diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..53cb85a313c9508931bfbf1fbbed426cc3d27911
--- /dev/null
+++ b/CMakeLists.txt
@@ -0,0 +1,16 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(omniwheels_controller)
+
+## Find catkin and any catkin packages
+find_package(catkin REQUIRED COMPONENTS roscpp rospy std_msgs genmsg)
+
+## Declare a catkin package
+catkin_package()
+
+## Build talker and listener
+include_directories(include ${catkin_INCLUDE_DIRS})
+
+add_executable(talker src/talker.cpp)
+target_link_libraries(talker ${catkin_LIBRARIES})
+
+
diff --git a/README.md b/README.md
index ac74000690a96ac34440288bce1bceb8fdc5938b..d45d20fb178f7231bf67f2f68281158745ff0d90 100644
--- a/README.md
+++ b/README.md
@@ -1,3 +1,14 @@
# Omniwheels controller
-This project contains a simply velocity controller for the omniwheels. It publisher topic that enable the user to control the velocity and the rotatio of the robot
\ No newline at end of file
+This project contains a simply velocity controller for the omniwheels. It publisher topic that enable the user to control the velocity and the rotatio of the robot
+
+configuration for ssh ros
+https://github.com/ut-ims-robotics/tutorials/wiki/Running-ROS-over-multiple-computers
+
+
+
+Doubts that occured during coding
+
+make sure that the most main computer is the ros master and and source the
+configure_ros_master.bash file
+the file is in the utills important
\ No newline at end of file
diff --git a/package.xml b/package.xml
new file mode 100644
index 0000000000000000000000000000000000000000..8cf772f58d55d0d1cb95ad6ebbdfa9ae337a5f1e
--- /dev/null
+++ b/package.xml
@@ -0,0 +1,38 @@
+<?xml version="1.0"?>
+<package>
+ <name>omniwheels_controller</name>
+ <version>0.10.2</version>
+ <description>
+ This package attempts to show the features of ROS step-by-step,
+ including using messages, servers, parameters, etc.
+ </description>
+ <maintainer email="mabel@openrobotics.org">Mabel Zhang</maintainer>
+ <maintainer email="sloretz@openrobotics.org">Shane Loretz</maintainer>
+ <license>BSD</license>
+
+ <url type="website">http://www.ros.org/wiki/roscpp_tutorials</url>
+ <url type="bugtracker">https://github.com/ros/ros_tutorials/issues</url>
+ <url type="repository">https://github.com/ros/ros_tutorials</url>
+ <author>Morgan Quigley</author>
+ <author email="dthomas@osrfoundation.org">Dirk Thomas</author>
+
+ <buildtool_depend>catkin</buildtool_depend>
+
+ <build_depend>libboost-date-time-dev</build_depend>
+ <build_depend>libboost-thread-dev</build_depend>
+ <build_depend>message_generation</build_depend>
+ <build_depend>rosconsole</build_depend>
+ <build_depend>roscpp</build_depend>
+ <build_depend>roscpp_serialization</build_depend>
+ <build_depend>rostime</build_depend>
+ <build_depend>std_msgs</build_depend>
+
+ <run_depend>libboost-date-time-dev</run_depend>
+ <run_depend>libboost-thread-dev</run_depend>
+ <run_depend>message_runtime</run_depend>
+ <run_depend>rosconsole</run_depend>
+ <run_depend>roscpp</run_depend>
+ <run_depend>roscpp_serialization</run_depend>
+ <run_depend>rostime</run_depend>
+ <run_depend>std_msgs</run_depend>
+</package>
diff --git a/src/talker.cpp b/src/talker.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..f0899ac0dffd16eac09d2961de436b22d14d5468
--- /dev/null
+++ b/src/talker.cpp
@@ -0,0 +1,137 @@
+/*
+ * Copyright (C) 2008, Morgan Quigley and Willow Garage, Inc.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ * * Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * * Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ * * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its
+ * contributors may be used to endorse or promote products derived from
+ * this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+// %Tag(FULLTEXT)%
+// %Tag(ROS_HEADER)%
+#include "ros/ros.h"
+// %EndTag(ROS_HEADER)%
+// %Tag(MSG_HEADER)%
+#include "std_msgs/String.h"
+// %EndTag(MSG_HEADER)%
+
+#include <sstream>
+
+/**
+ * This tutorial demonstrates simple sending of messages over the ROS system.
