diff --git a/workspace/virtuallab/build/CMakeCache.txt b/workspace/virtuallab/build/CMakeCache.txt
index 076b2f57d0685cab8ceb831ab00f5e3e6ec00c38..b71f35ee3d78b9994c30973a36fed6b0e15805a9 100644
--- a/workspace/virtuallab/build/CMakeCache.txt
+++ b/workspace/virtuallab/build/CMakeCache.txt
@@ -14,6 +14,12 @@
 # EXTERNAL cache entries
 ########################
 
+//Path to a file.
+ARMADILLO_INCLUDE_DIR:PATH=/usr/include
+
+//Path to a library.
+ARMADILLO_LIBRARY:FILEPATH=/usr/lib/libarmadillo.so
+
 //Builds the googlemock subproject
 BUILD_GMOCK:BOOL=ON
 
@@ -263,6 +269,9 @@ LSB_RELEASE_EXECUTABLE:FILEPATH=/usr/bin/lsb_release
 //Path to a program.
 NOSETESTS:FILEPATH=/usr/bin/nosetests-2.7
 
+//The directory containing a CMake configuration file for OpenCV.
+OpenCV_DIR:PATH=/usr/share/OpenCV
+
 //pkg-config executable
 PKG_CONFIG_EXECUTABLE:FILEPATH=/usr/bin/pkg-config
 
@@ -302,6 +311,18 @@ Protobuf_PROTOC_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libprotoc.so
 //Path to a library.
 Protobuf_PROTOC_LIBRARY_RELEASE:FILEPATH=/usr/lib/x86_64-linux-gnu/libprotoc.so
 
+//The directory containing a CMake configuration file for Qt5Core.
+Qt5Core_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/Qt5Core
+
+//The directory containing a CMake configuration file for Qt5Gui.
+Qt5Gui_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/Qt5Gui
+
+//The directory containing a CMake configuration file for Qt5Widgets.
+Qt5Widgets_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/Qt5Widgets
+
+//The directory containing a CMake configuration file for Qt5.
+Qt5_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/Qt5
+
 //Path to a library.
 RT_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/librt.so
 
@@ -329,6 +350,18 @@ _gtest_INCLUDES:FILEPATH=/usr/include/gtest/gtest.h
 //Path to a file.
 _gtest_SOURCES:FILEPATH=/usr/src/gtest/src/gtest.cc
 
+//The directory containing a CMake configuration file for actionlib.
+actionlib_DIR:PATH=/opt/ros/melodic/share/actionlib/cmake
+
+//The directory containing a CMake configuration file for actionlib_msgs.
+actionlib_msgs_DIR:PATH=/opt/ros/melodic/share/actionlib_msgs/cmake
+
+//The directory containing a CMake configuration file for bond.
+bond_DIR:PATH=/opt/ros/melodic/share/bond/cmake
+
+//The directory containing a CMake configuration file for bondcpp.
+bondcpp_DIR:PATH=/opt/ros/melodic/share/bondcpp/cmake
+
 //Value Computed by CMake
 camera_calib_BINARY_DIR:STATIC=/home/job/workspace/virtuallab/build/camera_calib
 
@@ -371,6 +404,9 @@ cpp_common_DIR:PATH=/opt/ros/melodic/share/cpp_common/cmake
 //The directory containing a CMake configuration file for cv_bridge.
 cv_bridge_DIR:PATH=/opt/ros/melodic/share/cv_bridge/cmake
 
+//The directory containing a CMake configuration file for dynamic_reconfigure.
+dynamic_reconfigure_DIR:PATH=/opt/ros/melodic/share/dynamic_reconfigure/cmake
+
 //The directory containing a CMake configuration file for gencpp.
 gencpp_DIR:PATH=/opt/ros/melodic/share/gencpp/cmake
 
@@ -450,9 +486,24 @@ image_process_SOURCE_DIR:STATIC=/home/job/workspace/virtuallab/src/image_process
 //The directory containing a CMake configuration file for image_transport.
 image_transport_DIR:PATH=/opt/ros/melodic/share/image_transport/cmake
 
+//The directory containing a CMake configuration file for interactive_markers.
+interactive_markers_DIR:PATH=/opt/ros/melodic/share/interactive_markers/cmake
+
+//The directory containing a CMake configuration file for laser_geometry.
+laser_geometry_DIR:PATH=/opt/ros/melodic/share/laser_geometry/cmake
+
+//Value Computed by CMake
+laser_scan_convert_BINARY_DIR:STATIC=/home/job/workspace/virtuallab/build/laser_scan_convert
+
+//Value Computed by CMake
+laser_scan_convert_SOURCE_DIR:STATIC=/home/job/workspace/virtuallab/src/laser_scan_convert
+
 //Path to a library.
 lib:FILEPATH=/opt/ros/melodic/lib/libcamera_calibration_parsers.so
 
+//The directory containing a CMake configuration file for map_msgs.
+map_msgs_DIR:PATH=/opt/ros/melodic/share/map_msgs/cmake
+
 //The directory containing a CMake configuration file for message_filters.
 message_filters_DIR:PATH=/opt/ros/melodic/share/message_filters/cmake
 
@@ -462,6 +513,51 @@ message_generation_DIR:PATH=/opt/ros/melodic/share/message_generation/cmake
 //The directory containing a CMake configuration file for message_runtime.
 message_runtime_DIR:PATH=/opt/ros/melodic/share/message_runtime/cmake
 
+//Value Computed by CMake
+multi_object_tracking_lidar_BINARY_DIR:STATIC=/home/job/workspace/virtuallab/build/multiple-object-tracking-lidar
+
+//Value Computed by CMake
+multi_object_tracking_lidar_SOURCE_DIR:STATIC=/home/job/workspace/virtuallab/src/multiple-object-tracking-lidar
+
+//The directory containing a CMake configuration file for nav_msgs.
+nav_msgs_DIR:PATH=/opt/ros/melodic/share/nav_msgs/cmake
+
+//The directory containing a CMake configuration file for nodelet.
+nodelet_DIR:PATH=/opt/ros/melodic/share/nodelet/cmake
+
+//The directory containing a CMake configuration file for nodelet_topic_tools.
+nodelet_topic_tools_DIR:PATH=/opt/ros/melodic/share/nodelet_topic_tools/cmake
+
+//Value Computed by CMake
+obstacle_detector_BINARY_DIR:STATIC=/home/job/workspace/virtuallab/build/obstacle_detector
+
+//Value Computed by CMake
+obstacle_detector_SOURCE_DIR:STATIC=/home/job/workspace/virtuallab/src/obstacle_detector
+
+//Dependencies for the target
+obstacle_detector_gui_LIB_DEPENDS:STATIC=general;Qt5::Widgets;general;/opt/ros/melodic/lib/libnodeletlib.so;general;/opt/ros/melodic/lib/libbondcpp.so;general;/usr/lib/x86_64-linux-gnu/libuuid.so;general;/opt/ros/melodic/lib/librviz.so;general;/usr/lib/x86_64-linux-gnu/libOgreOverlay.so;general;/usr/lib/x86_64-linux-gnu/libOgreMain.so;general;/usr/lib/x86_64-linux-gnu/libGL.so;general;/usr/lib/x86_64-linux-gnu/libGLU.so;general;/opt/ros/melodic/lib/libimage_transport.so;general;/opt/ros/melodic/lib/libinteractive_markers.so;general;/opt/ros/melodic/lib/libresource_retriever.so;general;/opt/ros/melodic/lib/liburdf.so;general;/usr/lib/x86_64-linux-gnu/liburdfdom_sensor.so;general;/usr/lib/x86_64-linux-gnu/liburdfdom_model_state.so;general;/usr/lib/x86_64-linux-gnu/liburdfdom_model.so;general;/usr/lib/x86_64-linux-gnu/liburdfdom_world.so;general;/usr/lib/x86_64-linux-gnu/libtinyxml.so;general;/opt/ros/melodic/lib/libclass_loader.so;general;/usr/lib/libPocoFoundation.so;general;/usr/lib/x86_64-linux-gnu/libdl.so;general;/opt/ros/melodic/lib/libroslib.so;general;/opt/ros/melodic/lib/librospack.so;general;/usr/lib/x86_64-linux-gnu/libpython2.7.so;general;/usr/lib/x86_64-linux-gnu/libboost_program_options.so;general;/usr/lib/x86_64-linux-gnu/libtinyxml2.so;general;/opt/ros/melodic/lib/librosconsole_bridge.so;general;/opt/ros/melodic/lib/liblaser_geometry.so;general;/opt/ros/melodic/lib/libtf.so;general;/opt/ros/melodic/lib/libtf2_ros.so;general;/opt/ros/melodic/lib/libactionlib.so;general;/opt/ros/melodic/lib/libmessage_filters.so;general;/opt/ros/melodic/lib/libroscpp.so;general;/usr/lib/x86_64-linux-gnu/libboost_filesystem.so;general;/opt/ros/melodic/lib/libxmlrpcpp.so;general;/opt/ros/melodic/lib/librosconsole.so;general;/opt/ros/melodic/lib/librosconsole_log4cxx.so;general;/opt/ros/melodic/lib/librosconsole_backend_interface.so;general;/usr/lib/x86_64-linux-gnu/liblog4cxx.so;general;/usr/lib/x86_64-linux-gnu/libboost_regex.so;general;/opt/ros/melodic/lib/libtf2.so;general;/opt/ros/melodic/lib/libroscpp_serialization.so;general;/opt/ros/melodic/lib/librostime.so;general;/opt/ros/melodic/lib/libcpp_common.so;general;/usr/lib/x86_64-linux-gnu/libboost_system.so;general;/usr/lib/x86_64-linux-gnu/libboost_thread.so;general;/usr/lib/x86_64-linux-gnu/libboost_chrono.so;general;/usr/lib/x86_64-linux-gnu/libboost_date_time.so;general;/usr/lib/x86_64-linux-gnu/libboost_atomic.so;general;/usr/lib/x86_64-linux-gnu/libpthread.so;general;/usr/lib/x86_64-linux-gnu/libconsole_bridge.so.0.4;
+
+//Dependencies for the target
+obstacle_detector_nodelets_LIB_DEPENDS:STATIC=general;scans_merger;general;obstacle_extractor;general;obstacle_tracker;general;obstacle_publisher;
+
+//Dependencies for the target
+obstacle_extractor_LIB_DEPENDS:STATIC=general;/opt/ros/melodic/lib/libnodeletlib.so;general;/opt/ros/melodic/lib/libbondcpp.so;general;/usr/lib/x86_64-linux-gnu/libuuid.so;general;/opt/ros/melodic/lib/librviz.so;general;/usr/lib/x86_64-linux-gnu/libOgreOverlay.so;general;/usr/lib/x86_64-linux-gnu/libOgreMain.so;general;/usr/lib/x86_64-linux-gnu/libGL.so;general;/usr/lib/x86_64-linux-gnu/libGLU.so;general;/opt/ros/melodic/lib/libimage_transport.so;general;/opt/ros/melodic/lib/libinteractive_markers.so;general;/opt/ros/melodic/lib/libresource_retriever.so;general;/opt/ros/melodic/lib/liburdf.so;general;/usr/lib/x86_64-linux-gnu/liburdfdom_sensor.so;general;/usr/lib/x86_64-linux-gnu/liburdfdom_model_state.so;general;/usr/lib/x86_64-linux-gnu/liburdfdom_model.so;general;/usr/lib/x86_64-linux-gnu/liburdfdom_world.so;general;/usr/lib/x86_64-linux-gnu/libtinyxml.so;general;/opt/ros/melodic/lib/libclass_loader.so;general;/usr/lib/libPocoFoundation.so;general;/usr/lib/x86_64-linux-gnu/libdl.so;general;/opt/ros/melodic/lib/libroslib.so;general;/opt/ros/melodic/lib/librospack.so;general;/usr/lib/x86_64-linux-gnu/libpython2.7.so;general;/usr/lib/x86_64-linux-gnu/libboost_program_options.so;general;/usr/lib/x86_64-linux-gnu/libtinyxml2.so;general;/opt/ros/melodic/lib/librosconsole_bridge.so;general;/opt/ros/melodic/lib/liblaser_geometry.so;general;/opt/ros/melodic/lib/libtf.so;general;/opt/ros/melodic/lib/libtf2_ros.so;general;/opt/ros/melodic/lib/libactionlib.so;general;/opt/ros/melodic/lib/libmessage_filters.so;general;/opt/ros/melodic/lib/libroscpp.so;general;/usr/lib/x86_64-linux-gnu/libboost_filesystem.so;general;/opt/ros/melodic/lib/libxmlrpcpp.so;general;/opt/ros/melodic/lib/librosconsole.so;general;/opt/ros/melodic/lib/librosconsole_log4cxx.so;general;/opt/ros/melodic/lib/librosconsole_backend_interface.so;general;/usr/lib/x86_64-linux-gnu/liblog4cxx.so;general;/usr/lib/x86_64-linux-gnu/libboost_regex.so;general;/opt/ros/melodic/lib/libtf2.so;general;/opt/ros/melodic/lib/libroscpp_serialization.so;general;/opt/ros/melodic/lib/librostime.so;general;/opt/ros/melodic/lib/libcpp_common.so;general;/usr/lib/x86_64-linux-gnu/libboost_system.so;general;/usr/lib/x86_64-linux-gnu/libboost_thread.so;general;/usr/lib/x86_64-linux-gnu/libboost_chrono.so;general;/usr/lib/x86_64-linux-gnu/libboost_date_time.so;general;/usr/lib/x86_64-linux-gnu/libboost_atomic.so;general;/usr/lib/x86_64-linux-gnu/libpthread.so;general;/usr/lib/x86_64-linux-gnu/libconsole_bridge.so.0.4;general;/usr/lib/libarmadillo.so;
+
+//Dependencies for the target
+obstacle_publisher_LIB_DEPENDS:STATIC=general;/opt/ros/melodic/lib/libnodeletlib.so;general;/opt/ros/melodic/lib/libbondcpp.so;general;/usr/lib/x86_64-linux-gnu/libuuid.so;general;/opt/ros/melodic/lib/librviz.so;general;/usr/lib/x86_64-linux-gnu/libOgreOverlay.so;general;/usr/lib/x86_64-linux-gnu/libOgreMain.so;general;/usr/lib/x86_64-linux-gnu/libGL.so;general;/usr/lib/x86_64-linux-gnu/libGLU.so;general;/opt/ros/melodic/lib/libimage_transport.so;general;/opt/ros/melodic/lib/libinteractive_markers.so;general;/opt/ros/melodic/lib/libresource_retriever.so;general;/opt/ros/melodic/lib/liburdf.so;general;/usr/lib/x86_64-linux-gnu/liburdfdom_sensor.so;general;/usr/lib/x86_64-linux-gnu/liburdfdom_model_state.so;general;/usr/lib/x86_64-linux-gnu/liburdfdom_model.so;general;/usr/lib/x86_64-linux-gnu/liburdfdom_world.so;general;/usr/lib/x86_64-linux-gnu/libtinyxml.so;general;/opt/ros/melodic/lib/libclass_loader.so;general;/usr/lib/libPocoFoundation.so;general;/usr/lib/x86_64-linux-gnu/libdl.so;general;/opt/ros/melodic/lib/libroslib.so;general;/opt/ros/melodic/lib/librospack.so;general;/usr/lib/x86_64-linux-gnu/libpython2.7.so;general;/usr/lib/x86_64-linux-gnu/libboost_program_options.so;general;/usr/lib/x86_64-linux-gnu/libtinyxml2.so;general;/opt/ros/melodic/lib/librosconsole_bridge.so;general;/opt/ros/melodic/lib/liblaser_geometry.so;general;/opt/ros/melodic/lib/libtf.so;general;/opt/ros/melodic/lib/libtf2_ros.so;general;/opt/ros/melodic/lib/libactionlib.so;general;/opt/ros/melodic/lib/libmessage_filters.so;general;/opt/ros/melodic/lib/libroscpp.so;general;/usr/lib/x86_64-linux-gnu/libboost_filesystem.so;general;/opt/ros/melodic/lib/libxmlrpcpp.so;general;/opt/ros/melodic/lib/librosconsole.so;general;/opt/ros/melodic/lib/librosconsole_log4cxx.so;general;/opt/ros/melodic/lib/librosconsole_backend_interface.so;general;/usr/lib/x86_64-linux-gnu/liblog4cxx.so;general;/usr/lib/x86_64-linux-gnu/libboost_regex.so;general;/opt/ros/melodic/lib/libtf2.so;general;/opt/ros/melodic/lib/libroscpp_serialization.so;general;/opt/ros/melodic/lib/librostime.so;general;/opt/ros/melodic/lib/libcpp_common.so;general;/usr/lib/x86_64-linux-gnu/libboost_system.so;general;/usr/lib/x86_64-linux-gnu/libboost_thread.so;general;/usr/lib/x86_64-linux-gnu/libboost_chrono.so;general;/usr/lib/x86_64-linux-gnu/libboost_date_time.so;general;/usr/lib/x86_64-linux-gnu/libboost_atomic.so;general;/usr/lib/x86_64-linux-gnu/libpthread.so;general;/usr/lib/x86_64-linux-gnu/libconsole_bridge.so.0.4;
+
+//Dependencies for the target
+obstacle_tracker_LIB_DEPENDS:STATIC=general;/opt/ros/melodic/lib/libnodeletlib.so;general;/opt/ros/melodic/lib/libbondcpp.so;general;/usr/lib/x86_64-linux-gnu/libuuid.so;general;/opt/ros/melodic/lib/librviz.so;general;/usr/lib/x86_64-linux-gnu/libOgreOverlay.so;general;/usr/lib/x86_64-linux-gnu/libOgreMain.so;general;/usr/lib/x86_64-linux-gnu/libGL.so;general;/usr/lib/x86_64-linux-gnu/libGLU.so;general;/opt/ros/melodic/lib/libimage_transport.so;general;/opt/ros/melodic/lib/libinteractive_markers.so;general;/opt/ros/melodic/lib/libresource_retriever.so;general;/opt/ros/melodic/lib/liburdf.so;general;/usr/lib/x86_64-linux-gnu/liburdfdom_sensor.so;general;/usr/lib/x86_64-linux-gnu/liburdfdom_model_state.so;general;/usr/lib/x86_64-linux-gnu/liburdfdom_model.so;general;/usr/lib/x86_64-linux-gnu/liburdfdom_world.so;general;/usr/lib/x86_64-linux-gnu/libtinyxml.so;general;/opt/ros/melodic/lib/libclass_loader.so;general;/usr/lib/libPocoFoundation.so;general;/usr/lib/x86_64-linux-gnu/libdl.so;general;/opt/ros/melodic/lib/libroslib.so;general;/opt/ros/melodic/lib/librospack.so;general;/usr/lib/x86_64-linux-gnu/libpython2.7.so;general;/usr/lib/x86_64-linux-gnu/libboost_program_options.so;general;/usr/lib/x86_64-linux-gnu/libtinyxml2.so;general;/opt/ros/melodic/lib/librosconsole_bridge.so;general;/opt/ros/melodic/lib/liblaser_geometry.so;general;/opt/ros/melodic/lib/libtf.so;general;/opt/ros/melodic/lib/libtf2_ros.so;general;/opt/ros/melodic/lib/libactionlib.so;general;/opt/ros/melodic/lib/libmessage_filters.so;general;/opt/ros/melodic/lib/libroscpp.so;general;/usr/lib/x86_64-linux-gnu/libboost_filesystem.so;general;/opt/ros/melodic/lib/libxmlrpcpp.so;general;/opt/ros/melodic/lib/librosconsole.so;general;/opt/ros/melodic/lib/librosconsole_log4cxx.so;general;/opt/ros/melodic/lib/librosconsole_backend_interface.so;general;/usr/lib/x86_64-linux-gnu/liblog4cxx.so;general;/usr/lib/x86_64-linux-gnu/libboost_regex.so;general;/opt/ros/melodic/lib/libtf2.so;general;/opt/ros/melodic/lib/libroscpp_serialization.so;general;/opt/ros/melodic/lib/librostime.so;general;/opt/ros/melodic/lib/libcpp_common.so;general;/usr/lib/x86_64-linux-gnu/libboost_system.so;general;/usr/lib/x86_64-linux-gnu/libboost_thread.so;general;/usr/lib/x86_64-linux-gnu/libboost_chrono.so;general;/usr/lib/x86_64-linux-gnu/libboost_date_time.so;general;/usr/lib/x86_64-linux-gnu/libboost_atomic.so;general;/usr/lib/x86_64-linux-gnu/libpthread.so;general;/usr/lib/x86_64-linux-gnu/libconsole_bridge.so.0.4;general;/usr/lib/libarmadillo.so;
+
+//The directory containing a CMake configuration file for pcl_conversions.
+pcl_conversions_DIR:PATH=/opt/ros/melodic/share/pcl_conversions/cmake
+
+//The directory containing a CMake configuration file for pcl_msgs.
+pcl_msgs_DIR:PATH=/opt/ros/melodic/share/pcl_msgs/cmake
+
+//The directory containing a CMake configuration file for pcl_ros.
+pcl_ros_DIR:PATH=/opt/ros/melodic/share/pcl_ros/cmake
+
 //Value Computed by CMake
 pgm_map_creator_BINARY_DIR:STATIC=/home/job/workspace/virtuallab/build/pgm_map_creator
 
@@ -471,6 +567,9 @@ pgm_map_creator_SOURCE_DIR:STATIC=/home/job/workspace/virtuallab/src/pgm_map_cre
 //The directory containing a CMake configuration file for pluginlib.
 pluginlib_DIR:PATH=/opt/ros/melodic/share/pluginlib/cmake
 
+//The directory containing a CMake configuration file for resource_retriever.
+resource_retriever_DIR:PATH=/opt/ros/melodic/share/resource_retriever/cmake
+
 //Value Computed by CMake
 robot_classifier_BINARY_DIR:STATIC=/home/job/workspace/virtuallab/build/robot_classifier
 
@@ -483,9 +582,18 @@ robot_mapping_BINARY_DIR:STATIC=/home/job/workspace/virtuallab/build/robot_mappi
 //Value Computed by CMake
 robot_mapping_SOURCE_DIR:STATIC=/home/job/workspace/virtuallab/src/robot_mapping
 
+//The directory containing a CMake configuration file for rosbag.
+rosbag_DIR:PATH=/opt/ros/melodic/share/rosbag/cmake
+
+//The directory containing a CMake configuration file for rosbag_storage.
+rosbag_storage_DIR:PATH=/opt/ros/melodic/share/rosbag_storage/cmake
+
 //The directory containing a CMake configuration file for rosconsole.
 rosconsole_DIR:PATH=/opt/ros/melodic/share/rosconsole/cmake
 
+//The directory containing a CMake configuration file for rosconsole_bridge.
+rosconsole_bridge_DIR:PATH=/opt/ros/melodic/share/rosconsole_bridge/cmake
+
 //The directory containing a CMake configuration file for roscpp.
 roscpp_DIR:PATH=/opt/ros/melodic/share/roscpp/cmake
 
@@ -495,12 +603,21 @@ roscpp_serialization_DIR:PATH=/opt/ros/melodic/share/roscpp_serialization/cmake
 //The directory containing a CMake configuration file for roscpp_traits.
 roscpp_traits_DIR:PATH=/opt/ros/melodic/share/roscpp_traits/cmake
 
+//The directory containing a CMake configuration file for rosgraph.
+rosgraph_DIR:PATH=/opt/ros/melodic/share/rosgraph/cmake
+
 //The directory containing a CMake configuration file for rosgraph_msgs.
 rosgraph_msgs_DIR:PATH=/opt/ros/melodic/share/rosgraph_msgs/cmake
 
+//The directory containing a CMake configuration file for roslaunch.
+roslaunch_DIR:PATH=/opt/ros/melodic/share/roslaunch/cmake
+
 //The directory containing a CMake configuration file for roslib.
 roslib_DIR:PATH=/opt/ros/melodic/share/roslib/cmake
 
+//The directory containing a CMake configuration file for roslz4.
+roslz4_DIR:PATH=/opt/ros/melodic/share/roslz4/cmake
+
 //The directory containing a CMake configuration file for rospack.
 rospack_DIR:PATH=/opt/ros/melodic/share/rospack/cmake
 
@@ -510,9 +627,18 @@ rospy_DIR:PATH=/opt/ros/melodic/share/rospy/cmake
 //The directory containing a CMake configuration file for rostime.
 rostime_DIR:PATH=/opt/ros/melodic/share/rostime/cmake
 
+//The directory containing a CMake configuration file for rviz.
+rviz_DIR:PATH=/opt/ros/melodic/share/rviz/cmake
+
+//Dependencies for the target
+scans_merger_LIB_DEPENDS:STATIC=general;/opt/ros/melodic/lib/libnodeletlib.so;general;/opt/ros/melodic/lib/libbondcpp.so;general;/usr/lib/x86_64-linux-gnu/libuuid.so;general;/opt/ros/melodic/lib/librviz.so;general;/usr/lib/x86_64-linux-gnu/libOgreOverlay.so;general;/usr/lib/x86_64-linux-gnu/libOgreMain.so;general;/usr/lib/x86_64-linux-gnu/libGL.so;general;/usr/lib/x86_64-linux-gnu/libGLU.so;general;/opt/ros/melodic/lib/libimage_transport.so;general;/opt/ros/melodic/lib/libinteractive_markers.so;general;/opt/ros/melodic/lib/libresource_retriever.so;general;/opt/ros/melodic/lib/liburdf.so;general;/usr/lib/x86_64-linux-gnu/liburdfdom_sensor.so;general;/usr/lib/x86_64-linux-gnu/liburdfdom_model_state.so;general;/usr/lib/x86_64-linux-gnu/liburdfdom_model.so;general;/usr/lib/x86_64-linux-gnu/liburdfdom_world.so;general;/usr/lib/x86_64-linux-gnu/libtinyxml.so;general;/opt/ros/melodic/lib/libclass_loader.so;general;/usr/lib/libPocoFoundation.so;general;/usr/lib/x86_64-linux-gnu/libdl.so;general;/opt/ros/melodic/lib/libroslib.so;general;/opt/ros/melodic/lib/librospack.so;general;/usr/lib/x86_64-linux-gnu/libpython2.7.so;general;/usr/lib/x86_64-linux-gnu/libboost_program_options.so;general;/usr/lib/x86_64-linux-gnu/libtinyxml2.so;general;/opt/ros/melodic/lib/librosconsole_bridge.so;general;/opt/ros/melodic/lib/liblaser_geometry.so;general;/opt/ros/melodic/lib/libtf.so;general;/opt/ros/melodic/lib/libtf2_ros.so;general;/opt/ros/melodic/lib/libactionlib.so;general;/opt/ros/melodic/lib/libmessage_filters.so;general;/opt/ros/melodic/lib/libroscpp.so;general;/usr/lib/x86_64-linux-gnu/libboost_filesystem.so;general;/opt/ros/melodic/lib/libxmlrpcpp.so;general;/opt/ros/melodic/lib/librosconsole.so;general;/opt/ros/melodic/lib/librosconsole_log4cxx.so;general;/opt/ros/melodic/lib/librosconsole_backend_interface.so;general;/usr/lib/x86_64-linux-gnu/liblog4cxx.so;general;/usr/lib/x86_64-linux-gnu/libboost_regex.so;general;/opt/ros/melodic/lib/libtf2.so;general;/opt/ros/melodic/lib/libroscpp_serialization.so;general;/opt/ros/melodic/lib/librostime.so;general;/opt/ros/melodic/lib/libcpp_common.so;general;/usr/lib/x86_64-linux-gnu/libboost_system.so;general;/usr/lib/x86_64-linux-gnu/libboost_thread.so;general;/usr/lib/x86_64-linux-gnu/libboost_chrono.so;general;/usr/lib/x86_64-linux-gnu/libboost_date_time.so;general;/usr/lib/x86_64-linux-gnu/libboost_atomic.so;general;/usr/lib/x86_64-linux-gnu/libpthread.so;general;/usr/lib/x86_64-linux-gnu/libconsole_bridge.so.0.4;
+
 //The directory containing a CMake configuration file for sensor_msgs.
 sensor_msgs_DIR:PATH=/opt/ros/melodic/share/sensor_msgs/cmake
 
+//The directory containing a CMake configuration file for smclib.
+smclib_DIR:PATH=/opt/ros/melodic/share/smclib/cmake
+
 //The directory containing a CMake configuration file for std_msgs.
 std_msgs_DIR:PATH=/opt/ros/melodic/share/std_msgs/cmake
 
@@ -525,6 +651,30 @@ teleop_twist_keyboard_BINARY_DIR:STATIC=/home/job/workspace/virtuallab/build/tel
 //Value Computed by CMake
 teleop_twist_keyboard_SOURCE_DIR:STATIC=/home/job/workspace/virtuallab/src/teleop_twist_keyboard
 
+//The directory containing a CMake configuration file for tf2.
+tf2_DIR:PATH=/opt/ros/melodic/share/tf2/cmake
+
+//The directory containing a CMake configuration file for tf2_eigen.
+tf2_eigen_DIR:PATH=/opt/ros/melodic/share/tf2_eigen/cmake
+
+//The directory containing a CMake configuration file for tf2_msgs.
+tf2_msgs_DIR:PATH=/opt/ros/melodic/share/tf2_msgs/cmake
+
+//The directory containing a CMake configuration file for tf2_py.
+tf2_py_DIR:PATH=/opt/ros/melodic/share/tf2_py/cmake
+
+//The directory containing a CMake configuration file for tf2_ros.
+tf2_ros_DIR:PATH=/opt/ros/melodic/share/tf2_ros/cmake
+
+//The directory containing a CMake configuration file for tf.
+tf_DIR:PATH=/opt/ros/melodic/share/tf/cmake
+
+//The directory containing a CMake configuration file for topic_tools.
+topic_tools_DIR:PATH=/opt/ros/melodic/share/topic_tools/cmake
+
+//The directory containing a CMake configuration file for urdf.
+urdf_DIR:PATH=/opt/ros/melodic/share/urdf/cmake
+
 //Value Computed by CMake
 usb_cam_BINARY_DIR:STATIC=/home/job/workspace/virtuallab/build/usb_cam
 
@@ -540,6 +690,9 @@ virtual_lab_BINARY_DIR:STATIC=/home/job/workspace/virtuallab/build/virtual_lab
 //Value Computed by CMake
 virtual_lab_SOURCE_DIR:STATIC=/home/job/workspace/virtuallab/src/virtual_lab
 
+//The directory containing a CMake configuration file for visualization_msgs.
+visualization_msgs_DIR:PATH=/opt/ros/melodic/share/visualization_msgs/cmake
+
 //The directory containing a CMake configuration file for xmlrpcpp.
 xmlrpcpp_DIR:PATH=/opt/ros/melodic/share/xmlrpcpp/cmake
 
@@ -548,6 +701,10 @@ xmlrpcpp_DIR:PATH=/opt/ros/melodic/share/xmlrpcpp/cmake
 # INTERNAL cache entries
 ########################
 
+//ADVANCED property for variable: ARMADILLO_INCLUDE_DIR
+ARMADILLO_INCLUDE_DIR-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: ARMADILLO_LIBRARY
+ARMADILLO_LIBRARY-ADVANCED:INTERNAL=1
 //ADVANCED property for variable: Boost_DIR
 Boost_DIR-ADVANCED:INTERNAL=1
 //ADVANCED property for variable: Boost_INCLUDE_DIR
@@ -665,7 +822,7 @@ CMAKE_MODULE_LINKER_FLAGS_RELWITHDEBINFO-ADVANCED:INTERNAL=1
 //ADVANCED property for variable: CMAKE_NM
 CMAKE_NM-ADVANCED:INTERNAL=1
 //number of local generators
-CMAKE_NUMBER_OF_MAKEFILES:INTERNAL=13
+CMAKE_NUMBER_OF_MAKEFILES:INTERNAL=15
 //ADVANCED property for variable: CMAKE_OBJCOPY
 CMAKE_OBJCOPY-ADVANCED:INTERNAL=1
 //ADVANCED property for variable: CMAKE_OBJDUMP
@@ -706,6 +863,10 @@ CMAKE_STRIP-ADVANCED:INTERNAL=1
 CMAKE_UNAME:INTERNAL=/bin/uname
 //ADVANCED property for variable: CMAKE_VERBOSE_MAKEFILE
 CMAKE_VERBOSE_MAKEFILE-ADVANCED:INTERNAL=1
+//Details about finding Armadillo
+FIND_PACKAGE_MESSAGE_DETAILS_Armadillo:INTERNAL=[/usr/lib/libarmadillo.so][/usr/include][v8.400.0()]
+//Details about finding OpenCV
+FIND_PACKAGE_MESSAGE_DETAILS_OpenCV:INTERNAL=[/usr][v3.2.0()]
 //Details about finding PkgConfig
 FIND_PACKAGE_MESSAGE_DETAILS_PkgConfig:INTERNAL=[/usr/bin/pkg-config][v0.29.1()]
 //Details about finding Protobuf
diff --git a/workspace/virtuallab/build/CMakeFiles/CMakeRuleHashes.txt b/workspace/virtuallab/build/CMakeFiles/CMakeRuleHashes.txt
index f756d2015140345d3ef291da44bd81fc3b7e816e..bf4419ce311ebd460ce9ea60bbf9c2db1d49b18a 100644
--- a/workspace/virtuallab/build/CMakeFiles/CMakeRuleHashes.txt
+++ b/workspace/virtuallab/build/CMakeFiles/CMakeRuleHashes.txt
@@ -1,14 +1,32 @@
 # Hashes of file build rules.
 482822c9abde948d1a73c9fce078f7dc /home/job/workspace/virtuallab/devel/include/co_robot_drive/DriveToTarget.h
+39b7ba16a7a78046913f60591d656117 /home/job/workspace/virtuallab/devel/include/obstacle_detector/CircleObstacle.h
+0aaf20cb175fdbae9c630b0e3a8f2708 /home/job/workspace/virtuallab/devel/include/obstacle_detector/Obstacles.h
+e90b080facb4e54b74985cb8e77c58b4 /home/job/workspace/virtuallab/devel/include/obstacle_detector/SegmentObstacle.h
 c47ad59203df83d090b45747ffe62d6c /home/job/workspace/virtuallab/devel/lib/python2.7/dist-packages/co_robot_drive/srv/_DriveToTarget.py
 e35271fcfea2bcb894d14e8ed450392f /home/job/workspace/virtuallab/devel/lib/python2.7/dist-packages/co_robot_drive/srv/__init__.py
+3c89d8910b43847ed2933828e609c1bd /home/job/workspace/virtuallab/devel/lib/python2.7/dist-packages/obstacle_detector/msg/_CircleObstacle.py
+efff3fb97867109e4db5f6e7456f3b1f /home/job/workspace/virtuallab/devel/lib/python2.7/dist-packages/obstacle_detector/msg/_Obstacles.py
+e3462f42024beddb50854d973c4954df /home/job/workspace/virtuallab/devel/lib/python2.7/dist-packages/obstacle_detector/msg/_SegmentObstacle.py
+6e299436551b9edb7dd635f34ad2cd63 /home/job/workspace/virtuallab/devel/lib/python2.7/dist-packages/obstacle_detector/msg/__init__.py
 802d3216d6c22ef27cfcdc5531528eb4 /home/job/workspace/virtuallab/devel/share/common-lisp/ros/co_robot_drive/srv/DriveToTarget.lisp
+94fd0a4cad41f7d51963cae34fa6d95e /home/job/workspace/virtuallab/devel/share/common-lisp/ros/obstacle_detector/msg/CircleObstacle.lisp
+11bf8312711156beadcb25604cfe49f3 /home/job/workspace/virtuallab/devel/share/common-lisp/ros/obstacle_detector/msg/Obstacles.lisp
+c831d0a0cb8e3216e1064f913d829dc3 /home/job/workspace/virtuallab/devel/share/common-lisp/ros/obstacle_detector/msg/SegmentObstacle.lisp
 b21f5174afd71637b49a8dbb0a8517da /home/job/workspace/virtuallab/devel/share/gennodejs/ros/co_robot_drive/srv/DriveToTarget.js
+d07a3a0268863d592bffb4adad0bab91 /home/job/workspace/virtuallab/devel/share/gennodejs/ros/obstacle_detector/msg/CircleObstacle.js
+fd382a15b4b3845c2f13bd28b1ade061 /home/job/workspace/virtuallab/devel/share/gennodejs/ros/obstacle_detector/msg/Obstacles.js
+194ca681af3fcaa4ac2751721872285f /home/job/workspace/virtuallab/devel/share/gennodejs/ros/obstacle_detector/msg/SegmentObstacle.js
 b60c2cd155208ed5e16b75ba9ccf0dd6 /home/job/workspace/virtuallab/devel/share/roseus/ros/camera_calib/manifest.l
 6fe66cf9dd765bc1e57e7c29bfc1a0dd /home/job/workspace/virtuallab/devel/share/roseus/ros/camera_sync/manifest.l
 455c4d1e291f415089112be3f2df85f8 /home/job/workspace/virtuallab/devel/share/roseus/ros/co_robot_drive/manifest.l
 b014c828333b3968621258a2f6707e36 /home/job/workspace/virtuallab/devel/share/roseus/ros/co_robot_drive/srv/DriveToTarget.l
 c499d0c23957f2d34f5a21e5920ce31d /home/job/workspace/virtuallab/devel/share/roseus/ros/image_process/manifest.l
+b398bfa109da6118866d5500305aa878 /home/job/workspace/virtuallab/devel/share/roseus/ros/obstacle_detector/manifest.l
+52e60134053526b6eaa5dc5610452f57 /home/job/workspace/virtuallab/devel/share/roseus/ros/obstacle_detector/msg/CircleObstacle.l
+3090144a13fa347582deca92f7f1d37c /home/job/workspace/virtuallab/devel/share/roseus/ros/obstacle_detector/msg/Obstacles.l
+fb9118368e750eea258b988be0d15424 /home/job/workspace/virtuallab/devel/share/roseus/ros/obstacle_detector/msg/SegmentObstacle.l
+83a52691dbe781479050717592555386 /home/job/workspace/virtuallab/devel/share/roseus/ros/robot_mapping/manifest.l
 569684e4adda3ec328f498de6c813a93 CMakeFiles/clean_test_results
 73994e5e43da511d6f6571c20c7829c7 camera_calib/CMakeFiles/camera_calib_generate_messages_eus
 6b1120aad33444f8f479dc4fb9baf345 camera_sync/CMakeFiles/camera_sync_generate_messages_eus
@@ -23,3 +41,4 @@ fdc295b07571670ec4f8aa391a352421 pgm_map_creator/msgs/collision_map_request.pb.c
 6c95f82e6a032774e55539e6eda8563f pgm_map_creator/msgs/header.pb.cc
 0171a94d5acf83264d0ace490292c3d0 pgm_map_creator/msgs/time.pb.cc
 6baec10bb7d0b8e56239f47d91ef124c pgm_map_creator/msgs/vector2d.pb.cc
+2141a1eb4b12f8fab5d21be7d53c42a1 robot_mapping/CMakeFiles/robot_mapping_generate_messages_eus
diff --git a/workspace/virtuallab/build/CMakeFiles/Makefile.cmake b/workspace/virtuallab/build/CMakeFiles/Makefile.cmake
index a6b929f46bd504f8ee0b768973b16c4037205594..c3bd55585ed698d0665cd43dce46bb57bf6a3268 100644
--- a/workspace/virtuallab/build/CMakeFiles/Makefile.cmake
+++ b/workspace/virtuallab/build/CMakeFiles/Makefile.cmake
@@ -33,6 +33,10 @@ set(CMAKE_MAKEFILE_DEPENDS
   "image_process/catkin_generated/ordered_paths.cmake"
   "image_process/catkin_generated/package.cmake"
   "image_process/cmake/image_process-genmsg.cmake"
+  "laser_scan_convert/catkin_generated/ordered_paths.cmake"
+  "laser_scan_convert/catkin_generated/package.cmake"
+  "multiple-object-tracking-lidar/catkin_generated/ordered_paths.cmake"
+  "multiple-object-tracking-lidar/catkin_generated/package.cmake"
   "robot_classifier/catkin_generated/ordered_paths.cmake"
   "robot_classifier/catkin_generated/package.cmake"
   "robot_mapping/catkin_generated/ordered_paths.cmake"
@@ -61,6 +65,10 @@ set(CMAKE_MAKEFILE_DEPENDS
   "/home/job/workspace/virtuallab/src/image_process/CMakeLists.txt"
   "/home/job/workspace/virtuallab/src/image_process/package.xml"
   "/home/job/workspace/virtuallab/src/image_process/scripts/image_process.py"
+  "/home/job/workspace/virtuallab/src/laser_scan_convert/CMakeLists.txt"
+  "/home/job/workspace/virtuallab/src/laser_scan_convert/package.xml"
+  "/home/job/workspace/virtuallab/src/multiple-object-tracking-lidar/CMakeLists.txt"
+  "/home/job/workspace/virtuallab/src/multiple-object-tracking-lidar/package.xml"
   "/home/job/workspace/virtuallab/src/robot_classifier/CMakeLists.txt"
   "/home/job/workspace/virtuallab/src/robot_classifier/package.xml"
   "/home/job/workspace/virtuallab/src/robot_classifier/scripts/robot_detection.py"
@@ -74,6 +82,18 @@ set(CMAKE_MAKEFILE_DEPENDS
   "/home/job/workspace/virtuallab/src/usb_cam/package.xml"
   "/home/job/workspace/virtuallab/src/virtual_lab/CMakeLists.txt"
   "/home/job/workspace/virtuallab/src/virtual_lab/package.xml"
+  "/opt/ros/melodic/share/actionlib/cmake/actionlib-msg-extras.cmake"
+  "/opt/ros/melodic/share/actionlib/cmake/actionlibConfig-version.cmake"
+  "/opt/ros/melodic/share/actionlib/cmake/actionlibConfig.cmake"
+  "/opt/ros/melodic/share/actionlib_msgs/cmake/actionlib_msgs-extras.cmake"
+  "/opt/ros/melodic/share/actionlib_msgs/cmake/actionlib_msgs-msg-extras.cmake"
+  "/opt/ros/melodic/share/actionlib_msgs/cmake/actionlib_msgsConfig-version.cmake"
+  "/opt/ros/melodic/share/actionlib_msgs/cmake/actionlib_msgsConfig.cmake"
+  "/opt/ros/melodic/share/bond/cmake/bond-msg-extras.cmake"
+  "/opt/ros/melodic/share/bond/cmake/bondConfig-version.cmake"
+  "/opt/ros/melodic/share/bond/cmake/bondConfig.cmake"
+  "/opt/ros/melodic/share/bondcpp/cmake/bondcppConfig-version.cmake"
+  "/opt/ros/melodic/share/bondcpp/cmake/bondcppConfig.cmake"
   "/opt/ros/melodic/share/camera_calibration_parsers/cmake/camera_calibration_parsersConfig-version.cmake"
   "/opt/ros/melodic/share/camera_calibration_parsers/cmake/camera_calibration_parsersConfig.cmake"
   "/opt/ros/melodic/share/camera_info_manager/cmake/camera_info_managerConfig-version.cmake"
@@ -144,6 +164,11 @@ set(CMAKE_MAKEFILE_DEPENDS
   "/opt/ros/melodic/share/cv_bridge/cmake/cv_bridge-extras.cmake"
   "/opt/ros/melodic/share/cv_bridge/cmake/cv_bridgeConfig-version.cmake"
   "/opt/ros/melodic/share/cv_bridge/cmake/cv_bridgeConfig.cmake"
+  "/opt/ros/melodic/share/dynamic_reconfigure/cmake/dynamic_reconfigure-extras.cmake"
+  "/opt/ros/melodic/share/dynamic_reconfigure/cmake/dynamic_reconfigure-macros.cmake"
+  "/opt/ros/melodic/share/dynamic_reconfigure/cmake/dynamic_reconfigure-msg-extras.cmake"
+  "/opt/ros/melodic/share/dynamic_reconfigure/cmake/dynamic_reconfigureConfig-version.cmake"
+  "/opt/ros/melodic/share/dynamic_reconfigure/cmake/dynamic_reconfigureConfig.cmake"
   "/opt/ros/melodic/share/gencpp/cmake/gencpp-extras.cmake"
   "/opt/ros/melodic/share/gencpp/cmake/gencppConfig-version.cmake"
   "/opt/ros/melodic/share/gencpp/cmake/gencppConfig.cmake"
@@ -172,14 +197,36 @@ set(CMAKE_MAKEFILE_DEPENDS
   "/opt/ros/melodic/share/geometry_msgs/cmake/geometry_msgsConfig.cmake"
   "/opt/ros/melodic/share/image_transport/cmake/image_transportConfig-version.cmake"
   "/opt/ros/melodic/share/image_transport/cmake/image_transportConfig.cmake"
+  "/opt/ros/melodic/share/laser_geometry/cmake/laser_geometryConfig-version.cmake"
+  "/opt/ros/melodic/share/laser_geometry/cmake/laser_geometryConfig.cmake"
   "/opt/ros/melodic/share/message_filters/cmake/message_filtersConfig-version.cmake"
   "/opt/ros/melodic/share/message_filters/cmake/message_filtersConfig.cmake"
   "/opt/ros/melodic/share/message_generation/cmake/message_generationConfig-version.cmake"
   "/opt/ros/melodic/share/message_generation/cmake/message_generationConfig.cmake"
   "/opt/ros/melodic/share/message_runtime/cmake/message_runtimeConfig-version.cmake"
   "/opt/ros/melodic/share/message_runtime/cmake/message_runtimeConfig.cmake"
+  "/opt/ros/melodic/share/nav_msgs/cmake/nav_msgs-msg-extras.cmake"
+  "/opt/ros/melodic/share/nav_msgs/cmake/nav_msgsConfig-version.cmake"
+  "/opt/ros/melodic/share/nav_msgs/cmake/nav_msgsConfig.cmake"
+  "/opt/ros/melodic/share/nodelet/cmake/nodelet-msg-extras.cmake"
+  "/opt/ros/melodic/share/nodelet/cmake/nodeletConfig-version.cmake"
+  "/opt/ros/melodic/share/nodelet/cmake/nodeletConfig.cmake"
+  "/opt/ros/melodic/share/nodelet_topic_tools/cmake/nodelet_topic_toolsConfig-version.cmake"
+  "/opt/ros/melodic/share/nodelet_topic_tools/cmake/nodelet_topic_toolsConfig.cmake"
+  "/opt/ros/melodic/share/pcl_conversions/cmake/pcl_conversionsConfig-version.cmake"
+  "/opt/ros/melodic/share/pcl_conversions/cmake/pcl_conversionsConfig.cmake"
+  "/opt/ros/melodic/share/pcl_msgs/cmake/pcl_msgs-msg-extras.cmake"
+  "/opt/ros/melodic/share/pcl_msgs/cmake/pcl_msgsConfig-version.cmake"
+  "/opt/ros/melodic/share/pcl_msgs/cmake/pcl_msgsConfig.cmake"
+  "/opt/ros/melodic/share/pcl_ros/cmake/pcl_rosConfig-version.cmake"
+  "/opt/ros/melodic/share/pcl_ros/cmake/pcl_rosConfig.cmake"
   "/opt/ros/melodic/share/pluginlib/cmake/pluginlibConfig-version.cmake"
   "/opt/ros/melodic/share/pluginlib/cmake/pluginlibConfig.cmake"
+  "/opt/ros/melodic/share/rosbag/cmake/rosbagConfig-version.cmake"
+  "/opt/ros/melodic/share/rosbag/cmake/rosbagConfig.cmake"
+  "/opt/ros/melodic/share/rosbag_storage/cmake/rosbag_storage-extras.cmake"
+  "/opt/ros/melodic/share/rosbag_storage/cmake/rosbag_storageConfig-version.cmake"
+  "/opt/ros/melodic/share/rosbag_storage/cmake/rosbag_storageConfig.cmake"
   "/opt/ros/melodic/share/rosconsole/cmake/rosconsole-extras.cmake"
   "/opt/ros/melodic/share/rosconsole/cmake/rosconsoleConfig-version.cmake"
   "/opt/ros/melodic/share/rosconsole/cmake/rosconsoleConfig.cmake"
@@ -190,12 +237,16 @@ set(CMAKE_MAKEFILE_DEPENDS
   "/opt/ros/melodic/share/roscpp_serialization/cmake/roscpp_serializationConfig.cmake"
   "/opt/ros/melodic/share/roscpp_traits/cmake/roscpp_traitsConfig-version.cmake"
   "/opt/ros/melodic/share/roscpp_traits/cmake/roscpp_traitsConfig.cmake"
+  "/opt/ros/melodic/share/rosgraph/cmake/rosgraphConfig-version.cmake"
+  "/opt/ros/melodic/share/rosgraph/cmake/rosgraphConfig.cmake"
   "/opt/ros/melodic/share/rosgraph_msgs/cmake/rosgraph_msgs-msg-extras.cmake"
   "/opt/ros/melodic/share/rosgraph_msgs/cmake/rosgraph_msgsConfig-version.cmake"
   "/opt/ros/melodic/share/rosgraph_msgs/cmake/rosgraph_msgsConfig.cmake"
   "/opt/ros/melodic/share/roslib/cmake/roslib-extras.cmake"
   "/opt/ros/melodic/share/roslib/cmake/roslibConfig-version.cmake"
   "/opt/ros/melodic/share/roslib/cmake/roslibConfig.cmake"
+  "/opt/ros/melodic/share/roslz4/cmake/roslz4Config-version.cmake"
+  "/opt/ros/melodic/share/roslz4/cmake/roslz4Config.cmake"
   "/opt/ros/melodic/share/rospack/cmake/rospackConfig-version.cmake"
   "/opt/ros/melodic/share/rospack/cmake/rospackConfig.cmake"
   "/opt/ros/melodic/share/rospy/cmake/rospyConfig-version.cmake"
@@ -205,6 +256,8 @@ set(CMAKE_MAKEFILE_DEPENDS
   "/opt/ros/melodic/share/sensor_msgs/cmake/sensor_msgs-msg-extras.cmake"
   "/opt/ros/melodic/share/sensor_msgs/cmake/sensor_msgsConfig-version.cmake"
   "/opt/ros/melodic/share/sensor_msgs/cmake/sensor_msgsConfig.cmake"
+  "/opt/ros/melodic/share/smclib/cmake/smclibConfig-version.cmake"
+  "/opt/ros/melodic/share/smclib/cmake/smclibConfig.cmake"
   "/opt/ros/melodic/share/std_msgs/cmake/std_msgs-msg-extras.cmake"
   "/opt/ros/melodic/share/std_msgs/cmake/std_msgs-msg-paths.cmake"
   "/opt/ros/melodic/share/std_msgs/cmake/std_msgsConfig-version.cmake"
@@ -212,9 +265,30 @@ set(CMAKE_MAKEFILE_DEPENDS
   "/opt/ros/melodic/share/std_srvs/cmake/std_srvs-msg-extras.cmake"
   "/opt/ros/melodic/share/std_srvs/cmake/std_srvsConfig-version.cmake"
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+	$(MAKE) -f multiple-object-tracking-lidar/CMakeFiles/pcl_msgs_generate_messages_py.dir/build.make multiple-object-tracking-lidar/CMakeFiles/pcl_msgs_generate_messages_py.dir/build
+.PHONY : pcl_msgs_generate_messages_py/fast
+
+#=============================================================================
+# Target rules for targets named std_srvs_generate_messages_eus
+
+# Build rule for target.
+std_srvs_generate_messages_eus: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 std_srvs_generate_messages_eus
+.PHONY : std_srvs_generate_messages_eus
+
+# fast build rule for target.
+std_srvs_generate_messages_eus/fast:
+	$(MAKE) -f multiple-object-tracking-lidar/CMakeFiles/std_srvs_generate_messages_eus.dir/build.make multiple-object-tracking-lidar/CMakeFiles/std_srvs_generate_messages_eus.dir/build
+.PHONY : std_srvs_generate_messages_eus/fast
+
+#=============================================================================
+# Target rules for targets named std_srvs_generate_messages_cpp
+
+# Build rule for target.
+std_srvs_generate_messages_cpp: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 std_srvs_generate_messages_cpp
+.PHONY : std_srvs_generate_messages_cpp
+
+# fast build rule for target.
+std_srvs_generate_messages_cpp/fast:
+	$(MAKE) -f multiple-object-tracking-lidar/CMakeFiles/std_srvs_generate_messages_cpp.dir/build.make multiple-object-tracking-lidar/CMakeFiles/std_srvs_generate_messages_cpp.dir/build
+.PHONY : std_srvs_generate_messages_cpp/fast
+
+#=============================================================================
+# Target rules for targets named nodelet_generate_messages_cpp
+
+# Build rule for target.
+nodelet_generate_messages_cpp: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 nodelet_generate_messages_cpp
+.PHONY : nodelet_generate_messages_cpp
+
+# fast build rule for target.
+nodelet_generate_messages_cpp/fast:
+	$(MAKE) -f multiple-object-tracking-lidar/CMakeFiles/nodelet_generate_messages_cpp.dir/build.make multiple-object-tracking-lidar/CMakeFiles/nodelet_generate_messages_cpp.dir/build
+.PHONY : nodelet_generate_messages_cpp/fast
+
+#=============================================================================
+# Target rules for targets named bond_generate_messages_py
+
+# Build rule for target.
+bond_generate_messages_py: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 bond_generate_messages_py
+.PHONY : bond_generate_messages_py
+
+# fast build rule for target.
+bond_generate_messages_py/fast:
+	$(MAKE) -f multiple-object-tracking-lidar/CMakeFiles/bond_generate_messages_py.dir/build.make multiple-object-tracking-lidar/CMakeFiles/bond_generate_messages_py.dir/build
+.PHONY : bond_generate_messages_py/fast
+
+#=============================================================================
+# Target rules for targets named std_srvs_generate_messages_nodejs
+
+# Build rule for target.
+std_srvs_generate_messages_nodejs: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 std_srvs_generate_messages_nodejs
+.PHONY : std_srvs_generate_messages_nodejs
+
+# fast build rule for target.
+std_srvs_generate_messages_nodejs/fast:
+	$(MAKE) -f multiple-object-tracking-lidar/CMakeFiles/std_srvs_generate_messages_nodejs.dir/build.make multiple-object-tracking-lidar/CMakeFiles/std_srvs_generate_messages_nodejs.dir/build
+.PHONY : std_srvs_generate_messages_nodejs/fast
+
 #=============================================================================
 # Target rules for targets named std_srvs_generate_messages_py
 
@@ -1308,9 +2127,48 @@ std_srvs_generate_messages_py: cmake_check_build_system
 
 # fast build rule for target.
 std_srvs_generate_messages_py/fast:
-	$(MAKE) -f usb_cam/CMakeFiles/std_srvs_generate_messages_py.dir/build.make usb_cam/CMakeFiles/std_srvs_generate_messages_py.dir/build
+	$(MAKE) -f multiple-object-tracking-lidar/CMakeFiles/std_srvs_generate_messages_py.dir/build.make multiple-object-tracking-lidar/CMakeFiles/std_srvs_generate_messages_py.dir/build
 .PHONY : std_srvs_generate_messages_py/fast
 
+#=============================================================================
+# Target rules for targets named dynamic_reconfigure_gencfg
+
+# Build rule for target.
+dynamic_reconfigure_gencfg: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 dynamic_reconfigure_gencfg
+.PHONY : dynamic_reconfigure_gencfg
+
+# fast build rule for target.
+dynamic_reconfigure_gencfg/fast:
+	$(MAKE) -f multiple-object-tracking-lidar/CMakeFiles/dynamic_reconfigure_gencfg.dir/build.make multiple-object-tracking-lidar/CMakeFiles/dynamic_reconfigure_gencfg.dir/build
+.PHONY : dynamic_reconfigure_gencfg/fast
+
+#=============================================================================
+# Target rules for targets named topic_tools_generate_messages_py
+
+# Build rule for target.
+topic_tools_generate_messages_py: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 topic_tools_generate_messages_py
+.PHONY : topic_tools_generate_messages_py
+
+# fast build rule for target.
+topic_tools_generate_messages_py/fast:
+	$(MAKE) -f multiple-object-tracking-lidar/CMakeFiles/topic_tools_generate_messages_py.dir/build.make multiple-object-tracking-lidar/CMakeFiles/topic_tools_generate_messages_py.dir/build
+.PHONY : topic_tools_generate_messages_py/fast
+
+#=============================================================================
+# Target rules for targets named usb_cam_node
+
+# Build rule for target.
+usb_cam_node: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 usb_cam_node
+.PHONY : usb_cam_node
+
+# fast build rule for target.
+usb_cam_node/fast:
+	$(MAKE) -f usb_cam/CMakeFiles/usb_cam_node.dir/build.make usb_cam/CMakeFiles/usb_cam_node.dir/build
+.PHONY : usb_cam_node/fast
+
 #=============================================================================
 # Target rules for targets named usb_cam
 
@@ -1324,19 +2182,6 @@ usb_cam/fast:
 	$(MAKE) -f usb_cam/CMakeFiles/usb_cam.dir/build.make usb_cam/CMakeFiles/usb_cam.dir/build
 .PHONY : usb_cam/fast
 
-#=============================================================================
-# Target rules for targets named std_srvs_generate_messages_nodejs
-
-# Build rule for target.
-std_srvs_generate_messages_nodejs: cmake_check_build_system
-	$(MAKE) -f CMakeFiles/Makefile2 std_srvs_generate_messages_nodejs
-.PHONY : std_srvs_generate_messages_nodejs
-
-# fast build rule for target.
-std_srvs_generate_messages_nodejs/fast:
-	$(MAKE) -f usb_cam/CMakeFiles/std_srvs_generate_messages_nodejs.dir/build.make usb_cam/CMakeFiles/std_srvs_generate_messages_nodejs.dir/build
-.PHONY : std_srvs_generate_messages_nodejs/fast
-
 # Help Target
 help:
 	@echo "The following are some of the valid targets for this Makefile:"
@@ -1432,14 +2277,79 @@ help:
 	@echo "... image_process_gennodejs"
 	@echo "... image_process_generate_messages_py"
 	@echo "... image_process_genpy"
+	@echo "... laser_scan_convert"
+	@echo "... tf2_msgs_generate_messages_py"
+	@echo "... tf2_msgs_generate_messages_lisp"
+	@echo "... tf2_msgs_generate_messages_nodejs"
+	@echo "... tf_generate_messages_nodejs"
+	@echo "... tf2_msgs_generate_messages_eus"
+	@echo "... tf_generate_messages_lisp"
+	@echo "... actionlib_msgs_generate_messages_py"
+	@echo "... tf_generate_messages_cpp"
+	@echo "... actionlib_generate_messages_cpp"
+	@echo "... actionlib_msgs_generate_messages_cpp"
+	@echo "... tf_generate_messages_eus"
+	@echo "... actionlib_generate_messages_eus"
+	@echo "... actionlib_generate_messages_lisp"
+	@echo "... tf_generate_messages_py"
+	@echo "... actionlib_msgs_generate_messages_nodejs"
+	@echo "... actionlib_generate_messages_nodejs"
+	@echo "... actionlib_generate_messages_py"
+	@echo "... actionlib_msgs_generate_messages_eus"
+	@echo "... actionlib_msgs_generate_messages_lisp"
+	@echo "... tf2_msgs_generate_messages_cpp"
+	@echo "... nav_msgs_generate_messages_py"
+	@echo "... nav_msgs_generate_messages_lisp"
+	@echo "... robot_mapping_genlisp"
 	@echo "... robot_mapping_generate_messages"
-	@echo "... usb_cam_node"
-	@echo "... std_srvs_generate_messages_cpp"
-	@echo "... std_srvs_generate_messages_eus"
+	@echo "... nav_msgs_generate_messages_nodejs"
+	@echo "... nav_msgs_generate_messages_cpp"
+	@echo "... robot_mapping_generate_messages_cpp"
+	@echo "... robot_mapping_gencpp"
+	@echo "... robot_mapping_generate_messages_py"
+	@echo "... nav_msgs_generate_messages_eus"
+	@echo "... robot_mapping_geneus"
+	@echo "... robot_mapping_generate_messages_eus"
+	@echo "... robot_mapping_generate_messages_lisp"
+	@echo "... robot_mapping_generate_messages_nodejs"
+	@echo "... robot_mapping_gennodejs"
+	@echo "... robot_mapping_genpy"
+	@echo "... bond_generate_messages_eus"
+	@echo "... dynamic_reconfigure_generate_messages_nodejs"
+	@echo "... bond_generate_messages_cpp"
+	@echo "... nodelet_generate_messages_py"
+	@echo "... bond_generate_messages_nodejs"
+	@echo "... nodelet_generate_messages_lisp"
+	@echo "... nodelet_generate_messages_eus"
+	@echo "... topic_tools_generate_messages_cpp"
+	@echo "... dynamic_reconfigure_generate_messages_cpp"
+	@echo "... kf_tracker"
+	@echo "... bond_generate_messages_lisp"
 	@echo "... std_srvs_generate_messages_lisp"
+	@echo "... topic_tools_generate_messages_lisp"
+	@echo "... nodelet_topic_tools_gencfg"
+	@echo "... dynamic_reconfigure_generate_messages_py"
+	@echo "... topic_tools_generate_messages_nodejs"
+	@echo "... pcl_ros_gencfg"
+	@echo "... dynamic_reconfigure_generate_messages_eus"
+	@echo "... dynamic_reconfigure_generate_messages_lisp"
+	@echo "... pcl_msgs_generate_messages_cpp"
+	@echo "... pcl_msgs_generate_messages_eus"
+	@echo "... topic_tools_generate_messages_eus"
+	@echo "... pcl_msgs_generate_messages_lisp"
+	@echo "... nodelet_generate_messages_nodejs"
+	@echo "... pcl_msgs_generate_messages_nodejs"
+	@echo "... pcl_msgs_generate_messages_py"
+	@echo "... std_srvs_generate_messages_eus"
+	@echo "... std_srvs_generate_messages_cpp"
+	@echo "... nodelet_generate_messages_cpp"
+	@echo "... bond_generate_messages_py"
+	@echo "... std_srvs_generate_messages_nodejs"
 	@echo "... std_srvs_generate_messages_py"
+	@echo "... dynamic_reconfigure_gencfg"
+	@echo "... topic_tools_generate_messages_py"
+	@echo "... usb_cam_node"
 	@echo "... usb_cam"
-	@echo "... std_srvs_generate_messages_nodejs"
 .PHONY : help
 
 
diff --git a/workspace/virtuallab/build/camera_sync/catkin_generated/installspace/cam_sync.py b/workspace/virtuallab/build/camera_sync/catkin_generated/installspace/cam_sync.py
index 96cfe45c5c079f0642984408e04d1be0ea632543..cde6d38b40ba5d0d9c5d5ba486a48ee1a0469324 100755
--- a/workspace/virtuallab/build/camera_sync/catkin_generated/installspace/cam_sync.py
+++ b/workspace/virtuallab/build/camera_sync/catkin_generated/installspace/cam_sync.py
@@ -8,6 +8,10 @@ from cv_bridge import CvBridge
 import cv2
 import os  
 import numpy as np
+from skimage import  color, img_as_ubyte
+from skimage.feature import canny
+from skimage.transform import hough_ellipse
+from skimage.draw import ellipse_perimeter
 
 class Nodo(object):
     def __init__(self):
@@ -32,17 +36,27 @@ class Nodo(object):
         rospy.loginfo("Timing images")
         #rospy.spin()
         while not rospy.is_shutdown():
-            rospy.loginfo('publishing image')
-
+            
             if self.image is not None:
+		rospy.loginfo('publishing image')
 		gray = cv2.cvtColor(self.image, cv2.COLOR_BGR2GRAY)
-		frame = np.asarray(gray)
-		occurrences = np.count_nonzero(frame == 255)		
-		if occurrences > 5600:
-		   ret, corners = cv2.findChessboardCorners(frame, (7,7), None)
-		   print(corners,ret)
-		   frame1 = cv2.drawChessboardCorners(gray, (7,7), corners,ret)
-		   self.pub.publish(self.br.cv2_to_imgmsg(frame1 , 'mono8'))
+		frame = np.asarray(gray)		
+		edges = canny(frame, sigma=7.0) # smmothing according to intensity
+		result = hough_ellipse(edges) #, accuracy=20, threshold=5, min_size=1, max_size=20)
+		result.sort(order='accumulator')
+
+		best = list(result[-1])
+		yc, xc, a, b = [int(round(x)) for x in best[1:5]]
+		orientation = best[5]
+
+		# Draw the ellipse on the original image
+		cy, cx = ellipse_perimeter(yc, xc, a, b, orientation)
+		edges = color.gray2rgb(img_as_ubyte(edges))
+		edges[cy, cx] = (250, 0, 0)
+
+	
+		self.pub.publish(self.br.cv2_to_imgmsg(edges, 'rgb8'))
+
             self.loop_rate.sleep()
 
 if __name__ == '__main__':
diff --git a/workspace/virtuallab/build/camera_sync/catkin_generated/stamps/camera_sync/cam_sync.py.stamp b/workspace/virtuallab/build/camera_sync/catkin_generated/stamps/camera_sync/cam_sync.py.stamp
index 96cfe45c5c079f0642984408e04d1be0ea632543..cde6d38b40ba5d0d9c5d5ba486a48ee1a0469324 100755
--- a/workspace/virtuallab/build/camera_sync/catkin_generated/stamps/camera_sync/cam_sync.py.stamp
+++ b/workspace/virtuallab/build/camera_sync/catkin_generated/stamps/camera_sync/cam_sync.py.stamp
@@ -8,6 +8,10 @@ from cv_bridge import CvBridge
 import cv2
 import os  
 import numpy as np
+from skimage import  color, img_as_ubyte
+from skimage.feature import canny
+from skimage.transform import hough_ellipse
+from skimage.draw import ellipse_perimeter
 
 class Nodo(object):
     def __init__(self):
@@ -32,17 +36,27 @@ class Nodo(object):
         rospy.loginfo("Timing images")
         #rospy.spin()
         while not rospy.is_shutdown():
-            rospy.loginfo('publishing image')
-
+            
             if self.image is not None:
+		rospy.loginfo('publishing image')
 		gray = cv2.cvtColor(self.image, cv2.COLOR_BGR2GRAY)
-		frame = np.asarray(gray)
-		occurrences = np.count_nonzero(frame == 255)		
-		if occurrences > 5600:
-		   ret, corners = cv2.findChessboardCorners(frame, (7,7), None)
-		   print(corners,ret)
-		   frame1 = cv2.drawChessboardCorners(gray, (7,7), corners,ret)
-		   self.pub.publish(self.br.cv2_to_imgmsg(frame1 , 'mono8'))
+		frame = np.asarray(gray)		
+		edges = canny(frame, sigma=7.0) # smmothing according to intensity
+		result = hough_ellipse(edges) #, accuracy=20, threshold=5, min_size=1, max_size=20)
+		result.sort(order='accumulator')
+
+		best = list(result[-1])
+		yc, xc, a, b = [int(round(x)) for x in best[1:5]]
+		orientation = best[5]
+
+		# Draw the ellipse on the original image
+		cy, cx = ellipse_perimeter(yc, xc, a, b, orientation)
+		edges = color.gray2rgb(img_as_ubyte(edges))
+		edges[cy, cx] = (250, 0, 0)
+
+	
+		self.pub.publish(self.br.cv2_to_imgmsg(edges, 'rgb8'))
+
             self.loop_rate.sleep()
 
 if __name__ == '__main__':
diff --git a/workspace/virtuallab/build/catkin_generated/order_packages.cmake b/workspace/virtuallab/build/catkin_generated/order_packages.cmake
index a167bd98ebff3947fde7e7e50abda1ba699398d8..0f84821e9239dc233bfa20282373ece763700a4a 100644
--- a/workspace/virtuallab/build/catkin_generated/order_packages.cmake
+++ b/workspace/virtuallab/build/catkin_generated/order_packages.cmake
@@ -28,6 +28,10 @@ list(APPEND CATKIN_ORDERED_PACKAGES "image_process")
 list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "image_process")
 list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "False")
 list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "catkin")
+list(APPEND CATKIN_ORDERED_PACKAGES "laser_scan_convert")
+list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "laser_scan_convert")
+list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "False")
+list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "catkin")
 list(APPEND CATKIN_ORDERED_PACKAGES "robot_classifier")
 list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "robot_classifier")
 list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "False")
@@ -36,6 +40,10 @@ list(APPEND CATKIN_ORDERED_PACKAGES "robot_mapping")
 list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "robot_mapping")
 list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "False")
 list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "catkin")
+list(APPEND CATKIN_ORDERED_PACKAGES "multi_object_tracking_lidar")
+list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "multiple-object-tracking-lidar")
+list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "False")
+list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "catkin")
 list(APPEND CATKIN_ORDERED_PACKAGES "usb_cam")
 list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "usb_cam")
 list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "False")
diff --git a/workspace/virtuallab/build/catkin_make.cache b/workspace/virtuallab/build/catkin_make.cache
index d08d165c36169d3f4c1da1ab1fd4ca573491f2a7..fe75a25e486af01030a8d66450441349a882ca7a 100644
--- a/workspace/virtuallab/build/catkin_make.cache
+++ b/workspace/virtuallab/build/catkin_make.cache
@@ -1,2 +1,2 @@
-camera_calib:camera_sync:co_robot_drive:image_process:robot_classifier:robot_mapping:teleop_twist_keyboard:usb_cam:virtual_lab
+camera_calib:camera_sync:co_robot_drive:image_process:laser_scan_convert:multiple-object-tracking-lidar:robot_classifier:robot_mapping:teleop_twist_keyboard:usb_cam:virtual_lab
 -DCATKIN_DEVEL_PREFIX=/home/job/workspace/virtuallab/devel -DCMAKE_INSTALL_PREFIX=/home/job/workspace/virtuallab/install -G Unix Makefiles
\ No newline at end of file
diff --git a/workspace/virtuallab/build/cmake_install.cmake b/workspace/virtuallab/build/cmake_install.cmake
index 462d0103536538ec7dae795fbf56936a1b994f1a..f5445c33e01a8f313dd2b8ce50ad8588319b1aff 100644
--- a/workspace/virtuallab/build/cmake_install.cmake
+++ b/workspace/virtuallab/build/cmake_install.cmake
@@ -137,8 +137,10 @@ if(NOT CMAKE_INSTALL_LOCAL_ONLY)
   include("/home/job/workspace/virtuallab/build/camera_sync/cmake_install.cmake")
   include("/home/job/workspace/virtuallab/build/co_robot_drive/cmake_install.cmake")
   include("/home/job/workspace/virtuallab/build/image_process/cmake_install.cmake")
+  include("/home/job/workspace/virtuallab/build/laser_scan_convert/cmake_install.cmake")
   include("/home/job/workspace/virtuallab/build/robot_classifier/cmake_install.cmake")
   include("/home/job/workspace/virtuallab/build/robot_mapping/cmake_install.cmake")
+  include("/home/job/workspace/virtuallab/build/multiple-object-tracking-lidar/cmake_install.cmake")
   include("/home/job/workspace/virtuallab/build/usb_cam/cmake_install.cmake")
 
 endif()
diff --git a/workspace/virtuallab/build/co_robot_drive/CMakeFiles/drive_co_robot.dir/src/drive_co_robot.cpp.o b/workspace/virtuallab/build/co_robot_drive/CMakeFiles/drive_co_robot.dir/src/drive_co_robot.cpp.o
index 02443b82e978df48e89fa81a04ed5334375f16e2..5daf889bfe7f3d67722094143c173a504996600f 100644
Binary files a/workspace/virtuallab/build/co_robot_drive/CMakeFiles/drive_co_robot.dir/src/drive_co_robot.cpp.o and b/workspace/virtuallab/build/co_robot_drive/CMakeFiles/drive_co_robot.dir/src/drive_co_robot.cpp.o differ
diff --git a/workspace/virtuallab/build/image_process/catkin_generated/installspace/image_process.py b/workspace/virtuallab/build/image_process/catkin_generated/installspace/image_process.py
index 56ca64093852422cd5bfcb3f9e6a72fe389d0fc2..aee17380bf496a22412eb2110d3a36eb0a7349c9 100755
--- a/workspace/virtuallab/build/image_process/catkin_generated/installspace/image_process.py
+++ b/workspace/virtuallab/build/image_process/catkin_generated/installspace/image_process.py
@@ -6,40 +6,87 @@ from sensor_msgs.msg import Image
 from cv_bridge import CvBridge
 
 import cv2
-import os  
+import os
 import numpy as np
 import tensorflow as tf
 
+
 class Nodo(object):
     def __init__(self):
         # Params
         self.image1 = None
-	self.image2 = None
-	self.image3 = None
-	self.image4 = None
+        self.image2 = None
+        self.image3 = None
+        self.image4 = None
 
-	self.camera = 0
+        self.camera = 0
 
         self.br = CvBridge()
         # Node cycle rate (in Hz).
         self.loop_rate = rospy.Rate(10)
 
         # Publishers
-        self.pub1 = rospy.Publisher('warpedImage/camera1', Image,queue_size=10)
-	self.pub2 = rospy.Publisher('warpedImage/camera2', Image,queue_size=10)
-	self.pub3 = rospy.Publisher('warpedImage/camera3', Image,queue_size=10)
-	self.pub4 = rospy.Publisher('warpedImage/camera4', Image,queue_size=10)
+        self.pub1 = rospy.Publisher(
+            'warpedImage/camera1', Image, queue_size=10)
+        self.pub2 = rospy.Publisher(
+            'warpedImage/camera2', Image, queue_size=10)
+        self.pub3 = rospy.Publisher(
+            'warpedImage/camera3', Image, queue_size=10)
+        self.pub4 = rospy.Publisher(
+            'warpedImage/camera4', Image, queue_size=10)
 
         # Subscribers
-        rospy.Subscriber("/camera01/rgb/image_raw",Image,self.callback1)
-	rospy.Subscriber("/camera02/rgb/image_raw",Image,self.callback2)
-	rospy.Subscriber("/camera03/rgb/image_raw",Image,self.callback3)
-	rospy.Subscriber("/camera04/rgb/image_raw",Image,self.callback4)
-
-	#vertices
-	self.src=np.float32([[0,360], [245,225], [560,225], [790,360]])
-	self.dst= np.float32([[10 ,700], [10  ,100], [610 ,100], [610 ,700]])
-	self.vertices = np.array([self.src], dtype=np.int32)
+        rospy.Subscriber("/camera01/rgb/image_raw", Image, self.callback1)
+        rospy.Subscriber("/camera02/rgb/image_raw", Image, self.callback2)
+        rospy.Subscriber("/camera03/rgb/image_raw", Image, self.callback3)
+        rospy.Subscriber("/camera04/rgb/image_raw", Image, self.callback4)
+
+        # camera center finding flags
+        self.check_center_camera_1 = False
+        self.check_center_camera_2 = False
+        self.check_center_camera_3 = False
+        self.check_center_camera_4 = False
+
+        cx, cy = np.loadtxt('camera1.txt')
+
+        # offsets which has to update
+        self.offsetx1 = 145
+        self.offsetx2 = 255
+        self.offsety1 = 85
+        self.offsety2 = 150
+
+        self.dst_width = 400
+        self.dst_height = 400
+
+        # vertices
+        self.src = np.float32([[0, 360], [245, 225], [560, 225], [790, 360]])
+        self.dst = np.float32([[10, 700], [10, 100], [610, 100], [610, 700]])
+        self.vertices = np.array([self.src], dtype=np.int32)
+
+        # Set our filtering parameters
+        # Initialize parameter settiing using cv2.SimpleBlobDetector
+        params = cv2.SimpleBlobDetector_Params()
+
+        # Set Area filtering parameters
+        params.filterByArea = True
+        params.minArea = 100
+        # params.maxArea = 150
+
+        # Set Circularity filtering parameters
+        params.filterByCircularity = True
+        params.minCircularity = 0.8
+
+        # Set Convexity filtering parameters
+        params.filterByConvexity = False
+        params.minConvexity = 0.5
+
+        # Set inertia filtering parameters
+        params.filterByInertia = False
+        params.minInertiaRatio = 0.4
+        params.maxInertiaRatio = 1
+
+        # Create a detector with the parameters
+        self.detector = cv2.SimpleBlobDetector_create(params)
 
     def callback1(self, msg):
         rospy.loginfo('Image received from camera 1...')
@@ -57,73 +104,146 @@ class Nodo(object):
         rospy.loginfo('Image received  from camera 4...')
         self.image4 = self.br.imgmsg_to_cv2(msg, 'bgr8')
 
-
     def WarpPerspective(image):
         M = cv2.getPerspectiveTransform(self.src, self.dst)
         Minv = cv2.getPerspectiveTransform(self.dst, self.src)
-        return Minv, cv2.warpPerspective(image, M, (image.shape[1],image.shape[0]), flags=cv2.INTER_LINEAR)
+        return Minv, cv2.warpPerspective(image, M, (image.shape[1], image.shape[0]), flags=cv2.INTER_LINEAR)
+
+    def obtain_vertices(self, (cx, cy), (width, height), (offsetx1, offsetx2), (offsety1, offsety2)):
+        src = np.float32([[cx-offsetx1, cy-offsety1], [cx+offsetx1, cy-offsety1],
+                         [cx-offsetx2, cy+offsety2], [cx+offsetx2, cy+offsety2]])
+        dst = np.float32([[0, 0], [width, 0], [0, height], [width, height]])
+        vertices = np.array([src], dtype=np.int32)
+        return vertices, src, dst
 
     def start(self):
         rospy.loginfo("Timing images")
-        #rospy.spin()
+        # rospy.spin()
         while not rospy.is_shutdown():
+
             rospy.loginfo('publishing image')
 
             if self.image1 is not None:
-		#gray = cv2.cvtColor(self.image, cv2.COLOR_BGR2GRAY)
-		#frame = np.asarray(gray)
-		#occurrences = np.count_nonzero(frame == 255)
-		#hello = tf.constant("hello TensorFlow!")
-		#sess=tf.Session()
-		#print sess.run(hello)
-		
-		roi_image1 = cv2.polylines(self.image1.copy(), self.vertices,True,(0,0,255),10)
 
-		M = cv2.getPerspectiveTransform(self.src, self.dst)
+                if self.check_center_camera_1 is True:
+
+                    test_image = ~self.image1.copy()
+                    keypoints = self.detector.detect(test_image)
+                    cx, cy = keypoints[0].pt
+                    np.savetxt('camera1.txt', (cx, cy))
+                    # blank = np.zeros((1, 1))
+                    # blobs = cv2.drawKeypoints(self.image1.copy(
+                    #  ), keypoints, blank, (0, 0, 255), cv2.DRAW_MATCHES_FLAGS_DRAW_RICH_KEYPOINTS)
+                    # text = " detected center" + \
+                    #     ' x: ' + str(cx) + ' y: ' + str(cy)
+                    # cv2.putText(blobs, text, (20, 550),
+                    #             cv2.FONT_HERSHEY_SIMPLEX, .7, (0, 100, 255), 2)
+
+                    self.check_center_camera_1 = False
+                else:
+
+                    cx, cy = np.loadtxt('camera1.txt')
+
+                vertices, src, dst = self.obtain_vertices((cx, cy), (self.dst_width, self.dst_height), (
+                    self.offsetx1, self.offsetx2), (self.offsety1, self.offsety2))
+
+                roi_image1 = cv2.polylines(
+                    self.image1.copy(), vertices, True, (0, 0, 255), 10)
+
+                M = cv2.getPerspectiveTransform(src, dst)
+
+                warped_image1 = cv2.warpPerspective(self.image1.copy(
+                ), M, (self.dst_width, self.dst_height), flags=cv2.INTER_LINEAR)
+
+                self.pub1.publish(self.br.cv2_to_imgmsg(warped_image1, 'bgr8'))
+
+            if self.image2 is not None:
 
-		warped_image1 = cv2.warpPerspective(self.image1.copy(), M, (self.image1.shape[1],self.image1.shape[0]), flags=cv2.INTER_LINEAR)
+                if self.check_center_camera_2 is True:
 
-		#M, warped_image = self.WarpPerspective(self.image.copy())
+                    test_image = ~self.image2.copy()
+                    keypoints = self.detector.detect(test_image)
+                    cx, cy = keypoints[0].pt
 
-			
-		self.pub1.publish(self.br.cv2_to_imgmsg(warped_image1 , 'bgr8'))
+                    np.savetxt('camera2.txt', (cx, cy))
 
+                    self.check_center_camera_2 = False
+                else:
 
-	    if self.image2 is not None:		
-	
-		roi_image2 = cv2.polylines(self.image2.copy(), self.vertices,True,(0,0,255),10)
+                    cx, cy = np.loadtxt('camera2.txt')
 
-		M = cv2.getPerspectiveTransform(self.src, self.dst)
+                vertices, src, dst = self.obtain_vertices((cx, cy), (self.dst_width, self.dst_height), (
+                    self.offsetx1, self.offsetx2), (self.offsety1, self.offsety2))
 
-		warped_image2 = cv2.warpPerspective(self.image2.copy(), M, (self.image2.shape[1],self.image2.shape[0]), flags=cv2.INTER_LINEAR)
+                roi_image2 = cv2.polylines(
+                    self.image2.copy(), vertices, True, (0, 0, 255), 10)
 
-		self.pub2.publish(self.br.cv2_to_imgmsg(warped_image2 , 'bgr8'))
+                M = cv2.getPerspectiveTransform(src, dst)
 
+                warped_image2 = cv2.warpPerspective(self.image2.copy(
+                ), M, (self.dst_width, self.dst_height), flags=cv2.INTER_LINEAR)
 
-	    if self.image3 is not None:		
-	
-		roi_image3 = cv2.polylines(self.image3.copy(), self.vertices,True,(0,0,255),10)
+                self.pub2.publish(self.br.cv2_to_imgmsg(warped_image2, 'bgr8'))
 
-		M = cv2.getPerspectiveTransform(self.src, self.dst)
+            if self.image3 is not None:
 
-		warped_image3 = cv2.warpPerspective(self.image3.copy(), M, (self.image3.shape[1],self.image3.shape[0]), flags=cv2.INTER_LINEAR)
+                if self.check_center_camera_3 is True:
 
-		self.pub3.publish(self.br.cv2_to_imgmsg(warped_image3 , 'bgr8'))
+                    test_image = ~self.image3.copy()
+                    keypoints = self.detector.detect(test_image)
+                    cx, cy = keypoints[0].pt
 
+                    np.savetxt('camera3.txt', (cx, cy))
 
-	    if self.image4 is not None:		
-	
-		roi_image4 = cv2.polylines(self.image4.copy(), self.vertices,True,(0,0,255),10)
+                    self.check_center_camera_3 = False
+                else:
 
-		M = cv2.getPerspectiveTransform(self.src, self.dst)
+                    cx, cy = np.loadtxt('camera3.txt')
 
-		warped_image4 = cv2.warpPerspective(self.image4.copy(), M, (self.image4.shape[1],self.image4.shape[0]), flags=cv2.INTER_LINEAR)
+                vertices, src, dst = self.obtain_vertices((cx, cy), (self.dst_width, self.dst_height), (
+                    self.offsetx1, self.offsetx2), (self.offsety1, self.offsety2))
 
-		self.pub4.publish(self.br.cv2_to_imgmsg(warped_image4 , 'bgr8'))
+                roi_image3 = cv2.polylines(
+                    self.image3.copy(), vertices, True, (0, 0, 255), 10)
 
+                M = cv2.getPerspectiveTransform(src, dst)
+
+                warped_image3 = cv2.warpPerspective(self.image3.copy(
+                ), M, (self.dst_width, self.dst_height), flags=cv2.INTER_LINEAR)
+
+                self.pub3.publish(self.br.cv2_to_imgmsg(warped_image3 , 'bgr8'))
+
+            if self.image4 is not None:
+
+                if self.check_center_camera_4 is True:
+
+                    test_image = ~self.image4.copy()
+                    keypoints = self.detector.detect(test_image)
+                    cx, cy = keypoints[0].pt
+
+                    np.savetxt('camera4.txt', (cx, cy))
+
+                    self.check_center_camera_4 = False
+                else:
+
+                    cx, cy = np.loadtxt('camera4.txt')
+
+                vertices, src, dst = self.obtain_vertices((cx, cy), (self.dst_width, self.dst_height), (
+                    self.offsetx1, self.offsetx2), (self.offsety1, self.offsety2))
+
+                roi_image4 = cv2.polylines(
+                    self.image2.copy(), vertices, True, (0, 0, 255), 10)
+
+                M = cv2.getPerspectiveTransform(src, dst)
+
+                warped_image4 = cv2.warpPerspective(self.image4.copy(
+                ), M, (self.dst_width, self.dst_height), flags=cv2.INTER_LINEAR)
+
+                self.pub4.publish(self.br.cv2_to_imgmsg(warped_image4 , 'bgr8'))
 
             self.loop_rate.sleep()
 
+
 if __name__ == '__main__':
     rospy.init_node("warped_image", anonymous=True)
     my_node = Nodo()
diff --git a/workspace/virtuallab/build/image_process/catkin_generated/stamps/image_process/image_process.py.stamp b/workspace/virtuallab/build/image_process/catkin_generated/stamps/image_process/image_process.py.stamp
index 56ca64093852422cd5bfcb3f9e6a72fe389d0fc2..aee17380bf496a22412eb2110d3a36eb0a7349c9 100755
--- a/workspace/virtuallab/build/image_process/catkin_generated/stamps/image_process/image_process.py.stamp
+++ b/workspace/virtuallab/build/image_process/catkin_generated/stamps/image_process/image_process.py.stamp
@@ -6,40 +6,87 @@ from sensor_msgs.msg import Image
 from cv_bridge import CvBridge
 
 import cv2
-import os  
+import os
 import numpy as np
 import tensorflow as tf
 
+
 class Nodo(object):
     def __init__(self):
         # Params
         self.image1 = None
-	self.image2 = None
-	self.image3 = None
-	self.image4 = None
+        self.image2 = None
+        self.image3 = None
+        self.image4 = None
 
-	self.camera = 0
+        self.camera = 0
 
         self.br = CvBridge()
         # Node cycle rate (in Hz).
         self.loop_rate = rospy.Rate(10)
 
         # Publishers
-        self.pub1 = rospy.Publisher('warpedImage/camera1', Image,queue_size=10)
-	self.pub2 = rospy.Publisher('warpedImage/camera2', Image,queue_size=10)
-	self.pub3 = rospy.Publisher('warpedImage/camera3', Image,queue_size=10)
-	self.pub4 = rospy.Publisher('warpedImage/camera4', Image,queue_size=10)
+        self.pub1 = rospy.Publisher(
+            'warpedImage/camera1', Image, queue_size=10)
+        self.pub2 = rospy.Publisher(
+            'warpedImage/camera2', Image, queue_size=10)
+        self.pub3 = rospy.Publisher(
+            'warpedImage/camera3', Image, queue_size=10)
+        self.pub4 = rospy.Publisher(
+            'warpedImage/camera4', Image, queue_size=10)
 
         # Subscribers
-        rospy.Subscriber("/camera01/rgb/image_raw",Image,self.callback1)
-	rospy.Subscriber("/camera02/rgb/image_raw",Image,self.callback2)
-	rospy.Subscriber("/camera03/rgb/image_raw",Image,self.callback3)
-	rospy.Subscriber("/camera04/rgb/image_raw",Image,self.callback4)
-
-	#vertices
-	self.src=np.float32([[0,360], [245,225], [560,225], [790,360]])
-	self.dst= np.float32([[10 ,700], [10  ,100], [610 ,100], [610 ,700]])
-	self.vertices = np.array([self.src], dtype=np.int32)
+        rospy.Subscriber("/camera01/rgb/image_raw", Image, self.callback1)
+        rospy.Subscriber("/camera02/rgb/image_raw", Image, self.callback2)
+        rospy.Subscriber("/camera03/rgb/image_raw", Image, self.callback3)
+        rospy.Subscriber("/camera04/rgb/image_raw", Image, self.callback4)
+
+        # camera center finding flags
+        self.check_center_camera_1 = False
+        self.check_center_camera_2 = False
+        self.check_center_camera_3 = False
+        self.check_center_camera_4 = False
+
+        cx, cy = np.loadtxt('camera1.txt')
+
+        # offsets which has to update
+        self.offsetx1 = 145
+        self.offsetx2 = 255
+        self.offsety1 = 85
+        self.offsety2 = 150
+
+        self.dst_width = 400
+        self.dst_height = 400
+
+        # vertices
+        self.src = np.float32([[0, 360], [245, 225], [560, 225], [790, 360]])
+        self.dst = np.float32([[10, 700], [10, 100], [610, 100], [610, 700]])
+        self.vertices = np.array([self.src], dtype=np.int32)
+
+        # Set our filtering parameters
+        # Initialize parameter settiing using cv2.SimpleBlobDetector
+        params = cv2.SimpleBlobDetector_Params()
+
+        # Set Area filtering parameters
+        params.filterByArea = True
+        params.minArea = 100
+        # params.maxArea = 150
+
+        # Set Circularity filtering parameters
+        params.filterByCircularity = True
+        params.minCircularity = 0.8
+
+        # Set Convexity filtering parameters
+        params.filterByConvexity = False
+        params.minConvexity = 0.5
+
+        # Set inertia filtering parameters
+        params.filterByInertia = False
+        params.minInertiaRatio = 0.4
+        params.maxInertiaRatio = 1
+
+        # Create a detector with the parameters
+        self.detector = cv2.SimpleBlobDetector_create(params)
 
     def callback1(self, msg):
         rospy.loginfo('Image received from camera 1...')
@@ -57,73 +104,146 @@ class Nodo(object):
         rospy.loginfo('Image received  from camera 4...')
         self.image4 = self.br.imgmsg_to_cv2(msg, 'bgr8')
 
-
     def WarpPerspective(image):
         M = cv2.getPerspectiveTransform(self.src, self.dst)
         Minv = cv2.getPerspectiveTransform(self.dst, self.src)
-        return Minv, cv2.warpPerspective(image, M, (image.shape[1],image.shape[0]), flags=cv2.INTER_LINEAR)
+        return Minv, cv2.warpPerspective(image, M, (image.shape[1], image.shape[0]), flags=cv2.INTER_LINEAR)
+
+    def obtain_vertices(self, (cx, cy), (width, height), (offsetx1, offsetx2), (offsety1, offsety2)):
+        src = np.float32([[cx-offsetx1, cy-offsety1], [cx+offsetx1, cy-offsety1],
+                         [cx-offsetx2, cy+offsety2], [cx+offsetx2, cy+offsety2]])
+        dst = np.float32([[0, 0], [width, 0], [0, height], [width, height]])
+        vertices = np.array([src], dtype=np.int32)
+        return vertices, src, dst
 
     def start(self):
         rospy.loginfo("Timing images")
-        #rospy.spin()
+        # rospy.spin()
         while not rospy.is_shutdown():
+
             rospy.loginfo('publishing image')
 
             if self.image1 is not None:
-		#gray = cv2.cvtColor(self.image, cv2.COLOR_BGR2GRAY)
-		#frame = np.asarray(gray)
-		#occurrences = np.count_nonzero(frame == 255)
-		#hello = tf.constant("hello TensorFlow!")
-		#sess=tf.Session()
-		#print sess.run(hello)
-		
-		roi_image1 = cv2.polylines(self.image1.copy(), self.vertices,True,(0,0,255),10)
 
-		M = cv2.getPerspectiveTransform(self.src, self.dst)
+                if self.check_center_camera_1 is True:
+
+                    test_image = ~self.image1.copy()
+                    keypoints = self.detector.detect(test_image)
+                    cx, cy = keypoints[0].pt
+                    np.savetxt('camera1.txt', (cx, cy))
+                    # blank = np.zeros((1, 1))
+                    # blobs = cv2.drawKeypoints(self.image1.copy(
+                    #  ), keypoints, blank, (0, 0, 255), cv2.DRAW_MATCHES_FLAGS_DRAW_RICH_KEYPOINTS)
+                    # text = " detected center" + \
+                    #     ' x: ' + str(cx) + ' y: ' + str(cy)
+                    # cv2.putText(blobs, text, (20, 550),
+                    #             cv2.FONT_HERSHEY_SIMPLEX, .7, (0, 100, 255), 2)
+
+                    self.check_center_camera_1 = False
+                else:
+
+                    cx, cy = np.loadtxt('camera1.txt')
+
+                vertices, src, dst = self.obtain_vertices((cx, cy), (self.dst_width, self.dst_height), (
+                    self.offsetx1, self.offsetx2), (self.offsety1, self.offsety2))
+
+                roi_image1 = cv2.polylines(
+                    self.image1.copy(), vertices, True, (0, 0, 255), 10)
+
+                M = cv2.getPerspectiveTransform(src, dst)
+
+                warped_image1 = cv2.warpPerspective(self.image1.copy(
+                ), M, (self.dst_width, self.dst_height), flags=cv2.INTER_LINEAR)
+
+                self.pub1.publish(self.br.cv2_to_imgmsg(warped_image1, 'bgr8'))
+
+            if self.image2 is not None:
 
-		warped_image1 = cv2.warpPerspective(self.image1.copy(), M, (self.image1.shape[1],self.image1.shape[0]), flags=cv2.INTER_LINEAR)
+                if self.check_center_camera_2 is True:
 
-		#M, warped_image = self.WarpPerspective(self.image.copy())
+                    test_image = ~self.image2.copy()
+                    keypoints = self.detector.detect(test_image)
+                    cx, cy = keypoints[0].pt
 
-			
-		self.pub1.publish(self.br.cv2_to_imgmsg(warped_image1 , 'bgr8'))
+                    np.savetxt('camera2.txt', (cx, cy))
 
+                    self.check_center_camera_2 = False
+                else:
 
