diff --git a/bloom/generators/debian/generate_cmd.py b/bloom/generators/debian/generate_cmd.py
index a0de06f8..ce64e88a 100644
--- a/bloom/generators/debian/generate_cmd.py
+++ b/bloom/generators/debian/generate_cmd.py
@@ -77,17 +77,20 @@ def prepare_arguments(parser):
     add('--ros-distro', help="ROS distro, e.g. %s (used for rosdep)" % get_non_eol_distros_prompt())
     add('-i', '--debian-inc', help="debian increment number", default='0')
     add('--native', action='store_true', help="generate native package")
+    add('-r', '--runtime-pkg', default=False, action="store_true",
+        help="Generate -runtime package")
     return parser
 
 
-def get_subs(pkg, os_name, os_version, ros_distro, deb_inc=0, native=False):
+def get_subs(pkg, os_name, os_version, ros_distro, deb_inc=0, native=False, runtime_pkg=False):
     return generate_substitutions_from_package(
         pkg,
         os_name,
         os_version,
         ros_distro,
         deb_inc=deb_inc,
-        native=native
+        native=native,
+        runtime_pkg=runtime_pkg,
     )
 
 
@@ -125,7 +128,7 @@ def main(args=None, get_subs_fn=None):
     for path, pkg in pkgs_dict.items():
         template_files = None
         try:
-            subs = get_subs_fn(pkg, os_name, os_version, ros_distro, args.debian_inc, args.native)
+            subs = get_subs_fn(pkg, os_name, os_version, ros_distro, args.debian_inc, args.native, args.runtime_pkg)
             if _place_template_files:
                 # Place template files
                 place_template_files(path, pkg.get_build_type())
diff --git a/bloom/generators/debian/generator.py b/bloom/generators/debian/generator.py
index fe629c8d..771e15eb 100644
--- a/bloom/generators/debian/generator.py
+++ b/bloom/generators/debian/generator.py
@@ -195,7 +195,7 @@ def summarize_dependency_mapping(data, deps, build_deps, resolved_deps):
             info(template.format(key, resolved_deps[key]))
 
 
-def format_depends(depends, resolved_deps):
+def format_depends(depends, resolved_deps, ros_distro=""):
     versions = {
         'version_lt': '<<',
         'version_lte': '<=',
@@ -206,6 +206,8 @@ def format_depends(depends, resolved_deps):
     formatted = []
     for d in depends:
         for resolved_dep in resolved_deps[d.name]:
+            if ros_distro and resolved_dep.startswith(f"ros-{ros_distro}"):
+                resolved_dep = f"{resolved_dep}-runtime"
             version_depends = [k
                                for k in versions.keys()
                                if getattr(d, k, None) is not None]
@@ -316,7 +318,8 @@ def generate_substitutions_from_package(
     peer_packages=None,
     releaser_history=None,
     fallback_resolver=None,
-    native=False
+    native=False,
+    runtime_pkg=False,
 ):
     peer_packages = peer_packages or []
     data = {}
@@ -346,8 +349,18 @@ def generate_substitutions_from_package(
     data['InstallationPrefix'] = installation_prefix
     # Resolve dependencies
     evaluate_package_conditions(package, ros_distro)
+
+    if runtime_pkg:
+        exec_depends = [
+            dep for dep in (package.exec_depends)
+            if dep.evaluated_condition is not False]
+        run_depends = package.build_export_depends
+    else:
+        exec_depends = []
+        run_depends = package.run_depends
+
     depends = [
-        dep for dep in (package.run_depends + package.buildtool_export_depends)
+        dep for dep in (run_depends + package.buildtool_export_depends)
         if dep.evaluated_condition is not False]
     build_depends = [
         dep for dep in (package.build_depends + package.buildtool_depends)
@@ -361,12 +374,15 @@ def generate_substitutions_from_package(
     conflicts = [
         dep for dep in package.conflicts
         if dep.evaluated_condition is not False]
-    unresolved_keys = depends + build_depends + test_depends + replaces + conflicts
+    unresolved_keys = exec_depends + depends + build_depends + test_depends + replaces + conflicts
     # The installer key is not considered here, but it is checked when the keys are checked before this
     resolved_deps = resolve_dependencies(unresolved_keys, os_name,
                                          os_version, ros_distro,
                                          peer_packages + [d.name for d in (replaces + conflicts)],
                                          fallback_resolver)
+    data['RuntimeDepends'] = sorted(
+        set(format_depends(exec_depends, resolved_deps, ros_distro))
+    )
     data['Depends'] = sorted(
         set(format_depends(depends, resolved_deps))
     )
@@ -374,7 +390,7 @@ def generate_substitutions_from_package(
     # https://wiki.debian.org/BuildProfileSpec
     data['BuildDepends'] = sorted(
         set(format_depends(build_depends, resolved_deps)) |
-        set(p + ' <!nocheck>' for p in format_depends(test_depends, resolved_deps))
+        set(p + ' <!nocheck>' for p in format_depends(test_depends, resolved_deps, ros_distro if runtime_pkg else ""))
     )
     data['Replaces'] = sorted(
         set(format_depends(replaces, resolved_deps))
@@ -479,6 +495,7 @@ def generate_substitutions_from_package(
         else:
             licenses.append((str(l), 'See repository for full license text'))
     data['Licenses'] = licenses
+    data['RuntimePackage'] = runtime_pkg
 
