diff --git a/MobileRobot/GUITest/MobileRobot.cpp b/MobileRobot/GUITest/MobileRobot.cpp
deleted file mode 100644
index 675c491afa9f3e7a4e4264a19480b1b1e3e2c926..0000000000000000000000000000000000000000
--- a/MobileRobot/GUITest/MobileRobot.cpp
+++ /dev/null
@@ -1,13 +0,0 @@
-#include "MobileRobot.h"
-
-using namespace System;
-using namespace System::Windows::Forms;
-
-[STAThread]
-void Main(array<String^>^ args)
-{
-    Application::EnableVisualStyles();
-    Application::SetCompatibleTextRenderingDefault(false);
-    GUI4MobileRobot::MobileRobot form;
-    Application::Run(%form);
-}
diff --git a/MobileRobot/GUITest/MobileRobot.cpp~ b/MobileRobot/GUITest/MobileRobot.cpp~
deleted file mode 100644
index 675c491afa9f3e7a4e4264a19480b1b1e3e2c926..0000000000000000000000000000000000000000
--- a/MobileRobot/GUITest/MobileRobot.cpp~
+++ /dev/null
@@ -1,13 +0,0 @@
-#include "MobileRobot.h"
-
-using namespace System;
-using namespace System::Windows::Forms;
-
-[STAThread]
-void Main(array<String^>^ args)
-{
-    Application::EnableVisualStyles();
-    Application::SetCompatibleTextRenderingDefault(false);
-    GUI4MobileRobot::MobileRobot form;
-    Application::Run(%form);
-}
diff --git a/MobileRobot/GUITest/MobileRobot.h b/MobileRobot/GUITest/MobileRobot.h
deleted file mode 100644
index 46ebdb48a22b8ac174e329e7d869040e3a4e9c06..0000000000000000000000000000000000000000
--- a/MobileRobot/GUITest/MobileRobot.h
+++ /dev/null
@@ -1,167 +0,0 @@
-#pragma once
-
-namespace GUI4MobileRobot {
-
-    using namespace System;
-    using namespace System::ComponentModel;
-    using namespace System::Collections;
-    using namespace System::Windows::Forms;
-    using namespace System::Data;
-    using namespace System::Drawing;
-
-    /// <summary>
-    /// Summary for MobileRobot
-    /// </summary>
-    public ref class MobileRobot : public System::Windows::Forms::Form
-    {
-    public:
-        MobileRobot(void)
-        {
-            InitializeComponent();
-            //
-            //TODO: Add the constructor code here
-            //
-        }
-
-    protected:
-        /// <summary>
-        /// Clean up any resources being used.
-        /// </summary>
-        ~MobileRobot()
-        {
-            if (components)
-            {
-                delete components;
-            }
-        }
-    private: System::Windows::Forms::Button^  btnGoDocking;
-    protected:
-    private: System::Windows::Forms::Button^  btnDock;
-    private: System::Windows::Forms::Button^  btnVisualization;
-    private: System::Windows::Forms::Label^  lblTextGoDocking;
-    private: System::Windows::Forms::Label^  lblTextVisualization;
-    private: System::Windows::Forms::Button^  btnExit;
-    private: System::Windows::Forms::Label^  lblDock;
-
-    private:
-        /// <summary>
-        /// Required designer variable.
-        /// </summary>
-        System::ComponentModel::Container ^components;
-
-#pragma region Windows Form Designer generated code
-        /// <summary>
-        /// Required method for Designer support - do not modify
-        /// the contents of this method with the code editor.
-        /// </summary>
-        void InitializeComponent(void)
-        {
-            this->btnGoDocking = (gcnew System::Windows::Forms::Button());
-            this->btnDock = (gcnew System::Windows::Forms::Button());
-            this->btnVisualization = (gcnew System::Windows::Forms::Button());
-            this->lblTextGoDocking = (gcnew System::Windows::Forms::Label());
-            this->lblTextVisualization = (gcnew System::Windows::Forms::Label());
-            this->btnExit = (gcnew System::Windows::Forms::Button());
-            this->lblDock = (gcnew System::Windows::Forms::Label());
-            this->SuspendLayout();
-            //
-            // btnGoDocking
-            //
-            this->btnGoDocking->Location = System::Drawing::Point(47, 34);
-            this->btnGoDocking->Name = L"btnGoDocking";
-            this->btnGoDocking->Size = System::Drawing::Size(176, 36);
-            this->btnGoDocking->TabIndex = 0;
-            this->btnGoDocking->Text = L"Go To Docking Area";
-            this->btnGoDocking->UseVisualStyleBackColor = true;
-            this->btnGoDocking->Click += gcnew System::EventHandler(this, &MobileRobot::btnGoDocking_Click);
-            //
-            // btnDock
-            //
-            this->btnDock->Location = System::Drawing::Point(47, 98);
-            this->btnDock->Name = L"btnDock";
-            this->btnDock->Size = System::Drawing::Size(176, 34);
-            this->btnDock->TabIndex = 1;
-            this->btnDock->Text = L"Dock";
-            this->btnDock->UseVisualStyleBackColor = true;
-            this->btnDock->Click += gcnew System::EventHandler(this, &MobileRobot::btnDock_Click);
-            //
-            // btnVisualization
-            //
-            this->btnVisualization->Location = System::Drawing::Point(47, 162);
-            this->btnVisualization->Name = L"btnVisualization";
-            this->btnVisualization->Size = System::Drawing::Size(176, 35);
-            this->btnVisualization->TabIndex = 2;
-            this->btnVisualization->Text = L"Visualization";
-            this->btnVisualization->UseVisualStyleBackColor = true;
-            this->btnVisualization->Click += gcnew System::EventHandler(this, &MobileRobot::btnVisualization_Click);
-            //
-            // lblTextGoDocking
-            //
-            this->lblTextGoDocking->AutoSize = true;
-            this->lblTextGoDocking->Location = System::Drawing::Point(297, 46);
-            this->lblTextGoDocking->Name = L"lblTextGoDocking";
-            this->lblTextGoDocking->Size = System::Drawing::Size(34, 13);
-            this->lblTextGoDocking->TabIndex = 3;
-            this->lblTextGoDocking->Text = L"Test1";
-            //
-            // lblTextVisualization
-            //
-            this->lblTextVisualization->AutoSize = true;
-            this->lblTextVisualization->Location = System::Drawing::Point(297, 173);
-            this->lblTextVisualization->Name = L"lblTextVisualization";
-            this->lblTextVisualization->Size = System::Drawing::Size(34, 13);
-            this->lblTextVisualization->TabIndex = 4;
-            this->lblTextVisualization->Text = L"Test2";
-            //
-            // btnExit
-            //
-            this->btnExit->Location = System::Drawing::Point(47, 228);
-            this->btnExit->Name = L"btnExit";
-            this->btnExit->Size = System::Drawing::Size(176, 37);
-            this->btnExit->TabIndex = 5;
-            this->btnExit->Text = L"Exit";
-            this->btnExit->UseVisualStyleBackColor = true;
-            this->btnExit->Click += gcnew System::EventHandler(this, &MobileRobot::btnExit_Click);
-            //
-            // lblDock
-            //
-            this->lblDock->AutoSize = true;
-            this->lblDock->Location = System::Drawing::Point(297, 109);
-            this->lblDock->Name = L"lblDock";
-            this->lblDock->Size = System::Drawing::Size(34, 13);
-            this->lblDock->TabIndex = 6;
-            this->lblDock->Text = L"Test3";
-            //
-            // MobileRobot
-            //
-            this->AutoScaleDimensions = System::Drawing::SizeF(6, 13);
-            this->AutoScaleMode = System::Windows::Forms::AutoScaleMode::Font;
-            this->ClientSize = System::Drawing::Size(506, 290);
-            this->Controls->Add(this->lblDock);
-            this->Controls->Add(this->btnExit);
-            this->Controls->Add(this->lblTextVisualization);
-            this->Controls->Add(this->lblTextGoDocking);
-            this->Controls->Add(this->btnVisualization);
-            this->Controls->Add(this->btnDock);
-            this->Controls->Add(this->btnGoDocking);
-            this->Name = L"MobileRobot";
-            this->Text = L"Mobile Robot";
-            this->ResumeLayout(false);
-            this->PerformLayout();
-
-        }
-#pragma endregion
-    private: System::Void btnGoDocking_Click(System::Object^  sender, System::EventArgs^  e) {
-        lblTextGoDocking->Text = "Robot is Moving to the Docking Area ...";
-    }
-private: System::Void btnVisualization_Click(System::Object^  sender, System::EventArgs^  e) {
-    lblTextVisualization->Text = "Camera is on.";
-}
-private: System::Void btnDock_Click(System::Object^  sender, System::EventArgs^  e) {
-    lblDock->Text = "Robot is trying for Docking ...";
-}
-private: System::Void btnExit_Click(System::Object^  sender, System::EventArgs^  e) {
-    Application::Exit();
-}
-};
-}
diff --git a/MobileRobot/GUITest/MobileRobot.h~ b/MobileRobot/GUITest/MobileRobot.h~
deleted file mode 100644
index 46ebdb48a22b8ac174e329e7d869040e3a4e9c06..0000000000000000000000000000000000000000
--- a/MobileRobot/GUITest/MobileRobot.h~
+++ /dev/null
@@ -1,167 +0,0 @@
-#pragma once
-
-namespace GUI4MobileRobot {
-
-    using namespace System;
-    using namespace System::ComponentModel;
-    using namespace System::Collections;
-    using namespace System::Windows::Forms;
-    using namespace System::Data;
-    using namespace System::Drawing;
-
-    /// <summary>
-    /// Summary for MobileRobot
-    /// </summary>
-    public ref class MobileRobot : public System::Windows::Forms::Form
-    {
-    public:
-        MobileRobot(void)
-        {
-            InitializeComponent();
-            //
-            //TODO: Add the constructor code here
-            //
-        }
-
-    protected:
-        /// <summary>
-        /// Clean up any resources being used.
-        /// </summary>
-        ~MobileRobot()
-        {
-            if (components)
-            {
-                delete components;
-            }
-        }
-    private: System::Windows::Forms::Button^  btnGoDocking;
-    protected:
-    private: System::Windows::Forms::Button^  btnDock;
-    private: System::Windows::Forms::Button^  btnVisualization;
-    private: System::Windows::Forms::Label^  lblTextGoDocking;
-    private: System::Windows::Forms::Label^  lblTextVisualization;
-    private: System::Windows::Forms::Button^  btnExit;
-    private: System::Windows::Forms::Label^  lblDock;
-
-    private:
-        /// <summary>
-        /// Required designer variable.
-        /// </summary>
-        System::ComponentModel::Container ^components;
-
-#pragma region Windows Form Designer generated code
-        /// <summary>
-        /// Required method for Designer support - do not modify
-        /// the contents of this method with the code editor.
-        /// </summary>
-        void InitializeComponent(void)
-        {
-            this->btnGoDocking = (gcnew System::Windows::Forms::Button());
-            this->btnDock = (gcnew System::Windows::Forms::Button());
-            this->btnVisualization = (gcnew System::Windows::Forms::Button());
-            this->lblTextGoDocking = (gcnew System::Windows::Forms::Label());
-            this->lblTextVisualization = (gcnew System::Windows::Forms::Label());
-            this->btnExit = (gcnew System::Windows::Forms::Button());
-            this->lblDock = (gcnew System::Windows::Forms::Label());
-            this->SuspendLayout();
-            //
-            // btnGoDocking
-            //
-            this->btnGoDocking->Location = System::Drawing::Point(47, 34);
-            this->btnGoDocking->Name = L"btnGoDocking";
-            this->btnGoDocking->Size = System::Drawing::Size(176, 36);
-            this->btnGoDocking->TabIndex = 0;
-            this->btnGoDocking->Text = L"Go To Docking Area";
-            this->btnGoDocking->UseVisualStyleBackColor = true;
-            this->btnGoDocking->Click += gcnew System::EventHandler(this, &MobileRobot::btnGoDocking_Click);
-            //
-            // btnDock
-            //
-            this->btnDock->Location = System::Drawing::Point(47, 98);
-            this->btnDock->Name = L"btnDock";
-            this->btnDock->Size = System::Drawing::Size(176, 34);
-            this->btnDock->TabIndex = 1;
-            this->btnDock->Text = L"Dock";
-            this->btnDock->UseVisualStyleBackColor = true;
-            this->btnDock->Click += gcnew System::EventHandler(this, &MobileRobot::btnDock_Click);
-            //
-            // btnVisualization
-            //
-            this->btnVisualization->Location = System::Drawing::Point(47, 162);
-            this->btnVisualization->Name = L"btnVisualization";
-            this->btnVisualization->Size = System::Drawing::Size(176, 35);
-            this->btnVisualization->TabIndex = 2;
-            this->btnVisualization->Text = L"Visualization";
-            this->btnVisualization->UseVisualStyleBackColor = true;
-            this->btnVisualization->Click += gcnew System::EventHandler(this, &MobileRobot::btnVisualization_Click);
-            //
-            // lblTextGoDocking
-            //
-            this->lblTextGoDocking->AutoSize = true;
-            this->lblTextGoDocking->Location = System::Drawing::Point(297, 46);
-            this->lblTextGoDocking->Name = L"lblTextGoDocking";
-            this->lblTextGoDocking->Size = System::Drawing::Size(34, 13);
-            this->lblTextGoDocking->TabIndex = 3;
-            this->lblTextGoDocking->Text = L"Test1";
-            //
-            // lblTextVisualization
-            //
-            this->lblTextVisualization->AutoSize = true;
-            this->lblTextVisualization->Location = System::Drawing::Point(297, 173);
-            this->lblTextVisualization->Name = L"lblTextVisualization";
-            this->lblTextVisualization->Size = System::Drawing::Size(34, 13);
-            this->lblTextVisualization->TabIndex = 4;
-            this->lblTextVisualization->Text = L"Test2";
-            //
-            // btnExit
-            //
-            this->btnExit->Location = System::Drawing::Point(47, 228);
-            this->btnExit->Name = L"btnExit";
-            this->btnExit->Size = System::Drawing::Size(176, 37);
-            this->btnExit->TabIndex = 5;
-            this->btnExit->Text = L"Exit";
-            this->btnExit->UseVisualStyleBackColor = true;
-            this->btnExit->Click += gcnew System::EventHandler(this, &MobileRobot::btnExit_Click);
-            //
-            // lblDock
-            //
-            this->lblDock->AutoSize = true;
-            this->lblDock->Location = System::Drawing::Point(297, 109);
-            this->lblDock->Name = L"lblDock";
-            this->lblDock->Size = System::Drawing::Size(34, 13);
-            this->lblDock->TabIndex = 6;
-            this->lblDock->Text = L"Test3";
-            //
-            // MobileRobot
-            //
-            this->AutoScaleDimensions = System::Drawing::SizeF(6, 13);
-            this->AutoScaleMode = System::Windows::Forms::AutoScaleMode::Font;
-            this->ClientSize = System::Drawing::Size(506, 290);
-            this->Controls->Add(this->lblDock);
-            this->Controls->Add(this->btnExit);
-            this->Controls->Add(this->lblTextVisualization);
-            this->Controls->Add(this->lblTextGoDocking);
-            this->Controls->Add(this->btnVisualization);
-            this->Controls->Add(this->btnDock);
-            this->Controls->Add(this->btnGoDocking);
-            this->Name = L"MobileRobot";
-            this->Text = L"Mobile Robot";
-            this->ResumeLayout(false);
-            this->PerformLayout();
-
-        }
-#pragma endregion
-    private: System::Void btnGoDocking_Click(System::Object^  sender, System::EventArgs^  e) {
-        lblTextGoDocking->Text = "Robot is Moving to the Docking Area ...";
-    }
-private: System::Void btnVisualization_Click(System::Object^  sender, System::EventArgs^  e) {
-    lblTextVisualization->Text = "Camera is on.";
-}
-private: System::Void btnDock_Click(System::Object^  sender, System::EventArgs^  e) {
-    lblDock->Text = "Robot is trying for Docking ...";
-}
-private: System::Void btnExit_Click(System::Object^  sender, System::EventArgs^  e) {
-    Application::Exit();
-}
-};
-}
diff --git a/MobileRobot/MobRobGUI/MobileRobotGUI/MobileRobotGUI.pro.user b/MobileRobot/MobRobGUI/MobileRobotGUI/MobileRobotGUI.pro.user
index 30448badcac0f89b218324ff10e0029b67ea9172..fbee9140747a08b0941aaf033af1bfae5ee052bd 100644
--- a/MobileRobot/MobRobGUI/MobileRobotGUI/MobileRobotGUI.pro.user
+++ b/MobileRobot/MobRobGUI/MobileRobotGUI/MobileRobotGUI.pro.user
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 3.5.1, 2015-11-26T22:59:30. -->
+<!-- Written by QtCreator 3.5.1, 2015-11-27T19:40:07. -->
 <qtcreator>
  <data>
   <variable>EnvironmentId</variable>
diff --git a/MobileRobot/MobRobGUI/MobileRobotGUI/gui.cpp b/MobileRobot/MobRobGUI/MobileRobotGUI/gui.cpp
index c8847d21d290367e1f2e305b06b2cae8d933cfbd..1ac40bab331605d61f3e5c9be5f87c8f3d3edcb4 100644
--- a/MobileRobot/MobRobGUI/MobileRobotGUI/gui.cpp
+++ b/MobileRobot/MobRobGUI/MobileRobotGUI/gui.cpp
@@ -8,7 +8,6 @@
 #include <QTime>
 using namespace std;
 
-
 GUI::GUI(QWidget *parent) :QMainWindow(parent),ui(new Ui::GUI)
 {
     ui->setupUi(this);
diff --git a/MobileRobot/MobRobGUI/MobileRobotGUI/visualization.cpp b/MobileRobot/MobRobGUI/MobileRobotGUI/visualization.cpp
index b9e539cfd4f9035bd80fb69a7d18da2ac6563f56..c96ecae5674bf3eaae5691f4f75c229d021bca5f 100644
--- a/MobileRobot/MobRobGUI/MobileRobotGUI/visualization.cpp
+++ b/MobileRobot/MobRobGUI/MobileRobotGUI/visualization.cpp
@@ -52,7 +52,6 @@ string intToString(int number){
     return ss.str();
 }
 
-
 void Visualization::createTrackbars(){
     //create window for trackbars
     namedWindow(trackbarWindowName, 0);
@@ -80,7 +79,6 @@ void Visualization::createTrackbars(){
 
 }
 
-
 void Visualization::drawObject(int x, int y, Mat &frame){
 
     //use some of the openCV drawing functions to draw crosshairs
@@ -176,7 +174,6 @@ void Visualization::trackFilteredObject(int &x, int &y, Mat threshold, Mat &came
 
 void Visualization::progStart()
 {
-    cout<< "\n The camera is ready to launch... \n" << endl;
     createTrackbars();
     //open video stream from either webcam or biult-in camera
     capture.open(1);          // ******* 0 =built-in, 1 = webcam ********
@@ -217,10 +214,8 @@ void Visualization::progStart()
 
 void Visualization::getPOS(int inpX, int inpY)
 {
-
     savedX = inpX;
     savedY = inpY;
-
      cout << "\n x = " << savedX;
      cout << "\n y = " << savedY;
 }
@@ -230,7 +225,6 @@ void Visualization::noObjFound()
     cout << "\nOops! no object... \n\n";
 }
 
-
 int Visualization::getPosX()
 {
     return x;
diff --git a/MobileRobot/MobRobGUI/build-MobileRobotGUI-Desktop_Qt_5_5_1_GCC_64bit-Debug/Makefile b/MobileRobot/MobRobGUI/build-MobileRobotGUI-Desktop_Qt_5_5_1_GCC_64bit-Debug/Makefile
index 1f12649fff26d750a3e39497419255d2024b0b6e..5a18d01e841928e22cfc2c550e41e5542b9565cd 100644
--- a/MobileRobot/MobRobGUI/build-MobileRobotGUI-Desktop_Qt_5_5_1_GCC_64bit-Debug/Makefile
+++ b/MobileRobot/MobRobGUI/build-MobileRobotGUI-Desktop_Qt_5_5_1_GCC_64bit-Debug/Makefile
@@ -687,6 +687,13 @@ moc_gui.cpp: ../../../../Qt/5.5/gcc_64/include/QtWidgets/QMainWindow \
 		../../../../Qt/5.5/gcc_64/include/QtGui/qtextoption.h \
 		../../../../Qt/5.5/gcc_64/include/QtWidgets/QLabel \
 		../../../../Qt/5.5/gcc_64/include/QtWidgets/qlabel.h \
+		../../../../Qt/5.5/gcc_64/include/QtWidgets/QCheckBox \
+		../../../../Qt/5.5/gcc_64/include/QtWidgets/qcheckbox.h \
+		../../../../Qt/5.5/gcc_64/include/QtWidgets/QRadioButton \
+		../../../../Qt/5.5/gcc_64/include/QtWidgets/qradiobutton.h \
+		../../../../Qt/5.5/gcc_64/include/QtCore/QTimer \
+		../../../../Qt/5.5/gcc_64/include/QtCore/qtimer.h \
+		../../../../Qt/5.5/gcc_64/include/QtCore/qbasictimer.h \
 		../MobileRobotGUI/gui.h
 	/home/faridalijani/Qt/5.5/gcc_64/bin/moc $(DEFINES) -I/home/faridalijani/Qt/5.5/gcc_64/mkspecs/linux-g++ -I/home/faridalijani/thesis/MobileRobot/MobRobGUI/MobileRobotGUI -I/usr/local/include -I/home/faridalijani/Qt/5.5/gcc_64/include -I/home/faridalijani/Qt/5.5/gcc_64/include/QtWidgets -I/home/faridalijani/Qt/5.5/gcc_64/include/QtGui -I/home/faridalijani/Qt/5.5/gcc_64/include/QtCore -I. ../MobileRobotGUI/gui.h -o moc_gui.cpp
 
