diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/.catkin_workspace b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/.catkin_workspace
new file mode 100644
index 0000000000000000000000000000000000000000..52fd97e7ea4bd421af3f7dacb539d241bcee6583
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/.catkin_workspace
@@ -0,0 +1 @@
+# This file currently only serves to mark the location of a catkin workspace for tool integration
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/CMakeLists.txt b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/CMakeLists.txt
new file mode 120000
index 0000000000000000000000000000000000000000..904b44e6fcdbbe7a8f604fccebf046559c52ee25
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/CMakeLists.txt
@@ -0,0 +1 @@
+/opt/ros/hydro/share/catkin/cmake/toplevel.cmake
\ No newline at end of file
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/CATKIN_IGNORE b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/CATKIN_IGNORE
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/CMakeCache.txt b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/CMakeCache.txt
new file mode 100644
index 0000000000000000000000000000000000000000..617372ad9f4de641f38d71ebadf7ec937b1a1204
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/CMakeCache.txt
@@ -0,0 +1,572 @@
+# This is the CMakeCache file.
+# For build in directory: /home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build
+# It was generated by CMake: /usr/bin/cmake
+# You can edit this file to change values found and used by cmake.
+# If you do not want to change any of the values, simply exit the editor.
+# If you do want to change a value, simply edit, save, and exit the editor.
+# The syntax for the file is as follows:
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+# KEY is the name of a variable in the cache.
+# TYPE is a hint to GUI's for the type of VALUE, DO NOT EDIT TYPE!.
+# VALUE is the current value for the KEY.
+
+########################
+# EXTERNAL cache entries
+########################
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+ARUCO_PATH:UNINITIALIZED=/usr/local
+
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+BUILD_SHARED_LIBS:BOOL=ON
+
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+CATKIN_BLACKLIST_PACKAGES:STRING=
+
+//catkin devel space
+CATKIN_DEVEL_PREFIX:PATH=/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel
+
+//Catkin enable testing
+CATKIN_ENABLE_TESTING:BOOL=ON
+
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+
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+// CMAKE_C_FLAGS used) Debug Release RelWithDebInfo MinSizeRel.
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+
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+
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+
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+
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+
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+
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+
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+
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+
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+
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+
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+
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+
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+CMAKE_LINKER:FILEPATH=/usr/bin/ld
+
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+
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+
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+
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+
+OpenCV_CONFIG_PATH:FILEPATH=/opt/ros/hydro/share/OpenCV
+
+//The directory containing a CMake configuration file for OpenCV.
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+
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+
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+_CATKIN_GTEST_SRC:FILEPATH=/usr/src/gtest/src/gtest.cc
+
+//The directory containing a CMake configuration file for actionlib.
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+
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+aruco_DIR:PATH=aruco_DIR-NOTFOUND
+
+//The directory containing a CMake configuration file for aruco_msgs.
+aruco_msgs_DIR:PATH=aruco_msgs_DIR-NOTFOUND
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+catkin_DIR:PATH=/opt/ros/hydro/share/catkin/cmake
+
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+gencpp_DIR:PATH=/opt/ros/hydro/share/gencpp/cmake
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+//Value Computed by CMake
+gtest_BINARY_DIR:STATIC=/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/gtest
+
+//Dependencies for the target
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+
+//Value Computed by CMake
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+
+//Build gtest's sample programs.
+gtest_build_samples:BOOL=OFF
+
+//Build all of gtest's own tests.
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+
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+message_filters_DIR:PATH=/opt/ros/hydro/share/message_filters/cmake
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+	$(MAKE) -f mar_est/CMakeFiles/sensor_msgs_generate_messages_py.dir/build.make mar_est/CMakeFiles/sensor_msgs_generate_messages_py.dir/build
+.PHONY : sensor_msgs_generate_messages_py/fast
+
+#=============================================================================
+# Target rules for targets named std_msgs_generate_messages_cpp
+
+# Build rule for target.
+std_msgs_generate_messages_cpp: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 std_msgs_generate_messages_cpp
+.PHONY : std_msgs_generate_messages_cpp
+
+# fast build rule for target.
+std_msgs_generate_messages_cpp/fast:
+	$(MAKE) -f mar_est/CMakeFiles/std_msgs_generate_messages_cpp.dir/build.make mar_est/CMakeFiles/std_msgs_generate_messages_cpp.dir/build
+.PHONY : std_msgs_generate_messages_cpp/fast
+
+#=============================================================================
+# Target rules for targets named std_msgs_generate_messages_lisp
+
+# Build rule for target.
+std_msgs_generate_messages_lisp: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 std_msgs_generate_messages_lisp
+.PHONY : std_msgs_generate_messages_lisp
+
+# fast build rule for target.
+std_msgs_generate_messages_lisp/fast:
+	$(MAKE) -f mar_est/CMakeFiles/std_msgs_generate_messages_lisp.dir/build.make mar_est/CMakeFiles/std_msgs_generate_messages_lisp.dir/build
+.PHONY : std_msgs_generate_messages_lisp/fast
+
+#=============================================================================
+# Target rules for targets named std_msgs_generate_messages_py
+
+# Build rule for target.
+std_msgs_generate_messages_py: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 std_msgs_generate_messages_py
+.PHONY : std_msgs_generate_messages_py
+
+# fast build rule for target.
+std_msgs_generate_messages_py/fast:
+	$(MAKE) -f mar_est/CMakeFiles/std_msgs_generate_messages_py.dir/build.make mar_est/CMakeFiles/std_msgs_generate_messages_py.dir/build
+.PHONY : std_msgs_generate_messages_py/fast
+
+#=============================================================================
+# Target rules for targets named tf2_msgs_generate_messages_cpp
+
+# Build rule for target.
+tf2_msgs_generate_messages_cpp: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 tf2_msgs_generate_messages_cpp
+.PHONY : tf2_msgs_generate_messages_cpp
+
+# fast build rule for target.
+tf2_msgs_generate_messages_cpp/fast:
+	$(MAKE) -f mar_est/CMakeFiles/tf2_msgs_generate_messages_cpp.dir/build.make mar_est/CMakeFiles/tf2_msgs_generate_messages_cpp.dir/build
+.PHONY : tf2_msgs_generate_messages_cpp/fast
+
+#=============================================================================
+# Target rules for targets named tf2_msgs_generate_messages_lisp
+
+# Build rule for target.
+tf2_msgs_generate_messages_lisp: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 tf2_msgs_generate_messages_lisp
+.PHONY : tf2_msgs_generate_messages_lisp
+
+# fast build rule for target.
+tf2_msgs_generate_messages_lisp/fast:
+	$(MAKE) -f mar_est/CMakeFiles/tf2_msgs_generate_messages_lisp.dir/build.make mar_est/CMakeFiles/tf2_msgs_generate_messages_lisp.dir/build
+.PHONY : tf2_msgs_generate_messages_lisp/fast
+
+#=============================================================================
+# Target rules for targets named tf2_msgs_generate_messages_py
+
+# Build rule for target.
+tf2_msgs_generate_messages_py: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 tf2_msgs_generate_messages_py
+.PHONY : tf2_msgs_generate_messages_py
+
+# fast build rule for target.
+tf2_msgs_generate_messages_py/fast:
+	$(MAKE) -f mar_est/CMakeFiles/tf2_msgs_generate_messages_py.dir/build.make mar_est/CMakeFiles/tf2_msgs_generate_messages_py.dir/build
+.PHONY : tf2_msgs_generate_messages_py/fast
+
+#=============================================================================
+# Target rules for targets named tf_generate_messages_cpp
+
+# Build rule for target.
+tf_generate_messages_cpp: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 tf_generate_messages_cpp
+.PHONY : tf_generate_messages_cpp
+
+# fast build rule for target.
+tf_generate_messages_cpp/fast:
+	$(MAKE) -f mar_est/CMakeFiles/tf_generate_messages_cpp.dir/build.make mar_est/CMakeFiles/tf_generate_messages_cpp.dir/build
+.PHONY : tf_generate_messages_cpp/fast
+
+#=============================================================================
+# Target rules for targets named tf_generate_messages_lisp
+
+# Build rule for target.
+tf_generate_messages_lisp: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 tf_generate_messages_lisp
+.PHONY : tf_generate_messages_lisp
+
+# fast build rule for target.
+tf_generate_messages_lisp/fast:
+	$(MAKE) -f mar_est/CMakeFiles/tf_generate_messages_lisp.dir/build.make mar_est/CMakeFiles/tf_generate_messages_lisp.dir/build
+.PHONY : tf_generate_messages_lisp/fast
+
+#=============================================================================
+# Target rules for targets named tf_generate_messages_py
+
+# Build rule for target.
+tf_generate_messages_py: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 tf_generate_messages_py
+.PHONY : tf_generate_messages_py
+
+# fast build rule for target.
+tf_generate_messages_py/fast:
+	$(MAKE) -f mar_est/CMakeFiles/tf_generate_messages_py.dir/build.make mar_est/CMakeFiles/tf_generate_messages_py.dir/build
+.PHONY : tf_generate_messages_py/fast
+
+# 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 "... clean_test_results"
+	@echo "... doxygen"
+	@echo "... edit_cache"
+	@echo "... install"
+	@echo "... install/local"
+	@echo "... install/strip"
+	@echo "... list_install_components"
+	@echo "... rebuild_cache"
+	@echo "... run_tests"
+	@echo "... test"
+	@echo "... tests"
+	@echo "... gtest"
+	@echo "... gtest_main"
+	@echo "... actionlib_generate_messages_cpp"
+	@echo "... actionlib_generate_messages_lisp"
+	@echo "... actionlib_generate_messages_py"
+	@echo "... actionlib_msgs_generate_messages_cpp"
+	@echo "... actionlib_msgs_generate_messages_lisp"
+	@echo "... actionlib_msgs_generate_messages_py"
+	@echo "... geometry_msgs_generate_messages_cpp"
+	@echo "... geometry_msgs_generate_messages_lisp"
+	@echo "... geometry_msgs_generate_messages_py"
+	@echo "... mar_est"
+	@echo "... roscpp_generate_messages_cpp"
+	@echo "... roscpp_generate_messages_lisp"
+	@echo "... roscpp_generate_messages_py"
+	@echo "... rosgraph_msgs_generate_messages_cpp"
+	@echo "... rosgraph_msgs_generate_messages_lisp"
+	@echo "... rosgraph_msgs_generate_messages_py"
+	@echo "... sensor_msgs_generate_messages_cpp"
+	@echo "... sensor_msgs_generate_messages_lisp"
+	@echo "... sensor_msgs_generate_messages_py"
+	@echo "... std_msgs_generate_messages_cpp"
+	@echo "... std_msgs_generate_messages_lisp"
+	@echo "... std_msgs_generate_messages_py"
+	@echo "... tf2_msgs_generate_messages_cpp"
+	@echo "... tf2_msgs_generate_messages_lisp"
+	@echo "... tf2_msgs_generate_messages_py"
+	@echo "... tf_generate_messages_cpp"
+	@echo "... tf_generate_messages_lisp"
+	@echo "... tf_generate_messages_py"
+.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:
+	$(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
+.PHONY : cmake_check_build_system
+
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin/catkin_generated/version/package.cmake b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin/catkin_generated/version/package.cmake
new file mode 100644
index 0000000000000000000000000000000000000000..ff3201d306765ce76eb5b1ca81f2c65bf97f8ea7
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin/catkin_generated/version/package.cmake
@@ -0,0 +1,9 @@
+set(_CATKIN_CURRENT_PACKAGE "catkin")
+set(catkin_VERSION "0.5.90")
+set(catkin_BUILD_DEPENDS_python-catkin-pkg_VERSION_GTE "0.2.2")
+set(catkin_BUILD_DEPENDS "gtest" "python-argparse" "python-catkin-pkg" "python-empy" "python-nose")
+set(catkin_DEPRECATED "")
+set(catkin_RUN_DEPENDS "cmake" "gtest" "python-argparse" "python-catkin-pkg" "python-empy" "python-nose")
+set(catkin_MAINTAINER "Dirk Thomas <dthomas@osrfoundation.org>")
+set(catkin_BUILDTOOL_DEPENDS "cmake")
+set(catkin_RUN_DEPENDS_python-catkin-pkg_VERSION_GTE "0.2.0")
\ No newline at end of file
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/env_cached.sh b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/env_cached.sh
new file mode 100755
index 0000000000000000000000000000000000000000..d6be91db5c97c428f17b165713d3f9a077c78786
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/env_cached.sh
@@ -0,0 +1,16 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/templates/env.sh.in
+
+if [ $# -eq 0 ] ; then
+  /bin/echo "Usage: env.sh COMMANDS"
+  /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually."
+  exit 1
+fi
+
+# ensure to not use different shell type which was set before
+CATKIN_SHELL=sh
+
+# source setup_cached.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup_cached.sh"
+exec "$@"
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/generate_cached_setup.py b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/generate_cached_setup.py
new file mode 100644
index 0000000000000000000000000000000000000000..db1e1967e76a62149933221d82c23b57b40306df
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/generate_cached_setup.py
@@ -0,0 +1,29 @@
+from __future__ import print_function
+import argparse
+import os
+import stat
+import sys
+
+# find the import for catkin's python package - either from source space or from an installed underlay
+if os.path.exists(os.path.join('/opt/ros/hydro/share/catkin/cmake', 'catkinConfig.cmake.in')):
+    sys.path.insert(0, os.path.join('/opt/ros/hydro/share/catkin/cmake', '..', 'python'))
+try:
+    from catkin.environment_cache import generate_environment_script
+except ImportError:
+    # search for catkin package in all workspaces and prepend to path
+    for workspace in "/opt/ros/hydro".split(';'):
+        python_path = os.path.join(workspace, 'lib/python2.7/dist-packages')
+        if os.path.isdir(os.path.join(python_path, 'catkin')):
+            sys.path.insert(0, python_path)
+            break
+    from catkin.environment_cache import generate_environment_script
+
+code = generate_environment_script('/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/env.sh')
+
+output_filename = '/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/setup_cached.sh'
+with open(output_filename, 'w') as f:
+    #print('Generate script for cached setup "%s"' % output_filename)
+    f.write('\n'.join(code))
+
+mode = os.stat(output_filename).st_mode
+os.chmod(output_filename, mode | stat.S_IXUSR)
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/installspace/.rosinstall b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/installspace/.rosinstall
new file mode 100644
index 0000000000000000000000000000000000000000..f6b02bb3a11543b69ca5a4c1471a95facfe2768b
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/installspace/.rosinstall
@@ -0,0 +1,2 @@
+- setup-file:
+    local-name: /home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/install/setup.sh
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/installspace/_setup_util.py b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/installspace/_setup_util.py
new file mode 100755
index 0000000000000000000000000000000000000000..80a7249eefd0c19e2f0d1cc861d5e1004bb98102
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/installspace/_setup_util.py
@@ -0,0 +1,280 @@
+#!/usr/bin/env python
+
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2012, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+'''This file generates shell code for the setup.SHELL scripts to set environment variables'''
+
+from __future__ import print_function
+import argparse
+import copy
+import errno
+import os
+import platform
+import sys
+
+CATKIN_MARKER_FILE = '.catkin'
+
+system = platform.system()
+IS_DARWIN = (system == 'Darwin')
+IS_WINDOWS = (system == 'Windows')
+
+# subfolder of workspace prepended to CMAKE_PREFIX_PATH
+ENV_VAR_SUBFOLDERS = {
+    'CMAKE_PREFIX_PATH': '',
+    'CPATH': 'include',
+    'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': 'lib',
+    'PATH': 'bin',
+    'PKG_CONFIG_PATH': 'lib/pkgconfig',
+    'PYTHONPATH': 'lib/python2.7/dist-packages',
+}
+
+
+def rollback_env_variables(environ, env_var_subfolders):
+    '''
+    Generate shell code to reset environment variables
+    by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH.
+    This does not cover modifications performed by environment hooks.
+    '''
+    lines = []
+    unmodified_environ = copy.copy(environ)
+    for key in sorted(env_var_subfolders.keys()):
+        subfolder = env_var_subfolders[key]
+        value = _rollback_env_variable(unmodified_environ, key, subfolder)
+        if value is not None:
+            environ[key] = value
+            lines.append(assignment(key, value))
+    if lines:
+        lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH'))
+    return lines
+
+
+def _rollback_env_variable(environ, name, subfolder):
+    '''
+    For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder.
+
+    :param subfolder: str '' or subfoldername that may start with '/'
+    :returns: the updated value of the environment variable.
+    '''
+    value = environ[name] if name in environ else ''
+    env_paths = [path for path in value.split(os.pathsep) if path]
+    value_modified = False
+    if subfolder:
+        if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)):
+            subfolder = subfolder[1:]
+        if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)):
+            subfolder = subfolder[:-1]
+    for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True):
+        path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path
+        path_to_remove = None
+        for env_path in env_paths:
+            env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path
+            if env_path_clean == path_to_find:
+                path_to_remove = env_path
+                break
+        if path_to_remove:
+            env_paths.remove(path_to_remove)
+            value_modified = True
+    new_value = os.pathsep.join(env_paths)
+    return new_value if value_modified else None
+
+
+def _get_workspaces(environ, include_fuerte=False, include_non_existing=False):
+    '''
+    Based on CMAKE_PREFIX_PATH return all catkin workspaces.
+
+    :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool``
+    '''
+    # get all cmake prefix paths
+    env_name = 'CMAKE_PREFIX_PATH'
+    value = environ[env_name] if env_name in environ else ''
+    paths = [path for path in value.split(os.pathsep) if path]
+    # remove non-workspace paths
+    workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))]
+    return workspaces
+
+
+def prepend_env_variables(environ, env_var_subfolders, workspaces):
+    '''
+    Generate shell code to prepend environment variables
+    for the all workspaces.
+    '''
+    lines = []
+    lines.append(comment('prepend folders of workspaces to environment variables'))
+
+    paths = [path for path in workspaces.split(os.pathsep) if path]
+
+    prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '')
+    lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix))
+
+    for key in sorted([key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH']):
+        subfolder = env_var_subfolders[key]
+        prefix = _prefix_env_variable(environ, key, paths, subfolder)
+        lines.append(prepend(environ, key, prefix))
+    return lines
+
+
+def _prefix_env_variable(environ, name, paths, subfolder):
+    '''
+    Return the prefix to prepend to the environment variable NAME, adding any path in NEW_PATHS_STR without creating duplicate or empty items.
+    '''
+    value = environ[name] if name in environ else ''
+    environ_paths = [path for path in value.split(os.pathsep) if path]
+    checked_paths = []
+    for path in paths:
+        if subfolder:
+            path = os.path.join(path, subfolder)
+        # exclude any path already in env and any path we already added
+        if path not in environ_paths and path not in checked_paths:
+            checked_paths.append(path)
+    prefix_str = os.pathsep.join(checked_paths)
+    if prefix_str != '' and environ_paths:
+        prefix_str += os.pathsep
+    return prefix_str
+
+
+def assignment(key, value):
+    if not IS_WINDOWS:
+        return 'export %s="%s"' % (key, value)
+    else:
