diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..baee95d
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,7 @@
+.gradle
+.idea
+*.iml
+local.properties
+build
+*log
+*~
diff --git a/build.gradle b/build.gradle
index 81253e5..24d0d7f 100644
--- a/build.gradle
+++ b/build.gradle
@@ -1,39 +1,48 @@
 task wrapper(type: Wrapper) {
-  gradleVersion = '1.0-milestone-9'
+    gradleVersion = "2.2.1"
 }
 
-allprojects {
-  group 'ros.pr2_android_utilities'
-  version = '0.0.0-SNAPSHOT'
+buildscript {
+    apply from: "https://github.com/rosjava/rosjava_bootstrap/raw/indigo/buildscript.gradle"
+    //noinspection GroovyAssignabilityCheck
+    dependencies {
+        classpath "com.android.tools.build:gradle:1.0.1"
+    }
 }
 
-subprojects {
-  repositories {
-    mavenLocal()
-    mavenCentral()
-  }
-
-  configurations.add('compile') {
-    exclude group: 'junit'
-    exclude group: 'xml-apis'
-  }
+apply plugin: "catkin"
 
-  task deployLibs(type: Copy) {
-    from { configurations.compile }
-    into "${projectDir}/libs"
-  }
+allprojects {
+    group 'org.ros.pr2_android_utilities'
+    version = project.catkin.pkg.version
+}
 
-  task clean << {
-    ant.delete file: "${projectDir}/local.properties"
-    ant.delete file: "${projectDir}/proguard-project.txt"
-    ant.delete file: "${projectDir}/build.xml"
-    ant.delete dir: "${projectDir}/bin"
-    ant.delete dir: "${projectDir}/gen"
-    ant.delete dir: "${projectDir}/libs"
-  }
+subprojects {
 
-  task debug(type: Exec) {
-    dependsOn deployLibs
-    commandLine 'ant', 'debug'
-  }
+    apply plugin: "ros-android"
+    afterEvaluate { project ->
+        android {
+            sourceSets {
+                //noinspection GroovyAssignabilityCheck
+                main {
+                    manifest.srcFile "AndroidManifest.xml"
+                    res.srcDirs "res"
+                    assets.srcDirs "assets"
+                    java.srcDirs "src"
+                }
+            }
+        
+        
+            packagingOptions {
+                /* https://github.com/rosjava/android_core/issues/194 */
+                exclude 'META-INF/LICENSE.txt'
+                exclude 'META-INF/NOTICE.txt'
+                exclude 'META-INF/gradle-plugins/catkin.properties'
+                exclude 'META-INF/gradle-plugins/ros.properties'
+                exclude 'META-INF/gradle-plugins/ros-android.properties'
+                exclude 'META-INF/gradle-plugins/ros-java.properties'
+            }
+        }
+    }
+    
 }
diff --git a/gradle/wrapper/gradle-wrapper.properties b/gradle/wrapper/gradle-wrapper.properties
index dfa9a27..f0a78df 100644
--- a/gradle/wrapper/gradle-wrapper.properties
+++ b/gradle/wrapper/gradle-wrapper.properties
@@ -3,4 +3,4 @@ distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/dists
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=wrapper/dists
-distributionUrl=http\://services.gradle.org/distributions/gradle-1.0-milestone-9-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-2.2.1-all.zip
diff --git a/package.xml b/package.xml
new file mode 100644
index 0000000..e6080ee
--- /dev/null
+++ b/package.xml
@@ -0,0 +1,13 @@
+<?xml version="1.0"?>
+<package>
+    <name>pr2_android_utilities</name>
+    <version>0.1.0</version>
+  <description>
+    This is the stack of android applications for pr2
+  </description>
+    <maintainer email="sarah@osrfoundation.org">Sarah Elliott</maintainer>
+  <author>KazutoMurase</author>
+  <license>Apache 2.0</license>
+  <url>http://ros.org/wiki/pr2_android_utilities</url>
+</package>
+
diff --git a/pr2_android_core_components/build.gradle b/pr2_android_core_components/build.gradle
new file mode 100644
index 0000000..49da0c8
--- /dev/null
+++ b/pr2_android_core_components/build.gradle
@@ -0,0 +1,18 @@
+
+//noinspection GroovyAssignabilityCheck
+dependencies {
+    compile 'org.ros.android_core:android_gingerbread_mr1:[0.1,0.2)'
+    compile 'org.ros.rosjava_messages:pr2_msgs:[0,)'
+    compile 'org.ros.rosjava_messages:pr2_power_board:[0,)'
+    compile 'org.ros.rosjava_messages:std_srvs:1.10.12'
+    compile 'org.ros.rosjava_osrf:robot_app_components:[0.1,0.2)'
+}
+
+apply plugin: 'com.android.application'
+
+
+android {
+    compileSdkVersion 21
+}
+
+
diff --git a/stack.xml b/stack.xml
deleted file mode 100644
index dc054e9..0000000
--- a/stack.xml
+++ /dev/null
@@ -1,10 +0,0 @@
-<stack>
-  <description brief="pr2_android_utilities">
-    This is the stack of android applications for pr2
-  </description>
-  <author>KazutoMurase</author>
-  <license>Apache 2.0</license>
-  <review status="unreviewed" notes="" />
-  <url>http://ros.org/wiki/pr2_android_utilities</url>
-</stack>
-