@@ -932,6 +939,13 @@ main.o: ../MobileRobotGUI/main.cpp ../MobileRobotGUI/gui.h \
 		../../../../Qt/5.5/gcc_64/include/QtGui/qtextoption.h \
 		../../../../Qt/5.5/gcc_64/include/QtWidgets/QLabel \
 		../../../../Qt/5.5/gcc_64/include/QtWidgets/qlabel.h \
+		../../../../Qt/5.5/gcc_64/include/QtWidgets/QCheckBox \
+		../../../../Qt/5.5/gcc_64/include/QtWidgets/qcheckbox.h \
+		../../../../Qt/5.5/gcc_64/include/QtWidgets/QRadioButton \
+		../../../../Qt/5.5/gcc_64/include/QtWidgets/qradiobutton.h \
+		../../../../Qt/5.5/gcc_64/include/QtCore/QTimer \
+		../../../../Qt/5.5/gcc_64/include/QtCore/qtimer.h \
+		../../../../Qt/5.5/gcc_64/include/QtCore/qbasictimer.h \
 		../../../../Qt/5.5/gcc_64/include/QtWidgets/QApplication \
 		../../../../Qt/5.5/gcc_64/include/QtWidgets/qapplication.h \
 		../../../../Qt/5.5/gcc_64/include/QtCore/qcoreapplication.h \
@@ -1085,7 +1099,16 @@ gui.o: ../MobileRobotGUI/gui.cpp ../MobileRobotGUI/gui.h \
 		../../../../Qt/5.5/gcc_64/include/QtGui/qtextoption.h \
 		../../../../Qt/5.5/gcc_64/include/QtWidgets/QLabel \
 		../../../../Qt/5.5/gcc_64/include/QtWidgets/qlabel.h \
-		ui_gui.h
+		../../../../Qt/5.5/gcc_64/include/QtWidgets/QCheckBox \
+		../../../../Qt/5.5/gcc_64/include/QtWidgets/qcheckbox.h \
+		../../../../Qt/5.5/gcc_64/include/QtWidgets/QRadioButton \
+		../../../../Qt/5.5/gcc_64/include/QtWidgets/qradiobutton.h \
+		../../../../Qt/5.5/gcc_64/include/QtCore/QTimer \
+		../../../../Qt/5.5/gcc_64/include/QtCore/qtimer.h \
+		../../../../Qt/5.5/gcc_64/include/QtCore/qbasictimer.h \
+		ui_gui.h \
+		../../../../Qt/5.5/gcc_64/include/QtCore/QTime \
+		../../../../Qt/5.5/gcc_64/include/QtCore/qdatetime.h
 	$(CXX) -c $(CXXFLAGS) $(INCPATH) -o gui.o ../MobileRobotGUI/gui.cpp
 
 visualization.o: ../MobileRobotGUI/visualization.cpp ../MobileRobotGUI/visualization.h \
diff --git a/MobileRobot/MobRobGUI/build-MobileRobotGUI-Desktop_Qt_5_5_1_GCC_64bit-Debug/MobileRobotGUI b/MobileRobot/MobRobGUI/build-MobileRobotGUI-Desktop_Qt_5_5_1_GCC_64bit-Debug/MobileRobotGUI
index 2befe5973b79e9019bdf3fb93d5b8e1ac86369fe..c255d65fdf7ae308143c0098cdc35ce27fa919ef 100755
Binary files a/MobileRobot/MobRobGUI/build-MobileRobotGUI-Desktop_Qt_5_5_1_GCC_64bit-Debug/MobileRobotGUI and b/MobileRobot/MobRobGUI/build-MobileRobotGUI-Desktop_Qt_5_5_1_GCC_64bit-Debug/MobileRobotGUI differ
diff --git a/MobileRobot/MobRobGUI/build-MobileRobotGUI-Desktop_Qt_5_5_1_GCC_64bit-Debug/gui.o b/MobileRobot/MobRobGUI/build-MobileRobotGUI-Desktop_Qt_5_5_1_GCC_64bit-Debug/gui.o
index 194c079650d268fcbba430021655c014d00e1f9e..53a08d7d61d7d3a02d9c0090b94f6f978abed73a 100644
Binary files a/MobileRobot/MobRobGUI/build-MobileRobotGUI-Desktop_Qt_5_5_1_GCC_64bit-Debug/gui.o and b/MobileRobot/MobRobGUI/build-MobileRobotGUI-Desktop_Qt_5_5_1_GCC_64bit-Debug/gui.o differ
diff --git a/MobileRobot/MobRobGUI/build-MobileRobotGUI-Desktop_Qt_5_5_1_GCC_64bit-Debug/visualization.o b/MobileRobot/MobRobGUI/build-MobileRobotGUI-Desktop_Qt_5_5_1_GCC_64bit-Debug/visualization.o
index f2fc9ba051c61d5c3ca2c057595cf35fdb9bcd3a..fc758f299496b9a3d2e5ebea41d713db67f0ac8a 100644
Binary files a/MobileRobot/MobRobGUI/build-MobileRobotGUI-Desktop_Qt_5_5_1_GCC_64bit-Debug/visualization.o and b/MobileRobot/MobRobGUI/build-MobileRobotGUI-Desktop_Qt_5_5_1_GCC_64bit-Debug/visualization.o differ
diff --git a/MobileRobot/scanner/.catkin_workspace b/MobileRobot/obstacleDetector/.catkin_workspace
similarity index 100%
rename from MobileRobot/scanner/.catkin_workspace
rename to MobileRobot/obstacleDetector/.catkin_workspace
diff --git a/MobileRobot/scanner/CMakeLists.txt b/MobileRobot/obstacleDetector/CMakeLists.txt
similarity index 100%
rename from MobileRobot/scanner/CMakeLists.txt
rename to MobileRobot/obstacleDetector/CMakeLists.txt
diff --git a/MobileRobot/scanner/build/CATKIN_IGNORE b/MobileRobot/obstacleDetector/build/CATKIN_IGNORE
similarity index 100%
rename from MobileRobot/scanner/build/CATKIN_IGNORE
rename to MobileRobot/obstacleDetector/build/CATKIN_IGNORE
diff --git a/MobileRobot/scanner/build/CMakeCache.txt b/MobileRobot/obstacleDetector/build/CMakeCache.txt
similarity index 92%
rename from MobileRobot/scanner/build/CMakeCache.txt
rename to MobileRobot/obstacleDetector/build/CMakeCache.txt
index 644ffe5e7ffc00b69555f1147bddd36321edf43e..aab05bb9b610dc5e2503b779df5581cc5ad1facb 100644
--- a/MobileRobot/scanner/build/CMakeCache.txt
+++ b/MobileRobot/obstacleDetector/build/CMakeCache.txt
@@ -1,5 +1,5 @@
 # This is the CMakeCache file.
-# For build in directory: /home/faridalijani/MobileRobot/scanner/build
+# For build in directory: /home/faridalijani/thesis/MobileRobot/obstacleDetector/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.
@@ -21,7 +21,7 @@ BUILD_SHARED_LIBS:BOOL=ON
 CATKIN_BLACKLIST_PACKAGES:STRING=
 
 //catkin devel space
-CATKIN_DEVEL_PREFIX:PATH=/home/faridalijani/MobileRobot/scanner/devel
+CATKIN_DEVEL_PREFIX:PATH=/home/faridalijani/thesis/MobileRobot/obstacleDetector/devel
 
 //Catkin enable testing
 CATKIN_ENABLE_TESTING:BOOL=ON
@@ -101,7 +101,7 @@ CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO:STRING=
 CMAKE_EXPORT_COMPILE_COMMANDS:BOOL=OFF
 
 //Install path prefix, prepended onto install directories.
-CMAKE_INSTALL_PREFIX:PATH=/home/faridalijani/MobileRobot/scanner/install
+CMAKE_INSTALL_PREFIX:PATH=/home/faridalijani/thesis/MobileRobot/obstacleDetector/install
 
 //Path to a program.
 CMAKE_LINKER:FILEPATH=/usr/bin/ld
@@ -209,10 +209,10 @@ PYTHON_EXECUTABLE:FILEPATH=/usr/bin/python
 PYTHON_VERSION:STRING=
 
 //Value Computed by CMake
-Project_BINARY_DIR:STATIC=/home/faridalijani/MobileRobot/scanner/build
+Project_BINARY_DIR:STATIC=/home/faridalijani/thesis/MobileRobot/obstacleDetector/build
 
 //Value Computed by CMake
-Project_SOURCE_DIR:STATIC=/home/faridalijani/MobileRobot/scanner
+Project_SOURCE_DIR:STATIC=/home/faridalijani/thesis/MobileRobot/obstacleDetector
 
 //Path to a library.
 RT_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/librt.so
@@ -242,7 +242,7 @@ cpp_common_DIR:PATH=/opt/ros/hydro/share/cpp_common/cmake
 geometry_msgs_DIR:PATH=/opt/ros/hydro/share/geometry_msgs/cmake
 
 //Value Computed by CMake
-gtest_BINARY_DIR:STATIC=/home/faridalijani/MobileRobot/scanner/build/gtest
+gtest_BINARY_DIR:STATIC=/home/faridalijani/thesis/MobileRobot/obstacleDetector/build/gtest
 
 //Dependencies for the target
 gtest_LIB_DEPENDS:STATIC=general;-lpthread;
@@ -266,12 +266,6 @@ gtest_force_shared_crt:BOOL=OFF
 //Dependencies for the target
 gtest_main_LIB_DEPENDS:STATIC=general;-lpthread;general;gtest;
 
-//Value Computed by CMake
-laser_scan_BINARY_DIR:STATIC=/home/faridalijani/MobileRobot/scanner/build/laser_scan
-
-//Value Computed by CMake
-laser_scan_SOURCE_DIR:STATIC=/home/faridalijani/MobileRobot/scanner/laser_scan
-
 //Path to a library.
 lib:FILEPATH=/opt/ros/hydro/lib/libxmlrpcpp.so
 
@@ -296,6 +290,12 @@ rosgraph_msgs_DIR:PATH=/opt/ros/hydro/share/rosgraph_msgs/cmake
 //The directory containing a CMake configuration file for rostime.
 rostime_DIR:PATH=/opt/ros/hydro/share/rostime/cmake
 
+//Value Computed by CMake
+scanWithLaser_BINARY_DIR:STATIC=/home/faridalijani/thesis/MobileRobot/obstacleDetector/build/scanWithLaser
+
+//Value Computed by CMake
+scanWithLaser_SOURCE_DIR:STATIC=/home/faridalijani/thesis/MobileRobot/obstacleDetector/scanWithLaser
+
 //The directory containing a CMake configuration file for sensor_msgs.
 sensor_msgs_DIR:PATH=/opt/ros/hydro/share/sensor_msgs/cmake
 
@@ -311,8 +311,8 @@ xmlrpcpp_DIR:PATH=/opt/ros/hydro/share/xmlrpcpp/cmake
 ########################
 
 //catkin environment
-CATKIN_ENV:INTERNAL=/home/faridalijani/MobileRobot/scanner/build/catkin_generated/env_cached.sh
-CATKIN_TEST_RESULTS_DIR:INTERNAL=/home/faridalijani/MobileRobot/scanner/build/test_results
+CATKIN_ENV:INTERNAL=/home/faridalijani/thesis/MobileRobot/obstacleDetector/build/catkin_generated/env_cached.sh
+CATKIN_TEST_RESULTS_DIR:INTERNAL=/home/faridalijani/thesis/MobileRobot/obstacleDetector/build/test_results
 //ADVANCED property for variable: CMAKE_AR
 CMAKE_AR-ADVANCED:INTERNAL=1
 //ADVANCED property for variable: CMAKE_BUILD_TOOL
@@ -320,7 +320,7 @@ CMAKE_BUILD_TOOL-ADVANCED:INTERNAL=1
 //What is the target build tool cmake is generating for.
 CMAKE_BUILD_TOOL:INTERNAL=/usr/bin/make
 //This is the directory where this CMakeCache.txt was created
-CMAKE_CACHEFILE_DIR:INTERNAL=/home/faridalijani/MobileRobot/scanner/build
+CMAKE_CACHEFILE_DIR:INTERNAL=/home/faridalijani/thesis/MobileRobot/obstacleDetector/build
 //Major version of cmake used to create the current loaded cache
 CMAKE_CACHE_MAJOR_VERSION:INTERNAL=2
 //Minor version of cmake used to create the current loaded cache
@@ -365,6 +365,8 @@ CMAKE_C_FLAGS_RELWITHDEBINFO-ADVANCED:INTERNAL=1
 CMAKE_DETERMINE_CXX_ABI_COMPILED:INTERNAL=TRUE
 //Result of TRY_COMPILE
 CMAKE_DETERMINE_C_ABI_COMPILED:INTERNAL=TRUE
+//Path to cache edit program executable.
+CMAKE_EDIT_COMMAND:INTERNAL=/usr/bin/cmake-gui
 //Executable file format
 CMAKE_EXECUTABLE_FORMAT:INTERNAL=ELF
 //ADVANCED property for variable: CMAKE_EXE_LINKER_FLAGS
@@ -389,7 +391,7 @@ CMAKE_HAVE_PTHREAD_CREATE:INTERNAL=1
 CMAKE_HAVE_PTHREAD_H:INTERNAL=1
 //Start directory with the top level CMakeLists.txt file for this
 // project
-CMAKE_HOME_DIRECTORY:INTERNAL=/home/faridalijani/MobileRobot/scanner
+CMAKE_HOME_DIRECTORY:INTERNAL=/home/faridalijani/thesis/MobileRobot/obstacleDetector
 //Install .so files without execute permission.
 CMAKE_INSTALL_SO_NO_EXE:INTERNAL=1
 //ADVANCED property for variable: CMAKE_LINKER
@@ -445,7 +447,7 @@ FIND_PACKAGE_MESSAGE_DETAILS_Threads:INTERNAL=[TRUE][v()]
 GTEST_FROM_SOURCE_FOUND:INTERNAL=TRUE
 GTEST_FROM_SOURCE_INCLUDE_DIRS:INTERNAL=/usr/include
 GTEST_FROM_SOURCE_LIBRARIES:INTERNAL=gtest
-GTEST_FROM_SOURCE_LIBRARY_DIRS:INTERNAL=/home/faridalijani/MobileRobot/scanner/build/gtest
+GTEST_FROM_SOURCE_LIBRARY_DIRS:INTERNAL=/home/faridalijani/thesis/MobileRobot/obstacleDetector/build/gtest
 GTEST_FROM_SOURCE_MAIN_LIBRARIES:INTERNAL=gtest_main
 //ADVANCED property for variable: GTEST_INCLUDE_DIR
 GTEST_INCLUDE_DIR-ADVANCED:INTERNAL=1
diff --git a/MobileRobot/scanner/build/CMakeFiles/CMakeCCompiler.cmake b/MobileRobot/obstacleDetector/build/CMakeFiles/CMakeCCompiler.cmake
similarity index 100%
rename from MobileRobot/scanner/build/CMakeFiles/CMakeCCompiler.cmake
rename to MobileRobot/obstacleDetector/build/CMakeFiles/CMakeCCompiler.cmake
diff --git a/MobileRobot/scanner/build/CMakeFiles/CMakeCXXCompiler.cmake b/MobileRobot/obstacleDetector/build/CMakeFiles/CMakeCXXCompiler.cmake
similarity index 100%
rename from MobileRobot/scanner/build/CMakeFiles/CMakeCXXCompiler.cmake
rename to MobileRobot/obstacleDetector/build/CMakeFiles/CMakeCXXCompiler.cmake
diff --git a/MobileRobot/scanner/build/CMakeFiles/CMakeDetermineCompilerABI_C.bin b/MobileRobot/obstacleDetector/build/CMakeFiles/CMakeDetermineCompilerABI_C.bin
similarity index 100%
rename from MobileRobot/scanner/build/CMakeFiles/CMakeDetermineCompilerABI_C.bin
rename to MobileRobot/obstacleDetector/build/CMakeFiles/CMakeDetermineCompilerABI_C.bin
diff --git a/MobileRobot/scanner/build/CMakeFiles/CMakeDetermineCompilerABI_CXX.bin b/MobileRobot/obstacleDetector/build/CMakeFiles/CMakeDetermineCompilerABI_CXX.bin
similarity index 100%
rename from MobileRobot/scanner/build/CMakeFiles/CMakeDetermineCompilerABI_CXX.bin
rename to MobileRobot/obstacleDetector/build/CMakeFiles/CMakeDetermineCompilerABI_CXX.bin
diff --git a/MobileRobot/scanner/build/CMakeFiles/CMakeDirectoryInformation.cmake b/MobileRobot/obstacleDetector/build/CMakeFiles/CMakeDirectoryInformation.cmake
similarity index 79%
rename from MobileRobot/scanner/build/CMakeFiles/CMakeDirectoryInformation.cmake
rename to MobileRobot/obstacleDetector/build/CMakeFiles/CMakeDirectoryInformation.cmake
index 50992177497e42b1c478369d8c54c99e871abc6d..d5659bdf41df0a3cef8d7554f7e56d0b490cc141 100644
--- a/MobileRobot/scanner/build/CMakeFiles/CMakeDirectoryInformation.cmake
+++ b/MobileRobot/obstacleDetector/build/CMakeFiles/CMakeDirectoryInformation.cmake
@@ -2,8 +2,8 @@
 # Generated by "Unix Makefiles" Generator, CMake Version 2.8
 
 # Relative path conversion top directories.
-SET(CMAKE_RELATIVE_PATH_TOP_SOURCE "/home/faridalijani/MobileRobot/scanner")
-SET(CMAKE_RELATIVE_PATH_TOP_BINARY "/home/faridalijani/MobileRobot/scanner/build")
+SET(CMAKE_RELATIVE_PATH_TOP_SOURCE "/home/faridalijani/thesis/MobileRobot/obstacleDetector")
+SET(CMAKE_RELATIVE_PATH_TOP_BINARY "/home/faridalijani/thesis/MobileRobot/obstacleDetector/build")
 
 # Force unix paths in dependencies.
 SET(CMAKE_FORCE_UNIX_PATHS 1)
diff --git a/MobileRobot/scanner/build/CMakeFiles/CMakeError.log b/MobileRobot/obstacleDetector/build/CMakeFiles/CMakeError.log
similarity index 67%
rename from MobileRobot/scanner/build/CMakeFiles/CMakeError.log
rename to MobileRobot/obstacleDetector/build/CMakeFiles/CMakeError.log
index dbb61461b339edc85cd8c19441b63863935dc6cd..91d34569c8315aa2bf16da5b8de7de4da1d8e7ca 100644
--- a/MobileRobot/scanner/build/CMakeFiles/CMakeError.log
+++ b/MobileRobot/obstacleDetector/build/CMakeFiles/CMakeError.log
@@ -1,10 +1,10 @@
 Determining if the function pthread_create exists in the pthreads failed with the following output:
-Change Dir: /home/faridalijani/MobileRobot/scanner/build/CMakeFiles/CMakeTmp
+Change Dir: /home/faridalijani/thesis/MobileRobot/obstacleDetector/build/CMakeFiles/CMakeTmp
 
 Run Build Command:/usr/bin/make "cmTryCompileExec/fast"
 /usr/bin/make -f CMakeFiles/cmTryCompileExec.dir/build.make CMakeFiles/cmTryCompileExec.dir/build
-make[1]: Entering directory `/home/faridalijani/MobileRobot/scanner/build/CMakeFiles/CMakeTmp'
-/usr/bin/cmake -E cmake_progress_report /home/faridalijani/MobileRobot/scanner/build/CMakeFiles/CMakeTmp/CMakeFiles 1
+make[1]: Entering directory `/home/faridalijani/thesis/MobileRobot/obstacleDetector/build/CMakeFiles/CMakeTmp'
+/usr/bin/cmake -E cmake_progress_report /home/faridalijani/thesis/MobileRobot/obstacleDetector/build/CMakeFiles/CMakeTmp/CMakeFiles 1
 Building C object CMakeFiles/cmTryCompileExec.dir/CheckFunctionExists.c.o
 /usr/bin/gcc   -DCHECK_FUNCTION_EXISTS=pthread_create   -o CMakeFiles/cmTryCompileExec.dir/CheckFunctionExists.c.o   -c /usr/share/cmake-2.8/Modules/CheckFunctionExists.c
 Linking C executable cmTryCompileExec
@@ -13,7 +13,7 @@ Linking C executable cmTryCompileExec
 /usr/bin/ld: cannot find -lpthreads
 collect2: ld returned 1 exit status
 make[1]: *** [cmTryCompileExec] Error 1
-make[1]: Leaving directory `/home/faridalijani/MobileRobot/scanner/build/CMakeFiles/CMakeTmp'
+make[1]: Leaving directory `/home/faridalijani/thesis/MobileRobot/obstacleDetector/build/CMakeFiles/CMakeTmp'
 make: *** [cmTryCompileExec/fast] Error 2
 
 
diff --git a/MobileRobot/scanner/build/CMakeFiles/CMakeOutput.log b/MobileRobot/obstacleDetector/build/CMakeFiles/CMakeOutput.log
similarity index 85%
rename from MobileRobot/scanner/build/CMakeFiles/CMakeOutput.log
rename to MobileRobot/obstacleDetector/build/CMakeFiles/CMakeOutput.log
index ec8ad824cb1ec6ec07b8c44119e62683743da703..8b04e6b305089660f7c8e9bbf058afa22f0ad2b1 100644
--- a/MobileRobot/scanner/build/CMakeFiles/CMakeOutput.log
+++ b/MobileRobot/obstacleDetector/build/CMakeFiles/CMakeOutput.log
@@ -1,4 +1,4 @@
-The system is: Linux - 3.11.0-20-generic - x86_64
+The system is: Linux - 3.11.0-26-generic - x86_64
 Compiling the C compiler identification source file "CMakeCCompilerId.c" succeeded.
 Compiler: /usr/bin/gcc 
 Build flags: 
@@ -10,7 +10,7 @@ The output was:
 
