diff --git a/.github/workflows/upload-esp-registry.yml b/.github/workflows/upload-esp-registry.yml
new file mode 100644
index 00000000..d5b9e4f9
--- /dev/null
+++ b/.github/workflows/upload-esp-registry.yml
@@ -0,0 +1,24 @@
+name: Upload ESP Component Registry
+
+on:
+  pull_request:
+  push:
+    branches:
+      - kilted
+  workflow_dispatch:
+
+jobs:
+  upload_components:
+    runs-on: ubuntu-latest
+    permissions:
+      contents: read
+      id-token: write
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Upload component to the component registry
+        uses: espressif/upload-components-ci-action@v2
+        with:
+          components: "micro_ros_espidf_component:."
+          namespace: "micro-ros"
+          dry_run: ${{ github.event_name == 'pull_request' || github.ref_name != 'kilted' }}
diff --git a/README.md b/README.md
index 839fad3f..a4630010 100644
--- a/README.md
+++ b/README.md
@@ -29,7 +29,45 @@ In order to select it, use `idf.py menuconfig` and go to `micro-ROS Settings > m
 
 ## Usage
 
-You can clone this repo directly in the `components` folder of your project.
+### From the ESP Component Registry
+
+To align with the semantic versioning scheme of the ESP Component Registry, the ROS 2 distribution release year is used as the major version of the component:
+
+| ROS 2 distro | Version |
+|:------------:|:-------:|
+| humble       | 22.x.y  |
+| iron         | 23.x.y  |
+| jazzy        | 24.x.y  |
+| kilted       | 25.x.y  |
+| lyrical      | 26.x.y  |
+
+Rolling is published as a prerelease of the next version, for example `27.0.0-rolling.20260806`.
+
+This branch corresponds to kilted and publishes `25.x.y` versions.
+
+Add the component to your project with the IDF Component Manager:
+
+```bash
+idf.py add-dependency "micro-ros/micro_ros_espidf_component^25"
+```
+
+Or declare it in your main component's `idf_component.yml`:
+
+```yaml
+dependencies:
+  micro-ros/micro_ros_espidf_component: "^25"
+```
+
+Then build your project as usual. The Component Manager downloads the matching `25.x.y` release for Kilted.
+
+### From this repository
+
+You can also clone this repo into the `components` folder of your project:
+
+```bash
+cd your_project/components
+git clone -b kilted https://github.com/micro-ROS/micro_ros_espidf_component.git
+```
 
 If you encounter issues during the build process, ensure that you are running in a clean shell environment _without_ the ROS 2 setup script sourced.
 
diff --git a/examples/addtwoints_server/CMakeLists.txt b/examples/addtwoints_server/CMakeLists.txt
index 70042128..618b06f3 100644
--- a/examples/addtwoints_server/CMakeLists.txt
+++ b/examples/addtwoints_server/CMakeLists.txt
@@ -1,7 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
 
-set (EXTRA_COMPONENT_DIRS "./../../.")
-
 include($ENV{IDF_PATH}/tools/cmake/project.cmake)
 project(addtwoints_server)
 
diff --git a/examples/addtwoints_server/main/idf_component.yml b/examples/addtwoints_server/main/idf_component.yml
new file mode 100644
index 00000000..1373f7f2
--- /dev/null
+++ b/examples/addtwoints_server/main/idf_component.yml
@@ -0,0 +1,4 @@
+dependencies:
+  micro-ros/micro_ros_espidf_component:
+    version: "^25.0.0"
+    override_path: "../../../"
diff --git a/examples/handle_static_types/CMakeLists.txt b/examples/handle_static_types/CMakeLists.txt
index 46a8b115..7d82d701 100644
--- a/examples/handle_static_types/CMakeLists.txt
+++ b/examples/handle_static_types/CMakeLists.txt
@@ -1,7 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
 
-set (EXTRA_COMPONENT_DIRS "./../../.")
-
 include($ENV{IDF_PATH}/tools/cmake/project.cmake)
 project(handle_static_types)
 
diff --git a/examples/handle_static_types/main/idf_component.yml b/examples/handle_static_types/main/idf_component.yml
new file mode 100644
index 00000000..1373f7f2
--- /dev/null
+++ b/examples/handle_static_types/main/idf_component.yml
@@ -0,0 +1,4 @@
+dependencies:
+  micro-ros/micro_ros_espidf_component:
+    version: "^25.0.0"
+    override_path: "../../../"
diff --git a/examples/int32_publisher/CMakeLists.txt b/examples/int32_publisher/CMakeLists.txt
index b416a561..569cfc78 100644
--- a/examples/int32_publisher/CMakeLists.txt
+++ b/examples/int32_publisher/CMakeLists.txt
@@ -1,7 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
 
