diff --git a/CMakeLists.txt b/CMakeLists.txt
index b303546fa7e74b4b8fab357cdd522626b6f29c49..7eae9c376b6a2fc7d9ddfa1686c5e6055f45dce8 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,43 +1,101 @@
-cmake_minimum_required(VERSION 2.4.6)
-include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+cmake_minimum_required(VERSION 2.8.3)
+project(iri_safe_cmd)
-set(PROJECT_NAME safe_cmd_alg_node)
+## Find catkin macros and libraries
+find_package(catkin REQUIRED)
+# ********************************************************************
+# Add catkin additional components here
+# ********************************************************************
+find_package(catkin REQUIRED COMPONENTS geometry_msgs sensor_msgs iri_base_algorithm)
-# 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()
+# ********************************************************************
+# Add system and labrobotica dependencies here
+# ********************************************************************
+find_package(iriutils REQUIRED)
-#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 ${PROJECT_SOURCE_DIR}/lib)
+# ********************************************************************
+# Add topic, service and action definition here
+# ********************************************************************
+## Generate messages in the 'msg' folder
+# add_message_files(
+# FILES
+# Message1.msg
+# Message2.msg
+# )
-#uncomment if you have defined messages
-#rosbuild_genmsg()
-#uncomment if you have defined services
-#rosbuild_gensrv()
+## Generate services in the 'srv' folder
+# add_service_files(
+# FILES
+# Service1.srv
+# Service2.srv
+# )
-# added to include support for dynamic reconfiguration
-rosbuild_find_ros_package(dynamic_reconfigure)
-include(${dynamic_reconfigure_PACKAGE_PATH}/cmake/cfgbuild.cmake)
-gencfg()
-# end dynamic reconfiguration
+## Generate actions in the 'action' folder
+# add_action_files(
+# FILES
+# Action1.action
+# Action2.action
+# )
-FIND_PACKAGE(iriutils REQUIRED)
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+# DEPENDENCIES
+# std_msgs # Or other packages containing msgs
+# )
-INCLUDE_DIRECTORIES(${iriutils_INCLUDE_DIR} ./include)
+# ********************************************************************
+# Add the dynamic reconfigure file
+# ********************************************************************
+generate_dynamic_reconfigure_options(cfg/SafeCmd.cfg)
-#common commands for building c++ executables and libraries
-#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
-#target_link_libraries(${PROJECT_NAME} another_library)
-#rosbuild_add_boost_directories()
-#rosbuild_link_boost(${PROJECT_NAME} thread)
-rosbuild_add_executable(${PROJECT_NAME} src/safe_cmd_alg.cpp src/safe_cmd_alg_node.cpp)
+# ********************************************************************
+# Add run time dependencies here
+# ********************************************************************
+catkin_package(
+# INCLUDE_DIRS
+# LIBRARIES
+# ********************************************************************
+# Add ROS and IRI ROS run time dependencies
+# ********************************************************************
+ CATKIN_DEPENDS geometry_msgs sensor_msgs iri_base_algorithm
+# ********************************************************************
+# Add system and labrobotica run time dependencies here
+# ********************************************************************
+ DEPENDS iriutils
+)
+###########
+## Build ##
+###########
+
+# ********************************************************************
+# Add the include directories
+# ********************************************************************
+include_directories(include)
+include_directories(${catkin_INCLUDE_DIRS})
+include_directories(${iriutils_INCLUDE_DIR})
+
+## Declare a cpp library
+# add_library(${PROJECT_NAME} <list of source files>)
+
+## Declare a cpp executable
+add_executable(${PROJECT_NAME} src/safe_cmd_alg.cpp src/safe_cmd_alg_node.cpp)
+
+# ********************************************************************
+# Add the libraries
+# ********************************************************************
+target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
