diff --git a/CMakeLists.txt b/CMakeLists.txt
index 140b8d80b22466f588c6ad9dd6acc65cb1a00976..f72af6762d2cde4109578bb5306b8a38a9d15152 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -7,7 +7,7 @@ add_definitions(-std=c++11)
 ## Find catkin macros and libraries
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
 ## is used, also find other catkin packages
-find_package(catkin REQUIRED COMPONENTS roscpp dynamic_reconfigure iri_ros_tools actionlib pal_interaction_msgs iri_base_algorithm iri_behaviortree)
+find_package(catkin REQUIRED COMPONENTS roscpp dynamic_reconfigure iri_ros_tools actionlib pal_interaction_msgs iri_base_algorithm iri_base_bt_client iri_behaviortree)
 
 ## System dependencies are found with CMake's conventions
 # find_package(Boost REQUIRED COMPONENTS system)
@@ -88,6 +88,7 @@ find_package(iriutils REQUIRED)
 generate_dynamic_reconfigure_options(
   cfg/TiagoTTSModule.cfg
   cfg/TiagoTTSClient.cfg
+  cfg/TiagoTTSBtClient.cfg
 )
 
 ###################################
@@ -105,7 +106,7 @@ set(module_bt_name tiago_tts_module_bt)
 catkin_package(
  INCLUDE_DIRS include
  LIBRARIES ${module_name}
- CATKIN_DEPENDS roscpp dynamic_reconfigure iri_ros_tools actionlib pal_interaction_msgs iri_base_algorithm iri_behaviortree
+ CATKIN_DEPENDS roscpp dynamic_reconfigure iri_ros_tools actionlib pal_interaction_msgs iri_base_algorithm iri_base_bt_client iri_behaviortree
 #  DEPENDS system_lib
 )
 
@@ -157,6 +158,14 @@ target_link_libraries(${module_bt_name} ${catkin_LIBRARIES})
 target_link_libraries(${module_bt_name} ${iriutils_LIBRARIES})
 add_dependencies(${module_bt_name} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS} ${module_name})
 
+#BT_client
+set(bt_client_name tiago_tts_bt_client)
+add_executable(${bt_client_name} src/tiago_tts_bt_client_alg_node.cpp)
+target_link_libraries(${bt_client_name} ${catkin_LIBRARIES})
+target_link_libraries(${bt_client_name} ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_LIB_DESTINATION}/lib${module_name}.so)
+target_link_libraries(${bt_client_name} ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_LIB_DESTINATION}/lib${module_bt_name}.so)
+add_dependencies(${bt_client_name} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${module_name} ${module_bt_name})
+
 #############
 ## Install ##
 #############
diff --git a/cfg/TiagoTTSBtClient.cfg b/cfg/TiagoTTSBtClient.cfg
new file mode 100755
index 0000000000000000000000000000000000000000..0274cfc84144bc34c0f500bedf24a3d261773778
--- /dev/null
+++ b/cfg/TiagoTTSBtClient.cfg
@@ -0,0 +1,53 @@
+#! /usr/bin/env python
+#*  All rights reserved.
+#*
+#*  Redistribution and use in source and binary forms, with or without
+#*  modification, are permitted provided that the following conditions
+#*  are met:
+#*
+#*   * Redistributions of source code must retain the above copyright
+#*     notice, this list of conditions and the following disclaimer.
+#*   * Redistributions in binary form must reproduce the above
+#*     copyright notice, this list of conditions and the following
+#*     disclaimer in the documentation and/or other materials provided
+#*     with the distribution.
+#*   * Neither the name of the Willow Garage nor the names of its
+#*     contributors may be used to endorse or promote products derived
+#*     from this software without specific prior written permission.
+#*
+#*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+#*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+#*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+#*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+#*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+#*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+#*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+#*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+#*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+#*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+#*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+#*  POSSIBILITY OF SUCH DAMAGE.
