diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 4c0a65777..b6712d05a 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -3,3 +3,4 @@ add_subdirectory (${CMAKE_CURRENT_SOURCE_DIR}/types)
 add_subdirectory (${CMAKE_CURRENT_SOURCE_DIR}/libs)
 add_subdirectory (${CMAKE_CURRENT_SOURCE_DIR}/tools)
 add_subdirectory (${CMAKE_CURRENT_SOURCE_DIR}/drivers)
+add_subdirectory (${CMAKE_CURRENT_SOURCE_DIR}/samples)
diff --git a/src/samples/CMakeLists.txt b/src/samples/CMakeLists.txt
new file mode 100644
index 000000000..650b6d3a5
--- /dev/null
+++ b/src/samples/CMakeLists.txt
@@ -0,0 +1,15 @@
+list_subdirectories( LIST_SAMPLES ${CMAKE_CURRENT_SOURCE_DIR} 1)
+
+IF(NOT DEFINED build-default)
+	SET(build-default ON)
+ENDIF(NOT DEFINED build-default)
+
+FOREACH (sample ${LIST_SAMPLES})
+	if (EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/${sample}/CMakeLists.txt)
+		option(build_${sample} "Build sample ${sample}" ${build-default})
+		IF(build_${sample})
+			MESSAGE(STATUS "Processing sample ${sample}")
+			ADD_SUBDIRECTORY (${sample})
+		ENDIF(build_${sample})
+	endif(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/${sample}/CMakeLists.txt)
+ENDFOREACH()
\ No newline at end of file
diff --git a/src/tools/basic_component/CMakeLists.txt b/src/samples/basic_component/CMakeLists.txt
similarity index 100%
rename from src/tools/basic_component/CMakeLists.txt
rename to src/samples/basic_component/CMakeLists.txt
diff --git a/src/tools/basic_component/basic_component.cfg b/src/samples/basic_component/basic_component.cfg
similarity index 100%
rename from src/tools/basic_component/basic_component.cfg
rename to src/samples/basic_component/basic_component.cfg
diff --git a/src/tools/basic_component/basic_component.cpp b/src/samples/basic_component/basic_component.cpp
similarity index 100%
rename from src/tools/basic_component/basic_component.cpp
rename to src/samples/basic_component/basic_component.cpp
diff --git a/src/tools/basic_component/basic_component.glade b/src/samples/basic_component/basic_component.glade
similarity index 100%
rename from src/tools/basic_component/basic_component.glade
rename to src/samples/basic_component/basic_component.glade
diff --git a/src/tools/basic_component/control/control.cpp b/src/samples/basic_component/control/control.cpp
similarity index 100%
rename from src/tools/basic_component/control/control.cpp
rename to src/samples/basic_component/control/control.cpp
diff --git a/src/tools/basic_component/control/control.h b/src/samples/basic_component/control/control.h
similarity index 100%
rename from src/tools/basic_component/control/control.h
rename to src/samples/basic_component/control/control.h
diff --git a/src/tools/basic_component/control/threadcontrol.cpp b/src/samples/basic_component/control/threadcontrol.cpp
similarity index 100%
rename from src/tools/basic_component/control/threadcontrol.cpp
rename to src/samples/basic_component/control/threadcontrol.cpp
diff --git a/src/tools/basic_component/control/threadcontrol.h b/src/samples/basic_component/control/threadcontrol.h
similarity index 100%
rename from src/tools/basic_component/control/threadcontrol.h
rename to src/samples/basic_component/control/threadcontrol.h
diff --git a/src/tools/basic_component/gui/gui.cpp b/src/samples/basic_component/gui/gui.cpp
similarity index 100%
rename from src/tools/basic_component/gui/gui.cpp
rename to src/samples/basic_component/gui/gui.cpp
diff --git a/src/tools/basic_component/gui/gui.h b/src/samples/basic_component/gui/gui.h
similarity index 100%
rename from src/tools/basic_component/gui/gui.h
rename to src/samples/basic_component/gui/gui.h
