diff --git a/CMakeLists.txt b/CMakeLists.txt
index 1bd40196190862e6715e369a5006e51e903b551a..e5662c009157fd8bc1833c2a78e2d61d4e0c345e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,7 +1,7 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(iri_base_bt_client)
 
-# set(CMAKE_BUILD_TYPE "DEBUG")
+set(CMAKE_BUILD_TYPE "DEBUG")
 
 ## Add support for C++11, supported in ROS Kinetic and newer
 # add_definitions(-std=c++11)
@@ -20,6 +20,8 @@ find_package(catkin REQUIRED COMPONENTS
 # find_package(Boost REQUIRED COMPONENTS system)
 find_package(Boost REQUIRED COMPONENTS system thread)
 
+catkin_python_setup()
+
 ## 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
diff --git a/setup.py b/setup.py
new file mode 100644
index 0000000000000000000000000000000000000000..30b7ff1bb95e1d695eb2a41227728d4ebdf88b07
--- /dev/null
+++ b/setup.py
@@ -0,0 +1,9 @@
+#!/usr/bin/env python
+from distutils.core import setup
+from catkin_pkg.python_setup import generate_distutils_setup
+d = generate_distutils_setup(
+    packages=['iri_base_bt_client'],
+    package_dir={'': 'src'},
+    requires=['roslib', 'rospy', 'rosservice']
+)
+setup(**d)
diff --git a/src/iri_base_bt_client/__init__.py b/src/iri_base_bt_client/__init__.py
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/src/iri_base_bt_client/submodule.py b/src/iri_base_bt_client/submodule.py
new file mode 100644
index 0000000000000000000000000000000000000000..c46fc448aa33ae026a1c02ee0892da97f2be321f
--- /dev/null
+++ b/src/iri_base_bt_client/submodule.py
@@ -0,0 +1,11 @@
+# submodule config parameters
+from dynamic_reconfigure.parameter_generator_catkin import *
+
+def add_bt_client_params(gen):
+  new_group = gen.add_group('bt_client')
+
+  new_group.add("bt_client_rate",double_t,0,"Desired rate in Hz of the client", 1.0, 0.1, 1000.0)
+  new_group.add("bt_client_enable_cout_logger",bool_t,0,"Enables status printing in terminal", False)
+  new_group.add("bt_client_enable_minitrace_logger",bool_t,0,"Enables duration saving in log file", False)
+  new_group.add("bt_client_enable_file_logger",bool_t,0,"Enables status saving in log file", False)
+  new_group.add("bt_client_enable_zmq_publisher",bool_t,0,"Enables live status sending to Groot", False)