diff --git a/software/raspberry/superviseur-robot/.gitignore b/software/raspberry/superviseur-robot/.gitignore
index 7006211..64e3d1f 100644
--- a/software/raspberry/superviseur-robot/.gitignore
+++ b/software/raspberry/superviseur-robot/.gitignore
@@ -4,7 +4,6 @@ cmake-build-debug/
 futur/
 CMakeFiles/
 
-*.cmake
 CMakeCache.txt
 
 docs/
@@ -13,5 +12,3 @@ doc/
 workspace/
 dist/
 not_for_students/
-
-
diff --git a/software/raspberry/superviseur-robot/CMakeLists.txt b/software/raspberry/superviseur-robot/CMakeLists.txt
new file mode 100644
index 0000000..332053f
--- /dev/null
+++ b/software/raspberry/superviseur-robot/CMakeLists.txt
@@ -0,0 +1,62 @@
+cmake_minimum_required(VERSION 3.0)
+project(superviseur)
+
+# Import modules
+set(CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake-modules)
+
+# Compile libraries
+# Base64
+add_library(base64
+            lib/base64/base64.cpp
+            lib/base64/base64.h
+            )
+target_include_directories(base64 PUBLIC lib/base64/base64.h)
+
+# lib
+add_library(lib
+            lib/camera.cpp
+            lib/camera.h
+            lib/commonitor.cpp
+            lib/commonitor.h
+            lib/comrobot.cpp
+            lib/comrobot.h
+            lib/img.cpp
+            lib/img.h
+            lib/messages.cpp
+            lib/messages.h
+            )
+target_include_directories(lib PUBLIC lib)
+target_link_libraries(lib base64)
+
+# Compile main executable
+add_executable(main main.cpp tasks.cpp tasks.h)
+target_link_libraries(main lib)
+
+# OpenCV
+#set (OpenCV_DIR /path/to/opencv)        # Optiona: hint for OpenCV root folder
+find_package(OpenCV REQUIRED)
+target_link_libraries(lib ${OpenCV_LIBS})
+
+# Raspicam_CV
+find_package(raspicam REQUIRED)
+target_link_libraries(lib ${raspicam_CV_LIBS})
+
+# Xenomai
+set(Xenomai_ROOT_DIR /usr/xenomai)     # Optional: hint for Xenomai root folder
+set(Xenomai_libs POSIX ALCHEMY RTDM PSOS VXWORKS SMOKEY COBALT NATIVE)   # List of Xenomai libraries to link
+
+find_package(Xenomai 3.0 REQUIRED ${Xenomai_libs})
+if (Xenomai_FOUND)
+    message(STATUS "Xenomai found with theses skins: ${Xenomai_SKINS}")
+else ()
+    message(FATAL_ERROR "Xenomai not found")
+endif ()
+
+foreach (lib IN LISTS Xenomai_libs)
+    message(STATUS ${Xenomai_${lib}_LDFLAGS})
+    target_link_options(main PRIVATE ${Xenomai_${lib}_LDFLAGS})
+    target_include_directories(main PRIVATE ${Xenomai_${lib}_INCLUDE_DIR})
+    target_link_libraries(main ${Xenomai_${lib}_LIBRARY_DIRS} ${Xenomai_${lib}_LIBRARIES})
+    set_target_properties(main PROPERTIES LINK_FLAGS ${Xenomai_${lib}_LDFLAGS})
+    target_compile_definitions(main PRIVATE ${Xenomai_${lib}_DEFINITIONS})
+endforeach ()
diff --git a/software/raspberry/superviseur-robot/Makefile b/software/raspberry/superviseur-robot/Makefile
deleted file mode 100644
index 05de621..0000000
--- a/software/raspberry/superviseur-robot/Makefile
+++ /dev/null
@@ -1,128 +0,0 @@
-#
-#  There exist several targets which are by default empty and which can be 
-#  used for execution of your targets. These targets are usually executed 
-#  before and after some main targets. They are: 
-#
-#     .build-pre:              called before 'build' target
-#     .build-post:             called after 'build' target
-#     .clean-pre:              called before 'clean' target
-#     .clean-post:             called after 'clean' target
-#     .clobber-pre:            called before 'clobber' target
-#     .clobber-post:           called after 'clobber' target
-#     .all-pre:                called before 'all' target
-#     .all-post:               called after 'all' target
-#     .help-pre:               called before 'help' target
-#     .help-post:              called after 'help' target
-#
-#  Targets beginning with '.' are not intended to be called on their own.
