diff --git a/docs/use-cases/ros_packages/setup_new_node.rst b/docs/use-cases/ros_packages/setup_new_node.rst
new file mode 100644
index 000000000..0f7b6c6dd
--- /dev/null
+++ b/docs/use-cases/ros_packages/setup_new_node.rst
@@ -0,0 +1,30 @@
+==========================================
+Setup ROS 2 node
+==========================================
+.. _uc-setup-ros-node:
+
+This use-case describes how to set up a new ROS 2 node in an existing package using scripts from ROS Team Workspace (RosTeamWS) framework.
+
+  .. note:: currently only C++ nodes and ``ament_cmake`` packages are supported.
+
+
+Script for Setting up a ROS 2 Node
+============================================
+
+``setup-ros-node`` script accepts the file name, and optionally, list of dependencies and class name.
+Dependencies are added to ``package.xml`` and ``CMakeLists.txt`` file.
+
+  .. note:: it is recommended to setup your package using :ref:`setup-new-package <uc-new-package>` script.
+
+  .. warning:: The script **has to be executed** from inside the package where the files should be generated.
+
+The scripts copies template files from the ``templates/nodes`` folder, renames the files, and replaces the placeholders.
+
+.. code-block:: bash
+   :caption: Usage of script for setting up the robot bringup.
+   :name: setup-robot-bringup
+
+   setup-ros-node FILE_NAME [PKG_DEPS] [CLASS_NAME]
+
+
+After the files are successfully generated follow the instruction for test-launch of the node.
diff --git a/scripts/_RosTeamWs_Defines.bash b/scripts/_RosTeamWs_Defines.bash
index 9139b4f41..397f6c24a 100755
--- a/scripts/_RosTeamWs_Defines.bash
+++ b/scripts/_RosTeamWs_Defines.bash
@@ -164,11 +164,13 @@ function RosTeamWS_setup_ros2_aliases {
 
 # COLCON
   alias cb="colcon_build"
+  alias cccb="colcon_console_cohesion_build"
   alias cbd="colcon_build_debug"
   alias cbr="colcon_build_release"
   alias cbup="colcon_build_up_to"
 
   alias ct="colcon_test"
+  alias cnt="colcon_no_test_build"
   alias ctup="colcon_test_up_to"
 
   alias ctres="colcon_test_results"
@@ -216,25 +218,33 @@ function colcon_helper_ros2_up_to {
 }
 
 function colcon_build {
-  colcon_helper_ros2 "colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo"  "$*"
+  colcon_helper_ros2 "colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON"  "$*"
+}
+
+function colcon_console_cohesion_build {
+  colcon_helper_ros2 "colcon build --symlink-install --event-handlers console_cohesion+ --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON"  "$*"
 }
 
 function colcon_build_up_to {
-  colcon_helper_ros2_up_to "colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo" "$*"
+  colcon_helper_ros2_up_to "colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON" "$*"
 }
 
 function colcon_build_debug {
-  colcon_helper_ros2 "colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Debug" "$*"
+  colcon_helper_ros2 "colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Debug --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON" "$*"
 }
 
 function colcon_build_release {
-  colcon_helper_ros2 "colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release" "$*"
+  colcon_helper_ros2 "colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON" "$*"
 }
 