-	    if self.image2 is not None:		
-	
-		roi_image2 = cv2.polylines(self.image2.copy(), self.vertices,True,(0,0,255),10)
+                    cx, cy = np.loadtxt('camera2.txt')
 
-		M = cv2.getPerspectiveTransform(self.src, self.dst)
+                vertices, src, dst = self.obtain_vertices((cx, cy), (self.dst_width, self.dst_height), (
+                    self.offsetx1, self.offsetx2), (self.offsety1, self.offsety2))
 
-		warped_image2 = cv2.warpPerspective(self.image2.copy(), M, (self.image2.shape[1],self.image2.shape[0]), flags=cv2.INTER_LINEAR)
+                roi_image2 = cv2.polylines(
+                    self.image2.copy(), vertices, True, (0, 0, 255), 10)
 
-		self.pub2.publish(self.br.cv2_to_imgmsg(warped_image2 , 'bgr8'))
+                M = cv2.getPerspectiveTransform(src, dst)
 
+                warped_image2 = cv2.warpPerspective(self.image2.copy(
+                ), M, (self.dst_width, self.dst_height), flags=cv2.INTER_LINEAR)
 
-	    if self.image3 is not None:		
-	
-		roi_image3 = cv2.polylines(self.image3.copy(), self.vertices,True,(0,0,255),10)
+                self.pub2.publish(self.br.cv2_to_imgmsg(warped_image2, 'bgr8'))
 
-		M = cv2.getPerspectiveTransform(self.src, self.dst)
+            if self.image3 is not None:
 
-		warped_image3 = cv2.warpPerspective(self.image3.copy(), M, (self.image3.shape[1],self.image3.shape[0]), flags=cv2.INTER_LINEAR)
+                if self.check_center_camera_3 is True:
 
-		self.pub3.publish(self.br.cv2_to_imgmsg(warped_image3 , 'bgr8'))
+                    test_image = ~self.image3.copy()
+                    keypoints = self.detector.detect(test_image)
+                    cx, cy = keypoints[0].pt
 
+                    np.savetxt('camera3.txt', (cx, cy))
 
-	    if self.image4 is not None:		
-	
-		roi_image4 = cv2.polylines(self.image4.copy(), self.vertices,True,(0,0,255),10)
+                    self.check_center_camera_3 = False
+                else:
 
-		M = cv2.getPerspectiveTransform(self.src, self.dst)
+                    cx, cy = np.loadtxt('camera3.txt')
 
-		warped_image4 = cv2.warpPerspective(self.image4.copy(), M, (self.image4.shape[1],self.image4.shape[0]), flags=cv2.INTER_LINEAR)
+                vertices, src, dst = self.obtain_vertices((cx, cy), (self.dst_width, self.dst_height), (
+                    self.offsetx1, self.offsetx2), (self.offsety1, self.offsety2))
 
-		self.pub4.publish(self.br.cv2_to_imgmsg(warped_image4 , 'bgr8'))
+                roi_image3 = cv2.polylines(
+                    self.image3.copy(), vertices, True, (0, 0, 255), 10)
 
+                M = cv2.getPerspectiveTransform(src, dst)
+
+                warped_image3 = cv2.warpPerspective(self.image3.copy(
+                ), M, (self.dst_width, self.dst_height), flags=cv2.INTER_LINEAR)
+
+                self.pub3.publish(self.br.cv2_to_imgmsg(warped_image3 , 'bgr8'))
+
+            if self.image4 is not None:
+
+                if self.check_center_camera_4 is True:
+
+                    test_image = ~self.image4.copy()
+                    keypoints = self.detector.detect(test_image)
+                    cx, cy = keypoints[0].pt
+
+                    np.savetxt('camera4.txt', (cx, cy))
+
+                    self.check_center_camera_4 = False
+                else:
+
+                    cx, cy = np.loadtxt('camera4.txt')
+
+                vertices, src, dst = self.obtain_vertices((cx, cy), (self.dst_width, self.dst_height), (
+                    self.offsetx1, self.offsetx2), (self.offsety1, self.offsety2))
+
+                roi_image4 = cv2.polylines(
+                    self.image2.copy(), vertices, True, (0, 0, 255), 10)
+
+                M = cv2.getPerspectiveTransform(src, dst)
+
+                warped_image4 = cv2.warpPerspective(self.image4.copy(
+                ), M, (self.dst_width, self.dst_height), flags=cv2.INTER_LINEAR)
+
+                self.pub4.publish(self.br.cv2_to_imgmsg(warped_image4 , 'bgr8'))
 
             self.loop_rate.sleep()
 