-#
-#  Main targets can be executed directly, and they are:
-#  
-#     build                    build a specific configuration
-#     clean                    remove built files from a configuration
-#     clobber                  remove all built files
-#     all                      build all configurations
-#     help                     print help mesage
-#  
-#  Targets .build-impl, .clean-impl, .clobber-impl, .all-impl, and
-#  .help-impl are implemented in nbproject/makefile-impl.mk.
-#
-#  Available make variables:
-#
-#     CND_BASEDIR                base directory for relative paths
-#     CND_DISTDIR                default top distribution directory (build artifacts)
-#     CND_BUILDDIR               default top build directory (object files, ...)
-#     CONF                       name of current configuration
-#     CND_PLATFORM_${CONF}       platform name (current configuration)
-#     CND_ARTIFACT_DIR_${CONF}   directory of build artifact (current configuration)
-#     CND_ARTIFACT_NAME_${CONF}  name of build artifact (current configuration)
-#     CND_ARTIFACT_PATH_${CONF}  path to build artifact (current configuration)
-#     CND_PACKAGE_DIR_${CONF}    directory of package (current configuration)
-#     CND_PACKAGE_NAME_${CONF}   name of package (current configuration)
-#     CND_PACKAGE_PATH_${CONF}   path to package (current configuration)
-#
-# NOCDDL
-
-
-# Environment 
-MKDIR=mkdir
-CP=cp
-CCADMIN=CCadmin
-
-
-# build
-build: .build-post
-
-.build-pre:
-# Add your pre 'build' code here...
-
-.build-post: .build-impl
-# Add your post 'build' code here...
-
-
-# clean
-clean: .clean-post
-
-.clean-pre:
-# Add your pre 'clean' code here...
-
-.clean-post: .clean-impl
-# Add your post 'clean' code here...
-
-
-# clobber
-clobber: .clobber-post
-
-.clobber-pre:
-# Add your pre 'clobber' code here...
-
-.clobber-post: .clobber-impl
-# Add your post 'clobber' code here...
-
-
-# all
-all: .all-post
-
-.all-pre:
-# Add your pre 'all' code here...
-
-.all-post: .all-impl
-# Add your post 'all' code here...
-
-
-# build tests
-build-tests: .build-tests-post
-
-.build-tests-pre:
-# Add your pre 'build-tests' code here...
-
-.build-tests-post: .build-tests-impl
-# Add your post 'build-tests' code here...
-
-
-# run tests
-test: .test-post
-
-.test-pre: build-tests
-# Add your pre 'test' code here...
-
-.test-post: .test-impl
-# Add your post 'test' code here...
-
-
-# help
-help: .help-post
-
-.help-pre:
-# Add your pre 'help' code here...
-
-.help-post: .help-impl
-# Add your post 'help' code here...
-
-
-
-# include project implementation makefile
-include nbproject/Makefile-impl.mk
-
-# include project make variables
-include nbproject/Makefile-variables.mk
diff --git a/software/raspberry/superviseur-robot/cmake-modules/CMakeFunctions.cmake b/software/raspberry/superviseur-robot/cmake-modules/CMakeFunctions.cmake
new file mode 100644
index 0000000..0271af4
--- /dev/null
+++ b/software/raspberry/superviseur-robot/cmake-modules/CMakeFunctions.cmake
@@ -0,0 +1,58 @@
+############################################################
+# Returns the definitions and includes from a cflags output
+# 
+# _list cflags var
+# _includes return var with the Includes
+# _definitions return var with the Definitions
+function(PARSE_CFLAGS _list _includes _definitions)
+
+   separate_arguments(${_list})
+   foreach (_item ${${_list}})
+      if ("${_item}" MATCHES "^-I")
+         string(SUBSTRING ${_item} 2 -1 _item_t)
+         set(_includes_t ${_includes_t} ${_item_t})
+      else ("${_item}" MATCHES "^-I")
+         set(_definitions_t ${_definitions_t} ${_item})
