diff --git a/micro_ros_agent/cmake/Config.cmake.in b/micro_ros_agent/cmake/Config.cmake.in
new file mode 100644
index 0000000..cecf44e
--- /dev/null
+++ b/micro_ros_agent/cmake/Config.cmake.in
@@ -0,0 +1,32 @@
+# Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+set(@PROJECT_NAME@_VERSION @PROJECT_VERSION@)
+
+@PACKAGE_INIT@
+
+if(MSVC OR MSVC_IDE)
+    set_and_check(@PROJECT_NAME@_BIN_DIR "@PACKAGE_BIN_INSTALL_DIR@")
+endif()
+set_and_check(@PROJECT_NAME@_INCLUDE_DIR "@PACKAGE_INCLUDE_INSTALL_DIR@")
+set_and_check(@PROJECT_NAME@_LIB_DIR "@PACKAGE_LIB_INSTALL_DIR@")
+set_and_check(@PROJECT_NAME@_DATA_DIR "@PACKAGE_DATA_INSTALL_DIR@")
+
+foreach(d @_deps@)
+    list(GET d 0 _name)
+    list(GET d 1 _version)
+    find_package(${_name} ${_version} REQUIRED)
+endforeach()
+
+include(${@PROJECT_NAME@_DATA_DIR}/@PROJECT_NAME@/cmake/@PROJECT_NAME@Targets.cmake)
diff --git a/micro_ros_agent/include/agent/Agent.hpp b/micro_ros_agent/include/agent/Agent.hpp
index f5f22f3..f47ff6e 100644
--- a/micro_ros_agent/include/agent/Agent.hpp
+++ b/micro_ros_agent/include/agent/Agent.hpp
@@ -38,14 +38,67 @@ public:
 
     void run();
 
+    void add_callbacks();
+
 private:
 
     eprosima::uxr::AgentInstance& xrce_dds_agent_instance_;
     std::map<eprosima::fastdds::dds::DomainId_t, std::shared_ptr<graph_manager::GraphManager>> graph_manager_map_;
 
     std::shared_ptr<graph_manager::GraphManager> find_or_create_graph_manager(eprosima::fastdds::dds::DomainId_t domain_id);
+    void remove_graph_manager(eprosima::fastdds::dds::DomainId_t domain_id);    // TODO: check grap_manager on agent closing
 };
 
+template<typename AgentType>
+class AgentAPI : Agent
+{
+public:
+    AgentAPI() : Agent(){};
+
+    ~AgentAPI() = default;
+
+    void create(uint16_t port)
+	{
+		xrce_dds_agent_instance_API.configure(port);
+        add_callbacks();
+	}
+
+	void create(std::string dev, const std::string baudrate);
+	void create(std::vector<std::string> devs, const std::string baudrate);
+	void create(const std::string baudrate);
+
+    void run()
+    {
+        xrce_dds_agent_instance_API.run();
+    }
+    
+    void stop()
+    {
+        xrce_dds_agent_instance_API.stop();
+    }
+
+private:
+    eprosima::uxr::AgentInstanceAPI<AgentType> xrce_dds_agent_instance_API;
+};
+
+template<> inline UXR_AGENT_EXPORT void AgentAPI<eprosima::uxr::TermiosAgent>::create(std::string dev, const std::string baudrate)
+{
+    xrce_dds_agent_instance_API.configure(dev, baudrate);
+    add_callbacks();
+}
+
+template<> inline UXR_AGENT_EXPORT void AgentAPI<eprosima::uxr::MultiTermiosAgent>::create(std::vector<std::string> devs, const std::string baudrate)
+{
+    xrce_dds_agent_instance_API.configure(devs, baudrate);
+    add_callbacks();
+}
+
+template<> inline UXR_AGENT_EXPORT void AgentAPI<eprosima::uxr::PseudoTerminalAgent>::create(const std::string baudrate)
+{
+    xrce_dds_agent_instance_API.configure(baudrate);
+    add_callbacks();
+}
+
 }  // namespace agent
 }  // namespace uros
 #endif  // _UROS_AGENT_AGENT_HPP
\ No newline at end of file
diff --git a/micro_ros_agent/src/agent/Agent.cpp b/micro_ros_agent/src/agent/Agent.cpp
index 87ef3cf..7af6cac 100644
--- a/micro_ros_agent/src/agent/Agent.cpp
+++ b/micro_ros_agent/src/agent/Agent.cpp
@@ -32,6 +32,14 @@ bool Agent::create(
     bool result = xrce_dds_agent_instance_.create(argc, argv);
     if (result)
     {
+        add_callbacks();
+    }
+
+    return result;
+}
+
+void Agent::add_callbacks()
+{
         /**
          * Add CREATE_PARTICIPANT callback.
          */
@@ -166,9 +174,6 @@ bool Agent::create(
             eprosima::uxr::Middleware::Kind::FASTDDS,
             eprosima::uxr::middleware::CallbackKind::DELETE_DATAREADER,
             std::move(on_delete_datareader));
-    }
-
-    return result;
 }
 
 void Agent::run()
@@ -193,6 +198,17 @@ auto it = graph_manager_map_.find(domain_id);
     }
 }
 
+void Agent::remove_graph_manager(eprosima::fastdds::dds::DomainId_t domain_id)
+{
+    auto it = graph_manager_map_.find(domain_id);
+
+    if (it != graph_manager_map_.end()) 
+    {
+        it->second = nullptr;
+        graph_manager_map_.erase(it);        
+    }
+}
+
 }  // namespace agent
 }  // namespace uros
 #endif  // _UROS_AGENT_AGENT_CPP
\ No newline at end of file