 function colcon_test {
   colcon_helper_ros2 "colcon test" "$*"
 }
 
+function colcon_no_test_build {
+  colcon_helper_ros2 "colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON --cmake-args -DBUILD_TESTING=OFF"  "$*"
+}
+
 function colcon_test_up_to {
   colcon_helper_ros2_up_to "colcon test" "$*"
 }
@@ -425,6 +435,7 @@ function set_framework_default_paths {
   RosTeamWS_FRAMEWORK_OS_CONFIGURE_PATH="$RosTeamWS_FRAMEWORK_SCRIPTS_PATH/os_configure"
   # Script-specific variables
   PACKAGE_TEMPLATES="$FRAMEWORK_BASE_PATH/templates/package"
+  NODE_TEMPLATES="$FRAMEWORK_BASE_PATH/templates/nodes"
   ROBOT_DESCRIPTION_TEMPLATES="$FRAMEWORK_BASE_PATH/templates/robot_description"
   ROS2_CONTROL_TEMPLATES="$FRAMEWORK_BASE_PATH/templates/ros2_control"
   ROS2_CONTROL_HW_ITF_TEMPLATES="$ROS2_CONTROL_TEMPLATES/hardware"
diff --git a/scripts/_Team_Defines.bash b/scripts/_Team_Defines.bash
index f07dc05fd..b7fdc7843 100644
--- a/scripts/_Team_Defines.bash
+++ b/scripts/_Team_Defines.bash
@@ -74,6 +74,9 @@ alias setup-robot-bringup=$RosTeamWS_FRAMEWORK_SCRIPTS_PATH/setup-robot-bringup.
 
 alias setup-robot-description=$RosTeamWS_FRAMEWORK_SCRIPTS_PATH/setup-robot-description.bash
 
