diff --git a/include/iri_base_algorithm/iri_base_algorithm.h b/include/iri_base_algorithm/iri_base_algorithm.h
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..a10569da95c2c82f455c90ac1f0c5ad9da8c26aa 100644
--- a/include/iri_base_algorithm/iri_base_algorithm.h
+++ b/include/iri_base_algorithm/iri_base_algorithm.h
@@ -0,0 +1,102 @@
+#ifndef _IRI_BASE_ALGORITHM_H
+#define _IRI_BASE_ALGORITHM_H
+
+#include <ros/ros.h>
+
+// iri-utils thread server
+#include "threadserver.h"
+#include "exceptions.h"
+
+namespace algorithm_base
+{
+
+/**
+ * \brief IRI ROS Base Node Class
+ *
+ */
+template <class Algorithm>
+class IriBaseAlgorithm
+{
+  protected:
+    Algorithm alg;
+    CThreadServer *thread_server;
+    std::string main_thread_id;
+
+    ros::NodeHandle node_handle_;
+    ros::NodeHandle private_node_handle_;
+
+    ros::Rate loop_rate;
+    static const unsigned int DEFAULT_RATE = 10; //[Hz]
+
+  public:
+    IriBaseAlgorithm();
+    ~IriBaseAlgorithm();
+
+  protected:
+//     void addDiagnostics(void);
+//     void addOpenedTests(void);
+//     void addStoppedTests(void);
+//     void addRunningTests(void);
+//     virtual void addNodeDiagnostics(void) = 0;
+//     virtual void addNodeOpenedTests(void) = 0;
+//     virtual void addNodeStoppedTests(void) = 0;
+//     virtual void addNodeRunningTests(void) = 0;
+    static void *mainThread(void *param);
+    virtual void mainNodeThread(void) = 0;
+
+};
+
+template <class Algorithm>
+IriBaseAlgorithm<Algorithm>::IriBaseAlgorithm(): private_node_handle_("~"), loop_rate(DEFAULT_RATE)
+{
+//   this->driver_.setPostOpenHook(boost::bind(&CIriNode::postOpenHook, this));
+
+  // create the status thread
+  this->thread_server=CThreadServer::instance();
+  this->main_thread_id="main_thread";
+
+  this->thread_server->create_thread(this->main_thread_id);
+  this->thread_server->attach_thread(this->main_thread_id, this->mainThread, this);
+  this->thread_server->start_thread( this->main_thread_id);
+  
+  // initialize class attributes
+}
+
+template <class Algorithm>
+void *IriBaseAlgorithm<Algorithm>::mainThread(void *param)
+{
+  IriBaseAlgorithm *iriNode = (IriBaseAlgorithm *)param;
+
+  while(ros::ok())
+  {
+//     std::cout << __LINE__ << ": driver state=" << iriNode->driver_.getStateName() << std::endl;
+//     if(iriNode->driver_.isRunning())
+//     {
+      iriNode->mainNodeThread();
+
+//       ros::spinOnce();
+      iriNode->loop_rate.sleep();
+//     }
+  }
+
+  pthread_exit(NULL);
+}
+
+template <class Algorithm>
+IriBaseAlgorithm<Algorithm>::~IriBaseAlgorithm()
+{
+  this->thread_server->kill_thread(this->main_thread_id);
+}
+
+template <class AlgImplTempl>
+int main(int argc, char **argv, std::string name)
+{
+  ros::init(argc, argv, name);
+  AlgImplTempl algImpl;
+//   algImpl.AlgImplTempl::mainThread();
+ros::spin();
+  return 0;
+}
+
+}
+#endif