diff --git a/ros_entrypoint.sh b/ros_entrypoint.sh
new file mode 100755
index 0000000..5b31b20
--- /dev/null
+++ b/ros_entrypoint.sh
@@ -0,0 +1,14 @@
+#!/bin/bash
+set -e
+
+# setup ros environment
+source "/opt/ros/$ROS_DISTRO/setup.bash" --
+
+if [ -e "$CATKIN_SETUP_FILE" ]; then
+	# Source the setup.bash file
+	source "$CATKIN_SETUP_FILE" --
+	echo "Sourced $CATKIN_SETUP_FILE"
+else
+	echo "Warning: $CATKIN_SETUP_FILE does not exist. Not running using a catkin workspace"
+fi
+exec stdbuf -o L "$@"
diff --git a/CMakeLists.txt b/xbeemav/CMakeLists.txt
similarity index 100%
rename from CMakeLists.txt
rename to xbeemav/CMakeLists.txt
diff --git a/Resources/Fig1.png b/xbeemav/Resources/Fig1.png
similarity index 100%
rename from Resources/Fig1.png
rename to xbeemav/Resources/Fig1.png
diff --git a/Resources/Fig2.png b/xbeemav/Resources/Fig2.png
similarity index 100%
rename from Resources/Fig2.png
rename to xbeemav/Resources/Fig2.png
diff --git a/Resources/XBee_Config.xml b/xbeemav/Resources/XBee_Config.xml
similarity index 100%
rename from Resources/XBee_Config.xml
rename to xbeemav/Resources/XBee_Config.xml
diff --git a/Resources/XbeeModule_DataSheet.pdf b/xbeemav/Resources/XbeeModule_DataSheet.pdf
similarity index 100%
rename from Resources/XbeeModule_DataSheet.pdf
rename to xbeemav/Resources/XbeeModule_DataSheet.pdf
diff --git a/Resources/Xbee_Manual.pdf b/xbeemav/Resources/Xbee_Manual.pdf
similarity index 100%
rename from Resources/Xbee_Manual.pdf
rename to xbeemav/Resources/Xbee_Manual.pdf
diff --git a/Resources/database.xml b/xbeemav/Resources/database.xml
similarity index 100%
rename from Resources/database.xml
rename to xbeemav/Resources/database.xml
diff --git a/Resources/database_spiri_2021.xml b/xbeemav/Resources/database_spiri_2021.xml
similarity index 100%
rename from Resources/database_spiri_2021.xml
rename to xbeemav/Resources/database_spiri_2021.xml
diff --git a/include/CommunicationManager.h b/xbeemav/include/CommunicationManager.h
similarity index 100%
rename from include/CommunicationManager.h
rename to xbeemav/include/CommunicationManager.h
diff --git a/include/MultithreadingDeque.hpp b/xbeemav/include/MultithreadingDeque.hpp
similarity index 100%
rename from include/MultithreadingDeque.hpp
rename to xbeemav/include/MultithreadingDeque.hpp
diff --git a/include/PacketsHandler.h b/xbeemav/include/PacketsHandler.h
similarity index 100%
rename from include/PacketsHandler.h
rename to xbeemav/include/PacketsHandler.h
diff --git a/include/SerialDevice.h b/xbeemav/include/SerialDevice.h
similarity index 100%
rename from include/SerialDevice.h
rename to xbeemav/include/SerialDevice.h
diff --git a/include/XBeeFrame.h b/xbeemav/include/XBeeFrame.h
similarity index 100%
rename from include/XBeeFrame.h
rename to xbeemav/include/XBeeFrame.h
diff --git a/include/XBeeModule.h b/xbeemav/include/XBeeModule.h
similarity index 100%
rename from include/XBeeModule.h
rename to xbeemav/include/XBeeModule.h
diff --git a/include/XBeeParameter.h b/xbeemav/include/XBeeParameter.h
similarity index 100%
rename from include/XBeeParameter.h