+        return 'set %s=%s' % (key, value)
+
+
+def comment(msg):
+    if not IS_WINDOWS:
+        return '# %s' % msg
+    else:
+        return 'REM %s' % msg
+
+
+def prepend(environ, key, prefix):
+    if key not in environ or not environ[key]:
+        return assignment(key, prefix)
+    if not IS_WINDOWS:
+        return 'export %s="%s$%s"' % (key, prefix, key)
+    else:
+        return 'set %s=%s%%%s%%' % (key, prefix, key)
+
+
+def find_env_hooks(environ, cmake_prefix_path):
+    '''
+    Generate shell code with found environment hooks
+    for the all workspaces.
+    '''
+    lines = []
+    lines.append(comment('found environment hooks in workspaces'))
+
+    generic_env_hooks = []
+    generic_env_hooks_workspace = []
+    specific_env_hooks = []
+    specific_env_hooks_workspace = []
+    generic_env_hooks_by_filename = {}
+    specific_env_hooks_by_filename = {}
+    generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh'
+    specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None
+    # remove non-workspace paths
+    workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))]
+    for workspace in reversed(workspaces):
+        env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d')
+        if os.path.isdir(env_hook_dir):
+            for filename in sorted(os.listdir(env_hook_dir)):
+                if filename.endswith('.%s' % generic_env_hook_ext):
+                    # remove previous env hook with same name if present
+                    if filename in generic_env_hooks_by_filename:
+                        i = generic_env_hooks.index(generic_env_hooks_by_filename[filename])
+                        generic_env_hooks.pop(i)
+                        generic_env_hooks_workspace.pop(i)
+                    # append env hook
+                    generic_env_hooks.append(os.path.join(env_hook_dir, filename))
+                    generic_env_hooks_workspace.append(workspace)
+                    generic_env_hooks_by_filename[filename] = generic_env_hooks[-1]
+                elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext):
+                    # remove previous env hook with same name if present
+                    if filename in specific_env_hooks_by_filename:
+                        i = specific_env_hooks.index(specific_env_hooks_by_filename[filename])
+                        specific_env_hooks.pop(i)
+                        specific_env_hooks_workspace.pop(i)
+                    # append env hook
+                    specific_env_hooks.append(os.path.join(env_hook_dir, filename))
+                    specific_env_hooks_workspace.append(workspace)
+                    specific_env_hooks_by_filename[filename] = specific_env_hooks[-1]
+    env_hooks = generic_env_hooks + specific_env_hooks
+    env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace
+    count = len(env_hooks)
+    lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count))
+    for i in range(count):
+        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i]))
+        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i]))
+    return lines
+
+
+def _parse_arguments(args=None):
+    parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.')
+    parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context')
+    return parser.parse_known_args(args=args)[0]
+
+
+if __name__ == '__main__':
+    try:
+        try:
+            args = _parse_arguments()
+        except Exception as e:
+            print(e, file=sys.stderr)
+            sys.exit(1)
+
+        # environment at generation time
+        CMAKE_PREFIX_PATH = '/opt/ros/hydro'.split(';')
+        # prepend current workspace if not already part of CPP
+        base_path = os.path.dirname(__file__)
+        if base_path not in CMAKE_PREFIX_PATH:
+            CMAKE_PREFIX_PATH.insert(0, base_path)
+        CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH)
+
+        environ = dict(os.environ)
+        lines = []
+        if not args.extend:
+            lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS)
+        lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH)
+        lines += find_env_hooks(environ, CMAKE_PREFIX_PATH)
+        print('\n'.join(lines))
+
+        # need to explicitly flush the output
+        sys.stdout.flush()
+    except IOError as e:
+        # and catch potantial "broken pipe" if stdout is not writable
+        # which can happen when piping the output to a file but the disk is full
+        if e.errno == errno.EPIPE:
+            print(e, file=sys.stderr)
+            sys.exit(2)
+        raise
+
+    sys.exit(0)
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/installspace/env.sh b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/installspace/env.sh
new file mode 100755
index 0000000000000000000000000000000000000000..8aa9d244ae9475039027a5f25a8d41a46174cddf
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/installspace/env.sh
@@ -0,0 +1,16 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/templates/env.sh.in
+
+if [ $# -eq 0 ] ; then
+  /bin/echo "Usage: env.sh COMMANDS"
+  /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually."
+  exit 1
+fi
+
+# ensure to not use different shell type which was set before
+CATKIN_SHELL=sh
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh"
+exec "$@"
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/installspace/setup.bash b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/installspace/setup.bash
new file mode 100644
index 0000000000000000000000000000000000000000..ff47af8f30bcc54efd5892530c84c4159250d4a3
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/installspace/setup.bash
@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+# generated from catkin/cmake/templates/setup.bash.in
+
+CATKIN_SHELL=bash
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh"
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/installspace/setup.sh b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/installspace/setup.sh
new file mode 100644
index 0000000000000000000000000000000000000000..c7858c7a5fa3b3709a6fdf7a08291ced968e9ac5
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/installspace/setup.sh
@@ -0,0 +1,87 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/template/setup.sh.in
+
+# Sets various environment variables and sources additional environment hooks.
+# It tries it's best to undo changes from a previously sourced setup file before.
+# Supported command line options:
+# --extend: skips the undoing of changes from a previously sourced setup file
+
+# since this file is sourced either use the provided _CATKIN_SETUP_DIR
+# or fall back to the destination set at configure time
+: ${_CATKIN_SETUP_DIR:=/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/install}
+_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py"
+unset _CATKIN_SETUP_DIR
+
+if [ ! -f "$_SETUP_UTIL" ]; then
+  echo "Missing Python script: $_SETUP_UTIL"
+  return 22
+fi
+
+# detect if running on Darwin platform
+_UNAME=`uname -s`
+_IS_DARWIN=0
+if [ "$_UNAME" = "Darwin" ]; then
+  _IS_DARWIN=1
+fi
+unset _UNAME
+
+# make sure to export all environment variables
+export CMAKE_PREFIX_PATH
+export CPATH
+if [ $_IS_DARWIN -eq 0 ]; then
+  export LD_LIBRARY_PATH
+else
+  export DYLD_LIBRARY_PATH
+fi
+unset _IS_DARWIN
+export PATH
+export PKG_CONFIG_PATH
+export PYTHONPATH
+
+# remember type of shell if not already set
+if [ -z "$CATKIN_SHELL" ]; then
+  CATKIN_SHELL=sh
+fi
+
+# invoke Python script to generate necessary exports of environment variables
+_SETUP_TMP=`mktemp /tmp/setup.sh.XXXXXXXXXX`
+if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then
+  echo "Could not create temporary file: $_SETUP_TMP"
+  return 1
+fi
+CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ > $_SETUP_TMP
+_RC=$?
+if [ $_RC -ne 0 ]; then
+  if [ $_RC -eq 2 ]; then
+    echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?"
+  else
+    echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC"
+  fi
+  unset _RC
+  unset _SETUP_UTIL
+  rm -f $_SETUP_TMP
+  unset _SETUP_TMP
+  return 1
+fi
+unset _RC
+unset _SETUP_UTIL
+. $_SETUP_TMP
+rm -f $_SETUP_TMP
+unset _SETUP_TMP
+
+# source all environment hooks
+_i=0
+while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do
+  eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i
+  unset _CATKIN_ENVIRONMENT_HOOKS_$_i
+  eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
+  unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
+  # set workspace for environment hook
+  CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace
+  . "$_envfile"
+  unset CATKIN_ENV_HOOK_WORKSPACE
+  _i=$((_i + 1))
+done
+unset _i
+
+unset _CATKIN_ENVIRONMENT_HOOKS_COUNT
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/installspace/setup.zsh b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/installspace/setup.zsh
new file mode 100644
index 0000000000000000000000000000000000000000..b660717663f0901e84c9149c10799ad6153fa756
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/installspace/setup.zsh
@@ -0,0 +1,8 @@
+#!/usr/bin/env zsh
+# generated from catkin/cmake/templates/setup.zsh.in
+
+CATKIN_SHELL=zsh
+_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
+emulate sh # emulate POSIX
+. "$_CATKIN_SETUP_DIR/setup.sh"
+emulate zsh # back to zsh mode
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/order_packages.cmake b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/order_packages.cmake
new file mode 100644
index 0000000000000000000000000000000000000000..72ed03663e42e813ae25e766a7b127973bd05d69
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/order_packages.cmake
@@ -0,0 +1,14 @@
+# generated from catkin/cmake/em/order_packages.cmake.em
+
+set(CATKIN_ORDERED_PACKAGES "")
+set(CATKIN_ORDERED_PACKAGE_PATHS "")
+set(CATKIN_ORDERED_PACKAGES_IS_META "")
+set(CATKIN_ORDERED_PACKAGES_BUILD_TYPE "")
+list(APPEND CATKIN_ORDERED_PACKAGES "mar_est")
+list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "mar_est")
+list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "False")
+list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "catkin")
+
+set(CATKIN_MESSAGE_GENERATORS )
+
+set(CATKIN_METAPACKAGE_CMAKE_TEMPLATE "/usr/lib/python2.7/dist-packages/catkin_pkg/templates/metapackage.cmake.in")
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/order_packages.py b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/order_packages.py
new file mode 100644
index 0000000000000000000000000000000000000000..c6a5c880e5617ece6f2eb1377e505ee0c0b08bef
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/order_packages.py
@@ -0,0 +1,5 @@
+# generated from catkin/cmake/template/order_packages.context.py.in
+source_root_dir = "/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION"
+whitelisted_packages = "".split(';') if "" != "" else []
+blacklisted_packages = "".split(';') if "" != "" else []
+underlay_workspaces = "/opt/ros/hydro".split(';') if "/opt/ros/hydro" != "" else []
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/setup_cached.sh b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/setup_cached.sh
new file mode 100755
index 0000000000000000000000000000000000000000..bc1e07924d951544a3ea7788a5d35ca6d637579f
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/setup_cached.sh
@@ -0,0 +1,20 @@
+#!/usr/bin/env sh
+# generated from catkin/python/catkin/environment_cache.py
+
+# based on a snapshot of the environment before and after calling the setup script
+# it emulates the modifications of the setup script without recurring computations
+
+# new environment variables
+export CATKIN_TEST_RESULTS_DIR="/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/test_results"
+export ROS_TEST_RESULTS_DIR="/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/test_results"
+
+# modified environment variables
+export CMAKE_PREFIX_PATH="/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel:$CMAKE_PREFIX_PATH"
+export CPATH="/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/include:$CPATH"
+export LD_LIBRARY_PATH="/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/lib:$LD_LIBRARY_PATH"
+export PATH="/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/bin:$PATH"
+export PKG_CONFIG_PATH="/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/lib/pkgconfig:$PKG_CONFIG_PATH"
+export PWD="/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build"
+export PYTHONPATH="/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/lib/python2.7/dist-packages:/opt/ros/hydro/lib/python2.7/dist-packages:/home/faridalijani/src/labcomm/lib/python"
+export ROSLISP_PACKAGE_DIRECTORIES="/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/share/common-lisp"
+export ROS_PACKAGE_PATH="/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION:/opt/ros/hydro/share:/opt/ros/hydro/stacks"
\ No newline at end of file
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/stamps/Project/interrogate_setup_dot_py.py.stamp b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/stamps/Project/interrogate_setup_dot_py.py.stamp
new file mode 100644
index 0000000000000000000000000000000000000000..26882f02aa7409a70e4b69624c9e0631c2221907
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/stamps/Project/interrogate_setup_dot_py.py.stamp
@@ -0,0 +1,250 @@
+#!/usr/bin/env python
+
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2012, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+from __future__ import print_function
+import os
+import sys
+
+import distutils.core
+try:
+    import setuptools
+except ImportError:
+    pass
+
+from argparse import ArgumentParser
+
+
+def _get_locations(pkgs, package_dir):
+    """
+    based on setuptools logic and the package_dir dict, builds a dict
+    of location roots for each pkg in pkgs.
+    See http://docs.python.org/distutils/setupscript.html
+
+    :returns: a dict {pkgname: root} for each pkgname in pkgs (and each of their parents)
+    """
+    # package_dir contains a dict {package_name: relativepath}
+    # Example {'': 'src', 'foo': 'lib', 'bar': 'lib2'}
+    #
+    # '' means where to look for any package unless a parent package
+    # is listed so package bar.pot is expected at lib2/bar/pot,
+    # whereas package sup.dee is expected at src/sup/dee
+    #
+    # if package_dir does not state anything about a package,
+    # setuptool expects the package folder to be in the root of the
+    # project
+    locations = {}
+    allprefix = package_dir.get('', '')
+    for pkg in pkgs:
+        parent_location = None
+        splits = pkg.split('.')
+        # we iterate over compound name from parent to child
+        # so once we found parent, children just append to their parent
+        for key_len in range(len(splits)):
+            key = '.'.join(splits[:key_len + 1])
+            if key not in locations:
+                if key in package_dir:
+                    locations[key] = package_dir[key]
+                elif parent_location is not None:
+                    locations[key] = parent_location
+                else:
+                    locations[key] = allprefix
+            parent_location = locations[key]
+    return locations
+
+
+def generate_cmake_file(package_name, version, scripts, package_dir, pkgs, modules):
+    """
+    Generates lines to add to a cmake file which will set variables
+
+    :param version: str, format 'int.int.int'
+    :param scripts: [list of str]: relative paths to scripts
+    :param package_dir: {modulename: path}
+    :pkgs: [list of str] python_packages declared in catkin package
+    :modules: [list of str] python modules
+    """
+    prefix = '%s_SETUP_PY' % package_name
+    result = []
+    result.append(r'set(%s_VERSION "%s")' % (prefix, version))
+    result.append(r'set(%s_SCRIPTS "%s")' % (prefix, ';'.join(scripts)))
+
+    # Remove packages with '.' separators.
+    #
+    # setuptools allows specifying submodules in other folders than
+    # their parent
+    #
+    # The symlink approach of catkin does not work with such submodules.
+    # In the common case, this does not matter as the submodule is
+    # within the containing module.  We verify this assumption, and if
+    # it passes, we remove submodule packages.
+    locations = _get_locations(pkgs, package_dir)
+    for pkgname, location in locations.items():
+        if not '.' in pkgname:
+            continue
+        splits = pkgname.split('.')
+        # hack: ignore write-combining setup.py files for msg and srv files
+        if splits[1] in ['msg', 'srv']:
+            continue
+        # check every child has the same root folder as its parent
+        parent_name = '.'.join(splits[:1])
+        if location != locations[parent_name]:
+            raise RuntimeError(
+                "catkin_export_python does not support setup.py files that combine across multiple directories: %s in %s, %s in %s" % (pkgname, location, parent_name, locations[parent_name]))
+
+    # If checks pass, remove all submodules
+    pkgs = [p for p in pkgs if '.' not in p]
+
+    resolved_pkgs = []
+    for pkg in pkgs:
+        resolved_pkgs += [os.path.join(locations[pkg], pkg)]
+
+    result.append(r'set(%s_PACKAGES "%s")' % (prefix, ';'.join(pkgs)))
+    result.append(r'set(%s_PACKAGE_DIRS "%s")' % (prefix, ';'.join(resolved_pkgs).replace("\\", "/")))
+
+    # skip modules which collide with package names
+    filtered_modules = []
+    for modname in modules:
+        splits = modname.split('.')
+        # check all parents too
+        equals_package = [('.'.join(splits[:-i]) in locations) for i in range(len(splits))]
+        if any(equals_package):
+            continue
+        filtered_modules.append(modname)
+    module_locations = _get_locations(filtered_modules, package_dir)
+
+    result.append(r'set(%s_MODULES "%s")' % (prefix, ';'.join(['%s.py' % m.replace('.', '/') for m in filtered_modules])))
+    result.append(r'set(%s_MODULE_DIRS "%s")' % (prefix, ';'.join([module_locations[m] for m in filtered_modules]).replace("\\", "/")))
+
+    return result
+
+
+def _create_mock_setup_function(package_name, outfile):
+    """
+    Creates a function to call instead of distutils.core.setup or
+    setuptools.setup, which just captures some args and writes them
+    into a file that can be used from cmake
+
+    :param package_name: name of the package
+    :param outfile: filename that cmake will use afterwards
+    :returns: a function to replace disutils.core.setup and setuptools.setup
+    """
+
+    def setup(*args, **kwargs):
+        '''
+        Checks kwargs and writes a scriptfile
+        '''
+        if 'version' not in kwargs:
+            sys.stderr.write("\n*** Unable to find 'version' in setup.py of %s\n" % package_name)
+            raise RuntimeError("version not found in setup.py")
+        version = kwargs['version']
+        package_dir = kwargs.get('package_dir', {})
+
+        pkgs = kwargs.get('packages', [])
+        scripts = kwargs.get('scripts', [])
+        modules = kwargs.get('py_modules', [])
+
+        unsupported_args = [
+            'entry_points',
+            'exclude_package_data',
+            'ext_modules ',
+            'ext_package',
+            'include_package_data',
+            'namespace_packages',
+            'setup_requires',
+            'use_2to3',
+            'zip_safe']
+        used_unsupported_args = [arg for arg in unsupported_args if arg in kwargs]
+        if used_unsupported_args:
+            sys.stderr.write("*** Arguments %s to setup() not supported in catkin devel space in setup.py of %s\n" % (used_unsupported_args, package_name))
+
+        result = generate_cmake_file(package_name=package_name,
+                                     version=version,
+                                     scripts=scripts,
+                                     package_dir=package_dir,
+                                     pkgs=pkgs,
+                                     modules=modules)
+        with open(outfile, 'w') as out:
+            out.write('\n'.join(result))
+
+    return setup
+
+
+def main():
+    """
+    Script main, parses arguments and invokes Dummy.setup indirectly.
+    """
+    parser = ArgumentParser(description='Utility to read setup.py values from cmake macros. Creates a file with CMake set commands setting variables.')
+    parser.add_argument('package_name', help='Name of catkin package')
+    parser.add_argument('setupfile_path', help='Full path to setup.py')
+    parser.add_argument('outfile', help='Where to write result to')
+
+    args = parser.parse_args()
+
+    # print("%s" % sys.argv)
+    # PACKAGE_NAME = sys.argv[1]
+    # OUTFILE = sys.argv[3]
+    # print("Interrogating setup.py for package %s into %s " % (PACKAGE_NAME, OUTFILE),
+    #      file=sys.stderr)
+
+    # print("executing %s" % args.setupfile_path)
+
+    # be sure you're in the directory containing
+    # setup.py so the sys.path manipulation works,
+    # so the import of __version__ works
+    os.chdir(os.path.dirname(os.path.abspath(args.setupfile_path)))
+
+    # patch setup() function of distutils and setuptools for the
+    # context of evaluating setup.py
+    try:
+        fake_setup = _create_mock_setup_function(package_name=args.package_name,
+                                                outfile=args.outfile)
+
+        distutils_backup = distutils.core.setup
+        distutils.core.setup = fake_setup
+        try:
+            setuptools_backup = setuptools.setup
+            setuptools.setup = fake_setup
+        except NameError:
+            pass
+