+#***********************************************************
+
+# Author: 
+
+PACKAGE='tiago_tts_module'
+
+from dynamic_reconfigure.parameter_generator_catkin import *
+from iri_base_bt_client.submodule import add_bt_client_params
+
+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)
+add_bt_client_params(gen)
+gen.add("START",                    bool_t,     0,                              "synchronous start",                       False)
+gen.add("RESTART",                  bool_t,     0,                              "asynchronous restart of BT",              False)
+gen.add("set_tts_say_and_speaker_input",  bool_t,    0,                               "Move tts to position",          False)
+gen.add("speaker",                  str_t,     0,                          "Desired speaker",                "")
+gen.add("language",                 str_t,     0,                          "Desired language",               "en_GB")
+gen.add("text",                     str_t,     0,                          "Text to speak",                  "")
+gen.add("delay",                    double_t,  0,                          "Time to wait before speaking",   0.0,      0.0,  10.0)
+# gen.add("cancel_motion",                bool_t,    0,                          "Cancel current motion",          False)
+
+exit(gen.generate(PACKAGE, "TiagoTTSModuleBtClientAlgNode", "TiagoTTSBtClient"))
diff --git a/include/tiago_tts_bt_client_alg_node.h b/include/tiago_tts_bt_client_alg_node.h
new file mode 100644
index 0000000000000000000000000000000000000000..8ea978c08daf642ba42f58676cfbc75de5c301aa
--- /dev/null
+++ b/include/tiago_tts_bt_client_alg_node.h
@@ -0,0 +1,137 @@
+// Copyright (C) Institut de Robotica i Informatica Industrial, CSIC-UPC.
+// Author 
+// All rights reserved.
+//
+// This file is part of iri-ros-pkg
+// iri-ros-pkg is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// 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/>.
+// 
+// IMPORTANT NOTE: This code has been generated through a script from the 
+// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
+// of the scripts. ROS topics can be easly add by using those scripts. Please
+// refer to the IRI wiki page for more information:
+// http://wikiri.upc.es/index.php/Robotics_Lab
+
+#ifndef _tiago_tts_module_bt_client_alg_node_h_
+#define _tiago_tts_module_bt_client_alg_node_h_
+
+#include <iri_base_bt_client/iri_base_bt_client.h>
+#include <tiago_tts_module/TiagoTTSBtClientConfig.h>
+
+#include "tiago_tts_module/tiago_tts_bt_module.h"
+
+// [publisher subscriber headers]
+
+// [service client headers]
+
+// [action server client headers]
+
+/**
+ * \brief IRI ROS Specific Algorithm Class
+ *
+ */
+class TiagoTTSModuleBtClientAlgNode : public behaviortree_base::IriBaseBTClient<tiago_tts_module::TiagoTTSBtClientConfig>
+{
+  private:
+    // object of module
+    CTiagoTTSModuleBT tiago_tts_module_bt;
+
+    // Client actions and conditions (always return BT::NodeStatus::SUCCESS)
+
+    // [publisher attributes]
+
+    // [subscriber attributes]
+
+    // [service attributes]
+
+    // [client attributes]
+
+    // [action server attributes]
+
+    // [action client attributes]
+
+    bool set_tts_say_and_speaker_input;
+
+    /**
+      * \brief Async function to set the tiago_tts_say and tiago_tts_set_speaker input ports.
+      *
+      * It takes the values from Dynamic Reconfigure.
+      *
+      * It has the following output ports:
+      *
+      *   speaker (std::string): The desired speaker.
+      *
+      *   text (std::string): the text to speak.
+      *
+      *   language (std::string): the language identifier to use.
+      *
+      *   delay (duoble): the time before start speaking in seconds.
+      *
+      *   new_goal (bool): If it's a new_goal.
+      *
+      * \param self Self node with the required ports:
+      *
+      * \return a BT:NodeStatus indicating whether the request has been
+      * successfull (BT:NodeStatus::SUCCESS) or not (BT:NodeStatus::FAILURE).
+      * If inputs are missing or incorrect it also returns BT:NodeStatus::FAILURE.
