diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644
index 0000000..34e3173
--- /dev/null
+++ b/CMakeLists.txt
@@ -0,0 +1,6 @@
+# CMakeLists.txt has to be located in the project folder and cmake has to be
+# executed from 'project/build' with 'cmake ../'.
+cmake_minimum_required(VERSION 2.6)
+include(Rock)
+rock_init(nav_graph_search 0.1)
+rock_standard_layout()
diff --git a/INSTALL b/INSTALL
new file mode 100644
index 0000000..e69de29
diff --git a/LICENSE b/LICENSE
new file mode 100644
index 0000000..e69de29
diff --git a/README b/README
new file mode 100644
index 0000000..94bdfba
--- /dev/null
+++ b/README
@@ -0,0 +1,28 @@
+NOTE
+This directory structure follows some simple rules, to allow for generic build
+processes and simplify reuse of this project. 
+
+For build automation the project structure should be parsed and validated
+
+
+STRUCTURE
+-- src/ 
+	Contains all header (*.h/*.hpp) and source files
+-- build/
+	The target directory for the build process, temporary content
+-- resources/
+	General resources such as images that are needed by the program
+-- etc/
+	Configuration files for running the program
+-- external/
+	When including software that needs a non standard installation process, or one that can be
+	easily embedded include the external software directly here
+   |-- include
+	header files
+   |-- libs
+	precompiled libraries 
+-- doc/
+	should contain the existing doxygen file: doxygen.conf
+   |-- manual/
+	Should contain manual.tex 
+	Manual for the software 	
diff --git a/manifest.xml b/manifest.xml
new file mode 100644
index 0000000..ac98186
--- /dev/null
+++ b/manifest.xml
@@ -0,0 +1,22 @@
+<package>
+  <description brief="Algorithms to search trajectories in maps represented as graphs">
+  This package contains algorithms that allow to search for (optimal) trajectories in traversability maps, in which the search is done on a 8-neighbour graph
+  </description>
+  <author>Sylvain Joyeux/sylvain.joyeux@dfki.de</author>
+  <license></license>
+  <url>http://</url>
+  <logo>http://</logo>
+ <!--
+   To add any dependencies use the depend tag
+  <depend package="dummy-dependency-0" />
+	...
+  <depend package="dummy-dependency-n-1" />
+  <depend package="dummy-dependency-n" />
+-->
+<depend package="slam/envire" />
+<!--DEPEND-ENTRY-->
+  <versioncontrol type="git" url="" />
+  <export>
+    <cpp cflags="" lflags="" />
+  </export>
+</package>
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
new file mode 100644
index 0000000..e00397e
--- /dev/null
+++ b/src/CMakeLists.txt
@@ -0,0 +1,6 @@
+rock_library(nav_graph_search
+    SOURCES dummy.cpp)
+
+rock_executable(nav_graph_search_bin main.cpp
+    DEPS nav_graph_search)
+
diff --git a/src/dummy.cpp b/src/dummy.cpp
new file mode 100644
index 0000000..acdbe6d
--- /dev/null
+++ b/src/dummy.cpp
@@ -0,0 +1,11 @@
+#include "dummy.h"
+
+namespace DummyProject
+{
+
+	void DummyClass::welcome()
+	{
+		std::cout << "You successfully compiled and executed DummyProject. Welcome!" << std::endl;
+	}
+
+}
diff --git a/src/dummy.h b/src/dummy.h
new file mode 100644
index 0000000..beb8e14
--- /dev/null
+++ b/src/dummy.h
@@ -0,0 +1,12 @@
+#include <iostream>
+
+namespace DummyProject
+{
+	class DummyClass
+	{
+		public: 
+			void welcome();
+		
+	};
+
+} // end namespace DummyProject
diff --git a/src/main.cpp b/src/main.cpp
new file mode 100644
index 0000000..b519c64
--- /dev/null
+++ b/src/main.cpp
@@ -0,0 +1,10 @@
+#include <iostream>
+#include "dummy.h"
+
+int main(int argc, char** argv)
+{
+	DummyProject::DummyClass dummyClass;
+	dummyClass.welcome();
+
+	return 0;
+}
diff --git a/src/nav_graph_search.pc.in b/src/nav_graph_search.pc.in
new file mode 100644
index 0000000..6b414cd
--- /dev/null
+++ b/src/nav_graph_search.pc.in
@@ -0,0 +1,12 @@
+prefix=@CMAKE_INSTALL_PREFIX@
+exec_prefix=@CMAKE_INSTALL_PREFIX@
+libdir=${prefix}/lib
+includedir=${prefix}/include
+
+Name: @TARGET_NAME@
+Description: @PROJECT_DESCRIPTION@
+Version: @PROJECT_VERSION@
+Depends: @DEPS_PKGCONFIG@
+Libs: -L${libdir} -l@TARGET_NAME@
+Cflags: -I${includedir}
+