diff --git a/src/buzz_update.cpp b/src/buzz_update.cpp
index 9d6899c..7131d4f 100644
--- a/src/buzz_update.cpp
+++ b/src/buzz_update.cpp
@@ -171,7 +171,10 @@ uint16_t size =0;
 		fp=fopen("update.bo", "wb");
    		fwrite((updater->bcode), updater->bcode_size, 1, fp);
 		fclose(fp);
-		//fprintf(stdout,"[Debug : ]size = %i \n",(int)sizeof(size_t));
+		fprintf(stdout,"[Debug : ]updater rid = %i \n",(int)updater->robotid);
+		fprintf(stdout,"[Debug : ]updater mode = %i \n",(int)updater->mode);
+		fprintf(stdout,"[Debug : ]update number = %i \n",(int)updater->update_no);
+		
 		*(uint16_t*)updater->outmsg_queue->size=size;
 		/*Update local dictionary*/
 		uint8_t* dict_update=(uint8_t*)malloc(sizeof(uint16_t));
@@ -182,7 +185,7 @@ uint16_t size =0;
 		
 	}
 	else if(type==STATE_MSG){
-		updater->outmsg_queue->queue = (uint8_t*)malloc(3*sizeof(uint8_t));
+		updater->outmsg_queue->queue = (uint8_t*)malloc(4*sizeof(uint8_t));
 		updater->outmsg_queue->size  = (uint8_t*)malloc(sizeof(uint16_t));	
 		//*(uint16_t*)updater->outmsg_queue->size = 3*sizeof(uint8_t);
 		*(uint16_t*)(updater->outmsg_queue->queue+size) = (uint16_t) updater->robotid;
@@ -192,6 +195,10 @@ uint16_t size =0;
 		*(uint8_t*)(updater->outmsg_queue->queue+size) =  updater->update_no;
 		size+=sizeof(uint8_t);
 		*(uint16_t*)updater->outmsg_queue->size=size;
+		fprintf(stdout,"[Debug : ]updater rid = %i \n",(int)updater->robotid);
+		fprintf(stdout,"[Debug : ]updater mode = %i \n",(int)updater->mode);
+		fprintf(stdout,"[Debug : ]update number = %i \n",(int)updater->update_no);
+				
 		/*Update local dictionary*/
 		uint8_t* dict_update=(uint8_t*)malloc(sizeof(uint16_t));
 		*(uint8_t*)dict_update=updater->mode;
@@ -215,13 +222,13 @@ memcpy(updater->inmsg_queue->queue, msg, size);
 void code_message_inqueue_process(){
 int size=0;
 	//fprintf(stdout,"received state : %i from robot : %i\n",*(uint8_t*)(updater->inmsg_queue->queue+sizeof(uint16_t)),*(uint16_t*)updater->inmsg_queue->queue);
-	if(*(uint8_t*)(updater->inmsg_queue->queue+sizeof(uint16_t)) == CODE_UPDATE){
+	if(*(uint8_t*)(updater->inmsg_queue->queue+sizeof(uint16_t)) != CODE_RUNNING){
 		buzzdict_set(updater->state_dict, updater->inmsg_queue->queue,(updater->inmsg_queue->queue+sizeof(uint16_t)));
 		size +=3*sizeof(uint8_t);
 		if(*(uint8_t*)(updater->inmsg_queue->queue+size) > (updater->update_no)){
-			updater->update_no=*(uint8_t*)(updater->inmsg_queue->queue+size);
-			size+=sizeof(uint8_t);
-			if(updater->mode==CODE_RUNNING){				
+			if(updater->mode==CODE_RUNNING){	
+				uint8_t update_no_obt=*(uint8_t*)(updater->inmsg_queue->queue+size);
+				size+=sizeof(uint8_t);						
 				uint16_t update_bcode_size =*(uint16_t*)(updater->inmsg_queue->queue+size);
 				size +=sizeof(uint16_t);	
 				FILE *fp;
@@ -237,6 +244,7 @@ int size=0;
 						//fprintf(stdout,"start and end time in queue process of update Info : %f,%f",(double)begin,(double)end);
 						/*data logging*/
 						fprintf(stdout,"Step test passed\n");
+						updater->update_no=update_no_obt;
 						updater->mode=CODE_UPDATE;
 						//fprintf(stdout,"updater value = %i\n",updater->mode);
 						free(updater->bcode);
@@ -245,7 +253,7 @@ int size=0;
 						//updater->bcode = BO_BUF;
 		  				updater->bcode_size = (size_t)update_bcode_size;
 						code_message_outqueue_append(STATE_MSG);
-						updater->mode=CODE_NEIGHBOUR;
+						updater->mode=CODE_STANDBY;
 