+        with open(args.setupfile_path, 'r') as fh:
+            exec(fh.read())
+    finally:
+        distutils.core.setup = distutils_backup
+        try:
+            setuptools.setup = setuptools_backup
+        except NameError:
+            pass
+
+if __name__ == '__main__':
+    main()
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/stamps/Project/order_packages.cmake.em.stamp b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/stamps/Project/order_packages.cmake.em.stamp
new file mode 100644
index 0000000000000000000000000000000000000000..087d4d802e85eae2b70943bf41dd7bd2fa28b115
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/stamps/Project/order_packages.cmake.em.stamp
@@ -0,0 +1,56 @@
+# generated from catkin/cmake/em/order_packages.cmake.em
+@{
+import os
+try:
+    from catkin_pkg.cmake import get_metapackage_cmake_template_path
+except ImportError as e:
+    raise RuntimeError('ImportError: "from catkin_pkg.cmake import get_metapackage_cmake_template_path" failed: %s\nMake sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.' % e)
+try:
+    from catkin_pkg.topological_order import topological_order
+except ImportError as e:
+    raise RuntimeError('ImportError: "from catkin_pkg.topological_order import topological_order" failed: %s\nMake sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.' % e)
+try:
+    from catkin_pkg.package import InvalidPackage
+except ImportError as e:
+    raise RuntimeError('ImportError: "from catkin_pkg.package import InvalidPackage" failed: %s\nMake sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.' % e)
+# vars defined in order_packages.context.py.in
+try:
+    ordered_packages = topological_order(os.path.normpath(source_root_dir), whitelisted=whitelisted_packages, blacklisted=blacklisted_packages, underlay_workspaces=underlay_workspaces)
+except InvalidPackage as e:
+    print('message(FATAL_ERROR "%s")' % ('%s' % e).replace('"', '\\"'))
+    ordered_packages = []
+fatal_error = False
+}@
+
+set(CATKIN_ORDERED_PACKAGES "")
+set(CATKIN_ORDERED_PACKAGE_PATHS "")
+set(CATKIN_ORDERED_PACKAGES_IS_META "")
+set(CATKIN_ORDERED_PACKAGES_BUILD_TYPE "")
+@[for path, package in ordered_packages]@
+@[if path is None]@
+message(FATAL_ERROR "Circular dependency in subset of packages:\n@package")
+@{
+fatal_error = True
+}@
+@[elif package.name != 'catkin']@
+list(APPEND CATKIN_ORDERED_PACKAGES "@(package.name)")
+list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "@(path.replace('\\','/'))")
+list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "@(str('metapackage' in [e.tagname for e in package.exports]))")
+list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "@(str([e.content for e in package.exports if e.tagname == 'build_type'][0]) if 'build_type' in [e.tagname for e in package.exports] else 'catkin')")
+@{
+deprecated = [e for e in package.exports if e.tagname == 'deprecated']
+}@
+@[if deprecated]@
+message("WARNING: Package '@(package.name)' is deprecated@(' (%s)' % deprecated[0].content if deprecated[0].content else '')")
+@[end if]@
+@[end if]@
+@[end for]@
+
+@[if not fatal_error]@
+@{
+message_generators = [package.name for (_, package) in ordered_packages if 'message_generator' in [e.tagname for e in package.exports]]
+}@
+set(CATKIN_MESSAGE_GENERATORS @(' '.join(message_generators)))
+@[end if]@
+
+set(CATKIN_METAPACKAGE_CMAKE_TEMPLATE "@(get_metapackage_cmake_template_path().replace('\\','/'))")
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/stamps/Project/package.xml.stamp b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/stamps/Project/package.xml.stamp
new file mode 100644
index 0000000000000000000000000000000000000000..fe40bcf4c26e5bf7c5b7b54b7a22de997e0b9157
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/stamps/Project/package.xml.stamp
@@ -0,0 +1,36 @@
+<?xml version="1.0"?>
+<package>
+  <name>catkin</name>
+  <version>0.5.90</version>
+  <description>Low-level build system macros and infrastructure for ROS.</description>
+  <maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
+  <license>BSD</license>
+
+  <url type="website">http://www.ros.org/wiki/catkin</url>
+  <url type="bugtracker">https://github.com/ros/catkin/issues</url>
+  <url type="repository">https://github.com/ros/catkin</url>
+
+  <author>Troy Straszheim</author>
+  <author>Morten Kjaergaard</author>
+  <author>Brian Gerkey</author>
+  <author>Dirk Thomas</author>
+
+  <build_depend>gtest</build_depend>
+  <build_depend>python-argparse</build_depend>
+  <build_depend version_gte="0.2.2">python-catkin-pkg</build_depend>
+  <build_depend>python-empy</build_depend>
+  <build_depend>python-nose</build_depend>
+
+  <buildtool_depend>cmake</buildtool_depend>
+
+  <run_depend>cmake</run_depend>
+  <run_depend>gtest</run_depend>
+  <run_depend>python-argparse</run_depend>
+  <run_depend version_gte="0.2.0">python-catkin-pkg</run_depend>
+  <run_depend>python-empy</run_depend>
+  <run_depend>python-nose</run_depend>
+
+  <export>
+    <rosdoc config="rosdoc.yaml"/>
+  </export>
+</package>
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_make.cache b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_make.cache
new file mode 100644
index 0000000000000000000000000000000000000000..7132438156bf1b4950bf58aefed9f9f27cce3769
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_make.cache
@@ -0,0 +1,2 @@
+mar_est
+-DARUCO_PATH=/usr/local -DCATKIN_DEVEL_PREFIX=/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel -DCMAKE_INSTALL_PREFIX=/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/install
\ No newline at end of file
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/cmake_install.cmake b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/cmake_install.cmake
new file mode 100644
index 0000000000000000000000000000000000000000..430357e8ac3dc9f9ebb7f1ffd0e101cbced734c9
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/cmake_install.cmake
@@ -0,0 +1,105 @@
+# Install script for directory: /home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION
+
+# Set the install prefix
+IF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+  SET(CMAKE_INSTALL_PREFIX "/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/install")
+ENDIF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+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(BUILD_TYPE)
+    SET(CMAKE_INSTALL_CONFIG_NAME "")
+  ENDIF(BUILD_TYPE)
+  MESSAGE(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
+ENDIF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+
+# Set the component getting installed.
+IF(NOT CMAKE_INSTALL_COMPONENT)
+  IF(COMPONENT)
+    MESSAGE(STATUS "Install component: \"${COMPONENT}\"")
+    SET(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
+  ELSE(COMPONENT)
+    SET(CMAKE_INSTALL_COMPONENT)
+  ENDIF(COMPONENT)
+ENDIF(NOT CMAKE_INSTALL_COMPONENT)
+
+# Install shared libraries without execute permission?
+IF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+  SET(CMAKE_INSTALL_SO_NO_EXE "1")
+ENDIF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+
+IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+  
+      if (NOT EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}")
+        file(MAKE_DIRECTORY "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}")
+      endif()
+      if (NOT EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/.catkin")
+        file(WRITE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/.catkin" "")
+      endif()
+ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+
+IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+  list(APPEND CPACK_ABSOLUTE_DESTINATION_FILES
+   "/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/install/_setup_util.py")
+FILE(INSTALL DESTINATION "/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/install" TYPE PROGRAM FILES "/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/installspace/_setup_util.py")
+ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+
+IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+  list(APPEND CPACK_ABSOLUTE_DESTINATION_FILES
+   "/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/install/env.sh")
+FILE(INSTALL DESTINATION "/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/install" TYPE PROGRAM FILES "/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/installspace/env.sh")
+ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+
+IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+  list(APPEND CPACK_ABSOLUTE_DESTINATION_FILES
+   "/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/install/setup.bash")
+FILE(INSTALL DESTINATION "/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/install" TYPE FILE FILES "/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/installspace/setup.bash")
+ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+
+IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+  list(APPEND CPACK_ABSOLUTE_DESTINATION_FILES
+   "/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/install/setup.sh")
+FILE(INSTALL DESTINATION "/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/install" TYPE FILE FILES "/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/installspace/setup.sh")
+ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+
+IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+  list(APPEND CPACK_ABSOLUTE_DESTINATION_FILES
+   "/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/install/setup.zsh")
+FILE(INSTALL DESTINATION "/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/install" TYPE FILE FILES "/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/installspace/setup.zsh")
+ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+
+IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+  list(APPEND CPACK_ABSOLUTE_DESTINATION_FILES
+   "/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/install/.rosinstall")
+FILE(INSTALL DESTINATION "/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/install" TYPE FILE FILES "/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/installspace/.rosinstall")
+ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+
+IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+  FILE(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/etc/catkin/profile.d" TYPE FILE FILES "/opt/ros/hydro/share/catkin/cmake/env-hooks/05.catkin_make.bash")
+ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+
+IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+  FILE(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/etc/catkin/profile.d" TYPE FILE FILES "/opt/ros/hydro/share/catkin/cmake/env-hooks/05.catkin_make_isolated.bash")
+ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+
+IF(NOT CMAKE_INSTALL_LOCAL_ONLY)
+  # Include the install script for each subdirectory.
+  INCLUDE("/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/gtest/cmake_install.cmake")
+  INCLUDE("/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/mar_est/cmake_install.cmake")
+
+ENDIF(NOT CMAKE_INSTALL_LOCAL_ONLY)
+
+IF(CMAKE_INSTALL_COMPONENT)
+  SET(CMAKE_INSTALL_MANIFEST "install_manifest_${CMAKE_INSTALL_COMPONENT}.txt")
+ELSE(CMAKE_INSTALL_COMPONENT)
+  SET(CMAKE_INSTALL_MANIFEST "install_manifest.txt")
+ENDIF(CMAKE_INSTALL_COMPONENT)
+
+FILE(WRITE "/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/${CMAKE_INSTALL_MANIFEST}" "")
+FOREACH(file ${CMAKE_INSTALL_MANIFEST_FILES})
+  FILE(APPEND "/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/${CMAKE_INSTALL_MANIFEST}" "${file}\n")
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+      list(APPEND mar_est_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 'mar_est'?  Did you find_package() it before the subdirectory containing its code is included?")
+      endif()
+      list(APPEND mar_est_LIBRARIES ${lib})
+    endif()
+  endif()
+endforeach()
+
+set(mar_est_EXPORTED_TARGETS "")
+# create dummy targets for exported code generation targets to make life of users easier
+foreach(t ${mar_est_EXPORTED_TARGETS})
+  if(NOT TARGET ${t})
+    add_custom_target(${t})
+  endif()
+endforeach()
+
+set(depends "")
+foreach(depend ${depends})
+  string(REPLACE " " ";" depend_list ${depend})
+  # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls
+  list(GET depend_list 0 mar_est_dep)
+  list(LENGTH depend_list count)
+  if(${count} EQUAL 1)
+    # simple dependencies must only be find_package()-ed once
+    if(NOT ${mar_est_dep}_FOUND)
+      find_package(${mar_est_dep} REQUIRED)
+    endif()
+  else()
+    # dependencies with components must be find_package()-ed again
+    list(REMOVE_AT depend_list 0)
+    find_package(${mar_est_dep} REQUIRED ${depend_list})
+  endif()
+  _list_append_unique(mar_est_INCLUDE_DIRS ${${mar_est_dep}_INCLUDE_DIRS})
+
+  # merge build configuration keywords with library names to correctly deduplicate
+  _pack_libraries_with_build_configuration(mar_est_LIBRARIES ${mar_est_LIBRARIES})
+  _pack_libraries_with_build_configuration(_libraries ${${mar_est_dep}_LIBRARIES})
+  _list_append_deduplicate(mar_est_LIBRARIES ${_libraries})
+  # undo build configuration keyword merging after deduplication
+  _unpack_libraries_with_build_configuration(mar_est_LIBRARIES ${mar_est_LIBRARIES})
+
+  _list_append_unique(mar_est_LIBRARY_DIRS ${${mar_est_dep}_LIBRARY_DIRS})
+  list(APPEND mar_est_EXPORTED_TARGETS ${${mar_est_dep}_EXPORTED_TARGETS})
+endforeach()
+
+set(pkg_cfg_extras "")
+foreach(extra ${pkg_cfg_extras})
+  if(NOT IS_ABSOLUTE ${extra})
+    set(extra ${mar_est_DIR}/${extra})
+  endif()
+  include(${extra})
+endforeach()
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/mar_est/catkin_generated/ordered_paths.cmake b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/mar_est/catkin_generated/ordered_paths.cmake
new file mode 100644
index 0000000000000000000000000000000000000000..3b5d318580fb8c5294a0677de873b249fbfdcca1
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/mar_est/catkin_generated/ordered_paths.cmake
@@ -0,0 +1 @@
+set(ORDERED_PATHS "/opt/ros/hydro/lib")
\ No newline at end of file
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/mar_est/catkin_generated/package.cmake b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/mar_est/catkin_generated/package.cmake
new file mode 100644
index 0000000000000000000000000000000000000000..b294d430016abe1359f24e208c3be947b9e07da3
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/mar_est/catkin_generated/package.cmake
@@ -0,0 +1,7 @@
+set(_CATKIN_CURRENT_PACKAGE "mar_est")
+set(mar_est_MAINTAINER "faridalijani <faridalijani@todo.todo>")
+set(mar_est_DEPRECATED "")
+set(mar_est_VERSION "0.0.0")
+set(mar_est_BUILD_DEPENDS "cv_bridge" "geometry_msgs" "image_transport" "roscpp" "rospy" "std_msgs" "tf")
+set(mar_est_RUN_DEPENDS "cv_bridge" "geometry_msgs" "image_transport" "roscpp" "rospy" "std_msgs" "tf")
+set(mar_est_BUILDTOOL_DEPENDS "catkin")
\ No newline at end of file
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/mar_est/catkin_generated/pkg.develspace.context.pc.py b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/mar_est/catkin_generated/pkg.develspace.context.pc.py
new file mode 100644
index 0000000000000000000000000000000000000000..5ad5389232ebab074b206baaafbbbbc9ff0682fa
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/mar_est/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 = "mar_est"
+PROJECT_SPACE_DIR = "/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel"
+PROJECT_VERSION = "0.0.0"
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/mar_est/catkin_generated/pkg.installspace.context.pc.py b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/mar_est/catkin_generated/pkg.installspace.context.pc.py
new file mode 100644
index 0000000000000000000000000000000000000000..0ca9804fe26b2812756ad6bcd0b230e692791749
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/mar_est/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 = "mar_est"
+PROJECT_SPACE_DIR = "/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/install"
+PROJECT_VERSION = "0.0.0"
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/mar_est/catkin_generated/stamps/mar_est/package.xml.stamp b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/mar_est/catkin_generated/stamps/mar_est/package.xml.stamp
new file mode 100644
index 0000000000000000000000000000000000000000..06010db0c2788bd9481e9f9ab7f5750e0265bb05
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/mar_est/catkin_generated/stamps/mar_est/package.xml.stamp
@@ -0,0 +1,65 @@
+<?xml version="1.0"?>
+<package>
+  <name>mar_est</name>
+  <version>0.0.0</version>
+  <description>The mar_est package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="faridalijani@todo.todo">faridalijani</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 mutiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/mar_est</url> -->
+
+
+  <!-- Author tags are optional, mutiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintianers, 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 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>cv_bridge</build_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>image_transport</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>tf</build_depend>
+  
+  <run_depend>cv_bridge</run_depend>
+  <run_depend>geometry_msgs</run_depend>
+  <run_depend>image_transport</run_depend>
+  <run_depend>roscpp</run_depend>
+  <run_depend>rospy</run_depend>
+  <run_depend>std_msgs</run_depend>
+  <run_depend>tf</run_depend>
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/mar_est/catkin_generated/stamps/mar_est/pkg.pc.em.stamp b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/mar_est/catkin_generated/stamps/mar_est/pkg.pc.em.stamp
new file mode 100644
index 0000000000000000000000000000000000000000..a4f72576cf4d2c8eac34ff317c7a5e21fd23fc43
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/mar_est/catkin_generated/stamps/mar_est/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@PROJECT_SPACE_DIR/lib @(' '.join(PKG_CONFIG_LIBRARIES_WITH_PREFIX))
+Requires: @(PROJECT_CATKIN_DEPENDS)
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/mar_est/cmake_install.cmake b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/mar_est/cmake_install.cmake
new file mode 100644
index 0000000000000000000000000000000000000000..9f2e9a8abbdfee53ae5d9378b7e3b9ed831ddca5
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/mar_est/cmake_install.cmake
@@ -0,0 +1,49 @@
+# Install script for directory: /home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/mar_est
+
+# Set the install prefix
+IF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+  SET(CMAKE_INSTALL_PREFIX "/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/install")
+ENDIF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+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(BUILD_TYPE)
+    SET(CMAKE_INSTALL_CONFIG_NAME "")
+  ENDIF(BUILD_TYPE)
+  MESSAGE(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
+ENDIF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+
+# Set the component getting installed.
+IF(NOT CMAKE_INSTALL_COMPONENT)
+  IF(COMPONENT)
+    MESSAGE(STATUS "Install component: \"${COMPONENT}\"")
+    SET(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
+  ELSE(COMPONENT)
+    SET(CMAKE_INSTALL_COMPONENT)
+  ENDIF(COMPONENT)
+ENDIF(NOT CMAKE_INSTALL_COMPONENT)
+
+# Install shared libraries without execute permission?
+IF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+  SET(CMAKE_INSTALL_SO_NO_EXE "1")
+ENDIF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+
+IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+  FILE(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/pkgconfig" TYPE FILE FILES "/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/mar_est/catkin_generated/installspace/mar_est.pc")
+ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+
+IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+  FILE(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/mar_est/cmake" TYPE FILE FILES
+    "/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/mar_est/catkin_generated/installspace/mar_estConfig.cmake"
+    "/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/mar_est/catkin_generated/installspace/mar_estConfig-version.cmake"
+    )
+ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+
+IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+  FILE(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/mar_est" TYPE FILE FILES "/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/mar_est/package.xml")
+ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/.catkin b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/.catkin
new file mode 100644
index 0000000000000000000000000000000000000000..c0156d16141e0821d8723abfd22a8e84f7bfa8de
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/.catkin
@@ -0,0 +1 @@
+/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION
\ No newline at end of file
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/.rosinstall b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/.rosinstall
new file mode 100644
index 0000000000000000000000000000000000000000..904619e744b39f2221a9aa70d2f5e3a8ab46dbe4
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/.rosinstall
@@ -0,0 +1,2 @@
+- setup-file:
+    local-name: /home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/setup.sh
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/_setup_util.py b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/_setup_util.py
new file mode 100755
index 0000000000000000000000000000000000000000..80a7249eefd0c19e2f0d1cc861d5e1004bb98102
