diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..93eb1919529afefcdc5b8bf63259ac537a99285b
--- /dev/null
+++ b/CMakeLists.txt
@@ -0,0 +1,195 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(iri_ana_description)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-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)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs  # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES iri_ana_description
+#  CATKIN_DEPENDS other_catkin_pkg
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+# ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/iri_ana_description.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/iri_ana_description_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_iri_ana_description.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/README.md b/README.md
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/package.xml b/package.xml
new file mode 100644
index 0000000000000000000000000000000000000000..0bea4954762baa1dcd12418fc1168ba67fc0d7c3
--- /dev/null
+++ b/package.xml
@@ -0,0 +1,59 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>iri_ana_description</name>
+  <version>0.0.0</version>
+  <description>The iri_ana_description package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="labrobotica@iri.upc.edu">labrobotica</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 multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/iri_ana_description</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <author email="shernand@iri.upc.edu">Sergi Hernandez Juan</author>
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_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>
diff --git a/urdf/ana.xacro b/urdf/ana.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..c5f2e362092f84a9d1605806e2aeac3077540ca7
--- /dev/null
+++ b/urdf/ana.xacro
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<robot name="ana" xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <xacro:arg name="name" default="ana"/>
+
+  <xacro:include filename="$(find iri_pioneer3_description)/urdf/pioneer3.xacro" />
+  <xacro:include filename="$(find iri_ana_description)/urdf/sensors.xacro" />
+
+  <xacro:pioneer3 name="$(arg name)" resolution="low_res" sim_config="$(find iri_ana_gazebo)/config/ana_sim_config.yaml">
+  </xacro:pioneer3>
+
+  <xacro:sensors name="$(arg name)" parent="top_plate">
+    <origin xyz="0.0 0.0 0.27" rpy="0 0 0" />
+  </xacro:sensors>
+</robot>
diff --git a/urdf/sensors.xacro b/urdf/sensors.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..e261aab41f133b4d99dd2f1f82d653107d83abe1
--- /dev/null
+++ b/urdf/sensors.xacro
@@ -0,0 +1,53 @@
+<?xml version="1.0"?>
+
+<root xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:include filename="$(find iri_velodyne_lidar_description)/urdf/velodyne_vlp16.xacro" />
+
+  <xacro:macro name="sensors" params="name parent *origin">
+
+   
+    <link name="box">
+      <inertial>
+        <mass value="4.00000000" />
+        <origin xyz="-0.02349208 0.00000000 0.20998619" rpy="0 0 0"/>
+        <inertia ixx="0.15364469" ixy="0.00000000" ixz="0.00406514"
+                 iyy="0.17441562" iyz="0.00000000" 
+                 izz="0.11019687" />
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0.1" rpy="0 0 0"/>
+        <geometry>
+          <!--<mesh filename="package://iri_ana_description/meshes/low_res_ana_payload.stl" />-->
+          <box size="0.3 0.3 0.2"/>
+        </geometry>
+        <material name="DarkGrey">
+          <color rgba="0.2 0.2 0.2 1.0"/>
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0.1" rpy="0 0 0"/>
+        <geometry>
+          <!--<mesh filename="package://iri_ana_description/meshes/low_res_ana_payload.stl" />-->
+          <box size="0.3 0.3 0.2"/>
+        </geometry>
+      </collision>
+    </link>
+    
+    <gazebo reference="box">
+      <material>Gazebo/Grey</material>
+    </gazebo>
+
+
+    <joint name="joint_${parent}_to_box" type="fixed" >
+      <parent link="${parent}"/>
+      <child link="box"/>
+      <origin xyz="0 0 0.3" rpy="0 0 0"/>
+    </joint>
+
+    <xacro:velodyne_vlp16 name="velodyne" parent="${parent}" resolution="high_res" sim_config="$(find iri_velodyne_gazebo)/config/velodyne_vlp16_sim_config.yaml">
+      <origin xyz="0.0 0.0 0.1" rpy="0 0 0" />
+    </xacro:velodyne_vlp16>
+
+  </xacro:macro>
+
+</root>