+# nodes
+alias setup-ros-node=$RosTeamWS_FRAMEWORK_SCRIPTS_PATH/nodes/setup-ros-node.bash
+
 # ros2_control
 alias ros2_control_setup-hardware-interface-package=$RosTeamWS_FRAMEWORK_SCRIPTS_PATH/ros2_control/setup-hardware-interface-package.bash
 alias ros2_control_setup-controller-package=$RosTeamWS_FRAMEWORK_SCRIPTS_PATH/ros2_control/setup-controller-package.bash
diff --git a/scripts/nodes/setup-ros-node.bash b/scripts/nodes/setup-ros-node.bash
new file mode 100755
index 000000000..c448479ee
--- /dev/null
+++ b/scripts/nodes/setup-ros-node.bash
@@ -0,0 +1,340 @@
+#!/bin/bash
+#
+# Copyright 2021 Denis Stogl (Stogl Robotics Consulting)
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#   http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+usage="setup-ros-node FILE_NAME [PKG_DEPS] [CLASS_NAME]"
+
+# Load Framework defines
+script_own_dir="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+source $script_own_dir/../../setup.bash
+check_and_set_ros_distro_and_version "${ROS_DISTRO}"
+
+FILE_NAME=$1
+if [ -z "$FILE_NAME" ]; then
+  print_and_exit "ERROR: You should provide node file name! Nothing to do 😯" "$usage"
+fi
+
+PKG_DEPS=$2
+if [ -z "$PKG_DEPS" ]; then
+  PKG_DEPS=""
+fi
+
+if [ ! -f "package.xml" ]; then
+  print_and_exit "ERROR: 'package.xml' not found. You should execute this script at the top level of your package folder. Nothing to do 😯" "$usage"
+fi
+PKG_NAME="$(grep -Po '(?<=<name>).*?(?=</name>)' package.xml | sed -e 's/[[:space:]]//g')"
+
+CLASS_NAME=$3
+if [ -z "$CLASS_NAME" ]; then
+  delimiter='_'
+  s="$FILE_NAME$delimiter"
+  CLASS_NAME=""
+  while [[ $s ]]; do
+    part="${s%%"$delimiter"*}"
+    s=${s#*"$delimiter"}
+    CLASS_NAME="$CLASS_NAME${part^}"
+  done
+  echo -e "${TERMINAL_COLOR_USER_CONFIRMATION}ClassName guessed from the '$FILE_NAME': '$CLASS_NAME'. Is this correct? If not, provide it as the second parameter.${TERMINAL_COLOR_NC}"
+fi
+
+echo -e "${TERMINAL_COLOR_USER_INPUT_DECISION}Which license-header do you want to use? [1]"
+echo "(0) None"
+echo "(1) Apache-2.0"
+echo "(2) Proprietary"
+echo -n -e "${TERMINAL_COLOR_NC}"
+read choice
+choice=${choice:="1"}
+
+if [ "$choice" != 0 ]; then
+  echo -n -e "${TERMINAL_COLOR_USER_INPUT_DECISION}Insert your company or personal name (copyright): ${TERMINAL_COLOR_NC}"
+  read NAME_ON_LICENSE
+  NAME_ON_LICENSE=${NAME_ON_LICENSE:=""}
+  YEAR_ON_LICENSE=$(date +%Y)
+fi
+
+LICENSE_HEADER=""
+case "$choice" in
+"1")
+  LICENSE_HEADER="$LICENSE_TEMPLATES/default_cpp.txt"
+  ;;
+"2")
+  LICENSE_HEADER="$LICENSE_TEMPLATES/propriatery_company_cpp.txt"
+esac
+
+echo -n -e "${TERMINAL_COLOR_USER_INPUT_DECISION}Is package already configured (is in there a working node already)? (yes/no) [no] ${TERMINAL_COLOR_NC}"
+read package_configured
+package_configured=${package_configured:="no"}
+
+echo ""
+echo -e "${TERMINAL_COLOR_USER_NOTICE}ATTENTION: Setting up ROS 2 node files with following parameters: file name '$FILE_NAME', class '$CLASS_NAME', package/namespace '$PKG_NAME'. Those will be placed in folder '`pwd`'.${TERMINAL_COLOR_NC}"
+echo ""
+echo -e "${TERMINAL_COLOR_USER_CONFIRMATION}If correct press <ENTER>, otherwise <CTRL>+C and start the script again from the package folder and/or with correct controller name.${TERMINAL_COLOR_NC}"
+read
+
+# Add folders if deleted
+ADD_FOLDERS=("config" "launch" "include/$PKG_NAME" "src")
+
