diff --git a/algorithm_templates/CMakeLists.txt b/algorithm_templates/CMakeLists.txt
index 1566d7f3447db22049c1a87d7d57f0f040a8cfa1..bf2362d94e42268e95b10a1257abbf54c94f015b 100644
--- a/algorithm_templates/CMakeLists.txt
+++ b/algorithm_templates/CMakeLists.txt
@@ -76,7 +76,7 @@ catkin_package(
 # ******************************************************************** 
 include_directories(include)
 include_directories(${catkin_INCLUDE_DIRS})
-# include_directories(${<dependency>_INCLUDE_DIR})
+# include_directories(${<dependency>_INCLUDE_DIRS})
 
 ## Declare a cpp library
 # add_library(${PROJECT_NAME} <list of source files>)
@@ -88,7 +88,7 @@ add_executable(${PROJECT_NAME} src/template_alg.cpp src/template_alg_node.cpp)
 #                   Add the libraries
 # ******************************************************************** 
 target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
-# target_link_libraries(${PROJECT_NAME} ${<dependency>_LIBRARY})
+# target_link_libraries(${PROJECT_NAME} ${<dependency>_LIBRARIES})
 
 # ******************************************************************** 
 #               Add message headers dependencies 
diff --git a/algorithm_templates/template_alg.cfg b/algorithm_templates/template_alg.cfg
index ac1db9d0e7d4dea9520332db055f8876a7a10ceb..d370aef588f019bcc99e8c9d07e710b100c1f9c2 100644
--- a/algorithm_templates/template_alg.cfg
+++ b/algorithm_templates/template_alg.cfg
@@ -37,7 +37,7 @@ from dynamic_reconfigure.parameter_generator_catkin import *
 
 gen = ParameterGenerator()
 
-#       Name                       Type       Reconfiguration level            Description                       Default   Min   Max
-#gen.add("velocity_scale_factor",  double_t,  0,                               "Maximum velocity scale factor",  0.5,      0.0,  1.0)
+#       Name     Type       Reconf.level Description             Default Min   Max
+gen.add("rate",  double_t,  0,           "Main loop rate (Hz)",  10.0,   0.1, 1000.0)
 
-exit(gen.generate(PACKAGE, "TemplateAlg", "Template"))
+exit(gen.generate(PACKAGE, "TemplateAlg", "Template"))
\ No newline at end of file
diff --git a/algorithm_templates/template_alg_node.cpp b/algorithm_templates/template_alg_node.cpp
index 9aaf175b9635de63a7384d5b432676790db19387..2748a0309b89b2dc1ffc7ceb2f12282d0e939549 100644
--- a/algorithm_templates/template_alg_node.cpp
+++ b/algorithm_templates/template_alg_node.cpp
@@ -4,7 +4,12 @@ TemplateNode::TemplateNode(void) :
   algorithm_base::IriBaseAlgorithm<TemplateAlg>()
 {
   //init class attributes if necessary
-  //this->setRate(10);//in [Hz]
+  if(!this->private_node_handle_.getParam("rate", this->config_.rate))
+  {
+    ROS_WARN("TemplateNode::TemplateNode: param 'rate' not found");
+  }
+  else
+    this->setRate(this->config_.rate);
 
   // [init publishers]
   
@@ -26,6 +31,7 @@ TemplateNode::~TemplateNode(void)
 
 void TemplateNode::mainNodeThread(void)
 {
+  ROS_INFO("TemplateNode::mainNodeThread");
   // [fill msg structures]
   
