diff --git a/pyproject.toml b/pyproject.toml
new file mode 100644
index 00000000..398639eb
--- /dev/null
+++ b/pyproject.toml
@@ -0,0 +1,13 @@
+[build-system]
+requires = ['setuptools', 'pycyphal~=1.20.0']
+build-backend = 'setuptools.build_meta'
+
+[project]
+name = 'public-regulated-data-types'
+version = '0.0.1'
+
+[tool.setuptools]
+packages = []
+exclude-package-data = { public_regulated_data_types = [
+	"*.dsdl",
+] } # don't include dsdl files in wheel
diff --git a/setup.py b/setup.py
new file mode 100644
index 00000000..3638d795
--- /dev/null
+++ b/setup.py
@@ -0,0 +1,40 @@
+import pycyphal
+from contextlib import suppress
+from pathlib import Path
+from setuptools import Command, setup
+from setuptools.command.build import build
+import pathlib
+
+
+class CustomCommand(Command):
+    def initialize_options(self) -> None:
+        self.bdist_dir = None
+        self.proto_msgs_path = None
+        self.pkg_name = None
+
+    def finalize_options(self) -> None:
+        self.pkg_name = self.distribution.get_name().replace("-", "_")
+        self.proto_msgs_path = Path(self.pkg_name)
+        with suppress(Exception):
+            self.bdist_dir = Path(self.get_finalized_command("bdist_wheel").bdist_dir)
+
+    def run(self) -> None:
+        if self.bdist_dir:
+            # Create package structure
+            output_dir = self.bdist_dir
+            cur_path = pathlib.Path(__file__).parent
+            uavcan_path = cur_path / "uavcan"
+            pycyphal.dsdl.compile_all(
+                root_namespace_directories=[
+                    cur_path / "uavcan",
+                    cur_path / "reg",
+                ],
+                output_directory=output_dir,
+            )
+
+
+class CustomBuild(build):
+    sub_commands = [("build_custom", None)] + build.sub_commands
+
+
+setup(cmdclass={"build": CustomBuild, "build_custom": CustomCommand})