diff --git a/README.md b/README.md
index 1434614..488b4dd 100644
--- a/README.md
+++ b/README.md
@@ -1,6 +1,7 @@
# Oregon State University Mars Rover Team 2020-2021
## Software
+:) hello new people!!!
### Getting Started With Groundstation Code
ROS Kinetic Setup: https://github.com/OSURoboticsClub/Rover_2019_2020/tree/master/software
diff --git a/software/ros_examples/__init__.py b/software/ros_examples/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/software/ros_examples/hello_ros/CMakeLists.txt b/software/ros_examples/hello_ros/CMakeLists.txt
new file mode 100644
index 0000000..1c05a5c
--- /dev/null
+++ b/software/ros_examples/hello_ros/CMakeLists.txt
@@ -0,0 +1,206 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(hello_ros)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED rospy)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+#catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+## * add a build_depend tag for "message_generation"
+## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+## but can be declared for certainty nonetheless:
+## * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+## * add "message_generation" and every package in MSG_DEP_SET to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * add "message_runtime" and every package in MSG_DEP_SET to
+## catkin_package(CATKIN_DEPENDS ...)
+## * uncomment the add_*_files sections below as needed
+## and list every .msg/.srv/.action file to be processed
+## * uncomment the generate_messages entry below
+## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+# FILES
+# Message1.msg
+# Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+# FILES
+# Service1.srv
+# Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+# FILES
+# Action1.action
+# Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+# DEPENDENCIES
+# std_msgs # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+## * add "dynamic_reconfigure" to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * uncomment the "generate_dynamic_reconfigure_options" section below
+## and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+# cfg/DynReconf1.cfg
+# cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+# INCLUDE_DIRS include
+# LIBRARIES hello_ros
+# CATKIN_DEPENDS rospy
+# DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+catkin_install_python(PROGRAMS hello_ros_node.py
+ DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+# ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+# src/${PROJECT_NAME}/hello_ros_node.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/hello_ros_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+# ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# catkin_install_python(PROGRAMS
+# scripts/my_python_script
+# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+# FILES_MATCHING PATTERN "*.h"
+# PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+# # myfile1
+# # myfile2
+# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_hello_ros.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/software/ros_examples/hello_ros/__init__.py b/software/ros_examples/hello_ros/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/software/ros_examples/hello_ros/hello_ros_node.py b/software/ros_examples/hello_ros/hello_ros_node.py
new file mode 100755
index 0000000..f886e15
--- /dev/null
+++ b/software/ros_examples/hello_ros/hello_ros_node.py
@@ -0,0 +1,16 @@
+#!/usr/bin/env python
+import rospy
+
+def hello_ros_node():
+ rospy.init_node('hello_ros')
+
+ rospy.loginfo("Hello ROS!")
+
+if __name__ == '__main__':
+ try:
+ hello_ros_node()
+ except rospy.ROSInterruptException:
+ pass
+
+
+
diff --git a/software/ros_examples/hello_ros/package.xml b/software/ros_examples/hello_ros/package.xml
new file mode 100644
index 0000000..a1342bc
--- /dev/null
+++ b/software/ros_examples/hello_ros/package.xml
@@ -0,0 +1,62 @@
+
+
+ hello_ros
+ 0.0.0
+ The hello_ros package
+
+
+
+
+ garden
+
+
+
+
+
+ TODO
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ catkin
+ rospy
+ rospy
+ rospy
+
+
+
+
+
+
+
+
diff --git a/software/ros_examples/simple_ps/CMakeLists.txt b/software/ros_examples/simple_ps/CMakeLists.txt
new file mode 100644
index 0000000..110f369
--- /dev/null
+++ b/software/ros_examples/simple_ps/CMakeLists.txt
@@ -0,0 +1,211 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(simple_ps)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+ message_generation
+ message_runtime
+ rospy
+ std_msgs
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+## * add a build_depend tag for "message_generation"
+## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+## but can be declared for certainty nonetheless:
+## * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+## * add "message_generation" and every package in MSG_DEP_SET to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * add "message_runtime" and every package in MSG_DEP_SET to
+## catkin_package(CATKIN_DEPENDS ...)
