From cbdc5a6db2c7cd471c9661d4133cd1ff5406ceec Mon Sep 17 00:00:00 2001
From: isvogor <isvogor@gmail.com>
Date: Tue, 9 May 2017 19:48:38 -0400
Subject: [PATCH] open loop

---
 include/roscontroller.h            |    1 +
 launch/rosbuzz-testing-sitl.launch |    2 +-
 script/testsolo.basm               | 1560 +++++++++++++++++-----------
 script/testsolo.bdb                |  Bin 49136 -> 65144 bytes
 script/testsolo.bdbg               |  Bin 49136 -> 65144 bytes
 script/testsolo.bo                 |  Bin 2969 -> 3809 bytes
 script/testsolo.bzz                |    5 +-
 src/roscontroller.cpp              |   18 +-
 8 files changed, 945 insertions(+), 641 deletions(-)

diff --git a/include/roscontroller.h b/include/roscontroller.h
index 43cb117..b3adb2b 100644
--- a/include/roscontroller.h
+++ b/include/roscontroller.h
@@ -70,6 +70,7 @@ private:
         double DEFAULT_REFERENCE_LONGITUDE = -73.636075;
 
  	double cur_pos[3];
+ 	double target[3];
  	double home[3];
  	double cur_rel_altitude;
 	uint64_t payload;
diff --git a/launch/rosbuzz-testing-sitl.launch b/launch/rosbuzz-testing-sitl.launch
index 6d3da79..c09d2c5 100644
--- a/launch/rosbuzz-testing-sitl.launch
+++ b/launch/rosbuzz-testing-sitl.launch
@@ -27,7 +27,7 @@
 	<!-- run rosbuzz -->
 	<node name="rosbuzz_node" pkg="rosbuzz" type="rosbuzz_node" respawn="false" output="screen" >	
 		<rosparam file="/home/ivan/catkin_ws/src/rosbuzz/launch/launch_config/solo.yaml"/>
-		<param name="bzzfile_name" value="/home/ivan/catkin_ws/src/rosbuzz/script/testalone.bzz" />
+		<param name="bzzfile_name" value="/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz" />
 		<param name="rcclient" value="true" /> 
 		<param name="rcservice_name" value="buzzcmd" />
 		<param name="in_payload" value="inMavlink"/>
diff --git a/script/testsolo.basm b/script/testsolo.basm
index 3ec341b..869b93d 100644
--- a/script/testsolo.basm
+++ b/script/testsolo.basm
@@ -1,4 +1,21 @@
-!83
+!95
+'math
+'vec2
+'new
+'x
+'y
+'newp
+'cos
+'sin
+'length
+'sqrt
+'angle
+'atan2
+'norm
+'add
+'sub
+'scale
+'dot
 'updated
 'update_ack
 'update_no
@@ -12,26 +29,21 @@
 'EPSILON
 'lj_magnitude
 'lj_vector
-'math
-'vec2
-'newp
 'distance
 'azimuth
 'lj_sum
-'add
 'hexagon
 'statef
 'HEXAGON
 'map
 'reduce
-'new
 'count
-'scale
 'log
 'Time: 
 'timeW
 'WAIT_TIMEOUT
 'land
+'uav_moveto
 'BARRIER_VSTIG
 'barrier_set
 'barrier_wait
@@ -83,99 +95,369 @@
 'reset
 'destroy
 
-	pushs 3
-	pushcn @__label_1
-	gstore
-	pushs 11
-	pushcn @__label_2
-	gstore
-	pushs 12
-	pushcn @__label_3
-	gstore
-	pushs 18
-	pushcn @__label_4
-	gstore
 	pushs 20
-	pushcn @__label_5
+	pushcn @__label_10
 	gstore
-	pushs 34
+	pushs 28
+	pushcn @__label_11
+	gstore
+	pushs 29
 	pushcn @__label_12
 	gstore
-	pushs 39
+	pushs 32
+	pushcn @__label_13
+	gstore
+	pushs 33
 	pushcn @__label_14
 	gstore
-	pushs 35
-	pushcn @__label_15
-	gstore
-	pushs 45
-	pushcn @__label_20
-	gstore
-	pushs 47
+	pushs 46
 	pushcn @__label_21
 	gstore
-	pushs 32
+	pushs 51
+	pushcn @__label_23
+	gstore
+	pushs 47
 	pushcn @__label_24
 	gstore
-	pushs 62
-	pushcn @__label_27
+	pushs 57
+	pushcn @__label_29
 	gstore
-	pushs 66
-	pushcn @__label_28
+	pushs 59
+	pushcn @__label_30
 	gstore
-	pushs 81
-	pushcn @__label_48
+	pushs 43
+	pushcn @__label_33
 	gstore
-	pushs 82
-	pushcn @__label_49
+	pushs 74
+	pushcn @__label_36
+	gstore
+	pushs 78
+	pushcn @__label_37
+	gstore
+	pushs 93
+	pushcn @__label_57
+	gstore
+	pushs 94
+	pushcn @__label_58
 	gstore
 	nop
 
 @__label_0
-	pushs 0	|8,7,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 1	|8,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 0	|4,4,/home/ubuntu/buzz/src/include/vec2.bzz
+	gload	|4,4,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushs 1	|4,5,/home/ubuntu/buzz/src/include/vec2.bzz
+	pusht	|4,13,/home/ubuntu/buzz/src/include/vec2.bzz
+	tput	|4,14,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushs 0	|12,4,/home/ubuntu/buzz/src/include/vec2.bzz
+	gload	|12,4,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushs 1	|12,5,/home/ubuntu/buzz/src/include/vec2.bzz
+	tget	|12,9,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushs 2	|12,10,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushl @__label_1	|12,16,/home/ubuntu/buzz/src/include/vec2.bzz
+	tput	|14,1,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushs 0	|22,4,/home/ubuntu/buzz/src/include/vec2.bzz
+	gload	|22,4,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushs 1	|22,5,/home/ubuntu/buzz/src/include/vec2.bzz
+	tget	|22,9,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushs 5	|22,10,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushl @__label_2	|22,17,/home/ubuntu/buzz/src/include/vec2.bzz
+	tput	|27,1,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushs 0	|34,4,/home/ubuntu/buzz/src/include/vec2.bzz
+	gload	|34,4,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushs 1	|34,5,/home/ubuntu/buzz/src/include/vec2.bzz
+	tget	|34,9,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushs 8	|34,10,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushl @__label_3	|34,19,/home/ubuntu/buzz/src/include/vec2.bzz
+	tput	|36,1,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushs 0	|43,4,/home/ubuntu/buzz/src/include/vec2.bzz
+	gload	|43,4,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushs 1	|43,5,/home/ubuntu/buzz/src/include/vec2.bzz
+	tget	|43,9,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushs 10	|43,10,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushl @__label_4	|43,18,/home/ubuntu/buzz/src/include/vec2.bzz
+	tput	|45,1,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushs 0	|52,4,/home/ubuntu/buzz/src/include/vec2.bzz
+	gload	|52,4,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushs 1	|52,5,/home/ubuntu/buzz/src/include/vec2.bzz
+	tget	|52,9,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushs 12	|52,10,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushl @__label_5	|52,17,/home/ubuntu/buzz/src/include/vec2.bzz
+	tput	|58,1,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushs 0	|66,4,/home/ubuntu/buzz/src/include/vec2.bzz
+	gload	|66,4,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushs 1	|66,5,/home/ubuntu/buzz/src/include/vec2.bzz
+	tget	|66,9,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushs 13	|66,10,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushl @__label_6	|66,16,/home/ubuntu/buzz/src/include/vec2.bzz
+	tput	|71,1,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushs 0	|79,4,/home/ubuntu/buzz/src/include/vec2.bzz
+	gload	|79,4,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushs 1	|79,5,/home/ubuntu/buzz/src/include/vec2.bzz
+	tget	|79,9,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushs 14	|79,10,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushl @__label_7	|79,16,/home/ubuntu/buzz/src/include/vec2.bzz
+	tput	|84,1,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushs 0	|92,4,/home/ubuntu/buzz/src/include/vec2.bzz
+	gload	|92,4,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushs 1	|92,5,/home/ubuntu/buzz/src/include/vec2.bzz
+	tget	|92,9,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushs 15	|92,10,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushl @__label_8	|92,18,/home/ubuntu/buzz/src/include/vec2.bzz
+	tput	|97,1,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushs 0	|105,4,/home/ubuntu/buzz/src/include/vec2.bzz
+	gload	|105,4,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushs 1	|105,5,/home/ubuntu/buzz/src/include/vec2.bzz
+	tget	|105,9,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushs 16	|105,10,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushl @__label_9	|105,16,/home/ubuntu/buzz/src/include/vec2.bzz
+	tput	|107,1,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushs 17	|8,7,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 18	|8,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	gstore	|8,20,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 2	|9,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 19	|9,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	pushi 0	|9,10,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	gstore	|9,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 6	|14,16,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 23	|14,16,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	pushf 3.0	|14,18,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	gstore	|14,21,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 7	|15,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 8	|15,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 24	|15,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 25	|15,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	gstore	|15,22,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 9	|18,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 26	|18,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	pushf 10.0	|18,13,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	gstore	|19,0,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 10	|19,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 27	|19,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	pushf 18.0	|19,13,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	gstore	|20,1,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 33	|72,14,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushi 1	|72,16,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gstore	|72,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 31	|95,13,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushi 300	|95,15,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gstore	|95,18,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 30	|96,5,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushi 0	|96,6,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gstore	|96,7,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 45	|71,14,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushi 1	|71,16,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	gstore	|71,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 42	|94,13,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushi 300	|94,15,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	gstore	|94,18,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 41	|95,5,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushi 0	|95,6,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	gstore	|95,7,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 
