diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..181413c8250fe960a2fa9d73770e7561ef05e19a
--- /dev/null
+++ b/CMakeLists.txt
@@ -0,0 +1,32 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(webots_run)
+
+set(EXECUTABLE_NAME "start_webots")
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+ roscpp
+ std_msgs
+)
+
+## Catkin package
+catkin_package(
+ INCLUDE_DIRS src
+ LIBRARIES ${PROJECT_NAME}
+ CATKIN_DEPENDS roscpp std_msgs
+)
+
+include_directories(include
+ ${catkin_INCLUDE_DIRS}
+ src
+)
+
+## Declare a C++ executable
+add_executable("${EXECUTABLE_NAME}" src/start_webots.cpp)
+
+## Specify libraries to link a library or executable target against
+target_link_libraries("${EXECUTABLE_NAME}"
+ ${catkin_LIBRARIES}
+)
diff --git a/README.md b/README.md
index f6a7c5489ae4c066c581aa967dbf3db6ac04a1f2..4984b3608b8d604547511ca422d223f97b79c86a 100644
--- a/README.md
+++ b/README.md
@@ -1,2 +1,2 @@
-# webots_ros
-Isolated webots_run package from kaist_webots
+# webots_run
+Isolated webots_run package from kaist_webots. Also _catkinized_ :)
diff --git a/launch/test_world.launch b/launch/test_world.launch
new file mode 100644
index 0000000000000000000000000000000000000000..26d76b43baf8768310940125d9592267b65f616d
--- /dev/null
+++ b/launch/test_world.launch
@@ -0,0 +1,6 @@
+<launch>
+ <!-- Run the 'start_webots' executable from the 'webots_run' package, node name 'webots' -->
+ <node pkg="webots_run" type="start_webots" args="$(find webots_run)/worlds/test_world.wbt"
+ name="webots" output="screen" required="true" />
+</launch>
+
diff --git a/package.xml b/package.xml
new file mode 100644
index 0000000000000000000000000000000000000000..53bff02e2dc47aceb523c665f2e2aa485d09a036
--- /dev/null
+++ b/package.xml
@@ -0,0 +1,30 @@
+<?xml version="2.0"?>
+<package>
+ <name>webots_run</name>
+ <version>0.0.0</version>
+ <description>
+ Starts the <a href="http://www.cyberbotics.com">Webots</a> Simulator using a system() call, so Webots can be run directly from a roslaunch file.
+ The Webots world file is specified as an argument in the launch file.
+
+ Based on webots_run from kaist_webots package.
+ </description>
+
+ <maintainer email="mmattamala@ing.uchile.cl">Matias Mattamala</maintainer>
+ <author>David Butterworth</author>
+
+ <!-- License -->
+ <license>BSD</license>
+
+ <!-- Dependencies -->
+ <buildtool_depend>catkin</buildtool_depend>
+ <build_depend>roscpp</build_depend>
+ <build_depend>std_msgs</build_depend>
+ <run_depend>roscpp</run_depend>
+ <run_depend>std_msgs</run_depend>
+
+ <!-- The export tag contains other, unspecified, tags -->
+ <export>
+ <!-- Other tools can request additional information be placed here -->
+
+ </export>
+</package>
diff --git a/src/start_webots.cpp b/src/start_webots.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..f8d84518377c548f49c9620621e3aff1c70eadc5
--- /dev/null
+++ b/src/start_webots.cpp
@@ -0,0 +1,93 @@
+/*
+ * start_webots.cpp
+ *
+ * Starts the Webots Simulator using a system() call, so Webots can be
+ * started from a roslaunch file.
+ *
+ * Date: September 2012
+ * Authors: David Butterworth
+ *
+ */
+
+/*
+ * Copyright (c) 2012, David Butterworth, KAIST
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * * Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * * Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ * * Neither the name of the Willow Garage, Inc. nor the names of its
+ * contributors may be used to endorse or promote products derived from
+ * this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include <ros/ros.h>
+#include <iostream> // stringstream
+
+/*
+Define Webots executable name.
+The full path will come from the PATH environment variable.
