diff --git a/doc/LinkingProjects.md b/doc/LinkingProjects.md
index 42d562a4..259bff9c 100644
--- a/doc/LinkingProjects.md
+++ b/doc/LinkingProjects.md
@@ -1,4 +1,4 @@
-| [Tutorials Home](index.md)    | [Previous](Configuration.md) | [Next](Pointclouds.md) |
+| [Tutorials Home](index.md)    | [Previous](Configuration.md) | [Next](UsingInRos.md) |
 | ------------- |:-------------:| -----:|
 
 # Linking Projects to libpointmatcher
diff --git a/doc/Pointclouds.md b/doc/Pointclouds.md
index 7925dcf7..68db7482 100644
--- a/doc/Pointclouds.md
+++ b/doc/Pointclouds.md
@@ -1,4 +1,4 @@
-| [Tutorials Home](index.md)    | [Previous](LinkingProjects.md) | [Next](Transformations.md) |
+| [Tutorials Home](index.md)    | [Previous](UsingInRos.md) | [Next](Transformations.md) |
 | ------------- |:-------------:| -----:|
 
 # Point Clouds in Libpointmatcher
diff --git a/doc/UsingInRos.md b/doc/UsingInRos.md
new file mode 100644
index 00000000..c1d107e4
--- /dev/null
+++ b/doc/UsingInRos.md
@@ -0,0 +1,6 @@
+| [Tutorials Home](index.md)    | [Previous](LinkingProjects.md) | [Next](Pointclouds.md) |
+| ------------- |:-------------:| -----:|
+
+# Using libpointmatcher in ROS
+
+If you want to use libpointmatcher in [ROS](http://www.ros.org/), you can use the [ethzasl_icp_mapping](https://github.com/ethz-asl/ethzasl_icp_mapping) stack. It allows the conversion of pointclouds from ROS message formats to a libpointmatcher-compatible format and provides a mapping node that is already functionnal and that can be customized using YAML configuration files to suite your needs. It also provides an odometry estimation based on the results of the pointcloud registrations. It includes a wide range of launch files that can be used as usage examples of the different nodes of the stack. Finally, it is recommended to install it from sources rather than from apt-get, because the last release was a long time ago, and it might not be working.
diff --git a/doc/index.md b/doc/index.md
index ffa5d920..ea01e943 100644
--- a/doc/index.md
+++ b/doc/index.md
@@ -26,6 +26,7 @@ Beginner<a name="beginner"></a>
 Advanced<a name="advanced"></a>
 -------
 - [How to link a project to libpointmatcher?](LinkingProjects.md)
+- [How to use libpointmatcher in ROS?](UsingInRos.md)
 - [How are point clouds represented?](Pointclouds.md)
 - [Example: Writing a program which performs ICP](BasicRegistration.md)
 - [How to move a point cloud using a rigid transformation?](Transformations.md)