diff --git a/includes-ros2/ros-workspace/ros-workspace.inc b/includes-ros2/ros-workspace/ros-workspace.inc
new file mode 100644
index 0000000..d7328fb
--- /dev/null
+++ b/includes-ros2/ros-workspace/ros-workspace.inc
@@ -0,0 +1,45 @@
+# Copyright (c) 2019 LG Electronics, Inc.
+
+# ASSERT(<prefix> == /usr)
+# ros-workspace installs its setup scripts under <prefix>, which is an unnatural location when <prefix> is /usr. Move them to be
+# under <sysconfdir>/profile.d/ros and create "ros_" prefixed symlinks to them under <bindir>. If "ros-implicit-workspace"
+# appears in DISTRO_FEATURES, create a ros.sh that sources ros/setup.sh, thereby setting up the ROS workspace for every login
+# shell.
+do_install_append() {
+    profile_dir=${sysconfdir}/profile.d/ros
+    mkdir -p ${D}$profile_dir
+    cd ${D}$profile_dir
+
+    mv ${D}${prefix}/*setup.bash .
+    mv ${D}${prefix}/*setup.zsh .
+    mv ${D}${prefix}/*setup.sh .
+    mv ${D}${prefix}/_order_packages.py .
+
+    for f in *setup.bash *setup.zsh; do
+        # Hardcode AMENT_CURRENT_PREFIX and the directory where these files reside.
+        sed -i -e '/AMENT_CURRENT_PREFIX=/ s@=.*@=${prefix}@' \
+               -e '/\$AMENT_CURRENT_PREFIX/ s@\$AMENT_CURRENT_PREFIX@'$profile_dir'@' $f
+    done
+
+    # Add special case handling for AMENT_CURRENT_PREFIX == /usr
+    sed -i -e '/for _path.*_UNIQUE_PREFIX_PATH.*do/ s@do.*@do [ $_path = ${prefix} ] \&\& _path='$profile_dir'@' \
+           -e '/AMENT_CURRENT_PREFIX=.*_path/ s@_path.*@_path; [ $_path = '$profile_dir' ] \&\& AMENT_CURRENT_PREFIX=${prefix}@' \
+           setup.sh
+
+    # Don't attempt to use the build-time Python executable on the target and hardcode the directory where _order_packages.py
+    # resides.
+    sed -i -e '/^_ament_python_executable=/ s@=.*@=${bindir}/${PYTHON_PN}@' \
+           -e '/_order_packages\.py/ s@\$AMENT_CURRENT_PREFIX/@'$profile_dir'/@' \
+           local_setup.sh
+
+    mkdir -p ${D}${bindir}
+    for f in *setup.bash *setup.zsh *setup.sh; do
+        ln -s $profile_dir/$f ${D}${bindir}/ros_$f
+    done
+
+    if ${@bb.utils.contains('DISTRO_FEATURES', 'ros-implicit-workspace', 'true', 'false', d)}; then
+        echo ". $profile_dir/setup.sh" > ../ros.sh
+    fi
+
+    cd - > /dev/null
+}