   // [fill srv structure and make request to the server]
@@ -46,6 +52,8 @@ void TemplateNode::mainNodeThread(void)
 void TemplateNode::node_config_update(Config &config, uint32_t level)
 {
   this->alg_.lock();
+  if(config.rate!=this->getRate())
+    this->setRate(config.rate);
   this->config_=config;
   this->alg_.unlock();
 }
diff --git a/common_templates/LICENSE b/common_templates/LICENSE
new file mode 100644
index 0000000000000000000000000000000000000000..65c5ca88a67c30becee01c5a8816d964b03862f9
--- /dev/null
+++ b/common_templates/LICENSE
@@ -0,0 +1,165 @@
+                   GNU LESSER GENERAL PUBLIC LICENSE
+                       Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+
+  This version of the GNU Lesser General Public License incorporates
+the terms and conditions of version 3 of the GNU General Public
+License, supplemented by the additional permissions listed below.
+
+  0. Additional Definitions.
+
+  As used herein, "this License" refers to version 3 of the GNU Lesser
+General Public License, and the "GNU GPL" refers to version 3 of the GNU
+General Public License.
+
+  "The Library" refers to a covered work governed by this License,
+other than an Application or a Combined Work as defined below.
+
+  An "Application" is any work that makes use of an interface provided
+by the Library, but which is not otherwise based on the Library.
+Defining a subclass of a class defined by the Library is deemed a mode
+of using an interface provided by the Library.
+
+  A "Combined Work" is a work produced by combining or linking an
+Application with the Library.  The particular version of the Library
+with which the Combined Work was made is also called the "Linked
+Version".
+
+  The "Minimal Corresponding Source" for a Combined Work means the
+Corresponding Source for the Combined Work, excluding any source code
+for portions of the Combined Work that, considered in isolation, are
+based on the Application, and not on the Linked Version.
+
+  The "Corresponding Application Code" for a Combined Work means the
+object code and/or source code for the Application, including any data
+and utility programs needed for reproducing the Combined Work from the
+Application, but excluding the System Libraries of the Combined Work.
+
+  1. Exception to Section 3 of the GNU GPL.
+
+  You may convey a covered work under sections 3 and 4 of this License
+without being bound by section 3 of the GNU GPL.
+
+  2. Conveying Modified Versions.
+
+  If you modify a copy of the Library, and, in your modifications, a
+facility refers to a function or data to be supplied by an Application
+that uses the facility (other than as an argument passed when the
+facility is invoked), then you may convey a copy of the modified
+version:
+
+   a) under this License, provided that you make a good faith effort to
+   ensure that, in the event an Application does not supply the
+   function or data, the facility still operates, and performs
+   whatever part of its purpose remains meaningful, or
+
+   b) under the GNU GPL, with none of the additional permissions of
+   this License applicable to that copy.
+
+  3. Object Code Incorporating Material from Library Header Files.
+
+  The object code form of an Application may incorporate material from
+a header file that is part of the Library.  You may convey such object
+code under terms of your choice, provided that, if the incorporated
+material is not limited to numerical parameters, data structure
+layouts and accessors, or small macros, inline functions and templates
+(ten or fewer lines in length), you do both of the following:
+
+   a) Give prominent notice with each copy of the object code that the
+   Library is used in it and that the Library and its use are
+   covered by this License.
+
+   b) Accompany the object code with a copy of the GNU GPL and this license
+   document.
+
+  4. Combined Works.
+
+  You may convey a Combined Work under terms of your choice that,
+taken together, effectively do not restrict modification of the
+portions of the Library contained in the Combined Work and reverse
+engineering for debugging such modifications, if you also do each of
+the following:
+
+   a) Give prominent notice with each copy of the Combined Work that
+   the Library is used in it and that the Library and its use are
+   covered by this License.
+
+   b) Accompany the Combined Work with a copy of the GNU GPL and this license
+   document.
+
+   c) For a Combined Work that displays copyright notices during
+   execution, include the copyright notice for the Library among
+   these notices, as well as a reference directing the user to the
+   copies of the GNU GPL and this license document.
+
+   d) Do one of the following:
+
+       0) Convey the Minimal Corresponding Source under the terms of this
+       License, and the Corresponding Application Code in a form
+       suitable for, and under terms that permit, the user to
+       recombine or relink the Application with a modified version of
+       the Linked Version to produce a modified Combined Work, in the
+       manner specified by section 6 of the GNU GPL for conveying
+       Corresponding Source.
+
+       1) Use a suitable shared library mechanism for linking with the
+       Library.  A suitable mechanism is one that (a) uses at run time
+       a copy of the Library already present on the user's computer
+       system, and (b) will operate properly with a modified version
+       of the Library that is interface-compatible with the Linked
+       Version.
+
+   e) Provide Installation Information, but only if you would otherwise
+   be required to provide such information under section 6 of the
+   GNU GPL, and only to the extent that such information is