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/_setup_util.py
@@ -0,0 +1,280 @@
+#!/usr/bin/env python
+
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2012, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+'''This file generates shell code for the setup.SHELL scripts to set environment variables'''
+
+from __future__ import print_function
+import argparse
+import copy
+import errno
+import os
+import platform
+import sys
+
+CATKIN_MARKER_FILE = '.catkin'
+
+system = platform.system()
+IS_DARWIN = (system == 'Darwin')
+IS_WINDOWS = (system == 'Windows')
+
+# subfolder of workspace prepended to CMAKE_PREFIX_PATH
+ENV_VAR_SUBFOLDERS = {
+    'CMAKE_PREFIX_PATH': '',
+    'CPATH': 'include',
+    'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': 'lib',
+    'PATH': 'bin',
+    'PKG_CONFIG_PATH': 'lib/pkgconfig',
+    'PYTHONPATH': 'lib/python2.7/dist-packages',
+}
+
+
+def rollback_env_variables(environ, env_var_subfolders):
+    '''
+    Generate shell code to reset environment variables
+    by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH.
+    This does not cover modifications performed by environment hooks.
+    '''
+    lines = []
+    unmodified_environ = copy.copy(environ)
+    for key in sorted(env_var_subfolders.keys()):
+        subfolder = env_var_subfolders[key]
+        value = _rollback_env_variable(unmodified_environ, key, subfolder)
+        if value is not None:
+            environ[key] = value
+            lines.append(assignment(key, value))
+    if lines:
+        lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH'))
+    return lines
+
+
+def _rollback_env_variable(environ, name, subfolder):
+    '''
+    For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder.
+
+    :param subfolder: str '' or subfoldername that may start with '/'
+    :returns: the updated value of the environment variable.
+    '''
+    value = environ[name] if name in environ else ''
+    env_paths = [path for path in value.split(os.pathsep) if path]
+    value_modified = False
+    if subfolder:
+        if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)):
+            subfolder = subfolder[1:]
+        if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)):
+            subfolder = subfolder[:-1]
+    for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True):
+        path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path
+        path_to_remove = None
+        for env_path in env_paths:
+            env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path
+            if env_path_clean == path_to_find:
+                path_to_remove = env_path
+                break
+        if path_to_remove:
+            env_paths.remove(path_to_remove)
+            value_modified = True
+    new_value = os.pathsep.join(env_paths)
+    return new_value if value_modified else None
+
+
+def _get_workspaces(environ, include_fuerte=False, include_non_existing=False):
+    '''
+    Based on CMAKE_PREFIX_PATH return all catkin workspaces.
+
+    :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool``
+    '''
+    # get all cmake prefix paths
+    env_name = 'CMAKE_PREFIX_PATH'
+    value = environ[env_name] if env_name in environ else ''
+    paths = [path for path in value.split(os.pathsep) if path]
+    # remove non-workspace paths
+    workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))]
+    return workspaces
+
+
+def prepend_env_variables(environ, env_var_subfolders, workspaces):
+    '''
+    Generate shell code to prepend environment variables
+    for the all workspaces.
+    '''
+    lines = []
+    lines.append(comment('prepend folders of workspaces to environment variables'))
+
+    paths = [path for path in workspaces.split(os.pathsep) if path]
+
+    prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '')
+    lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix))
+
+    for key in sorted([key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH']):
+        subfolder = env_var_subfolders[key]
+        prefix = _prefix_env_variable(environ, key, paths, subfolder)
+        lines.append(prepend(environ, key, prefix))
+    return lines
+
+
+def _prefix_env_variable(environ, name, paths, subfolder):
+    '''
+    Return the prefix to prepend to the environment variable NAME, adding any path in NEW_PATHS_STR without creating duplicate or empty items.
+    '''
+    value = environ[name] if name in environ else ''
+    environ_paths = [path for path in value.split(os.pathsep) if path]
+    checked_paths = []
+    for path in paths:
+        if subfolder:
+            path = os.path.join(path, subfolder)
+        # exclude any path already in env and any path we already added
+        if path not in environ_paths and path not in checked_paths:
+            checked_paths.append(path)
+    prefix_str = os.pathsep.join(checked_paths)
+    if prefix_str != '' and environ_paths:
+        prefix_str += os.pathsep
+    return prefix_str
+
+
+def assignment(key, value):
+    if not IS_WINDOWS:
+        return 'export %s="%s"' % (key, value)
+    else:
+        return 'set %s=%s' % (key, value)
+
+
+def comment(msg):
+    if not IS_WINDOWS:
+        return '# %s' % msg
+    else:
+        return 'REM %s' % msg
+
+
+def prepend(environ, key, prefix):
+    if key not in environ or not environ[key]:
+        return assignment(key, prefix)
+    if not IS_WINDOWS:
+        return 'export %s="%s$%s"' % (key, prefix, key)
+    else:
+        return 'set %s=%s%%%s%%' % (key, prefix, key)
+
+
+def find_env_hooks(environ, cmake_prefix_path):
+    '''
+    Generate shell code with found environment hooks
+    for the all workspaces.
+    '''
+    lines = []
+    lines.append(comment('found environment hooks in workspaces'))
+
+    generic_env_hooks = []
+    generic_env_hooks_workspace = []
+    specific_env_hooks = []
+    specific_env_hooks_workspace = []
+    generic_env_hooks_by_filename = {}
+    specific_env_hooks_by_filename = {}
+    generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh'
+    specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None
+    # remove non-workspace paths
+    workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))]
+    for workspace in reversed(workspaces):
+        env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d')
+        if os.path.isdir(env_hook_dir):
+            for filename in sorted(os.listdir(env_hook_dir)):
+                if filename.endswith('.%s' % generic_env_hook_ext):
+                    # remove previous env hook with same name if present
+                    if filename in generic_env_hooks_by_filename:
+                        i = generic_env_hooks.index(generic_env_hooks_by_filename[filename])
+                        generic_env_hooks.pop(i)
+                        generic_env_hooks_workspace.pop(i)
+                    # append env hook
+                    generic_env_hooks.append(os.path.join(env_hook_dir, filename))
+                    generic_env_hooks_workspace.append(workspace)
+                    generic_env_hooks_by_filename[filename] = generic_env_hooks[-1]
+                elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext):
+                    # remove previous env hook with same name if present
+                    if filename in specific_env_hooks_by_filename:
+                        i = specific_env_hooks.index(specific_env_hooks_by_filename[filename])
+                        specific_env_hooks.pop(i)
+                        specific_env_hooks_workspace.pop(i)
+                    # append env hook
+                    specific_env_hooks.append(os.path.join(env_hook_dir, filename))
+                    specific_env_hooks_workspace.append(workspace)
+                    specific_env_hooks_by_filename[filename] = specific_env_hooks[-1]
+    env_hooks = generic_env_hooks + specific_env_hooks
+    env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace
+    count = len(env_hooks)
+    lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count))
+    for i in range(count):
+        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i]))
+        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i]))
+    return lines
+
+
+def _parse_arguments(args=None):
+    parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.')
+    parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context')
+    return parser.parse_known_args(args=args)[0]
+
+
+if __name__ == '__main__':
+    try:
+        try:
+            args = _parse_arguments()
+        except Exception as e:
+            print(e, file=sys.stderr)
+            sys.exit(1)
+
+        # environment at generation time
+        CMAKE_PREFIX_PATH = '/opt/ros/hydro'.split(';')
+        # prepend current workspace if not already part of CPP
+        base_path = os.path.dirname(__file__)
+        if base_path not in CMAKE_PREFIX_PATH:
+            CMAKE_PREFIX_PATH.insert(0, base_path)
+        CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH)
+
+        environ = dict(os.environ)
+        lines = []
+        if not args.extend:
+            lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS)
+        lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH)
+        lines += find_env_hooks(environ, CMAKE_PREFIX_PATH)
+        print('\n'.join(lines))
+
+        # need to explicitly flush the output
+        sys.stdout.flush()
+    except IOError as e:
+        # and catch potantial "broken pipe" if stdout is not writable
+        # which can happen when piping the output to a file but the disk is full
+        if e.errno == errno.EPIPE:
+            print(e, file=sys.stderr)
+            sys.exit(2)
+        raise
+
+    sys.exit(0)
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/env.sh b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/env.sh
new file mode 100755
index 0000000000000000000000000000000000000000..8aa9d244ae9475039027a5f25a8d41a46174cddf
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/env.sh
@@ -0,0 +1,16 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/templates/env.sh.in
+
+if [ $# -eq 0 ] ; then
+  /bin/echo "Usage: env.sh COMMANDS"
+  /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually."
+  exit 1
+fi
+
+# ensure to not use different shell type which was set before
+CATKIN_SHELL=sh
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh"
+exec "$@"
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/etc/catkin/profile.d/05.catkin-test-results.sh b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/etc/catkin/profile.d/05.catkin-test-results.sh
new file mode 100644
index 0000000000000000000000000000000000000000..bea940518f12ffdb0871ee5d602ed58fc58f3e89
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/etc/catkin/profile.d/05.catkin-test-results.sh
@@ -0,0 +1,4 @@
+# generated from catkin/cmake/env-hooks/05.catkin-test-results.sh.develspace.in
+
+export CATKIN_TEST_RESULTS_DIR="/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/test_results"
+export ROS_TEST_RESULTS_DIR="$CATKIN_TEST_RESULTS_DIR"
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/etc/catkin/profile.d/05.catkin_make.bash b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/etc/catkin/profile.d/05.catkin_make.bash
new file mode 100644
index 0000000000000000000000000000000000000000..bb6ab445b7daa4c5cab38838ca062d06bb71abc2
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/etc/catkin/profile.d/05.catkin_make.bash
@@ -0,0 +1,64 @@
+function _catkin_make()
+{
+    local cur prev
+    cur=${COMP_WORDS[COMP_CWORD]}
+    prev=${COMP_WORDS[COMP_CWORD-1]}
+
+    # autocomplete path arguments for -C, --directory, --source, --build
+    case $prev in
+        -C|--directory|--source|--build)
+            _filedir -d
+            return 0
+            ;;
+    esac
+
+    if [[ "$cur" == -DCMAKE_BUILD_TYPE=* ]]; then
+        # autocomplete CMake argument CMAKE_BUILD_TYPE with its options
+        COMPREPLY=( $( compgen -P "-DCMAKE_BUILD_TYPE=" -W "None Debug Release RelWithDebInfo MinSizeRel" -- "${cur:19}" ) )
+    elif [[ "$cur" == -DCATKIN_ENABLE_TESTING=* ]]; then
+        # autocomplete catkin argument CATKIN_ENABLE_TESTING with its options
+        COMPREPLY=( $( compgen -P "-DCATKIN_ENABLE_TESTING=" -W "0 1" -- "${cur:24}" ) )
+    elif [[ "$cur" == -DCATKIN_DEVEL_PREFIX=* || "$cur" == -DCMAKE_INSTALL_PREFIX=* ]]; then
+        COMPREPLY=()
+    elif [[ "$cur" == -* ]]; then
+        local opts="$( _parse_help "$1" )"
+        [[ $opts ]] || opts="$( _parse_usage "$1" )"
+        if [[ "$cur" == -* ]]; then
+            # suggest some common CMake arguments
+            opts="$opts -DCATKIN_DEVEL_PREFIX= -DCATKIN_ENABLE_TESTING= -DCMAKE_INSTALL_PREFIX= -DCMAKE_BUILD_TYPE="
+        fi
+        COMPREPLY=( $( compgen -W "$opts" -- "$cur" ) )
+        [[ $COMPREPLY == *= ]] && compopt -o nospace
+    else
+        # check if custom workspace root has been specified on the command line
+        local workspace_dir="."
+        for (( i=0; i < ${#COMP_WORDS[@]}; i++ )); do
+            if [[ ${COMP_WORDS[i]} == -C || ${COMP_WORDS[i]} == --directory ]]; then
+                # eval to expand tilde
+                eval workspace_dir=${COMP_WORDS[i+1]}
+            fi
+        done
+        # check if custom build folder has been specified on the command line
+        local build_dir="build"
+        for (( i=0; i < ${#COMP_WORDS[@]}; i++ )); do
+            if [[ ${COMP_WORDS[i]} == --build ]]; then
+                # eval to expand tilde
+                eval build_dir=${COMP_WORDS[i+1]}
+            fi
+        done
+
+        # determine location of Makefile
+        local makefile_dir
+        if [[ "$build_dir" = /* ]]; then
+            makefile_dir="$build_dir"
+        else
+            makefile_dir="$workspace_dir/$build_dir"
+        fi
+        COMPREPLY=()
+        if [ -f "$makefile_dir/Makefile" ]; then
+            cur=${COMP_WORDS[COMP_CWORD]}
+            COMPREPLY=( $( compgen -W "`make -C $makefile_dir -qp 2>/dev/null | awk -F':' '/^[a-zA-Z0-9][a-zA-Z0-9_\.]*:/ { print $1 }'`" -- $cur ))
+        fi
+    fi
+} &&
+complete -F _catkin_make catkin_make
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/etc/catkin/profile.d/05.catkin_make_isolated.bash b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/etc/catkin/profile.d/05.catkin_make_isolated.bash
new file mode 100644
index 0000000000000000000000000000000000000000..5cdc4dd880a218e9e0124349fe9f973e13cb7a9f
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/etc/catkin/profile.d/05.catkin_make_isolated.bash
@@ -0,0 +1,62 @@
+function _catkin_make_isolated()
+{
+    local cur prev
+    cur=${COMP_WORDS[COMP_CWORD]}
+    prev=${COMP_WORDS[COMP_CWORD-1]}
+
+    # autocomplete path arguments for -C, --directory, --source, --build, --devel, --install
+    case $prev in
+        -C|--directory|--source|--build|--devel|--install)
+            _filedir -d
+            return 0
+            ;;
+    esac
+
+    if [[ "$cur" == -DCMAKE_BUILD_TYPE=* ]]; then
+        # autocomplete CMake argument CMAKE_BUILD_TYPE with its options
+        COMPREPLY=( $( compgen -P "-DCMAKE_BUILD_TYPE=" -W "None Debug Release RelWithDebInfo MinSizeRel" -- "${cur:19}" ) )
+    elif [[ "$cur" == -DCATKIN_ENABLE_TESTING=* ]]; then
+        # autocomplete catkin argument CATKIN_ENABLE_TESTING with its options
+        COMPREPLY=( $( compgen -P "-DCATKIN_ENABLE_TESTING=" -W "0 1" -- "${cur:24}" ) )
+    elif [[ "$cur" == -* ]]; then
+        local opts="$( _parse_help "$1" )"
+        [[ $opts ]] || opts="$( _parse_usage "$1" )"
+        if [[ "$cur" == -* ]]; then
+            # suggest some common CMake arguments
+            opts="$opts -DCATKIN_ENABLE_TESTING= -DCMAKE_BUILD_TYPE="
+        fi
+        COMPREPLY=( $( compgen -W "$opts" -- "$cur" ) )
+        [[ $COMPREPLY == *= ]] && compopt -o nospace
+    else
+        # check if custom workspace root has been specified on the command line
+        local workspace_dir="."
+        for (( i=0; i < ${#COMP_WORDS[@]}; i++ )); do
+            if [[ ${COMP_WORDS[i]} == -C || ${COMP_WORDS[i]} == --directory ]]; then
+                # eval to expand tilde
+                eval workspace_dir=${COMP_WORDS[i+1]}
+            fi
+        done
+        # check if custom build folder has been specified on the command line
+        local build_dir="build_isolated"
+        for (( i=0; i < ${#COMP_WORDS[@]}; i++ )); do
+            if [[ ${COMP_WORDS[i]} == --build ]]; then
+                # eval to expand tilde
+                eval build_dir=${COMP_WORDS[i+1]}
+            fi
+        done
+
+        # determine location of Makefile
+        local makefile_dir
+        if [[ "$build_dir" = /* ]]; then
+            makefile_dir="$build_dir"
+        else
+            makefile_dir="$workspace_dir/$build_dir"
+        fi
+        COMPREPLY=()
+        if [ -f "$makefile_dir/Makefile" ]; then
+            cur=${COMP_WORDS[COMP_CWORD]}
+            COMPREPLY=( $( compgen -W "`make -C $makefile_dir -qp 2>/dev/null | awk -F':' '/^[a-zA-Z0-9][a-zA-Z0-9_\.]*:/ { print $1 }'`" -- $cur ))
+        fi
+    fi
+} &&
+complete -F _catkin_make_isolated catkin_make_isolated
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/lib/mar_est/mar_est b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/lib/mar_est/mar_est
new file mode 100755
index 0000000000000000000000000000000000000000..5ffe39ce62aaa3d91f06267513c99061f101fba6
Binary files /dev/null and b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/lib/mar_est/mar_est differ
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/lib/pkgconfig/mar_est.pc b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/lib/pkgconfig/mar_est.pc
new file mode 100644
index 0000000000000000000000000000000000000000..0df9b35ec91f1c4479678d558abadf90c3b9645a
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/lib/pkgconfig/mar_est.pc
@@ -0,0 +1,8 @@
+prefix=/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel
+
+Name: mar_est
+Description: Description of mar_est
+Version: 0.0.0
+Cflags: 
+Libs: -L/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/lib 
+Requires: 
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/setup.bash b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/setup.bash
new file mode 100644
index 0000000000000000000000000000000000000000..ff47af8f30bcc54efd5892530c84c4159250d4a3
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/setup.bash
@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+# generated from catkin/cmake/templates/setup.bash.in
+
+CATKIN_SHELL=bash
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh"
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/setup.sh b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/setup.sh
new file mode 100644
index 0000000000000000000000000000000000000000..9c18d8fd97a5920b216af26d74d64c4b840d7919
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/setup.sh
@@ -0,0 +1,87 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/template/setup.sh.in
+
+# Sets various environment variables and sources additional environment hooks.
+# It tries it's best to undo changes from a previously sourced setup file before.
+# Supported command line options:
+# --extend: skips the undoing of changes from a previously sourced setup file
+
+# since this file is sourced either use the provided _CATKIN_SETUP_DIR
+# or fall back to the destination set at configure time
+: ${_CATKIN_SETUP_DIR:=/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel}
+_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py"
+unset _CATKIN_SETUP_DIR
+
+if [ ! -f "$_SETUP_UTIL" ]; then
+  echo "Missing Python script: $_SETUP_UTIL"
+  return 22
+fi
+
+# detect if running on Darwin platform
+_UNAME=`uname -s`
+_IS_DARWIN=0
+if [ "$_UNAME" = "Darwin" ]; then
+  _IS_DARWIN=1
+fi
+unset _UNAME
+
+# make sure to export all environment variables
+export CMAKE_PREFIX_PATH
+export CPATH
+if [ $_IS_DARWIN -eq 0 ]; then
+  export LD_LIBRARY_PATH
+else
+  export DYLD_LIBRARY_PATH
+fi
+unset _IS_DARWIN
+export PATH
+export PKG_CONFIG_PATH
+export PYTHONPATH
+
+# remember type of shell if not already set
+if [ -z "$CATKIN_SHELL" ]; then
+  CATKIN_SHELL=sh
+fi
+
+# invoke Python script to generate necessary exports of environment variables
+_SETUP_TMP=`mktemp /tmp/setup.sh.XXXXXXXXXX`
+if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then
+  echo "Could not create temporary file: $_SETUP_TMP"
+  return 1
+fi
+CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ > $_SETUP_TMP
+_RC=$?
+if [ $_RC -ne 0 ]; then
+  if [ $_RC -eq 2 ]; then
+    echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?"
+  else
+    echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC"
+  fi
+  unset _RC
+  unset _SETUP_UTIL
+  rm -f $_SETUP_TMP
+  unset _SETUP_TMP
+  return 1
+fi
+unset _RC
+unset _SETUP_UTIL
+. $_SETUP_TMP
+rm -f $_SETUP_TMP
+unset _SETUP_TMP
+
+# source all environment hooks
+_i=0
+while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do
+  eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i
+  unset _CATKIN_ENVIRONMENT_HOOKS_$_i
+  eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
+  unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
+  # set workspace for environment hook
+  CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace
+  . "$_envfile"
+  unset CATKIN_ENV_HOOK_WORKSPACE
+  _i=$((_i + 1))
+done
+unset _i
+
+unset _CATKIN_ENVIRONMENT_HOOKS_COUNT
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/setup.zsh b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/setup.zsh
new file mode 100644
