diff --git a/CMakeLists.txt b/CMakeLists.txt
index 7344d08..3d531a9 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,3 +1,9 @@
+# Default to the ROS2 build unless ROS1 is explicitly requested, so the else()
+# (ROS2) branch below is taken when ROS_EDITION is unset or set to "ROS2".
+if(NOT ROS_EDITION)
+  set(ROS_EDITION "ROS2")
+endif()
+
 # judge which cmake codes to use 
 if(ROS_EDITION STREQUAL "ROS1")
 
@@ -191,6 +197,12 @@ else(ROS_EDITION STREQUAL "ROS2")
   cmake_minimum_required(VERSION 3.14)
   project(livox_ros_driver2)
 
+  # Fall back to the sourced ROS distro when -DDISTRO_ROS was not passed, so a
+  # plain `colcon build` behaves the same as the flagged Dockerfile build.
+  if(NOT DISTRO_ROS)
+    set(DISTRO_ROS "$ENV{ROS_DISTRO}")
+  endif()
+
   # Default to C99
   if(NOT CMAKE_C_STANDARD)
     set(CMAKE_C_STANDARD 99)
diff --git a/launch b/launch
new file mode 120000
index 0000000..163fb01
--- /dev/null
+++ b/launch
@@ -0,0 +1 @@
+launch_ROS2
\ No newline at end of file
diff --git a/package.xml b/package.xml
new file mode 100644
index 0000000..0000000
--- /dev/null
+++ b/package.xml
@@ -0,0 +1,36 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>livox_ros_driver2</name>
+  <version>1.0.0</version>
+  <description>The ROS device driver for Livox 3D LiDARs, for ROS2</description>
+  <maintainer email="dev@livoxtech.com">feng</maintainer>
+  <license>MIT</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  <build_depend>rosidl_default_generators</build_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
+  <depend>std_msgs</depend>
+  <depend>sensor_msgs</depend>
+  <depend>rcutils</depend>
+  <depend>pcl_conversions</depend>
+  <depend>rcl_interfaces</depend>
+  <depend>libpcl-all-dev</depend>
+
+  <exec_depend>rosbag2</exec_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <depend>git</depend>
+  <depend>apr</depend>
+  <depend>livox_sdk2</depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/package_ROS2.xml b/package_ROS2.xml
index 96f5762..c66785b 100644
--- a/package_ROS2.xml
+++ b/package_ROS2.xml
@@ -28,6 +28,7 @@
 
   <depend>git</depend>
   <depend>apr</depend>
+  <depend>livox_sdk2</depend>
 
   <export>
     <build_type>ament_cmake</build_type>