diff --git a/MobileRobot/docking_data/Pose_right.txt b/MobileRobot/docking_data/Pose_right.txt
index 6d6f15ed05003d3fe8ca10dc6b847d9f6e9ae0c7..0348b18a1aa2c56ef22f91b6e45cbaa0377a6fac 100644
--- a/MobileRobot/docking_data/Pose_right.txt
+++ b/MobileRobot/docking_data/Pose_right.txt
@@ -1,437 +1,452 @@
 %time,field.position.x,field.position.y,field.position.z,field.orientation.x,field.orientation.y,field.orientation.z,field.orientation.w
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diff --git a/MobileRobot/docking_data/Pose_right.txt~ b/MobileRobot/docking_data/Pose_right.txt~
index 49fe45cc36c7a3809268675484f2167454910d9d..6d6f15ed05003d3fe8ca10dc6b847d9f6e9ae0c7 100644
--- a/MobileRobot/docking_data/Pose_right.txt~
+++ b/MobileRobot/docking_data/Pose_right.txt~
@@ -1,429 +1,437 @@
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diff --git a/MobileRobot/docking_data/Velocity_right.txt b/MobileRobot/docking_data/Velocity_right.txt
index 68563861fc507928d3123dfa093586831ef19b83..e6c7fa2b62ef2d45a62968fe49fb25e71abe0c00 100644
--- a/MobileRobot/docking_data/Velocity_right.txt
+++ b/MobileRobot/docking_data/Velocity_right.txt
@@ -1,436 +1,451 @@
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diff --git a/MobileRobot/docking_data/Velocity_right.txt~ b/MobileRobot/docking_data/Velocity_right.txt~
index 965a3e3041f750e2ec6e3019bebdbbdde675ad05..68563861fc507928d3123dfa093586831ef19b83 100644
--- a/MobileRobot/docking_data/Velocity_right.txt~
+++ b/MobileRobot/docking_data/Velocity_right.txt~
@@ -1,428 +1,436 @@
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diff --git a/MobileRobot/docking_data/back_up_old.cpp b/MobileRobot/docking_data/back_up_old.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..ecca6c12f66ed98156b4003ebc04a48123e9b7e7
--- /dev/null
+++ b/MobileRobot/docking_data/back_up_old.cpp
@@ -0,0 +1,830 @@
+#include <iostream>
+#include <fstream>
+#include <sstream>
+#include <array>
+#include <math.h>
+#include <unistd.h>
+#include <cstdlib>
+#include <stdio.h>      /* printf, scanf, puts, NULL */
+#include <stdlib.h>     /* srand, rand */
+#include <time.h>       /* time */
+
+#include <aruco/aruco.h>
+#include <aruco/cvdrawingutils.h>
+
+#include "ros/ros.h"
+
+#include <tf/transform_broadcaster.h>
+#include <tf/transform_listener.h>
+#include <tf/tf.h>
+
+#include <geometry_msgs/Pose.h>
+#include <geometry_msgs/PoseStamped.h>
+#include <geometry_msgs/Twist.h>
+
+#include <image_transport/image_transport.h>
+#include <cv_bridge/cv_bridge.h>
+#include <sensor_msgs/image_encodings.h>
+
+#include "opencv2/core/core_c.h"
+#include "opencv2/core/core.hpp"
+#include "opencv2/flann/miniflann.hpp"
+#include "opencv2/imgproc/imgproc_c.h"
+#include "opencv2/imgproc/imgproc.hpp"
+#include "opencv2/video/video.hpp"
+#include "opencv2/features2d/features2d.hpp"
+#include "opencv2/objdetect/objdetect.hpp"
+#include "opencv2/calib3d/calib3d.hpp"
+#include "opencv2/ml/ml.hpp"
+#include "opencv2/highgui/highgui_c.h"
+#include "opencv2/highgui/highgui.hpp"
+#include "opencv2/contrib/contrib.hpp"
+
+#include<VisionControl.h>
+
+using namespace cv;
+using namespace aruco;
+using namespace std;
+
+float PID4Docking::TheMarkerSize = .1; // Default marker size
+
+int PID4Docking::Thresh1_min = 75;
+int PID4Docking::Thresh2_min = 10;
+
+int PID4Docking::Thresh1_max = 300;
+int PID4Docking::Thresh2_max = 300;
+
+const string PID4Docking::trackbarWindowName = "Trackbars";
+
+int PID4Docking::ThePyrDownLevel = 0;
+
+bool PID4Docking::update_images = true;
+
+bool PID4Docking::found = false;
+bool PID4Docking::Go2RandomPose = false;
+
+int PID4Docking::ThresParam1 = 0;
+int PID4Docking::ThresParam2 = 0;
+
+// ---- CONTROLL PARAMETERS ------ //
+double PID4Docking::prev_errorX, PID4Docking::curr_errorX, PID4Docking::int_errorX, PID4Docking::diffX;
+
+double PID4Docking::p_termX = 0;
+double PID4Docking::i_termX = 0;
+double PID4Docking::d_termX = 0;
+
+double PID4Docking::prev_errorY, PID4Docking::curr_errorY, PID4Docking::int_errorY, PID4Docking::diffY;
+
+double PID4Docking::p_termY = 0;
+double PID4Docking::i_termY = 0;
+double PID4Docking::d_termY = 0;
+
+double PID4Docking::prev_errorYAW,PID4Docking::curr_errorYAW,PID4Docking::int_errorYAW,PID4Docking::diffYAW;
+
+double PID4Docking::p_termYAW = 0;
+double PID4Docking::i_termYAW = 0;
+double PID4Docking::d_termYAW = 0;
+
+double PID4Docking::control_signalX, PID4Docking::control_signalY, PID4Docking::control_signalYAW;
+// ---- CONTROLL PARAMETERS ------ //
+
+// ---- Ref. Values for Android Camera ---- //
+//const double PID4Docking::RefPose[4] = {-.0957, 0.00638817 /* Y_ref*/ ,  0.308857 /* X_ref*/ , 0.17 /* theta_ref*/}; 
+
+// ---- Ref. Values for Logitech Camera ---- //
+const double PID4Docking::RefPose[4] = {-.0957, -0.0185 /* Y_ref*/ , -0.2025 /* X_ref*/ , -0.05 /* theta_ref*/}; 
+
+//const double PID4Docking::RefPose[4] = {-.0957, 0.0185 /* Y_ref*/ , 0.2025 /* X_ref*/ , -0.05 /* theta_ref*/}; 
+
+// ----------------  PID gains---------------- //
+double PID4Docking::Kp_y = .266; //.4
+double PID4Docking::Ki_y = 0.0003 ;// 0
+double PID4Docking::Kd_y = 0.014; //.1
+
+double PID4Docking::Kp_theta = .25;// .18
+double PID4Docking::Ki_theta = 0; //* Ki_y; // .15 * Ki_y
+double PID4Docking::Kd_theta = 0; //* Kd_y; // .0008
+// ----------------  PID gains---------------- //
+
+
+double PID4Docking::TT_S,PID4Docking::TT_E;
+// random pose initialized
+const double PID4Docking::y_up = .3; 
+const double PID4Docking::y_dwn = -.1; 
+const double PID4Docking::theta_dwn = -.7 /*-RefPose[3]*/; 
+const double PID4Docking::theta_up = .7 /*RefPose[3]*/;
+
+double PID4Docking::x_new,PID4Docking::y_new,PID4Docking::theta_new;
+double PID4Docking::dock_started,PID4Docking::dock_finished,PID4Docking::docking_duration;
+
+double PID4Docking::speed_reducer_X = 1;
+double PID4Docking::speed_reducer_Y = 1;
+double PID4Docking::speed_reducer_theta = 1;
+
+// ------ offsets X, Y, theta for Docking ---------
+double PID4Docking::x_dock_thresh = .001;
+double PID4Docking::y_dock_thresh = .002; //.002
+double PID4Docking::theta_dock_thresh = (CV_PI/180) * .5; // .5 deg.