+      endif ("${_item}" MATCHES "^-I")
+   endforeach (_item)
+
+   string(REPLACE ";" " " _definitions_k "${_definitions_t}")
+
+   set(${_includes} ${_includes_t} PARENT_SCOPE)
+   set(${_definitions} ${_definitions_k} PARENT_SCOPE)
+
+   #message(STATUS "Calling Macro ${${_list}} and returning ${_includes_k} and ${_definitions_k}")
+endfunction(PARSE_CFLAGS)
+###############################################################################
+
+
+###############################################################################
+# Retrieve information from a ldflags output
+# 
+# _list ldflags var
+# _libraries return var with the libraries
+# _ldflags return var with the ldflags value
+# _libdir return var with the libdir value
+function(PARSE_LDFLAGS _list _libraries _ldflags _libdir)
+
+   separate_arguments(${_list})
+   foreach (_item ${${_list}})
+      if ("${_item}" MATCHES "^-l")
+         string(SUBSTRING ${_item} 2 -1 _item_t)
+         set(_libraries_t ${_libraries_t} ${_item_t})
+      elseif ("${_item}" MATCHES "^-L")
+         set(_libdir_t ${_libdir_t} ${_item})
+      else ("${_item}" MATCHES "^-L")
+         set(_ldflags_t ${_ldflags_t} ${_item})
+      endif ("${_item}" MATCHES "^-l")
+   endforeach (_item ${${_list}})
+
+   string(REPLACE ";" " " _ldflags_k "${_ldflags_t}")
+   string(REPLACE ";" " " _libdir_k "${_libdir_t}")
+
+   set(${_libraries} ${_libraries_t} PARENT_SCOPE)
+   set(${_ldflags} ${_ldflags_k} PARENT_SCOPE)
+   set(${_libdir} ${_libdir_k} PARENT_SCOPE)
+
+   #message(STATUS "Calling Macro ${${_list}} and returning ${_libraries_k} ${_ldflags_k} ${_libdir_k}")
+endfunction(PARSE_LDFLAGS)
diff --git a/software/raspberry/superviseur-robot/cmake-modules/FindKernelHeaders.cmake b/software/raspberry/superviseur-robot/cmake-modules/FindKernelHeaders.cmake
new file mode 100644
index 0000000..8a77140
--- /dev/null
+++ b/software/raspberry/superviseur-robot/cmake-modules/FindKernelHeaders.cmake
@@ -0,0 +1,28 @@
+# Find the kernel release
+execute_process(
+        COMMAND uname -r
+        OUTPUT_VARIABLE KERNEL_RELEASE
+        OUTPUT_STRIP_TRAILING_WHITESPACE
+)
+
+# Find the headers
+find_path(KERNELHEADERS_DIR
+          include/linux/user.h
+          PATHS /usr/src/linux-headers-${KERNEL_RELEASE}
+          )
+
+message(STATUS "Kernel release: ${KERNEL_RELEASE}")
+message(STATUS "Kernel headers: ${KERNELHEADERS_DIR}")
+
+if (KERNELHEADERS_DIR)
+  set(KERNELHEADERS_INCLUDE_DIRS
+      ${KERNELHEADERS_DIR}/include
+      ${KERNELHEADERS_DIR}/arch/x86/include
+      CACHE PATH "Kernel headers include dirs"
+      )
+  set(KERNELHEADERS_FOUND 1 CACHE STRING "Set to 1 if kernel headers were found")
+else (KERNELHEADERS_DIR)
+  set(KERNELHEADERS_FOUND 0 CACHE STRING "Set to 1 if kernel headers were found")
+endif (KERNELHEADERS_DIR)
+
+mark_as_advanced(KERNELHEADERS_FOUND)
diff --git a/software/raspberry/superviseur-robot/cmake-modules/FindXenomai.cmake b/software/raspberry/superviseur-robot/cmake-modules/FindXenomai.cmake
new file mode 100644
index 0000000..ac97a8f
--- /dev/null
+++ b/software/raspberry/superviseur-robot/cmake-modules/FindXenomai.cmake
@@ -0,0 +1,251 @@
+###############################################################################
+#
+# CMake script for finding the Xenomai Libraries and skins
+#
+# Copyright 2015-2018 Leopold Palomo-Avellaneda <leopold.palomo@upc.edu>
+# Copyright 2016-2018 Institute of Industrial and Control Engineering (IOC)
+#                     Universitat Politecnica de Catalunya
+#                     BarcelonaTech
+# Redistribution and use is allowed according to the terms of the 3-clause BSD
+# license.