 @__exitpoint
 	done
 
 @__label_1
-	pushs 4	|11,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pusht	|13,11,/home/ubuntu/buzz/src/include/vec2.bzz
+	dup	|13,11,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushs 3	|13,12,/home/ubuntu/buzz/src/include/vec2.bzz
+	lload 1	|13,17,/home/ubuntu/buzz/src/include/vec2.bzz
+	tput	|13,17,/home/ubuntu/buzz/src/include/vec2.bzz
+	dup	|13,17,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushs 4	|13,20,/home/ubuntu/buzz/src/include/vec2.bzz
+	lload 2	|13,26,/home/ubuntu/buzz/src/include/vec2.bzz
+	tput	|13,26,/home/ubuntu/buzz/src/include/vec2.bzz
+	ret1	|13,27,/home/ubuntu/buzz/src/include/vec2.bzz
+	ret0	|14,1,/home/ubuntu/buzz/src/include/vec2.bzz
+
+@__label_2
+	pusht	|24,4,/home/ubuntu/buzz/src/include/vec2.bzz
+	dup	|24,4,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushs 3	|24,5,/home/ubuntu/buzz/src/include/vec2.bzz
+	lload 1	|24,11,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushs 0	|24,17,/home/ubuntu/buzz/src/include/vec2.bzz
+	gload	|24,17,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushs 6	|24,18,/home/ubuntu/buzz/src/include/vec2.bzz
+	tget	|24,21,/home/ubuntu/buzz/src/include/vec2.bzz
+	lload 2	|24,23,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushi 1	|24,24,/home/ubuntu/buzz/src/include/vec2.bzz
+	callc	|24,24,/home/ubuntu/buzz/src/include/vec2.bzz
+	mul	|24,24,/home/ubuntu/buzz/src/include/vec2.bzz
+	tput	|24,24,/home/ubuntu/buzz/src/include/vec2.bzz
+	dup	|24,24,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushs 4	|25,5,/home/ubuntu/buzz/src/include/vec2.bzz
+	lload 1	|25,11,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushs 0	|25,17,/home/ubuntu/buzz/src/include/vec2.bzz
+	gload	|25,17,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushs 7	|25,18,/home/ubuntu/buzz/src/include/vec2.bzz
+	tget	|25,21,/home/ubuntu/buzz/src/include/vec2.bzz
+	lload 2	|25,23,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushi 1	|25,24,/home/ubuntu/buzz/src/include/vec2.bzz
+	callc	|25,24,/home/ubuntu/buzz/src/include/vec2.bzz
+	mul	|25,24,/home/ubuntu/buzz/src/include/vec2.bzz
+	tput	|25,24,/home/ubuntu/buzz/src/include/vec2.bzz
+	ret1	|26,3,/home/ubuntu/buzz/src/include/vec2.bzz
+	ret0	|27,1,/home/ubuntu/buzz/src/include/vec2.bzz
+
+@__label_3
+	pushs 0	|35,13,/home/ubuntu/buzz/src/include/vec2.bzz
+	gload	|35,13,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushs 9	|35,14,/home/ubuntu/buzz/src/include/vec2.bzz
+	tget	|35,18,/home/ubuntu/buzz/src/include/vec2.bzz
+	lload 1	|35,20,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushs 3	|35,21,/home/ubuntu/buzz/src/include/vec2.bzz
+	tget	|35,23,/home/ubuntu/buzz/src/include/vec2.bzz
+	lload 1	|35,26,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushs 3	|35,27,/home/ubuntu/buzz/src/include/vec2.bzz
+	tget	|35,29,/home/ubuntu/buzz/src/include/vec2.bzz
+	mul	|35,29,/home/ubuntu/buzz/src/include/vec2.bzz
+	lload 1	|35,32,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushs 4	|35,33,/home/ubuntu/buzz/src/include/vec2.bzz
+	tget	|35,35,/home/ubuntu/buzz/src/include/vec2.bzz
+	lload 1	|35,38,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushs 4	|35,39,/home/ubuntu/buzz/src/include/vec2.bzz
+	tget	|35,40,/home/ubuntu/buzz/src/include/vec2.bzz
+	mul	|35,40,/home/ubuntu/buzz/src/include/vec2.bzz
+	add	|35,40,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushi 1	|35,41,/home/ubuntu/buzz/src/include/vec2.bzz
+	callc	|35,41,/home/ubuntu/buzz/src/include/vec2.bzz
+	ret1	|35,41,/home/ubuntu/buzz/src/include/vec2.bzz
+	ret0	|36,1,/home/ubuntu/buzz/src/include/vec2.bzz
+
+@__label_4
+	pushs 0	|44,13,/home/ubuntu/buzz/src/include/vec2.bzz
+	gload	|44,13,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushs 11	|44,14,/home/ubuntu/buzz/src/include/vec2.bzz
+	tget	|44,19,/home/ubuntu/buzz/src/include/vec2.bzz
+	lload 1	|44,21,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushs 4	|44,22,/home/ubuntu/buzz/src/include/vec2.bzz
+	tget	|44,23,/home/ubuntu/buzz/src/include/vec2.bzz
+	lload 1	|44,26,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushs 3	|44,27,/home/ubuntu/buzz/src/include/vec2.bzz
+	tget	|44,28,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushi 2	|44,29,/home/ubuntu/buzz/src/include/vec2.bzz
+	callc	|44,29,/home/ubuntu/buzz/src/include/vec2.bzz
+	ret1	|44,29,/home/ubuntu/buzz/src/include/vec2.bzz
+	ret0	|45,1,/home/ubuntu/buzz/src/include/vec2.bzz
+
+@__label_5
+	pushs 0	|53,14,/home/ubuntu/buzz/src/include/vec2.bzz
+	gload	|53,14,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushs 8	|53,15,/home/ubuntu/buzz/src/include/vec2.bzz
+	tget	|53,21,/home/ubuntu/buzz/src/include/vec2.bzz
+	lload 1	|53,23,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushi 1	|53,24,/home/ubuntu/buzz/src/include/vec2.bzz
+	callc	|53,24,/home/ubuntu/buzz/src/include/vec2.bzz
+	lstore 2	|53,24,/home/ubuntu/buzz/src/include/vec2.bzz
+	pusht	|55,4,/home/ubuntu/buzz/src/include/vec2.bzz
+	dup	|55,4,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushs 3	|55,5,/home/ubuntu/buzz/src/include/vec2.bzz
+	lload 1	|55,10,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushs 3	|55,11,/home/ubuntu/buzz/src/include/vec2.bzz
+	tget	|55,13,/home/ubuntu/buzz/src/include/vec2.bzz
+	lload 2	|55,16,/home/ubuntu/buzz/src/include/vec2.bzz
+	div	|55,16,/home/ubuntu/buzz/src/include/vec2.bzz
+	tput	|55,16,/home/ubuntu/buzz/src/include/vec2.bzz
+	dup	|55,16,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushs 4	|56,5,/home/ubuntu/buzz/src/include/vec2.bzz
+	lload 1	|56,10,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushs 4	|56,11,/home/ubuntu/buzz/src/include/vec2.bzz
+	tget	|56,13,/home/ubuntu/buzz/src/include/vec2.bzz
+	lload 2	|56,16,/home/ubuntu/buzz/src/include/vec2.bzz
+	div	|56,16,/home/ubuntu/buzz/src/include/vec2.bzz
+	tput	|56,16,/home/ubuntu/buzz/src/include/vec2.bzz
+	ret1	|57,3,/home/ubuntu/buzz/src/include/vec2.bzz
+	ret0	|58,1,/home/ubuntu/buzz/src/include/vec2.bzz
+
+@__label_6
+	pusht	|68,4,/home/ubuntu/buzz/src/include/vec2.bzz
+	dup	|68,4,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushs 3	|68,5,/home/ubuntu/buzz/src/include/vec2.bzz
+	lload 1	|68,11,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushs 3	|68,12,/home/ubuntu/buzz/src/include/vec2.bzz
+	tget	|68,14,/home/ubuntu/buzz/src/include/vec2.bzz
+	lload 2	|68,18,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushs 3	|68,19,/home/ubuntu/buzz/src/include/vec2.bzz
+	tget	|68,20,/home/ubuntu/buzz/src/include/vec2.bzz
+	add	|68,20,/home/ubuntu/buzz/src/include/vec2.bzz
+	tput	|68,20,/home/ubuntu/buzz/src/include/vec2.bzz
+	dup	|68,20,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushs 4	|69,5,/home/ubuntu/buzz/src/include/vec2.bzz
+	lload 1	|69,11,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushs 4	|69,12,/home/ubuntu/buzz/src/include/vec2.bzz
+	tget	|69,14,/home/ubuntu/buzz/src/include/vec2.bzz
+	lload 2	|69,18,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushs 4	|69,19,/home/ubuntu/buzz/src/include/vec2.bzz
+	tget	|69,20,/home/ubuntu/buzz/src/include/vec2.bzz
+	add	|69,20,/home/ubuntu/buzz/src/include/vec2.bzz
+	tput	|69,20,/home/ubuntu/buzz/src/include/vec2.bzz
+	ret1	|70,3,/home/ubuntu/buzz/src/include/vec2.bzz
+	ret0	|71,1,/home/ubuntu/buzz/src/include/vec2.bzz
+
+@__label_7
+	pusht	|81,4,/home/ubuntu/buzz/src/include/vec2.bzz
+	dup	|81,4,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushs 3	|81,5,/home/ubuntu/buzz/src/include/vec2.bzz
+	lload 1	|81,11,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushs 3	|81,12,/home/ubuntu/buzz/src/include/vec2.bzz
+	tget	|81,14,/home/ubuntu/buzz/src/include/vec2.bzz
+	lload 2	|81,18,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushs 3	|81,19,/home/ubuntu/buzz/src/include/vec2.bzz
+	tget	|81,20,/home/ubuntu/buzz/src/include/vec2.bzz
+	sub	|81,20,/home/ubuntu/buzz/src/include/vec2.bzz
+	tput	|81,20,/home/ubuntu/buzz/src/include/vec2.bzz
+	dup	|81,20,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushs 4	|82,5,/home/ubuntu/buzz/src/include/vec2.bzz
+	lload 1	|82,11,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushs 4	|82,12,/home/ubuntu/buzz/src/include/vec2.bzz
+	tget	|82,14,/home/ubuntu/buzz/src/include/vec2.bzz
+	lload 2	|82,18,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushs 4	|82,19,/home/ubuntu/buzz/src/include/vec2.bzz
+	tget	|82,20,/home/ubuntu/buzz/src/include/vec2.bzz
+	sub	|82,20,/home/ubuntu/buzz/src/include/vec2.bzz
+	tput	|82,20,/home/ubuntu/buzz/src/include/vec2.bzz
+	ret1	|83,3,/home/ubuntu/buzz/src/include/vec2.bzz
+	ret0	|84,1,/home/ubuntu/buzz/src/include/vec2.bzz
+
+@__label_8
+	pusht	|94,4,/home/ubuntu/buzz/src/include/vec2.bzz
+	dup	|94,4,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushs 3	|94,5,/home/ubuntu/buzz/src/include/vec2.bzz
+	lload 1	|94,10,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushs 3	|94,11,/home/ubuntu/buzz/src/include/vec2.bzz
+	tget	|94,13,/home/ubuntu/buzz/src/include/vec2.bzz
+	lload 2	|94,16,/home/ubuntu/buzz/src/include/vec2.bzz
+	mul	|94,16,/home/ubuntu/buzz/src/include/vec2.bzz
+	tput	|94,16,/home/ubuntu/buzz/src/include/vec2.bzz
+	dup	|94,16,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushs 4	|95,5,/home/ubuntu/buzz/src/include/vec2.bzz
+	lload 1	|95,10,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushs 4	|95,11,/home/ubuntu/buzz/src/include/vec2.bzz
+	tget	|95,13,/home/ubuntu/buzz/src/include/vec2.bzz
+	lload 2	|95,16,/home/ubuntu/buzz/src/include/vec2.bzz
+	mul	|95,16,/home/ubuntu/buzz/src/include/vec2.bzz
+	tput	|95,16,/home/ubuntu/buzz/src/include/vec2.bzz
+	ret1	|96,3,/home/ubuntu/buzz/src/include/vec2.bzz
+	ret0	|97,1,/home/ubuntu/buzz/src/include/vec2.bzz
+
+@__label_9
+	lload 1	|106,11,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushs 3	|106,12,/home/ubuntu/buzz/src/include/vec2.bzz
+	tget	|106,14,/home/ubuntu/buzz/src/include/vec2.bzz
+	lload 2	|106,18,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushs 3	|106,19,/home/ubuntu/buzz/src/include/vec2.bzz
+	tget	|106,21,/home/ubuntu/buzz/src/include/vec2.bzz
+	mul	|106,21,/home/ubuntu/buzz/src/include/vec2.bzz
