diff --git a/.github/workflows/main.yaml b/.github/workflows/main.yaml
new file mode 100644
index 0000000..4ec1786
--- /dev/null
+++ b/.github/workflows/main.yaml
@@ -0,0 +1,70 @@
+name: main
+
+on:
+  push:
+    # Sequence of patterns matched against refs/tags
+    tags:
+      - 'ver_ssrc_rel_*' # Push events to matching ver_ssrc_rel_*
+
+jobs:
+  tii-deb:
+    runs-on: ubuntu-latest
+    steps:
+
+      - name: Checkout fog_sw
+        uses: actions/checkout@v2
+        with:
+          path: fog_sw
+
+      - name: Checkout ci-scripts
+        uses: actions/checkout@v2
+        with:
+          repository: tiiuae/fogsw-ci-scripts
+          path: fogsw-ci-scripts
+
+      # Run docker build
+      - name: Run fog-sw docker build
+        run: |
+          set -eux
+          mkdir bin
+          pushd fogsw-ci-scripts
+          ./generate_deb.sh ../fog_sw ../bin/
+          popd
+
+      - name: Install jfrog CLI tool
+        env:
+          JFROG_CLI_URL: https://artifactory.ssrc.fi/artifactory/gen-public-local/tools/jfrog/jfrog-1.45.2.tar.gz
+        if: github.event_name == 'push'
+        run: |
+          set -exu
+          mkdir -p "$GITHUB_WORKSPACE/.jfrog/bin"
+          curl -L "$JFROG_CLI_URL" -o "$GITHUB_WORKSPACE/.jfrog/jfrog.tar.gz"
+          tar -C "$GITHUB_WORKSPACE/.jfrog/bin" -zxf "$GITHUB_WORKSPACE/.jfrog/jfrog.tar.gz"
+          echo "$GITHUB_WORKSPACE/.jfrog/bin" >> "$GITHUB_PATH"
+          echo "JFROG_CLI_HOME_DIR=$GITHUB_WORKSPACE/.jfrog" >> "$GITHUB_ENV"
+
+      - name: Upload to Artifactory
+        env:
+          ARTIFACTORY_TOKEN: ${{ secrets.ARTIFACTORY_TOKEN }}
+          ARTIFACTORY_REPO: debian-release-local
+          DISTRIBUTION: focal
+          COMPONENT: fog-sw
+          ARCHITECTURE: amd64
+          BUILD_NAME: fog-sw-full
+          CI: true
+        if: github.event_name == 'push'
+        run: |
+          set -exu
+          jfrog rt c import "$ARTIFACTORY_TOKEN"
+          jfrog rt ping
+          pkg=$(find bin -name 'fog-sw-full*.deb')
+          jfrog rt u --deb "$DISTRIBUTION/$COMPONENT/$ARCHITECTURE" \
+                     --target-props COMMIT="$GITHUB_SHA" \
+                     --build-name "$BUILD_NAME" \
+                     --build-number "$GITHUB_SHA" \
+                     "$pkg" \
+                     "$ARTIFACTORY_REPO"
+          jfrog rt build-publish "$BUILD_NAME" "$GITHUB_SHA"
+          jfrog rt bpr "$BUILD_NAME" "$GITHUB_SHA" "$ARTIFACTORY_REPO" \
+                       --status "${GITHUB_REF#refs/tags/}" \
+                       --comment "fog-sw-full release build"
diff --git a/.gitignore b/.gitignore
index 37520a0..80ff6e2 100644
--- a/.gitignore
+++ b/.gitignore
@@ -12,8 +12,7 @@ build/
 venv/
 ros2_ws/KeyFrameTrajectory.txt
 ros2_ws/src/ros-foxy-*
-*debian/
 *obj-x86_64*/
 
 # avoid adding binary to repo
-packaging/agent_protocol_splitter/protocol_splitter
\ No newline at end of file
+packaging/agent_protocol_splitter/protocol_splitter
diff --git a/packaging/build.sh b/packaging/build.sh
new file mode 100755
index 0000000..c56e6b0
--- /dev/null
+++ b/packaging/build.sh
@@ -0,0 +1,9 @@
+#!/bin/bash
+
+build_dir=$1
+dest_dir=$2
+
+# Copy debian files from mod_specific directory
+cp ${build_dir}/packaging/debian/* ${dest_dir}/DEBIAN/
+
+exit 0
\ No newline at end of file
diff --git a/packaging/debian/control b/packaging/debian/control
new file mode 100644
index 0000000..d6fecf2
--- /dev/null
+++ b/packaging/debian/control
@@ -0,0 +1,20 @@
+Package: fog-sw-full
+Version: VERSION
+Maintainer: manuel.segarra-abad <manuel.segarra-abad@unikie.com>
+Architecture: amd64
+Description: FOG SW meta package.
