diff --git a/website/.gitignore b/website/.gitignore
new file mode 100644
index 0000000000000000000000000000000000000000..53752db253e3b4b5e3f17633c0f358b6d7cdd166
--- /dev/null
+++ b/website/.gitignore
@@ -0,0 +1 @@
+output
diff --git a/website/Makefile b/website/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..9b81763bd1a586034c9f14e5f41a44a42593d770
--- /dev/null
+++ b/website/Makefile
@@ -0,0 +1,5 @@
+
+all: source/*
+ maruku source/index.md
+ cp source/* output
+
\ No newline at end of file
diff --git a/website/init_website.sh b/website/init_website.sh
new file mode 100755
index 0000000000000000000000000000000000000000..36eb023a753338301c644cfb43bdba9503d73481
--- /dev/null
+++ b/website/init_website.sh
@@ -0,0 +1,8 @@
+#!/bin/bash
+set -e
+set -x
+git clone git@github.com:AndreaCensi/csm.git output
+cd output
+git checkout origin/gh-pages -b gh-pages
+git branch -D master
+
diff --git a/website/source/a.gif b/website/source/a.gif
new file mode 100644
index 0000000000000000000000000000000000000000..5379a170c4d2b6e6583277435c7318ec3cd9ad6d
Binary files /dev/null and b/website/source/a.gif differ
diff --git a/website/source/index.html b/website/source/index.html
new file mode 100644
index 0000000000000000000000000000000000000000..525f71b4291831bb9f23feb330e48aa62bcb561d
--- /dev/null
+++ b/website/source/index.html
@@ -0,0 +1,53 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!DOCTYPE html PUBLIC
+ "-//W3C//DTD XHTML 1.1 plus MathML 2.0 plus SVG 1.1//EN"
+ "http://www.w3.org/2002/04/xhtml-math-svg/xhtml-math-svg.dtd">
+<html xmlns:svg='http://www.w3.org/2000/svg' xml:lang='en' xmlns='http://www.w3.org/1999/xhtml'>
+<head><meta content='application/xhtml+xml;charset=utf-8' http-equiv='Content-type' /><title>The C(anonical) Scan Matcher</title></head>
+<body>
+<h1 id='the_canonical_scan_matcher'>The C(anonical) Scan Matcher</h1>
+
+<p><img src='sm_plicp_zoom_crop.gif' alt='PL-ICP' style='float: right; margin:1em;' /></p>
+
+<h3 id='news'>News</h3>
+
+<ul>
+<li>Fall 2010: <a href='http://www.ros.org/wiki/canonical_scan_matcher'>CSM has been integrated and packaged</a> for <a href='http://www.ros.org/'>ROS</a> by <a href='http://robotics.ccny.cuny.edu/blog/People/Dryanovski'>Ivan Dryanovski</a>.</li>
+</ul>
+
+<h3 id='download'>Download</h3>
+
+<ul>
+<li>
+<p>CSM can be download from GitHub (.zip package available) at the url:</p>
+
+<p><a href='http://github.com/AndreaCensi/csm'>http://github.com/AndreaCensi/csm</a></p>
+</li>
+</ul>
+
+<h3 id='documentation__getting_started'>Documentation / getting started</h3>
+
+<p>Please see the manual contained in “csm_manual.pdf”. See below for a quick description.</p>
+
+<p><strong>What is this.</strong> I created this package:</p>
+
+<ul>
+<li>
+<p>To have a well-documented reference implementation of <a href='http://purl.org/censi/2007/plicp'>PL-ICP</a>. If you are only interested in the core algorithm of PL-ICP, a <a href='http://purl.org/censi/2007/gpc'>separate concise implementation in C/Matlab/Ruby</a> is available.</p>
+</li>
+
+<li>
+<p>To have a <strong>trustworthy</strong> scan matcher to be used in the experiments for some papers on <a href='http://purl.org/censi/2006/icpcov'>ICP covariance</a>, <a href='http://purl.org/censi/2006/accuracy'>the Cramer-Rao bound for range finders</a>, and <a href='http://purl.org/censi/2007/calib'>robot calibration</a>. For batch experiments, it’s also useful that it’s pretty fast.</p>
+</li>
+
+<li>
+<p>To have a collection of utilies for command line (UNIX-style) manipulation of laser data, and creating <a href='../plicp/laserazosSM3.log.pdf'>beautiful maps</a> and animations.</p>
+</li>
+</ul>
+
+<p>The package contains also a Ruby wrapper for the C library, and additional Ruby and a Matlab implementations of the same algorithm. These are not as usable or documented as the C version.</p>
+