+#
+#
+# Input variables:
+# 
+# Cache variables (not intended to be used in CMakeLists.txt files)
+# Input variables:
+# 
+# - ${Xenomai_ROOT_DIR} (optional): Used as a hint to find the Xenomai root dir
+# - $ENV{XENOMAI_ROOT_DIR} (optional): Used as a hint to find the Xenomai root dir
+#
+# Output Variables:
+#
+# - Xenomai_FOUND: Boolean that indicates if the package was found. Default is Native
+# - Xenomai_SKINS: List of the available skins. 
+#   The availabe skins are for 2.6: NATIVE POSIX PSOS RTDM UITRON VRTX VXWORKS
+#   The availabe skins are for 3.x: POSIX ALCHEMY RTDM PSOS VXWORKS SMOKEY COBALT NATIVE
+#   NATIVE for compatibility purpose    
+# - Xenomai_*_FOUND variables below for individual skins.
+# - Xenomai_VERSION: major.minor.patch Xenomai version string
+# - Xenomai_XENO_CONFIG: Path to xeno-config program
+# 
+# For each available skin, theses Var are set:
+#   - Xenomai_${SKIN}_FOUND: Boolean that indicates if the skin was found
+#   - Xenomai_${SKIN}_DEFINITIONS
+#   - Xenomai_${SKIN}_INCLUDE_DIRS
+#   - Xenomai_${SKIN}_LIBRARY_DIRS
+#   - Xenomai_${SKIN}_LIBRARIES
+#   - Xenomai_${SKIN}_LDFLAGS
+#   - Xenomai_${SKIN}_DL_FLAGS # Direct Linker Flags
+# From Xenomai 3.0.2. If you want to build a shared library
+#   - Xenomai_${SKIN}_LDFLAGS_LIBRARIES
+#   - Xenomai_${SKIN}_DL_FLAGS_LIBRARIES
+#
+# Specific var for compatibility with Johns Hopkins University (JHU) FindXenomai
+#
+# - Individual library variables:
+#   - Xenomai_LIBRARY_XENOMAI
+#   - Xenomai_LIBRARY_NATIVE
+#   - Xenomai_LIBRARY_PTHREAD_RT
+#   - Xenomai_LIBRARY_RTDM
+#   - Xenomai_LIBRARY_RTDK ( this will be empty, deprecated after Xenomai 2.6.0)
+#
+#
+#
+# Example usage:
+#
+# find_package(Xenomai 2.6.4 REQUIRED POSIX)
+# message(STATUS "Xenomai found with theses skins: ${Xenomai_SKINS}")
+# # You have some sources xeno-example ${XENO_EXAMPLE_SRC}
+# 
+# include_directories(${Xenomai_POSIX_INCLUDE_DIR})
+# add_executable(demo_xeno ${XENO_EXAMPLE_SRC})
+# target_link_libraries(demo_xeno ${Xenomai_POSIX_LIBRARY_DIRS} ${Xenomai_POSIX_LIBRARIES})
+# set_target_properties(demo_xeno PROPERTIES
+#                  LINK_FLAGS ${Xenomai_POSIX_LDFLAGS})
+# target_compile_definitions(demo_xeno PUBLIC ${Xenomai_POSIX_DEFINITIONS})
+
+
+###############################################################################
+# Returns the definitions and includes from a cflags output
+# 
+# _list cflags var
+# _includes return var with the Includes
+# _definitions return var with the Definitions 
+function(PARSE_CFLAGS _list _includes _definitions)
+
+   separate_arguments(${_list})
+   foreach (_item ${${_list}})
+      if ("${_item}" MATCHES "^-I")
+         string(SUBSTRING ${_item} 2 -1 _item_t)
+         set(_includes_t ${_includes_t} ${_item_t})
+      else ("${_item}" MATCHES "^-I")
+         set(_definitions_t ${_definitions_t} ${_item})
+      endif ("${_item}" MATCHES "^-I")
+   endforeach (_item)
+
+   string(REPLACE ";" " " _definitions_k "${_definitions_t}")