+ */
+int main(int argc, char **argv)
+{
+ /**
+ * The ros::init() function needs to see argc and argv so that it can perform
+ * any ROS arguments and name remapping that were provided at the command line.
+ * For programmatic remappings you can use a different version of init() which takes
+ * remappings directly, but for most command-line programs, passing argc and argv is
+ * the easiest way to do it. The third argument to init() is the name of the node.
+ *
+ * You must call one of the versions of ros::init() before using any other
+ * part of the ROS system.
+ */
+// %Tag(INIT)%
+ ros::init(argc, argv, "talker");
+// %EndTag(INIT)%
+
+ /**
+ * NodeHandle is the main access point to communications with the ROS system.
+ * The first NodeHandle constructed will fully initialize this node, and the last
+ * NodeHandle destructed will close down the node.
+ */
+// %Tag(NODEHANDLE)%
+ ros::NodeHandle n;
+// %EndTag(NODEHANDLE)%
+
+ /**
+ * The advertise() function is how you tell ROS that you want to
+ * publish on a given topic name. This invokes a call to the ROS
+ * master node, which keeps a registry of who is publishing and who
+ * is subscribing. After this advertise() call is made, the master
+ * node will notify anyone who is trying to subscribe to this topic name,
+ * and they will in turn negotiate a peer-to-peer connection with this
+ * node. advertise() returns a Publisher object which allows you to
+ * publish messages on that topic through a call to publish(). Once
+ * all copies of the returned Publisher object are destroyed, the topic
+ * will be automatically unadvertised.
+ *
+ * The second parameter to advertise() is the size of the message queue
+ * used for publishing messages. If messages are published more quickly
+ * than we can send them, the number here specifies how many messages to
+ * buffer up before throwing some away.
+ */
+// %Tag(PUBLISHER)%
+ ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
+// %EndTag(PUBLISHER)%
+
+// %Tag(LOOP_RATE)%
+ ros::Rate loop_rate(10);
+// %EndTag(LOOP_RATE)%
+
+ /**
+ * A count of how many messages we have sent. This is used to create
+ * a unique string for each message.
+ */
+// %Tag(ROS_OK)%
+ int count = 0;
+ while (ros::ok())
+ {
+// %EndTag(ROS_OK)%
+ /**
+ * This is a message object. You stuff it with data, and then publish it.
+ */
+// %Tag(FILL_MESSAGE)%
+ std_msgs::String msg;
+
+ std::stringstream ss;
+ ss << "hello world " << count;
+ msg.data = ss.str();
+// %EndTag(FILL_MESSAGE)%
+
+// %Tag(ROSCONSOLE)%
+ ROS_INFO("%s", msg.data.c_str());
+// %EndTag(ROSCONSOLE)%
+
+ /**
+ * The publish() function is how you send messages. The parameter
+ * is the message object. The type of this object must agree with the type
+ * given as a template parameter to the advertise<>() call, as was done
+ * in the constructor above.
+ */
+// %Tag(PUBLISH)%
+ chatter_pub.publish(msg);
+// %EndTag(PUBLISH)%
+
+// %Tag(SPINONCE)%
+ ros::spinOnce();
+// %EndTag(SPINONCE)%
+
+// %Tag(RATE_SLEEP)%
+ loop_rate.sleep();
+// %EndTag(RATE_SLEEP)%
+ ++count;
+ }
+
+
+ return 0;
+}
+// %EndTag(FULLTEXT)%
diff --git a/utils/configure_ros_master.bash b/utils/configure_ros_master.bash
new file mode 100644
index 0000000000000000000000000000000000000000..e8838a3de655ac8254c2ebf5d208462df467d0c2
--- /dev/null
+++ b/utils/configure_ros_master.bash
@@ -0,0 +1,2 @@
+export ROS_MASTER_URI=http://192.168.1.3:11311
+# this configures the ros master and makes the main compute the ros master