 Compilation of the C compiler identification source "CMakeCCompilerId.c" produced "a.out"
 
-The C compiler identification is GNU, found in "/home/faridalijani/MobileRobot/scanner/build/CMakeFiles/CompilerIdC/a.out"
+The C compiler identification is GNU, found in "/home/faridalijani/thesis/MobileRobot/obstacleDetector/build/CMakeFiles/CompilerIdC/a.out"
 
 Compiling the CXX compiler identification source file "CMakeCXXCompilerId.cpp" succeeded.
 Compiler: /usr/bin/c++ 
@@ -23,30 +23,30 @@ The output was:
 
 Compilation of the CXX compiler identification source "CMakeCXXCompilerId.cpp" produced "a.out"
 
-The CXX compiler identification is GNU, found in "/home/faridalijani/MobileRobot/scanner/build/CMakeFiles/CompilerIdCXX/a.out"
+The CXX compiler identification is GNU, found in "/home/faridalijani/thesis/MobileRobot/obstacleDetector/build/CMakeFiles/CompilerIdCXX/a.out"
 
 Determining if the C compiler works passed with the following output:
-Change Dir: /home/faridalijani/MobileRobot/scanner/build/CMakeFiles/CMakeTmp
+Change Dir: /home/faridalijani/thesis/MobileRobot/obstacleDetector/build/CMakeFiles/CMakeTmp
 
 Run Build Command:/usr/bin/make "cmTryCompileExec/fast"
 /usr/bin/make -f CMakeFiles/cmTryCompileExec.dir/build.make CMakeFiles/cmTryCompileExec.dir/build
-make[1]: Entering directory `/home/faridalijani/MobileRobot/scanner/build/CMakeFiles/CMakeTmp'
-/usr/bin/cmake -E cmake_progress_report /home/faridalijani/MobileRobot/scanner/build/CMakeFiles/CMakeTmp/CMakeFiles 1
+make[1]: Entering directory `/home/faridalijani/thesis/MobileRobot/obstacleDetector/build/CMakeFiles/CMakeTmp'
+/usr/bin/cmake -E cmake_progress_report /home/faridalijani/thesis/MobileRobot/obstacleDetector/build/CMakeFiles/CMakeTmp/CMakeFiles 1
 Building C object CMakeFiles/cmTryCompileExec.dir/testCCompiler.c.o
-/usr/bin/gcc    -o CMakeFiles/cmTryCompileExec.dir/testCCompiler.c.o   -c /home/faridalijani/MobileRobot/scanner/build/CMakeFiles/CMakeTmp/testCCompiler.c
+/usr/bin/gcc    -o CMakeFiles/cmTryCompileExec.dir/testCCompiler.c.o   -c /home/faridalijani/thesis/MobileRobot/obstacleDetector/build/CMakeFiles/CMakeTmp/testCCompiler.c
 Linking C executable cmTryCompileExec
 /usr/bin/cmake -E cmake_link_script CMakeFiles/cmTryCompileExec.dir/link.txt --verbose=1
 /usr/bin/gcc         CMakeFiles/cmTryCompileExec.dir/testCCompiler.c.o  -o cmTryCompileExec -rdynamic 
-make[1]: Leaving directory `/home/faridalijani/MobileRobot/scanner/build/CMakeFiles/CMakeTmp'
+make[1]: Leaving directory `/home/faridalijani/thesis/MobileRobot/obstacleDetector/build/CMakeFiles/CMakeTmp'
 
 
 Detecting C compiler ABI info compiled with the following output:
-Change Dir: /home/faridalijani/MobileRobot/scanner/build/CMakeFiles/CMakeTmp
+Change Dir: /home/faridalijani/thesis/MobileRobot/obstacleDetector/build/CMakeFiles/CMakeTmp
 
 Run Build Command:/usr/bin/make "cmTryCompileExec/fast"
 /usr/bin/make -f CMakeFiles/cmTryCompileExec.dir/build.make CMakeFiles/cmTryCompileExec.dir/build
-make[1]: Entering directory `/home/faridalijani/MobileRobot/scanner/build/CMakeFiles/CMakeTmp'
-/usr/bin/cmake -E cmake_progress_report /home/faridalijani/MobileRobot/scanner/build/CMakeFiles/CMakeTmp/CMakeFiles 1
+make[1]: Entering directory `/home/faridalijani/thesis/MobileRobot/obstacleDetector/build/CMakeFiles/CMakeTmp'
+/usr/bin/cmake -E cmake_progress_report /home/faridalijani/thesis/MobileRobot/obstacleDetector/build/CMakeFiles/CMakeTmp/CMakeFiles 1
 Building C object CMakeFiles/cmTryCompileExec.dir/CMakeCCompilerABI.c.o
 /usr/bin/gcc    -o CMakeFiles/cmTryCompileExec.dir/CMakeCCompilerABI.c.o   -c /usr/share/cmake-2.8/Modules/CMakeCCompilerABI.c
 Linking C executable cmTryCompileExec
@@ -63,17 +63,17 @@ COMPILER_PATH=/usr/lib/gcc/x86_64-linux-gnu/4.6/:/usr/lib/gcc/x86_64-linux-gnu/4
 LIBRARY_PATH=/usr/lib/gcc/x86_64-linux-gnu/4.6/:/usr/lib/gcc/x86_64-linux-gnu/4.6/../../../x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/4.6/../../../../lib/:/lib/x86_64-linux-gnu/:/lib/../lib/:/usr/lib/x86_64-linux-gnu/:/usr/lib/../lib/:/usr/lib/gcc/x86_64-linux-gnu/4.6/../../../:/lib/:/usr/lib/
 COLLECT_GCC_OPTIONS='-v' '-o' 'cmTryCompileExec' '-rdynamic' '-mtune=generic' '-march=x86-64'
  /usr/lib/gcc/x86_64-linux-gnu/4.6/collect2 --sysroot=/ --build-id --no-add-needed --as-needed --eh-frame-hdr -m elf_x86_64 --hash-style=gnu -export-dynamic -dynamic-linker /lib64/ld-linux-x86-64.so.2 -z relro -o cmTryCompileExec /usr/lib/gcc/x86_64-linux-gnu/4.6/../../../x86_64-linux-gnu/crt1.o /usr/lib/gcc/x86_64-linux-gnu/4.6/../../../x86_64-linux-gnu/crti.o /usr/lib/gcc/x86_64-linux-gnu/4.6/crtbegin.o -L/usr/lib/gcc/x86_64-linux-gnu/4.6 -L/usr/lib/gcc/x86_64-linux-gnu/4.6/../../../x86_64-linux-gnu -L/usr/lib/gcc/x86_64-linux-gnu/4.6/../../../../lib -L/lib/x86_64-linux-gnu -L/lib/../lib -L/usr/lib/x86_64-linux-gnu -L/usr/lib/../lib -L/usr/lib/gcc/x86_64-linux-gnu/4.6/../../.. CMakeFiles/cmTryCompileExec.dir/CMakeCCompilerABI.c.o -lgcc --as-needed -lgcc_s --no-as-needed -lc -lgcc --as-needed -lgcc_s --no-as-needed /usr/lib/gcc/x86_64-linux-gnu/4.6/crtend.o /usr/lib/gcc/x86_64-linux-gnu/4.6/../../../x86_64-linux-gnu/crtn.o
-make[1]: Leaving directory `/home/faridalijani/MobileRobot/scanner/build/CMakeFiles/CMakeTmp'
+make[1]: Leaving directory `/home/faridalijani/thesis/MobileRobot/obstacleDetector/build/CMakeFiles/CMakeTmp'
 
 
 Parsed C implicit link information from above output:
   link line regex: [^( *|.*[/\])(ld|ld|collect2)[^/\]*( |$)]
-  ignore line: [Change Dir: /home/faridalijani/MobileRobot/scanner/build/CMakeFiles/CMakeTmp]
+  ignore line: [Change Dir: /home/faridalijani/thesis/MobileRobot/obstacleDetector/build/CMakeFiles/CMakeTmp]
   ignore line: []
   ignore line: [Run Build Command:/usr/bin/make "cmTryCompileExec/fast"]
   ignore line: [/usr/bin/make -f CMakeFiles/cmTryCompileExec.dir/build.make CMakeFiles/cmTryCompileExec.dir/build]
-  ignore line: [make[1]: Entering directory `/home/faridalijani/MobileRobot/scanner/build/CMakeFiles/CMakeTmp']
-  ignore line: [/usr/bin/cmake -E cmake_progress_report /home/faridalijani/MobileRobot/scanner/build/CMakeFiles/CMakeTmp/CMakeFiles 1]
+  ignore line: [make[1]: Entering directory `/home/faridalijani/thesis/MobileRobot/obstacleDetector/build/CMakeFiles/CMakeTmp']
+  ignore line: [/usr/bin/cmake -E cmake_progress_report /home/faridalijani/thesis/MobileRobot/obstacleDetector/build/CMakeFiles/CMakeTmp/CMakeFiles 1]
   ignore line: [Building C object CMakeFiles/cmTryCompileExec.dir/CMakeCCompilerABI.c.o]
   ignore line: [/usr/bin/gcc    -o CMakeFiles/cmTryCompileExec.dir/CMakeCCompilerABI.c.o   -c /usr/share/cmake-2.8/Modules/CMakeCCompilerABI.c]
   ignore line: [Linking C executable cmTryCompileExec]
@@ -145,27 +145,27 @@ Parsed C implicit link information from above output:
 
 
 Determining if the CXX compiler works passed with the following output:
-Change Dir: /home/faridalijani/MobileRobot/scanner/build/CMakeFiles/CMakeTmp
+Change Dir: /home/faridalijani/thesis/MobileRobot/obstacleDetector/build/CMakeFiles/CMakeTmp
 
 Run Build Command:/usr/bin/make "cmTryCompileExec/fast"
 /usr/bin/make -f CMakeFiles/cmTryCompileExec.dir/build.make CMakeFiles/cmTryCompileExec.dir/build
-make[1]: Entering directory `/home/faridalijani/MobileRobot/scanner/build/CMakeFiles/CMakeTmp'
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+	cd /home/faridalijani/thesis/MobileRobot/obstacleDetector/build && $(CMAKE_COMMAND) -E cmake_depends "Unix Makefiles" /home/faridalijani/thesis/MobileRobot/obstacleDetector /home/faridalijani/thesis/MobileRobot/obstacleDetector /home/faridalijani/thesis/MobileRobot/obstacleDetector/build /home/faridalijani/thesis/MobileRobot/obstacleDetector/build /home/faridalijani/thesis/MobileRobot/obstacleDetector/build/CMakeFiles/clean_test_results.dir/DependInfo.cmake --color=$(COLOR)
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+	cd /home/faridalijani/thesis/MobileRobot/obstacleDetector/build && $(CMAKE_COMMAND) -E cmake_depends "Unix Makefiles" /home/faridalijani/thesis/MobileRobot/obstacleDetector /home/faridalijani/thesis/MobileRobot/obstacleDetector /home/faridalijani/thesis/MobileRobot/obstacleDetector/build /home/faridalijani/thesis/MobileRobot/obstacleDetector/build /home/faridalijani/thesis/MobileRobot/obstacleDetector/build/CMakeFiles/tests.dir/DependInfo.cmake --color=$(COLOR)
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 SUBDIRS(gtest)
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diff --git a/MobileRobot/scanner/build/Makefile b/MobileRobot/obstacleDetector/build/Makefile
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rename from MobileRobot/scanner/build/Makefile
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--- a/MobileRobot/scanner/build/Makefile
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@@ -35,19 +35,22 @@ CMAKE_COMMAND = /usr/bin/cmake
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 # The top-level build directory on which CMake was run.
-CMAKE_BINARY_DIR = /home/faridalijani/MobileRobot/scanner/build
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+	/usr/bin/cmake-gui -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR)
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 # fast build rule for target.
 roscpp_generate_messages_cpp/fast:
-	$(MAKE) -f laser_scan/CMakeFiles/roscpp_generate_messages_cpp.dir/build.make laser_scan/CMakeFiles/roscpp_generate_messages_cpp.dir/build
+	$(MAKE) -f scanWithLaser/CMakeFiles/roscpp_generate_messages_cpp.dir/build.make scanWithLaser/CMakeFiles/roscpp_generate_messages_cpp.dir/build
 .PHONY : roscpp_generate_messages_cpp/fast
 
 #=============================================================================
@@ -299,7 +289,7 @@ roscpp_generate_messages_lisp: cmake_check_build_system
 
 # fast build rule for target.
 roscpp_generate_messages_lisp/fast:
-	$(MAKE) -f laser_scan/CMakeFiles/roscpp_generate_messages_lisp.dir/build.make laser_scan/CMakeFiles/roscpp_generate_messages_lisp.dir/build
+	$(MAKE) -f scanWithLaser/CMakeFiles/roscpp_generate_messages_lisp.dir/build.make scanWithLaser/CMakeFiles/roscpp_generate_messages_lisp.dir/build
 .PHONY : roscpp_generate_messages_lisp/fast
 
 #=============================================================================
@@ -312,7 +302,7 @@ roscpp_generate_messages_py: cmake_check_build_system
 
 # fast build rule for target.
 roscpp_generate_messages_py/fast:
-	$(MAKE) -f laser_scan/CMakeFiles/roscpp_generate_messages_py.dir/build.make laser_scan/CMakeFiles/roscpp_generate_messages_py.dir/build
+	$(MAKE) -f scanWithLaser/CMakeFiles/roscpp_generate_messages_py.dir/build.make scanWithLaser/CMakeFiles/roscpp_generate_messages_py.dir/build
 .PHONY : roscpp_generate_messages_py/fast
 
 #=============================================================================
@@ -325,7 +315,7 @@ rosgraph_msgs_generate_messages_cpp: cmake_check_build_system
 
 # fast build rule for target.
 rosgraph_msgs_generate_messages_cpp/fast:
-	$(MAKE) -f laser_scan/CMakeFiles/rosgraph_msgs_generate_messages_cpp.dir/build.make laser_scan/CMakeFiles/rosgraph_msgs_generate_messages_cpp.dir/build
+	$(MAKE) -f scanWithLaser/CMakeFiles/rosgraph_msgs_generate_messages_cpp.dir/build.make scanWithLaser/CMakeFiles/rosgraph_msgs_generate_messages_cpp.dir/build
 .PHONY : rosgraph_msgs_generate_messages_cpp/fast
 
 #=============================================================================
@@ -338,7 +328,7 @@ rosgraph_msgs_generate_messages_lisp: cmake_check_build_system
 
 # fast build rule for target.
 rosgraph_msgs_generate_messages_lisp/fast:
-	$(MAKE) -f laser_scan/CMakeFiles/rosgraph_msgs_generate_messages_lisp.dir/build.make laser_scan/CMakeFiles/rosgraph_msgs_generate_messages_lisp.dir/build
+	$(MAKE) -f scanWithLaser/CMakeFiles/rosgraph_msgs_generate_messages_lisp.dir/build.make scanWithLaser/CMakeFiles/rosgraph_msgs_generate_messages_lisp.dir/build
 .PHONY : rosgraph_msgs_generate_messages_lisp/fast
 
 #=============================================================================
@@ -351,9 +341,22 @@ rosgraph_msgs_generate_messages_py: cmake_check_build_system
 
 # fast build rule for target.
 rosgraph_msgs_generate_messages_py/fast:
-	$(MAKE) -f laser_scan/CMakeFiles/rosgraph_msgs_generate_messages_py.dir/build.make laser_scan/CMakeFiles/rosgraph_msgs_generate_messages_py.dir/build
+	$(MAKE) -f scanWithLaser/CMakeFiles/rosgraph_msgs_generate_messages_py.dir/build.make scanWithLaser/CMakeFiles/rosgraph_msgs_generate_messages_py.dir/build
 .PHONY : rosgraph_msgs_generate_messages_py/fast
 
+#=============================================================================
+# Target rules for targets named scanWithLaser
+
+# Build rule for target.
+scanWithLaser: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 scanWithLaser
+.PHONY : scanWithLaser
+
+# fast build rule for target.
+scanWithLaser/fast:
+	$(MAKE) -f scanWithLaser/CMakeFiles/scanWithLaser.dir/build.make scanWithLaser/CMakeFiles/scanWithLaser.dir/build
+.PHONY : scanWithLaser/fast
+
 #=============================================================================
 # Target rules for targets named sensor_msgs_generate_messages_cpp
 
@@ -364,7 +367,7 @@ sensor_msgs_generate_messages_cpp: cmake_check_build_system
 
 # fast build rule for target.
 sensor_msgs_generate_messages_cpp/fast:
-	$(MAKE) -f laser_scan/CMakeFiles/sensor_msgs_generate_messages_cpp.dir/build.make laser_scan/CMakeFiles/sensor_msgs_generate_messages_cpp.dir/build
+	$(MAKE) -f scanWithLaser/CMakeFiles/sensor_msgs_generate_messages_cpp.dir/build.make scanWithLaser/CMakeFiles/sensor_msgs_generate_messages_cpp.dir/build
 .PHONY : sensor_msgs_generate_messages_cpp/fast
 
 #=============================================================================
@@ -377,7 +380,7 @@ sensor_msgs_generate_messages_lisp: cmake_check_build_system
 
 # fast build rule for target.
 sensor_msgs_generate_messages_lisp/fast:
-	$(MAKE) -f laser_scan/CMakeFiles/sensor_msgs_generate_messages_lisp.dir/build.make laser_scan/CMakeFiles/sensor_msgs_generate_messages_lisp.dir/build
+	$(MAKE) -f scanWithLaser/CMakeFiles/sensor_msgs_generate_messages_lisp.dir/build.make scanWithLaser/CMakeFiles/sensor_msgs_generate_messages_lisp.dir/build
 .PHONY : sensor_msgs_generate_messages_lisp/fast
 
 #=============================================================================
@@ -390,7 +393,7 @@ sensor_msgs_generate_messages_py: cmake_check_build_system
 
 # fast build rule for target.
 sensor_msgs_generate_messages_py/fast:
-	$(MAKE) -f laser_scan/CMakeFiles/sensor_msgs_generate_messages_py.dir/build.make laser_scan/CMakeFiles/sensor_msgs_generate_messages_py.dir/build
+	$(MAKE) -f scanWithLaser/CMakeFiles/sensor_msgs_generate_messages_py.dir/build.make scanWithLaser/CMakeFiles/sensor_msgs_generate_messages_py.dir/build
 .PHONY : sensor_msgs_generate_messages_py/fast
 
 #=============================================================================
@@ -403,7 +406,7 @@ std_msgs_generate_messages_cpp: cmake_check_build_system
 
 # fast build rule for target.
 std_msgs_generate_messages_cpp/fast:
-	$(MAKE) -f laser_scan/CMakeFiles/std_msgs_generate_messages_cpp.dir/build.make laser_scan/CMakeFiles/std_msgs_generate_messages_cpp.dir/build
+	$(MAKE) -f scanWithLaser/CMakeFiles/std_msgs_generate_messages_cpp.dir/build.make scanWithLaser/CMakeFiles/std_msgs_generate_messages_cpp.dir/build
 .PHONY : std_msgs_generate_messages_cpp/fast
 
 #=============================================================================
@@ -416,7 +419,7 @@ std_msgs_generate_messages_lisp: cmake_check_build_system
 
 # fast build rule for target.
 std_msgs_generate_messages_lisp/fast:
-	$(MAKE) -f laser_scan/CMakeFiles/std_msgs_generate_messages_lisp.dir/build.make laser_scan/CMakeFiles/std_msgs_generate_messages_lisp.dir/build
+	$(MAKE) -f scanWithLaser/CMakeFiles/std_msgs_generate_messages_lisp.dir/build.make scanWithLaser/CMakeFiles/std_msgs_generate_messages_lisp.dir/build
 .PHONY : std_msgs_generate_messages_lisp/fast
 
 #=============================================================================
@@ -429,7 +432,7 @@ std_msgs_generate_messages_py: cmake_check_build_system
 
 # fast build rule for target.
 std_msgs_generate_messages_py/fast:
-	$(MAKE) -f laser_scan/CMakeFiles/std_msgs_generate_messages_py.dir/build.make laser_scan/CMakeFiles/std_msgs_generate_messages_py.dir/build
+	$(MAKE) -f scanWithLaser/CMakeFiles/std_msgs_generate_messages_py.dir/build.make scanWithLaser/CMakeFiles/std_msgs_generate_messages_py.dir/build
 .PHONY : std_msgs_generate_messages_py/fast
 
