diff --git a/include/roscontroller.h b/include/roscontroller.h
index 626b202..1a1c30a 100644
--- a/include/roscontroller.h
+++ b/include/roscontroller.h
@@ -1,6 +1,7 @@
 #pragma once
 #include <ros/ros.h>
 #include <sensor_msgs/NavSatFix.h>
+#include <std_msgs/UInt8.h>
 #include "mavros_msgs/GlobalPositionTarget.h"
 #include "mavros_msgs/CommandCode.h"
 #include "mavros_msgs/CommandLong.h"
@@ -66,6 +67,7 @@ private:
 	ros::Subscriber payload_sub;
 	ros::Subscriber flight_status_sub;
 	ros::Subscriber obstacle_sub;
+	ros::Subscriber Robot_id_sub;
 	/*Commands for flight controller*/
   	//mavros_msgs::CommandInt cmd_srv;
   	mavros_msgs::CommandLong cmd_srv;
@@ -137,6 +139,9 @@ private:
 	/* RC commands service */
 	bool rc_callback(mavros_msgs::CommandLong::Request  &req, mavros_msgs::CommandLong::Response &res);
 
+	/*robot id sub callback*/
+	void set_robot_id(const std_msgs::UInt8::ConstPtr& msg);
+
 	void obstacle_dist(const sensor_msgs::LaserScan::ConstPtr& msg);
 
 	void GetSubscriptionParameters(ros::NodeHandle node_handle);
diff --git a/src/roscontroller.cpp b/src/roscontroller.cpp
index 600fea5..1b19a30 100644
--- a/src/roscontroller.cpp
+++ b/src/roscontroller.cpp
@@ -117,7 +117,7 @@ namespace rosbzz_node{
   		else{ROS_ERROR("Provide a rc client option: yes or no in Launch file"); system("rosnode kill rosbuzz_node");} 
   		/*Obtain robot_id from parameter server*/
   		//n_c.getParam("robot_id", robot_id);
-		robot_id=(int)buzz_utility::get_robotid();
+		//robot_id=(int)buzz_utility::get_robotid();
 		/*Obtain out payload name*/
   		n_c.getParam("out_payload", out_payload);
 		/*Obtain in payload name*/
@@ -169,7 +169,7 @@ namespace rosbzz_node{
   		//battery_sub = n_c.subscribe("/power_status", 1000, &roscontroller::battery,this);
   		payload_sub = n_c.subscribe(in_payload, 1000, &roscontroller::payload_obt,this);
 		//flight_status_sub =n_c.subscribe("/flight_status",100, &roscontroller::flight_extended_status_update,this);
-
+		Robot_id_sub = n_c.subscribe("/device_id_xbee_", 1000, &roscontroller::set_robot_id,this);
   		obstacle_sub= n_c.subscribe("/guidance/obstacle_distance",100, &roscontroller::obstacle_dist,this);
   		/*publishers*/
 		payload_pub = n_c.advertise<mavros_msgs::Mavlink>(out_payload, 1000);
@@ -730,6 +730,10 @@ namespace rosbzz_node{
    		}
    		return true;
 	}
+	void roscontroller::set_robot_id(const std_msgs::UInt8::ConstPtr& msg){
+	robot_id=(int)msg->data;
+	
+	}
 	
 }
 
diff --git a/src/test1.bzz b/src/test1.bzz
index 3e9d1fb..78c257e 100644
--- a/src/test1.bzz
+++ b/src/test1.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 "/home/vivek/ubuntu/buzz/src/include/vec2.bzz"
 ####################################################################################################
 # Updater related
 # This should be here for the updater to work, changing position of code will crash the updater