diff --git a/.config/cucumber.yml b/.config/cucumber.yml
new file mode 100644
index 0000000..58d864a
--- /dev/null
+++ b/.config/cucumber.yml
@@ -0,0 +1 @@
+default: --fail-fast
diff --git a/.gitignore b/.gitignore
index e31b666..84e56d5 100644
--- a/.gitignore
+++ b/.gitignore
@@ -23,3 +23,6 @@
 data/tree.yml
 
 draft/
+
+vendor/
+tmp/
diff --git a/Gemfile b/Gemfile
index ae1dc72..d3496a6 100644
--- a/Gemfile
+++ b/Gemfile
@@ -24,3 +24,8 @@ gem 'mini_racer'
 
 gem 'html-proofer'
 gem 'middleman-navtree', git: 'https://github.com/doudou/middleman-navtree'
+
+group :features do
+    gem 'cucumber'
+    gem 'aruba', git: 'https://github.com/thirteenltda/aruba', branch: 'still'
+end
diff --git a/Gemfile.lock b/Gemfile.lock
index 0814877..2e418b5 100644
--- a/Gemfile.lock
+++ b/Gemfile.lock
@@ -1,5 +1,5 @@
 GIT
-  remote: git://github.com/doudou/middleman-navtree.git
+  remote: https://github.com/doudou/middleman-navtree
   revision: e0c283445f864732d66d78903321b4b880e0fdec
   specs:
     middleman-navtree (0.1.11)
@@ -7,6 +7,19 @@ GIT
       middleman-core (>= 3.3)
       titleize (~> 1.3)
 
+GIT
+  remote: https://github.com/thirteenltda/aruba
+  revision: d517facb5f89115d3f6e7157126bc4c60de78c7c
+  branch: still
+  specs:
+    aruba (0.14.3)
+      childprocess (~> 0.8.0)
+      contracts (~> 0.9)
+      cucumber (>= 1.3.19)
+      ffi (~> 1.9.10)
+      rspec-expectations (>= 2.99)
+      thor (~> 0.19)
+
 GEM
   remote: https://rubygems.org/
   specs:
@@ -23,6 +36,9 @@ GEM
     bootstrap-sass (3.3.7)
       autoprefixer-rails (>= 5.2.1)
       sass (>= 3.3.4)
+    builder (3.2.3)
+    childprocess (0.8.0)
+      ffi (~> 1.0, >= 1.0.11)
     chunky_png (1.3.8)
     coffee-script (2.4.1)
       coffee-script-source
@@ -43,6 +59,23 @@ GEM
       sass (>= 3.2, < 3.5)
     concurrent-ruby (1.0.5)
     contracts (0.13.0)
+    cucumber (3.1.0)
+      builder (>= 2.1.2)
+      cucumber-core (~> 3.1.0)
+      cucumber-expressions (~> 5.0.4)
+      cucumber-wire (~> 0.0.1)
+      diff-lcs (~> 1.3)
+      gherkin (~> 5.0)
+      multi_json (>= 1.7.5, < 2.0)
+      multi_test (>= 0.1.2)
+    cucumber-core (3.1.0)
+      backports (>= 3.8.0)
+      cucumber-tag_expressions (~> 1.1.0)
+      gherkin (>= 5.0.0)
+    cucumber-expressions (5.0.7)
+    cucumber-tag_expressions (1.1.1)
+    cucumber-wire (0.0.1)
+    diff-lcs (1.3)
     dotenv (2.2.1)
     em-websocket (0.5.1)
       eventmachine (>= 0.12.9)
@@ -55,6 +88,7 @@ GEM
     fast_blank (1.0.0)
     fastimage (2.1.0)
     ffi (1.9.18)
+    gherkin (5.0.0)
     haml (5.0.1)
       temple (>= 0.8.0)
       tilt
@@ -126,6 +160,7 @@ GEM
       libv8 (~> 5.3)
     minitest (5.10.2)
     multi_json (1.12.1)
+    multi_test (0.1.2)
     nokogiri (1.8.0)
       mini_portile2 (~> 2.2.0)
     padrino-helpers (0.13.3.4)
@@ -144,6 +179,10 @@ GEM
     rb-inotify (0.9.10)
       ffi (>= 0.5.0, < 2)
     rouge (2.1.1)
+    rspec-expectations (3.7.0)
+      diff-lcs (>= 1.2.0, < 2.0)
+      rspec-support (~> 3.7.0)
+    rspec-support (3.7.0)
     sass (3.4.25)
     servolux (0.13.0)
     susy (1.0.9)
@@ -166,7 +205,9 @@ PLATFORMS
   ruby
 