     def convertToUnicode(obj):
         if sys.version_info.major == 2:
@@ -555,6 +572,8 @@ def process_template_files(path, subs):
     if not os.path.exists(debian_dir):
         sys.exit("No debian directory found at '{0}', cannot process templates."
                  .format(debian_dir))
+    with open(os.path.join(debian_dir, f"{subs['Package']}-runtime.install"), "w", encoding="utf-8") as f:
+        f.write("debian/tmp/*")
     return __process_template_folder(debian_dir, subs)
 
 
@@ -633,6 +652,8 @@ def prepare_arguments(self, parser):
             help='A list of debian (ubuntu) distros to generate for')
         add('--install-prefix', default=None,
             help="overrides the default installation prefix (/usr)")
+        add('-r', '--runtime-pkg', default=False, action="store_true",
+            help="Generate -runtime package")
         add('--os-name', default='ubuntu',
             help="overrides os_name, set to 'ubuntu' by default")
         add('--os-not-required', default=False, action="store_true",
@@ -660,6 +681,7 @@ def handle_arguments(self, args):
         if args.install_prefix is None:
             self.install_prefix = self.default_install_prefix
         self.prefix = args.prefix
+        self.runtime_pkg = args.runtime_pkg
         self.branches = match_branches_with_prefix(self.prefix, get_branches, prune=not args.match_all)
         if len(self.branches) == 0:
             error(
@@ -928,7 +950,8 @@ def get_subs(self, package, debian_distro, releaser_history=None):
             self.debian_inc,
             [p.name for p in self.packages.values()],
             releaser_history=releaser_history,
-            fallback_resolver=missing_dep_resolver
+            fallback_resolver=missing_dep_resolver,
+            runtime_pkg=self.runtime_pkg,
         )
 
     def generate_debian(self, package, debian_distro):
diff --git a/bloom/generators/debian/templates/ament_cmake/control.em b/bloom/generators/debian/templates/ament_cmake/control.em
index 6d7b65c3..5fa462ed 100644
--- a/bloom/generators/debian/templates/ament_cmake/control.em
+++ b/bloom/generators/debian/templates/ament_cmake/control.em
@@ -6,9 +6,21 @@ Build-Depends: debhelper (>= @(debhelper_version).0.0), @(', '.join(BuildDepends
 Homepage: @(Homepage)
 Standards-Version: 3.9.2
 
