diff --git a/.gitignore b/.gitignore
index ae47e75..64f22eb 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,7 +1,7 @@
 src/test*
-.cproject
-.project
-.basm
-.bo
-.bdb
-.bdbg
+*.cproject
+*.project
+*.basm
+*.bo
+*.bdb
+*.bdbg
diff --git a/launch/rosbuzzm100.launch b/launch/rosbuzzm100.launch
index 01d9402..69da82f 100644
--- a/launch/rosbuzzm100.launch
+++ b/launch/rosbuzzm100.launch
@@ -1,20 +1,16 @@
 <!-- Launch file for ROSBuzz -->
 
 <launch>
-		<node name="rosbuzz_node" pkg="rosbuzz" type="rosbuzz_node" respawn="false" output="screen" >	
-		<rosparam file="$(find rosbuzz)/launch/launch_config/m100.yaml"/>
-		<param name="bzzfile_name" value="$(env ROS_WS)/src/testflockfev.bzz" />
-                <param name="rcclient" value="true" /> 
-		<param name="rcservice_name" value="/buzzcmd" />
-		<!--param name="fcclient_name" value="/dji_mavcmd" -->
-		<param name="in_payload" value="/inMavlink"/>
-		<param name="out_payload" value="/outMavlink"/>
-		<param name="xbee_status_srv" value="/xbee_status"/>
-		<param name="xbee_plugged" value="true"/>
-		<!--param name="robot_id" value="3"-->
-		<!--param name="No_of_Robots" value="3"-->
-		<param name="stand_by" value="$(env ROS_WS)/src/stand_by.bo"/>
-		</node>
-		
-		
+	<node name="rosbuzz_node" pkg="rosbuzz" type="rosbuzz_node" respawn="false" output="screen">
+            <rosparam file="$(find rosbuzz)/launch/launch_config/m100.yaml"/>
+            <param name="bzzfile_name" value="$(find rosbuzz)/script/testflockfev.bzz" />
+            <param name="rcclient" value="true" />
+            <param name="rcservice_name" value="buzzcmd" />
+            <param name="in_payload" value="inMavlink"/>
+            <param name="out_payload" value="outMavlink"/>
+            <param name="xbee_plugged" value="true"/>
+            <param name="name" value="m1001"/>
+            <param name="xbee_status_srv" value="xbee_status"/>
+            <param name="stand_by" value="$(find rosbuzz)/script/stand_by.bzz"/>
+        </node>		
 </launch>
diff --git a/script/stand_by.bdb b/script/stand_by.bdb
deleted file mode 100644
index de2da98..0000000
Binary files a/script/stand_by.bdb and /dev/null differ
diff --git a/script/stand_by.bo b/script/stand_by.bo
deleted file mode 100644
index 643951a..0000000
Binary files a/script/stand_by.bo and /dev/null differ
diff --git a/script/testalone.bzz b/script/testalone.bzz
index 086de53..938b743 100644
--- a/script/testalone.bzz
+++ b/script/testalone.bzz
@@ -1,7 +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 "vec2.bzz"
 ####################################################################################################
 # Updater related
 # This should be here for the updater to work, changing position of code will crash the updater
diff --git a/script/testflockfev.bzz b/script/testflockfev.bzz
index 1845eb9..463ca52 100644
--- a/script/testflockfev.bzz
+++ b/script/testflockfev.bzz
@@ -1,6 +1,6 @@
 # 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 "vec2.bzz"
 ####################################################################################################
 # Updater related
 # This should be here for the updater to work, changing position of code will crash the updater
@@ -145,7 +145,6 @@ function land() {
 # Executed once at init time.
 function init() {
 	s = swarm.create(1)
-#	s.select(1)
 	s.join()
 	statef=idle
 	CURSTATE = "IDLE"
diff --git a/script/testflocksim.bzz b/script/testflocksim.bzz
index 2dcca47..616de9c 100644
--- a/script/testflocksim.bzz
+++ b/script/testflocksim.bzz
@@ -1,6 +1,6 @@
 # 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 "vec2.bzz"
 ####################################################################################################
 # Updater related
 # This should be here for the updater to work, changing position of code will crash the updater
diff --git a/script/teststig.bdb b/script/teststig.bdb
deleted file mode 100644
index cc42d70..0000000
Binary files a/script/teststig.bdb and /dev/null differ
diff --git a/script/teststig.bo b/script/teststig.bo
deleted file mode 100644
index 63e7db3..0000000
Binary files a/script/teststig.bo and /dev/null differ
diff --git a/script/teststig.bzz b/script/teststig.bzz
index 0ef792e..d3c4139 100644
--- a/script/teststig.bzz
+++ b/script/teststig.bzz
@@ -1,3 +1,4 @@
+include "vec2.bzz"
 ####################################################################################################
 # Updater related
 # This should be here for the updater to work, changing position of code will crash the updater
@@ -12,8 +13,8 @@ function init(){
     s = swarm.create(1)
 	s.join()
     v = stigmergy.create(5)
-    #t= {}
-    #v.put("p",t)
+    t= {}
+    v.put("p",t)
     v.put("u",1)
 }
 
@@ -22,11 +23,11 @@ function step() {
     log("The vstig has ", v.size(), " elements")
     log(v.get("u"))
     if (id==1) {
-        #tmp = { .x=3 }
-        #v.put("p",tmp)
+        tmp = { }
+        v.put("p",tmp)
         v.put("u",2)
     }
-	#log(v.get("p"))
+	log(v.get("p"))
 }
 
 # Executed once when the robot (or the simulator) is reset.
diff --git a/src/roscontroller.cpp b/src/roscontroller.cpp
index 1970b41..f968dfe 100644
--- a/src/roscontroller.cpp
+++ b/src/roscontroller.cpp
@@ -272,7 +272,7 @@ namespace rosbzz_node{
 		//bzzfile_in_compile.str("");
 		std::string  name = bzzfile_name.substr(bzzfile_name.find_last_of("/\\") + 1);
  		name = name.substr(0,name.find_last_of("."));
-		bzzfile_in_compile << "bzzc -I " << path << "script/include/"; //<<" "<<path<< name<<".basm";
+		bzzfile_in_compile << "bzzc -I " << path << "include/"; //<<" "<<path<< name<<".basm";
 		//bzzfile_in_compile.str("");
         //bzzfile_in_compile <<"bzzasm "<<path<<name<<".basm "<<path<<name<<".bo "<<path<<name<<".bdbg";
    		//system(bzzfile_in_compile.str().c_str());