From 5a926e6c92bbc6bb183274467131f4b40740be87 Mon Sep 17 00:00:00 2001
From: kpp55 <kpp55@drexel.edu>
Date: Sun, 19 May 2019 12:32:59 -0400
Subject: [PATCH] Updated detect.py and lane_demo.cpp

---
 Robot_Development/catkin_ws/bad.list          |  760 +++
 .../catkin_ws/build/CMakeCache.txt            |    8 +-
 .../catkin_ws/build/CMakeFiles/Makefile.cmake |    5 +
 .../catkin_ws/build/CMakeFiles/Makefile2      |   18 +
 .../build/CMakeFiles/TargetDirectories.txt    |    7 +
 .../catkin_ws/build/CTestTestfile.cmake       |    1 +
 .../catkin_generated/order_packages.cmake     |    4 +
 .../catkin_ws/build/catkin_make.cache         |    2 +-
 .../catkin_ws/build/cmake_install.cmake       |    1 +
 .../CMakeFiles/lane_demo.dir/CXX.includecache |   26 +
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 .../CMakeFiles/lane_demo.dir/flags.make       |    4 +-
 .../CMakeFiles/lane_demo.dir/link.txt         |    2 +-
 .../lane_demo.dir/src/lane_demo.cpp.o         |  Bin 1002192 -> 1051528 bytes
 .../CMakeDirectoryInformation.cmake           |   16 +
 .../CMakeFiles/progress.marks                 |    1 +
 .../object_detection/CTestTestfile.cmake      |    6 +
 .../catkin_ws/build/object_detection/Makefile |  194 +
 .../installspace/object_detection.pc          |    8 +
 .../object_detectionConfig-version.cmake      |   14 +
 .../installspace/object_detectionConfig.cmake |  198 +
 .../catkin_generated/ordered_paths.cmake      |    1 +
 .../catkin_generated/package.cmake            |   16 +
 .../pkg.develspace.context.pc.py              |    8 +
 .../pkg.installspace.context.pc.py            |    8 +
 .../stamps/object_detection/package.xml.stamp |   68 +
 .../stamps/object_detection/pkg.pc.em.stamp   |    8 +
 .../object_detection/cmake_install.cmake      |   49 +
 .../catkin_ws/devel/lib/lane_demo/lane_demo   |  Bin 646200 -> 676600 bytes
 .../devel/lib/pkgconfig/object_detection.pc   |    8 +
 .../object_detectionConfig-version.cmake      |   14 +
 .../cmake/object_detectionConfig.cmake        |  198 +
 .../catkin_ws/src/lane_demo/CMakeLists.txt    |    4 +-
 .../catkin_ws/src/lane_demo/Detection.h       |  131 +
 .../src/lane_demo/src/Detection.cpp.bak       |  125 +
 .../catkin_ws/src/lane_demo/src/Detection.h   |  124 +
 .../src/lane_demo/src/Detection.h.bak1        |   27 +
 .../catkin_ws/src/lane_demo/src/bad.list      | 4560 +++++++++++++++++
 .../catkin_ws/src/lane_demo/src/lane_demo.cpp |  121 +-
 .../src/lane_detection/src/detect.py          |   50 +-
 .../src/libraries/serialization/Detection.h   |  130 +
 .../src/object_detection/CMakeLists.txt       |  200 +
 .../catkin_ws/src/object_detection/a.out      |    0
 .../catkin_ws/src/object_detection/app        |  Bin 0 -> 16080 bytes
 .../catkin_ws/src/object_detection/blah.cpp   |   64 +
 .../launch/object_detection.launch            |    4 +
 .../src/object_detection/package.xml          |   68 +
 .../src/object_detection/src/bad.list         |  760 +++
 .../src/object_detection/src/object_detect.py |   71 +
 .../rosjet/jet_bringup/launch/jet_real.launch |    2 +
 52 files changed, 8100 insertions(+), 67 deletions(-)
 create mode 100644 Robot_Development/catkin_ws/bad.list
 create mode 100644 Robot_Development/catkin_ws/build/object_detection/CMakeFiles/CMakeDirectoryInformation.cmake
 create mode 100644 Robot_Development/catkin_ws/build/object_detection/CMakeFiles/progress.marks
 create mode 100644 Robot_Development/catkin_ws/build/object_detection/CTestTestfile.cmake
 create mode 100644 Robot_Development/catkin_ws/build/object_detection/Makefile
 create mode 100644 Robot_Development/catkin_ws/build/object_detection/catkin_generated/installspace/object_detection.pc
 create mode 100644 Robot_Development/catkin_ws/build/object_detection/catkin_generated/installspace/object_detectionConfig-version.cmake
 create mode 100644 Robot_Development/catkin_ws/build/object_detection/catkin_generated/installspace/object_detectionConfig.cmake
 create mode 100644 Robot_Development/catkin_ws/build/object_detection/catkin_generated/ordered_paths.cmake
 create mode 100644 Robot_Development/catkin_ws/build/object_detection/catkin_generated/package.cmake
 create mode 100644 Robot_Development/catkin_ws/build/object_detection/catkin_generated/pkg.develspace.context.pc.py
 create mode 100644 Robot_Development/catkin_ws/build/object_detection/catkin_generated/pkg.installspace.context.pc.py
 create mode 100644 Robot_Development/catkin_ws/build/object_detection/catkin_generated/stamps/object_detection/package.xml.stamp
 create mode 100644 Robot_Development/catkin_ws/build/object_detection/catkin_generated/stamps/object_detection/pkg.pc.em.stamp
 create mode 100644 Robot_Development/catkin_ws/build/object_detection/cmake_install.cmake
 create mode 100644 Robot_Development/catkin_ws/devel/lib/pkgconfig/object_detection.pc
 create mode 100644 Robot_Development/catkin_ws/devel/share/object_detection/cmake/object_detectionConfig-version.cmake
 create mode 100644 Robot_Development/catkin_ws/devel/share/object_detection/cmake/object_detectionConfig.cmake
 create mode 100644 Robot_Development/catkin_ws/src/lane_demo/Detection.h
 create mode 100644 Robot_Development/catkin_ws/src/lane_demo/src/Detection.cpp.bak
 create mode 100644 Robot_Development/catkin_ws/src/lane_demo/src/Detection.h
 create mode 100644 Robot_Development/catkin_ws/src/lane_demo/src/Detection.h.bak1
 create mode 100644 Robot_Development/catkin_ws/src/lane_demo/src/bad.list
 create mode 100644 Robot_Development/catkin_ws/src/libraries/serialization/Detection.h
 create mode 100644 Robot_Development/catkin_ws/src/object_detection/CMakeLists.txt
 create mode 100644 Robot_Development/catkin_ws/src/object_detection/a.out
 create mode 100755 Robot_Development/catkin_ws/src/object_detection/app
 create mode 100644 Robot_Development/catkin_ws/src/object_detection/blah.cpp
 create mode 100644 Robot_Development/catkin_ws/src/object_detection/launch/object_detection.launch
 create mode 100644 Robot_Development/catkin_ws/src/object_detection/package.xml
 create mode 100644 Robot_Development/catkin_ws/src/object_detection/src/bad.list
 create mode 100755 Robot_Development/catkin_ws/src/object_detection/src/object_detect.py

diff --git a/Robot_Development/catkin_ws/bad.list b/Robot_Development/catkin_ws/bad.list
new file mode 100644
index 000000000..a635cef13
--- /dev/null
+++ b/Robot_Development/catkin_ws/bad.list
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diff --git a/Robot_Development/catkin_ws/build/CMakeCache.txt b/Robot_Development/catkin_ws/build/CMakeCache.txt
index 65b5101a2..237bdf447 100644
--- a/Robot_Development/catkin_ws/build/CMakeCache.txt
+++ b/Robot_Development/catkin_ws/build/CMakeCache.txt
@@ -421,6 +421,12 @@ message_filters_DIR:PATH=/opt/ros/kinetic/share/message_filters/cmake
 //The directory containing a CMake configuration file for message_runtime.
 message_runtime_DIR:PATH=/opt/ros/kinetic/share/message_runtime/cmake
 
+//Value Computed by CMake
+object_detection_BINARY_DIR:STATIC=/home/nvidia/catkin_ws/build/object_detection
+
+//Value Computed by CMake
+object_detection_SOURCE_DIR:STATIC=/home/nvidia/catkin_ws/src/object_detection
+
 //The directory containing a CMake configuration file for pluginlib.
 pluginlib_DIR:PATH=/opt/ros/kinetic/share/pluginlib/cmake
 
@@ -584,7 +590,7 @@ CMAKE_MODULE_LINKER_FLAGS_RELWITHDEBINFO-ADVANCED:INTERNAL=1
 //ADVANCED property for variable: CMAKE_NM
 CMAKE_NM-ADVANCED:INTERNAL=1
 //number of local generators
-CMAKE_NUMBER_OF_MAKEFILES:INTERNAL=13
+CMAKE_NUMBER_OF_MAKEFILES:INTERNAL=14
 //ADVANCED property for variable: CMAKE_OBJCOPY
 CMAKE_OBJCOPY-ADVANCED:INTERNAL=1
 //ADVANCED property for variable: CMAKE_OBJDUMP
diff --git a/Robot_Development/catkin_ws/build/CMakeFiles/Makefile.cmake b/Robot_Development/catkin_ws/build/CMakeFiles/Makefile.cmake
index 4e2fd66a7..3ec466b72 100644
--- a/Robot_Development/catkin_ws/build/CMakeFiles/Makefile.cmake
+++ b/Robot_Development/catkin_ws/build/CMakeFiles/Makefile.cmake
@@ -21,6 +21,8 @@ set(CMAKE_MAKEFILE_DEPENDS
   "libraries/image_common/camera_info_manager/catkin_generated/package.cmake"
   "libraries/image_common/image_transport/catkin_generated/ordered_paths.cmake"
   "libraries/image_common/image_transport/catkin_generated/package.cmake"
+  "object_detection/catkin_generated/ordered_paths.cmake"
+  "object_detection/catkin_generated/package.cmake"
   "rosjet/jet_bringup/catkin_generated/package.cmake"
   "rosjet/jet_control/catkin_generated/package.cmake"
   "rosjet/jet_description/catkin_generated/package.cmake"
@@ -40,6 +42,8 @@ set(CMAKE_MAKEFILE_DEPENDS
   "/home/nvidia/catkin_ws/src/libraries/image_common/camera_info_manager/package.xml"
   "/home/nvidia/catkin_ws/src/libraries/image_common/image_transport/CMakeLists.txt"
   "/home/nvidia/catkin_ws/src/libraries/image_common/image_transport/package.xml"
+  "/home/nvidia/catkin_ws/src/object_detection/CMakeLists.txt"
+  "/home/nvidia/catkin_ws/src/object_detection/package.xml"
   "/home/nvidia/catkin_ws/src/rosjet/jet_bringup/CMakeLists.txt"
   "/home/nvidia/catkin_ws/src/rosjet/jet_bringup/package.xml"
   "/home/nvidia/catkin_ws/src/rosjet/jet_control/CMakeLists.txt"
@@ -225,6 +229,7 @@ set(CMAKE_MAKEFILE_PRODUCTS
   "rosjet/jet_serial/CMakeFiles/CMakeDirectoryInformation.cmake"
   "lane_demo/CMakeFiles/CMakeDirectoryInformation.cmake"
   "lane_detection/CMakeFiles/CMakeDirectoryInformation.cmake"
+  "object_detection/CMakeFiles/CMakeDirectoryInformation.cmake"
   "rosjet/jet_driver/CMakeFiles/CMakeDirectoryInformation.cmake"
   "rosjet/jet_navigation/CMakeFiles/CMakeDirectoryInformation.cmake"
   "libraries/image_common/image_transport/CMakeFiles/CMakeDirectoryInformation.cmake"
diff --git a/Robot_Development/catkin_ws/build/CMakeFiles/Makefile2 b/Robot_Development/catkin_ws/build/CMakeFiles/Makefile2
index ef0b2c26c..a9b4a7b5a 100644
--- a/Robot_Development/catkin_ws/build/CMakeFiles/Makefile2
+++ b/Robot_Development/catkin_ws/build/CMakeFiles/Makefile2
@@ -1040,6 +1040,24 @@ lane_detection/preinstall:
 
