diff --git a/README.md b/README.md
index 3c3638f..84f580c 100644
--- a/README.md
+++ b/README.md
@@ -14,7 +14,7 @@ These bindings are being written organically when things are needed by me and ot
 How to use
 --------------------
 1. Make sure you have libclang installed. (e.g. libclang-dev on ubuntu)
-2. Depend on this package in Cargo.toml: r2r = "0.6.2"
+2. Depend on this package in Cargo.toml: r2r = "0.6.3"
 3. You need to source your ROS2 installation before building/running.
 4. The bindings will rebuild automatically if/when you source your workspace(s).
 5. If you make changes to existing message types, run cargo clean -p msg_gen to force recompilation of the rust message types on the next build.
diff --git a/r2r_cargo.cmake b/r2r_cargo.cmake
new file mode 100644
index 0000000..221e230
--- /dev/null
+++ b/r2r_cargo.cmake
@@ -0,0 +1,97 @@
+#
+# For r2r 0.6.3.
+#
+# cmake code for simple colcon integration.
+# See https://github.com/m-dahl/r2r_minimal_node/
+# for an example of how to use it to build with colcon.
+#
+
+# the "recursive" dependencies already defined don't seem to include all
+# packages. sigh. so here we traverse the dependencies manually
+# instead. we also keep track of which packages that contain idl files.
+function(get_idl_deps OUT_INC OUT_LIB OUT_PKG_DIRS PKG)
+    find_package(${PKG} REQUIRED)
+    list(APPEND VISITED_TARGETS ${PKG})
+
+    set(INCS "${${PKG}_INCLUDE_DIRS}")
+    set(LIBS "${${PKG}_LIBRARIES}")
+
+    # only keep track of packages that include idl files
+    set(PKG_DIRS "")
+    if(DEFINED ${PKG}_IDL_FILES)
+        list(APPEND PKG_DIRS ${${PKG}_DIR})
+    endif()
+
+    foreach(LIB ${${PKG}_DEPENDENCIES})
+        list(FIND VISITED_TARGETS ${LIB} VISITED)
+        if (${VISITED} EQUAL -1)
+            get_idl_deps(NEW_INCS NEW_LIBS NEW_PKG_DIRS ${LIB})
+            list(APPEND INCS ${NEW_INCS})
+            list(APPEND LIBS ${NEW_LIBS})
+            list(APPEND PKG_DIRS ${NEW_PKG_DIRS})
+            list(REMOVE_DUPLICATES INCS)
+            list(REMOVE_DUPLICATES LIBS)
+            list(REMOVE_DUPLICATES PKG_DIRS)
+        endif()
+    endforeach()
+    set(VISITED_TARGETS ${VISITED_TARGETS} PARENT_SCOPE)
+    set(${OUT_INC} ${INCS} PARENT_SCOPE)
+    set(${OUT_LIB} ${LIBS} PARENT_SCOPE)
+    set(${OUT_PKG_DIRS} ${PKG_DIRS} PARENT_SCOPE)
+endfunction()
+
+function(r2r_cargo)
+  foreach(f ${ARGN})
+    find_package(${f} REQUIRED)
+    set(REC_INC "")
+    set(REC_LIB "")
+    set(REC_PKG_DIRS "")
+    get_idl_deps(REC_INC REC_LIB REC_PKG_DIRS ${f})
+    list(APPEND CMAKE_INCLUDE_DIRS ${REC_INC})
+    list(APPEND CMAKE_LIBRARIES ${REC_LIB})
+    list(APPEND CMAKE_IDL_PACKAGES "${REC_PKG_DIRS}")
+  endforeach()
+  list(REMOVE_DUPLICATES CMAKE_INCLUDE_DIRS)
+  string (REPLACE ";" ":" CMAKE_INCLUDE_DIRS_STR "${CMAKE_INCLUDE_DIRS}")
+  set(ENV{CMAKE_INCLUDE_DIRS} ${CMAKE_INCLUDE_DIRS_STR})
+  list(REMOVE_DUPLICATES CMAKE_LIBRARIES)
+
+  # On OSX  colcon eats the DYLD_LIBRARY_PATH... so we need to add the rpaths
+  # manually...
+  set(RUSTFLAGS "")
+  foreach(p ${CMAKE_LIBRARIES})
+    get_filename_component(_parent "${p}" DIRECTORY)
+    if(IS_DIRECTORY ${_parent})
+        list(APPEND RUSTFLAGS "-C link-arg=-Wl,-rpath,${_parent}")
+    endif()
+  endforeach()
+  list(REMOVE_DUPLICATES RUSTFLAGS)
+
+  string (REPLACE ";" " " RUSTFLAGS_STR "${RUSTFLAGS}")
+  set(ENV{RUSTFLAGS} ${RUSTFLAGS_STR})
+
+  string (REPLACE ":" "+" CMAKE_LIBRARIES_STR "${CMAKE_LIBRARIES}")
+  string (REPLACE ";" ":" CMAKE_LIBRARIES_STR "${CMAKE_LIBRARIES_STR}")
+  set(ENV{CMAKE_LIBRARIES} "${CMAKE_LIBRARIES_STR}")
+
+  list(REMOVE_DUPLICATES CMAKE_IDL_PACKAGES)
+  string (REPLACE ";" ":" CMAKE_IDL_PACKAGES_STR "${CMAKE_IDL_PACKAGES}")
+  set(ENV{CMAKE_IDL_PACKAGES} ${CMAKE_IDL_PACKAGES_STR})
+
+  # custom target for building using cargo
+  option(CARGO_CLEAN "Invoke cargo clean before building" OFF)
+  if(CARGO_CLEAN)
+        add_custom_target(cargo_target ALL
+              COMMAND ${CMAKE_COMMAND} "-E" "env" "cargo" "clean"
+              COMMAND ${CMAKE_COMMAND} "-E" "env" "RUSTFLAGS=$ENV{RUSTFLAGS}" "CMAKE_INCLUDE_DIRS=$ENV{CMAKE_INCLUDE_DIRS}" "CMAKE_LIBRARIES=$ENV{CMAKE_LIBRARIES}" "CMAKE_IDL_PACKAGES=$ENV{CMAKE_IDL_PACKAGES}" "cargo" "build" "--release"
+              WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+              )
+  else()
+          add_custom_target(cargo_target ALL
+              COMMAND ${CMAKE_COMMAND} "-E" "env" "RUSTFLAGS=$ENV{RUSTFLAGS}" "CMAKE_INCLUDE_DIRS=$ENV{CMAKE_INCLUDE_DIRS}" "CMAKE_LIBRARIES=$ENV{CMAKE_LIBRARIES}" "CMAKE_IDL_PACKAGES=$ENV{CMAKE_IDL_PACKAGES}" "cargo" "build" "--release"
+             WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+              )
+  endif(CARGO_CLEAN)
+  unset(CARGO_CLEAN CACHE)
+
+endfunction()