diff --git a/CMakeLists.txt b/CMakeLists.txt
index 21c08ba..4d7c019 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -40,6 +40,11 @@ set(SRCS
   src/Utils.cpp)
 add_library(${PROJECT_NAME} ${SRCS})
 
+set(qpOASES_PYTHON_SRC
+  interfaces/python/qpoases.pxd
+  interfaces/python/qpoases.pyx
+)
+
 #
 # building example applications
 #
@@ -73,3 +78,28 @@ install(DIRECTORY include/
   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
   FILES_MATCHING PATTERN "*.hpp"
   PATTERN ".svn" EXCLUDE)
+
+# the files listed above are present when qpoases_svn (i.e. getting source files) is completed
+add_custom_command(OUTPUT ${qpOASES_SRC} ${qpOASES_PYTHON_SRC}
+  DEPENDS ${PROJECT_NAME})
+
+# Custom build Python wrappers
+add_custom_target(qpOASES_Python ALL
+  COMMAND python setup.py build_ext --include-dirs include ${INCLUDE_DIRECTORIES} --build-lib ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_PYTHON_DESTINATION} --build-temp ${CMAKE_CURRENT_BINARY_DIR} --sources ${qpOASES_PYTHON_SRC} ${SRCS}
+  WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+  DEPENDS ${PROJECT_NAME}
+  COMMENT "Building Python wrappers."
+)
+
+# Tell CMake about the build output
+set(qpOASES_PYTHON_LIB
+  ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_PYTHON_DESTINATION}/qpoases.so
+)
+
+add_custom_command(OUTPUT ${qpOASES_PYTHON_LIB}
+  DEPENDS qpOASES_Python)
+
+# Install
+install(FILES ${qpOASES_PYTHON_LIB}
+  DESTINATION ${CATKIN_GLOBAL_PYTHON_DESTINATION}
+)
\ No newline at end of file
diff --git a/interfaces/python/qpoases.pxd b/interfaces/python/qpoases.pxd
index 89ec661..25b5b58 100644
--- a/interfaces/python/qpoases.pxd
+++ b/interfaces/python/qpoases.pxd
@@ -436,9 +436,9 @@ cdef extern from "qpOASES/extras/SolutionAnalysis.hpp" namespace "qpOASES":
         SolutionAnalysis(const SolutionAnalysis&)
         # ~SolutionAnalysis()
         # SolutionAnalysis& operator=(const SolutionAnalysis&)
-        returnValue getKktViolation(const QProblem*,  const real_t*, const real_t*, const real_t*)
-        returnValue getKktViolation(const QProblemB*, const real_t*, const real_t*, const real_t*)
-        returnValue getKktViolation(const SQProblem*, const real_t*, const real_t*, const real_t*)
+        real_t getKktViolation(const QProblem*,  const real_t*, const real_t*, const real_t*)
+        real_t getKktViolation(const QProblemB*, const real_t*, const real_t*, const real_t*)
+        real_t getKktViolation(const SQProblem*, const real_t*, const real_t*, const real_t*)
         returnValue getVarianceCovariance(QProblem*, real_t*, real_t*)
         returnValue getVarianceCovariance(QProblemB*, real_t*, real_t*)
         returnValue getVarianceCovariance(SQProblem*, real_t*, real_t*)
diff --git a/setup.py b/setup.py
new file mode 100644
index 0000000..51ec9c0
--- /dev/null
+++ b/setup.py
@@ -0,0 +1,79 @@
+#!/usr/bin/env python
+"""qpOASES python distutils setup script."""
+
+#
+#  This file is part of qpOASES.
+#
+#  qpOASES -- An Implementation of the Online Active Set Strategy.
+#  Copyright (C) 2007-2017 by Hans Joachim Ferreau, Andreas Potschka,
+#  Christian Kirches et al. All rights reserved.
+#
+#  qpOASES is free software; you can redistribute it and/or
+#  modify it under the terms of the GNU Lesser General Public
+#  License as published by the Free Software Foundation; either
+#  version 2.1 of the License, or (at your option) any later version.
+#
+#  qpOASES is distributed in the hope that it will be useful,
+#  but WITHOUT ANY WARRANTY; without even the implied warranty of
+#  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+#  See the GNU Lesser General Public License for more details.
+#
+#  You should have received a copy of the GNU Lesser General Public
+#  License along with qpOASES; if not, write to the Free Software
+#  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+#
+
+#
+#   Filename:  setup.py
+#   Author:    Sebastian F. Walter, Manuel Kudruss (thanks to Felix Lenders)
+#   Version:   3.2
+#   Date:      2013-2017
+#
+
+import sys
+import numpy as np
+
+from distutils.core import setup
+from distutils.extension import Extension
+from Cython.Distutils import build_ext
+from Cython.Build import cythonize
+
+# HACK for passing source files via command line
+sources_index = sys.argv.index('--sources')
+sources = sys.argv[(sources_index + 1):]
+sys.argv = sys.argv[:sources_index]
+
+extra_params = {
+    'include_dirs': [
+        np.get_include()
+    ],
+    'extra_compile_args': [
+        "-O2",
+        "-Wno-unused-variable",
+        "-Wall",
+        "-pedantic",
+        "-Wshadow",
+        "-Wfloat-equal",
+        "-O3",
+        "-Wconversion",
+        "-Wsign-conversion",
+        "-finline-functions",
+        "-fPIC",
+        "-DLINUX",
+        "-D__USE_LONG_INTEGERS__",
+        "-D__USE_LONG_FINTS__",
+        "-D__NO_COPYRIGHT__",
+        ],
+    'extra_link_args': ["-Wl,--as-needed"],
+    'language': 'c++'
+}
+
+ext_modules = [
+    Extension("qpoases", sources, **extra_params),
+]
+
+setup(
+    name='qpOASES interface',
+    cmdclass={'build_ext': build_ext},
+    ext_modules=cythonize(ext_modules),
+)