diff --git a/CMakeLists.txt b/CMakeLists.txt
index 1cde27cfbc48126183c06f7b8e82c4d62c35f7d1..1c356650b983a1df802367152d05946bba2da93e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.0.2)
-project(iri_gesture_recognition)
+project(iri_python_template)
 
 ## Compile as C++11, supported in ROS Kinetic and newer
 # add_compile_options(-std=c++11)
@@ -107,7 +107,7 @@ generate_dynamic_reconfigure_options(
 ## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
 #  INCLUDE_DIRS include
-#  LIBRARIES iri_gesture_recognition
+#  LIBRARIES iri_python_template
   CATKIN_DEPENDS rospy std_msgs std_srvs dynamic_reconfigure
 #  DEPENDS system_lib
 )
@@ -125,7 +125,7 @@ include_directories(
 
 ## Declare a C++ library
 # add_library(${PROJECT_NAME}
-#   src/${PROJECT_NAME}/iri_gesture_recognition.cpp
+#   src/${PROJECT_NAME}/iri_python_template.cpp
 # )
 
 ## Add cmake target dependencies of the library
@@ -136,7 +136,7 @@ include_directories(
 ## Declare a C++ executable
 ## With catkin_make all packages are built within a single CMake context
 ## The recommended prefix ensures that target names across packages don't collide
-# add_executable(${PROJECT_NAME}_node src/iri_gesture_recognition_node.cpp)
+# add_executable(${PROJECT_NAME}_node src/iri_python_template_node.cpp)
 
 ## Rename C++ executable without prefix
 ## The above recommended prefix causes long target names, the following renames the
@@ -200,7 +200,7 @@ include_directories(
 #############
 
 ## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_iri_gesture_recognition.cpp)
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_iri_python_template.cpp)
 # if(TARGET ${PROJECT_NAME}-test)
 #   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
 # endif()
diff --git a/README.md b/README.md
index 391453605b2024c4cfc941753563792dc1adfe9c..274faefde464a6bb469898d7b76f9973ddde23e9 100644
--- a/README.md
+++ b/README.md
@@ -1,66 +1,113 @@
-## Description
+# Description
 
-# ROS Interface
+This repository contains a ROS Python template that can be used to integrate user Python libraries and code into ROS in an easy way. It provides examples of creation and use of:
 
-### Topic publishers
+* Topic publishers
+* Topic subscribers
+* Service server
+* Service client
+* Dynamic reconfigure
 
-  - **topic name** (message type): description.
+The main features of this template node are:
 
-### Topic subscribers
+* Has a independent thread to execute the user code (*main_thread*).
+* Has a dynamic reconfigure server
+* Has a configurable rate for the *main_thread* (*rate*)
 
-  - **topic name** (message type): description.
+# How to use it
 
-### Service servers
+The steps to use this template are described next.
 
-  - **service name** (message type): description.
+## Create a new ROS package from the template
 
-### Service clients
+To create a new ROS package from the template, first clone the template repository into the working workspace:
 
-  - **service name** (message type): description.
+```
+roscd
+cd ../src
+git clone ssh://git@gitlab.iri.upc.edu:2202/labrobotica/ros/iri_core/iri_python_template.git <my_package_name>
+```
 
-### Parameters
+where <my_package_name> is the desired name for the new package.
 
-- ~**param name** (type; default: value; min: value; max: value) Description. 
+Change the default name of all internal classes and variables to the desired package and class names:
 
-## Dependencies
-This package requires the following packages:
+```
+my_package_name=<my_package_name>
+my_node_class_name=<my_node_class_name>
+
+cd $my_package_name
+sed -i "s/iri_python_template/$my_package_name/g" CMakeLists.txt
+sed -i "s/iri_python_template/$my_package_name/g" package.xml
+sed -i "s/iri_python_template/$my_package_name/g" src/node.py
+sed -i "s/iri_python_template/$my_package_name/g" cfg/Node.cfg
+sed -i "s/iri_python_template/$my_package_name/g" launch/node.launch
+sed -i "s/iri_python_template/$my_package_name/g" launch/test.launch
+sed -i "s/template_Node/$my_node_class_name/g" src/node.py
+```
 
-## Installation
+Substitute the template documentation for a genric one:
 
