From 7b95888e9f94d6b0b68796b46a10b39e71388e21 Mon Sep 17 00:00:00 2001
From: vivek-shankar <robovivek@gmail.com>
Date: Fri, 23 Dec 2016 12:25:37 -0500
Subject: [PATCH] try catch for possible division by zero

---
 .gitignore            |   1 +
 src/roscontroller.cpp |   9 +-
 src/test.basm         | 175 ++++++++++++++++++++++++++++++
 src/test.bdbg         | Bin 0 -> 8092 bytes
 src/test.bo           | Bin 0 -> 572 bytes
 src/test1.basm        | 240 +++++++++++++++++++++---------------------
 src/test1.bdbg        | Bin 7571 -> 7797 bytes
 7 files changed, 303 insertions(+), 122 deletions(-)
 create mode 100644 src/test.basm
 create mode 100644 src/test.bdbg
 create mode 100644 src/test.bo

diff --git a/.gitignore b/.gitignore
index e69de29..a7c46f8 100644
--- a/.gitignore
+++ b/.gitignore
@@ -0,0 +1 @@
+src/test*
diff --git a/src/roscontroller.cpp b/src/roscontroller.cpp
index b911019..97fb3ee 100644
--- a/src/roscontroller.cpp
+++ b/src/roscontroller.cpp
@@ -42,7 +42,7 @@ namespace rosbzz_node{
     				/*run once*/
     				ros::spinOnce();
 				/*loop rate of ros*/
-				ros::Rate loop_rate(1);
+				ros::Rate loop_rate(10);
     				/*sleep for the mentioned loop rate*/
     				loop_rate.sleep();
     				timer_step+=1;
@@ -204,9 +204,14 @@ namespace rosbzz_node{
 		latitude=neighbours_pos_payload[0];
 		longitude = neighbours_pos_payload[1];
 		altitude=neighbours_pos_payload[2];
-		neighbours_pos_payload[0]=sqrt(pow(latitude,2.0)+pow(longitude,2.0)+pow(altitude,2.0));
+		try {
+       		neighbours_pos_payload[0]=sqrt(pow(latitude,2.0)+pow(longitude,2.0)+pow(altitude,2.0));
 		neighbours_pos_payload[1]=atan(longitude/latitude);
 		neighbours_pos_payload[2]=atan((sqrt(pow(latitude,2.0)+pow(longitude,2.0)))/altitude);
+   		} catch (std::overflow_error e) {
+        	std::cout << e.what() << " Error in convertion to spherical coordinate system ";
+   		}
+		
 		return neighbours_pos_payload;
 	}
 
