diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..0e41af6
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,153 @@
+
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+.hypothesis/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+.static_storage/
+.media/
+local_settings.py
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# pyenv
+.python-version
+
+# celery beat schedule file
+celerybeat-schedule
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+
+build/
+bin/
+lib/
+msg_gen/
+srv_gen/
+msg/*Action.msg
+msg/*ActionFeedback.msg
+msg/*ActionGoal.msg
+msg/*ActionResult.msg
+msg/*Feedback.msg
+msg/*Goal.msg
+msg/*Result.msg
+msg/_*.py
+
+# Generated by dynamic reconfigure
+*.cfgc
+/cfg/cpp/
+/cfg/*.py
+
+# Ignore generated docs
+*.dox
+*.wikidoc
+
+# eclipse stuff
+.project
+.cproject
+
+# qcreator stuff
+CMakeLists.txt.user
+
+srv/_*.py
+*.pcd
+*.pyc
+qtcreator-*
+*.user
+
+/planning/cfg
+/planning/docs
+/planning/src
+
+*~
+
+# Emacs
+.#*
+
+# Catkin custom files
+CATKIN_IGNORE
diff --git a/README.md b/README.md
index 3b9b317..b8f5904 100644
--- a/README.md
+++ b/README.md
@@ -15,9 +15,10 @@ detailed documentation of the system could be found at our developer portal: htt
 ### Quick installation guide
 0. Make sure you have installed ROS and configured Catkin workspace on your Raspberry Pi.
 1. Download content of this repository and save as `estimote_robotics_indoor_sdk` folder inside `src/` folder in your catkin workspace (referred later as `$CATKIN_WORKSPACE`)
-2. Run `$ catkin_make` from your catkin workspace.
-3. Open three separate terminals, run `$ roscore` in first and use last two in steps described below.
-4. Start the positioning node:
+2. Edit `src/runner.py` and choose which architecture version of `indoor_robotics_sdk.so` you want to execute by uncommenting it and commenting other versions.
+3. Run `$ catkin_make` from your catkin workspace.
+4. Open three separate terminals, run `$ roscore` in first and use last two in steps described below.
+5. Start the positioning node:
 ```sh
 $ cd $CATKIN_WORKSPACE
 $ source ./devel/setup.bash
@@ -40,7 +41,7 @@ Example output:
 [INFO] [1504609464.816015]: 3.05423739245, 10.0339022171
 ```
 
-5. Start an exemplary listener:
+6. Start an exemplary listener:
 ```sh
 $ cd $CATKIN_WORKSPACE
 $ source ./devel/setup.bash
diff --git a/src/robotics_indoor_sdk.so b/src/lib/armv7l/robotics_indoor_sdk.so
similarity index 100%
rename from src/robotics_indoor_sdk.so
rename to src/lib/armv7l/robotics_indoor_sdk.so
diff --git a/src/lib/x86/robotics_indoor_sdk.so b/src/lib/x86/robotics_indoor_sdk.so
new file mode 100755
index 0000000..53cd3c6
Binary files /dev/null and b/src/lib/x86/robotics_indoor_sdk.so differ
diff --git a/src/runner.py b/src/runner.py
index 5a9692f..fe4b0d2 100755
--- a/src/runner.py
+++ b/src/runner.py
@@ -1,10 +1,13 @@
 #!/usr/bin/env python
 import time
+import sys
 import rospy
 print "[Robotics Indoor SDK] initializing ROS node.."
 rospy.init_node('positioning', anonymous=True)
 print "[Robotics Indoor SDK] ROS node started, initializing positioning system.."
+# sys.path.append('lib/armv7l')
+sys.path.append('lib/x86')
 import robotics_indoor_sdk
-
+    
 while True:
     time.sleep(0.2)