diff --git a/.github/workflows/build-deb.yaml b/.github/workflows/build-deb.yaml
index d44e124..7e49737 100644
--- a/.github/workflows/build-deb.yaml
+++ b/.github/workflows/build-deb.yaml
@@ -143,8 +143,10 @@ jobs:
             OLD_FILE="${PKGNAME}-dev-dbgsym_${SANITIZED_IMAGE}_amd64${OLD_EXT}"
             NEW_FILE="${PKGNAME}-dev-dbgsym_${SANITIZED_IMAGE}_amd64${NEW_EXT}"
 
-            mv "../$OLD_FILE" "../$NEW_FILE"
-            sed -i "s/${OLD_FILE}/${NEW_FILE}/g" "../$CHANGES_FILE"
+            if [ -f $OLD_FILE ]; then
+              mv "../$OLD_FILE" "../$NEW_FILE"
+              sed -i "s/${OLD_FILE}/${NEW_FILE}/g" "../$CHANGES_FILE"
+            fi
           fi
           
           ls -l ../
@@ -158,20 +160,32 @@ jobs:
           DSC_FILE="../${PKGNAME}_${SANITIZED_IMAGE}.dsc"
           TAR_FILE="../${PKGNAME}_${SANITIZED_IMAGE}.tar.gz"
 
-          for f in "$DEB_FILE" "$DEV_FILE" "$DEV_DBG_FILE" "$DBG_FILE" "$CHANGES_FILE" "$BUILDINFO_FILE" "$DSC_FILE" "$TAR_FILE"; do
+          for f in "$DEB_FILE" "$DEV_FILE" "$DBG_FILE" "$CHANGES_FILE" "$BUILDINFO_FILE" "$DSC_FILE" "$TAR_FILE"; do
             [[ -f "$f" ]] || { echo "Missing file: $f"; exit 1; }
           done
 
-          curl -X POST https://deb.burger-system.de/upload \
-            -H "Authorization: Bearer $DEPLOY_TOKEN" \
-            -F "deb=@$DEB_FILE" \
-            -F "deb-dev=@$DEV_FILE" \
-            -F "deb-dev-dbgsym=@$DEV_DBG_FILE" \
-            -F "dbgsym=@$DBG_FILE" \
-            -F "changes=@$CHANGES_FILE" \
-            -F "buildinfo=@$BUILDINFO_FILE" \
-            -F "dsc=@$DSC_FILE" \
-            -F "source=@$TAR_FILE"
+          if [ -f $DEV_DBG_FILE ]; then 
+            curl -X POST https://deb.burger-system.de/upload \
+              -H "Authorization: Bearer $DEPLOY_TOKEN" \
+              -F "deb=@$DEB_FILE" \
+              -F "deb-dev=@$DEV_FILE" \
+              -F "deb-dev-dbgsym=@$DEV_DBG_FILE" \
+              -F "dbgsym=@$DBG_FILE" \
+              -F "changes=@$CHANGES_FILE" \
+              -F "buildinfo=@$BUILDINFO_FILE" \
+              -F "dsc=@$DSC_FILE" \
+              -F "source=@$TAR_FILE"
+          else
+            curl -X POST https://deb.burger-system.de/upload \
+              -H "Authorization: Bearer $DEPLOY_TOKEN" \
+              -F "deb=@$DEB_FILE" \
+              -F "deb-dev=@$DEV_FILE" \
+              -F "dbgsym=@$DBG_FILE" \
+              -F "changes=@$CHANGES_FILE" \
+              -F "buildinfo=@$BUILDINFO_FILE" \
+              -F "dsc=@$DSC_FILE" \
+              -F "source=@$TAR_FILE"
+          fi
       
