diff --git a/launch/rosbuzz-testing.launch b/launch/rosbuzz-testing.launch
index 4baca4f..d674c14 100644
--- a/launch/rosbuzz-testing.launch
+++ b/launch/rosbuzz-testing.launch
@@ -1,13 +1,26 @@
 <launch>
-	<arg name="path_save"   default="/home/pi/bags"/>
-	<arg name="file_name"  	default="test.bag"/>
+	<!-- RUN mavros -->
+	<arg name="fcu_url" default="/dev/ttyAMA0:115200" />
+	<arg name="gcs_url" default="" />
+	<arg name="tgt_system" default="1" />
+	<arg name="tgt_component" default="1" />
+	<arg name="log_output" default="screen" />
 
-	<group ns="record">
-		<param name="path_save" type="str" value="$(arg path_save)"	/>
-		<param name="file_name" type="str" value="$(arg file_name)"	/>
-		<node name="record_ros" pkg="record_ros" type="record_ros" output="screen" respawn="true"/>
-	</group>
+	<include file="$(find mavros)/launch/node.launch">
+		<arg name="pluginlists_yaml" value="$(find mavros)/launch/apm_pluginlists.yaml" />
+		<arg name="config_yaml" value="$(find mavros)/launch/apm_config.yaml" />
 
+		<arg name="fcu_url" value="$(arg fcu_url)" />
+		<arg name="gcs_url" value="$(arg gcs_url)" />
+		<arg name="tgt_system" value="$(arg tgt_system)" />
+		<arg name="tgt_component" value="$(arg tgt_component)" />
+		<arg name="log_output" value="$(arg log_output)" />
+	</include>
+
+	<!-- set streaming rate -->
+	<node pkg="rosservice" type="rosservice" name="freq" args="call /mavros/set_stream_rate 0 10 1" output="screen" />
+
+	<!-- run xbee -->
 	<node pkg="xbee_ros_node" type="xbee_mav" name="xbee_mav" args="slave swarm" output="screen" />
 	<param name="Xbee_In_From_Buzz" type="str" value="outMavlink" />
 	<param name="Xbee_Out_To_Buzz" type="str" value="inMavlink" />
@@ -15,18 +28,17 @@
 	<param name="No_of_dev" type="int" value="3" />
 	<param name="Xbee_Out_To_Controller" type="str" value="mav_dji_cmd" />
 
-	
+	<!-- run rosbuzz -->
 	<node name="rosbuzz_node" pkg="rosbuzz" type="rosbuzz_node" respawn="false" output="screen" >	
 		<rosparam file="/home/pi/ros_catkin_ws/src/ROSBuzz/launch/launch_config/solo.yaml"/>
 		<param name="bzzfile_name" value="/home/pi/ros_catkin_ws/src/ROSBuzz/src/testalone.bzz" />
-	    <param name="rcclient" value="true" /> 
+		<param name="rcclient" value="true" /> 
 		<param name="rcservice_name" value="/buzzcmd" />
 		<param name="in_payload" value="/inMavlink"/>
 		<param name="out_payload" value="/outMavlink"/>
 		<param name="robot_id" value="3"/>
 		<param name="No_of_Robots" value="3"/>
-		<param name="stand_by" value="$(env ROS_WS)/src/ROSBuzz/src/stand_by.bo"/>
+		<param name="stand_by" value="/home/pi/ros_catkin_ws/src/ROSBuzz/src/stand_by.bo"/>
 	</node>
 
 </launch>
-
diff --git a/misc/cmdlinectr.sh b/misc/cmdlinectr.sh
new file mode 100644
index 0000000..e00b73b
--- /dev/null
+++ b/misc/cmdlinectr.sh
@@ -0,0 +1,20 @@
+#! /bin/bash
+function takeoff {
+	rosservice call /buzzcmd 0 22 0 0 0 0 0 0 0 0
+}
+function land {
+	rosservice call /buzzcmd 0 21 0 0 0 0 0 0 0 0
+}
+function record {
+	rosbag record /flight_status /global_position /dji_sdk/local_position /neighbours_pos /power_status /guidance/obstacle_distance /guidance/front_depth_image/compressedDepth /guidance/right_depth_image/compressedDepth /guidance/left_depth_image/compressedDepth /guidance/bottom_depth_image/compressedDepth /guidance/back_depth_image/compressedDepth
+}
+function clean {
+	sudo rm /var/log/upstart/robot*
+	sudo rm /var/log/upstart/x3s*
+}
+function startrobot {
+	sudo service robot start
+}
+function stoprobot {
+	sudo service robot stop
+}