+Prefix with 'optirun' for Linux NVidia Bumblebee graphics driver
+
+Webots command line arguments:
+ --minimize
+ --mode=run
+ --mode=stop
+ (http://www.cyberbotics.com/dvd/common/doc/webots/guide/section2.2.html)
+*/
+
+#define WEBOTS_EXECUTABLE "webots --mode=run"
+//#define WEBOTS_EXECUTABLE "optirun webots --mode=run"
+
+//----------------------------------------------------------------------------//
+
+int main(int argc, char **argv)
+{
+ // node name: webots
+ ros::init(argc, argv, "webots");
+
+ if ( argc != 2 )
+ {
+ // no additional arguments, start Webots with previously opened world
+ ROS_INFO("Starting Webots simulator... \n");
+ if (system(WEBOTS_EXECUTABLE)) {}
+ }
+ else
+ {
+ // additional arguments:
+ // argv[0] is full path to this ROS Node
+ // argv[1] is full path to world file
+ // argv[2] is full path to ROS log file
+ ROS_INFO("Starting Webots simulator... ");
+ ROS_INFO("Loading world: %s \n", argv[1]);
+
+ std::stringstream ss;
+ ss << WEBOTS_EXECUTABLE << " " << argv[1];
+ if (system( ss.str().c_str() )) {}
+ }
+
+ // No need to ros::spin()
+ // When we quit Webots, ROS will register
+ // that the webots node is shutting down.
+
+ return 0;
+}
+
+
diff --git a/worlds/.test_world.wbproj b/worlds/.test_world.wbproj
new file mode 100644
index 0000000000000000000000000000000000000000..5688e62597b7569494932a32ec69a31bd4b17983
--- /dev/null
+++ b/worlds/.test_world.wbproj
@@ -0,0 +1,11 @@
+Webots Project File version 8.6
+perspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000001fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000005400ffffff00000001000001240000032cfc0200000001fb0000001400540065007800740045006400690074006f007201000000000000032c0000003c00ffffff000000030000073f000000d8fc0100000001fb0000000e0043006f006e0073006f006c006501000000000000073f0000005400ffffff000006150000032c00000001000000020000000100000008fc00000000
+simulationViewPerspectives: 000000ff000000010000000200000100000005150100000006010000000100
+sceneTreePerspectives: 000000ff0000000100000002000002590000009b0100000006010000000200
+minimizedPerspectives:
+maximizedDockId: -1
+centralWidgetVisible: 1
+orthographicViewHeight: 1
+textFiles: -1
+documentationBook:
+documentationPage:
diff --git a/worlds/.test_world.wbt.project b/worlds/.test_world.wbt.project
new file mode 100644
index 0000000000000000000000000000000000000000..07e872a112922ce47a19838351a3b42b30f8f40d
--- /dev/null
+++ b/worlds/.test_world.wbt.project
@@ -0,0 +1,2 @@
+Webots Project File version 6.0