+
+double PID4Docking::safety_margin_X = .16; // safety margin X axis in docking process : 18 cm
+
+// ------ offsets X, Y, theta for Undocking ---------
+double PID4Docking::x_thresh_undock = .02;
+double PID4Docking::y_thresh_undock = .015;
+double PID4Docking::theta_thresh_undock = (CV_PI/180) * 3;
+
+double PID4Docking::docking_counter = 1;
+
+// ---- offsets for Roll, Pitch, Yaw ----//
+float PID4Docking::p_off = CV_PI;
+float PID4Docking::r_off = CV_PI/2;
+float PID4Docking::y_off = CV_PI;
+
+float PID4Docking::roll,PID4Docking::yaw,PID4Docking::pitch;
+float PID4Docking::yaw_1,PID4Docking::yaw_prev;
+
+double PID4Docking::theta_with_offset;
+
+double PID4Docking::x_robCen2cam = -.95/2; // x_cam from the center of robot
+double PID4Docking::y_robCen2cam = 0; // y_cam from the center of robot
+
+double PID4Docking::x_robINmar_coor,PID4Docking::y_robINmar_coor;
+
+float PID4Docking::x_t, PID4Docking::y_t, PID4Docking::z_t; 
+
+
+PID4Docking::PID4Docking()
+{	
+	keepMoving = true;    
+    
+	/* initialize random seed: */
+  	srand (time(NULL));
+
+	x_rand_SM = RefPose[2] + .55; // 55 cm spreading domain in the x-axis while moving towards the random pose
+
+    	// Publish pose message and buffer up to 100 messages
+    	MarPose_pub = node_vis.advertise<geometry_msgs::PoseStamped>("/marker_pose", 100);
+    	Transpose_pub = node_vis.advertise<geometry_msgs::PoseStamped>("/transposed_axis", 100);
+    	
+	commandPub = node_cont.advertise<geometry_msgs::Twist>("/base_controller/command",100);
+    	MarPose_Sub = node_vis.subscribe("/marker_pose",100,&PID4Docking::camCB,this);
+}
+
+  PID4Docking::~PID4Docking()
+  {
+	
+  }
+  Mat PID4Docking::getCurrentImage() 
+  {
+        return img;
+  }
+
+void PID4Docking::cvTackBarEvents(int value,void* ptr)
+{
+    PID4Docking* ic = (PID4Docking*)(ptr);
+    ic-> myhandler(value);
+}
+
+void PID4Docking::myhandler(int value)
+{
+        if (Thresh1_min<3) Thresh1_min=3;
+    
+    if (Thresh1_min%2!=1) Thresh1_min++;
+    
+    if (ThresParam2<1) ThresParam2=1;
+    
+    ThresParam1 = Thresh1_min;
+    ThresParam2 = Thresh2_min;
+    
+    MDetector.setThresholdParams(ThresParam1,ThresParam2);
+
+    // Recompute
+    MDetector.detect(TheInputImage,TheMarkers,TheCameraParameters);
+    // TheInputImageCopy is the output image for TheInputImage
+    TheInputImage.copyTo(TheInputImageCopy);
+
+    for (unsigned int i=0;i<TheMarkers.size();i++) 
+    {
+        TheMarkers[i].draw(TheInputImageCopy,Scalar(205,0,0),1);
+    }
+	
+    imshow("INPUT IMAGE",TheInputImageCopy);
+    //imshow("THRESHOLD IMAGE",MDetector.getThresholdedImage());
+}
+void PID4Docking::createTrackbars()
+{    
+	namedWindow(trackbarWindowName, 0);
+	createTrackbar("ThresParam 1", trackbarWindowName, &Thresh1_min, Thresh1_max, cvTackBarEvents, this);
+	createTrackbar("ThresParam 2", trackbarWindowName, &Thresh2_min, Thresh2_max, cvTackBarEvents, this);
+	
+}
+void PID4Docking::imageCb(const sensor_msgs::ImageConstPtr& msg)
+{
+    cv_bridge::CvImagePtr cv_ptr;
+    try
+    {
+      cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::BGR8);
+    }
+    catch (cv_bridge::Exception& e)
+    {
+      ROS_ERROR("cv_bridge exception: %s", e.what());
+    }
+
+    img = cv_ptr->image;
+    
+}
+
+bool PID4Docking::readArguments ( int argc,char **argv )
+{
+    if (argc<2) {
+        cerr<< "Invalid number of arguments!\n" <<endl;
+        cerr<< "Usage: (in.avi|live|copy) [intrinsics.yml] [marker's width/height]" <<endl;
+        return false;
+    }
+    TheInputVideo=argv[1];
+    if (argc>=3)
+        TheIntrinsicFile=argv[2];
+    if (argc>=4)
+        TheMarkerSize=atof(argv[3]);
+    if (argc==3)
+        cerr<< "NOTE: You need makersize to see 3d info!" <<endl;
+    return true;
+}
+
+void PID4Docking::ProgStart(int argc,char** argv)
+{
+	// Show images, press "SPACE" to diable image
+        // rendering to save CPU time
+        
+	if (readArguments(argc,argv)==false)
+	{
+		cerr<<"check the authenticity of your file again!"<<endl;
+		node_vis.shutdown();
+	}
+	createTrackbars();
+	
+	// IP address for raw3_lund    
+        const std::string vsa = "http://192.168.0.101:8080/video?x.mjpeg";
+        // -- publishing video stream with Android Camera--
+        
+	//TheVideoCapturer.open(vsa);
+
+	TheVideoCapturer.open(0);
+	
+	// Check video is open
+	if (!TheVideoCapturer.isOpened())
+	{
+		cerr<<"Could not open video!!"<<endl;
+		node_vis.shutdown();
+	}
+	dock_started = ros::Time::now().toSec();
+	// Read first image to get the dimensions
+	TheVideoCapturer>>TheInputImage;
+
+	// Read camera parameters if passed
+	if (TheIntrinsicFile!="") {
+		TheCameraParameters.readFromXMLFile(TheIntrinsicFile);
+		TheCameraParameters.resize(TheInputImage.size());
+	}
+
+	// Configure other parameters
+	if (ThePyrDownLevel>0)
+	{
+		MDetector.pyrDown(ThePyrDownLevel);
+        }
+        
+	MDetector.setCornerRefinementMethod(MarkerDetector::LINES);
+			
+	char key=0;
+	int index=0;
+
+	//ros::Rate rate(10);
+	// Capture until press ESC or until the end of the video
+
+
+			/*// Detection of markers in the image passed
+			MDetector.detect(TheInputImage,TheMarkers,TheCameraParameters,TheMarkerSize);
+			TheInputImage.copyTo(TheInputImageCopy);
+
+			Mat R_init(3,3,cv::DataType<float>::type);
+			Rodrigues(TheMarkers[0].Rvec,R_init);
+			yaw_1 = atan2(R_init.at<float>(2,1), R_init.at<float>(2,2)); // yaw_init*/
+
+	while ((key != 'x') && (key!=27) && TheVideoCapturer.grab() && node_vis.ok() && keepMoving)
+	{
+		TT_S = ros::Time::now().toSec();
+
+		if (TheVideoCapturer.retrieve(TheInputImage))
+		{
+			// Detection of markers in the image passed
+			MDetector.detect(TheInputImage,TheMarkers,TheCameraParameters,TheMarkerSize);
+			TheInputImage.copyTo(TheInputImageCopy);
+
+			geometry_msgs::PoseStamped msg;
+                	geometry_msgs::PoseStamped msg_t;
+			
+			if (TheMarkers.size()>0)
+			{
+				found = true;
+				//ROS_INFO("MARKER FOUND!!! ... \n");
+			}else
+			{
+		        	found = false;
+				keepMoving = false;
+				ROS_INFO_STREAM("Marker is lost, successful docking trials : " << (docking_counter - 1) << "\n");
+			}
+			if (node_vis.ok() && found)
+			{
+
+
+				Mat R(3,3,cv::DataType<float>::type);
+				Rodrigues(TheMarkers[0].Rvec,R);
+
+				y_t = TheMarkers[0].Tvec.at<Vec3f>(0,0)[0];
+				x_t = TheMarkers[0].Tvec.at<Vec3f>(0,0)[1];
+				z_t = TheMarkers[0].Tvec.at<Vec3f>(0,0)[2];
+
+				roll  = atan2(R.at<float>(1,0), R.at<float>(0,0));	
+				pitch = atan2(-R.at<float>(2,0),pow((pow(R.at<float>(2,1),2)+pow(R.at<float>(2,2),2)),.5));
+				yaw   = atan2(R.at<float>(2,1), R.at<float>(2,2)); // useful
+
+				// just to publish the transpose values
+				// Publish Position
+				msg_t.pose.position.x = x_t;
+				msg_t.pose.position.y = y_t;
+				msg_t.pose.position.z = z_t;
+				
+				// Publish Orientation
+				msg_t.pose.orientation.x = roll;
+				msg_t.pose.orientation.y = pitch;
+				msg_t.pose.orientation.z = yaw;
+
+				/*if(yaw_1 > 0)
+				{
+					if (yaw < 0)
+					{
+						
+						msg_t.pose.orientation.z = yaw_prev;
+						theta_with_offset = yaw_prev - y_off;
+						x_robINmar_coor =  z_t * cos(yaw_prev) - y_t * sin(yaw_prev);
+						y_robINmar_coor =  -z_t * sin(yaw_prev) + y_t * cos(yaw_prev);
+					} else
+					{
+						yaw_prev = yaw;						
+						msg_t.pose.orientation.z = yaw;
+						theta_with_offset = yaw - y_off;
+						x_robINmar_coor =  z_t * cos(yaw) - y_t * sin(yaw);
+						y_robINmar_coor =  -z_t * sin(yaw) + y_t * cos(yaw);
+		
+					}
+				} else
+				{
+					if (yaw > 0)
+					{
+						
+						msg_t.pose.orientation.z = yaw_prev;
+						theta_with_offset = yaw_prev + y_off;
+						x_robINmar_coor =  z_t * cos(yaw_prev) - y_t * sin(yaw_prev);
+						y_robINmar_coor =  -z_t * sin(yaw_prev) + y_t * cos(yaw_prev);
+					} else
+					{
+						yaw_prev = yaw;
+						msg_t.pose.orientation.z = yaw;	
+						theta_with_offset = yaw + y_off;
+						x_robINmar_coor =  z_t * cos(yaw) - y_t * sin(yaw);
+						y_robINmar_coor =  -z_t * sin(yaw) + y_t * cos(yaw);		
+					}
+				}*/
+				Transpose_pub.publish(msg_t);
+				
+
+	// yaw has an offset of 180 deg.