 DEPENDENCIES
+  aruba!
   bootstrap-sass
+  cucumber
   html-proofer
   middleman (>= 4.0.0)
   middleman-gh-pages
@@ -180,4 +221,4 @@ DEPENDENCIES
   wdm (~> 0.1.0)
 
 BUNDLED WITH
-   1.15.1
+   1.16.0
diff --git a/features/01 - Basics/01 - Installation.feature b/features/01 - Basics/01 - Installation.feature
new file mode 100644
index 0000000..dd1d8ea
--- /dev/null
+++ b/features/01 - Basics/01 - Installation.feature	
@@ -0,0 +1,50 @@
+Feature: Installation
+    @disable-bundler
+    Scenario: Bootstrapping
+        # High timeout, we're building and installing stuff
+        Given the aruba exit timeout is 3600 seconds
+        # High timeout because of variability due to network access
+        Given the default answer timeout is 3600 seconds
+
+        When I run the following script:
+        """bash
+        mkdir dev
+        cd dev
+        """
+        When I cd to "dev"
+        And I run the following script:
+        """bash
+        wget http://rock-robotics.org/autoproj_bootstrap
+        """
+        Then the following files should exist:
+            | autoproj_bootstrap |
+
+        When I run the following script interactively:
+        """bash
+        ruby autoproj_bootstrap git \
+            https://github.com/rock-gazebo/buildconf
+        """
+        And I answer "" to "Which prepackaged software" 
+        And I answer "" to "The current directory is not empty, continue bootstrapping anyway ?"
+        When I stop the command started last
+        Then the exit status should be 0
+        Then the output should contain "successfully"
+
+        When I run the following script interactively:
+        """bash
+        set -e
+        echo $PWD
+        source env.sh
+        aup --all -k
+        amake --all -k
+        """
+        And I answer "" to "How should I interact with gitorious.org"
+        And I answer "" to "How should I interact with github.com"
+        And I answer "" to "whether C++11 should be enabled"
+        And I answer "" to "Do you need compatibility with OCL ?"
+        And I answer "" to "the target operating system for Orocos/RTT"
+        And I answer "" to "which CORBA implementation should the RTT use ?"
+        When I stop the command started last
+        Then the exit status should be 0
+        Then the output should contain "Command finished successfully"
+
diff --git a/features/01 - Basics/02 - Getting Started.feature b/features/01 - Basics/02 - Getting Started.feature
new file mode 100644
index 0000000..8dc723c
--- /dev/null
+++ b/features/01 - Basics/02 - Getting Started.feature	
@@ -0,0 +1,35 @@
+Feature: Getting Started
+    @disable-bundler
+    @no-clobber
+    Scenario: Creating the bundle
+        Given I cd to "dev"
+        And I successfully run the following script:
+        """bash
+        set -e
+        source env.sh
+        acd
+        cd bundles
+        syskit init syskit_basics
+        cd syskit_basics
+        """
+
+        When I cd to "bundles/syskit_basics"
+        And I run the following script in background:
+        """bash
+        set -e
+        source ../../env.sh
+        syskit run
+        """
+        Then stdout gets "ready" within 5 seconds
+
+        When I successfully run the following script:
+        """bash
+        set -e
+        source ../../env.sh
+        syskit quit
+        """
+        Then the output should contain "closed communication"
+
+        When I stop the command started last
+        Then the exit status should be 0
+
