diff --git a/#README.md# b/#README.md#
new file mode 100644
index 00000000..3454307e
--- /dev/null
+++ b/#README.md#
@@ -0,0 +1 @@
+# 2015-soft3
diff --git a/20150930/.catkin_tools/README b/20150930/.catkin_tools/README
new file mode 100644
index 00000000..79b274b4
--- /dev/null
+++ b/20150930/.catkin_tools/README
@@ -0,0 +1,13 @@
+# Catkin Tools Metadata
+
+This directory was generated by catkin_tools and it contains persistent
+configuration information used by the `catkin` command and its sub-commands.
+
+Each subdirectory contains a set of persistent configuration options for
+separate "profiles." The default profile is called `default`. If another
+profile is desired, it can be described in the `profiles.yaml` file in this
+directory.
+
+Please see the catkin_tools documentation before editing any files in this
+directory. Most actions can be performed with the `catkin` command-line
+program.
diff --git a/20150930/.catkin_tools/default/build.yaml b/20150930/.catkin_tools/default/build.yaml
new file mode 100644
index 00000000..32b5dedd
--- /dev/null
+++ b/20150930/.catkin_tools/default/build.yaml
@@ -0,0 +1,14 @@
+blacklist: []
+build_space: build
+catkin_make_args: []
+cmake_args: []
+devel_space: devel
+extend_path: null
+install: false
+install_space: install
+isolate_devel: false
+isolate_install: false
+make_args: []
+source_space: src
+use_internal_make_jobserver: true
+whitelist: []
diff --git a/20150930/README.md b/20150930/README.md
deleted file mode 100644
index acc48b28..00000000
--- a/20150930/README.md
+++ /dev/null
@@ -1,27 +0,0 @@
-1. fork http://github.com/k-okada/2015_soft3
-
-2. clone forked repo.
-  ```
-  git clone http://github.com/<yourname>/2015_soft3
-  cd 2015_soft3/20150930/
-  ```
-
-3. create package
-  ```
-  mkdir src
-  cd src
-  catkin create pkg beginner_tutorials --catkin-deps std_msgs geometry_msgs rospy roscpp message_generation message_runtime
-  cd ..
-  catkin build 
-  source devel/setup.bash
-  ```
-
-4. add talker and listener program, and talker2 and listener2 program
-5. check your program
-  
-  ```
-    cd ~/2015_soft3/20150930/src/beginner_tutorials/
-    cp ../../*.test .
-    rostest ./check1.test
-    rostest ./check2.test
-  ```
\ No newline at end of file
diff --git a/20150930/build/.catkin_tools.yaml b/20150930/build/.catkin_tools.yaml
new file mode 100644
index 00000000..17e52b43
--- /dev/null
+++ b/20150930/build/.catkin_tools.yaml
@@ -0,0 +1,6 @@
+devel_space: /home/mech-user/2015-soft3/20150930/devel
+install: false
+install_space: /home/mech-user/2015-soft3/20150930/install
+profile: default
+source_space: /home/mech-user/2015-soft3/20150930/src
+workspace: /home/mech-user/2015-soft3/20150930
diff --git a/20150930/build/beginner_tutorials/CATKIN_IGNORE b/20150930/build/beginner_tutorials/CATKIN_IGNORE
new file mode 100644
index 00000000..e69de29b
diff --git a/20150930/build/beginner_tutorials/CMakeCache.txt b/20150930/build/beginner_tutorials/CMakeCache.txt
new file mode 100644
index 00000000..71950bb0
--- /dev/null
+++ b/20150930/build/beginner_tutorials/CMakeCache.txt
@@ -0,0 +1,504 @@
+# This is the CMakeCache file.
+# For build in directory: /home/mech-user/2015-soft3/20150930/build/beginner_tutorials
+# It was generated by CMake: /usr/bin/cmake
+# You can edit this file to change values found and used by cmake.
+# If you do not want to change any of the values, simply exit the editor.
+# If you do want to change a value, simply edit, save, and exit the editor.
+# The syntax for the file is as follows:
+# KEY:TYPE=VALUE
+# KEY is the name of a variable in the cache.
+# TYPE is a hint to GUIs for the type of VALUE, DO NOT EDIT TYPE!.
+# VALUE is the current value for the KEY.
+
+########################
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+
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+BUILD_SHARED_LIBS:BOOL=ON
+
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+
+//Catkin enable testing
+CATKIN_ENABLE_TESTING:BOOL=ON
+
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+//Catkin skip testing
+CATKIN_SKIP_TESTING:BOOL=OFF
+
+//Path to a program.
+CMAKE_AR:FILEPATH=/usr/bin/ar
+
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+CMAKE_BUILD_TYPE:STRING=
+
+//Enable/Disable color output during build.
+CMAKE_COLOR_MAKEFILE:BOOL=ON
+
+//CXX compiler.
+CMAKE_CXX_COMPILER:FILEPATH=/usr/bin/c++
+
+//Flags used by the compiler during all build types.
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+
+//Flags used by the compiler during debug builds.
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+
+//Flags used by the compiler during release minsize builds.
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+//Flags used by the compiler during release builds (/MD /Ob1 /Oi
+// /Ot /Oy /Gs will produce slightly less optimized but smaller
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+CMAKE_CXX_FLAGS_RELEASE:STRING=-O3 -DNDEBUG
+
+//Flags used by the compiler during Release with Debug Info builds.
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+//C compiler.
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+//Flags used by the compiler during all build types.
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+//Flags used by the compiler during debug builds.
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+//Flags used by the compiler during release builds (/MD /Ob1 /Oi
+// /Ot /Oy /Gs will produce slightly less optimized but smaller
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+CMAKE_C_FLAGS_RELEASE:STRING=-O3 -DNDEBUG
+
+//Flags used by the compiler during Release with Debug Info builds.
+CMAKE_C_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG
+
+//Flags used by the linker.
+CMAKE_EXE_LINKER_FLAGS:STRING=' '
+
+//Flags used by the linker during debug builds.
+CMAKE_EXE_LINKER_FLAGS_DEBUG:STRING=
+
+//Flags used by the linker during release minsize builds.
+CMAKE_EXE_LINKER_FLAGS_MINSIZEREL:STRING=
+
+//Flags used by the linker during release builds.
+CMAKE_EXE_LINKER_FLAGS_RELEASE:STRING=
+
+//Flags used by the linker during Release with Debug Info builds.
+CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO:STRING=
+
+//Enable/Disable output of compile commands during generation.
+CMAKE_EXPORT_COMPILE_COMMANDS:BOOL=OFF
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+CMAKE_INSTALL_PREFIX:PATH=/home/mech-user/2015-soft3/20150930/install
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+//Flags used by the linker during Release with Debug Info builds.
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+//If set, runtime paths are not added when installing shared libraries,
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+CMAKE_STATIC_LINKER_FLAGS_RELEASE:STRING=
+
+//Flags used by the linker during Release with Debug Info builds.
+CMAKE_STATIC_LINKER_FLAGS_RELWITHDEBINFO:STRING=
+
+//Path to a program.
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+
+//If true, cmake will use relative paths in makefiles and projects.
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+
+//If this value is on, makefiles will be generated without the
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+// during the make.  This is useful for debugging only. With Visual
+// Studio IDE projects all commands are done without /nologo.
+CMAKE_VERBOSE_MAKEFILE:BOOL=FALSE
+
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+
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+
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+
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+
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+
+//Path to a library.
+GTEST_LIBRARY:FILEPATH=GTEST_LIBRARY-NOTFOUND
+
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+
+//Path to a library.
+GTEST_MAIN_LIBRARY:FILEPATH=GTEST_MAIN_LIBRARY-NOTFOUND
+
+//Path to a library.
+GTEST_MAIN_LIBRARY_DEBUG:FILEPATH=GTEST_MAIN_LIBRARY_DEBUG-NOTFOUND
+
+//lsb_release executable was found
+LSB_FOUND:BOOL=TRUE
+
+//Path to a program.
+LSB_RELEASE_EXECUTABLE:FILEPATH=/usr/bin/lsb_release
+
+//Path to a program.
+NOSETESTS:FILEPATH=/usr/bin/nosetests-2.7
+
+//Path to a program.
+PYTHON_EXECUTABLE:FILEPATH=/usr/bin/python
+
+//Specify specific Python version to use ('major.minor' or 'major')
+PYTHON_VERSION:STRING=
+
+//Path to a library.
+RT_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/librt.so
+
+//Enable debian style python package layout
+SETUPTOOLS_DEB_LAYOUT:BOOL=ON
+
+//LSB Distrib tag
+UBUNTU:BOOL=TRUE
+
+//LSB Distrib - codename tag
+UBUNTU_TRUSTY:BOOL=TRUE
+
+//Path to a file.
+_CATKIN_GTEST_INCLUDE:FILEPATH=/usr/include/gtest/gtest.h
+
+//Path to a file.
+_CATKIN_GTEST_SRC:FILEPATH=/usr/src/gtest/src/gtest.cc
+
+//Value Computed by CMake
+beginner_tutorials_BINARY_DIR:STATIC=/home/mech-user/2015-soft3/20150930/build/beginner_tutorials
+
+//Value Computed by CMake
+beginner_tutorials_SOURCE_DIR:STATIC=/home/mech-user/2015-soft3/20150930/src/beginner_tutorials
+
+//The directory containing a CMake configuration file for catkin.
+catkin_DIR:PATH=/opt/ros/indigo/share/catkin/cmake
+
+//The directory containing a CMake configuration file for cpp_common.
+cpp_common_DIR:PATH=/opt/ros/indigo/share/cpp_common/cmake
+
+//The directory containing a CMake configuration file for gencpp.
+gencpp_DIR:PATH=/opt/ros/indigo/share/gencpp/cmake
+
+//The directory containing a CMake configuration file for genlisp.
+genlisp_DIR:PATH=/opt/ros/indigo/share/genlisp/cmake
+
+//The directory containing a CMake configuration file for genmsg.
+genmsg_DIR:PATH=/opt/ros/indigo/share/genmsg/cmake
+
+//The directory containing a CMake configuration file for genpy.
+genpy_DIR:PATH=/opt/ros/indigo/share/genpy/cmake
+
+//The directory containing a CMake configuration file for geometry_msgs.
+geometry_msgs_DIR:PATH=/opt/ros/indigo/share/geometry_msgs/cmake
+
+//Value Computed by CMake
+gtest_BINARY_DIR:STATIC=/home/mech-user/2015-soft3/20150930/build/beginner_tutorials/gtest
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+gtest_LIB_DEPENDS:STATIC=general;-lpthread;
+
+//Value Computed by CMake
+gtest_SOURCE_DIR:STATIC=/usr/src/gtest
+
+//Build gtest's sample programs.
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+
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+
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+
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+// as static lib.
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+
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+
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+
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+message_generation_DIR:PATH=/opt/ros/indigo/share/message_generation/cmake
+
+//The directory containing a CMake configuration file for message_runtime.
+message_runtime_DIR:PATH=/opt/ros/indigo/share/message_runtime/cmake
+
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+rosconsole_DIR:PATH=/opt/ros/indigo/share/rosconsole/cmake
+
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+
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+  ('0' + ((n)>>8  & 0xF)), \
+  ('0' + ((n)>>4  & 0xF)), \
+  ('0' + ((n)     & 0xF))
+
+/* Construct a string literal encoding the version number components. */
+#ifdef COMPILER_VERSION_MAJOR
+char const info_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[',
+  COMPILER_VERSION_MAJOR,
+# ifdef COMPILER_VERSION_MINOR
+  '.', COMPILER_VERSION_MINOR,
+#  ifdef COMPILER_VERSION_PATCH
+   '.', COMPILER_VERSION_PATCH,
+#   ifdef COMPILER_VERSION_TWEAK
+    '.', COMPILER_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]";
+char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
+
+
+
+/*--------------------------------------------------------------------------*/
+
+#ifdef ID_VOID_MAIN
+void main() {}
+#else
+int main(int argc, char* argv[])
+{
+  int require = 0;
+  require += info_compiler[argc];
+  require += info_platform[argc];
+  require += info_arch[argc];
+#ifdef COMPILER_VERSION_MAJOR
+  require += info_version[argc];
+#endif
+  (void)argv;
+  return require;
+}
+#endif
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+/* This source file must have a .cpp extension so that all C++ compilers
+   recognize the extension without flags.  Borland does not know .cxx for
+   example.  */
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+# error "A C compiler has been selected for C++."
+#endif
+
+/* Version number components: V=Version, R=Revision, P=Patch
+   Version date components:   YYYY=Year, MM=Month,   DD=Day  */
+
+#if defined(__COMO__)
+# define COMPILER_ID "Comeau"
+  /* __COMO_VERSION__ = VRR */
+# define COMPILER_VERSION_MAJOR DEC(__COMO_VERSION__ / 100)
+# define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100)
+
+#elif defined(__INTEL_COMPILER) || defined(__ICC)
+# define COMPILER_ID "Intel"
+  /* __INTEL_COMPILER = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100)
+# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER    % 10)
+# if defined(__INTEL_COMPILER_BUILD_DATE)
+  /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */
+#  define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE)
+# endif
+
+#elif defined(__PATHCC__)
+# define COMPILER_ID "PathScale"
+# define COMPILER_VERSION_MAJOR DEC(__PATHCC__)
+# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__)
+# if defined(__PATHCC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__)
+# endif
+
+#elif defined(__clang__)
+# define COMPILER_ID "Clang"
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+
+#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__)
+# define COMPILER_ID "Embarcadero"
+# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF)
+# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF)
+# define COMPILER_VERSION_PATCH HEX(__CODEGEARC_VERSION__     & 0xFFFF)
+
+#elif defined(__BORLANDC__)
+# define COMPILER_ID "Borland"
+  /* __BORLANDC__ = 0xVRR */
+# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8)
+# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF)
+
+#elif defined(__WATCOMC__)
+# define COMPILER_ID "Watcom"
+  /* __WATCOMC__ = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100)
+# define COMPILER_VERSION_MINOR DEC(__WATCOMC__ % 100)
+
+#elif defined(__SUNPRO_CC)
+# define COMPILER_ID "SunPro"
+# if __SUNPRO_CC >= 0x5100
+   /* __SUNPRO_CC = 0xVRRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC    & 0xF)
+# else
+   /* __SUNPRO_CC = 0xVRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC    & 0xF)
+# endif
+
+#elif defined(__HP_aCC)
+# define COMPILER_ID "HP"
+  /* __HP_aCC = VVRRPP */
+# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000)
+# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100)
+# define COMPILER_VERSION_PATCH DEC(__HP_aCC     % 100)
+
+#elif defined(__DECCXX)
+# define COMPILER_ID "Compaq"
+  /* __DECCXX_VER = VVRRTPPPP */
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+# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000  % 100)
+# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER         % 10000)
+
+#elif defined(__IBMCPP__)
+# if defined(__COMPILER_VER__)
+#  define COMPILER_ID "zOS"
+# else
+#  if __IBMCPP__ >= 800
+#   define COMPILER_ID "XL"
+#  else
+#   define COMPILER_ID "VisualAge"
+#  endif
+   /* __IBMCPP__ = VRP */
+#  define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+#  define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+#  define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+# endif
+
+#elif defined(__PGI)
+# define COMPILER_ID "PGI"
+# define COMPILER_VERSION_MAJOR DEC(__PGIC__)
+# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__)
+# if defined(__PGIC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__)
+# endif
+
+#elif defined(_CRAYC)
+# define COMPILER_ID "Cray"
+# define COMPILER_VERSION_MAJOR DEC(_RELEASE)
+# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR)
+
+#elif defined(__TI_COMPILER_VERSION__)
+# define COMPILER_ID "TI"
+  /* __TI_COMPILER_VERSION__ = VVVRRRPPP */
+# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000)
+# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000   % 1000)
+# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__        % 1000)
+
+#elif defined(__SCO_VERSION__)
+# define COMPILER_ID "SCO"
+
+#elif defined(__GNUC__)
+# define COMPILER_ID "GNU"
+# define COMPILER_VERSION_MAJOR DEC(__GNUC__)
+# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
+# if defined(__GNUC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(_MSC_VER)
+# define COMPILER_ID "MSVC"
+  /* _MSC_VER = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
+# if defined(_MSC_FULL_VER)
+#  if _MSC_VER >= 1400
+    /* _MSC_FULL_VER = VVRRPPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
+#  else
+    /* _MSC_FULL_VER = VVRRPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
+#  endif
+# endif
+# if defined(_MSC_BUILD)
+#  define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
+# endif
+
+/* Analog VisualDSP++ >= 4.5.6 */
+#elif defined(__VISUALDSPVERSION__)
+# define COMPILER_ID "ADSP"
+  /* __VISUALDSPVERSION__ = 0xVVRRPP00 */
+# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24)
+# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF)
+# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8  & 0xFF)
+
+/* Analog VisualDSP++ < 4.5.6 */
+#elif defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__)
+# define COMPILER_ID "ADSP"
+
+/* IAR Systems compiler for embedded systems.