+
 if __name__ == '__main__':
     rospy.init_node("warped_image", anonymous=True)
     my_node = Nodo()
diff --git a/workspace/virtuallab/build/laser_scan_convert/CMakeFiles/CMakeDirectoryInformation.cmake b/workspace/virtuallab/build/laser_scan_convert/CMakeFiles/CMakeDirectoryInformation.cmake
new file mode 100644
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index 0000000000000000000000000000000000000000..2fa4f578d7e0bb6c3c295772f5e1a67ff15a0c16
--- /dev/null
+++ b/workspace/virtuallab/build/laser_scan_convert/catkin_generated/installspace/laser_scan_convert.pc
@@ -0,0 +1,8 @@
+prefix=/home/job/workspace/virtuallab/install
+
+Name: laser_scan_convert
+Description: Description of laser_scan_convert
+Version: 0.0.0
+Cflags: 
+Libs: -L${prefix}/lib 
+Requires: 
diff --git a/workspace/virtuallab/build/laser_scan_convert/catkin_generated/installspace/laser_scan_convertConfig-version.cmake b/workspace/virtuallab/build/laser_scan_convert/catkin_generated/installspace/laser_scan_convertConfig-version.cmake
new file mode 100644
index 0000000000000000000000000000000000000000..7fd9f993a719934b0f7ee411b86bce935627eec0
--- /dev/null
+++ b/workspace/virtuallab/build/laser_scan_convert/catkin_generated/installspace/laser_scan_convertConfig-version.cmake
@@ -0,0 +1,14 @@
+# generated from catkin/cmake/template/pkgConfig-version.cmake.in
+set(PACKAGE_VERSION "0.0.0")
+
+set(PACKAGE_VERSION_EXACT False)
+set(PACKAGE_VERSION_COMPATIBLE False)
+
+if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_EXACT True)
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
+
+if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
diff --git a/workspace/virtuallab/build/laser_scan_convert/catkin_generated/installspace/laser_scan_convertConfig.cmake b/workspace/virtuallab/build/laser_scan_convert/catkin_generated/installspace/laser_scan_convertConfig.cmake
new file mode 100644
index 0000000000000000000000000000000000000000..567e1568710fb10e4538275e1638db1038ac4830
--- /dev/null
+++ b/workspace/virtuallab/build/laser_scan_convert/catkin_generated/installspace/laser_scan_convertConfig.cmake
@@ -0,0 +1,223 @@
+# generated from catkin/cmake/template/pkgConfig.cmake.in
+
+# append elements to a list and remove existing duplicates from the list
+# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig
+# self contained
+macro(_list_append_deduplicate listname)
+  if(NOT "${ARGN}" STREQUAL "")
+    if(${listname})
+      list(REMOVE_ITEM ${listname} ${ARGN})
+    endif()
+    list(APPEND ${listname} ${ARGN})
+  endif()
+endmacro()
+
+# append elements to a list if they are not already in the list
+# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig
+# self contained
+macro(_list_append_unique listname)
+  foreach(_item ${ARGN})
+    list(FIND ${listname} ${_item} _index)
+    if(_index EQUAL -1)
+      list(APPEND ${listname} ${_item})
+    endif()
+  endforeach()
+endmacro()
+
+# pack a list of libraries with optional build configuration keywords
+# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig
+# self contained
+macro(_pack_libraries_with_build_configuration VAR)
+  set(${VAR} "")
+  set(_argn ${ARGN})
+  list(LENGTH _argn _count)
+  set(_index 0)
+  while(${_index} LESS ${_count})
+    list(GET _argn ${_index} lib)
+    if("${lib}" MATCHES "^(debug|optimized|general)$")
+      math(EXPR _index "${_index} + 1")
+      if(${_index} EQUAL ${_count})
+        message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library")
+      endif()
+      list(GET _argn ${_index} library)
+      list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}")
+    else()
+      list(APPEND ${VAR} "${lib}")
+    endif()
+    math(EXPR _index "${_index} + 1")
+  endwhile()
+endmacro()
+
+# unpack a list of libraries with optional build configuration keyword prefixes
+# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig
+# self contained
+macro(_unpack_libraries_with_build_configuration VAR)
+  set(${VAR} "")
+  foreach(lib ${ARGN})
+    string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}")
+    list(APPEND ${VAR} "${lib}")
+  endforeach()
+endmacro()
+
+
+if(laser_scan_convert_CONFIG_INCLUDED)
+  return()
+endif()
+set(laser_scan_convert_CONFIG_INCLUDED TRUE)
+
+# set variables for source/devel/install prefixes
+if("FALSE" STREQUAL "TRUE")
+  set(laser_scan_convert_SOURCE_PREFIX /home/job/workspace/virtuallab/src/laser_scan_convert)
+  set(laser_scan_convert_DEVEL_PREFIX /home/job/workspace/virtuallab/devel)
+  set(laser_scan_convert_INSTALL_PREFIX "")
+  set(laser_scan_convert_PREFIX ${laser_scan_convert_DEVEL_PREFIX})
+else()
+  set(laser_scan_convert_SOURCE_PREFIX "")
+  set(laser_scan_convert_DEVEL_PREFIX "")
+  set(laser_scan_convert_INSTALL_PREFIX /home/job/workspace/virtuallab/install)
+  set(laser_scan_convert_PREFIX ${laser_scan_convert_INSTALL_PREFIX})
+endif()
+
+# warn when using a deprecated package
+if(NOT "" STREQUAL "")
+  set(_msg "WARNING: package 'laser_scan_convert' is deprecated")
+  # append custom deprecation text if available
+  if(NOT "" STREQUAL "TRUE")
+    set(_msg "${_msg} ()")
+  endif()
+  message("${_msg}")
+endif()
+
+# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project
+set(laser_scan_convert_FOUND_CATKIN_PROJECT TRUE)
+
+if(NOT " " STREQUAL " ")
+  set(laser_scan_convert_INCLUDE_DIRS "")
+  set(_include_dirs "")
+  if(NOT " " STREQUAL " ")
+    set(_report "Check the issue tracker '' and consider creating a ticket if the problem has not been reported yet.")
+  elseif(NOT " " STREQUAL " ")
+    set(_report "Check the website '' for information and consider reporting the problem.")
+  else()
+    set(_report "Report the problem to the maintainer 'job <job@todo.todo>' and request to fix the problem.")
+  endif()
+  foreach(idir ${_include_dirs})
+    if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir})
+      set(include ${idir})
+    elseif("${idir} " STREQUAL "include ")
+      get_filename_component(include "${laser_scan_convert_DIR}/../../../include" ABSOLUTE)
+      if(NOT IS_DIRECTORY ${include})
+        message(FATAL_ERROR "Project 'laser_scan_convert' specifies '${idir}' as an include dir, which is not found.  It does not exist in '${include}'.  ${_report}")
+      endif()
+    else()
+      message(FATAL_ERROR "Project 'laser_scan_convert' specifies '${idir}' as an include dir, which is not found.  It does neither exist as an absolute directory nor in '\${prefix}/${idir}'.  ${_report}")
+    endif()
+    _list_append_unique(laser_scan_convert_INCLUDE_DIRS ${include})
+  endforeach()
+endif()
+
+set(libraries "")
+foreach(library ${libraries})
+  # keep build configuration keywords, target names and absolute libraries as-is
+  if("${library}" MATCHES "^(debug|optimized|general)$")
+    list(APPEND laser_scan_convert_LIBRARIES ${library})
+  elseif(${library} MATCHES "^-l")
+    list(APPEND laser_scan_convert_LIBRARIES ${library})
+  elseif(${library} MATCHES "^-")
+    # This is a linker flag/option (like -pthread)
+    # There's no standard variable for these, so create an interface library to hold it
+    if(NOT laser_scan_convert_NUM_DUMMY_TARGETS)
+      set(laser_scan_convert_NUM_DUMMY_TARGETS 0)
+    endif()
+    # Make sure the target name is unique
+    set(interface_target_name "catkin::laser_scan_convert::wrapped-linker-option${laser_scan_convert_NUM_DUMMY_TARGETS}")
+    while(TARGET "${interface_target_name}")
+      math(EXPR laser_scan_convert_NUM_DUMMY_TARGETS "${laser_scan_convert_NUM_DUMMY_TARGETS}+1")
+      set(interface_target_name "catkin::laser_scan_convert::wrapped-linker-option${laser_scan_convert_NUM_DUMMY_TARGETS}")
+    endwhile()
+    add_library("${interface_target_name}" INTERFACE IMPORTED)
+    if("${CMAKE_VERSION}" VERSION_LESS "3.13.0")
+      set_property(
+        TARGET
+        "${interface_target_name}"
+        APPEND PROPERTY
+        INTERFACE_LINK_LIBRARIES "${library}")
+    else()
+      target_link_options("${interface_target_name}" INTERFACE "${library}")
+    endif()
+    list(APPEND laser_scan_convert_LIBRARIES "${interface_target_name}")
+  elseif(TARGET ${library})
+    list(APPEND laser_scan_convert_LIBRARIES ${library})
+  elseif(IS_ABSOLUTE ${library})
+    list(APPEND laser_scan_convert_LIBRARIES ${library})
+  else()
+    set(lib_path "")
+    set(lib "${library}-NOTFOUND")
+    # since the path where the library is found is returned we have to iterate over the paths manually
+    foreach(path /home/job/workspace/virtuallab/install/lib;/home/job/workspace/virtuallab/devel/lib;/opt/ros/melodic/lib)
+      find_library(lib ${library}
+        PATHS ${path}
+        NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
+      if(lib)
+        set(lib_path ${path})
+        break()
+      endif()
+    endforeach()
+    if(lib)
+      _list_append_unique(laser_scan_convert_LIBRARY_DIRS ${lib_path})
+      list(APPEND laser_scan_convert_LIBRARIES ${lib})
+    else()
+      # as a fall back for non-catkin libraries try to search globally
+      find_library(lib ${library})
+      if(NOT lib)
+        message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'.  The library is neither a target nor built/installed properly.  Did you compile project 'laser_scan_convert'?  Did you find_package() it before the subdirectory containing its code is included?")
+      endif()
+      list(APPEND laser_scan_convert_LIBRARIES ${lib})
+    endif()
+  endif()
+endforeach()
+
+set(laser_scan_convert_EXPORTED_TARGETS "")
+# create dummy targets for exported code generation targets to make life of users easier
+foreach(t ${laser_scan_convert_EXPORTED_TARGETS})
+  if(NOT TARGET ${t})
+    add_custom_target(${t})
+  endif()
+endforeach()
+
+set(depends "")
+foreach(depend ${depends})
+  string(REPLACE " " ";" depend_list ${depend})
+  # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls
+  list(GET depend_list 0 laser_scan_convert_dep)
+  list(LENGTH depend_list count)
+  if(${count} EQUAL 1)
+    # simple dependencies must only be find_package()-ed once
+    if(NOT ${laser_scan_convert_dep}_FOUND)
+      find_package(${laser_scan_convert_dep} REQUIRED NO_MODULE)
+    endif()
+  else()
+    # dependencies with components must be find_package()-ed again
+    list(REMOVE_AT depend_list 0)
+    find_package(${laser_scan_convert_dep} REQUIRED NO_MODULE ${depend_list})
+  endif()
+  _list_append_unique(laser_scan_convert_INCLUDE_DIRS ${${laser_scan_convert_dep}_INCLUDE_DIRS})
+
+  # merge build configuration keywords with library names to correctly deduplicate
+  _pack_libraries_with_build_configuration(laser_scan_convert_LIBRARIES ${laser_scan_convert_LIBRARIES})
+  _pack_libraries_with_build_configuration(_libraries ${${laser_scan_convert_dep}_LIBRARIES})
+  _list_append_deduplicate(laser_scan_convert_LIBRARIES ${_libraries})
+  # undo build configuration keyword merging after deduplication
+  _unpack_libraries_with_build_configuration(laser_scan_convert_LIBRARIES ${laser_scan_convert_LIBRARIES})
+
+  _list_append_unique(laser_scan_convert_LIBRARY_DIRS ${${laser_scan_convert_dep}_LIBRARY_DIRS})
+  list(APPEND laser_scan_convert_EXPORTED_TARGETS ${${laser_scan_convert_dep}_EXPORTED_TARGETS})
+endforeach()
+
+set(pkg_cfg_extras "")
+foreach(extra ${pkg_cfg_extras})
+  if(NOT IS_ABSOLUTE ${extra})
+    set(extra ${laser_scan_convert_DIR}/${extra})
+  endif()
+  include(${extra})
+endforeach()
diff --git a/workspace/virtuallab/build/laser_scan_convert/catkin_generated/ordered_paths.cmake b/workspace/virtuallab/build/laser_scan_convert/catkin_generated/ordered_paths.cmake
new file mode 100644
index 0000000000000000000000000000000000000000..88ba1d8af01839a303cdb6a7d83aacc7be67e6ab
--- /dev/null
+++ b/workspace/virtuallab/build/laser_scan_convert/catkin_generated/ordered_paths.cmake
@@ -0,0 +1 @@
+set(ORDERED_PATHS "/opt/ros/melodic/lib")
\ No newline at end of file
diff --git a/workspace/virtuallab/build/laser_scan_convert/catkin_generated/package.cmake b/workspace/virtuallab/build/laser_scan_convert/catkin_generated/package.cmake
new file mode 100644
index 0000000000000000000000000000000000000000..ea3355c6631e95a0149a6d2e346a6720144dd94a
--- /dev/null
+++ b/workspace/virtuallab/build/laser_scan_convert/catkin_generated/package.cmake
@@ -0,0 +1,16 @@
+set(_CATKIN_CURRENT_PACKAGE "laser_scan_convert")
+set(laser_scan_convert_VERSION "0.0.0")
+set(laser_scan_convert_MAINTAINER "job <job@todo.todo>")
+set(laser_scan_convert_PACKAGE_FORMAT "2")
+set(laser_scan_convert_BUILD_DEPENDS "roscpp" "rospy" "std_msgs")
+set(laser_scan_convert_BUILD_EXPORT_DEPENDS "roscpp" "rospy" "std_msgs")
+set(laser_scan_convert_BUILDTOOL_DEPENDS "catkin")
+set(laser_scan_convert_BUILDTOOL_EXPORT_DEPENDS )
+set(laser_scan_convert_EXEC_DEPENDS "roscpp" "rospy" "std_msgs")
+set(laser_scan_convert_RUN_DEPENDS "roscpp" "rospy" "std_msgs")
+set(laser_scan_convert_TEST_DEPENDS )
+set(laser_scan_convert_DOC_DEPENDS )
+set(laser_scan_convert_URL_WEBSITE "")
+set(laser_scan_convert_URL_BUGTRACKER "")
+set(laser_scan_convert_URL_REPOSITORY "")
+set(laser_scan_convert_DEPRECATED "")
\ No newline at end of file
diff --git a/workspace/virtuallab/build/laser_scan_convert/catkin_generated/pkg.develspace.context.pc.py b/workspace/virtuallab/build/laser_scan_convert/catkin_generated/pkg.develspace.context.pc.py
new file mode 100644
index 0000000000000000000000000000000000000000..7a6400d405bcc3a6e7eb3c2b28479d73a5626dfb
--- /dev/null
+++ b/workspace/virtuallab/build/laser_scan_convert/catkin_generated/pkg.develspace.context.pc.py
@@ -0,0 +1,8 @@
+# generated from catkin/cmake/template/pkg.context.pc.in
+CATKIN_PACKAGE_PREFIX = ""
+PROJECT_PKG_CONFIG_INCLUDE_DIRS = "".split(';') if "" != "" else []
+PROJECT_CATKIN_DEPENDS = "".replace(';', ' ')
+PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else []
+PROJECT_NAME = "laser_scan_convert"
+PROJECT_SPACE_DIR = "/home/job/workspace/virtuallab/devel"
+PROJECT_VERSION = "0.0.0"
diff --git a/workspace/virtuallab/build/laser_scan_convert/catkin_generated/pkg.installspace.context.pc.py b/workspace/virtuallab/build/laser_scan_convert/catkin_generated/pkg.installspace.context.pc.py
new file mode 100644
index 0000000000000000000000000000000000000000..efac00ebfdb934d5264e0978aeafe36aaa6f1ae5
--- /dev/null
+++ b/workspace/virtuallab/build/laser_scan_convert/catkin_generated/pkg.installspace.context.pc.py
@@ -0,0 +1,8 @@
+# generated from catkin/cmake/template/pkg.context.pc.in
+CATKIN_PACKAGE_PREFIX = ""
+PROJECT_PKG_CONFIG_INCLUDE_DIRS = "".split(';') if "" != "" else []
+PROJECT_CATKIN_DEPENDS = "".replace(';', ' ')
+PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else []
+PROJECT_NAME = "laser_scan_convert"
+PROJECT_SPACE_DIR = "/home/job/workspace/virtuallab/install"
+PROJECT_VERSION = "0.0.0"
diff --git a/workspace/virtuallab/build/laser_scan_convert/catkin_generated/stamps/laser_scan_convert/package.xml.stamp b/workspace/virtuallab/build/laser_scan_convert/catkin_generated/stamps/laser_scan_convert/package.xml.stamp
new file mode 100644
index 0000000000000000000000000000000000000000..a0accc583a332b1467f04ded6b5a9947c8772002
--- /dev/null
+++ b/workspace/virtuallab/build/laser_scan_convert/catkin_generated/stamps/laser_scan_convert/package.xml.stamp
@@ -0,0 +1,68 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>laser_scan_convert</name>
+  <version>0.0.0</version>
+  <description>The laser_scan_convert package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="job@todo.todo">job</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/laser_scan_convert</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
diff --git a/workspace/virtuallab/build/laser_scan_convert/catkin_generated/stamps/laser_scan_convert/pkg.pc.em.stamp b/workspace/virtuallab/build/laser_scan_convert/catkin_generated/stamps/laser_scan_convert/pkg.pc.em.stamp
new file mode 100644
index 0000000000000000000000000000000000000000..549fb75ce8000c875c316f444238bd1f28dc88c8
--- /dev/null
+++ b/workspace/virtuallab/build/laser_scan_convert/catkin_generated/stamps/laser_scan_convert/pkg.pc.em.stamp
@@ -0,0 +1,8 @@
+prefix=@PROJECT_SPACE_DIR
+
+Name: @(CATKIN_PACKAGE_PREFIX + PROJECT_NAME)
+Description: Description of @PROJECT_NAME
+Version: @PROJECT_VERSION
+Cflags: @(' '.join(['-I%s' % include for include in PROJECT_PKG_CONFIG_INCLUDE_DIRS]))
+Libs: -L${prefix}/lib @(' '.join(PKG_CONFIG_LIBRARIES_WITH_PREFIX))
+Requires: @(PROJECT_CATKIN_DEPENDS)
diff --git a/workspace/virtuallab/build/laser_scan_convert/cmake_install.cmake b/workspace/virtuallab/build/laser_scan_convert/cmake_install.cmake
new file mode 100644
index 0000000000000000000000000000000000000000..336bd802d2a8341238e75c5dd52776b97aef9083
--- /dev/null
+++ b/workspace/virtuallab/build/laser_scan_convert/cmake_install.cmake
@@ -0,0 +1,54 @@
+# Install script for directory: /home/job/workspace/virtuallab/src/laser_scan_convert
+
+# Set the install prefix
+if(NOT DEFINED CMAKE_INSTALL_PREFIX)
+  set(CMAKE_INSTALL_PREFIX "/home/job/workspace/virtuallab/install")
+endif()
+string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
+
+# Set the install configuration name.
+if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+  if(BUILD_TYPE)
+    string(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
+           CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
+  else()
+    set(CMAKE_INSTALL_CONFIG_NAME "")
+  endif()
+  message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
+endif()
+
+# Set the component getting installed.
+if(NOT CMAKE_INSTALL_COMPONENT)
+  if(COMPONENT)
+    message(STATUS "Install component: \"${COMPONENT}\"")
+    set(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
+  else()
+    set(CMAKE_INSTALL_COMPONENT)
+  endif()
+endif()
+
+# Install shared libraries without execute permission?
+if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+  set(CMAKE_INSTALL_SO_NO_EXE "1")
+endif()
+
+# Is this installation the result of a crosscompile?
+if(NOT DEFINED CMAKE_CROSSCOMPILING)
+  set(CMAKE_CROSSCOMPILING "FALSE")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/pkgconfig" TYPE FILE FILES "/home/job/workspace/virtuallab/build/laser_scan_convert/catkin_generated/installspace/laser_scan_convert.pc")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/laser_scan_convert/cmake" TYPE FILE FILES
+    "/home/job/workspace/virtuallab/build/laser_scan_convert/catkin_generated/installspace/laser_scan_convertConfig.cmake"
+    "/home/job/workspace/virtuallab/build/laser_scan_convert/catkin_generated/installspace/laser_scan_convertConfig-version.cmake"
+    )
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/laser_scan_convert" TYPE FILE FILES "/home/job/workspace/virtuallab/src/laser_scan_convert/package.xml")
+endif()
+
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+.PHONY : multiple-object-tracking-lidar/CMakeFiles/bond_generate_messages_py.dir/rule
+
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+bond_generate_messages_py: multiple-object-tracking-lidar/CMakeFiles/bond_generate_messages_py.dir/rule
+
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+
+# fast build rule for target.
+bond_generate_messages_py/fast:
+	cd /home/job/workspace/virtuallab/build && $(MAKE) -f multiple-object-tracking-lidar/CMakeFiles/bond_generate_messages_py.dir/build.make multiple-object-tracking-lidar/CMakeFiles/bond_generate_messages_py.dir/build
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+
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+	cd /home/job/workspace/virtuallab/build && $(MAKE) -f CMakeFiles/Makefile2 multiple-object-tracking-lidar/CMakeFiles/std_srvs_generate_messages_nodejs.dir/rule
+.PHONY : multiple-object-tracking-lidar/CMakeFiles/std_srvs_generate_messages_nodejs.dir/rule
+
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+
+.PHONY : std_srvs_generate_messages_nodejs
+
+# fast build rule for target.
+std_srvs_generate_messages_nodejs/fast:
+	cd /home/job/workspace/virtuallab/build && $(MAKE) -f multiple-object-tracking-lidar/CMakeFiles/std_srvs_generate_messages_nodejs.dir/build.make multiple-object-tracking-lidar/CMakeFiles/std_srvs_generate_messages_nodejs.dir/build
+.PHONY : std_srvs_generate_messages_nodejs/fast
+
+# Convenience name for target.
+multiple-object-tracking-lidar/CMakeFiles/std_srvs_generate_messages_py.dir/rule:
+	cd /home/job/workspace/virtuallab/build && $(MAKE) -f CMakeFiles/Makefile2 multiple-object-tracking-lidar/CMakeFiles/std_srvs_generate_messages_py.dir/rule
+.PHONY : multiple-object-tracking-lidar/CMakeFiles/std_srvs_generate_messages_py.dir/rule
+
+# Convenience name for target.
+std_srvs_generate_messages_py: multiple-object-tracking-lidar/CMakeFiles/std_srvs_generate_messages_py.dir/rule
+
+.PHONY : std_srvs_generate_messages_py
+
+# fast build rule for target.
+std_srvs_generate_messages_py/fast:
+	cd /home/job/workspace/virtuallab/build && $(MAKE) -f multiple-object-tracking-lidar/CMakeFiles/std_srvs_generate_messages_py.dir/build.make multiple-object-tracking-lidar/CMakeFiles/std_srvs_generate_messages_py.dir/build
+.PHONY : std_srvs_generate_messages_py/fast
+
+# Convenience name for target.
+multiple-object-tracking-lidar/CMakeFiles/dynamic_reconfigure_gencfg.dir/rule:
+	cd /home/job/workspace/virtuallab/build && $(MAKE) -f CMakeFiles/Makefile2 multiple-object-tracking-lidar/CMakeFiles/dynamic_reconfigure_gencfg.dir/rule
+.PHONY : multiple-object-tracking-lidar/CMakeFiles/dynamic_reconfigure_gencfg.dir/rule
+
+# Convenience name for target.
+dynamic_reconfigure_gencfg: multiple-object-tracking-lidar/CMakeFiles/dynamic_reconfigure_gencfg.dir/rule
+
+.PHONY : dynamic_reconfigure_gencfg
+
+# fast build rule for target.
+dynamic_reconfigure_gencfg/fast:
+	cd /home/job/workspace/virtuallab/build && $(MAKE) -f multiple-object-tracking-lidar/CMakeFiles/dynamic_reconfigure_gencfg.dir/build.make multiple-object-tracking-lidar/CMakeFiles/dynamic_reconfigure_gencfg.dir/build
+.PHONY : dynamic_reconfigure_gencfg/fast
+
+# Convenience name for target.
+multiple-object-tracking-lidar/CMakeFiles/topic_tools_generate_messages_py.dir/rule:
+	cd /home/job/workspace/virtuallab/build && $(MAKE) -f CMakeFiles/Makefile2 multiple-object-tracking-lidar/CMakeFiles/topic_tools_generate_messages_py.dir/rule
+.PHONY : multiple-object-tracking-lidar/CMakeFiles/topic_tools_generate_messages_py.dir/rule
+
+# Convenience name for target.
+topic_tools_generate_messages_py: multiple-object-tracking-lidar/CMakeFiles/topic_tools_generate_messages_py.dir/rule
+
+.PHONY : topic_tools_generate_messages_py
+
+# fast build rule for target.
+topic_tools_generate_messages_py/fast:
+	cd /home/job/workspace/virtuallab/build && $(MAKE) -f multiple-object-tracking-lidar/CMakeFiles/topic_tools_generate_messages_py.dir/build.make multiple-object-tracking-lidar/CMakeFiles/topic_tools_generate_messages_py.dir/build
+.PHONY : topic_tools_generate_messages_py/fast
+
+src/main.o: src/main.cpp.o
+
+.PHONY : src/main.o
+
+# target to build an object file
+src/main.cpp.o:
+	cd /home/job/workspace/virtuallab/build && $(MAKE) -f multiple-object-tracking-lidar/CMakeFiles/kf_tracker.dir/build.make multiple-object-tracking-lidar/CMakeFiles/kf_tracker.dir/src/main.cpp.o
+.PHONY : src/main.cpp.o
+
+src/main.i: src/main.cpp.i
+
+.PHONY : src/main.i
+
+# target to preprocess a source file
+src/main.cpp.i:
+	cd /home/job/workspace/virtuallab/build && $(MAKE) -f multiple-object-tracking-lidar/CMakeFiles/kf_tracker.dir/build.make multiple-object-tracking-lidar/CMakeFiles/kf_tracker.dir/src/main.cpp.i
+.PHONY : src/main.cpp.i
+
+src/main.s: src/main.cpp.s
+
+.PHONY : src/main.s
+
+# target to generate assembly for a file
+src/main.cpp.s:
+	cd /home/job/workspace/virtuallab/build && $(MAKE) -f multiple-object-tracking-lidar/CMakeFiles/kf_tracker.dir/build.make multiple-object-tracking-lidar/CMakeFiles/kf_tracker.dir/src/main.cpp.s
+.PHONY : src/main.cpp.s
+
+# Help Target
+help:
+	@echo "The following are some of the valid targets for this Makefile:"
+	@echo "... all (the default if no target is provided)"
+	@echo "... clean"
+	@echo "... depend"
+	@echo "... install/strip"
+	@echo "... install"
+	@echo "... list_install_components"
+	@echo "... rebuild_cache"
+	@echo "... bond_generate_messages_eus"
+	@echo "... dynamic_reconfigure_generate_messages_nodejs"
+	@echo "... bond_generate_messages_cpp"
+	@echo "... nodelet_generate_messages_py"
+	@echo "... bond_generate_messages_nodejs"
+	@echo "... nodelet_generate_messages_lisp"
+	@echo "... nodelet_generate_messages_eus"
+	@echo "... topic_tools_generate_messages_cpp"
+	@echo "... dynamic_reconfigure_generate_messages_cpp"
+	@echo "... kf_tracker"
+	@echo "... bond_generate_messages_lisp"
+	@echo "... std_srvs_generate_messages_lisp"
+	@echo "... topic_tools_generate_messages_lisp"
+	@echo "... nodelet_topic_tools_gencfg"
+	@echo "... dynamic_reconfigure_generate_messages_py"
+	@echo "... topic_tools_generate_messages_nodejs"
+	@echo "... pcl_ros_gencfg"
+	@echo "... dynamic_reconfigure_generate_messages_eus"
+	@echo "... dynamic_reconfigure_generate_messages_lisp"
+	@echo "... pcl_msgs_generate_messages_cpp"
+	@echo "... pcl_msgs_generate_messages_eus"
+	@echo "... topic_tools_generate_messages_eus"
+	@echo "... pcl_msgs_generate_messages_lisp"
+	@echo "... nodelet_generate_messages_nodejs"
+	@echo "... pcl_msgs_generate_messages_nodejs"
+	@echo "... pcl_msgs_generate_messages_py"
+	@echo "... install/local"
+	@echo "... std_srvs_generate_messages_eus"
+	@echo "... test"
+	@echo "... std_srvs_generate_messages_cpp"
+	@echo "... nodelet_generate_messages_cpp"
+	@echo "... bond_generate_messages_py"
+	@echo "... std_srvs_generate_messages_nodejs"
+	@echo "... std_srvs_generate_messages_py"
+	@echo "... dynamic_reconfigure_gencfg"
+	@echo "... topic_tools_generate_messages_py"
+	@echo "... edit_cache"
+	@echo "... src/main.o"
+	@echo "... src/main.i"
+	@echo "... src/main.s"
+.PHONY : help
+
+
+
+#=============================================================================
+# Special targets to cleanup operation of make.
+
+# Special rule to run CMake to check the build system integrity.
+# No rule that depends on this can have commands that come from listfiles
+# because they might be regenerated.
+cmake_check_build_system:
+	cd /home/job/workspace/virtuallab/build && $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
+.PHONY : cmake_check_build_system
+
diff --git a/workspace/virtuallab/build/multiple-object-tracking-lidar/catkin_generated/installspace/multi_object_tracking_lidar.pc b/workspace/virtuallab/build/multiple-object-tracking-lidar/catkin_generated/installspace/multi_object_tracking_lidar.pc
new file mode 100644
index 0000000000000000000000000000000000000000..95bb23add478053176c665d9310ac27ff4eea531
--- /dev/null
+++ b/workspace/virtuallab/build/multiple-object-tracking-lidar/catkin_generated/installspace/multi_object_tracking_lidar.pc
@@ -0,0 +1,8 @@
+prefix=/home/job/workspace/virtuallab/install
+
+Name: multi_object_tracking_lidar
+Description: Description of multi_object_tracking_lidar
+Version: 1.0.3
+Cflags: 
+Libs: -L${prefix}/lib 
+Requires: 
diff --git a/workspace/virtuallab/build/multiple-object-tracking-lidar/catkin_generated/installspace/multi_object_tracking_lidarConfig-version.cmake b/workspace/virtuallab/build/multiple-object-tracking-lidar/catkin_generated/installspace/multi_object_tracking_lidarConfig-version.cmake
new file mode 100644
index 0000000000000000000000000000000000000000..74a0ba4318d7b484da8a5a0af27aeb7e911cf503
--- /dev/null
+++ b/workspace/virtuallab/build/multiple-object-tracking-lidar/catkin_generated/installspace/multi_object_tracking_lidarConfig-version.cmake
@@ -0,0 +1,14 @@
+# generated from catkin/cmake/template/pkgConfig-version.cmake.in
+set(PACKAGE_VERSION "1.0.3")
+
+set(PACKAGE_VERSION_EXACT False)
+set(PACKAGE_VERSION_COMPATIBLE False)
+
+if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_EXACT True)
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
+
+if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
diff --git a/workspace/virtuallab/build/multiple-object-tracking-lidar/catkin_generated/installspace/multi_object_tracking_lidarConfig.cmake b/workspace/virtuallab/build/multiple-object-tracking-lidar/catkin_generated/installspace/multi_object_tracking_lidarConfig.cmake
new file mode 100644
index 0000000000000000000000000000000000000000..dc82ad42d6bad93378c11e963042e7d0e30c6cde
--- /dev/null
+++ b/workspace/virtuallab/build/multiple-object-tracking-lidar/catkin_generated/installspace/multi_object_tracking_lidarConfig.cmake
@@ -0,0 +1,223 @@
+# generated from catkin/cmake/template/pkgConfig.cmake.in
+
+# append elements to a list and remove existing duplicates from the list
+# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig
+# self contained
+macro(_list_append_deduplicate listname)
+  if(NOT "${ARGN}" STREQUAL "")
+    if(${listname})
+      list(REMOVE_ITEM ${listname} ${ARGN})
+    endif()
+    list(APPEND ${listname} ${ARGN})
+  endif()
+endmacro()
+
+# append elements to a list if they are not already in the list
+# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig
+# self contained
+macro(_list_append_unique listname)
+  foreach(_item ${ARGN})
+    list(FIND ${listname} ${_item} _index)
+    if(_index EQUAL -1)
+      list(APPEND ${listname} ${_item})
+    endif()
+  endforeach()
+endmacro()
+
+# pack a list of libraries with optional build configuration keywords
+# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig
+# self contained
+macro(_pack_libraries_with_build_configuration VAR)
+  set(${VAR} "")
+  set(_argn ${ARGN})
+  list(LENGTH _argn _count)
+  set(_index 0)
+  while(${_index} LESS ${_count})
+    list(GET _argn ${_index} lib)
+    if("${lib}" MATCHES "^(debug|optimized|general)$")
+      math(EXPR _index "${_index} + 1")
+      if(${_index} EQUAL ${_count})
+        message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library")
+      endif()
+      list(GET _argn ${_index} library)
+      list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}")
+    else()
+      list(APPEND ${VAR} "${lib}")
+    endif()
+    math(EXPR _index "${_index} + 1")
+  endwhile()
+endmacro()
+
+# unpack a list of libraries with optional build configuration keyword prefixes
+# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig
+# self contained
+macro(_unpack_libraries_with_build_configuration VAR)
+  set(${VAR} "")
+  foreach(lib ${ARGN})
+    string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}")
+    list(APPEND ${VAR} "${lib}")
+  endforeach()
+endmacro()
+
+
+if(multi_object_tracking_lidar_CONFIG_INCLUDED)
+  return()
+endif()
+set(multi_object_tracking_lidar_CONFIG_INCLUDED TRUE)
+
+# set variables for source/devel/install prefixes
+if("FALSE" STREQUAL "TRUE")
+  set(multi_object_tracking_lidar_SOURCE_PREFIX /home/job/workspace/virtuallab/src/multiple-object-tracking-lidar)
+  set(multi_object_tracking_lidar_DEVEL_PREFIX /home/job/workspace/virtuallab/devel)
+  set(multi_object_tracking_lidar_INSTALL_PREFIX "")
+  set(multi_object_tracking_lidar_PREFIX ${multi_object_tracking_lidar_DEVEL_PREFIX})
+else()
+  set(multi_object_tracking_lidar_SOURCE_PREFIX "")
+  set(multi_object_tracking_lidar_DEVEL_PREFIX "")
+  set(multi_object_tracking_lidar_INSTALL_PREFIX /home/job/workspace/virtuallab/install)
+  set(multi_object_tracking_lidar_PREFIX ${multi_object_tracking_lidar_INSTALL_PREFIX})
+endif()
+
+# warn when using a deprecated package
+if(NOT "" STREQUAL "")
+  set(_msg "WARNING: package 'multi_object_tracking_lidar' is deprecated")
+  # append custom deprecation text if available
+  if(NOT "" STREQUAL "TRUE")
+    set(_msg "${_msg} ()")
+  endif()
+  message("${_msg}")
+endif()
+
+# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project
+set(multi_object_tracking_lidar_FOUND_CATKIN_PROJECT TRUE)
+
+if(NOT " " STREQUAL " ")
+  set(multi_object_tracking_lidar_INCLUDE_DIRS "")
+  set(_include_dirs "")
+  if(NOT " " STREQUAL " ")
+    set(_report "Check the issue tracker '' and consider creating a ticket if the problem has not been reported yet.")
+  elseif(NOT " " STREQUAL " ")
+    set(_report "Check the website '' for information and consider reporting the problem.")
+  else()
+    set(_report "Report the problem to the maintainer 'Praveen Palanisamy <praveen.palanisamy@outlook.com>' and request to fix the problem.")
+  endif()
+  foreach(idir ${_include_dirs})
+    if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir})
+      set(include ${idir})
+    elseif("${idir} " STREQUAL "include ")
+      get_filename_component(include "${multi_object_tracking_lidar_DIR}/../../../include" ABSOLUTE)
+      if(NOT IS_DIRECTORY ${include})
+        message(FATAL_ERROR "Project 'multi_object_tracking_lidar' specifies '${idir}' as an include dir, which is not found.  It does not exist in '${include}'.  ${_report}")
+      endif()
+    else()
+      message(FATAL_ERROR "Project 'multi_object_tracking_lidar' specifies '${idir}' as an include dir, which is not found.  It does neither exist as an absolute directory nor in '\${prefix}/${idir}'.  ${_report}")
+    endif()
+    _list_append_unique(multi_object_tracking_lidar_INCLUDE_DIRS ${include})
+  endforeach()
+endif()
+
+set(libraries "")
+foreach(library ${libraries})
+  # keep build configuration keywords, target names and absolute libraries as-is
+  if("${library}" MATCHES "^(debug|optimized|general)$")
+    list(APPEND multi_object_tracking_lidar_LIBRARIES ${library})
+  elseif(${library} MATCHES "^-l")
+    list(APPEND multi_object_tracking_lidar_LIBRARIES ${library})
+  elseif(${library} MATCHES "^-")
+    # This is a linker flag/option (like -pthread)
+    # There's no standard variable for these, so create an interface library to hold it
+    if(NOT multi_object_tracking_lidar_NUM_DUMMY_TARGETS)
+      set(multi_object_tracking_lidar_NUM_DUMMY_TARGETS 0)
+    endif()
+    # Make sure the target name is unique
+    set(interface_target_name "catkin::multi_object_tracking_lidar::wrapped-linker-option${multi_object_tracking_lidar_NUM_DUMMY_TARGETS}")
+    while(TARGET "${interface_target_name}")
+      math(EXPR multi_object_tracking_lidar_NUM_DUMMY_TARGETS "${multi_object_tracking_lidar_NUM_DUMMY_TARGETS}+1")
+      set(interface_target_name "catkin::multi_object_tracking_lidar::wrapped-linker-option${multi_object_tracking_lidar_NUM_DUMMY_TARGETS}")
+    endwhile()
+    add_library("${interface_target_name}" INTERFACE IMPORTED)
+    if("${CMAKE_VERSION}" VERSION_LESS "3.13.0")
+      set_property(
+        TARGET
+        "${interface_target_name}"
+        APPEND PROPERTY
+        INTERFACE_LINK_LIBRARIES "${library}")
+    else()
+      target_link_options("${interface_target_name}" INTERFACE "${library}")
+    endif()
+    list(APPEND multi_object_tracking_lidar_LIBRARIES "${interface_target_name}")
+  elseif(TARGET ${library})
+    list(APPEND multi_object_tracking_lidar_LIBRARIES ${library})
+  elseif(IS_ABSOLUTE ${library})
+    list(APPEND multi_object_tracking_lidar_LIBRARIES ${library})
+  else()
+    set(lib_path "")
+    set(lib "${library}-NOTFOUND")
+    # since the path where the library is found is returned we have to iterate over the paths manually
+    foreach(path /home/job/workspace/virtuallab/install/lib;/home/job/workspace/virtuallab/devel/lib;/opt/ros/melodic/lib)
+      find_library(lib ${library}
+        PATHS ${path}
+        NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
+      if(lib)
+        set(lib_path ${path})
+        break()
+      endif()
+    endforeach()
+    if(lib)
+      _list_append_unique(multi_object_tracking_lidar_LIBRARY_DIRS ${lib_path})
+      list(APPEND multi_object_tracking_lidar_LIBRARIES ${lib})
+    else()
+      # as a fall back for non-catkin libraries try to search globally
+      find_library(lib ${library})
+      if(NOT lib)
+        message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'.  The library is neither a target nor built/installed properly.  Did you compile project 'multi_object_tracking_lidar'?  Did you find_package() it before the subdirectory containing its code is included?")
+      endif()
+      list(APPEND multi_object_tracking_lidar_LIBRARIES ${lib})
+    endif()
+  endif()
+endforeach()
+
+set(multi_object_tracking_lidar_EXPORTED_TARGETS "")
+# create dummy targets for exported code generation targets to make life of users easier
+foreach(t ${multi_object_tracking_lidar_EXPORTED_TARGETS})
+  if(NOT TARGET ${t})
+    add_custom_target(${t})
+  endif()
+endforeach()
+
+set(depends "")
+foreach(depend ${depends})
+  string(REPLACE " " ";" depend_list ${depend})
+  # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls
+  list(GET depend_list 0 multi_object_tracking_lidar_dep)
+  list(LENGTH depend_list count)
+  if(${count} EQUAL 1)
+    # simple dependencies must only be find_package()-ed once
+    if(NOT ${multi_object_tracking_lidar_dep}_FOUND)
+      find_package(${multi_object_tracking_lidar_dep} REQUIRED NO_MODULE)
+    endif()
+  else()
+    # dependencies with components must be find_package()-ed again
+    list(REMOVE_AT depend_list 0)
+    find_package(${multi_object_tracking_lidar_dep} REQUIRED NO_MODULE ${depend_list})
+  endif()
+  _list_append_unique(multi_object_tracking_lidar_INCLUDE_DIRS ${${multi_object_tracking_lidar_dep}_INCLUDE_DIRS})
+
+  # merge build configuration keywords with library names to correctly deduplicate
+  _pack_libraries_with_build_configuration(multi_object_tracking_lidar_LIBRARIES ${multi_object_tracking_lidar_LIBRARIES})
+  _pack_libraries_with_build_configuration(_libraries ${${multi_object_tracking_lidar_dep}_LIBRARIES})
+  _list_append_deduplicate(multi_object_tracking_lidar_LIBRARIES ${_libraries})
+  # undo build configuration keyword merging after deduplication
+  _unpack_libraries_with_build_configuration(multi_object_tracking_lidar_LIBRARIES ${multi_object_tracking_lidar_LIBRARIES})
+
+  _list_append_unique(multi_object_tracking_lidar_LIBRARY_DIRS ${${multi_object_tracking_lidar_dep}_LIBRARY_DIRS})
+  list(APPEND multi_object_tracking_lidar_EXPORTED_TARGETS ${${multi_object_tracking_lidar_dep}_EXPORTED_TARGETS})
+endforeach()
+
+set(pkg_cfg_extras "")
+foreach(extra ${pkg_cfg_extras})
+  if(NOT IS_ABSOLUTE ${extra})
+    set(extra ${multi_object_tracking_lidar_DIR}/${extra})
+  endif()
+  include(${extra})
+endforeach()
diff --git a/workspace/virtuallab/build/multiple-object-tracking-lidar/catkin_generated/ordered_paths.cmake b/workspace/virtuallab/build/multiple-object-tracking-lidar/catkin_generated/ordered_paths.cmake
new file mode 100644
index 0000000000000000000000000000000000000000..88ba1d8af01839a303cdb6a7d83aacc7be67e6ab
--- /dev/null
+++ b/workspace/virtuallab/build/multiple-object-tracking-lidar/catkin_generated/ordered_paths.cmake
@@ -0,0 +1 @@
+set(ORDERED_PATHS "/opt/ros/melodic/lib")
\ No newline at end of file
diff --git a/workspace/virtuallab/build/multiple-object-tracking-lidar/catkin_generated/package.cmake b/workspace/virtuallab/build/multiple-object-tracking-lidar/catkin_generated/package.cmake
new file mode 100644
index 0000000000000000000000000000000000000000..050f5503b74f2dba0e1233bb387e8de7a06e3d77
--- /dev/null
+++ b/workspace/virtuallab/build/multiple-object-tracking-lidar/catkin_generated/package.cmake
@@ -0,0 +1,16 @@
+set(_CATKIN_CURRENT_PACKAGE "multi_object_tracking_lidar")
+set(multi_object_tracking_lidar_VERSION "1.0.3")
+set(multi_object_tracking_lidar_MAINTAINER "Praveen Palanisamy <praveen.palanisamy@outlook.com>")
+set(multi_object_tracking_lidar_PACKAGE_FORMAT "1")
+set(multi_object_tracking_lidar_BUILD_DEPENDS "pcl_ros" "roscpp" "sensor_msgs" "visualization_msgs" "libpcl-all-dev" "cv_bridge")
+set(multi_object_tracking_lidar_BUILD_EXPORT_DEPENDS "libpcl-all" "pcl_ros" "roscpp" "sensor_msgs" "visualization_msgs" "cv_bridge")
+set(multi_object_tracking_lidar_BUILDTOOL_DEPENDS "catkin")
+set(multi_object_tracking_lidar_BUILDTOOL_EXPORT_DEPENDS )
+set(multi_object_tracking_lidar_EXEC_DEPENDS "libpcl-all" "pcl_ros" "roscpp" "sensor_msgs" "visualization_msgs" "cv_bridge")
+set(multi_object_tracking_lidar_RUN_DEPENDS "libpcl-all" "pcl_ros" "roscpp" "sensor_msgs" "visualization_msgs" "cv_bridge")
+set(multi_object_tracking_lidar_TEST_DEPENDS )
+set(multi_object_tracking_lidar_DOC_DEPENDS )
+set(multi_object_tracking_lidar_URL_WEBSITE "")
+set(multi_object_tracking_lidar_URL_BUGTRACKER "")
+set(multi_object_tracking_lidar_URL_REPOSITORY "")
+set(multi_object_tracking_lidar_DEPRECATED "")
\ No newline at end of file
diff --git a/workspace/virtuallab/build/multiple-object-tracking-lidar/catkin_generated/pkg.develspace.context.pc.py b/workspace/virtuallab/build/multiple-object-tracking-lidar/catkin_generated/pkg.develspace.context.pc.py
new file mode 100644
index 0000000000000000000000000000000000000000..b850e059a3698c37cf5e19f00982a822598c8612
--- /dev/null
+++ b/workspace/virtuallab/build/multiple-object-tracking-lidar/catkin_generated/pkg.develspace.context.pc.py
@@ -0,0 +1,8 @@
+# generated from catkin/cmake/template/pkg.context.pc.in
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+PROJECT_CATKIN_DEPENDS = "".replace(';', ' ')
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diff --git a/workspace/virtuallab/build/multiple-object-tracking-lidar/catkin_generated/pkg.installspace.context.pc.py b/workspace/virtuallab/build/multiple-object-tracking-lidar/catkin_generated/pkg.installspace.context.pc.py
new file mode 100644
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--- /dev/null
+++ b/workspace/virtuallab/build/multiple-object-tracking-lidar/catkin_generated/pkg.installspace.context.pc.py
@@ -0,0 +1,8 @@
+# generated from catkin/cmake/template/pkg.context.pc.in
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diff --git a/workspace/virtuallab/build/multiple-object-tracking-lidar/catkin_generated/stamps/multi_object_tracking_lidar/package.xml.stamp b/workspace/virtuallab/build/multiple-object-tracking-lidar/catkin_generated/stamps/multi_object_tracking_lidar/package.xml.stamp
new file mode 100644
index 0000000000000000000000000000000000000000..5caea136ca8b292d3501985a16841052ddb3022b
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+++ b/workspace/virtuallab/build/multiple-object-tracking-lidar/catkin_generated/stamps/multi_object_tracking_lidar/package.xml.stamp
@@ -0,0 +1,63 @@
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+  <version>1.0.3</version>
+  <description>ROS package for Multiple objects detection, tracking and classification from LIDAR scans/point-clouds</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="praveen.palanisamy@outlook.com">Praveen Palanisamy</maintainer>
+
+
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+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>MIT</license>
+
+
+  <!-- Url tags are optional, but mutiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/kf_tracker</url> -->
+
+
+  <!-- Author tags are optional, mutiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintianers, but could be -->
+  <!-- Example: -->
+  <author email="praveen.palanisamy@outlook.com">Praveen Palanisamy</author> -->
+
+
+  <!-- The *_depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use run_depend for packages you need at runtime: -->
+  <!--   <run_depend>message_runtime</run_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>pcl_ros</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>sensor_msgs</build_depend>
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+  <build_depend>libpcl-all-dev</build_depend>
+  <build_depend>cv_bridge</build_depend>
+
+  <run_depend>libpcl-all</run_depend>
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+
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+
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@@ -0,0 +1,8 @@
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new file mode 100644
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--- /dev/null
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+	cd /home/job/workspace/virtuallab/build && $(MAKE) -f obstacle_detector/CMakeFiles/obstacle_detector_gui.dir/build.make obstacle_detector/CMakeFiles/obstacle_detector_gui.dir/src/panels/obstacle_publisher_panel.cpp.o
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+
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+
+# target to preprocess a source file
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+	cd /home/job/workspace/virtuallab/build && $(MAKE) -f obstacle_detector/CMakeFiles/obstacle_detector_gui.dir/build.make obstacle_detector/CMakeFiles/obstacle_detector_gui.dir/src/panels/obstacle_publisher_panel.cpp.i
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+
+.PHONY : src/panels/obstacle_publisher_panel.s
+
+# target to generate assembly for a file
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+	cd /home/job/workspace/virtuallab/build && $(MAKE) -f obstacle_detector/CMakeFiles/obstacle_detector_gui.dir/build.make obstacle_detector/CMakeFiles/obstacle_detector_gui.dir/src/panels/obstacle_publisher_panel.cpp.s
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+
+.PHONY : src/panels/obstacle_tracker_panel.o
+
+# target to build an object file
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+
+.PHONY : src/panels/obstacle_tracker_panel.i
+
+# target to preprocess a source file
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+	cd /home/job/workspace/virtuallab/build && $(MAKE) -f obstacle_detector/CMakeFiles/obstacle_detector_gui.dir/build.make obstacle_detector/CMakeFiles/obstacle_detector_gui.dir/src/panels/obstacle_tracker_panel.cpp.i
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+src/panels/obstacle_tracker_panel.s: src/panels/obstacle_tracker_panel.cpp.s
+
+.PHONY : src/panels/obstacle_tracker_panel.s
+
+# target to generate assembly for a file
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+	cd /home/job/workspace/virtuallab/build && $(MAKE) -f obstacle_detector/CMakeFiles/obstacle_detector_gui.dir/build.make obstacle_detector/CMakeFiles/obstacle_detector_gui.dir/src/panels/obstacle_tracker_panel.cpp.s
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+
+.PHONY : src/panels/scans_merger_panel.o
+
+# target to build an object file
+src/panels/scans_merger_panel.cpp.o:
+	cd /home/job/workspace/virtuallab/build && $(MAKE) -f obstacle_detector/CMakeFiles/obstacle_detector_gui.dir/build.make obstacle_detector/CMakeFiles/obstacle_detector_gui.dir/src/panels/scans_merger_panel.cpp.o
+.PHONY : src/panels/scans_merger_panel.cpp.o
+
+src/panels/scans_merger_panel.i: src/panels/scans_merger_panel.cpp.i
+
+.PHONY : src/panels/scans_merger_panel.i
+
+# target to preprocess a source file
+src/panels/scans_merger_panel.cpp.i:
+	cd /home/job/workspace/virtuallab/build && $(MAKE) -f obstacle_detector/CMakeFiles/obstacle_detector_gui.dir/build.make obstacle_detector/CMakeFiles/obstacle_detector_gui.dir/src/panels/scans_merger_panel.cpp.i
+.PHONY : src/panels/scans_merger_panel.cpp.i
+
+src/panels/scans_merger_panel.s: src/panels/scans_merger_panel.cpp.s
+
+.PHONY : src/panels/scans_merger_panel.s
+
+# target to generate assembly for a file
+src/panels/scans_merger_panel.cpp.s:
+	cd /home/job/workspace/virtuallab/build && $(MAKE) -f obstacle_detector/CMakeFiles/obstacle_detector_gui.dir/build.make obstacle_detector/CMakeFiles/obstacle_detector_gui.dir/src/panels/scans_merger_panel.cpp.s
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+
+src/scans_merger.o: src/scans_merger.cpp.o
+
+.PHONY : src/scans_merger.o
+
+# target to build an object file
+src/scans_merger.cpp.o:
+	cd /home/job/workspace/virtuallab/build && $(MAKE) -f obstacle_detector/CMakeFiles/scans_merger.dir/build.make obstacle_detector/CMakeFiles/scans_merger.dir/src/scans_merger.cpp.o
+.PHONY : src/scans_merger.cpp.o
+
+src/scans_merger.i: src/scans_merger.cpp.i
+
+.PHONY : src/scans_merger.i
+
+# target to preprocess a source file
+src/scans_merger.cpp.i:
+	cd /home/job/workspace/virtuallab/build && $(MAKE) -f obstacle_detector/CMakeFiles/scans_merger.dir/build.make obstacle_detector/CMakeFiles/scans_merger.dir/src/scans_merger.cpp.i
+.PHONY : src/scans_merger.cpp.i
+
+src/scans_merger.s: src/scans_merger.cpp.s
+
+.PHONY : src/scans_merger.s
+
+# target to generate assembly for a file
+src/scans_merger.cpp.s:
+	cd /home/job/workspace/virtuallab/build && $(MAKE) -f obstacle_detector/CMakeFiles/scans_merger.dir/build.make obstacle_detector/CMakeFiles/scans_merger.dir/src/scans_merger.cpp.s
+.PHONY : src/scans_merger.cpp.s
+
+# Help Target
+help:
+	@echo "The following are some of the valid targets for this Makefile:"
+	@echo "... all (the default if no target is provided)"
+	@echo "... clean"
+	@echo "... depend"
+	@echo "... list_install_components"
+	@echo "... edit_cache"
+	@echo "... obstacle_extractor_node"
+	@echo "... obstacle_tracker"
+	@echo "... obstacle_detector_gui"
+	@echo "... obstacle_publisher_node"
+	@echo "... scans_merger"
+	@echo "... obstacle_detector_genpy"
+	@echo "... obstacle_detector_generate_messages_py"
+	@echo "... obstacle_detector_generate_messages_nodejs"
+	@echo "... scans_merger_node"
+	@echo "... obstacle_detector_genlisp"
+	@echo "... obstacle_detector_gennodejs"
+	@echo "... obstacle_detector_generate_messages_eus"
+	@echo "... obstacle_extractor"
+	@echo "... obstacle_detector_generate_messages_cpp"
+	@echo "... _obstacle_detector_generate_messages_check_deps_Obstacles"
+	@echo "... install"
+	@echo "... obstacle_detector_generate_messages"
+	@echo "... std_srvs_generate_messages_py"
+	@echo "... std_srvs_generate_messages_lisp"
+	@echo "... install/local"
+	@echo "... std_srvs_generate_messages_eus"
+	@echo "... std_srvs_generate_messages_cpp"
+	@echo "... map_msgs_generate_messages_eus"
+	@echo "... nodelet_generate_messages_eus"
+	@echo "... bond_generate_messages_nodejs"
+	@echo "... obstacle_detector_geneus"
+	@echo "... obstacle_detector_gencpp"
+	@echo "... visualization_msgs_generate_messages_cpp"
+	@echo "... rviz_generate_messages_nodejs"
+	@echo "... bond_generate_messages_lisp"
+	@echo "... std_srvs_generate_messages_nodejs"
+	@echo "... map_msgs_generate_messages_py"
+	@echo "... rviz_generate_messages_eus"
+	@echo "... actionlib_generate_messages_lisp"
+	@echo "... nodelet_generate_messages_cpp"
+	@echo "... bond_generate_messages_py"
+	@echo "... obstacle_detector_generate_messages_lisp"
+	@echo "... bond_generate_messages_eus"
+	@echo "... obstacle_detector_nodelets"
+	@echo "... tf_generate_messages_cpp"
+	@echo "... rviz_generate_messages_cpp"
+	@echo "... nodelet_generate_messages_lisp"
+	@echo "... map_msgs_generate_messages_cpp"
+	@echo "... nodelet_generate_messages_nodejs"
+	@echo "... map_msgs_generate_messages_nodejs"
+	@echo "... bond_generate_messages_cpp"
+	@echo "... tf_generate_messages_eus"
+	@echo "... tf_generate_messages_lisp"
+	@echo "... tf2_msgs_generate_messages_eus"
+	@echo "... tf_generate_messages_nodejs"
+	@echo "... _obstacle_detector_generate_messages_check_deps_CircleObstacle"
+	@echo "... rviz_generate_messages_lisp"
+	@echo "... rviz_generate_messages_py"
+	@echo "... tf2_msgs_generate_messages_nodejs"
+	@echo "... tf_generate_messages_py"
+	@echo "... rebuild_cache"
+	@echo "... obstacle_tracker_node"
+	@echo "... actionlib_generate_messages_cpp"
+	@echo "... actionlib_generate_messages_eus"
+	@echo "... test"
+	@echo "... _obstacle_detector_generate_messages_check_deps_SegmentObstacle"
+	@echo "... actionlib_generate_messages_nodejs"
+	@echo "... actionlib_generate_messages_py"
+	@echo "... tf2_msgs_generate_messages_cpp"
+	@echo "... install/strip"
+	@echo "... tf2_msgs_generate_messages_py"
+	@echo "... tf2_msgs_generate_messages_lisp"
+	@echo "... visualization_msgs_generate_messages_eus"
+	@echo "... obstacle_publisher"
+	@echo "... map_msgs_generate_messages_lisp"
+	@echo "... visualization_msgs_generate_messages_lisp"
+	@echo "... nodelet_generate_messages_py"
+	@echo "... visualization_msgs_generate_messages_nodejs"
+	@echo "... visualization_msgs_generate_messages_py"
+	@echo "... obstacle_detector_gui_autogen"
+	@echo "... obstacle_detector_gui_autogen/mocs_compilation.o"
+	@echo "... obstacle_detector_gui_autogen/mocs_compilation.i"
+	@echo "... obstacle_detector_gui_autogen/mocs_compilation.s"
+	@echo "... src/displays/circle_visual.o"
+	@echo "... src/displays/circle_visual.i"
+	@echo "... src/displays/circle_visual.s"
+	@echo "... src/displays/obstacles_display.o"
+	@echo "... src/displays/obstacles_display.i"
+	@echo "... src/displays/obstacles_display.s"
+	@echo "... src/displays/segment_visual.o"
+	@echo "... src/displays/segment_visual.i"
+	@echo "... src/displays/segment_visual.s"
+	@echo "... src/nodelets/obstacle_extractor_nodelet.o"
+	@echo "... src/nodelets/obstacle_extractor_nodelet.i"
+	@echo "... src/nodelets/obstacle_extractor_nodelet.s"
+	@echo "... src/nodelets/obstacle_publisher_nodelet.o"
+	@echo "... src/nodelets/obstacle_publisher_nodelet.i"
+	@echo "... src/nodelets/obstacle_publisher_nodelet.s"
+	@echo "... src/nodelets/obstacle_tracker_nodelet.o"
+	@echo "... src/nodelets/obstacle_tracker_nodelet.i"
+	@echo "... src/nodelets/obstacle_tracker_nodelet.s"
+	@echo "... src/nodelets/scans_merger_nodelet.o"
+	@echo "... src/nodelets/scans_merger_nodelet.i"
+	@echo "... src/nodelets/scans_merger_nodelet.s"
+	@echo "... src/nodes/obstacle_extractor_node.o"
+	@echo "... src/nodes/obstacle_extractor_node.i"
+	@echo "... src/nodes/obstacle_extractor_node.s"
+	@echo "... src/nodes/obstacle_publisher_node.o"
+	@echo "... src/nodes/obstacle_publisher_node.i"
+	@echo "... src/nodes/obstacle_publisher_node.s"
+	@echo "... src/nodes/obstacle_tracker_node.o"
+	@echo "... src/nodes/obstacle_tracker_node.i"
+	@echo "... src/nodes/obstacle_tracker_node.s"
+	@echo "... src/nodes/scans_merger_node.o"
+	@echo "... src/nodes/scans_merger_node.i"
+	@echo "... src/nodes/scans_merger_node.s"
+	@echo "... src/obstacle_extractor.o"
+	@echo "... src/obstacle_extractor.i"
+	@echo "... src/obstacle_extractor.s"
+	@echo "... src/obstacle_publisher.o"
+	@echo "... src/obstacle_publisher.i"
+	@echo "... src/obstacle_publisher.s"
+	@echo "... src/obstacle_tracker.o"
+	@echo "... src/obstacle_tracker.i"
+	@echo "... src/obstacle_tracker.s"
+	@echo "... src/panels/obstacle_extractor_panel.o"
+	@echo "... src/panels/obstacle_extractor_panel.i"
+	@echo "... src/panels/obstacle_extractor_panel.s"
+	@echo "... src/panels/obstacle_publisher_panel.o"
+	@echo "... src/panels/obstacle_publisher_panel.i"
+	@echo "... src/panels/obstacle_publisher_panel.s"
+	@echo "... src/panels/obstacle_tracker_panel.o"
+	@echo "... src/panels/obstacle_tracker_panel.i"
+	@echo "... src/panels/obstacle_tracker_panel.s"
+	@echo "... src/panels/scans_merger_panel.o"
+	@echo "... src/panels/scans_merger_panel.i"
+	@echo "... src/panels/scans_merger_panel.s"
+	@echo "... src/scans_merger.o"
+	@echo "... src/scans_merger.i"
+	@echo "... src/scans_merger.s"
+.PHONY : help
+
+
+
+#=============================================================================
+# Special targets to cleanup operation of make.
+
+# Special rule to run CMake to check the build system integrity.
+# No rule that depends on this can have commands that come from listfiles
+# because they might be regenerated.
+cmake_check_build_system:
+	cd /home/job/workspace/virtuallab/build && $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
+.PHONY : cmake_check_build_system
+
diff --git a/workspace/virtuallab/build/obstacle_detector/catkin_generated/installspace/obstacle_detector-msg-extras.cmake b/workspace/virtuallab/build/obstacle_detector/catkin_generated/installspace/obstacle_detector-msg-extras.cmake
new file mode 100644
index 0000000000000000000000000000000000000000..f45ff77bc0444672eb5a910f6ca4ec0932d747bc
--- /dev/null
+++ b/workspace/virtuallab/build/obstacle_detector/catkin_generated/installspace/obstacle_detector-msg-extras.cmake
@@ -0,0 +1,2 @@
+set(obstacle_detector_MESSAGE_FILES "msg/CircleObstacle.msg;msg/SegmentObstacle.msg;msg/Obstacles.msg")
+set(obstacle_detector_SERVICE_FILES "")
diff --git a/workspace/virtuallab/build/obstacle_detector/catkin_generated/installspace/obstacle_detector-msg-paths.cmake b/workspace/virtuallab/build/obstacle_detector/catkin_generated/installspace/obstacle_detector-msg-paths.cmake
new file mode 100644
index 0000000000000000000000000000000000000000..ea6d0b5029e42e2f8de82867decb3e6c090d3013
--- /dev/null
+++ b/workspace/virtuallab/build/obstacle_detector/catkin_generated/installspace/obstacle_detector-msg-paths.cmake
@@ -0,0 +1,4 @@
+# generated from genmsg/cmake/pkg-msg-paths.cmake.installspace.in
+
+_prepend_path("${obstacle_detector_DIR}/.." "msg" obstacle_detector_MSG_INCLUDE_DIRS UNIQUE)
+set(obstacle_detector_MSG_DEPENDENCIES std_msgs;geometry_msgs)
diff --git a/workspace/virtuallab/build/obstacle_detector/catkin_generated/installspace/obstacle_detector.pc b/workspace/virtuallab/build/obstacle_detector/catkin_generated/installspace/obstacle_detector.pc
new file mode 100644
index 0000000000000000000000000000000000000000..337aa93ed722b9c38d093e1ca5cc0521c3076b24
--- /dev/null
+++ b/workspace/virtuallab/build/obstacle_detector/catkin_generated/installspace/obstacle_detector.pc
@@ -0,0 +1,8 @@
+prefix=/home/job/workspace/virtuallab/install
+
+Name: obstacle_detector
+Description: Description of obstacle_detector
+Version: 1.0.0
+Cflags: -I${prefix}/include
+Libs: -L${prefix}/lib -lscans_merger -lobstacle_extractor -lobstacle_tracker -lobstacle_publisher -lobstacle_detector_nodelets -lobstacle_detector_gui
+Requires: roscpp nodelet rviz std_msgs std_srvs geometry_msgs sensor_msgs tf laser_geometry message_runtime
diff --git a/workspace/virtuallab/build/obstacle_detector/catkin_generated/installspace/obstacle_detectorConfig-version.cmake b/workspace/virtuallab/build/obstacle_detector/catkin_generated/installspace/obstacle_detectorConfig-version.cmake
new file mode 100644
index 0000000000000000000000000000000000000000..de35aa22a9bd546ca9e0b4e63357adc254d83544
--- /dev/null
+++ b/workspace/virtuallab/build/obstacle_detector/catkin_generated/installspace/obstacle_detectorConfig-version.cmake
@@ -0,0 +1,14 @@
+# generated from catkin/cmake/template/pkgConfig-version.cmake.in
+set(PACKAGE_VERSION "1.0.0")
+
+set(PACKAGE_VERSION_EXACT False)
+set(PACKAGE_VERSION_COMPATIBLE False)
+
+if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_EXACT True)
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
+
+if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
diff --git a/workspace/virtuallab/build/obstacle_detector/catkin_generated/installspace/obstacle_detectorConfig.cmake b/workspace/virtuallab/build/obstacle_detector/catkin_generated/installspace/obstacle_detectorConfig.cmake
new file mode 100644
index 0000000000000000000000000000000000000000..e4eff7a1b0cf15762345a86e61f6188296521af2
--- /dev/null
+++ b/workspace/virtuallab/build/obstacle_detector/catkin_generated/installspace/obstacle_detectorConfig.cmake
@@ -0,0 +1,223 @@
+# generated from catkin/cmake/template/pkgConfig.cmake.in
+
+# append elements to a list and remove existing duplicates from the list
+# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig
+# self contained
+macro(_list_append_deduplicate listname)
+  if(NOT "${ARGN}" STREQUAL "")
+    if(${listname})
+      list(REMOVE_ITEM ${listname} ${ARGN})
+    endif()
+    list(APPEND ${listname} ${ARGN})
+  endif()
+endmacro()
+
+# append elements to a list if they are not already in the list
+# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig
+# self contained
+macro(_list_append_unique listname)
+  foreach(_item ${ARGN})
+    list(FIND ${listname} ${_item} _index)
+    if(_index EQUAL -1)
+      list(APPEND ${listname} ${_item})
+    endif()
+  endforeach()
+endmacro()
+
+# pack a list of libraries with optional build configuration keywords
+# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig
+# self contained
+macro(_pack_libraries_with_build_configuration VAR)
+  set(${VAR} "")
+  set(_argn ${ARGN})
+  list(LENGTH _argn _count)
+  set(_index 0)
+  while(${_index} LESS ${_count})
+    list(GET _argn ${_index} lib)
+    if("${lib}" MATCHES "^(debug|optimized|general)$")
+      math(EXPR _index "${_index} + 1")
+      if(${_index} EQUAL ${_count})
+        message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library")
+      endif()
+      list(GET _argn ${_index} library)
+      list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}")
+    else()
+      list(APPEND ${VAR} "${lib}")
+    endif()
+    math(EXPR _index "${_index} + 1")
+  endwhile()
+endmacro()
+
+# unpack a list of libraries with optional build configuration keyword prefixes
+# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig
+# self contained
+macro(_unpack_libraries_with_build_configuration VAR)
+  set(${VAR} "")
+  foreach(lib ${ARGN})
+    string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}")
+    list(APPEND ${VAR} "${lib}")
+  endforeach()
+endmacro()
+
+
+if(obstacle_detector_CONFIG_INCLUDED)
+  return()
+endif()
+set(obstacle_detector_CONFIG_INCLUDED TRUE)
+
+# set variables for source/devel/install prefixes
+if("FALSE" STREQUAL "TRUE")
+  set(obstacle_detector_SOURCE_PREFIX /home/job/workspace/virtuallab/src/obstacle_detector)
+  set(obstacle_detector_DEVEL_PREFIX /home/job/workspace/virtuallab/devel)
+  set(obstacle_detector_INSTALL_PREFIX "")
+  set(obstacle_detector_PREFIX ${obstacle_detector_DEVEL_PREFIX})
+else()
+  set(obstacle_detector_SOURCE_PREFIX "")
+  set(obstacle_detector_DEVEL_PREFIX "")
+  set(obstacle_detector_INSTALL_PREFIX /home/job/workspace/virtuallab/install)
+  set(obstacle_detector_PREFIX ${obstacle_detector_INSTALL_PREFIX})
+endif()
+
+# warn when using a deprecated package
+if(NOT "" STREQUAL "")
+  set(_msg "WARNING: package 'obstacle_detector' is deprecated")
+  # append custom deprecation text if available
+  if(NOT "" STREQUAL "TRUE")
+    set(_msg "${_msg} ()")
+  endif()
+  message("${_msg}")
+endif()
+
+# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project
+set(obstacle_detector_FOUND_CATKIN_PROJECT TRUE)
+
+if(NOT "include " STREQUAL " ")
+  set(obstacle_detector_INCLUDE_DIRS "")
+  set(_include_dirs "include")
+  if(NOT " " STREQUAL " ")
+    set(_report "Check the issue tracker '' and consider creating a ticket if the problem has not been reported yet.")
+  elseif(NOT " " STREQUAL " ")
+    set(_report "Check the website '' for information and consider reporting the problem.")
+  else()
+    set(_report "Report the problem to the maintainer 'Mateusz Przybyla <mateusz.przybyla@put.poznan.pl>' and request to fix the problem.")
+  endif()
+  foreach(idir ${_include_dirs})
+    if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir})
+      set(include ${idir})
+    elseif("${idir} " STREQUAL "include ")
+      get_filename_component(include "${obstacle_detector_DIR}/../../../include" ABSOLUTE)
+      if(NOT IS_DIRECTORY ${include})
+        message(FATAL_ERROR "Project 'obstacle_detector' specifies '${idir}' as an include dir, which is not found.  It does not exist in '${include}'.  ${_report}")
+      endif()
+    else()
+      message(FATAL_ERROR "Project 'obstacle_detector' specifies '${idir}' as an include dir, which is not found.  It does neither exist as an absolute directory nor in '\${prefix}/${idir}'.  ${_report}")
+    endif()
+    _list_append_unique(obstacle_detector_INCLUDE_DIRS ${include})
+  endforeach()
+endif()
+
+set(libraries "scans_merger;obstacle_extractor;obstacle_tracker;obstacle_publisher;obstacle_detector_nodelets;obstacle_detector_gui")
+foreach(library ${libraries})
+  # keep build configuration keywords, target names and absolute libraries as-is
+  if("${library}" MATCHES "^(debug|optimized|general)$")
+    list(APPEND obstacle_detector_LIBRARIES ${library})
+  elseif(${library} MATCHES "^-l")
+    list(APPEND obstacle_detector_LIBRARIES ${library})
+  elseif(${library} MATCHES "^-")
+    # This is a linker flag/option (like -pthread)
+    # There's no standard variable for these, so create an interface library to hold it
+    if(NOT obstacle_detector_NUM_DUMMY_TARGETS)
+      set(obstacle_detector_NUM_DUMMY_TARGETS 0)
+    endif()
+    # Make sure the target name is unique
+    set(interface_target_name "catkin::obstacle_detector::wrapped-linker-option${obstacle_detector_NUM_DUMMY_TARGETS}")
+    while(TARGET "${interface_target_name}")
+      math(EXPR obstacle_detector_NUM_DUMMY_TARGETS "${obstacle_detector_NUM_DUMMY_TARGETS}+1")
+      set(interface_target_name "catkin::obstacle_detector::wrapped-linker-option${obstacle_detector_NUM_DUMMY_TARGETS}")
+    endwhile()
+    add_library("${interface_target_name}" INTERFACE IMPORTED)
+    if("${CMAKE_VERSION}" VERSION_LESS "3.13.0")
+      set_property(
+        TARGET
+        "${interface_target_name}"
+        APPEND PROPERTY
+        INTERFACE_LINK_LIBRARIES "${library}")
+    else()
+      target_link_options("${interface_target_name}" INTERFACE "${library}")
+    endif()
+    list(APPEND obstacle_detector_LIBRARIES "${interface_target_name}")
+  elseif(TARGET ${library})
+    list(APPEND obstacle_detector_LIBRARIES ${library})
+  elseif(IS_ABSOLUTE ${library})
+    list(APPEND obstacle_detector_LIBRARIES ${library})
+  else()
+    set(lib_path "")
+    set(lib "${library}-NOTFOUND")
+    # since the path where the library is found is returned we have to iterate over the paths manually
+    foreach(path /home/job/workspace/virtuallab/install/lib;/home/job/workspace/virtuallab/devel/lib;/opt/ros/melodic/lib)
+      find_library(lib ${library}
+        PATHS ${path}
+        NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
+      if(lib)
+        set(lib_path ${path})
+        break()
+      endif()
+    endforeach()
+    if(lib)
+      _list_append_unique(obstacle_detector_LIBRARY_DIRS ${lib_path})
+      list(APPEND obstacle_detector_LIBRARIES ${lib})
+    else()
+      # as a fall back for non-catkin libraries try to search globally
+      find_library(lib ${library})
+      if(NOT lib)
+        message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'.  The library is neither a target nor built/installed properly.  Did you compile project 'obstacle_detector'?  Did you find_package() it before the subdirectory containing its code is included?")
+      endif()
+      list(APPEND obstacle_detector_LIBRARIES ${lib})
+    endif()
+  endif()
+endforeach()
+
+set(obstacle_detector_EXPORTED_TARGETS "obstacle_detector_generate_messages_cpp;obstacle_detector_generate_messages_eus;obstacle_detector_generate_messages_lisp;obstacle_detector_generate_messages_nodejs;obstacle_detector_generate_messages_py")
+# create dummy targets for exported code generation targets to make life of users easier
+foreach(t ${obstacle_detector_EXPORTED_TARGETS})
+  if(NOT TARGET ${t})
+    add_custom_target(${t})
+  endif()
+endforeach()
+
+set(depends "roscpp;nodelet;rviz;std_msgs;std_srvs;geometry_msgs;sensor_msgs;tf;laser_geometry;message_runtime")
+foreach(depend ${depends})
+  string(REPLACE " " ";" depend_list ${depend})
+  # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls
+  list(GET depend_list 0 obstacle_detector_dep)
+  list(LENGTH depend_list count)
+  if(${count} EQUAL 1)
+    # simple dependencies must only be find_package()-ed once
+    if(NOT ${obstacle_detector_dep}_FOUND)
+      find_package(${obstacle_detector_dep} REQUIRED NO_MODULE)
+    endif()
+  else()
+    # dependencies with components must be find_package()-ed again
+    list(REMOVE_AT depend_list 0)
+    find_package(${obstacle_detector_dep} REQUIRED NO_MODULE ${depend_list})
+  endif()
+  _list_append_unique(obstacle_detector_INCLUDE_DIRS ${${obstacle_detector_dep}_INCLUDE_DIRS})
+
+  # merge build configuration keywords with library names to correctly deduplicate
+  _pack_libraries_with_build_configuration(obstacle_detector_LIBRARIES ${obstacle_detector_LIBRARIES})
+  _pack_libraries_with_build_configuration(_libraries ${${obstacle_detector_dep}_LIBRARIES})
+  _list_append_deduplicate(obstacle_detector_LIBRARIES ${_libraries})
+  # undo build configuration keyword merging after deduplication
+  _unpack_libraries_with_build_configuration(obstacle_detector_LIBRARIES ${obstacle_detector_LIBRARIES})
+
+  _list_append_unique(obstacle_detector_LIBRARY_DIRS ${${obstacle_detector_dep}_LIBRARY_DIRS})
+  list(APPEND obstacle_detector_EXPORTED_TARGETS ${${obstacle_detector_dep}_EXPORTED_TARGETS})
+endforeach()
+
+set(pkg_cfg_extras "obstacle_detector-msg-extras.cmake")
+foreach(extra ${pkg_cfg_extras})
+  if(NOT IS_ABSOLUTE ${extra})
+    set(extra ${obstacle_detector_DIR}/${extra})
+  endif()
+  include(${extra})
+endforeach()
diff --git a/workspace/virtuallab/build/obstacle_detector/catkin_generated/obstacle_detector-msg-extras.cmake.develspace.in b/workspace/virtuallab/build/obstacle_detector/catkin_generated/obstacle_detector-msg-extras.cmake.develspace.in
new file mode 100644
index 0000000000000000000000000000000000000000..715fc143086fbc2420af43fac469c024dc3d4f1a
--- /dev/null
+++ b/workspace/virtuallab/build/obstacle_detector/catkin_generated/obstacle_detector-msg-extras.cmake.develspace.in
@@ -0,0 +1,2 @@
+set(obstacle_detector_MESSAGE_FILES "/home/job/workspace/virtuallab/src/obstacle_detector/msg/CircleObstacle.msg;/home/job/workspace/virtuallab/src/obstacle_detector/msg/SegmentObstacle.msg;/home/job/workspace/virtuallab/src/obstacle_detector/msg/Obstacles.msg")
+set(obstacle_detector_SERVICE_FILES "")
diff --git a/workspace/virtuallab/build/obstacle_detector/catkin_generated/obstacle_detector-msg-extras.cmake.installspace.in b/workspace/virtuallab/build/obstacle_detector/catkin_generated/obstacle_detector-msg-extras.cmake.installspace.in
new file mode 100644
index 0000000000000000000000000000000000000000..f45ff77bc0444672eb5a910f6ca4ec0932d747bc
--- /dev/null
+++ b/workspace/virtuallab/build/obstacle_detector/catkin_generated/obstacle_detector-msg-extras.cmake.installspace.in
@@ -0,0 +1,2 @@
+set(obstacle_detector_MESSAGE_FILES "msg/CircleObstacle.msg;msg/SegmentObstacle.msg;msg/Obstacles.msg")
+set(obstacle_detector_SERVICE_FILES "")
diff --git a/workspace/virtuallab/build/obstacle_detector/catkin_generated/ordered_paths.cmake b/workspace/virtuallab/build/obstacle_detector/catkin_generated/ordered_paths.cmake
new file mode 100644
index 0000000000000000000000000000000000000000..88ba1d8af01839a303cdb6a7d83aacc7be67e6ab
--- /dev/null
+++ b/workspace/virtuallab/build/obstacle_detector/catkin_generated/ordered_paths.cmake
@@ -0,0 +1 @@
+set(ORDERED_PATHS "/opt/ros/melodic/lib")
\ No newline at end of file
diff --git a/workspace/virtuallab/build/obstacle_detector/catkin_generated/package.cmake b/workspace/virtuallab/build/obstacle_detector/catkin_generated/package.cmake
new file mode 100644
index 0000000000000000000000000000000000000000..fdb2f19711fab7fd3e87644f866f973b66451be5
--- /dev/null
+++ b/workspace/virtuallab/build/obstacle_detector/catkin_generated/package.cmake
@@ -0,0 +1,16 @@
+set(_CATKIN_CURRENT_PACKAGE "obstacle_detector")
+set(obstacle_detector_VERSION "1.0.0")
+set(obstacle_detector_MAINTAINER "Mateusz Przybyla <mateusz.przybyla@put.poznan.pl>")
+set(obstacle_detector_PACKAGE_FORMAT "2")
+set(obstacle_detector_BUILD_DEPENDS "message_generation" "tf" "rviz" "roscpp" "roslaunch" "nodelet" "std_msgs" "std_srvs" "sensor_msgs" "geometry_msgs" "laser_geometry")
+set(obstacle_detector_BUILD_EXPORT_DEPENDS "tf" "rviz" "roscpp" "roslaunch" "nodelet" "std_msgs" "std_srvs" "sensor_msgs" "geometry_msgs" "laser_geometry")
+set(obstacle_detector_BUILDTOOL_DEPENDS "catkin")
+set(obstacle_detector_BUILDTOOL_EXPORT_DEPENDS )
+set(obstacle_detector_EXEC_DEPENDS "message_runtime" "tf" "rviz" "roscpp" "roslaunch" "nodelet" "std_msgs" "std_srvs" "sensor_msgs" "geometry_msgs" "laser_geometry")
+set(obstacle_detector_RUN_DEPENDS "message_runtime" "tf" "rviz" "roscpp" "roslaunch" "nodelet" "std_msgs" "std_srvs" "sensor_msgs" "geometry_msgs" "laser_geometry")
+set(obstacle_detector_TEST_DEPENDS )
+set(obstacle_detector_DOC_DEPENDS )
+set(obstacle_detector_URL_WEBSITE "")
+set(obstacle_detector_URL_BUGTRACKER "")
+set(obstacle_detector_URL_REPOSITORY "")
+set(obstacle_detector_DEPRECATED "")
\ No newline at end of file
diff --git a/workspace/virtuallab/build/obstacle_detector/catkin_generated/pkg.develspace.context.pc.py b/workspace/virtuallab/build/obstacle_detector/catkin_generated/pkg.develspace.context.pc.py
new file mode 100644
index 0000000000000000000000000000000000000000..574615c06404210efda5a40705df0dd1f537b8c9
--- /dev/null
+++ b/workspace/virtuallab/build/obstacle_detector/catkin_generated/pkg.develspace.context.pc.py
@@ -0,0 +1,8 @@
+# generated from catkin/cmake/template/pkg.context.pc.in
+CATKIN_PACKAGE_PREFIX = ""
+PROJECT_PKG_CONFIG_INCLUDE_DIRS = "/home/job/workspace/virtuallab/devel/include;/home/job/workspace/virtuallab/src/obstacle_detector/include".split(';') if "/home/job/workspace/virtuallab/devel/include;/home/job/workspace/virtuallab/src/obstacle_detector/include" != "" else []
+PROJECT_CATKIN_DEPENDS = "roscpp;nodelet;rviz;std_msgs;std_srvs;geometry_msgs;sensor_msgs;tf;laser_geometry;message_runtime".replace(';', ' ')
+PKG_CONFIG_LIBRARIES_WITH_PREFIX = "-lscans_merger;-lobstacle_extractor;-lobstacle_tracker;-lobstacle_publisher;-lobstacle_detector_nodelets;-lobstacle_detector_gui".split(';') if "-lscans_merger;-lobstacle_extractor;-lobstacle_tracker;-lobstacle_publisher;-lobstacle_detector_nodelets;-lobstacle_detector_gui" != "" else []
+PROJECT_NAME = "obstacle_detector"
+PROJECT_SPACE_DIR = "/home/job/workspace/virtuallab/devel"
+PROJECT_VERSION = "1.0.0"
diff --git a/workspace/virtuallab/build/obstacle_detector/catkin_generated/pkg.installspace.context.pc.py b/workspace/virtuallab/build/obstacle_detector/catkin_generated/pkg.installspace.context.pc.py
new file mode 100644
index 0000000000000000000000000000000000000000..96866d8a3e87575e07a6a9961bf0cf45e5251d76
--- /dev/null
+++ b/workspace/virtuallab/build/obstacle_detector/catkin_generated/pkg.installspace.context.pc.py
@@ -0,0 +1,8 @@
+# generated from catkin/cmake/template/pkg.context.pc.in
+CATKIN_PACKAGE_PREFIX = ""
+PROJECT_PKG_CONFIG_INCLUDE_DIRS = "${prefix}/include".split(';') if "${prefix}/include" != "" else []
+PROJECT_CATKIN_DEPENDS = "roscpp;nodelet;rviz;std_msgs;std_srvs;geometry_msgs;sensor_msgs;tf;laser_geometry;message_runtime".replace(';', ' ')
+PKG_CONFIG_LIBRARIES_WITH_PREFIX = "-lscans_merger;-lobstacle_extractor;-lobstacle_tracker;-lobstacle_publisher;-lobstacle_detector_nodelets;-lobstacle_detector_gui".split(';') if "-lscans_merger;-lobstacle_extractor;-lobstacle_tracker;-lobstacle_publisher;-lobstacle_detector_nodelets;-lobstacle_detector_gui" != "" else []
+PROJECT_NAME = "obstacle_detector"
+PROJECT_SPACE_DIR = "/home/job/workspace/virtuallab/install"
+PROJECT_VERSION = "1.0.0"
diff --git a/workspace/virtuallab/build/obstacle_detector/catkin_generated/stamps/obstacle_detector/package.xml.stamp b/workspace/virtuallab/build/obstacle_detector/catkin_generated/stamps/obstacle_detector/package.xml.stamp
new file mode 100644
index 0000000000000000000000000000000000000000..f7cee9561b2ae007fdf15324e180497c28e6a070
--- /dev/null
+++ b/workspace/virtuallab/build/obstacle_detector/catkin_generated/stamps/obstacle_detector/package.xml.stamp
@@ -0,0 +1,29 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>obstacle_detector</name>
+  <version>1.0.0</version>
+  <description>Detect obstacles in form of line segments and circles from 2D laser scans.</description>
+  <maintainer email="mateusz.przybyla@put.poznan.pl">Mateusz Przybyla</maintainer>
+  <author>Mateusz Przybyla</author>
+  <license>BSD</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>message_generation</build_depend>
+  <exec_depend>message_runtime</exec_depend>
+
+  <depend>tf</depend>
+  <depend>rviz</depend>
+  <depend>roscpp</depend>
+  <depend>roslaunch</depend>
+  <depend>nodelet</depend>
+  <depend>std_msgs</depend>
+  <depend>std_srvs</depend>
+  <depend>sensor_msgs</depend>
+  <depend>geometry_msgs</depend>
+  <depend>laser_geometry</depend>
+
+  <export>
+    <rviz plugin="${prefix}/rviz_plugins.xml"/>
+    <nodelet plugin="${prefix}/nodelet_plugins.xml" />
+  </export>
+</package>
diff --git a/workspace/virtuallab/build/obstacle_detector/catkin_generated/stamps/obstacle_detector/pkg-genmsg.cmake.em.stamp b/workspace/virtuallab/build/obstacle_detector/catkin_generated/stamps/obstacle_detector/pkg-genmsg.cmake.em.stamp
new file mode 100644
index 0000000000000000000000000000000000000000..f02628ffbd7abc1e9b5c22d15f6d61e8bb930b42
--- /dev/null
+++ b/workspace/virtuallab/build/obstacle_detector/catkin_generated/stamps/obstacle_detector/pkg-genmsg.cmake.em.stamp
@@ -0,0 +1,166 @@
+# generated from genmsg/cmake/pkg-genmsg.cmake.em
+
+@{
+import os
+import sys
+
+import genmsg
+import genmsg.base
+genmsg.base.log_verbose('GENMSG_VERBOSE' in os.environ)
+import genmsg.deps
+import genmsg.gentools
+
+# split incoming variables
+messages = messages_str.split(';') if messages_str != '' else []
+services = services_str.split(';') if services_str != '' else []
+dependencies = dependencies_str.split(';') if dependencies_str != '' else []
+dep_search_paths = dep_include_paths_str.split(';') if dep_include_paths_str != '' else []
+
+dep_search_paths_dict = {}
+dep_search_paths_tuple_list = []
+is_even = True
+for val in dep_search_paths:
+    if is_even:
+        dep_search_paths_dict.setdefault(val, [])
+        val_prev = val
+        is_even = False
+    else:
+        dep_search_paths_dict[val_prev].append(val)
+        dep_search_paths_tuple_list.append((val_prev, val))
+        is_even = True
+dep_search_paths = dep_search_paths_dict
+
+if not messages and not services:
+    print('message(WARNING "Invoking generate_messages() without having added any message or service file before.\nYou should either add add_message_files() and/or add_service_files() calls or remove the invocation of generate_messages().")')
+
+msg_deps = {}
+msg_dep_types = {}
+for m in messages:
+  try:
+    _deps = genmsg.deps.find_msg_dependencies_with_type(pkg_name, m, dep_search_paths)
+    msg_deps[m] = [d[1] for d in _deps]
+    msg_dep_types[m] = [d[0] for d in _deps]
+  except genmsg.MsgNotFound as e:
+    print('message(FATAL_ERROR "Could not find messages which \'%s\' depends on. Did you forget to specify generate_messages(DEPENDENCIES ...)?\n%s")' % (m, str(e).replace('"', '\\"')))
+
+srv_deps = {}
+srv_dep_types = {}
+for s in services:
+  try:
+    _deps = genmsg.deps.find_srv_dependencies_with_type(pkg_name, s, dep_search_paths)
+    srv_deps[s] = [d[1] for d in _deps]
+    srv_dep_types[s] = [d[0] for d in _deps]
+  except genmsg.MsgNotFound as e:
+    print('message(FATAL_ERROR "Could not find messages which \'%s\' depends on. Did you forget to specify generate_messages(DEPENDENCIES ...)?\n%s")' % (s, str(e).replace('"', '\\"')))
+
+}@
+message(STATUS "@(pkg_name): @(len(messages)) messages, @(len(services)) services")
+
+set(MSG_I_FLAGS "@(';'.join(["-I%s:%s" % (dep, dir) for dep, dir in dep_search_paths_tuple_list]))")
+
+# Find all generators
+@[if langs]@
+@[for l in langs.split(';')]@
+find_package(@l REQUIRED)
+@[end for]@
+@[end if]@
+
+add_custom_target(@(pkg_name)_generate_messages ALL)
+
+# verify that message/service dependencies have not changed since configure
+@{all_deps = dict(list(msg_deps.items()) + list(srv_deps.items()))}
+@{all_dep_types = dict(list(msg_dep_types.items()) + list(srv_dep_types.items()))}
+@[for f in all_deps.keys()]@
+@{dep_types = ':'.join(all_dep_types[f]).replace('\\','/')}
+get_filename_component(_filename "@(f)" NAME_WE)
+add_custom_target(_@(pkg_name)_generate_messages_check_deps_${_filename}
+  COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "@(pkg_name)" "@(f)" "@(dep_types)"
+)
+@[end for]@# messages and services
+
+#
+#  langs = @langs
+#
+
+@[if langs]@
+@[for l in langs.split(';')]@
+### Section generating for lang: @l
+### Generating Messages
+@[for m in msg_deps.keys()]@
+_generate_msg_@(l[3:])(@pkg_name
+  "@m"
+  "${MSG_I_FLAGS}"
+  "@(';'.join(msg_deps[m]).replace("\\","/"))"
+  ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name
+)
+@[end for]@# messages
+
+### Generating Services
+@[for s in srv_deps.keys()]@
+_generate_srv_@(l[3:])(@pkg_name
+  "@s"
+  "${MSG_I_FLAGS}"
+  "@(';'.join(srv_deps[s]).replace("\\","/"))"
+  ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name
+)
+@[end for]@# services
+
+### Generating Module File
+_generate_module_@(l[3:])(@pkg_name
+  ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name
+  "${ALL_GEN_OUTPUT_FILES_@(l[3:])}"
+)
+
+add_custom_target(@(pkg_name)_generate_messages_@(l[3:])
+  DEPENDS ${ALL_GEN_OUTPUT_FILES_@(l[3:])}
+)
+add_dependencies(@(pkg_name)_generate_messages @(pkg_name)_generate_messages_@(l[3:]))
+
+# add dependencies to all check dependencies targets
+@[for f in all_deps.keys()]@
+get_filename_component(_filename "@(f)" NAME_WE)
+add_dependencies(@(pkg_name)_generate_messages_@(l[3:]) _@(pkg_name)_generate_messages_check_deps_${_filename})
+@[end for]@# messages and services
+
+# target for backward compatibility
+add_custom_target(@(pkg_name)_@(l))
+add_dependencies(@(pkg_name)_@(l) @(pkg_name)_generate_messages_@(l[3:]))
+
+# register target for catkin_package(EXPORTED_TARGETS)
+list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS @(pkg_name)_generate_messages_@(l[3:]))
+
+@[end for]@# langs
+@[end if]@
+
+@[if langs]@
+@[for l in langs.split(';')]@
+
+if(@(l)_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name)
+@[if l == 'genpy']@
+  install(CODE "execute_process(COMMAND \"@(PYTHON_EXECUTABLE)\" -m compileall \"${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name\")")
+@[end if]@
+  # install generated code
+  install(
+    DIRECTORY ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name
+    DESTINATION ${@(l)_INSTALL_DIR}
+@[if l == 'genpy' and package_has_static_sources]@
+    # skip all init files
+    PATTERN "__init__.py" EXCLUDE
+    PATTERN "__init__.pyc" EXCLUDE
+  )
+  # install init files which are not in the root folder of the generated code
+  install(
+    DIRECTORY ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name
+    DESTINATION ${@(l)_INSTALL_DIR}
+    FILES_MATCHING
+    REGEX "${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@(pkg_name)/.+/__init__.pyc?$"
+@[end if]@
+  )
+endif()
+@[for d in dependencies]@
+if(TARGET @(d)_generate_messages_@(l[3:]))
+  add_dependencies(@(pkg_name)_generate_messages_@(l[3:]) @(d)_generate_messages_@(l[3:]))
+endif()
+@[end for]@# dependencies
+@[end for]@# langs
+@[end if]@
diff --git a/workspace/virtuallab/build/obstacle_detector/catkin_generated/stamps/obstacle_detector/pkg.pc.em.stamp b/workspace/virtuallab/build/obstacle_detector/catkin_generated/stamps/obstacle_detector/pkg.pc.em.stamp
new file mode 100644
index 0000000000000000000000000000000000000000..549fb75ce8000c875c316f444238bd1f28dc88c8
--- /dev/null
+++ b/workspace/virtuallab/build/obstacle_detector/catkin_generated/stamps/obstacle_detector/pkg.pc.em.stamp
@@ -0,0 +1,8 @@
+prefix=@PROJECT_SPACE_DIR
+
+Name: @(CATKIN_PACKAGE_PREFIX + PROJECT_NAME)
+Description: Description of @PROJECT_NAME
+Version: @PROJECT_VERSION
+Cflags: @(' '.join(['-I%s' % include for include in PROJECT_PKG_CONFIG_INCLUDE_DIRS]))
+Libs: -L${prefix}/lib @(' '.join(PKG_CONFIG_LIBRARIES_WITH_PREFIX))
+Requires: @(PROJECT_CATKIN_DEPENDS)
diff --git a/workspace/virtuallab/build/obstacle_detector/cmake/obstacle_detector-genmsg-context.py b/workspace/virtuallab/build/obstacle_detector/cmake/obstacle_detector-genmsg-context.py
new file mode 100644
index 0000000000000000000000000000000000000000..5985fb4d5e16fcb42e8272f9ef73092227bc3c55
--- /dev/null
+++ b/workspace/virtuallab/build/obstacle_detector/cmake/obstacle_detector-genmsg-context.py
@@ -0,0 +1,11 @@
+# generated from genmsg/cmake/pkg-genmsg.context.in
+
+messages_str = "/home/job/workspace/virtuallab/src/obstacle_detector/msg/CircleObstacle.msg;/home/job/workspace/virtuallab/src/obstacle_detector/msg/SegmentObstacle.msg;/home/job/workspace/virtuallab/src/obstacle_detector/msg/Obstacles.msg"
+services_str = ""
+pkg_name = "obstacle_detector"
+dependencies_str = "std_msgs;geometry_msgs"
+langs = "gencpp;geneus;genlisp;gennodejs;genpy"
+dep_include_paths_str = "obstacle_detector;/home/job/workspace/virtuallab/src/obstacle_detector/msg;std_msgs;/opt/ros/melodic/share/std_msgs/cmake/../msg;geometry_msgs;/opt/ros/melodic/share/geometry_msgs/cmake/../msg"
+PYTHON_EXECUTABLE = "/usr/bin/python2"
+package_has_static_sources = '' == 'TRUE'
+genmsg_check_deps_script = "/opt/ros/melodic/share/genmsg/cmake/../../../lib/genmsg/genmsg_check_deps.py"
diff --git a/workspace/virtuallab/build/obstacle_detector/cmake/obstacle_detector-genmsg.cmake b/workspace/virtuallab/build/obstacle_detector/cmake/obstacle_detector-genmsg.cmake
new file mode 100644
index 0000000000000000000000000000000000000000..671601eac12c5af68b2f354cdb6911903fce6799
--- /dev/null
+++ b/workspace/virtuallab/build/obstacle_detector/cmake/obstacle_detector-genmsg.cmake
@@ -0,0 +1,355 @@
+# generated from genmsg/cmake/pkg-genmsg.cmake.em
+
+message(STATUS "obstacle_detector: 3 messages, 0 services")
+
+set(MSG_I_FLAGS "-Iobstacle_detector:/home/job/workspace/virtuallab/src/obstacle_detector/msg;-Istd_msgs:/opt/ros/melodic/share/std_msgs/cmake/../msg;-Igeometry_msgs:/opt/ros/melodic/share/geometry_msgs/cmake/../msg")
+
+# Find all generators
+find_package(gencpp REQUIRED)
+find_package(geneus REQUIRED)
+find_package(genlisp REQUIRED)
+find_package(gennodejs REQUIRED)
+find_package(genpy REQUIRED)
+
+add_custom_target(obstacle_detector_generate_messages ALL)
+
+# verify that message/service dependencies have not changed since configure
+
+
+
+get_filename_component(_filename "/home/job/workspace/virtuallab/src/obstacle_detector/msg/Obstacles.msg" NAME_WE)
+add_custom_target(_obstacle_detector_generate_messages_check_deps_${_filename}
+  COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "obstacle_detector" "/home/job/workspace/virtuallab/src/obstacle_detector/msg/Obstacles.msg" "obstacle_detector/CircleObstacle:geometry_msgs/Point:obstacle_detector/SegmentObstacle:geometry_msgs/Vector3:std_msgs/Header"
+)
+
+get_filename_component(_filename "/home/job/workspace/virtuallab/src/obstacle_detector/msg/CircleObstacle.msg" NAME_WE)
+add_custom_target(_obstacle_detector_generate_messages_check_deps_${_filename}
+  COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "obstacle_detector" "/home/job/workspace/virtuallab/src/obstacle_detector/msg/CircleObstacle.msg" "geometry_msgs/Vector3:geometry_msgs/Point"
+)
+
+get_filename_component(_filename "/home/job/workspace/virtuallab/src/obstacle_detector/msg/SegmentObstacle.msg" NAME_WE)
+add_custom_target(_obstacle_detector_generate_messages_check_deps_${_filename}
+  COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "obstacle_detector" "/home/job/workspace/virtuallab/src/obstacle_detector/msg/SegmentObstacle.msg" "geometry_msgs/Point"
+)
+
+#
+#  langs = gencpp;geneus;genlisp;gennodejs;genpy
+#
+
+### Section generating for lang: gencpp
+### Generating Messages
+_generate_msg_cpp(obstacle_detector
+  "/home/job/workspace/virtuallab/src/obstacle_detector/msg/Obstacles.msg"
+  "${MSG_I_FLAGS}"
+  "/home/job/workspace/virtuallab/src/obstacle_detector/msg/CircleObstacle.msg;/opt/ros/melodic/share/geometry_msgs/cmake/../msg/Point.msg;/home/job/workspace/virtuallab/src/obstacle_detector/msg/SegmentObstacle.msg;/opt/ros/melodic/share/geometry_msgs/cmake/../msg/Vector3.msg;/opt/ros/melodic/share/std_msgs/cmake/../msg/Header.msg"
+  ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/obstacle_detector
+)
+_generate_msg_cpp(obstacle_detector
+  "/home/job/workspace/virtuallab/src/obstacle_detector/msg/CircleObstacle.msg"
+  "${MSG_I_FLAGS}"
+  "/opt/ros/melodic/share/geometry_msgs/cmake/../msg/Vector3.msg;/opt/ros/melodic/share/geometry_msgs/cmake/../msg/Point.msg"
+  ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/obstacle_detector
+)
+_generate_msg_cpp(obstacle_detector
+  "/home/job/workspace/virtuallab/src/obstacle_detector/msg/SegmentObstacle.msg"
+  "${MSG_I_FLAGS}"
+  "/opt/ros/melodic/share/geometry_msgs/cmake/../msg/Point.msg"
+  ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/obstacle_detector
+)
+
+### Generating Services
+
+### Generating Module File
+_generate_module_cpp(obstacle_detector
+  ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/obstacle_detector
+  "${ALL_GEN_OUTPUT_FILES_cpp}"
+)
+
+add_custom_target(obstacle_detector_generate_messages_cpp
+  DEPENDS ${ALL_GEN_OUTPUT_FILES_cpp}
+)
+add_dependencies(obstacle_detector_generate_messages obstacle_detector_generate_messages_cpp)
+
+# add dependencies to all check dependencies targets
+get_filename_component(_filename "/home/job/workspace/virtuallab/src/obstacle_detector/msg/Obstacles.msg" NAME_WE)
+add_dependencies(obstacle_detector_generate_messages_cpp _obstacle_detector_generate_messages_check_deps_${_filename})
+get_filename_component(_filename "/home/job/workspace/virtuallab/src/obstacle_detector/msg/CircleObstacle.msg" NAME_WE)
+add_dependencies(obstacle_detector_generate_messages_cpp _obstacle_detector_generate_messages_check_deps_${_filename})
+get_filename_component(_filename "/home/job/workspace/virtuallab/src/obstacle_detector/msg/SegmentObstacle.msg" NAME_WE)
+add_dependencies(obstacle_detector_generate_messages_cpp _obstacle_detector_generate_messages_check_deps_${_filename})
+
+# target for backward compatibility
+add_custom_target(obstacle_detector_gencpp)
+add_dependencies(obstacle_detector_gencpp obstacle_detector_generate_messages_cpp)
+
+# register target for catkin_package(EXPORTED_TARGETS)
+list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS obstacle_detector_generate_messages_cpp)
+
+### Section generating for lang: geneus
+### Generating Messages
+_generate_msg_eus(obstacle_detector
+  "/home/job/workspace/virtuallab/src/obstacle_detector/msg/Obstacles.msg"
+  "${MSG_I_FLAGS}"
+  "/home/job/workspace/virtuallab/src/obstacle_detector/msg/CircleObstacle.msg;/opt/ros/melodic/share/geometry_msgs/cmake/../msg/Point.msg;/home/job/workspace/virtuallab/src/obstacle_detector/msg/SegmentObstacle.msg;/opt/ros/melodic/share/geometry_msgs/cmake/../msg/Vector3.msg;/opt/ros/melodic/share/std_msgs/cmake/../msg/Header.msg"
+  ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/obstacle_detector
+)
+_generate_msg_eus(obstacle_detector
+  "/home/job/workspace/virtuallab/src/obstacle_detector/msg/CircleObstacle.msg"
+  "${MSG_I_FLAGS}"
+  "/opt/ros/melodic/share/geometry_msgs/cmake/../msg/Vector3.msg;/opt/ros/melodic/share/geometry_msgs/cmake/../msg/Point.msg"
+  ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/obstacle_detector
+)
+_generate_msg_eus(obstacle_detector
+  "/home/job/workspace/virtuallab/src/obstacle_detector/msg/SegmentObstacle.msg"
+  "${MSG_I_FLAGS}"
+  "/opt/ros/melodic/share/geometry_msgs/cmake/../msg/Point.msg"
+  ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/obstacle_detector
+)
+
+### Generating Services
+
+### Generating Module File
+_generate_module_eus(obstacle_detector
+  ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/obstacle_detector
+  "${ALL_GEN_OUTPUT_FILES_eus}"
+)
+
+add_custom_target(obstacle_detector_generate_messages_eus
+  DEPENDS ${ALL_GEN_OUTPUT_FILES_eus}
+)
+add_dependencies(obstacle_detector_generate_messages obstacle_detector_generate_messages_eus)
+
+# add dependencies to all check dependencies targets
+get_filename_component(_filename "/home/job/workspace/virtuallab/src/obstacle_detector/msg/Obstacles.msg" NAME_WE)
+add_dependencies(obstacle_detector_generate_messages_eus _obstacle_detector_generate_messages_check_deps_${_filename})
+get_filename_component(_filename "/home/job/workspace/virtuallab/src/obstacle_detector/msg/CircleObstacle.msg" NAME_WE)
+add_dependencies(obstacle_detector_generate_messages_eus _obstacle_detector_generate_messages_check_deps_${_filename})
+get_filename_component(_filename "/home/job/workspace/virtuallab/src/obstacle_detector/msg/SegmentObstacle.msg" NAME_WE)
+add_dependencies(obstacle_detector_generate_messages_eus _obstacle_detector_generate_messages_check_deps_${_filename})
+
+# target for backward compatibility
+add_custom_target(obstacle_detector_geneus)
+add_dependencies(obstacle_detector_geneus obstacle_detector_generate_messages_eus)
+
+# register target for catkin_package(EXPORTED_TARGETS)
+list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS obstacle_detector_generate_messages_eus)
+
+### Section generating for lang: genlisp
+### Generating Messages
+_generate_msg_lisp(obstacle_detector
+  "/home/job/workspace/virtuallab/src/obstacle_detector/msg/Obstacles.msg"
+  "${MSG_I_FLAGS}"
+  "/home/job/workspace/virtuallab/src/obstacle_detector/msg/CircleObstacle.msg;/opt/ros/melodic/share/geometry_msgs/cmake/../msg/Point.msg;/home/job/workspace/virtuallab/src/obstacle_detector/msg/SegmentObstacle.msg;/opt/ros/melodic/share/geometry_msgs/cmake/../msg/Vector3.msg;/opt/ros/melodic/share/std_msgs/cmake/../msg/Header.msg"
+  ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/obstacle_detector
+)
+_generate_msg_lisp(obstacle_detector
+  "/home/job/workspace/virtuallab/src/obstacle_detector/msg/CircleObstacle.msg"
+  "${MSG_I_FLAGS}"
+  "/opt/ros/melodic/share/geometry_msgs/cmake/../msg/Vector3.msg;/opt/ros/melodic/share/geometry_msgs/cmake/../msg/Point.msg"
+  ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/obstacle_detector
+)
+_generate_msg_lisp(obstacle_detector
+  "/home/job/workspace/virtuallab/src/obstacle_detector/msg/SegmentObstacle.msg"
+  "${MSG_I_FLAGS}"
+  "/opt/ros/melodic/share/geometry_msgs/cmake/../msg/Point.msg"
+  ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/obstacle_detector
+)
+
+### Generating Services
+
+### Generating Module File
+_generate_module_lisp(obstacle_detector
+  ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/obstacle_detector
+  "${ALL_GEN_OUTPUT_FILES_lisp}"
+)
+
+add_custom_target(obstacle_detector_generate_messages_lisp
+  DEPENDS ${ALL_GEN_OUTPUT_FILES_lisp}
+)
+add_dependencies(obstacle_detector_generate_messages obstacle_detector_generate_messages_lisp)
+
+# add dependencies to all check dependencies targets
+get_filename_component(_filename "/home/job/workspace/virtuallab/src/obstacle_detector/msg/Obstacles.msg" NAME_WE)
+add_dependencies(obstacle_detector_generate_messages_lisp _obstacle_detector_generate_messages_check_deps_${_filename})
+get_filename_component(_filename "/home/job/workspace/virtuallab/src/obstacle_detector/msg/CircleObstacle.msg" NAME_WE)
+add_dependencies(obstacle_detector_generate_messages_lisp _obstacle_detector_generate_messages_check_deps_${_filename})
+get_filename_component(_filename "/home/job/workspace/virtuallab/src/obstacle_detector/msg/SegmentObstacle.msg" NAME_WE)
+add_dependencies(obstacle_detector_generate_messages_lisp _obstacle_detector_generate_messages_check_deps_${_filename})
+
+# target for backward compatibility
+add_custom_target(obstacle_detector_genlisp)
+add_dependencies(obstacle_detector_genlisp obstacle_detector_generate_messages_lisp)
+
+# register target for catkin_package(EXPORTED_TARGETS)
+list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS obstacle_detector_generate_messages_lisp)
+
+### Section generating for lang: gennodejs
+### Generating Messages
+_generate_msg_nodejs(obstacle_detector
+  "/home/job/workspace/virtuallab/src/obstacle_detector/msg/Obstacles.msg"
+  "${MSG_I_FLAGS}"
+  "/home/job/workspace/virtuallab/src/obstacle_detector/msg/CircleObstacle.msg;/opt/ros/melodic/share/geometry_msgs/cmake/../msg/Point.msg;/home/job/workspace/virtuallab/src/obstacle_detector/msg/SegmentObstacle.msg;/opt/ros/melodic/share/geometry_msgs/cmake/../msg/Vector3.msg;/opt/ros/melodic/share/std_msgs/cmake/../msg/Header.msg"
+  ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/obstacle_detector
+)
+_generate_msg_nodejs(obstacle_detector
+  "/home/job/workspace/virtuallab/src/obstacle_detector/msg/CircleObstacle.msg"
+  "${MSG_I_FLAGS}"
+  "/opt/ros/melodic/share/geometry_msgs/cmake/../msg/Vector3.msg;/opt/ros/melodic/share/geometry_msgs/cmake/../msg/Point.msg"
+  ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/obstacle_detector
+)
+_generate_msg_nodejs(obstacle_detector
+  "/home/job/workspace/virtuallab/src/obstacle_detector/msg/SegmentObstacle.msg"
+  "${MSG_I_FLAGS}"
+  "/opt/ros/melodic/share/geometry_msgs/cmake/../msg/Point.msg"
+  ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/obstacle_detector
+)
+
+### Generating Services
+
+### Generating Module File
+_generate_module_nodejs(obstacle_detector
+  ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/obstacle_detector
+  "${ALL_GEN_OUTPUT_FILES_nodejs}"
+)
+
+add_custom_target(obstacle_detector_generate_messages_nodejs
+  DEPENDS ${ALL_GEN_OUTPUT_FILES_nodejs}
+)
+add_dependencies(obstacle_detector_generate_messages obstacle_detector_generate_messages_nodejs)
+
+# add dependencies to all check dependencies targets
+get_filename_component(_filename "/home/job/workspace/virtuallab/src/obstacle_detector/msg/Obstacles.msg" NAME_WE)
+add_dependencies(obstacle_detector_generate_messages_nodejs _obstacle_detector_generate_messages_check_deps_${_filename})
+get_filename_component(_filename "/home/job/workspace/virtuallab/src/obstacle_detector/msg/CircleObstacle.msg" NAME_WE)
+add_dependencies(obstacle_detector_generate_messages_nodejs _obstacle_detector_generate_messages_check_deps_${_filename})
+get_filename_component(_filename "/home/job/workspace/virtuallab/src/obstacle_detector/msg/SegmentObstacle.msg" NAME_WE)
+add_dependencies(obstacle_detector_generate_messages_nodejs _obstacle_detector_generate_messages_check_deps_${_filename})
+
+# target for backward compatibility
+add_custom_target(obstacle_detector_gennodejs)
+add_dependencies(obstacle_detector_gennodejs obstacle_detector_generate_messages_nodejs)
+
+# register target for catkin_package(EXPORTED_TARGETS)
+list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS obstacle_detector_generate_messages_nodejs)
+
+### Section generating for lang: genpy
+### Generating Messages
+_generate_msg_py(obstacle_detector
+  "/home/job/workspace/virtuallab/src/obstacle_detector/msg/Obstacles.msg"
+  "${MSG_I_FLAGS}"
+  "/home/job/workspace/virtuallab/src/obstacle_detector/msg/CircleObstacle.msg;/opt/ros/melodic/share/geometry_msgs/cmake/../msg/Point.msg;/home/job/workspace/virtuallab/src/obstacle_detector/msg/SegmentObstacle.msg;/opt/ros/melodic/share/geometry_msgs/cmake/../msg/Vector3.msg;/opt/ros/melodic/share/std_msgs/cmake/../msg/Header.msg"
+  ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/obstacle_detector
+)
+_generate_msg_py(obstacle_detector
+  "/home/job/workspace/virtuallab/src/obstacle_detector/msg/CircleObstacle.msg"
+  "${MSG_I_FLAGS}"
+  "/opt/ros/melodic/share/geometry_msgs/cmake/../msg/Vector3.msg;/opt/ros/melodic/share/geometry_msgs/cmake/../msg/Point.msg"
+  ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/obstacle_detector
+)
+_generate_msg_py(obstacle_detector
+  "/home/job/workspace/virtuallab/src/obstacle_detector/msg/SegmentObstacle.msg"
+  "${MSG_I_FLAGS}"
+  "/opt/ros/melodic/share/geometry_msgs/cmake/../msg/Point.msg"
+  ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/obstacle_detector
+)
+
+### Generating Services
+
+### Generating Module File
+_generate_module_py(obstacle_detector
+  ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/obstacle_detector
+  "${ALL_GEN_OUTPUT_FILES_py}"
+)
+
+add_custom_target(obstacle_detector_generate_messages_py
+  DEPENDS ${ALL_GEN_OUTPUT_FILES_py}
+)
+add_dependencies(obstacle_detector_generate_messages obstacle_detector_generate_messages_py)
+
+# add dependencies to all check dependencies targets
+get_filename_component(_filename "/home/job/workspace/virtuallab/src/obstacle_detector/msg/Obstacles.msg" NAME_WE)
+add_dependencies(obstacle_detector_generate_messages_py _obstacle_detector_generate_messages_check_deps_${_filename})
+get_filename_component(_filename "/home/job/workspace/virtuallab/src/obstacle_detector/msg/CircleObstacle.msg" NAME_WE)
+add_dependencies(obstacle_detector_generate_messages_py _obstacle_detector_generate_messages_check_deps_${_filename})
+get_filename_component(_filename "/home/job/workspace/virtuallab/src/obstacle_detector/msg/SegmentObstacle.msg" NAME_WE)
+add_dependencies(obstacle_detector_generate_messages_py _obstacle_detector_generate_messages_check_deps_${_filename})
+
+# target for backward compatibility
+add_custom_target(obstacle_detector_genpy)
+add_dependencies(obstacle_detector_genpy obstacle_detector_generate_messages_py)
+
+# register target for catkin_package(EXPORTED_TARGETS)
+list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS obstacle_detector_generate_messages_py)
+
+
+
+if(gencpp_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/obstacle_detector)
+  # install generated code
+  install(
+    DIRECTORY ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/obstacle_detector
+    DESTINATION ${gencpp_INSTALL_DIR}
+  )
+endif()
+if(TARGET std_msgs_generate_messages_cpp)
+  add_dependencies(obstacle_detector_generate_messages_cpp std_msgs_generate_messages_cpp)
+endif()
+if(TARGET geometry_msgs_generate_messages_cpp)
+  add_dependencies(obstacle_detector_generate_messages_cpp geometry_msgs_generate_messages_cpp)
+endif()
+
+if(geneus_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/obstacle_detector)
+  # install generated code
+  install(
+    DIRECTORY ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/obstacle_detector
+    DESTINATION ${geneus_INSTALL_DIR}
+  )
+endif()
+if(TARGET std_msgs_generate_messages_eus)
+  add_dependencies(obstacle_detector_generate_messages_eus std_msgs_generate_messages_eus)
+endif()
+if(TARGET geometry_msgs_generate_messages_eus)
+  add_dependencies(obstacle_detector_generate_messages_eus geometry_msgs_generate_messages_eus)
+endif()
+
+if(genlisp_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/obstacle_detector)
+  # install generated code
+  install(
+    DIRECTORY ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/obstacle_detector
+    DESTINATION ${genlisp_INSTALL_DIR}
+  )
+endif()
+if(TARGET std_msgs_generate_messages_lisp)
+  add_dependencies(obstacle_detector_generate_messages_lisp std_msgs_generate_messages_lisp)
+endif()
+if(TARGET geometry_msgs_generate_messages_lisp)
+  add_dependencies(obstacle_detector_generate_messages_lisp geometry_msgs_generate_messages_lisp)
+endif()
+
+if(gennodejs_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/obstacle_detector)
+  # install generated code
+  install(
+    DIRECTORY ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/obstacle_detector
+    DESTINATION ${gennodejs_INSTALL_DIR}
+  )
+endif()
+if(TARGET std_msgs_generate_messages_nodejs)
+  add_dependencies(obstacle_detector_generate_messages_nodejs std_msgs_generate_messages_nodejs)
+endif()
+if(TARGET geometry_msgs_generate_messages_nodejs)
+  add_dependencies(obstacle_detector_generate_messages_nodejs geometry_msgs_generate_messages_nodejs)
+endif()
+
+if(genpy_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/obstacle_detector)
+  install(CODE "execute_process(COMMAND \"/usr/bin/python2\" -m compileall \"${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/obstacle_detector\")")
+  # install generated code
+  install(
+    DIRECTORY ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/obstacle_detector
+    DESTINATION ${genpy_INSTALL_DIR}
+  )
+endif()
+if(TARGET std_msgs_generate_messages_py)
+  add_dependencies(obstacle_detector_generate_messages_py std_msgs_generate_messages_py)
+endif()
+if(TARGET geometry_msgs_generate_messages_py)
+  add_dependencies(obstacle_detector_generate_messages_py geometry_msgs_generate_messages_py)
+endif()
diff --git a/workspace/virtuallab/build/obstacle_detector/cmake_install.cmake b/workspace/virtuallab/build/obstacle_detector/cmake_install.cmake
new file mode 100644
index 0000000000000000000000000000000000000000..841a2f4e00bc46d4126e3c940f9cf4dbae69a5b4
--- /dev/null
+++ b/workspace/virtuallab/build/obstacle_detector/cmake_install.cmake
@@ -0,0 +1,309 @@
+# Install script for directory: /home/job/workspace/virtuallab/src/obstacle_detector
+
+# Set the install prefix
+if(NOT DEFINED CMAKE_INSTALL_PREFIX)
+  set(CMAKE_INSTALL_PREFIX "/home/job/workspace/virtuallab/install")
+endif()
+string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
+
+# Set the install configuration name.
+if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+  if(BUILD_TYPE)
+    string(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
+           CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
+  else()
+    set(CMAKE_INSTALL_CONFIG_NAME "")
+  endif()
+  message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
+endif()
+
+# Set the component getting installed.
+if(NOT CMAKE_INSTALL_COMPONENT)
+  if(COMPONENT)
+    message(STATUS "Install component: \"${COMPONENT}\"")
+    set(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
+  else()
+    set(CMAKE_INSTALL_COMPONENT)
+  endif()
+endif()
+
+# Install shared libraries without execute permission?
+if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+  set(CMAKE_INSTALL_SO_NO_EXE "1")
+endif()
+
+# Is this installation the result of a crosscompile?
+if(NOT DEFINED CMAKE_CROSSCOMPILING)
+  set(CMAKE_CROSSCOMPILING "FALSE")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/obstacle_detector/msg" TYPE FILE FILES
+    "/home/job/workspace/virtuallab/src/obstacle_detector/msg/CircleObstacle.msg"
+    "/home/job/workspace/virtuallab/src/obstacle_detector/msg/SegmentObstacle.msg"
+    "/home/job/workspace/virtuallab/src/obstacle_detector/msg/Obstacles.msg"
+    )
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/obstacle_detector/cmake" TYPE FILE FILES "/home/job/workspace/virtuallab/build/obstacle_detector/catkin_generated/installspace/obstacle_detector-msg-paths.cmake")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/include" TYPE DIRECTORY FILES "/home/job/workspace/virtuallab/devel/include/obstacle_detector")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/roseus/ros" TYPE DIRECTORY FILES "/home/job/workspace/virtuallab/devel/share/roseus/ros/obstacle_detector")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/common-lisp/ros" TYPE DIRECTORY FILES "/home/job/workspace/virtuallab/devel/share/common-lisp/ros/obstacle_detector")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/gennodejs/ros" TYPE DIRECTORY FILES "/home/job/workspace/virtuallab/devel/share/gennodejs/ros/obstacle_detector")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  execute_process(COMMAND "/usr/bin/python2" -m compileall "/home/job/workspace/virtuallab/devel/lib/python2.7/dist-packages/obstacle_detector")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/python2.7/dist-packages" TYPE DIRECTORY FILES "/home/job/workspace/virtuallab/devel/lib/python2.7/dist-packages/obstacle_detector")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/pkgconfig" TYPE FILE FILES "/home/job/workspace/virtuallab/build/obstacle_detector/catkin_generated/installspace/obstacle_detector.pc")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/obstacle_detector/cmake" TYPE FILE FILES "/home/job/workspace/virtuallab/build/obstacle_detector/catkin_generated/installspace/obstacle_detector-msg-extras.cmake")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/obstacle_detector/cmake" TYPE FILE FILES
+    "/home/job/workspace/virtuallab/build/obstacle_detector/catkin_generated/installspace/obstacle_detectorConfig.cmake"
+    "/home/job/workspace/virtuallab/build/obstacle_detector/catkin_generated/installspace/obstacle_detectorConfig-version.cmake"
+    )
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/obstacle_detector" TYPE FILE FILES "/home/job/workspace/virtuallab/src/obstacle_detector/package.xml")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libscans_merger.so" AND
+     NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libscans_merger.so")
+    file(RPATH_CHECK
+         FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libscans_merger.so"
+         RPATH "")
+  endif()
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib" TYPE SHARED_LIBRARY FILES "/home/job/workspace/virtuallab/devel/lib/libscans_merger.so")
+  if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libscans_merger.so" AND
+     NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libscans_merger.so")
+    file(RPATH_CHANGE
+         FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libscans_merger.so"
+         OLD_RPATH "/opt/ros/melodic/lib:"
+         NEW_RPATH "")
+    if(CMAKE_INSTALL_DO_STRIP)
+      execute_process(COMMAND "/usr/bin/strip" "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libscans_merger.so")
+    endif()
+  endif()
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libobstacle_extractor.so" AND
+     NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libobstacle_extractor.so")
+    file(RPATH_CHECK
+         FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libobstacle_extractor.so"
+         RPATH "")
+  endif()
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib" TYPE SHARED_LIBRARY FILES "/home/job/workspace/virtuallab/devel/lib/libobstacle_extractor.so")
+  if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libobstacle_extractor.so" AND
+     NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libobstacle_extractor.so")
+    file(RPATH_CHANGE
+         FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libobstacle_extractor.so"
+         OLD_RPATH "/opt/ros/melodic/lib:"
+         NEW_RPATH "")
+    if(CMAKE_INSTALL_DO_STRIP)
+      execute_process(COMMAND "/usr/bin/strip" "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libobstacle_extractor.so")
+    endif()
+  endif()
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libobstacle_tracker.so" AND
+     NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libobstacle_tracker.so")
+    file(RPATH_CHECK
+         FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libobstacle_tracker.so"
+         RPATH "")
+  endif()
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib" TYPE SHARED_LIBRARY FILES "/home/job/workspace/virtuallab/devel/lib/libobstacle_tracker.so")
+  if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libobstacle_tracker.so" AND
+     NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libobstacle_tracker.so")
+    file(RPATH_CHANGE
+         FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libobstacle_tracker.so"
+         OLD_RPATH "/opt/ros/melodic/lib:"
+         NEW_RPATH "")
+    if(CMAKE_INSTALL_DO_STRIP)
+      execute_process(COMMAND "/usr/bin/strip" "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libobstacle_tracker.so")
+    endif()
+  endif()
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libobstacle_publisher.so" AND
+     NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libobstacle_publisher.so")
+    file(RPATH_CHECK
+         FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libobstacle_publisher.so"
+         RPATH "")
+  endif()
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib" TYPE SHARED_LIBRARY FILES "/home/job/workspace/virtuallab/devel/lib/libobstacle_publisher.so")
+  if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libobstacle_publisher.so" AND
+     NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libobstacle_publisher.so")
+    file(RPATH_CHANGE
+         FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libobstacle_publisher.so"
+         OLD_RPATH "/opt/ros/melodic/lib:"
+         NEW_RPATH "")
+    if(CMAKE_INSTALL_DO_STRIP)
+      execute_process(COMMAND "/usr/bin/strip" "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libobstacle_publisher.so")
+    endif()
+  endif()
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libobstacle_detector_nodelets.so" AND
+     NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libobstacle_detector_nodelets.so")
+    file(RPATH_CHECK
+         FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libobstacle_detector_nodelets.so"
+         RPATH "")
+  endif()
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib" TYPE SHARED_LIBRARY FILES "/home/job/workspace/virtuallab/devel/lib/libobstacle_detector_nodelets.so")
+  if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libobstacle_detector_nodelets.so" AND
+     NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libobstacle_detector_nodelets.so")
+    file(RPATH_CHANGE
+         FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libobstacle_detector_nodelets.so"
+         OLD_RPATH "/home/job/workspace/virtuallab/devel/lib:/opt/ros/melodic/lib:"
+         NEW_RPATH "")
+    if(CMAKE_INSTALL_DO_STRIP)
+      execute_process(COMMAND "/usr/bin/strip" "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libobstacle_detector_nodelets.so")
+    endif()
+  endif()
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libobstacle_detector_gui.so" AND
+     NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libobstacle_detector_gui.so")
+    file(RPATH_CHECK
+         FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libobstacle_detector_gui.so"
+         RPATH "")
+  endif()
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib" TYPE SHARED_LIBRARY FILES "/home/job/workspace/virtuallab/devel/lib/libobstacle_detector_gui.so")
+  if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libobstacle_detector_gui.so" AND
+     NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libobstacle_detector_gui.so")
+    file(RPATH_CHANGE
+         FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libobstacle_detector_gui.so"
+         OLD_RPATH "/opt/ros/melodic/lib:"
+         NEW_RPATH "")
+    if(CMAKE_INSTALL_DO_STRIP)
+      execute_process(COMMAND "/usr/bin/strip" "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libobstacle_detector_gui.so")
+    endif()
+  endif()
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/obstacle_detector/scans_merger_node" AND
+     NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/obstacle_detector/scans_merger_node")
+    file(RPATH_CHECK
+         FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/obstacle_detector/scans_merger_node"
+         RPATH "")
+  endif()
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/obstacle_detector" TYPE EXECUTABLE FILES "/home/job/workspace/virtuallab/devel/lib/obstacle_detector/scans_merger_node")
+  if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/obstacle_detector/scans_merger_node" AND
+     NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/obstacle_detector/scans_merger_node")
+    file(RPATH_CHANGE
+         FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/obstacle_detector/scans_merger_node"
+         OLD_RPATH "/home/job/workspace/virtuallab/devel/lib:/opt/ros/melodic/lib:"
+         NEW_RPATH "")
+    if(CMAKE_INSTALL_DO_STRIP)
+      execute_process(COMMAND "/usr/bin/strip" "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/obstacle_detector/scans_merger_node")
+    endif()
+  endif()
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/obstacle_detector/obstacle_extractor_node" AND
+     NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/obstacle_detector/obstacle_extractor_node")
+    file(RPATH_CHECK
+         FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/obstacle_detector/obstacle_extractor_node"
+         RPATH "")
+  endif()
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/obstacle_detector" TYPE EXECUTABLE FILES "/home/job/workspace/virtuallab/devel/lib/obstacle_detector/obstacle_extractor_node")
+  if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/obstacle_detector/obstacle_extractor_node" AND
+     NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/obstacle_detector/obstacle_extractor_node")
+    file(RPATH_CHANGE
+         FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/obstacle_detector/obstacle_extractor_node"
+         OLD_RPATH "/home/job/workspace/virtuallab/devel/lib:/opt/ros/melodic/lib:"
+         NEW_RPATH "")
+    if(CMAKE_INSTALL_DO_STRIP)
+      execute_process(COMMAND "/usr/bin/strip" "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/obstacle_detector/obstacle_extractor_node")
+    endif()
+  endif()
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/obstacle_detector/obstacle_tracker_node" AND
+     NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/obstacle_detector/obstacle_tracker_node")
+    file(RPATH_CHECK
+         FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/obstacle_detector/obstacle_tracker_node"
+         RPATH "")
+  endif()
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/obstacle_detector" TYPE EXECUTABLE FILES "/home/job/workspace/virtuallab/devel/lib/obstacle_detector/obstacle_tracker_node")
+  if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/obstacle_detector/obstacle_tracker_node" AND
+     NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/obstacle_detector/obstacle_tracker_node")
+    file(RPATH_CHANGE
+         FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/obstacle_detector/obstacle_tracker_node"
+         OLD_RPATH "/home/job/workspace/virtuallab/devel/lib:/opt/ros/melodic/lib:"
+         NEW_RPATH "")
+    if(CMAKE_INSTALL_DO_STRIP)
+      execute_process(COMMAND "/usr/bin/strip" "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/obstacle_detector/obstacle_tracker_node")
+    endif()
+  endif()
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/obstacle_detector/obstacle_publisher_node" AND
+     NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/obstacle_detector/obstacle_publisher_node")
+    file(RPATH_CHECK
+         FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/obstacle_detector/obstacle_publisher_node"
+         RPATH "")
+  endif()
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/obstacle_detector" TYPE EXECUTABLE FILES "/home/job/workspace/virtuallab/devel/lib/obstacle_detector/obstacle_publisher_node")
+  if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/obstacle_detector/obstacle_publisher_node" AND
+     NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/obstacle_detector/obstacle_publisher_node")
+    file(RPATH_CHANGE
+         FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/obstacle_detector/obstacle_publisher_node"
+         OLD_RPATH "/home/job/workspace/virtuallab/devel/lib:/opt/ros/melodic/lib:"
+         NEW_RPATH "")
+    if(CMAKE_INSTALL_DO_STRIP)
+      execute_process(COMMAND "/usr/bin/strip" "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/obstacle_detector/obstacle_publisher_node")
+    endif()
+  endif()
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/include/obstacle_detector" TYPE DIRECTORY FILES "/home/job/workspace/virtuallab/src/obstacle_detector/include/obstacle_detector/")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/obstacle_detector" TYPE FILE FILES
+    "/home/job/workspace/virtuallab/src/obstacle_detector/nodelet_plugins.xml"
+    "/home/job/workspace/virtuallab/src/obstacle_detector/rviz_plugins.xml"
+    )
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/obstacle_detector" TYPE DIRECTORY FILES "/home/job/workspace/virtuallab/src/obstacle_detector/launch/")
+endif()
+
diff --git a/workspace/virtuallab/build/obstacle_detector/obstacle_detector_gui_autogen/3BZPV6XJTP/moc_obstacles_display.cpp b/workspace/virtuallab/build/obstacle_detector/obstacle_detector_gui_autogen/3BZPV6XJTP/moc_obstacles_display.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..ea912c2b45c198a9e87590ff429f7437607df811
--- /dev/null
+++ b/workspace/virtuallab/build/obstacle_detector/obstacle_detector_gui_autogen/3BZPV6XJTP/moc_obstacles_display.cpp
@@ -0,0 +1,128 @@
+/****************************************************************************
+** Meta object code from reading C++ file 'obstacles_display.h'
+**
+** Created by: The Qt Meta Object Compiler version 67 (Qt 5.9.5)
+**
+** WARNING! All changes made in this file will be lost!
+*****************************************************************************/
+
+#include "../../../../src/obstacle_detector/include/obstacle_detector/displays/obstacles_display.h"
+#include <QtCore/qbytearray.h>
+#include <QtCore/qmetatype.h>
+#if !defined(Q_MOC_OUTPUT_REVISION)
+#error "The header file 'obstacles_display.h' doesn't include <QObject>."
+#elif Q_MOC_OUTPUT_REVISION != 67
+#error "This file was generated using the moc from 5.9.5. It"
+#error "cannot be used with the include files from this version of Qt."
+#error "(The moc has changed too much.)"
+#endif
+
+QT_BEGIN_MOC_NAMESPACE
+QT_WARNING_PUSH
+QT_WARNING_DISABLE_DEPRECATED
+struct qt_meta_stringdata_obstacles_display__ObstaclesDisplay_t {
+    QByteArrayData data[6];
+    char stringdata0[102];
+};
+#define QT_MOC_LITERAL(idx, ofs, len) \
+    Q_STATIC_BYTE_ARRAY_DATA_HEADER_INITIALIZER_WITH_OFFSET(len, \
+    qptrdiff(offsetof(qt_meta_stringdata_obstacles_display__ObstaclesDisplay_t, stringdata0) + ofs \
+        - idx * sizeof(QByteArrayData)) \
+    )
+static const qt_meta_stringdata_obstacles_display__ObstaclesDisplay_t qt_meta_stringdata_obstacles_display__ObstaclesDisplay = {
+    {
+QT_MOC_LITERAL(0, 0, 35), // "obstacles_display::ObstaclesD..."
+QT_MOC_LITERAL(1, 36, 17), // "updateCircleColor"
+QT_MOC_LITERAL(2, 54, 0), // ""
+QT_MOC_LITERAL(3, 55, 18), // "updateSegmentColor"
+QT_MOC_LITERAL(4, 74, 11), // "updateAlpha"
+QT_MOC_LITERAL(5, 86, 15) // "updateThickness"
+
+    },
+    "obstacles_display::ObstaclesDisplay\0"
+    "updateCircleColor\0\0updateSegmentColor\0"
+    "updateAlpha\0updateThickness"
+};
+#undef QT_MOC_LITERAL
+
+static const uint qt_meta_data_obstacles_display__ObstaclesDisplay[] = {
+
+ // content:
+       7,       // revision
+       0,       // classname
+       0,    0, // classinfo
+       4,   14, // methods
+       0,    0, // properties
+       0,    0, // enums/sets
+       0,    0, // constructors
+       0,       // flags
+       0,       // signalCount
+
+ // slots: name, argc, parameters, tag, flags
+       1,    0,   34,    2, 0x08 /* Private */,
+       3,    0,   35,    2, 0x08 /* Private */,
+       4,    0,   36,    2, 0x08 /* Private */,
+       5,    0,   37,    2, 0x08 /* Private */,
+
+ // slots: parameters
+    QMetaType::Void,
+    QMetaType::Void,
+    QMetaType::Void,
+    QMetaType::Void,
+
+       0        // eod
+};
+
+void obstacles_display::ObstaclesDisplay::qt_static_metacall(QObject *_o, QMetaObject::Call _c, int _id, void **_a)
+{
+    if (_c == QMetaObject::InvokeMetaMethod) {
+        ObstaclesDisplay *_t = static_cast<ObstaclesDisplay *>(_o);
+        Q_UNUSED(_t)
+        switch (_id) {
+        case 0: _t->updateCircleColor(); break;
+        case 1: _t->updateSegmentColor(); break;
+        case 2: _t->updateAlpha(); break;
+        case 3: _t->updateThickness(); break;
+        default: ;
+        }
+    }
+    Q_UNUSED(_a);
+}
+
+const QMetaObject obstacles_display::ObstaclesDisplay::staticMetaObject = {
+    { &rviz::MessageFilterDisplay<obstacle_detector::Obstacles>::staticMetaObject, qt_meta_stringdata_obstacles_display__ObstaclesDisplay.data,
+      qt_meta_data_obstacles_display__ObstaclesDisplay,  qt_static_metacall, nullptr, nullptr}
+};
+
+
+const QMetaObject *obstacles_display::ObstaclesDisplay::metaObject() const
+{
+    return QObject::d_ptr->metaObject ? QObject::d_ptr->dynamicMetaObject() : &staticMetaObject;
+}
+
+void *obstacles_display::ObstaclesDisplay::qt_metacast(const char *_clname)
+{
+    if (!_clname) return nullptr;
+    if (!strcmp(_clname, qt_meta_stringdata_obstacles_display__ObstaclesDisplay.stringdata0))
+        return static_cast<void*>(this);
+    return rviz::MessageFilterDisplay<obstacle_detector::Obstacles>::qt_metacast(_clname);
+}
+
+int obstacles_display::ObstaclesDisplay::qt_metacall(QMetaObject::Call _c, int _id, void **_a)
+{
+    _id = rviz::MessageFilterDisplay<obstacle_detector::Obstacles>::qt_metacall(_c, _id, _a);
+    if (_id < 0)
+        return _id;
+    if (_c == QMetaObject::InvokeMetaMethod) {
+        if (_id < 4)
+            qt_static_metacall(this, _c, _id, _a);
+        _id -= 4;
+    } else if (_c == QMetaObject::RegisterMethodArgumentMetaType) {
+        if (_id < 4)
+            *reinterpret_cast<int*>(_a[0]) = -1;
+        _id -= 4;
+    }
+    return _id;
+}
+QT_WARNING_POP
+QT_END_MOC_NAMESPACE
diff --git a/workspace/virtuallab/build/obstacle_detector/obstacle_detector_gui_autogen/ICV2ETXXBG/moc_obstacle_extractor_panel.cpp b/workspace/virtuallab/build/obstacle_detector/obstacle_detector_gui_autogen/ICV2ETXXBG/moc_obstacle_extractor_panel.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..6e154fd5e0d2d1c187e8a810009a458155fe7361
--- /dev/null
+++ b/workspace/virtuallab/build/obstacle_detector/obstacle_detector_gui_autogen/ICV2ETXXBG/moc_obstacle_extractor_panel.cpp
@@ -0,0 +1,115 @@
+/****************************************************************************
+** Meta object code from reading C++ file 'obstacle_extractor_panel.h'
+**
+** Created by: The Qt Meta Object Compiler version 67 (Qt 5.9.5)
+**
+** WARNING! All changes made in this file will be lost!
+*****************************************************************************/
+
+#include "../../../../src/obstacle_detector/include/obstacle_detector/panels/obstacle_extractor_panel.h"
+#include <QtCore/qbytearray.h>
+#include <QtCore/qmetatype.h>
+#if !defined(Q_MOC_OUTPUT_REVISION)
+#error "The header file 'obstacle_extractor_panel.h' doesn't include <QObject>."
+#elif Q_MOC_OUTPUT_REVISION != 67
+#error "This file was generated using the moc from 5.9.5. It"
+#error "cannot be used with the include files from this version of Qt."
+#error "(The moc has changed too much.)"
+#endif
+
+QT_BEGIN_MOC_NAMESPACE
+QT_WARNING_PUSH
+QT_WARNING_DISABLE_DEPRECATED
+struct qt_meta_stringdata_obstacle_detector__ObstacleExtractorPanel_t {
+    QByteArrayData data[3];
+    char stringdata0[57];
+};
+#define QT_MOC_LITERAL(idx, ofs, len) \
+    Q_STATIC_BYTE_ARRAY_DATA_HEADER_INITIALIZER_WITH_OFFSET(len, \
+    qptrdiff(offsetof(qt_meta_stringdata_obstacle_detector__ObstacleExtractorPanel_t, stringdata0) + ofs \
+        - idx * sizeof(QByteArrayData)) \
+    )
+static const qt_meta_stringdata_obstacle_detector__ObstacleExtractorPanel_t qt_meta_stringdata_obstacle_detector__ObstacleExtractorPanel = {
+    {
+QT_MOC_LITERAL(0, 0, 41), // "obstacle_detector::ObstacleEx..."
+QT_MOC_LITERAL(1, 42, 13), // "processInputs"
+QT_MOC_LITERAL(2, 56, 0) // ""
+
+    },
+    "obstacle_detector::ObstacleExtractorPanel\0"
+    "processInputs\0"
+};
+#undef QT_MOC_LITERAL
+
+static const uint qt_meta_data_obstacle_detector__ObstacleExtractorPanel[] = {
+
+ // content:
+       7,       // revision
+       0,       // classname
+       0,    0, // classinfo
+       1,   14, // methods
+       0,    0, // properties
+       0,    0, // enums/sets
+       0,    0, // constructors
+       0,       // flags
+       0,       // signalCount
+
+ // slots: name, argc, parameters, tag, flags
+       1,    0,   19,    2, 0x08 /* Private */,
+
+ // slots: parameters
+    QMetaType::Void,
+
+       0        // eod
+};
+
+void obstacle_detector::ObstacleExtractorPanel::qt_static_metacall(QObject *_o, QMetaObject::Call _c, int _id, void **_a)
+{
+    if (_c == QMetaObject::InvokeMetaMethod) {
+        ObstacleExtractorPanel *_t = static_cast<ObstacleExtractorPanel *>(_o);
+        Q_UNUSED(_t)
+        switch (_id) {
+        case 0: _t->processInputs(); break;
+        default: ;
+        }
+    }
+    Q_UNUSED(_a);
+}
+
+const QMetaObject obstacle_detector::ObstacleExtractorPanel::staticMetaObject = {
+    { &rviz::Panel::staticMetaObject, qt_meta_stringdata_obstacle_detector__ObstacleExtractorPanel.data,
+      qt_meta_data_obstacle_detector__ObstacleExtractorPanel,  qt_static_metacall, nullptr, nullptr}
+};
+
+
+const QMetaObject *obstacle_detector::ObstacleExtractorPanel::metaObject() const
+{
+    return QObject::d_ptr->metaObject ? QObject::d_ptr->dynamicMetaObject() : &staticMetaObject;
+}
+
+void *obstacle_detector::ObstacleExtractorPanel::qt_metacast(const char *_clname)
+{
+    if (!_clname) return nullptr;
+    if (!strcmp(_clname, qt_meta_stringdata_obstacle_detector__ObstacleExtractorPanel.stringdata0))
+        return static_cast<void*>(this);
+    return rviz::Panel::qt_metacast(_clname);
+}
+
+int obstacle_detector::ObstacleExtractorPanel::qt_metacall(QMetaObject::Call _c, int _id, void **_a)
+{
+    _id = rviz::Panel::qt_metacall(_c, _id, _a);
+    if (_id < 0)
+        return _id;
+    if (_c == QMetaObject::InvokeMetaMethod) {
+        if (_id < 1)
+            qt_static_metacall(this, _c, _id, _a);
+        _id -= 1;
+    } else if (_c == QMetaObject::RegisterMethodArgumentMetaType) {
+        if (_id < 1)
+            *reinterpret_cast<int*>(_a[0]) = -1;
+        _id -= 1;
+    }
+    return _id;
+}
+QT_WARNING_POP
+QT_END_MOC_NAMESPACE
diff --git a/workspace/virtuallab/build/obstacle_detector/obstacle_detector_gui_autogen/ICV2ETXXBG/moc_obstacle_publisher_panel.cpp b/workspace/virtuallab/build/obstacle_detector/obstacle_detector_gui_autogen/ICV2ETXXBG/moc_obstacle_publisher_panel.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..36963808d405e9a8f9aba1bcd6a14811ed829273
--- /dev/null
+++ b/workspace/virtuallab/build/obstacle_detector/obstacle_detector_gui_autogen/ICV2ETXXBG/moc_obstacle_publisher_panel.cpp
@@ -0,0 +1,128 @@
+/****************************************************************************
+** Meta object code from reading C++ file 'obstacle_publisher_panel.h'
+**
+** Created by: The Qt Meta Object Compiler version 67 (Qt 5.9.5)
+**
+** WARNING! All changes made in this file will be lost!
+*****************************************************************************/
+
+#include "../../../../src/obstacle_detector/include/obstacle_detector/panels/obstacle_publisher_panel.h"
+#include <QtCore/qbytearray.h>
+#include <QtCore/qmetatype.h>
+#if !defined(Q_MOC_OUTPUT_REVISION)
+#error "The header file 'obstacle_publisher_panel.h' doesn't include <QObject>."
+#elif Q_MOC_OUTPUT_REVISION != 67
+#error "This file was generated using the moc from 5.9.5. It"
+#error "cannot be used with the include files from this version of Qt."
+#error "(The moc has changed too much.)"
+#endif
+
+QT_BEGIN_MOC_NAMESPACE
+QT_WARNING_PUSH
+QT_WARNING_DISABLE_DEPRECATED
+struct qt_meta_stringdata_obstacle_detector__ObstaclePublisherPanel_t {
+    QByteArrayData data[6];
+    char stringdata0[91];
+};
+#define QT_MOC_LITERAL(idx, ofs, len) \
+    Q_STATIC_BYTE_ARRAY_DATA_HEADER_INITIALIZER_WITH_OFFSET(len, \
+    qptrdiff(offsetof(qt_meta_stringdata_obstacle_detector__ObstaclePublisherPanel_t, stringdata0) + ofs \
+        - idx * sizeof(QByteArrayData)) \
+    )
+static const qt_meta_stringdata_obstacle_detector__ObstaclePublisherPanel_t qt_meta_stringdata_obstacle_detector__ObstaclePublisherPanel = {
+    {
+QT_MOC_LITERAL(0, 0, 41), // "obstacle_detector::ObstaclePu..."
+QT_MOC_LITERAL(1, 42, 13), // "processInputs"
+QT_MOC_LITERAL(2, 56, 0), // ""
+QT_MOC_LITERAL(3, 57, 11), // "addObstacle"
+QT_MOC_LITERAL(4, 69, 15), // "removeObstacles"
+QT_MOC_LITERAL(5, 85, 5) // "reset"
+
+    },
+    "obstacle_detector::ObstaclePublisherPanel\0"
+    "processInputs\0\0addObstacle\0removeObstacles\0"
+    "reset"
+};
+#undef QT_MOC_LITERAL
+
+static const uint qt_meta_data_obstacle_detector__ObstaclePublisherPanel[] = {
+
+ // content:
+       7,       // revision
+       0,       // classname
+       0,    0, // classinfo
+       4,   14, // methods
+       0,    0, // properties
+       0,    0, // enums/sets
+       0,    0, // constructors
+       0,       // flags
+       0,       // signalCount
+
+ // slots: name, argc, parameters, tag, flags
+       1,    0,   34,    2, 0x08 /* Private */,
+       3,    0,   35,    2, 0x08 /* Private */,
+       4,    0,   36,    2, 0x08 /* Private */,
+       5,    0,   37,    2, 0x08 /* Private */,
+
+ // slots: parameters
+    QMetaType::Void,
+    QMetaType::Void,
+    QMetaType::Void,
+    QMetaType::Void,
+
+       0        // eod
+};
+
+void obstacle_detector::ObstaclePublisherPanel::qt_static_metacall(QObject *_o, QMetaObject::Call _c, int _id, void **_a)
+{
+    if (_c == QMetaObject::InvokeMetaMethod) {
+        ObstaclePublisherPanel *_t = static_cast<ObstaclePublisherPanel *>(_o);
+        Q_UNUSED(_t)
+        switch (_id) {
+        case 0: _t->processInputs(); break;
+        case 1: _t->addObstacle(); break;
+        case 2: _t->removeObstacles(); break;
+        case 3: _t->reset(); break;
+        default: ;
+        }
+    }
+    Q_UNUSED(_a);
+}
+
+const QMetaObject obstacle_detector::ObstaclePublisherPanel::staticMetaObject = {
+    { &rviz::Panel::staticMetaObject, qt_meta_stringdata_obstacle_detector__ObstaclePublisherPanel.data,
+      qt_meta_data_obstacle_detector__ObstaclePublisherPanel,  qt_static_metacall, nullptr, nullptr}
+};
+
+
+const QMetaObject *obstacle_detector::ObstaclePublisherPanel::metaObject() const
+{
+    return QObject::d_ptr->metaObject ? QObject::d_ptr->dynamicMetaObject() : &staticMetaObject;
+}
+
+void *obstacle_detector::ObstaclePublisherPanel::qt_metacast(const char *_clname)
+{
+    if (!_clname) return nullptr;
+    if (!strcmp(_clname, qt_meta_stringdata_obstacle_detector__ObstaclePublisherPanel.stringdata0))
+        return static_cast<void*>(this);
+    return rviz::Panel::qt_metacast(_clname);
+}
+
+int obstacle_detector::ObstaclePublisherPanel::qt_metacall(QMetaObject::Call _c, int _id, void **_a)
+{
+    _id = rviz::Panel::qt_metacall(_c, _id, _a);
+    if (_id < 0)
+        return _id;
+    if (_c == QMetaObject::InvokeMetaMethod) {
+        if (_id < 4)
+            qt_static_metacall(this, _c, _id, _a);
+        _id -= 4;
+    } else if (_c == QMetaObject::RegisterMethodArgumentMetaType) {
+        if (_id < 4)
+            *reinterpret_cast<int*>(_a[0]) = -1;
+        _id -= 4;
+    }
+    return _id;
+}
+QT_WARNING_POP
+QT_END_MOC_NAMESPACE
diff --git a/workspace/virtuallab/build/obstacle_detector/obstacle_detector_gui_autogen/ICV2ETXXBG/moc_obstacle_tracker_panel.cpp b/workspace/virtuallab/build/obstacle_detector/obstacle_detector_gui_autogen/ICV2ETXXBG/moc_obstacle_tracker_panel.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..d56ef3f393048e20ff6eaa7dcd381767b6ea4df7
--- /dev/null
+++ b/workspace/virtuallab/build/obstacle_detector/obstacle_detector_gui_autogen/ICV2ETXXBG/moc_obstacle_tracker_panel.cpp
@@ -0,0 +1,115 @@
+/****************************************************************************
+** Meta object code from reading C++ file 'obstacle_tracker_panel.h'
+**
+** Created by: The Qt Meta Object Compiler version 67 (Qt 5.9.5)
+**
+** WARNING! All changes made in this file will be lost!
+*****************************************************************************/
+
+#include "../../../../src/obstacle_detector/include/obstacle_detector/panels/obstacle_tracker_panel.h"
+#include <QtCore/qbytearray.h>
+#include <QtCore/qmetatype.h>
+#if !defined(Q_MOC_OUTPUT_REVISION)
+#error "The header file 'obstacle_tracker_panel.h' doesn't include <QObject>."
+#elif Q_MOC_OUTPUT_REVISION != 67
+#error "This file was generated using the moc from 5.9.5. It"
+#error "cannot be used with the include files from this version of Qt."
+#error "(The moc has changed too much.)"
+#endif
+
+QT_BEGIN_MOC_NAMESPACE
+QT_WARNING_PUSH
+QT_WARNING_DISABLE_DEPRECATED
+struct qt_meta_stringdata_obstacle_detector__ObstacleTrackerPanel_t {
+    QByteArrayData data[3];
+    char stringdata0[55];
+};
+#define QT_MOC_LITERAL(idx, ofs, len) \
+    Q_STATIC_BYTE_ARRAY_DATA_HEADER_INITIALIZER_WITH_OFFSET(len, \
+    qptrdiff(offsetof(qt_meta_stringdata_obstacle_detector__ObstacleTrackerPanel_t, stringdata0) + ofs \
+        - idx * sizeof(QByteArrayData)) \
+    )
+static const qt_meta_stringdata_obstacle_detector__ObstacleTrackerPanel_t qt_meta_stringdata_obstacle_detector__ObstacleTrackerPanel = {
+    {
+QT_MOC_LITERAL(0, 0, 39), // "obstacle_detector::ObstacleTr..."
+QT_MOC_LITERAL(1, 40, 13), // "processInputs"
+QT_MOC_LITERAL(2, 54, 0) // ""
+
+    },
+    "obstacle_detector::ObstacleTrackerPanel\0"
+    "processInputs\0"
+};
+#undef QT_MOC_LITERAL
+
+static const uint qt_meta_data_obstacle_detector__ObstacleTrackerPanel[] = {
+
+ // content:
+       7,       // revision
+       0,       // classname
+       0,    0, // classinfo
+       1,   14, // methods
+       0,    0, // properties
+       0,    0, // enums/sets
+       0,    0, // constructors
+       0,       // flags
+       0,       // signalCount
+
+ // slots: name, argc, parameters, tag, flags
+       1,    0,   19,    2, 0x08 /* Private */,
+
+ // slots: parameters
+    QMetaType::Void,
+
+       0        // eod
+};
+
+void obstacle_detector::ObstacleTrackerPanel::qt_static_metacall(QObject *_o, QMetaObject::Call _c, int _id, void **_a)
+{
+    if (_c == QMetaObject::InvokeMetaMethod) {
+        ObstacleTrackerPanel *_t = static_cast<ObstacleTrackerPanel *>(_o);
+        Q_UNUSED(_t)
+        switch (_id) {
+        case 0: _t->processInputs(); break;
+        default: ;
+        }
+    }
+    Q_UNUSED(_a);
+}
+
+const QMetaObject obstacle_detector::ObstacleTrackerPanel::staticMetaObject = {
+    { &rviz::Panel::staticMetaObject, qt_meta_stringdata_obstacle_detector__ObstacleTrackerPanel.data,
+      qt_meta_data_obstacle_detector__ObstacleTrackerPanel,  qt_static_metacall, nullptr, nullptr}
+};
+
+
+const QMetaObject *obstacle_detector::ObstacleTrackerPanel::metaObject() const
+{
+    return QObject::d_ptr->metaObject ? QObject::d_ptr->dynamicMetaObject() : &staticMetaObject;
+}
+
+void *obstacle_detector::ObstacleTrackerPanel::qt_metacast(const char *_clname)
+{
+    if (!_clname) return nullptr;
+    if (!strcmp(_clname, qt_meta_stringdata_obstacle_detector__ObstacleTrackerPanel.stringdata0))
+        return static_cast<void*>(this);
+    return rviz::Panel::qt_metacast(_clname);
+}
+
+int obstacle_detector::ObstacleTrackerPanel::qt_metacall(QMetaObject::Call _c, int _id, void **_a)
+{
+    _id = rviz::Panel::qt_metacall(_c, _id, _a);
+    if (_id < 0)
+        return _id;
+    if (_c == QMetaObject::InvokeMetaMethod) {
+        if (_id < 1)
+            qt_static_metacall(this, _c, _id, _a);
+        _id -= 1;
+    } else if (_c == QMetaObject::RegisterMethodArgumentMetaType) {
+        if (_id < 1)
+            *reinterpret_cast<int*>(_a[0]) = -1;
+        _id -= 1;
+    }
+    return _id;
+}
+QT_WARNING_POP
+QT_END_MOC_NAMESPACE
diff --git a/workspace/virtuallab/build/obstacle_detector/obstacle_detector_gui_autogen/ICV2ETXXBG/moc_scans_merger_panel.cpp b/workspace/virtuallab/build/obstacle_detector/obstacle_detector_gui_autogen/ICV2ETXXBG/moc_scans_merger_panel.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..32fd4b9c8bd1c73d1aad66f982874974e6a944c9
--- /dev/null
+++ b/workspace/virtuallab/build/obstacle_detector/obstacle_detector_gui_autogen/ICV2ETXXBG/moc_scans_merger_panel.cpp
@@ -0,0 +1,115 @@
+/****************************************************************************
+** Meta object code from reading C++ file 'scans_merger_panel.h'
+**
+** Created by: The Qt Meta Object Compiler version 67 (Qt 5.9.5)
+**
+** WARNING! All changes made in this file will be lost!
+*****************************************************************************/
+
+#include "../../../../src/obstacle_detector/include/obstacle_detector/panels/scans_merger_panel.h"
+#include <QtCore/qbytearray.h>
+#include <QtCore/qmetatype.h>
+#if !defined(Q_MOC_OUTPUT_REVISION)
+#error "The header file 'scans_merger_panel.h' doesn't include <QObject>."
+#elif Q_MOC_OUTPUT_REVISION != 67
+#error "This file was generated using the moc from 5.9.5. It"
+#error "cannot be used with the include files from this version of Qt."
+#error "(The moc has changed too much.)"
+#endif
+
+QT_BEGIN_MOC_NAMESPACE
+QT_WARNING_PUSH
+QT_WARNING_DISABLE_DEPRECATED
+struct qt_meta_stringdata_obstacle_detector__ScansMergerPanel_t {
+    QByteArrayData data[3];
+    char stringdata0[51];
+};
+#define QT_MOC_LITERAL(idx, ofs, len) \
+    Q_STATIC_BYTE_ARRAY_DATA_HEADER_INITIALIZER_WITH_OFFSET(len, \
+    qptrdiff(offsetof(qt_meta_stringdata_obstacle_detector__ScansMergerPanel_t, stringdata0) + ofs \
+        - idx * sizeof(QByteArrayData)) \
+    )
+static const qt_meta_stringdata_obstacle_detector__ScansMergerPanel_t qt_meta_stringdata_obstacle_detector__ScansMergerPanel = {
+    {
+QT_MOC_LITERAL(0, 0, 35), // "obstacle_detector::ScansMerge..."
+QT_MOC_LITERAL(1, 36, 13), // "processInputs"
+QT_MOC_LITERAL(2, 50, 0) // ""
+
+    },
+    "obstacle_detector::ScansMergerPanel\0"
+    "processInputs\0"
+};
+#undef QT_MOC_LITERAL
+
+static const uint qt_meta_data_obstacle_detector__ScansMergerPanel[] = {
+
+ // content:
+       7,       // revision
+       0,       // classname
+       0,    0, // classinfo
+       1,   14, // methods
+       0,    0, // properties
+       0,    0, // enums/sets
+       0,    0, // constructors
+       0,       // flags
+       0,       // signalCount
+
+ // slots: name, argc, parameters, tag, flags
+       1,    0,   19,    2, 0x08 /* Private */,
+
+ // slots: parameters
+    QMetaType::Void,
+
+       0        // eod
+};
+
+void obstacle_detector::ScansMergerPanel::qt_static_metacall(QObject *_o, QMetaObject::Call _c, int _id, void **_a)
+{
+    if (_c == QMetaObject::InvokeMetaMethod) {
+        ScansMergerPanel *_t = static_cast<ScansMergerPanel *>(_o);
+        Q_UNUSED(_t)
+        switch (_id) {
+        case 0: _t->processInputs(); break;
+        default: ;
+        }
+    }
+    Q_UNUSED(_a);
+}
+
+const QMetaObject obstacle_detector::ScansMergerPanel::staticMetaObject = {
+    { &rviz::Panel::staticMetaObject, qt_meta_stringdata_obstacle_detector__ScansMergerPanel.data,
+      qt_meta_data_obstacle_detector__ScansMergerPanel,  qt_static_metacall, nullptr, nullptr}
+};
+
+
+const QMetaObject *obstacle_detector::ScansMergerPanel::metaObject() const
+{
+    return QObject::d_ptr->metaObject ? QObject::d_ptr->dynamicMetaObject() : &staticMetaObject;
+}
+
+void *obstacle_detector::ScansMergerPanel::qt_metacast(const char *_clname)
+{
+    if (!_clname) return nullptr;
+    if (!strcmp(_clname, qt_meta_stringdata_obstacle_detector__ScansMergerPanel.stringdata0))
+        return static_cast<void*>(this);
+    return rviz::Panel::qt_metacast(_clname);
+}
+
+int obstacle_detector::ScansMergerPanel::qt_metacall(QMetaObject::Call _c, int _id, void **_a)
+{
+    _id = rviz::Panel::qt_metacall(_c, _id, _a);
+    if (_id < 0)
+        return _id;
+    if (_c == QMetaObject::InvokeMetaMethod) {
+        if (_id < 1)
+            qt_static_metacall(this, _c, _id, _a);
+        _id -= 1;
+    } else if (_c == QMetaObject::RegisterMethodArgumentMetaType) {
+        if (_id < 1)
+            *reinterpret_cast<int*>(_a[0]) = -1;
+        _id -= 1;
+    }
+    return _id;
+}
+QT_WARNING_POP
+QT_END_MOC_NAMESPACE
diff --git a/workspace/virtuallab/build/obstacle_detector/obstacle_detector_gui_autogen/moc_predefs.h b/workspace/virtuallab/build/obstacle_detector/obstacle_detector_gui_autogen/moc_predefs.h
new file mode 100644
index 0000000000000000000000000000000000000000..4a8c685f092e8cc8b2bd72e71e3e9b8b19286358
--- /dev/null
+++ b/workspace/virtuallab/build/obstacle_detector/obstacle_detector_gui_autogen/moc_predefs.h
@@ -0,0 +1,399 @@
+#define __SSP_STRONG__ 3
+#define __DBL_MIN_EXP__ (-1021)
+#define __FLT32X_MAX_EXP__ 1024
+#define __cpp_attributes 200809
+#define __UINT_LEAST16_MAX__ 0xffff
+#define __ATOMIC_ACQUIRE 2
+#define __FLT128_MAX_10_EXP__ 4932
+#define __FLT_MIN__ 1.17549435082228750796873653722224568e-38F
+#define __GCC_IEC_559_COMPLEX 2
+#define __cpp_aggregate_nsdmi 201304
+#define __UINT_LEAST8_TYPE__ unsigned char
+#define __SIZEOF_FLOAT80__ 16
+#define __INTMAX_C(c) c ## L
+#define __CHAR_BIT__ 8
+#define __UINT8_MAX__ 0xff
+#define __WINT_MAX__ 0xffffffffU
+#define __FLT32_MIN_EXP__ (-125)
+#define __cpp_static_assert 200410
+#define QT_GUI_LIB 1
+#define __ORDER_LITTLE_ENDIAN__ 1234
+#define __SIZE_MAX__ 0xffffffffffffffffUL
+#define __WCHAR_MAX__ 0x7fffffff
+#define __GCC_HAVE_SYNC_COMPARE_AND_SWAP_1 1
+#define __GCC_HAVE_SYNC_COMPARE_AND_SWAP_2 1
+#define __GCC_HAVE_SYNC_COMPARE_AND_SWAP_4 1
+#define __DBL_DENORM_MIN__ double(4.94065645841246544176568792868221372e-324L)
+#define __GCC_HAVE_SYNC_COMPARE_AND_SWAP_8 1
+#define __GCC_ATOMIC_CHAR_LOCK_FREE 2
+#define __GCC_IEC_559 2
+#define __FLT32X_DECIMAL_DIG__ 17
+#define __FLT_EVAL_METHOD__ 0
+#define __unix__ 1
+#define __cpp_binary_literals 201304
+#define __FLT64_DECIMAL_DIG__ 17
+#define __GCC_ATOMIC_CHAR32_T_LOCK_FREE 2
+#define __x86_64 1
+#define __cpp_variadic_templates 200704
+#define __UINT_FAST64_MAX__ 0xffffffffffffffffUL
+#define __SIG_ATOMIC_TYPE__ int
+#define __DBL_MIN_10_EXP__ (-307)
+#define __FINITE_MATH_ONLY__ 0
+#define __cpp_variable_templates 201304
+#define ROSCONSOLE_BACKEND_LOG4CXX 1
+#define SIZEOF_DPTR (sizeof(void*))
+#define __GNUC_PATCHLEVEL__ 0
+#define __FLT32_HAS_DENORM__ 1
+#define __UINT_FAST8_MAX__ 0xff
+#define __has_include(STR) __has_include__(STR)
+#define __DEC64_MAX_EXP__ 385
+#define __INT8_C(c) c
+#define __INT_LEAST8_WIDTH__ 8
+#define __UINT_LEAST64_MAX__ 0xffffffffffffffffUL
+#define __SHRT_MAX__ 0x7fff
+#define __LDBL_MAX__ 1.18973149535723176502126385303097021e+4932L
+#define __FLT64X_MAX_10_EXP__ 4932
+#define QT_NO_DEBUG 1
+#define __UINT_LEAST8_MAX__ 0xff
+#define __GCC_ATOMIC_BOOL_LOCK_FREE 2
+#define __FLT128_DENORM_MIN__ 6.47517511943802511092443895822764655e-4966F128
+#define __UINTMAX_TYPE__ long unsigned int
+#define __linux 1
+#define __DEC32_EPSILON__ 1E-6DF
+#define __FLT_EVAL_METHOD_TS_18661_3__ 0
+#define __unix 1
+#define __UINT32_MAX__ 0xffffffffU
+#define __GXX_EXPERIMENTAL_CXX0X__ 1
+#define __LDBL_MAX_EXP__ 16384
+#define __FLT128_MIN_EXP__ (-16381)
+#define __WINT_MIN__ 0U
+#define __linux__ 1
+#define __FLT128_MIN_10_EXP__ (-4931)
+#define __INT_LEAST16_WIDTH__ 16
+#define __SCHAR_MAX__ 0x7f
+#define __FLT128_MANT_DIG__ 113
+#define __WCHAR_MIN__ (-__WCHAR_MAX__ - 1)
+#define __INT64_C(c) c ## L
+#define __DBL_DIG__ 15
+#define __GCC_ATOMIC_POINTER_LOCK_FREE 2
+#define __FLT64X_MANT_DIG__ 64
+#define __SIZEOF_INT__ 4
+#define __SIZEOF_POINTER__ 8
+#define __GCC_ATOMIC_CHAR16_T_LOCK_FREE 2
+#define __USER_LABEL_PREFIX__ 
+#define __FLT64X_EPSILON__ 1.08420217248550443400745280086994171e-19F64x
+#define __STDC_HOSTED__ 1
+#define __LDBL_HAS_INFINITY__ 1
+#define __FLT32_DIG__ 6
+#define __FLT_EPSILON__ 1.19209289550781250000000000000000000e-7F
+#define __GXX_WEAK__ 1
+#define __SHRT_WIDTH__ 16
+#define __LDBL_MIN__ 3.36210314311209350626267781732175260e-4932L
+#define __DEC32_MAX__ 9.999999E96DF
+#define __cpp_threadsafe_static_init 200806
+#define __FLT64X_DENORM_MIN__ 3.64519953188247460252840593361941982e-4951F64x
+#define __FLT32X_HAS_INFINITY__ 1
+#define __INT32_MAX__ 0x7fffffff
+#define __INT_WIDTH__ 32
+#define __SIZEOF_LONG__ 8
+#define __STDC_IEC_559__ 1
+#define __STDC_ISO_10646__ 201706L
+#define __UINT16_C(c) c
+#define __PTRDIFF_WIDTH__ 64
+#define __DECIMAL_DIG__ 21
+#define __FLT64_EPSILON__ 2.22044604925031308084726333618164062e-16F64
+#define __gnu_linux__ 1
+#define __INTMAX_WIDTH__ 64
+#define __FLT64_MIN_EXP__ (-1021)
+#define __has_include_next(STR) __has_include_next__(STR)
+#define __FLT64X_MIN_10_EXP__ (-4931)
+#define __LDBL_HAS_QUIET_NAN__ 1
+#define __FLT64_MANT_DIG__ 53
+#define ROS_PACKAGE_NAME "obstacle_detector"
+#define __GNUC__ 7
+#define __GXX_RTTI 1
+#define __pie__ 2
+#define __MMX__ 1
+#define __cpp_delegating_constructors 200604
+#define __FLT_HAS_DENORM__ 1
+#define __SIZEOF_LONG_DOUBLE__ 16
+#define __BIGGEST_ALIGNMENT__ 16
+#define __STDC_UTF_16__ 1
+#define __FLT64_MAX_10_EXP__ 308
+#define __FLT32_HAS_INFINITY__ 1
+#define __DBL_MAX__ double(1.79769313486231570814527423731704357e+308L)
+#define __cpp_raw_strings 200710
+#define __INT_FAST32_MAX__ 0x7fffffffffffffffL
+#define __DBL_HAS_INFINITY__ 1
+#define __INT64_MAX__ 0x7fffffffffffffffL
+#define __DEC32_MIN_EXP__ (-94)
+#define __INTPTR_WIDTH__ 64
+#define __FLT32X_HAS_DENORM__ 1
+#define __INT_FAST16_TYPE__ long int
+#define __LDBL_HAS_DENORM__ 1
+#define QT_WIDGETS_LIB 1
+#define __cplusplus 201402L
+#define __cpp_ref_qualifiers 200710
+#define __DEC128_MAX__ 9.999999999999999999999999999999999E6144DL
+#define __INT_LEAST32_MAX__ 0x7fffffff
+#define __DEC32_MIN__ 1E-95DF
+#define __DEPRECATED 1
+#define __cpp_rvalue_references 200610
+#define __DBL_MAX_EXP__ 1024
+#define __WCHAR_WIDTH__ 32
+#define __FLT32_MAX__ 3.40282346638528859811704183484516925e+38F32
+#define __DEC128_EPSILON__ 1E-33DL
+#define __SSE2_MATH__ 1
+#define __ATOMIC_HLE_RELEASE 131072
+#define __PTRDIFF_MAX__ 0x7fffffffffffffffL
+#define __amd64 1
+#define ROS_BUILD_SHARED_LIBS 1
+#define __STDC_NO_THREADS__ 1
+#define __ATOMIC_HLE_ACQUIRE 65536
+#define __FLT32_HAS_QUIET_NAN__ 1
+#define __GNUG__ 7
+#define __LONG_LONG_MAX__ 0x7fffffffffffffffLL
+#define __SIZEOF_SIZE_T__ 8
+#define __cpp_rvalue_reference 200610
+#define __cpp_nsdmi 200809
+#define __FLT64X_MIN_EXP__ (-16381)
+#define __SIZEOF_WINT_T__ 4
+#define __LONG_LONG_WIDTH__ 64
+#define __cpp_initializer_lists 200806
+#define __FLT32_MAX_EXP__ 128
+#define ABI_ID "ELF"
+#define __cpp_hex_float 201603
+#define __GCC_HAVE_DWARF2_CFI_ASM 1
+#define __GXX_ABI_VERSION 1011
+#define __FLT128_HAS_INFINITY__ 1
+#define __FLT_MIN_EXP__ (-125)
+#define __cpp_lambdas 200907
+#define __FLT64X_HAS_QUIET_NAN__ 1
+#define __INT_FAST64_TYPE__ long int
+#define __FLT64_DENORM_MIN__ 4.94065645841246544176568792868221372e-324F64
+#define __DBL_MIN__ double(2.22507385850720138309023271733240406e-308L)
+#define __PIE__ 2
+#define __LP64__ 1
+#define __FLT32X_EPSILON__ 2.22044604925031308084726333618164062e-16F32x
+#define __DECIMAL_BID_FORMAT__ 1
+#define __FLT64_MIN_10_EXP__ (-307)
+#define __FLT64X_DECIMAL_DIG__ 21
+#define __DEC128_MIN__ 1E-6143DL
+#define __REGISTER_PREFIX__ 
+#define __UINT16_MAX__ 0xffff
+#define __DBL_HAS_DENORM__ 1
+#define __FLT32_MIN__ 1.17549435082228750796873653722224568e-38F32
+#define __UINT8_TYPE__ unsigned char
+#define __NO_INLINE__ 1
+#define QT_NO_KEYWORDS 1
+#define __FLT_MANT_DIG__ 24
+#define __LDBL_DECIMAL_DIG__ 21
+#define __VERSION__ "7.5.0"
+#define __UINT64_C(c) c ## UL
+#define __cpp_unicode_characters 200704
+#define _STDC_PREDEF_H 1
+#define __cpp_decltype_auto 201304
+#define __GCC_ATOMIC_INT_LOCK_FREE 2
+#define __FLT128_MAX_EXP__ 16384
+#define __FLT32_MANT_DIG__ 24
+#define __FLOAT_WORD_ORDER__ __ORDER_LITTLE_ENDIAN__
+#define __STDC_IEC_559_COMPLEX__ 1
+#define __FLT128_HAS_DENORM__ 1
+#define __FLT128_DIG__ 33
+#define __SCHAR_WIDTH__ 8
+#define __INT32_C(c) c
+#define __DEC64_EPSILON__ 1E-15DD
+#define __ORDER_PDP_ENDIAN__ 3412
+#define __DEC128_MIN_EXP__ (-6142)
+#define __FLT32_MAX_10_EXP__ 38
+#define __INT_FAST32_TYPE__ long int
+#define __UINT_LEAST16_TYPE__ short unsigned int
+#define __FLT64X_HAS_INFINITY__ 1
+#define unix 1
+#define __INT16_MAX__ 0x7fff
+#define __cpp_rtti 199711
+#define __SIZE_TYPE__ long unsigned int
+#define __UINT64_MAX__ 0xffffffffffffffffUL
+#define __FLT64X_DIG__ 18
+#define __INT8_TYPE__ signed char
+#define __cpp_digit_separators 201309
+#define __ELF__ 1
+#define __GCC_ASM_FLAG_OUTPUTS__ 1
+#define __FLT_RADIX__ 2
+#define __INT_LEAST16_TYPE__ short int
+#define __LDBL_EPSILON__ 1.08420217248550443400745280086994171e-19L
+#define __UINTMAX_C(c) c ## UL
+#define __GLIBCXX_BITSIZE_INT_N_0 128
+#define __k8 1
+#define __SIG_ATOMIC_MAX__ 0x7fffffff
+#define __GCC_ATOMIC_WCHAR_T_LOCK_FREE 2
+#define __cpp_sized_deallocation 201309
+#define __SIZEOF_PTRDIFF_T__ 8
+#define __FLT32X_MANT_DIG__ 53
+#define __x86_64__ 1
+#define __FLT32X_MIN_EXP__ (-1021)
+#define __DEC32_SUBNORMAL_MIN__ 0.000001E-95DF
+#define __INT_FAST16_MAX__ 0x7fffffffffffffffL
+#define __FLT64_DIG__ 15
+#define __UINT_FAST32_MAX__ 0xffffffffffffffffUL
+#define __UINT_LEAST64_TYPE__ long unsigned int
+#define __FLT_HAS_QUIET_NAN__ 1
+#define __FLT_MAX_10_EXP__ 38
+#define __LONG_MAX__ 0x7fffffffffffffffL
+#define __FLT64X_HAS_DENORM__ 1
+#define __DEC128_SUBNORMAL_MIN__ 0.000000000000000000000000000000001E-6143DL
+#define __FLT_HAS_INFINITY__ 1
+#define __cpp_unicode_literals 200710
+#define __UINT_FAST16_TYPE__ long unsigned int
+#define __DEC64_MAX__ 9.999999999999999E384DD
+#define __INT_FAST32_WIDTH__ 64
+#define __CHAR16_TYPE__ short unsigned int
+#define __PRAGMA_REDEFINE_EXTNAME 1
+#define __SIZE_WIDTH__ 64
+#define __SEG_FS 1
+#define __INT_LEAST16_MAX__ 0x7fff
+#define __DEC64_MANT_DIG__ 16
+#define __UINT_LEAST32_MAX__ 0xffffffffU
+#define __SEG_GS 1
+#define __FLT32_DENORM_MIN__ 1.40129846432481707092372958328991613e-45F32
+#define __GCC_ATOMIC_LONG_LOCK_FREE 2
+#define __SIG_ATOMIC_WIDTH__ 32
+#define __INT_LEAST64_TYPE__ long int
+#define __INT16_TYPE__ short int
+#define __INT_LEAST8_TYPE__ signed char
+#define __DEC32_MAX_EXP__ 97
+#define __INT_FAST8_MAX__ 0x7f
+#define __FLT128_MAX__ 1.18973149535723176508575932662800702e+4932F128
+#define __INTPTR_MAX__ 0x7fffffffffffffffL
+#define linux 1
+#define __cpp_range_based_for 200907
+#define __FLT64_HAS_QUIET_NAN__ 1
+#define __FLT32_MIN_10_EXP__ (-37)
+#define __SSE2__ 1
+#define __EXCEPTIONS 1
+#define __LDBL_MANT_DIG__ 64
+#define __DBL_HAS_QUIET_NAN__ 1
+#define __FLT64_HAS_INFINITY__ 1
+#define __FLT64X_MAX__ 1.18973149535723176502126385303097021e+4932F64x
+#define __SIG_ATOMIC_MIN__ (-__SIG_ATOMIC_MAX__ - 1)
+#define __code_model_small__ 1
+#define __cpp_return_type_deduction 201304
+#define __k8__ 1
+#define __INTPTR_TYPE__ long int
+#define __UINT16_TYPE__ short unsigned int
+#define __WCHAR_TYPE__ int
+#define __SIZEOF_FLOAT__ 4
+#define __pic__ 2
+#define __UINTPTR_MAX__ 0xffffffffffffffffUL
+#define __INT_FAST64_WIDTH__ 64
+#define __DEC64_MIN_EXP__ (-382)
+#define __cpp_decltype 200707
+#define __FLT32_DECIMAL_DIG__ 9
+#define __INT_FAST64_MAX__ 0x7fffffffffffffffL
+#define __GCC_ATOMIC_TEST_AND_SET_TRUEVAL 1
+#define __FLT_DIG__ 6
+#define __FLT64X_MAX_EXP__ 16384
+#define __UINT_FAST64_TYPE__ long unsigned int
+#define __INT_MAX__ 0x7fffffff
+#define __amd64__ 1
+#define __INT64_TYPE__ long int
+#define __FLT_MAX_EXP__ 128
+#define __ORDER_BIG_ENDIAN__ 4321
+#define __DBL_MANT_DIG__ 53
+#define __cpp_inheriting_constructors 201511
+#define QT_CORE_LIB 1
+#define __SIZEOF_FLOAT128__ 16
+#define __INT_LEAST64_MAX__ 0x7fffffffffffffffL
+#define __DEC64_MIN__ 1E-383DD
+#define __WINT_TYPE__ unsigned int
+#define __UINT_LEAST32_TYPE__ unsigned int
+#define __SIZEOF_SHORT__ 2
+#define __SSE__ 1
+#define __LDBL_MIN_EXP__ (-16381)
+#define __FLT64_MAX__ 1.79769313486231570814527423731704357e+308F64
+#define __WINT_WIDTH__ 32
+#define __INT_LEAST8_MAX__ 0x7f
+#define __FLT32X_MAX_10_EXP__ 308
+#define __SIZEOF_INT128__ 16
+#define __LDBL_MAX_10_EXP__ 4932
+#define __ATOMIC_RELAXED 0
+#define __DBL_EPSILON__ double(2.22044604925031308084726333618164062e-16L)
+#define __FLT128_MIN__ 3.36210314311209350626267781732175260e-4932F128
+#define _LP64 1
+#define __UINT8_C(c) c
+#define __FLT64_MAX_EXP__ 1024
+#define __INT_LEAST32_TYPE__ int
+#define __SIZEOF_WCHAR_T__ 4
+#define __FLT128_HAS_QUIET_NAN__ 1
+#define __INT_FAST8_TYPE__ signed char
+#define __FLT64X_MIN__ 3.36210314311209350626267781732175260e-4932F64x
+#define __GNUC_STDC_INLINE__ 1
+#define __FLT64_HAS_DENORM__ 1
+#define __FLT32_EPSILON__ 1.19209289550781250000000000000000000e-7F32
+#define __DBL_DECIMAL_DIG__ 17
+#define __STDC_UTF_32__ 1
+#define __INT_FAST8_WIDTH__ 8
+#define __FXSR__ 1
+#define __DEC_EVAL_METHOD__ 2
+#define __FLT32X_MAX__ 1.79769313486231570814527423731704357e+308F32x
+#define __cpp_runtime_arrays 198712
+#define __UINT64_TYPE__ long unsigned int
+#define __UINT32_C(c) c ## U
+#define __INTMAX_MAX__ 0x7fffffffffffffffL
+#define __cpp_alias_templates 200704
+#define __BYTE_ORDER__ __ORDER_LITTLE_ENDIAN__
+#define __FLT_DENORM_MIN__ 1.40129846432481707092372958328991613e-45F
+#define __INT8_MAX__ 0x7f
+#define __LONG_WIDTH__ 64
+#define __PIC__ 2
+#define __UINT_FAST32_TYPE__ long unsigned int
+#define __CHAR32_TYPE__ unsigned int
+#define __FLT_MAX__ 3.40282346638528859811704183484516925e+38F
+#define __cpp_constexpr 201304
+#define __INT32_TYPE__ int
+#define __SIZEOF_DOUBLE__ 8
+#define __cpp_exceptions 199711
+#define __FLT_MIN_10_EXP__ (-37)
+#define __FLT64_MIN__ 2.22507385850720138309023271733240406e-308F64
+#define __INT_LEAST32_WIDTH__ 32
+#define __INTMAX_TYPE__ long int
+#define __DEC128_MAX_EXP__ 6145
+#define __FLT32X_HAS_QUIET_NAN__ 1
+#define __ATOMIC_CONSUME 1
+#define __GNUC_MINOR__ 5
+#define __GLIBCXX_TYPE_INT_N_0 __int128
+#define __INT_FAST16_WIDTH__ 64
+#define __UINTMAX_MAX__ 0xffffffffffffffffUL
+#define __DEC32_MANT_DIG__ 7
+#define __FLT32X_DENORM_MIN__ 4.94065645841246544176568792868221372e-324F32x
+#define __DBL_MAX_10_EXP__ 308
+#define __LDBL_DENORM_MIN__ 3.64519953188247460252840593361941982e-4951L
+#define __INT16_C(c) c
+#define __cpp_generic_lambdas 201304
+#define __STDC__ 1
+#define __FLT32X_DIG__ 15
+#define __PTRDIFF_TYPE__ long int
+#define __ATOMIC_SEQ_CST 5
+#define __UINT32_TYPE__ unsigned int
+#define __FLT32X_MIN_10_EXP__ (-307)
+#define __UINTPTR_TYPE__ long unsigned int
+#define __DEC64_SUBNORMAL_MIN__ 0.000000000000001E-383DD
+#define __DEC128_MANT_DIG__ 34
+#define __LDBL_MIN_10_EXP__ (-4931)
+#define __FLT128_EPSILON__ 1.92592994438723585305597794258492732e-34F128
+#define __SSE_MATH__ 1
+#define __SIZEOF_LONG_LONG__ 8
+#define __cpp_user_defined_literals 200809
+#define __FLT128_DECIMAL_DIG__ 36
+#define __GCC_ATOMIC_LLONG_LOCK_FREE 2
+#define __FLT32X_MIN__ 2.22507385850720138309023271733240406e-308F32x
+#define __LDBL_DIG__ 18
+#define __FLT_DECIMAL_DIG__ 9
+#define __UINT_FAST16_MAX__ 0xffffffffffffffffUL
+#define __GCC_ATOMIC_SHORT_LOCK_FREE 2
+#define __INT_LEAST64_WIDTH__ 64
+#define __UINT_FAST8_TYPE__ unsigned char
+#define _GNU_SOURCE 1
+#define __cpp_init_captures 201304
+#define __ATOMIC_ACQ_REL 4
+#define __ATOMIC_RELEASE 3
diff --git a/workspace/virtuallab/build/obstacle_detector/obstacle_detector_gui_autogen/mocs_compilation.cpp b/workspace/virtuallab/build/obstacle_detector/obstacle_detector_gui_autogen/mocs_compilation.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..b60caf67ebc727c618e9956ede76bdaf5c23298d
--- /dev/null
+++ b/workspace/virtuallab/build/obstacle_detector/obstacle_detector_gui_autogen/mocs_compilation.cpp
@@ -0,0 +1,6 @@
+// This file is autogenerated. Changes will be overwritten.
+#include "3BZPV6XJTP/moc_obstacles_display.cpp"
+#include "ICV2ETXXBG/moc_obstacle_extractor_panel.cpp"
+#include "ICV2ETXXBG/moc_obstacle_publisher_panel.cpp"
+#include "ICV2ETXXBG/moc_obstacle_tracker_panel.cpp"
+#include "ICV2ETXXBG/moc_scans_merger_panel.cpp"
diff --git a/workspace/virtuallab/build/robot_classifier/catkin_generated/installspace/robot_detection.py b/workspace/virtuallab/build/robot_classifier/catkin_generated/installspace/robot_detection.py
index 773caf398728c173d896d01ce0207ea5d7c31164..67fb752d93884d082c40872d647998cf269a84a7 100755
--- a/workspace/virtuallab/build/robot_classifier/catkin_generated/installspace/robot_detection.py
+++ b/workspace/virtuallab/build/robot_classifier/catkin_generated/installspace/robot_detection.py
@@ -7,50 +7,65 @@ from cv_bridge import CvBridge
 from robot_classifier import Robot_Classifier
 
 import cv2
-import os  
+import os
 import numpy as np
 import tensorflow as tf
 
+
 class Nodo(object):
     def __init__(self):
         # Params
         self.image1 = None
-	self.image2 = None
-	self.image3 = None
-	self.image4 = None
+        self.image2 = None
+        self.image3 = None
+        self.image4 = None
 
