diff --git a/CMakeLists.txt b/CMakeLists.txt
index 06ee0373..50a01fe0 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -399,6 +399,10 @@ add_executable(rtabmap_pointcloud_to_depthimage src/PointCloudToDepthImageNode.c
 target_link_libraries(rtabmap_pointcloud_to_depthimage ${Libraries})
 set_target_properties(rtabmap_pointcloud_to_depthimage PROPERTIES OUTPUT_NAME "pointcloud_to_depthimage")
 
+add_executable(rtabmap_point_cloud_aggregator src/PointCloudAggregatorNode.cpp)
+target_link_libraries(rtabmap_point_cloud_aggregator ${Libraries})
+set_target_properties(rtabmap_point_cloud_aggregator PROPERTIES OUTPUT_NAME "rtabmap_point_cloud_aggregator")
+
 add_executable(rtabmap_point_cloud_assembler src/PointCloudAssemblerNode.cpp)
 target_link_libraries(rtabmap_point_cloud_assembler ${Libraries})
 set_target_properties(rtabmap_point_cloud_assembler PROPERTIES OUTPUT_NAME "point_cloud_assembler")
diff --git a/src/PointCloudAggregatorNode.cpp b/src/PointCloudAggregatorNode.cpp
new file mode 100644
index 00000000..2ec77a37
--- /dev/null
+++ b/src/PointCloudAggregatorNode.cpp
@@ -0,0 +1,42 @@
+/*
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#include "ros/ros.h"
+#include "nodelet/loader.h"
+
+int main(int argc, char **argv)
+{
+	ros::init(argc, argv, "point_cloud_aggregator");
+
+	nodelet::Loader nodelet;
+	nodelet::V_string nargv;
+	nodelet::M_string remap(ros::names::getRemappings());
+	std::string nodelet_name = ros::this_node::getName();
+	nodelet.load(nodelet_name, "rtabmap_ros/point_cloud_aggregator", remap, nargv);
+	ros::spin();
+	return 0;
+}