+	if (yaw > 0)
+	{
+		theta_with_offset = yaw - y_off;
+	} else
+	{
+		theta_with_offset = yaw + y_off;
+	}
+	x_robINmar_coor =  z_t * cos(yaw) - y_t * sin(yaw);
+	y_robINmar_coor =  -z_t * sin(yaw) + y_t * cos(yaw);
+
+
+	/*x_robINmar_coor =  z_t * cos(theta_with_offset) - y_t * sin(theta_with_offset);
+	y_robINmar_coor =  -z_t * sin(theta_with_offset) + y_t * cos(theta_with_offset);*/
+
+
+// Adding Camera frame to Robot Frame ---
+tf::Quaternion quat_CAM = tf::createQuaternionFromRPY(0, 0, 0);
+broadcaster.sendTransform(tf::StampedTransform(tf::Transform(quat_CAM,tf::Vector3(.25, 0, .5)),ros::Time::now(),"/base_link","/camera"));
+
+/*// Adding Marker frame to Camera Frame ---
+tf::Quaternion quat_M = tf::createQuaternionFromRPY(roll,pitch,theta_with_offset);
+broadcaster.sendTransform(tf::StampedTransform(tf::Transform(quat_M,tf::Vector3(x_t, y_robINmar_coor, x_robINmar_coor)),ros::Time::now(),"/camera","/marker"));*/
+
+// Adding Marker frame to Camera Frame ---
+tf::Quaternion quat_M = tf::createQuaternionFromRPY(roll,pitch,theta_with_offset);
+broadcaster.sendTransform(tf::StampedTransform(tf::Transform(quat_M,tf::Vector3(x_t, y_robINmar_coor, x_robINmar_coor)),ros::Time::now(),"/camera","/marker"));
+
+
+				msg.header.frame_id = "/camera";
+				
+				// Publish Position
+				msg.pose.position.x = x_t;
+				msg.pose.position.y = y_robINmar_coor;
+				msg.pose.position.z = x_robINmar_coor;
+				
+				// Publish Orientation
+				msg.pose.orientation.x = roll;
+				msg.pose.orientation.y = pitch;
+				msg.pose.orientation.z = theta_with_offset;
+
+				MarPose_pub.publish(msg);
+				
+			}
+
+				for (unsigned int i=0;i<TheMarkers.size();i++)
+				{
+					int currentMarID = TheMarkers[i].id;
+					TheMarkers[i].draw(TheInputImageCopy,Scalar(0,255,0),2)	;
+				
+					CvDrawingUtils::draw3dCube(TheInputImageCopy,TheMarkers[i],TheCameraParameters);
+					CvDrawingUtils::draw3dAxis(TheInputImageCopy,TheMarkers[i],TheCameraParameters);
+
+					//Marker ID to string
+    					stringstream marker_id_string;
+    					marker_id_string << "marker_ " << currentMarID;
+				}
+
+				if (update_images)
+				{
+					imshow("INPUT IMAGE",TheInputImageCopy);
+					imshow("THRESHOLD IMAGE",MDetector.getThresholdedImage());
+				}
+		}else
+		{
+        		printf("retrieve failed\n");
+		}
+
+key=cv::waitKey(30);
+// If space is hit, don't render the image.
+
+if (key == ' ')
+{
+	update_images = !update_images;
+}
+
+		ros::spinOnce();
+		
+		TT_E = ros::Time::now().toSec();
+		ROS_INFO_STREAM(" visualization while loop duration = " << (TT_E - TT_S) <<" \n");
+
+	}
+}
+void PID4Docking::camCB(const geometry_msgs::PoseStamped::ConstPtr& CamFB) // subscriber
+{
+     	camPose[0] = CamFB->pose.position.x; // not important!!!
+	camPose[1] = CamFB->pose.position.y; // y_cam
+	camPose[2] = CamFB->pose.position.z; // x_cam
+	camPose[3] = CamFB->pose.orientation.x; //  Robot roll
+	camPose[4] = CamFB->pose.orientation.y; //  Robot pitch
+	camPose[5] = CamFB->pose.orientation.z; //  Camera yaw
+
+	ROS_INFO_STREAM(" --------------------- Pose estimation ------------------ \n");
+	ROS_INFO_STREAM(" theta = " << camPose[5] << " rad =~ " << camPose[5]*(180.0/CV_PI) << " deg\n");
+	ROS_INFO_STREAM(" theta_ref = " << RefPose[3] << " rad =~ " << (180/CV_PI) * RefPose[3] << " deg\n");
+	
+	ROS_INFO_STREAM(" yaw = " << yaw << " rad =~ " << yaw*(180.0/CV_PI) << " deg \n");
+	//ROS_INFO_STREAM(" yaw_init = " << yaw_1 << " rad =~ " << yaw_1*(180.0/CV_PI) << " deg \n");
+	ROS_INFO_STREAM(" X_mar = " << camPose[2] << " vs. X_ref = " << RefPose[2] << " \n");
+        ROS_INFO_STREAM(" Y_mar = " << camPose[1] << " vs. Y_ref = " << RefPose[1] << " \n");
+        ROS_INFO_STREAM(" y_t = " << y_t << " , x_t = " << z_t << "\n");
+	ROS_INFO_STREAM("------------------------------------------------------  \n ");
+
+	if(Go2RandomPose == false)
+	{
+		ROS_INFO_STREAM("---------- MOVING TOWARDS DOCKING PLATFORM ---------  \n ");
+		if (
+            		(abs(RefPose[2] - camPose[2]) <= x_dock_thresh)
+            	)
+        	{
+			dock_finished = ros::Time::now().toSec();
+			docking_duration = dock_finished - dock_started;
+			ROS_INFO_STREAM("docking No. " << docking_counter << " is finished in "<< docking_duration <<" sec, moving to new Random Pose\n");		
+			keepMoving = false;
+			GenerateRandomVal();
+			docking_counter ++;
+			speed_reducer_X = speed_reducer_Y = speed_reducer_theta = 1;
+			//Go2RandomPose = true;
+
+		// to make sure that y & theta are within the threshold...
+        	} else if (abs(RefPose[2] - camPose[2]) <= safety_margin_X)
+		{
+			if(
+				(abs(RefPose[1] - camPose[1]) > y_dock_thresh) || 
+				(abs(RefPose[3] - camPose[5]) > theta_dock_thresh)
+			)
+			{	
+				ROS_INFO_STREAM(" delta_X < " << safety_margin_X << " m., Fixing Y or theta. \n ");     
+				speed_reducer_Y = speed_reducer_theta = 1;		
+				Controller(RefPose[2], RefPose[2], RefPose[1], camPose[1], RefPose[3], camPose[5],.1);
+			} else if(
+				(abs(RefPose[1] - camPose[1]) <= y_dock_thresh) && 
+				(abs(RefPose[3] - camPose[5]) <= theta_dock_thresh)	
+				)
+			{
+				ROS_INFO("y & theta fixed successfully, MOVING STRAIGHT AHEAD ... \n");
+
+				/*speed_reducer_X = .06; // for x_dot = .1 =>.06*/
+				speed_reducer_X = .04; // for x_dot = .15 =>.04  ---- optimal docking time and Y-axis offset ----
+				/*speed_reducer_X = .0375; // for x_dot = .16 =>.0375*/
+
+				Controller(RefPose[2], camPose[2], RefPose[1], RefPose[1], RefPose[3], RefPose[3],.1);
+			}
+		}else
+        	{
+			speed_reducer_X = 1;                	
+			Controller(RefPose[2], camPose[2], RefPose[1], camPose[1], RefPose[3], camPose[5],.1);
+		}
+	} else
+	{
+  		ROS_INFO("---------- MOVING TOWARDS RANDOM POSE ---------\n");		
+		Undocking(x_new,y_new,theta_new);
+	}
+}
+
+void PID4Docking::Controller(double RefX, double MarPoseX, double RefY, double MarPoseY, double RefYAW, double MarPoseYAW, double dt)
+{
+	ROS_INFO_STREAM("--------------------- Controller started ----------------------\n "); 
+        
+	// -----------------X--------------------- //        
+	if(abs(RefX - MarPoseX) > x_dock_thresh)
+	{			
+		/*// e(t) = setpoint - actual value;
+        	curr_errorX = RefX - MarPoseX;
+        
+        	// Integrated error
+        	int_errorX +=  curr_errorX * dt;
+        	// differentiation
+        	diffX = ((curr_errorX - prev_errorX) / dt);
+        	// scalling
+        	p_termX = Pos_Px * curr_errorX;
+        	i_termX = Pos_Ix * int_errorX;
+        	d_termX = Pos_Dx * diffX;
+        	// control signal
+        	control_signalX = p_termX + i_termX + d_termX;
+        	prev_errorX = curr_errorX;*/
+		
+		//control_signalX = speed_reducer_X * 0.1;
+		control_signalX = speed_reducer_X * 0.15;
+		//control_signalX = speed_reducer_X * 0.16;        
+        } else
+	{
+		control_signalX = 0;	// 5e-5
+	}
+        // -----------------Y--------------------- // 
+	 
+	if((RefY - MarPoseY) < -y_dock_thresh || (RefY - MarPoseY) > y_dock_thresh)
+	{	
+		// e(t) = setpoint - actual value;
+        	curr_errorY = RefY - MarPoseY;
+
+        	// Integrated error
+        	int_errorY +=  curr_errorY * dt;
+        	/*
+        	// -- windup gaurd -- 
+        	if (int_error < )
+        	{}
+       		else if ()
+        	{}*/
+        
+        	// differentiation
+        	diffY = ((curr_errorY - prev_errorY) / dt);
+        
+        	// scalling
+        	p_termY = Kp_y * curr_errorY;
+        	i_termY = Ki_y * int_errorY;
+        	d_termY = Kd_y * diffY;
+
+//ROS_INFO_STREAM("pY = " << p_termY << ", iY = " << i_termY << " dY = " << d_termY<< " \n");	      
+        	
+        	control_signalY = p_termY + i_termY + d_termY;
+
+		control_signalY = -speed_reducer_Y * control_signalY;
+
+//		control_signalY = speed_reducer_Y * control_signalY;
+		prev_errorY = curr_errorY;
+	
+	} else if ((RefY - MarPoseY) <= y_dock_thresh && (RefY - MarPoseY) >= -y_dock_thresh)
+	{
+		control_signalY = 0;	
+	}
+        
+	// -------------------YAW--------------------------//
+       if(abs(RefYAW - MarPoseYAW) > theta_dock_thresh)
+	{	
+		//ROS_INFO_STREAM("REF = "<< RefYAW<< ", theta = "<< MarPoseYAW<< ".\n");
+		// e(t) = setpoint - actual value;
+		curr_errorYAW = RefYAW - MarPoseYAW;
+        	// Integrated error
+        	int_errorYAW +=  curr_errorYAW * dt;
+        
+        	// differentiation
+        	diffYAW = ((curr_errorYAW - prev_errorYAW) / dt);
+
+		//ROS_INFO_STREAM(" adjusting orientation! \n");	        		
+		// scalling
+        	p_termYAW = Kp_theta * curr_errorYAW;
+       		i_termYAW = Ki_theta * int_errorYAW;
+       		d_termYAW = Kd_theta * diffYAW;
+        	
+//ROS_INFO_STREAM("p_theta = " << p_termYAW << ", i_theta = " << i_termYAW << " d_theta = " << d_termYAW << " \n");	      
+		// control signal
+        	control_signalYAW = p_termYAW + i_termYAW + d_termYAW;
+        	
+		
+        	// save the current error as the previous one
+        	// for the next iteration.
