diff --git a/src/buzzuav_closures.cpp b/src/buzzuav_closures.cpp
index e7499dd..729e1d3 100644
--- a/src/buzzuav_closures.cpp
+++ b/src/buzzuav_closures.cpp
@@ -25,10 +25,10 @@ int buzzros_print(buzzvm_t vm) {
 	    ROS_INFO("BUZZ - [nil]");
             break;
          case BUZZTYPE_INT:
-            //fprintf(stdout, "%d", o->i.value);
+            fprintf(stdout, "%d", o->i.value);
             break;
          case BUZZTYPE_FLOAT:
-            //fprintf(stdout, "%f", o->f.value);
+            fprintf(stdout, "%f", o->f.value);
             break;
          case BUZZTYPE_TABLE:
             //fprintf(stdout, "[table with %d elems]", (buzzdict_size(o->t.value)));
@@ -42,7 +42,7 @@ int buzzros_print(buzzvm_t vm) {
                //fprintf(stdout, "[c-closure @%d]", o->c.value.ref);
             break;
          case BUZZTYPE_STRING:
-            //fprintf(stdout, "%s", o->s.value.str);
+            fprintf(stdout, "%s", o->s.value.str);
             break;
          case BUZZTYPE_USERDATA:
             //fprintf(stdout, "[userdata @%p]", o->u.value);
diff --git a/src/out.basm b/src/out.basm
index 50bca23..37720c5 100644
--- a/src/out.basm
+++ b/src/out.basm
@@ -1,20 +1,31 @@
-!4
+!15
 'init
+'id
+'mydist
+'neighbors
+'listen
+'dist_to_source
+'math
+'min
+'get
+'distance
 'step
+'broadcast
+'print
 'reset
 'destroy
 
 	pushs 0
 	pushcn @__label_1
 	gstore
-	pushs 1
-	pushcn @__label_2
+	pushs 10
+	pushcn @__label_5
 	gstore
-	pushs 2
-	pushcn @__label_3
+	pushs 13
+	pushcn @__label_6
 	gstore
-	pushs 3
-	pushcn @__label_4
+	pushs 14
+	pushcn @__label_7
 	gstore
 	nop
 
@@ -24,13 +35,74 @@
 	done
 
 @__label_1
-	ret0	|3,1,/home/vivek/BuzzKH4/build/test.bzz
-
-@__label_2
-	ret0	|7,1,/home/vivek/BuzzKH4/build/test.bzz
-
-@__label_3
-	ret0	|11,1,/home/vivek/BuzzKH4/build/test.bzz
+	pushs 1	|3,6,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	gload	|3,6,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushi 0	|3,9,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	eq	|3,10,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	jumpz @__label_2	|3,12,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushs 2	|5,11,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushf 0.	|5,13,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	gstore	|5,15,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	jump @__label_3	|7,7,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+@__label_2	|7,7,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushs 2	|9,11,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushf 1000.	|9,13,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	gstore	|9,18,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushs 3	|11,13,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	gload	|11,13,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushs 4	|11,14,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	tget	|11,20,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushs 5	|11,21,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushl @__label_4	|12,6,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushi 2	|16,8,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	callc	|16,8,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+@__label_3	|17,3,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	ret0	|18,1,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
 
 @__label_4
-	ret0	|15,1,/home/vivek/BuzzKH4/build/test.bzz
+	pushs 2	|13,15,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushs 6	|13,21,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	gload	|13,21,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushs 7	|13,22,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	tget	|13,25,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushs 2	|14,16,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	gload	|14,16,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushs 3	|15,19,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	gload	|15,19,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushs 8	|15,20,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	tget	|15,23,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	lload 3	|15,32,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushi 1	|15,33,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	callc	|15,33,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushs 9	|15,34,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	tget	|15,43,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	lload 2	|15,50,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	add	|15,50,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushi 2	|15,51,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	callc	|15,51,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	gstore	|15,51,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	ret0	|16,7,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+
+@__label_5
+	pushs 3	|22,9,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	gload	|22,9,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushs 11	|22,10,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	tget	|22,19,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushs 5	|22,20,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushs 2	|22,44,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	gload	|22,44,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushi 2	|22,45,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	callc	|22,45,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushs 12	|23,5,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	gload	|23,5,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushs 2	|23,12,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	gload	|23,12,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	pushi 1	|23,13,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	callc	|23,13,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+	ret0	|26,1,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+
+@__label_6
+	ret0	|30,1,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
+
+@__label_7
+	ret0	|34,1,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
diff --git a/src/out.bdbg b/src/out.bdbg
index 92d9b2b..59107bd 100644
Binary files a/src/out.bdbg and b/src/out.bdbg differ
diff --git a/src/out.bo b/src/out.bo
index 6c8c106..fd5d8cc 100644
Binary files a/src/out.bo and b/src/out.bo differ
diff --git a/src/rosbuzz.cpp b/src/rosbuzz.cpp
index 2ea18e2..3101b2b 100644
--- a/src/rosbuzz.cpp
+++ b/src/rosbuzz.cpp
@@ -28,6 +28,10 @@
 #include <math.h>
 #include <signal.h>
 
+#include <unistd.h>
+#include <sys/types.h>
+#include <sys/wait.h>
+
 static int done = 0;
 
 static double cur_pos [3];
@@ -35,6 +39,7 @@ double distance;
 double azimuth;
 double elevation; 
 
+
 /**
  * This tutorial demonstrates simple sending of messages over the ROS system.
  */
@@ -121,7 +126,11 @@ static void ctrlc_handler(int sig) {
 
 int main(int argc, char **argv)
 {
- 
+
+
+   system("bzzparse /home/vivek/catkin_ws/src/rosbuzz/src/test.bzz /home/vivek/catkin_ws/src/rosbuzz/src/out.basm");
+   system("bzzasm /home/vivek/catkin_ws/src/rosbuzz/src/out.basm /home/vivek/catkin_ws/src/rosbuzz/src/out.bo /home/vivek/catkin_ws/src/rosbuzz/src/out.bdbg");
+  
 // %Tag(INIT)%
   ros::init(argc, argv, "rosBuzz"); 
 // %EndTag(INIT)%
@@ -175,6 +184,7 @@ int main(int argc, char **argv)
       fprintf(stderr, "%s: invalid value %d for message size\n", argv[0], msg_sz);
       return 0;
    } */
+   
    /* The bytecode filename */
    char* bcfname = "/home/vivek/catkin_ws/src/rosbuzz/src/out.bo"; //argv[1];
    /* The debugging information file name */
diff --git a/src/test.bzz b/src/test.bzz
index 18f692f..2ae3a01 100644
--- a/src/test.bzz
+++ b/src/test.bzz
@@ -1,9 +1,28 @@
 # Executed once at init time.
 function init() {
+if(id == 0) {
+    # Source robot
+    mydist = 0.
+  }
+  else {
+    # Other robots
+    mydist = 1000.
+    # Listen to other robots' distances
+    neighbors.listen("dist_to_source",
+      function(value_id, value, robot_id) {
+        mydist = math.min(
+          mydist,
+          neighbors.get(robot_id).distance + value)
+      })
+  }
 }
  
 # Executed at each time step.
 function step() {
+neighbors.broadcast("dist_to_source", mydist)
+print(mydist)
+
+
 }
  
 # Executed once when the robot (or the simulator) is reset.
@@ -13,3 +32,4 @@ function reset() {
 # Executed once at the end of experiment.
 function destroy() {
 }
+