 .PHONY : lane_detection/preinstall
 
+#=============================================================================
+# Directory level rules for directory object_detection
+
+# Convenience name for "all" pass in the directory.
+object_detection/all:
+
+.PHONY : object_detection/all
+
+# Convenience name for "clean" pass in the directory.
+object_detection/clean:
+
+.PHONY : object_detection/clean
+
+# Convenience name for "preinstall" pass in the directory.
+object_detection/preinstall:
+
+.PHONY : object_detection/preinstall
+
 #=============================================================================
 # Directory level rules for directory rosjet/jet_driver
 
diff --git a/Robot_Development/catkin_ws/build/CMakeFiles/TargetDirectories.txt b/Robot_Development/catkin_ws/build/CMakeFiles/TargetDirectories.txt
index 33b7a08c4..c23a996fe 100644
--- a/Robot_Development/catkin_ws/build/CMakeFiles/TargetDirectories.txt
+++ b/Robot_Development/catkin_ws/build/CMakeFiles/TargetDirectories.txt
@@ -80,6 +80,13 @@
 /home/nvidia/catkin_ws/build/lane_detection/CMakeFiles/install/local.dir
 /home/nvidia/catkin_ws/build/lane_detection/CMakeFiles/test.dir
 /home/nvidia/catkin_ws/build/lane_detection/CMakeFiles/edit_cache.dir
+/home/nvidia/catkin_ws/build/object_detection/CMakeFiles/list_install_components.dir
+/home/nvidia/catkin_ws/build/object_detection/CMakeFiles/install.dir
+/home/nvidia/catkin_ws/build/object_detection/CMakeFiles/rebuild_cache.dir
+/home/nvidia/catkin_ws/build/object_detection/CMakeFiles/install/strip.dir
+/home/nvidia/catkin_ws/build/object_detection/CMakeFiles/install/local.dir
+/home/nvidia/catkin_ws/build/object_detection/CMakeFiles/test.dir
+/home/nvidia/catkin_ws/build/object_detection/CMakeFiles/edit_cache.dir
 /home/nvidia/catkin_ws/build/rosjet/jet_driver/CMakeFiles/install.dir
 /home/nvidia/catkin_ws/build/rosjet/jet_driver/CMakeFiles/rebuild_cache.dir
 /home/nvidia/catkin_ws/build/rosjet/jet_driver/CMakeFiles/controller_manager_msgs_generate_messages_eus.dir
diff --git a/Robot_Development/catkin_ws/build/CTestTestfile.cmake b/Robot_Development/catkin_ws/build/CTestTestfile.cmake
index 913365b83..de8951257 100644
--- a/Robot_Development/catkin_ws/build/CTestTestfile.cmake
+++ b/Robot_Development/catkin_ws/build/CTestTestfile.cmake
@@ -10,6 +10,7 @@ subdirs(rosjet/jet_description)
 subdirs(rosjet/jet_serial)
 subdirs(lane_demo)
 subdirs(lane_detection)
+subdirs(object_detection)
 subdirs(rosjet/jet_driver)
 subdirs(rosjet/jet_navigation)
 subdirs(libraries/image_common/image_transport)
diff --git a/Robot_Development/catkin_ws/build/catkin_generated/order_packages.cmake b/Robot_Development/catkin_ws/build/catkin_generated/order_packages.cmake
index 0a32bfe6d..14bd21b4d 100644
--- a/Robot_Development/catkin_ws/build/catkin_generated/order_packages.cmake
+++ b/Robot_Development/catkin_ws/build/catkin_generated/order_packages.cmake
@@ -24,6 +24,10 @@ list(APPEND CATKIN_ORDERED_PACKAGES "lane_detection")
 list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "lane_detection")
 list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "False")
 list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "catkin")
+list(APPEND CATKIN_ORDERED_PACKAGES "object_detection")
+list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "object_detection")
+list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "False")
+list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "catkin")
 list(APPEND CATKIN_ORDERED_PACKAGES "jet_driver")
 list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "rosjet/jet_driver")
 list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "False")
diff --git a/Robot_Development/catkin_ws/build/catkin_make.cache b/Robot_Development/catkin_ws/build/catkin_make.cache
index 43e1c7345..c7545ab3c 100644
--- a/Robot_Development/catkin_ws/build/catkin_make.cache
+++ b/Robot_Development/catkin_ws/build/catkin_make.cache
@@ -1,2 +1,2 @@
-lane_demo:lane_detection:libraries/image_common/camera_info_manager:libraries/image_common/image_transport:rosjet/jet_bringup:rosjet/jet_control:rosjet/jet_description:rosjet/jet_driver:rosjet/jet_navigation:rosjet/jet_serial
+lane_demo:lane_detection:libraries/image_common/camera_info_manager:libraries/image_common/image_transport:object_detection:rosjet/jet_bringup:rosjet/jet_control:rosjet/jet_description:rosjet/jet_driver:rosjet/jet_navigation:rosjet/jet_serial
 -DCATKIN_DEVEL_PREFIX=/home/nvidia/catkin_ws/devel -DCMAKE_INSTALL_PREFIX=/home/nvidia/catkin_ws/install -G Unix Makefiles
\ No newline at end of file
diff --git a/Robot_Development/catkin_ws/build/cmake_install.cmake b/Robot_Development/catkin_ws/build/cmake_install.cmake
index 5c19ef922..8a09ba18d 100644
--- a/Robot_Development/catkin_ws/build/cmake_install.cmake
+++ b/Robot_Development/catkin_ws/build/cmake_install.cmake
@@ -122,6 +122,7 @@ if(NOT CMAKE_INSTALL_LOCAL_ONLY)
   include("/home/nvidia/catkin_ws/build/rosjet/jet_serial/cmake_install.cmake")
   include("/home/nvidia/catkin_ws/build/lane_demo/cmake_install.cmake")
   include("/home/nvidia/catkin_ws/build/lane_detection/cmake_install.cmake")
+  include("/home/nvidia/catkin_ws/build/object_detection/cmake_install.cmake")
   include("/home/nvidia/catkin_ws/build/rosjet/jet_driver/cmake_install.cmake")
   include("/home/nvidia/catkin_ws/build/rosjet/jet_navigation/cmake_install.cmake")
   include("/home/nvidia/catkin_ws/build/libraries/image_common/image_transport/cmake_install.cmake")
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index b1cf10b38..40b9acc00 100644
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+++ b/Robot_Development/catkin_ws/build/lane_demo/CMakeFiles/lane_demo.dir/CXX.includecache
@@ -6,9 +6,27 @@
 
 #IncludeRegexTransform: 
 
+/home/nvidia/catkin_ws/src/lane_demo/src/Detection.h
+iostream
+-
+sstream
+-
+string
+-
+iterator
+-
+map
+-
+
 /home/nvidia/catkin_ws/src/lane_demo/src/lane_demo.cpp
 ros/ros.h
 /home/nvidia/catkin_ws/src/lane_demo/src/ros/ros.h
+chrono
+-
+ctime
+-
+vector
+-
 std_msgs/String.h
 /home/nvidia/catkin_ws/src/lane_demo/src/std_msgs/String.h
 geometry_msgs/Twist.h
@@ -19,6 +37,14 @@ std_msgs/UInt64.h
 /home/nvidia/catkin_ws/src/lane_demo/src/std_msgs/UInt64.h
 std_msgs/Float64.h
 /home/nvidia/catkin_ws/src/lane_demo/src/std_msgs/Float64.h
+Detection.h
+/home/nvidia/catkin_ws/src/lane_demo/src/Detection.h
+math.h
+-
+cstddef
+-
+string.h
+-
 
 /opt/ros/kinetic/include/geometry_msgs/Twist.h
 string
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@@ -17,6 +17,8 @@ set(CMAKE_TARGET_DEFINITIONS_CXX
 
