diff --git a/cartographer_grpc/framework/completion_queue_thread.cc b/cartographer_grpc/framework/completion_queue_thread.cc
new file mode 100644
index 0000000..85ba092
--- /dev/null
+++ b/cartographer_grpc/framework/completion_queue_thread.cc
@@ -0,0 +1,36 @@
+/*
+ * Copyright 2017 The Cartographer Authors
+ *
+ * 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.
+ */
+
+#include "cartographer_grpc/framework/completion_queue_thread.h"
+
+#include "cartographer/common/make_unique.h"
+#include "glog/logging.h"
+
+namespace cartographer_grpc {
+namespace framework {
+
+CompletionQueueThread::CompletionQueueThread(
+    std::unique_ptr<::grpc::ServerCompletionQueue> completion_queue)
+    : completion_queue_(std::move(completion_queue)) {}
+
+void CompletionQueueThread::Start(CompletionQueueRunner runner) {
+  CHECK(!worker_thread_);
+  worker_thread_ = cartographer::common::make_unique<std::thread>(
+      [this, runner]() { runner(this->completion_queue_.get()); });
+}
+
+}  // namespace framework
+}  // namespace cartographer_grpc
diff --git a/cartographer_grpc/framework/completion_queue_thread.h b/cartographer_grpc/framework/completion_queue_thread.h
new file mode 100644
index 0000000..a014a70
--- /dev/null
+++ b/cartographer_grpc/framework/completion_queue_thread.h
@@ -0,0 +1,45 @@
+/*
+ * Copyright 2017 The Cartographer Authors
+ *
+ * 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.
+ */
+
+#ifndef CARTOGRAPHER_COMPLETION_QUEUE_THREAD_H
+#define CARTOGRAPHER_COMPLETION_QUEUE_THREAD_H
+
+#include <grpc++/grpc++.h>
+#include <memory>
+#include <thread>
+
+namespace cartographer_grpc {
+namespace framework {
+
+class CompletionQueueThread {
+ public:
+  using CompletionQueueRunner =
+      std::function<void(::grpc::ServerCompletionQueue*)>;
+
+  explicit CompletionQueueThread(
+      std::unique_ptr<::grpc::ServerCompletionQueue> completion_queue);
+
+  void Start(CompletionQueueRunner runner);
+
+ private:
+  std::unique_ptr<::grpc::ServerCompletionQueue> completion_queue_;
+  std::unique_ptr<std::thread> worker_thread_;
+};
+
+}  // namespace framework
+}  // namespace cartographer_grpc
+
+#endif  // CARTOGRAPHER_COMPLETION_QUEUE_THREAD_H
diff --git a/cartographer_grpc/framework/rpc_handler.h b/cartographer_grpc/framework/rpc_handler.h
new file mode 100644
index 0000000..9965dbe
--- /dev/null
+++ b/cartographer_grpc/framework/rpc_handler.h
@@ -0,0 +1,43 @@
+/*
+ * Copyright 2017 The Cartographer Authors
+ *
+ * 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.
+ */
+
+#ifndef CARTOGRAPHER_GRPC_FRAMEWORK_RPC_HANDLER_H
+#define CARTOGRAPHER_GRPC_FRAMEWORK_RPC_HANDLER_H
+
+#include "google/protobuf/message.h"
+
+namespace cartographer_grpc {
+namespace framework {
+
+class Rpc;
+class RpcHandlerInterface {
+ public:
+  void SetRpc(Rpc* rpc);
+};
+
+using RpcHandlerFactory =
+    std::function<std::unique_ptr<RpcHandlerInterface>(Rpc*)>;
+
+struct RpcHandlerInfo {
+  const google::protobuf::Descriptor* request_descriptor;
+  const google::protobuf::Descriptor* response_descriptor;
+  const RpcHandlerFactory rpc_handler_factory;
+};
+
+}  // namespace framework
+}  // namespace cartographer_grpc
+
+#endif  // CARTOGRAPHER_GRPC_FRAMEWORK_RPC_HANDLER_H
diff --git a/cartographer_grpc/framework/server.cc b/cartographer_grpc/framework/server.cc
new file mode 100644
index 0000000..83924d2
--- /dev/null
+++ b/cartographer_grpc/framework/server.cc
@@ -0,0 +1,65 @@
+/*
+ * Copyright 2017 The Cartographer Authors
+ *
+ * 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.
+ */
+
+#include "cartographer_grpc/framework/server.h"
+
+#include "cartographer/common/make_unique.h"
+#include "glog/logging.h"
+
+namespace cartographer_grpc {
+namespace framework {
+
+void Server::Builder::SetNumberOfThreads(const size_t number_of_threads) {
+  options_.number_of_threads = number_of_threads;
+}
+
+void Server::Builder::SetServerAddress(const std::string& server_address) {
+  options_.server_address = server_address;
+}
+
+std::unique_ptr<Server> Server::Builder::Build() {
+  std::unique_ptr<Server> server(new Server(options_));
+  for (const auto& service_handlers : rpc_handlers_) {
+    server->AddService(service_handlers.first, service_handlers.second);
+  }
+  return server;
+}
+
+Server::Server(const Options& options) : options_(options) {
+  server_builder_.AddListeningPort(options_.server_address,
+                                   grpc::InsecureServerCredentials());
+
+  // Set up completion queues threads.
+  for (size_t i = 0; i < options_.number_of_threads; ++i) {
+    completion_queue_threads_.emplace_back(
+        server_builder_.AddCompletionQueue());
+  }
+}
+
+void Server::AddService(
+    const std::string& service_name,
+    const std::map<std::string, RpcHandlerInfo>& rpc_handler_infos) {
+  // Instantiate and register service.