+   http://www.iar.com */
+#elif defined(__IAR_SYSTEMS_ICC__ ) || defined(__IAR_SYSTEMS_ICC)
+# define COMPILER_ID "IAR"
+
+#elif defined(_SGI_COMPILER_VERSION) || defined(_COMPILER_VERSION)
+# define COMPILER_ID "MIPSpro"
+# if defined(_SGI_COMPILER_VERSION)
+  /* _SGI_COMPILER_VERSION = VRP */
+#  define COMPILER_VERSION_MAJOR DEC(_SGI_COMPILER_VERSION/100)
+#  define COMPILER_VERSION_MINOR DEC(_SGI_COMPILER_VERSION/10 % 10)
+#  define COMPILER_VERSION_PATCH DEC(_SGI_COMPILER_VERSION    % 10)
+# else
+  /* _COMPILER_VERSION = VRP */
+#  define COMPILER_VERSION_MAJOR DEC(_COMPILER_VERSION/100)
+#  define COMPILER_VERSION_MINOR DEC(_COMPILER_VERSION/10 % 10)
+#  define COMPILER_VERSION_PATCH DEC(_COMPILER_VERSION    % 10)
+# endif
+
+/* This compiler is either not known or is too old to define an
+   identification macro.  Try to identify the platform and guess that
+   it is the native compiler.  */
+#elif defined(__sgi)
+# define COMPILER_ID "MIPSpro"
+
+#elif defined(__hpux) || defined(__hpua)
+# define COMPILER_ID "HP"
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+#else /* unknown compiler */
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+#endif
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+   because some compilers will just produce instructions to fill the
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+/* Identify known platforms by name.  */
+#if defined(__linux) || defined(__linux__) || defined(linux)
+# define PLATFORM_ID "Linux"
+
+#elif defined(__CYGWIN__)
+# define PLATFORM_ID "Cygwin"
+
+#elif defined(__MINGW32__)
+# define PLATFORM_ID "MinGW"
+
+#elif defined(__APPLE__)
+# define PLATFORM_ID "Darwin"
+
+#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
+# define PLATFORM_ID "Windows"
+
+#elif defined(__FreeBSD__) || defined(__FreeBSD)
+# define PLATFORM_ID "FreeBSD"
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+#elif defined(__NetBSD__) || defined(__NetBSD)
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+#elif defined(__sun) || defined(sun)
+# define PLATFORM_ID "SunOS"
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+#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
+# define PLATFORM_ID "AIX"
+
+#elif defined(__sgi) || defined(__sgi__) || defined(_SGI)
+# define PLATFORM_ID "IRIX"
+
+#elif defined(__hpux) || defined(__hpux__)
+# define PLATFORM_ID "HP-UX"
+
+#elif defined(__HAIKU__)
+# define PLATFORM_ID "Haiku"
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+#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
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+
+#elif defined(__riscos) || defined(__riscos__)
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+#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
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+
+#elif defined(__UNIX_SV__)
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+
+#elif defined(__bsdos__)
+# define PLATFORM_ID "BSDOS"
+
+#elif defined(_MPRAS) || defined(MPRAS)
+# define PLATFORM_ID "MP-RAS"
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+#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
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+
+#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
+# define PLATFORM_ID "ULTRIX"
+
+#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
+# define PLATFORM_ID "Xenix"
+
+#else /* unknown platform */
+# define PLATFORM_ID ""
+
+#endif
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+/* For windows compilers MSVC and Intel we can determine
+   the architecture of the compiler being used.  This is because
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+   but rather depend on which compiler is being used
+*/
+#if defined(_WIN32) && defined(_MSC_VER)
+# if defined(_M_IA64)
+#  define ARCHITECTURE_ID "IA64"
+
+# elif defined(_M_X64) || defined(_M_AMD64)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# elif defined(_M_ARM)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(_M_MIPS)
+#  define ARCHITECTURE_ID "MIPS"
+
+# elif defined(_M_SH)
+#  define ARCHITECTURE_ID "SHx"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#else
+#  define ARCHITECTURE_ID ""
+#endif
+
+/* Convert integer to decimal digit literals.  */
+#define DEC(n)                   \
+  ('0' + (((n) / 10000000)%10)), \
+  ('0' + (((n) / 1000000)%10)),  \
+  ('0' + (((n) / 100000)%10)),   \
+  ('0' + (((n) / 10000)%10)),    \
+  ('0' + (((n) / 1000)%10)),     \
+  ('0' + (((n) / 100)%10)),      \
+  ('0' + (((n) / 10)%10)),       \
+  ('0' +  ((n) % 10))
+
+/* Convert integer to hex digit literals.  */
+#define HEX(n)             \
+  ('0' + ((n)>>28 & 0xF)), \
+  ('0' + ((n)>>24 & 0xF)), \
+  ('0' + ((n)>>20 & 0xF)), \
+  ('0' + ((n)>>16 & 0xF)), \
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+  ('0' + ((n)>>8  & 0xF)), \
+  ('0' + ((n)>>4  & 0xF)), \
+  ('0' + ((n)     & 0xF))
+
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+#ifdef COMPILER_VERSION_MAJOR
+char const info_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[',
+  COMPILER_VERSION_MAJOR,
+# ifdef COMPILER_VERSION_MINOR
+  '.', COMPILER_VERSION_MINOR,
+#  ifdef COMPILER_VERSION_PATCH
+   '.', COMPILER_VERSION_PATCH,
+#   ifdef COMPILER_VERSION_TWEAK
+    '.', COMPILER_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]";
+char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
+
+
+
+/*--------------------------------------------------------------------------*/
+
+int main(int argc, char* argv[])
+{
+  int require = 0;
+  require += info_compiler[argc];
+  require += info_platform[argc];
+#ifdef COMPILER_VERSION_MAJOR
+  require += info_version[argc];
+#endif
+  (void)argv;
+  return require;
+}
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new file mode 100755
index 00000000..28c65c0a
--- /dev/null
+++ b/20150930/build/beginner_tutorials/build_env.sh
@@ -0,0 +1,46 @@
+#!/usr/bin/env sh
+# generated from within catkin_tools/verbs/catkin_build/common.py
+
+if [ $# -eq 0 ] ; then
+  /bin/echo "Usage: build_env.sh COMMANDS"
+  /bin/echo "Calling build_env.sh without arguments is not supported anymore."
+  /bin/echo "Instead spawn a subshell and source a setup file manually."
+  exit 1
+fi
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+_ARGI=0
+for arg in "$@"; do
+  # Define placeholder variable
+  eval "_A$_ARGI=\$arg"
+  # Add placeholder variable to arg list
+  _ARGS="$_ARGS \"\$_A$_ARGI\""
+  # Increment arg index
+  _ARGI=`expr $_ARGI + 1`
+
+  #######################
+  ## Uncomment for debug:
+  #_escaped="$(echo "$arg" | sed -e 's@ @ @g')"
+  #echo "$_escaped"
+  #eval "echo '$_ARGI \$_A$_ARGI'"
+  #######################
+done
+
+#######################
+## Uncomment for debug:
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+#for arg in $_ARGS; do eval echo $arg; done
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+#####################
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+# remove all passed in args, resetting $@, $*, $#, $n
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diff --git a/20150930/build/beginner_tutorials/catkin/catkin_generated/version/package.cmake b/20150930/build/beginner_tutorials/catkin/catkin_generated/version/package.cmake
new file mode 100644
index 00000000..bb4b8f35
--- /dev/null
+++ b/20150930/build/beginner_tutorials/catkin/catkin_generated/version/package.cmake
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+set(catkin_BUILD_DEPENDS "python-empy" "python-argparse" "python-catkin-pkg")
+set(catkin_DEPRECATED "")
+set(catkin_RUN_DEPENDS "python-argparse" "python-catkin-pkg" "gtest" "python-empy" "python-nose")
+set(catkin_MAINTAINER "Dirk Thomas <dthomas@osrfoundation.org>")
+set(catkin_BUILDTOOL_DEPENDS "cmake")
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\ No newline at end of file
diff --git a/20150930/build/beginner_tutorials/catkin_generated/beginner_tutorials-msg-extras.cmake.develspace.in b/20150930/build/beginner_tutorials/catkin_generated/beginner_tutorials-msg-extras.cmake.develspace.in
new file mode 100644
index 00000000..42275beb
--- /dev/null
+++ b/20150930/build/beginner_tutorials/catkin_generated/beginner_tutorials-msg-extras.cmake.develspace.in
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diff --git a/20150930/build/beginner_tutorials/catkin_generated/beginner_tutorials-msg-extras.cmake.installspace.in b/20150930/build/beginner_tutorials/catkin_generated/beginner_tutorials-msg-extras.cmake.installspace.in
new file mode 100644
index 00000000..74fa9eeb
--- /dev/null
+++ b/20150930/build/beginner_tutorials/catkin_generated/beginner_tutorials-msg-extras.cmake.installspace.in
@@ -0,0 +1,2 @@
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+set(beginner_tutorials_SERVICE_FILES "")
diff --git a/20150930/build/beginner_tutorials/catkin_generated/env_cached.sh b/20150930/build/beginner_tutorials/catkin_generated/env_cached.sh
new file mode 100755
index 00000000..d6be91db
--- /dev/null
+++ b/20150930/build/beginner_tutorials/catkin_generated/env_cached.sh
@@ -0,0 +1,16 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/templates/env.sh.in
+
+if [ $# -eq 0 ] ; then
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+  /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually."
+  exit 1
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+
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+. "$_CATKIN_SETUP_DIR/setup_cached.sh"
+exec "$@"
diff --git a/20150930/build/beginner_tutorials/catkin_generated/generate_cached_setup.py b/20150930/build/beginner_tutorials/catkin_generated/generate_cached_setup.py
new file mode 100644
index 00000000..02d67109
--- /dev/null
+++ b/20150930/build/beginner_tutorials/catkin_generated/generate_cached_setup.py
@@ -0,0 +1,29 @@
+from __future__ import print_function
+import argparse
+import os
+import stat
+import sys
+
+# find the import for catkin's python package - either from source space or from an installed underlay
+if os.path.exists(os.path.join('/opt/ros/indigo/share/catkin/cmake', 'catkinConfig.cmake.in')):
+    sys.path.insert(0, os.path.join('/opt/ros/indigo/share/catkin/cmake', '..', 'python'))
+try:
+    from catkin.environment_cache import generate_environment_script
+except ImportError:
+    # search for catkin package in all workspaces and prepend to path
+    for workspace in "/home/mech-user/2015-soft3/20150930/devel;/opt/ros/indigo".split(';'):
+        python_path = os.path.join(workspace, 'lib/python2.7/dist-packages')
+        if os.path.isdir(os.path.join(python_path, 'catkin')):
+            sys.path.insert(0, python_path)
+            break
+    from catkin.environment_cache import generate_environment_script
+
+code = generate_environment_script('/home/mech-user/2015-soft3/20150930/devel/env.sh')
+
+output_filename = '/home/mech-user/2015-soft3/20150930/build/beginner_tutorials/catkin_generated/setup_cached.sh'
+with open(output_filename, 'w') as f:
+    #print('Generate script for cached setup "%s"' % output_filename)
+    f.write('\n'.join(code))
+
+mode = os.stat(output_filename).st_mode
+os.chmod(output_filename, mode | stat.S_IXUSR)
diff --git a/20150930/build/beginner_tutorials/catkin_generated/installspace/.rosinstall b/20150930/build/beginner_tutorials/catkin_generated/installspace/.rosinstall
new file mode 100644
index 00000000..2653fd2f
--- /dev/null
+++ b/20150930/build/beginner_tutorials/catkin_generated/installspace/.rosinstall
@@ -0,0 +1,2 @@
+- setup-file:
+    local-name: /home/mech-user/2015-soft3/20150930/install/setup.sh
diff --git a/20150930/build/beginner_tutorials/catkin_generated/installspace/_setup_util.py b/20150930/build/beginner_tutorials/catkin_generated/installspace/_setup_util.py
new file mode 100755
index 00000000..ed3eae5c
--- /dev/null
+++ b/20150930/build/beginner_tutorials/catkin_generated/installspace/_setup_util.py
@@ -0,0 +1,287 @@
+#!/usr/bin/python
+
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2012, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+'''This file generates shell code for the setup.SHELL scripts to set environment variables'''
+
+from __future__ import print_function
+import argparse
+import copy
+import errno
+import os
+import platform
+import sys
+
+CATKIN_MARKER_FILE = '.catkin'
+
+system = platform.system()
+IS_DARWIN = (system == 'Darwin')
+IS_WINDOWS = (system == 'Windows')
+
+# subfolder of workspace prepended to CMAKE_PREFIX_PATH
+ENV_VAR_SUBFOLDERS = {
+    'CMAKE_PREFIX_PATH': '',
+    'CPATH': 'include',
+    'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')],
+    'PATH': 'bin',
+    'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')],
+    'PYTHONPATH': 'lib/python2.7/dist-packages',
+}
+
+
+def rollback_env_variables(environ, env_var_subfolders):
+    '''
+    Generate shell code to reset environment variables
+    by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH.
+    This does not cover modifications performed by environment hooks.
+    '''
+    lines = []
+    unmodified_environ = copy.copy(environ)
+    for key in sorted(env_var_subfolders.keys()):
+        subfolders = env_var_subfolders[key]
+        if not isinstance(subfolders, list):
+            subfolders = [subfolders]
+        for subfolder in subfolders:
+            value = _rollback_env_variable(unmodified_environ, key, subfolder)
+            if value is not None:
+                environ[key] = value
+                lines.append(assignment(key, value))
+    if lines:
+        lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH'))
+    return lines
+
+
+def _rollback_env_variable(environ, name, subfolder):
+    '''
+    For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder.
+
+    :param subfolder: str '' or subfoldername that may start with '/'
+    :returns: the updated value of the environment variable.
+    '''
+    value = environ[name] if name in environ else ''
+    env_paths = [path for path in value.split(os.pathsep) if path]
+    value_modified = False
+    if subfolder:
+        if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)):
+            subfolder = subfolder[1:]
+        if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)):
+            subfolder = subfolder[:-1]
+    for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True):
+        path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path
+        path_to_remove = None
+        for env_path in env_paths:
+            env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path
+            if env_path_clean == path_to_find:
+                path_to_remove = env_path
+                break
+        if path_to_remove:
+            env_paths.remove(path_to_remove)
+            value_modified = True
+    new_value = os.pathsep.join(env_paths)
+    return new_value if value_modified else None
+
+
+def _get_workspaces(environ, include_fuerte=False, include_non_existing=False):
+    '''
+    Based on CMAKE_PREFIX_PATH return all catkin workspaces.
+
+    :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool``
+    '''
+    # get all cmake prefix paths
+    env_name = 'CMAKE_PREFIX_PATH'
+    value = environ[env_name] if env_name in environ else ''
+    paths = [path for path in value.split(os.pathsep) if path]
+    # remove non-workspace paths
+    workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))]
+    return workspaces
+
+
+def prepend_env_variables(environ, env_var_subfolders, workspaces):
+    '''
+    Generate shell code to prepend environment variables
+    for the all workspaces.
+    '''
+    lines = []
+    lines.append(comment('prepend folders of workspaces to environment variables'))
+
+    paths = [path for path in workspaces.split(os.pathsep) if path]
+
+    prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '')
+    lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix))
+
+    for key in sorted([key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH']):
+        subfolder = env_var_subfolders[key]
+        prefix = _prefix_env_variable(environ, key, paths, subfolder)
+        lines.append(prepend(environ, key, prefix))
+    return lines
+
+
+def _prefix_env_variable(environ, name, paths, subfolders):
+    '''
+    Return the prefix to prepend to the environment variable NAME, adding any path in NEW_PATHS_STR without creating duplicate or empty items.
+    '''
+    value = environ[name] if name in environ else ''
+    environ_paths = [path for path in value.split(os.pathsep) if path]
+    checked_paths = []
+    for path in paths:
+        if not isinstance(subfolders, list):
+            subfolders = [subfolders]
+        for subfolder in subfolders:
+            path_tmp = path
+            if subfolder:
+                path_tmp = os.path.join(path_tmp, subfolder)
+            # exclude any path already in env and any path we already added
+            if path_tmp not in environ_paths and path_tmp not in checked_paths:
+                checked_paths.append(path_tmp)
+    prefix_str = os.pathsep.join(checked_paths)
+    if prefix_str != '' and environ_paths:
+        prefix_str += os.pathsep
+    return prefix_str
+
+
+def assignment(key, value):
+    if not IS_WINDOWS:
+        return 'export %s="%s"' % (key, value)
+    else:
+        return 'set %s=%s' % (key, value)
+
+
+def comment(msg):
+    if not IS_WINDOWS:
+        return '# %s' % msg
+    else:
+        return 'REM %s' % msg
+
+
+def prepend(environ, key, prefix):
+    if key not in environ or not environ[key]:
+        return assignment(key, prefix)
+    if not IS_WINDOWS:
+        return 'export %s="%s$%s"' % (key, prefix, key)
+    else:
+        return 'set %s=%s%%%s%%' % (key, prefix, key)
+
+
+def find_env_hooks(environ, cmake_prefix_path):
+    '''
+    Generate shell code with found environment hooks
+    for the all workspaces.
+    '''
+    lines = []
+    lines.append(comment('found environment hooks in workspaces'))
+
+    generic_env_hooks = []
+    generic_env_hooks_workspace = []
+    specific_env_hooks = []
+    specific_env_hooks_workspace = []
+    generic_env_hooks_by_filename = {}
+    specific_env_hooks_by_filename = {}
+    generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh'
+    specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None
+    # remove non-workspace paths
+    workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))]
+    for workspace in reversed(workspaces):
+        env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d')
+        if os.path.isdir(env_hook_dir):
+            for filename in sorted(os.listdir(env_hook_dir)):
+                if filename.endswith('.%s' % generic_env_hook_ext):
+                    # remove previous env hook with same name if present
+                    if filename in generic_env_hooks_by_filename:
+                        i = generic_env_hooks.index(generic_env_hooks_by_filename[filename])
+                        generic_env_hooks.pop(i)
+                        generic_env_hooks_workspace.pop(i)
+                    # append env hook
+                    generic_env_hooks.append(os.path.join(env_hook_dir, filename))
+                    generic_env_hooks_workspace.append(workspace)
+                    generic_env_hooks_by_filename[filename] = generic_env_hooks[-1]
+                elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext):
+                    # remove previous env hook with same name if present
+                    if filename in specific_env_hooks_by_filename:
+                        i = specific_env_hooks.index(specific_env_hooks_by_filename[filename])
+                        specific_env_hooks.pop(i)
+                        specific_env_hooks_workspace.pop(i)
+                    # append env hook
+                    specific_env_hooks.append(os.path.join(env_hook_dir, filename))
+                    specific_env_hooks_workspace.append(workspace)
+                    specific_env_hooks_by_filename[filename] = specific_env_hooks[-1]
+    env_hooks = generic_env_hooks + specific_env_hooks
+    env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace
+    count = len(env_hooks)
+    lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count))
+    for i in range(count):
+        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i]))
+        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i]))
+    return lines
+
+
+def _parse_arguments(args=None):
+    parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.')
