diff --git a/CMakeLists.txt b/CMakeLists.txt
index cc42a8f9..bf083944 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -109,4 +109,20 @@ install(FILES ur_client_libraryConfig.cmake
 # Installing this in non-ROS environments won't have any effect, but it won't harm, either.
 install(FILES package.xml DESTINATION share/${PROJECT_NAME})
 
+#### Begin import ####
+# Imported from ros-industrial/ros_industrial_cmake_boilerplate
+# https://github.com/ros-industrial/ros_industrial_cmake_boilerplate/blob/master/ros_industrial_cmake_boilerplate/cmake/cmake_tools.cmake
+# Copyright (C) 2018 by George Cave - gcave@stablecoder.ca
+# Copyright (c) 2020, Southwest Research Institute
+# Licensed under Apache-2.0 license
+
+# Allows Colcon to find non-Ament packages when using workspace underlays
+file(WRITE ${CMAKE_CURRENT_BINARY_DIR}/share/ament_index/resource_index/packages/${PROJECT_NAME} "")
+install(FILES ${CMAKE_CURRENT_BINARY_DIR}/share/ament_index/resource_index/packages/${PROJECT_NAME} DESTINATION share/ament_index/resource_index/packages)
+file(WRITE ${CMAKE_CURRENT_BINARY_DIR}/share/${PROJECT_NAME}/hook/ament_prefix_path.dsv "prepend-non-duplicate;AMENT_PREFIX_PATH;")
+install(FILES ${CMAKE_CURRENT_BINARY_DIR}/share/${PROJECT_NAME}/hook/ament_prefix_path.dsv DESTINATION share/${PROJECT_NAME}/hook)
+file(WRITE ${CMAKE_CURRENT_BINARY_DIR}/share/${PROJECT_NAME}/hook/ros_package_path.dsv "prepend-non-duplicate;ROS_PACKAGE_PATH;")
+install(FILES ${CMAKE_CURRENT_BINARY_DIR}/share/${PROJECT_NAME}/hook/ros_package_path.dsv DESTINATION share/${PROJECT_NAME}/hook)
+#### End iport ####
+
 install(DIRECTORY resources DESTINATION share/${PROJECT_NAME})