-	self.camera = 0
+        self.camera = 0
 
         self.br = CvBridge()
         # Node cycle rate (in Hz).
-        self.loop_rate = rospy.Rate(1)
+        self.loop_rate = rospy.Rate(4)
 
-	self.camera1 = np.array([[1, 1, 1, 1, 1, 1]]) # array for camera id 1
-	self.camera2 = np.array([[2, 2, 2, 2, 2, 2]]) # array for camera id 2
-	self.camera3 = np.array([[3, 3, 3, 3, 3, 3]]) # array for camera id 3
-	self.camera4 = np.array([[4, 4, 4, 4, 4, 4]]) # array for camera id 4
+        self.camera1 = 1  # array for camera id 1
+        self.camera2 = 2  # array for camera id 2
+        self.camera3 = 3  # array for camera id 3
+        self.camera4 = 4  # array for camera id 4
 
-	self.camWidth = np.array([[800, 800, 800, 800, 800, 800]]) # array for camera width
-	self.camHeight = np.array([[800, 800, 800, 800, 800, 800]]) # array for camera height
+        # array for camera width
+        self.camWidth = 400
+        # array for camera height
+        self.camHeight = 400
 
         # Publishers
-        self.pub1 = rospy.Publisher('robot_detection/camera1', Image,queue_size=10)
-	self.pub2 = rospy.Publisher('robot_detection/camera2', Image,queue_size=10)
-	self.pub3 = rospy.Publisher('robot_detection/camera3', Image,queue_size=10)
-	self.pub4 = rospy.Publisher('robot_detection/camera4', Image,queue_size=10)
-	self.pub5 = rospy.Publisher('robot_classifier/camera1/data/raw', Image,queue_size=10)
-	self.pub6 = rospy.Publisher('robot_classifier/camera2/data/raw', Image,queue_size=10)
-	self.pub7 = rospy.Publisher('robot_classifier/camera3/data/raw', Image,queue_size=10)
-	self.pub8 = rospy.Publisher('robot_classifier/camera4/data/raw', Image,queue_size=10)
+        self.pub1 = rospy.Publisher(
+            'robot_detection/camera1', Image, queue_size=10)
+        self.pub2 = rospy.Publisher(
+            'robot_detection/camera2', Image, queue_size=10)
+        self.pub3 = rospy.Publisher(
+            'robot_detection/camera3', Image, queue_size=10)
+        self.pub4 = rospy.Publisher(
+            'robot_detection/camera4', Image, queue_size=10)
+        self.pub5 = rospy.Publisher(
+            'robot_classifier/camera1/data/raw', Image, queue_size=10)
+        self.pub6 = rospy.Publisher(
+            'robot_classifier/camera2/data/raw', Image, queue_size=10)
+        self.pub7 = rospy.Publisher(
+            'robot_classifier/camera3/data/raw', Image, queue_size=10)
+        self.pub8 = rospy.Publisher(
+            'robot_classifier/camera4/data/raw', Image, queue_size=10)
 
         # Subscribers
-        rospy.Subscriber("warpedImage/camera1",Image,self.callback1)
-	rospy.Subscriber("warpedImage/camera2",Image,self.callback2)
-	rospy.Subscriber("warpedImage/camera3",Image,self.callback3)
-	rospy.Subscriber("warpedImage/camera4",Image,self.callback4)
-
-	model_path = '/home/job/models/inference_graph/frozen_inference_graph.pb'
-	self.robot_classifier = Robot_Classifier(modelpath= model_path)
+        #rospy.Subscriber("/camera01/rgb/image_raw", Image, self.callback1)
+        rospy.Subscriber("/warpedImage/camera1", Image, self.callback1)
+        #rospy.Subscriber("/camera02/rgb/image_raw", Image, self.callback2)
+        rospy.Subscriber("/warpedImage/camera2", Image, self.callback2)
+        #rospy.Subscriber("/camera03/rgb/image_raw", Image, self.callback3)
+        rospy.Subscriber("/warpedImage/camera3", Image, self.callback3)
+        #rospy.Subscriber("/camera04/rgb/image_raw", Image, self.callback4)
+        rospy.Subscriber("/warpedImage/camera4", Image, self.callback4)
+
+        model_path = '/home/job/models/inference_graph/frozen_inference_graph_simulation_warped.pb'
+        self.robot_classifier = Robot_Classifier(modelpath=model_path)
 
     def callback1(self, msg):
         rospy.loginfo('Image received from camera 1...')
@@ -69,58 +84,69 @@ class Nodo(object):
         self.image4 = self.br.imgmsg_to_cv2(msg, 'bgr8')
 
     def ConcatinateCameraData(self, camera, categories, scores, cordinates, camHeight, camWidth):
-	data = np.concatenate((camera.T , categories.T), axis=1)
-	data = np.concatenate((data , scores.T), axis=1)
-	data = np.concatenate((data , cordinates), axis=1)
-	data = np.concatenate((data , camHeight.T), axis=1)
-	data = np.concatenate((data , camWidth.T), axis=1)
-	return data
+        camera = np.array([np.ones(len(categories[0]))*camera])
+        camHeight = np.array([np.ones(len(categories[0]))*camHeight])
+        camWidth = np.array([np.ones(len(categories[0]))*camWidth])
+        data = np.concatenate((camera.T, categories.T), axis=1)
+        data = np.concatenate((data, scores.T), axis=1)
+        data = np.concatenate((data, cordinates), axis=1)
+        data = np.concatenate((data, camHeight.T), axis=1)
+        data = np.concatenate((data, camWidth.T), axis=1)
+        return data
 
     def start(self):
         rospy.loginfo("Obtaining images")
-        #rospy.spin()
+        # rospy.spin()
         while not rospy.is_shutdown():
             rospy.loginfo('publishing image')
 
             if self.image1 is not None:
-		
-		robot_image1 , cordinates , categories , scores = self.robot_classifier.get_classification(self.image1.copy())
-				
-		camera_data = self.ConcatinateCameraData(self.camera1, categories, scores, cordinates, self.camHeight, self.camWidth)
 
-		self.pub1.publish(self.br.cv2_to_imgmsg(robot_image1 , 'bgr8'))
-		self.pub5.publish(self.br.cv2_to_imgmsg(camera_data , '64FC1'))
+                robot_image1, cordinates, categories, scores = self.robot_classifier.get_classification(
+                    self.image1.copy())
+
+                camera_data = self.ConcatinateCameraData(
+                    self.camera1, categories, scores, cordinates, self.camHeight, self.camWidth)
+
+                self.pub1.publish(self.br.cv2_to_imgmsg(robot_image1, 'rgb8'))
+                self.pub5.publish(self.br.cv2_to_imgmsg(camera_data, '64FC1'))
 
             if self.image2 is not None:
-		
-		robot_image2 , cordinates , categories , scores = self.robot_classifier.get_classification(self.image2.copy())	
-				
-		camera_data = self.ConcatinateCameraData(self.camera2, categories, scores, cordinates, self.camHeight, self.camWidth)
-	
-		self.pub2.publish(self.br.cv2_to_imgmsg(robot_image2 , 'bgr8'))
-		self.pub6.publish(self.br.cv2_to_imgmsg(camera_data , '64FC1'))
+
+                robot_image2, cordinates, categories, scores = self.robot_classifier.get_classification(
+                    self.image2.copy())
+
+                camera_data = self.ConcatinateCameraData(
+                    self.camera2, categories, scores, cordinates, self.camHeight, self.camWidth)
+
+                self.pub2.publish(self.br.cv2_to_imgmsg(robot_image2, 'rgb8'))
+                self.pub6.publish(self.br.cv2_to_imgmsg(camera_data, '64FC1'))
 
             if self.image3 is not None:
-		
-		robot_image3 , cordinates , categories , scores = self.robot_classifier.get_classification(self.image3.copy())	
-				
-		camera_data = self.ConcatinateCameraData(self.camera3, categories, scores, cordinates, self.camHeight, self.camWidth)
-	
-		self.pub3.publish(self.br.cv2_to_imgmsg(robot_image3 , 'bgr8'))
-		self.pub7.publish(self.br.cv2_to_imgmsg(camera_data , '64FC1'))
+
+                robot_image3, cordinates, categories, scores = self.robot_classifier.get_classification(
+                    self.image3.copy())
+
+                camera_data = self.ConcatinateCameraData(
+                    self.camera3, categories, scores, cordinates, self.camHeight, self.camWidth)
+
+                self.pub3.publish(self.br.cv2_to_imgmsg(robot_image3, 'rgb8'))
+                self.pub7.publish(self.br.cv2_to_imgmsg(camera_data, '64FC1'))
 
             if self.image4 is not None:
-		
-		robot_image4 , cordinates , categories , scores = self.robot_classifier.get_classification(self.image4.copy())	
-				
-		camera_data = self.ConcatinateCameraData(self.camera4, categories, scores, cordinates, self.camHeight, self.camWidth)
-	
-		self.pub4.publish(self.br.cv2_to_imgmsg(robot_image4 , 'bgr8'))
-		self.pub8.publish(self.br.cv2_to_imgmsg(camera_data , '64FC1'))
 
+                robot_image4, cordinates, categories, scores = self.robot_classifier.get_classification(
+                    self.image4.copy())
+
+                camera_data = self.ConcatinateCameraData(
+                    self.camera4, categories, scores, cordinates, self.camHeight, self.camWidth)
+
+                self.pub4.publish(self.br.cv2_to_imgmsg(robot_image4, 'rgb8'))
+                self.pub8.publish(self.br.cv2_to_imgmsg(camera_data, '64FC1'))
 
             self.loop_rate.sleep()
 
+
 if __name__ == '__main__':
     rospy.init_node("robot_classification", anonymous=True)
     my_node = Nodo()
diff --git a/workspace/virtuallab/build/robot_classifier/catkin_generated/stamps/robot_classifier/robot_detection.py.stamp b/workspace/virtuallab/build/robot_classifier/catkin_generated/stamps/robot_classifier/robot_detection.py.stamp
index 773caf398728c173d896d01ce0207ea5d7c31164..67fb752d93884d082c40872d647998cf269a84a7 100755
--- a/workspace/virtuallab/build/robot_classifier/catkin_generated/stamps/robot_classifier/robot_detection.py.stamp
+++ b/workspace/virtuallab/build/robot_classifier/catkin_generated/stamps/robot_classifier/robot_detection.py.stamp
@@ -7,50 +7,65 @@ from cv_bridge import CvBridge
 from robot_classifier import Robot_Classifier
 
 import cv2
-import os  
+import os
 import numpy as np
 import tensorflow as tf
 
+
 class Nodo(object):
     def __init__(self):
         # Params
         self.image1 = None
-	self.image2 = None
-	self.image3 = None
-	self.image4 = None
+        self.image2 = None
+        self.image3 = None
+        self.image4 = None
 
-	self.camera = 0
+        self.camera = 0
 
         self.br = CvBridge()
         # Node cycle rate (in Hz).
-        self.loop_rate = rospy.Rate(1)
+        self.loop_rate = rospy.Rate(4)
 
-	self.camera1 = np.array([[1, 1, 1, 1, 1, 1]]) # array for camera id 1
-	self.camera2 = np.array([[2, 2, 2, 2, 2, 2]]) # array for camera id 2
-	self.camera3 = np.array([[3, 3, 3, 3, 3, 3]]) # array for camera id 3
-	self.camera4 = np.array([[4, 4, 4, 4, 4, 4]]) # array for camera id 4
+        self.camera1 = 1  # array for camera id 1
+        self.camera2 = 2  # array for camera id 2
+        self.camera3 = 3  # array for camera id 3
+        self.camera4 = 4  # array for camera id 4
 
-	self.camWidth = np.array([[800, 800, 800, 800, 800, 800]]) # array for camera width
-	self.camHeight = np.array([[800, 800, 800, 800, 800, 800]]) # array for camera height
+        # array for camera width
+        self.camWidth = 400
+        # array for camera height
+        self.camHeight = 400
 
         # Publishers
-        self.pub1 = rospy.Publisher('robot_detection/camera1', Image,queue_size=10)
-	self.pub2 = rospy.Publisher('robot_detection/camera2', Image,queue_size=10)
-	self.pub3 = rospy.Publisher('robot_detection/camera3', Image,queue_size=10)
-	self.pub4 = rospy.Publisher('robot_detection/camera4', Image,queue_size=10)
-	self.pub5 = rospy.Publisher('robot_classifier/camera1/data/raw', Image,queue_size=10)
-	self.pub6 = rospy.Publisher('robot_classifier/camera2/data/raw', Image,queue_size=10)
-	self.pub7 = rospy.Publisher('robot_classifier/camera3/data/raw', Image,queue_size=10)
-	self.pub8 = rospy.Publisher('robot_classifier/camera4/data/raw', Image,queue_size=10)
+        self.pub1 = rospy.Publisher(
+            'robot_detection/camera1', Image, queue_size=10)
+        self.pub2 = rospy.Publisher(
+            'robot_detection/camera2', Image, queue_size=10)
+        self.pub3 = rospy.Publisher(
+            'robot_detection/camera3', Image, queue_size=10)
+        self.pub4 = rospy.Publisher(
+            'robot_detection/camera4', Image, queue_size=10)
+        self.pub5 = rospy.Publisher(
+            'robot_classifier/camera1/data/raw', Image, queue_size=10)
+        self.pub6 = rospy.Publisher(
+            'robot_classifier/camera2/data/raw', Image, queue_size=10)
+        self.pub7 = rospy.Publisher(
+            'robot_classifier/camera3/data/raw', Image, queue_size=10)
+        self.pub8 = rospy.Publisher(
+            'robot_classifier/camera4/data/raw', Image, queue_size=10)
 
         # Subscribers
-        rospy.Subscriber("warpedImage/camera1",Image,self.callback1)
-	rospy.Subscriber("warpedImage/camera2",Image,self.callback2)
-	rospy.Subscriber("warpedImage/camera3",Image,self.callback3)
-	rospy.Subscriber("warpedImage/camera4",Image,self.callback4)
-
-	model_path = '/home/job/models/inference_graph/frozen_inference_graph.pb'
-	self.robot_classifier = Robot_Classifier(modelpath= model_path)
+        #rospy.Subscriber("/camera01/rgb/image_raw", Image, self.callback1)
+        rospy.Subscriber("/warpedImage/camera1", Image, self.callback1)
+        #rospy.Subscriber("/camera02/rgb/image_raw", Image, self.callback2)
+        rospy.Subscriber("/warpedImage/camera2", Image, self.callback2)
+        #rospy.Subscriber("/camera03/rgb/image_raw", Image, self.callback3)
+        rospy.Subscriber("/warpedImage/camera3", Image, self.callback3)
+        #rospy.Subscriber("/camera04/rgb/image_raw", Image, self.callback4)
+        rospy.Subscriber("/warpedImage/camera4", Image, self.callback4)
+
+        model_path = '/home/job/models/inference_graph/frozen_inference_graph_simulation_warped.pb'
+        self.robot_classifier = Robot_Classifier(modelpath=model_path)
 
     def callback1(self, msg):
         rospy.loginfo('Image received from camera 1...')
@@ -69,58 +84,69 @@ class Nodo(object):
         self.image4 = self.br.imgmsg_to_cv2(msg, 'bgr8')
 
     def ConcatinateCameraData(self, camera, categories, scores, cordinates, camHeight, camWidth):
-	data = np.concatenate((camera.T , categories.T), axis=1)
-	data = np.concatenate((data , scores.T), axis=1)
-	data = np.concatenate((data , cordinates), axis=1)
-	data = np.concatenate((data , camHeight.T), axis=1)
-	data = np.concatenate((data , camWidth.T), axis=1)
-	return data
+        camera = np.array([np.ones(len(categories[0]))*camera])
+        camHeight = np.array([np.ones(len(categories[0]))*camHeight])
+        camWidth = np.array([np.ones(len(categories[0]))*camWidth])
+        data = np.concatenate((camera.T, categories.T), axis=1)
+        data = np.concatenate((data, scores.T), axis=1)
+        data = np.concatenate((data, cordinates), axis=1)
+        data = np.concatenate((data, camHeight.T), axis=1)
+        data = np.concatenate((data, camWidth.T), axis=1)
+        return data
 
     def start(self):
         rospy.loginfo("Obtaining images")
-        #rospy.spin()
+        # rospy.spin()
         while not rospy.is_shutdown():
             rospy.loginfo('publishing image')
 
             if self.image1 is not None:
-		
-		robot_image1 , cordinates , categories , scores = self.robot_classifier.get_classification(self.image1.copy())
-				
-		camera_data = self.ConcatinateCameraData(self.camera1, categories, scores, cordinates, self.camHeight, self.camWidth)
 
-		self.pub1.publish(self.br.cv2_to_imgmsg(robot_image1 , 'bgr8'))
-		self.pub5.publish(self.br.cv2_to_imgmsg(camera_data , '64FC1'))
+                robot_image1, cordinates, categories, scores = self.robot_classifier.get_classification(
+                    self.image1.copy())
+
+                camera_data = self.ConcatinateCameraData(
+                    self.camera1, categories, scores, cordinates, self.camHeight, self.camWidth)
+
+                self.pub1.publish(self.br.cv2_to_imgmsg(robot_image1, 'rgb8'))
+                self.pub5.publish(self.br.cv2_to_imgmsg(camera_data, '64FC1'))
 
             if self.image2 is not None:
-		
-		robot_image2 , cordinates , categories , scores = self.robot_classifier.get_classification(self.image2.copy())	
-				
-		camera_data = self.ConcatinateCameraData(self.camera2, categories, scores, cordinates, self.camHeight, self.camWidth)
-	
-		self.pub2.publish(self.br.cv2_to_imgmsg(robot_image2 , 'bgr8'))
-		self.pub6.publish(self.br.cv2_to_imgmsg(camera_data , '64FC1'))
+
+                robot_image2, cordinates, categories, scores = self.robot_classifier.get_classification(
+                    self.image2.copy())
+
+                camera_data = self.ConcatinateCameraData(
+                    self.camera2, categories, scores, cordinates, self.camHeight, self.camWidth)
+
+                self.pub2.publish(self.br.cv2_to_imgmsg(robot_image2, 'rgb8'))
+                self.pub6.publish(self.br.cv2_to_imgmsg(camera_data, '64FC1'))
 
             if self.image3 is not None:
-		
-		robot_image3 , cordinates , categories , scores = self.robot_classifier.get_classification(self.image3.copy())	
-				
-		camera_data = self.ConcatinateCameraData(self.camera3, categories, scores, cordinates, self.camHeight, self.camWidth)
-	
-		self.pub3.publish(self.br.cv2_to_imgmsg(robot_image3 , 'bgr8'))
-		self.pub7.publish(self.br.cv2_to_imgmsg(camera_data , '64FC1'))
+
+                robot_image3, cordinates, categories, scores = self.robot_classifier.get_classification(
+                    self.image3.copy())
+
+                camera_data = self.ConcatinateCameraData(
+                    self.camera3, categories, scores, cordinates, self.camHeight, self.camWidth)
+
+                self.pub3.publish(self.br.cv2_to_imgmsg(robot_image3, 'rgb8'))
+                self.pub7.publish(self.br.cv2_to_imgmsg(camera_data, '64FC1'))
 
             if self.image4 is not None:
-		
-		robot_image4 , cordinates , categories , scores = self.robot_classifier.get_classification(self.image4.copy())	
-				
-		camera_data = self.ConcatinateCameraData(self.camera4, categories, scores, cordinates, self.camHeight, self.camWidth)
-	
-		self.pub4.publish(self.br.cv2_to_imgmsg(robot_image4 , 'bgr8'))
-		self.pub8.publish(self.br.cv2_to_imgmsg(camera_data , '64FC1'))
 
+                robot_image4, cordinates, categories, scores = self.robot_classifier.get_classification(
+                    self.image4.copy())
+
+                camera_data = self.ConcatinateCameraData(
+                    self.camera4, categories, scores, cordinates, self.camHeight, self.camWidth)
+
+                self.pub4.publish(self.br.cv2_to_imgmsg(robot_image4, 'rgb8'))
+                self.pub8.publish(self.br.cv2_to_imgmsg(camera_data, '64FC1'))
 
             self.loop_rate.sleep()
 
+
 if __name__ == '__main__':
     rospy.init_node("robot_classification", anonymous=True)
     my_node = Nodo()
diff --git a/workspace/virtuallab/build/robot_mapping/CMakeFiles/actionlib_msgs_generate_messages_cpp.dir/DependInfo.cmake b/workspace/virtuallab/build/robot_mapping/CMakeFiles/actionlib_msgs_generate_messages_cpp.dir/DependInfo.cmake
new file mode 100644
index 0000000000000000000000000000000000000000..19fab2149bf120962a1699d74b7373348dc4c117
--- /dev/null
+++ b/workspace/virtuallab/build/robot_mapping/CMakeFiles/actionlib_msgs_generate_messages_cpp.dir/DependInfo.cmake
@@ -0,0 +1,11 @@
+# The set of languages for which implicit dependencies are needed:
+set(CMAKE_DEPENDS_LANGUAGES
+  )
+# The set of files for implicit dependencies of each language:
+
+# Targets to which this target links.
+set(CMAKE_TARGET_LINKED_INFO_FILES
+  )
+
+# Fortran module output directory.
+set(CMAKE_Fortran_TARGET_MODULE_DIR "")
diff --git a/workspace/virtuallab/build/robot_mapping/CMakeFiles/actionlib_msgs_generate_messages_cpp.dir/build.make b/workspace/virtuallab/build/robot_mapping/CMakeFiles/actionlib_msgs_generate_messages_cpp.dir/build.make
new file mode 100644
index 0000000000000000000000000000000000000000..4fcc9153acd7536e75587a26710920b8a7391624
--- /dev/null
+++ b/workspace/virtuallab/build/robot_mapping/CMakeFiles/actionlib_msgs_generate_messages_cpp.dir/build.make
@@ -0,0 +1,72 @@
+# CMAKE generated file: DO NOT EDIT!
+# Generated by "Unix Makefiles" Generator, CMake Version 3.10
+
+# Delete rule output on recipe failure.
+.DELETE_ON_ERROR:
+
+
+#=============================================================================
+# Special targets provided by cmake.
+
+# Disable implicit rules so canonical targets will work.
+.SUFFIXES:
+
+
+# Remove some rules from gmake that .SUFFIXES does not remove.
+SUFFIXES =
+
+.SUFFIXES: .hpux_make_needs_suffix_list
+
+
+# Suppress display of executed commands.
+$(VERBOSE).SILENT:
+
+
+# A target that is always out of date.
+cmake_force:
+
+.PHONY : cmake_force
+
+#=============================================================================
+# Set environment variables for the build.
+
+# The shell in which to execute make rules.
+SHELL = /bin/sh
+
+# The CMake executable.
+CMAKE_COMMAND = /usr/bin/cmake
+
+# The command to remove a file.
+RM = /usr/bin/cmake -E remove -f
+
+# Escaping for special characters.
+EQUALS = =
+
+# The top-level source directory on which CMake was run.
+CMAKE_SOURCE_DIR = /home/job/workspace/virtuallab/src
+
+# The top-level build directory on which CMake was run.
+CMAKE_BINARY_DIR = /home/job/workspace/virtuallab/build
+
+# Utility rule file for actionlib_msgs_generate_messages_cpp.
+
+# Include the progress variables for this target.
+include robot_mapping/CMakeFiles/actionlib_msgs_generate_messages_cpp.dir/progress.make
+
+actionlib_msgs_generate_messages_cpp: robot_mapping/CMakeFiles/actionlib_msgs_generate_messages_cpp.dir/build.make
+
+.PHONY : actionlib_msgs_generate_messages_cpp
+
+# Rule to build all files generated by this target.
+robot_mapping/CMakeFiles/actionlib_msgs_generate_messages_cpp.dir/build: actionlib_msgs_generate_messages_cpp
+
+.PHONY : robot_mapping/CMakeFiles/actionlib_msgs_generate_messages_cpp.dir/build
+
+robot_mapping/CMakeFiles/actionlib_msgs_generate_messages_cpp.dir/clean:
+	cd /home/job/workspace/virtuallab/build/robot_mapping && $(CMAKE_COMMAND) -P CMakeFiles/actionlib_msgs_generate_messages_cpp.dir/cmake_clean.cmake
+.PHONY : robot_mapping/CMakeFiles/actionlib_msgs_generate_messages_cpp.dir/clean
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+# fast build rule for target.
+robot_mapping_generate_messages_nodejs/fast:
+	cd /home/job/workspace/virtuallab/build && $(MAKE) -f robot_mapping/CMakeFiles/robot_mapping_generate_messages_nodejs.dir/build.make robot_mapping/CMakeFiles/robot_mapping_generate_messages_nodejs.dir/build
+.PHONY : robot_mapping_generate_messages_nodejs/fast
+
+# Convenience name for target.
+robot_mapping/CMakeFiles/robot_mapping_gennodejs.dir/rule:
+	cd /home/job/workspace/virtuallab/build && $(MAKE) -f CMakeFiles/Makefile2 robot_mapping/CMakeFiles/robot_mapping_gennodejs.dir/rule
+.PHONY : robot_mapping/CMakeFiles/robot_mapping_gennodejs.dir/rule
+
+# Convenience name for target.
+robot_mapping_gennodejs: robot_mapping/CMakeFiles/robot_mapping_gennodejs.dir/rule
+
+.PHONY : robot_mapping_gennodejs
+
+# fast build rule for target.
+robot_mapping_gennodejs/fast:
+	cd /home/job/workspace/virtuallab/build && $(MAKE) -f robot_mapping/CMakeFiles/robot_mapping_gennodejs.dir/build.make robot_mapping/CMakeFiles/robot_mapping_gennodejs.dir/build
+.PHONY : robot_mapping_gennodejs/fast
+
+# Convenience name for target.
+robot_mapping/CMakeFiles/robot_mapping_genpy.dir/rule:
+	cd /home/job/workspace/virtuallab/build && $(MAKE) -f CMakeFiles/Makefile2 robot_mapping/CMakeFiles/robot_mapping_genpy.dir/rule
+.PHONY : robot_mapping/CMakeFiles/robot_mapping_genpy.dir/rule
+
+# Convenience name for target.
+robot_mapping_genpy: robot_mapping/CMakeFiles/robot_mapping_genpy.dir/rule
+
+.PHONY : robot_mapping_genpy
+
+# fast build rule for target.
+robot_mapping_genpy/fast:
+	cd /home/job/workspace/virtuallab/build && $(MAKE) -f robot_mapping/CMakeFiles/robot_mapping_genpy.dir/build.make robot_mapping/CMakeFiles/robot_mapping_genpy.dir/build
+.PHONY : robot_mapping_genpy/fast
+
 # Help Target
 help:
 	@echo "The following are some of the valid targets for this Makefile:"
@@ -190,12 +415,27 @@ help:
 	@echo "... depend"
 	@echo "... install/strip"
 	@echo "... install/local"
-	@echo "... test"
-	@echo "... robot_mapping_generate_messages"
+	@echo "... install"
 	@echo "... list_install_components"
+	@echo "... nav_msgs_generate_messages_py"
 	@echo "... edit_cache"
+	@echo "... nav_msgs_generate_messages_lisp"
+	@echo "... robot_mapping_genlisp"
+	@echo "... robot_mapping_generate_messages"
+	@echo "... nav_msgs_generate_messages_nodejs"
+	@echo "... nav_msgs_generate_messages_cpp"
+	@echo "... test"
+	@echo "... robot_mapping_generate_messages_cpp"
+	@echo "... robot_mapping_gencpp"
+	@echo "... robot_mapping_generate_messages_py"
+	@echo "... nav_msgs_generate_messages_eus"
 	@echo "... rebuild_cache"
-	@echo "... install"
+	@echo "... robot_mapping_geneus"
+	@echo "... robot_mapping_generate_messages_eus"
+	@echo "... robot_mapping_generate_messages_lisp"
+	@echo "... robot_mapping_generate_messages_nodejs"
+	@echo "... robot_mapping_gennodejs"
+	@echo "... robot_mapping_genpy"
 .PHONY : help
 
 
diff --git a/workspace/virtuallab/build/robot_mapping/catkin_generated/installspace/robot_mapping.py b/workspace/virtuallab/build/robot_mapping/catkin_generated/installspace/robot_mapping.py
index 34dfd5ea3073b3fc555621ac4cbdbb4c48429fb1..4e4892eee3d4ff253eaaa6fdbbfc8839c30d2e93 100755
--- a/workspace/virtuallab/build/robot_mapping/catkin_generated/installspace/robot_mapping.py
+++ b/workspace/virtuallab/build/robot_mapping/catkin_generated/installspace/robot_mapping.py
@@ -6,39 +6,62 @@ from sensor_msgs.msg import Image
 from cv_bridge import CvBridge
 
 import cv2
-import os  
+import os
 import numpy as np
 import tensorflow as tf
 import math
+import tf
+from nav_msgs.msg import Odometry
+from geometry_msgs.msg import Point, Pose, Quaternion, Twist, Vector3
+from scipy.spatial import distance
+
 
 class Nodo(object):
     def __init__(self):
         # Params
         self.image1 = None
-	self.image2 = None
-	self.image3 = None
-	self.image4 = None
+        self.image2 = None
+        self.image3 = None
+        self.image4 = None
 
-	self.margin_y_top =90
-	self.margin_y_bottom = 90
-	self.margin_x_right = 180
+        self.margin_y_top = 90
+        self.margin_y_bottom = 90
+        self.margin_x_right = 180
 
         self.br = CvBridge()
         # Node cycle rate (in Hz).
-        self.loop_rate = rospy.Rate(10)
+        self.loop_rate = rospy.Rate(1)
 
         # Publishers
-        self.pub1 = rospy.Publisher('map/image', Image,queue_size=10)
-	#self.pub2 = rospy.Publisher('warpedImage/camera2', Image,queue_size=10)
-	#self.pub3 = rospy.Publisher('warpedImage/camera3', Image,queue_size=10)
-	#self.pub4 = rospy.Publisher('warpedImage/camera4', Image,queue_size=10)
+        self.pub1 = rospy.Publisher('map/image', Image, queue_size=10)
 
-        # Subscribers
-        rospy.Subscriber("robot_classifier/camera1/data/raw",Image,self.callback1)
-	rospy.Subscriber("robot_classifier/camera2/data/raw",Image,self.callback2)
-	rospy.Subscriber("robot_classifier/camera3/data/raw",Image,self.callback3)
-	rospy.Subscriber("robot_classifier/camera4/data/raw",Image,self.callback4)
+        self.odom_pub = rospy.Publisher("test/odom", Odometry, queue_size=50)
+        self.odom_broadcaster = tf.TransformBroadcaster()
+
+        self.x = 0.0
+        self.y = 0.0
+        self.th = 0.0
+
+        self.vx = 0.0
+        self.vy = 0.0
+        self.vth = 0.0
 
+        current_time = rospy.Time.now()
+        self.last_time = rospy.Time.now()
+
+        self.robot_position_current = []
+        self.robot_position_previous = []
+        self.robot_names = []
+
+        # Subscribers
+        rospy.Subscriber("robot_classifier/camera1/data/raw",
+                         Image, self.callback1)
+        rospy.Subscriber("robot_classifier/camera2/data/raw",
+                         Image, self.callback2)
+        rospy.Subscriber("robot_classifier/camera3/data/raw",
+                         Image, self.callback3)
+        rospy.Subscriber("robot_classifier/camera4/data/raw",
+                         Image, self.callback4)
 
     def callback1(self, msg):
         rospy.loginfo('Image received from camera 1...')
@@ -56,154 +79,262 @@ class Nodo(object):
         rospy.loginfo('Image received  from camera 4...')
         self.image4 = self.br.imgmsg_to_cv2(msg, '64FC1')
 
-
     def getpoints(self, image):
-	for i in range(len(image)):
-	    start_point = (int(image[i][4] * image[i][8] ) , int(image[i][3] * image[i][7]))
-	    end_point = (int(image[i][6] * image[i][8]) , int(image[i][5] * image[i][7]))
-		    
-	    if i == 0:
-		start_points = [start_point]
-		end_points = [end_point]
-	    else:
-		start_points.append(start_point)
-		end_points.append(end_point)
 
-	return start_points, end_points
+        start_points, end_points = [], []
+
+        for i in range(len(image)):
+            start_point = (int(image[i][4] * image[i][8]),
+                           int(image[i][3] * image[i][7]))
+            end_point = (int(image[i][6] * image[i][8]),
+                         int(image[i][5] * image[i][7]))
+
+            start_points.append(start_point)
+            end_points.append(end_point)
+
+        return start_points, end_points
+
+    def getpositions(self, start_points, end_points):
+        robot_positions = []
+        for i in range(len(start_points)):
+            x = int((start_points[i][0]+end_points[i][0])/2)
+            y = int((start_points[i][1]+end_points[i][1])/2)
+            robot_name = 'fake_name'#'robot_{}'.format(i)
+            robot_positions.append((robot_name, x, y, 1))
+        return robot_positions
+
+    def check_close_points(self, points1, points2):
+        robot_positions = []
+        for i in range(len(points1)):
+            idx_dist = []
+            for j in range(len(points2)):
+                #dist = distance.euclidean(points1[i][1:2], points2[j][1:2])
+                dist = math.sqrt( ((points1[i][1]-points2[j][1])**2)+((points1[i][2]-points2[j][2])**2) )
+                idx_dist.append(dist)
+            
+            min_val = min(idx_dist)
+            min_idx = idx_dist.index(min_val)
+            #print(idx_dist, min_idx)
+            if min_val <= 50:
+                x = int((points1[i][1] + points2[min_idx][1])/2)
+                y = int((points1[i][2] + points2[min_idx][2])/2)
+                robot_positions.append((points1[i][0],x,y,points1[i][3]+1))
+            else:
+                x = points1[i][1]
+                y = points1[i][2]
+                robot_positions.append((points1[i][0],x,y,points1[i][3]))
+                x = points2[min_idx][1]
+                y = points2[min_idx][2]
+                robot_positions.append((points1[i][0],x,y,points1[i][3]))
+            
+        return robot_positions
+
+    def check_close_points_fine_tune(self, points):
+
+        flag_array = np.zeros((len(points)), dtype=int) 
+
+        flag_number = 1
 
+        # first loop
 
-    def rotatePoints(self, points , angle, (center_x, center_y)):
+        for idx in range(len(points)):
 
-	'''
+            if flag_array[idx] == 0:
 
-	This function returns rotated points values
+                first_pt = (points[idx][1], points[idx][2])
 
-	points: set of points in [(x1,y1),(x2,y2), ...]
-	
-	angle: in degrees
-	
-	center_x, center_y : rotational center
+                flag_array[idx] = flag_number
 
-	'''
+                flag_number = flag_number + 1
 
-	angle = angle*math.pi/180 # convert to radians
+                # second loop
 
-	for i in range(len(points)):
+                for idx1 in range(len(points)):
+                
+                    if flag_array[idx1] == 0:
 
-	    x = int((points[i][0] - center_x) * math.cos(angle) - (points[i][1] - center_y) * math.sin(angle) + center_x)
-	    y = int((points[i][0] - center_x) * math.sin(angle) + (points[i][1] - center_y) * math.cos(angle) + center_y)
+                        pt = ((points[idx1][1], points[idx1][2]))
 
-	    if i == 0:
-		pointsRotated = [(x,y)]
-	    else:
-		pointsRotated.append((x,y))
+                        dist_ = math.sqrt(((points[idx][1]-points[idx1][1])**2)+((points[idx][2]-points[idx1][2])**2) )
 
-	return pointsRotated
+                        if dist_ < 20: 
 
+                            flag_array[idx1] = flag_number - 1
 
-    def setMargin(self, points , margin_x, margin_y):
 
-	'''
+        robot_positions = [] 
 
-	This function returns rotated points values
+        for group in range(max(flag_array)):  # iterate over number of groups
+            x_ = 0
+            y_ = 0
+            n_ = 0
 
-	points: set of points in [(x1,y1),(x2,y2), ...]
-	
-	margin_x, margin_y : margin to be shifted
+            for idx in range(len(points)):
 
-	'''
+                if flag_array[idx] == group + 1:
 
+                    x_ = x_ + points[idx][1]
+                    y_ = y_ + points[idx][2]
+                    n_ = n_ + 1
 
-	for i in range(len(points)):
+            x_ = int(x_/n_) 
+            y_ = int(y_/n_)
 
-	    x = points[i][0] + margin_x
-	    y = points[i][1] + margin_y
+            if x_ != 0 and y_ != 0:
+                robot_positions.append((points[idx][0],x_,y_,points[idx][3]))
 
-	    if i == 0:
-		pointsShifted = [(x,y)]
-	    else:
-		pointsShifted.append((x,y))
+        return robot_positions
 
-	return pointsShifted
+    def track_robot_names(self, points1, points2):
+        # points1 is current and points2 is previous
+        robot_positions = []
+        flag_array = np.zeros((len(points1)), dtype=int)
+        
+        if len(points2) == 0:
+            for i in range(len(points1)):
+                r_name = 'robot_{}'.format(i+1)
+                self.robot_names.append(r_name)
+                robot_positions.append((r_name, points1[i][1], points1[i][2], points1[i][3]))
+            #print('number of robots detected', len(self.robot_names))
+                
+        else:
+            for i in range(len(points2)):
+                for j in range(len(points1)):
+                    dist = math.sqrt( ((points2[i][1]-points1[j][1])**2)+((points2[i][2]-points1[j][2])**2))
+                    if dist <= 20:                        
+                        flag_array[j] = i+1
+                    else:
+                        print(dist)
+            for i in range(len(flag_array)):
+                if flag_array[i] == 0:
+                    num_bots= len(self.robot_names)
+                    r_name = 'robot_{}'.format(num_bots+1)
+                    self.robot_names.append(r_name)
+                    robot_positions.append((r_name, points1[i][1], points1[i][2], points1[i][3]))
+                else:
+                    robot_positions.append((points2[flag_array[i]-1][0], points1[i][1], points1[i][2], points1[i][3]))
+   
+        return robot_positions
 
+    def rotatePoints(self, points, angle, (center_x, center_y)):
+        '''
 
+        This function returns rotated points values
 
-    def FindPoints(self, currentStartpoints, currentEndpoints, checkStartpoints, checkEndpoints, angle): 
+        points: set of points in [(x1,y1),(x2,y2), ...]
 
-  
-	for i in range(len(currentStartpoints)):
+        angle: in degrees
 
-	    # taking bottom left points (x1,y1) and top right points (x2,y2)
-	    x1 = currentStartpoints[i][0]
-	    y1 = currentEndpoints[i][1]
-	    x2 = currentEndpoints[i][0]
-	    y2 = currentStartpoints[i][1]
+        center_x, center_y : rotational center
 
-	    previousArea = 0
+        '''
 
-	    for j in range(len(checkStartpoints)):
+        angle = angle*math.pi/180  # convert to radians
 
-		# taking bottom left points (x3,y3) and top right points (x4,y4)
-		if (angle == 90):
-		    x3 = checkEndpoints[j][0]
-		    y3 = checkEndpoints[j][1]
-		    x4 = checkStartpoints[j][0]
-		    y4 = checkStartpoints[j][1]
+        for i in range(len(points)):
 
-		if (angle == -90):		    
-		    x3 = checkStartpoints[j][0]
-		    y3 = checkStartpoints[j][1]
-		    x4 = checkEndpoints[j][0]
-		    y4 = checkEndpoints[j][1]
+            x = int((points[i][0] - center_x) * math.cos(angle) -
+                    (points[i][1] - center_y) * math.sin(angle) + center_x)
+            y = int((points[i][0] - center_x) * math.sin(angle) +
+                    (points[i][1] - center_y) * math.cos(angle) + center_y)
 
+            if i == 0:
+                pointsRotated = [(x, y)]
+            else:
+                pointsRotated.append((x, y))
 
-		if (angle == 180):		    
-		    x3 = checkEndpoints[j][0]
-		    y3 = checkStartpoints[j][1]
-		    x4 = checkStartpoints[j][0]
-		    y4 = checkEndpoints[j][1]
+        return pointsRotated
 
+    def setMargin(self, points, margin_x, margin_y):
+        '''
 
-		# taking bottom left point
+        This function returns rotated points values
 
-    		x5 = max(x1, x3) 
-    		y5 = min(y1, y3) 
-  
-		# taking top-right point 
-		x6 = min(x2, x4) 
-		y6 = max(y2, y4) 
-  
-		#print(x1, y1, x2, y2, x3, y3, x4, y4, x5, y5, x6, y6)
+        points: set of points in [(x1,y1),(x2,y2), ...]
 
-		# if intersects 
-    		if not (x5 > x6 or y5 < y6): 
-		    
-		   currentArea = (x6-x5)*(y5-y6)
+        margin_x, margin_y : margin to be shifted
 
-		   if (previousArea == 0):
-			if (i == 0):		        
-			    intersectStartPoints = [(x5,y6)]
-		            intersectEndPoints = [(x6,y5)]
-			else:
-			    intersectStartPoints.append((x5,y6))
-		            intersectEndPoints.append((x6,y5))
-		        previousArea = currentArea
+        '''
 
-		   elif (currentArea > previousArea):
-		        intersectStartPoints.pop()
-		        intersectEndPoints.pop()
-		        intersectStartPoints.append((x5,y6))
-		        intersectEndPoints.append((x6,y5))
-		   else: 
-			continue	   
+        for i in range(len(points)):
 
-		   
+            x = points[i][0] + margin_x
+            y = points[i][1] + margin_y
 
-	return intersectStartPoints , intersectEndPoints
-        	    
+            if i == 0:
+                pointsShifted = [(x, y)]
+            else:
+                pointsShifted.append((x, y))
 
+        return pointsShifted
 
+    def FindPoints(self, currentStartpoints, currentEndpoints, checkStartpoints, checkEndpoints, angle):
 
+        for i in range(len(currentStartpoints)):
+
+            # taking bottom left points (x1,y1) and top right points (x2,y2)
+            x1 = currentStartpoints[i][0]
+            y1 = currentEndpoints[i][1]
+            x2 = currentEndpoints[i][0]
+            y2 = currentStartpoints[i][1]
+
+            previousArea = 0
+
+            for j in range(len(checkStartpoints)):
+                # intersectStartPoints , intersectEndPoints =  [], []
+                # taking bottom left points (x3,y3) and top right points (x4,y4)
+                if (angle == 90):
+                    x3 = checkEndpoints[j][0]
+                    y3 = checkEndpoints[j][1]
+                    x4 = checkStartpoints[j][0]
+                    y4 = checkStartpoints[j][1]
+
+                if (angle == -90):
+                    x3 = checkStartpoints[j][0]
+                    y3 = checkStartpoints[j][1]
+                    x4 = checkEndpoints[j][0]
+                    y4 = checkEndpoints[j][1]
+
+                if (angle == 180):
+                    x3 = checkEndpoints[j][0]
+                    y3 = checkStartpoints[j][1]
+                    x4 = checkStartpoints[j][0]
+                    y4 = checkEndpoints[j][1]
+
+                # taking bottom left point
+
+                x5 = max(x1, x3)
+                y5 = min(y1, y3)
+
+                # taking top-right point
+                x6 = min(x2, x4)
+                y6 = max(y2, y4)
+
+                # print(x1, y1, x2, y2, x3, y3, x4, y4, x5, y5, x6, y6)
+
+                # if intersects
+                if not (x5 > x6 or y5 < y6):
+
+                    currentArea = (x6-x5)*(y5-y6)
+
+                    if (previousArea == 0):
+                        if (i == 0):
+                            intersectStartPoints = [(x5, y6)]
+                            intersectEndPoints = [(x6, y5)]
+                        else:
+                            intersectStartPoints.append((x5, y6))
+                            intersectEndPoints.append((x6, y5))
+                        previousArea = currentArea
+
+                    elif (currentArea > previousArea):
+                        intersectStartPoints.pop()
+                        intersectEndPoints.pop()
+                        intersectStartPoints.append((x5, y6))
+                        intersectEndPoints.append((x6, y5))
+                    else:
+                        continue
+
+        return intersectStartPoints, intersectEndPoints
 
     def start(self):
         rospy.loginfo("Timing images")
@@ -211,67 +342,172 @@ class Nodo(object):
             rospy.loginfo('publishing image')
 
             if self.image1 is not None and self.image2 is not None and self.image3 is not None and self.image4 is not None:
-		
-		mapimage = np.zeros([800,800,1],dtype=np.uint8)
-		mapimage.fill(255)
 
-		color = (0,0,0)
-		thickness = 2
+                current_time = rospy.Time.now()
+
 
 
-		startPointsCamera1 , endPointsCamera1 = self.getpoints(self.image1)
- 	
+                # last_time = current_time
+                mapimage = np.zeros([400, 400, 3], dtype=np.uint8)
+                mapimage.fill(255)
 
-		startPointsCamera2 , endPointsCamera2 = self.getpoints(self.image2)
+                color = (0, 0, 255)
+                thickness = 2
 
-		startPointsCamera2 = self.rotatePoints(startPointsCamera2 , 90 , (400, 400))
-		endPointsCamera2 = self.rotatePoints(endPointsCamera2 , 90 , (400, 400))
+                startPointsCamera1, endPointsCamera1 = self.getpoints(
+                     self.image1)
 
-		startPointsCamera2 = self.setMargin(startPointsCamera2 , -95, 100)
-		endPointsCamera2 = self.setMargin(endPointsCamera2 , -95 , 100)
+                robot_position1 = self.getpositions(startPointsCamera1, endPointsCamera1)
+                #print(robot_position[0][1])
 
-		intersectStartPoints, intersectEndPoints = self.FindPoints(startPointsCamera1, endPointsCamera1, startPointsCamera2, endPointsCamera2, 90)
 
+                startPointsCamera2, endPointsCamera2 = self.getpoints(self.image2)
 
-		startPointsCamera3 , endPointsCamera3 = self.getpoints(self.image3)
+                startPointsCamera2 = self.rotatePoints(startPointsCamera2, 90, (200, 200))
+                endPointsCamera2 = self.rotatePoints(endPointsCamera2, 90, (200, 200))
 
-		startPointsCamera3 = self.rotatePoints(startPointsCamera3 , -90 , (400, 400))
-		endPointsCamera3 = self.rotatePoints(endPointsCamera3 , -90 , (400, 400))
+                robot_position2 = self.getpositions(startPointsCamera2, endPointsCamera2)
 
-		startPointsCamera3 = self.setMargin(startPointsCamera3 , -80, -95)
-		endPointsCamera3 = self.setMargin(endPointsCamera3 , -80 , -95)
+                robot_position = self.check_close_points(robot_position1, robot_position2)
 
 
-		startPointsCamera4 , endPointsCamera4 = self.getpoints(self.image4)
+                # startPointsCamera2 = self.setMargin(
+                #     startPointsCamera2, -95, 100)
+                # endPointsCamera2 = self.setMargin(endPointsCamera2, -95, 100)
 
-		startPointsCamera4 = self.rotatePoints(startPointsCamera4 , 180 , (400, 400))
-		endPointsCamera4 = self.rotatePoints(endPointsCamera4 , 180 , (400, 400))
+                # intersectStartPoints, intersectEndPoints = self.FindPoints(
+                #     startPointsCamera1, endPointsCamera1, startPointsCamera2, endPointsCamera2, 90)
 
-		startPointsCamera4 = self.setMargin(startPointsCamera4 , -185, 0)
-		endPointsCamera4 = self.setMargin(endPointsCamera4 , -185 , 0)
+                startPointsCamera3, endPointsCamera3 = self.getpoints(self.image3)
 
-		intersectStartPoints, intersectEndPoints = self.FindPoints(intersectStartPoints, intersectEndPoints, startPointsCamera4, endPointsCamera4, 180)
+                startPointsCamera3 = self.rotatePoints(startPointsCamera3, -90, (200, 200))
+                endPointsCamera3 = self.rotatePoints(endPointsCamera3, -90, (200, 200))
 
-		for point in range(len(intersectStartPoints)):   
-		    mapimage = cv2.rectangle(mapimage, intersectStartPoints[point], intersectEndPoints[point], color, thickness)
-		'''
-		for point in range(len(startPointsCamera1)):   
-		    mapimage = cv2.rectangle(mapimage, startPointsCamera1[point], endPointsCamera1[point], color, thickness)
-		for point in range(len(startPointsCamera2)):   
-		    mapimage = cv2.rectangle(mapimage, startPointsCamera2[point], endPointsCamera2[point], color, thickness)
-		for point in range(len(startPointsCamera3)):   
-		    mapimage = cv2.rectangle(mapimage, startPointsCamera3[point], endPointsCamera3[point], color, thickness)
-		for point in range(len(startPointsCamera4)):   
-		    mapimage = cv2.rectangle(mapimage, startPointsCamera4[point], endPointsCamera4[point], color, thickness)
-		'''
+                robot_position3 = self.getpositions(startPointsCamera3, endPointsCamera3)
 
-		self.pub1.publish(self.br.cv2_to_imgmsg(mapimage , 'mono8'))
+                robot_position = self.check_close_points(robot_position, robot_position3)
 
+                # startPointsCamera3 = self.setMargin(
+                #     startPointsCamera3, -80, -95)
+                # endPointsCamera3 = self.setMargin(endPointsCamera3, -80, -95)
 
+                startPointsCamera4, endPointsCamera4 = self.getpoints( self.image4)
+
+                startPointsCamera4 = self.rotatePoints( startPointsCamera4, 180, (200, 200))
+                endPointsCamera4 = self.rotatePoints(endPointsCamera4, 180, (200, 200))
+
+                robot_position4 = self.getpositions(startPointsCamera4, endPointsCamera4)
+
+
+
+                robot_position = self.check_close_points(robot_position, robot_position4)
+
+                #print('first', robot_position)
+
+                robot_position = self.check_close_points_fine_tune(robot_position)
+
+                #print('fine tune', robot_position)
+
+                #if one object is detected in at least 3 cameras
+                #robot_position = [item for item in robot_position if item[3] > 2]
+
+                #print('camera filter', robot_position)
+
+                self.robot_position_current = self.track_robot_names(robot_position , self.robot_position_previous)
+
+                #print('track name', self.robot_position_current)
+
+                # startPointsCamera4 = self.setMargin(
+                #     startPointsCamera4, -185, 0)
+                # endPointsCamera4 = self.setMargin(endPointsCamera4, -185, 0)
+
+                # intersectStartPoints, intersectEndPoints = self.FindPoints(
+                #     intersectStartPoints, intersectEndPoints, startPointsCamera4, endPointsCamera4, 180)
+                #for point in range(len(robot_position1)):
+                #    mapimage = cv2.circle(mapimage, (robot_position1[point][1],robot_position1[point][2]), 10, (0, 0, 255), thickness)
+                #for point in range(len(robot_position2)):
+                #    mapimage = cv2.circle(mapimage, (robot_position2[point][1],robot_position2[point][2]), 10, (0, 255, 0), thickness)
+                #for point in range(len(robot_position3)):
+                #    mapimage = cv2.circle(mapimage, (robot_position3[point][1],robot_position3[point][2]), 10, (255, 0, 0), thickness)
+                for point in range(len(self.robot_position_current)):
+                    mapimage = cv2.circle(mapimage, (self.robot_position_current[point][1],self.robot_position_current[point][2]), 15, (225, 0, 0), thickness)
+                    mapimage = cv2.putText(mapimage, self.robot_position_current[point][0], (self.robot_position_current[point][1],self.robot_position_current[point][2]), cv2.FONT_HERSHEY_SIMPLEX, .4, (0, 255, 0), thickness, cv2.LINE_AA)
+                    #mapimage = cv2.rectangle( mapimage, intersectStartPoints[point], intersectEndPoints[point], color, thickness)
+                #for point in range(len(robot_position)):
+                #    mapimage = cv2.circle(mapimage, (robot_position[point][1],robot_position[point][2]), 15, (225, 0, 0), thickness)
+                    
+                
+                
+                #self.robot_position_current = self.track_robot_names(self.robot_position_current , self.robot_position_previous)
+                
+                
+                '''
+                for point in range(len(startPointsCamera1)):
+                    mapimage = cv2.rectangle(
+                        mapimage, startPointsCamera1[point], endPointsCamera1[point], color, thickness)
+                for point in range(len(startPointsCamera2)):
+                    mapimage = cv2.rectangle(
+                        mapimage, startPointsCamera2[point], endPointsCamera2[point], color, thickness)
+                for point in range(len(startPointsCamera3)):
+                    mapimage = cv2.rectangle(
+                        mapimage, startPointsCamera3[point], endPointsCamera3[point], color, thickness)
+                for point in range(len(startPointsCamera4)):
+                    mapimage = cv2.rectangle(
+                        mapimage, startPointsCamera4[point], endPointsCamera4[point], color, thickness)
+                '''
+
+                # compute odometry in a typical way given the velocities of the robot
+                #self.x = robot_position[point][1]/400.0*5.0
+                #self.y = robot_position[point][2]/400.0*5.0
+                #self.th = delta_th
+
+                dt = (current_time - self.last_time).to_sec()
+                delta_x = (self.vx * math.cos(self.th) - self.vy * math.sin(self.th)) * dt
+                delta_y = (self.vx * math.sin(self.th) + self.vy * math.cos(self.th)) * dt
+                delta_th = self.vth * dt
+
+                self.x += delta_x
+                self.y += delta_y
+                self.th += delta_th
+
+
+                # since all odometry is 6DOF we'll need a quaternion created from yaw
+                odom_quat = tf.transformations.quaternion_from_euler(0, 0, self.th)
+
+
+
+                for point in range(len(self.robot_position_current)):
+                    x = self.robot_position_current[point][1]/400.0*5.0
+                    y = self.robot_position_current[point][2]/400.0*5.0
+                    robot_name = self.robot_position_current[point][0]
+                    # first, we'll publish the transform over tf
+                    self.odom_broadcaster.sendTransform((x, y, 0.), odom_quat, current_time, robot_name,"robot_footprint")
+
+
+                # next, we'll publish the odometry message over ROS
+                odom = Odometry()
+                odom.header.stamp = current_time
+                odom.header.frame_id = "odom_test"
+
+                # set the position
+                odom.pose.pose = Pose(Point(self.x, self.y, 0.), Quaternion(*odom_quat))
+
+                # set the velocity
+                odom.child_frame_id = "robot_1"
+                odom.twist.twist = Twist(Vector3(self.vx, self.vy, 0), Vector3(0, 0, self.vth))
+
+                # publish the message
+                self.odom_pub.publish(odom)
+
+                self.pub1.publish(self.br.cv2_to_imgmsg(mapimage, 'bgr8'))
+
+                self.robot_position_previous = self.robot_position_current
 
             self.loop_rate.sleep()
 
+
 if __name__ == '__main__':
-    rospy.init_node("warped_image", anonymous=True)
+    #rospy.init_node("warped_image", anonymous=True)
+    rospy.init_node('odometry_publisher')
     my_node = Nodo()
     my_node.start()
diff --git a/workspace/virtuallab/build/robot_mapping/catkin_generated/installspace/robot_mappingConfig.cmake b/workspace/virtuallab/build/robot_mapping/catkin_generated/installspace/robot_mappingConfig.cmake
index 0184ba191c7672572841fd8c9ddff6e6eb40ac85..3aab6d2199f403606c06a1ad68d3489a311396a9 100644
--- a/workspace/virtuallab/build/robot_mapping/catkin_generated/installspace/robot_mappingConfig.cmake
+++ b/workspace/virtuallab/build/robot_mapping/catkin_generated/installspace/robot_mappingConfig.cmake
@@ -177,7 +177,7 @@ foreach(library ${libraries})
   endif()
 endforeach()
 
-set(robot_mapping_EXPORTED_TARGETS "")
+set(robot_mapping_EXPORTED_TARGETS "robot_mapping_generate_messages_cpp;robot_mapping_generate_messages_eus;robot_mapping_generate_messages_lisp;robot_mapping_generate_messages_nodejs;robot_mapping_generate_messages_py")
 # create dummy targets for exported code generation targets to make life of users easier
 foreach(t ${robot_mapping_EXPORTED_TARGETS})
   if(NOT TARGET ${t})
diff --git a/workspace/virtuallab/build/robot_mapping/catkin_generated/stamps/robot_mapping/robot_mapping.py.stamp b/workspace/virtuallab/build/robot_mapping/catkin_generated/stamps/robot_mapping/robot_mapping.py.stamp
index 34dfd5ea3073b3fc555621ac4cbdbb4c48429fb1..4e4892eee3d4ff253eaaa6fdbbfc8839c30d2e93 100755
--- a/workspace/virtuallab/build/robot_mapping/catkin_generated/stamps/robot_mapping/robot_mapping.py.stamp
+++ b/workspace/virtuallab/build/robot_mapping/catkin_generated/stamps/robot_mapping/robot_mapping.py.stamp
@@ -6,39 +6,62 @@ from sensor_msgs.msg import Image
 from cv_bridge import CvBridge
 
 import cv2
-import os  
+import os
 import numpy as np
 import tensorflow as tf
 import math
+import tf
+from nav_msgs.msg import Odometry
+from geometry_msgs.msg import Point, Pose, Quaternion, Twist, Vector3
+from scipy.spatial import distance
+
 
 class Nodo(object):
     def __init__(self):
         # Params
         self.image1 = None
-	self.image2 = None
-	self.image3 = None
-	self.image4 = None
+        self.image2 = None
+        self.image3 = None
+        self.image4 = None
 
-	self.margin_y_top =90
-	self.margin_y_bottom = 90
-	self.margin_x_right = 180
+        self.margin_y_top = 90
+        self.margin_y_bottom = 90
+        self.margin_x_right = 180
 
         self.br = CvBridge()
         # Node cycle rate (in Hz).
-        self.loop_rate = rospy.Rate(10)
+        self.loop_rate = rospy.Rate(1)
 
         # Publishers
-        self.pub1 = rospy.Publisher('map/image', Image,queue_size=10)
-	#self.pub2 = rospy.Publisher('warpedImage/camera2', Image,queue_size=10)
-	#self.pub3 = rospy.Publisher('warpedImage/camera3', Image,queue_size=10)
-	#self.pub4 = rospy.Publisher('warpedImage/camera4', Image,queue_size=10)
+        self.pub1 = rospy.Publisher('map/image', Image, queue_size=10)
 
-        # Subscribers
-        rospy.Subscriber("robot_classifier/camera1/data/raw",Image,self.callback1)
-	rospy.Subscriber("robot_classifier/camera2/data/raw",Image,self.callback2)
-	rospy.Subscriber("robot_classifier/camera3/data/raw",Image,self.callback3)
-	rospy.Subscriber("robot_classifier/camera4/data/raw",Image,self.callback4)
+        self.odom_pub = rospy.Publisher("test/odom", Odometry, queue_size=50)
+        self.odom_broadcaster = tf.TransformBroadcaster()
+
+        self.x = 0.0
+        self.y = 0.0
+        self.th = 0.0
+
+        self.vx = 0.0
+        self.vy = 0.0
+        self.vth = 0.0
 
+        current_time = rospy.Time.now()
+        self.last_time = rospy.Time.now()
+
+        self.robot_position_current = []
+        self.robot_position_previous = []
+        self.robot_names = []
+
+        # Subscribers
+        rospy.Subscriber("robot_classifier/camera1/data/raw",
+                         Image, self.callback1)
+        rospy.Subscriber("robot_classifier/camera2/data/raw",
+                         Image, self.callback2)
+        rospy.Subscriber("robot_classifier/camera3/data/raw",
+                         Image, self.callback3)
+        rospy.Subscriber("robot_classifier/camera4/data/raw",
+                         Image, self.callback4)
 
     def callback1(self, msg):
         rospy.loginfo('Image received from camera 1...')
@@ -56,154 +79,262 @@ class Nodo(object):
         rospy.loginfo('Image received  from camera 4...')
         self.image4 = self.br.imgmsg_to_cv2(msg, '64FC1')
 
-
     def getpoints(self, image):
-	for i in range(len(image)):
-	    start_point = (int(image[i][4] * image[i][8] ) , int(image[i][3] * image[i][7]))
-	    end_point = (int(image[i][6] * image[i][8]) , int(image[i][5] * image[i][7]))
-		    
-	    if i == 0:
-		start_points = [start_point]
-		end_points = [end_point]
-	    else:
-		start_points.append(start_point)
-		end_points.append(end_point)
 
-	return start_points, end_points
+        start_points, end_points = [], []
+
+        for i in range(len(image)):
+            start_point = (int(image[i][4] * image[i][8]),
+                           int(image[i][3] * image[i][7]))
+            end_point = (int(image[i][6] * image[i][8]),
+                         int(image[i][5] * image[i][7]))
+
+            start_points.append(start_point)
+            end_points.append(end_point)
+
+        return start_points, end_points
+
+    def getpositions(self, start_points, end_points):
+        robot_positions = []
+        for i in range(len(start_points)):
+            x = int((start_points[i][0]+end_points[i][0])/2)
+            y = int((start_points[i][1]+end_points[i][1])/2)
+            robot_name = 'fake_name'#'robot_{}'.format(i)
+            robot_positions.append((robot_name, x, y, 1))
+        return robot_positions
+
+    def check_close_points(self, points1, points2):
+        robot_positions = []
+        for i in range(len(points1)):
+            idx_dist = []
+            for j in range(len(points2)):
+                #dist = distance.euclidean(points1[i][1:2], points2[j][1:2])
+                dist = math.sqrt( ((points1[i][1]-points2[j][1])**2)+((points1[i][2]-points2[j][2])**2) )
+                idx_dist.append(dist)
+            
+            min_val = min(idx_dist)
+            min_idx = idx_dist.index(min_val)
+            #print(idx_dist, min_idx)
+            if min_val <= 50:
+                x = int((points1[i][1] + points2[min_idx][1])/2)
+                y = int((points1[i][2] + points2[min_idx][2])/2)
+                robot_positions.append((points1[i][0],x,y,points1[i][3]+1))
+            else:
+                x = points1[i][1]
+                y = points1[i][2]
+                robot_positions.append((points1[i][0],x,y,points1[i][3]))
+                x = points2[min_idx][1]
+                y = points2[min_idx][2]
+                robot_positions.append((points1[i][0],x,y,points1[i][3]))
+            
+        return robot_positions
+
+    def check_close_points_fine_tune(self, points):
+
+        flag_array = np.zeros((len(points)), dtype=int) 
+
+        flag_number = 1
 
+        # first loop
 
-    def rotatePoints(self, points , angle, (center_x, center_y)):
+        for idx in range(len(points)):
 
-	'''
+            if flag_array[idx] == 0:
 
-	This function returns rotated points values
+                first_pt = (points[idx][1], points[idx][2])
 
-	points: set of points in [(x1,y1),(x2,y2), ...]
-	
-	angle: in degrees
-	
-	center_x, center_y : rotational center
+                flag_array[idx] = flag_number
 
-	'''
+                flag_number = flag_number + 1
 
-	angle = angle*math.pi/180 # convert to radians
+                # second loop
 
-	for i in range(len(points)):
+                for idx1 in range(len(points)):
+                
+                    if flag_array[idx1] == 0:
 
-	    x = int((points[i][0] - center_x) * math.cos(angle) - (points[i][1] - center_y) * math.sin(angle) + center_x)
-	    y = int((points[i][0] - center_x) * math.sin(angle) + (points[i][1] - center_y) * math.cos(angle) + center_y)
+                        pt = ((points[idx1][1], points[idx1][2]))
 
-	    if i == 0:
-		pointsRotated = [(x,y)]
-	    else:
-		pointsRotated.append((x,y))
+                        dist_ = math.sqrt(((points[idx][1]-points[idx1][1])**2)+((points[idx][2]-points[idx1][2])**2) )
 
-	return pointsRotated
+                        if dist_ < 20: 
 
+                            flag_array[idx1] = flag_number - 1
 
-    def setMargin(self, points , margin_x, margin_y):
 
-	'''
+        robot_positions = [] 
 
-	This function returns rotated points values
+        for group in range(max(flag_array)):  # iterate over number of groups
+            x_ = 0
+            y_ = 0
+            n_ = 0
 
-	points: set of points in [(x1,y1),(x2,y2), ...]
-	
-	margin_x, margin_y : margin to be shifted
+            for idx in range(len(points)):
 
-	'''
+                if flag_array[idx] == group + 1:
 
+                    x_ = x_ + points[idx][1]
+                    y_ = y_ + points[idx][2]
+                    n_ = n_ + 1
 
-	for i in range(len(points)):
+            x_ = int(x_/n_) 
+            y_ = int(y_/n_)
 
-	    x = points[i][0] + margin_x
-	    y = points[i][1] + margin_y
+            if x_ != 0 and y_ != 0:
+                robot_positions.append((points[idx][0],x_,y_,points[idx][3]))
 
-	    if i == 0:
-		pointsShifted = [(x,y)]
-	    else:
-		pointsShifted.append((x,y))
+        return robot_positions
 
-	return pointsShifted
+    def track_robot_names(self, points1, points2):
+        # points1 is current and points2 is previous
+        robot_positions = []
+        flag_array = np.zeros((len(points1)), dtype=int)
+        
+        if len(points2) == 0:
+            for i in range(len(points1)):
+                r_name = 'robot_{}'.format(i+1)
+                self.robot_names.append(r_name)
+                robot_positions.append((r_name, points1[i][1], points1[i][2], points1[i][3]))
+            #print('number of robots detected', len(self.robot_names))
+                
+        else:
+            for i in range(len(points2)):
+                for j in range(len(points1)):
+                    dist = math.sqrt( ((points2[i][1]-points1[j][1])**2)+((points2[i][2]-points1[j][2])**2))
+                    if dist <= 20:                        
+                        flag_array[j] = i+1
+                    else:
+                        print(dist)
+            for i in range(len(flag_array)):
+                if flag_array[i] == 0:
+                    num_bots= len(self.robot_names)
+                    r_name = 'robot_{}'.format(num_bots+1)
+                    self.robot_names.append(r_name)
+                    robot_positions.append((r_name, points1[i][1], points1[i][2], points1[i][3]))
+                else:
+                    robot_positions.append((points2[flag_array[i]-1][0], points1[i][1], points1[i][2], points1[i][3]))
+   
+        return robot_positions
 
+    def rotatePoints(self, points, angle, (center_x, center_y)):
+        '''
 
+        This function returns rotated points values
 
-    def FindPoints(self, currentStartpoints, currentEndpoints, checkStartpoints, checkEndpoints, angle): 
+        points: set of points in [(x1,y1),(x2,y2), ...]
 
-  
-	for i in range(len(currentStartpoints)):
+        angle: in degrees
 
-	    # taking bottom left points (x1,y1) and top right points (x2,y2)
-	    x1 = currentStartpoints[i][0]
-	    y1 = currentEndpoints[i][1]
-	    x2 = currentEndpoints[i][0]
-	    y2 = currentStartpoints[i][1]
+        center_x, center_y : rotational center
 
-	    previousArea = 0
+        '''
 
-	    for j in range(len(checkStartpoints)):
+        angle = angle*math.pi/180  # convert to radians
 
-		# taking bottom left points (x3,y3) and top right points (x4,y4)
-		if (angle == 90):
-		    x3 = checkEndpoints[j][0]
-		    y3 = checkEndpoints[j][1]
-		    x4 = checkStartpoints[j][0]
-		    y4 = checkStartpoints[j][1]
+        for i in range(len(points)):
 
-		if (angle == -90):		    
-		    x3 = checkStartpoints[j][0]
-		    y3 = checkStartpoints[j][1]
-		    x4 = checkEndpoints[j][0]
-		    y4 = checkEndpoints[j][1]
+            x = int((points[i][0] - center_x) * math.cos(angle) -
+                    (points[i][1] - center_y) * math.sin(angle) + center_x)
+            y = int((points[i][0] - center_x) * math.sin(angle) +
+                    (points[i][1] - center_y) * math.cos(angle) + center_y)
 
+            if i == 0:
+                pointsRotated = [(x, y)]
+            else:
+                pointsRotated.append((x, y))
 
-		if (angle == 180):		    
-		    x3 = checkEndpoints[j][0]
-		    y3 = checkStartpoints[j][1]
-		    x4 = checkStartpoints[j][0]
-		    y4 = checkEndpoints[j][1]
+        return pointsRotated
 
+    def setMargin(self, points, margin_x, margin_y):
+        '''
 
-		# taking bottom left point
+        This function returns rotated points values
 
-    		x5 = max(x1, x3) 
-    		y5 = min(y1, y3) 
-  
-		# taking top-right point 
-		x6 = min(x2, x4) 
-		y6 = max(y2, y4) 
-  
-		#print(x1, y1, x2, y2, x3, y3, x4, y4, x5, y5, x6, y6)
+        points: set of points in [(x1,y1),(x2,y2), ...]
 
-		# if intersects 
-    		if not (x5 > x6 or y5 < y6): 
-		    
-		   currentArea = (x6-x5)*(y5-y6)
+        margin_x, margin_y : margin to be shifted
 
-		   if (previousArea == 0):
-			if (i == 0):		        
-			    intersectStartPoints = [(x5,y6)]
-		            intersectEndPoints = [(x6,y5)]
-			else:
-			    intersectStartPoints.append((x5,y6))
-		            intersectEndPoints.append((x6,y5))
-		        previousArea = currentArea
+        '''
 
-		   elif (currentArea > previousArea):
-		        intersectStartPoints.pop()
-		        intersectEndPoints.pop()
-		        intersectStartPoints.append((x5,y6))
-		        intersectEndPoints.append((x6,y5))
-		   else: 
-			continue	   
+        for i in range(len(points)):
 
-		   
+            x = points[i][0] + margin_x
+            y = points[i][1] + margin_y
 
-	return intersectStartPoints , intersectEndPoints
-        	    
+            if i == 0:
+                pointsShifted = [(x, y)]
+            else:
+                pointsShifted.append((x, y))
 
+        return pointsShifted
 
+    def FindPoints(self, currentStartpoints, currentEndpoints, checkStartpoints, checkEndpoints, angle):
 
+        for i in range(len(currentStartpoints)):
+
+            # taking bottom left points (x1,y1) and top right points (x2,y2)
+            x1 = currentStartpoints[i][0]
+            y1 = currentEndpoints[i][1]
+            x2 = currentEndpoints[i][0]
+            y2 = currentStartpoints[i][1]
+
+            previousArea = 0
+
+            for j in range(len(checkStartpoints)):
+                # intersectStartPoints , intersectEndPoints =  [], []
+                # taking bottom left points (x3,y3) and top right points (x4,y4)
+                if (angle == 90):
+                    x3 = checkEndpoints[j][0]
+                    y3 = checkEndpoints[j][1]
+                    x4 = checkStartpoints[j][0]
+                    y4 = checkStartpoints[j][1]
+
+                if (angle == -90):
+                    x3 = checkStartpoints[j][0]
+                    y3 = checkStartpoints[j][1]
+                    x4 = checkEndpoints[j][0]
+                    y4 = checkEndpoints[j][1]
+
+                if (angle == 180):
+                    x3 = checkEndpoints[j][0]
+                    y3 = checkStartpoints[j][1]
+                    x4 = checkStartpoints[j][0]
+                    y4 = checkEndpoints[j][1]
+
+                # taking bottom left point
+
+                x5 = max(x1, x3)
+                y5 = min(y1, y3)
+
+                # taking top-right point
+                x6 = min(x2, x4)
+                y6 = max(y2, y4)
+
+                # print(x1, y1, x2, y2, x3, y3, x4, y4, x5, y5, x6, y6)
+
+                # if intersects
+                if not (x5 > x6 or y5 < y6):
+
+                    currentArea = (x6-x5)*(y5-y6)
+
+                    if (previousArea == 0):
+                        if (i == 0):
+                            intersectStartPoints = [(x5, y6)]
+                            intersectEndPoints = [(x6, y5)]
+                        else:
+                            intersectStartPoints.append((x5, y6))
+                            intersectEndPoints.append((x6, y5))
+                        previousArea = currentArea
+
+                    elif (currentArea > previousArea):
+                        intersectStartPoints.pop()
+                        intersectEndPoints.pop()
+                        intersectStartPoints.append((x5, y6))
+                        intersectEndPoints.append((x6, y5))
+                    else:
+                        continue
+
+        return intersectStartPoints, intersectEndPoints
 
     def start(self):
         rospy.loginfo("Timing images")
@@ -211,67 +342,172 @@ class Nodo(object):
             rospy.loginfo('publishing image')
 
             if self.image1 is not None and self.image2 is not None and self.image3 is not None and self.image4 is not None:
-		
-		mapimage = np.zeros([800,800,1],dtype=np.uint8)
-		mapimage.fill(255)
 
-		color = (0,0,0)
-		thickness = 2
+                current_time = rospy.Time.now()
+
 
 
-		startPointsCamera1 , endPointsCamera1 = self.getpoints(self.image1)
- 	
+                # last_time = current_time
+                mapimage = np.zeros([400, 400, 3], dtype=np.uint8)
+                mapimage.fill(255)
 
-		startPointsCamera2 , endPointsCamera2 = self.getpoints(self.image2)
+                color = (0, 0, 255)
+                thickness = 2
 
-		startPointsCamera2 = self.rotatePoints(startPointsCamera2 , 90 , (400, 400))
-		endPointsCamera2 = self.rotatePoints(endPointsCamera2 , 90 , (400, 400))
+                startPointsCamera1, endPointsCamera1 = self.getpoints(
+                     self.image1)
 
-		startPointsCamera2 = self.setMargin(startPointsCamera2 , -95, 100)
-		endPointsCamera2 = self.setMargin(endPointsCamera2 , -95 , 100)
+                robot_position1 = self.getpositions(startPointsCamera1, endPointsCamera1)
+                #print(robot_position[0][1])
 
-		intersectStartPoints, intersectEndPoints = self.FindPoints(startPointsCamera1, endPointsCamera1, startPointsCamera2, endPointsCamera2, 90)
 
+                startPointsCamera2, endPointsCamera2 = self.getpoints(self.image2)
 
-		startPointsCamera3 , endPointsCamera3 = self.getpoints(self.image3)
+                startPointsCamera2 = self.rotatePoints(startPointsCamera2, 90, (200, 200))
+                endPointsCamera2 = self.rotatePoints(endPointsCamera2, 90, (200, 200))
 
-		startPointsCamera3 = self.rotatePoints(startPointsCamera3 , -90 , (400, 400))
-		endPointsCamera3 = self.rotatePoints(endPointsCamera3 , -90 , (400, 400))
+                robot_position2 = self.getpositions(startPointsCamera2, endPointsCamera2)
 
-		startPointsCamera3 = self.setMargin(startPointsCamera3 , -80, -95)
-		endPointsCamera3 = self.setMargin(endPointsCamera3 , -80 , -95)
+                robot_position = self.check_close_points(robot_position1, robot_position2)
 
 
-		startPointsCamera4 , endPointsCamera4 = self.getpoints(self.image4)
+                # startPointsCamera2 = self.setMargin(
+                #     startPointsCamera2, -95, 100)
+                # endPointsCamera2 = self.setMargin(endPointsCamera2, -95, 100)
 
-		startPointsCamera4 = self.rotatePoints(startPointsCamera4 , 180 , (400, 400))
-		endPointsCamera4 = self.rotatePoints(endPointsCamera4 , 180 , (400, 400))
+                # intersectStartPoints, intersectEndPoints = self.FindPoints(
+                #     startPointsCamera1, endPointsCamera1, startPointsCamera2, endPointsCamera2, 90)
 
-		startPointsCamera4 = self.setMargin(startPointsCamera4 , -185, 0)
-		endPointsCamera4 = self.setMargin(endPointsCamera4 , -185 , 0)
+                startPointsCamera3, endPointsCamera3 = self.getpoints(self.image3)
 
-		intersectStartPoints, intersectEndPoints = self.FindPoints(intersectStartPoints, intersectEndPoints, startPointsCamera4, endPointsCamera4, 180)
+                startPointsCamera3 = self.rotatePoints(startPointsCamera3, -90, (200, 200))
+                endPointsCamera3 = self.rotatePoints(endPointsCamera3, -90, (200, 200))
 
-		for point in range(len(intersectStartPoints)):   
-		    mapimage = cv2.rectangle(mapimage, intersectStartPoints[point], intersectEndPoints[point], color, thickness)
-		'''
-		for point in range(len(startPointsCamera1)):   
-		    mapimage = cv2.rectangle(mapimage, startPointsCamera1[point], endPointsCamera1[point], color, thickness)
-		for point in range(len(startPointsCamera2)):   
-		    mapimage = cv2.rectangle(mapimage, startPointsCamera2[point], endPointsCamera2[point], color, thickness)
-		for point in range(len(startPointsCamera3)):   
-		    mapimage = cv2.rectangle(mapimage, startPointsCamera3[point], endPointsCamera3[point], color, thickness)
-		for point in range(len(startPointsCamera4)):   
-		    mapimage = cv2.rectangle(mapimage, startPointsCamera4[point], endPointsCamera4[point], color, thickness)
-		'''
+                robot_position3 = self.getpositions(startPointsCamera3, endPointsCamera3)
 
-		self.pub1.publish(self.br.cv2_to_imgmsg(mapimage , 'mono8'))
+                robot_position = self.check_close_points(robot_position, robot_position3)
 
+                # startPointsCamera3 = self.setMargin(
+                #     startPointsCamera3, -80, -95)
+                # endPointsCamera3 = self.setMargin(endPointsCamera3, -80, -95)
 
+                startPointsCamera4, endPointsCamera4 = self.getpoints( self.image4)
+
+                startPointsCamera4 = self.rotatePoints( startPointsCamera4, 180, (200, 200))
+                endPointsCamera4 = self.rotatePoints(endPointsCamera4, 180, (200, 200))
+
+                robot_position4 = self.getpositions(startPointsCamera4, endPointsCamera4)
+
+
+
+                robot_position = self.check_close_points(robot_position, robot_position4)
+
+                #print('first', robot_position)
+
+                robot_position = self.check_close_points_fine_tune(robot_position)
+
+                #print('fine tune', robot_position)
+
+                #if one object is detected in at least 3 cameras
+                #robot_position = [item for item in robot_position if item[3] > 2]
+
+                #print('camera filter', robot_position)
+
+                self.robot_position_current = self.track_robot_names(robot_position , self.robot_position_previous)
+
+                #print('track name', self.robot_position_current)
+
+                # startPointsCamera4 = self.setMargin(
+                #     startPointsCamera4, -185, 0)
+                # endPointsCamera4 = self.setMargin(endPointsCamera4, -185, 0)
+
+                # intersectStartPoints, intersectEndPoints = self.FindPoints(
+                #     intersectStartPoints, intersectEndPoints, startPointsCamera4, endPointsCamera4, 180)
+                #for point in range(len(robot_position1)):
+                #    mapimage = cv2.circle(mapimage, (robot_position1[point][1],robot_position1[point][2]), 10, (0, 0, 255), thickness)
+                #for point in range(len(robot_position2)):
+                #    mapimage = cv2.circle(mapimage, (robot_position2[point][1],robot_position2[point][2]), 10, (0, 255, 0), thickness)
+                #for point in range(len(robot_position3)):
+                #    mapimage = cv2.circle(mapimage, (robot_position3[point][1],robot_position3[point][2]), 10, (255, 0, 0), thickness)
+                for point in range(len(self.robot_position_current)):
+                    mapimage = cv2.circle(mapimage, (self.robot_position_current[point][1],self.robot_position_current[point][2]), 15, (225, 0, 0), thickness)
+                    mapimage = cv2.putText(mapimage, self.robot_position_current[point][0], (self.robot_position_current[point][1],self.robot_position_current[point][2]), cv2.FONT_HERSHEY_SIMPLEX, .4, (0, 255, 0), thickness, cv2.LINE_AA)
+                    #mapimage = cv2.rectangle( mapimage, intersectStartPoints[point], intersectEndPoints[point], color, thickness)
+                #for point in range(len(robot_position)):
+                #    mapimage = cv2.circle(mapimage, (robot_position[point][1],robot_position[point][2]), 15, (225, 0, 0), thickness)
+                    
+                
+                
+                #self.robot_position_current = self.track_robot_names(self.robot_position_current , self.robot_position_previous)
+                
+                
+                '''
+                for point in range(len(startPointsCamera1)):
+                    mapimage = cv2.rectangle(
+                        mapimage, startPointsCamera1[point], endPointsCamera1[point], color, thickness)
+                for point in range(len(startPointsCamera2)):
+                    mapimage = cv2.rectangle(
+                        mapimage, startPointsCamera2[point], endPointsCamera2[point], color, thickness)
+                for point in range(len(startPointsCamera3)):
+                    mapimage = cv2.rectangle(
+                        mapimage, startPointsCamera3[point], endPointsCamera3[point], color, thickness)
+                for point in range(len(startPointsCamera4)):
+                    mapimage = cv2.rectangle(
+                        mapimage, startPointsCamera4[point], endPointsCamera4[point], color, thickness)
+                '''
+
+                # compute odometry in a typical way given the velocities of the robot
+                #self.x = robot_position[point][1]/400.0*5.0
+                #self.y = robot_position[point][2]/400.0*5.0
+                #self.th = delta_th
+
+                dt = (current_time - self.last_time).to_sec()
+                delta_x = (self.vx * math.cos(self.th) - self.vy * math.sin(self.th)) * dt
+                delta_y = (self.vx * math.sin(self.th) + self.vy * math.cos(self.th)) * dt
+                delta_th = self.vth * dt
+
+                self.x += delta_x
+                self.y += delta_y
+                self.th += delta_th
+
+
+                # since all odometry is 6DOF we'll need a quaternion created from yaw
+                odom_quat = tf.transformations.quaternion_from_euler(0, 0, self.th)
+
+
+
+                for point in range(len(self.robot_position_current)):
+                    x = self.robot_position_current[point][1]/400.0*5.0
+                    y = self.robot_position_current[point][2]/400.0*5.0
+                    robot_name = self.robot_position_current[point][0]
+                    # first, we'll publish the transform over tf
+                    self.odom_broadcaster.sendTransform((x, y, 0.), odom_quat, current_time, robot_name,"robot_footprint")
+
+
+                # next, we'll publish the odometry message over ROS
+                odom = Odometry()
+                odom.header.stamp = current_time
+                odom.header.frame_id = "odom_test"
+
+                # set the position
+                odom.pose.pose = Pose(Point(self.x, self.y, 0.), Quaternion(*odom_quat))
+
+                # set the velocity
+                odom.child_frame_id = "robot_1"
+                odom.twist.twist = Twist(Vector3(self.vx, self.vy, 0), Vector3(0, 0, self.vth))
+
+                # publish the message
+                self.odom_pub.publish(odom)
+
+                self.pub1.publish(self.br.cv2_to_imgmsg(mapimage, 'bgr8'))
+
+                self.robot_position_previous = self.robot_position_current
 
             self.loop_rate.sleep()
 
+
 if __name__ == '__main__':
-    rospy.init_node("warped_image", anonymous=True)
+    #rospy.init_node("warped_image", anonymous=True)
+    rospy.init_node('odometry_publisher')
     my_node = Nodo()
     my_node.start()
diff --git a/workspace/virtuallab/build/robot_mapping/cmake/robot_mapping-genmsg-context.py b/workspace/virtuallab/build/robot_mapping/cmake/robot_mapping-genmsg-context.py
index bc57baf122927df58301a8fa7e293e5b4da93003..756b8fa921d94b7945ab925d9c3af15d969658e0 100644
--- a/workspace/virtuallab/build/robot_mapping/cmake/robot_mapping-genmsg-context.py
+++ b/workspace/virtuallab/build/robot_mapping/cmake/robot_mapping-genmsg-context.py
@@ -4,8 +4,8 @@ messages_str = ""
 services_str = ""
 pkg_name = "robot_mapping"
 dependencies_str = "std_msgs"
-langs = ""
+langs = "gencpp;geneus;genlisp;gennodejs;genpy"
 dep_include_paths_str = "std_msgs;/opt/ros/melodic/share/std_msgs/cmake/../msg"
 PYTHON_EXECUTABLE = "/usr/bin/python2"
 package_has_static_sources = '' == 'TRUE'
-genmsg_check_deps_script = ""
+genmsg_check_deps_script = "/opt/ros/melodic/share/genmsg/cmake/../../../lib/genmsg/genmsg_check_deps.py"
diff --git a/workspace/virtuallab/build/robot_mapping/cmake/robot_mapping-genmsg.cmake b/workspace/virtuallab/build/robot_mapping/cmake/robot_mapping-genmsg.cmake
index 791180f9eefc41dd325d620d92118c47396090f7..af43988ec753221b6d47fa5b6359db7be652b85b 100644
--- a/workspace/virtuallab/build/robot_mapping/cmake/robot_mapping-genmsg.cmake
+++ b/workspace/virtuallab/build/robot_mapping/cmake/robot_mapping-genmsg.cmake
@@ -7,6 +7,11 @@ message(STATUS "robot_mapping: 0 messages, 0 services")
 set(MSG_I_FLAGS "-Istd_msgs:/opt/ros/melodic/share/std_msgs/cmake/../msg")
 
 # Find all generators
+find_package(gencpp REQUIRED)
+find_package(geneus REQUIRED)
+find_package(genlisp REQUIRED)
+find_package(gennodejs REQUIRED)
+find_package(genpy REQUIRED)
 
 add_custom_target(robot_mapping_generate_messages ALL)
 
@@ -15,7 +20,188 @@ add_custom_target(robot_mapping_generate_messages ALL)
 
 
 #
-#  langs = 
+#  langs = gencpp;geneus;genlisp;gennodejs;genpy
 #
 
+### Section generating for lang: gencpp
+### Generating Messages
 
+### Generating Services
+
+### Generating Module File
+_generate_module_cpp(robot_mapping
+  ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/robot_mapping
+  "${ALL_GEN_OUTPUT_FILES_cpp}"
+)
+
+add_custom_target(robot_mapping_generate_messages_cpp
+  DEPENDS ${ALL_GEN_OUTPUT_FILES_cpp}
+)
+add_dependencies(robot_mapping_generate_messages robot_mapping_generate_messages_cpp)
+
+# add dependencies to all check dependencies targets
+
+# target for backward compatibility
+add_custom_target(robot_mapping_gencpp)
+add_dependencies(robot_mapping_gencpp robot_mapping_generate_messages_cpp)
+
+# register target for catkin_package(EXPORTED_TARGETS)
+list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS robot_mapping_generate_messages_cpp)
+
+### Section generating for lang: geneus
+### Generating Messages
+
+### Generating Services
+
+### Generating Module File
+_generate_module_eus(robot_mapping
+  ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/robot_mapping
+  "${ALL_GEN_OUTPUT_FILES_eus}"
+)
+
+add_custom_target(robot_mapping_generate_messages_eus
+  DEPENDS ${ALL_GEN_OUTPUT_FILES_eus}
+)
+add_dependencies(robot_mapping_generate_messages robot_mapping_generate_messages_eus)
+
+# add dependencies to all check dependencies targets
+
+# target for backward compatibility
+add_custom_target(robot_mapping_geneus)
+add_dependencies(robot_mapping_geneus robot_mapping_generate_messages_eus)
+
+# register target for catkin_package(EXPORTED_TARGETS)
+list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS robot_mapping_generate_messages_eus)
+
+### Section generating for lang: genlisp
+### Generating Messages
+
+### Generating Services
+
+### Generating Module File
+_generate_module_lisp(robot_mapping
+  ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/robot_mapping
+  "${ALL_GEN_OUTPUT_FILES_lisp}"
+)
+
+add_custom_target(robot_mapping_generate_messages_lisp
+  DEPENDS ${ALL_GEN_OUTPUT_FILES_lisp}
+)
+add_dependencies(robot_mapping_generate_messages robot_mapping_generate_messages_lisp)
+
+# add dependencies to all check dependencies targets
+
+# target for backward compatibility
+add_custom_target(robot_mapping_genlisp)
+add_dependencies(robot_mapping_genlisp robot_mapping_generate_messages_lisp)
+
+# register target for catkin_package(EXPORTED_TARGETS)
+list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS robot_mapping_generate_messages_lisp)
+
+### Section generating for lang: gennodejs
+### Generating Messages
+
+### Generating Services
+
+### Generating Module File
+_generate_module_nodejs(robot_mapping
+  ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/robot_mapping
+  "${ALL_GEN_OUTPUT_FILES_nodejs}"
+)
+
+add_custom_target(robot_mapping_generate_messages_nodejs
+  DEPENDS ${ALL_GEN_OUTPUT_FILES_nodejs}
+)
+add_dependencies(robot_mapping_generate_messages robot_mapping_generate_messages_nodejs)
+
+# add dependencies to all check dependencies targets
+
+# target for backward compatibility
+add_custom_target(robot_mapping_gennodejs)
+add_dependencies(robot_mapping_gennodejs robot_mapping_generate_messages_nodejs)
+
+# register target for catkin_package(EXPORTED_TARGETS)
+list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS robot_mapping_generate_messages_nodejs)
+
+### Section generating for lang: genpy
+### Generating Messages
+
+### Generating Services
+
+### Generating Module File
+_generate_module_py(robot_mapping
+  ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/robot_mapping
+  "${ALL_GEN_OUTPUT_FILES_py}"
+)
+
+add_custom_target(robot_mapping_generate_messages_py
+  DEPENDS ${ALL_GEN_OUTPUT_FILES_py}
+)
+add_dependencies(robot_mapping_generate_messages robot_mapping_generate_messages_py)
+
+# add dependencies to all check dependencies targets
+
+# target for backward compatibility
+add_custom_target(robot_mapping_genpy)
+add_dependencies(robot_mapping_genpy robot_mapping_generate_messages_py)
+
+# register target for catkin_package(EXPORTED_TARGETS)
+list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS robot_mapping_generate_messages_py)
+
+
+
+if(gencpp_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/robot_mapping)
+  # install generated code
+  install(
+    DIRECTORY ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/robot_mapping
+    DESTINATION ${gencpp_INSTALL_DIR}
+  )
+endif()
+if(TARGET std_msgs_generate_messages_cpp)
+  add_dependencies(robot_mapping_generate_messages_cpp std_msgs_generate_messages_cpp)
+endif()
+
+if(geneus_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/robot_mapping)
+  # install generated code
+  install(
+    DIRECTORY ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/robot_mapping
+    DESTINATION ${geneus_INSTALL_DIR}
+  )
+endif()
+if(TARGET std_msgs_generate_messages_eus)
+  add_dependencies(robot_mapping_generate_messages_eus std_msgs_generate_messages_eus)
+endif()
+
+if(genlisp_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/robot_mapping)
+  # install generated code
+  install(
+    DIRECTORY ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/robot_mapping
+    DESTINATION ${genlisp_INSTALL_DIR}
+  )
+endif()
+if(TARGET std_msgs_generate_messages_lisp)
+  add_dependencies(robot_mapping_generate_messages_lisp std_msgs_generate_messages_lisp)
+endif()
+
+if(gennodejs_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/robot_mapping)
+  # install generated code
+  install(
+    DIRECTORY ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/robot_mapping
+    DESTINATION ${gennodejs_INSTALL_DIR}
+  )
+endif()
+if(TARGET std_msgs_generate_messages_nodejs)
+  add_dependencies(robot_mapping_generate_messages_nodejs std_msgs_generate_messages_nodejs)
+endif()
+
+if(genpy_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/robot_mapping)
+  install(CODE "execute_process(COMMAND \"/usr/bin/python2\" -m compileall \"${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/robot_mapping\")")
+  # install generated code
+  install(
+    DIRECTORY ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/robot_mapping
+    DESTINATION ${genpy_INSTALL_DIR}
+  )
+endif()
+if(TARGET std_msgs_generate_messages_py)
+  add_dependencies(robot_mapping_generate_messages_py std_msgs_generate_messages_py)
+endif()
diff --git a/workspace/virtuallab/build/robot_mapping/cmake_install.cmake b/workspace/virtuallab/build/robot_mapping/cmake_install.cmake
index 6c48755c1b46a6b3e3c141df2ad621200c8c4e7d..0f94a8e90eacdb6db35be3efac25749dd9c96d18 100644
--- a/workspace/virtuallab/build/robot_mapping/cmake_install.cmake
+++ b/workspace/virtuallab/build/robot_mapping/cmake_install.cmake
@@ -41,6 +41,18 @@ if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_
   file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/robot_mapping/cmake" TYPE FILE FILES "/home/job/workspace/virtuallab/build/robot_mapping/catkin_generated/installspace/robot_mapping-msg-paths.cmake")
 endif()
 