diff --git a/src/test.basm b/src/test.basm
new file mode 100644
index 0000000..c0422e6
--- /dev/null
+++ b/src/test.basm
@@ -0,0 +1,175 @@
+!19
+'init
+'i
+'a
+'val
+'step
+'neighbors
+'listen
+'Take
+'print
+'Got (
+',
+') from robot #
+'key
+'uav_takeoff
+'uav_land
+'broadcast
+'no
+'reset
+'destroy
+
+	pushs 0
+	pushcn @__label_1
+	gstore
+	pushs 4
+	pushcn @__label_2
+	gstore
+	pushs 17
+	pushcn @__label_13
+	gstore
+	pushs 18
+	pushcn @__label_14
+	gstore
+	nop
+
+@__label_0
+
+@__exitpoint
+	done
+
+@__label_1
+	pushs 1	|3,2,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushi 1	|3,4,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	gstore	|3,5,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushs 2	|4,2,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushi 0	|4,4,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	gstore	|4,5,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushs 3	|5,4,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushi 0	|5,6,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	gstore	|5,7,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	ret0	|6,1,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+
+@__label_2
+	pushs 1	|11,6,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	gload	|11,6,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushi 0	|11,9,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	eq	|11,10,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	jumpz @__label_3	|11,12,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushs 5	|12,9,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	gload	|12,9,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushs 6	|12,10,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	tget	|12,16,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushs 7	|12,17,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushl @__label_5	|13,3,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushi 2	|16,1,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	callc	|16,1,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushs 5	|17,9,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	gload	|17,9,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushs 6	|17,10,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	tget	|17,16,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushs 12	|17,17,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushl @__label_6	|18,3,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushi 2	|22,1,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	callc	|22,1,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushs 8	|23,5,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	gload	|23,5,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushs 3	|23,9,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	gload	|23,9,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushi 1	|23,10,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	callc	|23,10,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushs 3	|24,9,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	gload	|24,9,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushi 23	|24,12,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	eq	|24,14,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushs 2	|24,23,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	gload	|24,23,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushi 0	|24,26,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	eq	|24,27,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	and	|24,28,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	jumpz @__label_7	|24,30,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushs 13	|25,12,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	gload	|25,12,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushi 0	|25,14,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	callc	|25,14,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushs 2	|26,2,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushi 1	|26,3,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	gstore	|26,4,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+@__label_7	|28,6,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushs 2	|28,12,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	gload	|28,12,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushi 10	|28,15,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	eq	|28,17,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	jumpz @__label_9	|28,19,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushs 14	|28,27,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	gload	|28,27,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushi 0	|28,30,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	callc	|28,30,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+@__label_9	|29,6,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushs 2	|29,12,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	gload	|29,12,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushi 0	|29,15,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	neq	|29,16,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	jumpz @__label_11	|29,18,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushs 2	|29,20,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushs 2	|29,23,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	gload	|29,23,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushi 1	|29,24,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	add	|29,25,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	gstore	|29,25,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+@__label_11	|30,0,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	jump @__label_4	|31,4,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+@__label_3	|31,4,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushs 5	|32,9,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	gload	|32,9,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushs 15	|32,10,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	tget	|32,19,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushs 12	|32,20,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushi 23	|32,27,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushi 2	|32,30,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	callc	|32,30,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushs 5	|33,9,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	gload	|33,9,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushs 15	|33,10,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	tget	|33,19,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushs 7	|33,20,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushs 16	|33,28,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushi 2	|33,33,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	callc	|33,33,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+@__label_4	|34,1,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	ret0	|36,1,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+
+@__label_5
+	pushs 8	|14,11,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	gload	|14,11,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushs 9	|14,12,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	lload 1	|14,24,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushs 10	|14,26,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	lload 2	|14,36,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushs 11	|14,38,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	lload 3	|14,59,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushi 6	|14,60,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	callc	|14,60,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	ret0	|15,4,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+
+@__label_6
+	pushs 8	|19,11,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	gload	|19,11,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushs 9	|19,12,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	lload 1	|19,24,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushs 10	|19,26,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	lload 2	|19,36,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushs 11	|19,38,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	lload 3	|19,59,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushi 6	|19,60,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	callc	|19,60,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushs 3	|20,10,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	lload 2	|20,23,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	gstore	|20,23,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	ret0	|21,4,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+
+@__label_13
+	ret0	|40,1,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+
+@__label_14
+	ret0	|44,1,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
diff --git a/src/test.bdbg b/src/test.bdbg
new file mode 100644
index 0000000000000000000000000000000000000000..faa9e50e6603fde2edc287179a80f038f855d25f
GIT binary patch
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literal 0
HcmV?d00001

diff --git a/src/test.bo b/src/test.bo
new file mode 100644
index 0000000000000000000000000000000000000000..d463c94437e1b31a9b63a0cad37dd2888a9934dc
GIT binary patch
literal 572
zcmb7AOHRWu5S>Cz`4&<Zj?_pQ)QS{|6Tktu06P}QAr4p#apjnbo`nrt&cX%YHq1Ct
zQP~kGqv!YDd{4pD#)AO`OI1PR^#W>b9-ngS8mJ5rHQcJXhJ`b=ha2m02A6PwrL)iI
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AGynhq

literal 0
HcmV?d00001

diff --git a/src/test1.basm b/src/test1.basm
index d9f876e..7ce8786 100644
--- a/src/test1.basm
+++ b/src/test1.basm
@@ -40,131 +40,131 @@
 	done
 