+        	prev_errorYAW = curr_errorYAW;
+    
+        } else if (abs(RefYAW - MarPoseYAW) <= theta_dock_thresh)
+	{
+		control_signalYAW = 0;	
+	} else 
+	{
+		ROS_INFO("New condition\n");	
+		keepMoving = false;	
+	}
+
+        /* ---
+	ROS_INFO_STREAM("Control signalX = " << control_signalX <<"\n");
+	ROS_INFO_STREAM("Control signalY = " << control_signalY << "\n");
+	ROS_INFO_STREAM("Control signalYAW = "<< control_signalYAW <<"\n");
+	//  */ dock(control_signalX, control_signalY, control_signalYAW);
+}
+
+void PID4Docking::dock(double VelX, double VelY, double omegaZ)
+{
+        ROS_INFO(".... REAL .... !");
+        geometry_msgs::Twist msg;
+        
+	msg.linear.x = VelX;
+	msg.linear.y = VelY;
+	msg.angular.z = omegaZ;
+	
+	commandPub.publish(msg);
+	
+	ROS_INFO_STREAM(" Current speed of robot: \n" << msg << "");
+}
+
+void PID4Docking::move2docking(double VelX_est, double VelY_est, double omegaZ_est)
+{
+	
+        ROS_INFO_STREAM(" Zmar = " << camPose[2] << " m. \n");
+        ROS_INFO_STREAM(" Zref = " << RefPose[2] << " m. \n");
+        
+        ROS_INFO_STREAM(" Ymar = " << camPose[1] << " m. \n");
+        ROS_INFO_STREAM(" Yref = " << RefPose[1] << " m. \n");
+        
+        ROS_INFO_STREAM(" rollmar = " << camPose[3] << " rad. \n");
+        ROS_INFO_STREAM(" rollref = " << RefPose[3] << " rad. \n");
+        
+	ROS_INFO(".... ESTIMATION .... !\n");
+        geometry_msgs::Twist msg;
+        
+        if (VelX_est == 0 && VelY_est == 0 && omegaZ_est == 0)
+        {
+                VelX_est = .0001;
+                VelX_est = .0001;
+                omegaZ_est = 0;
+        }
+        
+	msg.linear.x = VelX_est;
+	msg.linear.y = VelY_est;
+	msg.angular.z = omegaZ_est;
+	
+	commandPub.publish(msg);
+	
+	ROS_INFO_STREAM(" Current ESTIMATED speed of robot: \n" << msg << ".\n");
+}
+// ---- Controller part -------- END ------
+
+void PID4Docking::GenerateRandomVal()
+{
+
+	// ---------------- PID gains ------------------
+	Kp_y = ((double) rand() / (RAND_MAX)) * (.76 - .4) + .4; 	//.1 < Kp < .76
+	Ki_y = ((double) rand() / (RAND_MAX)) * .006;			// 0 < Ki < .006
+	Kd_y = ((double) rand() / (RAND_MAX)) * .02;			// 0 < Kd < .01
+	
+	// ------------------ Generating Random Pose ------------------
+	//x_new = ((double) rand() / (RAND_MAX)) * (1.1 - x_rand_SM) + x_rand_SM;
+	x_new = 1.1;
+	y_new = ((double) rand() / (RAND_MAX)) * (y_up - y_dwn) + y_dwn; // will be used for Q_Learning
+	theta_new = ((double) rand() / (RAND_MAX)) * (theta_up - theta_dwn) + theta_dwn; // will be used for Q_Learning
+}
+
+void PID4Docking::Undocking(double X_rand, double Y_rand, double theta_rand)
+{
+	ROS_INFO_STREAM(" Xr = " << X_rand << ", Yr = " << Y_rand << ", Thetar = " << theta_rand << " rad ~ " << theta_rand * (180/CV_PI) << " deg\n");
+	ROS_INFO_STREAM(" -------------------------------------------------------------- \n");
+
+double vel_x,vel_y,omega_z;
+
+geometry_msgs::Twist msg_new;
+	// CCW ==>> w > 0 , CW ==>> w < 0
+	// Leaving docking station, moving towards x-axis SM
+	if (X_rand - camPose[2] > x_thresh_undock)
+	{
+		ROS_INFO_STREAM(" Adjusting X, moving backward ... \n");
+		vel_x = -.04;
+	} else if (X_rand - camPose[2] < -x_thresh_undock)
+	{
+		ROS_INFO_STREAM(" Adjusting X, moving forward ... \n");
+		vel_x = .04;
+	}else if (abs(X_rand - camPose[2]) <= x_thresh_undock)
+	{
+		ROS_INFO(" X-axis is fixed, adjusting Y & theta - axes ... \n");
+		if ((camPose[1] - Y_rand > y_thresh_undock) && (theta_rand > 0))
+		{
+			if(abs(abs(camPose[3]) - abs(theta_rand)) > theta_thresh_undock)
+			{
+				ROS_INFO("moving 2 left side & CW rot. \n");			
+				vel_y = .03;
+				omega_z =  -.01;
+			} else
+			{
+				ROS_INFO("CW rot. is fixed, only moving 2 left side ...\n");
+				vel_y = .03;
+			}	
+		} else if ((camPose[1] - Y_rand < -y_thresh_undock) && (theta_rand < 0))
+		{
+			if(abs(abs(camPose[3]) - abs(theta_rand)) > theta_thresh_undock)
+			{
+				ROS_INFO("moving 2 right side & CCW rot. \n");			
+				vel_y = -.03;
+				omega_z = .01;
+			}else
+			{
+				ROS_INFO("CCW rot. is fixed, only moving 2 right side ... \n");
+				vel_y = -.03;
+			}
+		}else if (abs(camPose[1] - Y_rand) <= y_thresh_undock)
+		{
+			ROS_INFO(" Y-axis is fixed, adjusting theta-axis ... ! \n");			
+			if (abs(abs(camPose[3]) - abs(theta_rand)) <= theta_thresh_undock)
+			{			
+				ROS_INFO(" Robot is in a new random Pose! \n");			
+				//keepMoving = false;
+				Go2RandomPose = false;
+			} else
+			{
+				if(theta_rand > 0)
+				{
+					ROS_INFO_STREAM(" theta > 0 => Rob rot. is CW(-) \n");
+					omega_z = -.01;
+				} else
+				{
+					ROS_INFO_STREAM(" theta < 0 => Rob rot. is CCW(+) \n");
+					omega_z = .01;			
+				}
+			}
+		} else if ((camPose[1] - Y_rand > y_thresh_undock) && (theta_rand < 0))
+		{ 
+			if(abs(abs(camPose[3]) - abs(theta_rand)) > theta_thresh_undock)
+			{
+				ROS_INFO("moving 2 left side & CCW rot., chance of losing marker \n");			
+				vel_y = .03;
+				omega_z = .01;
+			} else
+			{
+				ROS_INFO("CCW rot. is fixed, only moving 2 left side ... \n");
+				vel_y = .03;
+			}		
+		} else if ((camPose[1] - Y_rand < -y_thresh_undock) && (theta_rand > 0))