+    parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context')
+    return parser.parse_known_args(args=args)[0]
+
+
+if __name__ == '__main__':
+    try:
+        try:
+            args = _parse_arguments()
+        except Exception as e:
+            print(e, file=sys.stderr)
+            sys.exit(1)
+
+        # environment at generation time
+        CMAKE_PREFIX_PATH = '/home/mech-user/2015-soft3/20150930/devel;/opt/ros/indigo'.split(';')
+        # prepend current workspace if not already part of CPP
+        base_path = os.path.dirname(__file__)
+        if base_path not in CMAKE_PREFIX_PATH:
+            CMAKE_PREFIX_PATH.insert(0, base_path)
+        CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH)
+
+        environ = dict(os.environ)
+        lines = []
+        if not args.extend:
+            lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS)
+        lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH)
+        lines += find_env_hooks(environ, CMAKE_PREFIX_PATH)
+        print('\n'.join(lines))
+
+        # need to explicitly flush the output
+        sys.stdout.flush()
+    except IOError as e:
+        # and catch potantial "broken pipe" if stdout is not writable
+        # which can happen when piping the output to a file but the disk is full
+        if e.errno == errno.EPIPE:
+            print(e, file=sys.stderr)
+            sys.exit(2)
+        raise
+
+    sys.exit(0)
diff --git a/20150930/build/beginner_tutorials/catkin_generated/installspace/beginner_tutorials-msg-extras.cmake b/20150930/build/beginner_tutorials/catkin_generated/installspace/beginner_tutorials-msg-extras.cmake
new file mode 100644
index 00000000..74fa9eeb
--- /dev/null
+++ b/20150930/build/beginner_tutorials/catkin_generated/installspace/beginner_tutorials-msg-extras.cmake
@@ -0,0 +1,2 @@
+set(beginner_tutorials_MESSAGE_FILES "msg/Hello.msg")
+set(beginner_tutorials_SERVICE_FILES "")
diff --git a/20150930/build/beginner_tutorials/catkin_generated/installspace/beginner_tutorials-msg-paths.cmake b/20150930/build/beginner_tutorials/catkin_generated/installspace/beginner_tutorials-msg-paths.cmake
new file mode 100644
index 00000000..b4c298d9
--- /dev/null
+++ b/20150930/build/beginner_tutorials/catkin_generated/installspace/beginner_tutorials-msg-paths.cmake
@@ -0,0 +1,4 @@
+# generated from genmsg/cmake/pkg-msg-paths.cmake.installspace.in
+
+_prepend_path("${beginner_tutorials_DIR}/.." "msg" beginner_tutorials_MSG_INCLUDE_DIRS UNIQUE)
+set(beginner_tutorials_MSG_DEPENDENCIES geometry_msgs)
diff --git a/20150930/build/beginner_tutorials/catkin_generated/installspace/beginner_tutorials.pc b/20150930/build/beginner_tutorials/catkin_generated/installspace/beginner_tutorials.pc
new file mode 100644
index 00000000..b8b341f3
--- /dev/null
+++ b/20150930/build/beginner_tutorials/catkin_generated/installspace/beginner_tutorials.pc
@@ -0,0 +1,8 @@
+prefix=/home/mech-user/2015-soft3/20150930/install
+
+Name: beginner_tutorials
+Description: Description of beginner_tutorials
+Version: 0.0.0
+Cflags: -I/home/mech-user/2015-soft3/20150930/install/include
+Libs: -L/home/mech-user/2015-soft3/20150930/install/lib 
+Requires: 
diff --git a/20150930/build/beginner_tutorials/catkin_generated/installspace/beginner_tutorialsConfig-version.cmake b/20150930/build/beginner_tutorials/catkin_generated/installspace/beginner_tutorialsConfig-version.cmake
new file mode 100644
index 00000000..7fd9f993
--- /dev/null
+++ b/20150930/build/beginner_tutorials/catkin_generated/installspace/beginner_tutorialsConfig-version.cmake
@@ -0,0 +1,14 @@
+# generated from catkin/cmake/template/pkgConfig-version.cmake.in
+set(PACKAGE_VERSION "0.0.0")
+
+set(PACKAGE_VERSION_EXACT False)
+set(PACKAGE_VERSION_COMPATIBLE False)
+
+if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_EXACT True)
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
+
+if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
diff --git a/20150930/build/beginner_tutorials/catkin_generated/installspace/beginner_tutorialsConfig.cmake b/20150930/build/beginner_tutorials/catkin_generated/installspace/beginner_tutorialsConfig.cmake
new file mode 100644
index 00000000..6d36386e
--- /dev/null
+++ b/20150930/build/beginner_tutorials/catkin_generated/installspace/beginner_tutorialsConfig.cmake
@@ -0,0 +1,191 @@
+# generated from catkin/cmake/template/pkgConfig.cmake.in
+
+# append elements to a list and remove existing duplicates from the list
+# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig
+# self contained
+macro(_list_append_deduplicate listname)
+  if(NOT "${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(beginner_tutorials_CONFIG_INCLUDED)
+  return()
+endif()
+set(beginner_tutorials_CONFIG_INCLUDED TRUE)
+
+# set variables for source/devel/install prefixes
+if("FALSE" STREQUAL "TRUE")
+  set(beginner_tutorials_SOURCE_PREFIX /home/mech-user/2015-soft3/20150930/src/beginner_tutorials)
+  set(beginner_tutorials_DEVEL_PREFIX /home/mech-user/2015-soft3/20150930/devel)
+  set(beginner_tutorials_INSTALL_PREFIX "")
+  set(beginner_tutorials_PREFIX ${beginner_tutorials_DEVEL_PREFIX})
+else()
+  set(beginner_tutorials_SOURCE_PREFIX "")
+  set(beginner_tutorials_DEVEL_PREFIX "")
+  set(beginner_tutorials_INSTALL_PREFIX /home/mech-user/2015-soft3/20150930/install)
+  set(beginner_tutorials_PREFIX ${beginner_tutorials_INSTALL_PREFIX})
+endif()
+
+# warn when using a deprecated package
+if(NOT "" STREQUAL "")
+  set(_msg "WARNING: package 'beginner_tutorials' is deprecated")
+  # append custom deprecation text if available
+  if(NOT "" STREQUAL "TRUE")
+    set(_msg "${_msg} ()")
+  endif()
+  message("${_msg}")
+endif()
+
+# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project
+set(beginner_tutorials_FOUND_CATKIN_PROJECT TRUE)
+
+if(NOT "include" STREQUAL "")
+  set(beginner_tutorials_INCLUDE_DIRS "")
+  set(_include_dirs "include")
+  foreach(idir ${_include_dirs})
+    if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir})
+      set(include ${idir})
+    elseif("${idir}" STREQUAL "include")
+      get_filename_component(include "${beginner_tutorials_DIR}/../../../include" ABSOLUTE)
+      if(NOT IS_DIRECTORY ${include})
+        message(FATAL_ERROR "Project 'beginner_tutorials' specifies '${idir}' as an include dir, which is not found.  It does not exist in '${include}'.  Ask the maintainer 'mech-user <mech-user@todo.todo>' to fix it.")
+      endif()
+    else()
+      message(FATAL_ERROR "Project 'beginner_tutorials' specifies '${idir}' as an include dir, which is not found.  It does neither exist as an absolute directory nor in '/home/mech-user/2015-soft3/20150930/install/${idir}'.  Ask the maintainer 'mech-user <mech-user@todo.todo>' to fix it.")
+    endif()
+    _list_append_unique(beginner_tutorials_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 beginner_tutorials_LIBRARIES ${library})
+  elseif(TARGET ${library})
+    list(APPEND beginner_tutorials_LIBRARIES ${library})
+  elseif(IS_ABSOLUTE ${library})
+    list(APPEND beginner_tutorials_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/mech-user/2015-soft3/20150930/install/lib;/home/mech-user/2015-soft3/20150930/devel/lib;/opt/ros/indigo/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(beginner_tutorials_LIBRARY_DIRS ${lib_path})
+      list(APPEND beginner_tutorials_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 'beginner_tutorials'?  Did you find_package() it before the subdirectory containing its code is included?")
+      endif()
+      list(APPEND beginner_tutorials_LIBRARIES ${lib})
+    endif()
+  endif()
+endforeach()
+
+set(beginner_tutorials_EXPORTED_TARGETS "beginner_tutorials_generate_messages_cpp;beginner_tutorials_generate_messages_lisp;beginner_tutorials_generate_messages_py")
+# create dummy targets for exported code generation targets to make life of users easier
+foreach(t ${beginner_tutorials_EXPORTED_TARGETS})
+  if(NOT TARGET ${t})
+    add_custom_target(${t})
+  endif()
+endforeach()
+
+set(depends "")
+foreach(depend ${depends})
+  string(REPLACE " " ";" depend_list ${depend})
+  # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls
+  list(GET depend_list 0 beginner_tutorials_dep)
+  list(LENGTH depend_list count)
+  if(${count} EQUAL 1)
+    # simple dependencies must only be find_package()-ed once
+    if(NOT ${beginner_tutorials_dep}_FOUND)
+      find_package(${beginner_tutorials_dep} REQUIRED)
+    endif()
+  else()
+    # dependencies with components must be find_package()-ed again
+    list(REMOVE_AT depend_list 0)
+    find_package(${beginner_tutorials_dep} REQUIRED ${depend_list})
+  endif()
+  _list_append_unique(beginner_tutorials_INCLUDE_DIRS ${${beginner_tutorials_dep}_INCLUDE_DIRS})
+
+  # merge build configuration keywords with library names to correctly deduplicate
+  _pack_libraries_with_build_configuration(beginner_tutorials_LIBRARIES ${beginner_tutorials_LIBRARIES})
+  _pack_libraries_with_build_configuration(_libraries ${${beginner_tutorials_dep}_LIBRARIES})
+  _list_append_deduplicate(beginner_tutorials_LIBRARIES ${_libraries})
+  # undo build configuration keyword merging after deduplication
+  _unpack_libraries_with_build_configuration(beginner_tutorials_LIBRARIES ${beginner_tutorials_LIBRARIES})
+
+  _list_append_unique(beginner_tutorials_LIBRARY_DIRS ${${beginner_tutorials_dep}_LIBRARY_DIRS})
+  list(APPEND beginner_tutorials_EXPORTED_TARGETS ${${beginner_tutorials_dep}_EXPORTED_TARGETS})
+endforeach()
+
+set(pkg_cfg_extras "beginner_tutorials-msg-extras.cmake")
+foreach(extra ${pkg_cfg_extras})
+  if(NOT IS_ABSOLUTE ${extra})
+    set(extra ${beginner_tutorials_DIR}/${extra})
+  endif()
+  include(${extra})
+endforeach()
diff --git a/20150930/build/beginner_tutorials/catkin_generated/installspace/env.sh b/20150930/build/beginner_tutorials/catkin_generated/installspace/env.sh
new file mode 100755
index 00000000..8aa9d244
--- /dev/null
+++ b/20150930/build/beginner_tutorials/catkin_generated/installspace/env.sh
@@ -0,0 +1,16 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/templates/env.sh.in
+
+if [ $# -eq 0 ] ; then
+  /bin/echo "Usage: env.sh COMMANDS"
+  /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually."
+  exit 1
+fi
+
+# ensure to not use different shell type which was set before
+CATKIN_SHELL=sh
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh"
+exec "$@"
diff --git a/20150930/build/beginner_tutorials/catkin_generated/installspace/setup.bash b/20150930/build/beginner_tutorials/catkin_generated/installspace/setup.bash
new file mode 100644
index 00000000..ff47af8f
--- /dev/null
+++ b/20150930/build/beginner_tutorials/catkin_generated/installspace/setup.bash
@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+# generated from catkin/cmake/templates/setup.bash.in
+
+CATKIN_SHELL=bash
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh"
diff --git a/20150930/build/beginner_tutorials/catkin_generated/installspace/setup.sh b/20150930/build/beginner_tutorials/catkin_generated/installspace/setup.sh
new file mode 100644
index 00000000..32a3864a
--- /dev/null
+++ b/20150930/build/beginner_tutorials/catkin_generated/installspace/setup.sh
@@ -0,0 +1,87 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/template/setup.sh.in
+
+# Sets various environment variables and sources additional environment hooks.
+# It tries it's best to undo changes from a previously sourced setup file before.
+# Supported command line options:
+# --extend: skips the undoing of changes from a previously sourced setup file
+
+# since this file is sourced either use the provided _CATKIN_SETUP_DIR
+# or fall back to the destination set at configure time
+: ${_CATKIN_SETUP_DIR:=/home/mech-user/2015-soft3/20150930/install}
+_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py"
+unset _CATKIN_SETUP_DIR
+
+if [ ! -f "$_SETUP_UTIL" ]; then
+  echo "Missing Python script: $_SETUP_UTIL"
+  return 22
+fi
+
+# detect if running on Darwin platform
+_UNAME=`uname -s`
+_IS_DARWIN=0
+if [ "$_UNAME" = "Darwin" ]; then
+  _IS_DARWIN=1
+fi
+unset _UNAME
+
+# make sure to export all environment variables
+export CMAKE_PREFIX_PATH
+export CPATH
+if [ $_IS_DARWIN -eq 0 ]; then
+  export LD_LIBRARY_PATH
+else
+  export DYLD_LIBRARY_PATH
+fi
+unset _IS_DARWIN
+export PATH
+export PKG_CONFIG_PATH
+export PYTHONPATH
+
+# remember type of shell if not already set
+if [ -z "$CATKIN_SHELL" ]; then
+  CATKIN_SHELL=sh
+fi
+
+# invoke Python script to generate necessary exports of environment variables
+_SETUP_TMP=`mktemp /tmp/setup.sh.XXXXXXXXXX`
+if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then
+  echo "Could not create temporary file: $_SETUP_TMP"
+  return 1
+fi
+CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ > $_SETUP_TMP
+_RC=$?
+if [ $_RC -ne 0 ]; then
+  if [ $_RC -eq 2 ]; then
+    echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?"
+  else
+    echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC"
+  fi
+  unset _RC
+  unset _SETUP_UTIL
+  rm -f $_SETUP_TMP
+  unset _SETUP_TMP
+  return 1
+fi
+unset _RC
+unset _SETUP_UTIL
+. $_SETUP_TMP
+rm -f $_SETUP_TMP
+unset _SETUP_TMP
+
+# source all environment hooks
+_i=0
+while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do
+  eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i
+  unset _CATKIN_ENVIRONMENT_HOOKS_$_i
+  eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
+  unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
+  # set workspace for environment hook
+  CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace
+  . "$_envfile"
+  unset CATKIN_ENV_HOOK_WORKSPACE
+  _i=$((_i + 1))
+done
+unset _i
+
+unset _CATKIN_ENVIRONMENT_HOOKS_COUNT
diff --git a/20150930/build/beginner_tutorials/catkin_generated/installspace/setup.zsh b/20150930/build/beginner_tutorials/catkin_generated/installspace/setup.zsh
new file mode 100644
index 00000000..952f72a4
--- /dev/null
+++ b/20150930/build/beginner_tutorials/catkin_generated/installspace/setup.zsh
@@ -0,0 +1,8 @@
+#!/usr/bin/env zsh
+# generated from catkin/cmake/templates/setup.zsh.in
+
+CATKIN_SHELL=zsh
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
+source "$_CATKIN_SETUP_DIR/setup.sh"
diff --git a/20150930/build/beginner_tutorials/catkin_generated/ordered_paths.cmake b/20150930/build/beginner_tutorials/catkin_generated/ordered_paths.cmake
new file mode 100644
index 00000000..22f3651e
--- /dev/null
+++ b/20150930/build/beginner_tutorials/catkin_generated/ordered_paths.cmake
@@ -0,0 +1 @@
+set(ORDERED_PATHS "/opt/ros/indigo/lib")
\ No newline at end of file
diff --git a/20150930/build/beginner_tutorials/catkin_generated/package.cmake b/20150930/build/beginner_tutorials/catkin_generated/package.cmake
new file mode 100644
index 00000000..8e5b0cec
--- /dev/null
+++ b/20150930/build/beginner_tutorials/catkin_generated/package.cmake
@@ -0,0 +1,7 @@
+set(_CATKIN_CURRENT_PACKAGE "beginner_tutorials")
+set(beginner_tutorials_MAINTAINER "mech-user <mech-user@todo.todo>")
+set(beginner_tutorials_DEPRECATED "")
+set(beginner_tutorials_VERSION "0.0.0")
+set(beginner_tutorials_BUILD_DEPENDS "geometry_msgs" "message_generation" "roscpp" "rospy" "std_msgs")
+set(beginner_tutorials_RUN_DEPENDS "geometry_msgs" "message_runtime" "roscpp" "rospy" "std_msgs")
+set(beginner_tutorials_BUILDTOOL_DEPENDS "catkin")
\ No newline at end of file
diff --git a/20150930/build/beginner_tutorials/catkin_generated/pkg.develspace.context.pc.py b/20150930/build/beginner_tutorials/catkin_generated/pkg.develspace.context.pc.py
new file mode 100644
index 00000000..77d96d20
--- /dev/null
+++ b/20150930/build/beginner_tutorials/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 = "/home/mech-user/2015-soft3/20150930/devel/include".split(';') if "/home/mech-user/2015-soft3/20150930/devel/include" != "" else []
+PROJECT_CATKIN_DEPENDS = "".replace(';', ' ')
+PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else []
+PROJECT_NAME = "beginner_tutorials"
+PROJECT_SPACE_DIR = "/home/mech-user/2015-soft3/20150930/devel"
+PROJECT_VERSION = "0.0.0"
diff --git a/20150930/build/beginner_tutorials/catkin_generated/pkg.installspace.context.pc.py b/20150930/build/beginner_tutorials/catkin_generated/pkg.installspace.context.pc.py
new file mode 100644
index 00000000..916028f5
--- /dev/null
+++ b/20150930/build/beginner_tutorials/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 = "/home/mech-user/2015-soft3/20150930/install/include".split(';') if "/home/mech-user/2015-soft3/20150930/install/include" != "" else []
+PROJECT_CATKIN_DEPENDS = "".replace(';', ' ')
+PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else []
+PROJECT_NAME = "beginner_tutorials"
+PROJECT_SPACE_DIR = "/home/mech-user/2015-soft3/20150930/install"
+PROJECT_VERSION = "0.0.0"
diff --git a/20150930/build/beginner_tutorials/catkin_generated/setup_cached.sh b/20150930/build/beginner_tutorials/catkin_generated/setup_cached.sh
new file mode 100755
index 00000000..47bb26a3
--- /dev/null
+++ b/20150930/build/beginner_tutorials/catkin_generated/setup_cached.sh
@@ -0,0 +1,12 @@
+#!/usr/bin/env sh
+# generated from catkin/python/catkin/environment_cache.py
+
+# based on a snapshot of the environment before and after calling the setup script
+# it emulates the modifications of the setup script without recurring computations
+
+# new environment variables
+
+# modified environment variables
+export LD_LIBRARY_PATH="/opt/ros/indigo/share/euslisp/jskeus/eus//Linux64/lib:/home/mech-user/2015-soft3/20150930/devel/lib/x86_64-linux-gnu:/opt/ros/indigo/lib/x86_64-linux-gnu:/opt/ros/indigo/share/euslisp/jskeus/eus//Linux64/lib:/opt/ros/indigo/share/euslisp/jskeus/eus//Linux64/lib:/home/mech-user/2015-soft3/20150930/devel/lib:/opt/ros/indigo/share/euslisp/jskeus/eus//Linux64/lib:/home/mech-user/catkin_ws2/devel/lib:/opt/ros/indigo/share/euslisp/jskeus/eus//Linux64/lib:/home/mech-user/2015-soft3/20151007/devel/lib:/opt/ros/indigo/share/euslisp/jskeus/eus//Linux64/lib:/opt/ros/indigo/lib:/opt/ros/indigo/lib/python2.7/dist-packages:/opt/ros/indigo/lib/python2.7/dist-packages:/opt/ros/indigo/lib/python2.7/dist-packages:/opt/ros/indigo/lib/python2.7/dist-packages"
+export PATH="/opt/ros/indigo/share/euslisp/jskeus/eus//Linux64/bin:/home/mech-user/2015-soft3/20150930/devel/bin:/opt/ros/indigo/bin:/opt/ros/indigo/share/euslisp/jskeus/eus//Linux64/bin:/opt/ros/indigo/share/euslisp/jskeus/eus//Linux64/bin:/opt/ros/indigo/share/euslisp/jskeus/eus//Linux64/bin:/opt/ros/indigo/share/euslisp/jskeus/eus//Linux64/bin:/opt/ros/indigo/share/euslisp/jskeus/eus//Linux64/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games"
+export PKG_CONFIG_PATH="/home/mech-user/2015-soft3/20150930/devel/lib/x86_64-linux-gnu/pkgconfig:/opt/ros/indigo/lib/x86_64-linux-gnu/pkgconfig:/home/mech-user/2015-soft3/20150930/devel/lib/pkgconfig:/home/mech-user/catkin_ws2/devel/lib/pkgconfig:/home/mech-user/2015-soft3/20151007/devel/lib/pkgconfig:/opt/ros/indigo/lib/pkgconfig"
\ No newline at end of file
diff --git a/20150930/build/beginner_tutorials/catkin_generated/stamps/beginner_tutorials/interrogate_setup_dot_py.py.stamp b/20150930/build/beginner_tutorials/catkin_generated/stamps/beginner_tutorials/interrogate_setup_dot_py.py.stamp
new file mode 100644
index 00000000..26882f02
--- /dev/null
+++ b/20150930/build/beginner_tutorials/catkin_generated/stamps/beginner_tutorials/interrogate_setup_dot_py.py.stamp
@@ -0,0 +1,250 @@
+#!/usr/bin/env python
+
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2012, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+from __future__ import print_function
+import os
+import sys
+
+import distutils.core
+try:
+    import setuptools
+except ImportError:
+    pass
+
+from argparse import ArgumentParser
+
+
+def _get_locations(pkgs, package_dir):
+    """
+    based on setuptools logic and the package_dir dict, builds a dict
+    of location roots for each pkg in pkgs.
+    See http://docs.python.org/distutils/setupscript.html
+
+    :returns: a dict {pkgname: root} for each pkgname in pkgs (and each of their parents)
+    """
+    # package_dir contains a dict {package_name: relativepath}
+    # Example {'': 'src', 'foo': 'lib', 'bar': 'lib2'}
+    #
+    # '' means where to look for any package unless a parent package
+    # is listed so package bar.pot is expected at lib2/bar/pot,
+    # whereas package sup.dee is expected at src/sup/dee
+    #
+    # if package_dir does not state anything about a package,
+    # setuptool expects the package folder to be in the root of the
+    # project
+    locations = {}
+    allprefix = package_dir.get('', '')
+    for pkg in pkgs:
+        parent_location = None
+        splits = pkg.split('.')