+	lload 1	|106,25,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushs 4	|106,26,/home/ubuntu/buzz/src/include/vec2.bzz
+	tget	|106,28,/home/ubuntu/buzz/src/include/vec2.bzz
+	lload 2	|106,32,/home/ubuntu/buzz/src/include/vec2.bzz
+	pushs 4	|106,33,/home/ubuntu/buzz/src/include/vec2.bzz
+	tget	|106,34,/home/ubuntu/buzz/src/include/vec2.bzz
+	mul	|106,34,/home/ubuntu/buzz/src/include/vec2.bzz
+	add	|106,34,/home/ubuntu/buzz/src/include/vec2.bzz
+	ret1	|106,34,/home/ubuntu/buzz/src/include/vec2.bzz
+	ret0	|107,1,/home/ubuntu/buzz/src/include/vec2.bzz
+
+@__label_10
+	pushs 21	|11,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	gload	|11,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 5	|11,10,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 22	|11,10,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	tget	|11,19,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 0	|11,27,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 17	|11,27,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	gload	|11,27,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 2	|11,38,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 19	|11,38,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	gload	|11,38,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	pushi 2	|11,39,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	callc	|11,39,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	ret0	|12,1,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 
-@__label_2
+@__label_11
 	lload 3	|23,19,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	lload 1	|23,25,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	div	|23,25,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
@@ -195,38 +477,38 @@
 	ret1	|23,68,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	ret0	|24,1,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 
-@__label_3
-	pushs 13	|28,13,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+@__label_12
+	pushs 0	|28,13,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	gload	|28,13,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 14	|28,14,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 1	|28,14,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	tget	|28,18,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 15	|28,19,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 5	|28,19,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	tget	|28,23,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 11	|28,36,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 28	|28,36,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	gload	|28,36,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	lload 2	|28,41,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 16	|28,42,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 30	|28,42,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	tget	|28,50,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 9	|28,58,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 26	|28,58,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	gload	|28,58,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 10	|28,67,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 27	|28,67,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	gload	|28,67,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	pushi 3	|28,68,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	callc	|28,68,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	lload 2	|28,74,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 17	|28,75,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 31	|28,75,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	tget	|28,82,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	pushi 2	|28,83,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	callc	|28,83,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	ret1	|28,83,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	ret0	|29,1,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 
-@__label_4
-	pushs 13	|33,13,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+@__label_13
+	pushs 0	|33,13,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	gload	|33,13,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 14	|33,14,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 1	|33,14,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	tget	|33,18,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 19	|33,19,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 13	|33,19,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	tget	|33,22,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	lload 2	|33,27,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	lload 3	|33,34,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
@@ -235,31 +517,31 @@
 	ret1	|33,35,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	ret0	|34,1,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 
-@__label_5
-	pushs 21	|38,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 20	|38,16,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+@__label_14
+	pushs 34	|38,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 33	|38,16,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	gload	|38,16,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	gstore	|38,16,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 7	|39,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 22	|39,13,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 24	|39,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 35	|39,13,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	gstore	|39,22,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 4	|41,23,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 21	|41,23,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	gload	|41,23,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 23	|41,24,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 36	|41,24,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	tget	|41,27,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 12	|41,37,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 29	|41,37,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	gload	|41,37,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	pushi 1	|41,38,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	callc	|41,38,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 24	|41,39,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 37	|41,39,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	tget	|41,45,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 18	|41,52,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 32	|41,52,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	gload	|41,52,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 13	|41,58,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 0	|41,58,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	gload	|41,58,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 14	|41,59,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 1	|41,59,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	tget	|41,63,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 25	|41,64,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 2	|41,64,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	tget	|41,67,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	pushf 0.0	|41,68,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	pushf 0.0	|41,73,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
@@ -268,595 +550,607 @@
 	pushi 2	|41,78,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	callc	|41,78,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	lstore 1	|41,78,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 4	|42,14,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 21	|42,14,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	gload	|42,14,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 26	|42,15,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 38	|42,15,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	tget	|42,20,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	pushi 0	|42,23,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	callc	|42,23,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	pushi 0	|42,25,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	gt	|42,26,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	jumpz @__label_6	|42,27,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 13	|43,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	jumpz @__label_15	|42,27,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 0	|43,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	gload	|43,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 14	|43,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 1	|43,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	tget	|43,13,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 27	|43,14,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 15	|43,14,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	tget	|43,19,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	lload 1	|43,25,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	pushf 1.0	|43,27,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 4	|43,42,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 21	|43,42,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	gload	|43,42,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 26	|43,43,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 38	|43,43,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	tget	|43,48,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	pushi 0	|43,50,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	callc	|43,50,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	div	|43,50,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	pushi 2	|43,51,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	callc	|43,51,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-@__label_6	|48,2,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 28	|48,5,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+@__label_15	|48,2,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 39	|48,5,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	gload	|48,5,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 29	|48,6,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 