+      *
+      */
+    BT::NodeStatus set_tiago_tts_say_and_speaker_inputs(BT::TreeNode& self);
+
+  public:
+   /**
+    * \brief Constructor
+    * 
+    * This constructor initializes specific class attributes and all ROS
+    * communications variables to enable message exchange.
+    */
+    TiagoTTSModuleBtClientAlgNode(void);
+
+   /**
+    * \brief Destructor
+    * 
+    * This destructor frees all necessary dynamic memory allocated within this
+    * this class.
+    */
+    ~TiagoTTSModuleBtClientAlgNode(void);
+
+  protected:
+
+   /**
+    * \brief dynamic reconfigure server callback
+    * 
+    * This method is called whenever a new configuration is received through
+    * the dynamic reconfigure. The derivated generic algorithm class must 
+    * implement it.
+    *
+    * \param config an object with new configuration from all algorithm 
+    *               parameters defined in the config file.
+    * \param level  integer referring the level in which the configuration
+    *               has been changed.
+    */
+    void node_config_update(tiago_tts_module::TiagoTTSBtClientConfig &config, uint32_t level);
+
+   /**
+    * \brief node add diagnostics
+    *
+    * In this abstract function additional ROS diagnostics applied to the 
+    * specific algorithms may be added.
+    */
+    void addNodeDiagnostics(void);
+
+    // [diagnostic functions]
+    
+    // [test functions]
+};
+
+#endif
\ No newline at end of file
diff --git a/launch/tts_bt_client.launch b/launch/tts_bt_client.launch
new file mode 100644
index 0000000000000000000000000000000000000000..70099433bffe764b986880bcf9f0c6bb5bf1b941
--- /dev/null
+++ b/launch/tts_bt_client.launch
@@ -0,0 +1,30 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <arg name="node_name" default="tts_client"/>
+  <arg name="output" default="screen"/>
+  <arg name="launch_prefix" default=""/>
+  <arg name="config_file" default="$(find tiago_tts_module)/config/tiago_tts_module_default.yaml"/>
+  <arg name="tts_topic" default="/tts"/>
+
+  <arg name="tree_path"          default="$(find tiago_tts_module)/src/xml" />
+  <arg name="tree_file"          default="bt_test" />
+  <arg name="bt_client_rate"     default="10" />
+
+  <!-- launch the play motion client node -->
+  <node name="$(arg node_name)"
+        pkg="tiago_tts_module"
+        type="tiago_tts_bt_client"
+        output="$(arg output)"
+        launch-prefix="$(arg launch_prefix)">
+    <remap from="~/tts_module/tts"
+             to="$(arg tts_topic)"/>
+    <rosparam file="$(arg config_file)" command="load" ns="tts_module" />
+    <param name="path"                value="$(arg tree_path)"/>
+    <param name="tree_xml_file"       value="$(arg tree_file)"/>
+    <param name="bt_client_rate"      value="$(arg bt_client_rate)"/>
+  </node>
+
+  <!-- launch dynamic reconfigure -->
+  <node name="rqt_reconfigure" pkg="rqt_reconfigure" type="rqt_reconfigure" respawn="false" output="screen"/>
+
+</launch>
diff --git a/launch/tts_client.launch b/launch/tts_client.launch
index dfbdcd3b390012e409424aabc5a2a8c79c0b8285..efc88e9c7f1b932dd10c9241e30176c48f8cdbf7 100644
--- a/launch/tts_client.launch
+++ b/launch/tts_client.launch
@@ -1,3 +1,4 @@
+<?xml version="1.0" encoding="UTF-8"?>
 <launch>
   <arg name="node_name" default="tts_client"/>
   <arg name="output" default="screen"/>
diff --git a/package.xml b/package.xml
index 4d29f3274ff7c62a6fd6fc416fa95e7e8a106a1d..3e1264c6cb048d2a5b64ecdc7a26cf4fd64d34d3 100644
--- a/package.xml
+++ b/package.xml