+<p><strong>What it is NOT</strong>: Note that this is not a full-featured SLAM solution: this only does pairwise scan-matching between scans (but it’s really good at it!). If you are looking for a more complete SLAM solution, please see the projects listed in the <a href='http://www.openslam.org'>OpenSLAM</a> page; in particular you can have a look at <a href='http://www.openslam.org/gmapping.html'>GMapping</a>. Many pointers to other SLAM software can be found on the pages of the Euron SLAM summer schools: <a href='http://www.cas.kth.se/SLAM/'>2002 (Stockholm)</a>, <a href='http://www.laas.fr/SLAM/'>2004 (Toulouse)</a>, <a href='http://www.robots.ox.ac.uk/~SSS06/Website/index.html'>2006 (Oxford)</a>. Other related projects are <a href='http://carmen.sourceforge.net/'>Carmen</a> and <a href='http://playerstage.sourceforge.net/'>Stage</a>.</p>
+<hr />
+<p>Please link to this page using the url <a href='http://purl.org/censi/2007/csm'>http://purl.org/censi/2007/csm</a>.</p>
+</body></html>
diff --git a/website/source/index.md b/website/source/index.md
new file mode 100644
index 0000000000000000000000000000000000000000..064b082095d23553c7f3b602701e8195b68ef2b5
--- /dev/null
+++ b/website/source/index.md
@@ -0,0 +1,57 @@
+The C(anonical) Scan Matcher
+============================
+
+{:style="float: right; margin:1em;"}
+
+
+### News ###
+
+* Fall 2010: [CSM has been integrated and packaged][stack] for [ROS] by [Ivan Dryanovski][ivan].
+
+
+### Download ###
+
+* CSM can be download from GitHub (.zip package available) at the url:
+
+ [http://github.com/AndreaCensi/csm](http://github.com/AndreaCensi/csm)
+
+[stack]: http://www.ros.org/wiki/canonical_scan_matcher
+[ivan]: http://robotics.ccny.cuny.edu/blog/People/Dryanovski
+[ROS]: http://www.ros.org/
+
+
+### Documentation / getting started ###
+
+Please see the manual contained in "csm_manual.pdf". See below for a quick description.
+
+
+**What is this.** I created this package:
+
+- To have a well-documented reference implementation of [PL-ICP](http://purl.org/censi/2007/plicp). If you are only interested in the core algorithm of PL-ICP, a [separate concise implementation in C/Matlab/Ruby](http://purl.org/censi/2007/gpc) is available.
+
+- To have a **trustworthy** scan matcher to be used in the experiments for some papers on [ICP covariance](http://purl.org/censi/2006/icpcov), [the Cramer-Rao bound for range finders](http://purl.org/censi/2006/accuracy), and [robot calibration](http://purl.org/censi/2007/calib). For batch experiments, it's also useful that it's pretty fast.
+
+- To have a collection of utilies for command line (UNIX-style) manipulation of laser data,
+ and creating [beautiful maps][map-example] and animations.
+
+The package contains also a Ruby wrapper for the C library, and additional Ruby and a Matlab implementations of the same algorithm. These are not as usable or documented as the C version.
+
+**What it is NOT**: Note that this is not a full-featured SLAM solution: this only does pairwise scan-matching between scans (but it's really good at it!).
+If you are looking for a more complete SLAM solution, please see the projects listed in the [OpenSLAM](http://www.openslam.org) page; in particular you can have a look at [GMapping].
+Many pointers to other SLAM software can be found on the pages of the Euron SLAM summer schools:
+[2002 (Stockholm)](http://www.cas.kth.se/SLAM/),
+[2004 (Toulouse)](http://www.laas.fr/SLAM/),
+[2006 (Oxford)](http://www.robots.ox.ac.uk/~SSS06/Website/index.html).
+Other related projects are [Carmen] and [Stage].
+
+[map-example]: ../plicp/laserazosSM3.log.pdf
+
+[gmapping]: http://www.openslam.org/gmapping.html
+[carmen]: http://carmen.sourceforge.net/
+[stage]: http://playerstage.sourceforge.net/
+
+
+
+-----------
+
+Please link to this page using the url <http://purl.org/censi/2007/csm>.
\ No newline at end of file
diff --git a/website/source/sm_icp_zoom_crop.gif b/website/source/sm_icp_zoom_crop.gif
new file mode 100644
index 0000000000000000000000000000000000000000..dda33c638427060efc58bc2691c5f5a68c435e84
Binary files /dev/null and b/website/source/sm_icp_zoom_crop.gif differ
diff --git a/website/source/sm_plicp_zoom_crop.gif b/website/source/sm_plicp_zoom_crop.gif
new file mode 100644
index 0000000000000000000000000000000000000000..3701f9f952e9021e7312d06fcd3b15747d5309e0
Binary files /dev/null and b/website/source/sm_plicp_zoom_crop.gif differ