+for FOLDER in "${ADD_FOLDERS[@]}"; do
+    mkdir -p $FOLDER
+done
+
+# Set file constants
+NODE_YAML="config/${FILE_NAME}.yaml"
+NODE_LAUNCH="launch/${FILE_NAME}.launch.xml"
+
+VC_H="include/$PKG_NAME/visibility_control.h"
+NODE_HPP="include/${PKG_NAME}/${FILE_NAME}.hpp"
+NODE_PARAMS_YAML="src/${FILE_NAME}.yaml"
+NODE_CPP="src/${FILE_NAME}.cpp"
+
+# Copy files
+if [[ ! -f "$VC_H" ]]; then
+  cp -n "$NODE_TEMPLATES/dummy_package_namespace/visibility_control.h" $VC_H
+fi
+cp -n "$NODE_TEMPLATES/dummy_node_params.yaml" ${NODE_YAML}
+cp -n "$NODE_TEMPLATES/dummy_node.launch.xml" "${NODE_LAUNCH}"
+cp -n "$NODE_TEMPLATES/dummy_package_namespace/dummy_node.hpp" "${NODE_HPP}"
+cp -n "$NODE_TEMPLATES/dummy_node.yaml" "${NODE_PARAMS_YAML}"
+cp -n "$NODE_TEMPLATES/dummy_node.cpp" "${NODE_CPP}"
+
+echo -e "${TERMINAL_COLOR_USER_NOTICE}Template files copied.${TERMINAL_COLOR_NC}"
+
+# Add license header to the files
+FILES_TO_LICENSE=("$NODE_HPP" "$NODE_CPP")
+if [[ "$package_configured" == "no" ]]; then
+  FILES_TO_LICENSE+=("$VC_H")
+fi
+TMP_FILE=".f_tmp"
+if [[ "$LICENSE_HEADER" != "" ]]; then
+  touch $TMP_FILE
+  for FILE_TO_LIC in "${FILES_TO_LICENSE[@]}"; do
+    cat $LICENSE_HEADER > $TMP_FILE
+    sed "1,13d" $FILE_TO_LIC >> $TMP_FILE # delete first 13 lines which correspond to fake license
+    mv $TMP_FILE $FILE_TO_LIC
+    sed -i "s/\\\$YEAR\\\$/${YEAR_ON_LICENSE}/g" $FILE_TO_LIC
+    sed -i "s/\\\$NAME_ON_LICENSE\\\$/${NAME_ON_LICENSE}/g" $FILE_TO_LIC
+  done
+#   echo "Licence header added to files: ("`declare -p FILES_TO_LICENSE`")"
+fi
+
+# sed all needed files
+FILES_TO_SED=("${FILES_TO_LICENSE[@]}")
+FILES_TO_SED+=("$NODE_YAML" "$NODE_LAUNCH" "$NODE_PARAMS_YAML")
+
+for SED_FILE in "${FILES_TO_SED[@]}"; do
+  sed -i "s/\\\$PKG_NAME\\\$/${PKG_NAME}/g" $SED_FILE
+  sed -i "s/\\\$RUNTIME_CONFIG_PKG_NAME\\\$/${PKG_NAME}/g" $SED_FILE
+  sed -i "s/\\\$FILE_NAME\\\$/${FILE_NAME}/g" $SED_FILE
+
+  sed -i "s/TEMPLATES__NODES__DUMMY_PACKAGE_NAMESPACE/${PKG_NAME^^}/g" $SED_FILE # package name for include guard
+  sed -i "s/TEMPLATES__NODES__VISIBILITY/${PKG_NAME^^}__VISIBILITY/g" $SED_FILE # visibility defines
+  sed -i "s/dummy_package_namespace/${PKG_NAME}/g" $SED_FILE # package name for includes
+  sed -i "s/dummy_node/${FILE_NAME}/g" $SED_FILE # file name
+  sed -i "s/DUMMY_NODE/${FILE_NAME^^}/g" $SED_FILE # file name for include guard
+  sed -i "s/DummyClassName/${CLASS_NAME}/g" $SED_FILE # class name
+  sed -i "s/DummyNode/${CLASS_NAME}/g" $SED_FILE # class name
+done
+
+# CMakeLists.txt: Remove comments if there any and add library
+DEL_STRINGS=("# uncomment the following" "# further" "# find_package(<dependency>")
+
+for DEL_STR in "${DEL_STRINGS[@]}"; do
+  sed -i "/$DEL_STR/d" CMakeLists.txt
+done
+
+TMP_FILE=".f_tmp"
+touch $TMP_FILE
+
+# manage dependencies here
+if [[ "$package_configured" == "no" ]]; then
+
+  # Add `THIS_PACKAGE_INCLUDE_DEPENDS` structure to simplify the rest of the file
+  TEST_LINE=`awk '$1 == "find_package(ament_cmake" { print NR }' CMakeLists.txt`  # get line before `ament_cmake` dependency
+  let CUT_LINE=$TEST_LINE-1
+  head -$CUT_LINE CMakeLists.txt >> $TMP_FILE
+
+  echo "set(THIS_PACKAGE_INCLUDE_DEPENDS" >> $TMP_FILE
+  echo "  generate_parameter_library" >> $TMP_FILE
+  echo "  rclcpp" >> $TMP_FILE
+  for DEP_PKG in "${DEP_PKGS[@]}"; do
+    if $(grep -q $DEP_PKG CMakeLists.txt); then
