We report on the production of cold, state-selected H$_2^+$ molecular ions in a linear RF trap. The ions are produced by (3+1) resonance-enhanced multi-photon ionisation (REMPI) of H$_2$, and sympathetically cooled by laser-cooled Be$^+$ ions. After demonstrating and characterizing the REMPI process, we use photodissociation by a deep UV laser at 213~nm to verify the high vibrational purity of the produced H$_2^+$ ion samples. Moreover, the large difference between the photodissociation efficiencies of ions created in the $v=0$ and $v=1$ levels provides a way to detect a $v=0 to 1$ transition. These results pave the way towards high-resolution vibrational spectroscopy of H$_2^+$ for fundamental metrology applications.
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