 @__label_1
-	pushs 1	|3,2,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	pushi 0	|3,4,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	gstore	|3,5,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	pushs 2	|4,2,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	pushi 0	|4,4,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	gstore	|4,5,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	pushs 3	|5,4,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	pushi 0	|5,6,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	gstore	|5,7,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	pushs 4	|6,7,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	pushi 0	|6,9,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	gstore	|6,10,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	ret0	|7,1,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushs 1	|3,2,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	pushi 0	|3,4,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	gstore	|3,5,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	pushs 2	|4,2,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	pushi 0	|4,4,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	gstore	|4,5,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	pushs 3	|5,4,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	pushi 0	|5,6,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	gstore	|5,7,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	pushs 4	|6,7,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	pushi 0	|6,9,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	gstore	|6,10,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	ret0	|7,1,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
 
 @__label_2
-	pushs 6	|12,9,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	gload	|12,9,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	pushs 7	|12,10,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	tget	|12,16,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	pushs 8	|12,17,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	pushl @__label_3	|13,3,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	pushi 2	|21,1,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	callc	|21,1,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	pushs 15	|23,9,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	gload	|23,9,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	pushs 16	|23,10,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	tget	|23,16,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	pushs 4	|23,24,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	gload	|23,24,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	neq	|23,24,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	jumpz @__label_8	|23,26,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	pushs 9	|24,6,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	gload	|24,6,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	pushs 15	|24,13,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	gload	|24,13,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	pushs 16	|24,14,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	tget	|24,20,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	pushi 1	|24,21,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	callc	|24,21,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	pushs 15	|25,10,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	gload	|25,10,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	pushs 16	|25,11,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	tget	|25,17,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	pushi 22	|25,19,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	eq	|25,21,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	jumpz @__label_10	|25,23,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	pushs 13	|26,13,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	gload	|26,13,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	pushi 0	|26,17,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	callc	|26,17,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	pushs 6	|27,11,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	gload	|27,11,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	pushs 17	|27,12,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	tget	|27,21,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	pushs 8	|27,22,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	pushi 22	|27,29,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	pushi 2	|27,32,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	callc	|27,32,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	jump @__label_11	|28,8,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-@__label_10	|28,8,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	pushs 15	|28,17,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	gload	|28,17,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	pushs 16	|28,18,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	tget	|28,24,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	pushi 21	|28,26,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	eq	|28,28,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	jumpz @__label_12	|28,30,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	pushs 14	|29,10,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	gload	|29,10,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	pushi 0	|29,12,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	callc	|29,12,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	pushs 6	|30,11,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	gload	|30,11,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	pushs 17	|30,12,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	tget	|30,21,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	pushs 8	|30,22,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	pushi 21	|30,29,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	pushi 2	|30,32,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	callc	|30,32,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-@__label_12	|32,1,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-@__label_11	|32,1,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	pushs 4	|32,7,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	pushs 15	|32,14,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	gload	|32,14,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	pushs 16	|32,15,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	tget	|32,21,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	gstore	|32,21,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-@__label_8	|35,0,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	ret0	|35,1,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushs 6	|12,9,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	gload	|12,9,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	pushs 7	|12,10,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	tget	|12,16,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	pushs 8	|12,17,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	pushl @__label_3	|13,3,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	pushi 2	|21,1,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	callc	|21,1,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	pushs 15	|23,9,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	gload	|23,9,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	pushs 16	|23,10,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	tget	|23,16,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	pushs 4	|23,24,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	gload	|23,24,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	neq	|23,24,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	jumpz @__label_8	|23,26,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	pushs 9	|24,6,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	gload	|24,6,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	pushs 15	|24,13,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	gload	|24,13,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	pushs 16	|24,14,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	tget	|24,20,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	pushi 1	|24,21,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	callc	|24,21,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	pushs 15	|25,10,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	gload	|25,10,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	pushs 16	|25,11,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	tget	|25,17,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	pushi 22	|25,19,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	eq	|25,21,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	jumpz @__label_10	|25,23,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	pushs 13	|26,13,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	gload	|26,13,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	pushi 0	|26,17,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	callc	|26,17,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	pushs 6	|27,11,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	gload	|27,11,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	pushs 17	|27,12,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	tget	|27,21,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	pushs 8	|27,22,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	pushi 22	|27,29,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	pushi 2	|27,32,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	callc	|27,32,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	jump @__label_11	|28,8,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+@__label_10	|28,8,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	pushs 15	|28,17,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	gload	|28,17,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	pushs 16	|28,18,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	tget	|28,24,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	pushi 21	|28,26,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	eq	|28,28,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	jumpz @__label_12	|28,30,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	pushs 14	|29,10,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	gload	|29,10,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	pushi 0	|29,12,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	callc	|29,12,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	pushs 6	|30,11,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	gload	|30,11,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	pushs 17	|30,12,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	tget	|30,21,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	pushs 8	|30,22,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	pushi 21	|30,29,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	pushi 2	|30,32,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	callc	|30,32,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+@__label_12	|32,1,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+@__label_11	|32,1,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	pushs 4	|32,7,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	pushs 15	|32,14,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	gload	|32,14,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	pushs 16	|32,15,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	tget	|32,21,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	gstore	|32,21,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+@__label_8	|35,0,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	ret0	|35,1,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
 