30	|48,21,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 40	|48,6,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 41	|48,21,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	gload	|48,21,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	pushi 2	|48,22,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	callc	|48,22,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 30	|49,10,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 41	|49,10,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	gload	|49,10,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 31	|49,24,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 42	|49,24,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	gload	|49,24,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	gte	|49,24,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	jumpz @__label_8	|49,26,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 30	|50,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	jumpz @__label_17	|49,26,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 41	|50,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	pushi 0	|50,10,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	gstore	|50,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 21	|51,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 32	|51,14,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 34	|51,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 43	|51,14,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	gload	|51,14,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	gstore	|51,14,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	jump @__label_9	|52,10,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-@__label_8	|52,10,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 30	|53,13,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	jump @__label_18	|52,10,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+@__label_17	|52,10,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 41	|53,13,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	gload	|53,13,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 31	|53,30,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 42	|53,30,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	gload	|53,30,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	pushi 2	|53,32,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	div	|53,33,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 	gte	|53,34,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	jumpz @__label_10	|53,35,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	jump @__label_11	|55,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-@__label_10	|55,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-@__label_11	|58,5,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 30	|59,10,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 30	|59,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gload	|59,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushi 1	|59,18,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	add	|59,19,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gstore	|59,19,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-@__label_9	|60,4,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	ret0	|61,1,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-
-@__label_12
-	pushs 21	|79,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushl @__label_13	|79,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gstore	|81,3,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 36	|82,10,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 37	|82,21,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gload	|82,21,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 38	|82,22,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	tget	|82,28,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 33	|82,42,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gload	|82,42,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushi 1	|82,43,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	callc	|82,43,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gstore	|82,43,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	ret0	|83,1,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-
-@__label_13
-	pushs 35	|80,16,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gload	|80,16,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	lload 1	|80,26,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	lload 2	|80,34,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushi 2	|80,35,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	callc	|80,35,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	ret0	|81,3,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-
-@__label_14
-	pushs 36	|89,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gload	|89,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 40	|89,10,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	tget	|89,13,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 41	|89,16,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gload	|89,16,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushi 1	|89,18,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushi 2	|89,20,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	callc	|89,20,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	ret0	|90,1,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-
-@__label_15
-	pushs 36	|98,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gload	|98,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 42	|98,10,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	tget	|98,13,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 41	|98,16,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gload	|98,16,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushi 1	|98,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	callc	|98,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 7	|99,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 43	|99,13,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gstore	|99,26,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 36	|100,12,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gload	|100,12,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 44	|100,13,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	tget	|100,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushi 0	|100,20,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	callc	|100,20,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	lload 1	|100,32,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gte	|100,32,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	jumpz @__label_16	|100,34,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 36	|101,12,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushnil	|101,14,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gstore	|101,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	lload 2	|102,10,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushi 0	|102,12,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	callc	|102,12,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	jump @__label_17	|103,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-@__label_16	|103,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 30	|103,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gload	|103,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 31	|103,31,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gload	|103,31,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gte	|103,31,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	jumpz @__label_18	|103,33,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 36	|104,12,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushnil	|104,14,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gstore	|104,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 21	|105,10,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 32	|105,15,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gload	|105,15,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gstore	|105,15,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 30	|106,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushi 0	|106,10,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gstore	|106,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-@__label_18	|108,2,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-@__label_17	|108,2,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 30	|108,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 30	|108,15,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gload	|108,15,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushi 1	|108,16,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	add	|108,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gstore	|108,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	ret0	|109,1,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-
-@__label_20
-	pushs 21	|114,6,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 45	|114,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gload	|114,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gstore	|114,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 7	|115,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 46	|115,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gstore	|115,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	ret0	|117,1,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	jumpz @__label_19	|53,35,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 44	|54,15,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	gload	|54,15,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushf 0.03	|54,16,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushf 0.0	|54,21,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushi 2	|54,25,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	callc	|54,25,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	jump @__label_20	|55,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+@__label_19	|55,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 44	|56,15,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	gload	|56,15,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushf 0.0	|56,16,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushf 0.03	|56,20,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushi 2	|56,25,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	callc	|56,25,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+@__label_20	|57,5,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 41	|58,10,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 41	|58,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	gload	|58,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushi 1	|58,18,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	add	|58,19,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	gstore	|58,19,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+@__label_18	|59,4,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	ret0	|60,1,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 
