diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml
index 93ad78fa..cc0b452d 100644
--- a/.github/workflows/release.yml
+++ b/.github/workflows/release.yml
@@ -9,9 +9,23 @@ jobs:
   build:
     name: Create Release
     runs-on: ubuntu-16.04
+    defaults:
+      run:
+        shell: bash -l {0}
     steps:
       - name: Checkout code
         uses: actions/checkout@master
+      - name: env
+        run: |
+            echo "::add-path::$(pwd)/deps/julia/bin"
+      - name: deps
+        run: ./scripts/install-deps.sh -i -s
+      - name: Build Deb
+        id: builddeb
+        run: |
+          ./scripts/make_debian_package.sh
+          echo "::set-output name=pkgpath::$(find build -name '*.deb')"
+          echo "::set-output name=pkgname::$(basename $(find build -name '*.deb'))"
       - name: Read CHANGELOG
         id: changelog
         run: |
@@ -20,10 +34,20 @@ jobs:
         id: create_release
         uses: actions/create-release@latest
         env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} # This token is provided by Actions, you do not need to create your own token
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
         with:
           tag_name: ${{ github.ref }}
           release_name: Release ${{ github.ref }}
           body: ${{ steps.changelog.outputs.body }}
-          draft: true
-          prerelease: true
+          draft: false
+          prerelease: false
+      - name: Upload Deb
+        id: upload-release-asset
+        uses: actions/upload-release-asset@v1
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        with:
+          upload_url: ${{ steps.create_release.outputs.upload_url }}
+          asset_path: ${{ steps.builddeb.outputs.pkgpath }}
+          asset_name: ${{ steps.builddeb.outputs.pkgname }}
+          asset_content_type: application/octet-stream
diff --git a/DEBIAN/control.in b/DEBIAN/control.in
new file mode 100644
index 00000000..03112359
--- /dev/null
+++ b/DEBIAN/control.in
@@ -0,0 +1,11 @@
+Package: zcm
+Version: @version@
+Maintainer: Jonathan Bendes <jonathan@skyspecs.com>
+Section: devel
+Priority: optional
+Build-Essential: yes
+Architecture: amd64
+Depends: default-jre, libzmq5, python, python3, libc6, libelf1
+Description: Zero Communications and Marshalling Library
+ Communication middleware for various transport layers.
+
diff --git a/DEBIAN/wscript b/DEBIAN/wscript
new file mode 100644
index 00000000..90484a9a
--- /dev/null
+++ b/DEBIAN/wscript
@@ -0,0 +1,9 @@
+#! /usr/bin/env python
+# encoding: utf-8
+from waflib import Utils
+
+def build(ctx):
+    ctx(features='subst',
+        source='control.in',
+        target='control',
+        always=True)
diff --git a/config/zcm-tools.pc.in b/config/zcm-tools.pc.in
index fc9a9a11..8a8d0121 100644
--- a/config/zcm-tools.pc.in
+++ b/config/zcm-tools.pc.in
@@ -6,5 +6,5 @@ jardir=${datarootdir}/java
 Name: zcm
 Description: Zero Communications and Marshalling (ZCM) Java Tools
 Requires:
-Version: 1.0.0
+Version: @version@
 classpath=${jardir}/zcm-tools.jar
diff --git a/config/zcm.pc.in b/config/zcm.pc.in
index e54376d1..21f196bd 100644
--- a/config/zcm.pc.in
+++ b/config/zcm.pc.in
@@ -8,7 +8,7 @@ jardir=${datarootdir}/java
 Name: zcm
 Description: Zero Communications and Marshalling (ZCM)
 Requires:
-Version: 1.0.0
+Version: @version@
 Libs: -L${libdir} -lzcm
 Cflags: -I${includedir}
 classpath=${jardir}/zcm.jar
diff --git a/scripts/make_debian_package.sh b/scripts/make_debian_package.sh
new file mode 100755
index 00000000..2f71fb92
--- /dev/null
+++ b/scripts/make_debian_package.sh
@@ -0,0 +1,72 @@
+#!/bin/bash
+
+set -euo pipefail
+IFS=$'\n\t'
+
+## SETUP
+
+# In this directory we assemble the deb package. Later we call dpkg-deb on it to pack the package.