-Move to the active workspace:
-```bash
-roscd && cd ../src
+```
+cp docs/README.md README.md
+rm -rf docs
 ```
 
-Clone the repository: 
-```bash
-git clone <url> 
+Create a new repository in the [IRI GitLab server](https://gitlab.iri.upc.edu/). Once created, execute the following command to change the remote repository and push the files:
+
+```
+git remote rename origin old-origin
+git remote add origin <path to the new repository>
+git push -u origin --all
 ```
 
-Install ROS dependencies:
+## Add ROS interfaces
+
+The Python node by default has an example of creating and using:
+
+* topic publisher (*publisher_example*)
+* topic subscriber (*subscriber_example*)
+* service server (*service_server_example*)
+* service client (*service_client_example*)
+
+You can use this examples to add necessary ROS interfaces to your node. Remember to remove or comment the example ROS interfaces.
+
+For each new topic or service, it is also necessary to import their definitions. To do so, at the beginning of the python file (under the *Add any ROS dependency tag*), add one of the following lines for each of the new topics or services:
+
 ```
-roscd
-cd ..
-rosdep install -i -r --from-paths src
+from <package_name>.<folder> import <topic or service name>
 ```
 
-Compile the workspace:
+## Add ROS parameters
+
+The python ROS node supports the dynamic reconfigure feature of ROS. To use it:
+
+* Add the necessary parameters to the cfg/Node.cfg file following the same syntax as the examples provided. Remember to remove or comment the example parameters.
+* Add the necessary handling code in the *dyn_reconf_callback* function.
+
+Parameters can also be provided outside of the dynamic reconfigure framework. In this case, use the following command to get the actual value of the parameters when needed:
+
 ```
-catkin_make
+self.<param_variable> = rospy.get_param('~<param_name>', '<param_default_value>')
 ```
 
-## Launch
+## Basic operation
 
-Description of the launch files.
+This package is intended to be used in a Python virtual environment to avoid any possible conflict with some Python libraries already installed in the system. To create a Python virtual environment, follow the instructions in [here](docs/python_virtual_env.md).
 
-## Disclaimer
+To launch the Python node into a desired virtual environment, execute the following command:
 
-Copyright (C) Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-Mantainer IRI labrobotics (labrobotica@iri.upc.edu)
+```
+roslaunch <package_name> test.launch virtual_env_path:=`rospack find <package_name>`/<virtual environment path>
+```
 
-This package is distributed in the hope that it will be useful, but without any warranty. It is provided "as is" without warranty of any kind, either expressed or implied, including, but not limited to, the implied warranties of merchantability and fitness for a particular purpose. The entire risk as to the quality and performance of the program is with you. should the program prove defective, the GMR group does not assume the cost of any necessary servicing, repair  or correction.
+It is possible to disable the use of the virtual environment by providing an invalid path in the launch file or commenting the following lines in the *node.py* file, although it is highly discouraged:
 
-In no event unless required by applicable law the author will be liable to you for damages, including any general, special, incidental or consequential damages arising out of the use or inability to use the program (including but not limited to loss of data or data being rendered inaccurate or losses sustained by you or third parties or a failure of the program to operate with any other programs), even if the author has been advised of the possibility of such damages.
+```
+from venv_utils import activate_virtual_env
+venv_status = activate_virtual_env()
+```
 
-You should have received a copy of the GNU Lesser General Public License along with this program. If not, see <http://www.gnu.org/licenses/>
+Once started, all the topic and service callbacks, as well as the *main_thread* function, are executed in parallel. The *main_thread* function is intended to be used as the main loop function where most of the user code is executed.
 
+The topic and service callbacks can also include user code as necessary.
diff --git a/cfg/Node.cfg b/cfg/Node.cfg
index 8bc523c705a80ed7ccf56a821bf5c9b41e115fc4..3751a3b5decaa5bc98c30c1fba98f93b6f4e5154 100755
--- a/cfg/Node.cfg
+++ b/cfg/Node.cfg
@@ -1,5 +1,5 @@
 #!/usr/bin/env python
-PACKAGE = "iri_gesture_recognition"
+PACKAGE = "iri_python_template"
 
 from dynamic_reconfigure.parameter_generator_catkin import *
 
@@ -19,4 +19,4 @@ size_enum = gen.enum([ gen.const("Small",      int_t, 0, "A small constant"),
 
 gen.add("size", int_t, 0, "A size parameter which is edited via an enum", 1, 0, 3, edit_method=size_enum)
 