+        # we iterate over compound name from parent to child
+        # so once we found parent, children just append to their parent
+        for key_len in range(len(splits)):
+            key = '.'.join(splits[:key_len + 1])
+            if key not in locations:
+                if key in package_dir:
+                    locations[key] = package_dir[key]
+                elif parent_location is not None:
+                    locations[key] = parent_location
+                else:
+                    locations[key] = allprefix
+            parent_location = locations[key]
+    return locations
+
+
+def generate_cmake_file(package_name, version, scripts, package_dir, pkgs, modules):
+    """
+    Generates lines to add to a cmake file which will set variables
+
+    :param version: str, format 'int.int.int'
+    :param scripts: [list of str]: relative paths to scripts
+    :param package_dir: {modulename: path}
+    :pkgs: [list of str] python_packages declared in catkin package
+    :modules: [list of str] python modules
+    """
+    prefix = '%s_SETUP_PY' % package_name
+    result = []
+    result.append(r'set(%s_VERSION "%s")' % (prefix, version))
+    result.append(r'set(%s_SCRIPTS "%s")' % (prefix, ';'.join(scripts)))
+
+    # Remove packages with '.' separators.
+    #
+    # setuptools allows specifying submodules in other folders than
+    # their parent
+    #
+    # The symlink approach of catkin does not work with such submodules.
+    # In the common case, this does not matter as the submodule is
+    # within the containing module.  We verify this assumption, and if
+    # it passes, we remove submodule packages.
+    locations = _get_locations(pkgs, package_dir)
+    for pkgname, location in locations.items():
+        if not '.' in pkgname:
+            continue
+        splits = pkgname.split('.')
+        # hack: ignore write-combining setup.py files for msg and srv files
+        if splits[1] in ['msg', 'srv']:
+            continue
+        # check every child has the same root folder as its parent
+        parent_name = '.'.join(splits[:1])
+        if location != locations[parent_name]:
+            raise RuntimeError(
+                "catkin_export_python does not support setup.py files that combine across multiple directories: %s in %s, %s in %s" % (pkgname, location, parent_name, locations[parent_name]))
+
+    # If checks pass, remove all submodules
+    pkgs = [p for p in pkgs if '.' not in p]
+
+    resolved_pkgs = []
+    for pkg in pkgs:
+        resolved_pkgs += [os.path.join(locations[pkg], pkg)]
+
+    result.append(r'set(%s_PACKAGES "%s")' % (prefix, ';'.join(pkgs)))
+    result.append(r'set(%s_PACKAGE_DIRS "%s")' % (prefix, ';'.join(resolved_pkgs).replace("\\", "/")))
+
+    # skip modules which collide with package names
+    filtered_modules = []
+    for modname in modules:
+        splits = modname.split('.')
+        # check all parents too
+        equals_package = [('.'.join(splits[:-i]) in locations) for i in range(len(splits))]
+        if any(equals_package):
+            continue
+        filtered_modules.append(modname)
+    module_locations = _get_locations(filtered_modules, package_dir)
+
+    result.append(r'set(%s_MODULES "%s")' % (prefix, ';'.join(['%s.py' % m.replace('.', '/') for m in filtered_modules])))
+    result.append(r'set(%s_MODULE_DIRS "%s")' % (prefix, ';'.join([module_locations[m] for m in filtered_modules]).replace("\\", "/")))
+
+    return result
+
+
+def _create_mock_setup_function(package_name, outfile):
+    """
+    Creates a function to call instead of distutils.core.setup or
+    setuptools.setup, which just captures some args and writes them
+    into a file that can be used from cmake
+
+    :param package_name: name of the package
+    :param outfile: filename that cmake will use afterwards
+    :returns: a function to replace disutils.core.setup and setuptools.setup
+    """
+
+    def setup(*args, **kwargs):
+        '''
+        Checks kwargs and writes a scriptfile
+        '''
+        if 'version' not in kwargs:
+            sys.stderr.write("\n*** Unable to find 'version' in setup.py of %s\n" % package_name)
+            raise RuntimeError("version not found in setup.py")
+        version = kwargs['version']
+        package_dir = kwargs.get('package_dir', {})
+
+        pkgs = kwargs.get('packages', [])
+        scripts = kwargs.get('scripts', [])
+        modules = kwargs.get('py_modules', [])
+
+        unsupported_args = [
+            'entry_points',
+            'exclude_package_data',
+            'ext_modules ',
+            'ext_package',
+            'include_package_data',
+            'namespace_packages',
+            'setup_requires',
+            'use_2to3',
+            'zip_safe']
+        used_unsupported_args = [arg for arg in unsupported_args if arg in kwargs]
+        if used_unsupported_args:
+            sys.stderr.write("*** Arguments %s to setup() not supported in catkin devel space in setup.py of %s\n" % (used_unsupported_args, package_name))
+
+        result = generate_cmake_file(package_name=package_name,
+                                     version=version,
+                                     scripts=scripts,
+                                     package_dir=package_dir,
+                                     pkgs=pkgs,
+                                     modules=modules)
+        with open(outfile, 'w') as out:
+            out.write('\n'.join(result))
+
+    return setup
+
+
+def main():
+    """
+    Script main, parses arguments and invokes Dummy.setup indirectly.
+    """
+    parser = ArgumentParser(description='Utility to read setup.py values from cmake macros. Creates a file with CMake set commands setting variables.')
+    parser.add_argument('package_name', help='Name of catkin package')
+    parser.add_argument('setupfile_path', help='Full path to setup.py')
+    parser.add_argument('outfile', help='Where to write result to')
+
+    args = parser.parse_args()
+
+    # print("%s" % sys.argv)
+    # PACKAGE_NAME = sys.argv[1]
+    # OUTFILE = sys.argv[3]
+    # print("Interrogating setup.py for package %s into %s " % (PACKAGE_NAME, OUTFILE),
+    #      file=sys.stderr)
+
+    # print("executing %s" % args.setupfile_path)
+
+    # be sure you're in the directory containing
+    # setup.py so the sys.path manipulation works,
+    # so the import of __version__ works
+    os.chdir(os.path.dirname(os.path.abspath(args.setupfile_path)))
+
+    # patch setup() function of distutils and setuptools for the
+    # context of evaluating setup.py
+    try:
+        fake_setup = _create_mock_setup_function(package_name=args.package_name,
+                                                outfile=args.outfile)
+
+        distutils_backup = distutils.core.setup
+        distutils.core.setup = fake_setup
+        try:
+            setuptools_backup = setuptools.setup
+            setuptools.setup = fake_setup
+        except NameError:
+            pass
+
+        with open(args.setupfile_path, 'r') as fh:
+            exec(fh.read())
+    finally:
+        distutils.core.setup = distutils_backup
+        try:
+            setuptools.setup = setuptools_backup
+        except NameError:
+            pass
+
+if __name__ == '__main__':
+    main()
diff --git a/20151014/src/enshu_20151014/package.xml b/20150930/build/beginner_tutorials/catkin_generated/stamps/beginner_tutorials/package.xml.stamp
similarity index 72%
rename from 20151014/src/enshu_20151014/package.xml
rename to 20150930/build/beginner_tutorials/catkin_generated/stamps/beginner_tutorials/package.xml.stamp
index 3e67261f..04f0f9df 100644
--- a/20151014/src/enshu_20151014/package.xml
+++ b/20150930/build/beginner_tutorials/catkin_generated/stamps/beginner_tutorials/package.xml.stamp
@@ -1,13 +1,13 @@
 <?xml version="1.0"?>
 <package>
-  <name>enshu_20151014</name>
+  <name>beginner_tutorials</name>
   <version>0.0.0</version>
-  <description>The enshu_20151014 package</description>
+  <description>The beginner_tutorials package</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag --> 
   <!-- Example:  -->
   <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
-  <maintainer email="k-okada@todo.todo">k-okada</maintainer>
+  <maintainer email="mech-user@todo.todo">mech-user</maintainer>
 
 
   <!-- One license tag required, multiple allowed, one license per tag -->
@@ -19,7 +19,7 @@
   <!-- Url tags are optional, but mutiple are allowed, one per tag -->
   <!-- Optional attribute type can be: website, bugtracker, or repository -->
   <!-- Example: -->
-  <!-- <url type="website">http://wiki.ros.org/enshu_20151014</url> -->
+  <!-- <url type="website">http://wiki.ros.org/beginner_tutorials</url> -->
 
 
   <!-- Author tags are optional, mutiple are allowed, one per tag -->
@@ -40,8 +40,16 @@
   <!-- Use test_depend for packages you need only for testing: -->
   <!--   <test_depend>gtest</test_depend> -->
   <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>euslisp</build_depend>
-  <run_depend>euslisp</run_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>message_generation</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <run_depend>geometry_msgs</run_depend>
+  <run_depend>message_runtime</run_depend>
+  <run_depend>roscpp</run_depend>
+  <run_depend>rospy</run_depend>
+  <run_depend>std_msgs</run_depend>
 
 
   <!-- The export tag contains other, unspecified, tags -->
@@ -49,4 +57,4 @@
     <!-- Other tools can request additional information be placed here -->
 
   </export>
-</package>
+</package>
\ No newline at end of file
diff --git a/20150930/build/beginner_tutorials/catkin_generated/stamps/beginner_tutorials/pkg-genmsg.cmake.em.stamp b/20150930/build/beginner_tutorials/catkin_generated/stamps/beginner_tutorials/pkg-genmsg.cmake.em.stamp
new file mode 100644
index 00000000..7bae5933
--- /dev/null
+++ b/20150930/build/beginner_tutorials/catkin_generated/stamps/beginner_tutorials/pkg-genmsg.cmake.em.stamp
@@ -0,0 +1,164 @@
+# generated from genmsg/cmake/pkg-genmsg.cmake.em
+
+@{
+import os
+import sys
+
+import genmsg
+import genmsg.base
+genmsg.base.log_verbose('GENMSG_VERBOSE' in os.environ)
+import genmsg.deps
+import genmsg.gentools
+
+# split incoming variables
+messages = messages_str.split(';') if messages_str != '' else []
+services = services_str.split(';') if services_str != '' else []
+dependencies = dependencies_str.split(';') if dependencies_str != '' else []
+dep_search_paths = dep_include_paths_str.split(';') if dep_include_paths_str != '' else []
+
+dep_search_paths_dict = {}
+dep_search_paths_tuple_list = []
+is_even = True
+for val in dep_search_paths:
+    if is_even:
+        dep_search_paths_dict.setdefault(val, [])
+        val_prev = val
+        is_even = False
+    else:
+        dep_search_paths_dict[val_prev].append(val)
+        dep_search_paths_tuple_list.append((val_prev, val))
+        is_even = True
+dep_search_paths = dep_search_paths_dict
+
+if not messages and not services:
+    print('message(WARNING "Invoking generate_messages() without having added any message or service file before.\nYou should either add add_message_files() and/or add_service_files() calls or remove the invocation of generate_messages().")')
+
+msg_deps = {}
+msg_dep_types = {}
+for m in messages:
+  try:
+    _deps = genmsg.deps.find_msg_dependencies_with_type(pkg_name, m, dep_search_paths)
+    msg_deps[m] = [d[1] for d in _deps]
+    msg_dep_types[m] = [d[0] for d in _deps]
+  except genmsg.MsgNotFound as e:
+    print('message(FATAL_ERROR "Could not find messages which \'%s\' depends on. Did you forget to specify generate_messages(DEPENDENCIES ...)?\n%s")' % (m, str(e).replace('"', '\\"')))
+
+srv_deps = {}
+srv_dep_types = {}
+for s in services:
+  try:
+    _deps = genmsg.deps.find_srv_dependencies_with_type(pkg_name, s, dep_search_paths)
+    srv_deps[s] = [d[1] for d in _deps]
+    srv_dep_types[s] = [d[0] for d in _deps]
+  except genmsg.MsgNotFound as e:
+    print('message(FATAL_ERROR "Could not find messages which \'%s\' depends on. Did you forget to specify generate_messages(DEPENDENCIES ...)?\n%s")' % (s, str(e).replace('"', '\\"')))
+
+}@
+message(STATUS "@(pkg_name): @(len(messages)) messages, @(len(services)) services")
+
+set(MSG_I_FLAGS "@(';'.join(["-I%s:%s" % (dep, dir) for dep, dir in dep_search_paths_tuple_list]))")
+
+# Find all generators
+@[if langs]@
+@[for l in langs.split(';')]@
+find_package(@l REQUIRED)
+@[end for]@
+@[end if]@
+
+add_custom_target(@(pkg_name)_generate_messages ALL)
+
+# verify that message/service dependencies have not changed since configure
+@{all_deps = dict(list(msg_deps.items()) + list(srv_deps.items()))}
+@{all_dep_types = dict(list(msg_dep_types.items()) + list(srv_dep_types.items()))}
+@[for f in all_deps.keys()]@
+@{dep_types = ':'.join(all_dep_types[f]).replace('\\','/')}
+get_filename_component(_filename "@(f)" NAME_WE)
+add_custom_target(_@(pkg_name)_generate_messages_check_deps_${_filename}
+  COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "@(pkg_name)" "@(f)" "@(dep_types)"
+)
+@[end for]@# messages and services
+
+#
+#  langs = @langs
+#
+
+@[if langs]@
+@[for l in langs.split(';')]@
+### Section generating for lang: @l
+### Generating Messages
+@[for m in msg_deps.keys()]@
+_generate_msg_@(l[3:])(@pkg_name
+  "@m"
+  "${MSG_I_FLAGS}"
+  "@(';'.join(msg_deps[m]).replace("\\","/"))"
+  ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name
+)
+@[end for]@# messages
+
+### Generating Services
+@[for s in srv_deps.keys()]@
+_generate_srv_@(l[3:])(@pkg_name
+  "@s"
+  "${MSG_I_FLAGS}"
+  "@(';'.join(srv_deps[s]).replace("\\","/"))"
+  ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name
+)
+@[end for]@# services
+
+### Generating Module File
+_generate_module_@(l[3:])(@pkg_name
+  ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name
+  "${ALL_GEN_OUTPUT_FILES_@(l[3:])}"
+)
+
+add_custom_target(@(pkg_name)_generate_messages_@(l[3:])
+  DEPENDS ${ALL_GEN_OUTPUT_FILES_@(l[3:])}
+)
+add_dependencies(@(pkg_name)_generate_messages @(pkg_name)_generate_messages_@(l[3:]))
+
+# add dependencies to all check dependencies targets
+@[for f in all_deps.keys()]@
+get_filename_component(_filename "@(f)" NAME_WE)
+add_dependencies(@(pkg_name)_generate_messages_@(l[3:]) _@(pkg_name)_generate_messages_check_deps_${_filename})
+@[end for]@# messages and services
+
+# target for backward compatibility
+add_custom_target(@(pkg_name)_@(l))
+add_dependencies(@(pkg_name)_@(l) @(pkg_name)_generate_messages_@(l[3:]))
+
+# register target for catkin_package(EXPORTED_TARGETS)
+list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS @(pkg_name)_generate_messages_@(l[3:]))
+
+@[end for]@# langs
+@[end if]@
+
+@[if langs]@
+@[for l in langs.split(';')]@
+
+if(@(l)_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name)
+@[if l == 'genpy']@
+  install(CODE "execute_process(COMMAND \"@(PYTHON_EXECUTABLE)\" -m compileall \"${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name\")")
+@[end if]@
+  # install generated code
+  install(
+    DIRECTORY ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name
+    DESTINATION ${@(l)_INSTALL_DIR}
+@[if l == 'genpy' and package_has_static_sources]@
+    # skip all init files
+    PATTERN "__init__.py" EXCLUDE
+    PATTERN "__init__.pyc" EXCLUDE
+  )
+  # install init files which are not in the root folder of the generated code
+  install(
+    DIRECTORY ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name
+    DESTINATION ${@(l)_INSTALL_DIR}
+    FILES_MATCHING
+    REGEX "${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@(pkg_name)/.+/__init__.pyc?$"
+@[end if]@
+  )
+endif()
+@[for d in dependencies]@
+add_dependencies(@(pkg_name)_generate_messages_@(l[3:]) @(d)_generate_messages_@(l[3:]))
+@[end for]@# dependencies
+@[end for]@# langs
+@[end if]@
diff --git a/20150930/build/beginner_tutorials/catkin_generated/stamps/beginner_tutorials/pkg.pc.em.stamp b/20150930/build/beginner_tutorials/catkin_generated/stamps/beginner_tutorials/pkg.pc.em.stamp
new file mode 100644
index 00000000..a4f72576
--- /dev/null
+++ b/20150930/build/beginner_tutorials/catkin_generated/stamps/beginner_tutorials/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/20150930/build/beginner_tutorials/cmake/beginner_tutorials-genmsg-context.py b/20150930/build/beginner_tutorials/cmake/beginner_tutorials-genmsg-context.py
new file mode 100644
index 00000000..1cb3fcd4
--- /dev/null
+++ b/20150930/build/beginner_tutorials/cmake/beginner_tutorials-genmsg-context.py
@@ -0,0 +1,11 @@
+# generated from genmsg/cmake/pkg-genmsg.context.in
+
+messages_str = "/home/mech-user/2015-soft3/20150930/src/beginner_tutorials/msg/Hello.msg"
+services_str = ""
+pkg_name = "beginner_tutorials"
+dependencies_str = "geometry_msgs"
+langs = "gencpp;genlisp;genpy"
+dep_include_paths_str = "beginner_tutorials;/home/mech-user/2015-soft3/20150930/src/beginner_tutorials/msg;geometry_msgs;/opt/ros/indigo/share/geometry_msgs/cmake/../msg;std_msgs;/opt/ros/indigo/share/std_msgs/cmake/../msg"
+PYTHON_EXECUTABLE = "/usr/bin/python"
+package_has_static_sources = '' == 'TRUE'
+genmsg_check_deps_script = "/opt/ros/indigo/share/genmsg/cmake/../../../lib/genmsg/genmsg_check_deps.py"
diff --git a/20150930/build/beginner_tutorials/cmake/beginner_tutorials-genmsg.cmake b/20150930/build/beginner_tutorials/cmake/beginner_tutorials-genmsg.cmake
new file mode 100644
index 00000000..3af59d9f
--- /dev/null
+++ b/20150930/build/beginner_tutorials/cmake/beginner_tutorials-genmsg.cmake
@@ -0,0 +1,154 @@
+# generated from genmsg/cmake/pkg-genmsg.cmake.em
+
+message(STATUS "beginner_tutorials: 1 messages, 0 services")
+
+set(MSG_I_FLAGS "-Ibeginner_tutorials:/home/mech-user/2015-soft3/20150930/src/beginner_tutorials/msg;-Igeometry_msgs:/opt/ros/indigo/share/geometry_msgs/cmake/../msg;-Istd_msgs:/opt/ros/indigo/share/std_msgs/cmake/../msg")
+
+# Find all generators
+find_package(gencpp REQUIRED)
+find_package(genlisp REQUIRED)
+find_package(genpy REQUIRED)
+
+add_custom_target(beginner_tutorials_generate_messages ALL)
+
+# verify that message/service dependencies have not changed since configure
+
+
+
+get_filename_component(_filename "/home/mech-user/2015-soft3/20150930/src/beginner_tutorials/msg/Hello.msg" NAME_WE)
+add_custom_target(_beginner_tutorials_generate_messages_check_deps_${_filename}
+  COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "beginner_tutorials" "/home/mech-user/2015-soft3/20150930/src/beginner_tutorials/msg/Hello.msg" "geometry_msgs/Vector3:std_msgs/Header"
+)
+
+#
+#  langs = gencpp;genlisp;genpy
+#
+
+### Section generating for lang: gencpp
+### Generating Messages
+_generate_msg_cpp(beginner_tutorials
