diff --git a/makefile b/makefile
new file mode 100644
index 0000000..377cd6b
--- /dev/null
+++ b/makefile
@@ -0,0 +1,12 @@
+all : dynamixel main
+	g++ DynamixelHandler.o main.o –L/usr/local/lib -ldxl_x64_cpp -lrt
+dynamixel : DynamixelHandler.cpp
+	g++ -c -I/home/ros/SOFTWARE/toolkit-dynamixel/include /home/ros/SOFTWARE/toolkit-dynamixel/src/DynamixelHandler.cpp
+main : main.cpp
+	g++ -c -I/home/ros/SOFTWARE/toolkit-dynamixel/include main.cpp
+
+clean :
+	rm * .o
+	rm * .out
+	rm * .exe
+