diff --git a/desktop/CMakeLists.txt b/desktop/CMakeLists.txt
new file mode 100644
index 0000000..e4ae278
--- /dev/null
+++ b/desktop/CMakeLists.txt
@@ -0,0 +1,7 @@
+cmake_minimum_required(VERSION 3.5)
+
+project(desktop)
+
+find_package(ament_cmake REQUIRED)
+
+ament_package()
diff --git a/desktop/package.xml b/desktop/package.xml
new file mode 100644
index 0000000..8feb548
--- /dev/null
+++ b/desktop/package.xml
@@ -0,0 +1,60 @@
+
+
+
+ desktop
+ 0.5.0
+ A package which extends 'ros_base' and includes high level packages like vizualization tools and demos.
+ Mikael Arguedas
+ Apache License 2.0
+
+ ament_cmake
+
+ ros_base
+
+ angles
+ depthimage_to_laserscan
+ joy
+ pcl_conversions
+ rviz2
+ rviz_default_plugins
+ teleop_twist_joy
+ teleop_twist_keyboard
+
+
+ composition
+ demo_nodes_cpp
+ demo_nodes_cpp_native
+ demo_nodes_py
+ dummy_map_server
+ dummy_robot_bringup
+ dummy_sensors
+ image_tools
+ intra_process_demo
+ lifecycle
+ logging_demo
+ pendulum_control
+ topic_monitor
+
+
+ tlsf
+ tlsf_cpp
+
+
+ examples_rclcpp_minimal_client
+ examples_rclcpp_minimal_composition
+ examples_rclcpp_minimal_publisher
+ examples_rclcpp_minimal_service
+ examples_rclcpp_minimal_subscriber
+ examples_rclcpp_minimal_timer
+ examples_rclpy_executors
+ examples_rclpy_minimal_client
+ examples_rclpy_minimal_publisher
+ examples_rclpy_minimal_service
+ examples_rclpy_minimal_subscriber
+
+
+ sros2
+
+ ament_cmake
+
+
diff --git a/ros_base/CMakeLists.txt b/ros_base/CMakeLists.txt
new file mode 100644
index 0000000..b881988
--- /dev/null
+++ b/ros_base/CMakeLists.txt
@@ -0,0 +1,7 @@
+cmake_minimum_required(VERSION 3.5)
+
+project(ros_base)
+
+find_package(ament_cmake REQUIRED)
+
+ament_package()
diff --git a/ros_base/package.xml b/ros_base/package.xml
new file mode 100644
index 0000000..4641c53
--- /dev/null
+++ b/ros_base/package.xml
@@ -0,0 +1,32 @@
+
+
+
+ ros_base
+ 0.5.0
+ A package which extends 'ros_core' and includes other basic functionalities like tf2 and urdf.
+ Mikael Arguedas
+ Apache License 2.0
+
+ ament_cmake
+
+ ros_core
+
+
+ tf2
+ tf2_eigen
+ tf2_geometry_msgs
+ tf2_ros
+
+
+ kdl_parser
+
+
+ urdf
+
+
+ robot_state_publisher
+
+
+ ament_cmake
+
+
diff --git a/ros_core/CMakeLists.txt b/ros_core/CMakeLists.txt
new file mode 100644
index 0000000..fb780fb
--- /dev/null
+++ b/ros_core/CMakeLists.txt
@@ -0,0 +1,7 @@
+cmake_minimum_required(VERSION 3.5)
+
+project(ros_core)
+
+find_package(ament_cmake REQUIRED)
+
+ament_package()
diff --git a/ros_core/package.xml b/ros_core/package.xml
new file mode 100644
index 0000000..606be83
--- /dev/null
+++ b/ros_core/package.xml
@@ -0,0 +1,67 @@
+
+
+
+ ros_core
+ 0.5.0
+ A package to aggregate the packages required to use publish / subscribe, services, generate messages and other core ROS concepts.
+ Mikael Arguedas
+ Apache License 2.0
+
+ ament_cmake
+
+
+ ament_cmake
+ ament_cmake_auto
+ ament_cmake_gtest
+ ament_cmake_gmock
+ ament_cmake_pytest
+
+
+ ament_index_cpp
+ ament_index_python
+
+
+ ament_lint_auto
+ ament_lint_common
+
+
+ rcl_lifecycle
+
+
+ rclcpp
+ rclcpp_lifecycle
+
+
+ rclpy
+
+
+ rosidl_default_generators
+ rosidl_default_runtime
+
+
+ ros_environment
+
+
+ common_interfaces
+
+
+ ros2launch
+ ros2lifecycle
+ ros2msg
+ ros2node
+ ros2param
+ ros2pkg
+ ros2run
+ ros2service
+ ros2srv
+ ros2topic
+
+
+ class_loader
+
+ pluginlib
+
+
+ ament_cmake
+
+