+  "/home/mech-user/2015-soft3/20150930/src/beginner_tutorials/msg/Hello.msg"
+  "${MSG_I_FLAGS}"
+  "/opt/ros/indigo/share/geometry_msgs/cmake/../msg/Vector3.msg;/opt/ros/indigo/share/std_msgs/cmake/../msg/Header.msg"
+  ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/beginner_tutorials
+)
+
+### Generating Services
+
+### Generating Module File
+_generate_module_cpp(beginner_tutorials
+  ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/beginner_tutorials
+  "${ALL_GEN_OUTPUT_FILES_cpp}"
+)
+
+add_custom_target(beginner_tutorials_generate_messages_cpp
+  DEPENDS ${ALL_GEN_OUTPUT_FILES_cpp}
+)
+add_dependencies(beginner_tutorials_generate_messages beginner_tutorials_generate_messages_cpp)
+
+# add dependencies to all check dependencies targets
+get_filename_component(_filename "/home/mech-user/2015-soft3/20150930/src/beginner_tutorials/msg/Hello.msg" NAME_WE)
+add_dependencies(beginner_tutorials_generate_messages_cpp _beginner_tutorials_generate_messages_check_deps_${_filename})
+
+# target for backward compatibility
+add_custom_target(beginner_tutorials_gencpp)
+add_dependencies(beginner_tutorials_gencpp beginner_tutorials_generate_messages_cpp)
+
+# register target for catkin_package(EXPORTED_TARGETS)
+list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS beginner_tutorials_generate_messages_cpp)
+
+### Section generating for lang: genlisp
+### Generating Messages
+_generate_msg_lisp(beginner_tutorials
+  "/home/mech-user/2015-soft3/20150930/src/beginner_tutorials/msg/Hello.msg"
+  "${MSG_I_FLAGS}"
+  "/opt/ros/indigo/share/geometry_msgs/cmake/../msg/Vector3.msg;/opt/ros/indigo/share/std_msgs/cmake/../msg/Header.msg"
+  ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/beginner_tutorials
+)
+
+### Generating Services
+
+### Generating Module File
+_generate_module_lisp(beginner_tutorials
+  ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/beginner_tutorials
+  "${ALL_GEN_OUTPUT_FILES_lisp}"
+)
+
+add_custom_target(beginner_tutorials_generate_messages_lisp
+  DEPENDS ${ALL_GEN_OUTPUT_FILES_lisp}
+)
+add_dependencies(beginner_tutorials_generate_messages beginner_tutorials_generate_messages_lisp)
+
+# add dependencies to all check dependencies targets
+get_filename_component(_filename "/home/mech-user/2015-soft3/20150930/src/beginner_tutorials/msg/Hello.msg" NAME_WE)
+add_dependencies(beginner_tutorials_generate_messages_lisp _beginner_tutorials_generate_messages_check_deps_${_filename})
+
+# target for backward compatibility
+add_custom_target(beginner_tutorials_genlisp)
+add_dependencies(beginner_tutorials_genlisp beginner_tutorials_generate_messages_lisp)
+
+# register target for catkin_package(EXPORTED_TARGETS)
+list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS beginner_tutorials_generate_messages_lisp)
+
+### Section generating for lang: genpy
+### Generating Messages
+_generate_msg_py(beginner_tutorials
+  "/home/mech-user/2015-soft3/20150930/src/beginner_tutorials/msg/Hello.msg"
+  "${MSG_I_FLAGS}"
+  "/opt/ros/indigo/share/geometry_msgs/cmake/../msg/Vector3.msg;/opt/ros/indigo/share/std_msgs/cmake/../msg/Header.msg"
+  ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/beginner_tutorials
+)
+
+### Generating Services
+
+### Generating Module File
+_generate_module_py(beginner_tutorials
+  ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/beginner_tutorials
+  "${ALL_GEN_OUTPUT_FILES_py}"
+)
+
+add_custom_target(beginner_tutorials_generate_messages_py
+  DEPENDS ${ALL_GEN_OUTPUT_FILES_py}
+)
+add_dependencies(beginner_tutorials_generate_messages beginner_tutorials_generate_messages_py)
+
+# add dependencies to all check dependencies targets
+get_filename_component(_filename "/home/mech-user/2015-soft3/20150930/src/beginner_tutorials/msg/Hello.msg" NAME_WE)
+add_dependencies(beginner_tutorials_generate_messages_py _beginner_tutorials_generate_messages_check_deps_${_filename})
+
+# target for backward compatibility
+add_custom_target(beginner_tutorials_genpy)
+add_dependencies(beginner_tutorials_genpy beginner_tutorials_generate_messages_py)
+
+# register target for catkin_package(EXPORTED_TARGETS)
+list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS beginner_tutorials_generate_messages_py)
+
+
+
+if(gencpp_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/beginner_tutorials)
+  # install generated code
+  install(
+    DIRECTORY ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/beginner_tutorials
+    DESTINATION ${gencpp_INSTALL_DIR}
+  )
+endif()
+add_dependencies(beginner_tutorials_generate_messages_cpp geometry_msgs_generate_messages_cpp)
+
+if(genlisp_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/beginner_tutorials)
+  # install generated code
+  install(
+    DIRECTORY ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/beginner_tutorials
+    DESTINATION ${genlisp_INSTALL_DIR}
+  )
+endif()
+add_dependencies(beginner_tutorials_generate_messages_lisp geometry_msgs_generate_messages_lisp)
+
+if(genpy_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/beginner_tutorials)
+  install(CODE "execute_process(COMMAND \"/usr/bin/python\" -m compileall \"${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/beginner_tutorials\")")
+  # install generated code
+  install(
+    DIRECTORY ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/beginner_tutorials
+    DESTINATION ${genpy_INSTALL_DIR}
+  )
+endif()
+add_dependencies(beginner_tutorials_generate_messages_py geometry_msgs_generate_messages_py)
diff --git a/20150930/build/beginner_tutorials/cmake_install.cmake b/20150930/build/beginner_tutorials/cmake_install.cmake
new file mode 100644
index 00000000..aa5f43d9
--- /dev/null
+++ b/20150930/build/beginner_tutorials/cmake_install.cmake
@@ -0,0 +1,183 @@
+# Install script for directory: /home/mech-user/2015-soft3/20150930/src/beginner_tutorials
+
+# Set the install prefix
+IF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+  SET(CMAKE_INSTALL_PREFIX "/home/mech-user/2015-soft3/20150930/install")
+ENDIF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+STRING(REGEX REPLACE "/$" "" 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(BUILD_TYPE)
+    SET(CMAKE_INSTALL_CONFIG_NAME "")
+  ENDIF(BUILD_TYPE)
+  MESSAGE(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
+ENDIF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+
+# Set the component getting installed.
+IF(NOT CMAKE_INSTALL_COMPONENT)
+  IF(COMPONENT)
+    MESSAGE(STATUS "Install component: \"${COMPONENT}\"")
+    SET(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
+  ELSE(COMPONENT)
+    SET(CMAKE_INSTALL_COMPONENT)
+  ENDIF(COMPONENT)
+ENDIF(NOT CMAKE_INSTALL_COMPONENT)
+
+# Install shared libraries without execute permission?
+IF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
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+	cd /home/mech-user/2015-soft3/20150930/build/beginner_tutorials && $(MAKE) -f gtest/CMakeFiles/gtest.dir/build.make gtest/CMakeFiles/gtest.dir/src/gtest-all.cc.i
+.PHONY : src/gtest-all.cc.i
+
+src/gtest-all.s: src/gtest-all.cc.s
+.PHONY : src/gtest-all.s
+
+# target to generate assembly for a file
+src/gtest-all.cc.s:
+	cd /home/mech-user/2015-soft3/20150930/build/beginner_tutorials && $(MAKE) -f gtest/CMakeFiles/gtest.dir/build.make gtest/CMakeFiles/gtest.dir/src/gtest-all.cc.s
+.PHONY : src/gtest-all.cc.s
+
+src/gtest_main.o: src/gtest_main.cc.o
+.PHONY : src/gtest_main.o
+
+# target to build an object file
+src/gtest_main.cc.o:
+	cd /home/mech-user/2015-soft3/20150930/build/beginner_tutorials && $(MAKE) -f gtest/CMakeFiles/gtest_main.dir/build.make gtest/CMakeFiles/gtest_main.dir/src/gtest_main.cc.o
+.PHONY : src/gtest_main.cc.o
+
+src/gtest_main.i: src/gtest_main.cc.i
+.PHONY : src/gtest_main.i
+
+# target to preprocess a source file
+src/gtest_main.cc.i:
+	cd /home/mech-user/2015-soft3/20150930/build/beginner_tutorials && $(MAKE) -f gtest/CMakeFiles/gtest_main.dir/build.make gtest/CMakeFiles/gtest_main.dir/src/gtest_main.cc.i
+.PHONY : src/gtest_main.cc.i
+
+src/gtest_main.s: src/gtest_main.cc.s
+.PHONY : src/gtest_main.s
+
+# target to generate assembly for a file
+src/gtest_main.cc.s:
+	cd /home/mech-user/2015-soft3/20150930/build/beginner_tutorials && $(MAKE) -f gtest/CMakeFiles/gtest_main.dir/build.make gtest/CMakeFiles/gtest_main.dir/src/gtest_main.cc.s
+.PHONY : src/gtest_main.cc.s
+
+# 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 "... edit_cache"
+	@echo "... gtest"
+	@echo "... gtest_main"
+	@echo "... install"
+	@echo "... install/local"
+	@echo "... install/strip"
+	@echo "... list_install_components"
+	@echo "... rebuild_cache"
+	@echo "... test"
+	@echo "... src/gtest-all.o"
+	@echo "... src/gtest-all.i"
+	@echo "... src/gtest-all.s"
+	@echo "... src/gtest_main.o"
+	@echo "... src/gtest_main.i"
+	@echo "... src/gtest_main.s"
+.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/mech-user/2015-soft3/20150930/build/beginner_tutorials && $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
+.PHONY : cmake_check_build_system
+
diff --git a/20150930/build/beginner_tutorials/gtest/cmake_install.cmake b/20150930/build/beginner_tutorials/gtest/cmake_install.cmake
new file mode 100644
index 00000000..216933d8
--- /dev/null
+++ b/20150930/build/beginner_tutorials/gtest/cmake_install.cmake
@@ -0,0 +1,34 @@
+# Install script for directory: /usr/src/gtest
+
+# Set the install prefix
+IF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+  SET(CMAKE_INSTALL_PREFIX "/home/mech-user/2015-soft3/20150930/install")
+ENDIF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+STRING(REGEX REPLACE "/$" "" 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(BUILD_TYPE)
+    SET(CMAKE_INSTALL_CONFIG_NAME "")
+  ENDIF(BUILD_TYPE)
+  MESSAGE(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
+ENDIF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+
+# Set the component getting installed.
+IF(NOT CMAKE_INSTALL_COMPONENT)
+  IF(COMPONENT)
+    MESSAGE(STATUS "Install component: \"${COMPONENT}\"")
+    SET(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
+  ELSE(COMPONENT)
+    SET(CMAKE_INSTALL_COMPONENT)
+  ENDIF(COMPONENT)
+ENDIF(NOT CMAKE_INSTALL_COMPONENT)
+
+# Install shared libraries without execute permission?
+IF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+  SET(CMAKE_INSTALL_SO_NO_EXE "1")
+ENDIF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+
diff --git a/20150930/build/build_logs/beginner_tutorials.log b/20150930/build/build_logs/beginner_tutorials.log
new file mode 100644
index 00000000..a8ea71ef
--- /dev/null
+++ b/20150930/build/build_logs/beginner_tutorials.log
@@ -0,0 +1,41 @@
+[beginner_tutorials] ==> '/home/mech-user/2015-soft3/20150930/build/beginner_tutorials/build_env.sh /usr/bin/make cmake_check_build_system' in '/home/mech-user/2015-soft3/20150930/build/beginner_tutorials'
+-- Using CATKIN_DEVEL_PREFIX: /home/mech-user/2015-soft3/20150930/devel
+-- Using CMAKE_PREFIX_PATH: /home/mech-user/2015-soft3/20150930/devel;/opt/ros/indigo
+-- This workspace overlays: /home/mech-user/2015-soft3/20150930/devel;/opt/ros/indigo
+-- Using PYTHON_EXECUTABLE: /usr/bin/python
+-- Using Debian Python package layout
+-- Using empy: /usr/bin/empy
+-- Using CATKIN_ENABLE_TESTING: ON
+-- Call enable_testing()
+-- Using CATKIN_TEST_RESULTS_DIR: /home/mech-user/2015-soft3/20150930/build/beginner_tutorials/test_results
+-- Found gtest sources under '/usr/src/gtest': gtests will be built
+-- Using Python nosetests: /usr/bin/nosetests-2.7
+-- catkin 0.6.11
+-- Using these message generators: gencpp;genlisp;genpy
+-- beginner_tutorials: 1 messages, 0 services
+-- Configuring done
+-- Generating done
+-- Build files have been written to: /home/mech-user/2015-soft3/20150930/build/beginner_tutorials
+[beginner_tutorials] <== '/home/mech-user/2015-soft3/20150930/build/beginner_tutorials/build_env.sh /usr/bin/make cmake_check_build_system' finished with return code '0'
+[beginner_tutorials] ==> '/home/mech-user/2015-soft3/20150930/build/beginner_tutorials/build_env.sh /usr/bin/make --jobserver-fds=3,5 -j' in '/home/mech-user/2015-soft3/20150930/build/beginner_tutorials'
+Scanning dependencies of target listener
+[  0%] [  0%] [  0%] Built target geometry_msgs_generate_messages_py
+Built target geometry_msgs_generate_messages_cpp
+Built target geometry_msgs_generate_messages_lisp
+[  0%] Built target _beginner_tutorials_generate_messages_check_deps_Hello
+[ 16%] Generating Lisp code from beginner_tutorials/Hello.msg
+[ 33%] Building CXX object CMakeFiles/listener.dir/src/listener.cpp.o
+Scanning dependencies of target listener2
+[ 66%] [ 66%] Generating Python from MSG beginner_tutorials/Hello
+Generating C++ code from beginner_tutorials/Hello.msg
+[ 66%] Built target beginner_tutorials_generate_messages_lisp
+[ 83%] Generating Python msg __init__.py for beginner_tutorials
+[ 83%] Built target beginner_tutorials_generate_messages_py
+[100%] Building CXX object CMakeFiles/listener2.dir/src/listener2.cpp.o
+[100%] Built target beginner_tutorials_generate_messages_cpp
+[100%] Built target beginner_tutorials_generate_messages
+Linking CXX executable /home/mech-user/2015-soft3/20150930/devel/lib/beginner_tutorials/listener2
+Linking CXX executable /home/mech-user/2015-soft3/20150930/devel/lib/beginner_tutorials/listener
+[100%] Built target listener2
+[100%] Built target listener
+[beginner_tutorials] <== '/home/mech-user/2015-soft3/20150930/build/beginner_tutorials/build_env.sh /usr/bin/make --jobserver-fds=3,5 -j' finished with return code '0'
diff --git a/20150930/devel/.catkin b/20150930/devel/.catkin
new file mode 100644
index 00000000..f8e3f59a
--- /dev/null
+++ b/20150930/devel/.catkin
@@ -0,0 +1 @@
+/home/mech-user/2015-soft3/20150930/src/beginner_tutorials;/home/mech-user/2015-soft3/20150930/src
\ No newline at end of file
diff --git a/20150930/devel/.rosinstall b/20150930/devel/.rosinstall
new file mode 100644
index 00000000..3db8810b
--- /dev/null
+++ b/20150930/devel/.rosinstall
@@ -0,0 +1,2 @@
+- setup-file:
+    local-name: /home/mech-user/2015-soft3/20150930/devel/setup.sh
diff --git a/20150930/devel/_setup_util.py b/20150930/devel/_setup_util.py
new file mode 100755
index 00000000..ed3eae5c
--- /dev/null
+++ b/20150930/devel/_setup_util.py
@@ -0,0 +1,287 @@
+#!/usr/bin/python
+
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2012, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+'''This file generates shell code for the setup.SHELL scripts to set environment variables'''
+
+from __future__ import print_function
+import argparse
+import copy
+import errno
+import os
+import platform
+import sys
+
+CATKIN_MARKER_FILE = '.catkin'
+
+system = platform.system()
+IS_DARWIN = (system == 'Darwin')
+IS_WINDOWS = (system == 'Windows')
+
+# subfolder of workspace prepended to CMAKE_PREFIX_PATH
+ENV_VAR_SUBFOLDERS = {
+    'CMAKE_PREFIX_PATH': '',
+    'CPATH': 'include',
+    'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')],
+    'PATH': 'bin',
+    'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')],
+    'PYTHONPATH': 'lib/python2.7/dist-packages',
+}
+
+
+def rollback_env_variables(environ, env_var_subfolders):
+    '''
+    Generate shell code to reset environment variables
+    by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH.
+    This does not cover modifications performed by environment hooks.
+    '''
+    lines = []
+    unmodified_environ = copy.copy(environ)
+    for key in sorted(env_var_subfolders.keys()):
+        subfolders = env_var_subfolders[key]
+        if not isinstance(subfolders, list):
+            subfolders = [subfolders]
+        for subfolder in subfolders:
+            value = _rollback_env_variable(unmodified_environ, key, subfolder)
+            if value is not None:
+                environ[key] = value
+                lines.append(assignment(key, value))
+    if lines:
+        lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH'))
+    return lines
+
+
+def _rollback_env_variable(environ, name, subfolder):
+    '''
+    For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder.
+
+    :param subfolder: str '' or subfoldername that may start with '/'
+    :returns: the updated value of the environment variable.
+    '''
+    value = environ[name] if name in environ else ''
+    env_paths = [path for path in value.split(os.pathsep) if path]
+    value_modified = False
+    if subfolder:
+        if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)):
+            subfolder = subfolder[1:]
+        if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)):
+            subfolder = subfolder[:-1]
+    for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True):
+        path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path
+        path_to_remove = None
+        for env_path in env_paths:
+            env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path
+            if env_path_clean == path_to_find:
+                path_to_remove = env_path
+                break
+        if path_to_remove:
+            env_paths.remove(path_to_remove)
+            value_modified = True
+    new_value = os.pathsep.join(env_paths)
+    return new_value if value_modified else None
+
+
+def _get_workspaces(environ, include_fuerte=False, include_non_existing=False):
+    '''
+    Based on CMAKE_PREFIX_PATH return all catkin workspaces.
+
+    :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool``
+    '''
+    # get all cmake prefix paths
+    env_name = 'CMAKE_PREFIX_PATH'
+    value = environ[env_name] if env_name in environ else ''
+    paths = [path for path in value.split(os.pathsep) if path]
+    # remove non-workspace paths
+    workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))]
+    return workspaces
+
+
+def prepend_env_variables(environ, env_var_subfolders, workspaces):
+    '''
+    Generate shell code to prepend environment variables
+    for the all workspaces.
+    '''
+    lines = []
+    lines.append(comment('prepend folders of workspaces to environment variables'))
+
+    paths = [path for path in workspaces.split(os.pathsep) if path]
+
+    prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '')
+    lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix))
+
+    for key in sorted([key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH']):
+        subfolder = env_var_subfolders[key]
+        prefix = _prefix_env_variable(environ, key, paths, subfolder)
+        lines.append(prepend(environ, key, prefix))
+    return lines
+
+
+def _prefix_env_variable(environ, name, paths, subfolders):
+    '''
+    Return the prefix to prepend to the environment variable NAME, adding any path in NEW_PATHS_STR without creating duplicate or empty items.