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/roseus/ros" TYPE DIRECTORY FILES "/home/job/workspace/virtuallab/devel/share/roseus/ros/robot_mapping")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  execute_process(COMMAND "/usr/bin/python2" -m compileall "/home/job/workspace/virtuallab/devel/lib/python2.7/dist-packages/robot_mapping")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/python2.7/dist-packages" TYPE DIRECTORY FILES "/home/job/workspace/virtuallab/devel/lib/python2.7/dist-packages/robot_mapping")
+endif()
+
 if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
   file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/pkgconfig" TYPE FILE FILES "/home/job/workspace/virtuallab/build/robot_mapping/catkin_generated/installspace/robot_mapping.pc")
 endif()
diff --git a/workspace/virtuallab/build/usb_cam/CMakeFiles/usb_cam.dir/progress.make b/workspace/virtuallab/build/usb_cam/CMakeFiles/usb_cam.dir/progress.make
index 3244467eda05b3e61da6a3fa7ca49829960aa1fc..b1ca4935691f32e9479071d2f65e60232e242a70 100644
--- a/workspace/virtuallab/build/usb_cam/CMakeFiles/usb_cam.dir/progress.make
+++ b/workspace/virtuallab/build/usb_cam/CMakeFiles/usb_cam.dir/progress.make
@@ -1,3 +1,3 @@
-CMAKE_PROGRESS_1 = 26
-CMAKE_PROGRESS_2 = 27
+CMAKE_PROGRESS_1 = 31
+CMAKE_PROGRESS_2 = 32
 
diff --git a/workspace/virtuallab/build/usb_cam/CMakeFiles/usb_cam_node.dir/progress.make b/workspace/virtuallab/build/usb_cam/CMakeFiles/usb_cam_node.dir/progress.make
index ec204d332ef87b4e7f87b3fef7cfcbad10207564..c354d5c0377770f3714ffcfcf7160631de50dd2e 100644
--- a/workspace/virtuallab/build/usb_cam/CMakeFiles/usb_cam_node.dir/progress.make
+++ b/workspace/virtuallab/build/usb_cam/CMakeFiles/usb_cam_node.dir/progress.make
@@ -1,3 +1,3 @@
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diff --git a/workspace/virtuallab/build/usb_cam/Makefile b/workspace/virtuallab/build/usb_cam/Makefile
index 4a7c0e7d21125619f74a801a58dd8d40aa8e80f2..d373cb9a7bb7677accb3f81a6fe828b18814d05d 100644
--- a/workspace/virtuallab/build/usb_cam/Makefile
+++ b/workspace/virtuallab/build/usb_cam/Makefile
@@ -68,27 +68,6 @@ install/fast: preinstall/fast
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 .PHONY : install/fast
 
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 install/strip: preinstall
 	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing the project stripped..."
@@ -101,17 +80,6 @@ install/strip/fast: preinstall/fast
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 .PHONY : install/strip/fast
 
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 	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing only the local directory..."
@@ -135,6 +103,38 @@ test/fast: test
 
 .PHONY : test/fast
 
+# Special rule for the target list_install_components
+list_install_components:
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Available install components are: \"Unspecified\""
+.PHONY : list_install_components
+
+# Special rule for the target list_install_components
+list_install_components/fast: list_install_components
+
+.PHONY : list_install_components/fast
+
+# Special rule for the target edit_cache
+edit_cache:
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "No interactive CMake dialog available..."
+	/usr/bin/cmake -E echo No\ interactive\ CMake\ dialog\ available.
+.PHONY : edit_cache
+
+# Special rule for the target edit_cache
+edit_cache/fast: edit_cache
+
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+
+# Special rule for the target rebuild_cache
+rebuild_cache:
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Running CMake to regenerate build system..."
+	/usr/bin/cmake -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR)
+.PHONY : rebuild_cache
+
+# Special rule for the target rebuild_cache
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+
+.PHONY : rebuild_cache/fast
+
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 all: cmake_check_build_system
 	cd /home/job/workspace/virtuallab/build && $(CMAKE_COMMAND) -E cmake_progress_start /home/job/workspace/virtuallab/build/CMakeFiles /home/job/workspace/virtuallab/build/usb_cam/CMakeFiles/progress.marks
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 	@echo "... install/local"
-	@echo "... test"
 	@echo "... usb_cam"
-	@echo "... std_srvs_generate_messages_nodejs"
+	@echo "... test"
+	@echo "... list_install_components"
+	@echo "... edit_cache"
+	@echo "... rebuild_cache"
 	@echo "... nodes/usb_cam_node.o"
 	@echo "... nodes/usb_cam_node.i"
 	@echo "... nodes/usb_cam_node.s"
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diff --git a/workspace/virtuallab/devel/include/obstacle_detector/CircleObstacle.h b/workspace/virtuallab/devel/include/obstacle_detector/CircleObstacle.h
new file mode 100644
index 0000000000000000000000000000000000000000..b1bfa2be27e66a8673f78c7b025d66c5f61e634d
--- /dev/null
+++ b/workspace/virtuallab/devel/include/obstacle_detector/CircleObstacle.h
@@ -0,0 +1,249 @@
+// Generated by gencpp from file obstacle_detector/CircleObstacle.msg
+// DO NOT EDIT!
+
+
+#ifndef OBSTACLE_DETECTOR_MESSAGE_CIRCLEOBSTACLE_H
+#define OBSTACLE_DETECTOR_MESSAGE_CIRCLEOBSTACLE_H
+
+
+#include <string>
+#include <vector>
+#include <map>
+
+#include <ros/types.h>
+#include <ros/serialization.h>
+#include <ros/builtin_message_traits.h>
+#include <ros/message_operations.h>
+
+#include <geometry_msgs/Point.h>
+#include <geometry_msgs/Vector3.h>
+
+namespace obstacle_detector
+{
+template <class ContainerAllocator>
+struct CircleObstacle_
+{
+  typedef CircleObstacle_<ContainerAllocator> Type;
+
+  CircleObstacle_()
+    : center()
+    , velocity()
+    , radius(0.0)
+    , true_radius(0.0)  {
+    }
+  CircleObstacle_(const ContainerAllocator& _alloc)
+    : center(_alloc)
+    , velocity(_alloc)
+    , radius(0.0)
+    , true_radius(0.0)  {
+  (void)_alloc;
+    }
+
+
+
+   typedef  ::geometry_msgs::Point_<ContainerAllocator>  _center_type;
+  _center_type center;
+
+   typedef  ::geometry_msgs::Vector3_<ContainerAllocator>  _velocity_type;
+  _velocity_type velocity;
+
+   typedef double _radius_type;
+  _radius_type radius;
+
+   typedef double _true_radius_type;
+  _true_radius_type true_radius;
+
+
+
+
+
+  typedef boost::shared_ptr< ::obstacle_detector::CircleObstacle_<ContainerAllocator> > Ptr;
+  typedef boost::shared_ptr< ::obstacle_detector::CircleObstacle_<ContainerAllocator> const> ConstPtr;
+
+}; // struct CircleObstacle_
+
+typedef ::obstacle_detector::CircleObstacle_<std::allocator<void> > CircleObstacle;
+
+typedef boost::shared_ptr< ::obstacle_detector::CircleObstacle > CircleObstaclePtr;
+typedef boost::shared_ptr< ::obstacle_detector::CircleObstacle const> CircleObstacleConstPtr;
+
+// constants requiring out of line definition
+
+
+
+template<typename ContainerAllocator>
+std::ostream& operator<<(std::ostream& s, const ::obstacle_detector::CircleObstacle_<ContainerAllocator> & v)
+{
+ros::message_operations::Printer< ::obstacle_detector::CircleObstacle_<ContainerAllocator> >::stream(s, "", v);
+return s;
+}
+
+
+template<typename ContainerAllocator1, typename ContainerAllocator2>
+bool operator==(const ::obstacle_detector::CircleObstacle_<ContainerAllocator1> & lhs, const ::obstacle_detector::CircleObstacle_<ContainerAllocator2> & rhs)
+{
+  return lhs.center == rhs.center &&
+    lhs.velocity == rhs.velocity &&
+    lhs.radius == rhs.radius &&
+    lhs.true_radius == rhs.true_radius;
+}
+
+template<typename ContainerAllocator1, typename ContainerAllocator2>
+bool operator!=(const ::obstacle_detector::CircleObstacle_<ContainerAllocator1> & lhs, const ::obstacle_detector::CircleObstacle_<ContainerAllocator2> & rhs)
+{
+  return !(lhs == rhs);
+}
+
+
+} // namespace obstacle_detector
+
+namespace ros
+{
+namespace message_traits
+{
+
+
+
+
+
+template <class ContainerAllocator>
+struct IsFixedSize< ::obstacle_detector::CircleObstacle_<ContainerAllocator> >
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct IsFixedSize< ::obstacle_detector::CircleObstacle_<ContainerAllocator> const>
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct IsMessage< ::obstacle_detector::CircleObstacle_<ContainerAllocator> >
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct IsMessage< ::obstacle_detector::CircleObstacle_<ContainerAllocator> const>
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct HasHeader< ::obstacle_detector::CircleObstacle_<ContainerAllocator> >
+  : FalseType
+  { };
+
+template <class ContainerAllocator>
+struct HasHeader< ::obstacle_detector::CircleObstacle_<ContainerAllocator> const>
+  : FalseType
+  { };
+
+
+template<class ContainerAllocator>
+struct MD5Sum< ::obstacle_detector::CircleObstacle_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "d23cb7e768ed09971078d4cccc3808a9";
+  }
+
+  static const char* value(const ::obstacle_detector::CircleObstacle_<ContainerAllocator>&) { return value(); }
+  static const uint64_t static_value1 = 0xd23cb7e768ed0997ULL;
+  static const uint64_t static_value2 = 0x1078d4cccc3808a9ULL;
+};
+
+template<class ContainerAllocator>
+struct DataType< ::obstacle_detector::CircleObstacle_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "obstacle_detector/CircleObstacle";
+  }
+
+  static const char* value(const ::obstacle_detector::CircleObstacle_<ContainerAllocator>&) { return value(); }
+};
+
+template<class ContainerAllocator>
+struct Definition< ::obstacle_detector::CircleObstacle_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "geometry_msgs/Point center      # Central point [m]\n"
+"geometry_msgs/Vector3 velocity  # Linear velocity [m/s]\n"
+"float64 radius                  # Radius with added margin [m]\n"
+"float64 true_radius             # True measured radius [m]\n"
+"\n"
+"================================================================================\n"
+"MSG: geometry_msgs/Point\n"
+"# This contains the position of a point in free space\n"
+"float64 x\n"
+"float64 y\n"
+"float64 z\n"
+"\n"
+"================================================================================\n"
+"MSG: geometry_msgs/Vector3\n"
+"# This represents a vector in free space. \n"
+"# It is only meant to represent a direction. Therefore, it does not\n"
+"# make sense to apply a translation to it (e.g., when applying a \n"
+"# generic rigid transformation to a Vector3, tf2 will only apply the\n"
+"# rotation). If you want your data to be translatable too, use the\n"
+"# geometry_msgs/Point message instead.\n"
+"\n"
+"float64 x\n"
+"float64 y\n"
+"float64 z\n"
+;
+  }
+
+  static const char* value(const ::obstacle_detector::CircleObstacle_<ContainerAllocator>&) { return value(); }
+};
+
+} // namespace message_traits
+} // namespace ros
+
+namespace ros
+{
+namespace serialization
+{
+
+  template<class ContainerAllocator> struct Serializer< ::obstacle_detector::CircleObstacle_<ContainerAllocator> >
+  {
+    template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
+    {
+      stream.next(m.center);
+      stream.next(m.velocity);
+      stream.next(m.radius);
+      stream.next(m.true_radius);
+    }
+
+    ROS_DECLARE_ALLINONE_SERIALIZER
+  }; // struct CircleObstacle_
+
+} // namespace serialization
+} // namespace ros
+
+namespace ros
+{
+namespace message_operations
+{
+
+template<class ContainerAllocator>
+struct Printer< ::obstacle_detector::CircleObstacle_<ContainerAllocator> >
+{
+  template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::obstacle_detector::CircleObstacle_<ContainerAllocator>& v)
+  {
+    s << indent << "center: ";
+    s << std::endl;
+    Printer< ::geometry_msgs::Point_<ContainerAllocator> >::stream(s, indent + "  ", v.center);
+    s << indent << "velocity: ";
+    s << std::endl;
+    Printer< ::geometry_msgs::Vector3_<ContainerAllocator> >::stream(s, indent + "  ", v.velocity);
+    s << indent << "radius: ";
+    Printer<double>::stream(s, indent + "  ", v.radius);
+    s << indent << "true_radius: ";
+    Printer<double>::stream(s, indent + "  ", v.true_radius);
+  }
+};
+
+} // namespace message_operations
+} // namespace ros
+
+#endif // OBSTACLE_DETECTOR_MESSAGE_CIRCLEOBSTACLE_H
diff --git a/workspace/virtuallab/devel/include/obstacle_detector/Obstacles.h b/workspace/virtuallab/devel/include/obstacle_detector/Obstacles.h
new file mode 100644
index 0000000000000000000000000000000000000000..9dec18539d3fd9e90844c50ac717300ca1e3767f
--- /dev/null
+++ b/workspace/virtuallab/devel/include/obstacle_detector/Obstacles.h
@@ -0,0 +1,280 @@
+// Generated by gencpp from file obstacle_detector/Obstacles.msg
+// DO NOT EDIT!
+
+
+#ifndef OBSTACLE_DETECTOR_MESSAGE_OBSTACLES_H
+#define OBSTACLE_DETECTOR_MESSAGE_OBSTACLES_H
+
+
+#include <string>
+#include <vector>
+#include <map>
+
+#include <ros/types.h>
+#include <ros/serialization.h>
+#include <ros/builtin_message_traits.h>
+#include <ros/message_operations.h>
+
+#include <std_msgs/Header.h>
+#include <obstacle_detector/SegmentObstacle.h>
+#include <obstacle_detector/CircleObstacle.h>
+
+namespace obstacle_detector
+{
+template <class ContainerAllocator>
+struct Obstacles_
+{
+  typedef Obstacles_<ContainerAllocator> Type;
+
+  Obstacles_()
+    : header()
+    , segments()
+    , circles()  {
+    }
+  Obstacles_(const ContainerAllocator& _alloc)
+    : header(_alloc)
+    , segments(_alloc)
+    , circles(_alloc)  {
+  (void)_alloc;
+    }
+
+
+
+   typedef  ::std_msgs::Header_<ContainerAllocator>  _header_type;
+  _header_type header;
+
+   typedef std::vector< ::obstacle_detector::SegmentObstacle_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::obstacle_detector::SegmentObstacle_<ContainerAllocator> >::other >  _segments_type;
+  _segments_type segments;
+
+   typedef std::vector< ::obstacle_detector::CircleObstacle_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::obstacle_detector::CircleObstacle_<ContainerAllocator> >::other >  _circles_type;
+  _circles_type circles;
+
+
+
+
+
+  typedef boost::shared_ptr< ::obstacle_detector::Obstacles_<ContainerAllocator> > Ptr;
+  typedef boost::shared_ptr< ::obstacle_detector::Obstacles_<ContainerAllocator> const> ConstPtr;
+
+}; // struct Obstacles_
+
+typedef ::obstacle_detector::Obstacles_<std::allocator<void> > Obstacles;
+
+typedef boost::shared_ptr< ::obstacle_detector::Obstacles > ObstaclesPtr;
+typedef boost::shared_ptr< ::obstacle_detector::Obstacles const> ObstaclesConstPtr;
+
+// constants requiring out of line definition
+
+
+
+template<typename ContainerAllocator>
+std::ostream& operator<<(std::ostream& s, const ::obstacle_detector::Obstacles_<ContainerAllocator> & v)
+{
+ros::message_operations::Printer< ::obstacle_detector::Obstacles_<ContainerAllocator> >::stream(s, "", v);
+return s;
+}
+
+
+template<typename ContainerAllocator1, typename ContainerAllocator2>
+bool operator==(const ::obstacle_detector::Obstacles_<ContainerAllocator1> & lhs, const ::obstacle_detector::Obstacles_<ContainerAllocator2> & rhs)
+{
+  return lhs.header == rhs.header &&
+    lhs.segments == rhs.segments &&
+    lhs.circles == rhs.circles;
+}
+
+template<typename ContainerAllocator1, typename ContainerAllocator2>
+bool operator!=(const ::obstacle_detector::Obstacles_<ContainerAllocator1> & lhs, const ::obstacle_detector::Obstacles_<ContainerAllocator2> & rhs)
+{
+  return !(lhs == rhs);
+}
+
+
+} // namespace obstacle_detector
+
+namespace ros
+{
+namespace message_traits
+{
+
+
+
+
+
+template <class ContainerAllocator>
+struct IsFixedSize< ::obstacle_detector::Obstacles_<ContainerAllocator> >
+  : FalseType
+  { };
+
+template <class ContainerAllocator>
+struct IsFixedSize< ::obstacle_detector::Obstacles_<ContainerAllocator> const>
+  : FalseType
+  { };
+
+template <class ContainerAllocator>
+struct IsMessage< ::obstacle_detector::Obstacles_<ContainerAllocator> >
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct IsMessage< ::obstacle_detector::Obstacles_<ContainerAllocator> const>
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct HasHeader< ::obstacle_detector::Obstacles_<ContainerAllocator> >
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct HasHeader< ::obstacle_detector::Obstacles_<ContainerAllocator> const>
+  : TrueType
+  { };
+
+
+template<class ContainerAllocator>
+struct MD5Sum< ::obstacle_detector::Obstacles_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "043bbf49c7775f8111e850268dbcf2e3";
+  }
+
+  static const char* value(const ::obstacle_detector::Obstacles_<ContainerAllocator>&) { return value(); }
+  static const uint64_t static_value1 = 0x043bbf49c7775f81ULL;
+  static const uint64_t static_value2 = 0x11e850268dbcf2e3ULL;
+};
+
+template<class ContainerAllocator>
+struct DataType< ::obstacle_detector::Obstacles_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "obstacle_detector/Obstacles";
+  }
+
+  static const char* value(const ::obstacle_detector::Obstacles_<ContainerAllocator>&) { return value(); }
+};
+
+template<class ContainerAllocator>
+struct Definition< ::obstacle_detector::Obstacles_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "Header header\n"
+"\n"
+"obstacle_detector/SegmentObstacle[] segments\n"
+"obstacle_detector/CircleObstacle[] circles\n"
+"\n"
+"================================================================================\n"
+"MSG: std_msgs/Header\n"
+"# Standard metadata for higher-level stamped data types.\n"
+"# This is generally used to communicate timestamped data \n"
+"# in a particular coordinate frame.\n"
+"# \n"
+"# sequence ID: consecutively increasing ID \n"
+"uint32 seq\n"
+"#Two-integer timestamp that is expressed as:\n"
+"# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')\n"
+"# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')\n"
+"# time-handling sugar is provided by the client library\n"
+"time stamp\n"
+"#Frame this data is associated with\n"
+"string frame_id\n"
+"\n"
+"================================================================================\n"
+"MSG: obstacle_detector/SegmentObstacle\n"
+"geometry_msgs/Point first_point  # First point of the segment [m]\n"
+"geometry_msgs/Point last_point   # Last point of the segment [m]\n"
+"\n"
+"================================================================================\n"
+"MSG: geometry_msgs/Point\n"
+"# This contains the position of a point in free space\n"
+"float64 x\n"
+"float64 y\n"
+"float64 z\n"
+"\n"
+"================================================================================\n"
+"MSG: obstacle_detector/CircleObstacle\n"
+"geometry_msgs/Point center      # Central point [m]\n"
+"geometry_msgs/Vector3 velocity  # Linear velocity [m/s]\n"
+"float64 radius                  # Radius with added margin [m]\n"
+"float64 true_radius             # True measured radius [m]\n"
+"\n"
+"================================================================================\n"
+"MSG: geometry_msgs/Vector3\n"
+"# This represents a vector in free space. \n"
+"# It is only meant to represent a direction. Therefore, it does not\n"
+"# make sense to apply a translation to it (e.g., when applying a \n"
+"# generic rigid transformation to a Vector3, tf2 will only apply the\n"
+"# rotation). If you want your data to be translatable too, use the\n"
+"# geometry_msgs/Point message instead.\n"
+"\n"
+"float64 x\n"
+"float64 y\n"
+"float64 z\n"
+;
+  }
+
+  static const char* value(const ::obstacle_detector::Obstacles_<ContainerAllocator>&) { return value(); }
+};
+
+} // namespace message_traits
+} // namespace ros
+
+namespace ros
+{
+namespace serialization
+{
+
+  template<class ContainerAllocator> struct Serializer< ::obstacle_detector::Obstacles_<ContainerAllocator> >
+  {
+    template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
+    {
+      stream.next(m.header);
+      stream.next(m.segments);
+      stream.next(m.circles);
+    }
+
+    ROS_DECLARE_ALLINONE_SERIALIZER
+  }; // struct Obstacles_
+
+} // namespace serialization
+} // namespace ros
+
+namespace ros
+{
+namespace message_operations
+{
+
+template<class ContainerAllocator>
+struct Printer< ::obstacle_detector::Obstacles_<ContainerAllocator> >
+{
+  template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::obstacle_detector::Obstacles_<ContainerAllocator>& v)
+  {
+    s << indent << "header: ";
+    s << std::endl;
+    Printer< ::std_msgs::Header_<ContainerAllocator> >::stream(s, indent + "  ", v.header);
+    s << indent << "segments[]" << std::endl;
+    for (size_t i = 0; i < v.segments.size(); ++i)
+    {
+      s << indent << "  segments[" << i << "]: ";
+      s << std::endl;
+      s << indent;
+      Printer< ::obstacle_detector::SegmentObstacle_<ContainerAllocator> >::stream(s, indent + "    ", v.segments[i]);
+    }
+    s << indent << "circles[]" << std::endl;
+    for (size_t i = 0; i < v.circles.size(); ++i)
+    {
+      s << indent << "  circles[" << i << "]: ";
+      s << std::endl;
+      s << indent;
+      Printer< ::obstacle_detector::CircleObstacle_<ContainerAllocator> >::stream(s, indent + "    ", v.circles[i]);
+    }
+  }
+};
+
+} // namespace message_operations
+} // namespace ros
+
+#endif // OBSTACLE_DETECTOR_MESSAGE_OBSTACLES_H
diff --git a/workspace/virtuallab/devel/include/obstacle_detector/SegmentObstacle.h b/workspace/virtuallab/devel/include/obstacle_detector/SegmentObstacle.h
new file mode 100644
index 0000000000000000000000000000000000000000..f1c5a68577b600e7894c110189072c4b135c660c
--- /dev/null
+++ b/workspace/virtuallab/devel/include/obstacle_detector/SegmentObstacle.h
@@ -0,0 +1,216 @@
+// Generated by gencpp from file obstacle_detector/SegmentObstacle.msg
+// DO NOT EDIT!
+
+
+#ifndef OBSTACLE_DETECTOR_MESSAGE_SEGMENTOBSTACLE_H
+#define OBSTACLE_DETECTOR_MESSAGE_SEGMENTOBSTACLE_H
+
+
+#include <string>
+#include <vector>
+#include <map>
+
+#include <ros/types.h>
+#include <ros/serialization.h>
+#include <ros/builtin_message_traits.h>
+#include <ros/message_operations.h>
+
+#include <geometry_msgs/Point.h>
+#include <geometry_msgs/Point.h>
+
+namespace obstacle_detector
+{
+template <class ContainerAllocator>
+struct SegmentObstacle_
+{
+  typedef SegmentObstacle_<ContainerAllocator> Type;
+
+  SegmentObstacle_()
+    : first_point()
+    , last_point()  {
+    }
+  SegmentObstacle_(const ContainerAllocator& _alloc)
+    : first_point(_alloc)
+    , last_point(_alloc)  {
+  (void)_alloc;
+    }
+
+
+
+   typedef  ::geometry_msgs::Point_<ContainerAllocator>  _first_point_type;
+  _first_point_type first_point;
+
+   typedef  ::geometry_msgs::Point_<ContainerAllocator>  _last_point_type;
+  _last_point_type last_point;
+
+
+
+
+
+  typedef boost::shared_ptr< ::obstacle_detector::SegmentObstacle_<ContainerAllocator> > Ptr;
+  typedef boost::shared_ptr< ::obstacle_detector::SegmentObstacle_<ContainerAllocator> const> ConstPtr;
+
+}; // struct SegmentObstacle_
+
+typedef ::obstacle_detector::SegmentObstacle_<std::allocator<void> > SegmentObstacle;
+
+typedef boost::shared_ptr< ::obstacle_detector::SegmentObstacle > SegmentObstaclePtr;
+typedef boost::shared_ptr< ::obstacle_detector::SegmentObstacle const> SegmentObstacleConstPtr;
+
+// constants requiring out of line definition
+
+
+
+template<typename ContainerAllocator>
+std::ostream& operator<<(std::ostream& s, const ::obstacle_detector::SegmentObstacle_<ContainerAllocator> & v)
+{
+ros::message_operations::Printer< ::obstacle_detector::SegmentObstacle_<ContainerAllocator> >::stream(s, "", v);
+return s;
+}
+
+
+template<typename ContainerAllocator1, typename ContainerAllocator2>
+bool operator==(const ::obstacle_detector::SegmentObstacle_<ContainerAllocator1> & lhs, const ::obstacle_detector::SegmentObstacle_<ContainerAllocator2> & rhs)
+{
+  return lhs.first_point == rhs.first_point &&
+    lhs.last_point == rhs.last_point;
+}
+
+template<typename ContainerAllocator1, typename ContainerAllocator2>
+bool operator!=(const ::obstacle_detector::SegmentObstacle_<ContainerAllocator1> & lhs, const ::obstacle_detector::SegmentObstacle_<ContainerAllocator2> & rhs)
+{
+  return !(lhs == rhs);
+}
+
+
+} // namespace obstacle_detector
+
+namespace ros
+{
+namespace message_traits
+{
+
+
+
+
+
+template <class ContainerAllocator>
+struct IsFixedSize< ::obstacle_detector::SegmentObstacle_<ContainerAllocator> >
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct IsFixedSize< ::obstacle_detector::SegmentObstacle_<ContainerAllocator> const>
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct IsMessage< ::obstacle_detector::SegmentObstacle_<ContainerAllocator> >
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct IsMessage< ::obstacle_detector::SegmentObstacle_<ContainerAllocator> const>
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct HasHeader< ::obstacle_detector::SegmentObstacle_<ContainerAllocator> >
+  : FalseType
+  { };
+
+template <class ContainerAllocator>
+struct HasHeader< ::obstacle_detector::SegmentObstacle_<ContainerAllocator> const>
+  : FalseType
+  { };
+
+
+template<class ContainerAllocator>
+struct MD5Sum< ::obstacle_detector::SegmentObstacle_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "37ecbf7e1053bae89f0770466b37c3c3";
+  }
+
+  static const char* value(const ::obstacle_detector::SegmentObstacle_<ContainerAllocator>&) { return value(); }
+  static const uint64_t static_value1 = 0x37ecbf7e1053bae8ULL;
+  static const uint64_t static_value2 = 0x9f0770466b37c3c3ULL;
+};
+
+template<class ContainerAllocator>
+struct DataType< ::obstacle_detector::SegmentObstacle_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "obstacle_detector/SegmentObstacle";
+  }
+
+  static const char* value(const ::obstacle_detector::SegmentObstacle_<ContainerAllocator>&) { return value(); }
+};
+
+template<class ContainerAllocator>
+struct Definition< ::obstacle_detector::SegmentObstacle_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "geometry_msgs/Point first_point  # First point of the segment [m]\n"
+"geometry_msgs/Point last_point   # Last point of the segment [m]\n"
+"\n"
+"================================================================================\n"
+"MSG: geometry_msgs/Point\n"
+"# This contains the position of a point in free space\n"
+"float64 x\n"
+"float64 y\n"
+"float64 z\n"
+;
+  }
+
+  static const char* value(const ::obstacle_detector::SegmentObstacle_<ContainerAllocator>&) { return value(); }
+};
+
+} // namespace message_traits
+} // namespace ros
+
+namespace ros
+{
+namespace serialization
+{
+
+  template<class ContainerAllocator> struct Serializer< ::obstacle_detector::SegmentObstacle_<ContainerAllocator> >
+  {
+    template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
+    {
+      stream.next(m.first_point);
+      stream.next(m.last_point);
+    }
+
+    ROS_DECLARE_ALLINONE_SERIALIZER
+  }; // struct SegmentObstacle_
+
+} // namespace serialization
+} // namespace ros
+
+namespace ros
+{
+namespace message_operations
+{
+
+template<class ContainerAllocator>
+struct Printer< ::obstacle_detector::SegmentObstacle_<ContainerAllocator> >
+{
+  template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::obstacle_detector::SegmentObstacle_<ContainerAllocator>& v)
+  {
+    s << indent << "first_point: ";
+    s << std::endl;
+    Printer< ::geometry_msgs::Point_<ContainerAllocator> >::stream(s, indent + "  ", v.first_point);
+    s << indent << "last_point: ";
+    s << std::endl;
+    Printer< ::geometry_msgs::Point_<ContainerAllocator> >::stream(s, indent + "  ", v.last_point);
+  }
+};
+
+} // namespace message_operations
+} // namespace ros
+
+#endif // OBSTACLE_DETECTOR_MESSAGE_SEGMENTOBSTACLE_H
diff --git a/workspace/virtuallab/devel/lib/co_robot_drive/drive_co_robot b/workspace/virtuallab/devel/lib/co_robot_drive/drive_co_robot
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diff --git a/workspace/virtuallab/devel/lib/obstacle_detector/scans_merger_node b/workspace/virtuallab/devel/lib/obstacle_detector/scans_merger_node
new file mode 100755
index 0000000000000000000000000000000000000000..33a77e38c27cf237ab0b6093b158f6130c9d2559
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diff --git a/workspace/virtuallab/devel/lib/pkgconfig/laser_scan_convert.pc b/workspace/virtuallab/devel/lib/pkgconfig/laser_scan_convert.pc
new file mode 100644
index 0000000000000000000000000000000000000000..412010b4ce010698d28a58db19b616120723df50
--- /dev/null
+++ b/workspace/virtuallab/devel/lib/pkgconfig/laser_scan_convert.pc
@@ -0,0 +1,8 @@
+prefix=/home/job/workspace/virtuallab/devel
+
+Name: laser_scan_convert
+Description: Description of laser_scan_convert
+Version: 0.0.0
+Cflags: 
+Libs: -L${prefix}/lib 
+Requires: 
diff --git a/workspace/virtuallab/devel/lib/pkgconfig/multi_object_tracking_lidar.pc b/workspace/virtuallab/devel/lib/pkgconfig/multi_object_tracking_lidar.pc
new file mode 100644
index 0000000000000000000000000000000000000000..c870b795ce46e3b817715f3b4c8e08d50518c8f6
--- /dev/null
+++ b/workspace/virtuallab/devel/lib/pkgconfig/multi_object_tracking_lidar.pc
@@ -0,0 +1,8 @@
+prefix=/home/job/workspace/virtuallab/devel
+
+Name: multi_object_tracking_lidar
+Description: Description of multi_object_tracking_lidar
+Version: 1.0.3
+Cflags: 
+Libs: -L${prefix}/lib 
+Requires: 
diff --git a/workspace/virtuallab/devel/lib/pkgconfig/obstacle_detector.pc b/workspace/virtuallab/devel/lib/pkgconfig/obstacle_detector.pc
new file mode 100644
index 0000000000000000000000000000000000000000..ac8504bb486816dd6c007299bfd37b133169bc8f
--- /dev/null
+++ b/workspace/virtuallab/devel/lib/pkgconfig/obstacle_detector.pc
@@ -0,0 +1,8 @@
+prefix=/home/job/workspace/virtuallab/devel
+
+Name: obstacle_detector
+Description: Description of obstacle_detector
+Version: 1.0.0
+Cflags: -I/home/job/workspace/virtuallab/devel/include -I/home/job/workspace/virtuallab/src/obstacle_detector/include
+Libs: -L${prefix}/lib -lscans_merger -lobstacle_extractor -lobstacle_tracker -lobstacle_publisher -lobstacle_detector_nodelets -lobstacle_detector_gui
+Requires: roscpp nodelet rviz std_msgs std_srvs geometry_msgs sensor_msgs tf laser_geometry message_runtime
diff --git a/workspace/virtuallab/devel/lib/python2.7/dist-packages/obstacle_detector/__init__.py b/workspace/virtuallab/devel/lib/python2.7/dist-packages/obstacle_detector/__init__.py
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/workspace/virtuallab/devel/lib/python2.7/dist-packages/obstacle_detector/__init__.pyc b/workspace/virtuallab/devel/lib/python2.7/dist-packages/obstacle_detector/__init__.pyc
new file mode 100644
index 0000000000000000000000000000000000000000..02403c6d96aff77e0cb4abb5792484fcb76fdf52
Binary files /dev/null and b/workspace/virtuallab/devel/lib/python2.7/dist-packages/obstacle_detector/__init__.pyc differ
diff --git a/workspace/virtuallab/devel/lib/python2.7/dist-packages/obstacle_detector/msg/_CircleObstacle.py b/workspace/virtuallab/devel/lib/python2.7/dist-packages/obstacle_detector/msg/_CircleObstacle.py
new file mode 100644
index 0000000000000000000000000000000000000000..dff100ee4480ee29aeef94b51c52348dd8ea7da4
--- /dev/null
+++ b/workspace/virtuallab/devel/lib/python2.7/dist-packages/obstacle_detector/msg/_CircleObstacle.py
@@ -0,0 +1,150 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from obstacle_detector/CircleObstacle.msg. Do not edit."""
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+import geometry_msgs.msg
+
+class CircleObstacle(genpy.Message):
+  _md5sum = "d23cb7e768ed09971078d4cccc3808a9"
+  _type = "obstacle_detector/CircleObstacle"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """geometry_msgs/Point center      # Central point [m]
+geometry_msgs/Vector3 velocity  # Linear velocity [m/s]
+float64 radius                  # Radius with added margin [m]
+float64 true_radius             # True measured radius [m]
+
+================================================================================
+MSG: geometry_msgs/Point
+# This contains the position of a point in free space
+float64 x
+float64 y
+float64 z
+
+================================================================================
+MSG: geometry_msgs/Vector3
+# This represents a vector in free space. 
+# It is only meant to represent a direction. Therefore, it does not
+# make sense to apply a translation to it (e.g., when applying a 
+# generic rigid transformation to a Vector3, tf2 will only apply the
+# rotation). If you want your data to be translatable too, use the
+# geometry_msgs/Point message instead.
+
+float64 x
+float64 y
+float64 z"""
+  __slots__ = ['center','velocity','radius','true_radius']
+  _slot_types = ['geometry_msgs/Point','geometry_msgs/Vector3','float64','float64']
+
+  def __init__(self, *args, **kwds):
+    """
+    Constructor. Any message fields that are implicitly/explicitly
+    set to None will be assigned a default value. The recommend
+    use is keyword arguments as this is more robust to future message
+    changes.  You cannot mix in-order arguments and keyword arguments.
+
+    The available fields are:
+       center,velocity,radius,true_radius
+
+    :param args: complete set of field values, in .msg order
+    :param kwds: use keyword arguments corresponding to message field names
+    to set specific fields.
+    """
+    if args or kwds:
+      super(CircleObstacle, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.center is None:
+        self.center = geometry_msgs.msg.Point()
+      if self.velocity is None:
+        self.velocity = geometry_msgs.msg.Vector3()
+      if self.radius is None:
+        self.radius = 0.
+      if self.true_radius is None:
+        self.true_radius = 0.
+    else:
+      self.center = geometry_msgs.msg.Point()
+      self.velocity = geometry_msgs.msg.Vector3()
+      self.radius = 0.
+      self.true_radius = 0.
+
+  def _get_types(self):
+    """
+    internal API method
+    """
+    return self._slot_types
+
+  def serialize(self, buff):
+    """
+    serialize message into buffer
+    :param buff: buffer, ``StringIO``
+    """
+    try:
+      _x = self
+      buff.write(_get_struct_8d().pack(_x.center.x, _x.center.y, _x.center.z, _x.velocity.x, _x.velocity.y, _x.velocity.z, _x.radius, _x.true_radius))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
+
+  def deserialize(self, str):
+    """
+    unpack serialized message in str into this message instance
+    :param str: byte array of serialized message, ``str``
+    """
+    try:
+      if self.center is None:
+        self.center = geometry_msgs.msg.Point()
+      if self.velocity is None:
+        self.velocity = geometry_msgs.msg.Vector3()
+      end = 0
+      _x = self
+      start = end
+      end += 64
+      (_x.center.x, _x.center.y, _x.center.z, _x.velocity.x, _x.velocity.y, _x.velocity.z, _x.radius, _x.true_radius,) = _get_struct_8d().unpack(str[start:end])
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e)  # most likely buffer underfill
+
+
+  def serialize_numpy(self, buff, numpy):
+    """
+    serialize message with numpy array types into buffer
+    :param buff: buffer, ``StringIO``
+    :param numpy: numpy python module
+    """
+    try:
+      _x = self
+      buff.write(_get_struct_8d().pack(_x.center.x, _x.center.y, _x.center.z, _x.velocity.x, _x.velocity.y, _x.velocity.z, _x.radius, _x.true_radius))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
+
+  def deserialize_numpy(self, str, numpy):
+    """
+    unpack serialized message in str into this message instance using numpy for array types
+    :param str: byte array of serialized message, ``str``
+    :param numpy: numpy python module
+    """
+    try:
+      if self.center is None:
+        self.center = geometry_msgs.msg.Point()
+      if self.velocity is None:
+        self.velocity = geometry_msgs.msg.Vector3()
+      end = 0
+      _x = self
+      start = end
+      end += 64
+      (_x.center.x, _x.center.y, _x.center.z, _x.velocity.x, _x.velocity.y, _x.velocity.z, _x.radius, _x.true_radius,) = _get_struct_8d().unpack(str[start:end])
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e)  # most likely buffer underfill
+
+_struct_I = genpy.struct_I
+def _get_struct_I():
+    global _struct_I
+    return _struct_I
+_struct_8d = None
+def _get_struct_8d():
+    global _struct_8d
+    if _struct_8d is None:
+        _struct_8d = struct.Struct("<8d")
+    return _struct_8d
diff --git a/workspace/virtuallab/devel/lib/python2.7/dist-packages/obstacle_detector/msg/_CircleObstacle.pyc b/workspace/virtuallab/devel/lib/python2.7/dist-packages/obstacle_detector/msg/_CircleObstacle.pyc
new file mode 100644
index 0000000000000000000000000000000000000000..1e78acfe2e1dedf9800640e598501a9513920462
Binary files /dev/null and b/workspace/virtuallab/devel/lib/python2.7/dist-packages/obstacle_detector/msg/_CircleObstacle.pyc differ
diff --git a/workspace/virtuallab/devel/lib/python2.7/dist-packages/obstacle_detector/msg/_Obstacles.py b/workspace/virtuallab/devel/lib/python2.7/dist-packages/obstacle_detector/msg/_Obstacles.py
new file mode 100644
index 0000000000000000000000000000000000000000..ac21d852a97af4cff7dfa12713bdf303854b6360
--- /dev/null
+++ b/workspace/virtuallab/devel/lib/python2.7/dist-packages/obstacle_detector/msg/_Obstacles.py
@@ -0,0 +1,339 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from obstacle_detector/Obstacles.msg. Do not edit."""
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+import geometry_msgs.msg
+import obstacle_detector.msg
+import std_msgs.msg
+
+class Obstacles(genpy.Message):
+  _md5sum = "043bbf49c7775f8111e850268dbcf2e3"
+  _type = "obstacle_detector/Obstacles"
+  _has_header = True  # flag to mark the presence of a Header object
+  _full_text = """Header header
+
+obstacle_detector/SegmentObstacle[] segments
+obstacle_detector/CircleObstacle[] circles
+
+================================================================================
+MSG: std_msgs/Header
+# Standard metadata for higher-level stamped data types.
+# This is generally used to communicate timestamped data 
+# in a particular coordinate frame.
+# 
+# sequence ID: consecutively increasing ID 
+uint32 seq
+#Two-integer timestamp that is expressed as:
+# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
+# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
+# time-handling sugar is provided by the client library
+time stamp
+#Frame this data is associated with
+string frame_id
+
+================================================================================
+MSG: obstacle_detector/SegmentObstacle
+geometry_msgs/Point first_point  # First point of the segment [m]
+geometry_msgs/Point last_point   # Last point of the segment [m]
+
+================================================================================
+MSG: geometry_msgs/Point
+# This contains the position of a point in free space
+float64 x
+float64 y
+float64 z
+
+================================================================================
+MSG: obstacle_detector/CircleObstacle
+geometry_msgs/Point center      # Central point [m]
+geometry_msgs/Vector3 velocity  # Linear velocity [m/s]
+float64 radius                  # Radius with added margin [m]
+float64 true_radius             # True measured radius [m]
+
+================================================================================
+MSG: geometry_msgs/Vector3
+# This represents a vector in free space. 
+# It is only meant to represent a direction. Therefore, it does not
+# make sense to apply a translation to it (e.g., when applying a 
+# generic rigid transformation to a Vector3, tf2 will only apply the
+# rotation). If you want your data to be translatable too, use the
+# geometry_msgs/Point message instead.
+
+float64 x
+float64 y
+float64 z"""
+  __slots__ = ['header','segments','circles']
+  _slot_types = ['std_msgs/Header','obstacle_detector/SegmentObstacle[]','obstacle_detector/CircleObstacle[]']
+
+  def __init__(self, *args, **kwds):
+    """
+    Constructor. Any message fields that are implicitly/explicitly
+    set to None will be assigned a default value. The recommend
+    use is keyword arguments as this is more robust to future message
+    changes.  You cannot mix in-order arguments and keyword arguments.
+
+    The available fields are:
+       header,segments,circles
+
+    :param args: complete set of field values, in .msg order
+    :param kwds: use keyword arguments corresponding to message field names
+    to set specific fields.
+    """
+    if args or kwds:
+      super(Obstacles, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      if self.segments is None:
+        self.segments = []
+      if self.circles is None:
+        self.circles = []
+    else:
+      self.header = std_msgs.msg.Header()
+      self.segments = []
+      self.circles = []
+
+  def _get_types(self):
+    """
+    internal API method
+    """
+    return self._slot_types
+
+  def serialize(self, buff):
+    """
+    serialize message into buffer
+    :param buff: buffer, ``StringIO``
+    """
+    try:
+      _x = self
+      buff.write(_get_struct_3I().pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
+      _x = self.header.frame_id
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      buff.write(struct.pack('<I%ss'%length, length, _x))
+      length = len(self.segments)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.segments:
+        _v1 = val1.first_point
+        _x = _v1
+        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
+        _v2 = val1.last_point
+        _x = _v2
+        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
+      length = len(self.circles)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.circles:
+        _v3 = val1.center
+        _x = _v3
+        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
+        _v4 = val1.velocity
+        _x = _v4
+        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
+        _x = val1
+        buff.write(_get_struct_2d().pack(_x.radius, _x.true_radius))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
+
+  def deserialize(self, str):
+    """
+    unpack serialized message in str into this message instance
+    :param str: byte array of serialized message, ``str``
+    """
+    try:
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      if self.segments is None:
+        self.segments = None
+      if self.circles is None:
+        self.circles = None
+      end = 0
+      _x = self
+      start = end
+      end += 12
+      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _get_struct_3I().unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.header.frame_id = str[start:end].decode('utf-8')
+      else:
+        self.header.frame_id = str[start:end]
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.segments = []
+      for i in range(0, length):
+        val1 = obstacle_detector.msg.SegmentObstacle()
+        _v5 = val1.first_point
+        _x = _v5
+        start = end
+        end += 24
+        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
+        _v6 = val1.last_point
+        _x = _v6
+        start = end
+        end += 24
+        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
+        self.segments.append(val1)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.circles = []
+      for i in range(0, length):
+        val1 = obstacle_detector.msg.CircleObstacle()
+        _v7 = val1.center
+        _x = _v7
+        start = end
+        end += 24
+        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
+        _v8 = val1.velocity
+        _x = _v8
+        start = end
+        end += 24
+        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
+        _x = val1
+        start = end
+        end += 16
+        (_x.radius, _x.true_radius,) = _get_struct_2d().unpack(str[start:end])
+        self.circles.append(val1)
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e)  # most likely buffer underfill
+
+
+  def serialize_numpy(self, buff, numpy):
+    """
+    serialize message with numpy array types into buffer
+    :param buff: buffer, ``StringIO``
+    :param numpy: numpy python module
+    """
+    try:
+      _x = self
+      buff.write(_get_struct_3I().pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
+      _x = self.header.frame_id
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      buff.write(struct.pack('<I%ss'%length, length, _x))
+      length = len(self.segments)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.segments:
+        _v9 = val1.first_point
+        _x = _v9
+        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
+        _v10 = val1.last_point
+        _x = _v10
+        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
+      length = len(self.circles)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.circles:
+        _v11 = val1.center
+        _x = _v11
+        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
+        _v12 = val1.velocity
+        _x = _v12
+        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
+        _x = val1
+        buff.write(_get_struct_2d().pack(_x.radius, _x.true_radius))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
+
+  def deserialize_numpy(self, str, numpy):
+    """
+    unpack serialized message in str into this message instance using numpy for array types
+    :param str: byte array of serialized message, ``str``
+    :param numpy: numpy python module
+    """
+    try:
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      if self.segments is None:
+        self.segments = None
+      if self.circles is None:
+        self.circles = None
+      end = 0
+      _x = self
+      start = end
+      end += 12
+      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _get_struct_3I().unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.header.frame_id = str[start:end].decode('utf-8')
+      else:
+        self.header.frame_id = str[start:end]
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.segments = []
+      for i in range(0, length):
+        val1 = obstacle_detector.msg.SegmentObstacle()
+        _v13 = val1.first_point
+        _x = _v13
+        start = end
+        end += 24
+        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
+        _v14 = val1.last_point
+        _x = _v14
+        start = end
+        end += 24
+        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
+        self.segments.append(val1)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.circles = []
+      for i in range(0, length):
+        val1 = obstacle_detector.msg.CircleObstacle()
+        _v15 = val1.center
+        _x = _v15
+        start = end
+        end += 24
+        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
+        _v16 = val1.velocity
+        _x = _v16
+        start = end
+        end += 24
+        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
+        _x = val1
+        start = end
+        end += 16
+        (_x.radius, _x.true_radius,) = _get_struct_2d().unpack(str[start:end])
+        self.circles.append(val1)
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e)  # most likely buffer underfill
+
+_struct_I = genpy.struct_I
+def _get_struct_I():
+    global _struct_I
+    return _struct_I
+_struct_2d = None
+def _get_struct_2d():
+    global _struct_2d
+    if _struct_2d is None:
+        _struct_2d = struct.Struct("<2d")
+    return _struct_2d
+_struct_3I = None
+def _get_struct_3I():
+    global _struct_3I
+    if _struct_3I is None:
+        _struct_3I = struct.Struct("<3I")
+    return _struct_3I
+_struct_3d = None
+def _get_struct_3d():
+    global _struct_3d
+    if _struct_3d is None:
+        _struct_3d = struct.Struct("<3d")
+    return _struct_3d
diff --git a/workspace/virtuallab/devel/lib/python2.7/dist-packages/obstacle_detector/msg/_Obstacles.pyc b/workspace/virtuallab/devel/lib/python2.7/dist-packages/obstacle_detector/msg/_Obstacles.pyc
new file mode 100644
index 0000000000000000000000000000000000000000..bb5ebe8027b6ce3dfd50bf443c643a4e0957f906
Binary files /dev/null and b/workspace/virtuallab/devel/lib/python2.7/dist-packages/obstacle_detector/msg/_Obstacles.pyc differ
diff --git a/workspace/virtuallab/devel/lib/python2.7/dist-packages/obstacle_detector/msg/_SegmentObstacle.py b/workspace/virtuallab/devel/lib/python2.7/dist-packages/obstacle_detector/msg/_SegmentObstacle.py
new file mode 100644
index 0000000000000000000000000000000000000000..a6280da5948298f086a65b628085c193ef6ae509
--- /dev/null
+++ b/workspace/virtuallab/devel/lib/python2.7/dist-packages/obstacle_detector/msg/_SegmentObstacle.py
@@ -0,0 +1,130 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from obstacle_detector/SegmentObstacle.msg. Do not edit."""
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+import geometry_msgs.msg
+
+class SegmentObstacle(genpy.Message):
+  _md5sum = "37ecbf7e1053bae89f0770466b37c3c3"
+  _type = "obstacle_detector/SegmentObstacle"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """geometry_msgs/Point first_point  # First point of the segment [m]
+geometry_msgs/Point last_point   # Last point of the segment [m]
+
+================================================================================
+MSG: geometry_msgs/Point
+# This contains the position of a point in free space
+float64 x
+float64 y
+float64 z
+"""
+  __slots__ = ['first_point','last_point']
+  _slot_types = ['geometry_msgs/Point','geometry_msgs/Point']
+
+  def __init__(self, *args, **kwds):
+    """
+    Constructor. Any message fields that are implicitly/explicitly
+    set to None will be assigned a default value. The recommend
+    use is keyword arguments as this is more robust to future message
+    changes.  You cannot mix in-order arguments and keyword arguments.
+
+    The available fields are:
+       first_point,last_point
+
+    :param args: complete set of field values, in .msg order
+    :param kwds: use keyword arguments corresponding to message field names
+    to set specific fields.
+    """
+    if args or kwds:
+      super(SegmentObstacle, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.first_point is None:
+        self.first_point = geometry_msgs.msg.Point()
+      if self.last_point is None:
+        self.last_point = geometry_msgs.msg.Point()
+    else:
+      self.first_point = geometry_msgs.msg.Point()
+      self.last_point = geometry_msgs.msg.Point()
+
+  def _get_types(self):
+    """
+    internal API method
+    """
+    return self._slot_types
+
+  def serialize(self, buff):
+    """
+    serialize message into buffer
+    :param buff: buffer, ``StringIO``
+    """
+    try:
+      _x = self
+      buff.write(_get_struct_6d().pack(_x.first_point.x, _x.first_point.y, _x.first_point.z, _x.last_point.x, _x.last_point.y, _x.last_point.z))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
+
+  def deserialize(self, str):
+    """
+    unpack serialized message in str into this message instance
+    :param str: byte array of serialized message, ``str``
+    """
+    try:
+      if self.first_point is None:
+        self.first_point = geometry_msgs.msg.Point()
+      if self.last_point is None:
+        self.last_point = geometry_msgs.msg.Point()
+      end = 0
+      _x = self
+      start = end
+      end += 48
+      (_x.first_point.x, _x.first_point.y, _x.first_point.z, _x.last_point.x, _x.last_point.y, _x.last_point.z,) = _get_struct_6d().unpack(str[start:end])
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e)  # most likely buffer underfill
+
+
+  def serialize_numpy(self, buff, numpy):
+    """
+    serialize message with numpy array types into buffer
+    :param buff: buffer, ``StringIO``
+    :param numpy: numpy python module
+    """
+    try:
+      _x = self
+      buff.write(_get_struct_6d().pack(_x.first_point.x, _x.first_point.y, _x.first_point.z, _x.last_point.x, _x.last_point.y, _x.last_point.z))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
+
+  def deserialize_numpy(self, str, numpy):
+    """
+    unpack serialized message in str into this message instance using numpy for array types
+    :param str: byte array of serialized message, ``str``
+    :param numpy: numpy python module
+    """
+    try:
+      if self.first_point is None:
+        self.first_point = geometry_msgs.msg.Point()
+      if self.last_point is None:
+        self.last_point = geometry_msgs.msg.Point()
+      end = 0
+      _x = self
+      start = end
+      end += 48
+      (_x.first_point.x, _x.first_point.y, _x.first_point.z, _x.last_point.x, _x.last_point.y, _x.last_point.z,) = _get_struct_6d().unpack(str[start:end])
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e)  # most likely buffer underfill
+
+_struct_I = genpy.struct_I
+def _get_struct_I():
+    global _struct_I
+    return _struct_I
+_struct_6d = None
+def _get_struct_6d():
+    global _struct_6d
+    if _struct_6d is None:
+        _struct_6d = struct.Struct("<6d")
+    return _struct_6d
diff --git a/workspace/virtuallab/devel/lib/python2.7/dist-packages/obstacle_detector/msg/_SegmentObstacle.pyc b/workspace/virtuallab/devel/lib/python2.7/dist-packages/obstacle_detector/msg/_SegmentObstacle.pyc
new file mode 100644
index 0000000000000000000000000000000000000000..2e460a4a7456010ac0491fd38e34ed8b71405be4
Binary files /dev/null and b/workspace/virtuallab/devel/lib/python2.7/dist-packages/obstacle_detector/msg/_SegmentObstacle.pyc differ
diff --git a/workspace/virtuallab/devel/lib/python2.7/dist-packages/obstacle_detector/msg/__init__.py b/workspace/virtuallab/devel/lib/python2.7/dist-packages/obstacle_detector/msg/__init__.py
new file mode 100644
index 0000000000000000000000000000000000000000..6f88b8ac2a9cb5ac848e33585ad8ddd8e0c99484
--- /dev/null
+++ b/workspace/virtuallab/devel/lib/python2.7/dist-packages/obstacle_detector/msg/__init__.py
@@ -0,0 +1,3 @@
+from ._CircleObstacle import *
+from ._Obstacles import *
+from ._SegmentObstacle import *
diff --git a/workspace/virtuallab/devel/lib/python2.7/dist-packages/obstacle_detector/msg/__init__.pyc b/workspace/virtuallab/devel/lib/python2.7/dist-packages/obstacle_detector/msg/__init__.pyc
new file mode 100644
index 0000000000000000000000000000000000000000..9c5668d7c1e0f4212159472a2814a17d88fa0acd
Binary files /dev/null and b/workspace/virtuallab/devel/lib/python2.7/dist-packages/obstacle_detector/msg/__init__.pyc differ
diff --git a/workspace/virtuallab/devel/lib/python2.7/dist-packages/robot_mapping/__init__.py b/workspace/virtuallab/devel/lib/python2.7/dist-packages/robot_mapping/__init__.py
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/workspace/virtuallab/devel/share/common-lisp/ros/obstacle_detector/msg/CircleObstacle.lisp b/workspace/virtuallab/devel/share/common-lisp/ros/obstacle_detector/msg/CircleObstacle.lisp
new file mode 100644
index 0000000000000000000000000000000000000000..ba231290dc90b9e1303473f8262a3118b3f3852b
--- /dev/null
+++ b/workspace/virtuallab/devel/share/common-lisp/ros/obstacle_detector/msg/CircleObstacle.lisp
@@ -0,0 +1,140 @@
+; Auto-generated. Do not edit!
+
+
+(cl:in-package obstacle_detector-msg)
+
+
+;//! \htmlinclude CircleObstacle.msg.html
+
+(cl:defclass <CircleObstacle> (roslisp-msg-protocol:ros-message)
+  ((center
+    :reader center
+    :initarg :center
+    :type geometry_msgs-msg:Point
+    :initform (cl:make-instance 'geometry_msgs-msg:Point))
+   (velocity
+    :reader velocity
+    :initarg :velocity
+    :type geometry_msgs-msg:Vector3
+    :initform (cl:make-instance 'geometry_msgs-msg:Vector3))
+   (radius
+    :reader radius
+    :initarg :radius
+    :type cl:float
+    :initform 0.0)
+   (true_radius
+    :reader true_radius
+    :initarg :true_radius
+    :type cl:float
+    :initform 0.0))
+)
+
+(cl:defclass CircleObstacle (<CircleObstacle>)
+  ())
+
+(cl:defmethod cl:initialize-instance :after ((m <CircleObstacle>) cl:&rest args)
+  (cl:declare (cl:ignorable args))
+  (cl:unless (cl:typep m 'CircleObstacle)
+    (roslisp-msg-protocol:msg-deprecation-warning "using old message class name obstacle_detector-msg:<CircleObstacle> is deprecated: use obstacle_detector-msg:CircleObstacle instead.")))
+
+(cl:ensure-generic-function 'center-val :lambda-list '(m))
+(cl:defmethod center-val ((m <CircleObstacle>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader obstacle_detector-msg:center-val is deprecated.  Use obstacle_detector-msg:center instead.")
+  (center m))
+
+(cl:ensure-generic-function 'velocity-val :lambda-list '(m))
+(cl:defmethod velocity-val ((m <CircleObstacle>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader obstacle_detector-msg:velocity-val is deprecated.  Use obstacle_detector-msg:velocity instead.")
+  (velocity m))
+
+(cl:ensure-generic-function 'radius-val :lambda-list '(m))
+(cl:defmethod radius-val ((m <CircleObstacle>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader obstacle_detector-msg:radius-val is deprecated.  Use obstacle_detector-msg:radius instead.")
+  (radius m))
+
+(cl:ensure-generic-function 'true_radius-val :lambda-list '(m))
+(cl:defmethod true_radius-val ((m <CircleObstacle>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader obstacle_detector-msg:true_radius-val is deprecated.  Use obstacle_detector-msg:true_radius instead.")
+  (true_radius m))
+(cl:defmethod roslisp-msg-protocol:serialize ((msg <CircleObstacle>) ostream)
+  "Serializes a message object of type '<CircleObstacle>"
+  (roslisp-msg-protocol:serialize (cl:slot-value msg 'center) ostream)
+  (roslisp-msg-protocol:serialize (cl:slot-value msg 'velocity) ostream)
+  (cl:let ((bits (roslisp-utils:encode-double-float-bits (cl:slot-value msg 'radius))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream))
+  (cl:let ((bits (roslisp-utils:encode-double-float-bits (cl:slot-value msg 'true_radius))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream))
+)
+(cl:defmethod roslisp-msg-protocol:deserialize ((msg <CircleObstacle>) istream)
+  "Deserializes a message object of type '<CircleObstacle>"
+  (roslisp-msg-protocol:deserialize (cl:slot-value msg 'center) istream)
+  (roslisp-msg-protocol:deserialize (cl:slot-value msg 'velocity) istream)
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
+    (cl:setf (cl:slot-value msg 'radius) (roslisp-utils:decode-double-float-bits bits)))
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
+    (cl:setf (cl:slot-value msg 'true_radius) (roslisp-utils:decode-double-float-bits bits)))
+  msg
+)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<CircleObstacle>)))
+  "Returns string type for a message object of type '<CircleObstacle>"
+  "obstacle_detector/CircleObstacle")
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'CircleObstacle)))
+  "Returns string type for a message object of type 'CircleObstacle"
+  "obstacle_detector/CircleObstacle")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<CircleObstacle>)))
+  "Returns md5sum for a message object of type '<CircleObstacle>"
+  "d23cb7e768ed09971078d4cccc3808a9")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'CircleObstacle)))
+  "Returns md5sum for a message object of type 'CircleObstacle"
+  "d23cb7e768ed09971078d4cccc3808a9")
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<CircleObstacle>)))
+  "Returns full string definition for message of type '<CircleObstacle>"
+  (cl:format cl:nil "geometry_msgs/Point center      # Central point [m]~%geometry_msgs/Vector3 velocity  # Linear velocity [m/s]~%float64 radius                  # Radius with added margin [m]~%float64 true_radius             # True measured radius [m]~%~%================================================================================~%MSG: geometry_msgs/Point~%# This contains the position of a point in free space~%float64 x~%float64 y~%float64 z~%~%================================================================================~%MSG: geometry_msgs/Vector3~%# This represents a vector in free space. ~%# It is only meant to represent a direction. Therefore, it does not~%# make sense to apply a translation to it (e.g., when applying a ~%# generic rigid transformation to a Vector3, tf2 will only apply the~%# rotation). If you want your data to be translatable too, use the~%# geometry_msgs/Point message instead.~%~%float64 x~%float64 y~%float64 z~%~%"))
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'CircleObstacle)))
+  "Returns full string definition for message of type 'CircleObstacle"
+  (cl:format cl:nil "geometry_msgs/Point center      # Central point [m]~%geometry_msgs/Vector3 velocity  # Linear velocity [m/s]~%float64 radius                  # Radius with added margin [m]~%float64 true_radius             # True measured radius [m]~%~%================================================================================~%MSG: geometry_msgs/Point~%# This contains the position of a point in free space~%float64 x~%float64 y~%float64 z~%~%================================================================================~%MSG: geometry_msgs/Vector3~%# This represents a vector in free space. ~%# It is only meant to represent a direction. Therefore, it does not~%# make sense to apply a translation to it (e.g., when applying a ~%# generic rigid transformation to a Vector3, tf2 will only apply the~%# rotation). If you want your data to be translatable too, use the~%# geometry_msgs/Point message instead.~%~%float64 x~%float64 y~%float64 z~%~%"))
+(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <CircleObstacle>))
+  (cl:+ 0
+     (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'center))
+     (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'velocity))
+     8
+     8
+))
+(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <CircleObstacle>))
+  "Converts a ROS message object to a list"
+  (cl:list 'CircleObstacle
+    (cl:cons ':center (center msg))
+    (cl:cons ':velocity (velocity msg))
+    (cl:cons ':radius (radius msg))
+    (cl:cons ':true_radius (true_radius msg))
+))
diff --git a/workspace/virtuallab/devel/share/common-lisp/ros/obstacle_detector/msg/Obstacles.lisp b/workspace/virtuallab/devel/share/common-lisp/ros/obstacle_detector/msg/Obstacles.lisp
new file mode 100644
index 0000000000000000000000000000000000000000..f3f075349781b15d725e0a6b05a5a940e103facf
--- /dev/null
+++ b/workspace/virtuallab/devel/share/common-lisp/ros/obstacle_detector/msg/Obstacles.lisp
@@ -0,0 +1,122 @@
+; Auto-generated. Do not edit!
+
+
+(cl:in-package obstacle_detector-msg)
+
+
+;//! \htmlinclude Obstacles.msg.html
+
+(cl:defclass <Obstacles> (roslisp-msg-protocol:ros-message)
+  ((header
+    :reader header
+    :initarg :header
+    :type std_msgs-msg:Header
+    :initform (cl:make-instance 'std_msgs-msg:Header))
+   (segments
+    :reader segments
+    :initarg :segments
+    :type (cl:vector obstacle_detector-msg:SegmentObstacle)
+   :initform (cl:make-array 0 :element-type 'obstacle_detector-msg:SegmentObstacle :initial-element (cl:make-instance 'obstacle_detector-msg:SegmentObstacle)))
+   (circles
+    :reader circles
+    :initarg :circles
+    :type (cl:vector obstacle_detector-msg:CircleObstacle)
+   :initform (cl:make-array 0 :element-type 'obstacle_detector-msg:CircleObstacle :initial-element (cl:make-instance 'obstacle_detector-msg:CircleObstacle))))
+)
+
+(cl:defclass Obstacles (<Obstacles>)
+  ())
+
+(cl:defmethod cl:initialize-instance :after ((m <Obstacles>) cl:&rest args)
+  (cl:declare (cl:ignorable args))
+  (cl:unless (cl:typep m 'Obstacles)
+    (roslisp-msg-protocol:msg-deprecation-warning "using old message class name obstacle_detector-msg:<Obstacles> is deprecated: use obstacle_detector-msg:Obstacles instead.")))
+
+(cl:ensure-generic-function 'header-val :lambda-list '(m))
+(cl:defmethod header-val ((m <Obstacles>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader obstacle_detector-msg:header-val is deprecated.  Use obstacle_detector-msg:header instead.")
+  (header m))
+
+(cl:ensure-generic-function 'segments-val :lambda-list '(m))
+(cl:defmethod segments-val ((m <Obstacles>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader obstacle_detector-msg:segments-val is deprecated.  Use obstacle_detector-msg:segments instead.")
+  (segments m))
+
+(cl:ensure-generic-function 'circles-val :lambda-list '(m))
+(cl:defmethod circles-val ((m <Obstacles>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader obstacle_detector-msg:circles-val is deprecated.  Use obstacle_detector-msg:circles instead.")
+  (circles m))
+(cl:defmethod roslisp-msg-protocol:serialize ((msg <Obstacles>) ostream)
+  "Serializes a message object of type '<Obstacles>"
+  (roslisp-msg-protocol:serialize (cl:slot-value msg 'header) ostream)
+  (cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'segments))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_arr_len) ostream))
+  (cl:map cl:nil #'(cl:lambda (ele) (roslisp-msg-protocol:serialize ele ostream))
+   (cl:slot-value msg 'segments))
+  (cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'circles))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_arr_len) ostream))
+  (cl:map cl:nil #'(cl:lambda (ele) (roslisp-msg-protocol:serialize ele ostream))
+   (cl:slot-value msg 'circles))
+)
+(cl:defmethod roslisp-msg-protocol:deserialize ((msg <Obstacles>) istream)
+  "Deserializes a message object of type '<Obstacles>"
+  (roslisp-msg-protocol:deserialize (cl:slot-value msg 'header) istream)
+  (cl:let ((__ros_arr_len 0))
+    (cl:setf (cl:ldb (cl:byte 8 0) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 8) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 16) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 24) __ros_arr_len) (cl:read-byte istream))
+  (cl:setf (cl:slot-value msg 'segments) (cl:make-array __ros_arr_len))
+  (cl:let ((vals (cl:slot-value msg 'segments)))
+    (cl:dotimes (i __ros_arr_len)
+    (cl:setf (cl:aref vals i) (cl:make-instance 'obstacle_detector-msg:SegmentObstacle))
+  (roslisp-msg-protocol:deserialize (cl:aref vals i) istream))))
+  (cl:let ((__ros_arr_len 0))
+    (cl:setf (cl:ldb (cl:byte 8 0) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 8) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 16) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 24) __ros_arr_len) (cl:read-byte istream))
+  (cl:setf (cl:slot-value msg 'circles) (cl:make-array __ros_arr_len))
+  (cl:let ((vals (cl:slot-value msg 'circles)))
+    (cl:dotimes (i __ros_arr_len)
+    (cl:setf (cl:aref vals i) (cl:make-instance 'obstacle_detector-msg:CircleObstacle))
+  (roslisp-msg-protocol:deserialize (cl:aref vals i) istream))))
+  msg
+)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<Obstacles>)))
+  "Returns string type for a message object of type '<Obstacles>"
+  "obstacle_detector/Obstacles")
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'Obstacles)))
+  "Returns string type for a message object of type 'Obstacles"
+  "obstacle_detector/Obstacles")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<Obstacles>)))
+  "Returns md5sum for a message object of type '<Obstacles>"
+  "043bbf49c7775f8111e850268dbcf2e3")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'Obstacles)))
+  "Returns md5sum for a message object of type 'Obstacles"
+  "043bbf49c7775f8111e850268dbcf2e3")
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<Obstacles>)))
+  "Returns full string definition for message of type '<Obstacles>"
+  (cl:format cl:nil "Header header~%~%obstacle_detector/SegmentObstacle[] segments~%obstacle_detector/CircleObstacle[] circles~%~%================================================================================~%MSG: std_msgs/Header~%# Standard metadata for higher-level stamped data types.~%# This is generally used to communicate timestamped data ~%# in a particular coordinate frame.~%# ~%# sequence ID: consecutively increasing ID ~%uint32 seq~%#Two-integer timestamp that is expressed as:~%# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')~%# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')~%# time-handling sugar is provided by the client library~%time stamp~%#Frame this data is associated with~%string frame_id~%~%================================================================================~%MSG: obstacle_detector/SegmentObstacle~%geometry_msgs/Point first_point  # First point of the segment [m]~%geometry_msgs/Point last_point   # Last point of the segment [m]~%~%================================================================================~%MSG: geometry_msgs/Point~%# This contains the position of a point in free space~%float64 x~%float64 y~%float64 z~%~%================================================================================~%MSG: obstacle_detector/CircleObstacle~%geometry_msgs/Point center      # Central point [m]~%geometry_msgs/Vector3 velocity  # Linear velocity [m/s]~%float64 radius                  # Radius with added margin [m]~%float64 true_radius             # True measured radius [m]~%~%================================================================================~%MSG: geometry_msgs/Vector3~%# This represents a vector in free space. ~%# It is only meant to represent a direction. Therefore, it does not~%# make sense to apply a translation to it (e.g., when applying a ~%# generic rigid transformation to a Vector3, tf2 will only apply the~%# rotation). If you want your data to be translatable too, use the~%# geometry_msgs/Point message instead.~%~%float64 x~%float64 y~%float64 z~%~%"))
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'Obstacles)))
+  "Returns full string definition for message of type 'Obstacles"
+  (cl:format cl:nil "Header header~%~%obstacle_detector/SegmentObstacle[] segments~%obstacle_detector/CircleObstacle[] circles~%~%================================================================================~%MSG: std_msgs/Header~%# Standard metadata for higher-level stamped data types.~%# This is generally used to communicate timestamped data ~%# in a particular coordinate frame.~%# ~%# sequence ID: consecutively increasing ID ~%uint32 seq~%#Two-integer timestamp that is expressed as:~%# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')~%# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')~%# time-handling sugar is provided by the client library~%time stamp~%#Frame this data is associated with~%string frame_id~%~%================================================================================~%MSG: obstacle_detector/SegmentObstacle~%geometry_msgs/Point first_point  # First point of the segment [m]~%geometry_msgs/Point last_point   # Last point of the segment [m]~%~%================================================================================~%MSG: geometry_msgs/Point~%# This contains the position of a point in free space~%float64 x~%float64 y~%float64 z~%~%================================================================================~%MSG: obstacle_detector/CircleObstacle~%geometry_msgs/Point center      # Central point [m]~%geometry_msgs/Vector3 velocity  # Linear velocity [m/s]~%float64 radius                  # Radius with added margin [m]~%float64 true_radius             # True measured radius [m]~%~%================================================================================~%MSG: geometry_msgs/Vector3~%# This represents a vector in free space. ~%# It is only meant to represent a direction. Therefore, it does not~%# make sense to apply a translation to it (e.g., when applying a ~%# generic rigid transformation to a Vector3, tf2 will only apply the~%# rotation). If you want your data to be translatable too, use the~%# geometry_msgs/Point message instead.~%~%float64 x~%float64 y~%float64 z~%~%"))
+(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <Obstacles>))
+  (cl:+ 0
+     (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'header))
+     4 (cl:reduce #'cl:+ (cl:slot-value msg 'segments) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ (roslisp-msg-protocol:serialization-length ele))))
+     4 (cl:reduce #'cl:+ (cl:slot-value msg 'circles) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ (roslisp-msg-protocol:serialization-length ele))))
+))
+(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <Obstacles>))
+  "Converts a ROS message object to a list"
+  (cl:list 'Obstacles
+    (cl:cons ':header (header msg))
+    (cl:cons ':segments (segments msg))
+    (cl:cons ':circles (circles msg))
+))
diff --git a/workspace/virtuallab/devel/share/common-lisp/ros/obstacle_detector/msg/SegmentObstacle.lisp b/workspace/virtuallab/devel/share/common-lisp/ros/obstacle_detector/msg/SegmentObstacle.lisp
new file mode 100644
index 0000000000000000000000000000000000000000..ca13852a7bdd4844ad33d4b8b28738ed930252dc
--- /dev/null
+++ b/workspace/virtuallab/devel/share/common-lisp/ros/obstacle_detector/msg/SegmentObstacle.lisp
@@ -0,0 +1,78 @@
+; Auto-generated. Do not edit!
+
+
+(cl:in-package obstacle_detector-msg)
+
+
+;//! \htmlinclude SegmentObstacle.msg.html
+
+(cl:defclass <SegmentObstacle> (roslisp-msg-protocol:ros-message)
+  ((first_point
+    :reader first_point
+    :initarg :first_point
+    :type geometry_msgs-msg:Point
+    :initform (cl:make-instance 'geometry_msgs-msg:Point))
+   (last_point
+    :reader last_point
+    :initarg :last_point
+    :type geometry_msgs-msg:Point
+    :initform (cl:make-instance 'geometry_msgs-msg:Point)))
+)
+
+(cl:defclass SegmentObstacle (<SegmentObstacle>)
+  ())
+
+(cl:defmethod cl:initialize-instance :after ((m <SegmentObstacle>) cl:&rest args)
+  (cl:declare (cl:ignorable args))
+  (cl:unless (cl:typep m 'SegmentObstacle)
+    (roslisp-msg-protocol:msg-deprecation-warning "using old message class name obstacle_detector-msg:<SegmentObstacle> is deprecated: use obstacle_detector-msg:SegmentObstacle instead.")))
+
+(cl:ensure-generic-function 'first_point-val :lambda-list '(m))
+(cl:defmethod first_point-val ((m <SegmentObstacle>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader obstacle_detector-msg:first_point-val is deprecated.  Use obstacle_detector-msg:first_point instead.")
+  (first_point m))
+
+(cl:ensure-generic-function 'last_point-val :lambda-list '(m))
+(cl:defmethod last_point-val ((m <SegmentObstacle>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader obstacle_detector-msg:last_point-val is deprecated.  Use obstacle_detector-msg:last_point instead.")
+  (last_point m))
+(cl:defmethod roslisp-msg-protocol:serialize ((msg <SegmentObstacle>) ostream)
+  "Serializes a message object of type '<SegmentObstacle>"
+  (roslisp-msg-protocol:serialize (cl:slot-value msg 'first_point) ostream)
+  (roslisp-msg-protocol:serialize (cl:slot-value msg 'last_point) ostream)
+)
+(cl:defmethod roslisp-msg-protocol:deserialize ((msg <SegmentObstacle>) istream)
+  "Deserializes a message object of type '<SegmentObstacle>"
+  (roslisp-msg-protocol:deserialize (cl:slot-value msg 'first_point) istream)
+  (roslisp-msg-protocol:deserialize (cl:slot-value msg 'last_point) istream)
+  msg
+)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<SegmentObstacle>)))
+  "Returns string type for a message object of type '<SegmentObstacle>"
+  "obstacle_detector/SegmentObstacle")
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'SegmentObstacle)))
+  "Returns string type for a message object of type 'SegmentObstacle"
+  "obstacle_detector/SegmentObstacle")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<SegmentObstacle>)))
+  "Returns md5sum for a message object of type '<SegmentObstacle>"
+  "37ecbf7e1053bae89f0770466b37c3c3")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'SegmentObstacle)))
+  "Returns md5sum for a message object of type 'SegmentObstacle"
+  "37ecbf7e1053bae89f0770466b37c3c3")
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<SegmentObstacle>)))
+  "Returns full string definition for message of type '<SegmentObstacle>"
+  (cl:format cl:nil "geometry_msgs/Point first_point  # First point of the segment [m]~%geometry_msgs/Point last_point   # Last point of the segment [m]~%~%================================================================================~%MSG: geometry_msgs/Point~%# This contains the position of a point in free space~%float64 x~%float64 y~%float64 z~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'SegmentObstacle)))
+  "Returns full string definition for message of type 'SegmentObstacle"
+  (cl:format cl:nil "geometry_msgs/Point first_point  # First point of the segment [m]~%geometry_msgs/Point last_point   # Last point of the segment [m]~%~%================================================================================~%MSG: geometry_msgs/Point~%# This contains the position of a point in free space~%float64 x~%float64 y~%float64 z~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <SegmentObstacle>))
+  (cl:+ 0
+     (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'first_point))
+     (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'last_point))
+))
+(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <SegmentObstacle>))
+  "Converts a ROS message object to a list"
+  (cl:list 'SegmentObstacle
+    (cl:cons ':first_point (first_point msg))
+    (cl:cons ':last_point (last_point msg))
+))
diff --git a/workspace/virtuallab/devel/share/common-lisp/ros/obstacle_detector/msg/_package.lisp b/workspace/virtuallab/devel/share/common-lisp/ros/obstacle_detector/msg/_package.lisp
new file mode 100644
index 0000000000000000000000000000000000000000..f5751fd7e16eaed073439f0bd4c3692fb7a26bbe
--- /dev/null
+++ b/workspace/virtuallab/devel/share/common-lisp/ros/obstacle_detector/msg/_package.lisp
@@ -0,0 +1,11 @@
+(cl:defpackage obstacle_detector-msg
+  (:use )
+  (:export
+   "<CIRCLEOBSTACLE>"
+   "CIRCLEOBSTACLE"
+   "<OBSTACLES>"
+   "OBSTACLES"
+   "<SEGMENTOBSTACLE>"
+   "SEGMENTOBSTACLE"
+  ))
+
diff --git a/workspace/virtuallab/devel/share/common-lisp/ros/obstacle_detector/msg/_package_CircleObstacle.lisp b/workspace/virtuallab/devel/share/common-lisp/ros/obstacle_detector/msg/_package_CircleObstacle.lisp
new file mode 100644
index 0000000000000000000000000000000000000000..9ac15f73d2695be6a8d3b89e9e99dad1c4608521
--- /dev/null
+++ b/workspace/virtuallab/devel/share/common-lisp/ros/obstacle_detector/msg/_package_CircleObstacle.lisp
@@ -0,0 +1,10 @@
+(cl:in-package obstacle_detector-msg)
+(cl:export '(CENTER-VAL
+          CENTER
+          VELOCITY-VAL
+          VELOCITY
+          RADIUS-VAL
+          RADIUS
+          TRUE_RADIUS-VAL
+          TRUE_RADIUS
+))
\ No newline at end of file
diff --git a/workspace/virtuallab/devel/share/common-lisp/ros/obstacle_detector/msg/_package_Obstacles.lisp b/workspace/virtuallab/devel/share/common-lisp/ros/obstacle_detector/msg/_package_Obstacles.lisp
new file mode 100644
index 0000000000000000000000000000000000000000..91da56a3deb8fc44d65782c72158ce49423cbdf3
--- /dev/null
+++ b/workspace/virtuallab/devel/share/common-lisp/ros/obstacle_detector/msg/_package_Obstacles.lisp
@@ -0,0 +1,8 @@
+(cl:in-package obstacle_detector-msg)
+(cl:export '(HEADER-VAL
+          HEADER
+          SEGMENTS-VAL
+          SEGMENTS
+          CIRCLES-VAL
+          CIRCLES
+))
\ No newline at end of file
diff --git a/workspace/virtuallab/devel/share/common-lisp/ros/obstacle_detector/msg/_package_SegmentObstacle.lisp b/workspace/virtuallab/devel/share/common-lisp/ros/obstacle_detector/msg/_package_SegmentObstacle.lisp
new file mode 100644
index 0000000000000000000000000000000000000000..f5bf16b56fd201bf46c392c0eaf5d366b954d435
--- /dev/null
+++ b/workspace/virtuallab/devel/share/common-lisp/ros/obstacle_detector/msg/_package_SegmentObstacle.lisp
@@ -0,0 +1,6 @@
+(cl:in-package obstacle_detector-msg)
+(cl:export '(FIRST_POINT-VAL
+          FIRST_POINT
+          LAST_POINT-VAL
+          LAST_POINT
+))
\ No newline at end of file
diff --git a/workspace/virtuallab/devel/share/common-lisp/ros/obstacle_detector/msg/obstacle_detector-msg.asd b/workspace/virtuallab/devel/share/common-lisp/ros/obstacle_detector/msg/obstacle_detector-msg.asd
new file mode 100644
index 0000000000000000000000000000000000000000..fc646a28075d72cfcac5d5dccb4d793889b6204f
--- /dev/null
+++ b/workspace/virtuallab/devel/share/common-lisp/ros/obstacle_detector/msg/obstacle_detector-msg.asd
@@ -0,0 +1,15 @@
+
+(cl:in-package :asdf)
+
+(defsystem "obstacle_detector-msg"
+  :depends-on (:roslisp-msg-protocol :roslisp-utils :geometry_msgs-msg
+               :std_msgs-msg
+)
+  :components ((:file "_package")
+    (:file "CircleObstacle" :depends-on ("_package_CircleObstacle"))
+    (:file "_package_CircleObstacle" :depends-on ("_package"))
+    (:file "Obstacles" :depends-on ("_package_Obstacles"))
+    (:file "_package_Obstacles" :depends-on ("_package"))
+    (:file "SegmentObstacle" :depends-on ("_package_SegmentObstacle"))
+    (:file "_package_SegmentObstacle" :depends-on ("_package"))
+  ))
\ No newline at end of file
diff --git a/workspace/virtuallab/devel/share/gennodejs/ros/obstacle_detector/_index.js b/workspace/virtuallab/devel/share/gennodejs/ros/obstacle_detector/_index.js
new file mode 100644
index 0000000000000000000000000000000000000000..74b3dd0b77db25fcbeb3fd1fe3dcf9163b8b2e7c
--- /dev/null
+++ b/workspace/virtuallab/devel/share/gennodejs/ros/obstacle_detector/_index.js
@@ -0,0 +1,6 @@
+
+"use strict";
+
+module.exports = {
+  msg: require('./msg/_index.js'),
+};
diff --git a/workspace/virtuallab/devel/share/gennodejs/ros/obstacle_detector/msg/CircleObstacle.js b/workspace/virtuallab/devel/share/gennodejs/ros/obstacle_detector/msg/CircleObstacle.js
new file mode 100644
index 0000000000000000000000000000000000000000..2ee3ef6127585943dcb9fc2f29e097e975f3d3a7
--- /dev/null
+++ b/workspace/virtuallab/devel/share/gennodejs/ros/obstacle_detector/msg/CircleObstacle.js
@@ -0,0 +1,165 @@
+// Auto-generated. Do not edit!
+
+// (in-package obstacle_detector.msg)
+
+
+"use strict";
+
+const _serializer = _ros_msg_utils.Serialize;
+const _arraySerializer = _serializer.Array;
+const _deserializer = _ros_msg_utils.Deserialize;
+const _arrayDeserializer = _deserializer.Array;
+const _finder = _ros_msg_utils.Find;
+const _getByteLength = _ros_msg_utils.getByteLength;
+let geometry_msgs = _finder('geometry_msgs');
+
+//-----------------------------------------------------------
+
+class CircleObstacle {
+  constructor(initObj={}) {
+    if (initObj === null) {
+      // initObj === null is a special case for deserialization where we don't initialize fields
+      this.center = null;
+      this.velocity = null;
+      this.radius = null;
+      this.true_radius = null;
+    }
+    else {
+      if (initObj.hasOwnProperty('center')) {
+        this.center = initObj.center
+      }
+      else {
+        this.center = new geometry_msgs.msg.Point();
+      }
+      if (initObj.hasOwnProperty('velocity')) {
+        this.velocity = initObj.velocity
+      }
+      else {
+        this.velocity = new geometry_msgs.msg.Vector3();
+      }
+      if (initObj.hasOwnProperty('radius')) {
+        this.radius = initObj.radius
+      }
+      else {
+        this.radius = 0.0;
+      }
+      if (initObj.hasOwnProperty('true_radius')) {
+        this.true_radius = initObj.true_radius
+      }
+      else {
+        this.true_radius = 0.0;
+      }
+    }
+  }
+
+  static serialize(obj, buffer, bufferOffset) {
+    // Serializes a message object of type CircleObstacle
+    // Serialize message field [center]
+    bufferOffset = geometry_msgs.msg.Point.serialize(obj.center, buffer, bufferOffset);
+    // Serialize message field [velocity]
+    bufferOffset = geometry_msgs.msg.Vector3.serialize(obj.velocity, buffer, bufferOffset);
+    // Serialize message field [radius]
+    bufferOffset = _serializer.float64(obj.radius, buffer, bufferOffset);
+    // Serialize message field [true_radius]
+    bufferOffset = _serializer.float64(obj.true_radius, buffer, bufferOffset);
+    return bufferOffset;
+  }
+
+  static deserialize(buffer, bufferOffset=[0]) {
+    //deserializes a message object of type CircleObstacle
+    let len;
+    let data = new CircleObstacle(null);
+    // Deserialize message field [center]
+    data.center = geometry_msgs.msg.Point.deserialize(buffer, bufferOffset);
+    // Deserialize message field [velocity]
+    data.velocity = geometry_msgs.msg.Vector3.deserialize(buffer, bufferOffset);
+    // Deserialize message field [radius]
+    data.radius = _deserializer.float64(buffer, bufferOffset);
+    // Deserialize message field [true_radius]
+    data.true_radius = _deserializer.float64(buffer, bufferOffset);
+    return data;
+  }
+
+  static getMessageSize(object) {
+    return 64;
+  }
+
+  static datatype() {
+    // Returns string type for a message object
+    return 'obstacle_detector/CircleObstacle';
+  }
+
+  static md5sum() {
+    //Returns md5sum for a message object
+    return 'd23cb7e768ed09971078d4cccc3808a9';
+  }
+
+  static messageDefinition() {
+    // Returns full string definition for message
+    return `
+    geometry_msgs/Point center      # Central point [m]
+    geometry_msgs/Vector3 velocity  # Linear velocity [m/s]
+    float64 radius                  # Radius with added margin [m]
+    float64 true_radius             # True measured radius [m]
+    
+    ================================================================================
+    MSG: geometry_msgs/Point
+    # This contains the position of a point in free space
+    float64 x
+    float64 y
+    float64 z
+    
+    ================================================================================
+    MSG: geometry_msgs/Vector3
+    # This represents a vector in free space. 
+    # It is only meant to represent a direction. Therefore, it does not
+    # make sense to apply a translation to it (e.g., when applying a 
+    # generic rigid transformation to a Vector3, tf2 will only apply the
+    # rotation). If you want your data to be translatable too, use the
+    # geometry_msgs/Point message instead.
+    
+    float64 x
+    float64 y
+    float64 z
+    `;
+  }
+
+  static Resolve(msg) {
+    // deep-construct a valid message object instance of whatever was passed in
+    if (typeof msg !== 'object' || msg === null) {
+      msg = {};
+    }
+    const resolved = new CircleObstacle(null);
+    if (msg.center !== undefined) {
+      resolved.center = geometry_msgs.msg.Point.Resolve(msg.center)
+    }
+    else {
+      resolved.center = new geometry_msgs.msg.Point()
+    }
+
+    if (msg.velocity !== undefined) {
+      resolved.velocity = geometry_msgs.msg.Vector3.Resolve(msg.velocity)
+    }
+    else {
+      resolved.velocity = new geometry_msgs.msg.Vector3()
+    }
+
+    if (msg.radius !== undefined) {
+      resolved.radius = msg.radius;
+    }
+    else {
+      resolved.radius = 0.0
+    }
+
+    if (msg.true_radius !== undefined) {
+      resolved.true_radius = msg.true_radius;
+    }
+    else {
+      resolved.true_radius = 0.0
+    }
+
+    return resolved;
+    }
+};
+
+module.exports = CircleObstacle;
diff --git a/workspace/virtuallab/devel/share/gennodejs/ros/obstacle_detector/msg/Obstacles.js b/workspace/virtuallab/devel/share/gennodejs/ros/obstacle_detector/msg/Obstacles.js
new file mode 100644
index 0000000000000000000000000000000000000000..7616fde7d7da1cd3517f5ec9c4e6f238543ec01a
--- /dev/null
+++ b/workspace/virtuallab/devel/share/gennodejs/ros/obstacle_detector/msg/Obstacles.js
@@ -0,0 +1,205 @@
+// Auto-generated. Do not edit!
+
+// (in-package obstacle_detector.msg)
+
+
+"use strict";
+
+const _serializer = _ros_msg_utils.Serialize;
+const _arraySerializer = _serializer.Array;
+const _deserializer = _ros_msg_utils.Deserialize;
+const _arrayDeserializer = _deserializer.Array;
+const _finder = _ros_msg_utils.Find;
+const _getByteLength = _ros_msg_utils.getByteLength;
+let SegmentObstacle = require('./SegmentObstacle.js');
+let CircleObstacle = require('./CircleObstacle.js');
+let std_msgs = _finder('std_msgs');
+
+//-----------------------------------------------------------
+
+class Obstacles {
+  constructor(initObj={}) {
+    if (initObj === null) {
+      // initObj === null is a special case for deserialization where we don't initialize fields
+      this.header = null;
+      this.segments = null;
+      this.circles = null;
+    }
+    else {
+      if (initObj.hasOwnProperty('header')) {
+        this.header = initObj.header
+      }
+      else {
+        this.header = new std_msgs.msg.Header();
+      }
+      if (initObj.hasOwnProperty('segments')) {
+        this.segments = initObj.segments
+      }
+      else {
+        this.segments = [];
+      }
+      if (initObj.hasOwnProperty('circles')) {
+        this.circles = initObj.circles
+      }
+      else {
+        this.circles = [];
+      }
+    }
+  }
+
+  static serialize(obj, buffer, bufferOffset) {
+    // Serializes a message object of type Obstacles
+    // Serialize message field [header]
+    bufferOffset = std_msgs.msg.Header.serialize(obj.header, buffer, bufferOffset);
+    // Serialize message field [segments]
+    // Serialize the length for message field [segments]
+    bufferOffset = _serializer.uint32(obj.segments.length, buffer, bufferOffset);
+    obj.segments.forEach((val) => {
+      bufferOffset = SegmentObstacle.serialize(val, buffer, bufferOffset);
+    });
+    // Serialize message field [circles]
+    // Serialize the length for message field [circles]
+    bufferOffset = _serializer.uint32(obj.circles.length, buffer, bufferOffset);
+    obj.circles.forEach((val) => {
+      bufferOffset = CircleObstacle.serialize(val, buffer, bufferOffset);
+    });
+    return bufferOffset;
+  }
+
+  static deserialize(buffer, bufferOffset=[0]) {
+    //deserializes a message object of type Obstacles
+    let len;
+    let data = new Obstacles(null);
+    // Deserialize message field [header]
+    data.header = std_msgs.msg.Header.deserialize(buffer, bufferOffset);
+    // Deserialize message field [segments]
+    // Deserialize array length for message field [segments]
+    len = _deserializer.uint32(buffer, bufferOffset);
+    data.segments = new Array(len);
+    for (let i = 0; i < len; ++i) {
+      data.segments[i] = SegmentObstacle.deserialize(buffer, bufferOffset)
+    }
+    // Deserialize message field [circles]
+    // Deserialize array length for message field [circles]
+    len = _deserializer.uint32(buffer, bufferOffset);
+    data.circles = new Array(len);
+    for (let i = 0; i < len; ++i) {
+      data.circles[i] = CircleObstacle.deserialize(buffer, bufferOffset)
+    }
+    return data;
+  }
+
+  static getMessageSize(object) {
+    let length = 0;
+    length += std_msgs.msg.Header.getMessageSize(object.header);
+    length += 48 * object.segments.length;
+    length += 64 * object.circles.length;
+    return length + 8;
+  }
+
+  static datatype() {
+    // Returns string type for a message object
+    return 'obstacle_detector/Obstacles';
+  }
+
+  static md5sum() {
+    //Returns md5sum for a message object
+    return '043bbf49c7775f8111e850268dbcf2e3';
+  }
+
+  static messageDefinition() {
+    // Returns full string definition for message
+    return `
+    Header header
+    
+    obstacle_detector/SegmentObstacle[] segments
+    obstacle_detector/CircleObstacle[] circles
+    
+    ================================================================================
+    MSG: std_msgs/Header
+    # Standard metadata for higher-level stamped data types.
+    # This is generally used to communicate timestamped data 
+    # in a particular coordinate frame.
+    # 
+    # sequence ID: consecutively increasing ID 
+    uint32 seq
+    #Two-integer timestamp that is expressed as:
+    # * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
+    # * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
+    # time-handling sugar is provided by the client library
+    time stamp
+    #Frame this data is associated with
+    string frame_id
+    
+    ================================================================================
+    MSG: obstacle_detector/SegmentObstacle
+    geometry_msgs/Point first_point  # First point of the segment [m]
+    geometry_msgs/Point last_point   # Last point of the segment [m]
+    
+    ================================================================================
+    MSG: geometry_msgs/Point
+    # This contains the position of a point in free space
+    float64 x
+    float64 y
+    float64 z
+    
+    ================================================================================
+    MSG: obstacle_detector/CircleObstacle
+    geometry_msgs/Point center      # Central point [m]
+    geometry_msgs/Vector3 velocity  # Linear velocity [m/s]
+    float64 radius                  # Radius with added margin [m]
+    float64 true_radius             # True measured radius [m]
+    
+    ================================================================================
+    MSG: geometry_msgs/Vector3
+    # This represents a vector in free space. 
+    # It is only meant to represent a direction. Therefore, it does not
+    # make sense to apply a translation to it (e.g., when applying a 
+    # generic rigid transformation to a Vector3, tf2 will only apply the
+    # rotation). If you want your data to be translatable too, use the
+    # geometry_msgs/Point message instead.
+    
+    float64 x
+    float64 y
+    float64 z
+    `;
+  }
+
+  static Resolve(msg) {
+    // deep-construct a valid message object instance of whatever was passed in
+    if (typeof msg !== 'object' || msg === null) {
+      msg = {};
+    }
+    const resolved = new Obstacles(null);
+    if (msg.header !== undefined) {
+      resolved.header = std_msgs.msg.Header.Resolve(msg.header)
+    }
+    else {
+      resolved.header = new std_msgs.msg.Header()
+    }
+
+    if (msg.segments !== undefined) {
+      resolved.segments = new Array(msg.segments.length);
+      for (let i = 0; i < resolved.segments.length; ++i) {
+        resolved.segments[i] = SegmentObstacle.Resolve(msg.segments[i]);
+      }
+    }
+    else {
+      resolved.segments = []
+    }
+
+    if (msg.circles !== undefined) {
+      resolved.circles = new Array(msg.circles.length);
+      for (let i = 0; i < resolved.circles.length; ++i) {
+        resolved.circles[i] = CircleObstacle.Resolve(msg.circles[i]);
+      }
+    }
+    else {
+      resolved.circles = []
+    }
+
+    return resolved;
+    }
+};
+
+module.exports = Obstacles;
diff --git a/workspace/virtuallab/devel/share/gennodejs/ros/obstacle_detector/msg/SegmentObstacle.js b/workspace/virtuallab/devel/share/gennodejs/ros/obstacle_detector/msg/SegmentObstacle.js
new file mode 100644
index 0000000000000000000000000000000000000000..0aa13e1395748357660deaa0247aab41c8e295e9
--- /dev/null
+++ b/workspace/virtuallab/devel/share/gennodejs/ros/obstacle_detector/msg/SegmentObstacle.js
@@ -0,0 +1,115 @@
+// Auto-generated. Do not edit!
+
+// (in-package obstacle_detector.msg)
+
+
+"use strict";
+
+const _serializer = _ros_msg_utils.Serialize;
+const _arraySerializer = _serializer.Array;
+const _deserializer = _ros_msg_utils.Deserialize;
+const _arrayDeserializer = _deserializer.Array;
+const _finder = _ros_msg_utils.Find;
+const _getByteLength = _ros_msg_utils.getByteLength;
+let geometry_msgs = _finder('geometry_msgs');
+
+//-----------------------------------------------------------
+
+class SegmentObstacle {
+  constructor(initObj={}) {
+    if (initObj === null) {
+      // initObj === null is a special case for deserialization where we don't initialize fields
+      this.first_point = null;
+      this.last_point = null;
+    }
+    else {
+      if (initObj.hasOwnProperty('first_point')) {
+        this.first_point = initObj.first_point
+      }
+      else {
+        this.first_point = new geometry_msgs.msg.Point();
+      }
+      if (initObj.hasOwnProperty('last_point')) {
+        this.last_point = initObj.last_point
+      }
+      else {
+        this.last_point = new geometry_msgs.msg.Point();
+      }
+    }
+  }
+
+  static serialize(obj, buffer, bufferOffset) {
+    // Serializes a message object of type SegmentObstacle
+    // Serialize message field [first_point]
+    bufferOffset = geometry_msgs.msg.Point.serialize(obj.first_point, buffer, bufferOffset);
+    // Serialize message field [last_point]
+    bufferOffset = geometry_msgs.msg.Point.serialize(obj.last_point, buffer, bufferOffset);
+    return bufferOffset;
+  }
+
+  static deserialize(buffer, bufferOffset=[0]) {
+    //deserializes a message object of type SegmentObstacle
+    let len;
+    let data = new SegmentObstacle(null);
+    // Deserialize message field [first_point]
+    data.first_point = geometry_msgs.msg.Point.deserialize(buffer, bufferOffset);
+    // Deserialize message field [last_point]
+    data.last_point = geometry_msgs.msg.Point.deserialize(buffer, bufferOffset);
+    return data;
+  }
+
+  static getMessageSize(object) {
+    return 48;
+  }
+
+  static datatype() {
+    // Returns string type for a message object
+    return 'obstacle_detector/SegmentObstacle';
+  }
+
+  static md5sum() {
+    //Returns md5sum for a message object
+    return '37ecbf7e1053bae89f0770466b37c3c3';
+  }
+
+  static messageDefinition() {
+    // Returns full string definition for message
+    return `
+    geometry_msgs/Point first_point  # First point of the segment [m]
+    geometry_msgs/Point last_point   # Last point of the segment [m]
+    
+    ================================================================================
+    MSG: geometry_msgs/Point
+    # This contains the position of a point in free space
+    float64 x
+    float64 y
+    float64 z
+    
+    `;
+  }
+
+  static Resolve(msg) {
+    // deep-construct a valid message object instance of whatever was passed in
+    if (typeof msg !== 'object' || msg === null) {
+      msg = {};
+    }
+    const resolved = new SegmentObstacle(null);
+    if (msg.first_point !== undefined) {
+      resolved.first_point = geometry_msgs.msg.Point.Resolve(msg.first_point)
+    }
+    else {
+      resolved.first_point = new geometry_msgs.msg.Point()
+    }
+
+    if (msg.last_point !== undefined) {
+      resolved.last_point = geometry_msgs.msg.Point.Resolve(msg.last_point)
+    }
+    else {
+      resolved.last_point = new geometry_msgs.msg.Point()
+    }
+
+    return resolved;
+    }
+};
+
+module.exports = SegmentObstacle;
diff --git a/workspace/virtuallab/devel/share/gennodejs/ros/obstacle_detector/msg/_index.js b/workspace/virtuallab/devel/share/gennodejs/ros/obstacle_detector/msg/_index.js
new file mode 100644
index 0000000000000000000000000000000000000000..d8b9600cdb9ea004c014b4e1116ce94d1f3ce47d
--- /dev/null
+++ b/workspace/virtuallab/devel/share/gennodejs/ros/obstacle_detector/msg/_index.js
@@ -0,0 +1,12 @@
+
+"use strict";
+
+let SegmentObstacle = require('./SegmentObstacle.js');
+let CircleObstacle = require('./CircleObstacle.js');
+let Obstacles = require('./Obstacles.js');
+
+module.exports = {
+  SegmentObstacle: SegmentObstacle,
+  CircleObstacle: CircleObstacle,
+  Obstacles: Obstacles,
+};
diff --git a/workspace/virtuallab/devel/share/laser_scan_convert/cmake/laser_scan_convertConfig-version.cmake b/workspace/virtuallab/devel/share/laser_scan_convert/cmake/laser_scan_convertConfig-version.cmake
new file mode 100644
index 0000000000000000000000000000000000000000..7fd9f993a719934b0f7ee411b86bce935627eec0
--- /dev/null
+++ b/workspace/virtuallab/devel/share/laser_scan_convert/cmake/laser_scan_convertConfig-version.cmake
@@ -0,0 +1,14 @@
+# generated from catkin/cmake/template/pkgConfig-version.cmake.in
+set(PACKAGE_VERSION "0.0.0")
+
+set(PACKAGE_VERSION_EXACT False)
+set(PACKAGE_VERSION_COMPATIBLE False)
+
+if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_EXACT True)
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
+
+if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
diff --git a/workspace/virtuallab/devel/share/laser_scan_convert/cmake/laser_scan_convertConfig.cmake b/workspace/virtuallab/devel/share/laser_scan_convert/cmake/laser_scan_convertConfig.cmake
new file mode 100644
index 0000000000000000000000000000000000000000..38325de13fdb155ac2d87e54b7582f2c47eb32cd
--- /dev/null
+++ b/workspace/virtuallab/devel/share/laser_scan_convert/cmake/laser_scan_convertConfig.cmake
@@ -0,0 +1,223 @@
+# generated from catkin/cmake/template/pkgConfig.cmake.in
+
+# append elements to a list and remove existing duplicates from the list
+# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig
+# self contained
+macro(_list_append_deduplicate listname)
+  if(NOT "${ARGN}" STREQUAL "")
+    if(${listname})
+      list(REMOVE_ITEM ${listname} ${ARGN})
+    endif()
+    list(APPEND ${listname} ${ARGN})
+  endif()
+endmacro()
+
+# append elements to a list if they are not already in the list
+# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig
+# self contained
+macro(_list_append_unique listname)
+  foreach(_item ${ARGN})
+    list(FIND ${listname} ${_item} _index)
+    if(_index EQUAL -1)
+      list(APPEND ${listname} ${_item})
+    endif()
+  endforeach()
+endmacro()
+
+# pack a list of libraries with optional build configuration keywords
+# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig
+# self contained
+macro(_pack_libraries_with_build_configuration VAR)
+  set(${VAR} "")
+  set(_argn ${ARGN})
+  list(LENGTH _argn _count)
+  set(_index 0)
+  while(${_index} LESS ${_count})
+    list(GET _argn ${_index} lib)
+    if("${lib}" MATCHES "^(debug|optimized|general)$")
+      math(EXPR _index "${_index} + 1")
+      if(${_index} EQUAL ${_count})
+        message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library")
+      endif()
+      list(GET _argn ${_index} library)
+      list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}")
+    else()
+      list(APPEND ${VAR} "${lib}")
+    endif()
+    math(EXPR _index "${_index} + 1")
+  endwhile()
+endmacro()
+
+# unpack a list of libraries with optional build configuration keyword prefixes
+# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig
+# self contained
+macro(_unpack_libraries_with_build_configuration VAR)
+  set(${VAR} "")
+  foreach(lib ${ARGN})
+    string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}")
+    list(APPEND ${VAR} "${lib}")
+  endforeach()
+endmacro()
+
+
+if(laser_scan_convert_CONFIG_INCLUDED)
+  return()
+endif()
+set(laser_scan_convert_CONFIG_INCLUDED TRUE)
+
+# set variables for source/devel/install prefixes
+if("TRUE" STREQUAL "TRUE")
+  set(laser_scan_convert_SOURCE_PREFIX /home/job/workspace/virtuallab/src/laser_scan_convert)
+  set(laser_scan_convert_DEVEL_PREFIX /home/job/workspace/virtuallab/devel)
+  set(laser_scan_convert_INSTALL_PREFIX "")
+  set(laser_scan_convert_PREFIX ${laser_scan_convert_DEVEL_PREFIX})
+else()
+  set(laser_scan_convert_SOURCE_PREFIX "")
+  set(laser_scan_convert_DEVEL_PREFIX "")
+  set(laser_scan_convert_INSTALL_PREFIX /home/job/workspace/virtuallab/install)
+  set(laser_scan_convert_PREFIX ${laser_scan_convert_INSTALL_PREFIX})
+endif()
+
+# warn when using a deprecated package
+if(NOT "" STREQUAL "")
+  set(_msg "WARNING: package 'laser_scan_convert' is deprecated")
+  # append custom deprecation text if available
+  if(NOT "" STREQUAL "TRUE")
+    set(_msg "${_msg} ()")
+  endif()
+  message("${_msg}")
+endif()
+
+# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project
+set(laser_scan_convert_FOUND_CATKIN_PROJECT TRUE)
+
+if(NOT " " STREQUAL " ")
+  set(laser_scan_convert_INCLUDE_DIRS "")
+  set(_include_dirs "")
+  if(NOT " " STREQUAL " ")
+    set(_report "Check the issue tracker '' and consider creating a ticket if the problem has not been reported yet.")
+  elseif(NOT " " STREQUAL " ")
+    set(_report "Check the website '' for information and consider reporting the problem.")
+  else()
+    set(_report "Report the problem to the maintainer 'job <job@todo.todo>' and request to fix the problem.")
+  endif()
+  foreach(idir ${_include_dirs})
+    if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir})
+      set(include ${idir})
+    elseif("${idir} " STREQUAL "include ")
+      get_filename_component(include "${laser_scan_convert_DIR}/../../../include" ABSOLUTE)
+      if(NOT IS_DIRECTORY ${include})
+        message(FATAL_ERROR "Project 'laser_scan_convert' specifies '${idir}' as an include dir, which is not found.  It does not exist in '${include}'.  ${_report}")
+      endif()
+    else()
+      message(FATAL_ERROR "Project 'laser_scan_convert' specifies '${idir}' as an include dir, which is not found.  It does neither exist as an absolute directory nor in '/home/job/workspace/virtuallab/src/laser_scan_convert/${idir}'.  ${_report}")
+    endif()
+    _list_append_unique(laser_scan_convert_INCLUDE_DIRS ${include})
+  endforeach()
+endif()
+
+set(libraries "")
+foreach(library ${libraries})
+  # keep build configuration keywords, target names and absolute libraries as-is
+  if("${library}" MATCHES "^(debug|optimized|general)$")
+    list(APPEND laser_scan_convert_LIBRARIES ${library})
+  elseif(${library} MATCHES "^-l")
+    list(APPEND laser_scan_convert_LIBRARIES ${library})
+  elseif(${library} MATCHES "^-")
+    # This is a linker flag/option (like -pthread)
+    # There's no standard variable for these, so create an interface library to hold it
+    if(NOT laser_scan_convert_NUM_DUMMY_TARGETS)
+      set(laser_scan_convert_NUM_DUMMY_TARGETS 0)
+    endif()
+    # Make sure the target name is unique
+    set(interface_target_name "catkin::laser_scan_convert::wrapped-linker-option${laser_scan_convert_NUM_DUMMY_TARGETS}")
+    while(TARGET "${interface_target_name}")
+      math(EXPR laser_scan_convert_NUM_DUMMY_TARGETS "${laser_scan_convert_NUM_DUMMY_TARGETS}+1")
+      set(interface_target_name "catkin::laser_scan_convert::wrapped-linker-option${laser_scan_convert_NUM_DUMMY_TARGETS}")
+    endwhile()
+    add_library("${interface_target_name}" INTERFACE IMPORTED)
+    if("${CMAKE_VERSION}" VERSION_LESS "3.13.0")
+      set_property(
+        TARGET
+        "${interface_target_name}"
+        APPEND PROPERTY
+        INTERFACE_LINK_LIBRARIES "${library}")
+    else()
+      target_link_options("${interface_target_name}" INTERFACE "${library}")
+    endif()
+    list(APPEND laser_scan_convert_LIBRARIES "${interface_target_name}")
+  elseif(TARGET ${library})
+    list(APPEND laser_scan_convert_LIBRARIES ${library})
+  elseif(IS_ABSOLUTE ${library})
+    list(APPEND laser_scan_convert_LIBRARIES ${library})
+  else()
+    set(lib_path "")
+    set(lib "${library}-NOTFOUND")
+    # since the path where the library is found is returned we have to iterate over the paths manually
+    foreach(path /home/job/workspace/virtuallab/devel/lib;/home/job/workspace/virtuallab/devel/lib;/opt/ros/melodic/lib)
+      find_library(lib ${library}
+        PATHS ${path}
+        NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
+      if(lib)
+        set(lib_path ${path})
+        break()
+      endif()
+    endforeach()
+    if(lib)
+      _list_append_unique(laser_scan_convert_LIBRARY_DIRS ${lib_path})
+      list(APPEND laser_scan_convert_LIBRARIES ${lib})
+    else()
+      # as a fall back for non-catkin libraries try to search globally
+      find_library(lib ${library})
+      if(NOT lib)
+        message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'.  The library is neither a target nor built/installed properly.  Did you compile project 'laser_scan_convert'?  Did you find_package() it before the subdirectory containing its code is included?")
+      endif()
+      list(APPEND laser_scan_convert_LIBRARIES ${lib})
+    endif()
+  endif()
+endforeach()
+
+set(laser_scan_convert_EXPORTED_TARGETS "")
+# create dummy targets for exported code generation targets to make life of users easier
+foreach(t ${laser_scan_convert_EXPORTED_TARGETS})
+  if(NOT TARGET ${t})
+    add_custom_target(${t})
+  endif()
+endforeach()
+
+set(depends "")
+foreach(depend ${depends})
+  string(REPLACE " " ";" depend_list ${depend})
+  # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls
+  list(GET depend_list 0 laser_scan_convert_dep)
+  list(LENGTH depend_list count)
+  if(${count} EQUAL 1)
+    # simple dependencies must only be find_package()-ed once
+    if(NOT ${laser_scan_convert_dep}_FOUND)
+      find_package(${laser_scan_convert_dep} REQUIRED NO_MODULE)
+    endif()
+  else()
+    # dependencies with components must be find_package()-ed again
+    list(REMOVE_AT depend_list 0)
+    find_package(${laser_scan_convert_dep} REQUIRED NO_MODULE ${depend_list})
+  endif()
+  _list_append_unique(laser_scan_convert_INCLUDE_DIRS ${${laser_scan_convert_dep}_INCLUDE_DIRS})
+
+  # merge build configuration keywords with library names to correctly deduplicate
+  _pack_libraries_with_build_configuration(laser_scan_convert_LIBRARIES ${laser_scan_convert_LIBRARIES})
+  _pack_libraries_with_build_configuration(_libraries ${${laser_scan_convert_dep}_LIBRARIES})
+  _list_append_deduplicate(laser_scan_convert_LIBRARIES ${_libraries})
+  # undo build configuration keyword merging after deduplication
+  _unpack_libraries_with_build_configuration(laser_scan_convert_LIBRARIES ${laser_scan_convert_LIBRARIES})
+
+  _list_append_unique(laser_scan_convert_LIBRARY_DIRS ${${laser_scan_convert_dep}_LIBRARY_DIRS})
+  list(APPEND laser_scan_convert_EXPORTED_TARGETS ${${laser_scan_convert_dep}_EXPORTED_TARGETS})
+endforeach()
+
+set(pkg_cfg_extras "")
+foreach(extra ${pkg_cfg_extras})
+  if(NOT IS_ABSOLUTE ${extra})
+    set(extra ${laser_scan_convert_DIR}/${extra})
+  endif()
+  include(${extra})
+endforeach()
diff --git a/workspace/virtuallab/devel/share/multi_object_tracking_lidar/cmake/multi_object_tracking_lidarConfig-version.cmake b/workspace/virtuallab/devel/share/multi_object_tracking_lidar/cmake/multi_object_tracking_lidarConfig-version.cmake
new file mode 100644
index 0000000000000000000000000000000000000000..74a0ba4318d7b484da8a5a0af27aeb7e911cf503
--- /dev/null
+++ b/workspace/virtuallab/devel/share/multi_object_tracking_lidar/cmake/multi_object_tracking_lidarConfig-version.cmake
@@ -0,0 +1,14 @@
+# generated from catkin/cmake/template/pkgConfig-version.cmake.in
+set(PACKAGE_VERSION "1.0.3")
+
+set(PACKAGE_VERSION_EXACT False)
+set(PACKAGE_VERSION_COMPATIBLE False)
+
+if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_EXACT True)
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
+
+if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
diff --git a/workspace/virtuallab/devel/share/multi_object_tracking_lidar/cmake/multi_object_tracking_lidarConfig.cmake b/workspace/virtuallab/devel/share/multi_object_tracking_lidar/cmake/multi_object_tracking_lidarConfig.cmake
new file mode 100644
index 0000000000000000000000000000000000000000..1250bf64aaf1388a69bd1c0c394903caf7f00f89
--- /dev/null
+++ b/workspace/virtuallab/devel/share/multi_object_tracking_lidar/cmake/multi_object_tracking_lidarConfig.cmake
@@ -0,0 +1,223 @@
+# generated from catkin/cmake/template/pkgConfig.cmake.in
+
+# append elements to a list and remove existing duplicates from the list
+# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig
+# self contained
+macro(_list_append_deduplicate listname)
+  if(NOT "${ARGN}" STREQUAL "")
+    if(${listname})
+      list(REMOVE_ITEM ${listname} ${ARGN})
+    endif()
+    list(APPEND ${listname} ${ARGN})
+  endif()
+endmacro()
+
+# append elements to a list if they are not already in the list
+# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig
+# self contained
+macro(_list_append_unique listname)
+  foreach(_item ${ARGN})
+    list(FIND ${listname} ${_item} _index)
+    if(_index EQUAL -1)
+      list(APPEND ${listname} ${_item})
+    endif()
+  endforeach()
+endmacro()
+
+# pack a list of libraries with optional build configuration keywords
+# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig
+# self contained
+macro(_pack_libraries_with_build_configuration VAR)
+  set(${VAR} "")
+  set(_argn ${ARGN})
+  list(LENGTH _argn _count)
+  set(_index 0)
+  while(${_index} LESS ${_count})
+    list(GET _argn ${_index} lib)
+    if("${lib}" MATCHES "^(debug|optimized|general)$")
+      math(EXPR _index "${_index} + 1")
+      if(${_index} EQUAL ${_count})
+        message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library")
+      endif()
+      list(GET _argn ${_index} library)
+      list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}")
+    else()
+      list(APPEND ${VAR} "${lib}")
+    endif()
+    math(EXPR _index "${_index} + 1")
+  endwhile()
+endmacro()
+
+# unpack a list of libraries with optional build configuration keyword prefixes
+# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig
+# self contained
+macro(_unpack_libraries_with_build_configuration VAR)
+  set(${VAR} "")
+  foreach(lib ${ARGN})
+    string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}")
+    list(APPEND ${VAR} "${lib}")
+  endforeach()
+endmacro()
+
+
+if(multi_object_tracking_lidar_CONFIG_INCLUDED)
+  return()
+endif()
+set(multi_object_tracking_lidar_CONFIG_INCLUDED TRUE)
+
+# set variables for source/devel/install prefixes
+if("TRUE" STREQUAL "TRUE")
+  set(multi_object_tracking_lidar_SOURCE_PREFIX /home/job/workspace/virtuallab/src/multiple-object-tracking-lidar)
+  set(multi_object_tracking_lidar_DEVEL_PREFIX /home/job/workspace/virtuallab/devel)
+  set(multi_object_tracking_lidar_INSTALL_PREFIX "")
+  set(multi_object_tracking_lidar_PREFIX ${multi_object_tracking_lidar_DEVEL_PREFIX})
+else()
+  set(multi_object_tracking_lidar_SOURCE_PREFIX "")
+  set(multi_object_tracking_lidar_DEVEL_PREFIX "")
+  set(multi_object_tracking_lidar_INSTALL_PREFIX /home/job/workspace/virtuallab/install)
+  set(multi_object_tracking_lidar_PREFIX ${multi_object_tracking_lidar_INSTALL_PREFIX})
+endif()
+
+# warn when using a deprecated package
+if(NOT "" STREQUAL "")
+  set(_msg "WARNING: package 'multi_object_tracking_lidar' is deprecated")
+  # append custom deprecation text if available
+  if(NOT "" STREQUAL "TRUE")
+    set(_msg "${_msg} ()")
+  endif()
+  message("${_msg}")
+endif()
+
+# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project
+set(multi_object_tracking_lidar_FOUND_CATKIN_PROJECT TRUE)
+
+if(NOT " " STREQUAL " ")
+  set(multi_object_tracking_lidar_INCLUDE_DIRS "")
+  set(_include_dirs "")
+  if(NOT " " STREQUAL " ")
+    set(_report "Check the issue tracker '' and consider creating a ticket if the problem has not been reported yet.")
+  elseif(NOT " " STREQUAL " ")
+    set(_report "Check the website '' for information and consider reporting the problem.")
+  else()
+    set(_report "Report the problem to the maintainer 'Praveen Palanisamy <praveen.palanisamy@outlook.com>' and request to fix the problem.")
+  endif()
+  foreach(idir ${_include_dirs})
+    if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir})
+      set(include ${idir})
+    elseif("${idir} " STREQUAL "include ")
+      get_filename_component(include "${multi_object_tracking_lidar_DIR}/../../../include" ABSOLUTE)
+      if(NOT IS_DIRECTORY ${include})
+        message(FATAL_ERROR "Project 'multi_object_tracking_lidar' specifies '${idir}' as an include dir, which is not found.  It does not exist in '${include}'.  ${_report}")
+      endif()
+    else()
+      message(FATAL_ERROR "Project 'multi_object_tracking_lidar' specifies '${idir}' as an include dir, which is not found.  It does neither exist as an absolute directory nor in '/home/job/workspace/virtuallab/src/multiple-object-tracking-lidar/${idir}'.  ${_report}")
+    endif()
+    _list_append_unique(multi_object_tracking_lidar_INCLUDE_DIRS ${include})
+  endforeach()
+endif()
+
+set(libraries "")
+foreach(library ${libraries})
+  # keep build configuration keywords, target names and absolute libraries as-is
+  if("${library}" MATCHES "^(debug|optimized|general)$")
+    list(APPEND multi_object_tracking_lidar_LIBRARIES ${library})
+  elseif(${library} MATCHES "^-l")
+    list(APPEND multi_object_tracking_lidar_LIBRARIES ${library})
+  elseif(${library} MATCHES "^-")
+    # This is a linker flag/option (like -pthread)
+    # There's no standard variable for these, so create an interface library to hold it
+    if(NOT multi_object_tracking_lidar_NUM_DUMMY_TARGETS)
+      set(multi_object_tracking_lidar_NUM_DUMMY_TARGETS 0)
+    endif()
+    # Make sure the target name is unique
+    set(interface_target_name "catkin::multi_object_tracking_lidar::wrapped-linker-option${multi_object_tracking_lidar_NUM_DUMMY_TARGETS}")
+    while(TARGET "${interface_target_name}")
+      math(EXPR multi_object_tracking_lidar_NUM_DUMMY_TARGETS "${multi_object_tracking_lidar_NUM_DUMMY_TARGETS}+1")
+      set(interface_target_name "catkin::multi_object_tracking_lidar::wrapped-linker-option${multi_object_tracking_lidar_NUM_DUMMY_TARGETS}")
+    endwhile()
+    add_library("${interface_target_name}" INTERFACE IMPORTED)
+    if("${CMAKE_VERSION}" VERSION_LESS "3.13.0")
+      set_property(
+        TARGET
+        "${interface_target_name}"
+        APPEND PROPERTY
+        INTERFACE_LINK_LIBRARIES "${library}")
+    else()
+      target_link_options("${interface_target_name}" INTERFACE "${library}")
+    endif()
+    list(APPEND multi_object_tracking_lidar_LIBRARIES "${interface_target_name}")
+  elseif(TARGET ${library})
+    list(APPEND multi_object_tracking_lidar_LIBRARIES ${library})
+  elseif(IS_ABSOLUTE ${library})
+    list(APPEND multi_object_tracking_lidar_LIBRARIES ${library})
+  else()
+    set(lib_path "")
+    set(lib "${library}-NOTFOUND")
+    # since the path where the library is found is returned we have to iterate over the paths manually
+    foreach(path /home/job/workspace/virtuallab/devel/lib;/home/job/workspace/virtuallab/devel/lib;/opt/ros/melodic/lib)
+      find_library(lib ${library}
+        PATHS ${path}
+        NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
+      if(lib)
+        set(lib_path ${path})
+        break()
+      endif()
+    endforeach()
+    if(lib)
+      _list_append_unique(multi_object_tracking_lidar_LIBRARY_DIRS ${lib_path})
+      list(APPEND multi_object_tracking_lidar_LIBRARIES ${lib})
+    else()
+      # as a fall back for non-catkin libraries try to search globally
+      find_library(lib ${library})
+      if(NOT lib)
+        message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'.  The library is neither a target nor built/installed properly.  Did you compile project 'multi_object_tracking_lidar'?  Did you find_package() it before the subdirectory containing its code is included?")
+      endif()
+      list(APPEND multi_object_tracking_lidar_LIBRARIES ${lib})
+    endif()
+  endif()
+endforeach()
+
+set(multi_object_tracking_lidar_EXPORTED_TARGETS "")
+# create dummy targets for exported code generation targets to make life of users easier
+foreach(t ${multi_object_tracking_lidar_EXPORTED_TARGETS})
+  if(NOT TARGET ${t})
+    add_custom_target(${t})
+  endif()
+endforeach()
+
+set(depends "")
+foreach(depend ${depends})
+  string(REPLACE " " ";" depend_list ${depend})
+  # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls
+  list(GET depend_list 0 multi_object_tracking_lidar_dep)
+  list(LENGTH depend_list count)
+  if(${count} EQUAL 1)
+    # simple dependencies must only be find_package()-ed once
+    if(NOT ${multi_object_tracking_lidar_dep}_FOUND)
+      find_package(${multi_object_tracking_lidar_dep} REQUIRED NO_MODULE)
+    endif()
+  else()
+    # dependencies with components must be find_package()-ed again
+    list(REMOVE_AT depend_list 0)
+    find_package(${multi_object_tracking_lidar_dep} REQUIRED NO_MODULE ${depend_list})
+  endif()
+  _list_append_unique(multi_object_tracking_lidar_INCLUDE_DIRS ${${multi_object_tracking_lidar_dep}_INCLUDE_DIRS})
+
+  # merge build configuration keywords with library names to correctly deduplicate
+  _pack_libraries_with_build_configuration(multi_object_tracking_lidar_LIBRARIES ${multi_object_tracking_lidar_LIBRARIES})
+  _pack_libraries_with_build_configuration(_libraries ${${multi_object_tracking_lidar_dep}_LIBRARIES})
+  _list_append_deduplicate(multi_object_tracking_lidar_LIBRARIES ${_libraries})
+  # undo build configuration keyword merging after deduplication
+  _unpack_libraries_with_build_configuration(multi_object_tracking_lidar_LIBRARIES ${multi_object_tracking_lidar_LIBRARIES})
+
+  _list_append_unique(multi_object_tracking_lidar_LIBRARY_DIRS ${${multi_object_tracking_lidar_dep}_LIBRARY_DIRS})
+  list(APPEND multi_object_tracking_lidar_EXPORTED_TARGETS ${${multi_object_tracking_lidar_dep}_EXPORTED_TARGETS})
+endforeach()
+
+set(pkg_cfg_extras "")
+foreach(extra ${pkg_cfg_extras})
+  if(NOT IS_ABSOLUTE ${extra})
+    set(extra ${multi_object_tracking_lidar_DIR}/${extra})
+  endif()
+  include(${extra})
+endforeach()
diff --git a/workspace/virtuallab/devel/share/obstacle_detector/cmake/obstacle_detector-msg-extras.cmake b/workspace/virtuallab/devel/share/obstacle_detector/cmake/obstacle_detector-msg-extras.cmake
new file mode 100644
index 0000000000000000000000000000000000000000..715fc143086fbc2420af43fac469c024dc3d4f1a
--- /dev/null
+++ b/workspace/virtuallab/devel/share/obstacle_detector/cmake/obstacle_detector-msg-extras.cmake
@@ -0,0 +1,2 @@
+set(obstacle_detector_MESSAGE_FILES "/home/job/workspace/virtuallab/src/obstacle_detector/msg/CircleObstacle.msg;/home/job/workspace/virtuallab/src/obstacle_detector/msg/SegmentObstacle.msg;/home/job/workspace/virtuallab/src/obstacle_detector/msg/Obstacles.msg")
+set(obstacle_detector_SERVICE_FILES "")
diff --git a/workspace/virtuallab/devel/share/obstacle_detector/cmake/obstacle_detector-msg-paths.cmake b/workspace/virtuallab/devel/share/obstacle_detector/cmake/obstacle_detector-msg-paths.cmake
new file mode 100644
index 0000000000000000000000000000000000000000..6344d7d7a6869465fa416ad342e4a5a5b39822c6
--- /dev/null
+++ b/workspace/virtuallab/devel/share/obstacle_detector/cmake/obstacle_detector-msg-paths.cmake
@@ -0,0 +1,4 @@
+# generated from genmsg/cmake/pkg-msg-paths.cmake.develspace.in
+
+set(obstacle_detector_MSG_INCLUDE_DIRS "/home/job/workspace/virtuallab/src/obstacle_detector/msg")
+set(obstacle_detector_MSG_DEPENDENCIES std_msgs;geometry_msgs)
diff --git a/workspace/virtuallab/devel/share/obstacle_detector/cmake/obstacle_detectorConfig-version.cmake b/workspace/virtuallab/devel/share/obstacle_detector/cmake/obstacle_detectorConfig-version.cmake
new file mode 100644
index 0000000000000000000000000000000000000000..de35aa22a9bd546ca9e0b4e63357adc254d83544
--- /dev/null
+++ b/workspace/virtuallab/devel/share/obstacle_detector/cmake/obstacle_detectorConfig-version.cmake
@@ -0,0 +1,14 @@
+# generated from catkin/cmake/template/pkgConfig-version.cmake.in
+set(PACKAGE_VERSION "1.0.0")
+
+set(PACKAGE_VERSION_EXACT False)
+set(PACKAGE_VERSION_COMPATIBLE False)
+
+if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_EXACT True)
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
+
+if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
diff --git a/workspace/virtuallab/devel/share/obstacle_detector/cmake/obstacle_detectorConfig.cmake b/workspace/virtuallab/devel/share/obstacle_detector/cmake/obstacle_detectorConfig.cmake
new file mode 100644
index 0000000000000000000000000000000000000000..da5f023371e8194a521e3d9a0124d1a6cf20ccd8
--- /dev/null
+++ b/workspace/virtuallab/devel/share/obstacle_detector/cmake/obstacle_detectorConfig.cmake
@@ -0,0 +1,223 @@
+# generated from catkin/cmake/template/pkgConfig.cmake.in
+
+# append elements to a list and remove existing duplicates from the list
+# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig
+# self contained
+macro(_list_append_deduplicate listname)
+  if(NOT "${ARGN}" STREQUAL "")
+    if(${listname})
+      list(REMOVE_ITEM ${listname} ${ARGN})
+    endif()
+    list(APPEND ${listname} ${ARGN})
+  endif()
+endmacro()
+
+# append elements to a list if they are not already in the list
+# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig
+# self contained
+macro(_list_append_unique listname)
+  foreach(_item ${ARGN})
+    list(FIND ${listname} ${_item} _index)
+    if(_index EQUAL -1)
+      list(APPEND ${listname} ${_item})
+    endif()
+  endforeach()
+endmacro()
+
+# pack a list of libraries with optional build configuration keywords
+# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig
+# self contained
+macro(_pack_libraries_with_build_configuration VAR)
+  set(${VAR} "")
+  set(_argn ${ARGN})
+  list(LENGTH _argn _count)
+  set(_index 0)
+  while(${_index} LESS ${_count})
+    list(GET _argn ${_index} lib)
+    if("${lib}" MATCHES "^(debug|optimized|general)$")
+      math(EXPR _index "${_index} + 1")
+      if(${_index} EQUAL ${_count})
+        message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library")
+      endif()
+      list(GET _argn ${_index} library)
+      list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}")
+    else()
+      list(APPEND ${VAR} "${lib}")
+    endif()
+    math(EXPR _index "${_index} + 1")
+  endwhile()
+endmacro()
+
+# unpack a list of libraries with optional build configuration keyword prefixes
+# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig
+# self contained
+macro(_unpack_libraries_with_build_configuration VAR)
+  set(${VAR} "")
+  foreach(lib ${ARGN})
+    string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}")
+    list(APPEND ${VAR} "${lib}")
+  endforeach()
+endmacro()
+
+
+if(obstacle_detector_CONFIG_INCLUDED)
+  return()
+endif()
+set(obstacle_detector_CONFIG_INCLUDED TRUE)
+
+# set variables for source/devel/install prefixes
+if("TRUE" STREQUAL "TRUE")
+  set(obstacle_detector_SOURCE_PREFIX /home/job/workspace/virtuallab/src/obstacle_detector)
+  set(obstacle_detector_DEVEL_PREFIX /home/job/workspace/virtuallab/devel)
+  set(obstacle_detector_INSTALL_PREFIX "")
+  set(obstacle_detector_PREFIX ${obstacle_detector_DEVEL_PREFIX})
+else()
+  set(obstacle_detector_SOURCE_PREFIX "")
+  set(obstacle_detector_DEVEL_PREFIX "")
+  set(obstacle_detector_INSTALL_PREFIX /home/job/workspace/virtuallab/install)
+  set(obstacle_detector_PREFIX ${obstacle_detector_INSTALL_PREFIX})
+endif()
+
+# warn when using a deprecated package
+if(NOT "" STREQUAL "")
+  set(_msg "WARNING: package 'obstacle_detector' is deprecated")
+  # append custom deprecation text if available
+  if(NOT "" STREQUAL "TRUE")
+    set(_msg "${_msg} ()")
+  endif()
+  message("${_msg}")
+endif()
+
+# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project
+set(obstacle_detector_FOUND_CATKIN_PROJECT TRUE)
+
+if(NOT "/home/job/workspace/virtuallab/devel/include;/home/job/workspace/virtuallab/src/obstacle_detector/include " STREQUAL " ")
+  set(obstacle_detector_INCLUDE_DIRS "")
+  set(_include_dirs "/home/job/workspace/virtuallab/devel/include;/home/job/workspace/virtuallab/src/obstacle_detector/include")
+  if(NOT " " STREQUAL " ")
+    set(_report "Check the issue tracker '' and consider creating a ticket if the problem has not been reported yet.")
+  elseif(NOT " " STREQUAL " ")
+    set(_report "Check the website '' for information and consider reporting the problem.")
+  else()
+    set(_report "Report the problem to the maintainer 'Mateusz Przybyla <mateusz.przybyla@put.poznan.pl>' and request to fix the problem.")
+  endif()
+  foreach(idir ${_include_dirs})
+    if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir})
+      set(include ${idir})
+    elseif("${idir} " STREQUAL "include ")
+      get_filename_component(include "${obstacle_detector_DIR}/../../../include" ABSOLUTE)
+      if(NOT IS_DIRECTORY ${include})
+        message(FATAL_ERROR "Project 'obstacle_detector' specifies '${idir}' as an include dir, which is not found.  It does not exist in '${include}'.  ${_report}")
+      endif()
+    else()
+      message(FATAL_ERROR "Project 'obstacle_detector' specifies '${idir}' as an include dir, which is not found.  It does neither exist as an absolute directory nor in '/home/job/workspace/virtuallab/src/obstacle_detector/${idir}'.  ${_report}")
+    endif()
+    _list_append_unique(obstacle_detector_INCLUDE_DIRS ${include})
+  endforeach()
+endif()
+
+set(libraries "scans_merger;obstacle_extractor;obstacle_tracker;obstacle_publisher;obstacle_detector_nodelets;obstacle_detector_gui")
+foreach(library ${libraries})
+  # keep build configuration keywords, target names and absolute libraries as-is
+  if("${library}" MATCHES "^(debug|optimized|general)$")
+    list(APPEND obstacle_detector_LIBRARIES ${library})
+  elseif(${library} MATCHES "^-l")
+    list(APPEND obstacle_detector_LIBRARIES ${library})
+  elseif(${library} MATCHES "^-")
+    # This is a linker flag/option (like -pthread)
+    # There's no standard variable for these, so create an interface library to hold it
+    if(NOT obstacle_detector_NUM_DUMMY_TARGETS)
+      set(obstacle_detector_NUM_DUMMY_TARGETS 0)
+    endif()
+    # Make sure the target name is unique
+    set(interface_target_name "catkin::obstacle_detector::wrapped-linker-option${obstacle_detector_NUM_DUMMY_TARGETS}")
+    while(TARGET "${interface_target_name}")
+      math(EXPR obstacle_detector_NUM_DUMMY_TARGETS "${obstacle_detector_NUM_DUMMY_TARGETS}+1")
+      set(interface_target_name "catkin::obstacle_detector::wrapped-linker-option${obstacle_detector_NUM_DUMMY_TARGETS}")
+    endwhile()
+    add_library("${interface_target_name}" INTERFACE IMPORTED)
+    if("${CMAKE_VERSION}" VERSION_LESS "3.13.0")
+      set_property(
+        TARGET
+        "${interface_target_name}"
+        APPEND PROPERTY
+        INTERFACE_LINK_LIBRARIES "${library}")
+    else()
+      target_link_options("${interface_target_name}" INTERFACE "${library}")
+    endif()
+    list(APPEND obstacle_detector_LIBRARIES "${interface_target_name}")
+  elseif(TARGET ${library})
+    list(APPEND obstacle_detector_LIBRARIES ${library})
+  elseif(IS_ABSOLUTE ${library})
+    list(APPEND obstacle_detector_LIBRARIES ${library})
+  else()
+    set(lib_path "")
+    set(lib "${library}-NOTFOUND")
+    # since the path where the library is found is returned we have to iterate over the paths manually
+    foreach(path /home/job/workspace/virtuallab/devel/lib;/home/job/workspace/virtuallab/devel/lib;/opt/ros/melodic/lib)
+      find_library(lib ${library}
+        PATHS ${path}
+        NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
+      if(lib)
+        set(lib_path ${path})
+        break()
+      endif()
+    endforeach()
+    if(lib)
+      _list_append_unique(obstacle_detector_LIBRARY_DIRS ${lib_path})
+      list(APPEND obstacle_detector_LIBRARIES ${lib})
+    else()
+      # as a fall back for non-catkin libraries try to search globally
+      find_library(lib ${library})
+      if(NOT lib)
+        message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'.  The library is neither a target nor built/installed properly.  Did you compile project 'obstacle_detector'?  Did you find_package() it before the subdirectory containing its code is included?")
+      endif()
+      list(APPEND obstacle_detector_LIBRARIES ${lib})
+    endif()
+  endif()
+endforeach()
+
+set(obstacle_detector_EXPORTED_TARGETS "obstacle_detector_generate_messages_cpp;obstacle_detector_generate_messages_eus;obstacle_detector_generate_messages_lisp;obstacle_detector_generate_messages_nodejs;obstacle_detector_generate_messages_py")
+# create dummy targets for exported code generation targets to make life of users easier
+foreach(t ${obstacle_detector_EXPORTED_TARGETS})
+  if(NOT TARGET ${t})
+    add_custom_target(${t})
+  endif()
+endforeach()
+
+set(depends "roscpp;nodelet;rviz;std_msgs;std_srvs;geometry_msgs;sensor_msgs;tf;laser_geometry;message_runtime")
+foreach(depend ${depends})
+  string(REPLACE " " ";" depend_list ${depend})
+  # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls
+  list(GET depend_list 0 obstacle_detector_dep)
+  list(LENGTH depend_list count)
+  if(${count} EQUAL 1)
+    # simple dependencies must only be find_package()-ed once
+    if(NOT ${obstacle_detector_dep}_FOUND)
+      find_package(${obstacle_detector_dep} REQUIRED NO_MODULE)
+    endif()
+  else()
+    # dependencies with components must be find_package()-ed again
+    list(REMOVE_AT depend_list 0)
+    find_package(${obstacle_detector_dep} REQUIRED NO_MODULE ${depend_list})
+  endif()
+  _list_append_unique(obstacle_detector_INCLUDE_DIRS ${${obstacle_detector_dep}_INCLUDE_DIRS})
+
+  # merge build configuration keywords with library names to correctly deduplicate
+  _pack_libraries_with_build_configuration(obstacle_detector_LIBRARIES ${obstacle_detector_LIBRARIES})
+  _pack_libraries_with_build_configuration(_libraries ${${obstacle_detector_dep}_LIBRARIES})
+  _list_append_deduplicate(obstacle_detector_LIBRARIES ${_libraries})
+  # undo build configuration keyword merging after deduplication
+  _unpack_libraries_with_build_configuration(obstacle_detector_LIBRARIES ${obstacle_detector_LIBRARIES})
+
+  _list_append_unique(obstacle_detector_LIBRARY_DIRS ${${obstacle_detector_dep}_LIBRARY_DIRS})
+  list(APPEND obstacle_detector_EXPORTED_TARGETS ${${obstacle_detector_dep}_EXPORTED_TARGETS})
+endforeach()
+
+set(pkg_cfg_extras "obstacle_detector-msg-extras.cmake")
+foreach(extra ${pkg_cfg_extras})
+  if(NOT IS_ABSOLUTE ${extra})
+    set(extra ${obstacle_detector_DIR}/${extra})
+  endif()
+  include(${extra})
+endforeach()
diff --git a/workspace/virtuallab/devel/share/robot_mapping/cmake/robot_mappingConfig.cmake b/workspace/virtuallab/devel/share/robot_mapping/cmake/robot_mappingConfig.cmake
index a137596fca491ca2ff3810763e5ecacef4466a16..8b103993931952e919c8f8c9c30462cdeb25ef49 100644
--- a/workspace/virtuallab/devel/share/robot_mapping/cmake/robot_mappingConfig.cmake
+++ b/workspace/virtuallab/devel/share/robot_mapping/cmake/robot_mappingConfig.cmake
@@ -177,7 +177,7 @@ foreach(library ${libraries})
   endif()
 endforeach()
 