+		{
+			if(abs(abs(camPose[3]) - abs(theta_rand)) > theta_thresh_undock)
+			{
+				ROS_INFO("moving 2 right side & CW rot., chance of losing marker \n");			
+				vel_y = -.03;
+				omega_z = -.01;
+			} else
+			{
+				ROS_INFO("CW rot. is fixed, only moving 2 right side ... \n");
+				vel_y = -.03;
+			}
+						
+		} else
+		{
+			ROS_INFO(" New condition should be added! \n");			
+			keepMoving = false;		
+		}			
+	}
+	msg_new.linear.x = vel_x;
+	msg_new.linear.y = vel_y;
+	msg_new.angular.z = omega_z;
+
+commandPub.publish(msg_new);
+	
+}
+
diff --git a/MobileRobot/docking_data/back_up_recording.cpp b/MobileRobot/docking_data/back_up_recording.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..bcbe824335f72a16ce7c003b27b503aa36417ad0
--- /dev/null
+++ b/MobileRobot/docking_data/back_up_recording.cpp
@@ -0,0 +1,832 @@
+#include <iostream>
+#include <fstream>
+#include <sstream>
+#include <array>
+#include <math.h>
+#include <unistd.h>
+#include <cstdlib>
+#include <stdio.h>      /* printf, scanf, puts, NULL */
+#include <stdlib.h>     /* srand, rand */
+#include <time.h>       /* time */
+
+#include <aruco/aruco.h>
+#include <aruco/cvdrawingutils.h>
+
+#include "ros/ros.h"
+
+#include <tf/transform_broadcaster.h>
+#include <tf/transform_listener.h>
+#include <tf/tf.h>
+
+#include <geometry_msgs/Pose.h>
+#include <geometry_msgs/PoseStamped.h>
+#include <geometry_msgs/Twist.h>
+
+#include <image_transport/image_transport.h>
+#include <cv_bridge/cv_bridge.h>
+#include <sensor_msgs/image_encodings.h>
+
+#include "opencv2/core/core_c.h"
+#include "opencv2/core/core.hpp"
+#include "opencv2/flann/miniflann.hpp"
+#include "opencv2/imgproc/imgproc_c.h"
+#include "opencv2/imgproc/imgproc.hpp"
+#include "opencv2/video/video.hpp"
+#include "opencv2/features2d/features2d.hpp"
+#include "opencv2/objdetect/objdetect.hpp"
+#include "opencv2/calib3d/calib3d.hpp"
+#include "opencv2/ml/ml.hpp"
+#include "opencv2/highgui/highgui_c.h"
+#include "opencv2/highgui/highgui.hpp"
+#include "opencv2/contrib/contrib.hpp"
+
+#include<VisionControl.h>
+
+using namespace cv;
+using namespace aruco;
+using namespace std;
+
+float PID4Docking::TheMarkerSize = .1; // Default marker size
+
+int PID4Docking::Thresh1_min = 75;
+int PID4Docking::Thresh2_min = 10;
+
+int PID4Docking::Thresh1_max = 300;
+int PID4Docking::Thresh2_max = 300;
+
+const string PID4Docking::trackbarWindowName = "Trackbars";
+
+int PID4Docking::ThePyrDownLevel = 0;
+
+bool PID4Docking::update_images = true;
+
+bool PID4Docking::found = false;
+bool PID4Docking::Go2RandomPose = false;
+
+int PID4Docking::ThresParam1 = 0;
+int PID4Docking::ThresParam2 = 0;
+
+// ---- CONTROLL PARAMETERS ------ //
+double PID4Docking::prev_errorX, PID4Docking::curr_errorX, PID4Docking::int_errorX, PID4Docking::diffX;
+
+double PID4Docking::p_termX = 0;
+double PID4Docking::i_termX = 0;
+double PID4Docking::d_termX = 0;
+
+double PID4Docking::prev_errorY, PID4Docking::curr_errorY, PID4Docking::int_errorY, PID4Docking::diffY;
+
+double PID4Docking::p_termY = 0;
+double PID4Docking::i_termY = 0;
+double PID4Docking::d_termY = 0;
+
+double PID4Docking::prev_errorYAW,PID4Docking::curr_errorYAW,PID4Docking::int_errorYAW,PID4Docking::diffYAW;
+
+double PID4Docking::p_termYAW = 0;
+double PID4Docking::i_termYAW = 0;
+double PID4Docking::d_termYAW = 0;
+
+double PID4Docking::control_signalX, PID4Docking::control_signalY, PID4Docking::control_signalYAW;
+// ---- CONTROLL PARAMETERS ------ //
+
+// ---- Ref. Values for Android Camera ---- //
+//const double PID4Docking::RefPose[4] = {-.0957, 0.00638817 /* Y_ref*/ ,  0.308857 /* X_ref*/ , 0.17 /* theta_ref*/}; 
+
+// ---- Ref. Values for Logitech Camera ---- //
+const double PID4Docking::RefPose[4] = {-.0957, -0.0185 /* Y_ref*/ , -0.2025 /* X_ref*/ , -0.05 /* theta_ref*/}; 
+
+//const double PID4Docking::RefPose[4] = {-.0957, 0.0185 /* Y_ref*/ , 0.2025 /* X_ref*/ , -0.05 /* theta_ref*/}; 
+
+// ----------------  PID gains---------------- //
+double PID4Docking::Kp_y = .266; //.4
+double PID4Docking::Ki_y = 0.0003 ;// 0
+double PID4Docking::Kd_y = 0.014; //.1
+
+double PID4Docking::Kp_theta = .25;// .18
+double PID4Docking::Ki_theta = 0; //* Ki_y; // .15 * Ki_y
+double PID4Docking::Kd_theta = 0; //* Kd_y; // .0008
+// ----------------  PID gains---------------- //
+
+
+double PID4Docking::TT_S,PID4Docking::TT_E;
+// random pose initialized
+const double PID4Docking::y_up = .3; 
+const double PID4Docking::y_dwn = -.1; 
+const double PID4Docking::theta_dwn = -.7 /*-RefPose[3]*/; 
+const double PID4Docking::theta_up = .7 /*RefPose[3]*/;
+
+double PID4Docking::x_new,PID4Docking::y_new,PID4Docking::theta_new;
+double PID4Docking::dock_started,PID4Docking::dock_finished,PID4Docking::docking_duration;
+
+double PID4Docking::speed_reducer_X = 1;
+double PID4Docking::speed_reducer_Y = 1;
+double PID4Docking::speed_reducer_theta = 1;
+
+// ------ offsets X, Y, theta for Docking ---------
+double PID4Docking::x_dock_thresh = .001;
+double PID4Docking::y_dock_thresh = .002; //.002
+double PID4Docking::theta_dock_thresh = (CV_PI/180) * .5; // .5 deg.