 # Help Target
@@ -454,13 +457,13 @@ help:
 	@echo "... geometry_msgs_generate_messages_cpp"
 	@echo "... geometry_msgs_generate_messages_lisp"
 	@echo "... geometry_msgs_generate_messages_py"
-	@echo "... laser_scan"
 	@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 "... scanWithLaser"
 	@echo "... sensor_msgs_generate_messages_cpp"
 	@echo "... sensor_msgs_generate_messages_lisp"
 	@echo "... sensor_msgs_generate_messages_py"
diff --git a/MobileRobot/scanner/build/catkin/catkin_generated/version/package.cmake b/MobileRobot/obstacleDetector/build/catkin/catkin_generated/version/package.cmake
similarity index 94%
rename from MobileRobot/scanner/build/catkin/catkin_generated/version/package.cmake
rename to MobileRobot/obstacleDetector/build/catkin/catkin_generated/version/package.cmake
index a456474b6ffaedeeaf35bfa9e15296338e6fb64b..ff3201d306765ce76eb5b1ca81f2c65bf97f8ea7 100644
--- a/MobileRobot/scanner/build/catkin/catkin_generated/version/package.cmake
+++ b/MobileRobot/obstacleDetector/build/catkin/catkin_generated/version/package.cmake
@@ -1,5 +1,5 @@
 set(_CATKIN_CURRENT_PACKAGE "catkin")
-set(catkin_VERSION "0.5.89")
+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 "")
diff --git a/MobileRobot/scanner/build/catkin_generated/env_cached.sh b/MobileRobot/obstacleDetector/build/catkin_generated/env_cached.sh
similarity index 100%
rename from MobileRobot/scanner/build/catkin_generated/env_cached.sh
rename to MobileRobot/obstacleDetector/build/catkin_generated/env_cached.sh
diff --git a/MobileRobot/scanner/build/catkin_generated/generate_cached_setup.py b/MobileRobot/obstacleDetector/build/catkin_generated/generate_cached_setup.py
similarity index 73%
rename from MobileRobot/scanner/build/catkin_generated/generate_cached_setup.py
rename to MobileRobot/obstacleDetector/build/catkin_generated/generate_cached_setup.py
index 38f85e7bc14718fc815c04770760f8720d6722c3..69f27ad006a389ea04602f59508cc215480515ea 100644
--- a/MobileRobot/scanner/build/catkin_generated/generate_cached_setup.py
+++ b/MobileRobot/obstacleDetector/build/catkin_generated/generate_cached_setup.py
@@ -11,16 +11,16 @@ 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 "/home/faridalijani/MobileRobot/scanner/devel;/home/faridalijani/MobileRobot/sc_st/devel;/opt/ros/hydro".split(';'):
+    for workspace in "/home/faridalijani/thesis/MobileRobot/obstacleDetector/devel;/home/faridalijani/thesis/MobileRobot/scanner/devel;/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/MobileRobot/scanner/devel/env.sh')
+code = generate_environment_script('/home/faridalijani/thesis/MobileRobot/obstacleDetector/devel/env.sh')
 
-output_filename = '/home/faridalijani/MobileRobot/scanner/build/catkin_generated/setup_cached.sh'
+output_filename = '/home/faridalijani/thesis/MobileRobot/obstacleDetector/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))
diff --git a/MobileRobot/obstacleDetector/build/catkin_generated/installspace/.rosinstall b/MobileRobot/obstacleDetector/build/catkin_generated/installspace/.rosinstall
new file mode 100644
index 0000000000000000000000000000000000000000..aa1982788e5db512b2ca91b9e6e92ba27e96cbe8
--- /dev/null
+++ b/MobileRobot/obstacleDetector/build/catkin_generated/installspace/.rosinstall
@@ -0,0 +1,2 @@
+- setup-file:
+    local-name: /home/faridalijani/thesis/MobileRobot/obstacleDetector/install/setup.sh
diff --git a/MobileRobot/scanner/devel/_setup_util.py b/MobileRobot/obstacleDetector/build/catkin_generated/installspace/_setup_util.py
similarity index 97%
rename from MobileRobot/scanner/devel/_setup_util.py
rename to MobileRobot/obstacleDetector/build/catkin_generated/installspace/_setup_util.py
index 6fd202f0ea092dd28c5218760ed4395ee03f99d3..7820e18eb222ee77833e5b8ce5c2877a3752577f 100755
--- a/MobileRobot/scanner/devel/_setup_util.py
+++ b/MobileRobot/obstacleDetector/build/catkin_generated/installspace/_setup_util.py
@@ -252,7 +252,7 @@ if __name__ == '__main__':
             sys.exit(1)
 
         # environment at generation time
-        CMAKE_PREFIX_PATH = '/home/faridalijani/MobileRobot/scanner/devel;/home/faridalijani/MobileRobot/sc_st/devel;/opt/ros/hydro'.split(';')
+        CMAKE_PREFIX_PATH = '/home/faridalijani/thesis/MobileRobot/obstacleDetector/devel;/home/faridalijani/thesis/MobileRobot/scanner/devel;/home/faridalijani/MobileRobot/scanner/devel;/home/faridalijani/MobileRobot/sc_st/devel;/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:
diff --git a/MobileRobot/scanner/build/catkin_generated/installspace/env.sh b/MobileRobot/obstacleDetector/build/catkin_generated/installspace/env.sh
similarity index 100%
rename from MobileRobot/scanner/build/catkin_generated/installspace/env.sh
rename to MobileRobot/obstacleDetector/build/catkin_generated/installspace/env.sh
diff --git a/MobileRobot/scanner/build/catkin_generated/installspace/setup.bash b/MobileRobot/obstacleDetector/build/catkin_generated/installspace/setup.bash
similarity index 100%
rename from MobileRobot/scanner/build/catkin_generated/installspace/setup.bash
rename to MobileRobot/obstacleDetector/build/catkin_generated/installspace/setup.bash
diff --git a/MobileRobot/scanner/devel/setup.sh b/MobileRobot/obstacleDetector/build/catkin_generated/installspace/setup.sh
similarity index 96%
rename from MobileRobot/scanner/devel/setup.sh
rename to MobileRobot/obstacleDetector/build/catkin_generated/installspace/setup.sh
index 6ef385f15a3dc8d2b8bfd3717d060daf085e5b17..b55a7e0de13d623bcf190014028d4c67a6e282a7 100644
--- a/MobileRobot/scanner/devel/setup.sh
+++ b/MobileRobot/obstacleDetector/build/catkin_generated/installspace/setup.sh
@@ -8,7 +8,7 @@
 
 # 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/MobileRobot/scanner/devel}
+: ${_CATKIN_SETUP_DIR:=/home/faridalijani/thesis/MobileRobot/obstacleDetector/install}
 _SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py"
 unset _CATKIN_SETUP_DIR
 
diff --git a/MobileRobot/scanner/build/catkin_generated/installspace/setup.zsh b/MobileRobot/obstacleDetector/build/catkin_generated/installspace/setup.zsh
similarity index 100%
rename from MobileRobot/scanner/build/catkin_generated/installspace/setup.zsh
rename to MobileRobot/obstacleDetector/build/catkin_generated/installspace/setup.zsh
diff --git a/MobileRobot/scanner/build/catkin_generated/order_packages.cmake b/MobileRobot/obstacleDetector/build/catkin_generated/order_packages.cmake
similarity index 80%
rename from MobileRobot/scanner/build/catkin_generated/order_packages.cmake
rename to MobileRobot/obstacleDetector/build/catkin_generated/order_packages.cmake
index 09cf2d8cad25537b97aeab6a156f0f6d6083ba78..fa82c9aaef7478d9dc9276885df11f1672119541 100644
--- a/MobileRobot/scanner/build/catkin_generated/order_packages.cmake
+++ b/MobileRobot/obstacleDetector/build/catkin_generated/order_packages.cmake
@@ -4,8 +4,8 @@ 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 "laser_scan")
-list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "laser_scan")
+list(APPEND CATKIN_ORDERED_PACKAGES "scanWithLaser")
+list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "scanWithLaser")
 list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "False")
 list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "catkin")
 
diff --git a/MobileRobot/obstacleDetector/build/catkin_generated/order_packages.py b/MobileRobot/obstacleDetector/build/catkin_generated/order_packages.py
new file mode 100644
index 0000000000000000000000000000000000000000..ea8d30024f7f2b8727d5d00c19a61d3614b0b952
--- /dev/null
+++ b/MobileRobot/obstacleDetector/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/obstacleDetector"
+whitelisted_packages = "".split(';') if "" != "" else []
+blacklisted_packages = "".split(';') if "" != "" else []
+underlay_workspaces = "/home/faridalijani/thesis/MobileRobot/obstacleDetector/devel;/home/faridalijani/thesis/MobileRobot/scanner/devel;/opt/ros/hydro".split(';') if "/home/faridalijani/thesis/MobileRobot/obstacleDetector/devel;/home/faridalijani/thesis/MobileRobot/scanner/devel;/opt/ros/hydro" != "" else []
diff --git a/MobileRobot/scanner/build/catkin_generated/setup_cached.sh b/MobileRobot/obstacleDetector/build/catkin_generated/setup_cached.sh
similarity index 80%
rename from MobileRobot/scanner/build/catkin_generated/setup_cached.sh
rename to MobileRobot/obstacleDetector/build/catkin_generated/setup_cached.sh
index 0581c9f4a5dafa4ae723571d11e9bae75984ee02..e64fa74290be97122faf641438f501581bc71f0f 100755
--- a/MobileRobot/scanner/build/catkin_generated/setup_cached.sh
+++ b/MobileRobot/obstacleDetector/build/catkin_generated/setup_cached.sh
@@ -7,4 +7,4 @@
 # new environment variables
 
 # modified environment variables
-export PWD="/home/faridalijani/MobileRobot/scanner/build"
\ No newline at end of file
+export PWD="/home/faridalijani/thesis/MobileRobot/obstacleDetector/build"
\ No newline at end of file
diff --git a/MobileRobot/scanner/build/catkin_generated/stamps/Project/interrogate_setup_dot_py.py.stamp b/MobileRobot/obstacleDetector/build/catkin_generated/stamps/Project/interrogate_setup_dot_py.py.stamp
similarity index 100%
rename from MobileRobot/scanner/build/catkin_generated/stamps/Project/interrogate_setup_dot_py.py.stamp
rename to MobileRobot/obstacleDetector/build/catkin_generated/stamps/Project/interrogate_setup_dot_py.py.stamp
diff --git a/MobileRobot/scanner/build/catkin_generated/stamps/Project/order_packages.cmake.em.stamp b/MobileRobot/obstacleDetector/build/catkin_generated/stamps/Project/order_packages.cmake.em.stamp
similarity index 100%
rename from MobileRobot/scanner/build/catkin_generated/stamps/Project/order_packages.cmake.em.stamp
rename to MobileRobot/obstacleDetector/build/catkin_generated/stamps/Project/order_packages.cmake.em.stamp
diff --git a/MobileRobot/scanner/build/catkin_generated/stamps/Project/package.xml.stamp b/MobileRobot/obstacleDetector/build/catkin_generated/stamps/Project/package.xml.stamp
similarity index 97%
rename from MobileRobot/scanner/build/catkin_generated/stamps/Project/package.xml.stamp
rename to MobileRobot/obstacleDetector/build/catkin_generated/stamps/Project/package.xml.stamp
index e8ce7d493cabf454005cce314db4f19e1f2711fe..fe40bcf4c26e5bf7c5b7b54b7a22de997e0b9157 100644
--- a/MobileRobot/scanner/build/catkin_generated/stamps/Project/package.xml.stamp
+++ b/MobileRobot/obstacleDetector/build/catkin_generated/stamps/Project/package.xml.stamp
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>catkin</name>
-  <version>0.5.89</version>
+  <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>
diff --git a/MobileRobot/obstacleDetector/build/catkin_make.cache b/MobileRobot/obstacleDetector/build/catkin_make.cache
new file mode 100644
index 0000000000000000000000000000000000000000..66bbbc8c3534c0068e6242807e88970b5dc5e71d
--- /dev/null
+++ b/MobileRobot/obstacleDetector/build/catkin_make.cache
@@ -0,0 +1,2 @@
+scanWithLaser
+-DCATKIN_DEVEL_PREFIX=/home/faridalijani/thesis/MobileRobot/obstacleDetector/devel -DCMAKE_INSTALL_PREFIX=/home/faridalijani/thesis/MobileRobot/obstacleDetector/install
\ No newline at end of file
diff --git a/MobileRobot/scanner/build/cmake_install.cmake b/MobileRobot/obstacleDetector/build/cmake_install.cmake
similarity index 62%
rename from MobileRobot/scanner/build/cmake_install.cmake
rename to MobileRobot/obstacleDetector/build/cmake_install.cmake
index 6f5d8f42f9c1ac45e38c66d63b6fd950fe8104e2..473b34de2cb232674264bff8acf0521cf8abdcde 100644
--- a/MobileRobot/scanner/build/cmake_install.cmake
+++ b/MobileRobot/obstacleDetector/build/cmake_install.cmake
@@ -1,8 +1,8 @@
-# Install script for directory: /home/faridalijani/MobileRobot/scanner
+# Install script for directory: /home/faridalijani/thesis/MobileRobot/obstacleDetector
 
 # Set the install prefix
 IF(NOT DEFINED CMAKE_INSTALL_PREFIX)
-  SET(CMAKE_INSTALL_PREFIX "/home/faridalijani/MobileRobot/scanner/install")
+  SET(CMAKE_INSTALL_PREFIX "/home/faridalijani/thesis/MobileRobot/obstacleDetector/install")
 ENDIF(NOT DEFINED CMAKE_INSTALL_PREFIX)
 STRING(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
 
@@ -44,38 +44,38 @@ ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unsp
 
 IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
   list(APPEND CPACK_ABSOLUTE_DESTINATION_FILES
-   "/home/faridalijani/MobileRobot/scanner/install/_setup_util.py")
-FILE(INSTALL DESTINATION "/home/faridalijani/MobileRobot/scanner/install" TYPE PROGRAM FILES "/home/faridalijani/MobileRobot/scanner/build/catkin_generated/installspace/_setup_util.py")
+   "/home/faridalijani/thesis/MobileRobot/obstacleDetector/install/_setup_util.py")
+FILE(INSTALL DESTINATION "/home/faridalijani/thesis/MobileRobot/obstacleDetector/install" TYPE PROGRAM FILES "/home/faridalijani/thesis/MobileRobot/obstacleDetector/build/catkin_generated/installspace/_setup_util.py")
 ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
 
 IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
   list(APPEND CPACK_ABSOLUTE_DESTINATION_FILES
-   "/home/faridalijani/MobileRobot/scanner/install/env.sh")
-FILE(INSTALL DESTINATION "/home/faridalijani/MobileRobot/scanner/install" TYPE PROGRAM FILES "/home/faridalijani/MobileRobot/scanner/build/catkin_generated/installspace/env.sh")
+   "/home/faridalijani/thesis/MobileRobot/obstacleDetector/install/env.sh")
+FILE(INSTALL DESTINATION "/home/faridalijani/thesis/MobileRobot/obstacleDetector/install" TYPE PROGRAM FILES "/home/faridalijani/thesis/MobileRobot/obstacleDetector/build/catkin_generated/installspace/env.sh")
 ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
 
 IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
   list(APPEND CPACK_ABSOLUTE_DESTINATION_FILES
-   "/home/faridalijani/MobileRobot/scanner/install/setup.bash")
-FILE(INSTALL DESTINATION "/home/faridalijani/MobileRobot/scanner/install" TYPE FILE FILES "/home/faridalijani/MobileRobot/scanner/build/catkin_generated/installspace/setup.bash")
+   "/home/faridalijani/thesis/MobileRobot/obstacleDetector/install/setup.bash")
+FILE(INSTALL DESTINATION "/home/faridalijani/thesis/MobileRobot/obstacleDetector/install" TYPE FILE FILES "/home/faridalijani/thesis/MobileRobot/obstacleDetector/build/catkin_generated/installspace/setup.bash")
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 IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
   list(APPEND CPACK_ABSOLUTE_DESTINATION_FILES
-   "/home/faridalijani/MobileRobot/scanner/install/setup.sh")
-FILE(INSTALL DESTINATION "/home/faridalijani/MobileRobot/scanner/install" TYPE FILE FILES "/home/faridalijani/MobileRobot/scanner/build/catkin_generated/installspace/setup.sh")
+   "/home/faridalijani/thesis/MobileRobot/obstacleDetector/install/setup.sh")
+FILE(INSTALL DESTINATION "/home/faridalijani/thesis/MobileRobot/obstacleDetector/install" TYPE FILE FILES "/home/faridalijani/thesis/MobileRobot/obstacleDetector/build/catkin_generated/installspace/setup.sh")
 ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
 
 IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
   list(APPEND CPACK_ABSOLUTE_DESTINATION_FILES
-   "/home/faridalijani/MobileRobot/scanner/install/setup.zsh")
-FILE(INSTALL DESTINATION "/home/faridalijani/MobileRobot/scanner/install" TYPE FILE FILES "/home/faridalijani/MobileRobot/scanner/build/catkin_generated/installspace/setup.zsh")
+   "/home/faridalijani/thesis/MobileRobot/obstacleDetector/install/setup.zsh")
+FILE(INSTALL DESTINATION "/home/faridalijani/thesis/MobileRobot/obstacleDetector/install" TYPE FILE FILES "/home/faridalijani/thesis/MobileRobot/obstacleDetector/build/catkin_generated/installspace/setup.zsh")
 ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
 
 IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
   list(APPEND CPACK_ABSOLUTE_DESTINATION_FILES
-   "/home/faridalijani/MobileRobot/scanner/install/.rosinstall")
-FILE(INSTALL DESTINATION "/home/faridalijani/MobileRobot/scanner/install" TYPE FILE FILES "/home/faridalijani/MobileRobot/scanner/build/catkin_generated/installspace/.rosinstall")
+   "/home/faridalijani/thesis/MobileRobot/obstacleDetector/install/.rosinstall")
+FILE(INSTALL DESTINATION "/home/faridalijani/thesis/MobileRobot/obstacleDetector/install" TYPE FILE FILES "/home/faridalijani/thesis/MobileRobot/obstacleDetector/build/catkin_generated/installspace/.rosinstall")
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 IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
@@ -88,8 +88,8 @@ ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unsp
 
 IF(NOT CMAKE_INSTALL_LOCAL_ONLY)
   # Include the install script for each subdirectory.
-  INCLUDE("/home/faridalijani/MobileRobot/scanner/build/gtest/cmake_install.cmake")
-  INCLUDE("/home/faridalijani/MobileRobot/scanner/build/laser_scan/cmake_install.cmake")
+  INCLUDE("/home/faridalijani/thesis/MobileRobot/obstacleDetector/build/gtest/cmake_install.cmake")
+  INCLUDE("/home/faridalijani/thesis/MobileRobot/obstacleDetector/build/scanWithLaser/cmake_install.cmake")
 
 ENDIF(NOT CMAKE_INSTALL_LOCAL_ONLY)
 
@@ -99,7 +99,7 @@ ELSE(CMAKE_INSTALL_COMPONENT)
   SET(CMAKE_INSTALL_MANIFEST "install_manifest.txt")
 ENDIF(CMAKE_INSTALL_COMPONENT)
 
-FILE(WRITE "/home/faridalijani/MobileRobot/scanner/build/${CMAKE_INSTALL_MANIFEST}" "")
+FILE(WRITE "/home/faridalijani/thesis/MobileRobot/obstacleDetector/build/${CMAKE_INSTALL_MANIFEST}" "")
 FOREACH(file ${CMAKE_INSTALL_MANIFEST_FILES})
-  FILE(APPEND "/home/faridalijani/MobileRobot/scanner/build/${CMAKE_INSTALL_MANIFEST}" "${file}\n")
+  FILE(APPEND "/home/faridalijani/thesis/MobileRobot/obstacleDetector/build/${CMAKE_INSTALL_MANIFEST}" "${file}\n")
 ENDFOREACH(file)
diff --git a/MobileRobot/scanner/build/gtest/CMakeFiles/CMakeDirectoryInformation.cmake b/MobileRobot/obstacleDetector/build/gtest/CMakeFiles/CMakeDirectoryInformation.cmake
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index fe323c0a79de68f9d3afc68baa18099edb1e5d06..9b8d3556887c46af590a3287efeedcdde405e4d3 100644
--- a/MobileRobot/scanner/build/gtest/CMakeFiles/CMakeDirectoryInformation.cmake
+++ b/MobileRobot/obstacleDetector/build/gtest/CMakeFiles/CMakeDirectoryInformation.cmake
@@ -3,7 +3,7 @@
 
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 SET(CMAKE_RELATIVE_PATH_TOP_SOURCE "/usr/src/gtest")
-SET(CMAKE_RELATIVE_PATH_TOP_BINARY "/home/faridalijani/MobileRobot/scanner/build")
+SET(CMAKE_RELATIVE_PATH_TOP_BINARY "/home/faridalijani/thesis/MobileRobot/obstacleDetector/build")
 