target_link_libraries(${PROJECT_NAME} ${iriutils_LIBRARY})
+
+# ********************************************************************
+# Add message headers dependencies
+# ********************************************************************
+# add_dependencies(${PROJECT_NAME} <msg_package_name>_cpp)
+# ********************************************************************
+# Add dynamic reconfigure dependencies
+# ********************************************************************
+add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS})
+
diff --git a/Makefile b/Makefile
deleted file mode 100644
index b75b928f20ef9ea4f509a17db62e4e31b422c27f..0000000000000000000000000000000000000000
--- a/Makefile
+++ /dev/null
@@ -1 +0,0 @@
-include $(shell rospack find mk)/cmake.mk
\ No newline at end of file
diff --git a/cfg/safe_cmd_alg_config.cfg b/cfg/SafeCmd.cfg
similarity index 95%
rename from cfg/safe_cmd_alg_config.cfg
rename to cfg/SafeCmd.cfg
index 0857f1062ee0620abaa6ecd5e43f0dbe901fb876..d9b60690c1e92bdc9ae2ddd6207e396efe6607c5 100755
--- a/cfg/safe_cmd_alg_config.cfg
+++ b/cfg/SafeCmd.cfg
@@ -32,9 +32,8 @@
# Author:
PACKAGE='iri_safe_cmd'
-import roslib; roslib.load_manifest(PACKAGE)
-from dynamic_reconfigure.parameter_generator import *
+from dynamic_reconfigure.parameter_generator_catkin import *
gen = ParameterGenerator()
diff --git a/manifest.xml b/manifest.xml
deleted file mode 100644
index 601c54fe6274c4c26ead2b09b7d545dbea979790..0000000000000000000000000000000000000000
--- a/manifest.xml
+++ /dev/null
@@ -1,20 +0,0 @@
-<package>
- <description brief="iri_safe_cmd">
-
- This node takes the cmd_vel input and depending on front and/or rear LaserScan lectures
- and the command, stops the platform or lets it go
-
-
- </description>
- <author>Maintained by IRI Robotics Lab, Marti Morta</author>
- <license>LGPL</license>
- <review status="unreviewed" notes=""/>
- <url>http://ros.org/wiki/iri_safe_cmd</url>
- <depend package="roscpp"/>
- <depend package="iri_base_algorithm"/>
- <depend package="geometry_msgs"/>
- <depend package="sensor_msgs"/>
-
-</package>
-
-
diff --git a/package.xml b/package.xml
new file mode 100644
index 0000000000000000000000000000000000000000..12e961b157d7fd9d252c0214810d700838ebf970
--- /dev/null
+++ b/package.xml
@@ -0,0 +1,50 @@
+<?xml version="1.0"?>
+<package>
+ <name>iri_safe_cmd</name>
+ <version>1.0.0</version>
+ <description>This node takes the cmd_vel input and depending on front and/or rear LaserScan lectures and the command, stops the platform or lets it go</description>
+
+ <!-- One maintainer tag required, multiple allowed, one person per tag -->
+ <maintainer email="labrobotica@iri.upc.edu">labrobotica</maintainer>
+ <maintainer email="mmorta@iri.upc.edu">Marti Morta</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 -->
+ <url type="website">http://wiki.ros.org/iri_safe_cmd</url>
+
+ <!-- Author tags are optional, mutiple are allowed, one per tag -->
+ <!-- Authors do not have to be maintianers, but could be -->
+ <author email="mmorta@iri.upc.edu">Marti Morta</author>
+
+ <!-- The *_depend tags are used to specify dependencies -->
+ <!-- Dependencies can be catkin packages or system dependencies -->
+ <!-- ****************************************************************** -->
+ <!-- Place build dependencies here -->
+ <!-- ****************************************************************** -->
+ <build_depend>iriutils</build_depend>
+ <build_depend>iri_base_algorithm</build_depend>
+ <build_depend>geometry_msgs</build_depend>
+ <build_depend>sensor_msgs</build_depend>
+
+ <!-- ****************************************************************** -->
+ <!-- Place run dependencies here -->
+ <!-- ****************************************************************** -->
+ <run_depend>iriutils</run_depend>
+ <run_depend>iri_base_algorithm</run_depend>
+ <run_depend>geometry_msgs</run_depend>
+ <run_depend>sensor_msgs</run_depend>
+
+ <!-- Use test_depend for packages you need only for testing: -->
+ <!-- <test_depend>gtest</test_depend> -->
+ <buildtool_depend>catkin</buildtool_depend>
+
+ <!-- The export tag contains other, unspecified, tags -->
+ <export>
+ <!-- Other tools can request additional information be placed here -->
+ </export>
+</package>