+    '''
+    value = environ[name] if name in environ else ''
+    environ_paths = [path for path in value.split(os.pathsep) if path]
+    checked_paths = []
+    for path in paths:
+        if not isinstance(subfolders, list):
+            subfolders = [subfolders]
+        for subfolder in subfolders:
+            path_tmp = path
+            if subfolder:
+                path_tmp = os.path.join(path_tmp, subfolder)
+            # exclude any path already in env and any path we already added
+            if path_tmp not in environ_paths and path_tmp not in checked_paths:
+                checked_paths.append(path_tmp)
+    prefix_str = os.pathsep.join(checked_paths)
+    if prefix_str != '' and environ_paths:
+        prefix_str += os.pathsep
+    return prefix_str
+
+
+def assignment(key, value):
+    if not IS_WINDOWS:
+        return 'export %s="%s"' % (key, value)
+    else:
+        return 'set %s=%s' % (key, value)
+
+
+def comment(msg):
+    if not IS_WINDOWS:
+        return '# %s' % msg
+    else:
+        return 'REM %s' % msg
+
+
+def prepend(environ, key, prefix):
+    if key not in environ or not environ[key]:
+        return assignment(key, prefix)
+    if not IS_WINDOWS:
+        return 'export %s="%s$%s"' % (key, prefix, key)
+    else:
+        return 'set %s=%s%%%s%%' % (key, prefix, key)
+
+
+def find_env_hooks(environ, cmake_prefix_path):
+    '''
+    Generate shell code with found environment hooks
+    for the all workspaces.
+    '''
+    lines = []
+    lines.append(comment('found environment hooks in workspaces'))
+
+    generic_env_hooks = []
+    generic_env_hooks_workspace = []
+    specific_env_hooks = []
+    specific_env_hooks_workspace = []
+    generic_env_hooks_by_filename = {}
+    specific_env_hooks_by_filename = {}
+    generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh'
+    specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None
+    # remove non-workspace paths
+    workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))]
+    for workspace in reversed(workspaces):
+        env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d')
+        if os.path.isdir(env_hook_dir):
+            for filename in sorted(os.listdir(env_hook_dir)):
+                if filename.endswith('.%s' % generic_env_hook_ext):
+                    # remove previous env hook with same name if present
+                    if filename in generic_env_hooks_by_filename:
+                        i = generic_env_hooks.index(generic_env_hooks_by_filename[filename])
+                        generic_env_hooks.pop(i)
+                        generic_env_hooks_workspace.pop(i)
+                    # append env hook
+                    generic_env_hooks.append(os.path.join(env_hook_dir, filename))
+                    generic_env_hooks_workspace.append(workspace)
+                    generic_env_hooks_by_filename[filename] = generic_env_hooks[-1]
+                elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext):
+                    # remove previous env hook with same name if present
+                    if filename in specific_env_hooks_by_filename:
+                        i = specific_env_hooks.index(specific_env_hooks_by_filename[filename])
+                        specific_env_hooks.pop(i)
+                        specific_env_hooks_workspace.pop(i)
+                    # append env hook
+                    specific_env_hooks.append(os.path.join(env_hook_dir, filename))
+                    specific_env_hooks_workspace.append(workspace)
+                    specific_env_hooks_by_filename[filename] = specific_env_hooks[-1]
+    env_hooks = generic_env_hooks + specific_env_hooks
+    env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace
+    count = len(env_hooks)
+    lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count))
+    for i in range(count):
+        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i]))
+        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i]))
+    return lines
+
+
+def _parse_arguments(args=None):
+    parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.')
+    parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context')
+    return parser.parse_known_args(args=args)[0]
+
+
+if __name__ == '__main__':
+    try:
+        try:
+            args = _parse_arguments()
+        except Exception as e:
+            print(e, file=sys.stderr)
+            sys.exit(1)
+
+        # environment at generation time
+        CMAKE_PREFIX_PATH = '/home/mech-user/2015-soft3/20150930/devel;/opt/ros/indigo'.split(';')
+        # prepend current workspace if not already part of CPP
+        base_path = os.path.dirname(__file__)
+        if base_path not in CMAKE_PREFIX_PATH:
+            CMAKE_PREFIX_PATH.insert(0, base_path)
+        CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH)
+
+        environ = dict(os.environ)
+        lines = []
+        if not args.extend:
+            lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS)
+        lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH)
+        lines += find_env_hooks(environ, CMAKE_PREFIX_PATH)
+        print('\n'.join(lines))
+
+        # need to explicitly flush the output
+        sys.stdout.flush()
+    except IOError as e:
+        # and catch potantial "broken pipe" if stdout is not writable
+        # which can happen when piping the output to a file but the disk is full
+        if e.errno == errno.EPIPE:
+            print(e, file=sys.stderr)
+            sys.exit(2)
+        raise
+
+    sys.exit(0)
diff --git a/20150930/devel/env.sh b/20150930/devel/env.sh
new file mode 100755
index 00000000..8aa9d244
--- /dev/null
+++ b/20150930/devel/env.sh
@@ -0,0 +1,16 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/templates/env.sh.in
+
+if [ $# -eq 0 ] ; then
+  /bin/echo "Usage: env.sh COMMANDS"
+  /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually."
+  exit 1
+fi
+
+# ensure to not use different shell type which was set before
+CATKIN_SHELL=sh
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh"
+exec "$@"
diff --git a/20150930/devel/etc/catkin/profile.d/05.catkin-test-results.sh b/20150930/devel/etc/catkin/profile.d/05.catkin-test-results.sh
new file mode 100644
index 00000000..fa069580
--- /dev/null
+++ b/20150930/devel/etc/catkin/profile.d/05.catkin-test-results.sh
@@ -0,0 +1,4 @@
+# generated from catkin/cmake/env-hooks/05.catkin-test-results.sh.develspace.in
+
+export CATKIN_TEST_RESULTS_DIR="/home/mech-user/2015-soft3/20150930/build/beginner_tutorials/test_results"
+export ROS_TEST_RESULTS_DIR="$CATKIN_TEST_RESULTS_DIR"
diff --git a/20150930/devel/etc/catkin/profile.d/05.catkin_make.bash b/20150930/devel/etc/catkin/profile.d/05.catkin_make.bash
new file mode 100644
index 00000000..621d668a
--- /dev/null
+++ b/20150930/devel/etc/catkin/profile.d/05.catkin_make.bash
@@ -0,0 +1,67 @@
+function _catkin_make()
+{
+    local cur prev
+    cur=${COMP_WORDS[COMP_CWORD]}
+    prev=${COMP_WORDS[COMP_CWORD-1]}
+
+    # autocomplete path arguments for -C, --directory, --source, --build
+    case $prev in
+        -C|--directory|--source|--build)
+            _filedir -d
+            return 0
+            ;;
+    esac
+
+    if [[ "$cur" == -DCMAKE_BUILD_TYPE=* ]]; then
+        # autocomplete CMake argument CMAKE_BUILD_TYPE with its options
+        COMPREPLY=( $( compgen -P "-DCMAKE_BUILD_TYPE=" -W "None Debug Release RelWithDebInfo MinSizeRel" -- "${cur:19}" ) )
+    elif [[ "$cur" == -DCATKIN_ENABLE_TESTING=* ]]; then
+        # autocomplete catkin argument CATKIN_ENABLE_TESTING with its options
+        COMPREPLY=( $( compgen -P "-DCATKIN_ENABLE_TESTING=" -W "0 1" -- "${cur:24}" ) )
+    elif [[ "$cur" == -DCATKIN_DEVEL_PREFIX=* || "$cur" == -DCMAKE_INSTALL_PREFIX=* ]]; then
+        COMPREPLY=()
+    elif [[ "$cur" == -* ]]; then
+        local opts="$( _parse_help "$1" )"
+        [[ $opts ]] || opts="$( _parse_usage "$1" )"
+        if [[ "$cur" == -* ]]; then
+            # suggest some common CMake arguments
+            opts="$opts -DCATKIN_DEVEL_PREFIX= -DCATKIN_ENABLE_TESTING= -DCMAKE_INSTALL_PREFIX= -DCMAKE_BUILD_TYPE="
+        fi
+        COMPREPLY=( $( compgen -W "$opts" -- "$cur" ) )
+        [[ $COMPREPLY == *= ]] && compopt -o nospace
+    else
+        # check if custom workspace root has been specified on the command line
+        local workspace_dir="."
+        for (( i=0; i < ${#COMP_WORDS[@]}; i++ )); do
+            if [[ ${COMP_WORDS[i]} == -C || ${COMP_WORDS[i]} == --directory ]]; then
+                # eval to expand tilde
+                eval workspace_dir=${COMP_WORDS[i+1]}
+            fi
+        done
+        # check if custom build folder has been specified on the command line
+        local build_dir="build"
+        for (( i=0; i < ${#COMP_WORDS[@]}; i++ )); do
+            if [[ ${COMP_WORDS[i]} == --build ]]; then
+                # eval to expand tilde
+                eval build_dir=${COMP_WORDS[i+1]}
+            fi
+        done
+
+        # determine location of Makefile
+        local makefile_dir
+        if [[ "$build_dir" = /* ]]; then
+            makefile_dir="$build_dir"
+        else
+            makefile_dir="$workspace_dir/$build_dir"
+        fi
+        COMPREPLY=()
+        if [ -f "$makefile_dir/Makefile" ]; then
+            cur=${COMP_WORDS[COMP_CWORD]}
+            COMPREPLY=( $( compgen -W "`make -C $makefile_dir -qp 2>/dev/null | awk -F':' '/^[a-zA-Z0-9][a-zA-Z0-9_\.]*:/ { print $1 }'`" -- $cur ))
+        elif [ -f "$makefile_dir/build.ninja" ]; then
+            cur=${COMP_WORDS[COMP_CWORD]}
+            COMPREPLY=( $( compgen -W "`ninja -C $makefile_dir -t targets 2>/dev/null | awk -F':' '/^[a-zA-Z0-9][a-zA-Z0-9_\.]*:/ { print $1 }'`" -- $cur ))
+        fi
+    fi
+} &&
+complete -F _catkin_make catkin_make
diff --git a/20150930/devel/etc/catkin/profile.d/05.catkin_make_isolated.bash b/20150930/devel/etc/catkin/profile.d/05.catkin_make_isolated.bash
new file mode 100644
index 00000000..99e5d301
--- /dev/null
+++ b/20150930/devel/etc/catkin/profile.d/05.catkin_make_isolated.bash
@@ -0,0 +1,65 @@
+function _catkin_make_isolated()
+{
+    local cur prev
+    cur=${COMP_WORDS[COMP_CWORD]}
+    prev=${COMP_WORDS[COMP_CWORD-1]}
+
+    # autocomplete path arguments for -C, --directory, --source, --build, --devel, --install
+    case $prev in
+        -C|--directory|--source|--build|--devel|--install)
+            _filedir -d
+            return 0
+            ;;
+    esac
+
+    if [[ "$cur" == -DCMAKE_BUILD_TYPE=* ]]; then
+        # autocomplete CMake argument CMAKE_BUILD_TYPE with its options
+        COMPREPLY=( $( compgen -P "-DCMAKE_BUILD_TYPE=" -W "None Debug Release RelWithDebInfo MinSizeRel" -- "${cur:19}" ) )
+    elif [[ "$cur" == -DCATKIN_ENABLE_TESTING=* ]]; then
+        # autocomplete catkin argument CATKIN_ENABLE_TESTING with its options
+        COMPREPLY=( $( compgen -P "-DCATKIN_ENABLE_TESTING=" -W "0 1" -- "${cur:24}" ) )
+    elif [[ "$cur" == -* ]]; then
+        local opts="$( _parse_help "$1" )"
+        [[ $opts ]] || opts="$( _parse_usage "$1" )"
+        if [[ "$cur" == -* ]]; then
+            # suggest some common CMake arguments
+            opts="$opts -DCATKIN_ENABLE_TESTING= -DCMAKE_BUILD_TYPE="
+        fi
+        COMPREPLY=( $( compgen -W "$opts" -- "$cur" ) )
+        [[ $COMPREPLY == *= ]] && compopt -o nospace
+    else
+        # check if custom workspace root has been specified on the command line
+        local workspace_dir="."
+        for (( i=0; i < ${#COMP_WORDS[@]}; i++ )); do
+            if [[ ${COMP_WORDS[i]} == -C || ${COMP_WORDS[i]} == --directory ]]; then
+                # eval to expand tilde
+                eval workspace_dir=${COMP_WORDS[i+1]}
+            fi
+        done
+        # check if custom build folder has been specified on the command line
+        local build_dir="build_isolated"
+        for (( i=0; i < ${#COMP_WORDS[@]}; i++ )); do
+            if [[ ${COMP_WORDS[i]} == --build ]]; then
+                # eval to expand tilde
+                eval build_dir=${COMP_WORDS[i+1]}
+            fi
+        done
+
+        # determine location of Makefile
+        local makefile_dir
+        if [[ "$build_dir" = /* ]]; then
+            makefile_dir="$build_dir"
+        else
+            makefile_dir="$workspace_dir/$build_dir"
+        fi
+        COMPREPLY=()
+        if [ -f "$makefile_dir/Makefile" ]; then
+            cur=${COMP_WORDS[COMP_CWORD]}
+            COMPREPLY=( $( compgen -W "`make -C $makefile_dir -qp 2>/dev/null | awk -F':' '/^[a-zA-Z0-9][a-zA-Z0-9_\.]*:/ { print $1 }'`" -- $cur ))
+        elif [ -f "$makefile_dir/build.ninja" ]; then
+            cur=${COMP_WORDS[COMP_CWORD]}
+            COMPREPLY=( $( compgen -W "`ninja -C $makefile_dir -t targets 2>/dev/null | awk -F':' '/^[a-zA-Z0-9][a-zA-Z0-9_\.]*:/ { print $1 }'`" -- $cur ))
+        fi
+    fi
+} &&
+complete -F _catkin_make_isolated catkin_make_isolated
diff --git a/20150930/devel/include/beginner_tutorials/Hello.h b/20150930/devel/include/beginner_tutorials/Hello.h
new file mode 100644
index 00000000..53d9f560
--- /dev/null
+++ b/20150930/devel/include/beginner_tutorials/Hello.h
@@ -0,0 +1,232 @@
+// Generated by gencpp from file beginner_tutorials/Hello.msg
+// DO NOT EDIT!
+
+
+#ifndef BEGINNER_TUTORIALS_MESSAGE_HELLO_H
+#define BEGINNER_TUTORIALS_MESSAGE_HELLO_H
+
+
+#include <string>
+#include <vector>
+#include <map>
+
+#include <ros/types.h>
+#include <ros/serialization.h>
+#include <ros/builtin_message_traits.h>
+#include <ros/message_operations.h>
+
+#include <std_msgs/Header.h>
+#include <geometry_msgs/Vector3.h>
+
+namespace beginner_tutorials
+{
+template <class ContainerAllocator>
+struct Hello_
+{
+  typedef Hello_<ContainerAllocator> Type;
+
+  Hello_()
+    : header()
+    , hello()
+    , pos()  {
+    }
+  Hello_(const ContainerAllocator& _alloc)
+    : header(_alloc)
+    , hello(_alloc)
+    , pos(_alloc)  {
+    }
+
+
+
+   typedef  ::std_msgs::Header_<ContainerAllocator>  _header_type;
+  _header_type header;
+
+   typedef std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other >  _hello_type;
+  _hello_type hello;
+
+   typedef  ::geometry_msgs::Vector3_<ContainerAllocator>  _pos_type;
+  _pos_type pos;
+
+
+
+
+  typedef boost::shared_ptr< ::beginner_tutorials::Hello_<ContainerAllocator> > Ptr;
+  typedef boost::shared_ptr< ::beginner_tutorials::Hello_<ContainerAllocator> const> ConstPtr;
+
+}; // struct Hello_
+
+typedef ::beginner_tutorials::Hello_<std::allocator<void> > Hello;
+
+typedef boost::shared_ptr< ::beginner_tutorials::Hello > HelloPtr;
+typedef boost::shared_ptr< ::beginner_tutorials::Hello const> HelloConstPtr;
+
+// constants requiring out of line definition
+
+
+
+template<typename ContainerAllocator>
+std::ostream& operator<<(std::ostream& s, const ::beginner_tutorials::Hello_<ContainerAllocator> & v)
+{
+ros::message_operations::Printer< ::beginner_tutorials::Hello_<ContainerAllocator> >::stream(s, "", v);
+return s;
+}
+
+} // namespace beginner_tutorials
+
+namespace ros
+{
+namespace message_traits
+{
+
+
+
+// BOOLTRAITS {'IsFixedSize': False, 'IsMessage': True, 'HasHeader': True}
+// {'beginner_tutorials': ['/home/mech-user/2015-soft3/20150930/src/beginner_tutorials/msg'], 'std_msgs': ['/opt/ros/indigo/share/std_msgs/cmake/../msg'], 'geometry_msgs': ['/opt/ros/indigo/share/geometry_msgs/cmake/../msg']}
+
+// !!!!!!!!!!! ['__class__', '__delattr__', '__dict__', '__doc__', '__eq__', '__format__', '__getattribute__', '__hash__', '__init__', '__module__', '__ne__', '__new__', '__reduce__', '__reduce_ex__', '__repr__', '__setattr__', '__sizeof__', '__str__', '__subclasshook__', '__weakref__', '_parsed_fields', 'constants', 'fields', 'full_name', 'has_header', 'header_present', 'names', 'package', 'parsed_fields', 'short_name', 'text', 'types']
+
+
+
+
+template <class ContainerAllocator>
+struct IsFixedSize< ::beginner_tutorials::Hello_<ContainerAllocator> >
+  : FalseType
+  { };
+
+template <class ContainerAllocator>
+struct IsFixedSize< ::beginner_tutorials::Hello_<ContainerAllocator> const>
+  : FalseType
+  { };
+
+template <class ContainerAllocator>
+struct IsMessage< ::beginner_tutorials::Hello_<ContainerAllocator> >
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct IsMessage< ::beginner_tutorials::Hello_<ContainerAllocator> const>
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct HasHeader< ::beginner_tutorials::Hello_<ContainerAllocator> >
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct HasHeader< ::beginner_tutorials::Hello_<ContainerAllocator> const>
+  : TrueType
+  { };
+
+
+template<class ContainerAllocator>
+struct MD5Sum< ::beginner_tutorials::Hello_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "a5d5980a408f71ddd964a3f012b4dd59";
+  }
+
+  static const char* value(const ::beginner_tutorials::Hello_<ContainerAllocator>&) { return value(); }
+  static const uint64_t static_value1 = 0xa5d5980a408f71ddULL;
+  static const uint64_t static_value2 = 0xd964a3f012b4dd59ULL;
+};
+
+template<class ContainerAllocator>
+struct DataType< ::beginner_tutorials::Hello_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "beginner_tutorials/Hello";
+  }
+
+  static const char* value(const ::beginner_tutorials::Hello_<ContainerAllocator>&) { return value(); }
+};
+
+template<class ContainerAllocator>
+struct Definition< ::beginner_tutorials::Hello_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "Header header\n\
+string hello\n\
+geometry_msgs/Vector3 pos\n\
+================================================================================\n\
+MSG: std_msgs/Header\n\
+# Standard metadata for higher-level stamped data types.\n\
+# This is generally used to communicate timestamped data \n\
+# in a particular coordinate frame.\n\
+# \n\
+# sequence ID: consecutively increasing ID \n\
+uint32 seq\n\
+#Two-integer timestamp that is expressed as:\n\
+# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')\n\
+# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')\n\
+# time-handling sugar is provided by the client library\n\
+time stamp\n\
+#Frame this data is associated with\n\
+# 0: no frame\n\
+# 1: global frame\n\
+string frame_id\n\
+\n\
+================================================================================\n\
+MSG: geometry_msgs/Vector3\n\
+# This represents a vector in free space. \n\
+\n\
+float64 x\n\
+float64 y\n\
+float64 z\n\
+";
+  }
+
+  static const char* value(const ::beginner_tutorials::Hello_<ContainerAllocator>&) { return value(); }
+};
+
+} // namespace message_traits
+} // namespace ros
+
+namespace ros
+{
+namespace serialization
+{
+
+  template<class ContainerAllocator> struct Serializer< ::beginner_tutorials::Hello_<ContainerAllocator> >
+  {
+    template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
+    {
+      stream.next(m.header);
+      stream.next(m.hello);
+      stream.next(m.pos);
+    }
+
+    ROS_DECLARE_ALLINONE_SERIALIZER;
+  }; // struct Hello_
+
+} // namespace serialization
+} // namespace ros
+
+namespace ros
+{
+namespace message_operations
+{
+
+template<class ContainerAllocator>
+struct Printer< ::beginner_tutorials::Hello_<ContainerAllocator> >
+{
+  template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::beginner_tutorials::Hello_<ContainerAllocator>& v)
+  {
+    s << indent << "header: ";
+    s << std::endl;
+    Printer< ::std_msgs::Header_<ContainerAllocator> >::stream(s, indent + "  ", v.header);
+    s << indent << "hello: ";
+    Printer<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::stream(s, indent + "  ", v.hello);
+    s << indent << "pos: ";
+    s << std::endl;
+    Printer< ::geometry_msgs::Vector3_<ContainerAllocator> >::stream(s, indent + "  ", v.pos);
+  }
+};
+
+} // namespace message_operations
+} // namespace ros
+
+#endif // BEGINNER_TUTORIALS_MESSAGE_HELLO_H
diff --git a/20150930/devel/lib/beginner_tutorials/listener b/20150930/devel/lib/beginner_tutorials/listener
new file mode 100755
index 00000000..78f39cea
Binary files /dev/null and b/20150930/devel/lib/beginner_tutorials/listener differ
diff --git a/20150930/devel/lib/beginner_tutorials/listener2 b/20150930/devel/lib/beginner_tutorials/listener2
new file mode 100755
index 00000000..62150ca7
Binary files /dev/null and b/20150930/devel/lib/beginner_tutorials/listener2 differ
diff --git a/20150930/devel/lib/pkgconfig/beginner_tutorials.pc b/20150930/devel/lib/pkgconfig/beginner_tutorials.pc
new file mode 100644
index 00000000..2638db47
--- /dev/null
+++ b/20150930/devel/lib/pkgconfig/beginner_tutorials.pc
@@ -0,0 +1,8 @@
+prefix=/home/mech-user/2015-soft3/20150930/devel
+
+Name: beginner_tutorials
+Description: Description of beginner_tutorials
+Version: 0.0.0
+Cflags: -I/home/mech-user/2015-soft3/20150930/devel/include
+Libs: -L/home/mech-user/2015-soft3/20150930/devel/lib 
+Requires: 
diff --git a/20150930/devel/lib/python2.7/dist-packages/beginner_tutorials/__init__.py b/20150930/devel/lib/python2.7/dist-packages/beginner_tutorials/__init__.py
new file mode 100644
index 00000000..e69de29b
diff --git a/20150930/devel/lib/python2.7/dist-packages/beginner_tutorials/msg/_Hello.py b/20150930/devel/lib/python2.7/dist-packages/beginner_tutorials/msg/_Hello.py
new file mode 100644
index 00000000..c612a343
--- /dev/null
+++ b/20150930/devel/lib/python2.7/dist-packages/beginner_tutorials/msg/_Hello.py
@@ -0,0 +1,229 @@
+"""autogenerated by genpy from beginner_tutorials/Hello.msg. Do not edit."""