 # Force unix paths in dependencies.
 SET(CMAKE_FORCE_UNIX_PATHS 1)
diff --git a/MobileRobot/scanner/build/gtest/CMakeFiles/gtest.dir/DependInfo.cmake b/MobileRobot/obstacleDetector/build/gtest/CMakeFiles/gtest.dir/DependInfo.cmake
similarity index 74%
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index 51826c3a5a0fe0f5934ca22a639641805521d1ab..c7546213ada8fba63b8269ef53697364fadfdb2e 100644
--- a/MobileRobot/scanner/build/gtest/CMakeFiles/gtest.dir/DependInfo.cmake
+++ b/MobileRobot/obstacleDetector/build/gtest/CMakeFiles/gtest.dir/DependInfo.cmake
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-  "/usr/src/gtest/src/gtest-all.cc" "/home/faridalijani/MobileRobot/scanner/build/gtest/CMakeFiles/gtest.dir/src/gtest-all.cc.o"
+  "/usr/src/gtest/src/gtest-all.cc" "/home/faridalijani/thesis/MobileRobot/obstacleDetector/build/gtest/CMakeFiles/gtest.dir/src/gtest-all.cc.o"
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--- a/MobileRobot/scanner/build/gtest/CMakeFiles/gtest.dir/build.make
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@@ -31,11 +31,14 @@ CMAKE_COMMAND = /usr/bin/cmake
 # The command to remove a file.
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+# The program to use to edit the cache.
+CMAKE_EDIT_COMMAND = /usr/bin/cmake-gui
+
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-CMAKE_SOURCE_DIR = /home/faridalijani/MobileRobot/scanner
+CMAKE_SOURCE_DIR = /home/faridalijani/thesis/MobileRobot/obstacleDetector
 
 # The top-level build directory on which CMake was run.
-CMAKE_BINARY_DIR = /home/faridalijani/MobileRobot/scanner/build
+CMAKE_BINARY_DIR = /home/faridalijani/thesis/MobileRobot/obstacleDetector/build
 
 # Include any dependencies generated for this target.
 include gtest/CMakeFiles/gtest.dir/depend.make
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-	$(CMAKE_COMMAND) -E cmake_progress_report /home/faridalijani/MobileRobot/scanner/build/CMakeFiles $(CMAKE_PROGRESS_1)
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 	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green "Building CXX object gtest/CMakeFiles/gtest.dir/src/gtest-all.cc.o"
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+	cd /home/faridalijani/thesis/MobileRobot/obstacleDetector/build/gtest && /usr/bin/c++   $(CXX_DEFINES) $(CXX_FLAGS)  -Wall -Wshadow -DGTEST_HAS_PTHREAD=1 -fexceptions -Wextra -o CMakeFiles/gtest.dir/src/gtest-all.cc.o -c /usr/src/gtest/src/gtest-all.cc
 
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+	cd /home/faridalijani/thesis/MobileRobot/obstacleDetector/build/gtest && /usr/bin/c++  $(CXX_DEFINES) $(CXX_FLAGS)  -Wall -Wshadow -DGTEST_HAS_PTHREAD=1 -fexceptions -Wextra -E /usr/src/gtest/src/gtest-all.cc > CMakeFiles/gtest.dir/src/gtest-all.cc.i
 
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+	cd /home/faridalijani/thesis/MobileRobot/obstacleDetector/build/gtest && /usr/bin/c++  $(CXX_DEFINES) $(CXX_FLAGS)  -Wall -Wshadow -DGTEST_HAS_PTHREAD=1 -fexceptions -Wextra -S /usr/src/gtest/src/gtest-all.cc -o CMakeFiles/gtest.dir/src/gtest-all.cc.s
 
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 	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --red --bold "Linking CXX shared library libgtest.so"
-	cd /home/faridalijani/MobileRobot/scanner/build/gtest && $(CMAKE_COMMAND) -E cmake_link_script CMakeFiles/gtest.dir/link.txt --verbose=$(VERBOSE)
+	cd /home/faridalijani/thesis/MobileRobot/obstacleDetector/build/gtest && $(CMAKE_COMMAND) -E cmake_link_script CMakeFiles/gtest.dir/link.txt --verbose=$(VERBOSE)
 
 # Rule to build all files generated by this target.
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 .PHONY : gtest/CMakeFiles/gtest.dir/requires
 
 gtest/CMakeFiles/gtest.dir/clean:
-	cd /home/faridalijani/MobileRobot/scanner/build/gtest && $(CMAKE_COMMAND) -P CMakeFiles/gtest.dir/cmake_clean.cmake
+	cd /home/faridalijani/thesis/MobileRobot/obstacleDetector/build/gtest && $(CMAKE_COMMAND) -P CMakeFiles/gtest.dir/cmake_clean.cmake
 .PHONY : gtest/CMakeFiles/gtest.dir/clean
 
 gtest/CMakeFiles/gtest.dir/depend:
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+	cd /home/faridalijani/thesis/MobileRobot/obstacleDetector/build && $(CMAKE_COMMAND) -E cmake_depends "Unix Makefiles" /home/faridalijani/thesis/MobileRobot/obstacleDetector /usr/src/gtest /home/faridalijani/thesis/MobileRobot/obstacleDetector/build /home/faridalijani/thesis/MobileRobot/obstacleDetector/build/gtest /home/faridalijani/thesis/MobileRobot/obstacleDetector/build/gtest/CMakeFiles/gtest.dir/DependInfo.cmake --color=$(COLOR)
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diff --git a/MobileRobot/scanner/build/gtest/CMakeFiles/gtest.dir/flags.make b/MobileRobot/obstacleDetector/build/gtest/CMakeFiles/gtest.dir/flags.make
similarity index 100%
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new file mode 100644
index 0000000000000000000000000000000000000000..989e41440e14f53122cff3b8d5306d9a97e811c7
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diff --git a/MobileRobot/scanner/build/gtest/CMakeFiles/gtest.dir/progress.make b/MobileRobot/obstacleDetector/build/gtest/CMakeFiles/gtest.dir/progress.make
similarity index 100%
rename from MobileRobot/scanner/build/gtest/CMakeFiles/gtest.dir/progress.make
rename to MobileRobot/obstacleDetector/build/gtest/CMakeFiles/gtest.dir/progress.make
diff --git a/MobileRobot/scanner/build/gtest/CMakeFiles/gtest_main.dir/DependInfo.cmake b/MobileRobot/obstacleDetector/build/gtest/CMakeFiles/gtest_main.dir/DependInfo.cmake
similarity index 61%
rename from MobileRobot/scanner/build/gtest/CMakeFiles/gtest_main.dir/DependInfo.cmake
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+++ b/MobileRobot/obstacleDetector/build/gtest/CMakeFiles/gtest_main.dir/DependInfo.cmake
@@ -4,7 +4,7 @@ SET(CMAKE_DEPENDS_LANGUAGES
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 # The set of files for implicit dependencies of each language:
 SET(CMAKE_DEPENDS_CHECK_CXX
-  "/usr/src/gtest/src/gtest_main.cc" "/home/faridalijani/MobileRobot/scanner/build/gtest/CMakeFiles/gtest_main.dir/src/gtest_main.cc.o"
+  "/usr/src/gtest/src/gtest_main.cc" "/home/faridalijani/thesis/MobileRobot/obstacleDetector/build/gtest/CMakeFiles/gtest_main.dir/src/gtest_main.cc.o"
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 SET(CMAKE_CXX_COMPILER_ID "GNU")
 
@@ -15,5 +15,5 @@ SET(CMAKE_TARGET_DEFINITIONS
 
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 SET(CMAKE_TARGET_LINKED_INFO_FILES
-  "/home/faridalijani/MobileRobot/scanner/build/gtest/CMakeFiles/gtest.dir/DependInfo.cmake"
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similarity index 65%
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@@ -31,11 +31,14 @@ CMAKE_COMMAND = /usr/bin/cmake
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+# The program to use to edit the cache.
+CMAKE_EDIT_COMMAND = /usr/bin/cmake-gui
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+CMAKE_SOURCE_DIR = /home/faridalijani/thesis/MobileRobot/obstacleDetector
 
 # The top-level build directory on which CMake was run.
-CMAKE_BINARY_DIR = /home/faridalijani/MobileRobot/scanner/build
+CMAKE_BINARY_DIR = /home/faridalijani/thesis/MobileRobot/obstacleDetector/build
 
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@@ -35,19 +35,22 @@ CMAKE_COMMAND = /usr/bin/cmake
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+	cd /home/faridalijani/thesis/MobileRobot/obstacleDetector/build && $(MAKE) -f CMakeFiles/Makefile2 scanWithLaser/CMakeFiles/std_msgs_generate_messages_py.dir/rule
+.PHONY : scanWithLaser/CMakeFiles/std_msgs_generate_messages_py.dir/rule
+
+# Convenience name for target.
+std_msgs_generate_messages_py: scanWithLaser/CMakeFiles/std_msgs_generate_messages_py.dir/rule
+.PHONY : std_msgs_generate_messages_py
+
+# fast build rule for target.
+std_msgs_generate_messages_py/fast:
+	cd /home/faridalijani/thesis/MobileRobot/obstacleDetector/build && $(MAKE) -f scanWithLaser/CMakeFiles/std_msgs_generate_messages_py.dir/build.make scanWithLaser/CMakeFiles/std_msgs_generate_messages_py.dir/build
+.PHONY : std_msgs_generate_messages_py/fast
+
+src/obst_detect.o: src/obst_detect.cpp.o
+.PHONY : src/obst_detect.o
+
+# target to build an object file
+src/obst_detect.cpp.o:
+	cd /home/faridalijani/thesis/MobileRobot/obstacleDetector/build && $(MAKE) -f scanWithLaser/CMakeFiles/scanWithLaser.dir/build.make scanWithLaser/CMakeFiles/scanWithLaser.dir/src/obst_detect.cpp.o
+.PHONY : src/obst_detect.cpp.o
+
+src/obst_detect.i: src/obst_detect.cpp.i
+.PHONY : src/obst_detect.i
+
+# target to preprocess a source file
+src/obst_detect.cpp.i:
+	cd /home/faridalijani/thesis/MobileRobot/obstacleDetector/build && $(MAKE) -f scanWithLaser/CMakeFiles/scanWithLaser.dir/build.make scanWithLaser/CMakeFiles/scanWithLaser.dir/src/obst_detect.cpp.i
+.PHONY : src/obst_detect.cpp.i
+
+src/obst_detect.s: src/obst_detect.cpp.s
+.PHONY : src/obst_detect.s
+
+# target to generate assembly for a file
+src/obst_detect.cpp.s:
+	cd /home/faridalijani/thesis/MobileRobot/obstacleDetector/build && $(MAKE) -f scanWithLaser/CMakeFiles/scanWithLaser.dir/build.make scanWithLaser/CMakeFiles/scanWithLaser.dir/src/obst_detect.cpp.s
+.PHONY : src/obst_detect.cpp.s
+
+src/run_obst_detect.o: src/run_obst_detect.cpp.o
+.PHONY : src/run_obst_detect.o
+
+# target to build an object file
+src/run_obst_detect.cpp.o:
+	cd /home/faridalijani/thesis/MobileRobot/obstacleDetector/build && $(MAKE) -f scanWithLaser/CMakeFiles/scanWithLaser.dir/build.make scanWithLaser/CMakeFiles/scanWithLaser.dir/src/run_obst_detect.cpp.o
+.PHONY : src/run_obst_detect.cpp.o
+
+src/run_obst_detect.i: src/run_obst_detect.cpp.i
+.PHONY : src/run_obst_detect.i
+
+# target to preprocess a source file
+src/run_obst_detect.cpp.i:
+	cd /home/faridalijani/thesis/MobileRobot/obstacleDetector/build && $(MAKE) -f scanWithLaser/CMakeFiles/scanWithLaser.dir/build.make scanWithLaser/CMakeFiles/scanWithLaser.dir/src/run_obst_detect.cpp.i
+.PHONY : src/run_obst_detect.cpp.i
+
+src/run_obst_detect.s: src/run_obst_detect.cpp.s
+.PHONY : src/run_obst_detect.s
+
+# target to generate assembly for a file
+src/run_obst_detect.cpp.s:
+	cd /home/faridalijani/thesis/MobileRobot/obstacleDetector/build && $(MAKE) -f scanWithLaser/CMakeFiles/scanWithLaser.dir/build.make scanWithLaser/CMakeFiles/scanWithLaser.dir/src/run_obst_detect.cpp.s
+.PHONY : src/run_obst_detect.cpp.s
+
+# Help Target
+help:
+	@echo "The following are some of the valid targets for this Makefile:"
+	@echo "... all (the default if no target is provided)"
+	@echo "... clean"
+	@echo "... depend"
+	@echo "... edit_cache"
+	@echo "... geometry_msgs_generate_messages_cpp"
+	@echo "... geometry_msgs_generate_messages_lisp"
+	@echo "... geometry_msgs_generate_messages_py"
+	@echo "... install"
+	@echo "... install/local"
+	@echo "... install/strip"
+	@echo "... list_install_components"
+	@echo "... rebuild_cache"
+	@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 "... scanWithLaser"
+	@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 "... test"
+	@echo "... src/obst_detect.o"
+	@echo "... src/obst_detect.i"
+	@echo "... src/obst_detect.s"
+	@echo "... src/run_obst_detect.o"
+	@echo "... src/run_obst_detect.i"
+	@echo "... src/run_obst_detect.s"
+.PHONY : help
+
+
+
+#=============================================================================
+# Special targets to cleanup operation of make.
+
+# Special rule to run CMake to check the build system integrity.
+# No rule that depends on this can have commands that come from listfiles
+# because they might be regenerated.
+cmake_check_build_system:
+	cd /home/faridalijani/thesis/MobileRobot/obstacleDetector/build && $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
+.PHONY : cmake_check_build_system
+
diff --git a/MobileRobot/obstacleDetector/build/scanWithLaser/catkin_generated/installspace/scanWithLaser.pc b/MobileRobot/obstacleDetector/build/scanWithLaser/catkin_generated/installspace/scanWithLaser.pc
new file mode 100644
index 0000000000000000000000000000000000000000..434eddd186357b8ae3dc347da5c5d88c434e9d67
--- /dev/null
+++ b/MobileRobot/obstacleDetector/build/scanWithLaser/catkin_generated/installspace/scanWithLaser.pc
@@ -0,0 +1,8 @@
+prefix=/home/faridalijani/thesis/MobileRobot/obstacleDetector/install
+
+Name: scanWithLaser
+Description: Description of scanWithLaser
+Version: 0.0.0
+Cflags: 
+Libs: -L/home/faridalijani/thesis/MobileRobot/obstacleDetector/install/lib 
+Requires: 
diff --git a/MobileRobot/scanner/build/laser_scan/catkin_generated/installspace/laser_scanConfig-version.cmake b/MobileRobot/obstacleDetector/build/scanWithLaser/catkin_generated/installspace/scanWithLaserConfig-version.cmake
similarity index 100%
rename from MobileRobot/scanner/build/laser_scan/catkin_generated/installspace/laser_scanConfig-version.cmake
rename to MobileRobot/obstacleDetector/build/scanWithLaser/catkin_generated/installspace/scanWithLaserConfig-version.cmake
diff --git a/MobileRobot/scanner/build/laser_scan/catkin_generated/installspace/laser_scanConfig.cmake b/MobileRobot/obstacleDetector/build/scanWithLaser/catkin_generated/installspace/scanWithLaserConfig.cmake
similarity index 60%
rename from MobileRobot/scanner/build/laser_scan/catkin_generated/installspace/laser_scanConfig.cmake
rename to MobileRobot/obstacleDetector/build/scanWithLaser/catkin_generated/installspace/scanWithLaserConfig.cmake
index 45153724e3f12558247fde30e581ad9797d2a9e2..707131ce4c54c0d7c7d18da659a827c6b4762031 100644
--- a/MobileRobot/scanner/build/laser_scan/catkin_generated/installspace/laser_scanConfig.cmake
+++ b/MobileRobot/obstacleDetector/build/scanWithLaser/catkin_generated/installspace/scanWithLaserConfig.cmake
@@ -60,27 +60,27 @@ macro(_unpack_libraries_with_build_configuration VAR)
 endmacro()
 
 
-if(laser_scan_CONFIG_INCLUDED)
+if(scanWithLaser_CONFIG_INCLUDED)
   return()
 endif()
-set(laser_scan_CONFIG_INCLUDED TRUE)
+set(scanWithLaser_CONFIG_INCLUDED TRUE)
 
 # set variables for source/devel/install prefixes
 if("FALSE" STREQUAL "TRUE")
-  set(laser_scan_SOURCE_PREFIX /home/faridalijani/MobileRobot/scanner/laser_scan)
-  set(laser_scan_DEVEL_PREFIX /home/faridalijani/MobileRobot/scanner/devel)
-  set(laser_scan_INSTALL_PREFIX "")
-  set(laser_scan_PREFIX ${laser_scan_DEVEL_PREFIX})
+  set(scanWithLaser_SOURCE_PREFIX /home/faridalijani/thesis/MobileRobot/obstacleDetector/scanWithLaser)
+  set(scanWithLaser_DEVEL_PREFIX /home/faridalijani/thesis/MobileRobot/obstacleDetector/devel)
+  set(scanWithLaser_INSTALL_PREFIX "")
+  set(scanWithLaser_PREFIX ${scanWithLaser_DEVEL_PREFIX})
 else()
-  set(laser_scan_SOURCE_PREFIX "")
-  set(laser_scan_DEVEL_PREFIX "")
-  set(laser_scan_INSTALL_PREFIX /home/faridalijani/MobileRobot/scanner/install)
-  set(laser_scan_PREFIX ${laser_scan_INSTALL_PREFIX})
+  set(scanWithLaser_SOURCE_PREFIX "")
+  set(scanWithLaser_DEVEL_PREFIX "")
+  set(scanWithLaser_INSTALL_PREFIX /home/faridalijani/thesis/MobileRobot/obstacleDetector/install)
+  set(scanWithLaser_PREFIX ${scanWithLaser_INSTALL_PREFIX})
 endif()
 
 # warn when using a deprecated package
 if(NOT "" STREQUAL "")
-  set(_msg "WARNING: package 'laser_scan' is deprecated")
+  set(_msg "WARNING: package 'scanWithLaser' is deprecated")
   # append custom deprecation text if available
   if(NOT "" STREQUAL "TRUE")
     set(_msg "${_msg} ()")
@@ -89,23 +89,23 @@ if(NOT "" STREQUAL "")
 endif()
 
 # flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project
-set(laser_scan_FOUND_CATKIN_PROJECT TRUE)
+set(scanWithLaser_FOUND_CATKIN_PROJECT TRUE)
 
 if(NOT "" STREQUAL "")
-  set(laser_scan_INCLUDE_DIRS "")
+  set(scanWithLaser_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 "${laser_scan_DIR}/../../../include" ABSOLUTE)
+      get_filename_component(include "${scanWithLaser_DIR}/../../../include" ABSOLUTE)
       if(NOT IS_DIRECTORY ${include})
-        message(FATAL_ERROR "Project 'laser_scan' specifies '${idir}' as an include dir, which is not found.  It does not exist in '${include}'.  Ask the maintainer 'faridalijani <faridalijani@todo.todo>' to fix it.")
+        message(FATAL_ERROR "Project 'scanWithLaser' specifies '${idir}' as an include dir, which is not found.  It does not exist in '${include}'.  Ask the maintainer 'faridalijani <faridalijani@todo.todo>' to fix it.")
       endif()
     else()
-      message(FATAL_ERROR "Project 'laser_scan' specifies '${idir}' as an include dir, which is not found.  It does neither exist as an absolute directory nor in '/home/faridalijani/MobileRobot/scanner/install/${idir}'.  Ask the maintainer 'faridalijani <faridalijani@todo.todo>' to fix it.")
+      message(FATAL_ERROR "Project 'scanWithLaser' specifies '${idir}' as an include dir, which is not found.  It does neither exist as an absolute directory nor in '/home/faridalijani/thesis/MobileRobot/obstacleDetector/install/${idir}'.  Ask the maintainer 'faridalijani <faridalijani@todo.todo>' to fix it.")
     endif()
-    _list_append_unique(laser_scan_INCLUDE_DIRS ${include})
+    _list_append_unique(scanWithLaser_INCLUDE_DIRS ${include})
   endforeach()
 endif()
 
