diff --git a/CMakeLists.txt b/CMakeLists.txt
index 7fd87b5..3fc71d5 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -29,6 +29,10 @@ set(PYTHON_SITE_PACKAGES_INSTALL_DIR "${Python3_SITEARCH}")
 
 
 if(DEFINED ENV{USE_COLCON})
+
+  set(PYTHON_SITE_PACKAGES_REL_INSTALL_DIR "lib/python${Python_VERSION_MAJOR}.${Python_VERSION_MINOR}/dist-packages")
+  set(PYTHON_SITE_PACKAGES_INSTALL_DIR "${CMAKE_INSTALL_PREFIX}/${PYTHON_SITE_PACKAGES_REL_INSTALL_DIR}")
+
   message(STATUS "ROS2 INSTALLATION DETECTED")
   find_package(ament_cmake REQUIRED)
   find_package(ament_cmake_python REQUIRED)
diff --git a/README.md b/README.md
index 3d8310a..58ecccc 100644
--- a/README.md
+++ b/README.md
@@ -41,6 +41,12 @@ compiling *pygafro*, which can become problematic on lower-end computers.
 	export CXX=/usr/bin/clang++
 	pip install pygafro
 
+## Installation with ROS2
+
+Add PyGafro in your colcon workspace and build it with:
+
+	CC=clang CXX=clang++ USE_COLCON=1 colcon build
+
 ## Installation from source
 
 (works either in a conda or virtual environment)