+## * uncomment the add_*_files sections below as needed
+## and list every .msg/.srv/.action file to be processed
+## * uncomment the generate_messages entry below
+## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+ add_message_files(
+ FILES
+ SimpleMessage.msg
+ )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+# FILES
+# Service1.srv
+# Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+# FILES
+# Action1.action
+# Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+ generate_messages(
+ DEPENDENCIES
+ std_msgs # Or other packages containing msgs
+ )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+## * add "dynamic_reconfigure" to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * uncomment the "generate_dynamic_reconfigure_options" section below
+## and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+# cfg/DynReconf1.cfg
+# cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+# INCLUDE_DIRS include
+# LIBRARIES simple_ps
+# CATKIN_DEPENDS message_generation message_runtime rospy
+# DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+catkin_install_python(PROGRAMS src/simple_publisher.py src/simple_subscriber.py
+ DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+ ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+# src/${PROJECT_NAME}/simple_ps.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/simple_ps_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+# ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# catkin_install_python(PROGRAMS
+# scripts/my_python_script
+# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+# FILES_MATCHING PATTERN "*.h"
+# PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+# # myfile1
+# # myfile2
+# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_simple_ps.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/software/ros_examples/simple_ps/__init__.py b/software/ros_examples/simple_ps/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/software/ros_examples/simple_ps/msg/SimpleMessage.msg b/software/ros_examples/simple_ps/msg/SimpleMessage.msg
new file mode 100644
index 0000000..ed900fc
--- /dev/null
+++ b/software/ros_examples/simple_ps/msg/SimpleMessage.msg
@@ -0,0 +1,4 @@
+uint32 a
+float32 b
+bool c
+string d
diff --git a/software/ros_examples/simple_ps/package.xml b/software/ros_examples/simple_ps/package.xml
new file mode 100644
index 0000000..1fa851d
--- /dev/null
+++ b/software/ros_examples/simple_ps/package.xml
@@ -0,0 +1,64 @@
+
+
+ simple_ps
+ 0.0.0
+ The simple_ps package
+
+
+
+
+ garden
+
+
+
+
+
+ TODO
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ catkin
+ message_generation
+ message_runtime
+ rospy
+ rospy
+ rospy
+
+
+
+
+
+
+
+
diff --git a/software/ros_examples/simple_ps/src/msg_publisher.py b/software/ros_examples/simple_ps/src/msg_publisher.py
new file mode 100755
index 0000000..71ac064
--- /dev/null
+++ b/software/ros_examples/simple_ps/src/msg_publisher.py
@@ -0,0 +1,27 @@
+#!/usr/bin/env python
+import rospy
+from simple_ps.msg import SimpleMessage
+from std_msgs.msg import String
+
+def publisher():
+ pub = rospy.Publisher('msg_pub', SimpleMessage, queue_size=10) #sets up the publisher object to publish a value of type String on the 'simple_pub' topic
+ rospy.init_node('msg_publisher') #establishes program as a ros node
+ rate = rospy.Rate(10) #10Hz
+ msg = SimpleMessage()
+
+ while not rospy.is_shutdown():
+ #initializing each msg field
+ msg.a = 32
+ msg.b = 7.54
+ msg.c = False
+ msg.d = "Hello"
+
+ rospy.loginfo("Publishing Sample Topic....") #prints to terminal
+ pub.publish(msg) #publishes to 'simple_pub'
+ rate.sleep() #keeps desired rate of message every 1/10th of a second
+
+if __name__ == '__main__':
+ try:
+ publisher()
+ except rospy.ROSInterruptException:
+ pass
\ No newline at end of file
diff --git a/software/ros_examples/simple_ps/src/msg_subscriber.py b/software/ros_examples/simple_ps/src/msg_subscriber.py
new file mode 100755
index 0000000..2b20ac5
--- /dev/null
+++ b/software/ros_examples/simple_ps/src/msg_subscriber.py
@@ -0,0 +1,17 @@
+#!/usr/bin/env python
+import rospy
+from simple_ps.msg import SimpleMessage
+from std_msgs.msg import String
+
+def callback(data):
+ msg = SimpleMessage()
+ rospy.loginfo(rospy.get_name() + "Field a is a=%d, Field b is b=%f, Field c is c=%s, Field d is d=%s", data.a, data.b, data.c, data.d)
+
+def subscriber():
+ rospy.init_node('msg_sub', anonymous=True)
+ rospy.Subscriber("msg_pub", SimpleMessage, callback)
+
+ rospy.spin()
+
+if __name__ == '__main__':
+ subscriber()
\ No newline at end of file
diff --git a/software/ros_examples/simple_ps/src/simple_publisher.py b/software/ros_examples/simple_ps/src/simple_publisher.py
new file mode 100755
index 0000000..0f783d1
--- /dev/null
+++ b/software/ros_examples/simple_ps/src/simple_publisher.py
@@ -0,0 +1,19 @@
+#!/usr/bin/env python
+import rospy
+from std_msgs.msg import String
+
+def publisher():
+ pub = rospy.Publisher('simple_pub', String, queue_size=10) #sets up the publisher object to publish a value of type String on the 'simple_pub' topic
+ rospy.init_node('simple_publisher') #establishes program as a ros node
+ rate = rospy.Rate(10) #10Hz
+
+ while not rospy.is_shutdown():
+ rospy.loginfo("Publishing Sample Topic....") #prints to terminal
+ pub.publish("I am a sample topic!") #publishes to 'simple_pub'
+ rate.sleep() #keeps desired rate of message every 1/10th of a second
+
+if __name__ == '__main__':
+ try:
+ publisher()
+ except rospy.ROSInterruptException:
+ pass
\ No newline at end of file
diff --git a/software/ros_examples/simple_ps/src/simple_subscriber.py b/software/ros_examples/simple_ps/src/simple_subscriber.py
new file mode 100755
index 0000000..0dbca37
--- /dev/null
+++ b/software/ros_examples/simple_ps/src/simple_subscriber.py
@@ -0,0 +1,15 @@
+#!/usr/bin/env python
+import rospy
+from std_msgs.msg import String
+
+def callback(data):
+ rospy.loginfo(rospy.get_caller_id() + data.data)
+
+def subscriber():
+ rospy.init_node('subscriber', anonymous=True)
+ rospy.Subscriber("simple_pub", String, callback)
+
+ rospy.spin()
+
+if __name__ == '__main__':
+ subscriber()
\ No newline at end of file