+      echo "'$DEP_PKG' is already listed in CMakeLists.txt"
+    else
+      echo "  $DEP_PKG" >> $TMP_FILE
+    fi
+  done
+  echo ")" >> $TMP_FILE
+
+  echo "" >> $TMP_FILE
+  echo "find_package(ament_cmake REQUIRED)" >> $TMP_FILE
+  echo "find_package(generate_parameter_library REQUIRED)" >> $TMP_FILE
+  echo "foreach(Dependency IN ITEMS \${THIS_PACKAGE_INCLUDE_DEPENDS})" >> $TMP_FILE
+  echo "  find_package(\${Dependency} REQUIRED)" >> $TMP_FILE
+  echo "endforeach()" >> $TMP_FILE
+  echo "" >> $TMP_FILE
+fi
+
+# Get line with if(BUILD_TESTING)
+TEST_LINE=`awk '$1 == "if(BUILD_TESTING)" { print NR }' CMakeLists.txt`
+let CUT_LINE=$TEST_LINE-1
+
+# Add Plugin library related stuff
+echo "# Add ${FILE_NAME} library related compile commands" >> $TMP_FILE
+echo "generate_parameter_library(${FILE_NAME}_parameters" >> $TMP_FILE
+echo "  ${NODE_PARAMS_YAML}" >> $TMP_FILE
+echo ")" >> $TMP_FILE
+
+echo "add_executable($FILE_NAME $NODE_CPP)" >> $TMP_FILE
+echo "target_include_directories($FILE_NAME PRIVATE" >> $TMP_FILE
+echo '  "$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>"' >> $TMP_FILE
+echo '  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")' >> $TMP_FILE
+echo "target_link_libraries($FILE_NAME ${FILE_NAME}_parameters)" >> $TMP_FILE
+echo "ament_target_dependencies($FILE_NAME \${THIS_PACKAGE_INCLUDE_DEPENDS})" >> $TMP_FILE
+
+if [[ "$package_configured" == "no" ]]; then
+
+  ## Add install directives
+  echo "" >> $TMP_FILE
+  echo "install(" >> $TMP_FILE
+  echo "  TARGETS" >> $TMP_FILE
+  echo "  $FILE_NAME" >> $TMP_FILE
+  echo "  RUNTIME DESTINATION lib/${PROJECT_NAME}" >> $TMP_FILE
+  echo ")" >> $TMP_FILE
+
+  if [[ ! `grep -q "DIRECTORY include/" $TMP_FILE` ]]; then
+    echo "" >> $TMP_FILE
+    echo "install(" >> $TMP_FILE
+    echo "  DIRECTORY include/" >> $TMP_FILE
+    echo '  DESTINATION include/${PROJECT_NAME}' >> $TMP_FILE
+    echo ")" >> $TMP_FILE
+  fi
+
+  if [[ ! `grep -q "DIRECTORY include/" $TMP_FILE` ]]; then
+    echo "" >> $TMP_FILE
+    echo "install(" >> $TMP_FILE
+    echo "  DIRECTORY config launch" >> $TMP_FILE
+    echo '  DESTINATION share/${PROJECT_NAME}' >> $TMP_FILE
+    echo ")" >> $TMP_FILE
+  fi
+fi
+
+echo ""  >> $TMP_FILE
+
+END_TEST_LINE=`tail -n +$TEST_LINE CMakeLists.txt | awk '$1 == "endif()" { print NR }'`
+let CUT_LINE=$END_TEST_LINE-1
+tail -n +$TEST_LINE CMakeLists.txt | head -$CUT_LINE >> $TMP_FILE
+
+# echo "" >> $TMP_FILE
+# echo "  ament_add_gmock(test_load_$FILE_NAME $LOAD_TEST_CPP)" >> $TMP_FILE
+# echo "  target_include_directories(test_load_$FILE_NAME PRIVATE include)" >> $TMP_FILE
+# echo "  ament_target_dependencies(" >> $TMP_FILE
+# echo "    test_load_$FILE_NAME" >> $TMP_FILE
+# echo "    controller_manager" >> $TMP_FILE
+# echo "    hardware_interface" >> $TMP_FILE
+# echo "    ros2_control_test_assets" >> $TMP_FILE
+# echo "  )" >> $TMP_FILE
+# echo ""
+#
+# echo "" >> $TMP_FILE
+# echo "  add_rostest_with_parameters_gmock(test_$FILE_NAME $TEST_CPP \${CMAKE_CURRENT_SOURCE_DIR}/${TEST_PARAMS_YAML})" >> $TMP_FILE
+# echo "  target_include_directories(test_$FILE_NAME PRIVATE include)" >> $TMP_FILE
+# echo "  target_link_libraries(test_$FILE_NAME $FILE_NAME)" >> $TMP_FILE
+# echo "  ament_target_dependencies(" >> $TMP_FILE
+# echo "    test_$FILE_NAME" >> $TMP_FILE
+# echo "    controller_interface" >> $TMP_FILE
+# echo "    hardware_interface" >> $TMP_FILE
