diff --git a/CMakeLists.txt b/CMakeLists.txt
index bd6501afd24b1c3fbeac6602262a5741dbafbe54..a389b91bd48ce7c90ef3a21c78a0829674117b2d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -93,6 +93,7 @@ generate_dynamic_reconfigure_options(
   cfg/HeadModule.cfg
   cfg/NavModule.cfg
   cfg/TTSModule.cfg
+  cfg/ArmModule.cfg
 )
 
 ###################################
@@ -227,6 +228,21 @@ target_link_libraries(tts_module ${iriutils_LIBRARY})
 ## either from message generation or dynamic reconfigure
 add_dependencies(tts_module ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
+## Declare a C++ library
+add_library(arm_module
+  src/arm_module.cpp
+)
+
+target_link_libraries(arm_module ${catkin_LIBRARIES})
+target_link_libraries(arm_module ${iriutils_LIBRARY})
+##Link to other modules
+##target_link_libraries(new_module <module path>/lib<module_name>.so)
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+add_dependencies(arm_module ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
 ## 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
diff --git a/package.xml b/package.xml
index 6f243bd56f0ee4ab09823b9380794a618f5dcddd..4d4a9d2f1eecd3576a0d3f24404fd6e81b5bd9f1 100644
--- a/package.xml
+++ b/package.xml
@@ -53,6 +53,7 @@
   <build_depend>pal_navigation_msgs</build_depend>
   <build_depend>pal_waypoint_msgs</build_depend>
   <build_depend>pal_interaction_msgs</build_depend>
+  <build_depend>moveit_msgs</build_depend>
   <build_depend>tf</build_depend>
   <!-- new dependencies -->
   <!--<build_depend>new build dependency</build_depend>-->
@@ -69,6 +70,7 @@
   <run_depend>pal_navigation_msgs</run_depend>
   <run_depend>pal_waypoint_msgs</run_depend>
   <run_depend>pal_interaction_msgs</run_depend>
+  <run_depend>moveit_msgs</run_depend>
   <run_depend>tf</run_depend>
   <!-- new dependencies -->
   <!--<run_depend>new run dependency</run_depend>-->