+
+   set(${_includes} ${_includes_t} PARENT_SCOPE)
+   set(${_definitions} ${_definitions_k} PARENT_SCOPE)
+
+   #message(STATUS "Calling Macro ${${_list}} and returning ${_includes_k} and ${_definitions_k}")
+endfunction(PARSE_CFLAGS)
+###############################################################################
+
+
+###############################################################################
+# Retrieve information from a ldflags output
+# 
+# _list ldflags var
+# _libraries return var with the libraries
+# _ldflags return var with the ldflags value
+# _libdir return var with the libdir value
+# _dlflags return var with the direct output
+
+function(PARSE_LDFLAGS _list _libraries _ldflags _libdir _dlflags)
+   separate_arguments(${_list})
+   foreach (_item ${${_list}})
+      if ("${_item}" MATCHES "^-l")
+         string(SUBSTRING ${_item} 2 -1 _item_t)
+         set(_libraries_t ${_libraries_t} ${_item_t})
+      elseif ("${_item}" MATCHES "^-L")
+         set(_libdir_t ${_libdir_t} ${_item})
+      else ("${_item}" MATCHES "^-L")
+         set(_ldflags_t ${_ldflags_t} ${_item})
+      endif ("${_item}" MATCHES "^-l")
+   endforeach (_item ${${_list}})
+
+   string(REPLACE ";" " " _ldflags_k "${_ldflags_t}")
+   string(REPLACE ";" " " _libdir_k "${_libdir_t}")
+   string(REPLACE ";" " " _dlflags_t "${${_list}}")
+
+   set(${_libraries} ${_libraries_t} PARENT_SCOPE)
+   set(${_ldflags} ${_ldflags_k} PARENT_SCOPE)
+   set(${_libdir} ${_libdir_k} PARENT_SCOPE)
+   set(${_dlflags} ${_dlflags_t} PARENT_SCOPE)
+
+   #message(STATUS "Calling Macro ${${_list}} and returning ${_libraries_k} ${_ldflags_k} ${_libdir_k}")
+endfunction(PARSE_LDFLAGS)
+###############################################################################
+
+include(FindPackageHandleStandardArgs)
+
+if (Xenomai_FIND_COMPONENTS)
+   # if components specified in find_package(), make sure each of those pieces were found
+   set(_XENOMAI_FOUND_REQUIRED_VARS)
+   foreach (component ${Xenomai_FIND_COMPONENTS})
+      string(TOUPPER ${component} _COMPONENT)
+      set(_XENOMAI_FOUND_REQUIRED_VARS ${_XENOMAI_FOUND_REQUIRED_VARS} Xenomai_${_COMPONENT}_INCLUDE_DIRS Xenomai_${_COMPONENT}_LIBRARIES)
+   endforeach ()
+else ()
+   # if no components specified, we'll make a default set of required variables to say Qt is found
+   set(_XENOMAI_FOUND_REQUIRED_VARS Xenomai_XENO_CONFIG Xenomai_VERSION Xenomai_NATIVE_INCLUDE_DIRS Xenomai_NATIVE_LIBRARIES)
+endif ()
+
+# Get hint from environment variable (if any)
+if (NOT $ENV{XENOMAI_ROOT_DIR} STREQUAL "")
+   set(XENOMAI_ROOT_DIR $ENV{XENOMAI_ROOT_DIR} CACHE PATH "Xenomai base directory location (optional, used for nonstandard installation paths)" FORCE)
+   mark_as_advanced(XENOMAI_ROOT_DIR)
+endif ()
+
+if (DEFINED ENV{SDKTARGETSYSROOT} AND NOT DEFINED Xenomai_ROOT_DIR)
+   message("Found $SDKTARGETSYSROOT = $ENV{SDKTARGETSYSROOT}, using as Xenomai_ROOT_DIR and settings DESTDIR")
+   set(Xenomai_ROOT_DIR "$ENV{SDKTARGETSYSROOT}")