@@ -113,16 +113,16 @@ set(libraries "")
 foreach(library ${libraries})
   # keep build configuration keywords, target names and absolute libraries as-is
   if("${library}" MATCHES "^debug|optimized|general$")
-    list(APPEND laser_scan_LIBRARIES ${library})
+    list(APPEND scanWithLaser_LIBRARIES ${library})
   elseif(TARGET ${library})
-    list(APPEND laser_scan_LIBRARIES ${library})
+    list(APPEND scanWithLaser_LIBRARIES ${library})
   elseif(IS_ABSOLUTE ${library})
-    list(APPEND laser_scan_LIBRARIES ${library})
+    list(APPEND scanWithLaser_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/MobileRobot/scanner/install/lib;/home/faridalijani/MobileRobot/scanner/devel/lib;/home/faridalijani/MobileRobot/sc_st/devel/lib;/opt/ros/hydro/lib)
+    foreach(path /home/faridalijani/thesis/MobileRobot/obstacleDetector/install/lib;/home/faridalijani/thesis/MobileRobot/obstacleDetector/devel/lib;/home/faridalijani/thesis/MobileRobot/scanner/devel/lib;/opt/ros/hydro/lib)
       find_library(lib ${library}
         PATHS ${path}
         NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
@@ -132,22 +132,22 @@ foreach(library ${libraries})
       endif()
     endforeach()
     if(lib)
-      _list_append_unique(laser_scan_LIBRARY_DIRS ${lib_path})
-      list(APPEND laser_scan_LIBRARIES ${lib})
+      _list_append_unique(scanWithLaser_LIBRARY_DIRS ${lib_path})
+      list(APPEND scanWithLaser_LIBRARIES ${lib})
     else()
       # as a fall back for non-catkin libraries try to search globally
       find_library(lib ${library})
       if(NOT lib)
-        message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'.  The library is neither a target nor built/installed properly.  Did you compile project 'laser_scan'?  Did you find_package() it before the subdirectory containing its code is included?")
+        message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'.  The library is neither a target nor built/installed properly.  Did you compile project 'scanWithLaser'?  Did you find_package() it before the subdirectory containing its code is included?")
       endif()
-      list(APPEND laser_scan_LIBRARIES ${lib})
+      list(APPEND scanWithLaser_LIBRARIES ${lib})
     endif()
   endif()
 endforeach()
 
-set(laser_scan_EXPORTED_TARGETS "")
+set(scanWithLaser_EXPORTED_TARGETS "")
 # create dummy targets for exported code generation targets to make life of users easier
-foreach(t ${laser_scan_EXPORTED_TARGETS})
+foreach(t ${scanWithLaser_EXPORTED_TARGETS})
   if(NOT TARGET ${t})
     add_custom_target(${t})
   endif()
@@ -157,35 +157,35 @@ set(depends "")
 foreach(depend ${depends})
   string(REPLACE " " ";" depend_list ${depend})
   # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls
-  list(GET depend_list 0 laser_scan_dep)
+  list(GET depend_list 0 scanWithLaser_dep)
   list(LENGTH depend_list count)
   if(${count} EQUAL 1)
     # simple dependencies must only be find_package()-ed once
-    if(NOT ${laser_scan_dep}_FOUND)
-      find_package(${laser_scan_dep} REQUIRED)
+    if(NOT ${scanWithLaser_dep}_FOUND)
+      find_package(${scanWithLaser_dep} REQUIRED)
     endif()
   else()
     # dependencies with components must be find_package()-ed again
     list(REMOVE_AT depend_list 0)
-    find_package(${laser_scan_dep} REQUIRED ${depend_list})
+    find_package(${scanWithLaser_dep} REQUIRED ${depend_list})
   endif()
-  _list_append_unique(laser_scan_INCLUDE_DIRS ${${laser_scan_dep}_INCLUDE_DIRS})
+  _list_append_unique(scanWithLaser_INCLUDE_DIRS ${${scanWithLaser_dep}_INCLUDE_DIRS})
 
   # merge build configuration keywords with library names to correctly deduplicate
-  _pack_libraries_with_build_configuration(laser_scan_LIBRARIES ${laser_scan_LIBRARIES})
-  _pack_libraries_with_build_configuration(_libraries ${${laser_scan_dep}_LIBRARIES})
-  _list_append_deduplicate(laser_scan_LIBRARIES ${_libraries})
+  _pack_libraries_with_build_configuration(scanWithLaser_LIBRARIES ${scanWithLaser_LIBRARIES})
+  _pack_libraries_with_build_configuration(_libraries ${${scanWithLaser_dep}_LIBRARIES})
+  _list_append_deduplicate(scanWithLaser_LIBRARIES ${_libraries})
   # undo build configuration keyword merging after deduplication
-  _unpack_libraries_with_build_configuration(laser_scan_LIBRARIES ${laser_scan_LIBRARIES})
+  _unpack_libraries_with_build_configuration(scanWithLaser_LIBRARIES ${scanWithLaser_LIBRARIES})
 
-  _list_append_unique(laser_scan_LIBRARY_DIRS ${${laser_scan_dep}_LIBRARY_DIRS})
-  list(APPEND laser_scan_EXPORTED_TARGETS ${${laser_scan_dep}_EXPORTED_TARGETS})
+  _list_append_unique(scanWithLaser_LIBRARY_DIRS ${${scanWithLaser_dep}_LIBRARY_DIRS})
+  list(APPEND scanWithLaser_EXPORTED_TARGETS ${${scanWithLaser_dep}_EXPORTED_TARGETS})
 endforeach()
 
 set(pkg_cfg_extras "")
 foreach(extra ${pkg_cfg_extras})
   if(NOT IS_ABSOLUTE ${extra})
-    set(extra ${laser_scan_DIR}/${extra})
+    set(extra ${scanWithLaser_DIR}/${extra})
   endif()
   include(${extra})
 endforeach()
diff --git a/MobileRobot/scanner/build/laser_scan/catkin_generated/ordered_paths.cmake b/MobileRobot/obstacleDetector/build/scanWithLaser/catkin_generated/ordered_paths.cmake
similarity index 100%
rename from MobileRobot/scanner/build/laser_scan/catkin_generated/ordered_paths.cmake
rename to MobileRobot/obstacleDetector/build/scanWithLaser/catkin_generated/ordered_paths.cmake
diff --git a/MobileRobot/obstacleDetector/build/scanWithLaser/catkin_generated/package.cmake b/MobileRobot/obstacleDetector/build/scanWithLaser/catkin_generated/package.cmake
new file mode 100644
index 0000000000000000000000000000000000000000..d62a0d7597f61611389c15018e5397c710209c36
--- /dev/null
+++ b/MobileRobot/obstacleDetector/build/scanWithLaser/catkin_generated/package.cmake
@@ -0,0 +1,7 @@
+set(_CATKIN_CURRENT_PACKAGE "scanWithLaser")
+set(scanWithLaser_MAINTAINER "faridalijani <faridalijani@todo.todo>")
+set(scanWithLaser_DEPRECATED "")
+set(scanWithLaser_VERSION "0.0.0")
+set(scanWithLaser_BUILD_DEPENDS "geometry_msgs" "roscpp" "sensor_msgs")
+set(scanWithLaser_RUN_DEPENDS "geometry_msgs" "roscpp" "sensor_msgs")
+set(scanWithLaser_BUILDTOOL_DEPENDS "catkin")
\ No newline at end of file
diff --git a/MobileRobot/scanner/build/laser_scan/catkin_generated/pkg.develspace.context.pc.py b/MobileRobot/obstacleDetector/build/scanWithLaser/catkin_generated/pkg.develspace.context.pc.py
similarity index 71%
rename from MobileRobot/scanner/build/laser_scan/catkin_generated/pkg.develspace.context.pc.py
rename to MobileRobot/obstacleDetector/build/scanWithLaser/catkin_generated/pkg.develspace.context.pc.py
index 657c894d0ba66dc787017fc5b734d794538922dd..23e1ca9cd81006843b0b95a3528da4564f4264db 100644
--- a/MobileRobot/scanner/build/laser_scan/catkin_generated/pkg.develspace.context.pc.py
+++ b/MobileRobot/obstacleDetector/build/scanWithLaser/catkin_generated/pkg.develspace.context.pc.py
@@ -3,6 +3,6 @@ CATKIN_PACKAGE_PREFIX = ""
 PROJECT_PKG_CONFIG_INCLUDE_DIRS = "".split(';') if "" != "" else []
 PROJECT_CATKIN_DEPENDS = "".replace(';', ' ')
 PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else []
-PROJECT_NAME = "laser_scan"
-PROJECT_SPACE_DIR = "/home/faridalijani/MobileRobot/scanner/devel"
+PROJECT_NAME = "scanWithLaser"
+PROJECT_SPACE_DIR = "/home/faridalijani/thesis/MobileRobot/obstacleDetector/devel"
 PROJECT_VERSION = "0.0.0"
diff --git a/MobileRobot/scanner/build/laser_scan/catkin_generated/pkg.installspace.context.pc.py b/MobileRobot/obstacleDetector/build/scanWithLaser/catkin_generated/pkg.installspace.context.pc.py
similarity index 71%
rename from MobileRobot/scanner/build/laser_scan/catkin_generated/pkg.installspace.context.pc.py
rename to MobileRobot/obstacleDetector/build/scanWithLaser/catkin_generated/pkg.installspace.context.pc.py
index 97ea4de60dc3b0b64d0c2aa96b19355ada54576e..ed8c5875bb69c1a0e11b09893e15c5a9cef54a80 100644
--- a/MobileRobot/scanner/build/laser_scan/catkin_generated/pkg.installspace.context.pc.py
+++ b/MobileRobot/obstacleDetector/build/scanWithLaser/catkin_generated/pkg.installspace.context.pc.py
@@ -3,6 +3,6 @@ CATKIN_PACKAGE_PREFIX = ""
 PROJECT_PKG_CONFIG_INCLUDE_DIRS = "".split(';') if "" != "" else []
 PROJECT_CATKIN_DEPENDS = "".replace(';', ' ')
 PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else []
-PROJECT_NAME = "laser_scan"
-PROJECT_SPACE_DIR = "/home/faridalijani/MobileRobot/scanner/install"
+PROJECT_NAME = "scanWithLaser"
+PROJECT_SPACE_DIR = "/home/faridalijani/thesis/MobileRobot/obstacleDetector/install"
 PROJECT_VERSION = "0.0.0"
diff --git a/MobileRobot/scanner/build/laser_scan/catkin_generated/stamps/laser_scan/package.xml.stamp b/MobileRobot/obstacleDetector/build/scanWithLaser/catkin_generated/stamps/scanWithLaser/package.xml.stamp
similarity index 89%
rename from MobileRobot/scanner/build/laser_scan/catkin_generated/stamps/laser_scan/package.xml.stamp
rename to MobileRobot/obstacleDetector/build/scanWithLaser/catkin_generated/stamps/scanWithLaser/package.xml.stamp
index 1fc8bd4002b902eae4084ec1503e8418260ca527..a30da9110c3457dc6eaa6cf767bcd3d2c6f1550e 100644
--- a/MobileRobot/scanner/build/laser_scan/catkin_generated/stamps/laser_scan/package.xml.stamp
+++ b/MobileRobot/obstacleDetector/build/scanWithLaser/catkin_generated/stamps/scanWithLaser/package.xml.stamp
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package>
-  <name>laser_scan</name>
+  <name>scanWithLaser</name>
   <version>0.0.0</version>
-  <description>The laser_scan package</description>
+  <description>The scanWithLaser package</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag --> 
   <!-- Example:  -->
@@ -19,7 +19,7 @@
   <!-- 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/laser_scan</url> -->
+  <!-- <url type="website">http://wiki.ros.org/scanWithLaser</url> -->
 
 
   <!-- Author tags are optional, mutiple are allowed, one per tag -->
@@ -50,9 +50,6 @@
 
   <!-- The export tag contains other, unspecified, tags -->
   <export>
-    <!-- You can specify that this package is a metapackage here: -->
-    <!-- <metapackage/> -->
-
     <!-- Other tools can request additional information be placed here -->
 
   </export>
diff --git a/MobileRobot/scanner/build/laser_scan/catkin_generated/stamps/laser_scan/pkg.pc.em.stamp b/MobileRobot/obstacleDetector/build/scanWithLaser/catkin_generated/stamps/scanWithLaser/pkg.pc.em.stamp
similarity index 100%
rename from MobileRobot/scanner/build/laser_scan/catkin_generated/stamps/laser_scan/pkg.pc.em.stamp
rename to MobileRobot/obstacleDetector/build/scanWithLaser/catkin_generated/stamps/scanWithLaser/pkg.pc.em.stamp
diff --git a/MobileRobot/scanner/build/laser_scan/cmake_install.cmake b/MobileRobot/obstacleDetector/build/scanWithLaser/cmake_install.cmake
similarity index 65%
rename from MobileRobot/scanner/build/laser_scan/cmake_install.cmake
rename to MobileRobot/obstacleDetector/build/scanWithLaser/cmake_install.cmake
index 5ed82c17c2da8107be5c403540156283ccc9888e..b52a63bd465531e0c6aef8a216d13e9a2f886b12 100644
--- a/MobileRobot/scanner/build/laser_scan/cmake_install.cmake
+++ b/MobileRobot/obstacleDetector/build/scanWithLaser/cmake_install.cmake
@@ -1,8 +1,8 @@
-# Install script for directory: /home/faridalijani/MobileRobot/scanner/laser_scan
+# Install script for directory: /home/faridalijani/thesis/MobileRobot/obstacleDetector/scanWithLaser
 
 # Set the install prefix
 IF(NOT DEFINED CMAKE_INSTALL_PREFIX)
-  SET(CMAKE_INSTALL_PREFIX "/home/faridalijani/MobileRobot/scanner/install")
+  SET(CMAKE_INSTALL_PREFIX "/home/faridalijani/thesis/MobileRobot/obstacleDetector/install")
 ENDIF(NOT DEFINED CMAKE_INSTALL_PREFIX)
 STRING(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
 
@@ -33,17 +33,17 @@ IF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
 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/MobileRobot/scanner/build/laser_scan/catkin_generated/installspace/laser_scan.pc")
+  FILE(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/pkgconfig" TYPE FILE FILES "/home/faridalijani/thesis/MobileRobot/obstacleDetector/build/scanWithLaser/catkin_generated/installspace/scanWithLaser.pc")
 ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
 
 IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
-  FILE(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/laser_scan/cmake" TYPE FILE FILES
-    "/home/faridalijani/MobileRobot/scanner/build/laser_scan/catkin_generated/installspace/laser_scanConfig.cmake"
-    "/home/faridalijani/MobileRobot/scanner/build/laser_scan/catkin_generated/installspace/laser_scanConfig-version.cmake"
+  FILE(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/scanWithLaser/cmake" TYPE FILE FILES
+    "/home/faridalijani/thesis/MobileRobot/obstacleDetector/build/scanWithLaser/catkin_generated/installspace/scanWithLaserConfig.cmake"
+    "/home/faridalijani/thesis/MobileRobot/obstacleDetector/build/scanWithLaser/catkin_generated/installspace/scanWithLaserConfig-version.cmake"
     )
 ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
 
 IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
-  FILE(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/laser_scan" TYPE FILE FILES "/home/faridalijani/MobileRobot/scanner/laser_scan/package.xml")
+  FILE(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/scanWithLaser" TYPE FILE FILES "/home/faridalijani/thesis/MobileRobot/obstacleDetector/scanWithLaser/package.xml")
 ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
 
diff --git a/MobileRobot/obstacleDetector/devel/.catkin b/MobileRobot/obstacleDetector/devel/.catkin
new file mode 100644
index 0000000000000000000000000000000000000000..f5611643b85f506868bdfd9cbc9efffc1d6c161d
--- /dev/null
+++ b/MobileRobot/obstacleDetector/devel/.catkin
@@ -0,0 +1 @@
+/home/faridalijani/thesis/MobileRobot/obstacleDetector
\ No newline at end of file
diff --git a/MobileRobot/obstacleDetector/devel/.rosinstall b/MobileRobot/obstacleDetector/devel/.rosinstall
new file mode 100644
index 0000000000000000000000000000000000000000..95278557224bc04009094471ae51759e35df17dc
--- /dev/null
+++ b/MobileRobot/obstacleDetector/devel/.rosinstall
@@ -0,0 +1,2 @@
+- setup-file:
+    local-name: /home/faridalijani/thesis/MobileRobot/obstacleDetector/devel/setup.sh
diff --git a/MobileRobot/scanner/build/catkin_generated/installspace/_setup_util.py b/MobileRobot/obstacleDetector/devel/_setup_util.py
similarity index 97%
rename from MobileRobot/scanner/build/catkin_generated/installspace/_setup_util.py
rename to MobileRobot/obstacleDetector/devel/_setup_util.py
index 6fd202f0ea092dd28c5218760ed4395ee03f99d3..7820e18eb222ee77833e5b8ce5c2877a3752577f 100755
--- a/MobileRobot/scanner/build/catkin_generated/installspace/_setup_util.py
+++ b/MobileRobot/obstacleDetector/devel/_setup_util.py
@@ -252,7 +252,7 @@ if __name__ == '__main__':
             sys.exit(1)
 
         # environment at generation time
-        CMAKE_PREFIX_PATH = '/home/faridalijani/MobileRobot/scanner/devel;/home/faridalijani/MobileRobot/sc_st/devel;/opt/ros/hydro'.split(';')
+        CMAKE_PREFIX_PATH = '/home/faridalijani/thesis/MobileRobot/obstacleDetector/devel;/home/faridalijani/thesis/MobileRobot/scanner/devel;/home/faridalijani/MobileRobot/scanner/devel;/home/faridalijani/MobileRobot/sc_st/devel;/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:
diff --git a/MobileRobot/scanner/devel/env.sh b/MobileRobot/obstacleDetector/devel/env.sh
similarity index 100%
rename from MobileRobot/scanner/devel/env.sh
rename to MobileRobot/obstacleDetector/devel/env.sh
diff --git a/MobileRobot/scanner/devel/etc/catkin/profile.d/05.catkin-test-results.sh b/MobileRobot/obstacleDetector/devel/etc/catkin/profile.d/05.catkin-test-results.sh
similarity index 55%
rename from MobileRobot/scanner/devel/etc/catkin/profile.d/05.catkin-test-results.sh
rename to MobileRobot/obstacleDetector/devel/etc/catkin/profile.d/05.catkin-test-results.sh
index 96580ce8a0dbf7a24f3eafe3e89358de265c96c6..778653c457bfd03f64fb109cf9e365da33b7236a 100644
--- a/MobileRobot/scanner/devel/etc/catkin/profile.d/05.catkin-test-results.sh
+++ b/MobileRobot/obstacleDetector/devel/etc/catkin/profile.d/05.catkin-test-results.sh
@@ -1,4 +1,4 @@
 # generated from catkin/cmake/env-hooks/05.catkin-test-results.sh.develspace.in
 
-export CATKIN_TEST_RESULTS_DIR="/home/faridalijani/MobileRobot/scanner/build/test_results"
+export CATKIN_TEST_RESULTS_DIR="/home/faridalijani/thesis/MobileRobot/obstacleDetector/build/test_results"
 export ROS_TEST_RESULTS_DIR="$CATKIN_TEST_RESULTS_DIR"
diff --git a/MobileRobot/scanner/devel/etc/catkin/profile.d/05.catkin_make.bash b/MobileRobot/obstacleDetector/devel/etc/catkin/profile.d/05.catkin_make.bash
similarity index 100%
rename from MobileRobot/scanner/devel/etc/catkin/profile.d/05.catkin_make.bash
rename to MobileRobot/obstacleDetector/devel/etc/catkin/profile.d/05.catkin_make.bash
diff --git a/MobileRobot/scanner/devel/etc/catkin/profile.d/05.catkin_make_isolated.bash b/MobileRobot/obstacleDetector/devel/etc/catkin/profile.d/05.catkin_make_isolated.bash
similarity index 100%
rename from MobileRobot/scanner/devel/etc/catkin/profile.d/05.catkin_make_isolated.bash
rename to MobileRobot/obstacleDetector/devel/etc/catkin/profile.d/05.catkin_make_isolated.bash
diff --git a/MobileRobot/obstacleDetector/devel/lib/pkgconfig/scanWithLaser.pc b/MobileRobot/obstacleDetector/devel/lib/pkgconfig/scanWithLaser.pc
new file mode 100644
index 0000000000000000000000000000000000000000..817ff420fd85a18bf686fc61405702ac710e970f
--- /dev/null
+++ b/MobileRobot/obstacleDetector/devel/lib/pkgconfig/scanWithLaser.pc
@@ -0,0 +1,8 @@
+prefix=/home/faridalijani/thesis/MobileRobot/obstacleDetector/devel
+
+Name: scanWithLaser
+Description: Description of scanWithLaser
+Version: 0.0.0
+Cflags: 
+Libs: -L/home/faridalijani/thesis/MobileRobot/obstacleDetector/devel/lib 
+Requires: 
diff --git a/MobileRobot/obstacleDetector/devel/lib/scanWithLaser/scanWithLaser b/MobileRobot/obstacleDetector/devel/lib/scanWithLaser/scanWithLaser
new file mode 100755
index 0000000000000000000000000000000000000000..775a0f66395405ffe98b825370a15228cdf596b9
Binary files /dev/null and b/MobileRobot/obstacleDetector/devel/lib/scanWithLaser/scanWithLaser differ
diff --git a/MobileRobot/scanner/devel/setup.bash b/MobileRobot/obstacleDetector/devel/setup.bash
similarity index 100%
rename from MobileRobot/scanner/devel/setup.bash
rename to MobileRobot/obstacleDetector/devel/setup.bash
diff --git a/MobileRobot/scanner/build/catkin_generated/installspace/setup.sh b/MobileRobot/obstacleDetector/devel/setup.sh
similarity index 96%
rename from MobileRobot/scanner/build/catkin_generated/installspace/setup.sh
rename to MobileRobot/obstacleDetector/devel/setup.sh
index 86b275e055f3b953410b0b9f31870ee77286c742..498ca2810a07c7a5585308ac870f8c690a340678 100644
--- a/MobileRobot/scanner/build/catkin_generated/installspace/setup.sh
+++ b/MobileRobot/obstacleDetector/devel/setup.sh
@@ -8,7 +8,7 @@
 