diff --git a/src/tools/basic_component/gui/gui_gtk/gui.cc b/src/samples/basic_component/gui/gui_gtk/gui.cc
similarity index 100%
rename from src/tools/basic_component/gui/gui_gtk/gui.cc
rename to src/samples/basic_component/gui/gui_gtk/gui.cc
diff --git a/src/tools/basic_component/gui/gui_gtk/gui.h b/src/samples/basic_component/gui/gui_gtk/gui.h
similarity index 100%
rename from src/tools/basic_component/gui/gui_gtk/gui.h
rename to src/samples/basic_component/gui/gui_gtk/gui.h
diff --git a/src/tools/basic_component/gui/gui_qt/gui.cc b/src/samples/basic_component/gui/gui_qt/gui.cc
similarity index 100%
rename from src/tools/basic_component/gui/gui_qt/gui.cc
rename to src/samples/basic_component/gui/gui_qt/gui.cc
diff --git a/src/tools/basic_component/gui/gui_qt/gui.h b/src/samples/basic_component/gui/gui_qt/gui.h
similarity index 100%
rename from src/tools/basic_component/gui/gui_qt/gui.h
rename to src/samples/basic_component/gui/gui_qt/gui.h
diff --git a/src/tools/basic_component/gui/igui.h b/src/samples/basic_component/gui/igui.h
similarity index 100%
rename from src/tools/basic_component/gui/igui.h
rename to src/samples/basic_component/gui/igui.h
diff --git a/src/tools/basic_component/gui/threadgui.cpp b/src/samples/basic_component/gui/threadgui.cpp
similarity index 100%
rename from src/tools/basic_component/gui/threadgui.cpp
rename to src/samples/basic_component/gui/threadgui.cpp
diff --git a/src/tools/basic_component/gui/threadgui.h b/src/samples/basic_component/gui/threadgui.h
similarity index 100%
rename from src/tools/basic_component/gui/threadgui.h
rename to src/samples/basic_component/gui/threadgui.h
diff --git a/src/tools/basic_component/gui/threadupdategui.cpp b/src/samples/basic_component/gui/threadupdategui.cpp
similarity index 100%
rename from src/tools/basic_component/gui/threadupdategui.cpp
rename to src/samples/basic_component/gui/threadupdategui.cpp
diff --git a/src/tools/basic_component/gui/threadupdategui.h b/src/samples/basic_component/gui/threadupdategui.h
similarity index 100%
rename from src/tools/basic_component/gui/threadupdategui.h
rename to src/samples/basic_component/gui/threadupdategui.h
diff --git a/src/tools/basic_component/gui/widget/cameraswidget.cpp b/src/samples/basic_component/gui/widget/cameraswidget.cpp
similarity index 100%
rename from src/tools/basic_component/gui/widget/cameraswidget.cpp
rename to src/samples/basic_component/gui/widget/cameraswidget.cpp
diff --git a/src/tools/basic_component/gui/widget/cameraswidget.h b/src/samples/basic_component/gui/widget/cameraswidget.h
similarity index 100%
rename from src/tools/basic_component/gui/widget/cameraswidget.h
rename to src/samples/basic_component/gui/widget/cameraswidget.h
diff --git a/src/tools/basic_component/gui/widget/controlvw.cpp b/src/samples/basic_component/gui/widget/controlvw.cpp
similarity index 100%
rename from src/tools/basic_component/gui/widget/controlvw.cpp
rename to src/samples/basic_component/gui/widget/controlvw.cpp
diff --git a/src/tools/basic_component/gui/widget/controlvw.h b/src/samples/basic_component/gui/widget/controlvw.h
similarity index 100%
rename from src/tools/basic_component/gui/widget/controlvw.h
rename to src/samples/basic_component/gui/widget/controlvw.h
diff --git a/src/tools/basic_component/shared.cpp b/src/samples/basic_component/shared.cpp
similarity index 100%
rename from src/tools/basic_component/shared.cpp
rename to src/samples/basic_component/shared.cpp
diff --git a/src/tools/basic_component/shared.h b/src/samples/basic_component/shared.h
similarity index 100%
rename from src/tools/basic_component/shared.h
rename to src/samples/basic_component/shared.h