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+import geometry_msgs.msg
+import std_msgs.msg
+
+class Hello(genpy.Message):
+  _md5sum = "a5d5980a408f71ddd964a3f012b4dd59"
+  _type = "beginner_tutorials/Hello"
+  _has_header = True #flag to mark the presence of a Header object
+  _full_text = """Header header
+string hello
+geometry_msgs/Vector3 pos
+================================================================================
+MSG: std_msgs/Header
+# Standard metadata for higher-level stamped data types.
+# This is generally used to communicate timestamped data 
+# in a particular coordinate frame.
+# 
+# sequence ID: consecutively increasing ID 
+uint32 seq
+#Two-integer timestamp that is expressed as:
+# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
+# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
+# time-handling sugar is provided by the client library
+time stamp
+#Frame this data is associated with
+# 0: no frame
+# 1: global frame
+string frame_id
+
+================================================================================
+MSG: geometry_msgs/Vector3
+# This represents a vector in free space. 
+
+float64 x
+float64 y
+float64 z
+"""
+  __slots__ = ['header','hello','pos']
+  _slot_types = ['std_msgs/Header','string','geometry_msgs/Vector3']
+
+  def __init__(self, *args, **kwds):
+    """
+    Constructor. Any message fields that are implicitly/explicitly
+    set to None will be assigned a default value. The recommend
+    use is keyword arguments as this is more robust to future message
+    changes.  You cannot mix in-order arguments and keyword arguments.
+
+    The available fields are:
+       header,hello,pos
+
+    :param args: complete set of field values, in .msg order
+    :param kwds: use keyword arguments corresponding to message field names
+    to set specific fields.
+    """
+    if args or kwds:
+      super(Hello, self).__init__(*args, **kwds)
+      #message fields cannot be None, assign default values for those that are
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      if self.hello is None:
+        self.hello = ''
+      if self.pos is None:
+        self.pos = geometry_msgs.msg.Vector3()
+    else:
+      self.header = std_msgs.msg.Header()
+      self.hello = ''
+      self.pos = geometry_msgs.msg.Vector3()
+
+  def _get_types(self):
+    """
+    internal API method
+    """
+    return self._slot_types
+
+  def serialize(self, buff):
+    """
+    serialize message into buffer
+    :param buff: buffer, ``StringIO``
+    """
+    try:
+      _x = self
+      buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
+      _x = self.header.frame_id
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      if python3:
+        buff.write(struct.pack('<I%sB'%length, length, *_x))
+      else:
+        buff.write(struct.pack('<I%ss'%length, length, _x))
+      _x = self.hello
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      if python3:
+        buff.write(struct.pack('<I%sB'%length, length, *_x))
+      else:
+        buff.write(struct.pack('<I%ss'%length, length, _x))
+      _x = self
+      buff.write(_struct_3d.pack(_x.pos.x, _x.pos.y, _x.pos.z))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
+
+  def deserialize(self, str):
+    """
+    unpack serialized message in str into this message instance
+    :param str: byte array of serialized message, ``str``
+    """
+    try:
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      if self.pos is None:
+        self.pos = geometry_msgs.msg.Vector3()
+      end = 0
+      _x = self
+      start = end
+      end += 12
+      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.header.frame_id = str[start:end].decode('utf-8')
+      else:
+        self.header.frame_id = str[start:end]
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.hello = str[start:end].decode('utf-8')
+      else:
+        self.hello = str[start:end]
+      _x = self
+      start = end
+      end += 24
+      (_x.pos.x, _x.pos.y, _x.pos.z,) = _struct_3d.unpack(str[start:end])
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e) #most likely buffer underfill
+
+
+  def serialize_numpy(self, buff, numpy):
+    """
+    serialize message with numpy array types into buffer
+    :param buff: buffer, ``StringIO``
+    :param numpy: numpy python module
+    """
+    try:
+      _x = self
+      buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
+      _x = self.header.frame_id
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      if python3:
+        buff.write(struct.pack('<I%sB'%length, length, *_x))
+      else:
+        buff.write(struct.pack('<I%ss'%length, length, _x))
+      _x = self.hello
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      if python3:
+        buff.write(struct.pack('<I%sB'%length, length, *_x))
+      else:
+        buff.write(struct.pack('<I%ss'%length, length, _x))
+      _x = self
+      buff.write(_struct_3d.pack(_x.pos.x, _x.pos.y, _x.pos.z))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
+
+  def deserialize_numpy(self, str, numpy):
+    """
+    unpack serialized message in str into this message instance using numpy for array types
+    :param str: byte array of serialized message, ``str``
+    :param numpy: numpy python module
+    """
+    try:
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      if self.pos is None:
+        self.pos = geometry_msgs.msg.Vector3()
+      end = 0
+      _x = self
+      start = end
+      end += 12
+      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.header.frame_id = str[start:end].decode('utf-8')
+      else:
+        self.header.frame_id = str[start:end]
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.hello = str[start:end].decode('utf-8')
+      else:
+        self.hello = str[start:end]
+      _x = self
+      start = end
+      end += 24
+      (_x.pos.x, _x.pos.y, _x.pos.z,) = _struct_3d.unpack(str[start:end])
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e) #most likely buffer underfill
+
+_struct_I = genpy.struct_I
+_struct_3I = struct.Struct("<3I")
+_struct_3d = struct.Struct("<3d")
diff --git a/20150930/devel/lib/python2.7/dist-packages/beginner_tutorials/msg/__init__.py b/20150930/devel/lib/python2.7/dist-packages/beginner_tutorials/msg/__init__.py
new file mode 100644
index 00000000..44345cd5
--- /dev/null
+++ b/20150930/devel/lib/python2.7/dist-packages/beginner_tutorials/msg/__init__.py
@@ -0,0 +1 @@
+from ._Hello import *
diff --git a/20150930/devel/setup.bash b/20150930/devel/setup.bash
new file mode 100644
index 00000000..ff47af8f
--- /dev/null
+++ b/20150930/devel/setup.bash
@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+# generated from catkin/cmake/templates/setup.bash.in
+
+CATKIN_SHELL=bash
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh"
diff --git a/20150930/devel/setup.sh b/20150930/devel/setup.sh
new file mode 100644
index 00000000..d7851244
--- /dev/null
+++ b/20150930/devel/setup.sh
@@ -0,0 +1,87 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/template/setup.sh.in
+
+# Sets various environment variables and sources additional environment hooks.
+# It tries it's best to undo changes from a previously sourced setup file before.
+# Supported command line options:
+# --extend: skips the undoing of changes from a previously sourced setup file
+
+# since this file is sourced either use the provided _CATKIN_SETUP_DIR
+# or fall back to the destination set at configure time
+: ${_CATKIN_SETUP_DIR:=/home/mech-user/2015-soft3/20150930/devel}
+_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py"
+unset _CATKIN_SETUP_DIR
+
+if [ ! -f "$_SETUP_UTIL" ]; then
+  echo "Missing Python script: $_SETUP_UTIL"
+  return 22
+fi
+
+# detect if running on Darwin platform
+_UNAME=`uname -s`
+_IS_DARWIN=0
+if [ "$_UNAME" = "Darwin" ]; then
+  _IS_DARWIN=1
+fi
+unset _UNAME
+
+# make sure to export all environment variables
+export CMAKE_PREFIX_PATH
+export CPATH
+if [ $_IS_DARWIN -eq 0 ]; then
+  export LD_LIBRARY_PATH
+else
+  export DYLD_LIBRARY_PATH
+fi
+unset _IS_DARWIN
+export PATH
+export PKG_CONFIG_PATH
+export PYTHONPATH
+
+# remember type of shell if not already set
+if [ -z "$CATKIN_SHELL" ]; then
+  CATKIN_SHELL=sh
+fi
+
+# invoke Python script to generate necessary exports of environment variables
+_SETUP_TMP=`mktemp /tmp/setup.sh.XXXXXXXXXX`
+if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then
+  echo "Could not create temporary file: $_SETUP_TMP"
+  return 1
+fi
+CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ > $_SETUP_TMP
+_RC=$?
+if [ $_RC -ne 0 ]; then
+  if [ $_RC -eq 2 ]; then
+    echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?"
+  else
+    echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC"
+  fi
+  unset _RC
+  unset _SETUP_UTIL
+  rm -f $_SETUP_TMP
+  unset _SETUP_TMP
+  return 1
+fi
+unset _RC
+unset _SETUP_UTIL
+. $_SETUP_TMP
+rm -f $_SETUP_TMP
+unset _SETUP_TMP
+
+# source all environment hooks
+_i=0
+while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do
+  eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i
+  unset _CATKIN_ENVIRONMENT_HOOKS_$_i
+  eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
+  unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
+  # set workspace for environment hook
+  CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace
+  . "$_envfile"
+  unset CATKIN_ENV_HOOK_WORKSPACE
+  _i=$((_i + 1))
+done
+unset _i
+
+unset _CATKIN_ENVIRONMENT_HOOKS_COUNT
diff --git a/20150930/devel/setup.zsh b/20150930/devel/setup.zsh
new file mode 100644
index 00000000..952f72a4
--- /dev/null
+++ b/20150930/devel/setup.zsh
@@ -0,0 +1,8 @@
+#!/usr/bin/env zsh
+# generated from catkin/cmake/templates/setup.zsh.in
+
+CATKIN_SHELL=zsh
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
+source "$_CATKIN_SETUP_DIR/setup.sh"
diff --git a/20150930/devel/share/beginner_tutorials/cmake/beginner_tutorials-msg-extras.cmake b/20150930/devel/share/beginner_tutorials/cmake/beginner_tutorials-msg-extras.cmake
new file mode 100644
index 00000000..42275beb
--- /dev/null
+++ b/20150930/devel/share/beginner_tutorials/cmake/beginner_tutorials-msg-extras.cmake
@@ -0,0 +1,2 @@
+set(beginner_tutorials_MESSAGE_FILES "/home/mech-user/2015-soft3/20150930/src/beginner_tutorials/msg/Hello.msg")
+set(beginner_tutorials_SERVICE_FILES "")
diff --git a/20150930/devel/share/beginner_tutorials/cmake/beginner_tutorials-msg-paths.cmake b/20150930/devel/share/beginner_tutorials/cmake/beginner_tutorials-msg-paths.cmake
new file mode 100644
index 00000000..9d4748f3
--- /dev/null
+++ b/20150930/devel/share/beginner_tutorials/cmake/beginner_tutorials-msg-paths.cmake
@@ -0,0 +1,4 @@
+# generated from genmsg/cmake/pkg-msg-paths.cmake.develspace.in
+
+set(beginner_tutorials_MSG_INCLUDE_DIRS "/home/mech-user/2015-soft3/20150930/src/beginner_tutorials/msg")
+set(beginner_tutorials_MSG_DEPENDENCIES geometry_msgs)
diff --git a/20150930/devel/share/beginner_tutorials/cmake/beginner_tutorialsConfig-version.cmake b/20150930/devel/share/beginner_tutorials/cmake/beginner_tutorialsConfig-version.cmake
new file mode 100644
index 00000000..7fd9f993
--- /dev/null
+++ b/20150930/devel/share/beginner_tutorials/cmake/beginner_tutorialsConfig-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/20150930/devel/share/beginner_tutorials/cmake/beginner_tutorialsConfig.cmake b/20150930/devel/share/beginner_tutorials/cmake/beginner_tutorialsConfig.cmake
new file mode 100644
index 00000000..04d21f4b
--- /dev/null
+++ b/20150930/devel/share/beginner_tutorials/cmake/beginner_tutorialsConfig.cmake
@@ -0,0 +1,191 @@
+# 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(beginner_tutorials_CONFIG_INCLUDED)
+  return()
+endif()
+set(beginner_tutorials_CONFIG_INCLUDED TRUE)
+
+# set variables for source/devel/install prefixes
+if("TRUE" STREQUAL "TRUE")
+  set(beginner_tutorials_SOURCE_PREFIX /home/mech-user/2015-soft3/20150930/src/beginner_tutorials)
+  set(beginner_tutorials_DEVEL_PREFIX /home/mech-user/2015-soft3/20150930/devel)
+  set(beginner_tutorials_INSTALL_PREFIX "")
+  set(beginner_tutorials_PREFIX ${beginner_tutorials_DEVEL_PREFIX})
+else()
+  set(beginner_tutorials_SOURCE_PREFIX "")
+  set(beginner_tutorials_DEVEL_PREFIX "")
+  set(beginner_tutorials_INSTALL_PREFIX /home/mech-user/2015-soft3/20150930/install)
+  set(beginner_tutorials_PREFIX ${beginner_tutorials_INSTALL_PREFIX})
+endif()
+
+# warn when using a deprecated package
+if(NOT "" STREQUAL "")
+  set(_msg "WARNING: package 'beginner_tutorials' is deprecated")
+  # append custom deprecation text if available
+  if(NOT "" STREQUAL "TRUE")
+    set(_msg "${_msg} ()")
+  endif()
+  message("${_msg}")
+endif()
+
+# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project
+set(beginner_tutorials_FOUND_CATKIN_PROJECT TRUE)
+
+if(NOT "/home/mech-user/2015-soft3/20150930/devel/include" STREQUAL "")
+  set(beginner_tutorials_INCLUDE_DIRS "")
+  set(_include_dirs "/home/mech-user/2015-soft3/20150930/devel/include")
+  foreach(idir ${_include_dirs})
+    if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir})
+      set(include ${idir})
+    elseif("${idir}" STREQUAL "include")
+      get_filename_component(include "${beginner_tutorials_DIR}/../../../include" ABSOLUTE)
+      if(NOT IS_DIRECTORY ${include})
+        message(FATAL_ERROR "Project 'beginner_tutorials' specifies '${idir}' as an include dir, which is not found.  It does not exist in '${include}'.  Ask the maintainer 'mech-user <mech-user@todo.todo>' to fix it.")
+      endif()
+    else()
+      message(FATAL_ERROR "Project 'beginner_tutorials' specifies '${idir}' as an include dir, which is not found.  It does neither exist as an absolute directory nor in '/home/mech-user/2015-soft3/20150930/src/beginner_tutorials/${idir}'.  Ask the maintainer 'mech-user <mech-user@todo.todo>' to fix it.")
+    endif()
+    _list_append_unique(beginner_tutorials_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 beginner_tutorials_LIBRARIES ${library})
+  elseif(TARGET ${library})
+    list(APPEND beginner_tutorials_LIBRARIES ${library})
+  elseif(IS_ABSOLUTE ${library})
+    list(APPEND beginner_tutorials_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/mech-user/2015-soft3/20150930/devel/lib;/home/mech-user/2015-soft3/20150930/devel/lib;/opt/ros/indigo/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(beginner_tutorials_LIBRARY_DIRS ${lib_path})
+      list(APPEND beginner_tutorials_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 'beginner_tutorials'?  Did you find_package() it before the subdirectory containing its code is included?")
