diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index a5419c0c1361f327de50035780169dc0fbb535e6..3839823eabe4211c1f877b78167c63fad3878a1b 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -1,7 +1,12 @@
-compile_pdf:
+latex_to_pdf:
   image: aergus/latex
   script:
-    - latexmk -pdf procedures/battery_management/battery_management.tex
+     - cd procedures/example
+     - latexmk -pdf example.tex
+     
+     - cd ../battery_management
+     - latexmk -pdf battery_management.tex
+
   artifacts:
     paths:
-      - battery_management.pdf
\ No newline at end of file
+      - ./procedures/*/*.pdf
\ No newline at end of file
diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..86db4ccd13e276ce498b799416b36ea3136106d6
--- /dev/null
+++ b/CMakeLists.txt
@@ -0,0 +1,195 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(iri_ana_how_to)
+
+## 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_how_to
+#  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/${PROJECT_NAME}/iri_ana_how_to.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${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_how_to_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_how_to.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
index bfa9c28f70a68f0de190a4f06b2b26b840c1c493..b087f0daf62acbad14e863eab60d039d6c6974e4 100644
--- a/README.md
+++ b/README.md
@@ -36,9 +36,9 @@ A fully featured gazebo model is also provided to test the robot in simulation.
 Here are the basic precedures to use the robot. Please follow them carefully 
 whenever you need to use the robot.
 
- * Startup, operation and shutdown:
+ * Startup, operation and shutdown
 
- * Battery management:
+ * [Battery management](https://gitlab.iri.upc.edu/labrobotica/ros/robots/ana/iri_ana_how_to/-/jobs/artifacts/latex/file/procedures/battery_management/battery_management.pdf?job=latex_to_pdf)
 
 # How to use the simulated robot
 
diff --git a/package.xml b/package.xml
new file mode 100644
index 0000000000000000000000000000000000000000..548574327d37f58f9760262258c8c53a9c1b57cb
--- /dev/null
+++ b/package.xml
@@ -0,0 +1,59 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>iri_ana_how_to</name>
+  <version>0.0.0</version>
+  <description>Documentation on how to set up and use the robot</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">IRI_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_how_to</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</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/procedures/battery_management/battery_management.tex b/procedures/battery_management/battery_management.tex
index 1e620c0b7e2c918bc28e38c90a9e2613af46c9d5..1ffb12fe21d449701498712e599eb5360fcbf889 100644
--- a/procedures/battery_management/battery_management.tex
+++ b/procedures/battery_management/battery_management.tex
@@ -2,7 +2,7 @@
 \usepackage[english]{babel}
 \usepackage[utf8x]{inputenc}
 \usepackage{graphicx}
-\graphicspath{ {./images/} }
+\graphicspath{ {./images/} {../common_images/} }
 \usepackage{wrapfig}
 \usepackage{multirow}
 
diff --git a/procedures/battery_management/images/attention.png b/procedures/common_images/attention.png
similarity index 100%
rename from procedures/battery_management/images/attention.png
rename to procedures/common_images/attention.png
diff --git a/procedures/example/example.tex b/procedures/example/example.tex
new file mode 100644
index 0000000000000000000000000000000000000000..ec374329d9fb329e07739d5f4d910ae27c848351
--- /dev/null
+++ b/procedures/example/example.tex
@@ -0,0 +1,69 @@
+\documentclass[a4paper]{article}
+\usepackage[english]{babel}
+\usepackage[utf8x]{inputenc}
+\usepackage{graphicx}
+\graphicspath{ {./images/} {../common_images/} }
+\usepackage{wrapfig}
+\usepackage{multirow}
+
+%opening
+\title{Example}
+\author{IRI Labrobotica}
+
+\begin{document}
+
+\maketitle
+
+\section{Description}
+This example describes how to write a generic procedure.
+
+This document can include several procedures, with a different section for each of them, like \ref{subexample1} and \ref{subexample2}.
+
+\section{Preliminary considerations}
+Example of list
+\begin{itemize}
+  \item Item 1: example of text.
+  \item Item 2: example of figure Fig. \ref{figure1}. 
+  \begin{figure}[h]
+    \centering
+    \includegraphics[width=0.5\textwidth]{example.png}
+    \caption{Example of figure1 caption.}
+    \label{figure1}
+  \end{figure} 
+  \item Item 3: example of table Table. \ref{table1}.
+\end{itemize}
+
+\begin{table}
+  \centering
+  \begin{tabular}{|l|c|c|}
+    \hline
+    11 & 12 & 13 \\
+    \hline\hline
+    21 & 22 & 23  \\ 
+    \hline
+    31  & 32 & 33 \\ 
+    \hline
+  \end{tabular}
+  \caption{Example of table1 caption.}
+  \label{table1}
+\end{table}
+
+\section{Subexample1 title}\label{subexample1}
+Text of subexample1
+
+\begin{itemize}
+  \item Step 1 text
+  \item Step 2 text
+  \item Step 3 text
+\end{itemize}
+
+\begin{table}[h]
+  \begin{tabular}{p{1cm}p{10cm}}
+  \multirow{3}{*}{\includegraphics[width=1cm]{attention.png}} & \textbf{IMPORTANT:} example of important message with attention icon.
+  \end{tabular}
+\end{table}
+
+\section{Subexample2 title}\label{subexample2}
+Text of subexample2
+
+\end{document}
diff --git a/procedures/example/images/example.png b/procedures/example/images/example.png
new file mode 100644
index 0000000000000000000000000000000000000000..b80a23fecceff7a27ba2b604787896c8f30dc002
Binary files /dev/null and b/procedures/example/images/example.png differ