-exit(gen.generate(PACKAGE, "iri_gesture_recognition", "Node"))
+exit(gen.generate(PACKAGE, "iri_python_template", "Node"))
diff --git a/docs/README.md b/docs/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..391453605b2024c4cfc941753563792dc1adfe9c
--- /dev/null
+++ b/docs/README.md
@@ -0,0 +1,66 @@
+## Description
+
+# ROS Interface
+
+### Topic publishers
+
+  - **topic name** (message type): description.
+
+### Topic subscribers
+
+  - **topic name** (message type): description.
+
+### Service servers
+
+  - **service name** (message type): description.
+
+### Service clients
+
+  - **service name** (message type): description.
+
+### Parameters
+
+- ~**param name** (type; default: value; min: value; max: value) Description. 
+
+## Dependencies
+This package requires the following packages:
+
+## Installation
+
+Move to the active workspace:
+```bash
+roscd && cd ../src
+```
+
+Clone the repository: 
+```bash
+git clone <url> 
+```
+
+Install ROS dependencies:
+```
+roscd
+cd ..
+rosdep install -i -r --from-paths src
+```
+
+Compile the workspace:
+```
+catkin_make
+```
+
+## Launch
+
+Description of the launch files.
+
+## Disclaimer
+
+Copyright (C) Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+Mantainer IRI labrobotics (labrobotica@iri.upc.edu)
+
+This package is distributed in the hope that it will be useful, but without any warranty. It is provided "as is" without warranty of any kind, either expressed or implied, including, but not limited to, the implied warranties of merchantability and fitness for a particular purpose. The entire risk as to the quality and performance of the program is with you. should the program prove defective, the GMR group does not assume the cost of any necessary servicing, repair  or correction.
+
+In no event unless required by applicable law the author will be liable to you for damages, including any general, special, incidental or consequential damages arising out of the use or inability to use the program (including but not limited to loss of data or data being rendered inaccurate or losses sustained by you or third parties or a failure of the program to operate with any other programs), even if the author has been advised of the possibility of such damages.
+
+You should have received a copy of the GNU Lesser General Public License along with this program. If not, see <http://www.gnu.org/licenses/>
+
diff --git a/docs/python_virtual_env.md b/docs/python_virtual_env.md
new file mode 100644
index 0000000000000000000000000000000000000000..cfca28f35c04b4fc5b1b6647b1b6b3e2da9c8624
--- /dev/null
+++ b/docs/python_virtual_env.md
@@ -0,0 +1,31 @@
+# Create a Python virtual environment
+
+To install and setup the python virtual environment, follow the next steps:
+
+* Install the pip application, if not already installed, and update it:
+```
+sudo apt install python-pip
+pip install -U pip
+```
+* Install the virtual environment library. We use the simple virtualenv tool instead of anaconda because of ROS compatibility issues.
+```
+pip install virtualenv
+```
+* Move to the desired folder where the virtual environment will be located:
+```
+cd <virtual environment path>
+```
+* Create the virtual environment:
+```
+virtualenv <virtual_environment_name>
+```
+* To activate the virtual environment:
+```
+source <virtual_environment_name>/bin/activate
+```
+* Install all the dependencies with pip install.
+
+* To deactivate the virtual environment
+```
+deactivate
+```
diff --git a/launch/node.launch b/launch/node.launch
index 1c714fe34e9005870bdaae8625eb5d475b4ff932..0a6375da208241069c59c5e7787c78f5b21273f0 100644
--- a/launch/node.launch
+++ b/launch/node.launch
@@ -7,12 +7,12 @@
   <arg name="subscriber_topic_name" default="~subscriber_topic_name"/>
   <arg name="service_server_name"   default="~service_server_name"/>
   <arg name="service_client_name"   default="~service_client_name"/>
-  <arg name="param_file"            default="$(find iri_gesture_recognition)/config/params.yaml"/>
+  <arg name="param_file"            default="$(find iri_python_template)/config/params.yaml"/>
   <arg name="virtual_env_path"      default="$(env HOME)/virtual_env"/>
   
   <arg name="output" default="screen"/>
   
-  <node pkg="iri_gesture_recognition"
+  <node pkg="iri_python_template"
         name="$(arg node_name)" 
         type="node.py"
         output="$(arg output)"
diff --git a/launch/test.launch b/launch/test.launch
index 70651fd96123bfb2b5918b7b46b9fda8258c6c9b..18af0e29e5f4406140bf5dec1039b7f66033e948 100644
--- a/launch/test.launch
+++ b/launch/test.launch
@@ -3,16 +3,16 @@
 <launch>
   