diff --git a/src/tools/basic_component_py/CMakeLists.txt b/src/samples/basic_component_py/CMakeLists.txt
similarity index 100%
rename from src/tools/basic_component_py/CMakeLists.txt
rename to src/samples/basic_component_py/CMakeLists.txt
diff --git a/src/tools/basic_component_py/basic_component.py b/src/samples/basic_component_py/basic_component.py
similarity index 100%
rename from src/tools/basic_component_py/basic_component.py
rename to src/samples/basic_component_py/basic_component.py
diff --git a/src/tools/basic_component_py/basic_component_py.cfg b/src/samples/basic_component_py/basic_component_py.cfg
similarity index 100%
rename from src/tools/basic_component_py/basic_component_py.cfg
rename to src/samples/basic_component_py/basic_component_py.cfg
diff --git a/src/tools/basic_component_py/basic_component_py.in b/src/samples/basic_component_py/basic_component_py.in
similarity index 100%
rename from src/tools/basic_component_py/basic_component_py.in
rename to src/samples/basic_component_py/basic_component_py.in
diff --git a/src/tools/basic_component_py/generateGUI b/src/samples/basic_component_py/generateGUI
similarity index 100%
rename from src/tools/basic_component_py/generateGUI
rename to src/samples/basic_component_py/generateGUI
diff --git a/src/tools/basic_component_py/gui/GUI.py b/src/samples/basic_component_py/gui/GUI.py
similarity index 100%
rename from src/tools/basic_component_py/gui/GUI.py
rename to src/samples/basic_component_py/gui/GUI.py
diff --git a/src/tools/basic_component_py/gui/__init__.py b/src/samples/basic_component_py/gui/__init__.py
similarity index 100%
rename from src/tools/basic_component_py/gui/__init__.py
rename to src/samples/basic_component_py/gui/__init__.py
diff --git a/src/tools/basic_component_py/gui/cameraWidget.py b/src/samples/basic_component_py/gui/cameraWidget.py
similarity index 100%
rename from src/tools/basic_component_py/gui/cameraWidget.py
rename to src/samples/basic_component_py/gui/cameraWidget.py
diff --git a/src/tools/basic_component_py/gui/communicator.py b/src/samples/basic_component_py/gui/communicator.py
similarity index 100%
rename from src/tools/basic_component_py/gui/communicator.py
rename to src/samples/basic_component_py/gui/communicator.py
diff --git a/src/tools/basic_component_py/gui/logoWidget.py b/src/samples/basic_component_py/gui/logoWidget.py
similarity index 100%
rename from src/tools/basic_component_py/gui/logoWidget.py
rename to src/samples/basic_component_py/gui/logoWidget.py
diff --git a/src/tools/basic_component_py/gui/teleopWidget.py b/src/samples/basic_component_py/gui/teleopWidget.py
similarity index 100%
rename from src/tools/basic_component_py/gui/teleopWidget.py
rename to src/samples/basic_component_py/gui/teleopWidget.py
diff --git a/src/tools/basic_component_py/gui/threadGUI.py b/src/samples/basic_component_py/gui/threadGUI.py
similarity index 100%
rename from src/tools/basic_component_py/gui/threadGUI.py
rename to src/samples/basic_component_py/gui/threadGUI.py
diff --git a/src/tools/basic_component_py/gui/ui_gui.py b/src/samples/basic_component_py/gui/ui_gui.py
similarity index 100%
rename from src/tools/basic_component_py/gui/ui_gui.py
rename to src/samples/basic_component_py/gui/ui_gui.py
diff --git a/src/tools/basic_component_py/gui/ui_gui.ui b/src/samples/basic_component_py/gui/ui_gui.ui
similarity index 100%
rename from src/tools/basic_component_py/gui/ui_gui.ui
rename to src/samples/basic_component_py/gui/ui_gui.ui
diff --git a/src/tools/basic_component_py/resources/__init__.py b/src/samples/basic_component_py/resources/__init__.py
similarity index 100%