+   SET(ENV{DESTDIR} $ENV{SDKTARGETSYSROOT})
+endif ()
+# set the search paths
+set(Xenomai_SEARCH_PATH /usr/local /usr $ENV{XENOMAI_ROOT_DIR} ${Xenomai_ROOT_DIR} ${Xenomai_ROOT_DIR}/usr/)
+
+# searching kernel headers 
+# Find kernel headers
+find_package(KernelHeaders)
+
+find_path(Xenomai_KERNEL_INCLUDE_DIR version.h
+          PATHS ${KERNELHEADERS_DIR}/include/xenomai/)
+
+if (Xenomai_KERNEL_INCLUDE_DIR)
+   message(STATUS "Xenomai Kernel Headers located in ${Xenomai_KERNEL_INCLUDE_DIR}")
+endif ()
+
+
+# Find xeno-config
+find_program(Xenomai_XENO_CONFIG NAMES xeno-config PATHS ${Xenomai_SEARCH_PATH}/bin NO_DEFAULT_PATH)
+
+if (Xenomai_XENO_CONFIG)
+   set(Xenomai_FOUND ${Xenomai_XENO_CONFIG})
+   execute_process(COMMAND ${Xenomai_XENO_CONFIG} --version OUTPUT_VARIABLE Xenomai_VERSION OUTPUT_STRIP_TRAILING_WHITESPACE)
+   message(STATUS "xeno-config is found. Xenomai should be ok and version found is ${Xenomai_VERSION}")
+
+   if (${Xenomai_VERSION} VERSION_GREATER "3.0.2")
+      message(STATUS "xeno-config has the --auto-init-solib option")
+   endif ()
+   if (${Xenomai_VERSION} VERSION_LESS "3.0.0")
+      set(SKINS native posix psos rtdm uitron vrtx vxworks)
+   else (${Xenomai_VERSION} VERSION_LESS "3.0.0")
+      set(SKINS posix vxworks psos alchemy rtdm smokey cobalt native)
+      # From xeno-config manual
+      # --native and --skin=native are accepted for backward compatibility purpose. They are stricly equivalent to passing --alchemy --compat.
+      #     Likewise, passing --rtdm or --skin=rtdm is stricly equivalent to passing --posix, enabling POSIX I/O routines to be wrapped to their
+      #     respective Xenomai implementation.
+   endif ()
+
+   foreach (_skin ${SKINS})
+      #message(STATUS "Processing skin ${_skin} ........")
+      string(TOUPPER ${_skin} SKINU)
+
+      execute_process(COMMAND ${Xenomai_XENO_CONFIG} --skin "${_skin}" --cflags OUTPUT_VARIABLE XENO_${SKINU}_CFLAGS OUTPUT_STRIP_TRAILING_WHITESPACE)
+      PARSE_CFLAGS("XENO_${SKINU}_CFLAGS" "Xenomai_${SKINU}_INCLUDE_DIRS" "Xenomai_${SKINU}_DEFINITIONS")
+      #message(STATUS "Xenomai_${SKINU}_INCLUDE_DIRS = ${Xenomai_${SKINU}_INCLUDE_DIRS}")
+      #message(STATUS "Xenomai_${SKINU}_DEFINITIONS = ${Xenomai_${SKINU}_DEFINITIONS}")
+
+      execute_process(COMMAND ${Xenomai_XENO_CONFIG} --skin ${_skin} --ldflags OUTPUT_VARIABLE XENO_${SKINU}_LDFLAGS OUTPUT_STRIP_TRAILING_WHITESPACE)
+      PARSE_LDFLAGS("XENO_${SKINU}_LDFLAGS" "Xenomai_${SKINU}_LIBRARIES" "Xenomai_${SKINU}_LDFLAGS" "Xenomai_${SKINU}_LIBRARY_DIRS" "Xenomai_${SKINU}_DL_FLAGS")
+      #message(STATUS "Xenomai_${SKINU}_LIBRARIES = ${Xenomai_${SKINU}_LIBRARIES}")
+      #message(STATUS "Xenomai_${SKINU}_DIRS = ${Xenomai_${SKINU}_LIBRARY_DIRS}")
+      #message(STATUS "Xenomai_${SKINU}_LDFLAGS = ${Xenomai_${SKINU}_LDFLAGS}")
+
+      if (${Xenomai_VERSION} VERSION_GREATER "3.0.2")
+         #message(STATUS "xeno-config has the --auto-init-solib option")