+@[if RuntimePackage]
+Package: @(Package)-runtime
+Architecture: any
+Depends: ${shlibs:Depends}, ${misc:Depends}, @(', '.join(RuntimeDepends))
+@[if Conflicts]Conflicts: @(', '.join(Conflicts))@\n@[end if]@
+Breaks: @(Package) (<<@(Version))
+Replaces: @(Package) (<<@(Version)), @(Replaces ? ', '.join(Replaces))
+Description: @(Description)
+ .
+ This package contains only the runtime files.
+
+@[end if]
 Package: @(Package)
 Architecture: any
-Depends: ${shlibs:Depends}, ${misc:Depends}, @(', '.join(Depends))
+Depends: ${shlibs:Depends}, ${misc:Depends}, @(RuntimePackage ? Package + "-runtime, ")@(', '.join(Depends))
 @[if Conflicts]Conflicts: @(', '.join(Conflicts))@\n@[end if]@
 @[if Replaces]Replaces: @(', '.join(Replaces))@\n@[end if]@
 Description: @(Description)
diff --git a/bloom/generators/debian/templates/ament_cmake/rules.em b/bloom/generators/debian/templates/ament_cmake/rules.em
index 2ab7b14a..474ab820 100755
--- a/bloom/generators/debian/templates/ament_cmake/rules.em
+++ b/bloom/generators/debian/templates/ament_cmake/rules.em
@@ -65,3 +65,12 @@ override_dh_auto_install:
 	# CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH.
 	if [ -f "@(InstallationPrefix)/setup.sh" ]; then . "@(InstallationPrefix)/setup.sh"; fi && \
 	dh_auto_install
+@[if RuntimePackage]
+
+execute_after_dh_install:
+	true  # no op needed for make
+ifneq (,$(realpath debian/@(Package)-runtime@(InstallationPrefix)/include))
+	install -d "debian/@(Package)@(InstallationPrefix)/include"
+	mv "debian/@(Package)-runtime@(InstallationPrefix)/include" "debian/@(Package)@(InstallationPrefix)"
+endif
+@[end if]
diff --git a/bloom/generators/debian/templates/ament_python/control.em b/bloom/generators/debian/templates/ament_python/control.em
index bd232d2c..e678c02b 100644
--- a/bloom/generators/debian/templates/ament_python/control.em
+++ b/bloom/generators/debian/templates/ament_python/control.em
@@ -6,9 +6,21 @@ Build-Depends: debhelper (>= @(debhelper_version).0.0), @(', '.join(BuildDepends
 Homepage: @(Homepage)
 Standards-Version: 3.9.2
 
+@[if RuntimePackage]
+Package: @(Package)-runtime
+Architecture: any
+Depends: ${shlibs:Depends}, ${misc:Depends}, @(', '.join(RuntimeDepends))
+@[if Conflicts]Conflicts: @(', '.join(Conflicts))@\n@[end if]@
+Breaks: @(Package) (<<@(Version))
+Replaces: @(Package) (<<@(Version)), @(Replaces ? ', '.join(Replaces))
+Description: @(Description)
+ .
+ This package contains only the runtime files.
+
+@[end if]
 Package: @(Package)
 Architecture: any
-Depends: ${python3:Depends}, ${misc:Depends}, @(', '.join(Depends))
+Depends: ${python3:Depends}, ${misc:Depends}, @(RuntimePackage ? Package + "-runtime, ")@(', '.join(Depends))
 @[if Conflicts]Conflicts: @(', '.join(Conflicts))@\n@[end if]@
 @[if Replaces]Replaces: @(', '.join(Replaces))@\n@[end if]@
 Description: @(Description)
diff --git a/bloom/generators/debian/templates/catkin/control.em b/bloom/generators/debian/templates/catkin/control.em
index 6d7b65c3..5fa462ed 100644
--- a/bloom/generators/debian/templates/catkin/control.em
+++ b/bloom/generators/debian/templates/catkin/control.em
@@ -6,9 +6,21 @@ Build-Depends: debhelper (>= @(debhelper_version).0.0), @(', '.join(BuildDepends
 Homepage: @(Homepage)
 Standards-Version: 3.9.2
 
