diff --git a/rosbag2_compression/CMakeLists.txt b/rosbag2_compression/CMakeLists.txt
index ef7341adf9..728e8d1515 100644
--- a/rosbag2_compression/CMakeLists.txt
+++ b/rosbag2_compression/CMakeLists.txt
@@ -56,6 +56,7 @@ target_compile_definitions(${PROJECT_NAME}_zstd
 
 add_library(${PROJECT_NAME}
   SHARED
+  src/rosbag2_compression/compression_factory.cpp
   src/rosbag2_compression/compression_options.cpp
   src/rosbag2_compression/sequential_compression_reader.cpp
   src/rosbag2_compression/sequential_compression_writer.cpp)
diff --git a/rosbag2_compression/include/rosbag2_compression/compression_factory.hpp b/rosbag2_compression/include/rosbag2_compression/compression_factory.hpp
new file mode 100644
index 0000000000..1db1ab7c6d
--- /dev/null
+++ b/rosbag2_compression/include/rosbag2_compression/compression_factory.hpp
@@ -0,0 +1,67 @@
+// Copyright 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef ROSBAG2_COMPRESSION__COMPRESSION_FACTORY_HPP_
+#define ROSBAG2_COMPRESSION__COMPRESSION_FACTORY_HPP_
+
+#include <memory>
+#include <string>
+
+#include "base_compressor_interface.hpp"
+#include "base_decompressor_interface.hpp"
+#include "compression_options.hpp"
+#include "visibility_control.hpp"
+
+namespace rosbag2_compression
+{
+
+/**
+ * Implementation of CompressionFactory.
+ * This class implements methods for creating instances of a BaseCompressionInterface and
+ * BaseDecompressionInterface.
+ * This class should only be used by CompressionFactory.
+ */
+class CompressionFactoryImpl;
+
+class ROSBAG2_COMPRESSION_PUBLIC CompressionFactory
+{
+public:
+  CompressionFactory();
+  ~CompressionFactory();
+
+  /**
+   * Create a compressor based on the specified compression format.
+   *
+   * \param compression_format The compression format as a string.
+   * \return A unique pointer to the newly created compressor.
+   */
+  std::unique_ptr<rosbag2_compression::BaseCompressorInterface>
+  create_compressor(const std::string & compression_format);
+
+  /**
+   * Create a decompressor based on the specified compression format.
+   *
+   * \param compression_format The compression format as a string.
+   * \return A unique pointer to the newly created decompressor.
+   */
+  std::unique_ptr<rosbag2_compression::BaseDecompressorInterface>
+  create_decompressor(const std::string & compression_format);
+
+private:
+  std::unique_ptr<CompressionFactoryImpl> impl_;
+};
+
+}  // namespace rosbag2_compression
+
+#endif  // ROSBAG2_COMPRESSION__COMPRESSION_FACTORY_HPP_
diff --git a/rosbag2_compression/src/rosbag2_compression/compression_factory.cpp b/rosbag2_compression/src/rosbag2_compression/compression_factory.cpp
new file mode 100644
index 0000000000..0efd1be1a1
--- /dev/null
+++ b/rosbag2_compression/src/rosbag2_compression/compression_factory.cpp
@@ -0,0 +1,42 @@
+// Copyright 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <memory>
+#include <string>
+
+#include "rosbag2_compression/compression_factory.hpp"
+
+#include "compression_factory_impl.hpp"
+
+namespace rosbag2_compression
+{
+
+CompressionFactory::CompressionFactory()
+: impl_(new CompressionFactoryImpl()) {}
+
+CompressionFactory::~CompressionFactory() = default;
+
+std::unique_ptr<rosbag2_compression::BaseCompressorInterface>
+CompressionFactory::create_compressor(const std::string & compression_format)
+{
+  return impl_->create_compressor(compression_format);
+}
+
+std::unique_ptr<rosbag2_compression::BaseDecompressorInterface>
+CompressionFactory::create_decompressor(const std::string & compression_format)
+{
+  return impl_->create_decompressor(compression_format);
+}
+
+}  // namespace rosbag2_compression
diff --git a/rosbag2_compression/src/rosbag2_compression/compression_factory_impl.hpp b/rosbag2_compression/src/rosbag2_compression/compression_factory_impl.hpp
new file mode 100644
index 0000000000..ba923f003b
--- /dev/null
+++ b/rosbag2_compression/src/rosbag2_compression/compression_factory_impl.hpp
@@ -0,0 +1,49 @@
+// Copyright 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef ROSBAG2_COMPRESSION__COMPRESSION_FACTORY_IMPL_HPP_
+#define ROSBAG2_COMPRESSION__COMPRESSION_FACTORY_IMPL_HPP_
+
+#include <memory>
+#include <string>
+
+#include "rosbag2_compression/compression_factory.hpp"
+
+namespace rosbag2_compression
+{
+
+/// Implementation of the CompressionFactory. See CompressionFactory for documentation.
+class CompressionFactoryImpl
+{
+public:
+  CompressionFactoryImpl() = default;
+  ~CompressionFactoryImpl() = default;
+
+  /// See CompressionFactory::create_compressor for documentation.
+  std::unique_ptr<rosbag2_compression::BaseCompressorInterface>
+  create_compressor(const std::string &)
+  {
+    throw std::logic_error{"Not implemented"};
+  }
+
+  /// See CompressionFactory::create_decompressor for documentation.
+  std::unique_ptr<rosbag2_compression::BaseDecompressorInterface>
+  create_decompressor(const std::string &)
+  {
+    throw std::logic_error{"Not implemented"};
+  }
+};
+}  // namespace rosbag2_compression
+
+#endif  // ROSBAG2_COMPRESSION__COMPRESSION_FACTORY_IMPL_HPP_