diff --git a/Cargo.toml b/Cargo.toml
index dbf5647..07408be 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -1,39 +1,8 @@
-
-[package]
-name = "r2r"
-version = "0.6.3"
-authors = ["Martin Dahl <martin.dahl@gmail.com>"]
-description = "Easy to use, runtime-agnostic, async rust bindings for ROS2."
-license = "MIT AND Apache-2.0"
-edition = "2021"
-readme = "README.md"
-homepage = "https://github.com/sequenceplanner/r2r"
-repository = "https://github.com/sequenceplanner/r2r"
-documentation = "https://sequenceplanner.github.io/r2r/"
-
-[lib]
-doctest = false
-
-[dependencies]
-serde = { version = "1.0.133", features = ["derive"] }
-serde_json = "1.0.74"
-thiserror = "1.0.30"
-lazy_static = "1.4.0"
-r2r_common = { path = "r2r_common", version = "0.3.2" }
-r2r_rcl = { path = "r2r_rcl", version = "0.3.2" }
-r2r_msg_gen = { path = "r2r_msg_gen", version = "0.3.3" }
-r2r_actions = { path = "r2r_actions", version = "0.3.2" }
-uuid = { version = "0.8.2", features = ["serde", "v4"] }
-futures = "0.3.19"
-
-[dev-dependencies]
-serde_json = "1.0.74"
-futures = "0.3.19"
-tokio = { version = "1.15.0", features = ["full"] }
-rand = "0.8.4"
-
-[build-dependencies]
-r2r_common = { path = "r2r_common", version = "0.3.2" }
-r2r_msg_gen = { path = "r2r_msg_gen", version = "0.3.3" }
-
 [workspace]
+members = [
+    "r2r",
+    "r2r_actions",
+    "r2r_common",
+    "r2r_msg_gen",
+    "r2r_rcl",
+]
\ No newline at end of file
diff --git a/r2r/Cargo.toml b/r2r/Cargo.toml
new file mode 100644
index 0000000..cd8ced3
--- /dev/null
+++ b/r2r/Cargo.toml
@@ -0,0 +1,36 @@
+[package]
+name = "r2r"
+version = "0.6.3"
+authors = ["Martin Dahl <martin.dahl@gmail.com>"]
+description = "Easy to use, runtime-agnostic, async rust bindings for ROS2."
+license = "MIT AND Apache-2.0"
+edition = "2021"
+readme = "README.md"
+homepage = "https://github.com/sequenceplanner/r2r"
+repository = "https://github.com/sequenceplanner/r2r"
+documentation = "https://sequenceplanner.github.io/r2r/"
+
+[lib]
+doctest = false
+
+[dependencies]
+serde = { version = "1.0.133", features = ["derive"] }
+serde_json = "1.0.74"
+thiserror = "1.0.30"
+lazy_static = "1.4.0"
+r2r_common = { path = "../r2r_common", version = "0.3.2" }
+r2r_rcl = { path = "../r2r_rcl", version = "0.3.2" }
+r2r_msg_gen = { path = "../r2r_msg_gen", version = "0.3.3" }
+r2r_actions = { path = "../r2r_actions", version = "0.3.2" }
+uuid = { version = "0.8.2", features = ["serde", "v4"] }
+futures = "0.3.19"
+
+[dev-dependencies]
+serde_json = "1.0.74"
+futures = "0.3.19"
+tokio = { version = "1.15.0", features = ["full"] }
+rand = "0.8.4"
+
+[build-dependencies]
+r2r_common = { path = "../r2r_common", version = "0.3.2" }
+r2r_msg_gen = { path = "../r2r_msg_gen", version = "0.3.3" }
diff --git a/build.rs b/r2r/build.rs
similarity index 100%
rename from build.rs
rename to r2r/build.rs
diff --git a/examples/action_client.rs b/r2r/examples/action_client.rs
similarity index 100%
rename from examples/action_client.rs
rename to r2r/examples/action_client.rs
diff --git a/examples/action_client_untyped.rs b/r2r/examples/action_client_untyped.rs
similarity index 100%
rename from examples/action_client_untyped.rs
rename to r2r/examples/action_client_untyped.rs
diff --git a/examples/action_server.rs b/r2r/examples/action_server.rs
similarity index 100%
rename from examples/action_server.rs
rename to r2r/examples/action_server.rs
diff --git a/examples/client.rs b/r2r/examples/client.rs
similarity index 100%
rename from examples/client.rs
rename to r2r/examples/client.rs
diff --git a/examples/clock.rs b/r2r/examples/clock.rs
similarity index 100%
rename from examples/clock.rs
rename to r2r/examples/clock.rs
diff --git a/examples/logging.rs b/r2r/examples/logging.rs
similarity index 100%
rename from examples/logging.rs
rename to r2r/examples/logging.rs
diff --git a/examples/parameters.rs b/r2r/examples/parameters.rs
similarity index 100%
rename from examples/parameters.rs
rename to r2r/examples/parameters.rs
diff --git a/examples/publishers.rs b/r2r/examples/publishers.rs
similarity index 100%
rename from examples/publishers.rs
rename to r2r/examples/publishers.rs
diff --git a/examples/rostopic_echo.rs b/r2r/examples/rostopic_echo.rs
similarity index 100%
rename from examples/rostopic_echo.rs
rename to r2r/examples/rostopic_echo.rs
diff --git a/examples/rostopic_list.rs b/r2r/examples/rostopic_list.rs
similarity index 100%
rename from examples/rostopic_list.rs
rename to r2r/examples/rostopic_list.rs
diff --git a/examples/service.rs b/r2r/examples/service.rs
similarity index 100%
rename from examples/service.rs
rename to r2r/examples/service.rs