 @__label_21
-	pushs 7	|120,10,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 48	|120,12,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gstore	|120,21,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 21	|121,7,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 47	|121,15,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gload	|121,15,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gstore	|121,15,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 28	|122,4,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gload	|122,4,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 49	|122,5,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 50	|122,24,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gload	|122,24,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 51	|122,25,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	tget	|122,31,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushi 2	|122,32,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	callc	|122,32,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 28	|123,4,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gload	|123,4,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 52	|123,5,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 53	|123,36,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gload	|123,36,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 54	|123,37,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	tget	|123,45,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushi 2	|123,46,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	callc	|123,46,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 50	|125,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gload	|125,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 51	|125,12,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	tget	|125,19,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushi 2	|125,22,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	eq	|125,24,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 53	|125,36,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gload	|125,36,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 54	|125,37,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	tget	|125,46,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 6	|125,64,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gload	|125,64,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 6	|125,80,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gload	|125,80,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushf 20.0	|125,81,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	div	|125,85,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	sub	|125,85,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gte	|125,85,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	and	|125,85,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	jumpz @__label_22	|125,87,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 34	|126,13,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gload	|126,13,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 55	|126,20,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gload	|126,20,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 20	|126,29,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gload	|126,29,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushi 2	|126,30,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	callc	|126,30,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 39	|128,15,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gload	|128,15,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushi 0	|128,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	callc	|128,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	jump @__label_23	|131,6,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-@__label_22	|131,6,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 28	|132,5,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gload	|132,5,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 56	|132,6,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 6	|132,35,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gload	|132,35,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushi 2	|132,36,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	callc	|132,36,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 4	|133,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gload	|133,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 5	|133,12,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	tget	|133,21,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 57	|133,22,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushi 22	|133,29,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushi 2	|133,32,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	callc	|133,32,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 58	|134,13,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gload	|134,13,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 6	|134,29,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gload	|134,29,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushi 1	|134,30,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	callc	|134,30,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-@__label_23	|135,2,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	ret0	|136,1,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 34	|78,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushl @__label_22	|78,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	gstore	|80,3,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 48	|81,10,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 49	|81,21,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	gload	|81,21,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 50	|81,22,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	tget	|81,28,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 45	|81,42,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	gload	|81,42,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushi 1	|81,43,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	callc	|81,43,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	gstore	|81,43,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	ret0	|82,1,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+
+@__label_22
+	pushs 47	|79,16,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	gload	|79,16,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	lload 1	|79,26,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	lload 2	|79,34,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushi 2	|79,35,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	callc	|79,35,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	ret0	|80,3,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+
+@__label_23
+	pushs 48	|88,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	gload	|88,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 52	|88,10,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	tget	|88,13,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 53	|88,16,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	gload	|88,16,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushi 1	|88,18,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushi 2	|88,20,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	callc	|88,20,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	ret0	|89,1,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 
 @__label_24
-	pushs 7	|138,10,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 59	|138,12,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gstore	|138,18,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 21	|139,7,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 32	|139,12,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gload	|139,12,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gstore	|139,12,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 28	|140,4,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gload	|140,4,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 60	|140,5,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 50	|140,21,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gload	|140,21,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 51	|140,22,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	tget	|140,28,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushi 2	|140,29,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	callc	|140,29,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 50	|141,10,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gload	|141,10,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 51	|141,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	tget	|141,18,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushi 2	|141,21,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	eq	|141,23,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 50	|141,32,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gload	|141,32,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 51	|141,33,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	tget	|141,40,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushi 3	|141,43,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	eq	|141,44,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	or	|141,44,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	