-set(robot_mapping_EXPORTED_TARGETS "")
+set(robot_mapping_EXPORTED_TARGETS "robot_mapping_generate_messages_cpp;robot_mapping_generate_messages_eus;robot_mapping_generate_messages_lisp;robot_mapping_generate_messages_nodejs;robot_mapping_generate_messages_py")
 # create dummy targets for exported code generation targets to make life of users easier
 foreach(t ${robot_mapping_EXPORTED_TARGETS})
   if(NOT TARGET ${t})
diff --git a/workspace/virtuallab/devel/share/roseus/ros/obstacle_detector/manifest.l b/workspace/virtuallab/devel/share/roseus/ros/obstacle_detector/manifest.l
new file mode 100644
index 0000000000000000000000000000000000000000..54e4b81a58b573735e9d500697bb6f394a78975e
--- /dev/null
+++ b/workspace/virtuallab/devel/share/roseus/ros/obstacle_detector/manifest.l
@@ -0,0 +1,25 @@
+;;
+;; DO NOT EDIT THIS FILE
+;;
+;; THIS FILE IS AUTOMATICALLY GENERATED
+;;  FROM /home/job/workspace/virtuallab/src/obstacle_detector/package.xml (1.0.0)
+;; USING /opt/ros/melodic/lib/python2.7/dist-packages/geneus/geneus_main.pyc /opt/ros/melodic/share/geneus/package.xml (2.2.6)
+;;
+(ros::load-ros-package "actionlib")
+(ros::load-ros-package "actionlib_msgs")
+(ros::load-ros-package "bond")
+(ros::load-ros-package "geometry_msgs")
+(ros::load-ros-package "map_msgs")
+(ros::load-ros-package "nav_msgs")
+(ros::load-ros-package "nodelet")
+(ros::load-ros-package "roscpp")
+(ros::load-ros-package "rosgraph_msgs")
+(ros::load-ros-package "rviz")
+(ros::load-ros-package "sensor_msgs")
+(ros::load-ros-package "std_msgs")
+(ros::load-ros-package "std_srvs")
+(ros::load-ros-package "tf")
+(ros::load-ros-package "tf2_msgs")
+(ros::load-ros-package "topic_tools")
+(ros::load-ros-package "visualization_msgs")
+(ros::load-ros-package "obstacle_detector")
diff --git a/workspace/virtuallab/devel/share/roseus/ros/obstacle_detector/msg/CircleObstacle.l b/workspace/virtuallab/devel/share/roseus/ros/obstacle_detector/msg/CircleObstacle.l
new file mode 100644
index 0000000000000000000000000000000000000000..f98e6ad6eb26edc9d87f40ca138ab65162b635a7
--- /dev/null
+++ b/workspace/virtuallab/devel/share/roseus/ros/obstacle_detector/msg/CircleObstacle.l
@@ -0,0 +1,128 @@
+;; Auto-generated. Do not edit!
+
+
+(when (boundp 'obstacle_detector::CircleObstacle)
+  (if (not (find-package "OBSTACLE_DETECTOR"))
+    (make-package "OBSTACLE_DETECTOR"))
+  (shadow 'CircleObstacle (find-package "OBSTACLE_DETECTOR")))
+(unless (find-package "OBSTACLE_DETECTOR::CIRCLEOBSTACLE")
+  (make-package "OBSTACLE_DETECTOR::CIRCLEOBSTACLE"))
+
+(in-package "ROS")
+;;//! \htmlinclude CircleObstacle.msg.html
+(if (not (find-package "GEOMETRY_MSGS"))
+  (ros::roseus-add-msgs "geometry_msgs"))
+
+
+(defclass obstacle_detector::CircleObstacle
+  :super ros::object
+  :slots (_center _velocity _radius _true_radius ))
+
+(defmethod obstacle_detector::CircleObstacle
+  (:init
+   (&key
+    ((:center __center) (instance geometry_msgs::Point :init))
+    ((:velocity __velocity) (instance geometry_msgs::Vector3 :init))
+    ((:radius __radius) 0.0)
+    ((:true_radius __true_radius) 0.0)
+    )
+   (send-super :init)
+   (setq _center __center)
+   (setq _velocity __velocity)
+   (setq _radius (float __radius))
+   (setq _true_radius (float __true_radius))
+   self)
+  (:center
+   (&rest __center)
+   (if (keywordp (car __center))
+       (send* _center __center)
+     (progn
+       (if __center (setq _center (car __center)))
+       _center)))
+  (:velocity
+   (&rest __velocity)
+   (if (keywordp (car __velocity))
+       (send* _velocity __velocity)
+     (progn
+       (if __velocity (setq _velocity (car __velocity)))
+       _velocity)))
+  (:radius
+   (&optional __radius)
+   (if __radius (setq _radius __radius)) _radius)
+  (:true_radius
+   (&optional __true_radius)
+   (if __true_radius (setq _true_radius __true_radius)) _true_radius)
+  (:serialization-length
+   ()
+   (+
+    ;; geometry_msgs/Point _center
+    (send _center :serialization-length)
+    ;; geometry_msgs/Vector3 _velocity
+    (send _velocity :serialization-length)
+    ;; float64 _radius
+    8
+    ;; float64 _true_radius
+    8
+    ))
+  (:serialize
+   (&optional strm)
+   (let ((s (if strm strm
+              (make-string-output-stream (send self :serialization-length)))))
+     ;; geometry_msgs/Point _center
+       (send _center :serialize s)
+     ;; geometry_msgs/Vector3 _velocity
+       (send _velocity :serialize s)
+     ;; float64 _radius
+       (sys::poke _radius (send s :buffer) (send s :count) :double) (incf (stream-count s) 8)
+     ;; float64 _true_radius
+       (sys::poke _true_radius (send s :buffer) (send s :count) :double) (incf (stream-count s) 8)
+     ;;
+     (if (null strm) (get-output-stream-string s))))
+  (:deserialize
+   (buf &optional (ptr- 0))
+   ;; geometry_msgs/Point _center
+     (send _center :deserialize buf ptr-) (incf ptr- (send _center :serialization-length))
+   ;; geometry_msgs/Vector3 _velocity
+     (send _velocity :deserialize buf ptr-) (incf ptr- (send _velocity :serialization-length))
+   ;; float64 _radius
+     (setq _radius (sys::peek buf ptr- :double)) (incf ptr- 8)
+   ;; float64 _true_radius
+     (setq _true_radius (sys::peek buf ptr- :double)) (incf ptr- 8)
+   ;;
+   self)
+  )
+
+(setf (get obstacle_detector::CircleObstacle :md5sum-) "d23cb7e768ed09971078d4cccc3808a9")
+(setf (get obstacle_detector::CircleObstacle :datatype-) "obstacle_detector/CircleObstacle")
+(setf (get obstacle_detector::CircleObstacle :definition-)
+      "geometry_msgs/Point center      # Central point [m]
+geometry_msgs/Vector3 velocity  # Linear velocity [m/s]
+float64 radius                  # Radius with added margin [m]
+float64 true_radius             # True measured radius [m]
+
+================================================================================
+MSG: geometry_msgs/Point
+# This contains the position of a point in free space
+float64 x
+float64 y
+float64 z
+
+================================================================================
+MSG: geometry_msgs/Vector3
+# This represents a vector in free space. 
+# It is only meant to represent a direction. Therefore, it does not
+# make sense to apply a translation to it (e.g., when applying a 
+# generic rigid transformation to a Vector3, tf2 will only apply the
+# rotation). If you want your data to be translatable too, use the
+# geometry_msgs/Point message instead.
+
+float64 x
+float64 y
+float64 z
+")
+
+
+
+(provide :obstacle_detector/CircleObstacle "d23cb7e768ed09971078d4cccc3808a9")
+
+
diff --git a/workspace/virtuallab/devel/share/roseus/ros/obstacle_detector/msg/Obstacles.l b/workspace/virtuallab/devel/share/roseus/ros/obstacle_detector/msg/Obstacles.l
new file mode 100644
index 0000000000000000000000000000000000000000..54fe8da03698ea5dcf4455cd620df178999e70ce
--- /dev/null
+++ b/workspace/virtuallab/devel/share/roseus/ros/obstacle_detector/msg/Obstacles.l
@@ -0,0 +1,165 @@
+;; Auto-generated. Do not edit!
+
+
+(when (boundp 'obstacle_detector::Obstacles)
+  (if (not (find-package "OBSTACLE_DETECTOR"))
+    (make-package "OBSTACLE_DETECTOR"))
+  (shadow 'Obstacles (find-package "OBSTACLE_DETECTOR")))
+(unless (find-package "OBSTACLE_DETECTOR::OBSTACLES")
+  (make-package "OBSTACLE_DETECTOR::OBSTACLES"))
+
+(in-package "ROS")
+;;//! \htmlinclude Obstacles.msg.html
+(if (not (find-package "STD_MSGS"))
+  (ros::roseus-add-msgs "std_msgs"))
+
+
+(defclass obstacle_detector::Obstacles
+  :super ros::object
+  :slots (_header _segments _circles ))
+
+(defmethod obstacle_detector::Obstacles
+  (:init
+   (&key
+    ((:header __header) (instance std_msgs::Header :init))
+    ((:segments __segments) (let (r) (dotimes (i 0) (push (instance obstacle_detector::SegmentObstacle :init) r)) r))
+    ((:circles __circles) (let (r) (dotimes (i 0) (push (instance obstacle_detector::CircleObstacle :init) r)) r))
+    )
+   (send-super :init)
+   (setq _header __header)
+   (setq _segments __segments)
+   (setq _circles __circles)
+   self)
+  (:header
+   (&rest __header)
+   (if (keywordp (car __header))
+       (send* _header __header)
+     (progn
+       (if __header (setq _header (car __header)))
+       _header)))
+  (:segments
+   (&rest __segments)
+   (if (keywordp (car __segments))
+       (send* _segments __segments)
+     (progn
+       (if __segments (setq _segments (car __segments)))
+       _segments)))
+  (:circles
+   (&rest __circles)
+   (if (keywordp (car __circles))
+       (send* _circles __circles)
+     (progn
+       (if __circles (setq _circles (car __circles)))
+       _circles)))
+  (:serialization-length
+   ()
+   (+
+    ;; std_msgs/Header _header
+    (send _header :serialization-length)
+    ;; obstacle_detector/SegmentObstacle[] _segments
+    (apply #'+ (send-all _segments :serialization-length)) 4
+    ;; obstacle_detector/CircleObstacle[] _circles
+    (apply #'+ (send-all _circles :serialization-length)) 4
+    ))
+  (:serialize
+   (&optional strm)
+   (let ((s (if strm strm
+              (make-string-output-stream (send self :serialization-length)))))
+     ;; std_msgs/Header _header
+       (send _header :serialize s)
+     ;; obstacle_detector/SegmentObstacle[] _segments
+     (write-long (length _segments) s)
+     (dolist (elem _segments)
+       (send elem :serialize s)
+       )
+     ;; obstacle_detector/CircleObstacle[] _circles
+     (write-long (length _circles) s)
+     (dolist (elem _circles)
+       (send elem :serialize s)
+       )
+     ;;
+     (if (null strm) (get-output-stream-string s))))
+  (:deserialize
+   (buf &optional (ptr- 0))
+   ;; std_msgs/Header _header
+     (send _header :deserialize buf ptr-) (incf ptr- (send _header :serialization-length))
+   ;; obstacle_detector/SegmentObstacle[] _segments
+   (let (n)
+     (setq n (sys::peek buf ptr- :integer)) (incf ptr- 4)
+     (setq _segments (let (r) (dotimes (i n) (push (instance obstacle_detector::SegmentObstacle :init) r)) r))
+     (dolist (elem- _segments)
+     (send elem- :deserialize buf ptr-) (incf ptr- (send elem- :serialization-length))
+     ))
+   ;; obstacle_detector/CircleObstacle[] _circles
+   (let (n)
+     (setq n (sys::peek buf ptr- :integer)) (incf ptr- 4)
+     (setq _circles (let (r) (dotimes (i n) (push (instance obstacle_detector::CircleObstacle :init) r)) r))
+     (dolist (elem- _circles)
+     (send elem- :deserialize buf ptr-) (incf ptr- (send elem- :serialization-length))
+     ))
+   ;;
+   self)
+  )
+
+(setf (get obstacle_detector::Obstacles :md5sum-) "043bbf49c7775f8111e850268dbcf2e3")
+(setf (get obstacle_detector::Obstacles :datatype-) "obstacle_detector/Obstacles")
+(setf (get obstacle_detector::Obstacles :definition-)
+      "Header header
+
+obstacle_detector/SegmentObstacle[] segments
+obstacle_detector/CircleObstacle[] circles
+
+================================================================================
+MSG: std_msgs/Header
+# Standard metadata for higher-level stamped data types.
+# This is generally used to communicate timestamped data 
+# in a particular coordinate frame.
+# 
+# sequence ID: consecutively increasing ID 
+uint32 seq
+#Two-integer timestamp that is expressed as:
+# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
+# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
+# time-handling sugar is provided by the client library
+time stamp
+#Frame this data is associated with
+string frame_id
+
+================================================================================
+MSG: obstacle_detector/SegmentObstacle
+geometry_msgs/Point first_point  # First point of the segment [m]
+geometry_msgs/Point last_point   # Last point of the segment [m]
+
+================================================================================
+MSG: geometry_msgs/Point
+# This contains the position of a point in free space
+float64 x
+float64 y
+float64 z
+
+================================================================================
+MSG: obstacle_detector/CircleObstacle
+geometry_msgs/Point center      # Central point [m]
+geometry_msgs/Vector3 velocity  # Linear velocity [m/s]
+float64 radius                  # Radius with added margin [m]
+float64 true_radius             # True measured radius [m]
+
+================================================================================
+MSG: geometry_msgs/Vector3
+# This represents a vector in free space. 
+# It is only meant to represent a direction. Therefore, it does not
+# make sense to apply a translation to it (e.g., when applying a 
+# generic rigid transformation to a Vector3, tf2 will only apply the
+# rotation). If you want your data to be translatable too, use the
+# geometry_msgs/Point message instead.
+
+float64 x
+float64 y
+float64 z
+")
+
+
+
+(provide :obstacle_detector/Obstacles "043bbf49c7775f8111e850268dbcf2e3")
+
+
diff --git a/workspace/virtuallab/devel/share/roseus/ros/obstacle_detector/msg/SegmentObstacle.l b/workspace/virtuallab/devel/share/roseus/ros/obstacle_detector/msg/SegmentObstacle.l
new file mode 100644
index 0000000000000000000000000000000000000000..ebb2c04b14cd289b9a2fee9be8db415456ebe76f
--- /dev/null
+++ b/workspace/virtuallab/devel/share/roseus/ros/obstacle_detector/msg/SegmentObstacle.l
@@ -0,0 +1,92 @@
+;; Auto-generated. Do not edit!
+
+
+(when (boundp 'obstacle_detector::SegmentObstacle)
+  (if (not (find-package "OBSTACLE_DETECTOR"))
+    (make-package "OBSTACLE_DETECTOR"))
+  (shadow 'SegmentObstacle (find-package "OBSTACLE_DETECTOR")))
+(unless (find-package "OBSTACLE_DETECTOR::SEGMENTOBSTACLE")
+  (make-package "OBSTACLE_DETECTOR::SEGMENTOBSTACLE"))
+
+(in-package "ROS")
+;;//! \htmlinclude SegmentObstacle.msg.html
+(if (not (find-package "GEOMETRY_MSGS"))
+  (ros::roseus-add-msgs "geometry_msgs"))
+
+
+(defclass obstacle_detector::SegmentObstacle
+  :super ros::object
+  :slots (_first_point _last_point ))
+
+(defmethod obstacle_detector::SegmentObstacle
+  (:init
+   (&key
+    ((:first_point __first_point) (instance geometry_msgs::Point :init))
+    ((:last_point __last_point) (instance geometry_msgs::Point :init))
+    )
+   (send-super :init)
+   (setq _first_point __first_point)
+   (setq _last_point __last_point)
+   self)
+  (:first_point
+   (&rest __first_point)
+   (if (keywordp (car __first_point))
+       (send* _first_point __first_point)
+     (progn
+       (if __first_point (setq _first_point (car __first_point)))
+       _first_point)))
+  (:last_point
+   (&rest __last_point)
+   (if (keywordp (car __last_point))
+       (send* _last_point __last_point)
+     (progn
+       (if __last_point (setq _last_point (car __last_point)))
+       _last_point)))
+  (:serialization-length
+   ()
+   (+
+    ;; geometry_msgs/Point _first_point
+    (send _first_point :serialization-length)
+    ;; geometry_msgs/Point _last_point
+    (send _last_point :serialization-length)
+    ))
+  (:serialize
+   (&optional strm)
+   (let ((s (if strm strm
+              (make-string-output-stream (send self :serialization-length)))))
+     ;; geometry_msgs/Point _first_point
+       (send _first_point :serialize s)
+     ;; geometry_msgs/Point _last_point
+       (send _last_point :serialize s)
+     ;;
+     (if (null strm) (get-output-stream-string s))))
+  (:deserialize
+   (buf &optional (ptr- 0))
+   ;; geometry_msgs/Point _first_point
+     (send _first_point :deserialize buf ptr-) (incf ptr- (send _first_point :serialization-length))
+   ;; geometry_msgs/Point _last_point
+     (send _last_point :deserialize buf ptr-) (incf ptr- (send _last_point :serialization-length))
+   ;;
+   self)
+  )
+
+(setf (get obstacle_detector::SegmentObstacle :md5sum-) "37ecbf7e1053bae89f0770466b37c3c3")
+(setf (get obstacle_detector::SegmentObstacle :datatype-) "obstacle_detector/SegmentObstacle")
+(setf (get obstacle_detector::SegmentObstacle :definition-)
+      "geometry_msgs/Point first_point  # First point of the segment [m]
+geometry_msgs/Point last_point   # Last point of the segment [m]
+
+================================================================================
+MSG: geometry_msgs/Point
+# This contains the position of a point in free space
+float64 x
+float64 y
+float64 z
+
+")
+
+
+
+(provide :obstacle_detector/SegmentObstacle "37ecbf7e1053bae89f0770466b37c3c3")
+
+
diff --git a/workspace/virtuallab/devel/share/roseus/ros/robot_mapping/manifest.l b/workspace/virtuallab/devel/share/roseus/ros/robot_mapping/manifest.l
new file mode 100644
index 0000000000000000000000000000000000000000..f0d0e86b3da93e44d34571f4d7258a11f21a3d45
--- /dev/null
+++ b/workspace/virtuallab/devel/share/roseus/ros/robot_mapping/manifest.l
@@ -0,0 +1,11 @@
+;;
+;; DO NOT EDIT THIS FILE
+;;
+;; THIS FILE IS AUTOMATICALLY GENERATED
+;;  FROM /home/job/workspace/virtuallab/src/robot_mapping/package.xml (0.0.0)
+;; USING /opt/ros/melodic/lib/python2.7/dist-packages/geneus/geneus_main.pyc /opt/ros/melodic/share/geneus/package.xml (2.2.6)
+;;
+(ros::load-ros-package "roscpp")
+(ros::load-ros-package "rosgraph_msgs")
+(ros::load-ros-package "std_msgs")
+(ros::load-ros-package "robot_mapping")
diff --git a/workspace/virtuallab/rosbag_extract.py b/workspace/virtuallab/rosbag_extract.py
new file mode 100644
index 0000000000000000000000000000000000000000..2a2427b451485719c58ab45e7e2de46f592f1ea6
--- /dev/null
+++ b/workspace/virtuallab/rosbag_extract.py
@@ -0,0 +1,53 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+
+# Copyright 2016 Massachusetts Institute of Technology
+
+"""Extract images from a rosbag.
+"""
+
+import os
+import argparse
+
+import cv2
+
+import rosbag
+from sensor_msgs.msg import Image
+from cv_bridge import CvBridge
+
+
+def main():
+    """Extract a folder of images from a rosbag.
+    """
+    parser = argparse.ArgumentParser(description="Extract images from a ROS bag.")
+    parser.add_argument("bag_file", help="Input ROS bag.")
+    parser.add_argument("output_dir", help="Output directory.")
+    parser.add_argument("image_topic", help="Image topic.")
+    parser.add_argument("frame_number", help="Frame number", default = "0")
+    parser.add_argument("number_images", help="image number required" )
+
+
+
+    args = parser.parse_args()
+
+    print "Extract images from %s on topic %s into %s" % (args.bag_file,
+                                                          args.image_topic, args.output_dir)
+
+    bag = rosbag.Bag(args.bag_file, "r")
+    bridge = CvBridge()
+    count = int(args.frame_number)
+    for topic, msg, t in bag.read_messages(topics=[args.image_topic]):
+        cv_img = bridge.imgmsg_to_cv2(msg, desired_encoding="bgr8")
+	
+        cv2.imwrite(os.path.join(args.output_dir, "frame%06i.png" % count), cv_img)
+        print "Wrote image %i" % count
+        if count == int(args.number_images)+int(args.frame_number)-1:
+            break
+        count += 1
+
+    bag.close()
+
+    return
+
+if __name__ == '__main__':
+    main()
diff --git a/workspace/virtuallab/scripts1/robot_classifier.py b/workspace/virtuallab/scripts1/robot_classifier.py
new file mode 100755
index 0000000000000000000000000000000000000000..114a24c365a78be95dffe28e65396ff5c1754e20
--- /dev/null
+++ b/workspace/virtuallab/scripts1/robot_classifier.py
@@ -0,0 +1,81 @@
+#!/usr/bin/env python2
+
+
+import rospy
+import os
+import glob
+import numpy as np
+import cv2
+import tensorflow as tf
+from sensor_msgs.msg import Image
+
+import object_detection.utils.label_map_util as map_utils
+import object_detection.utils.visualization_utils as vis_utils
+
+class Robot_Classifier(object):
+    def __init__(self,  modelpath):
+        self.threshold = 0.2
+
+	self.num_robots = 6
+
+        inference_path = modelpath
+
+        self.graph = tf.Graph()
+
+	self.NUM_CLASSES = 2
+
+	self.label_map = map_utils.load_labelmap('/home/job/models/annotations/label_map.pbtxt')
+	self.categories = map_utils.convert_label_map_to_categories(self.label_map, max_num_classes=self.NUM_CLASSES, use_display_name=True)
+	self.category_index = map_utils.create_category_index(self.categories)
+
+
+
+        config = tf.ConfigProto()
+        config.gpu_options.allow_growth = True
+
+        with self.graph.as_default():
+            od_graph_def = tf.GraphDef()
+
+            with tf.gfile.GFile(inference_path, 'rb') as fid:
+                serialized_graph = fid.read()
+                od_graph_def.ParseFromString(serialized_graph)
+                tf.import_graph_def(od_graph_def, name='')
+
+            self.sess = tf.Session(graph=self.graph, config=config)
+            self.image_tensor = self.graph.get_tensor_by_name('image_tensor:0')
+            self.boxes = self.graph.get_tensor_by_name('detection_boxes:0')
+            self.scores =self.graph.get_tensor_by_name('detection_scores:0')
+            self.classes = self.graph.get_tensor_by_name('detection_classes:0')
+            self.num_detections =self.graph.get_tensor_by_name('num_detections:0')
+
+    def get_classification(self, image):
+        """Determines type of robot in the image
+        """
+
+        image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB)
+        dim = image.shape[0:2]
+
+        with self.graph.as_default():
+            image_expanded = np.expand_dims(image, axis=0)
+
+            (boxes, scores, classes, num_detections) = self.sess.run(
+                [self.boxes, self.scores, self.classes, self.num_detections],
+                feed_dict={self.image_tensor: image_expanded})
+
+
+            boxes = np.squeeze(boxes)
+            classes = np.squeeze(classes)
+            scores = np.squeeze(scores)
+
+	    cordinates = boxes[0:self.num_robots]
+	    categories = np.array([classes[0:self.num_robots]])
+	    scores1 =  np.array([scores[0:self.num_robots]])
+
+	    # Draw the results of the detection
+
+	    vis_utils.visualize_boxes_and_labels_on_image_array(image, np.squeeze(boxes), np.squeeze(classes).astype(np.int32), np.squeeze(scores), self.category_index, use_normalized_coordinates=True, line_thickness=8, min_score_thresh=0.60)
+
+	return image , cordinates, categories , scores1
+
+
+
diff --git a/workspace/virtuallab/scripts1/robot_classifier.pyc b/workspace/virtuallab/scripts1/robot_classifier.pyc
new file mode 100644
index 0000000000000000000000000000000000000000..b6531a4e55a5d4fdeaa51c7e4b86ed889df62df3
Binary files /dev/null and b/workspace/virtuallab/scripts1/robot_classifier.pyc differ
diff --git a/workspace/virtuallab/scripts1/robot_detection.py b/workspace/virtuallab/scripts1/robot_detection.py
new file mode 100755
index 0000000000000000000000000000000000000000..773caf398728c173d896d01ce0207ea5d7c31164
--- /dev/null
+++ b/workspace/virtuallab/scripts1/robot_detection.py
@@ -0,0 +1,127 @@
+#!/usr/bin/env python2
+
+
+import rospy
+from sensor_msgs.msg import Image
+from cv_bridge import CvBridge
+from robot_classifier import Robot_Classifier
+
+import cv2
+import os  
+import numpy as np
+import tensorflow as tf
+
+class Nodo(object):
+    def __init__(self):
+        # Params
+        self.image1 = None
+	self.image2 = None
+	self.image3 = None
+	self.image4 = None
+
+	self.camera = 0
+
+        self.br = CvBridge()
+        # Node cycle rate (in Hz).
+        self.loop_rate = rospy.Rate(1)
+
+	self.camera1 = np.array([[1, 1, 1, 1, 1, 1]]) # array for camera id 1
+	self.camera2 = np.array([[2, 2, 2, 2, 2, 2]]) # array for camera id 2
+	self.camera3 = np.array([[3, 3, 3, 3, 3, 3]]) # array for camera id 3
+	self.camera4 = np.array([[4, 4, 4, 4, 4, 4]]) # array for camera id 4
+
+	self.camWidth = np.array([[800, 800, 800, 800, 800, 800]]) # array for camera width
+	self.camHeight = np.array([[800, 800, 800, 800, 800, 800]]) # array for camera height
+
+        # Publishers
+        self.pub1 = rospy.Publisher('robot_detection/camera1', Image,queue_size=10)
+	self.pub2 = rospy.Publisher('robot_detection/camera2', Image,queue_size=10)
+	self.pub3 = rospy.Publisher('robot_detection/camera3', Image,queue_size=10)
+	self.pub4 = rospy.Publisher('robot_detection/camera4', Image,queue_size=10)
+	self.pub5 = rospy.Publisher('robot_classifier/camera1/data/raw', Image,queue_size=10)
+	self.pub6 = rospy.Publisher('robot_classifier/camera2/data/raw', Image,queue_size=10)
+	self.pub7 = rospy.Publisher('robot_classifier/camera3/data/raw', Image,queue_size=10)
+	self.pub8 = rospy.Publisher('robot_classifier/camera4/data/raw', Image,queue_size=10)
+
+        # Subscribers
+        rospy.Subscriber("warpedImage/camera1",Image,self.callback1)
+	rospy.Subscriber("warpedImage/camera2",Image,self.callback2)
+	rospy.Subscriber("warpedImage/camera3",Image,self.callback3)
+	rospy.Subscriber("warpedImage/camera4",Image,self.callback4)
+
+	model_path = '/home/job/models/inference_graph/frozen_inference_graph.pb'
+	self.robot_classifier = Robot_Classifier(modelpath= model_path)
+
+    def callback1(self, msg):
+        rospy.loginfo('Image received from camera 1...')
+        self.image1 = self.br.imgmsg_to_cv2(msg, 'bgr8')
+
+    def callback2(self, msg):
+        rospy.loginfo('Image received  from camera 2...')
+        self.image2 = self.br.imgmsg_to_cv2(msg, 'bgr8')
+
+    def callback3(self, msg):
+        rospy.loginfo('Image received  from camera 3...')
+        self.image3 = self.br.imgmsg_to_cv2(msg, 'bgr8')
+
+    def callback4(self, msg):
+        rospy.loginfo('Image received  from camera 4...')
+        self.image4 = self.br.imgmsg_to_cv2(msg, 'bgr8')
+
+    def ConcatinateCameraData(self, camera, categories, scores, cordinates, camHeight, camWidth):
+	data = np.concatenate((camera.T , categories.T), axis=1)
+	data = np.concatenate((data , scores.T), axis=1)
+	data = np.concatenate((data , cordinates), axis=1)
+	data = np.concatenate((data , camHeight.T), axis=1)
+	data = np.concatenate((data , camWidth.T), axis=1)
+	return data
+
+    def start(self):
+        rospy.loginfo("Obtaining images")
+        #rospy.spin()
+        while not rospy.is_shutdown():
+            rospy.loginfo('publishing image')
+
+            if self.image1 is not None:
+		
+		robot_image1 , cordinates , categories , scores = self.robot_classifier.get_classification(self.image1.copy())
+				
+		camera_data = self.ConcatinateCameraData(self.camera1, categories, scores, cordinates, self.camHeight, self.camWidth)
+
+		self.pub1.publish(self.br.cv2_to_imgmsg(robot_image1 , 'bgr8'))
+		self.pub5.publish(self.br.cv2_to_imgmsg(camera_data , '64FC1'))
+
+            if self.image2 is not None:
+		
+		robot_image2 , cordinates , categories , scores = self.robot_classifier.get_classification(self.image2.copy())	
+				
+		camera_data = self.ConcatinateCameraData(self.camera2, categories, scores, cordinates, self.camHeight, self.camWidth)
+	
+		self.pub2.publish(self.br.cv2_to_imgmsg(robot_image2 , 'bgr8'))
+		self.pub6.publish(self.br.cv2_to_imgmsg(camera_data , '64FC1'))
+
+            if self.image3 is not None:
+		
+		robot_image3 , cordinates , categories , scores = self.robot_classifier.get_classification(self.image3.copy())	
+				
+		camera_data = self.ConcatinateCameraData(self.camera3, categories, scores, cordinates, self.camHeight, self.camWidth)
+	
+		self.pub3.publish(self.br.cv2_to_imgmsg(robot_image3 , 'bgr8'))
+		self.pub7.publish(self.br.cv2_to_imgmsg(camera_data , '64FC1'))
+
+            if self.image4 is not None:
+		
+		robot_image4 , cordinates , categories , scores = self.robot_classifier.get_classification(self.image4.copy())	
+				
+		camera_data = self.ConcatinateCameraData(self.camera4, categories, scores, cordinates, self.camHeight, self.camWidth)
+	
+		self.pub4.publish(self.br.cv2_to_imgmsg(robot_image4 , 'bgr8'))
+		self.pub8.publish(self.br.cv2_to_imgmsg(camera_data , '64FC1'))
+
+
+            self.loop_rate.sleep()
+
+if __name__ == '__main__':
+    rospy.init_node("robot_classification", anonymous=True)
+    my_node = Nodo()
+    my_node.start()
diff --git a/workspace/virtuallab/src/co_robot_drive/src/drive_co_robot.cpp b/workspace/virtuallab/src/co_robot_drive/src/drive_co_robot.cpp
index 1f3b58eddb60e7aeda16c051459a5be28b86ba18..c4f59028e5afb531b32465149f83e9088b58092c 100644
--- a/workspace/virtuallab/src/co_robot_drive/src/drive_co_robot.cpp
+++ b/workspace/virtuallab/src/co_robot_drive/src/drive_co_robot.cpp
@@ -14,7 +14,7 @@ int main(int argc, char** argv)
     // ROS::Publisher motor commands;
     ros::Publisher motor_command_publisher;
 
-    ros::Rate loop_rate(.7);
+    ros::Rate loop_rate(.4);
 
     // Inform ROS master that we will be publishing a message of type geometry_msgs::Twist on the robot actuation topic with a publishing queue size of 10
     motor_command_publisher = n.advertise<geometry_msgs::Twist>("/cmd_vel_co_robot", 1000);
@@ -28,7 +28,7 @@ int main(int argc, char** argv)
               geometry_msgs::Twist motor_command;
     
            // passing values
-              motor_command.linear.x = 1;
+              motor_command.linear.x = .1;
               motor_command.angular.z = 0;
 
            //publishing topic
@@ -39,7 +39,7 @@ int main(int argc, char** argv)
 	      
 
 	   // passing values
-              motor_command.linear.x = -1;
+              motor_command.linear.x = -.1;
               motor_command.angular.z = 0;
 
            //publishing topic
diff --git a/workspace/virtuallab/src/image_process/scripts/image_process.py b/workspace/virtuallab/src/image_process/scripts/image_process.py
index 56ca64093852422cd5bfcb3f9e6a72fe389d0fc2..aee17380bf496a22412eb2110d3a36eb0a7349c9 100755
--- a/workspace/virtuallab/src/image_process/scripts/image_process.py
+++ b/workspace/virtuallab/src/image_process/scripts/image_process.py
@@ -6,40 +6,87 @@ from sensor_msgs.msg import Image
 from cv_bridge import CvBridge
 
 import cv2
-import os  
+import os
 import numpy as np
 import tensorflow as tf
 
+
 class Nodo(object):
     def __init__(self):
         # Params
         self.image1 = None
-	self.image2 = None
-	self.image3 = None
-	self.image4 = None
+        self.image2 = None
+        self.image3 = None
+        self.image4 = None
 
-	self.camera = 0
+        self.camera = 0
 
         self.br = CvBridge()
         # Node cycle rate (in Hz).
         self.loop_rate = rospy.Rate(10)
 
         # Publishers
-        self.pub1 = rospy.Publisher('warpedImage/camera1', Image,queue_size=10)
-	self.pub2 = rospy.Publisher('warpedImage/camera2', Image,queue_size=10)
-	self.pub3 = rospy.Publisher('warpedImage/camera3', Image,queue_size=10)
-	self.pub4 = rospy.Publisher('warpedImage/camera4', Image,queue_size=10)
+        self.pub1 = rospy.Publisher(
+            'warpedImage/camera1', Image, queue_size=10)
+        self.pub2 = rospy.Publisher(
+            'warpedImage/camera2', Image, queue_size=10)
+        self.pub3 = rospy.Publisher(
+            'warpedImage/camera3', Image, queue_size=10)
+        self.pub4 = rospy.Publisher(
+            'warpedImage/camera4', Image, queue_size=10)
 
         # Subscribers
-        rospy.Subscriber("/camera01/rgb/image_raw",Image,self.callback1)
-	rospy.Subscriber("/camera02/rgb/image_raw",Image,self.callback2)
-	rospy.Subscriber("/camera03/rgb/image_raw",Image,self.callback3)
-	rospy.Subscriber("/camera04/rgb/image_raw",Image,self.callback4)
-
-	#vertices
-	self.src=np.float32([[0,360], [245,225], [560,225], [790,360]])
-	self.dst= np.float32([[10 ,700], [10  ,100], [610 ,100], [610 ,700]])
-	self.vertices = np.array([self.src], dtype=np.int32)
+        rospy.Subscriber("/camera01/rgb/image_raw", Image, self.callback1)
+        rospy.Subscriber("/camera02/rgb/image_raw", Image, self.callback2)
+        rospy.Subscriber("/camera03/rgb/image_raw", Image, self.callback3)
+        rospy.Subscriber("/camera04/rgb/image_raw", Image, self.callback4)
+
+        # camera center finding flags
+        self.check_center_camera_1 = False
+        self.check_center_camera_2 = False
+        self.check_center_camera_3 = False
+        self.check_center_camera_4 = False
+
+        cx, cy = np.loadtxt('camera1.txt')
+
+        # offsets which has to update
+        self.offsetx1 = 145
+        self.offsetx2 = 255
+        self.offsety1 = 85
+        self.offsety2 = 150
+
+        self.dst_width = 400
+        self.dst_height = 400
+
+        # vertices
+        self.src = np.float32([[0, 360], [245, 225], [560, 225], [790, 360]])
+        self.dst = np.float32([[10, 700], [10, 100], [610, 100], [610, 700]])
+        self.vertices = np.array([self.src], dtype=np.int32)
+
+        # Set our filtering parameters
+        # Initialize parameter settiing using cv2.SimpleBlobDetector
+        params = cv2.SimpleBlobDetector_Params()
+
+        # Set Area filtering parameters
+        params.filterByArea = True
+        params.minArea = 100
+        # params.maxArea = 150
+
+        # Set Circularity filtering parameters
+        params.filterByCircularity = True
+        params.minCircularity = 0.8
+
+        # Set Convexity filtering parameters
+        params.filterByConvexity = False
+        params.minConvexity = 0.5
+
+        # Set inertia filtering parameters
+        params.filterByInertia = False
+        params.minInertiaRatio = 0.4
+        params.maxInertiaRatio = 1
+
+        # Create a detector with the parameters
+        self.detector = cv2.SimpleBlobDetector_create(params)
 
     def callback1(self, msg):
         rospy.loginfo('Image received from camera 1...')
@@ -57,73 +104,146 @@ class Nodo(object):
         rospy.loginfo('Image received  from camera 4...')
         self.image4 = self.br.imgmsg_to_cv2(msg, 'bgr8')
 
-
     def WarpPerspective(image):
         M = cv2.getPerspectiveTransform(self.src, self.dst)
         Minv = cv2.getPerspectiveTransform(self.dst, self.src)
-        return Minv, cv2.warpPerspective(image, M, (image.shape[1],image.shape[0]), flags=cv2.INTER_LINEAR)
+        return Minv, cv2.warpPerspective(image, M, (image.shape[1], image.shape[0]), flags=cv2.INTER_LINEAR)
+
+    def obtain_vertices(self, (cx, cy), (width, height), (offsetx1, offsetx2), (offsety1, offsety2)):
+        src = np.float32([[cx-offsetx1, cy-offsety1], [cx+offsetx1, cy-offsety1],
+                         [cx-offsetx2, cy+offsety2], [cx+offsetx2, cy+offsety2]])
+        dst = np.float32([[0, 0], [width, 0], [0, height], [width, height]])
+        vertices = np.array([src], dtype=np.int32)
+        return vertices, src, dst
 
     def start(self):
         rospy.loginfo("Timing images")
-        #rospy.spin()
+        # rospy.spin()
         while not rospy.is_shutdown():
+
             rospy.loginfo('publishing image')
 
             if self.image1 is not None:
-		#gray = cv2.cvtColor(self.image, cv2.COLOR_BGR2GRAY)
-		#frame = np.asarray(gray)
-		#occurrences = np.count_nonzero(frame == 255)
-		#hello = tf.constant("hello TensorFlow!")
-		#sess=tf.Session()
-		#print sess.run(hello)
-		
-		roi_image1 = cv2.polylines(self.image1.copy(), self.vertices,True,(0,0,255),10)
 
-		M = cv2.getPerspectiveTransform(self.src, self.dst)
+                if self.check_center_camera_1 is True:
+
+                    test_image = ~self.image1.copy()
+                    keypoints = self.detector.detect(test_image)
+                    cx, cy = keypoints[0].pt
+                    np.savetxt('camera1.txt', (cx, cy))
+                    # blank = np.zeros((1, 1))
+                    # blobs = cv2.drawKeypoints(self.image1.copy(
+                    #  ), keypoints, blank, (0, 0, 255), cv2.DRAW_MATCHES_FLAGS_DRAW_RICH_KEYPOINTS)
+                    # text = " detected center" + \
+                    #     ' x: ' + str(cx) + ' y: ' + str(cy)
+                    # cv2.putText(blobs, text, (20, 550),
+                    #             cv2.FONT_HERSHEY_SIMPLEX, .7, (0, 100, 255), 2)
+
+                    self.check_center_camera_1 = False
+                else:
+
+                    cx, cy = np.loadtxt('camera1.txt')
+
+                vertices, src, dst = self.obtain_vertices((cx, cy), (self.dst_width, self.dst_height), (
+                    self.offsetx1, self.offsetx2), (self.offsety1, self.offsety2))
+
+                roi_image1 = cv2.polylines(
+                    self.image1.copy(), vertices, True, (0, 0, 255), 10)
+
+                M = cv2.getPerspectiveTransform(src, dst)
+
+                warped_image1 = cv2.warpPerspective(self.image1.copy(
+                ), M, (self.dst_width, self.dst_height), flags=cv2.INTER_LINEAR)
+
+                self.pub1.publish(self.br.cv2_to_imgmsg(warped_image1, 'bgr8'))
+
+            if self.image2 is not None:
 
-		warped_image1 = cv2.warpPerspective(self.image1.copy(), M, (self.image1.shape[1],self.image1.shape[0]), flags=cv2.INTER_LINEAR)
+                if self.check_center_camera_2 is True:
 
-		#M, warped_image = self.WarpPerspective(self.image.copy())
+                    test_image = ~self.image2.copy()
+                    keypoints = self.detector.detect(test_image)
+                    cx, cy = keypoints[0].pt
 
-			
-		self.pub1.publish(self.br.cv2_to_imgmsg(warped_image1 , 'bgr8'))
+                    np.savetxt('camera2.txt', (cx, cy))
 
+                    self.check_center_camera_2 = False
+                else:
 
-	    if self.image2 is not None:		
-	
-		roi_image2 = cv2.polylines(self.image2.copy(), self.vertices,True,(0,0,255),10)
+                    cx, cy = np.loadtxt('camera2.txt')
 
-		M = cv2.getPerspectiveTransform(self.src, self.dst)
+                vertices, src, dst = self.obtain_vertices((cx, cy), (self.dst_width, self.dst_height), (
+                    self.offsetx1, self.offsetx2), (self.offsety1, self.offsety2))
 
-		warped_image2 = cv2.warpPerspective(self.image2.copy(), M, (self.image2.shape[1],self.image2.shape[0]), flags=cv2.INTER_LINEAR)
+                roi_image2 = cv2.polylines(
+                    self.image2.copy(), vertices, True, (0, 0, 255), 10)
 
-		self.pub2.publish(self.br.cv2_to_imgmsg(warped_image2 , 'bgr8'))
+                M = cv2.getPerspectiveTransform(src, dst)
 
+                warped_image2 = cv2.warpPerspective(self.image2.copy(
+                ), M, (self.dst_width, self.dst_height), flags=cv2.INTER_LINEAR)
 
-	    if self.image3 is not None:		
-	
-		roi_image3 = cv2.polylines(self.image3.copy(), self.vertices,True,(0,0,255),10)
+                self.pub2.publish(self.br.cv2_to_imgmsg(warped_image2, 'bgr8'))
 
-		M = cv2.getPerspectiveTransform(self.src, self.dst)
+            if self.image3 is not None:
 
-		warped_image3 = cv2.warpPerspective(self.image3.copy(), M, (self.image3.shape[1],self.image3.shape[0]), flags=cv2.INTER_LINEAR)
+                if self.check_center_camera_3 is True:
 
-		self.pub3.publish(self.br.cv2_to_imgmsg(warped_image3 , 'bgr8'))
+                    test_image = ~self.image3.copy()
+                    keypoints = self.detector.detect(test_image)
+                    cx, cy = keypoints[0].pt
 
+                    np.savetxt('camera3.txt', (cx, cy))
 
-	    if self.image4 is not None:		
-	
-		roi_image4 = cv2.polylines(self.image4.copy(), self.vertices,True,(0,0,255),10)
+                    self.check_center_camera_3 = False
+                else:
 
-		M = cv2.getPerspectiveTransform(self.src, self.dst)
+                    cx, cy = np.loadtxt('camera3.txt')
 
-		warped_image4 = cv2.warpPerspective(self.image4.copy(), M, (self.image4.shape[1],self.image4.shape[0]), flags=cv2.INTER_LINEAR)
+                vertices, src, dst = self.obtain_vertices((cx, cy), (self.dst_width, self.dst_height), (
+                    self.offsetx1, self.offsetx2), (self.offsety1, self.offsety2))
 
-		self.pub4.publish(self.br.cv2_to_imgmsg(warped_image4 , 'bgr8'))
+                roi_image3 = cv2.polylines(
+                    self.image3.copy(), vertices, True, (0, 0, 255), 10)
 
+                M = cv2.getPerspectiveTransform(src, dst)
+
+                warped_image3 = cv2.warpPerspective(self.image3.copy(
+                ), M, (self.dst_width, self.dst_height), flags=cv2.INTER_LINEAR)
+
+                self.pub3.publish(self.br.cv2_to_imgmsg(warped_image3 , 'bgr8'))
+
+            if self.image4 is not None:
+
+                if self.check_center_camera_4 is True:
+
+                    test_image = ~self.image4.copy()
+                    keypoints = self.detector.detect(test_image)
+                    cx, cy = keypoints[0].pt
+
+                    np.savetxt('camera4.txt', (cx, cy))
+
+                    self.check_center_camera_4 = False
+                else:
+
+                    cx, cy = np.loadtxt('camera4.txt')
+
+                vertices, src, dst = self.obtain_vertices((cx, cy), (self.dst_width, self.dst_height), (
+                    self.offsetx1, self.offsetx2), (self.offsety1, self.offsety2))
+
+                roi_image4 = cv2.polylines(
+                    self.image2.copy(), vertices, True, (0, 0, 255), 10)
+
+                M = cv2.getPerspectiveTransform(src, dst)
+
+                warped_image4 = cv2.warpPerspective(self.image4.copy(
+                ), M, (self.dst_width, self.dst_height), flags=cv2.INTER_LINEAR)
+
+                self.pub4.publish(self.br.cv2_to_imgmsg(warped_image4 , 'bgr8'))
 
             self.loop_rate.sleep()
 
