diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
new file mode 100644
index 0000000000000000000000000000000000000000..3b21ee60a39e9c00a8171be64b82f3948eba52b0
--- /dev/null
+++ b/.gitlab-ci.yml
@@ -0,0 +1,214 @@
+stages:
+ - license
+ - build_and_test
+ - demos
+
+############ YAML ANCHORS ############
+.preliminaries_template: &preliminaries_definition
+ ## Install ssh-agent if not already installed, it is required by Docker.
+ ## (change apt-get to yum if you use an RPM-based image)
+ - 'which ssh-agent || ( apt-get update -y && apt-get install openssh-client -y )'
+
+ ## Run ssh-agent (inside the build environment)
+ - eval $(ssh-agent -s)
+
+ ## Add the SSH key stored in SSH_PRIVATE_KEY variable to the agent store
+ ## We're using tr to fix line endings which makes ed25519 keys work
+ ## without extra base64 encoding.
+ ## https://gitlab.com/gitlab-examples/ssh-private-key/issues/1#note_48526556
+ - mkdir -p ~/.ssh
+ - chmod 700 ~/.ssh
+ - echo "$SSH_PRIVATE_KEY" | tr -d '\r' | ssh-add - > /dev/null
+ # - echo "$SSH_KNOWN_HOSTS" > $HOME/.ssh/known_hosts
+ - ssh-keyscan -H -p 2202 gitlab.iri.upc.edu >> $HOME/.ssh/known_hosts
+
+ # update apt
+ - apt-get update
+
+ # create ci_deps folder (if not exists)
+ - mkdir -pv ci_deps
+
+ # manually source ros setup.bash
+ - source /root/catkin_ws/devel/setup.bash
+ - roscd # check that it works
+
+.license_header_template: &license_header_definition
+ - cd $CI_PROJECT_DIR
+
+ # configure git
+ - export CI_NEW_BRANCH=ci_processing$RANDOM
+ - echo creating new temporary branch... $CI_NEW_BRANCH
+ - git config --global user.email "${CI_EMAIL}"
+ - git config --global user.name "${CI_USERNAME}"
+ - git checkout -b $CI_NEW_BRANCH # temporary branch
+
+ # license headers
+ - export CURRENT_YEAR=$( date +'%Y' )
+ - echo "current year:" ${CURRENT_YEAR}
+ - if [ -f license_header_${CURRENT_YEAR}.txt ]; then
+ # add license headers to new files
+ - echo "File license_header_${CURRENT_YEAR}.txt already exists. License headers are assumed to be updated. Adding headers to new files..."
+ - ./ci_deps/wolf/wolf_scripts/license_manager.sh --add --path=. --license-header=license_header_${CURRENT_YEAR}.txt --exclude=ci_deps
+ - else
+ # update license headers of all files
+ - export PREV_YEAR=$(( CURRENT_YEAR-1 ))
+ - echo "Creating new file license_header_${CURRENT_YEAR}.txt..."
+ - git mv license_header_${PREV_YEAR}.txt license_header_${CURRENT_YEAR}.txt
+ - sed -i "s/${PREV_YEAR}/${PREV_YEAR},${CURRENT_YEAR}/g" license_header_${CURRENT_YEAR}.txt
+ - ./ci_deps/wolf/wolf_scripts/license_manager.sh --update --path=. --license-header=license_header_${CURRENT_YEAR}.txt --exclude=ci_deps
+ - fi
+
+ # push changes (if any)
+ - if git commit -a -m "[skip ci] license headers added or modified" ; then
+ - git remote set-url --push origin "ssh://git@gitlab.iri.upc.edu:2202/${CI_PROJECT_PATH}.git"
+ - git push origin $CI_NEW_BRANCH:${CI_COMMIT_REF_NAME}
+ - else
+ - echo "No changes, nothing to commit!"
+ - fi
+
+.install_wolf_template: &install_wolf_definition
+ - cd ${CI_PROJECT_DIR}/ci_deps
+ - if [ -d wolf ]; then
+ - echo "directory wolf exists"
+ - cd wolf
+ - git checkout devel
+ - git pull
+ - git checkout $WOLF_CORE_BRANCH
+ - git pull
+ - else
+ - git clone -b $WOLF_CORE_BRANCH ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_lib/wolf.git
+ - cd wolf
+ - fi
+ - mkdir -pv build
+ - cd build
+ - cmake -DCMAKE_BUILD_TYPE=release -DBUILD_DEMOS=OFF -DBUILD_TESTS=OFF ..