+# echo "  )" >> $TMP_FILE
+# echo ""
+#
+# echo "" >> $TMP_FILE
+# echo "  add_rostest_with_parameters_gmock(test_${FILE_NAME}_preceeding $TEST_PRECEEDING_CPP \${CMAKE_CURRENT_SOURCE_DIR}/${TEST_PRECEEDING_PARAMS_YAML})" >> $TMP_FILE
+# echo "  target_include_directories(test_${FILE_NAME}_preceeding PRIVATE include)" >> $TMP_FILE
+# echo "  target_link_libraries(test_${FILE_NAME}_preceeding $FILE_NAME)" >> $TMP_FILE
+# echo "  ament_target_dependencies(" >> $TMP_FILE
+# echo "    test_${FILE_NAME}_preceeding" >> $TMP_FILE
+# echo "    controller_interface" >> $TMP_FILE
+# echo "    hardware_interface" >> $TMP_FILE
+# echo "  )" >> $TMP_FILE
+# echo ""
+
+# Add export definitions
+tail -n +$TEST_LINE CMakeLists.txt | head -$END_TEST_LINE | tail -1 >> $TMP_FILE
+
+if [[ "$package_configured" == "no" ]]; then
+
+  echo "" >> $TMP_FILE
+  echo "ament_export_include_directories(" >> $TMP_FILE
+  echo "  include" >> $TMP_FILE
+  echo ")" >> $TMP_FILE
+  echo "ament_export_dependencies(" >> $TMP_FILE
+  echo '  ${THIS_PACKAGE_INCLUDE_DEPENDS}' >> $TMP_FILE
+  echo ")" >> $TMP_FILE
+fi
+
+echo "ament_export_libraries(" >> $TMP_FILE
+echo "  $FILE_NAME" >> $TMP_FILE
+echo ")" >> $TMP_FILE
+
+# Add last part
+let CUT_LINE=$END_TEST_LINE+1
+tail -n +$TEST_LINE CMakeLists.txt | tail -n +$CUT_LINE >> $TMP_FILE
+
+mv $TMP_FILE CMakeLists.txt
+
+# manage dependencies in package.xml
+if [[ "$package_configured" == "no" ]]; then
+
+  # append `generate_parameter_library` to the package.xml file
+  append_to_string="<buildtool_depend>ament_cmake<\/buildtool_depend>"
+  sed -i "s/$append_to_string/$append_to_string\\n\\n  <build_depend>generate_parameter_library<\/build_depend>/g" package.xml
+
+  # CMakeLists.txt & package.xml: Add dependencies if they not exist
+  DEP_PKGS=$PKG_DEPS
+
+  for DEP_PKG in "${DEP_PKGS[@]}"; do
+    # package.xml
+    if `grep -q "<depend>${DEP_PKG}</depend>" package.xml`; then
+      echo "'$DEP_PKG' is already listed in package.xml"
+    else
+      append_to_string="<build_depend>generate_parameter_library<\/build_depend>"
+      sed -i "s/$append_to_string/$append_to_string\\n\\n  <depend>${DEP_PKG}<\/depend>/g" package.xml
+    fi
+  done
+fi
+
+# Remove lint dependencies because they should be not included into build
+sed -i "/ament_lint_auto_find_test_dependencies()/d" CMakeLists.txt
+sed -i "/<test_depend>ament_lint_common<\/test_depend>/d" package.xml
+
+# # extend README with general instructions
+# if [ -f README.md ]; then
+#
+#   echo "" >> README.md
+#   echo "Pluginlib-Library: $FILE_NAME" >> README.md
+#   echo ""
+#   echo "Plugin: $PKG_NAME/${CLASS_NAME} (controller_interface::ControllerInterface)" >> README.md
+#
+# fi
+
+echo -e "${TERMINAL_COLOR_USER_NOTICE}Template files were adjusted.${TERMINAL_COLOR_NC}"
+
+git add .
+# git commit -m "RosTeamWS: ros2_control skeleton files for $ROBOT_NAME generated."
+
+# Compile and add new package the to the path
+compile_and_source_package $PKG_NAME "yes"
+
+echo ""
+echo -e "${TERMINAL_COLOR_USER_NOTICE}FINISHED: You can test the configuration by executing 'ros2 launch $PKG_NAME ${FILE_NAME}.launch.xml'${TERMINAL_COLOR_NC}"
diff --git a/templates/nodes/dummy_node.cpp b/templates/nodes/dummy_node.cpp
index 6a83d3dff..e1704acdc 100644
--- a/templates/nodes/dummy_node.cpp
+++ b/templates/nodes/dummy_node.cpp
@@ -21,7 +21,16 @@
 