index 0000000000000000000000000000000000000000..b660717663f0901e84c9149c10799ad6153fa756
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/setup.zsh
@@ -0,0 +1,8 @@
+#!/usr/bin/env zsh
+# generated from catkin/cmake/templates/setup.zsh.in
+
+CATKIN_SHELL=zsh
+_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
+emulate sh # emulate POSIX
+. "$_CATKIN_SETUP_DIR/setup.sh"
+emulate zsh # back to zsh mode
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/share/mar_est/cmake/mar_estConfig-version.cmake b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/share/mar_est/cmake/mar_estConfig-version.cmake
new file mode 100644
index 0000000000000000000000000000000000000000..7fd9f993a719934b0f7ee411b86bce935627eec0
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/share/mar_est/cmake/mar_estConfig-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/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/share/mar_est/cmake/mar_estConfig.cmake b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/share/mar_est/cmake/mar_estConfig.cmake
new file mode 100644
index 0000000000000000000000000000000000000000..02611474af63252747c9d381fbbd057f4bb24f2e
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/share/mar_est/cmake/mar_estConfig.cmake
@@ -0,0 +1,191 @@
+# 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(mar_est_CONFIG_INCLUDED)
+  return()
+endif()
+set(mar_est_CONFIG_INCLUDED TRUE)
+
+# set variables for source/devel/install prefixes
+if("TRUE" STREQUAL "TRUE")
+  set(mar_est_SOURCE_PREFIX /home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/mar_est)
+  set(mar_est_DEVEL_PREFIX /home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel)
+  set(mar_est_INSTALL_PREFIX "")
+  set(mar_est_PREFIX ${mar_est_DEVEL_PREFIX})
+else()
+  set(mar_est_SOURCE_PREFIX "")
+  set(mar_est_DEVEL_PREFIX "")
+  set(mar_est_INSTALL_PREFIX /home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/install)
+  set(mar_est_PREFIX ${mar_est_INSTALL_PREFIX})
+endif()
+
+# warn when using a deprecated package
+if(NOT "" STREQUAL "")
+  set(_msg "WARNING: package 'mar_est' is deprecated")
+  # append custom deprecation text if available
+  if(NOT "" STREQUAL "TRUE")
+    set(_msg "${_msg} ()")
+  endif()
+  message("${_msg}")
+endif()
+
+# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project
+set(mar_est_FOUND_CATKIN_PROJECT TRUE)
+
+if(NOT "" STREQUAL "")
+  set(mar_est_INCLUDE_DIRS "")
+  set(_include_dirs "")
+  foreach(idir ${_include_dirs})
+    if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir})
+      set(include ${idir})
+    elseif("${idir}" STREQUAL "include")
+      get_filename_component(include "${mar_est_DIR}/../../../include" ABSOLUTE)
+      if(NOT IS_DIRECTORY ${include})
+        message(FATAL_ERROR "Project 'mar_est' specifies '${idir}' as an include dir, which is not found.  It does not exist in '${include}'.  Ask the maintainer 'faridalijani <faridalijani@todo.todo>' to fix it.")
+      endif()
+    else()
+      message(FATAL_ERROR "Project 'mar_est' specifies '${idir}' as an include dir, which is not found.  It does neither exist as an absolute directory nor in '/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/mar_est/${idir}'.  Ask the maintainer 'faridalijani <faridalijani@todo.todo>' to fix it.")
+    endif()
+    _list_append_unique(mar_est_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 mar_est_LIBRARIES ${library})
+  elseif(TARGET ${library})
+    list(APPEND mar_est_LIBRARIES ${library})
+  elseif(IS_ABSOLUTE ${library})
+    list(APPEND mar_est_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/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/lib;/opt/ros/hydro/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(mar_est_LIBRARY_DIRS ${lib_path})
+      list(APPEND mar_est_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 'mar_est'?  Did you find_package() it before the subdirectory containing its code is included?")
+      endif()
+      list(APPEND mar_est_LIBRARIES ${lib})
+    endif()
+  endif()
+endforeach()
+
+set(mar_est_EXPORTED_TARGETS "")
+# create dummy targets for exported code generation targets to make life of users easier
+foreach(t ${mar_est_EXPORTED_TARGETS})
+  if(NOT TARGET ${t})
+    add_custom_target(${t})
+  endif()
+endforeach()
+
+set(depends "")
+foreach(depend ${depends})
+  string(REPLACE " " ";" depend_list ${depend})
+  # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls
+  list(GET depend_list 0 mar_est_dep)
+  list(LENGTH depend_list count)
+  if(${count} EQUAL 1)
+    # simple dependencies must only be find_package()-ed once
+    if(NOT ${mar_est_dep}_FOUND)
+      find_package(${mar_est_dep} REQUIRED)
+    endif()
+  else()
+    # dependencies with components must be find_package()-ed again
+    list(REMOVE_AT depend_list 0)
+    find_package(${mar_est_dep} REQUIRED ${depend_list})
+  endif()
+  _list_append_unique(mar_est_INCLUDE_DIRS ${${mar_est_dep}_INCLUDE_DIRS})
+
+  # merge build configuration keywords with library names to correctly deduplicate
+  _pack_libraries_with_build_configuration(mar_est_LIBRARIES ${mar_est_LIBRARIES})
+  _pack_libraries_with_build_configuration(_libraries ${${mar_est_dep}_LIBRARIES})
+  _list_append_deduplicate(mar_est_LIBRARIES ${_libraries})
+  # undo build configuration keyword merging after deduplication
+  _unpack_libraries_with_build_configuration(mar_est_LIBRARIES ${mar_est_LIBRARIES})
+
+  _list_append_unique(mar_est_LIBRARY_DIRS ${${mar_est_dep}_LIBRARY_DIRS})
+  list(APPEND mar_est_EXPORTED_TARGETS ${${mar_est_dep}_EXPORTED_TARGETS})
+endforeach()
+
+set(pkg_cfg_extras "")
+foreach(extra ${pkg_cfg_extras})
+  if(NOT IS_ABSOLUTE ${extra})
+    set(extra ${mar_est_DIR}/${extra})
+  endif()
+  include(${extra})
+endforeach()
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/mar_est/CMakeLists.txt b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/mar_est/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..05808fcd97243e1e60bfca84d46a120ee9b02ce1
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/mar_est/CMakeLists.txt
@@ -0,0 +1,205 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(mar_est)
+
+## 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
+  geometry_msgs
+  roscpp
+  rospy
+  std_msgs
+  tf
+  sensor_msgs
+  image_transport
+  cv_bridge
+)
+
+SET(CMAKE_MODULE_PATH ${ARUCO_PATH}/lib/cmake )
+SET(ARUCO_INCLUDE_DIRS ${ARUCO_PATH}/include/aruco )
+set(CMAKE_CXX_FLAGS "-std=c++0x ${CMAKE_CXX_FLAGS}")
+
+## System dependencies are found with CMake's conventions
+find_package(aruco REQUIRED )
+find_package(OpenCV REQUIRED )
+
+INCLUDE(FindPkgConfig)
+
+set(ROS_BUILD_TYPE Debug)
+
+## 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 run_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 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
+#   aruco_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 run_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 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 mar_est
+#  CATKIN_DEPENDS aruco aruco_msgs cv_bridge image_transport message_generation pal_vision_segmentation roscpp tf
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+include_directories(mar_est include/ viewpoint_estimation_lib.h
+                        ${catkin_INCLUDE_DIRS}
+                        ${ARUCO_INCLUDE_DIRS}
+                        )
+
+
+## Declare a C++ library
+# add_library(mar_est
+#   src/${PROJECT_NAME}/mar_est.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(mar_est ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+add_executable(mar_est src/viewpoint_estimation.cpp src/viewpoint_estimation_lib.cpp)
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(mar_est_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(mar_est 
+                        ${catkin_LIBRARIES}
+                        ${aruco_LIBS}
+                        )
+
+
+#############
+## 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 mar_est mar_est_node
+#   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_mar_est.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/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/mar_est/CMakeLists.txt~ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/mar_est/CMakeLists.txt~
new file mode 100644
index 0000000000000000000000000000000000000000..4fa26cfe7cfa90529cbf22df2603d51821dd9013
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/mar_est/CMakeLists.txt~
@@ -0,0 +1,203 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(mar_est)
+
+## 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
+  geometry_msgs
+  roscpp
+  rospy
+  std_msgs
+  tf
+  sensor_msgs
+  image_transport
+  cv_bridge
+)
+
+SET(CMAKE_MODULE_PATH ${ARUCO_PATH}/lib/cmake )
+SET(ARUCO_INCLUDE_DIRS ${ARUCO_PATH}/include/aruco )
+set(CMAKE_CXX_FLAGS "-std=c++0x ${CMAKE_CXX_FLAGS}")
+
+## System dependencies are found with CMake's conventions
+find_package(aruco REQUIRED )
+find_package(OpenCV REQUIRED )
+
+INCLUDE(FindPkgConfig)
+
+set(ROS_BUILD_TYPE Debug)
+
+## 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 run_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 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
+#   aruco_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 run_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 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 mar_est
+#  CATKIN_DEPENDS aruco aruco_msgs cv_bridge image_transport message_generation pal_vision_segmentation roscpp tf
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+include_directories(mar_est include/ viewpoint_estimation_lib.h
+                        ${catkin_INCLUDE_DIRS}
+                        ${ARUCO_INCLUDE_DIRS}
+                        )
+
+
+## Declare a C++ library
+# add_library(mar_est
+#   src/${PROJECT_NAME}/mar_est.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(mar_est ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+add_executable(mar_est src/viewpoint_estimation.cpp src/viewpoint_estimation_lib.cpp)
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(mar_est_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(mar_est_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 mar_est mar_est_node
+#   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_mar_est.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/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/mar_est/include/viewpoint_estimation_lib.h b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/mar_est/include/viewpoint_estimation_lib.h
new file mode 100644
index 0000000000000000000000000000000000000000..f47eb9a4ed28af833ca9eb57c1a55115415b23bc
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/mar_est/include/viewpoint_estimation_lib.h
@@ -0,0 +1,79 @@
+
+#ifndef VIEWPOINT_ESTIMATOR_LIB_H
+#define VIEWPOINT_ESTIMATOR_LIB_H
+
+//Standard ROS headers
+#include <sensor_msgs/image_encodings.h>
+#include <tf/transform_broadcaster.h>
+
+#include <iostream>
+#include <fstream>
+#include <visualization_msgs/Marker.h>
+
+//Aruco headers
+#include <aruco/aruco.h>
+#include <aruco/cameraparameters.h>
+#include <aruco/cvdrawingutils.h>
+#include <aruco/arucofidmarkers.h>
+
+//OpenCV headers
+#include <opencv2/opencv.hpp>
+#include <opencv2/core/core.hpp>
+#include <opencv2/calib3d/calib3d.hpp>
+#include <opencv2/highgui/highgui.hpp>
+
+#include <image_transport/image_transport.h>
+#include <cv_bridge/cv_bridge.h>
+
+
+class ViewPoint_Estimator
+{
+public:
+
+    explicit ViewPoint_Estimator(ros::NodeHandle *nh);
+    ~ViewPoint_Estimator();
+    bool load_calibration_file(std::string filename);
+    void image_callback(const sensor_msgs::ImageConstPtr &original_image);
+
+    bool chessboard_find_pattern(cv::Mat input_image, cv::Mat output_image);
+    bool markers_find_pattern(cv::Mat input_image, cv::Mat output_image);
+  
+    void publish_marker(geometry_msgs::Pose marker_pose,const int marker_id);
+
+
+    tf::Transform arucoMarker2Tf(const aruco::Marker &marker);
+    
+    
+private:
+
+    cv::Mat I;                                       //OpeCV image
+
+    //Calibration parameters
+    std::string filename;                            //calibration file path
+    cv::Mat *intrinsics;                             //camera intrinsics
+    cv::Mat *distortion_coeff;                       //camera distortion coeffs
+    cv::Size *image_size;                            //image_size
+
+    //ROS messaging
+    ros::Publisher marker_pub;                       //marker visualization
+
+    //Chessboard detection variables
+    cv::Size board_size;                             //widht and height of calibration grid
+    float square_size;                               //size of grid square
+
+    std::vector <cv::Point3f> chessboard3D_points;   //chessboard 3D points in own reference frame
+    std::vector<cv::Point2f>  chessboard2D_points;   //chessboard 2D points in image
+
+    std::vector <cv::Point3d> ref_frame_points;      //reference xyz frame points
+    std::vector<cv::Point2d>  image_frame_points;     //reference xyz frame points in image
+
+    //Marker parameters
+    double marker_size;                               //marker geometry
+    aruco::CameraParameters aruco_calib_params;      //Camera parameters for aruco lib
+
+    //TF frame
+    std::string camera_frame;                        //parrent camera frame name
+   
+};
+
+#endif //VIEWPOINT_ESTIMATOR_LIB_H
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/mar_est/package.xml b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/mar_est/package.xml
new file mode 100644
index 0000000000000000000000000000000000000000..06010db0c2788bd9481e9f9ab7f5750e0265bb05
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/mar_est/package.xml
@@ -0,0 +1,65 @@
+<?xml version="1.0"?>
+<package>
+  <name>mar_est</name>
+  <version>0.0.0</version>
+  <description>The mar_est package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="faridalijani@todo.todo">faridalijani</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 mutiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/mar_est</url> -->
+
+
+  <!-- Author tags are optional, mutiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintianers, 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 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>cv_bridge</build_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>image_transport</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>tf</build_depend>
+  
+  <run_depend>cv_bridge</run_depend>
+  <run_depend>geometry_msgs</run_depend>
+  <run_depend>image_transport</run_depend>
+  <run_depend>roscpp</run_depend>
+  <run_depend>rospy</run_depend>
+  <run_depend>std_msgs</run_depend>
+  <run_depend>tf</run_depend>
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/mar_est/package.xml~ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/mar_est/package.xml~
new file mode 100644
index 0000000000000000000000000000000000000000..5e3c44cbe1aa2621d788f962c8b5081628561ecb
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/mar_est/package.xml~
@@ -0,0 +1,61 @@
+<?xml version="1.0"?>
+<package>
+  <name>mar_est</name>
+  <version>0.0.0</version>
+  <description>The mar_est package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="faridalijani@todo.todo">faridalijani</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 mutiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/mar_est</url> -->
+
+
+  <!-- Author tags are optional, mutiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintianers, 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 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>cv_bridge</build_depend>
+  <build_depend>image_transport</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>tf</build_depend>
+  
+
+  <run_depend>cv_bridge</run_depend>
+  <run_depend>image_transport</run_depend>
+  <run_depend>roscpp</run_depend>
+  <run_depend>tf</run_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/mar_est/src/viewpoint_estimation.cpp b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/mar_est/src/viewpoint_estimation.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..6372a2b1b8d6fe5df58a0fc0f568336f63a2ebe6
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/mar_est/src/viewpoint_estimation.cpp
@@ -0,0 +1,18 @@
+#include <ros/ros.h>
+#include <viewpoint_estimation_lib.h>
+
+int 
+main(int argc, char *argv[])
+{
+  ros::init(argc, argv, "viewpoint_estimation");
+  ros::NodeHandle nh;
+
+  ViewPoint_Estimator est(&nh);
+
+  image_transport::ImageTransport it(nh);
+  image_transport::Subscriber sub = it.subscribe("/image_raw", 1, &ViewPoint_Estimator::image_callback, &est);
+
+  ros::spin();
+
+  return(EXIT_SUCCESS);
+}
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/mar_est/src/viewpoint_estimation_lib.cpp b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/mar_est/src/viewpoint_estimation_lib.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..87705c8b1af86338cf52a30e5fa076d697a38664
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/mar_est/src/viewpoint_estimation_lib.cpp
@@ -0,0 +1,331 @@
+#ifndef VIEWPOINT_ESTIMATOR_LIB_CPP
+#define VIEWPOINT_ESTIMATOR_LIB_CPP
+
+////////////////////////////////////////////////////////////////////////////////////////////////
+
+#include <viewpoint_estimation_lib.h>
+
+namespace enc = sensor_msgs::image_encodings;
+
+ViewPoint_Estimator::ViewPoint_Estimator(ros::NodeHandle *nh) :
+    square_size(2.75),       //Chessboard square size
+    marker_size(0.1),        //Default Marker size in cm
+    filename("empty"),       //Initial filename
+    camera_frame("world")    //Initial camera frame
+{
+    nh->getParam("/viewpoint_estimation/calibration_file", filename);
+    nh->getParam("/viewpoint_estimation/camera_frame", camera_frame);
+    nh->getParam("/viewpoint_estimation/marker_size", marker_size);
+
+    //Marker Visualization with IK
+    marker_pub       = nh->advertise<visualization_msgs::Marker>("Estimated_marker", 1);
+
+    load_calibration_file(filename);                //Load camera calibration data
+    board_size.width = 9;                           //Set grid parameters
+    board_size.height = 6;
+    //cv::namedWindow("RGB", CV_WINDOW_AUTOSIZE);
+
+    //Generate chessboard 3D points for solvePnP
+    for(int i = 0; i < board_size.height; ++i)
+       for(int j = 0; j < board_size.width; ++j)
+          chessboard3D_points.push_back(cv::Point3f(float(i*square_size), float(j*square_size), 0.f));
+
+    //Generate reference frame points for chessboard detection
+    ref_frame_points.push_back( cv::Point3d( 0.0,  0.0,  0.0 ) );
+    ref_frame_points.push_back( cv::Point3d( 10.0, 0.0,  0.0 ) );
+    ref_frame_points.push_back( cv::Point3d( 0.0,  10.0, 0.0 ) );
+    ref_frame_points.push_back( cv::Point3d( 0.0,  0.0,  10.0) );
+
+}
+
+ViewPoint_Estimator::~ViewPoint_Estimator()
+{
+    delete intrinsics;
+    delete distortion_coeff;
+    delete image_size;
+}
+
+void
+ViewPoint_Estimator::image_callback(const sensor_msgs::ImageConstPtr &original_image)
+{
+  //ROS Image to Mat structure
+  cv_bridge::CvImagePtr cv_ptr;
+  try
+  {
+    cv_ptr = cv_bridge::toCvCopy(original_image, enc::BGR8);
+  }
+  catch (cv_bridge::Exception& e)
+  {
+    ROS_ERROR("red_ball_detection::cv_bridge_exception %s", e.what());
+    return;
+  }
+  I = cv_ptr->image;
+
+  //============================================
+  //Choose Chessboard or Marker detection
+  //bool found = chessboard_find_pattern(I,I);
+  bool found = markers_find_pattern(I,I);
+  //============================================
+
+   //imshow("RGB", I);
+   cv::waitKey(10);
+
+}
+
+bool
+ViewPoint_Estimator::chessboard_find_pattern(cv::Mat input_image, cv::Mat output_image)
+{
+  //Look for feature points in current image
+  bool found = cv::findChessboardCorners(input_image, board_size, chessboard2D_points, cv::CALIB_CB_FAST_CHECK );
+  //std::cout << "Chessboard detected: " << found << std::endl;
+  if (found == true)
+  {
+      //Estimate chessboard pose
+      cv::Mat rvec, tvec;
+      cv::solvePnP(cv::Mat(chessboard3D_points), cv::Mat(chessboard2D_points),*intrinsics, *distortion_coeff, rvec, tvec, false);
+      //std::cout << "Rvec: " << rvec << std::endl;
+      //std::cout << "Tvec: " << tvec << std::endl;
+
+      //Project reference frame on the image
+      cv::projectPoints(ref_frame_points, rvec, tvec, *intrinsics, *distortion_coeff, image_frame_points);
+      ///////////////////////////////////////////
+
+      //TFs
+      cv::Mat R;
+      cv::Rodrigues(rvec, R);
+
+      cv::Mat T(4,4, R.type()); //T is 4x4
+      T(cv::Range(0,3), cv::Range(0,3)) = R * 1; //copies R into T
+      T(cv::Range(0,3), cv::Range(3,4)) = tvec * 1; //copies tvec into T
+
+      //fill the last row of T
+      double *p = T.ptr<double>(3);
+      p[0] = p[1] = p[2] = 0;
+      p[3] = 1;
+
+      //Calibration Grid transform
+      tf::Vector3 object_translation(tf::Vector3(tvec.at<double>(0,0)/100, tvec.at<double>(0,1)/100, tvec.at<double>(0,2)/100));
+      tf::Matrix3x3 object_rotation(R.at<double>(0,0), R.at<double>(0,1), R.at<double>(0,2),
+                                    R.at<double>(1,0), R.at<double>(1,1), R.at<double>(1,2),
+                                    R.at<double>(2,0), R.at<double>(2,1), R.at<double>(2,2));
+
+      tf::Transform object_transform(object_rotation, object_translation);
+      static tf::TransformBroadcaster br;
+      br.sendTransform(tf::StampedTransform(object_transform, ros::Time::now(), "world", "calibration_grid"));
+
+      //Camera transform
