diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644
index 0000000..0099564
--- /dev/null
+++ b/CMakeLists.txt
@@ -0,0 +1,4 @@
+cmake_minimum_required(VERSION 3.1)
+project(vgn)
+
+find_package(catkin REQUIRED)
diff --git a/launch/panda_visualization.launch b/launch/panda_visualization.launch
index dc9e3df..ac1f462 100644
--- a/launch/panda_visualization.launch
+++ b/launch/panda_visualization.launch
@@ -1,8 +1,6 @@
 <?xml version="1.0" ?>
 <launch>
-  <param name="robot_description" command="$(find xacro)/xacro --inorder $(find franka_description)/robots/panda_arm.urdf.xacro" />
-
-  <node pkg="tf2_ros" type="static_transform_publisher" name="T_world_robot" args="0.03226862 -0.06137175  0.04107702 0.00099995 0. 0.39898185 0.91695828 panda_link8 camera_depth_optical_frame" />
+  <param name="robot_description" command="$(find xacro)/xacro $(find franka_description)/robots/panda_arm.urdf.xacro" />
 
   <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" />
   <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d /home/michel/catkin_ws/src/active_grasp/launch/panda_visualization.rviz" />
diff --git a/package.xml b/package.xml
new file mode 100644
index 0000000..89dc1ea
--- /dev/null
+++ b/package.xml
@@ -0,0 +1,12 @@
+<?xml version="1.0"?>
+<package format="2">
+    <name>active_grasp</name>
+    <version>0.1.0</version>
+    <description>TODO</description>
+    <maintainer email="mbreyer@ethz.ch">Michel Breyer</maintainer>
+    <license>TODO</license>
+    <url></url>
+    <buildtool_depend>catkin</buildtool_depend>
+    <depend>rospy</depend>
+    <depend>kdl_parser_py</depend>
+</package>