diff --git a/poppy_ros/src/ik_client.cpp b/poppy_ros/src/ik_client.cpp
new file mode 100644
index 0000000..ea1baf0
--- /dev/null
+++ b/poppy_ros/src/ik_client.cpp
@@ -0,0 +1,18 @@
+#include <iostream>
+#include "ros/ros.h"
+#include "poppy_ros/ik.h"
+
+int main(int argc, char** argv)
+{
+ros::init(argc, argv, <node_name>);
+ros::NodeHandle nh;
+ros::ServiceClient client = nh.serviceClient<poppy_ros::ik>(ik);
+poppy_ros::ik srv;
+srv.request.a = 1;
+srv.request.b = 2;
+if (client.call(srv))
+{
+std::cout << srv.response.sum << std::endl;
+}
+return 0;
+}
diff --git a/poppy_ros/src/ik_server.cpp b/poppy_ros/src/ik_server.cpp
new file mode 100644
index 0000000..20ad143
--- /dev/null
+++ b/poppy_ros/src/ik_server.cpp
@@ -0,0 +1,16 @@
+#include "ros/ros.h"
+#include "poppy_ros/ik.h"
+#include "opencv2/opencv.hpp"
+bool ik( poppy_ros::ik::Request& req, poppy_ros::ik::Response& res)
+{
+	res.j1 = 0;# azerfozerjmoj,azemf, !
+	return true;
+}
+int main(int argc, char** argv)
+{
+	ros::init(argc, argv, <node_name>);
+	ros::NodeHandle nh;
+	ros::ServiceServer server = nh.advertiseService(ik, add);
+	ros::spin();
+	return 0;
+}
diff --git a/poppy_ros/srv/ik.srv b/poppy_ros/srv/ik.srv
new file mode 100644
index 0000000..06b2d57
--- /dev/null
+++ b/poppy_ros/srv/ik.srv
@@ -0,0 +1,11 @@
+int64 x
+int64 y
+int64 z
+int64 w
+---
+int64 j1
+int64 j2
+int64 j3
+int64 j4
+int64 j5
+int64 j6