diff --git a/examples/subscriber.rs b/r2r/examples/subscriber.rs
similarity index 100%
rename from examples/subscriber.rs
rename to r2r/examples/subscriber.rs
diff --git a/examples/tokio.rs b/r2r/examples/tokio.rs
similarity index 100%
rename from examples/tokio.rs
rename to r2r/examples/tokio.rs
diff --git a/examples/tokio_client.rs b/r2r/examples/tokio_client.rs
similarity index 100%
rename from examples/tokio_client.rs
rename to r2r/examples/tokio_client.rs
diff --git a/examples/tokio_examples.rs b/r2r/examples/tokio_examples.rs
similarity index 100%
rename from examples/tokio_examples.rs
rename to r2r/examples/tokio_examples.rs
diff --git a/examples/tokio_publisher.rs b/r2r/examples/tokio_publisher.rs
similarity index 100%
rename from examples/tokio_publisher.rs
rename to r2r/examples/tokio_publisher.rs
diff --git a/examples/tokio_service.rs b/r2r/examples/tokio_service.rs
similarity index 100%
rename from examples/tokio_service.rs
rename to r2r/examples/tokio_service.rs
diff --git a/examples/tokio_subscriber.rs b/r2r/examples/tokio_subscriber.rs
similarity index 100%
rename from examples/tokio_subscriber.rs
rename to r2r/examples/tokio_subscriber.rs
diff --git a/examples/untyped_client.rs b/r2r/examples/untyped_client.rs
similarity index 100%
rename from examples/untyped_client.rs
rename to r2r/examples/untyped_client.rs
diff --git a/examples/wall_timer.rs b/r2r/examples/wall_timer.rs
similarity index 100%
rename from examples/wall_timer.rs
rename to r2r/examples/wall_timer.rs
diff --git a/src/action_clients.rs b/r2r/src/action_clients.rs
similarity index 100%
rename from src/action_clients.rs
rename to r2r/src/action_clients.rs
diff --git a/src/action_clients_untyped.rs b/r2r/src/action_clients_untyped.rs
similarity index 100%
rename from src/action_clients_untyped.rs
rename to r2r/src/action_clients_untyped.rs
diff --git a/src/action_common.rs b/r2r/src/action_common.rs
similarity index 100%
rename from src/action_common.rs
rename to r2r/src/action_common.rs
diff --git a/src/action_servers.rs b/r2r/src/action_servers.rs
similarity index 100%
rename from src/action_servers.rs
rename to r2r/src/action_servers.rs
diff --git a/src/clients.rs b/r2r/src/clients.rs
similarity index 100%
rename from src/clients.rs
rename to r2r/src/clients.rs
diff --git a/src/clocks.rs b/r2r/src/clocks.rs
similarity index 100%
rename from src/clocks.rs
rename to r2r/src/clocks.rs
diff --git a/src/context.rs b/r2r/src/context.rs
similarity index 100%
rename from src/context.rs
rename to r2r/src/context.rs
diff --git a/src/error.rs b/r2r/src/error.rs
similarity index 100%
rename from src/error.rs
rename to r2r/src/error.rs
diff --git a/src/lib.rs b/r2r/src/lib.rs
similarity index 100%
rename from src/lib.rs
rename to r2r/src/lib.rs
diff --git a/src/msg_types.rs b/r2r/src/msg_types.rs
similarity index 100%
rename from src/msg_types.rs
rename to r2r/src/msg_types.rs
diff --git a/src/nodes.rs b/r2r/src/nodes.rs
similarity index 100%
rename from src/nodes.rs
rename to r2r/src/nodes.rs
diff --git a/src/parameters.rs b/r2r/src/parameters.rs
similarity index 100%
rename from src/parameters.rs
rename to r2r/src/parameters.rs
diff --git a/src/publishers.rs b/r2r/src/publishers.rs
similarity index 100%
rename from src/publishers.rs
rename to r2r/src/publishers.rs
diff --git a/src/qos.rs b/r2r/src/qos.rs
similarity index 100%
rename from src/qos.rs
rename to r2r/src/qos.rs
diff --git a/src/services.rs b/r2r/src/services.rs
similarity index 100%
rename from src/services.rs
rename to r2r/src/services.rs
diff --git a/src/subscribers.rs b/r2r/src/subscribers.rs
similarity index 100%
rename from src/subscribers.rs
rename to r2r/src/subscribers.rs
diff --git a/src/utils.rs b/r2r/src/utils.rs
similarity index 100%
rename from src/utils.rs
rename to r2r/src/utils.rs
diff --git a/tests/Dockerfile b/r2r/tests/Dockerfile
similarity index 100%
rename from tests/Dockerfile
rename to r2r/tests/Dockerfile
diff --git a/tests/Dockerfile_foxy b/r2r/tests/Dockerfile_foxy
similarity index 100%
rename from tests/Dockerfile_foxy
rename to r2r/tests/Dockerfile_foxy
diff --git a/tests/Dockerfile_galactic b/r2r/tests/Dockerfile_galactic
similarity index 100%
rename from tests/Dockerfile_galactic
rename to r2r/tests/Dockerfile_galactic
diff --git a/tests/test.sh b/r2r/tests/test.sh
similarity index 100%
rename from tests/test.sh
rename to r2r/tests/test.sh
diff --git a/tests/threads.rs b/r2r/tests/threads.rs
similarity index 100%
rename from tests/threads.rs
rename to r2r/tests/threads.rs
diff --git a/tests/tokio_testing.rs b/r2r/tests/tokio_testing.rs
similarity index 100%
rename from tests/tokio_testing.rs
rename to r2r/tests/tokio_testing.rs