+         execute_process(COMMAND ${Xenomai_XENO_CONFIG} --skin ${_skin} --auto-init-solib --ldflags OUTPUT_VARIABLE XENO_${SKINU}_LDFLAGS_LIBRARIES OUTPUT_STRIP_TRAILING_WHITESPACE)
+         PARSE_LDFLAGS("XENO_${SKINU}_LDFLAGS_LIBRARIES" "Xenomai_${SKINU}_LIBRARIES" "Xenomai_${SKINU}_LDFLAGS_LIBRARIES" "Xenomai_${SKINU}_LIBRARY_DIRS" "Xenomai_${SKINU}_DL_FLAGS_LIBRARIES")
+      endif ()
+      if (Xenomai_${SKINU}_LIBRARIES AND Xenomai_${SKINU}_INCLUDE_DIRS)
+         set(Xenomai_${SKINU}_FOUND TRUE)
+         set(Xenomai_SKINS ${Xenomai_SKINS} ${_skin})
+         #message(STATUS "Xenomai ${_skin} skin found")
+         set(Xenomai_${SKINU}_FOUND ${Xenomai_${SKINU}_FOUND} CACHE STRING "Xenomai ${SKINU} Found" FORCE)
+         set(Xenomai_${SKINU}_DEFINITIONS ${Xenomai_${SKINU}_DEFINITIONS} CACHE STRING "Xenomai ${SKINU} skin definitions" FORCE)
+         set(Xenomai_${SKINU}_INCLUDE_DIRS ${Xenomai_${SKINU}_INCLUDE_DIRS} CACHE STRING "Xenomai ${SKINU} include directories" FORCE)
+         set(Xenomai_${SKINU}_LIBRARY_DIRS ${Xenomai_${SKINU}_LIBRARY_DIRS} CACHE STRING "Xenomai ${SKINU} library directories" FORCE)
+         set(Xenomai_${SKINU}_LIBRARIES ${Xenomai_${SKINU}_LIBRARIES} CACHE STRING "Xenomai ${SKINU} libraries" FORCE)
+         set(Xenomai_${SKINU}_LDFLAGS ${Xenomai_${SKINU}_LDFLAGS} CACHE STRING "Xenomai ${SKINU} ldflags" FORCE)
+         set(Xenomai_${SKINU}_DL_FLAGS ${Xenomai_${SKINU}_DL_FLAGS} CACHE STRING "Xenomai ${SKINU} Direct linker flags" FORCE)
+         if (${Xenomai_VERSION} VERSION_GREATER "3.0.2")
+            set(Xenomai_${SKINU}_LDFLAGS_LIBRARIES ${Xenomai_${SKINU}_LDFLAGS_LIBRARIES} CACHE STRING "Xenomai ${SKINU} ldflags for libraries" FORCE)
+            set(Xenomai_${SKINU}_DL_FLAGS_LIBRARIES ${Xenomai_${SKINU}_DL_FLAGS_LIBRARIES} CACHE STRING "Xenomai ${SKINU} Direct linker flags for libraries" FORCE)
+         endif ()
+      endif ()
+   endforeach (_skin ${SKINS})
+   set(Xenomai_KERNEL_INCLUDE_DIR ${Xenomai_KERNEL_INCLUDE_DIR} CACHE STRING "Xenomai Kernel Headers directory " FORCE)
+
+   find_library(Xenomai_LIBRARY_NATIVE native ${Xenomai_ROOT_DIR}/lib)
+   find_library(Xenomai_LIBRARY_XENOMAI xenomai ${Xenomai_ROOT_DIR}/lib)
+   find_library(Xenomai_LIBRARY_PTHREAD_RT pthread_rt ${Xenomai_ROOT_DIR}/lib)
+   find_library(Xenomai_LIBRARY_RTDM rtdm ${Xenomai_ROOT_DIR}/lib)
+
+   # In 2.6.0 RTDK was merged into the main xenomai library
+   if (Xenomai_VERSION VERSION_GREATER 2.6.0)
+      set(Xenomai_LIBRARY_RTDK_FOUND ${Xenomai_LIBRARY_XENOMAI_FOUND})
+      set(Xenomai_LIBRARY_RTDK ${Xenomai_LIBRARY_XENOMAI})
+   else ()
+      find_library(Xenomai_LIBRARY_RTDK rtdk ${Xenomai_ROOT_DIR}/lib)
+   endif ()
+
+   find_package_handle_standard_args(Xenomai REQUIRED_VARS ${_XENOMAI_FOUND_REQUIRED_VARS}
+                                     VERSION_VAR Xenomai_VERSION
+                                     HANDLE_COMPONENTS)
+else (Xenomai_XENO_CONFIG)
+   message(FATAL_ERROR "This program needs xeno-config")
+endif ()
+