 # 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/MobileRobot/scanner/install}
+: ${_CATKIN_SETUP_DIR:=/home/faridalijani/thesis/MobileRobot/obstacleDetector/devel}
 _SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py"
 unset _CATKIN_SETUP_DIR
 
diff --git a/MobileRobot/scanner/devel/setup.zsh b/MobileRobot/obstacleDetector/devel/setup.zsh
similarity index 100%
rename from MobileRobot/scanner/devel/setup.zsh
rename to MobileRobot/obstacleDetector/devel/setup.zsh
diff --git a/MobileRobot/scanner/devel/share/laser_scan/cmake/laser_scanConfig-version.cmake b/MobileRobot/obstacleDetector/devel/share/scanWithLaser/cmake/scanWithLaserConfig-version.cmake
similarity index 100%
rename from MobileRobot/scanner/devel/share/laser_scan/cmake/laser_scanConfig-version.cmake
rename to MobileRobot/obstacleDetector/devel/share/scanWithLaser/cmake/scanWithLaserConfig-version.cmake
diff --git a/MobileRobot/scanner/devel/share/laser_scan/cmake/laser_scanConfig.cmake b/MobileRobot/obstacleDetector/devel/share/scanWithLaser/cmake/scanWithLaserConfig.cmake
similarity index 60%
rename from MobileRobot/scanner/devel/share/laser_scan/cmake/laser_scanConfig.cmake
rename to MobileRobot/obstacleDetector/devel/share/scanWithLaser/cmake/scanWithLaserConfig.cmake
index e2fd8f596ea5d1572a066dca57550dfbe0d51b2f..54d25d672514a4d76c4426ff40da603475196b8e 100644
--- a/MobileRobot/scanner/devel/share/laser_scan/cmake/laser_scanConfig.cmake
+++ b/MobileRobot/obstacleDetector/devel/share/scanWithLaser/cmake/scanWithLaserConfig.cmake
@@ -60,27 +60,27 @@ macro(_unpack_libraries_with_build_configuration VAR)
 endmacro()
 
 
-if(laser_scan_CONFIG_INCLUDED)
+if(scanWithLaser_CONFIG_INCLUDED)
   return()
 endif()
-set(laser_scan_CONFIG_INCLUDED TRUE)
+set(scanWithLaser_CONFIG_INCLUDED TRUE)
 
 # set variables for source/devel/install prefixes
 if("TRUE" STREQUAL "TRUE")
-  set(laser_scan_SOURCE_PREFIX /home/faridalijani/MobileRobot/scanner/laser_scan)
-  set(laser_scan_DEVEL_PREFIX /home/faridalijani/MobileRobot/scanner/devel)
-  set(laser_scan_INSTALL_PREFIX "")
-  set(laser_scan_PREFIX ${laser_scan_DEVEL_PREFIX})
+  set(scanWithLaser_SOURCE_PREFIX /home/faridalijani/thesis/MobileRobot/obstacleDetector/scanWithLaser)
+  set(scanWithLaser_DEVEL_PREFIX /home/faridalijani/thesis/MobileRobot/obstacleDetector/devel)
+  set(scanWithLaser_INSTALL_PREFIX "")
+  set(scanWithLaser_PREFIX ${scanWithLaser_DEVEL_PREFIX})
 else()
-  set(laser_scan_SOURCE_PREFIX "")
-  set(laser_scan_DEVEL_PREFIX "")
-  set(laser_scan_INSTALL_PREFIX /home/faridalijani/MobileRobot/scanner/install)
-  set(laser_scan_PREFIX ${laser_scan_INSTALL_PREFIX})
+  set(scanWithLaser_SOURCE_PREFIX "")
+  set(scanWithLaser_DEVEL_PREFIX "")
+  set(scanWithLaser_INSTALL_PREFIX /home/faridalijani/thesis/MobileRobot/obstacleDetector/install)
+  set(scanWithLaser_PREFIX ${scanWithLaser_INSTALL_PREFIX})
 endif()
 
 # warn when using a deprecated package
 if(NOT "" STREQUAL "")
-  set(_msg "WARNING: package 'laser_scan' is deprecated")
+  set(_msg "WARNING: package 'scanWithLaser' is deprecated")
   # append custom deprecation text if available
   if(NOT "" STREQUAL "TRUE")
     set(_msg "${_msg} ()")
@@ -89,23 +89,23 @@ if(NOT "" STREQUAL "")
 endif()
 
 # flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project
-set(laser_scan_FOUND_CATKIN_PROJECT TRUE)
+set(scanWithLaser_FOUND_CATKIN_PROJECT TRUE)
 
 if(NOT "" STREQUAL "")
-  set(laser_scan_INCLUDE_DIRS "")
+  set(scanWithLaser_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 "${laser_scan_DIR}/../../../include" ABSOLUTE)
+      get_filename_component(include "${scanWithLaser_DIR}/../../../include" ABSOLUTE)
       if(NOT IS_DIRECTORY ${include})
-        message(FATAL_ERROR "Project 'laser_scan' specifies '${idir}' as an include dir, which is not found.  It does not exist in '${include}'.  Ask the maintainer 'faridalijani <faridalijani@todo.todo>' to fix it.")
+        message(FATAL_ERROR "Project 'scanWithLaser' specifies '${idir}' as an include dir, which is not found.  It does not exist in '${include}'.  Ask the maintainer 'faridalijani <faridalijani@todo.todo>' to fix it.")
       endif()
     else()
-      message(FATAL_ERROR "Project 'laser_scan' specifies '${idir}' as an include dir, which is not found.  It does neither exist as an absolute directory nor in '/home/faridalijani/MobileRobot/scanner/laser_scan/${idir}'.  Ask the maintainer 'faridalijani <faridalijani@todo.todo>' to fix it.")
+      message(FATAL_ERROR "Project 'scanWithLaser' specifies '${idir}' as an include dir, which is not found.  It does neither exist as an absolute directory nor in '/home/faridalijani/thesis/MobileRobot/obstacleDetector/scanWithLaser/${idir}'.  Ask the maintainer 'faridalijani <faridalijani@todo.todo>' to fix it.")
     endif()
-    _list_append_unique(laser_scan_INCLUDE_DIRS ${include})
+    _list_append_unique(scanWithLaser_INCLUDE_DIRS ${include})
   endforeach()
 endif()
 
@@ -113,16 +113,16 @@ set(libraries "")
 foreach(library ${libraries})
   # keep build configuration keywords, target names and absolute libraries as-is
   if("${library}" MATCHES "^debug|optimized|general$")
-    list(APPEND laser_scan_LIBRARIES ${library})
+    list(APPEND scanWithLaser_LIBRARIES ${library})
   elseif(TARGET ${library})
-    list(APPEND laser_scan_LIBRARIES ${library})
+    list(APPEND scanWithLaser_LIBRARIES ${library})
   elseif(IS_ABSOLUTE ${library})
-    list(APPEND laser_scan_LIBRARIES ${library})
+    list(APPEND scanWithLaser_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/MobileRobot/scanner/devel/lib;/home/faridalijani/MobileRobot/scanner/devel/lib;/home/faridalijani/MobileRobot/sc_st/devel/lib;/opt/ros/hydro/lib)
+    foreach(path /home/faridalijani/thesis/MobileRobot/obstacleDetector/devel/lib;/home/faridalijani/thesis/MobileRobot/obstacleDetector/devel/lib;/home/faridalijani/thesis/MobileRobot/scanner/devel/lib;/opt/ros/hydro/lib)
       find_library(lib ${library}
         PATHS ${path}
         NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
@@ -132,22 +132,22 @@ foreach(library ${libraries})
       endif()
     endforeach()
     if(lib)
-      _list_append_unique(laser_scan_LIBRARY_DIRS ${lib_path})
-      list(APPEND laser_scan_LIBRARIES ${lib})
+      _list_append_unique(scanWithLaser_LIBRARY_DIRS ${lib_path})
+      list(APPEND scanWithLaser_LIBRARIES ${lib})
     else()
       # as a fall back for non-catkin libraries try to search globally
       find_library(lib ${library})
       if(NOT lib)
-        message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'.  The library is neither a target nor built/installed properly.  Did you compile project 'laser_scan'?  Did you find_package() it before the subdirectory containing its code is included?")
+        message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'.  The library is neither a target nor built/installed properly.  Did you compile project 'scanWithLaser'?  Did you find_package() it before the subdirectory containing its code is included?")
       endif()
-      list(APPEND laser_scan_LIBRARIES ${lib})
+      list(APPEND scanWithLaser_LIBRARIES ${lib})
     endif()
   endif()
 endforeach()
 
-set(laser_scan_EXPORTED_TARGETS "")
+set(scanWithLaser_EXPORTED_TARGETS "")
 # create dummy targets for exported code generation targets to make life of users easier
-foreach(t ${laser_scan_EXPORTED_TARGETS})
+foreach(t ${scanWithLaser_EXPORTED_TARGETS})
   if(NOT TARGET ${t})
     add_custom_target(${t})
   endif()
@@ -157,35 +157,35 @@ set(depends "")
 foreach(depend ${depends})
   string(REPLACE " " ";" depend_list ${depend})
   # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls
-  list(GET depend_list 0 laser_scan_dep)
+  list(GET depend_list 0 scanWithLaser_dep)
   list(LENGTH depend_list count)
   if(${count} EQUAL 1)
     # simple dependencies must only be find_package()-ed once
-    if(NOT ${laser_scan_dep}_FOUND)
-      find_package(${laser_scan_dep} REQUIRED)
+    if(NOT ${scanWithLaser_dep}_FOUND)
+      find_package(${scanWithLaser_dep} REQUIRED)
     endif()
   else()
     # dependencies with components must be find_package()-ed again
     list(REMOVE_AT depend_list 0)
-    find_package(${laser_scan_dep} REQUIRED ${depend_list})
+    find_package(${scanWithLaser_dep} REQUIRED ${depend_list})
   endif()
-  _list_append_unique(laser_scan_INCLUDE_DIRS ${${laser_scan_dep}_INCLUDE_DIRS})
+  _list_append_unique(scanWithLaser_INCLUDE_DIRS ${${scanWithLaser_dep}_INCLUDE_DIRS})
 
   # merge build configuration keywords with library names to correctly deduplicate
-  _pack_libraries_with_build_configuration(laser_scan_LIBRARIES ${laser_scan_LIBRARIES})
-  _pack_libraries_with_build_configuration(_libraries ${${laser_scan_dep}_LIBRARIES})
-  _list_append_deduplicate(laser_scan_LIBRARIES ${_libraries})
+  _pack_libraries_with_build_configuration(scanWithLaser_LIBRARIES ${scanWithLaser_LIBRARIES})
+  _pack_libraries_with_build_configuration(_libraries ${${scanWithLaser_dep}_LIBRARIES})
+  _list_append_deduplicate(scanWithLaser_LIBRARIES ${_libraries})
   # undo build configuration keyword merging after deduplication
-  _unpack_libraries_with_build_configuration(laser_scan_LIBRARIES ${laser_scan_LIBRARIES})
+  _unpack_libraries_with_build_configuration(scanWithLaser_LIBRARIES ${scanWithLaser_LIBRARIES})
 
-  _list_append_unique(laser_scan_LIBRARY_DIRS ${${laser_scan_dep}_LIBRARY_DIRS})
-  list(APPEND laser_scan_EXPORTED_TARGETS ${${laser_scan_dep}_EXPORTED_TARGETS})
+  _list_append_unique(scanWithLaser_LIBRARY_DIRS ${${scanWithLaser_dep}_LIBRARY_DIRS})
+  list(APPEND scanWithLaser_EXPORTED_TARGETS ${${scanWithLaser_dep}_EXPORTED_TARGETS})
 endforeach()
 
 set(pkg_cfg_extras "")
 foreach(extra ${pkg_cfg_extras})
   if(NOT IS_ABSOLUTE ${extra})
-    set(extra ${laser_scan_DIR}/${extra})
+    set(extra ${scanWithLaser_DIR}/${extra})
   endif()
   include(${extra})
 endforeach()
diff --git a/MobileRobot/scanner/laser_scan/CMakeLists.txt b/MobileRobot/obstacleDetector/scanWithLaser/CMakeLists.txt
similarity index 69%
rename from MobileRobot/scanner/laser_scan/CMakeLists.txt
rename to MobileRobot/obstacleDetector/scanWithLaser/CMakeLists.txt
index d6ecc916033d80e97ac9f9fb7219a657f8d9784b..98fbdd48c88b56f422a184f9438542530016b236 100644
--- a/MobileRobot/scanner/laser_scan/CMakeLists.txt
+++ b/MobileRobot/obstacleDetector/scanWithLaser/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 2.8.3)
-project(laser_scan)
+project(scanWithLaser)
 
 ## Find catkin macros and libraries
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
@@ -28,10 +28,10 @@ find_package(catkin REQUIRED COMPONENTS
 ## * 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 dependencies might have been
-##     pulled in transitively but can be declared for certainty nonetheless:
-##     * add a build_depend tag for "message_generation"
+##   * 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
@@ -70,6 +70,26 @@ find_package(catkin REQUIRED COMPONENTS
 #   geometry_msgs#   sensor_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 ##
 ###################################
@@ -81,7 +101,7 @@ find_package(catkin REQUIRED COMPONENTS
 ## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
 #  INCLUDE_DIRS include
-#  LIBRARIES laser_scan
+#  LIBRARIES scanWithLaser
 #  CATKIN_DEPENDS geometry_msgs roscpp sensor_msgs
 #  DEPENDS system_lib
 )
@@ -93,24 +113,27 @@ catkin_package(
 ## Specify additional locations of header files
 ## Your package locations should be listed before other locations
 # include_directories(include)
-include_directories(laser_scan include/ Stopper.h ${catkin_INCLUDE_DIRS}
-)
+include_directories(scanWithLaser include/ obst_detect.h ${catkin_INCLUDE_DIRS})
 
-## Declare a cpp library
-# add_library(laser_scan
-#   src/${PROJECT_NAME}/laser_scan.cpp
+## Declare a C++ library
+# add_library(scanWithLaser
+#   src/${PROJECT_NAME}/scanWithLaser.cpp
 # )
 
-## Declare a cpp executable
-add_executable(laser_scan src/Stopper.cpp src/run_stopper.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(scanWithLaser ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
+## Declare a C++ executable
+add_executable(scanWithLaser src/obst_detect.cpp src/run_obst_detect.cpp)
 
-## Add cmake target dependencies of the executable/library
-## as an example, message headers may need to be generated before nodes
-# add_dependencies(laser_scan_node laser_scan_generate_messages_cpp)
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(scanWithLaser_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 ## Specify libraries to link a library or executable target against
-target_link_libraries(laser_scan ${catkin_LIBRARIES} )
+target_link_libraries(scanWithLaser ${catkin_LIBRARIES})
 
 #############
 ## Install ##
@@ -127,7 +150,7 @@ target_link_libraries(laser_scan ${catkin_LIBRARIES} )
 # )
 
 ## Mark executables and/or libraries for installation
-# install(TARGETS laser_scan laser_scan_node
+# install(TARGETS scanWithLaser scanWithLaser_node
 #   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
 #   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
 #   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
@@ -152,7 +175,7 @@ target_link_libraries(laser_scan ${catkin_LIBRARIES} )
 #############
 
 ## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_laser_scan.cpp)
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_scanWithLaser.cpp)
 # if(TARGET ${PROJECT_NAME}-test)
 #   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
 # endif()
diff --git a/MobileRobot/scanner/laser_scan/CMakeLists.txt~ b/MobileRobot/obstacleDetector/scanWithLaser/CMakeLists.txt~
similarity index 69%
rename from MobileRobot/scanner/laser_scan/CMakeLists.txt~
rename to MobileRobot/obstacleDetector/scanWithLaser/CMakeLists.txt~
index d6ecc916033d80e97ac9f9fb7219a657f8d9784b..98fbdd48c88b56f422a184f9438542530016b236 100644
--- a/MobileRobot/scanner/laser_scan/CMakeLists.txt~
+++ b/MobileRobot/obstacleDetector/scanWithLaser/CMakeLists.txt~
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 2.8.3)
-project(laser_scan)
+project(scanWithLaser)
 
 ## Find catkin macros and libraries
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
@@ -28,10 +28,10 @@ find_package(catkin REQUIRED COMPONENTS
 ## * 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 dependencies might have been
-##     pulled in transitively but can be declared for certainty nonetheless:
-##     * add a build_depend tag for "message_generation"
+##   * 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
@@ -70,6 +70,26 @@ find_package(catkin REQUIRED COMPONENTS
 #   geometry_msgs#   sensor_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 ##
 ###################################
@@ -81,7 +101,7 @@ find_package(catkin REQUIRED COMPONENTS
 ## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
 #  INCLUDE_DIRS include
-#  LIBRARIES laser_scan
+#  LIBRARIES scanWithLaser
 #  CATKIN_DEPENDS geometry_msgs roscpp sensor_msgs
 #  DEPENDS system_lib
 )
@@ -93,24 +113,27 @@ catkin_package(
 ## Specify additional locations of header files
 ## Your package locations should be listed before other locations
 # include_directories(include)
-include_directories(laser_scan include/ Stopper.h ${catkin_INCLUDE_DIRS}
-)
+include_directories(scanWithLaser include/ obst_detect.h ${catkin_INCLUDE_DIRS})
 
-## Declare a cpp library
-# add_library(laser_scan
-#   src/${PROJECT_NAME}/laser_scan.cpp
+## Declare a C++ library
+# add_library(scanWithLaser
+#   src/${PROJECT_NAME}/scanWithLaser.cpp
 # )
 
-## Declare a cpp executable
-add_executable(laser_scan src/Stopper.cpp src/run_stopper.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(scanWithLaser ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
+## Declare a C++ executable
+add_executable(scanWithLaser src/obst_detect.cpp src/run_obst_detect.cpp)
 
-## Add cmake target dependencies of the executable/library
-## as an example, message headers may need to be generated before nodes
-# add_dependencies(laser_scan_node laser_scan_generate_messages_cpp)
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(scanWithLaser_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 ## Specify libraries to link a library or executable target against
-target_link_libraries(laser_scan ${catkin_LIBRARIES} )
+target_link_libraries(scanWithLaser ${catkin_LIBRARIES})
 
 #############
 ## Install ##
@@ -127,7 +150,7 @@ target_link_libraries(laser_scan ${catkin_LIBRARIES} )
 # )
 
 ## Mark executables and/or libraries for installation
-# install(TARGETS laser_scan laser_scan_node
+# install(TARGETS scanWithLaser scanWithLaser_node
 #   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
 #   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
 #   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
@@ -152,7 +175,7 @@ target_link_libraries(laser_scan ${catkin_LIBRARIES} )
 #############
 
 ## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_laser_scan.cpp)
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_scanWithLaser.cpp)
 # if(TARGET ${PROJECT_NAME}-test)
 #   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
 # endif()
diff --git a/MobileRobot/scanner/laser_scan/include/Stopper.h b/MobileRobot/obstacleDetector/scanWithLaser/include/obst_detect.h
similarity index 84%
rename from MobileRobot/scanner/laser_scan/include/Stopper.h
rename to MobileRobot/obstacleDetector/scanWithLaser/include/obst_detect.h
index 5921d45644afc2d734c9f7b71a606fd45a31cd1e..56b439b2db3ce430f72c11d45f19a3430228cf4f 100644
--- a/MobileRobot/scanner/laser_scan/include/Stopper.h
+++ b/MobileRobot/obstacleDetector/scanWithLaser/include/obst_detect.h
@@ -1,7 +1,7 @@
 #include <ros/ros.h>
 #include <sensor_msgs/LaserScan.h>
 
-class Stopper
+class obst_detect
 {
 
 public:
@@ -11,9 +11,8 @@ public:
 	const static double MAX_SCAN_ANGLE_RAD = 30/180*M_PI;
 	const static float MIN_PROXIMITY_RANGE_M = .5;
 	
-	Stopper();
+	obst_detect();
 	void StartMoving();
-        //Stopper(const std::string &name, bool spin_thread=true);
         
 private:
 
@@ -23,12 +22,11 @@ private:
 	ros::Subscriber laserSubF;
 	ros::Subscriber laserSubR;
 	
-
 	bool keepMoving;
 
 	void MoveForward();
 	
-	void MoveDesiredLoc();
+//	void MoveDesiredLoc();
 
 	void ScanCallBackF(const sensor_msgs::LaserScan::ConstPtr& scanF);
 
@@ -36,3 +34,4 @@ private:
         
 };
 
+
diff --git a/MobileRobot/scanner/laser_scan/include/Stopper.h~ b/MobileRobot/obstacleDetector/scanWithLaser/include/obst_detect.h~
similarity index 84%
rename from MobileRobot/scanner/laser_scan/include/Stopper.h~
rename to MobileRobot/obstacleDetector/scanWithLaser/include/obst_detect.h~
index bb892e2e0d2918d9aaf62eb1dc1c7d8d285bf89a..56b439b2db3ce430f72c11d45f19a3430228cf4f 100644
--- a/MobileRobot/scanner/laser_scan/include/Stopper.h~
+++ b/MobileRobot/obstacleDetector/scanWithLaser/include/obst_detect.h~
@@ -1,7 +1,7 @@
 #include <ros/ros.h>
 #include <sensor_msgs/LaserScan.h>
 
-class Stopper
+class obst_detect
 {
 
 public:
@@ -11,23 +11,22 @@ public:
 	const static double MAX_SCAN_ANGLE_RAD = 30/180*M_PI;
 	const static float MIN_PROXIMITY_RANGE_M = .5;
 	
