/maintainer-name/g' ./package.xml > "./package.xml.tmp"
+          mv "./package.xml.tmp" "./package.xml"
+
+      - name: Create PR
+        id: create-pr
+        uses: peter-evans/create-pull-request@v5
+        with:
+          token: ${{ steps.generate-token.outputs.token }}
+          base: ${{ github.event.repository.default_branch }}
+          branch: create-package-${{ inputs.package-name }}
+          title: "feat: create ${{ inputs.package-name }} package"
+          commit-message: "feat: create ${{ inputs.package-name }} package"
+          body: "Create ${{ inputs.package-name }} package."
+          signoff: true
+          delete-branch: true
+
+      - name: Check outputs
+        run: |
+          echo "Pull Request Number - ${{ steps.create-pr.outputs.pull-request-number }}"
+          echo "Pull Request URL - ${{ steps.create-pr.outputs.pull-request-url }}"
+
+      - name: Enable auto-merge
+        if: ${{ steps.create-pr.outputs.pull-request-operation == 'created' }}
+        run: gh pr merge --squash --auto "${{ steps.create-pr.outputs.pull-request-number }}"
+        env:
+          GITHUB_TOKEN: ${{ steps.generate-token.outputs.token }}
diff --git a/.template-interface-package/.CMakeLists.txt b/.template-interface-package/.CMakeLists.txt
new file mode 100644
index 0000000..6ce2865
--- /dev/null
+++ b/.template-interface-package/.CMakeLists.txt
@@ -0,0 +1,19 @@
+cmake_minimum_required(VERSION 3.5)
+project(__PACKAGE_NAME__)
+
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  DEPENDENCIES
+)
+
+ament_package()
\ No newline at end of file
diff --git a/.template-interface-package/.package.xml b/.template-interface-package/.package.xml
new file mode 100644
index 0000000..7b3ce3e
--- /dev/null
+++ b/.template-interface-package/.package.xml
@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>__PACKAGE_NAME__</name>
+  <version>0.0.0</version>
+  <description>The __PACKAGE_NAME__ package</description>
+  <maintainer email="__MAINTAINER_EMAIL__">__MAINTAINER_NAME__</maintainer>
+
+  <license>Apache 2</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
\ No newline at end of file
diff --git a/.template-package/.CMakeLists.txt b/.template-package/.CMakeLists.txt
new file mode 100644
index 0000000..fbb663b
--- /dev/null
+++ b/.template-package/.CMakeLists.txt
@@ -0,0 +1,21 @@
+cmake_minimum_required(VERSION 3.5)
+project(__PACKAGE_NAME__)
+
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_auto_package(INSTALL_TO_SHARE
+  launch
+)
\ No newline at end of file
diff --git a/.template-package/.package.xml b/.template-package/.package.xml
new file mode 100644
index 0000000..540291d
--- /dev/null
+++ b/.template-package/.package.xml
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>__PACKAGE_NAME__</name>
+  <version>0.0.0</version>
+  <description>The __PACKAGE_NAME__ package</description>
+  <maintainer email="__MAINTAINER_EMAIL__">__MAINTAINER_NAME__</maintainer>
+
+  <license>Apache 2</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
\ No newline at end of file