diff --git a/CMakeLists.txt b/CMakeLists.txt
index 8a270540660c8f128a25e1c8ada8028b2126c852..0a259e08d8d546ee53ee1c55d4b68dd006824f2a 100755
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -31,6 +31,7 @@ find_package(catkin REQUIRED COMPONENTS
 add_message_files(
         FILES
         ER1ControlMsg.msg
+        ER1ControlMsgStudent.msg
 )
 
 generate_messages(
@@ -115,6 +116,28 @@ add_dependencies(er1driver comon)
 target_link_libraries(er1driver comon)
 
 
+####################################### er1_driver_node_student #######################################
+set(er1_driver_node_student_INCLUDE_DIR ${CMAKE_CURRENT_LIST_DIR}/include/er1_driver_node_student/)
+file(GLOB er1_driver_node_student_HEADERS ${er1_driver_node_student_INCLUDE_DIR}/*.h*)
+
+set(er1_driver_node_student_SOURCE_DIR ${CMAKE_CURRENT_LIST_DIR}/src/er1_driver_node_student/)
+file(GLOB er1_driver_node_student_SOURCES ${er1_driver_node_student_SOURCE_DIR}/*.c*)
+
+add_executable(er1_driver_node_student ${er1_driver_node_student_SOURCES} ${er1_driver_node_student_HEADERS})
+add_dependencies(er1_driver_node_student comon er1driver)
+target_link_libraries(er1_driver_node_student comon er1driver ${catkin_LIBRARIES})
+
+####################################### er1_control_node_student #######################################
+set(er1_control_node_student_INCLUDE_DIR ${CMAKE_CURRENT_LIST_DIR}/include/er1_control_node_student/)
+file(GLOB er1_control_node_student_HEADERS ${er1_control_node_student_INCLUDE_DIR}/*.h*)
+
+set(er1_control_node_student_SOURCE_DIR ${CMAKE_CURRENT_LIST_DIR}/src/er1_control_node_student/)
+file(GLOB er1_control_node_student_SOURCES ${er1_control_node_student_SOURCE_DIR}/*.c*)
+
+add_executable(er1_control_node_student ${er1_control_node_student_SOURCES} ${er1_control_node_student_HEADERS})
+add_dependencies(er1_control_node_student er1driver)
+target_link_libraries(er1_control_node_student er1driver ${SDL2_LIBRARY} ${catkin_LIBRARIES})
+
 ####################################### er1_driver_node #######################################
 set(er1_driver_node_INCLUDE_DIR ${CMAKE_CURRENT_LIST_DIR}/include/er1_driver_node/)
 file(GLOB er1_driver_node_HEADERS ${er1_driver_node_INCLUDE_DIR}/*.h*)
@@ -138,7 +161,6 @@ add_dependencies(er1_control_node er1driver)
 target_link_libraries(er1_control_node er1driver ${SDL2_LIBRARY} ${catkin_LIBRARIES})
 
 
-
 if (0)
 ####################################### student_image_node #######################################
 set(student_image_node_INCLUDE_DIR ${CMAKE_CURRENT_LIST_DIR}/include/student_image_node/)
diff --git a/msg/ER1ControlMsgStudent.msg b/msg/ER1ControlMsgStudent.msg
new file mode 100755
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/src/er1_control_node_student/er1_motor_control.cpp b/src/er1_control_node_student/er1_motor_control.cpp
new file mode 100755
index 0000000000000000000000000000000000000000..80d0ef2eaa7807ce84bcdb022203ca8535c052c4
--- /dev/null
+++ b/src/er1_control_node_student/er1_motor_control.cpp
@@ -0,0 +1,10 @@
+
+#include "ros/ros.h"
+#include <iostream>
+#include <string>
+#include <SDL2/SDL.h>
+#include <crs/ER1ControlMsgStudent.h>
+
+int main(int argc, char** argv) {
+    return 0;
+}
diff --git a/src/er1_driver_node_student/er1_motor_driver.cpp b/src/er1_driver_node_student/er1_motor_driver.cpp
new file mode 100755
index 0000000000000000000000000000000000000000..e687d8e1aeaad652b0e83c22ac30acbdba8dc318
--- /dev/null
+++ b/src/er1_driver_node_student/er1_motor_driver.cpp
@@ -0,0 +1,14 @@
+
+#include <er1driver/er1driver.hpp>
+#include "ros/ros.h"
+#include <iostream>
+#include <string>
+#include <SDL2/SDL.h>
+#include <crs/ER1ControlMsgStudent.h>
+
+er1driver::SimpleER1Interface robot; // Todo: very bad idea
+
+int main(int argc, char** argv) {
+
+    return 0;
+}