diff --git a/features/step_definitions/aruba_interactive_script.rb b/features/step_definitions/aruba_interactive_script.rb
new file mode 100644
index 0000000..f8af1cb
--- /dev/null
+++ b/features/step_definitions/aruba_interactive_script.rb
@@ -0,0 +1,75 @@
+default_answer_timeout = 5
+
+When(/^I run the following (?:commands|script)(?: (?:with|in) `([^`]+)`)? in background:$/) do |shell, commands|
+  prepend_environment_variable('PATH', expand_path('bin') + File::PATH_SEPARATOR)
+
+  Aruba.platform.mkdir(expand_path('bin'))
+  shell ||= Aruba.platform.default_shell
+
+  Aruba::ScriptFile.new(:interpreter => shell, :content => commands,
+                        :path => expand_path('bin/myscript')).call
+  step 'I run `myscript` in background'
+end
+
+When(/^I run the following (?:commands|script)(?: (?:with|in) `([^`]+)`)? interactively:$/) do |shell, commands|
+  prepend_environment_variable('PATH', expand_path('bin') + File::PATH_SEPARATOR)
+
+  Aruba.platform.mkdir(expand_path('bin'))
+  shell ||= Aruba.platform.default_shell
+
+  Aruba::ScriptFile.new(:interpreter => shell, :content => commands,
+                        :path => expand_path('bin/myscript')).call
+  step 'I run `myscript` interactively'
+end
+
+When(/^I successfully run the following (?:commands|script)(?: (?:with|in) `([^`]+)`)?:$/) do |shell, commands|
+  prepend_environment_variable('PATH', expand_path('bin') + File::PATH_SEPARATOR)
+
+  Aruba.platform.mkdir(expand_path('bin'))
+  shell ||= Aruba.platform.default_shell
+
+  Aruba::ScriptFile.new(:interpreter => shell, :content => commands,
+                        :path => expand_path('bin/myscript')).call
+  step "I successfully run `myscript` for up to #{aruba.config.exit_timeout} seconds"
+end
+
+When(/^I answer "([^"]*)" to "([^"]+)"(?: from (\w+))?$/) do |answer, question, channel|
+    step "I wait for #{channel || 'stdout'} to have \"#{question}\""
+    step "I type \"#{answer}\""
+end
+
+When(/^the default answer timeout is (\d+) seconds$/) do |timeout|
+    default_answer_timeout = Integer(timeout)
+end
+
+When(/^I wait for (stdout|stderr) to have "([^"]+)"(?: within (\d+) seconds)?$/) do |channel, pattern_string, timeout|
+    commands = all_commands
+    if !timeout || timeout == 0
+        timeout = default_answer_timeout
+    end
+    deadline = Time.now + Integer(timeout)
+    pattern  = Regexp.new(Regexp.quote(pattern_string))
+    puts "#{pattern} #{timeout}"
+    while true
+      combined_output = commands.map do |c|
+        c.send(channel.to_sym, wait_for_io: 0).chomp
+      end.join("\n")
+      if combined_output =~ pattern
+        break
+      elsif commands.all? { |c| c.stopped? }
+          puts "ALL STOPPED #{commands.map { |c| c.to_s }}"
+        step "stdout should contain \"#{pattern_string}\""
+      elsif Time.now > deadline
+          raise "timed out (#{timeout} seconds) while waiting for #{combined_output} to contain #{pattern_string}"
+      end
+      sleep 0.1
+    end
+end
+
+When(/^(stdout|stderr) gets "([^"]+)"(?: within (\d+) seconds)?$/) do |channel, pattern_string, timeout|
+    if !timeout || timeout == 0
+        step "I wait for #{channel} to have \"#{pattern_string}\""
+    else
+        step "I wait for #{channel} to have \"#{pattern_string}\" within #{timeout} seconds"
+    end
+end
diff --git a/features/support/aruba.rb b/features/support/aruba.rb
new file mode 100644
index 0000000..fb0a661
--- /dev/null
+++ b/features/support/aruba.rb
@@ -0,0 +1 @@
+require 'aruba/cucumber'