   <arg name="output"                default="screen"/>
-  <arg name="virtual_env_path"      default="$(find iri_gesture_recognition)/virtual_etual_env"/>
+  <arg name="virtual_env_path"      default="$(find iri_python_template)/virtual_etual_env"/>
   
-  <include file="$(find iri_gesture_recognition)/launch/node.launch">
+  <include file="$(find iri_python_template)/launch/node.launch">
     <arg name="node_name"             value="test_node"/>
     <arg name="output"                value="$(arg output)"/>
     <arg name="publisher_topic_name"  value="/test_node/pub"/>
     <arg name="subscriber_topic_name" value="/test_node/sub"/>
     <arg name="service_server_name"   value="/test_node/service"/>
     <arg name="service_client_name"   value="/test_node/service"/>
-    <arg name="param_file"            value="$(find iri_gesture_recognition)/config/params.yaml"/>
+    <arg name="param_file"            value="$(find iri_python_template)/config/params.yaml"/>
     <arg name="virtual_env_path"      value="$(arg virtual_env_path)"/>
   </include>
 
diff --git a/package.xml b/package.xml
index 51fc8cefb6c9c37229c7fabdc1167e0e6c503f99..042cbc8520184deb62a9c5926010a7be33695745 100644
--- a/package.xml
+++ b/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package format="2">
-  <name>iri_gesture_recognition</name>
+  <name>iri_python_template</name>
   <version>1.0.0</version>
-  <description>The iri_gesture_recognition package</description>
+  <description>The iri_python_template package</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
@@ -19,7 +19,7 @@
   <!-- Url tags are optional, but multiple are allowed, one per tag -->
   <!-- Optional attribute type can be: website, bugtracker, or repository -->
   <!-- Example: -->
-  <!-- <url type="website">http://wiki.ros.org/iri_gesture_recognition</url> -->
+  <!-- <url type="website">http://wiki.ros.org/iri_python_template</url> -->
 
 
   <!-- Author tags are optional, multiple are allowed, one per tag -->
diff --git a/src/node.py b/src/node.py
index 65b8cbba14efbfe493f4abd5af8edd32b0d4bcf1..5afcb994d6f4de9bbe348a6d5d3040d72296a9ea 100755
--- a/src/node.py
+++ b/src/node.py
@@ -12,7 +12,7 @@ venv_status = activate_virtual_env()
 import sys
 from threading import Thread
 
-from iri_gesture_recognition.cfg import NodeConfig as Config
+from iri_python_template.cfg import NodeConfig as Config
 
 #########################################
 # Add any ROS dependency 
@@ -49,7 +49,7 @@ def main_thread(arg):
     #########################################
     arg.rate.sleep()
      
-class GestureRecognitionNode:
+class template_Node:
 
   def __init__(self):
     # get the main thread desired rate of the node
@@ -65,7 +65,7 @@ class GestureRecognitionNode:
     # Initialize action clients and servers
     # Initialize user libraries and variables
     #########################################
-    rospy.loginfo(rospy.get_caller_id() + ": Init GestureRecognitionNode")
+    rospy.loginfo(rospy.get_caller_id() + ": Init template_Node")
 
     # Create topic publisher (String.msg)
     self.publisher_example = rospy.Publisher("~publisher_topic_name", String, queue_size=1)
@@ -79,7 +79,7 @@ class GestureRecognitionNode:
     self.custom_param = rospy.get_param('~custom_param', 'default value')
     rospy.loginfo(rospy.get_caller_id() + ": Got parameter custom_param= %s", self.custom_param)
 
-    rospy.loginfo(rospy.get_caller_id() + ": Init GestureRecognitionNode Done")
+    rospy.loginfo(rospy.get_caller_id() + ": Init template_Node Done")
     #########################################
     # USER CODE ENDS HERE 
     #########################################
@@ -123,8 +123,8 @@ class GestureRecognitionNode:
 
 def main(args):
 
-  rospy.init_node('iri_gesture_recognition', anonymous=False)
-  tn = GestureRecognitionNode()
+  rospy.init_node('iri_python_template', anonymous=False)
+  tn = template_Node()
   rospy.spin()
 
 if __name__ == '__main__':