+perspectives: 0 "Default" "layout2|name=3D view;caption=3D view;state=4196348;dir=5;layer=0;row=0;pos=0;prop=100000;bestw=2.34261%;besth=4.45063%;minw=32;minh=32;maxw=-1;maxh=-1;floatx=-1;floaty=-1;floatw=-1;floath=-1|name=text editor;caption=Text editor;state=6309884;dir=2;layer=0;row=0;pos=0;prop=100000;bestw=39.8975%;besth=74.8261%;minw=32;minh=32;maxw=-1;maxh=-1;floatx=-1;floaty=-1;floatw=-1;floath=-1|name=console;caption=Console;state=6293500;dir=3;layer=0;row=0;pos=0;prop=100000;bestw=100%;besth=24.8957%;minw=32;minh=32;maxw=-1;maxh=-1;floatx=-1;floaty=-1;floatw=-1;floath=-1|name=scene tree;caption=Scene tree;state=6293500;dir=4;layer=1;row=0;pos=0;prop=100000;bestw=19.9854%;besth=100%;minw=32;minh=32;maxw=-1;maxh=-1;floatx=-1;floaty=-1;floatw=-1;floath=-1|dock_size(5,0,0)=2.48902%|dock_size(4,1,0)=20.1318%|dock_size(3,0,0)=14.4949%|dock_size(2,0,0)=39.8975%|"
diff --git a/worlds/test_world.wbt b/worlds/test_world.wbt
new file mode 100644
index 0000000000000000000000000000000000000000..27ead93d517b7bfdc25e3b59da27ab5d3a5a4828
--- /dev/null
+++ b/worlds/test_world.wbt
@@ -0,0 +1,145 @@
+#VRML_SIM V6.0 utf8
+WorldInfo {
+ info [
+ "The MyBot robot, the robot used in the tutorial of Webots"
+ "Author: Simon Blanchoud"
+ "Date: 16 AUG 2006"
+ ]
+ title "MyBot"
+ runRealTime TRUE
+}
+Viewpoint {
+ orientation 0.16166 0.950876 0.264008 4.13304
+ position -0.911117 0.483429 -0.600393
+}
+Background {
+ skyColor [
+ 0.4 0.7 1
+ ]
+}
+PointLight {
+ ambientIntensity 0.6
+ attenuation 1 1 1
+ color 0.991276 0.975531 1
+ intensity 0.6
+ location 0.75 0.5 0.5
+ radius 10
+}
+PointLight {
+ ambientIntensity 0.6
+ attenuation 1 1 1
+ color 0.991276 0.975531 1
+ intensity 0.6
+ location -0.5 0.5 0.35
+ radius 10
+}
+PointLight {
+ ambientIntensity 0.6
+ attenuation 1 1 1
+ color 0.991276 0.975531 1
+ intensity 0.6
+ location 0.45 0.5 -0.5
+ radius 10
+}
+PointLight {
+ ambientIntensity 0.6
+ attenuation 1 1 1
+ color 0.991276 0.975531 1
+ intensity 0.6
+ location -0.5 0.5 -0.35
+ radius 10
+}
+DEF FLOOR Transform {
+ translation -0.5 0 -0.5
+ children [
+ Shape {
+ geometry ElevationGrid {
+ color Color {
+ color [
+ 1 1 1
+ 0 0 0
+ ]
+ }
+ colorPerVertex FALSE
+ xDimension 11
+ xSpacing 0.1
+ zDimension 11
+ zSpacing 0.1
+ }
+ }
+ ]
+}
+DEF WALLS Solid {
+ children [
+ Shape {
+ appearance Appearance {
+ material Material {
+ diffuseColor 0.545098 0.411765 0.0784314
+ specularColor 0.784314 0.588235 0.0980392
+ }
+ }
+ geometry DEF WALL Extrusion {
+ convex FALSE
+ crossSection [
+ 0.5 0.5
+ 0.5 -0.5
+ -0.5 -0.5
+ -0.5 0.5
+ -0.49 0.5
+ -0.49 -0.49
+ 0.49 -0.49
+ 0.49 0.49
+ -0.4899 0.49
+ -0.4899 0.5
+ 0.5 0.5
+ ]
+ spine [
+ 0 0 0
+ 0 0.1 0
+ ]
+ }
+ }
+ ]
+ name "wall"
+ boundingObject Group {
+ children [
+ Transform {
+ translation 0.495 0.05 0
+ children [
+ DEF WALL_SHAPE Shape {
+ appearance Appearance {
+ material Material {
+ diffuseColor 1 1 1
+ specularColor 1 1 1
+ }
+ }
+ geometry Box {
+ size 0.01 0.1 1
+ }
+ }
+ ]
+ }
+ Transform {
+ translation -0.495 0.05 0
+ children [
+ USE WALL_SHAPE
+ ]
+ }
+ Transform {
+ translation 0 0.05 0.495
+ rotation 0 1 0 1.57
+ children [
+ USE WALL_SHAPE
+ ]
+ }
+ Transform {
+ translation 0 0.05 -0.495
+ rotation 0 1 0 1.57
+ children [
+ USE WALL_SHAPE
+ ]
+ }
+ ]
+ }
+ locked TRUE
+}