 @__label_3
-	pushs 9	|14,11,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	gload	|14,11,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	pushs 10	|14,12,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	lload 1	|14,24,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	pushs 11	|14,26,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	lload 2	|14,36,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	pushs 12	|14,38,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	lload 3	|14,59,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	pushi 6	|14,60,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	callc	|14,60,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	lload 2	|15,9,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	pushi 22	|15,11,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	eq	|15,13,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	jumpz @__label_4	|15,15,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	pushs 13	|16,13,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	gload	|16,13,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	pushi 0	|16,15,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	callc	|16,15,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	jump @__label_5	|17,8,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-@__label_4	|17,8,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	lload 2	|17,16,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	pushi 21	|17,18,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	eq	|17,20,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	jumpz @__label_6	|17,22,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	pushs 14	|18,10,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	gload	|18,10,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	pushi 0	|18,12,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	callc	|18,12,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-@__label_6	|20,3,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-@__label_5	|20,3,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
-	ret0	|20,4,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushs 9	|14,11,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	gload	|14,11,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	pushs 10	|14,12,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	lload 1	|14,24,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	pushs 11	|14,26,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	lload 2	|14,36,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	pushs 12	|14,38,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	lload 3	|14,59,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	pushi 6	|14,60,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	callc	|14,60,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	lload 2	|15,9,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	pushi 22	|15,11,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	eq	|15,13,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	jumpz @__label_4	|15,15,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	pushs 13	|16,13,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	gload	|16,13,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	pushi 0	|16,15,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	callc	|16,15,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	jump @__label_5	|17,8,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+@__label_4	|17,8,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	lload 2	|17,16,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	pushi 21	|17,18,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	eq	|17,20,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	jumpz @__label_6	|17,22,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	pushs 14	|18,10,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	gload	|18,10,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	pushi 0	|18,12,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	callc	|18,12,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+@__label_6	|20,3,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+@__label_5	|20,3,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
+	ret0	|20,4,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
 
 @__label_14
-	ret0	|39,1,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	ret0	|39,1,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
 
 @__label_15
-	ret0	|43,1,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	ret0	|43,1,/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz
diff --git a/src/test1.bdbg b/src/test1.bdbg
index 8a6176d00a0af3c12200fba12e222a19a4a788fd..41a27dd322dd344ec4b8f4b139679064a301917a 100644
GIT binary patch
literal 7797
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