+  const auto result =
+      services_.emplace(std::piecewise_construct, std::make_tuple(service_name),
+                        std::make_tuple(rpc_handler_infos));
+  CHECK(result.second) << "A service named " << service_name
+                       << " already exists.";
+  server_builder_.RegisterService(&result.first->second);
+}
+
+}  // namespace framework
+}  // namespace cartographer_grpc
diff --git a/cartographer_grpc/framework/server.h b/cartographer_grpc/framework/server.h
new file mode 100644
index 0000000..b81a862
--- /dev/null
+++ b/cartographer_grpc/framework/server.h
@@ -0,0 +1,104 @@
+/*
+ * Copyright 2017 The Cartographer Authors
+ *
+ * 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.
+ */
+
+#ifndef CARTOGRAPHER_GRPC_FRAMEWORK_SERVER_H
+#define CARTOGRAPHER_GRPC_FRAMEWORK_SERVER_H
+
+#include <cstddef>
+#include <memory>
+#include <string>
+#include <thread>
+
+#include "cartographer/common/make_unique.h"
+#include "cartographer_grpc/framework/completion_queue_thread.h"
+#include "cartographer_grpc/framework/rpc_handler.h"
+#include "cartographer_grpc/framework/service.h"
+#include "grpc++/grpc++.h"
+
+namespace cartographer_grpc {
+namespace framework {
+
+class Server {
+ private:
+  // All options that configure server behaviour such as number of threads,
+  // ports etc.
+  struct Options {
+    size_t number_of_threads = 4;
+    std::string server_address = "0.0.0.0:50051";
+  };
+
+ public:
+  // This 'Builder' is the only way to construct a 'Server'.
+  class Builder {
+   public:
+    Builder() = default;
+
+    std::unique_ptr<Server> Build();
+    void SetNumberOfThreads(std::size_t number_of_threads);
+    void SetServerAddress(const std::string& server_address);
+
+    template <typename RpcHandlerType, typename ServiceType>
+    void RegisterHandler(const std::string& method_name) {
+      rpc_handlers_[ServiceType::service_full_name()].emplace(
+          method_name,
+          RpcHandlerInfo{
+              RpcHandlerType::RequestType::default_instance().GetDescriptor(),
+              RpcHandlerType::ResponseType::default_instance().GetDescriptor(),
+              [](Rpc* const rpc) {
+                std::unique_ptr<RpcHandlerInterface> rpc_handler =
+                    cartographer::common::make_unique<RpcHandlerType>();
+                rpc_handler->SetRpc(rpc);
+                return rpc_handler;
+              }});
+    }
+
+   private:
+    using ServiceInfo = std::map<std::string, RpcHandlerInfo>;
+
+    Options options_;
+    std::map<std::string, ServiceInfo> rpc_handlers_;
+  };
+  friend class Builder;
+
+  // Starts a server and waits for its termination.
+  void StartAndWait();
+
+ private:
+  Server(const Options& options);
+  Server(const Server&) = delete;
+  Server& operator=(const Server&) = delete;
+
+  void AddService(
+      const std::string& service_name,
+      const std::map<std::string, RpcHandlerInfo>& rpc_handler_infos);
+
+  Options options_;
+
+  // gRPC objects needed to build a server.
+  ::grpc::ServerBuilder server_builder_;
+  std::unique_ptr<::grpc::Server> server_;
+
+  // Threads processing the completion queues.
+  std::vector<CompletionQueueThread> completion_queue_threads_;
+
+  // Map of service names to services.
+  std::map<std::string, Service> services_;
+};
+
+}  // namespace framework
+}  // namespace cartographer_grpc
+
+#endif  // CARTOGRAPHER_GRPC_FRAMEWORK_SERVER_H
diff --git a/cartographer_grpc/framework/service.cc b/cartographer_grpc/framework/service.cc
new file mode 100644
index 0000000..973d555
--- /dev/null
+++ b/cartographer_grpc/framework/service.cc
@@ -0,0 +1,26 @@
+/*
+ * Copyright 2017 The Cartographer Authors
+ *
+ * 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.
+ */
+
+#include "cartographer_grpc/framework/server.h"
+
+namespace cartographer_grpc {
+namespace framework {
+
+Service::Service(const std::map<std::string, RpcHandlerInfo>& rpc_handlers)
+    : rpc_handlers_(rpc_handlers) {}
+
+}  // namespace framework
+}  // namespace cartographer_grpc
diff --git a/cartographer_grpc/framework/service.h b/cartographer_grpc/framework/service.h
new file mode 100644
index 0000000..fac13c1
--- /dev/null
+++ b/cartographer_grpc/framework/service.h
@@ -0,0 +1,41 @@
+/*
+ * Copyright 2017 The Cartographer Authors
+ *
+ * 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.
+ */
+
+#ifndef CARTOGRAPHER_GRPC_FRAMEWORK_SERVICE_H
+#define CARTOGRAPHER_GRPC_FRAMEWORK_SERVICE_H
+
+#include "cartographer_grpc/framework/rpc_handler.h"
+#include "grpc++/impl/codegen/service_type.h"
+
+namespace cartographer_grpc {
+namespace framework {
+
+// A 'Service' represents a generic service for gRPC asynchronous methods and is
+// responsible for managing the lifetime of active RPCs issued against methods
+// of the service and distributing incoming gRPC events to their respective
+// 'Rpc' handler objects.
+class Service : public ::grpc::Service {
+ public:
+  Service(const std::map<std::string, RpcHandlerInfo>& rpc_handlers);
+
+ private:
+  std::map<std::string, RpcHandlerInfo> rpc_handlers_;
+};
+
+}  // namespace framework
+}  // namespace cartographer_grpc
+
+#endif  // CARTOGRAPHER_GRPC_FRAMEWORK_SERVICE_H