diff --git a/.github/workflows/package.yaml b/.github/workflows/package.yaml
new file mode 100644
index 0000000..48098d1
--- /dev/null
+++ b/.github/workflows/package.yaml
@@ -0,0 +1,17 @@
+name: Package
+on:
+  # TODO remove this line
+  pull_request:
+  push:
+    branches:
+      - rolling
+jobs:
+  deb:
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: jspricke/ros-deb-builder-action@main
+        with:
+          DEB_DISTRO: jammy
+          ROS_DISTRO: rolling
+          GITHUB_TOKEN: ${{ secrets.TOKEN }}
+          SQUASH_HISTORY: true
diff --git a/README.md b/README.md
index cf717a3..a57779a 100644
--- a/README.md
+++ b/README.md
@@ -34,6 +34,8 @@ $ ROS 2 topic list
 
 ## How to use
 
+### Build from source
+
 1. Clone package into your workspace
    ```sh
    $ cd ~/ws/src
@@ -54,3 +56,29 @@ $ ROS 2 topic list
    $ ROS 1 topic list
    $ # etc.
    ```
+
+### Install binary
+
+For ROS 2 Rolling on Ubuntu 22.04:
+
+1. Add this GitHub repository as an `apt` and `rosdep` repository and update
+   ```sh
+   $ echo "deb [trusted=yes] https://raw.githubusercontent.com/christophebedard/ros_2cli/jammy-rolling/ ./" | sudo tee /etc/apt/sources.list.d/christophebedard_ros_2cli.list
+   $ echo "yaml https://raw.githubusercontent.com/christophebedard/ros_2cli/jammy-rolling/local.yaml rolling" | sudo tee /etc/ros/rosdep/sources.list.d/1-christophebedard_ros_2cli.list
+   $ sudo apt-get update
+   $ rosdep update
+   ```
+1. Install `ros_2cli`
+   ```sh
+   $ sudo apt-get install -y ros-rolling-ros-2cli
+   ```
+1. Source
+   ```sh
+   $ source /opt/ros/rolling/setup.bash
+   ```
+1. Use commands
+   ```sh
+   $ ROS 2 run pkg exe
+   $ ROS 1 topic list
+   $ # etc.
+   ```