This workpackage will be in charge of integrating the drivers for sensors and actuators, developed in WP2, with ROS (Robot Operating System). ROS will be used for core communication functionality and all communication between software modules developed in ROS will be defined in this work package. The software framework developed as part of CROPS will be implemented and extended. For interaction with end-users, a graphical user interface will be designed that is accessible through hardware on the robot, but also through an interface for remote control. Another part of this work package concerns training of the other partners, especially the industries, in usage of ROS software. Establishment and maintenance of a software repository system will ensure efficient exchange of software between the partners. An internal wiki will contain documentation of soft- and hardware components as well as acting as a support for integration of them.