+      tf::Vector3 camera_translation(0,0,0);
+      tf::Matrix3x3 camera_rotation(1,0,0,
+                                    0,1,0,
+                                    0,0,1);
+      
+      tf::Transform camera_transform(camera_rotation, camera_translation);
+      br.sendTransform(tf::StampedTransform(camera_transform, ros::Time::now(), "world", "camera"));
+
+      //Drawing
+      cv::Point p1, p2, p3;
+      p1.x = 10; p1.y = 10;
+      p2.x = 60; p2.y = 10;
+      p3.x = 10; p3.y = 60;
+      cv::line(output_image, p1,p2, CV_RGB(255,0,0));
+      cv::line(output_image, p1,p3, CV_RGB(0,255,0));
+      cv::line(output_image, image_frame_points[0], image_frame_points[1], CV_RGB(255,0,0), 2);
+      cv::line(output_image, image_frame_points[0], image_frame_points[2], CV_RGB(0,255,0), 2);
+      cv::line(output_image, image_frame_points[0], image_frame_points[3], CV_RGB(0,0,255), 2);
+  }
+  return(found);
+}
+
+
+bool
+ViewPoint_Estimator::markers_find_pattern(cv::Mat input_image,cv::Mat output_image)
+{
+  aruco::MarkerDetector MDetector;
+  std::vector<aruco::Marker> markers;
+  static tf::TransformBroadcaster br;
+
+  MDetector.detect(input_image, markers, aruco_calib_params, marker_size);
+
+  for(size_t i = 0; i < markers.size(); i++)
+  {
+    int current_marker_id = markers[i].id;
+    //Draw marker convex, ID, cube and axis
+    markers[i].draw(output_image, cv::Scalar(0,0,255), 2);
+    aruco::CvDrawingUtils::draw3dCube(output_image, markers[i], aruco_calib_params);
+    aruco::CvDrawingUtils::draw3dAxis(output_image, markers[i], aruco_calib_params);
+
+    //Transform marker pose to TFformat
+    tf::Transform object_transform = arucoMarker2Tf(markers[i]);
+    
+    //Marker ID to string
+    std::stringstream marker_id_string;
+    marker_id_string << "marker_" << current_marker_id;
+    //Publish Current Marker TF
+    br.sendTransform(tf::StampedTransform(object_transform, ros::Time::now(), camera_frame, marker_id_string.str()));
+
+    //=================================================
+    //Publish Current Marker to RViz
+    //=================================================
+    geometry_msgs::Pose marker_pose_data;
+    
+    const tf::Vector3 marker_origin = object_transform.getOrigin();
+    marker_pose_data.position.x = marker_origin.getX();
+    marker_pose_data.position.y = marker_origin.getY();
+    marker_pose_data.position.z = marker_origin.getZ();
+    
+    tf::Quaternion marker_quaternion = object_transform.getRotation();
+    marker_pose_data.orientation.x = marker_quaternion.getX();
+    marker_pose_data.orientation.y = marker_quaternion.getY();
+    marker_pose_data.orientation.z = marker_quaternion.getZ();
+    marker_pose_data.orientation.w = marker_quaternion.getW();
+ 
+    publish_marker(marker_pose_data, current_marker_id);
+
+  }
+  
+  //Display camera frame
+  tf::Vector3 camera_translation(0,0,0);
+  tf::Matrix3x3 camera_rotation(1,0,0,
+                                0,1,0,
+                                0,0,1);
+ 
+  tf::Transform camera_transform(camera_rotation, camera_translation);
+  br.sendTransform(tf::StampedTransform(camera_transform, ros::Time::now(), camera_frame, "camera"));
+}
+
+tf::Transform
+ViewPoint_Estimator::arucoMarker2Tf(const aruco::Marker &marker)
+{
+  cv::Mat marker_rotation(3,3, CV_32FC1);
+  cv::Rodrigues(marker.Rvec, marker_rotation);
+  cv::Mat marker_translation = marker.Tvec;
+
+  cv::Mat rotate_to_ros(3,3,CV_32FC1);
+  rotate_to_ros.at<float>(0,0) = -1.0;
+  rotate_to_ros.at<float>(0,1) = 0;
+  rotate_to_ros.at<float>(0,2) = 0;
+  rotate_to_ros.at<float>(1,0) = 0;
+  rotate_to_ros.at<float>(1,1) = 0;
+  rotate_to_ros.at<float>(1,2) = 1.0;
+  rotate_to_ros.at<float>(2,0) = 0.0;
+  rotate_to_ros.at<float>(2,1) = 1.0;
+  rotate_to_ros.at<float>(2,2) = 0.0;
+
+  marker_rotation = marker_rotation * rotate_to_ros.t();
+
+  //Origin solution
+  tf::Matrix3x3 marker_tf_rot(marker_rotation.at<float>(0,0), marker_rotation.at<float>(0,1), marker_rotation.at<float>(0,2),
+                              marker_rotation.at<float>(1,0), marker_rotation.at<float>(1,1), marker_rotation.at<float>(1,2),
+                              marker_rotation.at<float>(2,0), marker_rotation.at<float>(2,1), marker_rotation.at<float>(2,2));
+
+  tf::Vector3 marker_tf_tran(marker_translation.at<float>(0,0),
+                             marker_translation.at<float>(1,0),
+                             marker_translation.at<float>(2,0));
+
+  //Swap X,Y axis rotation
+  tf::Quaternion marker_initial_quaternion;
+  marker_tf_rot.getRotation(marker_initial_quaternion);
+
+  tf::Quaternion marker_swap_quaternion;
+  marker_swap_quaternion.setX(marker_initial_quaternion.getY());
+  marker_swap_quaternion.setY(-marker_initial_quaternion.getX());
+  marker_swap_quaternion.setZ(marker_initial_quaternion.getZ());
+  marker_swap_quaternion.setW(marker_initial_quaternion.getW());
+
+  marker_tf_rot.setRotation(marker_swap_quaternion);
+
+  //Swap X,Y position
+ tf::Vector3 marker_swap_pose;
+
+ marker_swap_pose.setX(marker_tf_tran.getY());
+ marker_swap_pose.setY(marker_tf_tran.getX());
+ marker_swap_pose.setZ(marker_tf_tran.getZ());
+
+ marker_tf_tran.setX(marker_swap_pose.getX());
+ marker_tf_tran.setY(marker_swap_pose.getY());
+ marker_tf_tran.setZ(marker_swap_pose.getZ());
+
+ return tf::Transform(marker_tf_rot, marker_tf_tran);
+}
+
+void ViewPoint_Estimator::publish_marker(geometry_msgs::Pose marker_pose, int marker_id)
+{
+    visualization_msgs::Marker marker;
+    marker.header.frame_id = camera_frame;
+    marker.header.stamp = ros::Time::now();
+    marker.ns = "basic_shapes";
+    marker.id = marker_id;
+    marker.type = visualization_msgs::Marker::CUBE;
+    marker.action = visualization_msgs::Marker::ADD;
+
+    marker.pose = marker_pose;
+    marker.scale.x = 0.1;
+    marker.scale.y = 0.1;
+    marker.scale.z = 0.01;
+
+    marker.color.r = 0.0f;
+    marker.color.g = 1.0f;
+    marker.color.b = 0.0f;
+    marker.color.a = 1.0;
+
+    marker.lifetime = ros::Duration(0.1);
+
+    //Publish marker
+    marker_pub.publish(marker);
+
+}
+
+bool ViewPoint_Estimator::load_calibration_file(std::string filename)
+{
+  std::cout << "Reading calibration file from: " << filename << std::endl;
+  try
+  {
+      //Searching camera matrix and distortion in calibration textfile
+      //# oST version 5.0 parameters
+      string camera_matrix_str("camera matrix");
+      string distortion_str("distortion");
+
+      ifstream file;
+      file.open(filename.c_str());
+
+      intrinsics = new(cv::Mat)(3,3,CV_64F);
+      distortion_coeff = new(cv::Mat)(5,1,CV_64F);
+      image_size = new(cv::Size);
+
+      std::string line;
+      int line_counter = 0;
+      while(getline(file, line))
+      {
+          if(line == camera_matrix_str)
+          {
+              for(size_t i = 0; i < 3; i++)
+                  for(size_t j = 0; j < 3; j++)
+                     file >> intrinsics->at<double>(i,j);
+
+		  std::cout << "Intrinsics:" << std::endl << *intrinsics << std::endl;
+          }
+          if(line == distortion_str)
+          {
+              for(size_t i = 0; i < 5; i++)
+                 file >> distortion_coeff->at<double>(i,0);
+
+              std::cout << "Distortion: " << *distortion_coeff << std::endl;
+          }
+          line_counter++;
+      }
+
+      aruco_calib_params.setParams(*intrinsics, *distortion_coeff, *image_size);
+
+      if ((intrinsics->at<double>(2,2) == 1) && (distortion_coeff->at<double>(0,4) == 0))
+          ROS_INFO_STREAM("Calibration file loaded successfully");
+      else
+	  ROS_WARN("WARNING: Suspicious calibration data");
+	
+  }
+  catch(int e)
+  {
+     std::cout << "An exception n." << e << "occured";
+  }
+}
+
+#endif //VIEWPOINT_ESTIMATOR_LIB_CPP
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/mar_est/src/viewpoint_estimation_lib.cpp~ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/mar_est/src/viewpoint_estimation_lib.cpp~
new file mode 100644
index 0000000000000000000000000000000000000000..c34d297ecd97eb1769ae00bec88990fb70357e87
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/mar_est/src/viewpoint_estimation_lib.cpp~
@@ -0,0 +1,331 @@
+#ifndef VIEWPOINT_ESTIMATOR_LIB_CPP
+#define VIEWPOINT_ESTIMATOR_LIB_CPP
+
+////////////////////////////////////////////////////////////////////////////////////////////////
+
+#include <viewpoint_estimation_lib.h>
+
+namespace enc = sensor_msgs::image_encodings;
+
+ViewPoint_Estimator::ViewPoint_Estimator(ros::NodeHandle *nh) :
+    square_size(2.75),       //Chessboard square size
+    marker_size(0.1),        //Default Marker size in cm
+    filename("empty"),       //Initial filename
+    camera_frame("world")    //Initial camera frame
+{
+    nh->getParam("/home/faridalijani/thesis/MobileRobot/CameraCalibration/build/bin/logitech_calibrated_data.yml", filename);
+    nh->getParam("/viewpoint_estimation/camera_frame", camera_frame);
+    nh->getParam("/viewpoint_estimation/marker_size", marker_size);
+
+    //Marker Visualization with IK
+    marker_pub       = nh->advertise<visualization_msgs::Marker>("Estimated_marker", 1);
+
+    load_calibration_file(filename);                //Load camera calibration data
+    board_size.width = 9;                           //Set grid parameters
+    board_size.height = 6;
+    //cv::namedWindow("RGB", CV_WINDOW_AUTOSIZE);
+
+    //Generate chessboard 3D points for solvePnP
+    for(int i = 0; i < board_size.height; ++i)
+       for(int j = 0; j < board_size.width; ++j)
+          chessboard3D_points.push_back(cv::Point3f(float(i*square_size), float(j*square_size), 0.f));
+
+    //Generate reference frame points for chessboard detection
+    ref_frame_points.push_back( cv::Point3d( 0.0,  0.0,  0.0 ) );
+    ref_frame_points.push_back( cv::Point3d( 10.0, 0.0,  0.0 ) );
+    ref_frame_points.push_back( cv::Point3d( 0.0,  10.0, 0.0 ) );
+    ref_frame_points.push_back( cv::Point3d( 0.0,  0.0,  10.0) );
+
+}
+
+ViewPoint_Estimator::~ViewPoint_Estimator()
+{
+    delete intrinsics;
+    delete distortion_coeff;
+    delete image_size;
+}
+
+void
+ViewPoint_Estimator::image_callback(const sensor_msgs::ImageConstPtr &original_image)
+{
+  //ROS Image to Mat structure
+  cv_bridge::CvImagePtr cv_ptr;
+  try
+  {
+    cv_ptr = cv_bridge::toCvCopy(original_image, enc::BGR8);
+  }
+  catch (cv_bridge::Exception& e)
+  {
+    ROS_ERROR("red_ball_detection::cv_bridge_exception %s", e.what());
+    return;
+  }
+  I = cv_ptr->image;
+
+  //============================================
+  //Choose Chessboard or Marker detection
+  //bool found = chessboard_find_pattern(I,I);
+  bool found = markers_find_pattern(I,I);
+  //============================================
+
+   //imshow("RGB", I);
+   cv::waitKey(10);
+
+}
+
+bool
+ViewPoint_Estimator::chessboard_find_pattern(cv::Mat input_image, cv::Mat output_image)
+{
+  //Look for feature points in current image
+  bool found = cv::findChessboardCorners(input_image, board_size, chessboard2D_points, cv::CALIB_CB_FAST_CHECK );
+  //std::cout << "Chessboard detected: " << found << std::endl;
+  if (found == true)
+  {
+      //Estimate chessboard pose
+      cv::Mat rvec, tvec;
+      cv::solvePnP(cv::Mat(chessboard3D_points), cv::Mat(chessboard2D_points),*intrinsics, *distortion_coeff, rvec, tvec, false);
+      //std::cout << "Rvec: " << rvec << std::endl;
+      //std::cout << "Tvec: " << tvec << std::endl;
+
+      //Project reference frame on the image
+      cv::projectPoints(ref_frame_points, rvec, tvec, *intrinsics, *distortion_coeff, image_frame_points);
+      ///////////////////////////////////////////
+
+      //TFs
+      cv::Mat R;
+      cv::Rodrigues(rvec, R);
+
+      cv::Mat T(4,4, R.type()); //T is 4x4
+      T(cv::Range(0,3), cv::Range(0,3)) = R * 1; //copies R into T
+      T(cv::Range(0,3), cv::Range(3,4)) = tvec * 1; //copies tvec into T
+
+      //fill the last row of T
+      double *p = T.ptr<double>(3);
+      p[0] = p[1] = p[2] = 0;
+      p[3] = 1;
+
+      //Calibration Grid transform
+      tf::Vector3 object_translation(tf::Vector3(tvec.at<double>(0,0)/100, tvec.at<double>(0,1)/100, tvec.at<double>(0,2)/100));
+      tf::Matrix3x3 object_rotation(R.at<double>(0,0), R.at<double>(0,1), R.at<double>(0,2),
+                                    R.at<double>(1,0), R.at<double>(1,1), R.at<double>(1,2),
+                                    R.at<double>(2,0), R.at<double>(2,1), R.at<double>(2,2));
+
+      tf::Transform object_transform(object_rotation, object_translation);
+      static tf::TransformBroadcaster br;
+      br.sendTransform(tf::StampedTransform(object_transform, ros::Time::now(), "world", "calibration_grid"));
+
+      //Camera transform
+      tf::Vector3 camera_translation(0,0,0);
+      tf::Matrix3x3 camera_rotation(1,0,0,
+                                    0,1,0,
+                                    0,0,1);
+      
+      tf::Transform camera_transform(camera_rotation, camera_translation);
+      br.sendTransform(tf::StampedTransform(camera_transform, ros::Time::now(), "world", "camera"));
+
+      //Drawing
+      cv::Point p1, p2, p3;
+      p1.x = 10; p1.y = 10;
+      p2.x = 60; p2.y = 10;
+      p3.x = 10; p3.y = 60;
+      cv::line(output_image, p1,p2, CV_RGB(255,0,0));
+      cv::line(output_image, p1,p3, CV_RGB(0,255,0));
+      cv::line(output_image, image_frame_points[0], image_frame_points[1], CV_RGB(255,0,0), 2);
+      cv::line(output_image, image_frame_points[0], image_frame_points[2], CV_RGB(0,255,0), 2);
+      cv::line(output_image, image_frame_points[0], image_frame_points[3], CV_RGB(0,0,255), 2);
+  }
+  return(found);
+}
+
+
+bool
+ViewPoint_Estimator::markers_find_pattern(cv::Mat input_image,cv::Mat output_image)
+{
+  aruco::MarkerDetector MDetector;
+  std::vector<aruco::Marker> markers;
+  static tf::TransformBroadcaster br;
+
+  MDetector.detect(input_image, markers, aruco_calib_params, marker_size);
+
+  for(size_t i = 0; i < markers.size(); i++)
+  {
+    int current_marker_id = markers[i].id;
+    //Draw marker convex, ID, cube and axis
+    markers[i].draw(output_image, cv::Scalar(0,0,255), 2);
+    aruco::CvDrawingUtils::draw3dCube(output_image, markers[i], aruco_calib_params);
+    aruco::CvDrawingUtils::draw3dAxis(output_image, markers[i], aruco_calib_params);
+
+    //Transform marker pose to TFformat
+    tf::Transform object_transform = arucoMarker2Tf(markers[i]);
+    
+    //Marker ID to string
+    std::stringstream marker_id_string;
+    marker_id_string << "marker_" << current_marker_id;
+    //Publish Current Marker TF
+    br.sendTransform(tf::StampedTransform(object_transform, ros::Time::now(), camera_frame, marker_id_string.str()));
+
+    //=================================================
+    //Publish Current Marker to RViz
+    //=================================================
+    geometry_msgs::Pose marker_pose_data;
+    
+    const tf::Vector3 marker_origin = object_transform.getOrigin();
+    marker_pose_data.position.x = marker_origin.getX();
+    marker_pose_data.position.y = marker_origin.getY();
+    marker_pose_data.position.z = marker_origin.getZ();
+    
+    tf::Quaternion marker_quaternion = object_transform.getRotation();
+    marker_pose_data.orientation.x = marker_quaternion.getX();
+    marker_pose_data.orientation.y = marker_quaternion.getY();
+    marker_pose_data.orientation.z = marker_quaternion.getZ();
+    marker_pose_data.orientation.w = marker_quaternion.getW();
+ 
+    publish_marker(marker_pose_data, current_marker_id);
+
+  }
+  
+  //Display camera frame
+  tf::Vector3 camera_translation(0,0,0);
+  tf::Matrix3x3 camera_rotation(1,0,0,
+                                0,1,0,
+                                0,0,1);
+ 
+  tf::Transform camera_transform(camera_rotation, camera_translation);
+  br.sendTransform(tf::StampedTransform(camera_transform, ros::Time::now(), camera_frame, "camera"));
+}
+
+tf::Transform
+ViewPoint_Estimator::arucoMarker2Tf(const aruco::Marker &marker)
+{
+  cv::Mat marker_rotation(3,3, CV_32FC1);
+  cv::Rodrigues(marker.Rvec, marker_rotation);
+  cv::Mat marker_translation = marker.Tvec;
+
+  cv::Mat rotate_to_ros(3,3,CV_32FC1);
+  rotate_to_ros.at<float>(0,0) = -1.0;
+  rotate_to_ros.at<float>(0,1) = 0;
+  rotate_to_ros.at<float>(0,2) = 0;
+  rotate_to_ros.at<float>(1,0) = 0;
+  rotate_to_ros.at<float>(1,1) = 0;
+  rotate_to_ros.at<float>(1,2) = 1.0;
+  rotate_to_ros.at<float>(2,0) = 0.0;
+  rotate_to_ros.at<float>(2,1) = 1.0;
+  rotate_to_ros.at<float>(2,2) = 0.0;
+
+  marker_rotation = marker_rotation * rotate_to_ros.t();
+
+  //Origin solution
+  tf::Matrix3x3 marker_tf_rot(marker_rotation.at<float>(0,0), marker_rotation.at<float>(0,1), marker_rotation.at<float>(0,2),
+                              marker_rotation.at<float>(1,0), marker_rotation.at<float>(1,1), marker_rotation.at<float>(1,2),
+                              marker_rotation.at<float>(2,0), marker_rotation.at<float>(2,1), marker_rotation.at<float>(2,2));
+
+  tf::Vector3 marker_tf_tran(marker_translation.at<float>(0,0),
+                             marker_translation.at<float>(1,0),
+                             marker_translation.at<float>(2,0));
+
+  //Swap X,Y axis rotation
+  tf::Quaternion marker_initial_quaternion;
+  marker_tf_rot.getRotation(marker_initial_quaternion);
+
+  tf::Quaternion marker_swap_quaternion;
+  marker_swap_quaternion.setX(marker_initial_quaternion.getY());
+  marker_swap_quaternion.setY(-marker_initial_quaternion.getX());
+  marker_swap_quaternion.setZ(marker_initial_quaternion.getZ());
+  marker_swap_quaternion.setW(marker_initial_quaternion.getW());
+
+  marker_tf_rot.setRotation(marker_swap_quaternion);
+
+  //Swap X,Y position
+ tf::Vector3 marker_swap_pose;
+
+ marker_swap_pose.setX(marker_tf_tran.getY());
+ marker_swap_pose.setY(marker_tf_tran.getX());
+ marker_swap_pose.setZ(marker_tf_tran.getZ());
+
+ marker_tf_tran.setX(marker_swap_pose.getX());
+ marker_tf_tran.setY(marker_swap_pose.getY());
+ marker_tf_tran.setZ(marker_swap_pose.getZ());
+
+ return tf::Transform(marker_tf_rot, marker_tf_tran);
+}
+
+void ViewPoint_Estimator::publish_marker(geometry_msgs::Pose marker_pose, int marker_id)
+{
+    visualization_msgs::Marker marker;
+    marker.header.frame_id = camera_frame;
+    marker.header.stamp = ros::Time::now();
+    marker.ns = "basic_shapes";
+    marker.id = marker_id;
+    marker.type = visualization_msgs::Marker::CUBE;
+    marker.action = visualization_msgs::Marker::ADD;
+
+    marker.pose = marker_pose;
+    marker.scale.x = 0.1;
+    marker.scale.y = 0.1;
+    marker.scale.z = 0.01;
+
+    marker.color.r = 0.0f;
+    marker.color.g = 1.0f;
+    marker.color.b = 0.0f;
+    marker.color.a = 1.0;
+
+    marker.lifetime = ros::Duration(0.1);
+
+    //Publish marker
+    marker_pub.publish(marker);
+
+}
+
+bool ViewPoint_Estimator::load_calibration_file(std::string filename)
+{
+  std::cout << "Reading calibration file from: " << filename << std::endl;
+  try
+  {
+      //Searching camera matrix and distortion in calibration textfile
+      //# oST version 5.0 parameters
+      string camera_matrix_str("camera matrix");
+      string distortion_str("distortion");
+
+      ifstream file;
+      file.open(filename.c_str());
+
+      intrinsics = new(cv::Mat)(3,3,CV_64F);
+      distortion_coeff = new(cv::Mat)(5,1,CV_64F);
+      image_size = new(cv::Size);
+
+      std::string line;
+      int line_counter = 0;
+      while(getline(file, line))
+      {
+          if(line == camera_matrix_str)
+          {
+              for(size_t i = 0; i < 3; i++)
+                  for(size_t j = 0; j < 3; j++)
+                     file >> intrinsics->at<double>(i,j);
+
+		  std::cout << "Intrinsics:" << std::endl << *intrinsics << std::endl;
+          }
+          if(line == distortion_str)
+          {
+              for(size_t i = 0; i < 5; i++)
+                 file >> distortion_coeff->at<double>(i,0);
+
+              std::cout << "Distortion: " << *distortion_coeff << std::endl;
+          }
+          line_counter++;
+      }
+
+      aruco_calib_params.setParams(*intrinsics, *distortion_coeff, *image_size);
+
+      if ((intrinsics->at<double>(2,2) == 1) && (distortion_coeff->at<double>(0,4) == 0))
+          ROS_INFO_STREAM("Calibration file loaded successfully");
+      else
+	  ROS_WARN("WARNING: Suspicious calibration data");
+	
+  }
+  catch(int e)
+  {
+     std::cout << "An exception n." << e << "occured";
+  }
+}
+
+#endif //VIEWPOINT_ESTIMATOR_LIB_CPP
diff --git a/MobileRobot/AugReaMarker/CamMark/build/camtomar/CMakeFiles/camtomar.dir/src/VisionControl.cpp.o b/MobileRobot/AugReaMarker/CamMark/build/camtomar/CMakeFiles/camtomar.dir/src/VisionControl.cpp.o
index ec1763a300aa1b59cdb5b4fe50bd3db51a160c23..43c9b17bac21609f92a7a1ab97bc00810fafe819 100644
Binary files a/MobileRobot/AugReaMarker/CamMark/build/camtomar/CMakeFiles/camtomar.dir/src/VisionControl.cpp.o and b/MobileRobot/AugReaMarker/CamMark/build/camtomar/CMakeFiles/camtomar.dir/src/VisionControl.cpp.o differ
diff --git a/MobileRobot/AugReaMarker/CamMark/camtomar/include/VisionControl.h b/MobileRobot/AugReaMarker/CamMark/camtomar/include/VisionControl.h
index cd343e7fc71f95e7b22baef5e9e709ea690d64a8..fdfa7f228957bf3b2828a8296665c990157bb060 100644
--- a/MobileRobot/AugReaMarker/CamMark/camtomar/include/VisionControl.h
+++ b/MobileRobot/AugReaMarker/CamMark/camtomar/include/VisionControl.h
@@ -96,6 +96,8 @@ private:
         void Controller(double RefX, double MarPoseX, double refY, double MarPoseY, double refYAW, double MarPoseYAW, double dt);
         