       - name: Collect .deb artifact
         run: |
diff --git a/.github/workflows/build-ln-msgdef-deb.yaml b/.github/workflows/build-ln-msgdef-deb.yaml
new file mode 100644
index 0000000..b9e7abc
--- /dev/null
+++ b/.github/workflows/build-ln-msgdef-deb.yaml
@@ -0,0 +1,191 @@
+name: Generate Links-and-Nodes message definitions Debian Package
+
+on:
+  push:
+    branches:
+      - '**'
+    tags:
+      - '**'
+
+jobs:
+  create_release:
+    if: startsWith(github.ref, 'refs/tags/')
+    runs-on: ubuntu-latest
+    permissions:
+      contents: write
+    outputs:
+      upload_url: ${{ steps.create_release.outputs.upload_url }}
+    steps:
+      - id: create_release
+        uses: ncipollo/release-action@v1
+        with:
+          tag: ${{ github.ref_name }}
+          name: Release ${{ github.ref_name }}
+          body: Automated release for tag ${{ github.ref_name }}
+          draft: false
+          prerelease: false
+          token: ${{ secrets.GITHUB_TOKEN }}
+
+  build-deb:
+    runs-on: ubuntu-latest
+    permissions:
+      contents: write
+    env:
+      DEB_BUILD_OPTIONS: "compress=gzip nocheck"
+      PKGNAME: "robotkernel-ln-msgdef"
+    strategy:
+      matrix:
+        distro: [debian-12, debian-11, ubuntu-24.04, ubuntu-22.04]
+        include:
+          - distro: debian-12
+            image: debian:12
+            os: debian
+            version: bookworm
+          - distro: debian-11
+            image: debian:11
+            os: debian
+            version: bullseye
+          - distro: ubuntu-24.04
+            image: ubuntu:24.04
+            os: ubuntu
+            version: noble
+          - distro: ubuntu-22.04
+            image: ubuntu:22.04
+            os: ubuntu
+            version: jammy
+    container:
+      image: ${{ matrix.image }} 
+
+    steps:
+      - name: Install build dependencies
+        shell: bash
+        run: |
+          apt-get update
+          apt-get install -y build-essential devscripts debhelper autoconf-archive autotools-dev pkg-config sed git tar gzip curl jq libyaml-cpp-dev rsync
+          
+          curl -fsSL https://deb.burger-system.de/setup.sh | bash > /dev/null
+          apt-get update
+          apt-get install -y robotkernel-ln-helper
+
+      - name: Checkout source
+        uses: actions/checkout@v6
+        with:
+          fetch-depth: 0 
+
+      - name: Mark working directory as safe
+        run: git config --global --add safe.directory $GITHUB_WORKSPACE
+
+      - name: Build .deb package
+        working-directory: ${{ github.workspace }}/share/service_definitions
+        shell: bash
+        run: |
+          # baue mit dpkg-buildpackage (ohne signieren)
+          export DEBEMAIL="robert.burger@dlr.de"
+          export DEBFULLNAME="Robert Burger"
+          CODENAME=$(lsb_release -sc)
+          VERSION=$(dpkg-parsechangelog --show-field Version)
+          PRE_VERSION="pre${GITHUB_RUN_NUMBER}"
+
+          # Check if version already contains codename suffix
+          if [[ "$VERSION" == *"~${CODENAME}"* || "$VERSION" == *"+${CODENAME}"* ]]; then
+            echo "Version already contains codename suffix, skipping dch."
+          else
+            if [[ ! $GITHUB_REF =~ ^refs/tags/ ]]; then
+              # Not a tag, so add ~pre<x>
+              FULL_VERSION="${VERSION}~${PRE_VERSION}~${CODENAME}-pre"
+              dch -b --newversion "${FULL_VERSION}" --distribution "${CODENAME}-pre" "Pre-release for ${CODENAME}-pre"
+            else
+              FULL_VERSION="${VERSION}~${CODENAME}"
+              if echo "${GITHUB_REF_NAME}" | grep -q "\-rev"; then
+                REVISION=$(echo "${GITHUB_REF_NAME}" | sed -n 's/.*-rev\([0-9]*\)$/\1/p')
+                echo "Revision found: $REVISION"
+                FULL_VERSION="${VERSION}-${REVISION}~${CODENAME}"