 						//return updater->mode;				
 						//return 0;
diff --git a/src/buzz_utility.cpp b/src/buzz_utility.cpp
index 8af791a..f59aa3d 100644
--- a/src/buzz_utility.cpp
+++ b/src/buzz_utility.cpp
@@ -89,8 +89,8 @@ namespace buzz_utility{
 		fprintf(stdout,"received Msg size : %i\n",(int) *(uint16_t*)(pl + tot));
 		 tot += sizeof(uint16_t);
 	        code_message_inqueue_append(pl+tot,unMsgSize);
-	      	tot += unMsgSize;
 		fprintf(stdout,"Msg 1 : %i , and Msg 2: %i\n",(int) *(uint16_t*)(pl+tot),(int) *(uint8_t*)(pl+tot+sizeof(uint16_t)));
+	      	tot += unMsgSize;		
 	      	code_message_inqueue_process();
 	      	unMsgSize=0;
 		/*Check for Buzz messages only when the code is running*/
@@ -554,6 +554,7 @@ uint16_t get_robotid(){
    /* Make numeric id from hostname */
    /* NOTE: here we assume that the hostname is in the format Knn */
    int id = strtol(hstnm + 4, NULL, 10);
+	fprintf(stdout, "Robot id from get rid buzz util:  %i\n",id);
 return (uint16_t)id;
 }
 
diff --git a/src/roscontroller.cpp b/src/roscontroller.cpp
index 7d2cab2..d5decde 100644
--- a/src/roscontroller.cpp
+++ b/src/roscontroller.cpp
@@ -15,7 +15,7 @@ namespace rosbzz_node{
 		/*Compile the .bzz file to .basm, .bo and .bdbg*/
  		Compile_bzz();
 		set_bzz_file(bzzfile_name.c_str());
-		init_update_monitor(bcfname.c_str(),barrier);
+		
 	}
 
 	/***Destructor***/
@@ -33,6 +33,7 @@ namespace rosbzz_node{
 		/* Set the Buzz bytecode */
 		if(buzz_utility::buzz_script_set(bcfname.c_str(), dbgfname.c_str(),robot_id)) {
 			fprintf(stdout, "Bytecode file found and set\n");
+			init_update_monitor(bcfname.c_str(),barrier);
 			while (ros::ok() && !buzz_utility::buzz_script_done())
   			{
       				/*Update neighbors position inside Buzz*/
@@ -198,8 +199,8 @@ namespace rosbzz_node{
 			it != payload_out.payload64.end(); ++it){
 			message_obt[i] =(uint64_t) *it;
 			i++;
-        	}
-		for(i=0;i<payload_out.payload64.size();i++){
+        	}*/
+		/*for(i=0;i<payload_out.payload64.size();i++){
 			out = buzz_utility::u64_cvt_u16(message_obt[i]);
 			for(int k=0;k<4;k++){
 				cout<<" [Debug:] sent message "<<out[k]<<endl;
diff --git a/src/test1.bzz b/src/test1.bzz
index 55fd63a..5235e1a 100644
--- a/src/test1.bzz
+++ b/src/test1.bzz
@@ -1,9 +1,7 @@
 
-
-
 # We need this for 2D vectors
 # Make sure you pass the correct include path to "bzzc -I <path1:path2> ..."
-include "/home/ubuntu/buzz/src/include/vec2.bzz"
+include "/home/vivek/catkin_ws/src/rosbuzz/src/vec2.bzz"
 
 TARGET_ALTITUDE = 10.1