@@ -46,6 +46,7 @@
   <build_depend>dynamic_reconfigure</build_depend>
   <build_depend>actionlib</build_depend>
   <build_depend>pal_interaction_msgs</build_depend>
+  <build_depend>iri_base_bt_client</build_depend>
   <build_depend>iri_behaviortree</build_depend>
   <!-- new dependencies -->
   <!--<build_depend>new build dependency</build_depend>-->
@@ -55,6 +56,7 @@
   <run_depend>dynamic_reconfigure</run_depend>
   <run_depend>actionlib</run_depend>
   <run_depend>pal_interaction_msgs</run_depend>
+  <run_depend>iri_base_bt_client</run_depend>
   <run_depend>iri_behaviortree</run_depend>
   <!-- new dependencies -->
   <!--<run_depend>new run dependency</run_depend>-->
diff --git a/src/tiago_tts_bt_client_alg_node.cpp b/src/tiago_tts_bt_client_alg_node.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..91e5bcbf13f5a01d2a723dd591b2507d6589aa29
--- /dev/null
+++ b/src/tiago_tts_bt_client_alg_node.cpp
@@ -0,0 +1,91 @@
+#include "tiago_tts_bt_client_alg_node.h"
+
+TiagoTTSModuleBtClientAlgNode::TiagoTTSModuleBtClientAlgNode(void) :
+  behaviortree_base::IriBaseBTClient<tiago_tts_module::TiagoTTSBtClientConfig>(),
+  tiago_tts_module_bt()
+{
+  // [init publishers]
+
+  // [init subscribers]
+
+  // [init services]
+
+  // [init clients]
+
+  // [init action servers]
+
+  // [init action clients]
+
+  this->set_tts_say_and_speaker_input = false;
+  this->tiago_tts_module_bt.init(this->factory);
+
+  // Init local functions
+  BT::PortsList tts_say_and_speaker_ports = {BT::OutputPort<std::string>("speaker"), BT::OutputPort<std::string>("text"), BT::OutputPort<std::string>("language"), BT::OutputPort<double>("delay"), BT::OutputPort<bool>("new_goal")};
+
+  this->factory.registerIriAsyncAction("set_tiago_tts_say_and_speaker_inputs",  std::bind(&TiagoTTSModuleBtClientAlgNode::set_tiago_tts_say_and_speaker_inputs, this, std::placeholders::_1), tts_say_and_speaker_ports);
+}
+
+TiagoTTSModuleBtClientAlgNode::~TiagoTTSModuleBtClientAlgNode(void)
+{
+  // [free dynamic memory]
+}
+
+/*  [subscriber callbacks] */
+
+/*  [service callbacks] */
+
+/*  [action callbacks] */
+
+/*  [action requests] */
+
+
+void TiagoTTSModuleBtClientAlgNode::node_config_update(tiago_tts_module::TiagoTTSBtClientConfig &config, uint32_t level)
+{
+  this->lock();
+
+  if(config.START)
+  {
+    this->core.start_tree();
+    config.START=false;
+  }
+
+  if(config.RESTART)
+  {
+    this->core.stop_tree();
+    config.RESTART=false;
+  }
+
+  if (config.set_tts_say_and_speaker_input)
+  {
+    this->set_tts_say_and_speaker_input = true;
+    config.set_tts_say_and_speaker_input = false;
+  }
+
+  this->config_=config;
+  this->unlock();
+}
+
+BT::NodeStatus TiagoTTSModuleBtClientAlgNode::set_tiago_tts_say_and_speaker_inputs(BT::TreeNode& self)
+{
+  if (this->set_tts_say_and_speaker_input)
+  {
+    this->set_tts_say_and_speaker_input = false;
+    self.setOutput("speaker", this->config_.speaker);
+    self.setOutput("text", this->config_.text);
+    self.setOutput("language", this->config_.language);
+    self.setOutput("delay", this->config_.delay);
+    self.setOutput("new_goal", true);
+    return BT::NodeStatus::SUCCESS;
+  }
+  return BT::NodeStatus::RUNNING;
+}
+
+void TiagoTTSModuleBtClientAlgNode::addNodeDiagnostics(void)
+{
+}
+
+/* main function */
+int main(int argc,char *argv[])
+{
+  return behaviortree_base::main<TiagoTTSModuleBtClientAlgNode>(argc, argv, "tiago_tts_module_bt_client_alg_node");
+}