+              fi
+              dch --newversion "${FULL_VERSION}" --distribution "${CODENAME}" "Pre-release for ${CODENAME}"
+            fi
+          fi
+
+          dpkg-buildpackage -us -uc -sa
+
+      - name: Debug artifact files
+        working-directory: ${{ github.workspace }}/share/service_definitions
+        run: |
+          ls -l ../
+          
+      - name: Set sanitized image name
+        working-directory: ${{ github.workspace }}/share/service_definitions
+        id: sanitize
+        run: |
+          version=$(dpkg-parsechangelog | sed -n 's/^Version: //p')
+          echo "sanitized_image=$(echo "${version}" | tr '/:' '--')" >> $GITHUB_OUTPUT
+            
+      - name: Upload to APT repository
+        working-directory: ${{ github.workspace }}/share/service_definitions
+        env:
+          DEPLOY_TOKEN: ${{ secrets.BS_UPLOAD_KEY }}
+        shell: bash
+        run: |
+          DISTRO="${{ matrix.distro }}"
+          SANITIZED_IMAGE="${{ steps.sanitize.outputs.sanitized_image }}"
+
+          ls -l ../
+
+          DEB_FILE="../${PKGNAME}_${SANITIZED_IMAGE}_all.deb"
+          CHANGES_FILE="../${PKGNAME}_${SANITIZED_IMAGE}_amd64.changes"
+          BUILDINFO_FILE="../${PKGNAME}_${SANITIZED_IMAGE}_amd64.buildinfo"
+          DSC_FILE="../${PKGNAME}_${SANITIZED_IMAGE}.dsc"
+          TAR_FILE="../${PKGNAME}_${SANITIZED_IMAGE}.tar.gz"
+
+          for f in "$DEB_FILE" "$CHANGES_FILE" "$BUILDINFO_FILE" "$DSC_FILE" "$TAR_FILE"; do
+            [[ -f "$f" ]] || { echo "Missing file: $f"; exit 1; }
+          done
+
+          curl -X POST https://deb.burger-system.de/upload \
+            -H "Authorization: Bearer $DEPLOY_TOKEN" \
+            -F "deb=@$DEB_FILE" \
+            -F "changes=@$CHANGES_FILE" \
+            -F "buildinfo=@$BUILDINFO_FILE" \
+            -F "dsc=@$DSC_FILE" \
+            -F "source=@$TAR_FILE"
+      
+      - name: Collect .deb artifact
+        working-directory: ${{ github.workspace }}/share/service_definitions
+        run: |
+          mkdir -p artifacts/
+          rsync -av --include="*.deb" --include="*.changes" --include="*.buildinfo" --include="*.dsc" --include="*.tar.gz" --exclude="*" ../ artifacts/
+
+      - name: Upload .deb package artifact
+        uses: actions/upload-artifact@v7
+        with:
+          name: ${{ env.PKGNAME }}-artifacts-${{ steps.sanitize.outputs.sanitized_image }}
+          path: share/service_definitions/artifacts/
+
+      # Fetch the release upload URL dynamically on tag builds
+      - name: Upload all artifacts to Release
+        working-directory: ${{ github.workspace }}/share/service_definitions
+        if: startsWith(github.ref, 'refs/tags/')
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+          GITHUB_REF_NAME: ${{ github.ref_name }}
+        run: |
+          release_json=$(curl -sSL \
+            -H "Authorization: token $GITHUB_TOKEN" \
+            -H "Accept: application/vnd.github.v3+json" \
+            "https://api.github.com/repos/${{ github.repository }}/releases/tags/${GITHUB_REF_NAME}")
+      
+          upload_url=$(echo "$release_json" | jq -r '.upload_url' | sed -e "s/{?name,label}//")
+          echo "Release upload URL: $upload_url"
+      
+          if [ -d "./artifacts" ]; then
+            for file in ./artifacts/*; do
+              filename=$(basename "$file")
+              echo "Uploading $file as $filename"
+              curl --fail -X POST \
+                -H "Authorization: token $GITHUB_TOKEN" \
+                -H "Content-Type: application/octet-stream" \
+                --data-binary @"$file" \
+                "$upload_url?name=$filename"
+            done
+          else
+            echo "Artifacts directory not found, skipping upload."
+          fi