 # The include file search paths:
 set(CMAKE_CXX_TARGET_INCLUDE_PATH
+  "/home/nvidia/catkin_ws/src/lane_demo/include"
+  "/home/nvidia/catkin_ws/src/lane_demo/<lane_demo/src/Detection.h>"
   "/opt/ros/kinetic/include"
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+++ b/Robot_Development/catkin_ws/build/lane_demo/CMakeFiles/lane_demo.dir/depend.internal
@@ -0,0 +1,70 @@
+# CMAKE generated file: DO NOT EDIT!
+# Generated by "Unix Makefiles" Generator, CMake Version 3.5
+
+lane_demo/CMakeFiles/lane_demo.dir/src/lane_demo.cpp.o
+ /home/nvidia/catkin_ws/src/lane_demo/src/Detection.h
+ /home/nvidia/catkin_ws/src/lane_demo/src/lane_demo.cpp
+ /opt/ros/kinetic/include/geometry_msgs/Twist.h
+ /opt/ros/kinetic/include/geometry_msgs/Vector3.h
+ /opt/ros/kinetic/include/ros/advertise_options.h
+ /opt/ros/kinetic/include/ros/advertise_service_options.h
+ /opt/ros/kinetic/include/ros/assert.h
+ /opt/ros/kinetic/include/ros/builtin_message_traits.h
+ /opt/ros/kinetic/include/ros/common.h
+ /opt/ros/kinetic/include/ros/console.h
+ /opt/ros/kinetic/include/ros/console_backend.h
+ /opt/ros/kinetic/include/ros/datatypes.h
+ /opt/ros/kinetic/include/ros/duration.h
+ /opt/ros/kinetic/include/ros/exception.h
+ /opt/ros/kinetic/include/ros/exceptions.h
+ /opt/ros/kinetic/include/ros/forwards.h
+ /opt/ros/kinetic/include/ros/init.h
+ /opt/ros/kinetic/include/ros/macros.h
+ /opt/ros/kinetic/include/ros/master.h
+ /opt/ros/kinetic/include/ros/message.h
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+
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+
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new file mode 100644
index 000000000..63afa44ab
--- /dev/null
+++ b/Robot_Development/catkin_ws/build/object_detection/CTestTestfile.cmake
@@ -0,0 +1,6 @@
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+# Source directory: /home/nvidia/catkin_ws/src/object_detection
+# Build directory: /home/nvidia/catkin_ws/build/object_detection
+# 
+# This file includes the relevant testing commands required for 
+# testing this directory and lists subdirectories to be tested as well.
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+
+# Default target executed when no arguments are given to make.
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+
+.PHONY : default_target
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+# Allow only one "make -f Makefile2" at a time, but pass parallelism.
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+
+
+#=============================================================================
+# Special targets provided by cmake.
+
+# Disable implicit rules so canonical targets will work.
+.SUFFIXES:
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+# Remove some rules from gmake that .SUFFIXES does not remove.
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+# A target that is always out of date.
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+
+# Escaping for special characters.
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+CMAKE_SOURCE_DIR = /home/nvidia/catkin_ws/src
+
+# The top-level build directory on which CMake was run.
+CMAKE_BINARY_DIR = /home/nvidia/catkin_ws/build
+
+#=============================================================================
+# Targets provided globally by CMake.
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+# Special rule for the target list_install_components
+list_install_components:
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Available install components are: \"Unspecified\" \"main\""
+.PHONY : list_install_components
+
+# Special rule for the target list_install_components
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+
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+
+# Special rule for the target install
+install: preinstall
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Install the project..."
+	/usr/bin/cmake -P cmake_install.cmake
+.PHONY : install
+
+# Special rule for the target install
+install/fast: preinstall/fast
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Install the project..."
+	/usr/bin/cmake -P cmake_install.cmake
+.PHONY : install/fast
+
+# Special rule for the target rebuild_cache
+rebuild_cache:
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Running CMake to regenerate build system..."
+	/usr/bin/cmake -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR)
+.PHONY : rebuild_cache
+
+# Special rule for the target rebuild_cache
+rebuild_cache/fast: rebuild_cache
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+.PHONY : rebuild_cache/fast
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+install/strip: preinstall
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing the project stripped..."
+	/usr/bin/cmake -DCMAKE_INSTALL_DO_STRIP=1 -P cmake_install.cmake
+.PHONY : install/strip
+
+# Special rule for the target install/strip
+install/strip/fast: install/strip
+
+.PHONY : install/strip/fast
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+install/local: preinstall
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing only the local directory..."
+	/usr/bin/cmake -DCMAKE_INSTALL_LOCAL_ONLY=1 -P cmake_install.cmake
+.PHONY : install/local
+
+# Special rule for the target install/local
+install/local/fast: install/local
+
+.PHONY : install/local/fast
+
+# Special rule for the target test
+test:
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Running tests..."
+	/usr/bin/ctest --force-new-ctest-process $(ARGS)
+.PHONY : test
+
+# Special rule for the target test
+test/fast: test
+
+.PHONY : test/fast
+
+# Special rule for the target edit_cache
+edit_cache:
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "No interactive CMake dialog available..."
+	/usr/bin/cmake -E echo No\ interactive\ CMake\ dialog\ available.
+.PHONY : edit_cache
+
+# Special rule for the target edit_cache
+edit_cache/fast: edit_cache
+
+.PHONY : edit_cache/fast
+
+# The main all target
+all: cmake_check_build_system
+	cd /home/nvidia/catkin_ws/build && $(CMAKE_COMMAND) -E cmake_progress_start /home/nvidia/catkin_ws/build/CMakeFiles /home/nvidia/catkin_ws/build/object_detection/CMakeFiles/progress.marks
+	cd /home/nvidia/catkin_ws/build && $(MAKE) -f CMakeFiles/Makefile2 object_detection/all
+	$(CMAKE_COMMAND) -E cmake_progress_start /home/nvidia/catkin_ws/build/CMakeFiles 0
+.PHONY : all
+
+# The main clean target
+clean:
+	cd /home/nvidia/catkin_ws/build && $(MAKE) -f CMakeFiles/Makefile2 object_detection/clean
+.PHONY : clean
+
+# The main clean target
+clean/fast: clean
+
+.PHONY : clean/fast
+
+# Prepare targets for installation.
+preinstall: all
+	cd /home/nvidia/catkin_ws/build && $(MAKE) -f CMakeFiles/Makefile2 object_detection/preinstall
+.PHONY : preinstall
+
+# Prepare targets for installation.
+preinstall/fast:
+	cd /home/nvidia/catkin_ws/build && $(MAKE) -f CMakeFiles/Makefile2 object_detection/preinstall
+.PHONY : preinstall/fast
+
+# clear depends
+depend:
+	cd /home/nvidia/catkin_ws/build && $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 1
+.PHONY : depend
+
+# Help Target
+help:
+	@echo "The following are some of the valid targets for this Makefile:"
+	@echo "... all (the default if no target is provided)"
+	@echo "... clean"
+	@echo "... depend"
+	@echo "... list_install_components"
+	@echo "... install"
+	@echo "... rebuild_cache"
+	@echo "... install/strip"
+	@echo "... install/local"
+	@echo "... test"
+	@echo "... edit_cache"
+.PHONY : help
+
+
+
+#=============================================================================
+# Special targets to cleanup operation of make.
+
+# Special rule to run CMake to check the build system integrity.
+# No rule that depends on this can have commands that come from listfiles
+# because they might be regenerated.
+cmake_check_build_system:
+	cd /home/nvidia/catkin_ws/build && $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
+.PHONY : cmake_check_build_system
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diff --git a/Robot_Development/catkin_ws/build/object_detection/catkin_generated/installspace/object_detection.pc b/Robot_Development/catkin_ws/build/object_detection/catkin_generated/installspace/object_detection.pc
new file mode 100644
index 000000000..012df3998
--- /dev/null
+++ b/Robot_Development/catkin_ws/build/object_detection/catkin_generated/installspace/object_detection.pc
@@ -0,0 +1,8 @@
+prefix=/home/nvidia/catkin_ws/install
+
+Name: object_detection
+Description: Description of object_detection
+Version: 0.0.0
+Cflags: 
+Libs: -L/home/nvidia/catkin_ws/install/lib 
+Requires: 
diff --git a/Robot_Development/catkin_ws/build/object_detection/catkin_generated/installspace/object_detectionConfig-version.cmake b/Robot_Development/catkin_ws/build/object_detection/catkin_generated/installspace/object_detectionConfig-version.cmake
new file mode 100644
index 000000000..7fd9f993a
--- /dev/null
+++ b/Robot_Development/catkin_ws/build/object_detection/catkin_generated/installspace/object_detectionConfig-version.cmake
@@ -0,0 +1,14 @@
+# generated from catkin/cmake/template/pkgConfig-version.cmake.in
+set(PACKAGE_VERSION "0.0.0")
+
+set(PACKAGE_VERSION_EXACT False)
+set(PACKAGE_VERSION_COMPATIBLE False)
+
+if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_EXACT True)
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
+
+if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
diff --git a/Robot_Development/catkin_ws/build/object_detection/catkin_generated/installspace/object_detectionConfig.cmake b/Robot_Development/catkin_ws/build/object_detection/catkin_generated/installspace/object_detectionConfig.cmake
new file mode 100644
index 000000000..32c3a4cec
--- /dev/null
+++ b/Robot_Development/catkin_ws/build/object_detection/catkin_generated/installspace/object_detectionConfig.cmake
@@ -0,0 +1,198 @@
+# generated from catkin/cmake/template/pkgConfig.cmake.in
+
+# append elements to a list and remove existing duplicates from the list
+# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig
+# self contained
+macro(_list_append_deduplicate listname)
+  if(NOT "${ARGN}" STREQUAL "")
+    if(${listname})
+      list(REMOVE_ITEM ${listname} ${ARGN})
+    endif()
+    list(APPEND ${listname} ${ARGN})
+  endif()
+endmacro()
+
+# append elements to a list if they are not already in the list
+# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig
+# self contained
+macro(_list_append_unique listname)
+  foreach(_item ${ARGN})
+    list(FIND ${listname} ${_item} _index)
+    if(_index EQUAL -1)
+      list(APPEND ${listname} ${_item})
+    endif()
+  endforeach()
+endmacro()
+
+# pack a list of libraries with optional build configuration keywords
+# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig
+# self contained
+macro(_pack_libraries_with_build_configuration VAR)
+  set(${VAR} "")
+  set(_argn ${ARGN})
+  list(LENGTH _argn _count)
+  set(_index 0)
+  while(${_index} LESS ${_count})
+    list(GET _argn ${_index} lib)
+    if("${lib}" MATCHES "^(debug|optimized|general)$")
+      math(EXPR _index "${_index} + 1")
+      if(${_index} EQUAL ${_count})
+        message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library")
+      endif()
+      list(GET _argn ${_index} library)
+      list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}")
+    else()
+      list(APPEND ${VAR} "${lib}")
+    endif()
+    math(EXPR _index "${_index} + 1")
+  endwhile()
+endmacro()
+
+# unpack a list of libraries with optional build configuration keyword prefixes
+# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig
+# self contained
+macro(_unpack_libraries_with_build_configuration VAR)
+  set(${VAR} "")
+  foreach(lib ${ARGN})
+    string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}")
+    list(APPEND ${VAR} "${lib}")
+  endforeach()
+endmacro()
+
+
+if(object_detection_CONFIG_INCLUDED)
+  return()
+endif()
+set(object_detection_CONFIG_INCLUDED TRUE)
+
+# set variables for source/devel/install prefixes
+if("FALSE" STREQUAL "TRUE")
+  set(object_detection_SOURCE_PREFIX /home/nvidia/catkin_ws/src/object_detection)
+  set(object_detection_DEVEL_PREFIX /home/nvidia/catkin_ws/devel)
+  set(object_detection_INSTALL_PREFIX "")
+  set(object_detection_PREFIX ${object_detection_DEVEL_PREFIX})
+else()
+  set(object_detection_SOURCE_PREFIX "")
+  set(object_detection_DEVEL_PREFIX "")
+  set(object_detection_INSTALL_PREFIX /home/nvidia/catkin_ws/install)
+  set(object_detection_PREFIX ${object_detection_INSTALL_PREFIX})
+endif()
+
+# warn when using a deprecated package
+if(NOT "" STREQUAL "")
+  set(_msg "WARNING: package 'object_detection' is deprecated")
+  # append custom deprecation text if available
+  if(NOT "" STREQUAL "TRUE")
+    set(_msg "${_msg} ()")
+  endif()
+  message("${_msg}")
+endif()
+
+# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project
+set(object_detection_FOUND_CATKIN_PROJECT TRUE)
+
+if(NOT " " STREQUAL " ")
+  set(object_detection_INCLUDE_DIRS "")
+  set(_include_dirs "")
+  if(NOT " " STREQUAL " ")
+    set(_report "Check the issue tracker '' and consider creating a ticket if the problem has not been reported yet.")
+  elseif(NOT " " STREQUAL " ")
+    set(_report "Check the website '' for information and consider reporting the problem.")
+  else()
+    set(_report "Report the problem to the maintainer 'nvidia <nvidia@todo.todo>' and request to fix the problem.")
+  endif()
+  foreach(idir ${_include_dirs})
+    if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir})
+      set(include ${idir})
+    elseif("${idir} " STREQUAL "include ")
+      get_filename_component(include "${object_detection_DIR}/../../../include" ABSOLUTE)
+      if(NOT IS_DIRECTORY ${include})
+        message(FATAL_ERROR "Project 'object_detection' specifies '${idir}' as an include dir, which is not found.  It does not exist in '${include}'.  ${_report}")
+      endif()
+    else()
+      message(FATAL_ERROR "Project 'object_detection' specifies '${idir}' as an include dir, which is not found.  It does neither exist as an absolute directory nor in '/home/nvidia/catkin_ws/install/${idir}'.  ${_report}")
+    endif()
+    _list_append_unique(object_detection_INCLUDE_DIRS ${include})
+  endforeach()
+endif()
+
+set(libraries "")
+foreach(library ${libraries})
+  # keep build configuration keywords, target names and absolute libraries as-is
+  if("${library}" MATCHES "^(debug|optimized|general)$")
+    list(APPEND object_detection_LIBRARIES ${library})
+  elseif(TARGET ${library})
+    list(APPEND object_detection_LIBRARIES ${library})
+  elseif(IS_ABSOLUTE ${library})
+    list(APPEND object_detection_LIBRARIES ${library})
+  else()
+    set(lib_path "")
+    set(lib "${library}-NOTFOUND")
+    # since the path where the library is found is returned we have to iterate over the paths manually
+    foreach(path /home/nvidia/catkin_ws/install/lib;/home/nvidia/catkin_ws/devel/lib;/opt/ros/kinetic/lib)
+      find_library(lib ${library}
+        PATHS ${path}
+        NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
+      if(lib)
+        set(lib_path ${path})
+        break()
+      endif()
+    endforeach()
+    if(lib)
+      _list_append_unique(object_detection_LIBRARY_DIRS ${lib_path})
+      list(APPEND object_detection_LIBRARIES ${lib})
+    else()
+      # as a fall back for non-catkin libraries try to search globally
+      find_library(lib ${library})
+      if(NOT lib)
+        message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'.  The library is neither a target nor built/installed properly.  Did you compile project 'object_detection'?  Did you find_package() it before the subdirectory containing its code is included?")
+      endif()
+      list(APPEND object_detection_LIBRARIES ${lib})
+    endif()
+  endif()
+endforeach()
+
+set(object_detection_EXPORTED_TARGETS "")
+# create dummy targets for exported code generation targets to make life of users easier
+foreach(t ${object_detection_EXPORTED_TARGETS})
+  if(NOT TARGET ${t})
+    add_custom_target(${t})
+  endif()
+endforeach()
+
+set(depends "")
+foreach(depend ${depends})
+  string(REPLACE " " ";" depend_list ${depend})
+  # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls
+  list(GET depend_list 0 object_detection_dep)
+  list(LENGTH depend_list count)
+  if(${count} EQUAL 1)
+    # simple dependencies must only be find_package()-ed once
+    if(NOT ${object_detection_dep}_FOUND)
+      find_package(${object_detection_dep} REQUIRED NO_MODULE)
+    endif()
+  else()
+    # dependencies with components must be find_package()-ed again
+    list(REMOVE_AT depend_list 0)
+    find_package(${object_detection_dep} REQUIRED NO_MODULE ${depend_list})
+  endif()
+  _list_append_unique(object_detection_INCLUDE_DIRS ${${object_detection_dep}_INCLUDE_DIRS})
+
+  # merge build configuration keywords with library names to correctly deduplicate
+  _pack_libraries_with_build_configuration(object_detection_LIBRARIES ${object_detection_LIBRARIES})
+  _pack_libraries_with_build_configuration(_libraries ${${object_detection_dep}_LIBRARIES})
+  _list_append_deduplicate(object_detection_LIBRARIES ${_libraries})
+  # undo build configuration keyword merging after deduplication
+  _unpack_libraries_with_build_configuration(object_detection_LIBRARIES ${object_detection_LIBRARIES})
+
+  _list_append_unique(object_detection_LIBRARY_DIRS ${${object_detection_dep}_LIBRARY_DIRS})
+  list(APPEND object_detection_EXPORTED_TARGETS ${${object_detection_dep}_EXPORTED_TARGETS})
+endforeach()
+
+set(pkg_cfg_extras "")
+foreach(extra ${pkg_cfg_extras})
+  if(NOT IS_ABSOLUTE ${extra})
+    set(extra ${object_detection_DIR}/${extra})
+  endif()
+  include(${extra})
+endforeach()
diff --git a/Robot_Development/catkin_ws/build/object_detection/catkin_generated/ordered_paths.cmake b/Robot_Development/catkin_ws/build/object_detection/catkin_generated/ordered_paths.cmake
new file mode 100644
index 000000000..afa3badef
--- /dev/null
+++ b/Robot_Development/catkin_ws/build/object_detection/catkin_generated/ordered_paths.cmake
@@ -0,0 +1 @@
+set(ORDERED_PATHS "/opt/ros/kinetic/lib")
\ No newline at end of file
diff --git a/Robot_Development/catkin_ws/build/object_detection/catkin_generated/package.cmake b/Robot_Development/catkin_ws/build/object_detection/catkin_generated/package.cmake
new file mode 100644
index 000000000..cc7bea5c9
--- /dev/null
+++ b/Robot_Development/catkin_ws/build/object_detection/catkin_generated/package.cmake
@@ -0,0 +1,16 @@
+set(_CATKIN_CURRENT_PACKAGE "object_detection")
+set(object_detection_VERSION "0.0.0")
+set(object_detection_MAINTAINER "nvidia <nvidia@todo.todo>")
+set(object_detection_PACKAGE_FORMAT "2")
+set(object_detection_BUILD_DEPENDS "roscpp" "rospy" "std_msgs")
+set(object_detection_BUILD_EXPORT_DEPENDS "roscpp" "rospy" "std_msgs")
+set(object_detection_BUILDTOOL_DEPENDS "catkin")
+set(object_detection_BUILDTOOL_EXPORT_DEPENDS )
+set(object_detection_EXEC_DEPENDS "roscpp" "rospy" "std_msgs")
+set(object_detection_RUN_DEPENDS "roscpp" "rospy" "std_msgs")
+set(object_detection_TEST_DEPENDS )
+set(object_detection_DOC_DEPENDS )
+set(object_detection_URL_WEBSITE "")
+set(object_detection_URL_BUGTRACKER "")
+set(object_detection_URL_REPOSITORY "")
+set(object_detection_DEPRECATED "")
\ No newline at end of file
diff --git a/Robot_Development/catkin_ws/build/object_detection/catkin_generated/pkg.develspace.context.pc.py b/Robot_Development/catkin_ws/build/object_detection/catkin_generated/pkg.develspace.context.pc.py
new file mode 100644
index 000000000..d6ca4819a
--- /dev/null
+++ b/Robot_Development/catkin_ws/build/object_detection/catkin_generated/pkg.develspace.context.pc.py
@@ -0,0 +1,8 @@
+# generated from catkin/cmake/template/pkg.context.pc.in
+CATKIN_PACKAGE_PREFIX = ""
+PROJECT_PKG_CONFIG_INCLUDE_DIRS = "".split(';') if "" != "" else []
+PROJECT_CATKIN_DEPENDS = "".replace(';', ' ')
+PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else []
+PROJECT_NAME = "object_detection"
+PROJECT_SPACE_DIR = "/home/nvidia/catkin_ws/devel"
+PROJECT_VERSION = "0.0.0"
diff --git a/Robot_Development/catkin_ws/build/object_detection/catkin_generated/pkg.installspace.context.pc.py b/Robot_Development/catkin_ws/build/object_detection/catkin_generated/pkg.installspace.context.pc.py
new file mode 100644
index 000000000..9c49a390f
--- /dev/null
+++ b/Robot_Development/catkin_ws/build/object_detection/catkin_generated/pkg.installspace.context.pc.py
@@ -0,0 +1,8 @@
+# generated from catkin/cmake/template/pkg.context.pc.in
+CATKIN_PACKAGE_PREFIX = ""
+PROJECT_PKG_CONFIG_INCLUDE_DIRS = "".split(';') if "" != "" else []
+PROJECT_CATKIN_DEPENDS = "".replace(';', ' ')
+PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else []
+PROJECT_NAME = "object_detection"
+PROJECT_SPACE_DIR = "/home/nvidia/catkin_ws/install"
+PROJECT_VERSION = "0.0.0"
diff --git a/Robot_Development/catkin_ws/build/object_detection/catkin_generated/stamps/object_detection/package.xml.stamp b/Robot_Development/catkin_ws/build/object_detection/catkin_generated/stamps/object_detection/package.xml.stamp
new file mode 100644
index 000000000..1a686f8ae
--- /dev/null
+++ b/Robot_Development/catkin_ws/build/object_detection/catkin_generated/stamps/object_detection/package.xml.stamp
@@ -0,0 +1,68 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>object_detection</name>
+  <version>0.0.0</version>
+  <description>The object_detection package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="nvidia@todo.todo">nvidia</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/object_detection</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
diff --git a/Robot_Development/catkin_ws/build/object_detection/catkin_generated/stamps/object_detection/pkg.pc.em.stamp b/Robot_Development/catkin_ws/build/object_detection/catkin_generated/stamps/object_detection/pkg.pc.em.stamp
new file mode 100644
index 000000000..a4f72576c
--- /dev/null
+++ b/Robot_Development/catkin_ws/build/object_detection/catkin_generated/stamps/object_detection/pkg.pc.em.stamp
@@ -0,0 +1,8 @@
+prefix=@PROJECT_SPACE_DIR
+
+Name: @(CATKIN_PACKAGE_PREFIX + PROJECT_NAME)
+Description: Description of @PROJECT_NAME
+Version: @PROJECT_VERSION
+Cflags: @(' '.join(['-I%s' % include for include in PROJECT_PKG_CONFIG_INCLUDE_DIRS]))
+Libs: -L@PROJECT_SPACE_DIR/lib @(' '.join(PKG_CONFIG_LIBRARIES_WITH_PREFIX))
+Requires: @(PROJECT_CATKIN_DEPENDS)
diff --git a/Robot_Development/catkin_ws/build/object_detection/cmake_install.cmake b/Robot_Development/catkin_ws/build/object_detection/cmake_install.cmake
new file mode 100644
index 000000000..db253a004
--- /dev/null
+++ b/Robot_Development/catkin_ws/build/object_detection/cmake_install.cmake
@@ -0,0 +1,49 @@
+# Install script for directory: /home/nvidia/catkin_ws/src/object_detection
+
+# Set the install prefix
+if(NOT DEFINED CMAKE_INSTALL_PREFIX)
+  set(CMAKE_INSTALL_PREFIX "/home/nvidia/catkin_ws/install")
+endif()
+string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
+
+# Set the install configuration name.
+if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+  if(BUILD_TYPE)
+    string(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