+Depends: agent-protocol-splitter (= 1.0.0-13~git20210419.ed16b42),
+  communication-link (= 2.0.0-29~git20210526.843fd45),
+  fast-dds-gen (= 1.0.0-3~git20210421.694704f),
+  fogsw-configs (= 1.0.0-4~git20210526.5b156bf),
+  fog-sw-systemd-services (= 1.0.0-21~git20210601.675cb6f),
+  libsurvive (= 1.0.0-3~git20210421.b966a6c),
+  mavlink-router (= 1.0.0-6~git20210419.14c1368),
+  mavsdk (= 0.34.0),
+  mission-engine (= 2.0.0-10~git20210526.b4285bc),
+  ros-foxy-depthai-ctrl (= 0.5.3-28~git20210601.80de68d),
+  ros-foxy-indoor-pos (= 1.0.0-12~git20210426.81d1987),
+  ros-foxy-mesh-com (= 0.3.3-29~git20210601.8ecb707),
+  ros-foxy-px4-mavlink-ctrl (= 0.1.0-11~git20210426.5836a83),
+  ros-foxy-px4-msgs (= 2.0.1-5~git20210419.b4c4a12),
+  ros-foxy-px4-ros-com (= 0.1.0-15~git20210602.4acff59)
diff --git a/packaging/debian/postinst b/packaging/debian/postinst
new file mode 100755
index 0000000..8c3cbfc
--- /dev/null
+++ b/packaging/debian/postinst
@@ -0,0 +1,3 @@
+#!/bin/bash
+
+exit 0
diff --git a/packaging/debian/prerm b/packaging/debian/prerm
new file mode 100755
index 0000000..8c3cbfc
--- /dev/null
+++ b/packaging/debian/prerm
@@ -0,0 +1,3 @@
+#!/bin/bash
+
+exit 0
diff --git a/packaging/package.sh b/packaging/package.sh
index 2d0a490..ab1b991 100755
--- a/packaging/package.sh
+++ b/packaging/package.sh
@@ -1,53 +1,25 @@
 #!/bin/bash
 
-pushd agent_protocol_splitter
-./package.sh
-popd
-
-pushd systemd
-./package.sh
-popd
-
-pushd mavlink-router
-./package.sh
-popd
-
-pushd ../ros2_ws/src/px4_mavlink_ctrl
-bloom-generate rosdebian --os-name ubuntu --os-version focal --ros-distro foxy && sed -i 's/^\tdh_shlibdeps.*/& --dpkg-shlibdeps-params=--ignore-missing-info/g' debian/rules && fakeroot debian/rules binary && mv ../*.deb ../../../packaging/
-popd
-
-pushd ../ros2_ws/src/mesh_com/modules/mesh_com
-bloom-generate rosdebian --os-name ubuntu --os-version focal --ros-distro foxy && fakeroot debian/rules binary && mv ../*.deb ../../../../../packaging/
-popd
-
-pushd ../ros2_ws/src/px4_msgs
-bloom-generate rosdebian --os-name ubuntu --os-version focal --ros-distro foxy && fakeroot debian/rules binary && mv ../*.deb ../../../packaging/
-# The following px4_ros_com needs px4_msgs, which was just compiled, so add it to the CMAKE paths
-export CMAKE_PREFIX_PATH=${PWD}/debian/ros-foxy-px4-msgs/opt/ros/foxy
-popd
-
-pushd ../ros2_ws/src/px4_ros_com
-bloom-generate rosdebian --os-name ubuntu --os-version focal --ros-distro foxy && fakeroot debian/rules binary && mv ../*.deb ../../../packaging/
-popd
-
-pushd ../ros2_ws/src/indoor_pos
-bloom-generate rosdebian --os-name ubuntu --os-version focal --ros-distro foxy && fakeroot debian/rules binary && mv ../*.deb ../../../packaging/
-popd
-
-pushd communication_link
-./package.sh
-popd
-
-pushd ../ros2_ws/src/depthai_ctrl
-bloom-generate rosdebian --os-name ubuntu --os-version focal --ros-distro foxy && \
-sed -i 's/^\tdh_shlibdeps.*/& --dpkg-shlibdeps-params=--ignore-missing-info/g' debian/rules && \
-fakeroot debian/rules binary && \
-mv ../*.deb ../../../packaging/
-popd
-
-pushd ../fogsw_secure_os
-./package.sh
-popd
-mv ../fogsw-secure-os*.deb .