+   necessary to install and execute a modified version of the
+   Combined Work produced by recombining or relinking the
+   Application with a modified version of the Linked Version. (If
+   you use option 4d0, the Installation Information must accompany
+   the Minimal Corresponding Source and Corresponding Application
+   Code. If you use option 4d1, you must provide the Installation
+   Information in the manner specified by section 6 of the GNU GPL
+   for conveying Corresponding Source.)
+
+  5. Combined Libraries.
+
+  You may place library facilities that are a work based on the
+Library side by side in a single library together with other library
+facilities that are not Applications and are not covered by this
+License, and convey such a combined library under terms of your
+choice, if you do both of the following:
+
+   a) Accompany the combined library with a copy of the same work based
+   on the Library, uncombined with any other library facilities,
+   conveyed under the terms of this License.
+
+   b) Give prominent notice with the combined library that part of it
+   is a work based on the Library, and explaining where to find the
+   accompanying uncombined form of the same work.
+
+  6. Revised Versions of the GNU Lesser General Public License.
+
+  The Free Software Foundation may publish revised and/or new versions
+of the GNU Lesser General Public License from time to time. Such new
+versions will be similar in spirit to the present version, but may
+differ in detail to address new problems or concerns.
+
+  Each version is given a distinguishing version number. If the
+Library as you received it specifies that a certain numbered version
+of the GNU Lesser General Public License "or any later version"
+applies to it, you have the option of following the terms and
+conditions either of that published version or of any later version
+published by the Free Software Foundation. If the Library as you
+received it does not specify a version number of the GNU Lesser
+General Public License, you may choose any version of the GNU Lesser
+General Public License ever published by the Free Software Foundation.
+
+  If the Library as you received it specifies that a proxy can decide
+whether future versions of the GNU Lesser General Public License shall
+apply, that proxy's public statement of acceptance of any version is
+permanent authorization for you to choose that version for the
+Library.
diff --git a/common_templates/README.md b/common_templates/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..61d155ef4946f953541f5ce5930347d20e4d03ad
--- /dev/null
+++ b/common_templates/README.md
@@ -0,0 +1,18 @@
+# template
+
+## Description
+
+The template project description
+
+Developed at Institut de Robòtica i Informàtica Industrial (IRI, CSIC-UPC) (www.iri.upc.edu)
+Contact: labrobotica@iri.upc.edu
+
+## Installation
+
+Clone the package inside a ROS workspace, although it will normally come within a rosinstall file.
+
+## How to use it
+
+- Standalone test
+
+  `roslaunch template test.launch`
\ No newline at end of file
diff --git a/common_templates/node.launch b/common_templates/node.launch
new file mode 100644
index 0000000000000000000000000000000000000000..8dd68bb77fff1a596976d42112ad382d69754e7a
--- /dev/null
+++ b/common_templates/node.launch
@@ -0,0 +1,19 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+
+  <arg name="node_name"     default="template"/>
+  <arg name="output"        default="screen"/>
+  <arg name="launch_prefix" default=""/>
+  <arg name="config_file"   default="$(find template)/config/params.yaml"/>
+  <!-- <arg name="topic_name"  default="new_topic_name"/> -->
+
+  <node name="$(arg node_name)"
+        pkg ="template"
+        type="template"
+        output="$(arg output)"
+        launch-prefix="$(arg launch_prefix)">
+    <rosparam file="$(arg config_file)" command="load"/>
+    <!--<remap from="~/topic" to="$(arg topic_name)"/>-->
+  </node>
+
+</launch>
\ No newline at end of file
diff --git a/common_templates/params.yaml b/common_templates/params.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..b0ca445c9073d619a64ce9fdb5d390018783d3cc
--- /dev/null
+++ b/common_templates/params.yaml
@@ -0,0 +1 @@
+rate: 10
\ No newline at end of file
diff --git a/common_templates/test.launch b/common_templates/test.launch
new file mode 100644
index 0000000000000000000000000000000000000000..8be738778f4fdc0d8c47374c38da981a6ffcc973
--- /dev/null
+++ b/common_templates/test.launch
@@ -0,0 +1,21 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+
+  <arg name="output"        default="screen"/>
+  <arg name="launch_prefix" default=""/>
+  <arg name="dr"            default="true"/>
+
+  <include file="$(find template)/launch/node.launch">
+    <arg name="node_name"     value="template"/>
+    <arg name="output"        value="$(arg output)"/>
+    <arg name="launch_prefix" value="$(arg launch_prefix)"/>
+  </include>
+
+  <node name="rqt_reconfigure_template"
+        pkg ="rqt_reconfigure"
+        type="rqt_reconfigure"
+        if  ="$(arg dr)"
+        args="template">
+  </node>
+
+</launch>
\ No newline at end of file
diff --git a/create_algorithm_package.sh b/create_algorithm_package.sh
index b7ad096a7fb46c8cf22915852433e73e8bff9c61..68d13cb5ffa813b2f177a4f5d95e1a6fc2ceed4e 100755
--- a/create_algorithm_package.sh
+++ b/create_algorithm_package.sh
@@ -173,9 +173,31 @@ sed -e "s/template/${project_name}/g" \
     -e "s/Template/${basename}/g" <${temps_folder}/template_alg.cfg >"${project_name}/cfg/${basename}.cfg"
 eval "chmod 775 ${project_name}/cfg/${basename}.cfg"
 echo "Creating ${cfg_filename}.cfg file..."
+echo ""
 ################################################################################
 