         void dock(double VelX, double VelY, double omegaZ);
+
+	void move2docking(double VelX_est, double VelY_est, double omegaZ_est);
         
 public:
 
@@ -118,10 +120,10 @@ public:
   void myhandler(int value);
   
   
-  
         static double Pos_P,Pos_I,Pos_D;
         static double Ang_P,Ang_I,Ang_D;
         
+        
         // ---- CONTROLL PARAMETERS ------ //
         static double prev_errorX;
         static double int_errorX;
@@ -153,10 +155,10 @@ public:
         
         
         static double zeroMin,zeroMax;
-        static double P_eps,A_eps;
-  
+	static double Py_eps,Pz_eps,A_eps;  	
+
         double marpose[6];
-        double campose[6];
+        double camPose[6];
         double RefPose[6];
         
         /*double prev_error[6];
diff --git a/MobileRobot/AugReaMarker/CamMark/camtomar/include/VisionControl.h~ b/MobileRobot/AugReaMarker/CamMark/camtomar/include/VisionControl.h~
index cd343e7fc71f95e7b22baef5e9e709ea690d64a8..c933f60c0794b493894c9d39e82bed9bf36e2539 100644
--- a/MobileRobot/AugReaMarker/CamMark/camtomar/include/VisionControl.h~
+++ b/MobileRobot/AugReaMarker/CamMark/camtomar/include/VisionControl.h~
@@ -97,6 +97,7 @@ private:
         
         void dock(double VelX, double VelY, double omegaZ);
         
+        void move2docking(double VelX_est, double VelY_est, double omegaZ_est);
 public:
 
   ImageConverter();
@@ -118,10 +119,10 @@ public:
   void myhandler(int value);
   
   
-  
         static double Pos_P,Pos_I,Pos_D;
         static double Ang_P,Ang_I,Ang_D;
         
+        
         // ---- CONTROLL PARAMETERS ------ //
         static double prev_errorX;
         static double int_errorX;
@@ -153,8 +154,8 @@ public:
         
         
         static double zeroMin,zeroMax;
-        static double P_eps,A_eps;
-  
+	static double Py_eps,Pz_eps,A_eps;  	
+
         double marpose[6];
         double campose[6];
         double RefPose[6];
diff --git a/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp b/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp
index 63ad81f3aa80f07cb1affb80e7a83a6ea9258ae1..38414113004595bd00e29120df9c8a3f28d87a63 100644
--- a/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp
+++ b/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp
@@ -33,7 +33,6 @@
 #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"
 
@@ -43,22 +42,21 @@ using namespace cv;
 using namespace aruco;
 using namespace std;
 
-double ImageConverter::Pos_P = .01;
-double ImageConverter::Pos_I = .5;
+double ImageConverter::Pos_P = .0000001;
+double ImageConverter::Pos_I = .02;
 double ImageConverter::Pos_D = 0;
 
-
-double ImageConverter::Ang_P = .001;
-double ImageConverter::Ang_I = .05;
-double ImageConverter::Ang_D = 0;
+double ImageConverter::Ang_P = 0.05 * ImageConverter::Pos_P;
+double ImageConverter::Ang_I = 0.05 * ImageConverter::Pos_I;
+double ImageConverter::Ang_D = 0.05 * ImageConverter::Pos_D;
 
 float ImageConverter::TheMarkerSize = -1;
 
-int ImageConverter::Thresh1_min = 5;
-int ImageConverter::Thresh2_min = 5;
+int ImageConverter::Thresh1_min = 20;
+int ImageConverter::Thresh2_min = 20;
 
-int ImageConverter::Thresh1_max = 200;
-int ImageConverter::Thresh2_max = 200;
+int ImageConverter::Thresh1_max = 300;
+int ImageConverter::Thresh2_max = 300;
 
 const string ImageConverter::trackbarWindowName = "Trackbars";
 
@@ -103,7 +101,8 @@ double ImageConverter::control_signalYAW;
 double ImageConverter::zeroMax = .0000000000000000001;
 double ImageConverter::zeroMin = -.0000000000000000001;
 
-double ImageConverter::P_eps = .01;
+double ImageConverter::Pz_eps = .01;
+double ImageConverter::Py_eps = .001;
 double ImageConverter::A_eps = .1;
 
 
@@ -156,32 +155,20 @@ void ImageConverter::myhandler(int value)
 
     // 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(0,0,255),1);
+        TheMarkers[i].draw(TheInputImageCopy,Scalar(205,0,0),1);
     }
-
-    /*// Print other rectangles that contains no valid markers
-     for (unsigned int i=0;i<MDetector.getCandidates().size();i++) {
-        aruco::Marker m( MDetector.getCandidates()[i],999);
-        m.draw(TheInputImageCopy,cv::Scalar(255,0,0));
-    } */
-
-    // Draw a 3d cube in each marker if there is 3d info
-    if (TheCameraParameters.isValid())
-        for (unsigned int i=0;i<TheMarkers.size();i++)
-            CvDrawingUtils::draw3dCube(TheInputImageCopy,TheMarkers[i],TheCameraParameters);
-
+	
     imshow("INPUT IMAGE",TheInputImageCopy);
     imshow("THRESHOLD IMAGE",MDetector.getThresholdedImage());
 }
 void ImageConverter::createTrackbars()
 {    
-	
 	namedWindow(trackbarWindowName, 0);
-	
 	createTrackbar("ThresParam 1", trackbarWindowName, &Thresh1_min, Thresh1_max, cvTackBarEvents, this);
 	createTrackbar("ThresParam 2", trackbarWindowName, &Thresh2_min, Thresh2_max, cvTackBarEvents, this);
 	
@@ -236,9 +223,9 @@ void ImageConverter::ProgStart(int argc,char** argv)
         const std::string vsa = "http://192.168.0.101:8080/video?x.mjpeg";
 
         // -- publishing video stream with Android Camera--
-        //TheVideoCapturer.open(vsa);
+        TheVideoCapturer.open(vsa);
 
-	TheVideoCapturer.open(1);
+	//TheVideoCapturer.open(0);
 	
 	// Check video is open
 	if (!TheVideoCapturer.isOpened())
@@ -262,10 +249,8 @@ void ImageConverter::ProgStart(int argc,char** argv)
 		MDetector.pyrDown(ThePyrDownLevel);
         }
         
-        
-        
 	
-	MDetector.setCornerRefinementMethod(MarkerDetector::LINE);
+	MDetector.setCornerRefinementMethod(MarkerDetector::LINES);
 	
 	char key=0;
 	int index=0;
@@ -278,6 +263,8 @@ void ImageConverter::ProgStart(int argc,char** argv)
 		{
                         // Detection of markers in the image passed
 			MDetector.detect(TheInputImage,TheMarkers,TheCameraParameters,TheMarkerSize);
+			//MDetector.detectRectangles(MDetector.getThresholdedImage(),MDetector._candidates);
+			
                         TheInputImage.copyTo(TheInputImageCopy);
 
 			geometry_msgs::PoseStamped msg;
@@ -294,9 +281,8 @@ void ImageConverter::ProgStart(int argc,char** argv)
 			}else
 			{
 			        found = false;
-			        //ROS_INFO("MARKER NOT FOUND ! \n");
+			        move2docking(-control_signalX, -control_signalY, control_signalYAW);
 			}
-			//bool found = (TheMarkers.size()>0)?true:false;
 			
 			if (ros::ok() && found)
 			{
@@ -386,24 +372,20 @@ void ImageConverter::ProgStart(int argc,char** argv)
 				ros::spinOnce();
 				
 				// -------------------------Removed----------------------------- //
+			} 
+			// Print other rectangles that contains no valid markers
+			 for (unsigned int i=0;i<MDetector.getCandidates().size();i++) 
+			{
+				Marker m( MDetector.getCandidates()[i],10);
+				m.draw(TheInputImageCopy,cv::Scalar(0,255,0),2);
 			}
-			/*// Print other rectangles that contains no valid markers
-			 for (unsigned int i=0;i<MDetector.getCandidates().size();i++) {
-				aruco::Marker m( MDetector.getCandidates()[i],999);
-				m.draw(TheInputImageCopy,cv::Scalar(255,0,0));
-			}*/
 			
-			// Draw a 3d cube in each marker if there is 3d info
-                       if (TheCameraParameters.isValid())
-                       {
-				for (unsigned int i=0;i<TheMarkers.size();i++)
+			for (unsigned int i=0;i<TheMarkers.size();i++)
 				{
 					CvDrawingUtils::draw3dCube(TheInputImageCopy,TheMarkers[i],TheCameraParameters);
 					CvDrawingUtils::draw3dAxis(TheInputImageCopy,TheMarkers[i],TheCameraParameters);
 				}
-			}
 
-			// Show input with augmented information and the thresholded image
 			if (update_images)
 			{
 				imshow("INPUT IMAGE",TheInputImageCopy);
@@ -441,14 +423,18 @@ void ImageConverter::camCB(const geometry_msgs::PoseStamped::ConstPtr& CamFB)
 {
        
 RefPose[0] = -.0957;
-RefPose[1] = .00740;
+RefPose[1] = .006;
 RefPose[2] = .35;
 RefPose[3] = -.68952;
- 
+
+camPose[0] = CamFB->pose.position.x;
+camPose[1] = CamFB->pose.position.y;
+camPose[2] = CamFB->pose.position.z;
+camPose[3] = CamFB->pose.orientation.x;
+
         //ROS_INFO_STREAM(" Xmar = " << CamFB->pose.position.x << " m. \n");
         //ROS_INFO_STREAM(" Xref = " << RefPose[0] << " m. \n");
         
-        
         // in Marker coordinate sys. 
         