+
+double PID4Docking::safety_margin_X = .16; // safety margin X axis in docking process : 18 cm
+
+// ------ offsets X, Y, theta for Undocking ---------
+double PID4Docking::x_thresh_undock = .02;
+double PID4Docking::y_thresh_undock = .015;
+double PID4Docking::theta_thresh_undock = (CV_PI/180) * 3;
+
+double PID4Docking::docking_counter = 1;
+
+// ---- offsets for Roll, Pitch, Yaw ----//
+float PID4Docking::p_off = CV_PI;
+float PID4Docking::r_off = CV_PI/2;
+float PID4Docking::y_off = CV_PI;
+
+float PID4Docking::roll,PID4Docking::yaw,PID4Docking::pitch;
+float PID4Docking::yaw_1,PID4Docking::yaw_prev;
+
+double PID4Docking::theta_with_offset;
+
+double PID4Docking::x_robCen2cam = -.95/2; // x_cam from the center of robot
+double PID4Docking::y_robCen2cam = 0; // y_cam from the center of robot
+
+double PID4Docking::x_robINmar_coor,PID4Docking::y_robINmar_coor;
+
+float PID4Docking::x_t, PID4Docking::y_t, PID4Docking::z_t; 
+
+
+PID4Docking::PID4Docking()
+{	
+	keepMoving = true;    
+    
+	/* initialize random seed: */
+  	srand (time(NULL));
+
+	x_rand_SM = RefPose[2] + .55; // 55 cm spreading domain in the x-axis while moving towards the random pose
+
+    	// Publish pose message and buffer up to 100 messages
+    	MarPose_pub = node_vis.advertise<geometry_msgs::PoseStamped>("/marker_pose", 100);
+    	Transpose_pub = node_vis.advertise<geometry_msgs::PoseStamped>("/transposed_axis", 100);
+    	
+	commandPub = node_cont.advertise<geometry_msgs::Twist>("/base_controller/command",100);
+    	MarPose_Sub = node_vis.subscribe("/marker_pose",100,&PID4Docking::camCB,this);
+}
+
+  PID4Docking::~PID4Docking()
+  {
+	
+  }
+  Mat PID4Docking::getCurrentImage() 
+  {
+        return img;
+  }
+
+void PID4Docking::cvTackBarEvents(int value,void* ptr)
+{
+    PID4Docking* ic = (PID4Docking*)(ptr);
+    ic-> myhandler(value);
+}
+
+void PID4Docking::myhandler(int value)
+{
+        if (Thresh1_min<3) Thresh1_min=3;
+    
+    if (Thresh1_min%2!=1) Thresh1_min++;
+    
+    if (ThresParam2<1) ThresParam2=1;
+    
+    ThresParam1 = Thresh1_min;
+    ThresParam2 = Thresh2_min;
+    
+    MDetector.setThresholdParams(ThresParam1,ThresParam2);
+
+    // Recompute
+    MDetector.detect(TheInputImage,TheMarkers,TheCameraParameters);
+    // TheInputImageCopy is the output image for TheInputImage
+    TheInputImage.copyTo(TheInputImageCopy);
+
+    for (unsigned int i=0;i<TheMarkers.size();i++) 
+    {
+        TheMarkers[i].draw(TheInputImageCopy,Scalar(205,0,0),1);
+    }
+	
+    imshow("INPUT IMAGE",TheInputImageCopy);
+    //imshow("THRESHOLD IMAGE",MDetector.getThresholdedImage());
+}
+void PID4Docking::createTrackbars()
+{    
+	namedWindow(trackbarWindowName, 0);
+	createTrackbar("ThresParam 1", trackbarWindowName, &Thresh1_min, Thresh1_max, cvTackBarEvents, this);
+	createTrackbar("ThresParam 2", trackbarWindowName, &Thresh2_min, Thresh2_max, cvTackBarEvents, this);
+	
+}
+void PID4Docking::imageCb(const sensor_msgs::ImageConstPtr& msg)
+{
+    cv_bridge::CvImagePtr cv_ptr;
+    try
+    {
+      cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::BGR8);
+    }
+    catch (cv_bridge::Exception& e)
+    {
+      ROS_ERROR("cv_bridge exception: %s", e.what());
+    }
+
+    img = cv_ptr->image;
+    
+}
+
+bool PID4Docking::readArguments ( int argc,char **argv )
+{
+    if (argc<2) {
+        cerr<< "Invalid number of arguments!\n" <<endl;
+        cerr<< "Usage: (in.avi|live|copy) [intrinsics.yml] [marker's width/height]" <<endl;
+        return false;
+    }
+    TheInputVideo=argv[1];
+    if (argc>=3)
+        TheIntrinsicFile=argv[2];
+    if (argc>=4)
+        TheMarkerSize=atof(argv[3]);
+    if (argc==3)
+        cerr<< "NOTE: You need makersize to see 3d info!" <<endl;
+    return true;
+}
+
+void PID4Docking::ProgStart(int argc,char** argv)
+{
+	// Show images, press "SPACE" to diable image
+        // rendering to save CPU time
+        
+	if (readArguments(argc,argv)==false)
+	{
+		cerr<<"check the authenticity of your file again!"<<endl;
+		node_vis.shutdown();
+	}
+	createTrackbars();
+	
+	// IP address for raw3_lund    
+        const std::string vsa = "http://192.168.0.101:8080/video?x.mjpeg";
+        // -- publishing video stream with Android Camera--
+        
+	//TheVideoCapturer.open(vsa);
+
+	TheVideoCapturer.open(0);
+	
+	// Check video is open
+	if (!TheVideoCapturer.isOpened())
+	{
+		cerr<<"Could not open video!!"<<endl;
+		node_vis.shutdown();
+	}
+	dock_started = ros::Time::now().toSec();
+	// Read first image to get the dimensions
+	TheVideoCapturer>>TheInputImage;
+
+	// Read camera parameters if passed
+	if (TheIntrinsicFile!="") {
+		TheCameraParameters.readFromXMLFile(TheIntrinsicFile);
+		TheCameraParameters.resize(TheInputImage.size());
+	}
+
+	// Configure other parameters
+	if (ThePyrDownLevel>0)
+	{
+		MDetector.pyrDown(ThePyrDownLevel);
+        }
+        
+	MDetector.setCornerRefinementMethod(MarkerDetector::LINES);
+			
+	char key=0;
+	int index=0;
+
+	//ros::Rate rate(10);
+	// Capture until press ESC or until the end of the video
+
+
+			// Detection of markers in the image passed
+			MDetector.detect(TheInputImage,TheMarkers,TheCameraParameters,TheMarkerSize);
+			TheInputImage.copyTo(TheInputImageCopy);
+
+			Mat R_init(3,3,cv::DataType<float>::type);
+			Rodrigues(TheMarkers[0].Rvec,R_init);
+			yaw_1 = atan2(R_init.at<float>(2,1), R_init.at<float>(2,2)); // yaw_init
+
+	while ((key != 'x') && (key!=27) && TheVideoCapturer.grab() && node_vis.ok() && keepMoving)
+	{
+		TT_S = ros::Time::now().toSec();
+
+		if (TheVideoCapturer.retrieve(TheInputImage))
+		{
+			// Detection of markers in the image passed
+			MDetector.detect(TheInputImage,TheMarkers,TheCameraParameters,TheMarkerSize);
+			TheInputImage.copyTo(TheInputImageCopy);
+
+			geometry_msgs::PoseStamped msg;
+                	geometry_msgs::PoseStamped msg_t;
+			
+			if (TheMarkers.size()>0)
+			{
+				found = true;
+				//ROS_INFO("MARKER FOUND!!! ... \n");
+			}else
+			{
+		        	found = false;
+				keepMoving = false;
+				ROS_INFO_STREAM("Marker is lost, successful docking trials : " << (docking_counter - 1) << "\n");
+			}
+			if (node_vis.ok() && found)
+			{
+
+
+				Mat R(3,3,cv::DataType<float>::type);
+				Rodrigues(TheMarkers[0].Rvec,R);
+
+				y_t = TheMarkers[0].Tvec.at<Vec3f>(0,0)[0];
+				x_t = TheMarkers[0].Tvec.at<Vec3f>(0,0)[1];
+				z_t = TheMarkers[0].Tvec.at<Vec3f>(0,0)[2];
+
+				roll  = atan2(R.at<float>(1,0), R.at<float>(0,0));	
+				pitch = atan2(-R.at<float>(2,0),pow((pow(R.at<float>(2,1),2)+pow(R.at<float>(2,2),2)),.5));
+				yaw   = atan2(R.at<float>(2,1), R.at<float>(2,2)); // useful
+
+				// just to publish the transpose values
+				// Publish Position
+				msg_t.pose.position.x = x_t;
+				msg_t.pose.position.y = y_t;
+				msg_t.pose.position.z = z_t;
+				
+				// Publish Orientation
+				msg_t.pose.orientation.x = roll;
+				msg_t.pose.orientation.y = pitch;
+				//msg_t.pose.orientation.z = yaw;
+
+				if(yaw_1 > 0)
+				{
+					if (yaw < 0)
+					{
+						
+						msg_t.pose.orientation.z = yaw_prev;
+						theta_with_offset = yaw_prev - y_off;
+						x_robINmar_coor =  z_t * cos(yaw_prev) - y_t * sin(yaw_prev);
+						y_robINmar_coor =  -z_t * sin(yaw_prev) + y_t * cos(yaw_prev);
+					} else
+					{
+						yaw_prev = yaw;				
+						msg_t.pose.orientation.z = yaw;
+						theta_with_offset = yaw - y_off;
+						x_robINmar_coor =  z_t * cos(yaw) - y_t * sin(yaw);
+						y_robINmar_coor =  -z_t * sin(yaw) + y_t * cos(yaw);
+		
+					}
+				} else
+				{
+					if (yaw > 0)
+					{
+						
+						msg_t.pose.orientation.z = yaw_prev;
+						theta_with_offset = yaw_prev + y_off;
+						x_robINmar_coor =  z_t * cos(yaw_prev) - y_t * sin(yaw_prev);
+						y_robINmar_coor =  -z_t * sin(yaw_prev) + y_t * cos(yaw_prev);
+					} else
+					{
+						yaw_prev = yaw;
+						msg_t.pose.orientation.z = yaw;	
+						theta_with_offset = yaw + y_off;
+						x_robINmar_coor =  z_t * cos(yaw) - y_t * sin(yaw);
+						y_robINmar_coor =  -z_t * sin(yaw) + y_t * cos(yaw);		
+					}
+				}
+				Transpose_pub.publish(msg_t);
+				
+
+/*	// yaw has an offset of 180 deg.
