diff --git a/.github/workflows/upload-debians.yaml b/.github/workflows/upload-debians.yaml
new file mode 100644
index 00000000..bc552052
--- /dev/null
+++ b/.github/workflows/upload-debians.yaml
@@ -0,0 +1,30 @@
+name: Build Debians
+on:
+  push:
+    tags:
+      - 'v*'
+
+jobs:
+  build_debians:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          path: psdk_ros2
+      - uses: actions/checkout@v4
+        with:
+          repository: dji-sdk/Payload-SDK
+          ref: 3.5
+          path: Payload-SDK
+      - name: ROS 2 Build Debian Package
+        id: build 
+        run: |
+         mv psdk_ros2/debian/create_debians.sh .
+         sudo ./create_debians.sh
+         ls .
+      - uses: d1ceward/draft-assets-release-action@v2
+        with:
+          token: ${{ secrets.GITHUB_TOKEN }}
+          files: |
+            ${{ steps.build.outputs.INTERFACES_DEB }}
+            ${{ steps.build.outputs.WRAPPER_DEB }}
diff --git a/debian/50-my-packages.list b/debian/50-my-packages.list
new file mode 100644
index 00000000..93e95b82
--- /dev/null
+++ b/debian/50-my-packages.list
@@ -0,0 +1 @@
+yaml file:///rosdep.yaml
diff --git a/debian/create_debians.sh b/debian/create_debians.sh
new file mode 100755
index 00000000..9a2388a5
--- /dev/null
+++ b/debian/create_debians.sh
@@ -0,0 +1,66 @@
+#!/bin/bash
+locale  # check for UTF-8
+
+apt update && apt install locales
+locale-gen en_US en_US.UTF-8
+update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
+export LANG=en_US.UTF-8
+
+apt install software-properties-common
+add-apt-repository universe
+
+apt update && apt install curl -y
+curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+
+echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
+
+
+apt update
+apt install -y --no-install-recommends python3-pip python3-bloom python3-catkin-pkg dpkg-dev debhelper dh-python libopus-dev ffmpeg libavcodec-dev libavformat-dev libavfilter-dev libusb-1.0-0-dev
+ln -snf /usr/lib/x86_64-linux-gnu/libopus.a /usr/local/lib
+pip3 install rosdep
+rosdep init
+mv psdk_ros2/debian/50-my-packages.list /etc/ros/rosdep/sources.list.d
+mv psdk_ros2/debian/rosdep.yaml /
+
+# store the current dir
+CUR_DIR=$(pwd)
+
+# Update ROS deps
+rosdep update
+
+rosdep keys --from-paths . --ignore-src --rosdistro humble | \
+  xargs rosdep resolve --rosdistro humble | \
+  awk '/#apt/{getline; print}' > ./rosdep_requirements.txt
+apt install -y --no-install-recommends $(cat ./rosdep_requirements.txt)
+
+PACKAGE_LIST=(
+  psdk_ros2/psdk_interfaces \
+  psdk_ros2/psdk_wrapper
+)
+
+for PACKAGE in ${PACKAGE_LIST[@]}; do
+    echo ""
+    echo "Creating debian for $PACKAGE..."
+
+    # We have to go to the ROS package parent directory
+    cd $PACKAGE;
+    bloom-generate rosdebian --ros-distro humble
+    debian/rules "binary --parallel --dpkg-shlibdeps-params=--ignore-missing-info"
+
+    cd ..
+    DEB_FILE=$(find *.deb);
+    if ! [[ $? -eq 0 ]]; then 
+        exit 1
+    fi
+    dpkg -i $DEB_FILE
+    cp $DEB_FILE $CUR_DIR
+    rm *.deb *.ddeb
+    cd $CUR_DIR
+
+done
+
+echo "INTERFACES_DEB=$(find *interfaces*.deb)" >> $GITHUB_OUTPUT
+echo "WRAPPER_DEB=$(find *wrapper*.deb)" >> $GITHUB_OUTPUT
+
+echo "Complete!"
diff --git a/debian/rosdep.yaml b/debian/rosdep.yaml
new file mode 100644
index 00000000..0b2e9b39
--- /dev/null
+++ b/debian/rosdep.yaml
@@ -0,0 +1,4 @@
+psdk_wrapper:
+  ubuntu: [ros-humble-psdk-wrapper]
+psdk_interfaces:
+  ubuntu: [ros-humble-psdk-interfaces]
diff --git a/docs/requirements.txt b/docs/requirements.txt
index 2575df69..9d324a65 100644
--- a/docs/requirements.txt
+++ b/docs/requirements.txt
@@ -1,4 +1,11 @@
-exhale
+sphinx==4.5.0
+breathe==4.32.0
+exhale==0.3.6
 myst_parser
-breathe
-sphinx_rtd_theme
\ No newline at end of file
+sphinx_rtd_theme
+sphinxcontrib-applehelp<=1.0.7
+sphinxcontrib-devhelp<=1.0.5
+sphinxcontrib-jsmath<=1.0.1
+sphinxcontrib_htmlhelp<=2.0.4
+sphinxcontrib-serializinghtml<=1.1.9
+sphinxcontrib-qthelp<=1.0.6