rename to xbeemav/include/XBeeParameter.h
diff --git a/include/XBeeSetup.h b/xbeemav/include/XBeeSetup.h
similarity index 100%
rename from include/XBeeSetup.h
rename to xbeemav/include/XBeeSetup.h
diff --git a/include/XMLConfigParser.h b/xbeemav/include/XMLConfigParser.h
similarity index 100%
rename from include/XMLConfigParser.h
rename to xbeemav/include/XMLConfigParser.h
diff --git a/include/frame_generators.h b/xbeemav/include/frame_generators.h
similarity index 100%
rename from include/frame_generators.h
rename to xbeemav/include/frame_generators.h
diff --git a/launch/xbeemav.launch b/xbeemav/launch/xbeemav.launch
similarity index 100%
rename from launch/xbeemav.launch
rename to xbeemav/launch/xbeemav.launch
diff --git a/launch/xbeemav_test.launch b/xbeemav/launch/xbeemav_test.launch
similarity index 100%
rename from launch/xbeemav_test.launch
rename to xbeemav/launch/xbeemav_test.launch
diff --git a/package.xml b/xbeemav/package.xml
similarity index 100%
rename from package.xml
rename to xbeemav/package.xml
diff --git a/src/CommunicationManager.cpp b/xbeemav/src/CommunicationManager.cpp
similarity index 100%
rename from src/CommunicationManager.cpp
rename to xbeemav/src/CommunicationManager.cpp
diff --git a/src/PacketsHandler.cpp b/xbeemav/src/PacketsHandler.cpp
similarity index 100%
rename from src/PacketsHandler.cpp
rename to xbeemav/src/PacketsHandler.cpp
diff --git a/src/SerialDevice.cpp b/xbeemav/src/SerialDevice.cpp
similarity index 100%
rename from src/SerialDevice.cpp
rename to xbeemav/src/SerialDevice.cpp
diff --git a/src/TestBuzz.cpp b/xbeemav/src/TestBuzz.cpp
similarity index 100%
rename from src/TestBuzz.cpp
rename to xbeemav/src/TestBuzz.cpp
diff --git a/src/TestBuzzCyclic.cpp b/xbeemav/src/TestBuzzCyclic.cpp
similarity index 100%
rename from src/TestBuzzCyclic.cpp
rename to xbeemav/src/TestBuzzCyclic.cpp
diff --git a/src/TestController.cpp b/xbeemav/src/TestController.cpp
similarity index 100%
rename from src/TestController.cpp
rename to xbeemav/src/TestController.cpp
diff --git a/src/XBeeFrame.cpp b/xbeemav/src/XBeeFrame.cpp
similarity index 100%
rename from src/XBeeFrame.cpp
rename to xbeemav/src/XBeeFrame.cpp
diff --git a/src/XBeeModule.cpp b/xbeemav/src/XBeeModule.cpp
similarity index 100%
rename from src/XBeeModule.cpp
rename to xbeemav/src/XBeeModule.cpp
diff --git a/src/XBeeSetup.cpp b/xbeemav/src/XBeeSetup.cpp
similarity index 100%
rename from src/XBeeSetup.cpp
rename to xbeemav/src/XBeeSetup.cpp
diff --git a/src/XMLConfigParser.cpp b/xbeemav/src/XMLConfigParser.cpp
similarity index 100%
rename from src/XMLConfigParser.cpp
rename to xbeemav/src/XMLConfigParser.cpp
diff --git a/src/Xbee.cpp b/xbeemav/src/Xbee.cpp
similarity index 100%
rename from src/Xbee.cpp
rename to xbeemav/src/Xbee.cpp
diff --git a/src/frame_generators.cpp b/xbeemav/src/frame_generators.cpp
similarity index 100%
rename from src/frame_generators.cpp
rename to xbeemav/src/frame_generators.cpp
diff --git a/src/main.cpp b/xbeemav/src/main.cpp
similarity index 100%
rename from src/main.cpp
rename to xbeemav/src/main.cpp