+	if (yaw > 0)
+	{
+		theta_with_offset = yaw - y_off;
+	} else
+	{
+		theta_with_offset = yaw + y_off;
+	}
+*/
+
+	/*x_robINmar_coor =  z_t * cos(yaw) - y_t * sin(yaw);
+	y_robINmar_coor =  -z_t * sin(yaw) + y_t * cos(yaw);*/
+
+
+	/*x_robINmar_coor =  z_t * cos(theta_with_offset) - y_t * sin(theta_with_offset);
+	y_robINmar_coor =  -z_t * sin(theta_with_offset) + y_t * cos(theta_with_offset);*/
+
+
+// Adding Camera frame to Robot Frame ---
+tf::Quaternion quat_CAM = tf::createQuaternionFromRPY(0, 0, 0);
+broadcaster.sendTransform(tf::StampedTransform(tf::Transform(quat_CAM,tf::Vector3(.25, 0, .5)),ros::Time::now(),"/base_link","/camera"));
+
+/*// Adding Marker frame to Camera Frame ---
+tf::Quaternion quat_M = tf::createQuaternionFromRPY(roll,pitch,theta_with_offset);
+broadcaster.sendTransform(tf::StampedTransform(tf::Transform(quat_M,tf::Vector3(x_t, y_robINmar_coor, x_robINmar_coor)),ros::Time::now(),"/camera","/marker"));*/
+
+// Adding Marker frame to Camera Frame ---
+tf::Quaternion quat_M = tf::createQuaternionFromRPY(roll,pitch,theta_with_offset);
+broadcaster.sendTransform(tf::StampedTransform(tf::Transform(quat_M,tf::Vector3(x_t, y_robINmar_coor, x_robINmar_coor)),ros::Time::now(),"/camera","/marker"));
+
+
+				msg.header.frame_id = "/camera";
+				
+				// Publish Position
+				msg.pose.position.x = x_t;
+				msg.pose.position.y = y_robINmar_coor;
+				msg.pose.position.z = x_robINmar_coor;
+				
+				// Publish Orientation
+				msg.pose.orientation.x = roll;
+				msg.pose.orientation.y = pitch;
+				msg.pose.orientation.z = theta_with_offset;
+
+				MarPose_pub.publish(msg);
+				
+			}
+
+				for (unsigned int i=0;i<TheMarkers.size();i++)
+				{
+					int currentMarID = TheMarkers[i].id;
+					TheMarkers[i].draw(TheInputImageCopy,Scalar(0,255,0),2)	;
+				
+					CvDrawingUtils::draw3dCube(TheInputImageCopy,TheMarkers[i],TheCameraParameters);
+					CvDrawingUtils::draw3dAxis(TheInputImageCopy,TheMarkers[i],TheCameraParameters);
+
+					//Marker ID to string
+    					stringstream marker_id_string;
+    					marker_id_string << "marker_ " << currentMarID;
+				}
+
+				if (update_images)
+				{
+					imshow("INPUT IMAGE",TheInputImageCopy);
+					imshow("THRESHOLD IMAGE",MDetector.getThresholdedImage());
+				}
+		}else
+		{
+        		printf("retrieve failed\n");
+		}
+
+key=cv::waitKey(30);
+// If space is hit, don't render the image.
+
+if (key == ' ')
+{
+	update_images = !update_images;
+}
+
+		ros::spinOnce();
+		
+		TT_E = ros::Time::now().toSec();
+		ROS_INFO_STREAM(" visualization while loop duration = " << (TT_E - TT_S) <<" \n");
+
+	}
+}
+void PID4Docking::camCB(const geometry_msgs::PoseStamped::ConstPtr& CamFB) // subscriber
+{
+     	camPose[0] = CamFB->pose.position.x; // not important!!!
+	camPose[1] = CamFB->pose.position.y; // y_cam
+	camPose[2] = CamFB->pose.position.z; // x_cam
+	camPose[3] = CamFB->pose.orientation.x; //  Robot roll
+	camPose[4] = CamFB->pose.orientation.y; //  Robot pitch
+	camPose[5] = CamFB->pose.orientation.z; //  Camera yaw
+
+	ROS_INFO_STREAM(" --------------------- Pose estimation ------------------ \n");
+	ROS_INFO_STREAM(" theta = " << camPose[5] << " rad =~ " << camPose[5]*(180.0/CV_PI) << " deg\n");
+	ROS_INFO_STREAM(" theta_ref = " << RefPose[3] << " rad =~ " << (180/CV_PI) * RefPose[3] << " deg\n");
+	
+	ROS_INFO_STREAM(" yaw = " << yaw << " rad =~ " << yaw*(180.0/CV_PI) << " deg \n");
+	ROS_INFO_STREAM(" yaw_init = " << yaw_1 << " rad =~ " << yaw_1*(180.0/CV_PI) << " deg \n");
+	ROS_INFO_STREAM(" X_mar = " << camPose[2] << " vs. X_ref = " << RefPose[2] << " \n");
+        ROS_INFO_STREAM(" Y_mar = " << camPose[1] << " vs. Y_ref = " << RefPose[1] << " \n");
+        ROS_INFO_STREAM(" y_t = " << y_t << " , x_t = " << z_t << "\n");
+	ROS_INFO_STREAM("------------------------------------------------------  \n ");
+
+	if(Go2RandomPose == false)
+	{
+		ROS_INFO_STREAM("---------- MOVING TOWARDS DOCKING PLATFORM ---------  \n ");
+		if (
+            		(abs(RefPose[2] - camPose[2]) <= x_dock_thresh)
+            	)
+        	{
+			dock_finished = ros::Time::now().toSec();
+			docking_duration = dock_finished - dock_started;
+			ROS_INFO_STREAM("docking No. " << docking_counter << " is finished in "<< docking_duration <<" sec, moving to new Random Pose\n");		
+			keepMoving = false;
+			GenerateRandomVal();
+			docking_counter ++;
+			speed_reducer_X = speed_reducer_Y = speed_reducer_theta = 1;
+			//Go2RandomPose = true;
+
+		// to make sure that y & theta are within the threshold...
+        	} else if (abs(RefPose[2] - camPose[2]) <= safety_margin_X)
+		{
+			if(
+				(abs(RefPose[1] - camPose[1]) > y_dock_thresh) || 
+				(abs(RefPose[3] - camPose[5]) > theta_dock_thresh)
+			)
+			{	
+				ROS_INFO_STREAM(" delta_X < " << safety_margin_X << " m., Fixing Y or theta. \n ");     
+				speed_reducer_Y = speed_reducer_theta = 1;		
+				Controller(RefPose[2], RefPose[2], RefPose[1], camPose[1], RefPose[3], camPose[5],.1);
+			} else if(
+				(abs(RefPose[1] - camPose[1]) <= y_dock_thresh) && 
+				(abs(RefPose[3] - camPose[5]) <= theta_dock_thresh)	
+				)
+			{
+				ROS_INFO("y & theta fixed successfully, MOVING STRAIGHT AHEAD ... \n");
+
+				/*speed_reducer_X = .06; // for x_dot = .1 =>.06*/
+				speed_reducer_X = .04; // for x_dot = .15 =>.04  ---- optimal docking time and Y-axis offset ----
+				/*speed_reducer_X = .0375; // for x_dot = .16 =>.0375*/
+
+				Controller(RefPose[2], camPose[2], RefPose[1], RefPose[1], RefPose[3], RefPose[3],.1);
+			}
+		}else
+        	{
+			speed_reducer_X = 1;                	
+			Controller(RefPose[2], camPose[2], RefPose[1], camPose[1], RefPose[3], camPose[5],.1);
+		}
+	} else
+	{
+  		ROS_INFO("---------- MOVING TOWARDS RANDOM POSE ---------\n");		
+		Undocking(x_new,y_new,theta_new);
+	}
+}
+
+void PID4Docking::Controller(double RefX, double MarPoseX, double RefY, double MarPoseY, double RefYAW, double MarPoseYAW, double dt)
+{
+	ROS_INFO_STREAM("--------------------- Controller started ----------------------\n "); 
+        
+	// -----------------X--------------------- //        
+	if(abs(RefX - MarPoseX) > x_dock_thresh)
+	{			
+		/*// e(t) = setpoint - actual value;
+        	curr_errorX = RefX - MarPoseX;
+        
+        	// Integrated error
+        	int_errorX +=  curr_errorX * dt;
+        	// differentiation
+        	diffX = ((curr_errorX - prev_errorX) / dt);
+        	// scalling
+        	p_termX = Pos_Px * curr_errorX;
+        	i_termX = Pos_Ix * int_errorX;
+        	d_termX = Pos_Dx * diffX;
+        	// control signal
+        	control_signalX = p_termX + i_termX + d_termX;
+        	prev_errorX = curr_errorX;*/
+		
+		//control_signalX = speed_reducer_X * 0.1;
+		control_signalX = speed_reducer_X * 0.15;
+		//control_signalX = speed_reducer_X * 0.16;        
+        } else
+	{
+		control_signalX = 0;	// 5e-5
+	}
+        // -----------------Y--------------------- // 
+	 
+	if((RefY - MarPoseY) < -y_dock_thresh || (RefY - MarPoseY) > y_dock_thresh)
+	{	
+		// e(t) = setpoint - actual value;
+        	curr_errorY = RefY - MarPoseY;
+
+        	// Integrated error
+        	int_errorY +=  curr_errorY * dt;
+        	/*
+        	// -- windup gaurd -- 
+        	if (int_error < )
+        	{}
+       		else if ()
+        	{}*/
+        
+        	// differentiation
+        	diffY = ((curr_errorY - prev_errorY) / dt);
+        
+        	// scalling
+        	p_termY = Kp_y * curr_errorY;
+        	i_termY = Ki_y * int_errorY;
+        	d_termY = Kd_y * diffY;
+
+//ROS_INFO_STREAM("pY = " << p_termY << ", iY = " << i_termY << " dY = " << d_termY<< " \n");	      
+        	
+        	control_signalY = p_termY + i_termY + d_termY;
+
+		control_signalY = -speed_reducer_Y * control_signalY;
+
+//		control_signalY = speed_reducer_Y * control_signalY;
+		prev_errorY = curr_errorY;
+	
+	} else if ((RefY - MarPoseY) <= y_dock_thresh && (RefY - MarPoseY) >= -y_dock_thresh)
+	{
+		control_signalY = 0;	
+	}
+        
+	// -------------------YAW--------------------------//
+       if(abs(RefYAW - MarPoseYAW) > theta_dock_thresh)
+	{	
+		//ROS_INFO_STREAM("REF = "<< RefYAW<< ", theta = "<< MarPoseYAW<< ".\n");
+		// e(t) = setpoint - actual value;
+		curr_errorYAW = RefYAW - MarPoseYAW;
+        	// Integrated error
+        	int_errorYAW +=  curr_errorYAW * dt;
+        
+        	// differentiation
+        	diffYAW = ((curr_errorYAW - prev_errorYAW) / dt);
+
+		//ROS_INFO_STREAM(" adjusting orientation! \n");	        		
+		// scalling
+        	p_termYAW = Kp_theta * curr_errorYAW;
+       		i_termYAW = Ki_theta * int_errorYAW;
+       		d_termYAW = Kd_theta * diffYAW;
+        	
+//ROS_INFO_STREAM("p_theta = " << p_termYAW << ", i_theta = " << i_termYAW << " d_theta = " << d_termYAW << " \n");	      
+		// control signal
+        	control_signalYAW = p_termYAW + i_termYAW + d_termYAW;
+        	
+		
+        	// save the current error as the previous one
+        	// for the next iteration.