rename from src/tools/basic_component_py/resources/__init__.py
rename to src/samples/basic_component_py/resources/__init__.py
diff --git a/src/tools/basic_component_py/resources/ball.png b/src/samples/basic_component_py/resources/ball.png
similarity index 100%
rename from src/tools/basic_component_py/resources/ball.png
rename to src/samples/basic_component_py/resources/ball.png
diff --git a/src/tools/basic_component_py/resources/jderobot.svg b/src/samples/basic_component_py/resources/jderobot.svg
similarity index 100%
rename from src/tools/basic_component_py/resources/jderobot.svg
rename to src/samples/basic_component_py/resources/jderobot.svg
diff --git a/src/tools/basic_component_py/resources/resources.qrc b/src/samples/basic_component_py/resources/resources.qrc
similarity index 100%
rename from src/tools/basic_component_py/resources/resources.qrc
rename to src/samples/basic_component_py/resources/resources.qrc
diff --git a/src/tools/basic_component_py/resources_rc.py b/src/samples/basic_component_py/resources_rc.py
similarity index 100%
rename from src/tools/basic_component_py/resources_rc.py
rename to src/samples/basic_component_py/resources_rc.py
diff --git a/src/drivers/basic_server/.gitignore b/src/samples/basic_server/.gitignore
similarity index 100%
rename from src/drivers/basic_server/.gitignore
rename to src/samples/basic_server/.gitignore
diff --git a/src/drivers/basic_server/CMakeLists.txt b/src/samples/basic_server/CMakeLists.txt
similarity index 100%
rename from src/drivers/basic_server/CMakeLists.txt
rename to src/samples/basic_server/CMakeLists.txt
diff --git a/src/drivers/basic_server/basic_server.cfg b/src/samples/basic_server/basic_server.cfg
similarity index 100%
rename from src/drivers/basic_server/basic_server.cfg
rename to src/samples/basic_server/basic_server.cfg
diff --git a/src/drivers/basic_server/basic_server.cpp b/src/samples/basic_server/basic_server.cpp
similarity index 100%
rename from src/drivers/basic_server/basic_server.cpp
rename to src/samples/basic_server/basic_server.cpp
diff --git a/src/drivers/basic_server/myInterface.ice b/src/samples/basic_server/myInterface.ice
similarity index 100%
rename from src/drivers/basic_server/myInterface.ice
rename to src/samples/basic_server/myInterface.ice
diff --git a/src/tools/opencvdemo/CMakeLists.txt b/src/samples/opencvdemo/CMakeLists.txt
similarity index 100%
rename from src/tools/opencvdemo/CMakeLists.txt
rename to src/samples/opencvdemo/CMakeLists.txt
diff --git a/src/tools/opencvdemo/makefile b/src/samples/opencvdemo/makefile
similarity index 100%
rename from src/tools/opencvdemo/makefile
rename to src/samples/opencvdemo/makefile
diff --git a/src/tools/opencvdemo/opencvdemo.cfg b/src/samples/opencvdemo/opencvdemo.cfg
similarity index 100%
rename from src/tools/opencvdemo/opencvdemo.cfg
rename to src/samples/opencvdemo/opencvdemo.cfg
diff --git a/src/tools/opencvdemo/opencvdemo.cpp b/src/samples/opencvdemo/opencvdemo.cpp
similarity index 100%
rename from src/tools/opencvdemo/opencvdemo.cpp
rename to src/samples/opencvdemo/opencvdemo.cpp
diff --git a/src/tools/opencvdemo/opencvdemo.glade b/src/samples/opencvdemo/opencvdemo.glade
similarity index 100%
rename from src/tools/opencvdemo/opencvdemo.glade
rename to src/samples/opencvdemo/opencvdemo.glade
diff --git a/src/tools/opencvdemo/viewer.cpp b/src/samples/opencvdemo/viewer.cpp
similarity index 100%
rename from src/tools/opencvdemo/viewer.cpp
rename to src/samples/opencvdemo/viewer.cpp
diff --git a/src/tools/opencvdemo/viewer.h b/src/samples/opencvdemo/viewer.h
similarity index 100%
rename from src/tools/opencvdemo/viewer.h
rename to src/samples/opencvdemo/viewer.h