diff --git a/cmake/genpyi-extras.cmake.em b/cmake/genpyi-extras.cmake.em
index 3b016c4..d64a27b 100644
--- a/cmake/genpyi-extras.cmake.em
+++ b/cmake/genpyi-extras.cmake.em
@@ -46,6 +46,11 @@ macro(_generate_module_pyi ARG_PKG ARG_GEN_OUTPUT_DIR ARG_GENERATED_FILES)
     file(WRITE ${ARG_GEN_OUTPUT_DIR}/__init__.pyi "")
   endif()
 
+  # place py.typed in order to mark this package as PEP561 compatible
+  if(NOT EXISTS ${ARG_GEN_OUTPUT_DIR}/py.typed)
+    file(WRITE ${ARG_GEN_OUTPUT_DIR}/py.typed "")
+  endif()
+
   foreach(type "msg" "srv")
     set(GEN_OUTPUT_DIR "${ARG_GEN_OUTPUT_DIR}/${type}")
     set(GEN_OUTPUT_FILE ${GEN_OUTPUT_DIR}/__init__.pyi)