         // z => X robot (thrust)
@@ -468,118 +454,143 @@ RefPose[3] = -.68952;
         ROS_INFO_STREAM(" rollref = " << RefPose[3] << " rad. \n");
         
         ROS_INFO_STREAM(" ------------------------------------------------------------- \n");
-    
-        
-        if (
-            (abs(RefPose[1] - CamFB->pose.position.y) <= P_eps) && // Y
-            (abs(RefPose[2] - CamFB->pose.position.z) <= P_eps) && // Z
-            (abs(RefPose[3] - CamFB->pose.orientation.x) <= A_eps) // Yaw
-            )
-        {
+
+		if (
+            		(abs(RefPose[1] - camPose[1]) <= Py_eps) && // Y
+            		(abs(RefPose[2] - camPose[2]) <= Pz_eps) && // Z
+            		(abs(RefPose[3] - camPose[3]) <= A_eps) // Yaw
+            	)
+        	{
                 
-                        ROS_INFO("------------------------ Dock is completed ! ---------------------- \n "); 
-                        keepMoving = false;
+                        ROS_INFO("--------/*******//----- Dock is completed ! -----/*********---- \n "); 
+                        //keepMoving = false;
+			nh_.shutdown();
                  
-        } else
-        {
-                ROS_INFO(" Calculating control signal ! \n ");
-                Controller(RefPose[2], CamFB->pose.position.z, RefPose[1], CamFB->pose.position.y, RefPose[3], CamFB->pose.orientation.x,.01);
-        }
+        	}else
+        	{
+                	Controller(RefPose[2], camPose[2], RefPose[1], camPose[1], RefPose[3], camPose[3],.01);
+		}
 }
 
 void ImageConverter::Controller(double RefX, double MarPoseX, double RefY, double MarPoseY, double RefYAW, double MarPoseYAW, double dt)
 {
         // -----------------X--------------------- //
-        // e(t) = setpoint - actual value;
-        curr_errorX = RefX - MarPoseX;
         
-        // Integrated error
-        int_errorX +=  curr_errorX * dt;
-        /*
-        // -- windup gaurd -- 
-        if (int_error < )
-        {}
-        else if ()
-        {}*/
+	if(abs(RefX - MarPoseX) > Pz_eps)
+	{	
+		// e(t) = setpoint - actual value;
+        	curr_errorX = RefX - MarPoseX;
         
-        // differentiation
-        diffX = ((curr_errorX - prev_errorX) / dt);
+        	// Integrated error
+        	int_errorX +=  curr_errorX * dt;
+        	/*
+        	// -- windup gaurd -- 
+        	if (int_error < )
+        	{}
+        	else if ()
+        	{}*/
         
-        // scalling
-        p_termX = Pos_P  * curr_errorX;
-        i_termX = Pos_I * int_errorX;
-        d_termX = Pos_D * diffX;
+        	// differentiation
+        	diffX = ((curr_errorX - prev_errorX) / dt);
         
-        // control signal
-        control_signalX = p_termX + i_termX + d_termX;
+        	// scalling
+        	p_termX = Pos_P  * curr_errorX;
+        	i_termX = Pos_I * int_errorX;
+        	d_termX = Pos_D * diffX;
         
+        	// control signal
+        	control_signalX = p_termX + i_termX + d_termX;
         
-        // save the current error as the previous one
-        // for the next iteration.
-        prev_errorX = curr_errorX;        
         
+        	// save the current error as the previous one
+        	// for the next iteration.
+        	prev_errorX = curr_errorX;        
+        } else
+	{
+		control_signalX = 0;	
+	}
         // -----------------Y--------------------- // 
-        // 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 = Pos_P * curr_errorY;
-        i_termY = Pos_I * int_errorY;
-        d_termY = Pos_D * diffY;
-        
-        // control signal
-        control_signalY = p_termY + i_termY + d_termY;
-        
-        
-        // save the current error as the previous one
-        // for the next iteration.
-        prev_errorY = curr_errorY;  
-        
+	
+	if(abs(RefY - MarPoseY) > Py_eps)
+	{	
+		// 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 = Pos_P * curr_errorY;
+        	i_termY = Pos_I * int_errorY;
+        	d_termY = Pos_D * diffY;
+        
+        	// control signal
+        	control_signalY = p_termY + i_termY + d_termY;
+        
+        
+        	// save the current error as the previous one
+        	// for the next iteration.
+        	prev_errorY = curr_errorY;      
+        } else
+	{
+		control_signalY = 0;	
+	}
         // -------------------YAW--------------------------//
-        // e(t) = setpoint - actual value;
-        curr_errorYAW = RefYAW - MarPoseYAW;
         
-        // Integrated error
-        int_errorYAW +=  curr_errorYAW * dt;
-        /*
-        // -- windup gaurd -- 
-        if (int_error < )
-        {}
-        else if ()
-        {}*/
+
+	if(abs(RefYAW - MarPoseYAW) > A_eps)
+	{	
+		// e(t) = setpoint - actual value;
+        	curr_errorYAW = RefYAW - MarPoseYAW;
         
-        // differentiation
-        diffYAW = ((curr_errorYAW - prev_errorYAW) / dt);
+        	// Integrated error
+        	int_errorYAW +=  curr_errorYAW * dt;
+        	/*
+        	// -- windup gaurd -- 
+        	if (int_error < )
+        	{}
+        	else if ()
+        	{}*/
         
-        // scalling
-        p_termYAW = Ang_P * curr_errorYAW;
-        i_termYAW = Ang_I * int_errorYAW;
-        d_termYAW = Ang_D * diffYAW;
+        	// differentiation
+        	diffYAW = ((curr_errorYAW - prev_errorYAW) / dt);
         
-        // control signal
-        control_signalYAW = p_termYAW + i_termYAW + d_termYAW;
+        	// scalling
+        	p_termYAW = Ang_P * curr_errorYAW;
+        	i_termYAW = Ang_I * int_errorYAW;
+        	d_termYAW = Ang_D * diffYAW;
         
+        	// 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;  
         
+        	// save the current error as the previous one
+        	// for the next iteration.
+        	prev_errorYAW = curr_errorYAW;      
+        } else
+	{
+		control_signalYAW = 0;	
+	}
+
+        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 ImageConverter::dock(double VelX, double VelY, double omegaZ)
 {
+        ROS_INFO(".... REAL .... !");
         geometry_msgs::Twist msg;
         
 	msg.linear.x = VelX;
@@ -588,6 +599,39 @@ void ImageConverter::dock(double VelX, double VelY, double omegaZ)
 	
 	commandPub.publish(msg);
 	
-	ROS_INFO_STREAM(" Current speed of robot: " << msg << " m/s \n");
+	ROS_INFO_STREAM(" Current speed of robot: " << msg << ".\n");
+}
+
+void ImageConverter::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(" ------- /\/\/\/\ --------- \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 --------
diff --git a/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp~ b/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp~
index c94bc35d7231c2ea0617631665da8473ba13001c..10a803ba44e5fec47c178e8382f07b414142a256 100644
--- a/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp~
+++ b/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp~
@@ -47,7 +47,6 @@ double ImageConverter::Pos_P = .01;
 double ImageConverter::Pos_I = .5;
 double ImageConverter::Pos_D = 0;
 
-
 double ImageConverter::Ang_P = .001;
 double ImageConverter::Ang_I = .05;
 double ImageConverter::Ang_D = 0;
@@ -57,8 +56,8 @@ float ImageConverter::TheMarkerSize = -1;
 int ImageConverter::Thresh1_min = 5;
 int ImageConverter::Thresh2_min = 5;
 
-int ImageConverter::Thresh1_max = 200;
-int ImageConverter::Thresh2_max = 200;
+int ImageConverter::Thresh1_max = 300;
+int ImageConverter::Thresh2_max = 300;
 
 const string ImageConverter::trackbarWindowName = "Trackbars";
 
@@ -103,7 +102,8 @@ double ImageConverter::control_signalYAW;
 double ImageConverter::zeroMax = .0000000000000000001;
 double ImageConverter::zeroMin = -.0000000000000000001;
 
-double ImageConverter::P_eps = .01;
+double ImageConverter::Pz_eps = .09;
+double ImageConverter::Py_eps = .00001;
 double ImageConverter::A_eps = .1;
 
 
@@ -156,32 +156,20 @@ void ImageConverter::myhandler(int value)
 
     // 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(0,0,255),1);
+        TheMarkers[i].draw(TheInputImageCopy,Scalar(205,0,0),1);
     }
-
-    /*// Print other rectangles that contains no valid markers
-     for (unsigned int i=0;i<MDetector.getCandidates().size();i++) {
-        aruco::Marker m( MDetector.getCandidates()[i],999);
-        m.draw(TheInputImageCopy,cv::Scalar(255,0,0));
-    } */
-
-    // Draw a 3d cube in each marker if there is 3d info
-    if (TheCameraParameters.isValid())
-        for (unsigned int i=0;i<TheMarkers.size();i++)
-            CvDrawingUtils::draw3dCube(TheInputImageCopy,TheMarkers[i],TheCameraParameters);
-
+	
     imshow("INPUT IMAGE",TheInputImageCopy);
     imshow("THRESHOLD IMAGE",MDetector.getThresholdedImage());
 }
 void ImageConverter::createTrackbars()
 {    
-	
 	namedWindow(trackbarWindowName, 0);
-	
 	createTrackbar("ThresParam 1", trackbarWindowName, &Thresh1_min, Thresh1_max, cvTackBarEvents, this);
 	createTrackbar("ThresParam 2", trackbarWindowName, &Thresh2_min, Thresh2_max, cvTackBarEvents, this);
 	
@@ -262,10 +250,8 @@ void ImageConverter::ProgStart(int argc,char** argv)
 		MDetector.pyrDown(ThePyrDownLevel);
         }
         
-        
-        
 	
-	MDetector.setCornerRefinementMethod(MarkerDetector::LINE);
+	MDetector.setCornerRefinementMethod(MarkerDetector::LINES);
 	
 	char key=0;
 	int index=0;
@@ -278,6 +264,8 @@ void ImageConverter::ProgStart(int argc,char** argv)
 		{
                         // Detection of markers in the image passed
 			MDetector.detect(TheInputImage,TheMarkers,TheCameraParameters,TheMarkerSize);
+			//MDetector.detectRectangles(MDetector.getThresholdedImage(),MDetector._candidates);
+			
                         TheInputImage.copyTo(TheInputImageCopy);
 
 			geometry_msgs::PoseStamped msg;
@@ -294,9 +282,8 @@ void ImageConverter::ProgStart(int argc,char** argv)
 			}else
 			{
 			        found = false;
-			        //ROS_INFO("MARKER NOT FOUND ! \n");
+			        move2docking(-control_signalX, -control_signalY, control_signalYAW);
 			}
-			//bool found = (TheMarkers.size()>0)?true:false;
 			
 			if (ros::ok() && found)
 			{
@@ -387,23 +374,19 @@ void ImageConverter::ProgStart(int argc,char** argv)
 				
 				// -------------------------Removed----------------------------- //
 			}
-			/*// Print other rectangles that contains no valid markers
-			 for (unsigned int i=0;i<MDetector.getCandidates().size();i++) {
-				aruco::Marker m( MDetector.getCandidates()[i],999);
-				m.draw(TheInputImageCopy,cv::Scalar(255,0,0));
-			}*/
+			// Print other rectangles that contains no valid markers
+			 for (unsigned int i=0;i<MDetector.getCandidates().size();i++) 
+			{
+				Marker m( MDetector.getCandidates()[i],10);
+				m.draw(TheInputImageCopy,cv::Scalar(0,255,0),2);
+			}
 			
-			// Draw a 3d cube in each marker if there is 3d info
-                       if (TheCameraParameters.isValid())
-                       {
-				for (unsigned int i=0;i<TheMarkers.size();i++)
+			for (unsigned int i=0;i<TheMarkers.size();i++)
 				{
 					CvDrawingUtils::draw3dCube(TheInputImageCopy,TheMarkers[i],TheCameraParameters);
 					CvDrawingUtils::draw3dAxis(TheInputImageCopy,TheMarkers[i],TheCameraParameters);
 				}
-			}
 
-			// Show input with augmented information and the thresholded image
 			if (update_images)
 			{
 				imshow("INPUT IMAGE",TheInputImageCopy);
@@ -441,7 +424,7 @@ void ImageConverter::camCB(const geometry_msgs::PoseStamped::ConstPtr& CamFB)
 {
        
 RefPose[0] = -.0957;
-RefPose[1] = .00740;
+RefPose[1] = .006;
 RefPose[2] = .35;
 RefPose[3] = -.68952;
  
@@ -471,8 +454,8 @@ RefPose[3] = -.68952;
     
         
         if (
-            (abs(RefPose[1] - CamFB->pose.position.y) <= P_eps) && // Y
-            (abs(RefPose[2] - CamFB->pose.position.z) <= P_eps) && // Z
+            (abs(RefPose[1] - CamFB->pose.position.y) <= Py_eps) && // Y
+            (abs(RefPose[2] - CamFB->pose.position.z) <= Pz_eps) && // Z
             (abs(RefPose[3] - CamFB->pose.orientation.x) <= A_eps) // Yaw
             )
         {
@@ -482,7 +465,6 @@ RefPose[3] = -.68952;
                  
         } else
         {
-                ROS_INFO(" Calculating control signal ! \n ");
                 Controller(RefPose[2], CamFB->pose.position.z, RefPose[1], CamFB->pose.position.y, RefPose[3], CamFB->pose.orientation.x,.01);
         }
 }
@@ -564,9 +546,9 @@ void ImageConverter::Controller(double RefX, double MarPoseX, double RefY, doubl
         diffYAW = ((curr_errorYAW - prev_errorYAW) / dt);
         
         // scalling
-        p_termYAW = prop_gain  * curr_errorYAW;
-        i_termYAW = integ_gain * int_errorYAW;
-        d_termYAW = deriv_gain * diffYAW;
+        p_termYAW = Ang_P * curr_errorYAW;
+        i_termYAW = Ang_I * int_errorYAW;
+        d_termYAW = Ang_D * diffYAW;
         
         // control signal
         control_signalYAW = p_termYAW + i_termYAW + d_termYAW;
@@ -576,10 +558,13 @@ void ImageConverter::Controller(double RefX, double MarPoseX, double RefY, doubl
         // for the next iteration.
         prev_errorYAW = curr_errorYAW;  
         
+        ROS_INFO(" Calculating control signals ... ! \n ");
         dock(-control_signalX, -control_signalY, control_signalYAW);
 }
+
 void ImageConverter::dock(double VelX, double VelY, double omegaZ)
 {
+        ROS_INFO(".... REAL .... !");
         geometry_msgs::Twist msg;
         
 	msg.linear.x = VelX;
@@ -588,6 +573,27 @@ void ImageConverter::dock(double VelX, double VelY, double omegaZ)
 	
 	commandPub.publish(msg);
 	
-	ROS_INFO_STREAM(" Current speed of robot: " << msg << " m/s \n");
+	ROS_INFO_STREAM(" Current speed of robot: " << msg << ".\n");
+}
+
+void ImageConverter::move2docking(double VelX_est, double VelY_est, double omegaZ_est)
+{
+        ROS_INFO(".... ESTIMATION .... !");
+        geometry_msgs::Twist msg;
+        
+        if (VelX_est == 0 && VelY_est == 0 && omegaZ_est == 0)
+        {
+                VelX_est = .000001;
+                VelX_est = .000001;
+                omegaZ_est = .000001;
+        }
+        
+	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 --------
diff --git a/MobileRobot/AugReaMarker/CamMark/devel/lib/camtomar/camtomar b/MobileRobot/AugReaMarker/CamMark/devel/lib/camtomar/camtomar
index c97d3b798cf20e95bfa133fb2fca7ea6b646bf8d..7b58988013f83c3cf787e374b63f5cdef835d3a7 100755
Binary files a/MobileRobot/AugReaMarker/CamMark/devel/lib/camtomar/camtomar and b/MobileRobot/AugReaMarker/CamMark/devel/lib/camtomar/camtomar differ
diff --git a/MobileRobot/AugReaMarker/aruco_testproject/aruco_simple.cpp b/MobileRobot/AugReaMarker/aruco_testproject/aruco_simple.cpp
index f4fba862694acf47f035d577b4888ce1d6d8513a..52b04629a9da93915a0453ade2670cd5c639a51d 100644
--- a/MobileRobot/AugReaMarker/aruco_testproject/aruco_simple.cpp
+++ b/MobileRobot/AugReaMarker/aruco_testproject/aruco_simple.cpp
@@ -34,7 +34,6 @@ int main(int argc,char **argv)
 }*/
 
 
-/*
 #include <iostream>
 #include <aruco/aruco.h>
 #include <aruco/cvdrawingutils.h>
@@ -74,9 +73,8 @@ int main(int argc,char **argv)
         
    } 
 }
-*/
 
-#include <iostream>
+/*#include <iostream>
 #include <aruco/aruco.h>
 #include <aruco/cvdrawingutils.h>
 #include <opencv2/highgui/highgui.hpp>
@@ -133,3 +131,5 @@ int main(int argc,char **argv)
     }
 
 }
+*/
+
diff --git a/MobileRobot/AugReaMarker/aruco_testproject/aruco_simple.cpp~ b/MobileRobot/AugReaMarker/aruco_testproject/aruco_simple.cpp~
index 720f56c44c8b4b6f45ae0c1656a9aad8e8a95b25..57b464e475bfafb11425d1cbcbf4284b38400578 100644
--- a/MobileRobot/AugReaMarker/aruco_testproject/aruco_simple.cpp~
+++ b/MobileRobot/AugReaMarker/aruco_testproject/aruco_simple.cpp~
@@ -74,12 +74,13 @@ int main(int argc,char **argv)
         
    } 
 }
-*/
 
-#include <iostream>
+/*#include <iostream>
 #include <aruco/aruco.h>
 #include <aruco/cvdrawingutils.h>
 #include <opencv2/highgui/highgui.hpp>
+#include <opencv2/aruco.hpp>
+
 
 using namespace cv;
 using namespace aruco;
@@ -131,3 +132,5 @@ int main(int argc,char **argv)
     }
 
 }
+*/
+
diff --git a/MobileRobot/AugReaMarker/aruco_testproject/build/CMakeFiles/Progress/1 b/MobileRobot/AugReaMarker/aruco_testproject/build/CMakeFiles/Progress/1
deleted file mode 100644
index 7b4d68d70fcae134d5348f5e118f5e9c9d3f05f6..0000000000000000000000000000000000000000
--- a/MobileRobot/AugReaMarker/aruco_testproject/build/CMakeFiles/Progress/1
+++ /dev/null
@@ -1 +0,0 @@
-empty
\ No newline at end of file
diff --git a/MobileRobot/AugReaMarker/aruco_testproject/build/CMakeFiles/Progress/count.txt b/MobileRobot/AugReaMarker/aruco_testproject/build/CMakeFiles/Progress/count.txt
deleted file mode 100644
index d00491fd7e5bb6fa28c517a0bb32b8b506539d4d..0000000000000000000000000000000000000000
--- a/MobileRobot/AugReaMarker/aruco_testproject/build/CMakeFiles/Progress/count.txt
+++ /dev/null
@@ -1 +0,0 @@
-1
diff --git a/MobileRobot/AugReaMarker/aruco_testproject/build/CMakeFiles/aruco_simple.dir/aruco_simple.cpp.o b/MobileRobot/AugReaMarker/aruco_testproject/build/CMakeFiles/aruco_simple.dir/aruco_simple.cpp.o
new file mode 100644
index 0000000000000000000000000000000000000000..4a1e4fe8c108f54ab90c811e6d64d6f755928906
Binary files /dev/null and b/MobileRobot/AugReaMarker/aruco_testproject/build/CMakeFiles/aruco_simple.dir/aruco_simple.cpp.o differ
diff --git a/MobileRobot/CameraCalibration/build/bin/logitech_calibration.txt b/MobileRobot/CameraCalibration/build/bin/logitech_calibration.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0cbe23206827ce2f7efe27725dd481e97be8939e
--- /dev/null
+++ b/MobileRobot/CameraCalibration/build/bin/logitech_calibration.txt
@@ -0,0 +1,31 @@
+# oST version 5.0 parameters
+
+
+[image]
+
+width
+640
+
+height
+480
+
+[narrow_stereo]
+
+camera matrix
+613.561391 0.000000 319.500000
+0.000000 613.561391 239.500000
+0.000000 0.000000 1.000000
+
+distortion
+-.193862 1.456344 0.000000 0.000000 -2.693171
+
+rectification
+1.000000 0.000000 0.000000
+0.000000 1.000000 0.000000
+0.000000 0.000000 1.000000
+
+projection
+767.722475 0.000000 267.787003 0.000000
+0.000000 771.952679 260.103753 0.000000
+0.000000 0.000000 1.000000 0.000000
+
diff --git a/MobileRobot/CameraCalibration/build/bin/logitech_calibration.txt~ b/MobileRobot/CameraCalibration/build/bin/logitech_calibration.txt~
new file mode 100644
index 0000000000000000000000000000000000000000..3417068c1f3faa39567f1c12e506dc3e9653112e
--- /dev/null
+++ b/MobileRobot/CameraCalibration/build/bin/logitech_calibration.txt~
@@ -0,0 +1,31 @@
+# oST version 5.0 parameters
+
+
+[image]
+
+width
+640
+
+height
+480
+
+[narrow_stereo]
+
+camera matrix
+613.561391 0.000000 319.500000
+0.000000 613.561391 239.500000
+0.000000 0.000000 1.000000
+
+distortion
+-.193862 1.456344 0.0 0.0 -2.693171
+
+rectification
+1.000000 0.000000 0.000000
+0.000000 1.000000 0.000000
+0.000000 0.000000 1.000000
+
+projection
+767.722475 0.000000 267.787003 0.000000
+0.000000 771.952679 260.103753 0.000000
+0.000000 0.000000 1.000000 0.000000
+