 namespace dummy_package_namespace
 {
-DummyNode::DummyNode(const std::string & node_name) : rclcpp::Node(node_name) {}
+DummyNode::DummyNode(const std::string & node_name) : rclcpp::Node(node_name)
+{
+  param_listener_ = std::make_shared<dummy_node::ParamListener>(get_node_parameters_interface());
+
+  params_ = param_listener_->get_params();
+
+  RCLCPP_INFO(
+    get_logger(), "Initializing node '%s' with 'perfect_number' param '%s'.", node_name.c_str(),
+    params_.perfect_number.c_str());
+}
 
 }  // namespace dummy_package_namespace
 
diff --git a/templates/nodes/dummy_node.launch.xml b/templates/nodes/dummy_node.launch.xml
new file mode 100644
index 000000000..27fa97f6b
--- /dev/null
+++ b/templates/nodes/dummy_node.launch.xml
@@ -0,0 +1,32 @@
+<!--
+Copyright (c) 2024, Stogl Robotics Consulting UG (haftungsbeschränkt)
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.
+
+
+Source of this file are templates in https://github.com/StoglRobotics/ros_team_workspace repository.
+-->
+
+<launch>
+  <arg name="runtime_config_package"
+       default="dummy_package_namespace"
+       description="Package with runtime configurations for the dummy_node node."/>
+  <arg name="config_file"
+       default="dummy_node"
+       description="Configuration file name for the dummy_node node. Without `.yaml` extension."/>
+
+  <node pkg="dummy_package_namespace" exec="dummy_node" output="both">
+    <param from="$(find-pkg-share $(var runtime_config_package))/config/$(var config_file).yaml" />
+  </node>
+
+</launch>
diff --git a/templates/nodes/dummy_node.yaml b/templates/nodes/dummy_node.yaml
new file mode 100644
index 000000000..b152301de
--- /dev/null
+++ b/templates/nodes/dummy_node.yaml
@@ -0,0 +1,30 @@
+# Copyright (c) 20224 Stogl Robotics Consulting UG (haftungsbeschränkt)
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+#
+# Source of this file are templates in
+# [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository.
+#
+
+dummy_node:
+  perfect_number: {
+    type: string,
+    default_value: "twentythree",
+    description: "Some example parameter.",
+    read_only: true,
+    validation: {
+      not_empty<>: null,
+      one_of<>: [["twentythree", "twentyeight"]],
+    }
+  }
diff --git a/templates/nodes/dummy_node_params.yaml b/templates/nodes/dummy_node_params.yaml
new file mode 100644
index 000000000..7d8712142
--- /dev/null
+++ b/templates/nodes/dummy_node_params.yaml
@@ -0,0 +1,4 @@
+dummy_node:
+  ros__parameters:
+
+    perfect_number: "twentyeight"
diff --git a/templates/nodes/dummy_package_namespace/dummy_node.hpp b/templates/nodes/dummy_package_namespace/dummy_node.hpp
index 1f8bbd15d..4c78561c2 100644
--- a/templates/nodes/dummy_package_namespace/dummy_node.hpp
+++ b/templates/nodes/dummy_package_namespace/dummy_node.hpp
@@ -15,8 +15,11 @@
 #ifndef TEMPLATES__NODES__DUMMY_PACKAGE_NAMESPACE__DUMMY_NODE_HPP_
 #define TEMPLATES__NODES__DUMMY_PACKAGE_NAMESPACE__DUMMY_NODE_HPP_
 