-set (EXTRA_COMPONENT_DIRS "./../../.")
-
 include($ENV{IDF_PATH}/tools/cmake/project.cmake)
 project(int32_publisher)
 
diff --git a/examples/int32_publisher/main/idf_component.yml b/examples/int32_publisher/main/idf_component.yml
new file mode 100644
index 00000000..1373f7f2
--- /dev/null
+++ b/examples/int32_publisher/main/idf_component.yml
@@ -0,0 +1,4 @@
+dependencies:
+  micro-ros/micro_ros_espidf_component:
+    version: "^25.0.0"
+    override_path: "../../../"
diff --git a/examples/int32_publisher_custom_transport/CMakeLists.txt b/examples/int32_publisher_custom_transport/CMakeLists.txt
index b416a561..569cfc78 100644
--- a/examples/int32_publisher_custom_transport/CMakeLists.txt
+++ b/examples/int32_publisher_custom_transport/CMakeLists.txt
@@ -1,7 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
 
-set (EXTRA_COMPONENT_DIRS "./../../.")
-
 include($ENV{IDF_PATH}/tools/cmake/project.cmake)
 project(int32_publisher)
 
diff --git a/examples/int32_publisher_custom_transport/main/idf_component.yml b/examples/int32_publisher_custom_transport/main/idf_component.yml
new file mode 100644
index 00000000..1373f7f2
--- /dev/null
+++ b/examples/int32_publisher_custom_transport/main/idf_component.yml
@@ -0,0 +1,4 @@
+dependencies:
+  micro-ros/micro_ros_espidf_component:
+    version: "^25.0.0"
+    override_path: "../../../"
diff --git a/examples/int32_publisher_custom_transport_usbcdc/CMakeLists.txt b/examples/int32_publisher_custom_transport_usbcdc/CMakeLists.txt
index b416a561..569cfc78 100644
--- a/examples/int32_publisher_custom_transport_usbcdc/CMakeLists.txt
+++ b/examples/int32_publisher_custom_transport_usbcdc/CMakeLists.txt
@@ -1,7 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
 
-set (EXTRA_COMPONENT_DIRS "./../../.")
-
 include($ENV{IDF_PATH}/tools/cmake/project.cmake)
 project(int32_publisher)
 
diff --git a/examples/int32_publisher_custom_transport_usbcdc/main/idf_component.yml b/examples/int32_publisher_custom_transport_usbcdc/main/idf_component.yml
new file mode 100644
index 00000000..1373f7f2
--- /dev/null
+++ b/examples/int32_publisher_custom_transport_usbcdc/main/idf_component.yml
@@ -0,0 +1,4 @@
+dependencies:
+  micro-ros/micro_ros_espidf_component:
+    version: "^25.0.0"
+    override_path: "../../../"
diff --git a/examples/int32_publisher_embeddedrtps/CMakeLists.txt b/examples/int32_publisher_embeddedrtps/CMakeLists.txt
index b416a561..569cfc78 100644
--- a/examples/int32_publisher_embeddedrtps/CMakeLists.txt
+++ b/examples/int32_publisher_embeddedrtps/CMakeLists.txt
@@ -1,7 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
 
-set (EXTRA_COMPONENT_DIRS "./../../.")
-
 include($ENV{IDF_PATH}/tools/cmake/project.cmake)
 project(int32_publisher)
 
diff --git a/examples/int32_publisher_embeddedrtps/main/idf_component.yml b/examples/int32_publisher_embeddedrtps/main/idf_component.yml
new file mode 100644
index 00000000..1373f7f2
--- /dev/null
+++ b/examples/int32_publisher_embeddedrtps/main/idf_component.yml
@@ -0,0 +1,4 @@
+dependencies:
+  micro-ros/micro_ros_espidf_component:
+    version: "^25.0.0"
+    override_path: "../../../"
diff --git a/examples/int32_sub_pub/CMakeLists.txt b/examples/int32_sub_pub/CMakeLists.txt
index a650b832..6ba1a27d 100644
--- a/examples/int32_sub_pub/CMakeLists.txt
+++ b/examples/int32_sub_pub/CMakeLists.txt
@@ -1,7 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
 