+           CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
+  else()
+    set(CMAKE_INSTALL_CONFIG_NAME "")
+  endif()
+  message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
+endif()
+
+# Set the component getting installed.
+if(NOT CMAKE_INSTALL_COMPONENT)
+  if(COMPONENT)
+    message(STATUS "Install component: \"${COMPONENT}\"")
+    set(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
+  else()
+    set(CMAKE_INSTALL_COMPONENT)
+  endif()
+endif()
+
+# Install shared libraries without execute permission?
+if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+  set(CMAKE_INSTALL_SO_NO_EXE "1")
+endif()
+
+if(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/pkgconfig" TYPE FILE FILES "/home/nvidia/catkin_ws/build/object_detection/catkin_generated/installspace/object_detection.pc")
+endif()
+
+if(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/object_detection/cmake" TYPE FILE FILES
+    "/home/nvidia/catkin_ws/build/object_detection/catkin_generated/installspace/object_detectionConfig.cmake"
+    "/home/nvidia/catkin_ws/build/object_detection/catkin_generated/installspace/object_detectionConfig-version.cmake"
+    )
+endif()
+
+if(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/object_detection" TYPE FILE FILES "/home/nvidia/catkin_ws/src/object_detection/package.xml")
+endif()
+
diff --git a/Robot_Development/catkin_ws/devel/lib/lane_demo/lane_demo b/Robot_Development/catkin_ws/devel/lib/lane_demo/lane_demo
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diff --git a/Robot_Development/catkin_ws/devel/lib/pkgconfig/object_detection.pc b/Robot_Development/catkin_ws/devel/lib/pkgconfig/object_detection.pc
new file mode 100644
index 000000000..b4edc0152
--- /dev/null
+++ b/Robot_Development/catkin_ws/devel/lib/pkgconfig/object_detection.pc
@@ -0,0 +1,8 @@
+prefix=/home/nvidia/catkin_ws/devel
+
+Name: object_detection
+Description: Description of object_detection
+Version: 0.0.0
+Cflags: 
+Libs: -L/home/nvidia/catkin_ws/devel/lib 
+Requires: 
diff --git a/Robot_Development/catkin_ws/devel/share/object_detection/cmake/object_detectionConfig-version.cmake b/Robot_Development/catkin_ws/devel/share/object_detection/cmake/object_detectionConfig-version.cmake
new file mode 100644
index 000000000..7fd9f993a
--- /dev/null
+++ b/Robot_Development/catkin_ws/devel/share/object_detection/cmake/object_detectionConfig-version.cmake
@@ -0,0 +1,14 @@
+# generated from catkin/cmake/template/pkgConfig-version.cmake.in
+set(PACKAGE_VERSION "0.0.0")
+
+set(PACKAGE_VERSION_EXACT False)
+set(PACKAGE_VERSION_COMPATIBLE False)
+
+if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_EXACT True)
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
+
+if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
diff --git a/Robot_Development/catkin_ws/devel/share/object_detection/cmake/object_detectionConfig.cmake b/Robot_Development/catkin_ws/devel/share/object_detection/cmake/object_detectionConfig.cmake
new file mode 100644
index 000000000..a3531cf9f
--- /dev/null
+++ b/Robot_Development/catkin_ws/devel/share/object_detection/cmake/object_detectionConfig.cmake
@@ -0,0 +1,198 @@
+# generated from catkin/cmake/template/pkgConfig.cmake.in
+
+# append elements to a list and remove existing duplicates from the list
+# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig
+# self contained
+macro(_list_append_deduplicate listname)
+  if(NOT "${ARGN}" STREQUAL "")
+    if(${listname})
+      list(REMOVE_ITEM ${listname} ${ARGN})
+    endif()
+    list(APPEND ${listname} ${ARGN})
+  endif()
+endmacro()
+
+# append elements to a list if they are not already in the list
+# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig
+# self contained
+macro(_list_append_unique listname)
+  foreach(_item ${ARGN})
+    list(FIND ${listname} ${_item} _index)
+    if(_index EQUAL -1)
+      list(APPEND ${listname} ${_item})
+    endif()
+  endforeach()
+endmacro()
+
+# pack a list of libraries with optional build configuration keywords
+# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig
+# self contained
+macro(_pack_libraries_with_build_configuration VAR)
+  set(${VAR} "")
+  set(_argn ${ARGN})
+  list(LENGTH _argn _count)
+  set(_index 0)
+  while(${_index} LESS ${_count})
+    list(GET _argn ${_index} lib)
+    if("${lib}" MATCHES "^(debug|optimized|general)$")
+      math(EXPR _index "${_index} + 1")
+      if(${_index} EQUAL ${_count})
+        message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library")
+      endif()
+      list(GET _argn ${_index} library)
+      list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}")
+    else()
+      list(APPEND ${VAR} "${lib}")
+    endif()
+    math(EXPR _index "${_index} + 1")
+  endwhile()
+endmacro()
+
+# unpack a list of libraries with optional build configuration keyword prefixes
+# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig
+# self contained
+macro(_unpack_libraries_with_build_configuration VAR)
+  set(${VAR} "")
+  foreach(lib ${ARGN})
+    string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}")
+    list(APPEND ${VAR} "${lib}")
+  endforeach()
+endmacro()
+
+
+if(object_detection_CONFIG_INCLUDED)
+  return()
+endif()
+set(object_detection_CONFIG_INCLUDED TRUE)
+
+# set variables for source/devel/install prefixes
+if("TRUE" STREQUAL "TRUE")
+  set(object_detection_SOURCE_PREFIX /home/nvidia/catkin_ws/src/object_detection)
+  set(object_detection_DEVEL_PREFIX /home/nvidia/catkin_ws/devel)
+  set(object_detection_INSTALL_PREFIX "")
+  set(object_detection_PREFIX ${object_detection_DEVEL_PREFIX})
+else()
+  set(object_detection_SOURCE_PREFIX "")
+  set(object_detection_DEVEL_PREFIX "")
+  set(object_detection_INSTALL_PREFIX /home/nvidia/catkin_ws/install)
+  set(object_detection_PREFIX ${object_detection_INSTALL_PREFIX})
+endif()
+
+# warn when using a deprecated package
+if(NOT "" STREQUAL "")
+  set(_msg "WARNING: package 'object_detection' is deprecated")
+  # append custom deprecation text if available
+  if(NOT "" STREQUAL "TRUE")
+    set(_msg "${_msg} ()")
+  endif()
+  message("${_msg}")
+endif()
+
+# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project
+set(object_detection_FOUND_CATKIN_PROJECT TRUE)
+
+if(NOT " " STREQUAL " ")
+  set(object_detection_INCLUDE_DIRS "")
+  set(_include_dirs "")
+  if(NOT " " STREQUAL " ")
+    set(_report "Check the issue tracker '' and consider creating a ticket if the problem has not been reported yet.")
+  elseif(NOT " " STREQUAL " ")
+    set(_report "Check the website '' for information and consider reporting the problem.")
+  else()
+    set(_report "Report the problem to the maintainer 'nvidia <nvidia@todo.todo>' and request to fix the problem.")
+  endif()
+  foreach(idir ${_include_dirs})
+    if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir})
+      set(include ${idir})
+    elseif("${idir} " STREQUAL "include ")
+      get_filename_component(include "${object_detection_DIR}/../../../include" ABSOLUTE)
+      if(NOT IS_DIRECTORY ${include})
+        message(FATAL_ERROR "Project 'object_detection' specifies '${idir}' as an include dir, which is not found.  It does not exist in '${include}'.  ${_report}")
+      endif()
+    else()
+      message(FATAL_ERROR "Project 'object_detection' specifies '${idir}' as an include dir, which is not found.  It does neither exist as an absolute directory nor in '/home/nvidia/catkin_ws/src/object_detection/${idir}'.  ${_report}")
+    endif()
+    _list_append_unique(object_detection_INCLUDE_DIRS ${include})
+  endforeach()
+endif()
+
+set(libraries "")
+foreach(library ${libraries})
+  # keep build configuration keywords, target names and absolute libraries as-is
+  if("${library}" MATCHES "^(debug|optimized|general)$")
+    list(APPEND object_detection_LIBRARIES ${library})
+  elseif(TARGET ${library})
+    list(APPEND object_detection_LIBRARIES ${library})
+  elseif(IS_ABSOLUTE ${library})
+    list(APPEND object_detection_LIBRARIES ${library})
+  else()
+    set(lib_path "")
+    set(lib "${library}-NOTFOUND")
+    # since the path where the library is found is returned we have to iterate over the paths manually
+    foreach(path /home/nvidia/catkin_ws/devel/lib;/home/nvidia/catkin_ws/devel/lib;/opt/ros/kinetic/lib)
+      find_library(lib ${library}
+        PATHS ${path}
+        NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
+      if(lib)
+        set(lib_path ${path})
+        break()
+      endif()
+    endforeach()
+    if(lib)
+      _list_append_unique(object_detection_LIBRARY_DIRS ${lib_path})
+      list(APPEND object_detection_LIBRARIES ${lib})
+    else()
+      # as a fall back for non-catkin libraries try to search globally
+      find_library(lib ${library})
+      if(NOT lib)
+        message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'.  The library is neither a target nor built/installed properly.  Did you compile project 'object_detection'?  Did you find_package() it before the subdirectory containing its code is included?")
+      endif()
+      list(APPEND object_detection_LIBRARIES ${lib})
+    endif()
+  endif()
+endforeach()
+
+set(object_detection_EXPORTED_TARGETS "")
+# create dummy targets for exported code generation targets to make life of users easier
+foreach(t ${object_detection_EXPORTED_TARGETS})
+  if(NOT TARGET ${t})
+    add_custom_target(${t})
+  endif()
+endforeach()
+
+set(depends "")
+foreach(depend ${depends})
+  string(REPLACE " " ";" depend_list ${depend})
+  # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls
+  list(GET depend_list 0 object_detection_dep)
+  list(LENGTH depend_list count)
+  if(${count} EQUAL 1)
+    # simple dependencies must only be find_package()-ed once
+    if(NOT ${object_detection_dep}_FOUND)
+      find_package(${object_detection_dep} REQUIRED NO_MODULE)
+    endif()
+  else()
+    # dependencies with components must be find_package()-ed again
+    list(REMOVE_AT depend_list 0)
+    find_package(${object_detection_dep} REQUIRED NO_MODULE ${depend_list})
+  endif()
+  _list_append_unique(object_detection_INCLUDE_DIRS ${${object_detection_dep}_INCLUDE_DIRS})
+
+  # merge build configuration keywords with library names to correctly deduplicate
+  _pack_libraries_with_build_configuration(object_detection_LIBRARIES ${object_detection_LIBRARIES})
+  _pack_libraries_with_build_configuration(_libraries ${${object_detection_dep}_LIBRARIES})
+  _list_append_deduplicate(object_detection_LIBRARIES ${_libraries})
+  # undo build configuration keyword merging after deduplication
+  _unpack_libraries_with_build_configuration(object_detection_LIBRARIES ${object_detection_LIBRARIES})
+
+  _list_append_unique(object_detection_LIBRARY_DIRS ${${object_detection_dep}_LIBRARY_DIRS})
+  list(APPEND object_detection_EXPORTED_TARGETS ${${object_detection_dep}_EXPORTED_TARGETS})
+endforeach()
+
+set(pkg_cfg_extras "")
+foreach(extra ${pkg_cfg_extras})
+  if(NOT IS_ABSOLUTE ${extra})
+    set(extra ${object_detection_DIR}/${extra})
+  endif()
+  include(${extra})
+endforeach()
diff --git a/Robot_Development/catkin_ws/src/lane_demo/CMakeLists.txt b/Robot_Development/catkin_ws/src/lane_demo/CMakeLists.txt
index 61df726eb..07b7f8379 100644
--- a/Robot_Development/catkin_ws/src/lane_demo/CMakeLists.txt
+++ b/Robot_Development/catkin_ws/src/lane_demo/CMakeLists.txt
@@ -117,12 +117,13 @@ catkin_package(
 ## Your package locations should be listed before other locations
 include_directories(
 # include
+  include <lane_demo/src/Detection.h>
   ${catkin_INCLUDE_DIRS}
 )
 