+
 if __name__ == '__main__':
     rospy.init_node("warped_image", anonymous=True)
     my_node = Nodo()
diff --git a/workspace/virtuallab/src/laser_scan_convert/CMakeLists.txt b/workspace/virtuallab/src/laser_scan_convert/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..66c9bdce2416cf3f09d5a466254e1c8aa397a436
--- /dev/null
+++ b/workspace/virtuallab/src/laser_scan_convert/CMakeLists.txt
@@ -0,0 +1,209 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(laser_scan_convert)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  rospy
+  std_msgs
+  laser_geometry
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES laser_scan_convert
+#  CATKIN_DEPENDS roscpp rospy std_msgs
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+ include
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/laser_scan_convert.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/laser_scan_convert_node.cpp)
+add_executable(laser_scan_convert src/laser_scan_convert.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+add_dependencies(laser_scan_convert ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(laser_scan_convert
+   ${catkin_LIBRARIES}
+	
+ )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# catkin_install_python(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_laser_scan_convert.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/workspace/virtuallab/src/laser_scan_convert/launch/laser_scan_convert.launch b/workspace/virtuallab/src/laser_scan_convert/launch/laser_scan_convert.launch
new file mode 100644
index 0000000000000000000000000000000000000000..4eb6f26276e7417ddf40000915d5db0ea3d5d813
--- /dev/null
+++ b/workspace/virtuallab/src/laser_scan_convert/launch/laser_scan_convert.launch
@@ -0,0 +1,7 @@
+<launch>
+
+  <!-- The drive_bot node -->
+  <node name="laser_scan_convert" type="laser_scan_convert" pkg="laser_scan_convert" output="screen">
+  </node>  
+ 
+</launch>
diff --git a/workspace/virtuallab/src/laser_scan_convert/package.xml b/workspace/virtuallab/src/laser_scan_convert/package.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a0accc583a332b1467f04ded6b5a9947c8772002
--- /dev/null
+++ b/workspace/virtuallab/src/laser_scan_convert/package.xml
@@ -0,0 +1,68 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>laser_scan_convert</name>
+  <version>0.0.0</version>
+  <description>The laser_scan_convert package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="job@todo.todo">job</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/laser_scan_convert</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
diff --git a/workspace/virtuallab/src/laser_scan_convert/src/laser_scan_convert.cpp b/workspace/virtuallab/src/laser_scan_convert/src/laser_scan_convert.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..d439858f4094247965fdd71966f59b13646d73ff
--- /dev/null
+++ b/workspace/virtuallab/src/laser_scan_convert/src/laser_scan_convert.cpp
@@ -0,0 +1,66 @@
+#include "ros/ros.h"
+#include "tf/transform_listener.h"
+#include "sensor_msgs/PointCloud.h"
+#include "sensor_msgs/PointCloud2.h"
+#include "tf/message_filter.h"
+#include "message_filters/subscriber.h"
+#include "laser_geometry/laser_geometry.h"
+#include "sensor_msgs/point_cloud_conversion.h"
+
+class LaserScanToPointCloud{
+
+public:
+
+  ros::NodeHandle n_;
+  laser_geometry::LaserProjection projector_;
+  tf::TransformListener listener_;
+  message_filters::Subscriber<sensor_msgs::LaserScan> laser_sub_;
+  tf::MessageFilter<sensor_msgs::LaserScan> laser_notifier_;
+  ros::Publisher scan_pub_;
+
+  LaserScanToPointCloud(ros::NodeHandle n) : 
+    n_(n),
+    laser_sub_(n_, "scan", 10),
+    laser_notifier_(laser_sub_,listener_, "hokuyo", 10)
+  {
+    laser_notifier_.registerCallback(
+      boost::bind(&LaserScanToPointCloud::scanCallback, this, _1));
+    laser_notifier_.setTolerance(ros::Duration(0.01));
+    scan_pub_ = n_.advertise<sensor_msgs::PointCloud2>("/filtered_cloud",1);
+  }
+
+  void scanCallback (const sensor_msgs::LaserScan::ConstPtr& scan_in)
+  {
+    sensor_msgs::PointCloud cloud;
+    sensor_msgs::PointCloud2 cloud1;
+    try
+    {
+        projector_.transformLaserScanToPointCloud(
+          "hokuyo",*scan_in, cloud,listener_);
+    }
+    catch (tf::TransformException& e)
+    {
+        std::cout << e.what();
+        return;
+    }
+    
+    // Do something with cloud.
+    
+    sensor_msgs::convertPointCloudToPointCloud2 (cloud, cloud1);
+
+    scan_pub_.publish(cloud1);
+
+  }
+};
+
+int main(int argc, char** argv)
+{
+  
+  ros::init(argc, argv, "my_scan_to_cloud");
+  ros::NodeHandle n;
+  LaserScanToPointCloud lstopc(n);
+  
+  ros::spin();
+  
+  return 0;
+}
diff --git a/workspace/virtuallab/src/multiple-object-tracking-lidar/.gitignore b/workspace/virtuallab/src/multiple-object-tracking-lidar/.gitignore
new file mode 100644
index 0000000000000000000000000000000000000000..1f3f0d50923a207d64d9e88a482804a1b5f48982
--- /dev/null
+++ b/workspace/virtuallab/src/multiple-object-tracking-lidar/.gitignore
@@ -0,0 +1,4 @@
+*.pro
+*~
+*.pro.user
+*.sw?
diff --git a/workspace/virtuallab/src/multiple-object-tracking-lidar/CHANGELOG.rst b/workspace/virtuallab/src/multiple-object-tracking-lidar/CHANGELOG.rst
new file mode 100644
index 0000000000000000000000000000000000000000..343726d1e516105be5f3d1dd9ec49543a005cb41
--- /dev/null
+++ b/workspace/virtuallab/src/multiple-object-tracking-lidar/CHANGELOG.rst
@@ -0,0 +1,45 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package multi_object_tracking_lidar
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+1.0.3 (2020-06-27)
+------------------
+* Merge pull request #26 from artursg/noetic-devel
+  C++11 --> C++14 to allow compiling with later versions of PCL, ROS Neotic
+* Compiles under ROS Noetic
+* Merge pull request #25 from praveen-palanisamy/add-license-1
+  Add MIT LICENSE
+* Add LICENSE
+* Merge pull request #24 from mzahran001/patch-1
+  Fix broken hyperlink to wiki page in README
+* Fixing link error
+* Updated README to make clustering approach for 3D vs 2D clear #21
+* Added DOI and citing info
+* Contributors: Artur Sagitov, Mohamed Zahran, Praveen Palanisamy
+
+1.0.2 (2019-12-01)
+------------------
+* Added link to wiki pages
+* Updated readme with suuported pointcloud sources
+* Updated README to clarify real, sim, dataset LiDAR data
+* Contributors: Praveen Palanisamy
+
+1.0.1 (2019-04-26)
+------------------
+* Fixed cv_bridge build depend
+* Removed indirection op to be compatible with OpenCV 3+
+* Added visualization_msgs & cv_bridge build & run dependencies
+* Contributors: Praveen Palanisamy
+
+1.0.0 (2019-04-13)
+------------------
+* Updated README with usage instructions
+* Renamed node name to kf_tracker to match bin name
+* Changed package name to multi_object_tracking_lidar
+* Updated package info & version num
+* Updated with a short demo on sample AV LIDAR scans
+* Added README with a short summary of the code
+* Working state of Multiple object stable tracking using Lidar scans with an extended Kalman Filter (rosrun kf_tracker tracker). A naive tracker is implemented in main_naive.cpp for comparison (rosrun kf_tracker naive_tracker).
+* v2. Unsupervised clustering is incorporated into the same node (tracker).
+* v1. Object ID/data association works. In this version PCL based unsupervised clustering is done separately.
+* Contributors: Praveen Palanisamy
diff --git a/workspace/virtuallab/src/multiple-object-tracking-lidar/CMakeLists.txt b/workspace/virtuallab/src/multiple-object-tracking-lidar/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c0266e156b8a48e1382c72f7f46b3060221016b1
--- /dev/null
+++ b/workspace/virtuallab/src/multiple-object-tracking-lidar/CMakeLists.txt
@@ -0,0 +1,170 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(multi_object_tracking_lidar)
+
+set(CMAKE_CXX_STANDARD 14)
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  pcl_ros
+  roscpp
+  sensor_msgs
+)
+find_package( OpenCV REQUIRED )
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependencies might have been
+##     pulled in transitively but can be declared for certainty nonetheless:
+##     * add a build_depend tag for "message_generation"
+##     * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   sensor_msgs
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES kf_tracker
+#  CATKIN_DEPENDS pck_ros roscpp sensor_msgs
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+  ${OpenCV_INCLUDE_DIRS}
+  include
+)
+
+
+## Declare a cpp library
+# add_library(kf_tracker
+#   src/${PROJECT_NAME}/kf_tracker.cpp
+# )
+
+## Declare a cpp executable
+# add_executable(kf_tracker_node src/kf_tracker_node.cpp)
+add_executable( kf_tracker src/main.cpp )
+target_link_libraries ( kf_tracker ${OpenCV_LIBRARIES} ${catkin_LIBRARIES})
+ 
+## Add cmake target dependencies of the executable/library
+## as an example, message headers may need to be generated before nodes
+# add_dependencies(kf_tracker_node kf_tracker_generate_messages_cpp)
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(kf_tracker_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+install(TARGETS kf_tracker
+	ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+	LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+	RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_kf_tracker.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/workspace/virtuallab/src/multiple-object-tracking-lidar/LICENSE b/workspace/virtuallab/src/multiple-object-tracking-lidar/LICENSE
new file mode 100644
index 0000000000000000000000000000000000000000..7e692863d6d10a4b9af261e27b3684ddb71015d4
--- /dev/null
+++ b/workspace/virtuallab/src/multiple-object-tracking-lidar/LICENSE
@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2020 Praveen Palanisamy
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
diff --git a/workspace/virtuallab/src/multiple-object-tracking-lidar/README.md b/workspace/virtuallab/src/multiple-object-tracking-lidar/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..c88d0e112913625275e2d13c72abaeb32947f7c0
--- /dev/null
+++ b/workspace/virtuallab/src/multiple-object-tracking-lidar/README.md
@@ -0,0 +1,62 @@
+# Multiple objects detection, tracking and classification from LIDAR scans/point-clouds
+
+
+[![DOI](https://zenodo.org/badge/47581608.svg)](https://zenodo.org/badge/latestdoi/47581608)
+
+![Sample demo of multiple object tracking using LIDAR scans](https://media.giphy.com/media/3YKG95w9gu263yQwDa/giphy.gif)
+
+PCL based ROS package to Detect/Cluster --> Track --> Classify static and dynamic objects in real-time from LIDAR scans implemented in C++.
+
+### Features:
+
+- K-D tree based point cloud processing for object feature detection from point clouds
+- Unsupervised euclidean cluster extraction (3D) or k-means clustering based on detected features and refinement using RANSAC (2D)
+- Stable tracking (object ID & data association) with an ensemble of Kalman Filters 
+- Robust compared to k-means clustering with mean-flow tracking
+
+### Usage:
+
+Follow the steps below to use this (`multi_object_tracking_lidar`) package:
+
+1. [Create a catkin workspace](http://wiki.ros.org/catkin/Tutorials/create_a_workspace) (if you do not have one setup already). 
+1. Navigate to the `src` folder in your catkin workspace: `cd ~/catkin_ws/src`
+1. Clone this repository: `git clone https://github.com/praveen-palanisamy/multiple-object-tracking-lidar.git`
+1. Compile and build the package: `cd ~/catkin_ws && catkin_make`
+1. Add the catkin workspace to your ROS environment: `source ~/catkin_ws/devel/setup.bash`
+1. Run the `kf_tracker` ROS node in this package: `rosrun multi_object_tracking_lidar kf_tracker`
+
+If all went well, the ROS node should be up and running! As long as you have the point clouds published on to the `filtered_cloud` rostopic, you should see outputs from this node published onto the `obj_id`, `cluster_0`, `cluster_1`, …, `cluster_5` topics along with the markers on `viz` topic which you can visualize using RViz.
+
+### Supported point-cloud streams/sources:
+The input point-clouds can be from:
+1. A real LiDAR or 
+2. A simulated LiDAR or 
+3. A point cloud dataset or 
+4. Any other data source that produces point clouds
+
+**Note:** This package expects valid point cloud data as input. The point clouds you publish to the "`filtered_cloud`" is **not** expected to contain NaNs. The point cloud filtering is somewhat task and application dependent and therefore it is not done by this module. 
+PCL library provides `pcl::removeNaNFromPointCloud (...)` method  to filter out NaN points. You can refer to [this example code snippet](https://github.com/praveen-palanisamy/multiple-object-tracking-lidar/issues/29#issuecomment-672098760) to easily filter out NaN points in your point cloud.
+
+## Citing
+
+If you use the code or snippets from this repository in your work, please cite:
+
+```bibtex
+@software{praveen_palanisamy_2019_3559187,
+  author       = {Praveen Palanisamy},
+  title        = {{praveen-palanisamy/multiple-object-tracking-lidar: 
+                   Multiple-Object-Tracking-from-Point-Clouds_v1.0.2}},
+  month        = dec,
+  year         = 2019,
+  publisher    = {Zenodo},
+  version      = {1.0.2},
+  doi          = {10.5281/zenodo.3559187},
+  url          = {https://doi.org/10.5281/zenodo.3559186}
+}
+```
+
+### Wiki
+
+[Checkout the Wiki pages](https://github.com/praveen-palanisamy/multiple-object-tracking-lidar/wiki)
+
+1. [Multiple-object tracking from pointclouds using a Velodyne VLP-16](https://github.com/praveen-palanisamy/multiple-object-tracking-lidar/wiki/velodyne_vlp16)
diff --git a/workspace/virtuallab/src/multiple-object-tracking-lidar/include/kf_tracker/CKalmanFilter.h b/workspace/virtuallab/src/multiple-object-tracking-lidar/include/kf_tracker/CKalmanFilter.h
new file mode 100644
index 0000000000000000000000000000000000000000..96c7dda08e3b4424ad469800d4187a8a09baab1e
--- /dev/null
+++ b/workspace/virtuallab/src/multiple-object-tracking-lidar/include/kf_tracker/CKalmanFilter.h
@@ -0,0 +1,23 @@
+#include <iostream>
+#include <vector>
+
+#include <opencv2/core/core.hpp>
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/imgproc/imgproc.hpp>
+#include <opencv2/video/tracking.hpp>
+
+using namespace cv;
+using namespace std;
+
+class CKalmanFilter
+{
+public:
+	CKalmanFilter(vector<Vec2f>);
+	~CKalmanFilter();
+	vector<Vec2f> predict();
+	vector<Vec2f> update(vector<Vec2f>);
+
+	KalmanFilter* kalman;
+	vector<Vec2f> prevResult;
+
+};
\ No newline at end of file
diff --git a/workspace/virtuallab/src/multiple-object-tracking-lidar/include/kf_tracker/featureDetection.h b/workspace/virtuallab/src/multiple-object-tracking-lidar/include/kf_tracker/featureDetection.h
new file mode 100644
index 0000000000000000000000000000000000000000..69eec0ba847e645a1c99f69115c404bb1096dabb
--- /dev/null
+++ b/workspace/virtuallab/src/multiple-object-tracking-lidar/include/kf_tracker/featureDetection.h
@@ -0,0 +1,36 @@
+#include <iostream>
+#include <vector>
+#include <fstream>
+#include <string>
+
+
+#include <opencv2/core/core.hpp>
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/imgproc/imgproc.hpp>
+#include <opencv2/video/tracking.hpp>
+
+using namespace cv;
+using namespace std;
+
+class featureDetection{
+
+public:
+	featureDetection();
+	~featureDetection();
+	void filteringPipeLine(Mat);
+	vector<Vec2f> houghTransform();
+	Mat lineItr(Mat,vector<Vec2f>, string);
+	int _width, _height;
+
+protected:
+	bool findIntersection(vector<Point>, Point&);
+	vector<Point2f> ransac(vector<Point2f>);
+	void visualize(Mat);
+	vector<Vec2f> _lines;
+	ofstream myfile;
+	Mat _detectedEdges;
+	int _LMWidth;
+	int _thres;
+	float _rho, _theta,_ransacThres, _houghThres;
+	
+};
diff --git a/workspace/virtuallab/src/multiple-object-tracking-lidar/package.xml b/workspace/virtuallab/src/multiple-object-tracking-lidar/package.xml
new file mode 100644
index 0000000000000000000000000000000000000000..5caea136ca8b292d3501985a16841052ddb3022b
--- /dev/null
+++ b/workspace/virtuallab/src/multiple-object-tracking-lidar/package.xml
@@ -0,0 +1,63 @@
+<?xml version="1.0"?>
+<package>
+  <name>multi_object_tracking_lidar</name>
+  <version>1.0.3</version>
+  <description>ROS package for Multiple objects detection, tracking and classification from LIDAR scans/point-clouds</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="praveen.palanisamy@outlook.com">Praveen Palanisamy</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>MIT</license>
+
+
+  <!-- Url tags are optional, but mutiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/kf_tracker</url> -->
+
+
+  <!-- Author tags are optional, mutiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintianers, but could be -->
+  <!-- Example: -->
+  <author email="praveen.palanisamy@outlook.com">Praveen Palanisamy</author> -->
+
+
+  <!-- The *_depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use run_depend for packages you need at runtime: -->
+  <!--   <run_depend>message_runtime</run_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>pcl_ros</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <build_depend>visualization_msgs</build_depend>
+  <build_depend>libpcl-all-dev</build_depend>
+  <build_depend>cv_bridge</build_depend>
+
+  <run_depend>libpcl-all</run_depend>
+  <run_depend>pcl_ros</run_depend>
+  <run_depend>roscpp</run_depend>
+  <run_depend>sensor_msgs</run_depend>
+  <run_depend>visualization_msgs</run_depend>
+  <run_depend>cv_bridge</run_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
diff --git a/workspace/virtuallab/src/multiple-object-tracking-lidar/src/CKalmanFilter.cpp b/workspace/virtuallab/src/multiple-object-tracking-lidar/src/CKalmanFilter.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..01176964ba64dcdf2d6fed616e5bdad0de09a6cc
--- /dev/null
+++ b/workspace/virtuallab/src/multiple-object-tracking-lidar/src/CKalmanFilter.cpp
@@ -0,0 +1,71 @@
+#include <iostream>
+#include "CKalmanFilter.h"
+
+using namespace cv;
+using namespace std;
+
+// Constructor
+CKalmanFilter::CKalmanFilter(vector<Vec2f> p){
+
+	kalman = new KalmanFilter( 4, 4, 0 ); // 4 measurement and state parameters
+	kalman->transitionMatrix = (Mat_<float>(4, 4) << 1,0,0,0, 0,1,0,0, 0,0,1,0, 0,0,0,1);
+
+	// Initialization
+	prevResult = p;
+	kalman->statePre.at<float>(0) = p[0][0]; // r1
+	kalman->statePre.at<float>(1) = p[0][1]; // theta1
+	kalman->statePre.at<float>(2) = p[1][0]; // r2
+	kalman->statePre.at<float>(3) = p[1][1]; // theta2
+
+	kalman->statePost.at<float>(0)=p[0][0];
+	kalman->statePost.at<float>(1)=p[0][1];
+	kalman->statePost.at<float>(2)=p[1][0];
+	kalman->statePost.at<float>(3)=p[1][1];
+
+	setIdentity(kalman->measurementMatrix);
+	setIdentity(kalman->processNoiseCov, Scalar::all(1e-4));
+	setIdentity(kalman->measurementNoiseCov, Scalar::all(1e-1));
+	setIdentity(kalman->errorCovPost, Scalar::all(5));
+}
+
+// Destructor
+CKalmanFilter::~CKalmanFilter(){
+	delete kalman;
+}
+
+// Prediction
+vector<Vec2f> CKalmanFilter::predict(){
+	Mat prediction = kalman->predict(); // predict the state of the next frame
+	prevResult[0][0] = prediction.at<float>(0);prevResult[0][1] = prediction.at<float>(1);
+	prevResult[1][0] = prediction.at<float>(2);prevResult[1][1] = prediction.at<float>(3);
+	return prevResult;
+
+}
+
+// Correct the prediction based on the measurement
+vector<Vec2f> CKalmanFilter::update(vector<Vec2f> measure){
+
+	
+	Mat_<float> measurement(4,1);
+	measurement.setTo(Scalar(0));
+
+	measurement.at<float>(0) = measure[0][0];measurement.at<float>(1) = measure[0][1];
+	measurement.at<float>(2) = measure[1][0];measurement.at<float>(3) = measure[1][1];
+
+	Mat estimated = kalman->correct(measurement); // Correct the state of the next frame after obtaining the measurements
+	
+	// Update the measurement	
+	if(estimated.at<float>(0) < estimated.at<float>(2)){
+		measure[0][0] = estimated.at<float>(0);measure[0][1] = estimated.at<float>(1);
+		measure[1][0] = estimated.at<float>(2);measure[1][1] = estimated.at<float>(3);
+	}
+	else{
+		measure[0][0] = estimated.at<float>(2);measure[0][1] = estimated.at<float>(3);
+		measure[1][0] = estimated.at<float>(0);measure[1][1] = estimated.at<float>(1);
+	}
+
+	waitKey(1);
+	
+	return measure; // return the measurement
+
+}
\ No newline at end of file
diff --git a/workspace/virtuallab/src/multiple-object-tracking-lidar/src/featureDetection.cpp b/workspace/virtuallab/src/multiple-object-tracking-lidar/src/featureDetection.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..e449e76f777f5710d4bd4eeb8bb619f970781dcb
--- /dev/null
+++ b/workspace/virtuallab/src/multiple-object-tracking-lidar/src/featureDetection.cpp
@@ -0,0 +1,287 @@
+#include <iostream>
+#include <string.h>
+#include "kf_tracker/featureDetection.h"
+#include "kf_tracker/CKalmanFilter.h"
+
+using namespace cv;
+
+featureDetection::featureDetection(){
+
+	_detectedEdges = Mat();
+	_width = 800;
+	_height = 600;
+	_LMWidth = 10;
+	_thres = 40;
+	_rho = 1;
+	_theta = CV_PI/180.0;
+	_houghThres =100;
+	_ransacThres = 0.01;
+}
+
+featureDetection::~featureDetection(){
+
+}
+
+//////////
+
+// This is just one approach. Other approaches can be Edge detection, Connected Components, etc.
+void featureDetection::filteringPipeLine(Mat src){
+	Mat img;
+	
+	///// Generating the mask to mask the top half of the image
+	Mat mask = Mat(src.size(), CV_8UC1, Scalar(1));
+	for(int i = 0;i < mask.rows/2; i++){
+		for(int j = 0;j < mask.cols;j++){
+			mask.at<uchar>(Point(j,i)) = 0;
+		}
+	}
+	src.copyTo(img,mask);
+	/////
+	
+	_detectedEdges = Mat(img.size(),CV_8UC1); // detectedEdges
+	_detectedEdges.setTo(0);
+
+	int val = 0;
+	// iterating through each row
+	for (int j = img.rows/2;j<img.rows;j++){
+		unsigned char *imgptr = img.ptr<uchar>(j);
+		unsigned char *detEdgesptr = _detectedEdges.ptr<uchar>(j);
+
+		// iterating through each column seeing the difference among columns which are "width" apart
+		for (int i = _LMWidth;i < img.cols - _LMWidth; ++i){
+			if(imgptr[i]!= 0){
+				val = 2*imgptr[i];
+				val += -imgptr[i - _LMWidth];
+				val += -imgptr[i + _LMWidth];
+				val += -abs((int)(imgptr[i - _LMWidth] - imgptr[i + _LMWidth]));
+
+				val = (val<0)?0:val;
+				val = (val>255)?255:val;
+
+				detEdgesptr[i] = (unsigned char) val;
+			}
+		}
+	}
+
+	// Thresholding
+	threshold(_detectedEdges,_detectedEdges,_thres,255,0);
+
+}
+//////////
+
+// Performing Hough Transform
+vector<Vec2f> featureDetection::houghTransform(){
+
+	Mat _detectedEdgesRGB;
+	cvtColor(_detectedEdges,_detectedEdgesRGB, CV_GRAY2BGR); // converting to RGB
+	HoughLines(_detectedEdges,_lines,_rho,_theta,_houghThres); // Finding the hough lines
+	vector<Vec2f> retVar;
+	
+	if (_lines.size() > 1){
+		Mat labels,centers;
+		Mat samples = Mat(_lines.size(),2,CV_32F);
+
+		for (int i = 0;i < _lines.size();i++){
+			samples.at<float>(i,0) = _lines[i][0];
+			samples.at<float>(i,1) = _lines[i][1];
+		}
+		// K means clustering to get two lines
+		kmeans(samples, 2, labels, TermCriteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS, 1000, 0.001), 5, KMEANS_PP_CENTERS, centers );
+
+		////////////////// Using RANSAC to get rid of outliers
+		_lines.clear();
+		
+		vector<Point2f> left;
+		vector<Point2f> right;
+		for(int i = 0;i < labels.rows; i++){
+			if (labels.at<int>(i) == 0) left.push_back(Point2f(samples.at<float>(i,0), samples.at<float>(i,1)));
+			else right.push_back(Point2f(samples.at<float>(i,0), samples.at<float>(i,1)));
+		}
+		// Performing Ransac
+		vector<Point2f> leftR = ransac(left); 
+		vector<Point2f> rightR = ransac(right);
+		//////////////////
+
+		if (leftR.size() < 1 || rightR.size() < 1 || 
+		   (float)(cos((leftR[0].y + leftR[1].y)/2) * cos((rightR[0].y + rightR[1].y)/2)) >= 0) return retVar;
+
+		// pushing the end points of the line to _lines
+		_lines.push_back(Vec2f((leftR[0].x + leftR[1].x)/2, (leftR[0].y + leftR[1].y)/2));
+		_lines.push_back(Vec2f((rightR[0].x + rightR[1].x)/2, (rightR[0].y + rightR[1].y)/2));
+
+	}
+
+
+	return _lines;
+}
+
+// Implementing RANSAC to remove outlier lines
+// Picking the best estimate having maximum number of inliers
+// TO DO: Better implementation 
+vector<Point2f> featureDetection::ransac(vector<Point2f> data){
+
+	vector<Point2f> res;
+	int maxInliers = 0;
+
+	// Picking up the first sample
+	for(int i = 0;i < data.size();i++){
+		Point2f p1 = data[i];
+	
+		// Picking up the second sample
+		for(int j = i + 1;j < data.size();j++){
+			Point2f p2 = data[j];
+			int n = 0;
+			
+			// Finding the total number of inliers
+			for (int k = 0;k < data.size();k++){
+				Point2f p3 = data[k];
+				float normalLength = norm(p2 - p1);
+				float distance = abs((float)((p3.x - p1.x) * (p2.y - p1.y) - (p3.y - p1.y) * (p2.x - p1.x)) / normalLength);
+				if (distance < _ransacThres) n++;
+			}
+			
+			// if the current selection has more inliers, update the result and maxInliers
+			if (n > maxInliers) {
+				res.clear();
+				maxInliers = n;			
+				res.push_back(p1);
+				res.push_back(p2);
+			}
+		
+		}
+		
+	}
+
+	return res;
+}
+
+
+Mat featureDetection::lineItr(Mat img, vector<Vec2f> lines, string name){
+
+	Mat imgRGB;
+	cvtColor(img,imgRGB,CV_GRAY2RGB); // converting the image to RGB for display
+	vector<Point> endPoints;
+
+	// Here, I convert the polar coordinates to Cartesian coordinates.
+	// Then, I extend the line to meet the boundary of the image.
+	for (int i = 0;i < lines.size();i++){
+		float r = lines[i][0];
+		float t = lines[i][1];
+		
+		float x = r*cos(t);
+		float y = r*sin(t);
+
+		Point p1(cvRound(x - 1.0*sin(t)*1000), cvRound(y + cos(t)*1000));
+		Point p2(cvRound(x + 1.0*sin(t)*1000), cvRound(y - cos(t)*1000));
+
+		clipLine(img.size(),p1,p2);
+		if (p1.y > p2.y){
+			endPoints.push_back(p1);
+			endPoints.push_back(p2);
+		}
+		else{
+			endPoints.push_back(p2);
+			endPoints.push_back(p1);
+		}
+
+	}
+
+	
+	Point pint;
+	bool check = findIntersection(endPoints,pint);
+
+	if (check){
+		line(imgRGB,endPoints[0],pint,Scalar(0,0,255),5);
+		line(imgRGB,endPoints[2],pint,Scalar(0,0,255),5);
+	}	
+	/////
+
+	
+	float xIntercept = min(endPoints[0].x,endPoints[2].x);
+	myfile << name << "," << xIntercept * 2 << "," << pint.x * 2 << endl;
+
+	visualize(imgRGB); // Visualize the final result
+
+	return imgRGB;
+}
+
+// Finding the Vanishing Point
+bool featureDetection::findIntersection(vector<Point> endP, Point& pi){
+
+	Point x = endP[2] - endP[0];
+	Point d1 = endP[1] - endP[0];
+	Point d2 = endP[3] - endP[2];
+	
+	float cross = d1.x*d2.y - d1.y*d2.x;
+	if (abs(cross) < 1e-8) // No intersection
+        return false;
+
+    double t1 = (x.x * d2.y - x.y * d2.x)/cross;
+    pi = endP[0] + d1 * t1;
+    return true;
+
+
+}
+
+// Visualize
+void featureDetection::visualize(Mat imgRGB){
+	
+	namedWindow("detectedFeatures");
+	imshow("detectedFeatures",imgRGB);
+	waitKey(100);
+
+}
+
+#ifdef testT
+int main()
+{
+	featureDetection detect; // object of featureDetection class
+
+
+	ippath += imname;
+	Mat img1 = imread(ippath,0); // Read the image
+	resize(img1,img1,Size(detect._width,detect._height));
+	
+	detect.filteringPipeLine(img1); 
+	vector<Vec2f> lines = detect.houghTransform(); // Hough Transform
+	Mat imgFinal = detect.lineItr(img1, lines, imname); 
+	
+	oppath += imname;
+	imwrite(oppath,imgFinal); 
+
+	while ( getline (imageNames,imname) ){
+		ippath = "./images/";
+		oppath = "./output/";
+		ippath += imname;
+
+		Mat img2 = imread(ippath,0); // Read the image
+		resize(img2,img2,Size(detect._width,detect._height));
+		
+		detect.filteringPipeLine(img2); 
+		vector<Vec2f> lines2 = detect.houghTransform(); // Hough Transform
+		
+		
+		
+		if (lines2.size() < 2) {
+			imgFinal = detect.lineItr(img2,lines, imname);
+			oppath += imname;
+			imwrite(oppath,imgFinal); 
+			continue;
+		}
+		
+		///// Kalman Filter to predict the next state
+		CKalmanFilter KF2(lines);
+		vector<Vec2f> pp = KF2.predict();
+
+		vector<Vec2f> lines2Final = KF2.update(lines2);
+		lines = lines2Final;
+		imgFinal = detect.lineItr(img2,lines2, imname); 
+		/////
+		
+		oppath += imname;
+		imwrite(oppath,imgFinal);
+	}
+	
+
+}
+#endif
diff --git a/workspace/virtuallab/src/multiple-object-tracking-lidar/src/main.cpp b/workspace/virtuallab/src/multiple-object-tracking-lidar/src/main.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..0a09d0d34a87029c461097fa9a5b77ac1440326f
--- /dev/null
+++ b/workspace/virtuallab/src/multiple-object-tracking-lidar/src/main.cpp
@@ -0,0 +1,742 @@
+#include <iostream>
+#include <string.h>
+#include <fstream>
+#include <algorithm>
+#include <iterator>
+#include "kf_tracker/featureDetection.h"
+#include "kf_tracker/CKalmanFilter.h"
+#include <opencv2/core/core.hpp>
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/imgproc/imgproc.hpp>
+#include <opencv2/video/video.hpp>
+#include "opencv2/video/tracking.hpp"
+#include <ros/ros.h>
+#include <pcl/io/pcd_io.h>
+#include <pcl/point_types.h>
+#include "pcl_ros/point_cloud.h"
+#include <geometry_msgs/Point.h>
+#include <std_msgs/Float32MultiArray.h>
+#include <std_msgs/Int32MultiArray.h>
+
+#include <sensor_msgs/PointCloud2.h>
+#include <pcl_conversions/pcl_conversions.h>
+#include <pcl/point_cloud.h>
+#include <pcl/point_types.h>
+#include <pcl/common/geometry.h>
+#include <pcl/filters/extract_indices.h>
+#include <pcl/filters/voxel_grid.h>
+#include <pcl/features/normal_3d.h>
+#include <pcl/kdtree/kdtree.h>
+#include <pcl/sample_consensus/method_types.h>
+#include <pcl/sample_consensus/model_types.h>
+#include <pcl/segmentation/sac_segmentation.h>
+#include <pcl/segmentation/extract_clusters.h>
+#include <pcl/common/centroid.h>
+ 
+#include <visualization_msgs/MarkerArray.h>
+#include <visualization_msgs/Marker.h>
+#include <limits>
+#include <utility>
+
+using namespace std;
+using namespace cv;
+
+
+ros::Publisher objID_pub;
+
+    // KF init
+    int stateDim=4;// [x,y,v_x,v_y]//,w,h]
+    int measDim=2;// [z_x,z_y,z_w,z_h]
+    int ctrlDim=0;
+    cv::KalmanFilter KF0(stateDim,measDim,ctrlDim,CV_32F);
+    cv::KalmanFilter KF1(stateDim,measDim,ctrlDim,CV_32F);
+    cv::KalmanFilter KF2(stateDim,measDim,ctrlDim,CV_32F);
+    cv::KalmanFilter KF3(stateDim,measDim,ctrlDim,CV_32F);
+    cv::KalmanFilter KF4(stateDim,measDim,ctrlDim,CV_32F);
+    cv::KalmanFilter KF5(stateDim,measDim,ctrlDim,CV_32F);
+
+    ros::Publisher pub_cluster0;
+    ros::Publisher pub_cluster1;
+    ros::Publisher pub_cluster2;
+    ros::Publisher pub_cluster3;
+    ros::Publisher pub_cluster4;
+    ros::Publisher pub_cluster5;
+
+    ros::Publisher markerPub;
+
+    std::vector<geometry_msgs::Point> prevClusterCenters;
+
+
+    cv::Mat state(stateDim,1,CV_32F);
+    cv::Mat_<float> measurement(2,1); 
+
+    std::vector<int> objID;// Output of the data association using KF
+   // measurement.setTo(Scalar(0));
+
+bool firstFrame=true;
+
+// calculate euclidean distance of two points
+  double euclidean_distance(geometry_msgs::Point& p1, geometry_msgs::Point& p2)
+  {
+    return sqrt((p1.x - p2.x) * (p1.x - p2.x) + (p1.y - p2.y) * (p1.y - p2.y) + (p1.z - p2.z) * (p1.z - p2.z));
+  }
+/*
+//Count unique object IDs. just to make sure same ID has not been assigned to two KF_Trackers.  
+int countIDs(vector<int> v)
+{
+    transform(v.begin(), v.end(), v.begin(), abs); // O(n) where n = distance(v.end(), v.begin())
+    sort(v.begin(), v.end()); // Average case O(n log n), worst case O(n^2) (usually implemented as quicksort.
+    // To guarantee worst case O(n log n) replace with make_heap, then sort_heap.
+
+    // Unique will take a sorted range, and move things around to get duplicated
+    // items to the back and returns an iterator to the end of the unique section of the range
+    auto unique_end = unique(v.begin(), v.end()); // Again n comparisons
+    return distance(unique_end, v.begin()); // Constant time for random access iterators (like vector's)
+}
+*/
+
+/*
+
+objID: vector containing the IDs of the clusters that should be associated with each KF_Tracker
+objID[0] corresponds to KFT0, objID[1] corresponds to KFT1 etc.
+*/
+
+std::pair<int,int> findIndexOfMin(std::vector<std::vector<float> > distMat)
+{
+    cout<<"findIndexOfMin cALLED\n";
+    std::pair<int,int>minIndex;
+    float minEl=std::numeric_limits<float>::max();
+    cout<<"minEl="<<minEl<<"\n";
+    for (int i=0; i<distMat.size();i++)
+        for(int j=0;j<distMat.at(0).size();j++)
+        {
+            if( distMat[i][j]<minEl)
+            {
+                minEl=distMat[i][j];
+                minIndex=std::make_pair(i,j);
+
+            }
+
+        }
+    cout<<"minIndex="<<minIndex.first<<","<<minIndex.second<<"\n";
+    return minIndex;
+}
+void KFT(const std_msgs::Float32MultiArray ccs)
+{
+
+
+
+    // First predict, to update the internal statePre variable
+
+    std::vector<cv::Mat> pred{KF0.predict(),KF1.predict(),KF2.predict(),KF3.predict(),KF4.predict(),KF5.predict()};
+ //cout<<"Pred successfull\n";
+
+    //cv::Point predictPt(prediction.at<float>(0),prediction.at<float>(1));
+   // cout<<"Prediction 1 ="<<prediction.at<float>(0)<<","<<prediction.at<float>(1)<<"\n";
+
+    // Get measurements
+    // Extract the position of the clusters forom the multiArray. To check if the data
+    // coming in, check the .z (every third) coordinate and that will be 0.0
+    std::vector<geometry_msgs::Point> clusterCenters;//clusterCenters
+   
+    int i=0;
+    for (std::vector<float>::const_iterator it=ccs.data.begin();it!=ccs.data.end();it+=3)
+    {
+        geometry_msgs::Point pt;
+        pt.x=*it;
+        pt.y=*(it+1);
+        pt.z=*(it+2);
+
+        clusterCenters.push_back(pt);
+       
+    }
+
+  //  cout<<"CLusterCenters Obtained"<<"\n";
+    std::vector<geometry_msgs::Point> KFpredictions;
+    i=0;
+    for (auto it=pred.begin();it!=pred.end();it++)
+    {
+        geometry_msgs::Point pt;
+        pt.x=(*it).at<float>(0);
+        pt.y=(*it).at<float>(1);
+        pt.z=(*it).at<float>(2);
+
+        KFpredictions.push_back(pt);
+        
+    }
+  // cout<<"Got predictions"<<"\n";
+
+    
+    
+    // Find the cluster that is more probable to be belonging to a given KF.
+    objID.clear();//Clear the objID vector
+    objID.resize(6);//Allocate default elements so that [i] doesnt segfault. Should be done better
+    // Copy clusterCentres for modifying it and preventing multiple assignments of the same ID
+    std::vector<geometry_msgs::Point> copyOfClusterCenters(clusterCenters);
+    std::vector<std::vector<float> > distMat;
+
+    for(int filterN=0;filterN<6;filterN++)
+    {
+        std::vector<float> distVec;
+        for(int n=0;n<6;n++)
+        {
+            distVec.push_back(euclidean_distance(KFpredictions[filterN],copyOfClusterCenters[n]));
+        }
+
+        distMat.push_back(distVec);
+      /*// Based on distVec instead of distMat (global min). Has problems with the person's leg going out of scope 
+       int ID=std::distance(distVec.begin(),min_element(distVec.begin(),distVec.end()));
+       //cout<<"finterlN="<<filterN<<"   minID="<<ID
+       objID.push_back(ID);
+      // Prevent assignment of the same object ID to multiple clusters
+       copyOfClusterCenters[ID].x=100000;// A large value so that this center is not assigned to another cluster
+       copyOfClusterCenters[ID].y=10000;
+       copyOfClusterCenters[ID].z=10000;
+      */
+     cout<<"filterN="<<filterN<<"\n";
+
+
+    }
+
+    cout<<"distMat.size()"<<distMat.size()<<"\n";
+    cout<<"distMat[0].size()"<<distMat.at(0).size()<<"\n";
+    // DEBUG: print the distMat
+    for ( const auto &row : distMat )
+    {
+       for ( const auto &s : row ) std::cout << s << ' ';
+       std::cout << std::endl;
+    }
+
+
+
+    for(int clusterCount=0;clusterCount<6;clusterCount++)
+    {
+        // 1. Find min(distMax)==> (i,j);
+        std::pair<int,int> minIndex(findIndexOfMin(distMat));
+         cout<<"Received minIndex="<<minIndex.first<<","<<minIndex.second<<"\n";
+        // 2. objID[i]=clusterCenters[j]; counter++
+        objID[minIndex.first]=minIndex.second;
+    
+        // 3. distMat[i,:]=10000; distMat[:,j]=10000
+        distMat[minIndex.first]=std::vector<float>(6,10000.0);// Set the row to a high number.
+        for(int row=0;row<distMat.size();row++)//set the column to a high number
+        {
+            distMat[row][minIndex.second]=10000.0;
+        }
+        // 4. if(counter<6) got to 1.
+        cout<<"clusterCount="<<clusterCount<<"\n";
+
+    }
+
+   // cout<<"Got object IDs"<<"\n";
+    //countIDs(objID);// for verif/corner cases
+
+    //display objIDs
+  /* DEBUG
+    cout<<"objID= ";
+    for(auto it=objID.begin();it!=objID.end();it++)
+        cout<<*it<<" ,";
+    cout<<"\n";
+    */
+
+    visualization_msgs::MarkerArray clusterMarkers;
+
+     for (int i=0;i<6;i++)
+     {
+        visualization_msgs::Marker m;
+
+        m.id=i;
+        m.type=visualization_msgs::Marker::CUBE;
+        m.header.frame_id="/hokuyo";
+        m.scale.x=0.3;         m.scale.y=0.3;         m.scale.z=0.3;
+        m.action=visualization_msgs::Marker::ADD;
+        m.color.a=1.0;
+        m.color.r=i%2?1:0;
+        m.color.g=i%3?1:0;
+        m.color.b=i%4?1:0;
+
+       //geometry_msgs::Point clusterC(clusterCenters.at(objID[i]));
+        geometry_msgs::Point clusterC(KFpredictions[i]);
+       m.pose.position.x=clusterC.x;
+       m.pose.position.y=clusterC.y;
+       m.pose.position.z=clusterC.z;
+
+       clusterMarkers.markers.push_back(m);
+     }
+
+    prevClusterCenters=clusterCenters;
+
+     markerPub.publish(clusterMarkers);
+
+
+
+
+    std_msgs::Int32MultiArray obj_id;
+    for(auto it=objID.begin();it!=objID.end();it++)
+        obj_id.data.push_back(*it);
+    // Publish the object IDs
+    objID_pub.publish(obj_id);
+    // convert clusterCenters from geometry_msgs::Point to floats
+    std::vector<std::vector<float> > cc;
+    for (int i=0;i<6;i++)
+    {
+        vector<float> pt;
+        pt.push_back(clusterCenters[objID[i]].x);
+        pt.push_back(clusterCenters[objID[i]].y);
+        pt.push_back(clusterCenters[objID[i]].z);
+        
+        cc.push_back(pt);
+    }
+    //cout<<"cc[5][0]="<<cc[5].at(0)<<"cc[5][1]="<<cc[5].at(1)<<"cc[5][2]="<<cc[5].at(2)<<"\n";
+    float meas0[2]={cc[0].at(0),cc[0].at(1)};
+    float meas1[2]={cc[1].at(0),cc[1].at(1)};
+    float meas2[2]={cc[2].at(0),cc[2].at(1)};
+    float meas3[2]={cc[3].at(0),cc[3].at(1)};
+    float meas4[2]={cc[4].at(0),cc[4].at(1)};
+    float meas5[2]={cc[5].at(0),cc[5].at(1)};
+
+
+
+    // The update phase 
+    cv::Mat meas0Mat=cv::Mat(2,1,CV_32F,meas0);
+    cv::Mat meas1Mat=cv::Mat(2,1,CV_32F,meas1);
+    cv::Mat meas2Mat=cv::Mat(2,1,CV_32F,meas2);
+    cv::Mat meas3Mat=cv::Mat(2,1,CV_32F,meas3);
+    cv::Mat meas4Mat=cv::Mat(2,1,CV_32F,meas4);
+    cv::Mat meas5Mat=cv::Mat(2,1,CV_32F,meas5);
+
+//cout<<"meas0Mat"<<meas0Mat<<"\n";
+if (!(meas0Mat.at<float>(0,0)==0.0f || meas0Mat.at<float>(1,0)==0.0f))
+    Mat estimated0 = KF0.correct(meas0Mat);
+if (!(meas1[0]==0.0f || meas1[1]==0.0f))
+    Mat estimated1 = KF1.correct(meas1Mat);
+if (!(meas2[0]==0.0f || meas2[1]==0.0f))
+    Mat estimated2 = KF2.correct(meas2Mat);
+if (!(meas3[0]==0.0f || meas3[1]==0.0f))
+    Mat estimated3 = KF3.correct(meas3Mat);
+if (!(meas4[0]==0.0f || meas4[1]==0.0f))
+    Mat estimated4 = KF4.correct(meas4Mat);
+if (!(meas5[0]==0.0f || meas5[1]==0.0f))
+    Mat estimated5 = KF5.correct(meas5Mat);
+    
+ 
+    // Publish the point clouds belonging to each clusters
+
+
+   // cout<<"estimate="<<estimated.at<float>(0)<<","<<estimated.at<float>(1)<<"\n";
+   // Point statePt(estimated.at<float>(0),estimated.at<float>(1));
+//cout<<"DONE KF_TRACKER\n";
+   
+}
+void publish_cloud(ros::Publisher& pub, pcl::PointCloud<pcl::PointXYZ>::Ptr cluster){
+  sensor_msgs::PointCloud2::Ptr clustermsg (new sensor_msgs::PointCloud2);
+  pcl::toROSMsg (*cluster , *clustermsg);
+  clustermsg->header.frame_id = "/hokuyo";
+  clustermsg->header.stamp = ros::Time::now();
+  pub.publish (*clustermsg);
+
+}
+
+
+void cloud_cb (const sensor_msgs::PointCloud2ConstPtr& input)
+
+{
+   // cout<<"IF firstFrame="<<firstFrame<<"\n";
+    // If this is the first frame, initialize kalman filters for the clustered objects
+if (firstFrame)
+{   
+  // Initialize 6 Kalman Filters; Assuming 6 max objects in the dataset. 
+  // Could be made generic by creating a Kalman Filter only when a new object is detected  
+
+    float dvx=0.01f; //1.0
+    float dvy=0.01f;//1.0
+    float dx=1.0f;
+    float dy=1.0f;
+    KF0.transitionMatrix = (Mat_<float>(4, 4) << dx,0,1,0,   0,dy,0,1,  0,0,dvx,0,  0,0,0,dvy);
+    KF1.transitionMatrix = (Mat_<float>(4, 4) << dx,0,1,0,   0,dy,0,1,  0,0,dvx,0,  0,0,0,dvy);
+    KF2.transitionMatrix = (Mat_<float>(4, 4) << dx,0,1,0,   0,dy,0,1,  0,0,dvx,0,  0,0,0,dvy);
+    KF3.transitionMatrix = (Mat_<float>(4, 4) << dx,0,1,0,   0,dy,0,1,  0,0,dvx,0,  0,0,0,dvy);
+    KF4.transitionMatrix = (Mat_<float>(4, 4) << dx,0,1,0,   0,dy,0,1,  0,0,dvx,0,  0,0,0,dvy);
+    KF5.transitionMatrix = (Mat_<float>(4, 4) << dx,0,1,0,   0,dy,0,1,  0,0,dvx,0,  0,0,0,dvy);
+
+    cv::setIdentity(KF0.measurementMatrix);
+    cv::setIdentity(KF1.measurementMatrix);
+    cv::setIdentity(KF2.measurementMatrix);
+    cv::setIdentity(KF3.measurementMatrix);
+    cv::setIdentity(KF4.measurementMatrix);
+    cv::setIdentity(KF5.measurementMatrix);
+    // Process Noise Covariance Matrix Q
+    // [ Ex 0  0    0 0    0 ]
+    // [ 0  Ey 0    0 0    0 ]
+    // [ 0  0  Ev_x 0 0    0 ]
+    // [ 0  0  0    1 Ev_y 0 ]
+    //// [ 0  0  0    0 1    Ew ]
+    //// [ 0  0  0    0 0    Eh ]
+    float sigmaP=0.01;
+    float sigmaQ=0.1;
+    setIdentity(KF0.processNoiseCov, Scalar::all(sigmaP));
+    setIdentity(KF1.processNoiseCov, Scalar::all(sigmaP));
+    setIdentity(KF2.processNoiseCov, Scalar::all(sigmaP));
+    setIdentity(KF3.processNoiseCov, Scalar::all(sigmaP));
+    setIdentity(KF4.processNoiseCov, Scalar::all(sigmaP));
+    setIdentity(KF5.processNoiseCov, Scalar::all(sigmaP));
+    // Meas noise cov matrix R
+     cv::setIdentity(KF0.measurementNoiseCov, cv::Scalar(sigmaQ));//1e-1
+     cv::setIdentity(KF1.measurementNoiseCov, cv::Scalar(sigmaQ));
+     cv::setIdentity(KF2.measurementNoiseCov, cv::Scalar(sigmaQ));
+     cv::setIdentity(KF3.measurementNoiseCov, cv::Scalar(sigmaQ));
+     cv::setIdentity(KF4.measurementNoiseCov, cv::Scalar(sigmaQ));
+     cv::setIdentity(KF5.measurementNoiseCov, cv::Scalar(sigmaQ));
+
+// Process the point cloud
+     pcl::PointCloud<pcl::PointXYZ>::Ptr input_cloud (new pcl::PointCloud<pcl::PointXYZ>);
+  pcl::PointCloud<pcl::PointXYZ>::Ptr clustered_cloud (new pcl::PointCloud<pcl::PointXYZ>);
+      /* Creating the KdTree from input point cloud*/
+  pcl::search::KdTree<pcl::PointXYZ>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZ>);
+
+  pcl::fromROSMsg (*input, *input_cloud);
+
+  tree->setInputCloud (input_cloud);
+
+
+  std::vector<pcl::PointIndices> cluster_indices;
+  pcl::EuclideanClusterExtraction<pcl::PointXYZ> ec;
+  ec.setClusterTolerance (0.08); 
+  ec.setMinClusterSize (10);
+  ec.setMaxClusterSize (600);
+  ec.setSearchMethod (tree);
+  ec.setInputCloud (input_cloud);
+  /* Extract the clusters out of pc and save indices in cluster_indices.*/
+  ec.extract (cluster_indices);
+
+  
+  std::vector<pcl::PointIndices>::const_iterator it;
+  std::vector<int>::const_iterator pit;
+  // Vector of cluster pointclouds
+  std::vector<pcl::PointCloud<pcl::PointXYZ>::Ptr > cluster_vec;
+    // Cluster centroids
+  std::vector<pcl::PointXYZ> clusterCentroids;
+
+  for(it = cluster_indices.begin(); it != cluster_indices.end(); ++it) {
+          
+         pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_cluster (new pcl::PointCloud<pcl::PointXYZ>);
+         float x=0.0; float y=0.0;
+         int numPts=0;
+          for(pit = it->indices.begin(); pit != it->indices.end(); pit++) 
+          {
+          
+                  cloud_cluster->points.push_back(input_cloud->points[*pit]);
+                  x+=input_cloud->points[*pit].x;
+                  y+=input_cloud->points[*pit].y;
+                  numPts++;
+
+
+                  //dist_this_point = pcl::geometry::distance(input_cloud->points[*pit],
+                  //                                          origin);
+                  //mindist_this_cluster = std::min(dist_this_point, mindist_this_cluster);
+          }
+
+         
+      pcl::PointXYZ centroid;
+      centroid.x=x/numPts;
+      centroid.y=y/numPts;
+      centroid.z=0.0;
+      
+      cluster_vec.push_back(cloud_cluster);
+
+      //Get the centroid of the cluster
+      clusterCentroids.push_back(centroid);
+
+
+    }
+
+    //Ensure at least 6 clusters exist to publish (later clusters may be empty)
+    while (cluster_vec.size() < 6){
+      pcl::PointCloud<pcl::PointXYZ>::Ptr empty_cluster (new pcl::PointCloud<pcl::PointXYZ>);
+      empty_cluster->points.push_back(pcl::PointXYZ(0,0,0));
+      cluster_vec.push_back(empty_cluster);
+    }
+
+        while (clusterCentroids.size()<6)
+    {
+      pcl::PointXYZ centroid;
+      centroid.x=0.0;
+      centroid.y=0.0;
+      centroid.z=0.0;
+      
+       clusterCentroids.push_back(centroid);
+    }
+    
+
+     // Set initial state
+     KF0.statePre.at<float>(0)=clusterCentroids.at(0).x;
+     KF0.statePre.at<float>(1)=clusterCentroids.at(0).y;
+     KF0.statePre.at<float>(2)=0;// initial v_x
+     KF0.statePre.at<float>(3)=0;//initial v_y
+
+     // Set initial state
+     KF1.statePre.at<float>(0)=clusterCentroids.at(1).x;
+     KF1.statePre.at<float>(1)=clusterCentroids.at(1).y;
+     KF1.statePre.at<float>(2)=0;// initial v_x
+     KF1.statePre.at<float>(3)=0;//initial v_y
+
+     // Set initial state
+     KF2.statePre.at<float>(0)=clusterCentroids.at(2).x;
+     KF2.statePre.at<float>(1)=clusterCentroids.at(2).y;
+     KF2.statePre.at<float>(2)=0;// initial v_x
+     KF2.statePre.at<float>(3)=0;//initial v_y
+
+
+     // Set initial state
+     KF3.statePre.at<float>(0)=clusterCentroids.at(3).x;
+     KF3.statePre.at<float>(1)=clusterCentroids.at(3).y;
+     KF3.statePre.at<float>(2)=0;// initial v_x
+     KF3.statePre.at<float>(3)=0;//initial v_y
+
+     // Set initial state
+     KF4.statePre.at<float>(0)=clusterCentroids.at(4).x;
+     KF4.statePre.at<float>(1)=clusterCentroids.at(4).y;
+     KF4.statePre.at<float>(2)=0;// initial v_x
+     KF4.statePre.at<float>(3)=0;//initial v_y
+
+     // Set initial state
+     KF5.statePre.at<float>(0)=clusterCentroids.at(5).x;
+     KF5.statePre.at<float>(1)=clusterCentroids.at(5).y;
+     KF5.statePre.at<float>(2)=0;// initial v_x
+     KF5.statePre.at<float>(3)=0;//initial v_y
+
+     firstFrame=false;
+
+    for (int i=0;i<6;i++)
+     {
+        geometry_msgs::Point pt;
+        pt.x=clusterCentroids.at(i).x;
+        pt.y=clusterCentroids.at(i).y;
+        prevClusterCenters.push_back(pt);
+     }
+   /*  // Print the initial state of the kalman filter for debugging
+     cout<<"KF0.satePre="<<KF0.statePre.at<float>(0)<<","<<KF0.statePre.at<float>(1)<<"\n";
+     cout<<"KF1.satePre="<<KF1.statePre.at<float>(0)<<","<<KF1.statePre.at<float>(1)<<"\n";
+     cout<<"KF2.satePre="<<KF2.statePre.at<float>(0)<<","<<KF2.statePre.at<float>(1)<<"\n";
+     cout<<"KF3.satePre="<<KF3.statePre.at<float>(0)<<","<<KF3.statePre.at<float>(1)<<"\n";
+     cout<<"KF4.satePre="<<KF4.statePre.at<float>(0)<<","<<KF4.statePre.at<float>(1)<<"\n";
+     cout<<"KF5.satePre="<<KF5.statePre.at<float>(0)<<","<<KF5.statePre.at<float>(1)<<"\n";
+
+     //cin.ignore();// To be able to see the printed initial state of the KalmanFilter
+     */
+}
+
+ 
+else
+{ 
+  //cout<<"ELSE firstFrame="<<firstFrame<<"\n";
+  pcl::PointCloud<pcl::PointXYZ>::Ptr input_cloud (new pcl::PointCloud<pcl::PointXYZ>);
+  pcl::PointCloud<pcl::PointXYZ>::Ptr clustered_cloud (new pcl::PointCloud<pcl::PointXYZ>);
+      /* Creating the KdTree from input point cloud*/
+  pcl::search::KdTree<pcl::PointXYZ>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZ>);
+
+  pcl::fromROSMsg (*input, *input_cloud);
+
+  tree->setInputCloud (input_cloud);
+
+  /* Here we are creating a vector of PointIndices, which contains the actual index
+   * information in a vector<int>. The indices of each detected cluster are saved here.
+   * Cluster_indices is a vector containing one instance of PointIndices for each detected 
+   * cluster. Cluster_indices[0] contain all indices of the first cluster in input point cloud.
+   */
+  std::vector<pcl::PointIndices> cluster_indices;
+  pcl::EuclideanClusterExtraction<pcl::PointXYZ> ec;
+  ec.setClusterTolerance (0.3);
+  ec.setMinClusterSize (10);
+  ec.setMaxClusterSize (600);
+  ec.setSearchMethod (tree);
+  ec.setInputCloud (input_cloud);
+//cout<<"PCL init successfull\n";
+  /* Extract the clusters out of pc and save indices in cluster_indices.*/
+  ec.extract (cluster_indices);
+//cout<<"PCL extract successfull\n";
+  /* To separate each cluster out of the vector<PointIndices> we have to 
+   * iterate through cluster_indices, create a new PointCloud for each 
+   * entry and write all points of the current cluster in the PointCloud. 
+   */
+  //pcl::PointXYZ origin (0,0,0);
+  //float mindist_this_cluster = 1000;
+  //float dist_this_point = 1000;
+
+  std::vector<pcl::PointIndices>::const_iterator it;
+  std::vector<int>::const_iterator pit;
+  // Vector of cluster pointclouds
+  std::vector<pcl::PointCloud<pcl::PointXYZ>::Ptr > cluster_vec;
+
+     // Cluster centroids
+  std::vector<pcl::PointXYZ> clusterCentroids;
+
+  
+
+  for(it = cluster_indices.begin(); it != cluster_indices.end(); ++it)
+   {
+        float x=0.0; float y=0.0;
+         int numPts=0;
+          pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_cluster (new pcl::PointCloud<pcl::PointXYZ>);
+          for(pit = it->indices.begin(); pit != it->indices.end(); pit++) 
+          {
+          
+                  cloud_cluster->points.push_back(input_cloud->points[*pit]);
+
+
+                  x+=input_cloud->points[*pit].x;
+                  y+=input_cloud->points[*pit].y;
+                  numPts++;
+
+                  //dist_this_point = pcl::geometry::distance(input_cloud->points[*pit],
+                  //                                          origin);
+                  //mindist_this_cluster = std::min(dist_this_point, mindist_this_cluster);
+          }
+
+    pcl::PointXYZ centroid;
+      centroid.x=x/numPts;
+      centroid.y=y/numPts;
+      centroid.z=0.0;
+      
+      cluster_vec.push_back(cloud_cluster);
+
+      //Get the centroid of the cluster
+      clusterCentroids.push_back(centroid);
+
+    }
+   // cout<<"cluster_vec got some clusters\n";
+
+    //Ensure at least 6 clusters exist to publish (later clusters may be empty)
+    while (cluster_vec.size() < 6){
+      pcl::PointCloud<pcl::PointXYZ>::Ptr empty_cluster (new pcl::PointCloud<pcl::PointXYZ>);
+      empty_cluster->points.push_back(pcl::PointXYZ(0,0,0));
+      cluster_vec.push_back(empty_cluster);
+    }
+
+     while (clusterCentroids.size()<6)
+    {
+      pcl::PointXYZ centroid;
+      centroid.x=0.0;
+      centroid.y=0.0;
+      centroid.z=0.0;
+      
+       clusterCentroids.push_back(centroid);
+    }
+
+
+    std_msgs::Float32MultiArray cc;
+    for(int i=0;i<6;i++)
+    {
+        cc.data.push_back(clusterCentroids.at(i).x);
+        cc.data.push_back(clusterCentroids.at(i).y);
+        cc.data.push_back(clusterCentroids.at(i).z);    
+
+    }
+   // cout<<"6 clusters initialized\n";
+
+    //cc_pos.publish(cc);// Publish cluster mid-points.
+    KFT(cc);
+    int i=0;
+    bool publishedCluster[6];
+    for(auto it=objID.begin();it!=objID.end();it++)
+        { //cout<<"Inside the for loop\n";
+            
+        
+            switch(i)
+            {
+                cout<<"Inside the switch case\n";
+                case 0: { 
+                            publish_cloud(pub_cluster0,cluster_vec[*it]);
+                            publishedCluster[i]=true;//Use this flag to publish only once for a given obj ID
+                            i++;
+                            break;
+
+                        }
+                case 1: {
+                            publish_cloud(pub_cluster1,cluster_vec[*it]);
+                            publishedCluster[i]=true;//Use this flag to publish only once for a given obj ID
+                            i++;
+                            break;
+
+                        }
+                case 2: {
+                            publish_cloud(pub_cluster2,cluster_vec[*it]);
+                            publishedCluster[i]=true;//Use this flag to publish only once for a given obj ID
+                            i++;
+                            break;
+
+                        }
+                case 3: {
+                            publish_cloud(pub_cluster3,cluster_vec[*it]);
+                            publishedCluster[i]=true;//Use this flag to publish only once for a given obj ID
+                            i++;
+                            break;
+
+                        }
+                case 4: {
+                            publish_cloud(pub_cluster4,cluster_vec[*it]);
+                            publishedCluster[i]=true;//Use this flag to publish only once for a given obj ID
+                            i++;
+                            break;
+
+                        }
+
+                case 5: {
+                            publish_cloud(pub_cluster5,cluster_vec[*it]);
+                            publishedCluster[i]=true;//Use this flag to publish only once for a given obj ID
+                            i++;
+                            break;
+
+                        }
+                default: break;
+            }
+        
+        }
+
+} 
+
+}   
+
+
+  
+
+int main(int argc, char** argv)
+{
+    // ROS init
+    ros::init (argc,argv,"kf_tracker");
+    ros::NodeHandle nh;
+
+   
+    // Publishers to publish the state of the objects (pos and vel)
+    //objState1=nh.advertise<geometry_msgs::Twist> ("obj_1",1);
+
+
+
+cout<<"About to setup callback\n";
+
+// Create a ROS subscriber for the input point cloud
+  ros::Subscriber sub = nh.subscribe ("filtered_cloud", 1, cloud_cb);
+  // Create a ROS publisher for the output point cloud
+  pub_cluster0 = nh.advertise<sensor_msgs::PointCloud2> ("cluster_0", 1);
+  pub_cluster1 = nh.advertise<sensor_msgs::PointCloud2> ("cluster_1", 1);
+  pub_cluster2 = nh.advertise<sensor_msgs::PointCloud2> ("cluster_2", 1);
+  pub_cluster3 = nh.advertise<sensor_msgs::PointCloud2> ("cluster_3", 1);
+  pub_cluster4 = nh.advertise<sensor_msgs::PointCloud2> ("cluster_4", 1);
+  pub_cluster5 = nh.advertise<sensor_msgs::PointCloud2> ("cluster_5", 1);
+      // Subscribe to the clustered pointclouds
+    //ros::Subscriber c1=nh.subscribe("ccs",100,KFT); 
+    objID_pub = nh.advertise<std_msgs::Int32MultiArray>("obj_id", 1);
+/* Point cloud clustering
+*/
+    
+  //cc_pos=nh.advertise<std_msgs::Float32MultiArray>("ccs",100);//clusterCenter1
+  markerPub= nh.advertise<visualization_msgs::MarkerArray> ("viz",1);
+
+/* Point cloud clustering
+*/    
+
+
+    ros::spin();
+
+
+}
diff --git a/workspace/virtuallab/src/multiple-object-tracking-lidar/src/main_naive.cpp b/workspace/virtuallab/src/multiple-object-tracking-lidar/src/main_naive.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..0886d61f1d892b3405a2de36250108cf651c721f
--- /dev/null
+++ b/workspace/virtuallab/src/multiple-object-tracking-lidar/src/main_naive.cpp
@@ -0,0 +1,603 @@
+#include <iostream>
+#include <string.h>
+#include <fstream>
+#include <algorithm>
+#include <iterator>
+#include "kf_tracker/featureDetection.h"
+#include "kf_tracker/CKalmanFilter.h"
+#include <opencv2/core/core.hpp>
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/imgproc/imgproc.hpp>
+#include <opencv2/video/video.hpp>
+#include "opencv2/video/tracking.hpp"
+#include <ros/ros.h>
+#include <pcl/io/pcd_io.h>
+#include <pcl/point_types.h>
+#include "pcl_ros/point_cloud.h"
+#include <geometry_msgs/Point.h>
+#include <std_msgs/Float32MultiArray.h>
+#include <std_msgs/Int32MultiArray.h>
+
+#include <sensor_msgs/PointCloud2.h>
+#include <pcl_conversions/pcl_conversions.h>
+#include <pcl/point_cloud.h>
+#include <pcl/point_types.h>
+#include <pcl/common/geometry.h>
+#include <pcl/filters/extract_indices.h>
+#include <pcl/filters/voxel_grid.h>
+#include <pcl/features/normal_3d.h>
+#include <pcl/kdtree/kdtree.h>
+#include <pcl/sample_consensus/method_types.h>
+#include <pcl/sample_consensus/model_types.h>
+#include <pcl/segmentation/sac_segmentation.h>
+#include <pcl/segmentation/extract_clusters.h>
+
+using namespace std;
+using namespace cv;
+
+
+ros::Publisher objID_pub;
+
+    // KF init
+    int stateDim=4;// [x,y,v_x,v_y]//,w,h]
+    int measDim=2;// [z_x,z_y,z_w,z_h]
+    int ctrlDim=0;
+    cv::KalmanFilter KF0(stateDim,measDim,ctrlDim,CV_32F);
+    cv::KalmanFilter KF1(stateDim,measDim,ctrlDim,CV_32F);
+    cv::KalmanFilter KF2(stateDim,measDim,ctrlDim,CV_32F);
+    cv::KalmanFilter KF3(stateDim,measDim,ctrlDim,CV_32F);
+    cv::KalmanFilter KF4(stateDim,measDim,ctrlDim,CV_32F);
+    cv::KalmanFilter KF5(stateDim,measDim,ctrlDim,CV_32F);
+
+    ros::Publisher pub_cluster0;
+    ros::Publisher pub_cluster1;
+    ros::Publisher pub_cluster2;
+    ros::Publisher pub_cluster3;
+    ros::Publisher pub_cluster4;
+    ros::Publisher pub_cluster5;
+
+    std::vector<geometry_msgs::Point> prevClusterCenters;
+
+
+    cv::Mat state(stateDim,1,CV_32F);
+    cv::Mat_<float> measurement(2,1); 
+
+    std::vector<int> objID;// Output of the data association using KF
+   // measurement.setTo(Scalar(0));
+
+bool firstFrame=true;
+
+// calculate euclidean distance of two points
+  double euclidean_distance(geometry_msgs::Point& p1, geometry_msgs::Point& p2)
+  {
+    return sqrt((p1.x - p2.x) * (p1.x - p2.x) + (p1.y - p2.y) * (p1.y - p2.y) + (p1.z - p2.z) * (p1.z - p2.z));
+  }
+/*
+//Count unique object IDs. just to make sure same ID has not been assigned to two KF_Trackers.  
+int countIDs(vector<int> v)
+{
+    transform(v.begin(), v.end(), v.begin(), abs); // O(n) where n = distance(v.end(), v.begin())
+    sort(v.begin(), v.end()); // Average case O(n log n), worst case O(n^2) (usually implemented as quicksort.
+    // To guarantee worst case O(n log n) replace with make_heap, then sort_heap.
+
+    // Unique will take a sorted range, and move things around to get duplicated
+    // items to the back and returns an iterator to the end of the unique section of the range
+    auto unique_end = unique(v.begin(), v.end()); // Again n comparisons
+    return distance(unique_end, v.begin()); // Constant time for random access iterators (like vector's)
+}
+*/
+
+/*
+
+objID: vector containing the IDs of the clusters that should be associated with each KF_Tracker
+objID[0] corresponds to KFT0, objID[1] corresponds to KFT1 etc.
+*/
+void KFT(const std_msgs::Float32MultiArray ccs)
+{
+
+
+
+    // First predict, to update the internal statePre variable
+
+    std::vector<cv::Mat> pred{KF0.predict(),KF1.predict(),KF2.predict(),KF3.predict(),KF4.predict(),KF5.predict()};
+ //cout<<"Pred successfull\n";
+
+    //cv::Point predictPt(prediction.at<float>(0),prediction.at<float>(1));
+   // cout<<"Prediction 1 ="<<prediction.at<float>(0)<<","<<prediction.at<float>(1)<<"\n";
+
+    // Get measurements
+    // Extract the position of the clusters forom the multiArray. To check if the data
+    // coming in, check the .z (every third) coordinate and that will be 0.0
+    std::vector<geometry_msgs::Point> clusterCenters;//clusterCenters
+   
+    int i=0;
+    for (std::vector<float>::const_iterator it=ccs.data.begin();it!=ccs.data.end();it+=3)
+    {
+        geometry_msgs::Point pt;
+        pt.x=*it;
+        pt.y=*(it+1);
+        pt.z=*(it+2);
+
+        clusterCenters.push_back(pt);
+       
+    }
+
+  //  cout<<"CLusterCenters Obtained"<<"\n";
+    std::vector<geometry_msgs::Point> KFpredictions;
+    i=0;
+    for (auto it=pred.begin();it!=pred.end();it++)
+    {
+        geometry_msgs::Point pt;
+        pt.x=(*it).at<float>(0);
+        pt.y=(*it).at<float>(1);
+        pt.z=(*it).at<float>(2);
+
+        KFpredictions.push_back(pt);
+        
+    }
+   // cout<<"Got predictions"<<"\n";
+
+    /* Original Version using Kalman filter prediction
+    
+    // Find the cluster that is more probable to be belonging to a given KF.
+    objID.clear();//Clear the objID vector
+    for(int filterN=0;filterN<6;filterN++)
+    {
+        std::vector<float> distVec;
+        for(int n=0;n<6;n++)
+            distVec.push_back(euclidean_distance(KFpredictions[filterN],clusterCenters[n]));
+       
+      // cout<<"distVec[="<<distVec[0]<<","<<distVec[1]<<","<<distVec[2]<<","<<distVec[3]<<","<<distVec[4]<<","<<distVec[5]<<"\n";
+        objID.push_back(std::distance(distVec.begin(),min_element(distVec.begin(),distVec.end())));
+       // cout<<"MinD for filter"<<filterN<<"="<<*min_element(distVec.begin(),distVec.end())<<"\n";
+    
+    }
+
+   // cout<<"Got object IDs"<<"\n";
+    //countIDs(objID);// for verif/corner cases
+      Original version using kalman filter prediction
+    */
+    //display objIDs
+  /* DEBUG
+    cout<<"objID= ";
+    for(auto it=objID.begin();it!=objID.end();it++)
+        cout<<*it<<" ,";
+    cout<<"\n";
+    */
+
+/* Naive version without using kalman filter */
+objID.clear();//Clear the objID vector
+    for(int filterN=0;filterN<6;filterN++)
+    {
+        std::vector<float> distVec;
+        for(int n=0;n<6;n++)
+            distVec.push_back(euclidean_distance(prevClusterCenters[n],clusterCenters[n]));
+       
+      // cout<<"distVec[="<<distVec[0]<<","<<distVec[1]<<","<<distVec[2]<<","<<distVec[3]<<","<<distVec[4]<<","<<distVec[5]<<"\n";
+        objID.push_back(std::distance(distVec.begin(),min_element(distVec.begin(),distVec.end())));
+       // cout<<"MinD for filter"<<filterN<<"="<<*min_element(distVec.begin(),distVec.end())<<"\n";
+    
+    }
+     /* Naive version without kalman filter */
+    //prevClusterCenters.clear();
+    // Set the current associated clusters to the prevClusterCenters
+     for (int i=0;i<6;i++)
+     {
+        prevClusterCenters[objID.at(i)]=clusterCenters.at(i);
+       
+     }
+
+     /* Naive version without kalman filter */
+
+/* Naive version without using kalman filter */    
+
+
+    std_msgs::Int32MultiArray obj_id;
+    for(auto it=objID.begin();it!=objID.end();it++)
+        obj_id.data.push_back(*it);
+    objID_pub.publish(obj_id);
+    // convert clusterCenters from geometry_msgs::Point to floats
+    std::vector<std::vector<float> > cc;
+    for (int i=0;i<clusterCenters.size();i++)
+    {
+        vector<float> pt;
+        pt.push_back(clusterCenters[i].x);
+        pt.push_back(clusterCenters[i].y);
+        pt.push_back(clusterCenters[i].z);
+        
+        cc.push_back(pt);
+    }
+    //cout<<"cc[5][0]="<<cc[5].at(0)<<"cc[5][1]="<<cc[5].at(1)<<"cc[5][2]="<<cc[5].at(2)<<"\n";
+    float meas0[3]={cc[0].at(0),cc[0].at(1)};
+    float meas1[3]={cc[1].at(0),cc[1].at(1)};
+    float meas2[3]={cc[2].at(0),cc[2].at(1)};
+    float meas3[3]={cc[3].at(0),cc[3].at(1)};
+    float meas4[3]={cc[4].at(0),cc[4].at(1)};
+    float meas5[3]={cc[5].at(0),cc[5].at(1)};
+
+
+
+    // The update phase 
+    cv::Mat meas0Mat=cv::Mat(2,1,CV_32F,meas0);
+    cv::Mat meas1Mat=cv::Mat(2,1,CV_32F,meas1);
+    cv::Mat meas2Mat=cv::Mat(2,1,CV_32F,meas2);
+    cv::Mat meas3Mat=cv::Mat(2,1,CV_32F,meas3);
+    cv::Mat meas4Mat=cv::Mat(2,1,CV_32F,meas4);
+    cv::Mat meas5Mat=cv::Mat(2,1,CV_32F,meas5);
+
+//cout<<"meas0Mat"<<meas0Mat<<"\n";
+
+    Mat estimated0 = KF0.correct(meas0Mat);
+    Mat estimated1 = KF0.correct(meas1Mat);
+    Mat estimated2 = KF0.correct(meas2Mat);
+    Mat estimated3 = KF0.correct(meas3Mat);
+    Mat estimated4 = KF0.correct(meas4Mat);
+    Mat estimated5 = KF0.correct(meas5Mat);
+ 
+    // Publish the point clouds belonging to each clusters
+
+
+   // cout<<"estimate="<<estimated.at<float>(0)<<","<<estimated.at<float>(1)<<"\n";
+   // Point statePt(estimated.at<float>(0),estimated.at<float>(1));
+//cout<<"DONE KF_TRACKER\n";
+   
+}
+void publish_cloud(ros::Publisher& pub, pcl::PointCloud<pcl::PointXYZ>::Ptr cluster){
+  sensor_msgs::PointCloud2::Ptr clustermsg (new sensor_msgs::PointCloud2);
+  pcl::toROSMsg (*cluster , *clustermsg);
+  clustermsg->header.frame_id = "/map";
+  clustermsg->header.stamp = ros::Time::now();
+  pub.publish (*clustermsg);
+
+}
+
+
+void cloud_cb (const sensor_msgs::PointCloud2ConstPtr& input)
+
+{
+    cout<<"IF firstFrame="<<firstFrame<<"\n";
+    // If this is the first frame, initialize kalman filters for the clustered objects
+if (firstFrame)
+{   
+  // Initialize 6 Kalman Filters; Assuming 6 max objects in the dataset. 
+  // Could be made generic by creating a Kalman Filter only when a new object is detected  
+    KF0.transitionMatrix = *(Mat_<float>(4, 4) << 1,0,1,0,   0,1,0,1,  0,0,1,0,  0,0,0,1);
+    KF1.transitionMatrix = *(Mat_<float>(4, 4) << 1,0,1,0,   0,1,0,1,  0,0,1,0,  0,0,0,1);
+    KF2.transitionMatrix = *(Mat_<float>(4, 4) << 1,0,1,0,   0,1,0,1,  0,0,1,0,  0,0,0,1);
+    KF3.transitionMatrix = *(Mat_<float>(4, 4) << 1,0,1,0,   0,1,0,1,  0,0,1,0,  0,0,0,1);
+    KF4.transitionMatrix = *(Mat_<float>(4, 4) << 1,0,1,0,   0,1,0,1,  0,0,1,0,  0,0,0,1);
+    KF5.transitionMatrix = *(Mat_<float>(4, 4) << 1,0,1,0,   0,1,0,1,  0,0,1,0,  0,0,0,1);
+
+    cv::setIdentity(KF0.measurementMatrix);
+    cv::setIdentity(KF1.measurementMatrix);
+    cv::setIdentity(KF2.measurementMatrix);
+    cv::setIdentity(KF3.measurementMatrix);
+    cv::setIdentity(KF4.measurementMatrix);
+    cv::setIdentity(KF5.measurementMatrix);
+    // Process Noise Covariance Matrix Q
+    // [ Ex 0  0    0 0    0 ]
+    // [ 0  Ey 0    0 0    0 ]
+    // [ 0  0  Ev_x 0 0    0 ]
+    // [ 0  0  0    1 Ev_y 0 ]
+    //// [ 0  0  0    0 1    Ew ]
+    //// [ 0  0  0    0 0    Eh ]
+    setIdentity(KF0.processNoiseCov, Scalar::all(1e-4));
+    setIdentity(KF1.processNoiseCov, Scalar::all(1e-4));
+    setIdentity(KF2.processNoiseCov, Scalar::all(1e-4));
+    setIdentity(KF3.processNoiseCov, Scalar::all(1e-4));
+    setIdentity(KF4.processNoiseCov, Scalar::all(1e-4));
+    setIdentity(KF5.processNoiseCov, Scalar::all(1e-4));
+    // Meas noise cov matrix R
+     cv::setIdentity(KF0.measurementNoiseCov, cv::Scalar(1e-1));
+     cv::setIdentity(KF1.measurementNoiseCov, cv::Scalar(1e-1));
+     cv::setIdentity(KF2.measurementNoiseCov, cv::Scalar(1e-1));
+     cv::setIdentity(KF3.measurementNoiseCov, cv::Scalar(1e-1));
+     cv::setIdentity(KF4.measurementNoiseCov, cv::Scalar(1e-1));
+     cv::setIdentity(KF5.measurementNoiseCov, cv::Scalar(1e-1));
+
+// Process the point cloud
+     pcl::PointCloud<pcl::PointXYZ>::Ptr input_cloud (new pcl::PointCloud<pcl::PointXYZ>);
+  pcl::PointCloud<pcl::PointXYZ>::Ptr clustered_cloud (new pcl::PointCloud<pcl::PointXYZ>);
+      /* Creating the KdTree from input point cloud*/
+  pcl::search::KdTree<pcl::PointXYZ>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZ>);
+
+  pcl::fromROSMsg (*input, *input_cloud);
+
+  tree->setInputCloud (input_cloud);
+
+  /* Here we are creating a vector of PointIndices, which contains the actual index
+   * information in a vector<int>. The indices of each detected cluster are saved here.
+   * Cluster_indices is a vector containing one instance of PointIndices for each detected 
+   * cluster. Cluster_indices[0] contain all indices of the first cluster in input point cloud.
+   */
+  std::vector<pcl::PointIndices> cluster_indices;
+  pcl::EuclideanClusterExtraction<pcl::PointXYZ> ec;
+  ec.setClusterTolerance (0.08); 
+  ec.setMinClusterSize (10);
+  ec.setMaxClusterSize (600);
+  ec.setSearchMethod (tree);
+  ec.setInputCloud (input_cloud);
+  /* Extract the clusters out of pc and save indices in cluster_indices.*/
+  ec.extract (cluster_indices);
+
+  /* To separate each cluster out of the vector<PointIndices> we have to 
+   * iterate through cluster_indices, create a new PointCloud for each 
+   * entry and write all points of the current cluster in the PointCloud. 
+   */
+  //pcl::PointXYZ origin (0,0,0);
+  //float mindist_this_cluster = 1000;
+  //float dist_this_point = 1000;
+
+  std::vector<pcl::PointIndices>::const_iterator it;
+  std::vector<int>::const_iterator pit;
+  // Vector of cluster pointclouds
+  std::vector<pcl::PointCloud<pcl::PointXYZ>::Ptr > cluster_vec;
+
+  for(it = cluster_indices.begin(); it != cluster_indices.end(); ++it) {
+          pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_cluster (new pcl::PointCloud<pcl::PointXYZ>);
+          for(pit = it->indices.begin(); pit != it->indices.end(); pit++) 
+          {
+          
+                  cloud_cluster->points.push_back(input_cloud->points[*pit]);
+                  //dist_this_point = pcl::geometry::distance(input_cloud->points[*pit],
+                  //                                          origin);
+                  //mindist_this_cluster = std::min(dist_this_point, mindist_this_cluster);
+          }
+
+         
+      cluster_vec.push_back(cloud_cluster);
+
+    }
+
+    //Ensure at least 6 clusters exist to publish (later clusters may be empty)
+    while (cluster_vec.size() < 6){
+      pcl::PointCloud<pcl::PointXYZ>::Ptr empty_cluster (new pcl::PointCloud<pcl::PointXYZ>);
+      empty_cluster->points.push_back(pcl::PointXYZ(0,0,0));
+      cluster_vec.push_back(empty_cluster);
+    }
+    
+
+     // Set initial state
+     KF0.statePre.at<float>(0)=cluster_vec[0]->points[cluster_vec[0]->points.size()/2].x;
+     
+     KF0.statePre.at<float>(1)=cluster_vec[0]->points[cluster_vec[0]->points.size()/2].y;
+     KF0.statePre.at<float>(2)=0;// initial v_x
+     KF0.statePre.at<float>(3)=0;//initial v_y
+
+     // Set initial state
+     KF1.statePre.at<float>(0)=cluster_vec[1]->points[cluster_vec[1]->points.size()/2].x;
+     KF1.statePre.at<float>(1)=cluster_vec[1]->points[cluster_vec[1]->points.size()/2].y;
+     KF1.statePre.at<float>(2)=0;// initial v_x
+     KF1.statePre.at<float>(3)=0;//initial v_y
+
+     // Set initial state
+     KF2.statePre.at<float>(0)=cluster_vec[2]->points[cluster_vec[2]->points.size()/2].x;
+     KF2.statePre.at<float>(1)=cluster_vec[2]->points[cluster_vec[2]->points.size()/2].y;
+     KF2.statePre.at<float>(2)=0;// initial v_x
+     KF2.statePre.at<float>(3)=0;//initial v_y
+
+
+     // Set initial state
+     KF3.statePre.at<float>(0)=cluster_vec[3]->points[cluster_vec[3]->points.size()/2].x;
+     KF3.statePre.at<float>(1)=cluster_vec[3]->points[cluster_vec[3]->points.size()/2].y;
+     KF3.statePre.at<float>(2)=0;// initial v_x
+     KF3.statePre.at<float>(3)=0;//initial v_y
+
+     // Set initial state
+     KF4.statePre.at<float>(0)=cluster_vec[4]->points[cluster_vec[4]->points.size()/2].x;
+     KF4.statePre.at<float>(1)=cluster_vec[4]->points[cluster_vec[4]->points.size()/2].y;
+     KF4.statePre.at<float>(2)=0;// initial v_x
+     KF4.statePre.at<float>(3)=0;//initial v_y
+
+     // Set initial state
+     KF5.statePre.at<float>(0)=cluster_vec[5]->points[cluster_vec[5]->points.size()/2].x;
+     KF5.statePre.at<float>(1)=cluster_vec[5]->points[cluster_vec[5]->points.size()/2].y;
+     KF5.statePre.at<float>(2)=0;// initial v_x
+     KF5.statePre.at<float>(3)=0;//initial v_y
+
+     firstFrame=false;
+
+     // Print the initial state of the kalman filter for debugging
+     cout<<"KF0.satePre="<<KF0.statePre.at<float>(0)<<","<<KF0.statePre.at<float>(1)<<"\n";
+     cout<<"KF1.satePre="<<KF1.statePre.at<float>(0)<<","<<KF1.statePre.at<float>(1)<<"\n";
+     cout<<"KF2.satePre="<<KF2.statePre.at<float>(0)<<","<<KF2.statePre.at<float>(1)<<"\n";
+     cout<<"KF3.satePre="<<KF3.statePre.at<float>(0)<<","<<KF3.statePre.at<float>(1)<<"\n";
+     cout<<"KF4.satePre="<<KF4.statePre.at<float>(0)<<","<<KF4.statePre.at<float>(1)<<"\n";
+     cout<<"KF5.satePre="<<KF5.statePre.at<float>(0)<<","<<KF5.statePre.at<float>(1)<<"\n";
+
+     //cin.ignore();// To be able to see the printed initial state of the KalmanFilter
+
+
+
+     /* Naive version without kalman filter */
+     for (int i=0;i<6;i++)
+     {
+        geometry_msgs::Point pt;
+        pt.x=cluster_vec[i]->points[cluster_vec[i]->points.size()/2].x;
+        pt.y=cluster_vec[i]->points[cluster_vec[i]->points.size()/2].y;
+        prevClusterCenters.push_back(pt);
+     }
+
+     /* Naive version without kalman filter */
+}
+
+ 
+else
+{ 
+  cout<<"ELSE firstFrame="<<firstFrame<<"\n";
+  pcl::PointCloud<pcl::PointXYZ>::Ptr input_cloud (new pcl::PointCloud<pcl::PointXYZ>);
+  pcl::PointCloud<pcl::PointXYZ>::Ptr clustered_cloud (new pcl::PointCloud<pcl::PointXYZ>);
+      /* Creating the KdTree from input point cloud*/
+  pcl::search::KdTree<pcl::PointXYZ>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZ>);
+
+  pcl::fromROSMsg (*input, *input_cloud);
+
+  tree->setInputCloud (input_cloud);
+
+  /* Here we are creating a vector of PointIndices, which contains the actual index
+   * information in a vector<int>. The indices of each detected cluster are saved here.
+   * Cluster_indices is a vector containing one instance of PointIndices for each detected 
+   * cluster. Cluster_indices[0] contain all indices of the first cluster in input point cloud.
+   */
+  std::vector<pcl::PointIndices> cluster_indices;
+  pcl::EuclideanClusterExtraction<pcl::PointXYZ> ec;
+  ec.setClusterTolerance (0.08); 
+  ec.setMinClusterSize (10);
+  ec.setMaxClusterSize (600);
+  ec.setSearchMethod (tree);
+  ec.setInputCloud (input_cloud);
+cout<<"PCL init successfull\n";
+  /* Extract the clusters out of pc and save indices in cluster_indices.*/
+  ec.extract (cluster_indices);
+cout<<"PCL extract successfull\n";
+  /* To separate each cluster out of the vector<PointIndices> we have to 
+   * iterate through cluster_indices, create a new PointCloud for each 
+   * entry and write all points of the current cluster in the PointCloud. 
+   */
+  //pcl::PointXYZ origin (0,0,0);
+  //float mindist_this_cluster = 1000;
+  //float dist_this_point = 1000;
+
+  std::vector<pcl::PointIndices>::const_iterator it;
+  std::vector<int>::const_iterator pit;
+  // Vector of cluster pointclouds
+  std::vector<pcl::PointCloud<pcl::PointXYZ>::Ptr > cluster_vec;
+
+  for(it = cluster_indices.begin(); it != cluster_indices.end(); ++it) {
+          pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_cluster (new pcl::PointCloud<pcl::PointXYZ>);
+          for(pit = it->indices.begin(); pit != it->indices.end(); pit++) 
+          {
+          
+                  cloud_cluster->points.push_back(input_cloud->points[*pit]);
+                  //dist_this_point = pcl::geometry::distance(input_cloud->points[*pit],
+                  //                                          origin);
+                  //mindist_this_cluster = std::min(dist_this_point, mindist_this_cluster);
+          }
+
+         
+      cluster_vec.push_back(cloud_cluster);
+
+    }
+    //cout<<"cluster_vec got some clusters\n";
+
+    //Ensure at least 6 clusters exist to publish (later clusters may be empty)
+    while (cluster_vec.size() < 6){
+      pcl::PointCloud<pcl::PointXYZ>::Ptr empty_cluster (new pcl::PointCloud<pcl::PointXYZ>);
+      empty_cluster->points.push_back(pcl::PointXYZ(0,0,0));
+      cluster_vec.push_back(empty_cluster);
+    }
+    std_msgs::Float32MultiArray cc;
+    for(int i=0;i<6;i++)
+    {
+        cc.data.push_back(cluster_vec[i]->points[cluster_vec[i]->points.size()/2].x);
+        cc.data.push_back(cluster_vec[i]->points[cluster_vec[i]->points.size()/2].y);
+        cc.data.push_back(cluster_vec[i]->points[cluster_vec[i]->points.size()/2].z);
+
+    }
+    cout<<"6 clusters initialized\n";
+
+    //cc_pos.publish(cc);// Publish cluster mid-points.
+    KFT(cc);
+    int i=0;
+    bool publishedCluster[6];
+    for(auto it=objID.begin();it!=objID.end();it++)
+        { cout<<"Inside the for loop\n";
+            
+            switch(*it)
+            {
+                cout<<"Inside the switch case\n";
+                case 0: { 
+                            publish_cloud(pub_cluster0,cluster_vec[i]);
+                            publishedCluster[i]=true;//Use this flag to publish only once for a given obj ID
+                            i++;
+                            break;
+
+                        }
+                case 1: {
+                            publish_cloud(pub_cluster1,cluster_vec[i]);
+                            publishedCluster[i]=true;//Use this flag to publish only once for a given obj ID
+                            i++;
+                            break;
+
+                        }
+                case 2: {
+                            publish_cloud(pub_cluster2,cluster_vec[i]);
+                            publishedCluster[i]=true;//Use this flag to publish only once for a given obj ID
+                            i++;
+                            break;
+
+                        }
+                case 3: {
+                            publish_cloud(pub_cluster3,cluster_vec[i]);
+                            publishedCluster[i]=true;//Use this flag to publish only once for a given obj ID
+                            i++;
+                            break;
+
+                        }
+                case 4: {
+                            publish_cloud(pub_cluster4,cluster_vec[i]);
+                            publishedCluster[i]=true;//Use this flag to publish only once for a given obj ID
+                            i++;
+                            break;
+
+                        }
+
+                case 5: {
+                            publish_cloud(pub_cluster5,cluster_vec[i]);
+                            publishedCluster[i]=true;//Use this flag to publish only once for a given obj ID
+                            i++;
+                            break;
+
+                        }
+                default: break;
+            }
+    
+        }
+
+} 
+
+}   
+
+
+  
+
+int main(int argc, char** argv)
+{
+    // ROS init
+    ros::init (argc,argv,"KFTracker");
+    ros::NodeHandle nh;
+
+   
+    // Publishers to publish the state of the objects (pos and vel)
+    //objState1=nh.advertise<geometry_msgs::Twist> ("obj_1",1);
+
+
+
+cout<<"About to setup callback\n";
+
+// Create a ROS subscriber for the input point cloud
+  ros::Subscriber sub = nh.subscribe ("filtered_cloud", 1, cloud_cb);
+  // Create a ROS publisher for the output point cloud
+  pub_cluster0 = nh.advertise<sensor_msgs::PointCloud2> ("cluster_0", 1);
+  pub_cluster1 = nh.advertise<sensor_msgs::PointCloud2> ("cluster_1", 1);
+  pub_cluster2 = nh.advertise<sensor_msgs::PointCloud2> ("cluster_2", 1);
+  pub_cluster3 = nh.advertise<sensor_msgs::PointCloud2> ("cluster_3", 1);
+  pub_cluster4 = nh.advertise<sensor_msgs::PointCloud2> ("cluster_4", 1);
+  pub_cluster5 = nh.advertise<sensor_msgs::PointCloud2> ("cluster_5", 1);
+      // Subscribe to the clustered pointclouds
+    //ros::Subscriber c1=nh.subscribe("ccs",100,KFT); 
+    objID_pub = nh.advertise<std_msgs::Int32MultiArray>("obj_id", 1);
+/* Point cloud clustering
+*/
+    
+  //cc_pos=nh.advertise<std_msgs::Float32MultiArray>("ccs",100);//clusterCenter1
+
+
+/* Point cloud clustering
+*/    
+
+
+    ros::spin();
+
+
+}
diff --git a/workspace/virtuallab/src/robot_classifier/scripts/robot_classifier.py b/workspace/virtuallab/src/robot_classifier/scripts/robot_classifier.py
index 114a24c365a78be95dffe28e65396ff5c1754e20..093ca0c25426e58b7e7f639e88143430e76942c8 100755
--- a/workspace/virtuallab/src/robot_classifier/scripts/robot_classifier.py
+++ b/workspace/virtuallab/src/robot_classifier/scripts/robot_classifier.py
@@ -12,23 +12,24 @@ from sensor_msgs.msg import Image
 import object_detection.utils.label_map_util as map_utils
 import object_detection.utils.visualization_utils as vis_utils
 
+
 class Robot_Classifier(object):
     def __init__(self,  modelpath):
         self.threshold = 0.2
 
-	self.num_robots = 6
+        self.num_robots = 6
 
         inference_path = modelpath
 
         self.graph = tf.Graph()
 
-	self.NUM_CLASSES = 2
-
-	self.label_map = map_utils.load_labelmap('/home/job/models/annotations/label_map.pbtxt')
-	self.categories = map_utils.convert_label_map_to_categories(self.label_map, max_num_classes=self.NUM_CLASSES, use_display_name=True)
-	self.category_index = map_utils.create_category_index(self.categories)
-
+        self.NUM_CLASSES = 2
 
+        self.label_map = map_utils.load_labelmap(
+            '/home/job/models/annotations/label_map.pbtxt')
+        self.categories = map_utils.convert_label_map_to_categories(
+            self.label_map, max_num_classes=self.NUM_CLASSES, use_display_name=True)
+        self.category_index = map_utils.create_category_index(self.categories)
 
         config = tf.ConfigProto()
         config.gpu_options.allow_growth = True
@@ -44,9 +45,10 @@ class Robot_Classifier(object):
             self.sess = tf.Session(graph=self.graph, config=config)
             self.image_tensor = self.graph.get_tensor_by_name('image_tensor:0')
             self.boxes = self.graph.get_tensor_by_name('detection_boxes:0')
-            self.scores =self.graph.get_tensor_by_name('detection_scores:0')
+            self.scores = self.graph.get_tensor_by_name('detection_scores:0')
             self.classes = self.graph.get_tensor_by_name('detection_classes:0')
-            self.num_detections =self.graph.get_tensor_by_name('num_detections:0')
+            self.num_detections = self.graph.get_tensor_by_name(
+                'num_detections:0')
 
     def get_classification(self, image):
         """Determines type of robot in the image
@@ -62,20 +64,18 @@ class Robot_Classifier(object):
                 [self.boxes, self.scores, self.classes, self.num_detections],
                 feed_dict={self.image_tensor: image_expanded})
 
-
             boxes = np.squeeze(boxes)
             classes = np.squeeze(classes)
             scores = np.squeeze(scores)
 
-	    cordinates = boxes[0:self.num_robots]
-	    categories = np.array([classes[0:self.num_robots]])
-	    scores1 =  np.array([scores[0:self.num_robots]])
-
-	    # Draw the results of the detection
-
-	    vis_utils.visualize_boxes_and_labels_on_image_array(image, np.squeeze(boxes), np.squeeze(classes).astype(np.int32), np.squeeze(scores), self.category_index, use_normalized_coordinates=True, line_thickness=8, min_score_thresh=0.60)
-
-	return image , cordinates, categories , scores1
+            cordinates = boxes[0:self.num_robots]
+            categories = np.array([classes[0:self.num_robots]])
+            #print(categories)
+            scores1 = np.array([scores[0:self.num_robots]])
 
+            # Draw the results of the detection
 
+            vis_utils.visualize_boxes_and_labels_on_image_array(image, np.squeeze(boxes), np.squeeze(classes).astype(
+                np.int32), np.squeeze(scores), self.category_index, use_normalized_coordinates=True, line_thickness=8, min_score_thresh=0.40)
 
+        return image, cordinates, categories, scores1
diff --git a/workspace/virtuallab/src/robot_classifier/scripts/robot_classifier.pyc b/workspace/virtuallab/src/robot_classifier/scripts/robot_classifier.pyc
index b6531a4e55a5d4fdeaa51c7e4b86ed889df62df3..d223b4124d939a4f0475ee3ae5973a92f8d96861 100644
Binary files a/workspace/virtuallab/src/robot_classifier/scripts/robot_classifier.pyc and b/workspace/virtuallab/src/robot_classifier/scripts/robot_classifier.pyc differ
diff --git a/workspace/virtuallab/src/robot_classifier/scripts/robot_detection.py b/workspace/virtuallab/src/robot_classifier/scripts/robot_detection.py
index 773caf398728c173d896d01ce0207ea5d7c31164..67fb752d93884d082c40872d647998cf269a84a7 100755
--- a/workspace/virtuallab/src/robot_classifier/scripts/robot_detection.py
+++ b/workspace/virtuallab/src/robot_classifier/scripts/robot_detection.py
@@ -7,50 +7,65 @@ from cv_bridge import CvBridge
 from robot_classifier import Robot_Classifier
 
 import cv2
-import os  
+import os
 import numpy as np
 import tensorflow as tf
 
+
 class Nodo(object):
     def __init__(self):
         # Params
         self.image1 = None
-	self.image2 = None
-	self.image3 = None
-	self.image4 = None
+        self.image2 = None
+        self.image3 = None
+        self.image4 = None
 
-	self.camera = 0
+        self.camera = 0
 
         self.br = CvBridge()
         # Node cycle rate (in Hz).
-        self.loop_rate = rospy.Rate(1)
+        self.loop_rate = rospy.Rate(4)
 
-	self.camera1 = np.array([[1, 1, 1, 1, 1, 1]]) # array for camera id 1
-	self.camera2 = np.array([[2, 2, 2, 2, 2, 2]]) # array for camera id 2
-	self.camera3 = np.array([[3, 3, 3, 3, 3, 3]]) # array for camera id 3
-	self.camera4 = np.array([[4, 4, 4, 4, 4, 4]]) # array for camera id 4
+        self.camera1 = 1  # array for camera id 1
+        self.camera2 = 2  # array for camera id 2
+        self.camera3 = 3  # array for camera id 3
+        self.camera4 = 4  # array for camera id 4
 
-	self.camWidth = np.array([[800, 800, 800, 800, 800, 800]]) # array for camera width
-	self.camHeight = np.array([[800, 800, 800, 800, 800, 800]]) # array for camera height
+        # array for camera width
+        self.camWidth = 400
+        # array for camera height
+        self.camHeight = 400
 
         # Publishers
-        self.pub1 = rospy.Publisher('robot_detection/camera1', Image,queue_size=10)
-	self.pub2 = rospy.Publisher('robot_detection/camera2', Image,queue_size=10)
-	self.pub3 = rospy.Publisher('robot_detection/camera3', Image,queue_size=10)
-	self.pub4 = rospy.Publisher('robot_detection/camera4', Image,queue_size=10)
-	self.pub5 = rospy.Publisher('robot_classifier/camera1/data/raw', Image,queue_size=10)
-	self.pub6 = rospy.Publisher('robot_classifier/camera2/data/raw', Image,queue_size=10)
-	self.pub7 = rospy.Publisher('robot_classifier/camera3/data/raw', Image,queue_size=10)
-	self.pub8 = rospy.Publisher('robot_classifier/camera4/data/raw', Image,queue_size=10)
+        self.pub1 = rospy.Publisher(
+            'robot_detection/camera1', Image, queue_size=10)
+        self.pub2 = rospy.Publisher(
+            'robot_detection/camera2', Image, queue_size=10)
+        self.pub3 = rospy.Publisher(
+            'robot_detection/camera3', Image, queue_size=10)
+        self.pub4 = rospy.Publisher(
+            'robot_detection/camera4', Image, queue_size=10)
+        self.pub5 = rospy.Publisher(
+            'robot_classifier/camera1/data/raw', Image, queue_size=10)
+        self.pub6 = rospy.Publisher(
+            'robot_classifier/camera2/data/raw', Image, queue_size=10)
+        self.pub7 = rospy.Publisher(
+            'robot_classifier/camera3/data/raw', Image, queue_size=10)
+        self.pub8 = rospy.Publisher(
+            'robot_classifier/camera4/data/raw', Image, queue_size=10)
 