+DEB_PACKAGE_ASSEMBLY_DIR=./build/deb_package_root
+mkdir -p $DEB_PACKAGE_ASSEMBLY_DIR/usr/
+
+# Required to find java
+if [ -z ${JAVA_HOME+x} ]; then
+    export JAVA_HOME=$(readlink -f /usr/bin/javac | sed "s:/bin/javac::")
+fi
+
+# Change to the directory containing the source code
+THISDIR=$(dirname "$(readlink -f "$0")")
+BASEDIR=$(dirname $THISDIR)
+cd $BASEDIR
+
+
+## BUILD
+
+./waf configure distclean
+
+# Build with python2 support and install to temporary $DEB_PACKAGE_ASSEMBLY_DIR/usr directory
+export PYTHON=/usr/bin/python2
+./waf configure --use-all --use-third-party --prefix=$DEB_PACKAGE_ASSEMBLY_DIR/usr/
+./waf build
+./waf install
+
+# Build again for python3 and install to the temporary $DEB_PACKAGE_ASSEMBLY_DIR/usr directory.
+# Note 1: This overrides most of the already existing files except for the python2
+#         files in usr/lib/python2.7 <- this is to be considered an ugly hack but
+#         I found no other way to make waf build for python2 AND python3
+# Note 2: we use --targets=pyzcm to hopefully not build everything again
+export PYTHON=/usr/bin/python3
+./waf configure --use-all --use-third-party --prefix=$DEB_PACKAGE_ASSEMBLY_DIR/usr/
+./waf build --targets=pyzcm
+./waf install
+
+
+### HACKS TO PREPARE DEBIAN PACKAGE STRUCTURE
+
+# Move the debian control files directory to the temporary $DEB_PACKAGE_ASSEMBLY_DIR
+cp -r ./build/DEBIAN $DEB_PACKAGE_ASSEMBLY_DIR
+
+
+cd $DEB_PACKAGE_ASSEMBLY_DIR
+# Unfortunately waf automatically installs to 'pythonX.X/site-packages' as soon as the
+# root directory is not contained in the install prefix.
+# We need it in 'dist-packages' so we just rename it manually here.
+# Note: since this modifies the folder structure that 'find' is iterating, it causes
+#       find to print an error such as:
+#       "find: ‘./usr/lib/python3.6/site-packages’: No such file or directory".
+# It works anyways ...
+find -type d -wholename '*python*/site-packages' -execdir mv ./site-packages ./dist-packages \; || true
+
+# There are a number of files in which the install prefix appears such as the java
+# launchers in usr/bin and the package-config files.
+# This is undesirable since the temporary install prefix in $DEB_PACKAGE_ASSEMBLY_DIR
+# is obviously wrong after the files have been installed.
+# The following lines replaces all occurences of the $DEB_PACKAGE_ASSEMBLY_DIR as
+# path with '/usr' which is our actual install prefix with the debian package.
+find -type f -exec sed -i "s+$PWD++g" {} +
+cd -
+
+### PACK DEBIAN PACKAGE
+##  Debian compliance: fakeroot is required to get correct uids and gids for all installed files
+fakeroot dpkg-deb -b $DEB_PACKAGE_ASSEMBLY_DIR
+dpkg-name $DEB_PACKAGE_ASSEMBLY_DIR.deb
diff --git a/waftools/strip_on_install.py b/waftools/strip_on_install.py
new file mode 100644
index 00000000..9990b814
--- /dev/null
+++ b/waftools/strip_on_install.py
@@ -0,0 +1,20 @@
+#! /usr/bin/env python
+
+"""
+Strip executables upon installation
+"""
+
+import shutil, os
+from waflib import Build, Utils, Context
+
+def copy_fun(self, src, tgt):
+        if Utils.is_win32 and len(tgt) > 259 and not tgt.startswith('\\\\?\\'):
+                tgt = '\\\\?\\' + tgt
+        shutil.copy2(src, tgt)
+        os.chmod(tgt, self.chmod)
+
+        if getattr(self.generator, 'link_task', None):
+                if self.generator.link_task.outputs[0] in self.inputs:
+                        self.generator.bld.cmd_and_log('strip %s' % tgt, quiet=Context.BOTH)
+Build.inst.copy_fun = copy_fun
+
diff --git a/wscript b/wscript
index 3884e1e1..dce43a9c 100644
--- a/wscript
+++ b/wscript
@@ -87,6 +87,7 @@ def configure(ctx):
     ctx.load('compiler_c')
     ctx.load('compiler_cxx')
     ctx.recurse('config')
+    ctx.load('strip_on_install')
 
     ctx.env.variantsEnabledByConfigure = ['examples', 'tests']
 
@@ -414,6 +415,8 @@ def build(ctx):
         ctx.recurse('config')
         ctx.recurse('gen')
         ctx.recurse('tools')
+   	ctx.recurse('DEBIAN')
+	ctx.install_as('${PREFIX}/share/doc/zcm/copyright', 'LICENSE')
         generate_signature(ctx)