 ## Declare a C++ library
 # add_library(${PROJECT_NAME}
-#   src/${PROJECT_NAME}/lane_demo.cpp
+#   src/${PROJECT_NAME}/lane_demo.cpp 
 # )
 
 ## Add cmake target dependencies of the library
@@ -199,4 +200,5 @@ include_directories(
 # catkin_add_nosetests(test)
 add_executable(lane_demo src/lane_demo.cpp)
 target_link_libraries(lane_demo ${catkin_LIBRARIES})
+set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS}")
 
diff --git a/Robot_Development/catkin_ws/src/lane_demo/Detection.h b/Robot_Development/catkin_ws/src/lane_demo/Detection.h
new file mode 100644
index 000000000..066e4c10f
--- /dev/null
+++ b/Robot_Development/catkin_ws/src/lane_demo/Detection.h
@@ -0,0 +1,131 @@
+#include<iostream>
+#include<sstream>
+#include<string>
+#include<iterator>
+#include<map>
+
+using namespace std;
+
+class Detection {
+public:
+    string _name;
+    float _prob;
+    int _cx;
+    int _cy;
+    int _w;
+    int _h;
+ 
+    Detection() {
+        
+    }
+    Detection(string name, float prob, int cx,int cy, int w, int h) {
+        _name = name;
+        _prob = prob;
+        _cx = cx;
+        _cy = cy;
+        _w = w;
+        _h = h;
+    }
+    Detection(string serialization) {
+        string whitespace = removeSpaces(serialization);
+        cout << whitespace << endl;
+        string unbraced = whitespace.substr(1, whitespace.length()-2);
+        cout << unbraced << endl;
+        string arr[5];
+	cout << "OMG OMG OMG OMG " << serialization << endl;
+        
+        string str1 = unbraced;
+        string str2 = "name:";
+        string str3 = "";
+        str1.replace(str1.find(str2),str2.length(),str3);
+        
+        str2 = "prob:";
+        str3 = "";
+        str1.replace(str1.find(str2),str2.length(),str3);
+        
+        str2 = "cx:";
+        str3 = "";
+        str1.replace(str1.find(str2),str2.length(),str3);
+        
+        str2 = "cy:";
+        str3 = "";
+        str1.replace(str1.find(str2),str2.length(),str3);
+        
+        str2 = "w:";
+        str3 = "";
+        str1.replace(str1.find(str2),str2.length(),str3);
+        
+        str2 = "h:";
+        str3 = "";
+        str1.replace(str1.find(str2),str2.length(),str3);
+        
+        cout << str1 << endl;
+        
+        string name = str1.substr(0,str1.find(','));
+        cout << name << endl;
+        str1 = str1.substr(str1.find(',')+1, str1.length()-1);
+        
+        float prob = stof(str1.substr(0,str1.find(',')));
+        cout << prob << endl;
+        str1 = str1.substr(str1.find(',')+1, str1.length()-1);
+        
+        int cx = stoi(str1.substr(0,str1.find(',')));
+        cout << cx << endl;
+        str1 = str1.substr(str1.find(',')+1, str1.length()-1);
+        
+        int cy = stoi(str1.substr(0,str1.find(',')));
+        cout << cy << endl;
+        str1 = str1.substr(str1.find(',')+1, str1.length()-1);
+        
+        int w = stoi(str1.substr(0,str1.find(',')));
+        cout << w << endl;
+        str1 = str1.substr(str1.find(',')+1, str1.length()-1);
+        
+        int h = stoi(str1.substr(0,str1.find(',')));
+        cout << h << endl;
+        str1 = str1.substr(str1.find(',')+1, str1.length()-1);
+        
+        _name = name;
+        _prob = prob;
+        _cx = cx;
+        _cy = cy;
+        _w = w;
+        _h = h;
+        
+    }
+    string removeSpaces(string str)
+    {
+        string s = "";
+        // To keep track of non-space character count
+        int count = 0;
+        
+        // Traverse the given string. If current character
+        // is not space, then place it at index 'count++'
+        for (int i = 0; i < str.length() ; i++)
+            if (str.at(i) != ' ')
+                s = s + str.at(i);
+        // incremented
+        return s;
+    }
+    
+    template <size_t N>
+    void splitString(string (&arr)[N], string str)
+    {
+        int n = 0;
+        istringstream iss(str);
+        for (auto it = istream_iterator<string>(iss); it != istream_iterator<string>() && n < N; ++it, ++n)
+            arr[n] = *it;
+    }
+    
+    string to_string() {
+        string s0 = "name:" + _name + ",";
+        string s1 = "prob:" + std::to_string(_prob) + ",";
+        string s2 = "cx:" + std::to_string(_cx) + ",";
+        string s3 = "cy:" + std::to_string(_cy) + ",";
+        string s4 = "w:" + std::to_string(_w) + ",";
+        string s5 = "h:" + std::to_string(_h) + ",";
+        string s = s0 + s1 + s2 + s3 + s4 + s5;
+        return s;
+    }
+};
+
diff --git a/Robot_Development/catkin_ws/src/lane_demo/src/Detection.cpp.bak b/Robot_Development/catkin_ws/src/lane_demo/src/Detection.cpp.bak
new file mode 100644
index 000000000..79b5eaaf0
--- /dev/null
+++ b/Robot_Development/catkin_ws/src/lane_demo/src/Detection.cpp.bak
@@ -0,0 +1,125 @@
+#include<iostream>
+#include"Detection.h"
+#include<sstream>
+#include<string>
+#include<iterator>
+#include<map>
+
+using namespace std;
+
+class Detection {
+public:
+    Detection() {
+	cout << "boop" << endl; 
+    }
+    Detection(string name, float prob, int cx,int cy, int w, int h) {
+        _name = name;
+        _prob = prob;
+        _cx = cx;
+        _cy = cy;
+        _w = w;
+        _h = h;
+    }
+    Detection(string serialization) {
+	cout << "OMG OMG OMG OMG " << serialization << endl;
+        string whitespace = removeSpaces(serialization);
+        cout << whitespace << endl;
+        string unbraced = whitespace.substr(1, whitespace.length()-2);
+        cout << unbraced << endl;
+        string arr[5];
+        
+        string str1 = unbraced;
+        string str2 = "name:";
+        string str3 = "";
+        str1.replace(str1.find(str2),str2.length(),str3);
+        
+        str2 = "prob:";
+        str3 = "";
+        str1.replace(str1.find(str2),str2.length(),str3);
+        
+        str2 = "cx:";
+        str3 = "";
+        str1.replace(str1.find(str2),str2.length(),str3);
+        
+        str2 = "cy:";
+        str3 = "";
+        str1.replace(str1.find(str2),str2.length(),str3);
+        
+        str2 = "w:";
+        str3 = "";
+        str1.replace(str1.find(str2),str2.length(),str3);
+        
+        str2 = "h:";
+        str3 = "";
+        str1.replace(str1.find(str2),str2.length(),str3);
+        
+        cout << str1 << endl;
+        
+        string name = str1.substr(0,str1.find(','));
+        cout << name << endl;
+        str1 = str1.substr(str1.find(',')+1, str1.length()-1);
+        
+        float prob = stof(str1.substr(0,str1.find(',')));
+        cout << prob << endl;
+        str1 = str1.substr(str1.find(',')+1, str1.length()-1);
+        
+        int cx = stoi(str1.substr(0,str1.find(',')));
+        cout << cx << endl;
+        str1 = str1.substr(str1.find(',')+1, str1.length()-1);
+        
+        int cy = stoi(str1.substr(0,str1.find(',')));
+        cout << cy << endl;
+        str1 = str1.substr(str1.find(',')+1, str1.length()-1);
+        
+        int w = stoi(str1.substr(0,str1.find(',')));
+        cout << w << endl;
+        str1 = str1.substr(str1.find(',')+1, str1.length()-1);
+        
+        int h = stoi(str1.substr(0,str1.find(',')));
+        cout << h << endl;
+        str1 = str1.substr(str1.find(',')+1, str1.length()-1);
+        
+        _name = name;
+        _prob = prob;
+        _cx = cx;
+        _cy = cy;
+        _w = w;
+        _h = h;
+        
+    }
+    string removeSpaces(string str)
+    {
+        string s = "";
+        // To keep track of non-space character count
+        int count = 0;
+        
+        // Traverse the given string. If current character
+        // is not space, then place it at index 'count++'
+        for (int i = 0; i < str.length() ; i++)
+            if (str.at(i) != ' ')
+                s = s + str.at(i);
+        // incremented
+        return s;
+    }
+    
+    template <size_t N>
+    void splitString(string (&arr)[N], string str)
+    {
+        int n = 0;
+        istringstream iss(str);
+        for (auto it = istream_iterator<string>(iss); it != istream_iterator<string>() && n < N; ++it, ++n)
+            arr[n] = *it;
+    }
+    
+    string to_string() {
+        string s0 = "name:" + _name + ",";
+        string s1 = "prob:" + std::to_string(_prob) + ",";
+        string s2 = "cx:" + std::to_string(_cx) + ",";
+        string s3 = "cy:" + std::to_string(_cy) + ",";
+        string s4 = "w:" + std::to_string(_w) + ",";
+        string s5 = "h:" + std::to_string(_h) + ",";
+        string s = s0 + s1 + s2 + s3 + s4 + s5;
+        return s;
+    }
+};
+
diff --git a/Robot_Development/catkin_ws/src/lane_demo/src/Detection.h b/Robot_Development/catkin_ws/src/lane_demo/src/Detection.h
new file mode 100644
index 000000000..4e87ad977
--- /dev/null
+++ b/Robot_Development/catkin_ws/src/lane_demo/src/Detection.h
@@ -0,0 +1,124 @@
+#include<iostream>
+#include<sstream>
+#include<string>
+#include<iterator>
+#include<map>
+
+using namespace std;
+
+class Detection {
+public:
+    string _name;
+    float _prob;
+    int _cx;
+    int _cy;
+    int _w;
+    int _h;
+ 
+    Detection() {
+        
+    }
+    Detection(string name, float prob, int cx,int cy, int w, int h) {
+        _name = name;
+        _prob = prob;
+        _cx = cx;
+        _cy = cy;
+        _w = w;
+        _h = h;
+    }
+    Detection(string serialization) {
+        string whitespace = removeSpaces(serialization);
+        cout << whitespace << endl;
+        string unbraced = whitespace.substr(1, whitespace.length()-2);
+        cout << unbraced << endl;
+        string arr[5];
+        
+        string str1 = unbraced;
+        string str2 = "name:";
+        string str3 = "";
+        str1.replace(str1.find(str2),str2.length(),str3);
+        
+        str2 = "prob:";
+        str3 = "";
+        str1.replace(str1.find(str2),str2.length(),str3);
+        
+        str2 = "cx:";
+        str3 = "";
+        str1.replace(str1.find(str2),str2.length(),str3);
+        
+        str2 = "cy:";
+        str3 = "";
+        str1.replace(str1.find(str2),str2.length(),str3);
+        
+        str2 = "w:";
+        str3 = "";
+        str1.replace(str1.find(str2),str2.length(),str3);
+        
+        str2 = "h:";
+        str3 = "";
+        str1.replace(str1.find(str2),str2.length(),str3);
+        
+        cout << str1 << endl;
+        
+        string name = str1.substr(0,str1.find(','));
+        str1 = str1.substr(str1.find(',')+1, str1.length()-1);
+        
+        float prob = stof(str1.substr(0,str1.find(',')));
+        str1 = str1.substr(str1.find(',')+1, str1.length()-1);
+        
+        int cx = stoi(str1.substr(0,str1.find(',')));
+        str1 = str1.substr(str1.find(',')+1, str1.length()-1);
+        
+        int cy = stoi(str1.substr(0,str1.find(',')));
+        str1 = str1.substr(str1.find(',')+1, str1.length()-1);
+        
+        int w = stoi(str1.substr(0,str1.find(',')));
+        str1 = str1.substr(str1.find(',')+1, str1.length()-1);
+        
+        int h = stoi(str1.substr(0,str1.find(',')));
+        str1 = str1.substr(str1.find(',')+1, str1.length()-1);
+        
+        _name = name;
+        _prob = prob;
+        _cx = cx;
+        _cy = cy;
+        _w = w;
+        _h = h;
+        
+    }
+    string removeSpaces(string str)
+    {
+        string s = "";
+        // To keep track of non-space character count
+        int count = 0;
+        
+        // Traverse the given string. If current character
+        // is not space, then place it at index 'count++'
+        for (int i = 0; i < str.length() ; i++)
+            if (str.at(i) != ' ')
+                s = s + str.at(i);
+        // incremented
+        return s;
+    }
+    
+    template <size_t N>
+    void splitString(string (&arr)[N], string str)
+    {
+        int n = 0;
+        istringstream iss(str);
+        for (auto it = istream_iterator<string>(iss); it != istream_iterator<string>() && n < N; ++it, ++n)
+            arr[n] = *it;
+    }
+    
+    string to_string() {
+        string s0 = "name:" + _name + ",";
+        string s1 = "prob:" + std::to_string(_prob) + ",";
+        string s2 = "cx:" + std::to_string(_cx) + ",";
+        string s3 = "cy:" + std::to_string(_cy) + ",";
+        string s4 = "w:" + std::to_string(_w) + ",";
+        string s5 = "h:" + std::to_string(_h) + ",";
+        string s = s0 + s1 + s2 + s3 + s4 + s5;
+        return s;
+    }
+};
+
diff --git a/Robot_Development/catkin_ws/src/lane_demo/src/Detection.h.bak1 b/Robot_Development/catkin_ws/src/lane_demo/src/Detection.h.bak1
new file mode 100644
index 000000000..291814c11
--- /dev/null
+++ b/Robot_Development/catkin_ws/src/lane_demo/src/Detection.h.bak1
@@ -0,0 +1,27 @@
+#include<iostream>
+#include<sstream>
+#include<string>
+#include<iterator>
+#include<map>
+
+using namespace std;
+
+class Detection {
+public:
+    string _name;
+    float _prob;
+    int _cx;
+    int _cy;
+    int _w;
+    int _h;
+    Detection();
+    Detection(string name, float prob, int cx,int cy, int w, int h);
+    Detection(string serialization);
+    string removeSpaces(string str);
+    
+    template <size_t N>
+    void splitString(string (&arr)[N], string str);
+    
+    string to_string();
+};
+
diff --git a/Robot_Development/catkin_ws/src/lane_demo/src/bad.list b/Robot_Development/catkin_ws/src/lane_demo/src/bad.list
new file mode 100644
index 000000000..f696b6409
--- /dev/null
+++ b/Robot_Development/catkin_ws/src/lane_demo/src/bad.list
@@ -0,0 +1,4560 @@
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diff --git a/Robot_Development/catkin_ws/src/lane_demo/src/lane_demo.cpp b/Robot_Development/catkin_ws/src/lane_demo/src/lane_demo.cpp
index cca2760c7..49a8d1756 100644
--- a/Robot_Development/catkin_ws/src/lane_demo/src/lane_demo.cpp
+++ b/Robot_Development/catkin_ws/src/lane_demo/src/lane_demo.cpp
@@ -1,12 +1,18 @@
 #include "ros/ros.h"
+#include <chrono> 
+#include <ctime>
+#include <vector>
 #include "std_msgs/String.h"
 #include "geometry_msgs/Twist.h"
 #include "std_msgs/Int16.h"
 #include "std_msgs/UInt64.h"
 #include "std_msgs/Float64.h"
+#include "Detection.h"
 #include <math.h>
-#define LINEAR_SPEED 0.65
-#define ANGULAR_SPEED 2
+#include <cstddef>
+#include <string.h>
+#define LINEAR_SPEED 0.6
+#define ANGULAR_SPEED 1.9
 #define OBJECT_DIST_NEAR 40
 
 enum STATE { FORWARD, TURN_RIGHT, TURN_LEFT, STOP};
@@ -20,12 +26,11 @@ class SenseAndAvoid
     void leftEncoderCallback(const std_msgs::UInt64::ConstPtr& msg);
     void rightEncoderCallback(const std_msgs::UInt64::ConstPtr& msg);
     void sonarCallback(const std_msgs::Int16::ConstPtr& msg);
-	void sonar_1Callback(const std_msgs::Int16::ConstPtr& msg);
-	void sonar_3Callback(const std_msgs::Int16::ConstPtr& msg);
-	void Lanes(const std_msgs::String::ConstPtr& msg);
-	void Lane_Distance(const std_msgs::Float64::ConstPtr& msg);
-	void errorCallback();
-
+    void sonar_1Callback(const std_msgs::Int16::ConstPtr& msg);
+    void sonar_3Callback(const std_msgs::Int16::ConstPtr& msg);
+    void Lanes(const std_msgs::String::ConstPtr& msg);
+    void Lane_Distance(const std_msgs::Float64::ConstPtr& msg);
+    void Object_Detection(const std_msgs::String::ConstPtr& msg);
     ros::NodeHandle nh;
 