         # Subscribers
-        rospy.Subscriber("warpedImage/camera1",Image,self.callback1)
-	rospy.Subscriber("warpedImage/camera2",Image,self.callback2)
-	rospy.Subscriber("warpedImage/camera3",Image,self.callback3)
-	rospy.Subscriber("warpedImage/camera4",Image,self.callback4)
-
-	model_path = '/home/job/models/inference_graph/frozen_inference_graph.pb'
-	self.robot_classifier = Robot_Classifier(modelpath= model_path)
+        #rospy.Subscriber("/camera01/rgb/image_raw", Image, self.callback1)
+        rospy.Subscriber("/warpedImage/camera1", Image, self.callback1)
+        #rospy.Subscriber("/camera02/rgb/image_raw", Image, self.callback2)
+        rospy.Subscriber("/warpedImage/camera2", Image, self.callback2)
+        #rospy.Subscriber("/camera03/rgb/image_raw", Image, self.callback3)
+        rospy.Subscriber("/warpedImage/camera3", Image, self.callback3)
+        #rospy.Subscriber("/camera04/rgb/image_raw", Image, self.callback4)
+        rospy.Subscriber("/warpedImage/camera4", Image, self.callback4)
+
+        model_path = '/home/job/models/inference_graph/frozen_inference_graph_simulation_warped.pb'
+        self.robot_classifier = Robot_Classifier(modelpath=model_path)
 
     def callback1(self, msg):
         rospy.loginfo('Image received from camera 1...')
@@ -69,58 +84,69 @@ class Nodo(object):
         self.image4 = self.br.imgmsg_to_cv2(msg, 'bgr8')
 
     def ConcatinateCameraData(self, camera, categories, scores, cordinates, camHeight, camWidth):
-	data = np.concatenate((camera.T , categories.T), axis=1)
-	data = np.concatenate((data , scores.T), axis=1)
-	data = np.concatenate((data , cordinates), axis=1)
-	data = np.concatenate((data , camHeight.T), axis=1)
-	data = np.concatenate((data , camWidth.T), axis=1)
-	return data
+        camera = np.array([np.ones(len(categories[0]))*camera])
+        camHeight = np.array([np.ones(len(categories[0]))*camHeight])
+        camWidth = np.array([np.ones(len(categories[0]))*camWidth])
+        data = np.concatenate((camera.T, categories.T), axis=1)
+        data = np.concatenate((data, scores.T), axis=1)
+        data = np.concatenate((data, cordinates), axis=1)
+        data = np.concatenate((data, camHeight.T), axis=1)
+        data = np.concatenate((data, camWidth.T), axis=1)
+        return data
 
     def start(self):
         rospy.loginfo("Obtaining images")
-        #rospy.spin()
+        # rospy.spin()
         while not rospy.is_shutdown():
             rospy.loginfo('publishing image')
 
             if self.image1 is not None:
-		
-		robot_image1 , cordinates , categories , scores = self.robot_classifier.get_classification(self.image1.copy())
-				
-		camera_data = self.ConcatinateCameraData(self.camera1, categories, scores, cordinates, self.camHeight, self.camWidth)
 
-		self.pub1.publish(self.br.cv2_to_imgmsg(robot_image1 , 'bgr8'))
-		self.pub5.publish(self.br.cv2_to_imgmsg(camera_data , '64FC1'))
+                robot_image1, cordinates, categories, scores = self.robot_classifier.get_classification(
+                    self.image1.copy())
+
+                camera_data = self.ConcatinateCameraData(
+                    self.camera1, categories, scores, cordinates, self.camHeight, self.camWidth)
+
+                self.pub1.publish(self.br.cv2_to_imgmsg(robot_image1, 'rgb8'))
+                self.pub5.publish(self.br.cv2_to_imgmsg(camera_data, '64FC1'))
 
             if self.image2 is not None:
-		
-		robot_image2 , cordinates , categories , scores = self.robot_classifier.get_classification(self.image2.copy())	
-				
-		camera_data = self.ConcatinateCameraData(self.camera2, categories, scores, cordinates, self.camHeight, self.camWidth)
-	
-		self.pub2.publish(self.br.cv2_to_imgmsg(robot_image2 , 'bgr8'))
-		self.pub6.publish(self.br.cv2_to_imgmsg(camera_data , '64FC1'))
+
+                robot_image2, cordinates, categories, scores = self.robot_classifier.get_classification(
+                    self.image2.copy())
+
+                camera_data = self.ConcatinateCameraData(
+                    self.camera2, categories, scores, cordinates, self.camHeight, self.camWidth)
+
+                self.pub2.publish(self.br.cv2_to_imgmsg(robot_image2, 'rgb8'))
+                self.pub6.publish(self.br.cv2_to_imgmsg(camera_data, '64FC1'))
 
             if self.image3 is not None:
-		
-		robot_image3 , cordinates , categories , scores = self.robot_classifier.get_classification(self.image3.copy())	
-				
-		camera_data = self.ConcatinateCameraData(self.camera3, categories, scores, cordinates, self.camHeight, self.camWidth)
-	
-		self.pub3.publish(self.br.cv2_to_imgmsg(robot_image3 , 'bgr8'))
-		self.pub7.publish(self.br.cv2_to_imgmsg(camera_data , '64FC1'))
+
+                robot_image3, cordinates, categories, scores = self.robot_classifier.get_classification(
+                    self.image3.copy())
+
+                camera_data = self.ConcatinateCameraData(
+                    self.camera3, categories, scores, cordinates, self.camHeight, self.camWidth)
+
+                self.pub3.publish(self.br.cv2_to_imgmsg(robot_image3, 'rgb8'))
+                self.pub7.publish(self.br.cv2_to_imgmsg(camera_data, '64FC1'))
 
             if self.image4 is not None:
-		
-		robot_image4 , cordinates , categories , scores = self.robot_classifier.get_classification(self.image4.copy())	
-				
-		camera_data = self.ConcatinateCameraData(self.camera4, categories, scores, cordinates, self.camHeight, self.camWidth)
-	
-		self.pub4.publish(self.br.cv2_to_imgmsg(robot_image4 , 'bgr8'))
-		self.pub8.publish(self.br.cv2_to_imgmsg(camera_data , '64FC1'))
 
+                robot_image4, cordinates, categories, scores = self.robot_classifier.get_classification(
+                    self.image4.copy())
+
+                camera_data = self.ConcatinateCameraData(
+                    self.camera4, categories, scores, cordinates, self.camHeight, self.camWidth)
+
+                self.pub4.publish(self.br.cv2_to_imgmsg(robot_image4, 'rgb8'))
+                self.pub8.publish(self.br.cv2_to_imgmsg(camera_data, '64FC1'))
 
             self.loop_rate.sleep()
 
+
 if __name__ == '__main__':
     rospy.init_node("robot_classification", anonymous=True)
     my_node = Nodo()
diff --git a/workspace/virtuallab/src/robot_mapping/CMakeLists.txt b/workspace/virtuallab/src/robot_mapping/CMakeLists.txt
index 064aef5efb7a18ed5a1300eb42895798484ea925..1e7019712d4163cdfceff51a86113ab9e66b8a48 100644
--- a/workspace/virtuallab/src/robot_mapping/CMakeLists.txt
+++ b/workspace/virtuallab/src/robot_mapping/CMakeLists.txt
@@ -12,6 +12,8 @@ find_package(catkin REQUIRED COMPONENTS
   rospy
   cv_bridge
   std_msgs
+  nav_msgs
+  geometry_msgs
 )
 
 ## System dependencies are found with CMake's conventions
diff --git a/workspace/virtuallab/src/robot_mapping/scripts/robot.py b/workspace/virtuallab/src/robot_mapping/scripts/robot.py
new file mode 100755
index 0000000000000000000000000000000000000000..d616c3c01437fddefcbe1574519b6e04283ae8fc
--- /dev/null
+++ b/workspace/virtuallab/src/robot_mapping/scripts/robot.py
@@ -0,0 +1,28 @@
+#!/usr/bin/env python2
+
+
+import rospy
+import os
+import glob
+import numpy as np
+import cv2
+from sensor_msgs.msg import Image
+import tf
+from nav_msgs.msg import Odometry
+from geometry_msgs.msg import Point, Pose, Quaternion, Twist, Vector3
+
+
+class Position_broadcaster(object):
+    def __init__(self,  modelpath):
+        self.threshold = 0.2
+
+        self.num_robots = 6
+
+
+
+    def get_position(self, image):
+        """Determines type of robot in the image
+        """
+
+
+        return image, cordinates, categories, scores1
diff --git a/workspace/virtuallab/src/robot_mapping/scripts/robot_mapping.py b/workspace/virtuallab/src/robot_mapping/scripts/robot_mapping.py
index 34dfd5ea3073b3fc555621ac4cbdbb4c48429fb1..4e4892eee3d4ff253eaaa6fdbbfc8839c30d2e93 100755
--- a/workspace/virtuallab/src/robot_mapping/scripts/robot_mapping.py
+++ b/workspace/virtuallab/src/robot_mapping/scripts/robot_mapping.py
@@ -6,39 +6,62 @@ from sensor_msgs.msg import Image
 from cv_bridge import CvBridge
 
 import cv2
-import os  
+import os
 import numpy as np
 import tensorflow as tf
 import math
+import tf
+from nav_msgs.msg import Odometry
+from geometry_msgs.msg import Point, Pose, Quaternion, Twist, Vector3
+from scipy.spatial import distance
+
 
 class Nodo(object):
     def __init__(self):
         # Params
         self.image1 = None
-	self.image2 = None
-	self.image3 = None
-	self.image4 = None
+        self.image2 = None
+        self.image3 = None
+        self.image4 = None
 
-	self.margin_y_top =90
-	self.margin_y_bottom = 90
-	self.margin_x_right = 180
+        self.margin_y_top = 90
+        self.margin_y_bottom = 90
+        self.margin_x_right = 180
 
         self.br = CvBridge()
         # Node cycle rate (in Hz).
-        self.loop_rate = rospy.Rate(10)
+        self.loop_rate = rospy.Rate(1)
 
         # Publishers
-        self.pub1 = rospy.Publisher('map/image', Image,queue_size=10)
-	#self.pub2 = rospy.Publisher('warpedImage/camera2', Image,queue_size=10)
-	#self.pub3 = rospy.Publisher('warpedImage/camera3', Image,queue_size=10)
-	#self.pub4 = rospy.Publisher('warpedImage/camera4', Image,queue_size=10)
+        self.pub1 = rospy.Publisher('map/image', Image, queue_size=10)
 
-        # Subscribers
-        rospy.Subscriber("robot_classifier/camera1/data/raw",Image,self.callback1)
-	rospy.Subscriber("robot_classifier/camera2/data/raw",Image,self.callback2)
-	rospy.Subscriber("robot_classifier/camera3/data/raw",Image,self.callback3)
-	rospy.Subscriber("robot_classifier/camera4/data/raw",Image,self.callback4)
+        self.odom_pub = rospy.Publisher("test/odom", Odometry, queue_size=50)
+        self.odom_broadcaster = tf.TransformBroadcaster()
+
+        self.x = 0.0
+        self.y = 0.0
+        self.th = 0.0
+
+        self.vx = 0.0
+        self.vy = 0.0
+        self.vth = 0.0
 
+        current_time = rospy.Time.now()
+        self.last_time = rospy.Time.now()
+
+        self.robot_position_current = []
+        self.robot_position_previous = []
+        self.robot_names = []
+
+        # Subscribers
+        rospy.Subscriber("robot_classifier/camera1/data/raw",
+                         Image, self.callback1)
+        rospy.Subscriber("robot_classifier/camera2/data/raw",
+                         Image, self.callback2)
+        rospy.Subscriber("robot_classifier/camera3/data/raw",
+                         Image, self.callback3)
+        rospy.Subscriber("robot_classifier/camera4/data/raw",
+                         Image, self.callback4)
 
     def callback1(self, msg):
         rospy.loginfo('Image received from camera 1...')
@@ -56,154 +79,262 @@ class Nodo(object):
         rospy.loginfo('Image received  from camera 4...')
         self.image4 = self.br.imgmsg_to_cv2(msg, '64FC1')
 
-
     def getpoints(self, image):
-	for i in range(len(image)):
-	    start_point = (int(image[i][4] * image[i][8] ) , int(image[i][3] * image[i][7]))
-	    end_point = (int(image[i][6] * image[i][8]) , int(image[i][5] * image[i][7]))
-		    
-	    if i == 0:
-		start_points = [start_point]
-		end_points = [end_point]
-	    else:
-		start_points.append(start_point)
-		end_points.append(end_point)
 
-	return start_points, end_points
+        start_points, end_points = [], []
+
+        for i in range(len(image)):
+            start_point = (int(image[i][4] * image[i][8]),
+                           int(image[i][3] * image[i][7]))
+            end_point = (int(image[i][6] * image[i][8]),
+                         int(image[i][5] * image[i][7]))
+
+            start_points.append(start_point)
+            end_points.append(end_point)
+
+        return start_points, end_points
+
+    def getpositions(self, start_points, end_points):
+        robot_positions = []
+        for i in range(len(start_points)):
+            x = int((start_points[i][0]+end_points[i][0])/2)
+            y = int((start_points[i][1]+end_points[i][1])/2)
+            robot_name = 'fake_name'#'robot_{}'.format(i)
+            robot_positions.append((robot_name, x, y, 1))
+        return robot_positions
+
+    def check_close_points(self, points1, points2):
+        robot_positions = []
+        for i in range(len(points1)):
+            idx_dist = []
+            for j in range(len(points2)):
+                #dist = distance.euclidean(points1[i][1:2], points2[j][1:2])
+                dist = math.sqrt( ((points1[i][1]-points2[j][1])**2)+((points1[i][2]-points2[j][2])**2) )
+                idx_dist.append(dist)
+            
+            min_val = min(idx_dist)
+            min_idx = idx_dist.index(min_val)
+            #print(idx_dist, min_idx)
+            if min_val <= 50:
+                x = int((points1[i][1] + points2[min_idx][1])/2)
+                y = int((points1[i][2] + points2[min_idx][2])/2)
+                robot_positions.append((points1[i][0],x,y,points1[i][3]+1))
+            else:
+                x = points1[i][1]
+                y = points1[i][2]
+                robot_positions.append((points1[i][0],x,y,points1[i][3]))
+                x = points2[min_idx][1]
+                y = points2[min_idx][2]
+                robot_positions.append((points1[i][0],x,y,points1[i][3]))
+            
+        return robot_positions
+
+    def check_close_points_fine_tune(self, points):
+
+        flag_array = np.zeros((len(points)), dtype=int) 
+
+        flag_number = 1
 
+        # first loop
 
-    def rotatePoints(self, points , angle, (center_x, center_y)):
+        for idx in range(len(points)):
 
-	'''
+            if flag_array[idx] == 0:
 
-	This function returns rotated points values
+                first_pt = (points[idx][1], points[idx][2])
 
-	points: set of points in [(x1,y1),(x2,y2), ...]
-	
-	angle: in degrees
-	
-	center_x, center_y : rotational center
+                flag_array[idx] = flag_number
 
-	'''
+                flag_number = flag_number + 1
 
-	angle = angle*math.pi/180 # convert to radians
+                # second loop
 
-	for i in range(len(points)):
+                for idx1 in range(len(points)):
+                
+                    if flag_array[idx1] == 0:
 
-	    x = int((points[i][0] - center_x) * math.cos(angle) - (points[i][1] - center_y) * math.sin(angle) + center_x)
-	    y = int((points[i][0] - center_x) * math.sin(angle) + (points[i][1] - center_y) * math.cos(angle) + center_y)
+                        pt = ((points[idx1][1], points[idx1][2]))
 
-	    if i == 0:
-		pointsRotated = [(x,y)]
-	    else:
-		pointsRotated.append((x,y))
+                        dist_ = math.sqrt(((points[idx][1]-points[idx1][1])**2)+((points[idx][2]-points[idx1][2])**2) )
 
-	return pointsRotated
+                        if dist_ < 20: 
 
+                            flag_array[idx1] = flag_number - 1
 
-    def setMargin(self, points , margin_x, margin_y):
 
-	'''
+        robot_positions = [] 
 
-	This function returns rotated points values
+        for group in range(max(flag_array)):  # iterate over number of groups
+            x_ = 0
+            y_ = 0
+            n_ = 0
 
-	points: set of points in [(x1,y1),(x2,y2), ...]
-	
-	margin_x, margin_y : margin to be shifted
+            for idx in range(len(points)):
 
-	'''
+                if flag_array[idx] == group + 1:
 
+                    x_ = x_ + points[idx][1]
+                    y_ = y_ + points[idx][2]
+                    n_ = n_ + 1
 
-	for i in range(len(points)):
+            x_ = int(x_/n_) 
+            y_ = int(y_/n_)
 
-	    x = points[i][0] + margin_x
-	    y = points[i][1] + margin_y
+            if x_ != 0 and y_ != 0:
+                robot_positions.append((points[idx][0],x_,y_,points[idx][3]))
 
-	    if i == 0:
-		pointsShifted = [(x,y)]
-	    else:
-		pointsShifted.append((x,y))
+        return robot_positions
 
-	return pointsShifted
+    def track_robot_names(self, points1, points2):
+        # points1 is current and points2 is previous
+        robot_positions = []
+        flag_array = np.zeros((len(points1)), dtype=int)
+        
+        if len(points2) == 0:
+            for i in range(len(points1)):
+                r_name = 'robot_{}'.format(i+1)
+                self.robot_names.append(r_name)
+                robot_positions.append((r_name, points1[i][1], points1[i][2], points1[i][3]))
+            #print('number of robots detected', len(self.robot_names))
+                
+        else:
+            for i in range(len(points2)):
+                for j in range(len(points1)):
+                    dist = math.sqrt( ((points2[i][1]-points1[j][1])**2)+((points2[i][2]-points1[j][2])**2))
+                    if dist <= 20:                        
+                        flag_array[j] = i+1
+                    else:
+                        print(dist)
+            for i in range(len(flag_array)):
+                if flag_array[i] == 0:
+                    num_bots= len(self.robot_names)
+                    r_name = 'robot_{}'.format(num_bots+1)
+                    self.robot_names.append(r_name)
+                    robot_positions.append((r_name, points1[i][1], points1[i][2], points1[i][3]))
+                else:
+                    robot_positions.append((points2[flag_array[i]-1][0], points1[i][1], points1[i][2], points1[i][3]))
+   
+        return robot_positions
 
+    def rotatePoints(self, points, angle, (center_x, center_y)):
+        '''
 
+        This function returns rotated points values
 
-    def FindPoints(self, currentStartpoints, currentEndpoints, checkStartpoints, checkEndpoints, angle): 
+        points: set of points in [(x1,y1),(x2,y2), ...]
 
-  
-	for i in range(len(currentStartpoints)):
+        angle: in degrees
 
-	    # taking bottom left points (x1,y1) and top right points (x2,y2)
-	    x1 = currentStartpoints[i][0]
-	    y1 = currentEndpoints[i][1]
-	    x2 = currentEndpoints[i][0]
-	    y2 = currentStartpoints[i][1]
+        center_x, center_y : rotational center
 
-	    previousArea = 0
+        '''
 
-	    for j in range(len(checkStartpoints)):
+        angle = angle*math.pi/180  # convert to radians
 
-		# taking bottom left points (x3,y3) and top right points (x4,y4)
-		if (angle == 90):
-		    x3 = checkEndpoints[j][0]
-		    y3 = checkEndpoints[j][1]
-		    x4 = checkStartpoints[j][0]
-		    y4 = checkStartpoints[j][1]
+        for i in range(len(points)):
 
-		if (angle == -90):		    
-		    x3 = checkStartpoints[j][0]
-		    y3 = checkStartpoints[j][1]
-		    x4 = checkEndpoints[j][0]
-		    y4 = checkEndpoints[j][1]
+            x = int((points[i][0] - center_x) * math.cos(angle) -
+                    (points[i][1] - center_y) * math.sin(angle) + center_x)
+            y = int((points[i][0] - center_x) * math.sin(angle) +
+                    (points[i][1] - center_y) * math.cos(angle) + center_y)
 
+            if i == 0:
+                pointsRotated = [(x, y)]
+            else:
+                pointsRotated.append((x, y))
 
-		if (angle == 180):		    
-		    x3 = checkEndpoints[j][0]
-		    y3 = checkStartpoints[j][1]
-		    x4 = checkStartpoints[j][0]
-		    y4 = checkEndpoints[j][1]
+        return pointsRotated
 
+    def setMargin(self, points, margin_x, margin_y):
+        '''
 
-		# taking bottom left point
+        This function returns rotated points values
 
-    		x5 = max(x1, x3) 
-    		y5 = min(y1, y3) 
-  
-		# taking top-right point 
-		x6 = min(x2, x4) 
-		y6 = max(y2, y4) 
-  
-		#print(x1, y1, x2, y2, x3, y3, x4, y4, x5, y5, x6, y6)
+        points: set of points in [(x1,y1),(x2,y2), ...]
 
-		# if intersects 
-    		if not (x5 > x6 or y5 < y6): 
-		    
-		   currentArea = (x6-x5)*(y5-y6)
+        margin_x, margin_y : margin to be shifted
 
-		   if (previousArea == 0):
-			if (i == 0):		        
-			    intersectStartPoints = [(x5,y6)]
-		            intersectEndPoints = [(x6,y5)]
-			else:
-			    intersectStartPoints.append((x5,y6))
-		            intersectEndPoints.append((x6,y5))
-		        previousArea = currentArea
+        '''
 
-		   elif (currentArea > previousArea):
-		        intersectStartPoints.pop()
-		        intersectEndPoints.pop()
-		        intersectStartPoints.append((x5,y6))
-		        intersectEndPoints.append((x6,y5))
-		   else: 
-			continue	   
+        for i in range(len(points)):
 
-		   
+            x = points[i][0] + margin_x
+            y = points[i][1] + margin_y
 
-	return intersectStartPoints , intersectEndPoints
-        	    
+            if i == 0:
+                pointsShifted = [(x, y)]
+            else:
+                pointsShifted.append((x, y))
 
+        return pointsShifted
 
+    def FindPoints(self, currentStartpoints, currentEndpoints, checkStartpoints, checkEndpoints, angle):
 
+        for i in range(len(currentStartpoints)):
+
+            # taking bottom left points (x1,y1) and top right points (x2,y2)
+            x1 = currentStartpoints[i][0]
+            y1 = currentEndpoints[i][1]
+            x2 = currentEndpoints[i][0]
+            y2 = currentStartpoints[i][1]
+
+            previousArea = 0
+
+            for j in range(len(checkStartpoints)):
+                # intersectStartPoints , intersectEndPoints =  [], []
+                # taking bottom left points (x3,y3) and top right points (x4,y4)
+                if (angle == 90):
+                    x3 = checkEndpoints[j][0]
+                    y3 = checkEndpoints[j][1]
+                    x4 = checkStartpoints[j][0]
+                    y4 = checkStartpoints[j][1]
+
+                if (angle == -90):
+                    x3 = checkStartpoints[j][0]
+                    y3 = checkStartpoints[j][1]
+                    x4 = checkEndpoints[j][0]
+                    y4 = checkEndpoints[j][1]
+
+                if (angle == 180):
+                    x3 = checkEndpoints[j][0]
+                    y3 = checkStartpoints[j][1]
+                    x4 = checkStartpoints[j][0]
+                    y4 = checkEndpoints[j][1]
+
+                # taking bottom left point
+
+                x5 = max(x1, x3)
+                y5 = min(y1, y3)
+
+                # taking top-right point
+                x6 = min(x2, x4)
+                y6 = max(y2, y4)
+
+                # print(x1, y1, x2, y2, x3, y3, x4, y4, x5, y5, x6, y6)
+
+                # if intersects
+                if not (x5 > x6 or y5 < y6):
+
+                    currentArea = (x6-x5)*(y5-y6)
+
+                    if (previousArea == 0):
+                        if (i == 0):
+                            intersectStartPoints = [(x5, y6)]
+                            intersectEndPoints = [(x6, y5)]
+                        else:
+                            intersectStartPoints.append((x5, y6))
+                            intersectEndPoints.append((x6, y5))
+                        previousArea = currentArea
+
+                    elif (currentArea > previousArea):
+                        intersectStartPoints.pop()
+                        intersectEndPoints.pop()
+                        intersectStartPoints.append((x5, y6))
+                        intersectEndPoints.append((x6, y5))
+                    else:
+                        continue
+
+        return intersectStartPoints, intersectEndPoints
 
     def start(self):
         rospy.loginfo("Timing images")
@@ -211,67 +342,172 @@ class Nodo(object):
             rospy.loginfo('publishing image')
 
             if self.image1 is not None and self.image2 is not None and self.image3 is not None and self.image4 is not None:
-		
-		mapimage = np.zeros([800,800,1],dtype=np.uint8)
-		mapimage.fill(255)
 
-		color = (0,0,0)
-		thickness = 2
+                current_time = rospy.Time.now()
+
 
 
-		startPointsCamera1 , endPointsCamera1 = self.getpoints(self.image1)
- 	
+                # last_time = current_time
+                mapimage = np.zeros([400, 400, 3], dtype=np.uint8)
+                mapimage.fill(255)
 
-		startPointsCamera2 , endPointsCamera2 = self.getpoints(self.image2)
+                color = (0, 0, 255)
+                thickness = 2
 
-		startPointsCamera2 = self.rotatePoints(startPointsCamera2 , 90 , (400, 400))
-		endPointsCamera2 = self.rotatePoints(endPointsCamera2 , 90 , (400, 400))
+                startPointsCamera1, endPointsCamera1 = self.getpoints(
+                     self.image1)
 
-		startPointsCamera2 = self.setMargin(startPointsCamera2 , -95, 100)
-		endPointsCamera2 = self.setMargin(endPointsCamera2 , -95 , 100)
+                robot_position1 = self.getpositions(startPointsCamera1, endPointsCamera1)
+                #print(robot_position[0][1])
 
-		intersectStartPoints, intersectEndPoints = self.FindPoints(startPointsCamera1, endPointsCamera1, startPointsCamera2, endPointsCamera2, 90)
 
+                startPointsCamera2, endPointsCamera2 = self.getpoints(self.image2)
 
-		startPointsCamera3 , endPointsCamera3 = self.getpoints(self.image3)
+                startPointsCamera2 = self.rotatePoints(startPointsCamera2, 90, (200, 200))
+                endPointsCamera2 = self.rotatePoints(endPointsCamera2, 90, (200, 200))
 
-		startPointsCamera3 = self.rotatePoints(startPointsCamera3 , -90 , (400, 400))
-		endPointsCamera3 = self.rotatePoints(endPointsCamera3 , -90 , (400, 400))
+                robot_position2 = self.getpositions(startPointsCamera2, endPointsCamera2)
 
-		startPointsCamera3 = self.setMargin(startPointsCamera3 , -80, -95)
-		endPointsCamera3 = self.setMargin(endPointsCamera3 , -80 , -95)
+                robot_position = self.check_close_points(robot_position1, robot_position2)
 
 
-		startPointsCamera4 , endPointsCamera4 = self.getpoints(self.image4)
+                # startPointsCamera2 = self.setMargin(
+                #     startPointsCamera2, -95, 100)
+                # endPointsCamera2 = self.setMargin(endPointsCamera2, -95, 100)
 
-		startPointsCamera4 = self.rotatePoints(startPointsCamera4 , 180 , (400, 400))
-		endPointsCamera4 = self.rotatePoints(endPointsCamera4 , 180 , (400, 400))
+                # intersectStartPoints, intersectEndPoints = self.FindPoints(
+                #     startPointsCamera1, endPointsCamera1, startPointsCamera2, endPointsCamera2, 90)
 
-		startPointsCamera4 = self.setMargin(startPointsCamera4 , -185, 0)
-		endPointsCamera4 = self.setMargin(endPointsCamera4 , -185 , 0)
+                startPointsCamera3, endPointsCamera3 = self.getpoints(self.image3)
 
-		intersectStartPoints, intersectEndPoints = self.FindPoints(intersectStartPoints, intersectEndPoints, startPointsCamera4, endPointsCamera4, 180)
+                startPointsCamera3 = self.rotatePoints(startPointsCamera3, -90, (200, 200))
+                endPointsCamera3 = self.rotatePoints(endPointsCamera3, -90, (200, 200))
 
-		for point in range(len(intersectStartPoints)):   
-		    mapimage = cv2.rectangle(mapimage, intersectStartPoints[point], intersectEndPoints[point], color, thickness)
-		'''
-		for point in range(len(startPointsCamera1)):   
-		    mapimage = cv2.rectangle(mapimage, startPointsCamera1[point], endPointsCamera1[point], color, thickness)
-		for point in range(len(startPointsCamera2)):   
-		    mapimage = cv2.rectangle(mapimage, startPointsCamera2[point], endPointsCamera2[point], color, thickness)
-		for point in range(len(startPointsCamera3)):   
-		    mapimage = cv2.rectangle(mapimage, startPointsCamera3[point], endPointsCamera3[point], color, thickness)
-		for point in range(len(startPointsCamera4)):   
-		    mapimage = cv2.rectangle(mapimage, startPointsCamera4[point], endPointsCamera4[point], color, thickness)
-		'''
+                robot_position3 = self.getpositions(startPointsCamera3, endPointsCamera3)
 
-		self.pub1.publish(self.br.cv2_to_imgmsg(mapimage , 'mono8'))
+                robot_position = self.check_close_points(robot_position, robot_position3)
 
+                # startPointsCamera3 = self.setMargin(
+                #     startPointsCamera3, -80, -95)
+                # endPointsCamera3 = self.setMargin(endPointsCamera3, -80, -95)
 
+                startPointsCamera4, endPointsCamera4 = self.getpoints( self.image4)
+
+                startPointsCamera4 = self.rotatePoints( startPointsCamera4, 180, (200, 200))
+                endPointsCamera4 = self.rotatePoints(endPointsCamera4, 180, (200, 200))
+
+                robot_position4 = self.getpositions(startPointsCamera4, endPointsCamera4)
+
+
+
+                robot_position = self.check_close_points(robot_position, robot_position4)
+
+                #print('first', robot_position)
+
+                robot_position = self.check_close_points_fine_tune(robot_position)
+
+                #print('fine tune', robot_position)
+
+                #if one object is detected in at least 3 cameras
+                #robot_position = [item for item in robot_position if item[3] > 2]
+
+                #print('camera filter', robot_position)
+
+                self.robot_position_current = self.track_robot_names(robot_position , self.robot_position_previous)
+
+                #print('track name', self.robot_position_current)
+
+                # startPointsCamera4 = self.setMargin(
+                #     startPointsCamera4, -185, 0)
+                # endPointsCamera4 = self.setMargin(endPointsCamera4, -185, 0)
+
+                # intersectStartPoints, intersectEndPoints = self.FindPoints(
+                #     intersectStartPoints, intersectEndPoints, startPointsCamera4, endPointsCamera4, 180)
+                #for point in range(len(robot_position1)):
+                #    mapimage = cv2.circle(mapimage, (robot_position1[point][1],robot_position1[point][2]), 10, (0, 0, 255), thickness)
+                #for point in range(len(robot_position2)):
+                #    mapimage = cv2.circle(mapimage, (robot_position2[point][1],robot_position2[point][2]), 10, (0, 255, 0), thickness)
+                #for point in range(len(robot_position3)):
+                #    mapimage = cv2.circle(mapimage, (robot_position3[point][1],robot_position3[point][2]), 10, (255, 0, 0), thickness)
+                for point in range(len(self.robot_position_current)):
+                    mapimage = cv2.circle(mapimage, (self.robot_position_current[point][1],self.robot_position_current[point][2]), 15, (225, 0, 0), thickness)
+                    mapimage = cv2.putText(mapimage, self.robot_position_current[point][0], (self.robot_position_current[point][1],self.robot_position_current[point][2]), cv2.FONT_HERSHEY_SIMPLEX, .4, (0, 255, 0), thickness, cv2.LINE_AA)
+                    #mapimage = cv2.rectangle( mapimage, intersectStartPoints[point], intersectEndPoints[point], color, thickness)
+                #for point in range(len(robot_position)):
+                #    mapimage = cv2.circle(mapimage, (robot_position[point][1],robot_position[point][2]), 15, (225, 0, 0), thickness)
+                    
+                
+                
+                #self.robot_position_current = self.track_robot_names(self.robot_position_current , self.robot_position_previous)
+                
+                
+                '''
+                for point in range(len(startPointsCamera1)):
+                    mapimage = cv2.rectangle(
+                        mapimage, startPointsCamera1[point], endPointsCamera1[point], color, thickness)
+                for point in range(len(startPointsCamera2)):
+                    mapimage = cv2.rectangle(
+                        mapimage, startPointsCamera2[point], endPointsCamera2[point], color, thickness)
+                for point in range(len(startPointsCamera3)):
+                    mapimage = cv2.rectangle(
+                        mapimage, startPointsCamera3[point], endPointsCamera3[point], color, thickness)
+                for point in range(len(startPointsCamera4)):
+                    mapimage = cv2.rectangle(
+                        mapimage, startPointsCamera4[point], endPointsCamera4[point], color, thickness)
+                '''
+
+                # compute odometry in a typical way given the velocities of the robot
+                #self.x = robot_position[point][1]/400.0*5.0
+                #self.y = robot_position[point][2]/400.0*5.0
+                #self.th = delta_th
+
+                dt = (current_time - self.last_time).to_sec()
+                delta_x = (self.vx * math.cos(self.th) - self.vy * math.sin(self.th)) * dt
+                delta_y = (self.vx * math.sin(self.th) + self.vy * math.cos(self.th)) * dt
+                delta_th = self.vth * dt
+
+                self.x += delta_x
+                self.y += delta_y
+                self.th += delta_th
+
+
+                # since all odometry is 6DOF we'll need a quaternion created from yaw
+                odom_quat = tf.transformations.quaternion_from_euler(0, 0, self.th)
+
+
+
+                for point in range(len(self.robot_position_current)):
+                    x = self.robot_position_current[point][1]/400.0*5.0
+                    y = self.robot_position_current[point][2]/400.0*5.0
+                    robot_name = self.robot_position_current[point][0]
+                    # first, we'll publish the transform over tf
+                    self.odom_broadcaster.sendTransform((x, y, 0.), odom_quat, current_time, robot_name,"robot_footprint")
+
+
+                # next, we'll publish the odometry message over ROS
+                odom = Odometry()
+                odom.header.stamp = current_time
+                odom.header.frame_id = "odom_test"
+
+                # set the position
+                odom.pose.pose = Pose(Point(self.x, self.y, 0.), Quaternion(*odom_quat))
+
+                # set the velocity
+                odom.child_frame_id = "robot_1"
+                odom.twist.twist = Twist(Vector3(self.vx, self.vy, 0), Vector3(0, 0, self.vth))
+
+                # publish the message
+                self.odom_pub.publish(odom)
+
+                self.pub1.publish(self.br.cv2_to_imgmsg(mapimage, 'bgr8'))
+
+                self.robot_position_previous = self.robot_position_current
 
             self.loop_rate.sleep()
 
+
 if __name__ == '__main__':
-    rospy.init_node("warped_image", anonymous=True)
+    #rospy.init_node("warped_image", anonymous=True)
+    rospy.init_node('odometry_publisher')
     my_node = Nodo()
     my_node.start()
diff --git a/workspace/virtuallab/src/usb_cam b/workspace/virtuallab/src/usb_cam
deleted file mode 160000
index 3ce8ee1c47c03be37229bf5857ae9a309d8eb1e8..0000000000000000000000000000000000000000
--- a/workspace/virtuallab/src/usb_cam
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit 3ce8ee1c47c03be37229bf5857ae9a309d8eb1e8
diff --git a/workspace/virtuallab/src/virtual_lab/launch/world.launch b/workspace/virtuallab/src/virtual_lab/launch/world.launch
index 47b40453363107c460870305c36e8890d2f37d9b..b02bb09fda8181db04157be283a0eb2706675087 100644
--- a/workspace/virtuallab/src/virtual_lab/launch/world.launch
+++ b/workspace/virtuallab/src/virtual_lab/launch/world.launch
@@ -36,7 +36,7 @@
   <arg name="yaw4" default="1.571"/>
 
   <!-- my_robot pose -->
-  <arg name="x_mR" default="-1.25"/>
+  <arg name="x_mR" default="-4.1"/>
   <arg name="y_mR" default="0"/>
   <arg name="z_mR" default="0"/>
   <arg name="roll_mR" default="0"/>
@@ -91,7 +91,10 @@
   <include file="$(find virtual_lab)/launch/laser.launch"/>
 
   <!-- World File -->
-  <arg name="world_file" default="$(find virtual_lab)/worlds/vlab_v_2_01.world"/>
+  <arg name="world_file" default="$(find virtual_lab)/worlds/vlab_v_1_02.world"/> 
+
+  <!-- World File with marker 
+  <arg name="world_file" default="$(find virtual_lab)/worlds/vlab_v_2_01.world"/> -->
 
   <!-- Launch Gazebo World -->
   <include file="$(find gazebo_ros)/launch/empty_world.launch">
diff --git a/workspace/virtuallab/src/virtual_lab/urdf/CamStand_01.xacro b/workspace/virtuallab/src/virtual_lab/urdf/CamStand_01.xacro
index b4f4eac951aa439893feb458f63ba96fd5a302da..0cbc1d1337ea667a78c4e6183dbfed181dd2d2c5 100644
--- a/workspace/virtuallab/src/virtual_lab/urdf/CamStand_01.xacro
+++ b/workspace/virtuallab/src/virtual_lab/urdf/CamStand_01.xacro
@@ -17,7 +17,7 @@
     <pose>0 0 0.1 0 0 0</pose>
 
     <inertial>
-      <mass value="15.0"/>
+      <mass value="10.0"/>
       <origin xyz="0.0 0 0" rpy=" 0 0 0"/>
       <inertia
           ixx="0" ixy="0" ixz="0"
@@ -29,14 +29,14 @@
     <collision name='collision'>
       <origin xyz="0 0 0" rpy=" 0 0 0"/> 
       <geometry>
-        <box size=".4 .2 1"/>
+        <box size=".4 .4 3"/>
       </geometry>
     </collision>
 
     <visual name='chassis_visual'>
       <origin xyz="0 0 0" rpy=" 0 0 0"/>
       <geometry>
-        <box size=".4 .2 1"/>
+        <box size=".4 .4 3"/>
       </geometry>
     </visual>
 
@@ -60,7 +60,7 @@
     <collision name='collision'>
       <origin xyz="0 0 0" rpy=" 0 0 0"/> 
       <geometry>
-        <box size="0.05 0.05 0.05"/>
+        <box size="0.00 0.00 0.00"/>
       </geometry>
     </collision>
 
@@ -73,11 +73,11 @@
   </link>
   
   <joint type="fixed" name="camera_joint">
-    <origin xyz="0.2 0 .5" rpy="0 .5 0"/>
+    <origin xyz="0.2 0 1.5" rpy="0 0.8 0"/>
     <child link="camera"/>
     <parent link="chassis"/>
     <axis xyz="0 1 0" rpy="0 0 0"/>
-    <limit effort="10000" velocity="1000"/>
+    <limit effort="0" velocity="0"/>
     <dynamics damping="1.0" friction="1.0"/>
   </joint>
 
diff --git a/workspace/virtuallab/src/virtual_lab/urdf/CamStand_02.xacro b/workspace/virtuallab/src/virtual_lab/urdf/CamStand_02.xacro
index 404b20a85cabed4b9002674e9a169ee699cf481a..75bb0fbbf3b3eea4084c52db704efccd165aed95 100644
--- a/workspace/virtuallab/src/virtual_lab/urdf/CamStand_02.xacro
+++ b/workspace/virtuallab/src/virtual_lab/urdf/CamStand_02.xacro
@@ -17,7 +17,7 @@
     <pose>0 0 0.1 0 0 0</pose>
 
     <inertial>
-      <mass value="15.0"/>
+      <mass value="10.0"/>
       <origin xyz="0.0 0 0" rpy=" 0 0 0"/>
       <inertia
           ixx="0" ixy="0" ixz="0"
@@ -29,14 +29,14 @@
     <collision name='collision'>
       <origin xyz="0 0 0" rpy=" 0 0 0"/> 
       <geometry>
-        <box size=".4 .2 1"/>
+        <box size=".4 .4 3"/>
       </geometry>
     </collision>
 
     <visual name='chassis_visual'>
       <origin xyz="0 0 0" rpy=" 0 0 0"/>
       <geometry>
-        <box size=".4 .2 1"/>
+        <box size=".4 .4 3"/>
       </geometry>
     </visual>
 
@@ -60,7 +60,7 @@
     <collision name='collision'>
       <origin xyz="0 0 0" rpy=" 0 0 0"/> 
       <geometry>
-        <box size="0.05 0.05 0.05"/>
+        <box size="0.00 0.00 0.00"/>
       </geometry>
     </collision>
 
@@ -73,11 +73,11 @@
   </link>
   
   <joint type="fixed" name="camera_joint">
-    <origin xyz="0.2 0 .5" rpy="0 .5 0"/>
+    <origin xyz="0.2 0 1.5" rpy="0 0.8 0"/>
     <child link="camera"/>
     <parent link="chassis"/>
     <axis xyz="0 1 0" rpy="0 0 0"/>
-    <limit effort="10000" velocity="1000"/>
+    <limit effort="0" velocity="0"/>
     <dynamics damping="1.0" friction="1.0"/>
   </joint>
 
diff --git a/workspace/virtuallab/src/virtual_lab/urdf/CamStand_03.xacro b/workspace/virtuallab/src/virtual_lab/urdf/CamStand_03.xacro
index 1d7155d98781eb85821059dfe1bb4a93d67d0700..847e357a3072e33edc7b6b612db7decbd018de44 100644
--- a/workspace/virtuallab/src/virtual_lab/urdf/CamStand_03.xacro
+++ b/workspace/virtuallab/src/virtual_lab/urdf/CamStand_03.xacro
@@ -17,7 +17,7 @@
     <pose>0 0 0.1 0 0 0</pose>
 
     <inertial>
-      <mass value="15.0"/>
+      <mass value="10.0"/>
       <origin xyz="0.0 0 0" rpy=" 0 0 0"/>
       <inertia
           ixx="0" ixy="0" ixz="0"
@@ -29,14 +29,14 @@
     <collision name='collision'>
       <origin xyz="0 0 0" rpy=" 0 0 0"/> 
       <geometry>
-        <box size=".4 .2 1"/>
+        <box size=".4 .4 3"/>
       </geometry>
     </collision>
 
     <visual name='chassis_visual'>
       <origin xyz="0 0 0" rpy=" 0 0 0"/>
       <geometry>
-        <box size=".4 .2 1"/>
+        <box size=".4 .4 3"/>
       </geometry>
     </visual>
 
@@ -73,11 +73,11 @@
   </link>
   
   <joint type="fixed" name="camera_joint">
-    <origin xyz="0.2 0 .5" rpy="0 .5 0"/>
+    <origin xyz="0.2 0 1.5" rpy="0 0.8 0"/>
     <child link="camera"/>
     <parent link="chassis"/>
     <axis xyz="0 1 0" rpy="0 0 0"/>
-    <limit effort="10000" velocity="1000"/>
+    <limit effort="0" velocity="0"/>
     <dynamics damping="1.0" friction="1.0"/>
   </joint>
 
diff --git a/workspace/virtuallab/src/virtual_lab/urdf/CamStand_04.xacro b/workspace/virtuallab/src/virtual_lab/urdf/CamStand_04.xacro
index ec5fa537e0b121da111508a919ea71dff2adbede..764382cccda15f3fcaa44efa0fae8319939bf4ea 100644
--- a/workspace/virtuallab/src/virtual_lab/urdf/CamStand_04.xacro
+++ b/workspace/virtuallab/src/virtual_lab/urdf/CamStand_04.xacro
@@ -17,7 +17,7 @@
     <pose>0 0 0.1 0 0 0</pose>
 
     <inertial>
-      <mass value="15.0"/>
+      <mass value="10.0"/>
       <origin xyz="0.0 0 0" rpy=" 0 0 0"/>
       <inertia
           ixx="0" ixy="0" ixz="0"
@@ -29,14 +29,14 @@
     <collision name='collision'>
       <origin xyz="0 0 0" rpy=" 0 0 0"/> 
       <geometry>
-        <box size=".4 .2 1"/>
+        <box size=".4 .4 3"/>
       </geometry>
     </collision>
 
     <visual name='chassis_visual'>
       <origin xyz="0 0 0" rpy=" 0 0 0"/>
       <geometry>
-        <box size=".4 .2 1"/>
+        <box size=".4 .4 3"/>
       </geometry>
     </visual>
 
@@ -73,11 +73,11 @@
   </link>
   
   <joint type="fixed" name="camera_joint">
-    <origin xyz="0.2 0 .5" rpy="0 .5 0"/>
+    <origin xyz="0.2 0 1.5" rpy="0 0.8 0"/>
     <child link="camera"/>
     <parent link="chassis"/>
     <axis xyz="0 1 0" rpy="0 0 0"/>
-    <limit effort="10000" velocity="1000"/>
+    <limit effort="0" velocity="0"/>
     <dynamics damping="1.0" friction="1.0"/>
   </joint>
 
diff --git a/workspace/virtuallab/src/virtual_lab/urdf/my_robot.xacro b/workspace/virtuallab/src/virtual_lab/urdf/my_robot.xacro
index f74f73a640e531f9a28a87570a60384e73d8ad6b..f86f3de8a33ba8d6f53fe2282c781d2e1ba36547 100644
--- a/workspace/virtuallab/src/virtual_lab/urdf/my_robot.xacro
+++ b/workspace/virtuallab/src/virtual_lab/urdf/my_robot.xacro
@@ -3,11 +3,11 @@
 <robot name="my_robot" xmlns:xacro="http://www.ros.org/wiki/xacro">
 
   <xacro:include filename="$(find virtual_lab)/urdf/my_robot.gazebo" />
-  <link name="robot_footprint"></link>
+  <link name="laser_footprint"></link>
 
   <joint name="robot_footprint_joint" type="fixed">
     <origin xyz="0 0 0" rpy="0 0 0" />
-    <parent link="robot_footprint"/>
+    <parent link="laser_footprint"/>
     <child link="chassis" />
   </joint>
 
@@ -38,114 +38,8 @@
       </geometry>
     </visual>
 
-
-    <collision name='back_caster_collision'>
-      <origin xyz="-0.15 0 -0.05" rpy=" 0 0 0"/>
-      <geometry>
-        <sphere radius="0.0499"/>
-      </geometry>
-    </collision>
-
-    <visual name='back_caster_visual'>
-      <origin xyz="-0.15 0 -0.05" rpy=" 0 0 0"/>
-      <geometry>
-        <sphere radius="0.05"/>
-      </geometry>
-    </visual>
-
-    <collision name='front_caster_collision'>
-      <origin xyz="0.15 0 -0.05" rpy=" 0 0 0"/>
-      <geometry>
-        <sphere radius="0.0499"/>
-      </geometry>
-    </collision>
-
-    <visual name='front_caster_visual'>
-      <origin xyz="0.15 0 -0.05" rpy=" 0 0 0"/>
-      <geometry>
-        <sphere radius="0.05"/>
-      </geometry>
-    </visual>
-
-  </link>
-  
-  
-  
-  <link name='left_wheel'>
-    <pose>0 0 0.1 0 0 0</pose>
-
-    <inertial>
-      <mass value="5.0"/>
-      <origin xyz="0.0 0 0" rpy=" 0 1.5707 1.5707"/>
-      <inertia
-          ixx="0.1" ixy="0" ixz="0"
-          iyy="0.1" iyz="0"
-          izz="0.1"
-      />
-    </inertial>
-
-    <collision name='collision'>
-      <origin xyz="0 0 0" rpy=" 0 1.5707 1.5707"/> 
-      <geometry>
-        <cylinder radius="0.1" length="0.05"/>
-      </geometry>
-    </collision>
-
-    <visual name='left_wheel_visual'>
-      <origin xyz="0 0 0" rpy=" 0 1.5707 1.5707"/>
-      <geometry>
-        <cylinder radius="0.1" length="0.05"/>
-      </geometry>
-    </visual>
-
   </link>
   
-  <link name='right_wheel'>
-    <pose>0 0 0.1 0 0 0</pose>
-
-    <inertial>
-      <mass value="5.0"/>
-      <origin xyz="0.0 0 0" rpy=" 0 1.5707 1.5707"/>
-      <inertia
-          ixx="0.1" ixy="0" ixz="0"
-          iyy="0.1" iyz="0"
-          izz="0.1"
-      />
-    </inertial>
-
-    <collision name='collision'>
-      <origin xyz="0 0 0" rpy=" 0 1.5707 1.5707"/> 
-      <geometry>
-        <cylinder radius="0.1" length="0.05"/>
-      </geometry>
-    </collision>
-
-    <visual name='right_wheel_visual'>
-      <origin xyz="0 0 0" rpy=" 0 1.5707 1.5707"/>
-      <geometry>
-        <cylinder radius="0.1" length="0.05"/>
-      </geometry>
-    </visual>
-
-  </link>
-
-  <joint type="continuous" name="left_wheel_hinge">
-    <origin xyz="0 0.15 0" rpy="0 0 0"/>
-    <child link="left_wheel"/>
-    <parent link="chassis"/>
-    <axis xyz="0 1 0" rpy="0 0 0"/>
-    <limit effort="10000" velocity="1000"/>
-    <dynamics damping="1.0" friction="1.0"/>
-  </joint>
-  
-  <joint type="continuous" name="right_wheel_hinge">
-    <origin xyz="0 -0.15 0" rpy="0 0 0"/>
-    <child link="right_wheel"/>
-    <parent link="chassis"/>
-    <axis xyz="0 1 0" rpy="0 0 0"/>
-    <limit effort="10000" velocity="1000"/>
-    <dynamics damping="1.0" friction="1.0"/>
-  </joint>
 
   <link name='camera'>
     <pose>0 0 0 0 0 0</pose>
@@ -170,7 +64,7 @@
     <visual name='camera_visual'>
       <origin xyz="0 0 0" rpy="0 0 0"/> 
       <geometry>
-        <box size="0.05 0.05 0.05"/>
+        <box size="0.01 0.01 0.01"/>
       </geometry>
     </visual>
   </link>
@@ -225,16 +119,8 @@
     <material>Gazebo/Indigo</material>
   </gazebo>
 
-  <gazebo reference="left_wheel">
-    <material>Gazebo/Turquoise</material>
-  </gazebo>
-
-  <gazebo reference="right_wheel">
-    <material>Gazebo/Turquoise</material>
-  </gazebo>
-
   <gazebo reference="camera">
-    <material>Gazebo/RedGlow</material>
+    <material>Gazebo/Indigo</material>
   </gazebo>
   
   <gazebo reference="hokuyo">
diff --git a/workspace/virtuallab/src/virtual_lab/urdf2/CamStand.gazebo b/workspace/virtuallab/src/virtual_lab/urdf2/CamStand.gazebo
new file mode 100644
index 0000000000000000000000000000000000000000..5f3a7931331661bc4895cfeed9329581539f412d
--- /dev/null
+++ b/workspace/virtuallab/src/virtual_lab/urdf2/CamStand.gazebo
@@ -0,0 +1,36 @@
+<?xml version="1.0"?>
+<robot>
+  <!-- camera -->
+  <gazebo reference="camera">
+    <sensor type="camera" name="camera1">
+      <update_rate>30.0</update_rate>
+      <camera name="head">
+        <horizontal_fov>1.3962634</horizontal_fov>
+        <image>
+          <width>800</width>
+          <height>800</height>
+          <format>R8G8B8</format>
+        </image>
+        <clip>
+          <near>0.02</near>
+          <far>300</far>
+        </clip>
+      </camera>
+      <plugin name="camera_controller" filename="libgazebo_ros_camera.so">
+        <alwaysOn>true</alwaysOn>
+        <updateRate>0.0</updateRate>
+        <cameraName>camera</cameraName>
+        <imageTopicName>rgb/image_raw</imageTopicName>
+        <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
+        <frameName>camera</frameName>
+        <hackBaseline>0.07</hackBaseline>
+        <distortionK1>0.0</distortionK1>
+        <distortionK2>0.0</distortionK2>
+        <distortionK3>0.0</distortionK3>
+        <distortionT1>0.0</distortionT1>
+        <distortionT2>0.0</distortionT2>
+      </plugin>
+    </sensor>
+  </gazebo>
+
+</robot>
diff --git a/workspace/virtuallab/src/virtual_lab/urdf2/CamStand.xacro b/workspace/virtuallab/src/virtual_lab/urdf2/CamStand.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..28300046a5262d859cfe596a4523e28e3e038f8f
--- /dev/null
+++ b/workspace/virtuallab/src/virtual_lab/urdf2/CamStand.xacro
@@ -0,0 +1,85 @@
+<?xml version='1.0'?>
+
+<robot name="CamStand" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  
+  <xacro:include filename="$(find virtual_lab)/urdf/CamStand.gazebo" />
+  
+  <link name="robot_footprint"></link>
+
+  <joint name="robot_footprint_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="robot_footprint"/>
+    <child link="chassis" />
+  </joint>
+
+  <link name='chassis'>
+
+    <pose>0 0 0.1 0 0 0</pose>
+
+    <inertial>
+      <mass value="15.0"/>
+      <origin xyz="0.0 0 0" rpy=" 0 0 0"/>
+      <inertia
+          ixx="0.1" ixy="0" ixz="0"
+          iyy="0.1" iyz="0"
+          izz="0.1"
+      />
+    </inertial>
+
+    <collision name='collision'>
+      <origin xyz="0 0 0" rpy=" 0 0 0"/> 
+      <geometry>
+        <box size=".4 .2 1"/>
+      </geometry>
+    </collision>
+
+    <visual name='chassis_visual'>
+      <origin xyz="0 0 0" rpy=" 0 0 0"/>
+      <geometry>
+        <box size=".4 .2 1"/>
+      </geometry>
+    </visual>
+
+  </link>
+
+
+
+  <link name='camera'>
+    <pose>0 0 0 0 0 0</pose>
+
+    <inertial>
+      <mass value="0.1"/>
+      <origin xyz="0.0 0 0" rpy="0.0 0 0"/>
+      <inertia
+          ixx="1e-6" ixy="0" ixz="0"
+          iyy="1e-6" iyz="0"
+          izz="1e-6"
+      />
+    </inertial>
+
+    <collision name='collision'>
+      <origin xyz="0 0 0" rpy=" 0 0 0"/> 
+      <geometry>
+        <box size="0.05 0.05 0.05"/>
+      </geometry>
+    </collision>
+
+    <visual name='camera_visual'>
+      <origin xyz="0 0 0" rpy="0 0 0"/> 
+      <geometry>
+        <box size="0.05 0.05 0.05"/>
+      </geometry>
+    </visual>
+  </link>
+  
+  <joint type="fixed" name="camera_joint">
+    <origin xyz="0.2 0 .5" rpy="0 .5 0"/>
+    <child link="camera"/>
+    <parent link="chassis"/>
+    <axis xyz="0 1 0" rpy="0 0 0"/>
+    <limit effort="10000" velocity="1000"/>
+    <dynamics damping="1.0" friction="1.0"/>
+  </joint>
+
+
+</robot>
diff --git a/workspace/virtuallab/src/virtual_lab/urdf2/CamStand_01.gazebo b/workspace/virtuallab/src/virtual_lab/urdf2/CamStand_01.gazebo
new file mode 100644
index 0000000000000000000000000000000000000000..2696fd645c915f228d9b6473b188351679bafd40
--- /dev/null
+++ b/workspace/virtuallab/src/virtual_lab/urdf2/CamStand_01.gazebo
@@ -0,0 +1,36 @@
+<?xml version="1.0"?>
+<robot>
+  <!-- camera -->
+  <gazebo reference="camera">
+    <sensor type="camera" name="camera1">
+      <update_rate>30.0</update_rate>
+      <camera name="head">
+        <horizontal_fov>1.3962634</horizontal_fov>
+        <image>
+          <width>800</width>
+          <height>800</height>
+          <format>R8G8B8</format>
+        </image>
+        <clip>
+          <near>0.02</near>
+          <far>300</far>
+        </clip>
+      </camera>
+      <plugin name="camera_controller" filename="libgazebo_ros_camera.so">
+        <alwaysOn>true</alwaysOn>
+        <updateRate>0.0</updateRate>
+        <cameraName>camera01</cameraName>
+        <imageTopicName>rgb/image_raw</imageTopicName>
+        <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
+        <frameName>camera</frameName>
+        <hackBaseline>0.07</hackBaseline>
+        <distortionK1>0.0</distortionK1>
+        <distortionK2>0.0</distortionK2>
+        <distortionK3>0.0</distortionK3>
+        <distortionT1>0.0</distortionT1>
+        <distortionT2>0.0</distortionT2>
+      </plugin>
+    </sensor>
+  </gazebo>
+
+</robot>
diff --git a/workspace/virtuallab/src/virtual_lab/urdf2/CamStand_01.xacro b/workspace/virtuallab/src/virtual_lab/urdf2/CamStand_01.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..b4f4eac951aa439893feb458f63ba96fd5a302da
--- /dev/null
+++ b/workspace/virtuallab/src/virtual_lab/urdf2/CamStand_01.xacro
@@ -0,0 +1,92 @@
+<?xml version='1.0'?>
+
+<robot name="CamStand1" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  
+  <xacro:include filename="$(find virtual_lab)/urdf/CamStand_01.gazebo" />
+  
+  <link name="robot_footprint"></link>
+
+  <joint name="robot_footprint_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="robot_footprint"/>
+    <child link="chassis" />
+  </joint>
+
+  <link name='chassis'>
+
+    <pose>0 0 0.1 0 0 0</pose>
+
+    <inertial>
+      <mass value="15.0"/>
+      <origin xyz="0.0 0 0" rpy=" 0 0 0"/>
+      <inertia
+          ixx="0" ixy="0" ixz="0"
+          iyy="0" iyz="0"
+          izz="0"
+      />
+    </inertial>
+
+    <collision name='collision'>
+      <origin xyz="0 0 0" rpy=" 0 0 0"/> 
+      <geometry>
+        <box size=".4 .2 1"/>
+      </geometry>
+    </collision>
+
+    <visual name='chassis_visual'>
+      <origin xyz="0 0 0" rpy=" 0 0 0"/>
+      <geometry>
+        <box size=".4 .2 1"/>
+      </geometry>
+    </visual>
+
+  </link>
+
+
+
+  <link name='camera'>
+    <pose>0 0 0 0 0 0</pose>
+
+    <inertial>
+      <mass value="0.1"/>
+      <origin xyz="0.0 0 0" rpy="0.0 0 0"/>
+      <inertia
+          ixx="0" ixy="0" ixz="0"
+          iyy="0" iyz="0"
+          izz="0"
+      />
+    </inertial>
+
+    <collision name='collision'>
+      <origin xyz="0 0 0" rpy=" 0 0 0"/> 
+      <geometry>
+        <box size="0.05 0.05 0.05"/>
+      </geometry>
+    </collision>
+
+    <visual name='camera_visual'>
+      <origin xyz="0 0 0" rpy="0 0 0"/> 
+      <geometry>
+        <box size="0.05 0.05 0.05"/>
+      </geometry>
+    </visual>
+  </link>
+  
+  <joint type="fixed" name="camera_joint">
+    <origin xyz="0.2 0 .5" rpy="0 .5 0"/>
+    <child link="camera"/>
+    <parent link="chassis"/>
+    <axis xyz="0 1 0" rpy="0 0 0"/>
+    <limit effort="10000" velocity="1000"/>
+    <dynamics damping="1.0" friction="1.0"/>
+  </joint>
+
+  <gazebo reference="chassis">
+    <material>Gazebo/Wood</material>
+  </gazebo>
+
+  <gazebo reference="camera">
+    <material>Gazebo/Black</material>
+  </gazebo>
+
+</robot>
diff --git a/workspace/virtuallab/src/virtual_lab/urdf2/CamStand_02.gazebo b/workspace/virtuallab/src/virtual_lab/urdf2/CamStand_02.gazebo
new file mode 100644
index 0000000000000000000000000000000000000000..2081a111970b0b6af5b96c23501574b5054fd413
--- /dev/null
+++ b/workspace/virtuallab/src/virtual_lab/urdf2/CamStand_02.gazebo
@@ -0,0 +1,36 @@
+<?xml version="1.0"?>
+<robot>
+  <!-- camera -->
+  <gazebo reference="camera">
+    <sensor type="camera" name="camera1">
+      <update_rate>30.0</update_rate>
+      <camera name="head">
+        <horizontal_fov>1.3962634</horizontal_fov>
+        <image>
+          <width>800</width>
+          <height>800</height>
+          <format>R8G8B8</format>
+        </image>
+        <clip>
+          <near>0.02</near>
+          <far>300</far>
+        </clip>
+      </camera>
+      <plugin name="camera_controller" filename="libgazebo_ros_camera.so">
+        <alwaysOn>true</alwaysOn>
+        <updateRate>0.0</updateRate>
+        <cameraName>camera02</cameraName>
+        <imageTopicName>rgb/image_raw</imageTopicName>
+        <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
+        <frameName>camera</frameName>
+        <hackBaseline>0.07</hackBaseline>
+        <distortionK1>0.0</distortionK1>
+        <distortionK2>0.0</distortionK2>
+        <distortionK3>0.0</distortionK3>
+        <distortionT1>0.0</distortionT1>
+        <distortionT2>0.0</distortionT2>
+      </plugin>
+    </sensor>
+  </gazebo>
+
+</robot>
diff --git a/workspace/virtuallab/src/virtual_lab/urdf2/CamStand_02.xacro b/workspace/virtuallab/src/virtual_lab/urdf2/CamStand_02.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..404b20a85cabed4b9002674e9a169ee699cf481a
--- /dev/null
+++ b/workspace/virtuallab/src/virtual_lab/urdf2/CamStand_02.xacro
@@ -0,0 +1,92 @@
+<?xml version='1.0'?>
+
+<robot name="CamStand2" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  
+  <xacro:include filename="$(find virtual_lab)/urdf/CamStand_02.gazebo" />
+  
+  <link name="robot_footprint"></link>
+
+  <joint name="robot_footprint_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="robot_footprint"/>
+    <child link="chassis" />
+  </joint>
+
+  <link name='chassis'>
+
+    <pose>0 0 0.1 0 0 0</pose>
+
+    <inertial>
+      <mass value="15.0"/>
+      <origin xyz="0.0 0 0" rpy=" 0 0 0"/>
+      <inertia
+          ixx="0" ixy="0" ixz="0"
+          iyy="0" iyz="0"
+          izz="0"
+      />
+    </inertial>
+
+    <collision name='collision'>
+      <origin xyz="0 0 0" rpy=" 0 0 0"/> 
+      <geometry>
+        <box size=".4 .2 1"/>
+      </geometry>
+    </collision>
+
+    <visual name='chassis_visual'>
+      <origin xyz="0 0 0" rpy=" 0 0 0"/>
+      <geometry>
+        <box size=".4 .2 1"/>
+      </geometry>
+    </visual>
+
+  </link>
+
+
+
+  <link name='camera'>
+    <pose>0 0 0 0 0 0</pose>
+
+    <inertial>
+      <mass value="0.1"/>
+      <origin xyz="0.0 0 0" rpy="0.0 0 0"/>
+      <inertia
+          ixx="0" ixy="0" ixz="0"
+          iyy="0" iyz="0"
+          izz="0"
+      />
+    </inertial>
+
+    <collision name='collision'>
+      <origin xyz="0 0 0" rpy=" 0 0 0"/> 
+      <geometry>
+        <box size="0.05 0.05 0.05"/>
+      </geometry>
+    </collision>
+
+    <visual name='camera_visual'>
+      <origin xyz="0 0 0" rpy="0 0 0"/> 
+      <geometry>
+        <box size="0.05 0.05 0.05"/>
+      </geometry>
+    </visual>
+  </link>
+  
+  <joint type="fixed" name="camera_joint">
+    <origin xyz="0.2 0 .5" rpy="0 .5 0"/>
+    <child link="camera"/>
+    <parent link="chassis"/>
+    <axis xyz="0 1 0" rpy="0 0 0"/>
+    <limit effort="10000" velocity="1000"/>
+    <dynamics damping="1.0" friction="1.0"/>
+  </joint>
+
+  <gazebo reference="chassis">
+    <material>Gazebo/Wood</material>
+  </gazebo>
+
+  <gazebo reference="camera">
+    <material>Gazebo/Black</material>
+  </gazebo>
+
+</robot>
diff --git a/workspace/virtuallab/src/virtual_lab/urdf2/CamStand_03.gazebo b/workspace/virtuallab/src/virtual_lab/urdf2/CamStand_03.gazebo
new file mode 100644
index 0000000000000000000000000000000000000000..dc920d064a4e1537b5cb0deba0562ff8a8121f1f
--- /dev/null
+++ b/workspace/virtuallab/src/virtual_lab/urdf2/CamStand_03.gazebo
@@ -0,0 +1,36 @@
+<?xml version="1.0"?>
+<robot>
+  <!-- camera -->
+  <gazebo reference="camera">
+    <sensor type="camera" name="camera1">
+      <update_rate>30.0</update_rate>
+      <camera name="head">
+        <horizontal_fov>1.3962634</horizontal_fov>
+        <image>
+          <width>800</width>
+          <height>800</height>
+          <format>R8G8B8</format>
+        </image>
+        <clip>
+          <near>0.02</near>
+          <far>300</far>
+        </clip>
+      </camera>
+      <plugin name="camera_controller" filename="libgazebo_ros_camera.so">
+        <alwaysOn>true</alwaysOn>
+        <updateRate>0.0</updateRate>
+        <cameraName>camera03</cameraName>
+        <imageTopicName>rgb/image_raw</imageTopicName>
+        <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
+        <frameName>camera</frameName>
+        <hackBaseline>0.07</hackBaseline>
+        <distortionK1>0.0</distortionK1>
+        <distortionK2>0.0</distortionK2>
+        <distortionK3>0.0</distortionK3>
+        <distortionT1>0.0</distortionT1>
+        <distortionT2>0.0</distortionT2>
+      </plugin>
+    </sensor>
+  </gazebo>
+
+</robot>
diff --git a/workspace/virtuallab/src/virtual_lab/urdf2/CamStand_03.xacro b/workspace/virtuallab/src/virtual_lab/urdf2/CamStand_03.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..1d7155d98781eb85821059dfe1bb4a93d67d0700
--- /dev/null
+++ b/workspace/virtuallab/src/virtual_lab/urdf2/CamStand_03.xacro
@@ -0,0 +1,92 @@
+<?xml version='1.0'?>
+
+<robot name="CamStand3" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  
+  <xacro:include filename="$(find virtual_lab)/urdf/CamStand_03.gazebo" />
+  
+  <link name="robot_footprint"></link>
+
+  <joint name="robot_footprint_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="robot_footprint"/>
+    <child link="chassis" />
+  </joint>
+
+  <link name='chassis'>
+
+    <pose>0 0 0.1 0 0 0</pose>
+
+    <inertial>
+      <mass value="15.0"/>
+      <origin xyz="0.0 0 0" rpy=" 0 0 0"/>
+      <inertia
+          ixx="0" ixy="0" ixz="0"
+          iyy="0" iyz="0"
+          izz="0"
+      />
+    </inertial>
+
+    <collision name='collision'>
+      <origin xyz="0 0 0" rpy=" 0 0 0"/> 
+      <geometry>
+        <box size=".4 .2 1"/>
+      </geometry>
+    </collision>
+
+    <visual name='chassis_visual'>
+      <origin xyz="0 0 0" rpy=" 0 0 0"/>
+      <geometry>
+        <box size=".4 .2 1"/>
+      </geometry>
+    </visual>
+
+  </link>
+
+
+
+  <link name='camera'>
+    <pose>0 0 0 0 0 0</pose>
+
+    <inertial>
+      <mass value="0.1"/>
+      <origin xyz="0.0 0 0" rpy="0.0 0 0"/>
+      <inertia
+          ixx="0" ixy="0" ixz="0"
+          iyy="0" iyz="0"
+          izz="0"
+      />
+    </inertial>
+
+    <collision name='collision'>
+      <origin xyz="0 0 0" rpy=" 0 0 0"/> 
+      <geometry>
+        <box size="0.05 0.05 0.05"/>
+      </geometry>
+    </collision>
+
+    <visual name='camera_visual'>
+      <origin xyz="0 0 0" rpy="0 0 0"/> 
+      <geometry>
+        <box size="0.05 0.05 0.05"/>
+      </geometry>
+    </visual>
+  </link>
+  
+  <joint type="fixed" name="camera_joint">
+    <origin xyz="0.2 0 .5" rpy="0 .5 0"/>
+    <child link="camera"/>
+    <parent link="chassis"/>
+    <axis xyz="0 1 0" rpy="0 0 0"/>
+    <limit effort="10000" velocity="1000"/>
+    <dynamics damping="1.0" friction="1.0"/>
+  </joint>
+
+  <gazebo reference="chassis">
+    <material>Gazebo/Wood</material>
+  </gazebo>
+
+  <gazebo reference="camera">
+    <material>Gazebo/Black</material>
+  </gazebo>
+
+</robot>
diff --git a/workspace/virtuallab/src/virtual_lab/urdf2/CamStand_04.gazebo b/workspace/virtuallab/src/virtual_lab/urdf2/CamStand_04.gazebo
new file mode 100644
index 0000000000000000000000000000000000000000..b943e6c2554fa2b4d18bca3735e9da35a42e3cfc
--- /dev/null
+++ b/workspace/virtuallab/src/virtual_lab/urdf2/CamStand_04.gazebo
@@ -0,0 +1,36 @@
+<?xml version="1.0"?>
+<robot>
+  <!-- camera -->
+  <gazebo reference="camera">
+    <sensor type="camera" name="camera1">
+      <update_rate>30.0</update_rate>
+      <camera name="head">
+        <horizontal_fov>1.3962634</horizontal_fov>
+        <image>
+          <width>800</width>
+          <height>800</height>
+          <format>R8G8B8</format>
+        </image>
+        <clip>
+          <near>0.02</near>
+          <far>300</far>
+        </clip>
+      </camera>
+      <plugin name="camera_controller" filename="libgazebo_ros_camera.so">
+        <alwaysOn>true</alwaysOn>
+        <updateRate>0.0</updateRate>
+        <cameraName>camera04</cameraName>
+        <imageTopicName>rgb/image_raw</imageTopicName>
+        <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
+        <frameName>camera</frameName>
+        <hackBaseline>0.07</hackBaseline>
+        <distortionK1>0.0</distortionK1>
+        <distortionK2>0.0</distortionK2>
+        <distortionK3>0.0</distortionK3>
+        <distortionT1>0.0</distortionT1>
+        <distortionT2>0.0</distortionT2>
+      </plugin>
+    </sensor>
+  </gazebo>
+
+</robot>
diff --git a/workspace/virtuallab/src/virtual_lab/urdf2/CamStand_04.xacro b/workspace/virtuallab/src/virtual_lab/urdf2/CamStand_04.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..ec5fa537e0b121da111508a919ea71dff2adbede
--- /dev/null
+++ b/workspace/virtuallab/src/virtual_lab/urdf2/CamStand_04.xacro
@@ -0,0 +1,92 @@
+<?xml version='1.0'?>
+
+<robot name="CamStand4" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  
+  <xacro:include filename="$(find virtual_lab)/urdf/CamStand_04.gazebo" />
+  
+  <link name="robot_footprint"></link>
+
+  <joint name="robot_footprint_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="robot_footprint"/>
+    <child link="chassis" />
+  </joint>
+
+  <link name='chassis'>
+
+    <pose>0 0 0.1 0 0 0</pose>
+
+    <inertial>
+      <mass value="15.0"/>
+      <origin xyz="0.0 0 0" rpy=" 0 0 0"/>
+      <inertia
+          ixx="0" ixy="0" ixz="0"
+          iyy="0" iyz="0"
+          izz="0"
+      />
+    </inertial>
+
+    <collision name='collision'>
+      <origin xyz="0 0 0" rpy=" 0 0 0"/> 
+      <geometry>
+        <box size=".4 .2 1"/>
+      </geometry>
+    </collision>
+
+    <visual name='chassis_visual'>
+      <origin xyz="0 0 0" rpy=" 0 0 0"/>
+      <geometry>
+        <box size=".4 .2 1"/>
+      </geometry>
+    </visual>
+
+  </link>
+
+
+
+  <link name='camera'>
+    <pose>0 0 0 0 0 0</pose>
+
+    <inertial>
+      <mass value="0.1"/>
+      <origin xyz="0.0 0 0" rpy="0.0 0 0"/>
+      <inertia
+          ixx="0" ixy="0" ixz="0"
+          iyy="0" iyz="0"
+          izz="0"
+      />
+    </inertial>
+
+    <collision name='collision'>
+      <origin xyz="0 0 0" rpy=" 0 0 0"/> 
+      <geometry>
+        <box size="0.05 0.05 0.05"/>
+      </geometry>
+    </collision>
+
+    <visual name='camera_visual'>
+      <origin xyz="0 0 0" rpy="0 0 0"/> 
+      <geometry>
+        <box size="0.05 0.05 0.05"/>
+      </geometry>
+    </visual>
+  </link>
+  
+  <joint type="fixed" name="camera_joint">
+    <origin xyz="0.2 0 .5" rpy="0 .5 0"/>
+    <child link="camera"/>
+    <parent link="chassis"/>
+    <axis xyz="0 1 0" rpy="0 0 0"/>
+    <limit effort="10000" velocity="1000"/>
+    <dynamics damping="1.0" friction="1.0"/>
+  </joint>
+
+  <gazebo reference="chassis">
+    <material>Gazebo/Wood</material>
+  </gazebo>
+
+  <gazebo reference="camera">
+    <material>Gazebo/Black</material>
+  </gazebo>
+
+</robot>
diff --git a/workspace/virtuallab/src/virtual_lab/urdf2/co_robot.gazebo b/workspace/virtuallab/src/virtual_lab/urdf2/co_robot.gazebo
new file mode 100644
index 0000000000000000000000000000000000000000..ebc085bd62a3a14a4a2b71f04b89efcb8d395612
--- /dev/null
+++ b/workspace/virtuallab/src/virtual_lab/urdf2/co_robot.gazebo
@@ -0,0 +1,29 @@
+<?xml version="1.0"?>
+<robot>
+
+  <gazebo>
+    <plugin name="differential_drive_controller" filename="libgazebo_ros_diff_drive.so">
+      <legacyMode>false</legacyMode>
+      <alwaysOn>true</alwaysOn>
+      <updateRate>10</updateRate>
+      <leftJoint>left_wheel_hinge</leftJoint>
+      <rightJoint>right_wheel_hinge</rightJoint>
+      <wheelSeparation>0.4</wheelSeparation>
+      <wheelDiameter>0.2</wheelDiameter>
+      <torque>10</torque>
+      <commandTopic>cmd_vel_co_robot</commandTopic>
+      <odometryTopic>odom_co_robot</odometryTopic>
+      <odometryFrame>odom</odometryFrame>
+      <robotBaseFrame>robot_footprint</robotBaseFrame>
+      <publishWheelTF>false</publishWheelTF>
+      <publishWheelJointState>false</publishWheelJointState>
+      <rosDebugLevel>na</rosDebugLevel>
+      <wheelAcceleration>0</wheelAcceleration>
+      <wheelTorque>5</wheelTorque>
+      <odometrySource>world</odometrySource>
+      <publishTf>1</publishTf>
+      <publishOdomTF>true</publishOdomTF>
+    </plugin>
+  </gazebo>
+
+</robot>
diff --git a/workspace/virtuallab/src/virtual_lab/urdf2/co_robot.xacro b/workspace/virtuallab/src/virtual_lab/urdf2/co_robot.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..6b004e9b1be18e27f23dee8c4f1785226afd5c49
--- /dev/null
+++ b/workspace/virtuallab/src/virtual_lab/urdf2/co_robot.xacro
@@ -0,0 +1,167 @@
+<?xml version='1.0'?>
+
+<robot name="co_robot" xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+  <xacro:include filename="$(find virtual_lab)/urdf/co_robot.gazebo" />
+  <link name="robot_footprint"></link>
+
+  <joint name="robot_footprint_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="robot_footprint"/>
+    <child link="chassis" />
+  </joint>
+
+  <link name='chassis'>
+    <pose>0 0 0.1 0 0 0</pose>
+
+    <inertial>
+      <mass value="15.0"/>
+      <origin xyz="0.0 0 0" rpy=" 0 0 0"/>
+      <inertia
+          ixx="0.1" ixy="0" ixz="0"
+          iyy="0.1" iyz="0"
+          izz="0.1"
+      />
+    </inertial>
+
+    <collision name='collision'>
+      <origin xyz="0 0 0" rpy=" 0 0 0"/> 
+      <geometry>
+        <box size=".4 .2 .1"/>
+      </geometry>
+    </collision>
+
+    <visual name='chassis_visual'>
+      <origin xyz="0 0 0" rpy=" 0 0 0"/>
+      <geometry>
+        <box size=".4 .2 .1"/>
+      </geometry>
+    </visual>
+
+
+    <collision name='back_caster_collision'>
+      <origin xyz="-0.15 0 -0.05" rpy=" 0 0 0"/>
+      <geometry>
+        <sphere radius="0.0499"/>
+      </geometry>
+    </collision>
+
+    <visual name='back_caster_visual'>
+      <origin xyz="-0.15 0 -0.05" rpy=" 0 0 0"/>
+      <geometry>
+        <sphere radius="0.05"/>
+      </geometry>
+    </visual>
+
+    <collision name='front_caster_collision'>
+      <origin xyz="0.15 0 -0.05" rpy=" 0 0 0"/>
+      <geometry>
+        <sphere radius="0.0499"/>
+      </geometry>
+    </collision>
+
+    <visual name='front_caster_visual'>
+      <origin xyz="0.15 0 -0.05" rpy=" 0 0 0"/>
+      <geometry>
+        <sphere radius="0.05"/>
+      </geometry>
+    </visual>
+
+  </link>
+  
+  
+  
+  <link name='left_wheel'>
+    <pose>0 0 0.1 0 0 0</pose>
+
+    <inertial>
+      <mass value="5.0"/>
+      <origin xyz="0.0 0 0" rpy=" 0 1.5707 1.5707"/>
+      <inertia
+          ixx="0.1" ixy="0" ixz="0"
+          iyy="0.1" iyz="0"
+          izz="0.1"
+      />
+    </inertial>
+
+    <collision name='collision'>
+      <origin xyz="0 0 0" rpy=" 0 1.5707 1.5707"/> 
+      <geometry>
+        <cylinder radius="0.1" length="0.05"/>
+      </geometry>
+    </collision>
+
+    <visual name='left_wheel_visual'>
+      <origin xyz="0 0 0" rpy=" 0 1.5707 1.5707"/>
+      <geometry>
+        <cylinder radius="0.1" length="0.05"/>
+      </geometry>
+    </visual>
+
+  </link>
+  
+  <link name='right_wheel'>
+    <pose>0 0 0.1 0 0 0</pose>
+
+    <inertial>
+      <mass value="5.0"/>
+      <origin xyz="0.0 0 0" rpy=" 0 1.5707 1.5707"/>
+      <inertia
+          ixx="0.1" ixy="0" ixz="0"
+          iyy="0.1" iyz="0"
+          izz="0.1"
+      />
+    </inertial>
+
+    <collision name='collision'>
+      <origin xyz="0 0 0" rpy=" 0 1.5707 1.5707"/> 
+      <geometry>
+        <cylinder radius="0.1" length="0.05"/>
+      </geometry>
+    </collision>
+
+    <visual name='right_wheel_visual'>
+      <origin xyz="0 0 0" rpy=" 0 1.5707 1.5707"/>
+      <geometry>
+        <cylinder radius="0.1" length="0.05"/>
+      </geometry>
+    </visual>
+
+  </link>
+
+  <joint type="continuous" name="left_wheel_hinge">
+    <origin xyz="0 0.15 0" rpy="0 0 0"/>
+    <child link="left_wheel"/>
+    <parent link="chassis"/>
+    <axis xyz="0 1 0" rpy="0 0 0"/>
+    <limit effort="10000" velocity="1000"/>
+    <dynamics damping="1.0" friction="1.0"/>
+  </joint>
+  
+  <joint type="continuous" name="right_wheel_hinge">
+    <origin xyz="0 -0.15 0" rpy="0 0 0"/>
+    <child link="right_wheel"/>
+    <parent link="chassis"/>
+    <axis xyz="0 1 0" rpy="0 0 0"/>
+    <limit effort="10000" velocity="1000"/>
+    <dynamics damping="1.0" friction="1.0"/>
+  </joint>
+
+  
+  
+
+  <gazebo reference="chassis">
+    <material>Gazebo/Yellow</material>
+  </gazebo>
+
+  <gazebo reference="left_wheel">
+    <material>Gazebo/Blue</material>
+  </gazebo>
+
+  <gazebo reference="right_wheel">
+    <material>Gazebo/Blue</material>
+  </gazebo>
+
+  
+
+</robot>
diff --git a/workspace/virtuallab/src/virtual_lab/urdf2/my_robot.gazebo b/workspace/virtuallab/src/virtual_lab/urdf2/my_robot.gazebo
new file mode 100644
index 0000000000000000000000000000000000000000..752c5ca9dc6b1389fd5d20314ab22e3a99b26eff
--- /dev/null
+++ b/workspace/virtuallab/src/virtual_lab/urdf2/my_robot.gazebo
@@ -0,0 +1,100 @@
+<?xml version="1.0"?>
+<robot>
+
+  <gazebo>
+    <plugin name="differential_drive_controller" filename="libgazebo_ros_diff_drive.so">
+      <legacyMode>false</legacyMode>
+      <alwaysOn>true</alwaysOn>
+      <updateRate>10</updateRate>
+      <leftJoint>left_wheel_hinge</leftJoint>
+      <rightJoint>right_wheel_hinge</rightJoint>
+      <wheelSeparation>0.4</wheelSeparation>
+      <wheelDiameter>0.2</wheelDiameter>
+      <torque>10</torque>
+      <commandTopic>cmd_vel</commandTopic>
+      <odometryTopic>odom</odometryTopic>
+      <odometryFrame>odom</odometryFrame>
+      <robotBaseFrame>robot_footprint</robotBaseFrame>
+      <publishWheelTF>false</publishWheelTF>
+      <publishWheelJointState>false</publishWheelJointState>
+      <rosDebugLevel>na</rosDebugLevel>
+      <wheelAcceleration>0</wheelAcceleration>
+      <wheelTorque>5</wheelTorque>
+      <odometrySource>world</odometrySource>
+      <publishTf>1</publishTf>
+      <publishOdomTF>true</publishOdomTF>
+    </plugin>
+  </gazebo>
+
+  <!-- camera -->
+  <gazebo reference="camera">
+    <sensor type="camera" name="camera_my_robot">
+      <update_rate>30.0</update_rate>
+      <camera name="head">
+        <horizontal_fov>1.3962634</horizontal_fov>
+        <image>
+          <width>800</width>
+          <height>800</height>
+          <format>R8G8B8</format>
+        </image>
+        <clip>
+          <near>0.02</near>
+          <far>300</far>
+        </clip>
+      </camera>
+      <plugin name="camera_controller" filename="libgazebo_ros_camera.so">
+        <alwaysOn>true</alwaysOn>
+        <updateRate>0.0</updateRate>
+        <cameraName>camera</cameraName>
+        <imageTopicName>rgb/image_raw</imageTopicName>
+        <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
+        <frameName>camera</frameName>
+        <hackBaseline>0.07</hackBaseline>
+        <distortionK1>0.0</distortionK1>
+        <distortionK2>0.0</distortionK2>
+        <distortionK3>0.0</distortionK3>
+        <distortionT1>0.0</distortionT1>
+        <distortionT2>0.0</distortionT2>
+      </plugin>
+    </sensor>
+  </gazebo>
+
+  <!-- hokuyo -->
+  <gazebo reference="hokuyo">
+    <sensor type="ray" name="head_hokuyo_sensor">
+      <pose>0 0 0 0 0 0</pose>
+      <visualize>false</visualize>
+      <update_rate>40</update_rate>
+      <ray>
+        <scan>
+          <horizontal>
+            <samples>720</samples>
+            <resolution>1</resolution>
+            <min_angle>-1.570796</min_angle>
+            <max_angle>1.570796</max_angle>
+          </horizontal>
+        </scan>
+        <range>
+          <min>0.10</min>
+          <max>30.0</max>
+          <resolution>0.01</resolution>
+        </range>
+        <noise>
+          <type>gaussian</type>
+          <!-- Noise parameters based on published spec for Hokuyo laser
+               achieving "+-30mm" accuracy at range < 10m.  A mean of 0.0m and
+               stddev of 0.01m will put 99.7% of samples within 0.03m of the true
+               reading. -->
+          <mean>0.0</mean>
+          <stddev>0.01</stddev>
+        </noise>
+      </ray>
+      <plugin name="gazebo_ros_head_hokuyo_controller" filename="libgazebo_ros_laser.so">
+        <topicName>/scan</topicName>
+        <frameName>hokuyo</frameName>
+      </plugin>
+    </sensor>
+  </gazebo>
+
+
+</robot>
diff --git a/workspace/virtuallab/src/virtual_lab/urdf2/my_robot.xacro b/workspace/virtuallab/src/virtual_lab/urdf2/my_robot.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..f74f73a640e531f9a28a87570a60384e73d8ad6b
--- /dev/null
+++ b/workspace/virtuallab/src/virtual_lab/urdf2/my_robot.xacro
@@ -0,0 +1,244 @@
+<?xml version='1.0'?>
+
+<robot name="my_robot" xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+  <xacro:include filename="$(find virtual_lab)/urdf/my_robot.gazebo" />
+  <link name="robot_footprint"></link>
+
+  <joint name="robot_footprint_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="robot_footprint"/>
+    <child link="chassis" />
+  </joint>
+
+  <link name='chassis'>
+    <pose>0 0 0.1 0 0 0</pose>
+
+    <inertial>
+      <mass value="15.0"/>
+      <origin xyz="0.0 0 0" rpy=" 0 0 0"/>
+      <inertia
+          ixx="0.1" ixy="0" ixz="0"
+          iyy="0.1" iyz="0"
+          izz="0.1"
+      />
+    </inertial>
+
+    <collision name='collision'>
+      <origin xyz="0 0 0" rpy=" 0 0 0"/> 
+      <geometry>
+        <box size=".4 .2 .1"/>
+      </geometry>
+    </collision>
+
+    <visual name='chassis_visual'>
+      <origin xyz="0 0 0" rpy=" 0 0 0"/>
+      <geometry>
+        <box size=".4 .2 .1"/>
+      </geometry>
+    </visual>
+
+
+    <collision name='back_caster_collision'>
+      <origin xyz="-0.15 0 -0.05" rpy=" 0 0 0"/>
+      <geometry>
+        <sphere radius="0.0499"/>
+      </geometry>
+    </collision>
+
+    <visual name='back_caster_visual'>
+      <origin xyz="-0.15 0 -0.05" rpy=" 0 0 0"/>
+      <geometry>
+        <sphere radius="0.05"/>
+      </geometry>
+    </visual>
+
+    <collision name='front_caster_collision'>
+      <origin xyz="0.15 0 -0.05" rpy=" 0 0 0"/>
+      <geometry>
+        <sphere radius="0.0499"/>
+      </geometry>
+    </collision>
+
+    <visual name='front_caster_visual'>
+      <origin xyz="0.15 0 -0.05" rpy=" 0 0 0"/>
+      <geometry>
+        <sphere radius="0.05"/>
+      </geometry>
+    </visual>
+
+  </link>
+  
+  
+  
+  <link name='left_wheel'>
+    <pose>0 0 0.1 0 0 0</pose>
+
+    <inertial>
+      <mass value="5.0"/>
+      <origin xyz="0.0 0 0" rpy=" 0 1.5707 1.5707"/>
+      <inertia
+          ixx="0.1" ixy="0" ixz="0"
+          iyy="0.1" iyz="0"
+          izz="0.1"
+      />
+    </inertial>
+
+    <collision name='collision'>
+      <origin xyz="0 0 0" rpy=" 0 1.5707 1.5707"/> 
+      <geometry>
+        <cylinder radius="0.1" length="0.05"/>
+      </geometry>
+    </collision>
+
+    <visual name='left_wheel_visual'>
+      <origin xyz="0 0 0" rpy=" 0 1.5707 1.5707"/>
+      <geometry>
+        <cylinder radius="0.1" length="0.05"/>
+      </geometry>
+    </visual>
+
+  </link>
+  
+  <link name='right_wheel'>
+    <pose>0 0 0.1 0 0 0</pose>
+
+    <inertial>
+      <mass value="5.0"/>
+      <origin xyz="0.0 0 0" rpy=" 0 1.5707 1.5707"/>
+      <inertia
+          ixx="0.1" ixy="0" ixz="0"
+          iyy="0.1" iyz="0"
+          izz="0.1"
+      />
+    </inertial>
+
+    <collision name='collision'>
+      <origin xyz="0 0 0" rpy=" 0 1.5707 1.5707"/> 
+      <geometry>
+        <cylinder radius="0.1" length="0.05"/>
+      </geometry>
+    </collision>
+
+    <visual name='right_wheel_visual'>
+      <origin xyz="0 0 0" rpy=" 0 1.5707 1.5707"/>
+      <geometry>
+        <cylinder radius="0.1" length="0.05"/>
+      </geometry>
+    </visual>
+
+  </link>
+
+  <joint type="continuous" name="left_wheel_hinge">
+    <origin xyz="0 0.15 0" rpy="0 0 0"/>
+    <child link="left_wheel"/>
+    <parent link="chassis"/>
+    <axis xyz="0 1 0" rpy="0 0 0"/>
+    <limit effort="10000" velocity="1000"/>
+    <dynamics damping="1.0" friction="1.0"/>
+  </joint>
+  
+  <joint type="continuous" name="right_wheel_hinge">
+    <origin xyz="0 -0.15 0" rpy="0 0 0"/>
+    <child link="right_wheel"/>
+    <parent link="chassis"/>
+    <axis xyz="0 1 0" rpy="0 0 0"/>
+    <limit effort="10000" velocity="1000"/>
+    <dynamics damping="1.0" friction="1.0"/>
+  </joint>
+
+  <link name='camera'>
+    <pose>0 0 0 0 0 0</pose>
+
+    <inertial>
+      <mass value="0.1"/>
+      <origin xyz="0.0 0 0" rpy="0.0 0 0"/>
+      <inertia
+          ixx="1e-6" ixy="0" ixz="0"
+          iyy="1e-6" iyz="0"
+          izz="1e-6"
+      />
+    </inertial>
+
+    <collision name='collision'>
+      <origin xyz="0 0 0" rpy=" 0 0 0"/> 
+      <geometry>
+        <box size="0.05 0.05 0.05"/>
+      </geometry>
+    </collision>
+
+    <visual name='camera_visual'>
+      <origin xyz="0 0 0" rpy="0 0 0"/> 
+      <geometry>
+        <box size="0.05 0.05 0.05"/>
+      </geometry>
+    </visual>
+  </link>
+  
+  <joint type="fixed" name="camera_joint">
+    <origin xyz="0.2 0 0" rpy="0 0 0"/>
+    <child link="camera"/>
+    <parent link="chassis"/>
+    <axis xyz="0 1 0" rpy="0 0 0"/>
+    <limit effort="10000" velocity="1000"/>
+    <dynamics damping="1.0" friction="1.0"/>
+  </joint>
+  
+  <link name='hokuyo'>
+    <pose>0 0 0 0 0 0</pose>
+
+    <inertial>
+      <mass value="1e-5"/>
+      <origin xyz="0.0 0 0" rpy="0.0 0 0"/>
+      <inertia
+          ixx="1e-6" ixy="0" ixz="0"
+          iyy="1e-6" iyz="0"
+          izz="1e-6"
+      />
+    </inertial>
+
+    <collision name='collision'>
+      <origin xyz="0 0 0" rpy=" 0 0 0"/> 
+      <geometry>
+        <box size="0.1 0.1 0.1"/>
+      </geometry>
+    </collision>
+
+    <visual name='hokuyo_visual'>
+      <origin xyz="0 0 0" rpy="0 0 0"/> 
+      <geometry>
+        <mesh filename="package://virtual_lab/meshes/hokuyo.dae"/>
+      </geometry>
+    </visual>
+  </link>
+  
+  <joint type="fixed" name="hokuyo_joint">
+    <origin xyz="0.15 0.0 0.1" rpy="0 0 0"/>
+    <child link="hokuyo"/>
+    <parent link="chassis"/>
+    <axis xyz="0 1 0" rpy="0 0 0"/>
+    <limit effort="10000" velocity="1000"/>
+    <dynamics damping="1.0" friction="1.0"/>
+  </joint>
+
+  <gazebo reference="chassis">
+    <material>Gazebo/Indigo</material>
+  </gazebo>
+
+  <gazebo reference="left_wheel">
+    <material>Gazebo/Turquoise</material>
+  </gazebo>
+
+  <gazebo reference="right_wheel">
+    <material>Gazebo/Turquoise</material>
+  </gazebo>
+
+  <gazebo reference="camera">
+    <material>Gazebo/RedGlow</material>
+  </gazebo>
+  
+  <gazebo reference="hokuyo">
+    <material>Gazebo/DarkMagentaTransparent</material>
+  </gazebo>
+
+</robot>