diff --git a/src/xml/bt_test.xml b/src/xml/bt_test.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f969c88084d27d5c723e0c28531d6bbcfb95b9d0
--- /dev/null
+++ b/src/xml/bt_test.xml
@@ -0,0 +1,71 @@
+<?xml version="1.0"?>
+<root main_tree_to_execute="BehaviorTree">
+    <!-- ////////// -->
+    <BehaviorTree ID="BehaviorTree">
+        <SequenceStar>
+            <Action ID="async_is_start_tree"/>
+            <SubTree ID="say"/>
+        </SequenceStar>
+    </BehaviorTree>
+    <!-- ////////// -->
+    <BehaviorTree ID="say">
+        <SequenceStar>
+            <Action ID="set_tiago_tts_say_and_speaker_inputs" speaker="{speaker}" text="{text}" language="{language}" delay="{delay}" new_goal="{new_goal}"/>
+            <Action ID="set_tiago_tts_speaker" speaker="{speaker}"/>
+            <Action ID="async_tiago_tts_say" text="{text}" language="{language}" delay="{delay}" new_goal="{new_goal}"/>
+        </SequenceStar>
+    </BehaviorTree>
+    <!-- ////////// -->
+    <TreeNodesModel>
+        <!-- basic_nodes -->
+        <Action ID="NOP"/>
+        <Action ID="is_not_start_tree"/>
+        <Condition ID="async_is_start_tree"/>
+        <Action ID="is_not_stop_tree"/>
+        <Condition ID="async_is_stop_tree"/>
+        <Action ID="set_start_tree"/>
+        <Action ID="set_stop_tree"/>
+        <Action ID="reset_start_tree"/>
+        <Action ID="reset_stop_tree"/>
+        <!-- tiago_tts_module -->
+        <Action ID="sync_cancel_tiago_tts_action"/>
+        <Action ID="async_cancel_tiago_tts_action"/>
+        <Action ID="async_is_tiago_tts_finished"/>
+        <Action ID="sync_tiago_tts_say">
+            <input_port name="text"> the text to speak</input_port>
+            <input_port name="language"> the language identifier to use</input_port>
+            <input_port name="delay"> the time before start speaking in seconds</input_port>
+        </Action>
+        <Action ID="async_tiago_tts_say">
+            <input_port name="text"> the text to speak</input_port>
+            <input_port name="language"> the language identifier to use</input_port>
+            <input_port name="delay"> the time before start speaking in seconds</input_port>
+            <input_port default="True" name="new_goal"> If it's a new_goal</input_port>
+        </Action>
+        <Action ID="set_tiago_tts_speaker">
+            <input_port name="speaker"> The desired speaker</input_port>
+        </Action>
+        <Condition ID="is_tiago_tts_finished"/>
+        <Condition ID="is_tiago_tts_module_running"/>
+        <Condition ID="is_tiago_tts_module_success"/>
+        <Condition ID="is_tiago_tts_module_action_start_fail"/>
+        <Condition ID="is_tiago_tts_module_timeout"/>
+        <Condition ID="is_tiago_tts_module_fb_watchdog"/>
+        <Condition ID="is_tiago_tts_module_aborted"/>
+        <Condition ID="is_tiago_tts_module_preempted"/>
+        <Condition ID="is_tiago_tts_module_rejected"/>
+        <!-- Client -->
+        <Action ID="set_tiago_tts_say_and_speaker_inputs">
+            <output_port name="speaker"> The desired speaker</output_port>
+            <output_port name="text"> the text to speak</output_port>
+            <output_port name="language"> the language identifier to use</output_port>
+            <output_port name="delay"> the time before start speaking in seconds</output_port>
+            <output_port default="True" name="new_goal"> If it's a new_goal</output_port>
+        </Action>
+        <!-- Tree -->
+        <SubTree ID="say"/>
+    </TreeNodesModel>
+    <!-- ////////// -->
+</root>
+
+