-	Stopper();
+	obst_detect();
 	void StartMoving();
-        Stopper(const std::string &name, bool spin_thread=true);
         
 private:
 
 	ros::NodeHandle node;
 	ros::Publisher commandPub;
+	ros::Publisher commandPubM;
 	ros::Subscriber laserSubF;
 	ros::Subscriber laserSubR;
 	
-
 	bool keepMoving;
 
 	void MoveForward();
 	
-	void MoveDesiredLoc();
+//	void MoveDesiredLoc();
 
 	void ScanCallBackF(const sensor_msgs::LaserScan::ConstPtr& scanF);
 
@@ -35,3 +34,4 @@ private:
         
 };
 
+
diff --git a/MobileRobot/scanner/laser_scan/package.xml b/MobileRobot/obstacleDetector/scanWithLaser/package.xml
similarity index 89%
rename from MobileRobot/scanner/laser_scan/package.xml
rename to MobileRobot/obstacleDetector/scanWithLaser/package.xml
index 1fc8bd4002b902eae4084ec1503e8418260ca527..a30da9110c3457dc6eaa6cf767bcd3d2c6f1550e 100644
--- a/MobileRobot/scanner/laser_scan/package.xml
+++ b/MobileRobot/obstacleDetector/scanWithLaser/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package>
-  <name>laser_scan</name>
+  <name>scanWithLaser</name>
   <version>0.0.0</version>
-  <description>The laser_scan package</description>
+  <description>The scanWithLaser package</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag --> 
   <!-- Example:  -->
@@ -19,7 +19,7 @@
   <!-- 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/laser_scan</url> -->
+  <!-- <url type="website">http://wiki.ros.org/scanWithLaser</url> -->
 
 
   <!-- Author tags are optional, mutiple are allowed, one per tag -->
@@ -50,9 +50,6 @@
 
   <!-- The export tag contains other, unspecified, tags -->
   <export>
-    <!-- You can specify that this package is a metapackage here: -->
-    <!-- <metapackage/> -->
-
     <!-- Other tools can request additional information be placed here -->
 
   </export>
diff --git a/MobileRobot/scanner/laser_scan/src/Stopper.cpp~ b/MobileRobot/obstacleDetector/scanWithLaser/src/obst_detect.cpp
similarity index 78%
rename from MobileRobot/scanner/laser_scan/src/Stopper.cpp~
rename to MobileRobot/obstacleDetector/scanWithLaser/src/obst_detect.cpp
index fabbf93feedb55da844e2a515f777344363876d4..2ed8e4db956e1527bcf9ff00a8530367f4f30286 100644
--- a/MobileRobot/scanner/laser_scan/src/Stopper.cpp~
+++ b/MobileRobot/obstacleDetector/scanWithLaser/src/obst_detect.cpp
@@ -1,51 +1,43 @@
-#include <Stopper.h>
+#include <obst_detect.h>
 #include <geometry_msgs/Twist.h>
-//#include <actionlib/client/simple_action_client.h>
 #include <move_base_msgs/MoveBaseActionGoal.h>
 
-Stopper::Stopper()
+obst_detect::obst_detect()
 {
 	keepMoving = true;
 	
 	commandPub = node.advertise<geometry_msgs::Twist>("/base_controller/command",1);
 	commandPubM = node.advertise<move_base_msgs::MoveBaseActionGoal>("goal", 1);
 	
-	laserSubF = node.subscribe("scan_front",1,&Stopper::ScanCallBackF,this);
-	laserSubR = node.subscribe("/scan_rear",1,&Stopper::ScanCallBackR,this);
+	laserSubF = node.subscribe("scan_front",1,&obst_detect::ScanCallBackF,this);
+	laserSubR = node.subscribe("/scan_rear",1,&obst_detect::ScanCallBackR,this);
 	
 };
 
-/*
-Stopper::Stopper(const std::string &name, bool spin_thread){
-        
-        typedef actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> MoveBaseClient;
-};
-*/
-
 // function for the starting the robot to move...
-void Stopper::StartMoving(){
+void obst_detect::StartMoving(){
 	ros::Rate rate(100);
     	ROS_INFO("Start moving");
 	
 	while (ros::ok() && keepMoving) {
-//        MoveForward();
-        MoveDesiredLoc();
+        MoveForward();
+        //MoveDesiredLoc();
         ros::spinOnce();
         rate.sleep();
     }
 };
 
-/*
+
 // Moving Forward...
-void Stopper::MoveForward(){
+void obst_detect::MoveForward(){
 	geometry_msgs::Twist msg;
 	msg.linear.x = FORWARD_SPEED_MPS;
 	commandPub.publish(msg);
 };
-*/
 
+/*
 // Moving to the desired Location...
-void Stopper::MoveDesiredLoc(){
+void obst_detect::MoveDesiredLoc(){
         
         move_base_msgs::MoveBaseGoal goal;
         
@@ -61,9 +53,10 @@ void Stopper::MoveDesiredLoc(){
         commandPubM.publish(goal);
        
 };
+*/
 
 // Front Laser Sensor chekcing for any obstacle
-void Stopper::ScanCallBackF(const sensor_msgs::LaserScan::ConstPtr& scanF){
+void obst_detect::ScanCallBackF(const sensor_msgs::LaserScan::ConstPtr& scanF){
 	int minIndex = ceil((MIN_SCAN_ANGLE_RAD - scanF -> angle_min) / scanF -> angle_increment);
 	int maxIndex = floor((MAX_SCAN_ANGLE_RAD - scanF -> angle_min) / scanF -> angle_increment);
 	float closestRangeF = scanF -> ranges[minIndex];
@@ -86,7 +79,7 @@ void Stopper::ScanCallBackF(const sensor_msgs::LaserScan::ConstPtr& scanF){
 
 
 // Rear Laser Sensor chekcing for any obstacle
-void Stopper::ScanCallBackR(const sensor_msgs::LaserScan::ConstPtr& scanR){
+void obst_detect::ScanCallBackR(const sensor_msgs::LaserScan::ConstPtr& scanR){
 	int minIndex = ceil((MIN_SCAN_ANGLE_RAD - scanR -> angle_min) / scanR -> angle_increment);
 	int maxIndex = floor((MAX_SCAN_ANGLE_RAD - scanR -> angle_min) / scanR -> angle_increment);
 	float closestRangeR = scanR -> ranges[minIndex];
diff --git a/MobileRobot/scanner/laser_scan/src/Stopper.cpp b/MobileRobot/obstacleDetector/scanWithLaser/src/obst_detect.cpp~
similarity index 78%
rename from MobileRobot/scanner/laser_scan/src/Stopper.cpp
rename to MobileRobot/obstacleDetector/scanWithLaser/src/obst_detect.cpp~
index b1c5bab94c721328b2daf120299950b2fb02b830..0fdc853e3a84f36df56bb91e6fbcdae118e26bde 100644
--- a/MobileRobot/scanner/laser_scan/src/Stopper.cpp
+++ b/MobileRobot/obstacleDetector/scanWithLaser/src/obst_detect.cpp~
@@ -1,52 +1,43 @@
-#include <Stopper.h>
+#include <obst_detect.h>
 #include <geometry_msgs/Twist.h>
-//#include <actionlib/client/simple_action_client.h>
 #include <move_base_msgs/MoveBaseActionGoal.h>
 
-
-Stopper::Stopper()
+obst_detect::obst_detect()
 {
 	keepMoving = true;
 	
 	commandPub = node.advertise<geometry_msgs::Twist>("/base_controller/command",1);
 	commandPubM = node.advertise<move_base_msgs::MoveBaseActionGoal>("goal", 1);
 	
-	laserSubF = node.subscribe("scan_front",1,&Stopper::ScanCallBackF,this);
-	laserSubR = node.subscribe("/scan_rear",1,&Stopper::ScanCallBackR,this);
+	laserSubF = node.subscribe("scan_front",1,&obst_detect::ScanCallBackF,this);
+	laserSubR = node.subscribe("/scan_rear",1,&obst_detect::ScanCallBackR,this);
 	
 };
 
-/*
-Stopper::Stopper(const std::string &name, bool spin_thread){
-        
-        typedef actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> MoveBaseClient;
-};
-*/
-
 // function for the starting the robot to move...
-void Stopper::StartMoving(){
+void obst_detect::StartMoving(){
 	ros::Rate rate(100);
     	ROS_INFO("Start moving");
 	
 	while (ros::ok() && keepMoving) {
-//        MoveForward();
-        MoveDesiredLoc();
+        MoveForward();
+        //MoveDesiredLoc();
         ros::spinOnce();
         rate.sleep();
     }
 };
 
-/*
+
 // Moving Forward...
-void Stopper::MoveForward(){
+void obst_detect::MoveForward(){
 	geometry_msgs::Twist msg;
 	msg.linear.x = FORWARD_SPEED_MPS;
 	commandPub.publish(msg);
 };
-*/
 
+/*
 // Moving to the desired Location...
-void Stopper::MoveDesiredLoc(){
+void obst_detect::MoveDesiredLoc(){
         
         move_base_msgs::MoveBaseGoal goal;
         
@@ -62,9 +53,10 @@ void Stopper::MoveDesiredLoc(){
         commandPubM.publish(goal);
        
 };
+*/
 
 // Front Laser Sensor chekcing for any obstacle
-void Stopper::ScanCallBackF(const sensor_msgs::LaserScan::ConstPtr& scanF){
+void obst_detect::ScanCallBackF(const sensor_msgs::LaserScan::ConstPtr& scanF){
 	int minIndex = ceil((MIN_SCAN_ANGLE_RAD - scanF -> angle_min) / scanF -> angle_increment);
 	int maxIndex = floor((MAX_SCAN_ANGLE_RAD - scanF -> angle_min) / scanF -> angle_increment);
 	float closestRangeF = scanF -> ranges[minIndex];
@@ -87,7 +79,7 @@ void Stopper::ScanCallBackF(const sensor_msgs::LaserScan::ConstPtr& scanF){
 
 
 // Rear Laser Sensor chekcing for any obstacle
-void Stopper::ScanCallBackR(const sensor_msgs::LaserScan::ConstPtr& scanR){
+void obst_detect::ScanCallBackR(const sensor_msgs::LaserScan::ConstPtr& scanR){
 	int minIndex = ceil((MIN_SCAN_ANGLE_RAD - scanR -> angle_min) / scanR -> angle_increment);
 	int maxIndex = floor((MAX_SCAN_ANGLE_RAD - scanR -> angle_min) / scanR -> angle_increment);
 	float closestRangeR = scanR -> ranges[minIndex];
@@ -107,3 +99,7 @@ void Stopper::ScanCallBackR(const sensor_msgs::LaserScan::ConstPtr& scanR){
                 keepMoving = false;
 	}
 };
+
+
+
+
diff --git a/MobileRobot/obstacleDetector/scanWithLaser/src/run_obst_detect.cpp b/MobileRobot/obstacleDetector/scanWithLaser/src/run_obst_detect.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..712ca3832f6f9719c2152b292bbdcd17ad12483d
--- /dev/null
+++ b/MobileRobot/obstacleDetector/scanWithLaser/src/run_obst_detect.cpp
@@ -0,0 +1,14 @@
+#include <iostream>
+#include <obst_detect.h>
+
+
+int main(int argc, char** argv)
+{
+	ros::init(argc, argv, "obsctacleDetector");
+	
+	obst_detect obstacleDetector;
+	
+	obstacleDetector.StartMoving();
+	
+	return 0;
+};
diff --git a/MobileRobot/obstacleDetector/scanWithLaser/src/run_obst_detect.cpp~ b/MobileRobot/obstacleDetector/scanWithLaser/src/run_obst_detect.cpp~
new file mode 100644
index 0000000000000000000000000000000000000000..63bdadbecdde1ea1e66ddd82df3a11a578a66343
--- /dev/null
+++ b/MobileRobot/obstacleDetector/scanWithLaser/src/run_obst_detect.cpp~
@@ -0,0 +1,14 @@
+#include <iostream>
+#include <obst_detect.h>
+
+
+int main(int argc, char** argv)
+{
+	ros::init(argc, argv, "stopper");
+	
+	obst_detect obstacleDetector;
+	
+	obstacleDetector.StartMoving();
+	
+	return 0;
+};
diff --git a/MobileRobot/scanner/build/CMakeFiles/CMakeRuleHashes.txt b/MobileRobot/scanner/build/CMakeFiles/CMakeRuleHashes.txt
deleted file mode 100644
index deec6539389d686191b1d7bedafae9a4982a2947..0000000000000000000000000000000000000000
--- a/MobileRobot/scanner/build/CMakeFiles/CMakeRuleHashes.txt
+++ /dev/null
@@ -1,20 +0,0 @@
-# Hashes of file build rules.
-e6ecd922d4037a8b8f2076bfe672646a CMakeFiles/clean_test_results
-f2fb8356b3e0ef032094ba064e3d1ddc CMakeFiles/doxygen
-f2fb8356b3e0ef032094ba064e3d1ddc CMakeFiles/run_tests
-f2fb8356b3e0ef032094ba064e3d1ddc CMakeFiles/tests
-f47a6abd8bec3ef81a195908a02602e7 laser_scan/CMakeFiles/geometry_msgs_generate_messages_cpp
-f47a6abd8bec3ef81a195908a02602e7 laser_scan/CMakeFiles/geometry_msgs_generate_messages_lisp
-f47a6abd8bec3ef81a195908a02602e7 laser_scan/CMakeFiles/geometry_msgs_generate_messages_py
-f47a6abd8bec3ef81a195908a02602e7 laser_scan/CMakeFiles/roscpp_generate_messages_cpp
-f47a6abd8bec3ef81a195908a02602e7 laser_scan/CMakeFiles/roscpp_generate_messages_lisp
-f47a6abd8bec3ef81a195908a02602e7 laser_scan/CMakeFiles/roscpp_generate_messages_py
-f47a6abd8bec3ef81a195908a02602e7 laser_scan/CMakeFiles/rosgraph_msgs_generate_messages_cpp
-f47a6abd8bec3ef81a195908a02602e7 laser_scan/CMakeFiles/rosgraph_msgs_generate_messages_lisp
-f47a6abd8bec3ef81a195908a02602e7 laser_scan/CMakeFiles/rosgraph_msgs_generate_messages_py
-f47a6abd8bec3ef81a195908a02602e7 laser_scan/CMakeFiles/sensor_msgs_generate_messages_cpp
-f47a6abd8bec3ef81a195908a02602e7 laser_scan/CMakeFiles/sensor_msgs_generate_messages_lisp
-f47a6abd8bec3ef81a195908a02602e7 laser_scan/CMakeFiles/sensor_msgs_generate_messages_py
-f47a6abd8bec3ef81a195908a02602e7 laser_scan/CMakeFiles/std_msgs_generate_messages_cpp
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-.PHONY : src/run_stopper.cpp.s
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-# Help Target
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-	@echo "... all (the default if no target is provided)"
-	@echo "... clean"
-	@echo "... depend"
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-.PHONY : help
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-# Special targets to cleanup operation of make.
-
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-# because they might be regenerated.
-cmake_check_build_system:
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diff --git a/MobileRobot/scanner/build/laser_scan/catkin_generated/installspace/laser_scan.pc b/MobileRobot/scanner/build/laser_scan/catkin_generated/installspace/laser_scan.pc
deleted file mode 100644
index ca54f1a676ac62b1ac6c87b8e355d2b0cb179364..0000000000000000000000000000000000000000
--- a/MobileRobot/scanner/build/laser_scan/catkin_generated/installspace/laser_scan.pc
+++ /dev/null
@@ -1,8 +0,0 @@
-prefix=/home/faridalijani/MobileRobot/scanner/install
-
-Name: laser_scan
-Description: Description of laser_scan
-Version: 0.0.0
-Cflags: 
-Libs: -L/home/faridalijani/MobileRobot/scanner/install/lib 
-Requires: 
diff --git a/MobileRobot/scanner/build/laser_scan/catkin_generated/package.cmake b/MobileRobot/scanner/build/laser_scan/catkin_generated/package.cmake
deleted file mode 100644
index 7975d3c0d2eedb3a0faadb3fdf149101e395ff02..0000000000000000000000000000000000000000
--- a/MobileRobot/scanner/build/laser_scan/catkin_generated/package.cmake
+++ /dev/null
@@ -1,7 +0,0 @@
-set(_CATKIN_CURRENT_PACKAGE "laser_scan")
-set(laser_scan_MAINTAINER "faridalijani <faridalijani@todo.todo>")
-set(laser_scan_DEPRECATED "")
-set(laser_scan_VERSION "0.0.0")
-set(laser_scan_BUILD_DEPENDS "geometry_msgs" "roscpp" "sensor_msgs")
-set(laser_scan_RUN_DEPENDS "geometry_msgs" "roscpp" "sensor_msgs")
-set(laser_scan_BUILDTOOL_DEPENDS "catkin")
\ No newline at end of file
diff --git a/MobileRobot/scanner/devel/.catkin b/MobileRobot/scanner/devel/.catkin
deleted file mode 100644
index 43ccf467515bce6eb44c42ec1abd0160919c4657..0000000000000000000000000000000000000000
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+++ /dev/null
@@ -1 +0,0 @@
-/home/faridalijani/MobileRobot/scanner
\ No newline at end of file
diff --git a/MobileRobot/scanner/devel/.rosinstall b/MobileRobot/scanner/devel/.rosinstall
deleted file mode 100644
index 2822f7195c2501eae27c1a38fb6975f11c67babb..0000000000000000000000000000000000000000
--- a/MobileRobot/scanner/devel/.rosinstall
+++ /dev/null
@@ -1,2 +0,0 @@
-- setup-file:
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diff --git a/MobileRobot/scanner/devel/lib/laser_scan/laser_scan b/MobileRobot/scanner/devel/lib/laser_scan/laser_scan
deleted file mode 100755
index 14a5879e1afd58536cee725a1d5f6dfcf5ac752d..0000000000000000000000000000000000000000
Binary files a/MobileRobot/scanner/devel/lib/laser_scan/laser_scan and /dev/null differ
diff --git a/MobileRobot/scanner/devel/lib/pkgconfig/laser_scan.pc b/MobileRobot/scanner/devel/lib/pkgconfig/laser_scan.pc
deleted file mode 100644
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+++ /dev/null
@@ -1,8 +0,0 @@
-prefix=/home/faridalijani/MobileRobot/scanner/devel
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-Name: laser_scan
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diff --git a/MobileRobot/scanner/laser_scan/src/run_stopper.cpp b/MobileRobot/scanner/laser_scan/src/run_stopper.cpp
deleted file mode 100644
index 53f2655390582d282954dc1c989eee48d99a44a7..0000000000000000000000000000000000000000
--- a/MobileRobot/scanner/laser_scan/src/run_stopper.cpp
+++ /dev/null
@@ -1,15 +0,0 @@
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-#include <Stopper.h>
-
-
-int main(int argc, char** argv)
-{
-	ros::init(argc, argv, "stopper");
-	
-	Stopper stopper;
-	//Stopper desiredloc("move_base", true);
-	
-	stopper.StartMoving();
-	//desiredloc.StartMoving();
-	return 0;
-};
diff --git a/MobileRobot/scanner/laser_scan/src/run_stopper.cpp~ b/MobileRobot/scanner/laser_scan/src/run_stopper.cpp~
deleted file mode 100644
index 5a66930fd11c7f7460dbd3207d4bd5ec675c37fc..0000000000000000000000000000000000000000
--- a/MobileRobot/scanner/laser_scan/src/run_stopper.cpp~
+++ /dev/null
@@ -1,15 +0,0 @@
-#include <iostream>
-#include <Stopper.h>
-
-
-int main(int argc, char** argv)
-{
-	ros::init(argc, argv, "stopper");
-	
-	Stopper stopper;
-	Stopper desiredloc("move_base", true);
-	
-	stopper.StartMoving();
-	desiredloc.StartMoving();
-	return 0;
-};
diff --git a/rob_drive/drive_base_tutorial/src/drive_base.cpp b/rob_drive/drive_base_tutorial/src/drive_base.cpp
index 3a06804cab9470d2f89f439a6ddc1919aaf2fc6d..d6e4d9b22d71a022fa6b028e7023d4aa266954b4 100644
--- a/rob_drive/drive_base_tutorial/src/drive_base.cpp
+++ b/rob_drive/drive_base_tutorial/src/drive_base.cpp
@@ -3,6 +3,7 @@
 #include <ros/ros.h>
 #include <geometry_msgs/Twist.h>
 
+// Moving the robot with keyboard : Forward, Right and Left
 
 // check the base odometry controller along with the base velocity controller.
 // no use of odometry info. though.
diff --git a/rob_drive/drive_base_tutorial/src/drive_base.cpp~ b/rob_drive/drive_base_tutorial/src/drive_base.cpp~
index bb96b86611aebd67280b9ad924cccff92b2a2cd5..3a06804cab9470d2f89f439a6ddc1919aaf2fc6d 100644
--- a/rob_drive/drive_base_tutorial/src/drive_base.cpp~
+++ b/rob_drive/drive_base_tutorial/src/drive_base.cpp~
@@ -36,10 +36,6 @@ public:
     geometry_msgs::Twist base_cmd;
 
     char cmd[50];
-
-
-
-
 // while loop starts ...
     while(nh_.ok())
 	{