-set (EXTRA_COMPONENT_DIRS "./../../.")
-
 include($ENV{IDF_PATH}/tools/cmake/project.cmake)
 project(int32_pub_sub)
 
diff --git a/examples/int32_sub_pub/main/idf_component.yml b/examples/int32_sub_pub/main/idf_component.yml
new file mode 100644
index 00000000..1373f7f2
--- /dev/null
+++ b/examples/int32_sub_pub/main/idf_component.yml
@@ -0,0 +1,4 @@
+dependencies:
+  micro-ros/micro_ros_espidf_component:
+    version: "^25.0.0"
+    override_path: "../../../"
diff --git a/examples/low_consumption/CMakeLists.txt b/examples/low_consumption/CMakeLists.txt
index b416a561..569cfc78 100644
--- a/examples/low_consumption/CMakeLists.txt
+++ b/examples/low_consumption/CMakeLists.txt
@@ -1,7 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
 
-set (EXTRA_COMPONENT_DIRS "./../../.")
-
 include($ENV{IDF_PATH}/tools/cmake/project.cmake)
 project(int32_publisher)
 
diff --git a/examples/low_consumption/main/idf_component.yml b/examples/low_consumption/main/idf_component.yml
new file mode 100644
index 00000000..1373f7f2
--- /dev/null
+++ b/examples/low_consumption/main/idf_component.yml
@@ -0,0 +1,4 @@
+dependencies:
+  micro-ros/micro_ros_espidf_component:
+    version: "^25.0.0"
+    override_path: "../../../"
diff --git a/examples/multithread_publisher/CMakeLists.txt b/examples/multithread_publisher/CMakeLists.txt
index f96ef3e7..e696729b 100644
--- a/examples/multithread_publisher/CMakeLists.txt
+++ b/examples/multithread_publisher/CMakeLists.txt
@@ -1,7 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
 
-set (EXTRA_COMPONENT_DIRS "./../../.")
-
 include($ENV{IDF_PATH}/tools/cmake/project.cmake)
 project(multithread_publisher)
 
diff --git a/examples/multithread_publisher/main/idf_component.yml b/examples/multithread_publisher/main/idf_component.yml
new file mode 100644
index 00000000..1373f7f2
--- /dev/null
+++ b/examples/multithread_publisher/main/idf_component.yml
@@ -0,0 +1,4 @@
+dependencies:
+  micro-ros/micro_ros_espidf_component:
+    version: "^25.0.0"
+    override_path: "../../../"
diff --git a/examples/parameters/CMakeLists.txt b/examples/parameters/CMakeLists.txt
index a650b832..6ba1a27d 100644
--- a/examples/parameters/CMakeLists.txt
+++ b/examples/parameters/CMakeLists.txt
@@ -1,7 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
 
-set (EXTRA_COMPONENT_DIRS "./../../.")
-
 include($ENV{IDF_PATH}/tools/cmake/project.cmake)
 project(int32_pub_sub)
 
diff --git a/examples/parameters/main/idf_component.yml b/examples/parameters/main/idf_component.yml
new file mode 100644
index 00000000..1373f7f2
--- /dev/null
+++ b/examples/parameters/main/idf_component.yml
@@ -0,0 +1,4 @@
+dependencies:
+  micro-ros/micro_ros_espidf_component:
+    version: "^25.0.0"
+    override_path: "../../../"
diff --git a/examples/ping_pong/CMakeLists.txt b/examples/ping_pong/CMakeLists.txt
index 9377dad5..b9d94e0e 100644
--- a/examples/ping_pong/CMakeLists.txt
+++ b/examples/ping_pong/CMakeLists.txt
@@ -1,7 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
 
-set (EXTRA_COMPONENT_DIRS "./../../.")
-
 include($ENV{IDF_PATH}/tools/cmake/project.cmake)
 project(ping_pong)
 
diff --git a/examples/ping_pong/main/idf_component.yml b/examples/ping_pong/main/idf_component.yml
new file mode 100644
index 00000000..1373f7f2
--- /dev/null
+++ b/examples/ping_pong/main/idf_component.yml
@@ -0,0 +1,4 @@
+dependencies:
+  micro-ros/micro_ros_espidf_component:
+    version: "^25.0.0"
+    override_path: "../../../"
diff --git a/idf_component.yml b/idf_component.yml
new file mode 100644
index 00000000..c957578f
--- /dev/null
+++ b/idf_component.yml
@@ -0,0 +1,20 @@
+version: "25.0.0"
+description: "Micro-ROS ESP-IDF component and sample code"
+url: "https://github.com/micro-ROS/micro_ros_espidf_component"
+repository: "https://github.com/micro-ROS/micro_ros_espidf_component.git"
+license: "Apache-2.0"
+tags:
+  - micro-ros
+  - ros2
+targets:
+  - esp32
+  - esp32s2
+  - esp32s3
+  - esp32c3
+  - esp32c6
+dependencies:
+  idf: ">=5.2"
+files:
+  use_gitignore: true
+  exclude:
+    - ".github/**"