+@[if RuntimePackage]
+Package: @(Package)-runtime
+Architecture: any
+Depends: ${shlibs:Depends}, ${misc:Depends}, @(', '.join(RuntimeDepends))
+@[if Conflicts]Conflicts: @(', '.join(Conflicts))@\n@[end if]@
+Breaks: @(Package) (<<@(Version))
+Replaces: @(Package) (<<@(Version)), @(Replaces ? ', '.join(Replaces))
+Description: @(Description)
+ .
+ This package contains only the runtime files.
+
+@[end if]
 Package: @(Package)
 Architecture: any
-Depends: ${shlibs:Depends}, ${misc:Depends}, @(', '.join(Depends))
+Depends: ${shlibs:Depends}, ${misc:Depends}, @(RuntimePackage ? Package + "-runtime, ")@(', '.join(Depends))
 @[if Conflicts]Conflicts: @(', '.join(Conflicts))@\n@[end if]@
 @[if Replaces]Replaces: @(', '.join(Replaces))@\n@[end if]@
 Description: @(Description)
diff --git a/bloom/generators/debian/templates/catkin/rules.em b/bloom/generators/debian/templates/catkin/rules.em
index 276329db..b9ef7949 100755
--- a/bloom/generators/debian/templates/catkin/rules.em
+++ b/bloom/generators/debian/templates/catkin/rules.em
@@ -65,3 +65,12 @@ override_dh_auto_install:
 	# set things like CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH.
 	if [ -f "@(InstallationPrefix)/setup.sh" ]; then . "@(InstallationPrefix)/setup.sh"; fi && \
 	dh_auto_install
+@[if RuntimePackage]
+
+execute_after_dh_install:
+	true  # no op needed for make
+ifneq (,$(realpath debian/@(Package)-runtime@(InstallationPrefix)/include))
+	install -d "debian/@(Package)@(InstallationPrefix)/include"
+	mv "debian/@(Package)-runtime@(InstallationPrefix)/include" "debian/@(Package)@(InstallationPrefix)"
+endif
+@[end if]
diff --git a/bloom/generators/debian/templates/cmake/control.em b/bloom/generators/debian/templates/cmake/control.em
index 6d7b65c3..5fa462ed 100644
--- a/bloom/generators/debian/templates/cmake/control.em
+++ b/bloom/generators/debian/templates/cmake/control.em
@@ -6,9 +6,21 @@ Build-Depends: debhelper (>= @(debhelper_version).0.0), @(', '.join(BuildDepends
 Homepage: @(Homepage)
 Standards-Version: 3.9.2
 
+@[if RuntimePackage]
+Package: @(Package)-runtime
+Architecture: any
+Depends: ${shlibs:Depends}, ${misc:Depends}, @(', '.join(RuntimeDepends))
+@[if Conflicts]Conflicts: @(', '.join(Conflicts))@\n@[end if]@
+Breaks: @(Package) (<<@(Version))
+Replaces: @(Package) (<<@(Version)), @(Replaces ? ', '.join(Replaces))
+Description: @(Description)
+ .
+ This package contains only the runtime files.
+
+@[end if]
 Package: @(Package)
 Architecture: any
-Depends: ${shlibs:Depends}, ${misc:Depends}, @(', '.join(Depends))
+Depends: ${shlibs:Depends}, ${misc:Depends}, @(RuntimePackage ? Package + "-runtime, ")@(', '.join(Depends))
 @[if Conflicts]Conflicts: @(', '.join(Conflicts))@\n@[end if]@
 @[if Replaces]Replaces: @(', '.join(Replaces))@\n@[end if]@
 Description: @(Description)
diff --git a/bloom/generators/debian/templates/cmake/rules.em b/bloom/generators/debian/templates/cmake/rules.em
index 284a0714..f16e7b20 100755
--- a/bloom/generators/debian/templates/cmake/rules.em
+++ b/bloom/generators/debian/templates/cmake/rules.em
@@ -59,7 +59,11 @@ override_dh_shlibdeps:
 	# in the install tree and source it.  It will set things like
 	# CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH.
 	if [ -f "@(InstallationPrefix)/setup.sh" ]; then . "@(InstallationPrefix)/setup.sh"; fi && \
+@[if RuntimePackage]
+	dh_shlibdeps -l$(CURDIR)/debian/@(Package)-runtime@(InstallationPrefix)/lib/:$(CURDIR)/debian/@(Package)-runtime@(InstallationPrefix)/lib/${DEB_HOST_MULTIARCH}
+@[else]
 	dh_shlibdeps -l$(CURDIR)/debian/@(Package)/@(InstallationPrefix)/lib/:$(CURDIR)/debian/@(Package)/@(InstallationPrefix)/lib/${DEB_HOST_MULTIARCH}
+@[end if]
 