+#include <memory>
 #include <string>
 
+#include "dummy_node_parameters.hpp"
+#include "dummy_package_namespace/visibility_control.h"
 #include "rclcpp/node.hpp"
 #include "rclcpp/rclcpp.hpp"
 
@@ -28,6 +31,10 @@ class DummyNode : public rclcpp::Node
   explicit DummyNode(const std::string & node_name = "dummy_node");
 
   virtual ~DummyNode() = default;
+
+protected:
+  std::shared_ptr<dummy_node::ParamListener> param_listener_;
+  dummy_node::Params params_;
 };
 
 }  // namespace dummy_package_namespace
diff --git a/templates/nodes/dummy_package_namespace/visibility_control.h b/templates/nodes/dummy_package_namespace/visibility_control.h
new file mode 100644
index 000000000..32d5d809e
--- /dev/null
+++ b/templates/nodes/dummy_package_namespace/visibility_control.h
@@ -0,0 +1,54 @@
+// Copyright (c) 2024, Stogl Robotics Consulting UG (haftungsbeschränkt) (template)
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+//
+// Source of this file are templates in
+// [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository.
+//
+
+#ifndef TEMPLATES__NODES__DUMMY_PACKAGE_NAMESPACE__VISIBILITY_CONTROL_H_
+#define TEMPLATES__NODES__DUMMY_PACKAGE_NAMESPACE__VISIBILITY_CONTROL_H_
+
+// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+//     https://gcc.gnu.org/wiki/Visibility
+
+#if defined _WIN32 || defined __CYGWIN__
+#ifdef __GNUC__
+#define TEMPLATES__NODES__VISIBILITY_EXPORT __attribute__((dllexport))
+#define TEMPLATES__NODES__VISIBILITY_IMPORT __attribute__((dllimport))
+#else
+#define TEMPLATES__NODES__VISIBILITY_EXPORT __declspec(dllexport)
+#define TEMPLATES__NODES__VISIBILITY_IMPORT __declspec(dllimport)
+#endif
+#ifdef TEMPLATES__NODES__VISIBILITY_BUILDING_DLL
+#define TEMPLATES__NODES__VISIBILITY_PUBLIC TEMPLATES__NODES__VISIBILITY_EXPORT
+#else
+#define TEMPLATES__NODES__VISIBILITY_PUBLIC TEMPLATES__NODES__VISIBILITY_IMPORT
+#endif
+#define TEMPLATES__NODES__VISIBILITY_PUBLIC_TYPE TEMPLATES__NODES__VISIBILITY_PUBLIC
+#define TEMPLATES__NODES__VISIBILITY_LOCAL
+#else
+#define TEMPLATES__NODES__VISIBILITY_EXPORT __attribute__((visibility("default")))
+#define TEMPLATES__NODES__VISIBILITY_IMPORT
+#if __GNUC__ >= 4
+#define TEMPLATES__NODES__VISIBILITY_PUBLIC __attribute__((visibility("default")))
+#define TEMPLATES__NODES__VISIBILITY_LOCAL __attribute__((visibility("hidden")))
+#else
+#define TEMPLATES__NODES__VISIBILITY_PUBLIC
+#define TEMPLATES__NODES__VISIBILITY_LOCAL
+#endif
+#define TEMPLATES__NODES__VISIBILITY_PUBLIC_TYPE
+#endif
+
+#endif  // TEMPLATES__NODES__DUMMY_PACKAGE_NAMESPACE__VISIBILITY_CONTROL_H_