diff --git a/scripts/rqt_topic b/scripts/rqt_topic
deleted file mode 100755
index a2d9679..0000000
--- a/scripts/rqt_topic
+++ /dev/null
@@ -1,8 +0,0 @@
-#!/usr/bin/env python3
-
-import sys
-
-from rqt_gui.main import Main
-
-main = Main()
-sys.exit(main.main(sys.argv, standalone='rqt_topic.topic.Topic'))
diff --git a/setup.cfg b/setup.cfg
new file mode 100644
index 0000000..1ac1780
--- /dev/null
+++ b/setup.cfg
@@ -0,0 +1,4 @@
+[develop]
+script-dir=$base/lib/rqt_topic
+[install]
+install-scripts=$base/lib/rqt_topic
diff --git a/setup.py b/setup.py
index 26569db..6f6605c 100644
--- a/setup.py
+++ b/setup.py
@@ -12,7 +12,6 @@
         ('share/' + package_name + '/resource', ['resource/TopicWidget.ui']),
         ('share/' + package_name, ['package.xml']),
         ('share/' + package_name, ['plugin.xml']),
-        ('lib/' + package_name, ['scripts/rqt_topic'])
     ],
     install_requires=['setuptools'],
     zip_safe=True,
@@ -32,5 +31,9 @@
     ),
     license='BSD',
     tests_require=['pytest'],
-    scripts=['scripts/rqt_topic'],
+    entry_points={
+        'console_scripts': [
+            'rqt_topic = ' + package_name + '.main:main',
+        ],
+    },
 )
diff --git a/src/rqt_topic/main.py b/src/rqt_topic/main.py
new file mode 100755
index 0000000..cfffd4f
--- /dev/null
+++ b/src/rqt_topic/main.py
@@ -0,0 +1,42 @@
+# Copyright (c) 2021, Open Source Robotics Foundation
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#   * Redistributions of source code must retain the above copyright
+#     notice, this list of conditions and the following disclaimer.
+#   * Redistributions in binary form must reproduce the above
+#     copyright notice, this list of conditions and the following
+#     disclaimer in the documentation and/or other materials provided
+#     with the distribution.
+#   * Neither the name of the TU Darmstadt nor the names of its
+#     contributors may be used to endorse or promote products derived
+#     from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+import sys
+
+from rqt_gui.main import Main
+
+
+def main():
+    main = Main()
+    sys.exit(main.main(sys.argv, standalone='rqt_topic.topic.Topic'))
+
+
+if __name__ == '__main__':
+    main()