-echo ""
+
+################################################################################
+#create launch/config directory
+mkdir -p ${project_name}/launch/
+
+sed -e "s/template/${project_name}/g" <${IRI_ROS_SCRIPTS_PATH}/common_templates/node.launch >"${project_name}/launch/node.launch"
+sed -e "s/template/${project_name}/g" <${IRI_ROS_SCRIPTS_PATH}/common_templates/test.launch >"${project_name}/launch/test.launch"
+
+mkdir -p ${project_name}/config/
+cp ${IRI_ROS_SCRIPTS_PATH}/common_templates/params.yaml ${project_name}/config/params.yaml
+################################################################################
+
+
+################################################################################
+#add license and readme
+cp ${IRI_ROS_SCRIPTS_PATH}/common_templates/LICENSE ${project_name}/LICENSE
+
+sed -e "s/template/${project_name}/g" < ${IRI_ROS_SCRIPTS_PATH}/common_templates/README.md > "${project_name}/README.md"
+################################################################################
+
+
+################################################################################
 echo ""
 echo "Project ${project_name} has been successfully created!!"
 
@@ -185,5 +207,4 @@ popd
 
 # WET
 goto_catkin_workspace
-catkin_make --only-pkg-with-deps ${project_name}
-
+catkin_make --only-pkg-with-deps ${project_name}
\ No newline at end of file
diff --git a/create_driver_package.sh b/create_driver_package.sh
index 72a6d87c5de34568c4ecca87a541bab3920fc992..109d76caae1bdfebeb5ff263087e442264c2d9ef 100755
--- a/create_driver_package.sh
+++ b/create_driver_package.sh
@@ -175,9 +175,22 @@ sed -e "s/template_driver/${driver_filename}/g" \
     -e "s/Template/${basename}/g" <${IRI_ROS_SCRIPTS_PATH}/driver_templates/template_driver.cfg >"${project_name}/cfg/${basename}.cfg"
 eval "chmod 775 ${project_name}/cfg/${basename}.cfg"
 echo "Creating ${basename}.cfg file..."
+echo ""
 ################################################################################
++#create launch directory
++mkdir -p ${project_name}/launch/
+ 
+-echo ""
++sed -e "s/template/${project_name}/g" <${temps_folder}/node.launch >"${project_name}/launch/node.launch"
++sed -e "s/template/${project_name}/g" <${temps_folder}/test.launch >"${project_name}/launch/test.launch"
++################################################################################
++#add license and readme
++cp ${IRI_ROS_SCRIPTS_PATH}/common_templates/LICENSE ${project_name}/LICENSE
++
++sed -e "s/template/${project_name}/g" < ${temps_folder}/README.md > "${project_name}/README.md"
++
++################################################################################
 
-echo ""
 echo ""
 echo "Project ${project_name} has been successfully created!!"
 
diff --git a/driver_templates/CMakeLists.txt b/driver_templates/CMakeLists.txt
index 8cd199604b546a7165d1c354dfdfd84c9578e81f..800a07b2189b46bc2764d3ea459ce36fc204afa5 100644
--- a/driver_templates/CMakeLists.txt
+++ b/driver_templates/CMakeLists.txt
@@ -76,7 +76,7 @@ catkin_package(
 # ******************************************************************** 
 include_directories(include)
 include_directories(${catkin_INCLUDE_DIRS})
-# include_directories(${<dependency>_INCLUDE_DIR})
+# include_directories(${<dependency>_INCLUDE_DIRS})
 
 ## Declare a cpp library
 # add_library(${PROJECT_NAME} <list of source files>)
@@ -88,7 +88,7 @@ add_executable(${PROJECT_NAME} src/template_driver.cpp src/template_driver_node.
 #                   Add the libraries
 # ******************************************************************** 
 target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
-# target_link_libraries(${PROJECT_NAME} ${<dependency>_LIBRARY})
+# target_link_libraries(${PROJECT_NAME} ${<dependency>_LIBRARIES})
 
 # ******************************************************************** 
 #               Add message headers dependencies