-
-exit 0
+get_version() {
+    version=3.1~$(git log --date=format:%Y%m%d --pretty=git%cd.%h -n 1)
+    echo ${version}
+}
+
+make_deb() {
+	echo "Creating deb package..."
+	build_dir=$(mktemp -d)
+	mkdir ${build_dir}/DEBIAN
+
+	cp packaging/debian/* ${build_dir}/DEBIAN/
+
+	get_version
+	sed -i "s/VERSION/${version}/" ${build_dir}/DEBIAN/control
+	cat ${build_dir}/DEBIAN/control
+	echo fog-sw-full_${version}_amd64.deb
+	fakeroot dpkg-deb --build ${build_dir} ../fog-sw-full_${version}_amd64.deb
+	rm -rf ${build_dir}
+	echo "Done"
+}
+
+version=$(get_version)
+make_deb
diff --git a/packaging/package_all.sh b/packaging/package_all.sh
new file mode 100755
index 0000000..2d0a490
--- /dev/null
+++ b/packaging/package_all.sh
@@ -0,0 +1,53 @@
+#!/bin/bash
+
+pushd agent_protocol_splitter
+./package.sh
+popd
+
+pushd systemd
+./package.sh
+popd
+
+pushd mavlink-router
+./package.sh
+popd
+
+pushd ../ros2_ws/src/px4_mavlink_ctrl
+bloom-generate rosdebian --os-name ubuntu --os-version focal --ros-distro foxy && sed -i 's/^\tdh_shlibdeps.*/& --dpkg-shlibdeps-params=--ignore-missing-info/g' debian/rules && fakeroot debian/rules binary && mv ../*.deb ../../../packaging/
+popd
+
+pushd ../ros2_ws/src/mesh_com/modules/mesh_com
+bloom-generate rosdebian --os-name ubuntu --os-version focal --ros-distro foxy && fakeroot debian/rules binary && mv ../*.deb ../../../../../packaging/
+popd
+
+pushd ../ros2_ws/src/px4_msgs
+bloom-generate rosdebian --os-name ubuntu --os-version focal --ros-distro foxy && fakeroot debian/rules binary && mv ../*.deb ../../../packaging/
+# The following px4_ros_com needs px4_msgs, which was just compiled, so add it to the CMAKE paths
+export CMAKE_PREFIX_PATH=${PWD}/debian/ros-foxy-px4-msgs/opt/ros/foxy
+popd
+
+pushd ../ros2_ws/src/px4_ros_com
+bloom-generate rosdebian --os-name ubuntu --os-version focal --ros-distro foxy && fakeroot debian/rules binary && mv ../*.deb ../../../packaging/
+popd
+
+pushd ../ros2_ws/src/indoor_pos
+bloom-generate rosdebian --os-name ubuntu --os-version focal --ros-distro foxy && fakeroot debian/rules binary && mv ../*.deb ../../../packaging/
+popd
+
+pushd communication_link
+./package.sh
+popd
+
+pushd ../ros2_ws/src/depthai_ctrl
+bloom-generate rosdebian --os-name ubuntu --os-version focal --ros-distro foxy && \
+sed -i 's/^\tdh_shlibdeps.*/& --dpkg-shlibdeps-params=--ignore-missing-info/g' debian/rules && \
+fakeroot debian/rules binary && \
+mv ../*.deb ../../../packaging/
+popd
+
+pushd ../fogsw_secure_os
+./package.sh
+popd
+mv ../fogsw-secure-os*.deb .
+
+exit 0