+        	prev_errorYAW = curr_errorYAW;
+    
+        } else if (abs(RefYAW - MarPoseYAW) <= theta_dock_thresh)
+	{
+		control_signalYAW = 0;	
+	} else 
+	{
+		ROS_INFO("New condition\n");	
+		keepMoving = false;	
+	}
+
+        /* ---
+	ROS_INFO_STREAM("Control signalX = " << control_signalX <<"\n");
+	ROS_INFO_STREAM("Control signalY = " << control_signalY << "\n");
+	ROS_INFO_STREAM("Control signalYAW = "<< control_signalYAW <<"\n");
+	//  */ dock(control_signalX, control_signalY, control_signalYAW);
+}
+
+void PID4Docking::dock(double VelX, double VelY, double omegaZ)
+{
+        ROS_INFO(".... REAL .... !");
+        geometry_msgs::Twist msg;
+        
+	msg.linear.x = VelX;
+	msg.linear.y = VelY;
+	msg.angular.z = omegaZ;
+	
+	commandPub.publish(msg);
+	
+	ROS_INFO_STREAM(" Current speed of robot: \n" << msg << "");
+}
+
+void PID4Docking::move2docking(double VelX_est, double VelY_est, double omegaZ_est)
+{
+	
+        ROS_INFO_STREAM(" Zmar = " << camPose[2] << " m. \n");
+        ROS_INFO_STREAM(" Zref = " << RefPose[2] << " m. \n");
+        
+        ROS_INFO_STREAM(" Ymar = " << camPose[1] << " m. \n");
+        ROS_INFO_STREAM(" Yref = " << RefPose[1] << " m. \n");
+        
+        ROS_INFO_STREAM(" rollmar = " << camPose[3] << " rad. \n");
+        ROS_INFO_STREAM(" rollref = " << RefPose[3] << " rad. \n");
+        
+	ROS_INFO(".... ESTIMATION .... !\n");
+        geometry_msgs::Twist msg;
+        
+        if (VelX_est == 0 && VelY_est == 0 && omegaZ_est == 0)
+        {
+                VelX_est = .0001;
+                VelX_est = .0001;
+                omegaZ_est = 0;
+        }
+        
+	msg.linear.x = VelX_est;
+	msg.linear.y = VelY_est;
+	msg.angular.z = omegaZ_est;
+	
+	commandPub.publish(msg);
+	
+	ROS_INFO_STREAM(" Current ESTIMATED speed of robot: \n" << msg << ".\n");
+}
+// ---- Controller part -------- END ------
+
+void PID4Docking::GenerateRandomVal()
+{
+
+	// ---------------- PID gains ------------------
+	Kp_y = ((double) rand() / (RAND_MAX)) * (.76 - .4) + .4; 	//.1 < Kp < .76
+	Ki_y = ((double) rand() / (RAND_MAX)) * .006;			// 0 < Ki < .006
+	Kd_y = ((double) rand() / (RAND_MAX)) * .02;			// 0 < Kd < .01
+	
+	// ------------------ Generating Random Pose ------------------
+	//x_new = ((double) rand() / (RAND_MAX)) * (1.1 - x_rand_SM) + x_rand_SM;
+	x_new = 1.1;
+	y_new = ((double) rand() / (RAND_MAX)) * (y_up - y_dwn) + y_dwn; // will be used for Q_Learning
+	theta_new = ((double) rand() / (RAND_MAX)) * (theta_up - theta_dwn) + theta_dwn; // will be used for Q_Learning
+}
+
+void PID4Docking::Undocking(double X_rand, double Y_rand, double theta_rand)
+{
+	ROS_INFO_STREAM(" Xr = " << X_rand << ", Yr = " << Y_rand << ", Thetar = " << theta_rand << " rad ~ " << theta_rand * (180/CV_PI) << " deg\n");
+	ROS_INFO_STREAM(" -------------------------------------------------------------- \n");
+
+double vel_x,vel_y,omega_z;
+
+geometry_msgs::Twist msg_new;
+	// CCW ==>> w > 0 , CW ==>> w < 0
+	// Leaving docking station, moving towards x-axis SM
+	if (X_rand - camPose[2] > x_thresh_undock)
+	{
+		ROS_INFO_STREAM(" Adjusting X, moving backward ... \n");
+		vel_x = -.04;
+	} else if (X_rand - camPose[2] < -x_thresh_undock)
+	{
+		ROS_INFO_STREAM(" Adjusting X, moving forward ... \n");
+		vel_x = .04;
+	}else if (abs(X_rand - camPose[2]) <= x_thresh_undock)
+	{
+		ROS_INFO(" X-axis is fixed, adjusting Y & theta - axes ... \n");
+		if ((camPose[1] - Y_rand > y_thresh_undock) && (theta_rand > 0))
+		{
+			if(abs(abs(camPose[3]) - abs(theta_rand)) > theta_thresh_undock)
+			{
+				ROS_INFO("moving 2 left side & CW rot. \n");			
+				vel_y = .03;
+				omega_z =  -.01;
+			} else
+			{
+				ROS_INFO("CW rot. is fixed, only moving 2 left side ...\n");
+				vel_y = .03;
+			}	
+		} else if ((camPose[1] - Y_rand < -y_thresh_undock) && (theta_rand < 0))
+		{
+			if(abs(abs(camPose[3]) - abs(theta_rand)) > theta_thresh_undock)
+			{
+				ROS_INFO("moving 2 right side & CCW rot. \n");			
+				vel_y = -.03;
+				omega_z = .01;
+			}else
+			{
+				ROS_INFO("CCW rot. is fixed, only moving 2 right side ... \n");
+				vel_y = -.03;
+			}
+		}else if (abs(camPose[1] - Y_rand) <= y_thresh_undock)
+		{
+			ROS_INFO(" Y-axis is fixed, adjusting theta-axis ... ! \n");			
+			if (abs(abs(camPose[3]) - abs(theta_rand)) <= theta_thresh_undock)
+			{			
+				ROS_INFO(" Robot is in a new random Pose! \n");			
+				//keepMoving = false;
+				Go2RandomPose = false;
+			} else
+			{
+				if(theta_rand > 0)
+				{
+					ROS_INFO_STREAM(" theta > 0 => Rob rot. is CW(-) \n");
+					omega_z = -.01;
+				} else
+				{
+					ROS_INFO_STREAM(" theta < 0 => Rob rot. is CCW(+) \n");
+					omega_z = .01;			
+				}
+			}
+		} else if ((camPose[1] - Y_rand > y_thresh_undock) && (theta_rand < 0))
+		{ 
+			if(abs(abs(camPose[3]) - abs(theta_rand)) > theta_thresh_undock)
+			{
+				ROS_INFO("moving 2 left side & CCW rot., chance of losing marker \n");			
+				vel_y = .03;
+				omega_z = .01;
+			} else
+			{
+				ROS_INFO("CCW rot. is fixed, only moving 2 left side ... \n");
+				vel_y = .03;
+			}		
+		} else if ((camPose[1] - Y_rand < -y_thresh_undock) && (theta_rand > 0))
+		{
+			if(abs(abs(camPose[3]) - abs(theta_rand)) > theta_thresh_undock)
+			{
+				ROS_INFO("moving 2 right side & CW rot., chance of losing marker \n");			
+				vel_y = -.03;
+				omega_z = -.01;
+			} else
+			{
+				ROS_INFO("CW rot. is fixed, only moving 2 right side ... \n");
+				vel_y = -.03;
+			}
+						
+		} else
+		{
+			ROS_INFO(" New condition should be added! \n");			
+			keepMoving = false;		
+		}			
+	}
+	msg_new.linear.x = vel_x;
+	msg_new.linear.y = vel_y;
+	msg_new.angular.z = omega_z;
+
+commandPub.publish(msg_new);
+	
+}
+