jumpz @__label_25	|141,45,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 4	|142,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gload	|142,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 5	|142,12,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	tget	|142,21,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 57	|142,22,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushi 21	|142,29,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushi 2	|142,32,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	callc	|142,32,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 61	|143,10,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gload	|143,10,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushi 0	|143,12,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	callc	|143,12,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	jump @__label_26	|145,6,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-@__label_25	|145,6,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 30	|146,7,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushi 0	|146,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gstore	|146,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 36	|147,10,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushnil	|147,12,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gstore	|147,15,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 21	|148,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 45	|148,13,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gload	|148,13,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gstore	|148,13,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-@__label_26	|149,2,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	ret0	|150,1,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 48	|97,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
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+	pushs 54	|97,10,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
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+	pushs 53	|97,16,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
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+	pushi 1	|97,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	callc	|97,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 24	|98,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
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+	gload	|99,12,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 56	|99,13,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	tget	|99,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushi 0	|99,20,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
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+	pushnil	|100,14,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
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+	lload 2	|101,10,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushi 0	|101,12,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	callc	|101,12,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
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+	pushs 41	|102,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	gload	|102,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 42	|102,31,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	gload	|102,31,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	gte	|102,31,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
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+	pushnil	|103,14,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	gstore	|103,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 34	|104,10,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 43	|104,15,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	gload	|104,15,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	gstore	|104,15,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 41	|105,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushi 0	|105,10,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
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+	pushs 41	|107,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 41	|107,15,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
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+	pushi 1	|107,16,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	add	|107,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	gstore	|107,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	ret0	|108,1,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 
-@__label_27
-	pushs 63	|154,3,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 64	|154,10,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gload	|154,10,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 38	|154,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	tget	|154,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushi 1	|154,18,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushi 1	|154,20,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	callc	|154,20,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gstore	|154,20,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 63	|156,2,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gload	|156,2,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 65	|156,3,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	tget	|156,7,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushi 0	|156,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	callc	|156,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 21	|157,7,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 45	|157,12,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gload	|157,12,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gstore	|157,12,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 7	|158,10,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 46	|158,12,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gstore	|158,18,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	ret0	|159,1,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+@__label_29
+	pushs 34	|113,6,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
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+	pushs 24	|114,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 58	|114,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	gstore	|114,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
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-@__label_28
-	pushs 50	|163,10,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gload	|163,10,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 67	|163,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	tget	|163,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushi 22	|163,19,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	eq	|163,21,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	jumpz @__label_29	|163,23,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 28	|164,5,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gload	|164,5,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 68	|164,6,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushi 1	|164,15,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	callc	|164,15,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 50	|165,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gload	|165,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 67	|165,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushi 0	|165,16,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
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-	pushs 21	|166,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 47	|166,18,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gload	|166,18,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gstore	|166,18,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 7	|167,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 48	|167,13,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gstore	|167,24,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 4	|168,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gload	|168,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 5	|168,12,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	tget	|168,21,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 57	|168,22,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushi 22	|168,29,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushi 2	|168,32,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	callc	|168,32,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
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-	callc	|171,16,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 50	|172,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gload	|172,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 67	|172,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushi 0	|172,16,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	tput	|172,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 21	|173,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 32	|173,15,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gload	|173,15,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gstore	|173,15,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 7	|174,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 59	|174,13,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gstore	|174,19,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 4	|175,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gload	|175,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 5	|175,12,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	tget	|175,21,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 57	|175,22,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushi 21	|175,29,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushi 2	|175,32,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	callc	|175,32,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	jump @__label_32	|176,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-@__label_31	|176,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 50	|176,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gload	|176,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 67	