     ros::Publisher vel_pub;
@@ -33,16 +38,25 @@ class SenseAndAvoid
     ros::Subscriber left_encoder_sub;
     ros::Subscriber right_encoder_sub;
     ros::Subscriber sonar_sub;
-	ros::Subscriber sonar_1_sub;
-	ros::Subscriber sonar_3_sub;
+    ros::Subscriber sonar_1_sub;
+    ros::Subscriber sonar_3_sub;
     ros::Subscriber lanes_sub;
-	ros::Subscriber lane_distance_sub;
+    ros::Subscriber lane_distance_sub;
+    ros::Subscriber object_sub;
 	
     geometry_msgs::Twist vel_msg;
 
     int left_count, right_count, left_sonar, right_sonar, object_min;
-	float lane_distance, Kp, Kv, Kd, integral_error, cur_error, derivative_error, prev_error;
-
+    float lane_distance, Kp, Kv, Kd, integral_error, cur_error, derivative_error, prev_error;
+
+    // TODO : Keep a vector of current detections ( last ~1 second, no duplicates ) 
+    // For right now, just use thanos as our single, most recent detection
+    // vector<Detection> current_detections;
+    Detection thanos;
+    time_t last_detection_time;
+    time_t now = time(NULL);
+    double elapsed = difftime(now, last_detection_time);
+    
     STATE state;
 };
 SenseAndAvoid::SenseAndAvoid()
@@ -55,13 +69,15 @@ SenseAndAvoid::SenseAndAvoid()
   vel_pub = nh.advertise<geometry_msgs::Twist>("/cmd_vel", 10);
   lanes_sub = nh.subscribe<std_msgs::String>("/lanes", 10, &SenseAndAvoid::Lanes, this);
   lane_distance_sub = nh.subscribe<std_msgs::Float64>("/lane_distance", 10, &SenseAndAvoid::Lane_Distance, this);
+  object_sub = nh.subscribe<std_msgs::String>("/object_detection", 10, &SenseAndAvoid::Object_Detection, this);
   state = FORWARD;
   left_count = 0;
   right_count = 0;
   cur_error = 0;
-  Kp = .015;
+  Kp = .01;
+  last_detection_time = time(NULL);
   Kv = 0;
-  Kd = 0.035;
+  Kd = 0.065;
 }
 
 void SenseAndAvoid::Lanes(const std_msgs::String::ConstPtr& msg)
@@ -72,11 +88,11 @@ void SenseAndAvoid::Lanes(const std_msgs::String::ConstPtr& msg)
   }
   else if(msg->data.compare("Left lane does not exist") == 0)
   {
-	state = TURN_RIGHT;
+	state = TURN_LEFT;
   }
   else if(msg->data.compare("Right lane does not exist") == 0)
   {
-	state = TURN_LEFT;
+	state = TURN_RIGHT;
   }
   else
   {
@@ -88,15 +104,25 @@ void SenseAndAvoid::Lane_Distance(const std_msgs::Float64::ConstPtr& msg)
 {
 	lane_distance = msg->data;
 }
+void SenseAndAvoid::Object_Detection(const std_msgs::String::ConstPtr& msg)
+{
+	last_detection_time = time(NULL);
+
 
+	std::string object = msg->data;
+	//printf("c_str objcet %s\n",object.c_str());
+	thanos = Detection(object.c_str());
+	//ROS_INFO("Detected Object : %s",thanos.to_string().c_str());
+  	//ROS_INFO("ELAPSED - SECONDS %lf", elapsed);
+}
 void SenseAndAvoid::leftEncoderCallback(const std_msgs::UInt64::ConstPtr& msg)
 {
-  left_count += msg->data;
+	left_count += msg->data;
 }
 
 void SenseAndAvoid::rightEncoderCallback(const std_msgs::UInt64::ConstPtr& msg)
 {
-  right_count += msg->data;
+	right_count += msg->data;
 }
 
 void SenseAndAvoid::sonar_1Callback(const std_msgs::Int16::ConstPtr& msg)
@@ -111,12 +137,49 @@ void SenseAndAvoid::sonar_3Callback(const std_msgs::Int16::ConstPtr& msg)
 
 void SenseAndAvoid::sonarCallback(const std_msgs::Int16::ConstPtr& msg)
 {
-  if((msg->data < OBJECT_DIST_NEAR && msg->data > 0) || (left_sonar < OBJECT_DIST_NEAR && left_sonar > 0) || (right_sonar < OBJECT_DIST_NEAR && right_sonar > 0)) {
-    ROS_INFO("OBJECT IN THE WAY, STOP");
-	vel_msg.linear.x = 0;
-    vel_msg.angular.z = 0;
-    vel_pub.publish(vel_msg);
+
+  // If time elapsed since last detection > 1 second, make last detection null
+  time_t now = time(NULL);
+  double elapsed_seconds = difftime(now, last_detection_time);
+  // How long since last detection
+  //ROS_INFO("%lf", elapsed);
+  //ROS_INFO_STREAM(thanos._prob);
+  if(elapsed_seconds > 2) {
+	// no detections
+	// Object is out of frame
+	ROS_INFO("No object in frame.");
+	thanos._name = "";
+	thanos._prob = -1;
+	thanos._cx = -1;
+	thanos._cy = -1;
+	thanos._w = -1;
+	thanos._h = -1;
   }
+/*
+Detection Variables
+    string _name;
+    float _prob;
+    int _cx;
+    int _cy;
+    int _w;
+    int _h;
+*/
+  if((msg->data < OBJECT_DIST_NEAR && msg->data > 0) || (left_sonar < OBJECT_DIST_NEAR && left_sonar > 0) || (right_sonar < OBJECT_DIST_NEAR && right_sonar > 0)) 
+  {
+		ROS_INFO("OBJECT IN THE WAY, STOP");
+		vel_msg.linear.x = 0;
+		vel_msg.angular.z = 0;
+		vel_pub.publish(vel_msg);
+  }
+
+  else if(thanos._name == "stopsign" && thanos._prob > 30)
+  {
+	  	ROS_INFO("STOP SIGN FOUND");
+		vel_msg.linear.x = 0;
+    	vel_msg.angular.z = 0;
+    	vel_pub.publish(vel_msg);
+  }
+
   else if(state == STOP)
   {
 	ROS_INFO("NO LANES, STOP");
@@ -124,28 +187,30 @@ void SenseAndAvoid::sonarCallback(const std_msgs::Int16::ConstPtr& msg)
 	vel_msg.angular.z = 0;
 	vel_pub.publish(vel_msg);
   }
+
   else if(state == TURN_LEFT)
   {
 	ROS_INFO("TURNING LEFT");
-	vel_msg.linear.x = 0;
+	vel_msg.linear.x = 0.1;
 	vel_msg.angular.z = -ANGULAR_SPEED;
 	vel_pub.publish(vel_msg);
   }
   else if(state == TURN_RIGHT)
   {
 	ROS_INFO("TURNING_RIGHT");
-	vel_msg.linear.x = 0;
+	vel_msg.linear.x = 0.1;
 	vel_msg.angular.z = ANGULAR_SPEED;
 	vel_pub.publish(vel_msg);
   }
+
   else
   {
 	ROS_INFO("PID Control");
 	cur_error = lane_distance;
 	ROS_INFO_STREAM(cur_error);
-    integral_error += cur_error;
+	integral_error += cur_error;
 	derivative_error = cur_error - prev_error;
-	vel_msg.angular.z = (Kp * cur_error) + (Kv * integral_error) + (Kd * derivative_error);
+	vel_msg.angular.z = -((Kp * cur_error) + (Kv * integral_error) + (Kd * derivative_error));
 	vel_msg.linear.x = LINEAR_SPEED;
 	vel_pub.publish(vel_msg);
 	prev_error = cur_error;
diff --git a/Robot_Development/catkin_ws/src/lane_detection/src/detect.py b/Robot_Development/catkin_ws/src/lane_detection/src/detect.py
index f1e4e1f56..bd037de24 100755
--- a/Robot_Development/catkin_ws/src/lane_detection/src/detect.py
+++ b/Robot_Development/catkin_ws/src/lane_detection/src/detect.py
@@ -39,25 +39,12 @@ def detect_edge(pic):
     # return new edge image
     return img_edge
 
-
-# Define the region of in which the lanes will be in the cameras view
-# params
-# pic: original image to apply the pre-set region of interest too
-def ROI(pic):
-    height = pic.shape[0]
-    triangle = np.array([[(250, height), (1100, height), (550, 250)]])
-    mask = np.zeros_like(pic)
-    cv2.fillPoly(mask, triangle, 255)
-    roi = cv2.bitwise_and(pic, mask)
-    return roi
-
-
 # Define the region of in which the lanes will be in the cameras view
 # params
 # pic: original image to apply the pre-set region of interest too
 def ROI_real(pic):
     height = pic.shape[0]
-    triangle = np.array([[(150, 200), (0, height), (650, height), (500, 300)]], dtype=np.int32)
+    triangle = np.array([[(0, height), (75, 200), (530, 200), (630, height)]], dtype=np.int32)
     mask = np.zeros_like(pic)
     cv2.fillPoly(mask, triangle, 255)
     roi = cv2.bitwise_and(pic, mask)
@@ -133,7 +120,7 @@ def find_poly_lane(pic, lines):
         slope = parameters[0]
         intercept = parameters[1]
 
-        if (slope < 1 and slope > -1):
+        if (slope < .5 and slope > -.5):
             # print("Line ignored");
             x = 1
 
@@ -180,7 +167,7 @@ def find_poly_lane(pic, lines):
         left_y_new = []
 
     # print("New left")
-    ##print(left_x_new)
+    # print(left_x_new)
     # print(left_y_new)
 
     return [right_x_new, right_y_new], [left_x_new, left_y_new]
@@ -201,28 +188,26 @@ def detectDeparture(left, car, right):
     b = 999999
     left_lane = 0
     right_lane = 0
-
+    missing_lane = ""
     try:
         parametersLeft = np.polyfit((left[0][0], left[0][-1]), (left[1][0], left[1][-1]), 1)
         leftEq = np.poly1d(parametersLeft)
         leftPosition = (310 - parametersLeft[1]) / parametersLeft[0]
         a = car - leftPosition
         left_lane = 1
-
     except IndexError:
-        return "Left lane does not exist"
+        missing_lane = "Left lane does not exist"
     try:
         parametersRight = np.polyfit((right[0][0], right[0][-1]), (right[1][0], right[1][-1]), 1)
         rightEq = np.poly1d(parametersRight)
         rightPosition = (310 - parametersRight[1]) / parametersRight[0]
         b = rightPosition - car
         right_lane = 1
-
     except IndexError:
-        return "Right lane does not exist"
-
+        missing_lane = "Right lane does not exist"
     if (left_lane == 0 and right_lane == 0):
-        return "No Lanes"
+        missing_lane = "No Lanes"
+    return missing_lane
 
 
 def detectDepartureNew(midPoints):
@@ -230,7 +215,7 @@ def detectDepartureNew(midPoints):
     midy = 400
     for x in range(150):
         if (myround(midPoints[1][x]) == 400):
-            print(midPoints[0][x] - midx)
+            # print(midPoints[0][x] - midx)
             return midPoints[0][x] - midx
 
 
@@ -244,7 +229,6 @@ def lane_status(lane_distance):
     rate.sleep()
 
 
-
 def lanes_detected(lanes):
     rospy.loginfo(lanes)
     pub.publish(lanes)
@@ -296,7 +280,7 @@ while not rospy.is_shutdown():
 
         else:
             print("No midpoint calculated")
-        #plt.scatter(310, 300)
+        # plt.scatter(310, 300)
 
         #plt.imshow(frame, zorder=0)
 
@@ -304,12 +288,12 @@ while not rospy.is_shutdown():
 
     lane = applyLines(frame, lines)
 
-    #cv2.imshow("edges", wEdges)
-    #cv2.imshow("cropped", cropped)
-    #cv2.imshow("frame", lane)
+    # cv2.imshow("edges", wEdges)
+    # cv2.imshow("cropped", cropped)
+    # cv2.imshow("frame", lane)
 
