diff --git a/free_gait_examples/CMakeLists.txt b/free_gait_examples/CMakeLists.txt
new file mode 100644
index 0000000..1444823
--- /dev/null
+++ b/free_gait_examples/CMakeLists.txt
@@ -0,0 +1,197 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(free_gait_examples)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+add_compile_options(-std=c++11)
+
+## 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
+ free_gait_core
+ free_gait_ros
+ roscpp
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+## * add a build_depend tag for "message_generation"
+## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+## but can be declared for certainty nonetheless:
+## * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+## * add "message_generation" and every package in MSG_DEP_SET to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * add "message_runtime" and every package in MSG_DEP_SET to
+## catkin_package(CATKIN_DEPENDS ...)
+## * uncomment the add_*_files sections below as needed
+## and list every .msg/.srv/.action file to be processed
+## * uncomment the generate_messages entry below
+## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+# FILES
+# Message1.msg
+# Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+# FILES
+# Service1.srv
+# Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+# FILES
+# Action1.action
+# Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+# DEPENDENCIES
+# std_msgs # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+## * add "dynamic_reconfigure" to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * uncomment the "generate_dynamic_reconfigure_options" section below
+## and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+# cfg/DynReconf1.cfg
+# cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+# INCLUDE_DIRS include
+# LIBRARIES free_gait_examples
+# CATKIN_DEPENDS free_gait_core free_gait_ros roscpp
+# DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+ ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+# src/${PROJECT_NAME}/free_gait_examples.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+add_executable(base_sine_node src/base_sine.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+ target_link_libraries(base_sine_node ${catkin_LIBRARIES})
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+# scripts/my_python_script
+# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
+# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+# FILES_MATCHING PATTERN "*.h"
+# PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+# # myfile1
+# # myfile2
+# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_free_gait_examples.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/free_gait_examples/package.xml b/free_gait_examples/package.xml
new file mode 100644
index 0000000..7de79ce
--- /dev/null
+++ b/free_gait_examples/package.xml
@@ -0,0 +1,69 @@
+
+
+ free_gait_examples
+ 0.0.1
+ The free_gait_examples contains examples of usage of free gait
+
+
+
+
+ Marco Camurri
+ Marco Camurri
+
+
+
+
+
+ BSD
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ catkin
+ free_gait_core
+ free_gait_ros
+ roscpp
+ free_gait_core
+ free_gait_ros
+ roscpp
+ free_gait_core
+ free_gait_ros
+ roscpp
+
+
+
+
+
+
+
+
diff --git a/free_gait_examples/src/base_sine.cpp b/free_gait_examples/src/base_sine.cpp
new file mode 100644
index 0000000..8ba6d81
--- /dev/null
+++ b/free_gait_examples/src/base_sine.cpp
@@ -0,0 +1,57 @@
+#include
+#include
+#include
+#include
+#include
+#include
+
+int main(int argc, char** argv)
+{
+ ros::init(argc, argv, "base_sine");
+ ros::NodeHandle n;
+
+ free_gait::AdapterRos adapter(n);
+ free_gait::StepRosConverter converter(adapter.getAdapter());
+
+
+ int rate = 10; // [Hz]
+ double freq = 0.5; // [Hz]
+ double default_height = 0.45; // [m]
+ double amplitude = 0.10; // [m]
+
+ ros::Rate r(rate);
+
+ int a = 0;
+
+ free_gait::FreeGaitActionClient client(n);
+ client.registerCallback();
+
+ while(n.ok()){
+ double t = a++ / (double)rate; // [s]
+
+ free_gait_msgs::ExecuteStepsGoal goal;
+ free_gait::Step step;
+ free_gait::BaseAuto base_auto;
+ free_gait_msgs::Step step_msg;
+
+ double height = default_height + std::sin(2*M_PI * freq * t) * amplitude;
+ std::cout << "height: " << height << std::endl;
+
+ base_auto.setHeight(height);
+ // add the base auto motion to the step
+ step.addBaseMotion(base_auto);
+ // convert the step to ROS message format
+ converter.toMessage(step, step_msg);
+
+ // add the ROS message to the queue of steps for the goal
+ goal.steps.push_back(step_msg);
+
+ // send the goal to the free gait server
+ client.sendGoal(goal, false);
+
+ ros::spinOnce();
+ r.sleep();
+ }
+ return 0;
+}
+