diff --git a/poppy_ros/poppy_ros.cpp b/poppy_ros/poppy_ros.cpp
new file mode 100644
index 0000000..052cfc6
--- /dev/null
+++ b/poppy_ros/poppy_ros.cpp
@@ -0,0 +1,25 @@
+void Callback(msg) {
+	//create empty vector
+	//fill it with msg
+	//call sendTargetJointPosition
+}
+
+int main(int argc, char** argv) {
+	ros::init(argc, argv, "poppy_ros");
+	ros::NodeHandle nh;
+	ros::Publisher pub = nh.advertise <msg>("joint_position", 1);
+	ros::Subscriber sub = nh.subscribe("joint_cmd", 1, Callback);
+	ros::Rate loopRate(10);
+	
+	while (ros::ok()) {
+		//create a msg
+		//call readCurrentJointPosition
+		//fill msg
+		//publish it
+		
+		ros::spinOnce();
+		loopRate.sleep();
+	}
+	
+	return 0;
+}
\ No newline at end of file
diff --git a/poppy_ros/src/poppy_ros.cpp b/poppy_ros/src/poppy_ros.cpp
new file mode 100644
index 0000000..052cfc6
--- /dev/null
+++ b/poppy_ros/src/poppy_ros.cpp
@@ -0,0 +1,25 @@
+void Callback(msg) {
+	//create empty vector
+	//fill it with msg
+	//call sendTargetJointPosition
+}
+
+int main(int argc, char** argv) {
+	ros::init(argc, argv, "poppy_ros");
+	ros::NodeHandle nh;
+	ros::Publisher pub = nh.advertise <msg>("joint_position", 1);
+	ros::Subscriber sub = nh.subscribe("joint_cmd", 1, Callback);
+	ros::Rate loopRate(10);
+	
+	while (ros::ok()) {
+		//create a msg
+		//call readCurrentJointPosition
+		//fill msg
+		//publish it
+		
+		ros::spinOnce();
+		loopRate.sleep();
+	}
+	
+	return 0;
+}
\ No newline at end of file