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diff --git a/PKGBUILD b/PKGBUILD
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+# Maintainer: Timon Engelke <aur@timonengelke.de>
+pkgdesc="ROS - wrapper for libviso2"
+url='http://www.ros.org/wiki/viso2'
+
+pkgname='ros-melodic-viso2-ros'
+pkgver='0.0.1'
+_pkgver_patch=0
+arch=('any')
+pkgrel=1
+license=('GPL')
+
+ros_makedepends=(ros-melodic-libviso2
+  ros-melodic-roscpp
+  ros-melodic-rostime
+  ros-melodic-rosconsole
+  ros-melodic-cv-bridge
+  ros-melodic-image-geometry
+  ros-melodic-tf
+  ros-melodic-image-transport
+  ros-melodic-message-filters)
+makedepends=('cmake' 'ros-build-tools' 'boost-libs' 'opencv'
+  ${ros_makedepends[@]})
+
+ros_depends=(ros-melodic-libviso2
+  ros-melodic-roscpp
+  ros-melodic-rostime
+  ros-melodic-rosconsole
+  ros-melodic-cv-bridge
+  ros-melodic-image-geometry
+  ros-melodic-tf
+  ros-melodic-image-transport
+  ros-melodic-message-filters)
+depends=('cmake' 'ros-build-tools' 'boost-libs' 'opencv'
+  ${ros_depends[@]})
+
+_dir="viso2/viso2_ros"
+source=("viso2"::"git+https://github.com/srv/viso2.git")
+sha256sums=('SKIP')
+
+prepare() {
+  # Fix wrong header include directory
+  sed -i "/#include <viso_/s/viso_/libviso2\/&/" ${srcdir}/${_dir}/src/{mono_odometer.cpp,odometry_params.h,stereo_odometer.cpp}
+  # Add installation for binaries
+  echo 'install(TARGETS mono_odometer stereo_odometer DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})' >> ${srcdir}/${_dir}/CMakeLists.txt
+}
+
+build() {
+  # Use ROS environment variables
+  source /usr/share/ros-build-tools/clear-ros-env.sh
+  [ -f /opt/ros/melodic/setup.bash ] && source /opt/ros/melodic/setup.bash
+
+  # Create build directory
+  [ -d ${srcdir}/build ] || mkdir ${srcdir}/build
+  cd ${srcdir}/build
+
+  # Fix Python2/Python3 conflicts
+  /usr/share/ros-build-tools/fix-python-scripts.sh -v 3 ${srcdir}/${_dir}
+
+  # Build project
+  cmake ${srcdir}/${_dir} \
+        -DCMAKE_BUILD_TYPE=Release \
+        -DCATKIN_BUILD_BINARY_PACKAGE=ON \
+        -DCMAKE_INSTALL_PREFIX=/opt/ros/melodic \
+        -DPYTHON_EXECUTABLE=/usr/bin/python3 \
+        -DPYTHON_INCLUDE_DIR=/usr/include/python3.7 \
+        -DPYTHON_LIBRARY=/usr/lib/libpython3.7.so \
+        -DPYTHON_BASENAME=-python3.7 \
+        -DSETUPTOOLS_DEB_LAYOUT=OFF
+  make
+}
+
+package() {
+  cd "${srcdir}/build"
+  make DESTDIR="${pkgdir}/" install
+}