diff --git a/rcl_interfaces/CMakeLists.txt b/rcl_interfaces/CMakeLists.txt
index deffd714..9ce8764e 100644
--- a/rcl_interfaces/CMakeLists.txt
+++ b/rcl_interfaces/CMakeLists.txt
@@ -36,6 +36,8 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   DEPENDENCIES builtin_interfaces
 )
 
+install(FILES mapping_rules.yaml DESTINATION share/${PROJECT_NAME})
+
 # this must happen before the invocation of ament_package()
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
diff --git a/rcl_interfaces/mapping_rules.yaml b/rcl_interfaces/mapping_rules.yaml
new file mode 100644
index 00000000..184c1e41
--- /dev/null
+++ b/rcl_interfaces/mapping_rules.yaml
@@ -0,0 +1,13 @@
+-
+  ros1_package_name: 'rosgraph_msgs'
+  ros1_message_name: 'Log'
+  ros2_package_name: 'rcl_interfaces'
+  ros2_message_name: 'Log'
+  fields_1_to_2:
+    header.stamp: 'stamp'
+    level: 'level'
+    name: 'name'
+    msg: 'msg'
+    file: 'file'
+    function: 'function'
+    line: 'line'
diff --git a/rcl_interfaces/package.xml b/rcl_interfaces/package.xml
index 50a69208..c33e6ea3 100644
--- a/rcl_interfaces/package.xml
+++ b/rcl_interfaces/package.xml
@@ -24,5 +24,6 @@
 
   <export>
     <build_type>ament_cmake</build_type>
+     <ros1_bridge mapping_rules="mapping_rules.yaml"/>
   </export>
 </package>