+ - make -j$(nproc)
+ - make install
+
+.install_visionutils_template: &install_visionutils_definition
+ - cd ${CI_PROJECT_DIR}/ci_deps
+ - if [ -d vision_utils ]; then
+ - echo "directory vision_utils exists"
+ - cd vision_utils
+ - git pull
+ - else
+ - git clone https://gitlab.iri.upc.edu/labrobotica/algorithms/vision_utils.git
+ - cd vision_utils
+ - fi
+ - mkdir -pv build
+ - cd build
+ - cmake -DCMAKE_BUILD_TYPE=release ..
+ - make -j$(nproc)
+ - make install
+
+.install_wolfvision_template: &install_wolfvision_definition
+ - cd ${CI_PROJECT_DIR}/ci_deps
+ - if [ -d vision ]; then
+ - echo "directory vision exists"
+ - cd vision
+ - git checkout devel
+ - git pull
+ - git checkout $WOLF_VISION_BRANCH
+ - git pull
+ - else
+ - git clone -b $WOLF_VISION_BRANCH ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_lib/plugins/vision.git
+ - cd vision
+ - fi
+ - mkdir -pv build
+ - cd build
+ - cmake -DCMAKE_BUILD_TYPE=release -DBUILD_TESTS=OFF ..
+ - make -j$(nproc)
+ - make install
+
+.clone_wolfrosnode_template: &clone_wolfrosnode_definition
+ - roscd
+ - cd ../src
+ - git clone ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_ros/wolf_ros_node.git
+ - cd wolf_ros_node
+ - git checkout $WOLF_ROS_CORE_BRANCH
+
+.build_and_test_template: &build_and_test_definition
+ - roscd
+ - cd ../src
+ - git clone ssh://git@gitlab.iri.upc.edu:2202/${CI_PROJECT_PATH}.git
+ - cd wolf_ros_vision
+ - git checkout $CI_COMMIT_BRANCH
+ - cd ../..
+ - catkin_make
+
+############ LICENSE HEADERS ############
+license_headers:
+ stage: license
+ image: labrobotica/wolf_vision_deps_ros:20.04
+ cache: []
+ except:
+ - master
+ before_script:
+ - *preliminaries_definition
+ - *install_wolf_definition
+ script:
+ - *license_header_definition
+
+############ UBUNTU 18.04 TEST ############
+build_and_test:bionic:
+ stage: build_and_test
+ image: labrobotica/wolf_vision_deps_ros:18.04
+ cache:
+ - key: wolf-bionic
+ paths:
+ - ci_deps/wolf/
+ - key: visionutils-bionic
+ paths:
+ - ci_deps/vision_utils/
+ - key: vision-bionic
+ paths:
+ - ci_deps/vision/
+ except:
+ - master
+ before_script:
+ - *preliminaries_definition
+ - *install_wolf_definition
+ - *install_visionutils_definition
+ - *install_wolfvision_definition
+ - *clone_wolfrosnode_definition
+ - ldconfig
+ script:
+ - *build_and_test_definition
+
+############ UBUNTU 20.04 TEST ############
+build_and_test:focal:
+ stage: build_and_test
+ image: labrobotica/wolf_vision_deps_ros:20.04
+ cache:
+ - key: wolf-focal
+ paths:
+ - ci_deps/wolf/
+ - key: visionutils-focal
+ paths:
+ - ci_deps/vision_utils/
+ - key: vision-focal
+ paths:
+ - ci_deps/vision/
+ except:
+ - master
+ before_script:
+ - *preliminaries_definition
+ - *install_wolf_definition
+ - *install_visionutils_definition
+ - *install_wolfvision_definition
+ - *clone_wolfrosnode_definition
+ - ldconfig
+ script:
+ - *build_and_test_definition
+
+############ RUN DEMOS ############
+demo_apriltag:
+ stage: demos
+ variables:
+ WOLF_CORE_BRANCH: $WOLF_CORE_BRANCH
+ WOLF_VISION_BRANCH: $WOLF_VISION_BRANCH
+ WOLF_APRILTAG_BRANCH: $WOLF_APRILTAG_BRANCH
+ WOLF_ROS_CORE_BRANCH: $WOLF_ROS_CORE_BRANCH
+ WOLF_ROS_APRILTAG_BRANCH: $CI_COMMIT_BRANCH
+ trigger:
+ project: mobile_robotics/wolf_projects/wolf_ros/demos/wolf_demo_apriltag_imu