-    #key = cv2.waitKey(1)
-    #if key == 27:
+    # key = cv2.waitKey(1)
+    # if key == 27:
     #    break
-#video.release()
-#cv2.destroyAllWindows()
+# video.release()
+# cv2.destroyAllWindows()
diff --git a/Robot_Development/catkin_ws/src/libraries/serialization/Detection.h b/Robot_Development/catkin_ws/src/libraries/serialization/Detection.h
new file mode 100644
index 000000000..7355b7295
--- /dev/null
+++ b/Robot_Development/catkin_ws/src/libraries/serialization/Detection.h
@@ -0,0 +1,130 @@
+#include<iostream>
+#include<sstream>
+#include<string>
+#include<iterator>
+#include<map>
+
+using namespace std;
+
+class Detection {
+public:
+    string _name;
+    float _prob;
+    int _cx;
+    int _cy;
+    int _w;
+    int _h;
+    Detection() {
+        
+    }
+    Detection(string name, float prob, int cx,int cy, int w, int h) {
+        _name = name;
+        _prob = prob;
+        _cx = cx;
+        _cy = cy;
+        _w = w;
+        _h = h;
+    }
+    Detection(string serialization) {
+        string whitespace = removeSpaces(serialization);
+        cout << whitespace << endl;
+        string unbraced = whitespace.substr(1, whitespace.length()-2);
+        cout << unbraced << endl;
+        string arr[5];
+        
+        string str1 = unbraced;
+        string str2 = "name:";
+        string str3 = "";
+        str1.replace(str1.find(str2),str2.length(),str3);
+        
+        str2 = "prob:";
+        str3 = "";
+        str1.replace(str1.find(str2),str2.length(),str3);
+        
+        str2 = "cx:";
+        str3 = "";
+        str1.replace(str1.find(str2),str2.length(),str3);
+        
+        str2 = "cy:";
+        str3 = "";
+        str1.replace(str1.find(str2),str2.length(),str3);
+        
+        str2 = "w:";
+        str3 = "";
+        str1.replace(str1.find(str2),str2.length(),str3);
+        
+        str2 = "h:";
+        str3 = "";
+        str1.replace(str1.find(str2),str2.length(),str3);
+        
+        cout << str1 << endl;
+        
+        string name = str1.substr(0,str1.find(','));
+        cout << name << endl;
+        str1 = str1.substr(str1.find(',')+1, str1.length()-1);
+        
+        float prob = stof(str1.substr(0,str1.find(',')));
+        cout << prob << endl;
+        str1 = str1.substr(str1.find(',')+1, str1.length()-1);
+        
+        int cx = stoi(str1.substr(0,str1.find(',')));
+        cout << cx << endl;
+        str1 = str1.substr(str1.find(',')+1, str1.length()-1);
+        
+        int cy = stoi(str1.substr(0,str1.find(',')));
+        cout << cy << endl;
+        str1 = str1.substr(str1.find(',')+1, str1.length()-1);
+        
+        int w = stoi(str1.substr(0,str1.find(',')));
+        cout << w << endl;
+        str1 = str1.substr(str1.find(',')+1, str1.length()-1);
+        
+        int h = stoi(str1.substr(0,str1.find(',')));
+        cout << h << endl;
+        str1 = str1.substr(str1.find(',')+1, str1.length()-1);
+        
+        _name = name;
+        _prob = prob;
+        _cx = cx;
+        _cy = cy;
+        _w = w;
+        _h = h;
+        
+    }
+    string removeSpaces(string str)
+    {
+        string s = "";
+        // To keep track of non-space character count
+        int count = 0;
+        
+        // Traverse the given string. If current character
+        // is not space, then place it at index 'count++'
+        for (int i = 0; i < str.length() ; i++)
+            if (str.at(i) != ' ')
+                s = s + str.at(i);
+        // incremented
+        return s;
+    }
+    
+    template <size_t N>
+    void splitString(string (&arr)[N], string str)
+    {
+        int n = 0;
+        istringstream iss(str);
+        for (auto it = istream_iterator<string>(iss); it != istream_iterator<string>() && n < N; ++it, ++n)
+            arr[n] = *it;
+    }
+    
+    
+    string to_string() {
+        string s0 = "name=" + _name + ",";
+        string s1 = "prob=" + std::to_string(_prob) + ",";
+        string s2 = "cx=" + std::to_string(_cx) + ",";
+        string s3 = "cy=" + std::to_string(_cy) + ",";
+        string s4 = "w=" + std::to_string(_w) + ",";
+        string s5 = "h=" + std::to_string(_h) + ",";
+        string s = s0 + s1 + s2 + s3 + s4 + s5;
+        return s;
+    }
+};
+
diff --git a/Robot_Development/catkin_ws/src/object_detection/CMakeLists.txt b/Robot_Development/catkin_ws/src/object_detection/CMakeLists.txt
new file mode 100644
index 000000000..31f4a7e93
--- /dev/null
+++ b/Robot_Development/catkin_ws/src/object_detection/CMakeLists.txt
@@ -0,0 +1,200 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(object_detection)
+
+## 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
+  roscpp
+  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
+#   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
+# )
+
+################################################
+## 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 object_detection
+#  CATKIN_DEPENDS roscpp rospy std_msgs
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## 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/${PROJECT_NAME}/object_detection.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${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/object_detection_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
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${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_object_detection.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)
+set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS}")
diff --git a/Robot_Development/catkin_ws/src/object_detection/a.out b/Robot_Development/catkin_ws/src/object_detection/a.out
new file mode 100644
index 000000000..e69de29bb
diff --git a/Robot_Development/catkin_ws/src/object_detection/app b/Robot_Development/catkin_ws/src/object_detection/app
new file mode 100755
index 0000000000000000000000000000000000000000..1ce1ce9a5c83444d2040ff4293414eab6545ba4f
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diff --git a/Robot_Development/catkin_ws/src/object_detection/blah.cpp b/Robot_Development/catkin_ws/src/object_detection/blah.cpp
new file mode 100644
index 000000000..af0e4de44
--- /dev/null
+++ b/Robot_Development/catkin_ws/src/object_detection/blah.cpp
@@ -0,0 +1,64 @@
+#include<iostream>
+#include<sstream>
+#include<string>
+#include<map>
+using namespace std;
+
+class Detection {
+	public:
+		string _name;
+		float _prob;
+		int _cx;
+		int _cy;
+		int _w;
+		int _h;
+		Detection() {
+	
+		}
+		Detection(string name, float prob, int cx,int cy, int w, int h) {
+			_name = name;
+			_prob = prob;
+			_cx = cx;
+			_cy = cy;
+			_w = w;
+			_h = h;
+		}
+		Detection(string serialization) {
+			string whitespace = removeSpaces(&serialization[0]);
+			cout << whitespace << endl;
+			
+		}
+	string removeSpaces(char *str) 
+	{ 
+	    	// To keep track of non-space character count 
+    		int count = 0; 
+  
+    		// Traverse the given string. If current character 
+    		// is not space, then place it at index 'count++' 
+    		for (int i = 0; str[i]; i++) 
+        		if (str[i] != ' ') 
+            		str[count++] = str[i]; // here count is 
+                                   // incremented 
+   	 	str[count] = '\0'; 
+	} 
+
+		string to_string() {
+			string s0 = "name=" + _name + ",";
+			string s1 = "prob=" + std::to_string(_prob) + ",";
+			string s2 = "cx=" + std::to_string(_cx) + ",";
+			string s3 = "cy=" + std::to_string(_cy) + ",";
+			string s4 = "w=" + std::to_string(_w) + ",";
+			string s5 = "h=" + std::to_string(_h) + ",";
+			string s = s0 + s1 + s2 + s3 + s4 + s5;
+			return s;
+		}
+};
+
+
+int main() {
+	string str = "{ name : name , prob : 0.001, cx : 40, cy 40:  , w : 40 , h : 40 }";
+	cout << str << endl;
+	Detection d = Detection(str);
+
+	return 0;
+}
diff --git a/Robot_Development/catkin_ws/src/object_detection/launch/object_detection.launch b/Robot_Development/catkin_ws/src/object_detection/launch/object_detection.launch
new file mode 100644
index 000000000..1189deeb7
--- /dev/null
+++ b/Robot_Development/catkin_ws/src/object_detection/launch/object_detection.launch
@@ -0,0 +1,4 @@
+<?xml version="1.0"?>
+<launch>
+  <node name="object_detection" pkg="object_detection" type="object_detect.py" output="screen"/>
+</launch>
diff --git a/Robot_Development/catkin_ws/src/object_detection/package.xml b/Robot_Development/catkin_ws/src/object_detection/package.xml
new file mode 100644
index 000000000..1a686f8ae
--- /dev/null
+++ b/Robot_Development/catkin_ws/src/object_detection/package.xml
@@ -0,0 +1,68 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>object_detection</name>
+  <version>0.0.0</version>
+  <description>The object_detection package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="nvidia@todo.todo">nvidia</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/object_detection</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
diff --git a/Robot_Development/catkin_ws/src/object_detection/src/bad.list b/Robot_Development/catkin_ws/src/object_detection/src/bad.list
new file mode 100644
index 000000000..a635cef13
--- /dev/null
+++ b/Robot_Development/catkin_ws/src/object_detection/src/bad.list
@@ -0,0 +1,760 @@
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diff --git a/Robot_Development/catkin_ws/src/object_detection/src/object_detect.py b/Robot_Development/catkin_ws/src/object_detection/src/object_detect.py
new file mode 100755
index 000000000..fe2dc2748
--- /dev/null
+++ b/Robot_Development/catkin_ws/src/object_detection/src/object_detect.py
@@ -0,0 +1,71 @@
+#!/usr/bin/python
+
+import numpy as np
+import time
+import csv
+import json
+import rospy
+import matplotlib.pyplot as plt
+import cv2
+from imutils.video import WebcamVideoStream
+from imutils.video import FPS
+from std_msgs.msg import String
+from std_msgs.msg import Float64
+
+pub = rospy.Publisher('object_detection', String, queue_size=10)
+rospy.init_node('object_detection')
+rate = rospy.Rate(500)  # 10hz
+width = 325
+detections_file_path = "/tmp/detections.csv"
+
+class Detection:
+	def __init__(self):
+		return None
+		# Constructor call
+	def __init__(self, name, prob, cx, cy, w, h):
+		self.vars = { "name" : name , "prob" : prob, "cx" : cx, "cy" : cy , "w" : w , "h" : h }
+
+	def __str__(self):
+		s0 = "name:" + self.vars["name"] + ",";
+		s1 = "prob:" + self.vars["prob"] + ",";
+		s2 = "cx:" + self.vars["cx"] + ","
+		s3 = "cy:" + self.vars["cy"] + ","
+		s4 = "w:" + self.vars["w"] + ","
+		s5 = "h:" + self.vars["h"]
+		s = "{" + s0 + s1 + s2 + s3 + s4 + s5 + "}"
+		return s
+
+def main():
+	while not rospy.is_shutdown():
+		get_detections(detections_file_path)
+
+def publish_detection(detection):
+    rospy.loginfo(detection)
+    pub.publish(detection)
+    rate.sleep()
+
+def get_detections(fpath):
+	with open(fpath) as csv_file:
+		csv_reader = csv.reader(csv_file, delimiter=',')
+		line_count = 0
+		time.sleep(0.05)
+		for row in csv_reader:
+			print(row);
+			if(len(row) != 6):
+				print("row length != 6")
+				continue;
+			name = row[0]
+			prob = row[1]
+			c_x = row[2]
+			c_y = row[3]
+			w = row[4]
+			h = row[5]
+			d = Detection(name, prob, c_x, c_y, w, h)
+			obj = d.__str__();
+			#print(obj);
+			publish_detection(obj)
+
+if __name__ == "__main__":
+	main()
+
+	
diff --git a/Robot_Development/catkin_ws/src/rosjet/jet_bringup/launch/jet_real.launch b/Robot_Development/catkin_ws/src/rosjet/jet_bringup/launch/jet_real.launch
index 6c064f3d8..0c65c755f 100644
--- a/Robot_Development/catkin_ws/src/rosjet/jet_bringup/launch/jet_real.launch
+++ b/Robot_Development/catkin_ws/src/rosjet/jet_bringup/launch/jet_real.launch
@@ -23,5 +23,7 @@
    <include file="$(find jet_driver)/launch/jet_driver.launch"/>
 
    <include file="$(find lane_detection)/launch/lane_detection.launch"/>
+   
+   <include file="$(find object_detection)/launch/object_detection.launch"/>
 
 </launch>
-- 
GitLab