diff --git a/CMakeLists.txt b/CMakeLists.txt
index 6ce13fd4e0bcbcfe1deae7ab74bf5444d98c1585..a8dc02120bb3f3f5e262ccaeb081122a9ddcc2ac 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,35 +1,157 @@
-cmake_minimum_required(VERSION 2.4.6)
-include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+cmake_minimum_required(VERSION 2.8.3)
+project(iri_base_algorithm)
 
-set(PROJECT_NAME iri_base_algorithm)
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED)
 
-# Set the build type.  Options are:
-#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
-#  Debug          : w/ debug symbols, w/o optimization
-#  Release        : w/o debug symbols, w/ optimization
-#  RelWithDebInfo : w/ debug symbols, w/ optimization
-#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
-#set(ROS_BUILD_TYPE RelWithDebInfo)
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
 
-rosbuild_init()
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
 
-#set the default path for built executables to the "bin" directory
-set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
-#set the default path for built libraries to the "lib" directory
-set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
+################################################
+## Declare ROS messages, services and actions ##
+################################################
 
-# edit the following line to add all the source code files of the library
-# SET(sources ./src/iri_base_algorithm.cpp)
-# edit the following line to add all the header files of the library
-# SET(headers ./include/iri_base_algorithm.h)
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependencies might have been
+##     pulled in transitively but can be declared for certainty nonetheless:
+##     * add a build_depend tag for "message_generation"
+##     * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
 
-# INCLUDE_DIRECTORIES(${headers})
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
 
-#common commands for building c++ executables and libraries
-# rosbuild_add_library(${PROJECT_NAME} SHARED ${sources})
-#target_link_libraries(${PROJECT_NAME} another_library)
-#rosbuild_add_boost_directories()
-#rosbuild_link_boost(${PROJECT_NAME} thread)
-#rosbuild_add_executable(example examples/example.cpp)
-#target_link_libraries(${PROJECT_NAME} ${iriutils_LIBRARY})
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
 
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs  # Or other packages containing msgs
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+  INCLUDE_DIRS include
+#  LIBRARIES ${PROJECT_NAME}
+  CATKIN_DEPENDS roscpp dynamic_reconfigure diagnostic_updater
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+
+## Declare a cpp library
+# add_library(foo
+#   src/${PROJECT_NAME}/foo.cpp
+# )
+add_library(${PROJECT_NAME} include/${PROJECT_NAME}/iri_base_algorithm.h)
+set_target_properties(${PROJECT_NAME} PROPERTIES LINKER_LANGUAGE CXX)
+
+## Declare a cpp executable
+# add_executable(foo_node src/foo_node.cpp)
+
+## Add cmake target dependencies of the executable/library
+## as an example, message headers may need to be generated before nodes
+# add_dependencies(foo_node foo_generate_messages_cpp)
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(foo_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS foo foo_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_foo.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/include/iri_base_algorithm/iri_base_algorithm.h b/include/iri_base_algorithm/iri_base_algorithm.h
index b41f0a4df12dac6fcee2b0f795b2b6b64c688334..492edfe9476a56f8deb9ae8cc5e08da3f8c3f200 100644
--- a/include/iri_base_algorithm/iri_base_algorithm.h
+++ b/include/iri_base_algorithm/iri_base_algorithm.h
@@ -42,17 +42,12 @@ namespace algorithm_base
 class AbstractAlgorithmNode
 {
   protected:
-    static int ctrl_c_hit_count_;
     
     static void hupCalled(int sig)
     {
       ROS_WARN("Unexpected SIGHUP caught. Ignoring it.");
     }
     
-    static void sigCalled(int sig)
-    {
-      ctrl_c_hit_count_++;
-    }
 };
 
 /**
@@ -322,7 +317,7 @@ void *IriBaseAlgorithm<Algorithm>::mainThread(void *param)
   // retrieve base algorithm class
   IriBaseAlgorithm *iriNode = (IriBaseAlgorithm *)param;
 
-  while(ros::ok() && !ctrl_c_hit_count_)
+  while(ros::ok())
   {
     // run node stuff
     iriNode->mainNodeThread();
@@ -354,7 +349,7 @@ int IriBaseAlgorithm<Algorithm>::spin(void)
   // create the status thread
   pthread_create(&this->thread,NULL,this->mainThread,this);
 
-  while(ros::ok() && !ctrl_c_hit_count_)
+  while(ros::ok())
   {
     // update diagnostics
     this->diagnostic_.update();
@@ -372,7 +367,6 @@ int IriBaseAlgorithm<Algorithm>::spin(void)
 }
 
 // definition of the static Ctrl+C counter
-int AbstractAlgorithmNode::ctrl_c_hit_count_ = 0;
 
 /**
  * \brief base main
diff --git a/package.xml b/package.xml
new file mode 100644
index 0000000000000000000000000000000000000000..1d862c03165119a64e622edbfffcbccf3eb16614
--- /dev/null
+++ b/package.xml
@@ -0,0 +1,48 @@
+<?xml version="1.0"?>
+<package>
+  <name>iri_base_algorithm</name>
+  <version>1.0.0</version>
+  <description>The iri_base_algorithm package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="labrobotica@iri.upc.edu">labrobotica</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>LGPL</license>
+
+
+  <!-- Url tags are optional, but mutiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <url type="website">http://wiki.ros.org/iri_base_algorithm</url>
+
+
+  <!-- Author tags are optional, mutiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintianers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+  <author>Joan Perez</author>
+
+
+  <!-- The *_depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <build_depend>roscpp</build_depend>
+  <build_depend>dynamic_reconfigure</build_depend>
+  <build_depend>diagnostic_updater</build_depend>
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use run_depend for packages you need at runtime: -->
+  <run_depend>roscpp</run_depend>
+  <run_depend>dynamic_reconfigure</run_depend>
+  <run_depend>diagnostic_updater</run_depend>
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+</package>