|176,18,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	tget	|176,24,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushi 16	|176,26,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	eq	|176,28,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	jumpz @__label_33	|176,30,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 50	|177,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gload	|177,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 67	|177,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushi 0	|177,16,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	tput	|177,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 21	|178,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 45	|178,15,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gload	|178,15,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gstore	|178,15,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 71	|179,10,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gload	|179,10,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushi 0	|179,12,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	callc	|179,12,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	jump @__label_34	|180,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-@__label_33	|180,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 50	|180,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gload	|180,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 67	|180,18,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	tget	|180,24,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushi 400	|180,26,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	eq	|180,29,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	jumpz @__label_35	|180,31,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 50	|181,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gload	|181,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 67	|181,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushi 0	|181,16,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	tput	|181,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 72	|182,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gload	|182,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushi 0	|182,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	callc	|182,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 4	|183,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gload	|183,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 5	|183,12,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	tget	|183,21,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 57	|183,22,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushi 400	|183,29,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushi 2	|183,33,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	callc	|183,33,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	jump @__label_36	|184,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-@__label_35	|184,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 50	|184,18,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gload	|184,18,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 67	|184,19,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	tget	|184,25,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushi 401	|184,27,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	eq	|184,30,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	jumpz @__label_37	|184,31,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 50	|185,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gload	|185,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 67	|185,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushi 0	|185,16,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	tput	|185,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 73	|186,12,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gload	|186,12,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushi 0	|186,14,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	callc	|186,14,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 4	|187,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gload	|187,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 5	|187,12,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	tget	|187,21,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 57	|187,22,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushi 401	|187,29,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushi 2	|187,33,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	callc	|187,33,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-@__label_37	|189,0,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-@__label_36	|189,0,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-@__label_34	|189,0,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-@__label_32	|189,0,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-@__label_30	|189,0,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 4	|189,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gload	|189,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 74	|189,10,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	tget	|189,16,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 57	|189,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushl @__label_39	|190,3,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushi 2	|203,1,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	callc	|203,1,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 21	|204,7,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gload	|204,7,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushi 0	|204,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	callc	|204,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 28	|205,4,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 82	|170,6,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushi 1	|170,16,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	callc	|170,16,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 62	|171,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	gload	|171,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 79	|171,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushi 0	|171,16,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	tput	|171,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 34	|172,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 43	|172,15,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	gload	|172,15,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	gstore	|172,15,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 24	|173,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 71	|173,13,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	gstore	|173,19,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 21	|174,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	gload	|174,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 22	|174,12,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	tget	|174,21,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 69	|174,22,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushi 21	|174,29,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushi 2	|174,32,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	callc	|174,32,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	jump @__label_41	|175,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+@__label_40	|175,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 62	|175,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	gload	|175,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 79	|175,18,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	tget	|175,24,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushi 16	|175,26,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	eq	|175,28,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	jumpz @__label_42	|175,30,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 62	|176,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	gload	|176,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 79	|176,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushi 0	|176,16,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	tput	|176,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 34	|177,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 57	|177,15,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	gload	|177,15,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	gstore	|177,15,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 83	|178,10,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	gload	|178,10,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushi 0	|178,12,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	callc	|178,12,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	jump @__label_43	|179,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+@__label_42	|179,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 62	|179,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	gload	|179,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 79	|179,18,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	tget	|179,24,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushi 400	|179,26,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	eq	|179,29,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	jumpz @__label_44	|179,31,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 62	|180,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	gload	|180,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 79	|180,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushi 0	|180,16,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	tput	|180,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 84	|181,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	gload	|181,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushi 0	|181,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	callc	|181,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 21	|182,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	gload	|182,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 22	|182,12,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	tget	|182,21,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 69	|182,22,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushi 400	|182,29,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushi 2	|182,33,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	callc	|182,33,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	jump @__label_45	|183,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+@__label_44	|183,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 62	|183,18,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	gload	|183,18,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 79	|183,19,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	tget	|183,25,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushi 401	|183,27,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	eq	|183,30,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	jumpz @__label_46	|183,31,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 62	|184,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	gload	|184,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 79	|184,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushi 0	|184,16,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	tput	|184,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 85	|185,12,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	gload	|185,12,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushi 0	|185,14,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	callc	|185,14,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 21	|186,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	gload	|186,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 22	|186,12,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	tget	|186,21,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 69	|186,22,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushi 401	|186,29,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushi 2	|186,33,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	callc	|186,33,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+@__label_46	|188,0,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+@__label_45	|188,0,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+@__label_43	|188,0,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+@__label_41	|188,0,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+@__label_39	|188,0,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 21	|188,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	gload	|188,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 86	|188,10,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	tget	|188,16,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 69	|188,17,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushl @__label_48	|189,3,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushi 2	|202,1,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	callc	|202,1,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 34	|203,7,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	gload	|203,7,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushi 0	|203,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	callc	|203,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 39	|204,4,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
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-	pushs 55	|206,26,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gload	|206,26,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushi 2	|206,27,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	callc	|206,27,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	ret0	|207,1,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-
-@__label_39
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-	eq	|192,14,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
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-	eq	|194,20,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	jumpz @__label_42	|194,22,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
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-	pushs 32	|195,13,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
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-	gstore	|195,13,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
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-	pushi 400	|196,18,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	eq	|196,22,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 7	|196,34,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
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-	pushs 46	|196,36,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	eq	|196,42,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	and	|196,42,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	jumpz @__label_44	|196,44,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 72	|197,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gload	|197,9,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushi 0	|197,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	callc	|197,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	jump @__label_45	|198,8,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
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-	lload 2	|198,16,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushi 401	|198,18,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	eq	|198,22,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 7	|198,34,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	gload	|198,34,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	pushs 46	|198,36,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
-	eq	|198,42,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
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-	gload	|199,12,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
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+	ret0	|206,1,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 
 @__label_48
-	ret0	|211,1,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
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+	pushi 0	|196,11,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
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+	lload 2	|197,16,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushi 401	|197,18,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	eq	|197,22,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 24	|197,34,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	gload	|197,34,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 58	|197,36,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	eq	|197,42,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	and	|197,42,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	jumpz @__label_55	|197,43,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushs 85	|198,12,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	gload	|198,12,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	pushi 0	|198,14,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	callc	|198,14,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+@__label_55	|200,3,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+@__label_54	|200,3,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+@__label_52	|200,3,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+@__label_50	|200,3,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+	ret0	|200,4,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
 
-@__label_49
-	ret0	|215,1,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+@__label_57
+	ret0	|210,1,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
+
+@__label_58
+	ret0	|214,1,/home/ivan/catkin_ws/src/rosbuzz/script/testsolo.bzz
diff --git a/script/testsolo.bdb b/script/testsolo.bdb
index 877ba46ee655f8ac2f8f2be266af4c87c3e72cdf..d25ea48913a362e840bf458b3b0f8a48eb19684a 100644
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diff --git a/script/testsolo.bdbg b/script/testsolo.bdbg
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m*UdkDXjGt2v0*$d!~pPdVzZ%wUBVB-i%wWf{{oVa6Z<c+1Td}u

diff --git a/script/testsolo.bo b/script/testsolo.bo
index cd7b57f52a83fe198eaebd1ccfa571854fd4f41e..294076a1b82734a464ecc21f47de0694be114e9d 100644
GIT binary patch
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diff --git a/script/testsolo.bzz b/script/testsolo.bzz
index 6a2b4dd..4118e14 100644
--- a/script/testsolo.bzz
+++ b/script/testsolo.bzz
@@ -51,10 +51,9 @@ function hexagon() {
   	statef=land
   	} else {
   		if(timeW >= (WAIT_TIMEOUT / 2)){
-  			#uav_moveto(4.0,0.0)
+  			uav_moveto(0.03,0.0)
   		} else {
-  			#uav_moveto(4.0,0.0)
-  			#uav_moveto(0.0,4.0)
+  			uav_moveto(0.0,0.03)
   		}
   		timeW = timeW+1
   	}
diff --git a/src/roscontroller.cpp b/src/roscontroller.cpp
index 41f9b51..2a6a018 100644
--- a/src/roscontroller.cpp
+++ b/src/roscontroller.cpp
@@ -7,6 +7,11 @@ namespace rosbzz_node{
 	---------------*/
 	roscontroller::roscontroller(ros::NodeHandle& n_c, ros::NodeHandle& n_c_priv)	
 	{
+
+		home[0]=0.0;home[1]=0.0;home[2]=0.0;
+		target[0]=0.0;target[1]=0.0;target[2]=0.0;
+		cur_pos[0]=0.0;cur_pos[1]=0.0;cur_pos[2]=0.0;
+
 		ROS_INFO("Buzz_node");
 		/*Obtain parameters from ros parameter server*/
 	  	Rosparameters_get(n_c_priv);
@@ -32,7 +37,10 @@ namespace rosbzz_node{
 		setpoint_counter = 0;
 		fcu_timeout = TIMEOUT;
         
-		home[0]=0.0;home[1]=0.0;home[2]=0.0;
+
+		//ros::Duration(0.1).sleep();
+
+
 	}
 
 	/*---------------------
@@ -115,7 +123,7 @@ namespace rosbzz_node{
     			timer_step+=1;
    				maintain_pos(timer_step);
 
-   				std::cout<< "HOME: " << home[0] << ", " << home[1] <<std::endl;
+   				std::cout<< "HOME: " << home[0] << ", " << home[1];
 			}
 			/* Destroy updater and Cleanup */
     			//update_routine(bcfname.c_str(), dbgfname.c_str(),1);
@@ -764,8 +772,10 @@ namespace rosbzz_node{
                 ROS_INFO("[%i] ROSBuzz LocalPos: %.7f, %.7f", robot_id, local_pos[0], local_pos[1]);
                     
                 /*prepare the goto publish message ATTENTION: ENU FRAME FOR MAVROS STANDARD (then converted to NED)*/
-		moveMsg.pose.position.x = local_pos[1]+y;
-		moveMsg.pose.position.y = local_pos[0]+x;
+        target[0]+=y;
+		target[1]+=x;
+        moveMsg.pose.position.x = target[0];//local_pos[1]+y;
+		moveMsg.pose.position.y = target[1];
 		moveMsg.pose.position.z = z;
 
 		moveMsg.pose.orientation.x = 0;