 override_dh_auto_install:
 	# In case we're installing to a non-standard location, look for a setup.sh
@@ -67,3 +71,12 @@ override_dh_auto_install:
 	# CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH.
 	if [ -f "@(InstallationPrefix)/setup.sh" ]; then . "@(InstallationPrefix)/setup.sh"; fi && \
 	dh_auto_install
+@[if RuntimePackage]
+
+execute_after_dh_install:
+	true  # no op needed for make
+ifneq (,$(realpath debian/@(Package)-runtime@(InstallationPrefix)/include))
+	install -d "debian/@(Package)@(InstallationPrefix)/include"
+	mv "debian/@(Package)-runtime@(InstallationPrefix)/include" "debian/@(Package)@(InstallationPrefix)"
+endif
+@[end if]
diff --git a/bloom/generators/rosdebian.py b/bloom/generators/rosdebian.py
index 6284680a..e879b571 100644
--- a/bloom/generators/rosdebian.py
+++ b/bloom/generators/rosdebian.py
@@ -70,7 +70,7 @@ def summarize(self):
         info("Releasing for rosdistro: " + self.rosdistro)
         return ret
 
-    def get_subs(self, package, debian_distro, releaser_history, deb_inc=0, native=False):
+    def get_subs(self, package, debian_distro, releaser_history, deb_inc=0, native=False, runtime_pkg=False):
         def fallback_resolver(key, peer_packages, rosdistro=self.rosdistro):
             if key in peer_packages:
                 return [sanitize_package_name(rosify_package_name(key, rosdistro))]
@@ -84,7 +84,8 @@ def fallback_resolver(key, peer_packages, rosdistro=self.rosdistro):
             self.debian_inc,
             [p.name for p in self.packages.values()],
             releaser_history=releaser_history,
-            fallback_resolver=fallback_resolver
+            fallback_resolver=fallback_resolver,
+            runtime_pkg=self.runtime_pkg,
         )
         subs['Rosdistro'] = self.rosdistro
         subs['Package'] = rosify_package_name(subs['Package'], self.rosdistro)
@@ -152,7 +153,7 @@ def rosify_package_name(name, rosdistro):
     return 'ros-{0}-{1}'.format(rosdistro, name)
 
 
-def get_subs(pkg, os_name, os_version, ros_distro, deb_inc, native):
+def get_subs(pkg, os_name, os_version, ros_distro, deb_inc, native, runtime_pkg):
     # No fallback_resolver provided because peer packages not considered.
     subs = generate_substitutions_from_package(
         pkg,
@@ -161,7 +162,8 @@ def get_subs(pkg, os_name, os_version, ros_distro, deb_inc, native):
         ros_distro,
         RosDebianGenerator.default_install_prefix + ros_distro,
         deb_inc=deb_inc,
-        native=native
+        native=native,
+        runtime_pkg=runtime_pkg,
     )
     subs['Package'] = rosify_package_name(subs['Package'], ros_distro)
     return subs