+      endif()
+      list(APPEND beginner_tutorials_LIBRARIES ${lib})
+    endif()
+  endif()
+endforeach()
+
+set(beginner_tutorials_EXPORTED_TARGETS "beginner_tutorials_generate_messages_cpp;beginner_tutorials_generate_messages_lisp;beginner_tutorials_generate_messages_py")
+# create dummy targets for exported code generation targets to make life of users easier
+foreach(t ${beginner_tutorials_EXPORTED_TARGETS})
+  if(NOT TARGET ${t})
+    add_custom_target(${t})
+  endif()
+endforeach()
+
+set(depends "")
+foreach(depend ${depends})
+  string(REPLACE " " ";" depend_list ${depend})
+  # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls
+  list(GET depend_list 0 beginner_tutorials_dep)
+  list(LENGTH depend_list count)
+  if(${count} EQUAL 1)
+    # simple dependencies must only be find_package()-ed once
+    if(NOT ${beginner_tutorials_dep}_FOUND)
+      find_package(${beginner_tutorials_dep} REQUIRED)
+    endif()
+  else()
+    # dependencies with components must be find_package()-ed again
+    list(REMOVE_AT depend_list 0)
+    find_package(${beginner_tutorials_dep} REQUIRED ${depend_list})
+  endif()
+  _list_append_unique(beginner_tutorials_INCLUDE_DIRS ${${beginner_tutorials_dep}_INCLUDE_DIRS})
+
+  # merge build configuration keywords with library names to correctly deduplicate
+  _pack_libraries_with_build_configuration(beginner_tutorials_LIBRARIES ${beginner_tutorials_LIBRARIES})
+  _pack_libraries_with_build_configuration(_libraries ${${beginner_tutorials_dep}_LIBRARIES})
+  _list_append_deduplicate(beginner_tutorials_LIBRARIES ${_libraries})
+  # undo build configuration keyword merging after deduplication
+  _unpack_libraries_with_build_configuration(beginner_tutorials_LIBRARIES ${beginner_tutorials_LIBRARIES})
+
+  _list_append_unique(beginner_tutorials_LIBRARY_DIRS ${${beginner_tutorials_dep}_LIBRARY_DIRS})
+  list(APPEND beginner_tutorials_EXPORTED_TARGETS ${${beginner_tutorials_dep}_EXPORTED_TARGETS})
+endforeach()
+
+set(pkg_cfg_extras "beginner_tutorials-msg-extras.cmake")
+foreach(extra ${pkg_cfg_extras})
+  if(NOT IS_ABSOLUTE ${extra})
+    set(extra ${beginner_tutorials_DIR}/${extra})
+  endif()
+  include(${extra})
+endforeach()
diff --git a/20150930/devel/share/common-lisp/ros/beginner_tutorials/msg/Hello.lisp b/20150930/devel/share/common-lisp/ros/beginner_tutorials/msg/Hello.lisp
new file mode 100644
index 00000000..dc401e82
--- /dev/null
+++ b/20150930/devel/share/common-lisp/ros/beginner_tutorials/msg/Hello.lisp
@@ -0,0 +1,104 @@
+; Auto-generated. Do not edit!
+
+
+(cl:in-package beginner_tutorials-msg)
+
+
+;//! \htmlinclude Hello.msg.html
+
+(cl:defclass <Hello> (roslisp-msg-protocol:ros-message)
+  ((header
+    :reader header
+    :initarg :header
+    :type std_msgs-msg:Header
+    :initform (cl:make-instance 'std_msgs-msg:Header))
+   (hello
+    :reader hello
+    :initarg :hello
+    :type cl:string
+    :initform "")
+   (pos
+    :reader pos
+    :initarg :pos
+    :type geometry_msgs-msg:Vector3
+    :initform (cl:make-instance 'geometry_msgs-msg:Vector3)))
+)
+
+(cl:defclass Hello (<Hello>)
+  ())
+
+(cl:defmethod cl:initialize-instance :after ((m <Hello>) cl:&rest args)
+  (cl:declare (cl:ignorable args))
+  (cl:unless (cl:typep m 'Hello)
+    (roslisp-msg-protocol:msg-deprecation-warning "using old message class name beginner_tutorials-msg:<Hello> is deprecated: use beginner_tutorials-msg:Hello instead.")))
+
+(cl:ensure-generic-function 'header-val :lambda-list '(m))
+(cl:defmethod header-val ((m <Hello>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader beginner_tutorials-msg:header-val is deprecated.  Use beginner_tutorials-msg:header instead.")
+  (header m))
+
+(cl:ensure-generic-function 'hello-val :lambda-list '(m))
+(cl:defmethod hello-val ((m <Hello>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader beginner_tutorials-msg:hello-val is deprecated.  Use beginner_tutorials-msg:hello instead.")
+  (hello m))
+
+(cl:ensure-generic-function 'pos-val :lambda-list '(m))
+(cl:defmethod pos-val ((m <Hello>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader beginner_tutorials-msg:pos-val is deprecated.  Use beginner_tutorials-msg:pos instead.")
+  (pos m))
+(cl:defmethod roslisp-msg-protocol:serialize ((msg <Hello>) ostream)
+  "Serializes a message object of type '<Hello>"
+  (roslisp-msg-protocol:serialize (cl:slot-value msg 'header) ostream)
+  (cl:let ((__ros_str_len (cl:length (cl:slot-value msg 'hello))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_str_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_str_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_str_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_str_len) ostream))
+  (cl:map cl:nil #'(cl:lambda (c) (cl:write-byte (cl:char-code c) ostream)) (cl:slot-value msg 'hello))
+  (roslisp-msg-protocol:serialize (cl:slot-value msg 'pos) ostream)
+)
+(cl:defmethod roslisp-msg-protocol:deserialize ((msg <Hello>) istream)
+  "Deserializes a message object of type '<Hello>"
+  (roslisp-msg-protocol:deserialize (cl:slot-value msg 'header) istream)
+    (cl:let ((__ros_str_len 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) __ros_str_len) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) __ros_str_len) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) __ros_str_len) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) __ros_str_len) (cl:read-byte istream))
+      (cl:setf (cl:slot-value msg 'hello) (cl:make-string __ros_str_len))
+      (cl:dotimes (__ros_str_idx __ros_str_len msg)
+        (cl:setf (cl:char (cl:slot-value msg 'hello) __ros_str_idx) (cl:code-char (cl:read-byte istream)))))
+  (roslisp-msg-protocol:deserialize (cl:slot-value msg 'pos) istream)
+  msg
+)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<Hello>)))
+  "Returns string type for a message object of type '<Hello>"
+  "beginner_tutorials/Hello")
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'Hello)))
+  "Returns string type for a message object of type 'Hello"
+  "beginner_tutorials/Hello")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<Hello>)))
+  "Returns md5sum for a message object of type '<Hello>"
+  "a5d5980a408f71ddd964a3f012b4dd59")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'Hello)))
+  "Returns md5sum for a message object of type 'Hello"
+  "a5d5980a408f71ddd964a3f012b4dd59")
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<Hello>)))
+  "Returns full string definition for message of type '<Hello>"
+  (cl:format cl:nil "Header header~%string hello~%geometry_msgs/Vector3 pos~%================================================================================~%MSG: std_msgs/Header~%# Standard metadata for higher-level stamped data types.~%# This is generally used to communicate timestamped data ~%# in a particular coordinate frame.~%# ~%# sequence ID: consecutively increasing ID ~%uint32 seq~%#Two-integer timestamp that is expressed as:~%# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')~%# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')~%# time-handling sugar is provided by the client library~%time stamp~%#Frame this data is associated with~%# 0: no frame~%# 1: global frame~%string frame_id~%~%================================================================================~%MSG: geometry_msgs/Vector3~%# This represents a vector in free space. ~%~%float64 x~%float64 y~%float64 z~%~%"))
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'Hello)))
+  "Returns full string definition for message of type 'Hello"
+  (cl:format cl:nil "Header header~%string hello~%geometry_msgs/Vector3 pos~%================================================================================~%MSG: std_msgs/Header~%# Standard metadata for higher-level stamped data types.~%# This is generally used to communicate timestamped data ~%# in a particular coordinate frame.~%# ~%# sequence ID: consecutively increasing ID ~%uint32 seq~%#Two-integer timestamp that is expressed as:~%# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')~%# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')~%# time-handling sugar is provided by the client library~%time stamp~%#Frame this data is associated with~%# 0: no frame~%# 1: global frame~%string frame_id~%~%================================================================================~%MSG: geometry_msgs/Vector3~%# This represents a vector in free space. ~%~%float64 x~%float64 y~%float64 z~%~%"))
+(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <Hello>))
+  (cl:+ 0
+     (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'header))
+     4 (cl:length (cl:slot-value msg 'hello))
+     (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'pos))
+))
+(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <Hello>))
+  "Converts a ROS message object to a list"
+  (cl:list 'Hello
+    (cl:cons ':header (header msg))
+    (cl:cons ':hello (hello msg))
+    (cl:cons ':pos (pos msg))
+))
diff --git a/20150930/devel/share/common-lisp/ros/beginner_tutorials/msg/_package.lisp b/20150930/devel/share/common-lisp/ros/beginner_tutorials/msg/_package.lisp
new file mode 100644
index 00000000..236a7720
--- /dev/null
+++ b/20150930/devel/share/common-lisp/ros/beginner_tutorials/msg/_package.lisp
@@ -0,0 +1,7 @@
+(cl:defpackage beginner_tutorials-msg
+  (:use )
+  (:export
+   "<HELLO>"
+   "HELLO"
+  ))
+
diff --git a/20150930/devel/share/common-lisp/ros/beginner_tutorials/msg/_package_Hello.lisp b/20150930/devel/share/common-lisp/ros/beginner_tutorials/msg/_package_Hello.lisp
new file mode 100644
index 00000000..77216ac1
--- /dev/null
+++ b/20150930/devel/share/common-lisp/ros/beginner_tutorials/msg/_package_Hello.lisp
@@ -0,0 +1,8 @@
+(cl:in-package beginner_tutorials-msg)
+(cl:export '(HEADER-VAL
+          HEADER
+          HELLO-VAL
+          HELLO
+          POS-VAL
+          POS
+))
\ No newline at end of file
diff --git a/20150930/devel/share/common-lisp/ros/beginner_tutorials/msg/beginner_tutorials-msg.asd b/20150930/devel/share/common-lisp/ros/beginner_tutorials/msg/beginner_tutorials-msg.asd
new file mode 100644
index 00000000..5da63663
--- /dev/null
+++ b/20150930/devel/share/common-lisp/ros/beginner_tutorials/msg/beginner_tutorials-msg.asd
@@ -0,0 +1,11 @@
+
+(cl:in-package :asdf)
+
+(defsystem "beginner_tutorials-msg"
+  :depends-on (:roslisp-msg-protocol :roslisp-utils :geometry_msgs-msg
+               :std_msgs-msg
+)
+  :components ((:file "_package")
+    (:file "Hello" :depends-on ("_package_Hello"))
+    (:file "_package_Hello" :depends-on ("_package"))
+  ))
\ No newline at end of file
diff --git a/20150930/src/beginner_tutorials/.catkin_workspace b/20150930/src/beginner_tutorials/.catkin_workspace
new file mode 100644
index 00000000..52fd97e7
--- /dev/null
+++ b/20150930/src/beginner_tutorials/.catkin_workspace
@@ -0,0 +1 @@
+# This file currently only serves to mark the location of a catkin workspace for tool integration
diff --git a/20151021/src/enshu_20151021/CMakeLists.txt b/20150930/src/beginner_tutorials/CMakeLists.txt~
similarity index 83%
rename from 20151021/src/enshu_20151021/CMakeLists.txt
rename to 20150930/src/beginner_tutorials/CMakeLists.txt~
index 21487868..5b57148f 100644
--- a/20151021/src/enshu_20151021/CMakeLists.txt
+++ b/20150930/src/beginner_tutorials/CMakeLists.txt~
@@ -1,13 +1,22 @@
 cmake_minimum_required(VERSION 2.8.3)
-project(enshu_20151021)
+project(beginner_tutorials)
+
+
 
 ## 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
-  euslisp
+  geometry_msgs
+  message_generation
+  message_runtime
+  roscpp
+  rospy
+  std_msgs
 )
 
+
+
 ## System dependencies are found with CMake's conventions
 # find_package(Boost REQUIRED COMPONENTS system)
 
@@ -65,7 +74,7 @@ find_package(catkin REQUIRED COMPONENTS
 ## Generate added messages and services with any dependencies listed here
 # generate_messages(
 #   DEPENDENCIES
-#   std_msgs  # Or other packages containing msgs
+#   geometry_msgs#   std_msgs
 # )
 
 ################################################
@@ -97,10 +106,14 @@ find_package(catkin REQUIRED COMPONENTS
 ## 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
+
+##add_message_files(FILES Hello.msg)
+##generate_message(DEPENDENCIES geometry_msgs)
+
 catkin_package(
 #  INCLUDE_DIRS include
-#  LIBRARIES enshu_20151021
-#  CATKIN_DEPENDS euslisp
+#  LIBRARIES beginner_tutorials
+#  CATKIN_DEPENDS geometry_msgs message_generation message_runtime roscpp rospy std_msgs
 #  DEPENDS system_lib
 )
 
@@ -116,24 +129,24 @@ include_directories(
 )
 
 ## Declare a C++ library
-# add_library(enshu_20151021
-#   src/${PROJECT_NAME}/enshu_20151021.cpp
+# add_library(beginner_tutorials
+#   src/${PROJECT_NAME}/beginner_tutorials.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(enshu_20151021 ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+# add_dependencies(beginner_tutorials ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 ## Declare a C++ executable
-# add_executable(enshu_20151021_node src/enshu_20151021_node.cpp)
+# add_executable(beginner_tutorials_node src/beginner_tutorials_node.cpp)
 
 ## Add cmake target dependencies of the executable
 ## same as for the library above
-# add_dependencies(enshu_20151021_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+# add_dependencies(beginner_tutorials_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 ## Specify libraries to link a library or executable target against
-# target_link_libraries(enshu_20151021_node
+# target_link_libraries(beginner_tutorials_node
 #   ${catkin_LIBRARIES}
 # )
 
@@ -152,7 +165,7 @@ include_directories(
 # )
 
 ## Mark executables and/or libraries for installation
-# install(TARGETS enshu_20151021 enshu_20151021_node
+# install(TARGETS beginner_tutorials beginner_tutorials_node
 #   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
 #   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
 #   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
@@ -177,10 +190,16 @@ include_directories(
 #############
 
 ## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_enshu_20151021.cpp)
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_beginner_tutorials.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)
+
+add_executable(listener src/listener.cpp)
+target_link_libraries(listener ${catkin_LIBRARIES})
+
+add_executable(listener2 src/listener2.cpp)
+target_link_libraries(listener2 ${catkin_LIBRARIES})
diff --git a/20150930/src/beginner_tutorials/build/CATKIN_IGNORE b/20150930/src/beginner_tutorials/build/CATKIN_IGNORE
new file mode 100644
index 00000000..e69de29b
diff --git a/20150930/src/beginner_tutorials/build/CMakeCache.txt b/20150930/src/beginner_tutorials/build/CMakeCache.txt
new file mode 100644
index 00000000..2916e0d2
--- /dev/null
+++ b/20150930/src/beginner_tutorials/build/CMakeCache.txt
@@ -0,0 +1,453 @@
+# This is the CMakeCache file.
+# For build in directory: /home/mech-user/2015-soft3/20150930/src/beginner_tutorials/build
+# It was generated by CMake: /usr/bin/cmake
+# You can edit this file to change values found and used by cmake.
+# If you do not want to change any of the values, simply exit the editor.
+# If you do want to change a value, simply edit, save, and exit the editor.
+# The syntax for the file is as follows:
+# KEY:TYPE=VALUE
+# KEY is the name of a variable in the cache.
+# TYPE is a hint to GUIs for the type of VALUE, DO NOT EDIT TYPE!.
+# VALUE is the current value for the KEY.
+
+########################
+# EXTERNAL cache entries
+########################
+
+//Build shared libraries (DLLs).
+BUILD_SHARED_LIBS:BOOL=ON
+
+//List of ';' separated packages to exclude
+CATKIN_BLACKLIST_PACKAGES:STRING=
+
+//catkin devel space
+CATKIN_DEVEL_PREFIX:PATH=/home/mech-user/2015-soft3/20150930/src/beginner_tutorials/devel
+
+//Catkin enable testing
+CATKIN_ENABLE_TESTING:BOOL=ON
+
+//Catkin skip testing
+CATKIN_SKIP_TESTING:BOOL=OFF
+
+//List of ';' separated packages to build
+CATKIN_WHITELIST_PACKAGES:STRING=
+
+//Path to a program.
+CMAKE_AR:FILEPATH=/usr/bin/ar
+
+//Choose the type of build, options are: None(CMAKE_CXX_FLAGS or
+// CMAKE_C_FLAGS used) Debug Release RelWithDebInfo MinSizeRel.
+CMAKE_BUILD_TYPE:STRING=
+
+//Enable/Disable color output during build.
+CMAKE_COLOR_MAKEFILE:BOOL=ON
+
+//CXX compiler.
+CMAKE_CXX_COMPILER:FILEPATH=/usr/bin/c++
+
+//Flags used by the compiler during all build types.
+CMAKE_CXX_FLAGS:STRING=
+
+//Flags used by the compiler during debug builds.
+CMAKE_CXX_FLAGS_DEBUG:STRING=-g
+
+//Flags used by the compiler during release minsize builds.
+CMAKE_CXX_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG
+
+//Flags used by the compiler during release builds (/MD /Ob1 /Oi
+// /Ot /Oy /Gs will produce slightly less optimized but smaller
+// files).
+CMAKE_CXX_FLAGS_RELEASE:STRING=-O3 -DNDEBUG
+
+//Flags used by the compiler during Release with Debug Info builds.
+CMAKE_CXX_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG
+
+//C compiler.
+CMAKE_C_COMPILER:FILEPATH=/usr/bin/cc
+
+//Flags used by the compiler during all build types.
+CMAKE_C_FLAGS:STRING=
+
+//Flags used by the compiler during debug builds.
+CMAKE_C_FLAGS_DEBUG:STRING=-g
+
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+
+//Flags used by the compiler during release builds (/MD /Ob1 /Oi
+// /Ot /Oy /Gs will produce slightly less optimized but smaller
+// files).
+CMAKE_C_FLAGS_RELEASE:STRING=-O3 -DNDEBUG
+
+//Flags used by the compiler during Release with Debug Info builds.
+CMAKE_C_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG
+
+//Flags used by the linker.
+CMAKE_EXE_LINKER_FLAGS:STRING=' '
+
+//Flags used by the linker during debug builds.
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+
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+
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+
+//Flags used by the linker during Release with Debug Info builds.
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+
+//Enable/Disable output of compile commands during generation.
+CMAKE_EXPORT_COMPILE_COMMANDS:BOOL=OFF
+
+//Install path prefix, prepended onto install directories.
+CMAKE_INSTALL_PREFIX:PATH=/home/mech-user/2015-soft3/20150930/src/beginner_tutorials/install
+
+//Path to a program.
+CMAKE_LINKER:FILEPATH=/usr/bin/ld
+
+//Path to a program.
+CMAKE_MAKE_PROGRAM:FILEPATH=/usr/bin/make
+
+//Flags used by the linker during the creation of modules.
+CMAKE_MODULE_LINKER_FLAGS:STRING=' '
+
+//Flags used by the linker during debug builds.
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+
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+
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+
+//Flags used by the linker during Release with Debug Info builds.
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+
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+
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+CMAKE_OBJCOPY:FILEPATH=/usr/bin/objcopy
+
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+
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+CMAKE_PROJECT_NAME:STATIC=Project
+
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+CMAKE_RANLIB:FILEPATH=/usr/bin/ranlib
+
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+CMAKE_SKIP_INSTALL_RPATH:BOOL=NO
+
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+//Flags used by the linker during Release with Debug Info builds.
+CMAKE_STATIC_LINKER_FLAGS_RELWITHDEBINFO:STRING=
+
+//Path to a program.
+CMAKE_STRIP:FILEPATH=/usr/bin/strip
+
+//If true, cmake will use relative paths in makefiles and projects.
+CMAKE_USE_RELATIVE_PATHS:BOOL=OFF
+
+//If this value is on, makefiles will be generated without the
+// .SILENT directive, and all commands will be echoed to the console
+// during the make.  This is useful for debugging only. With Visual
+// Studio IDE projects all commands are done without /nologo.
+CMAKE_VERBOSE_MAKEFILE:BOOL=FALSE
+
+//Path to a program.
+DOXYGEN_EXECUTABLE:FILEPATH=/usr/bin/doxygen
+
+//Doxygen found
+DOXYGEN_FOUND:BOOL=TRUE
+
+//Path to a program.
+EMPY_EXECUTABLE:FILEPATH=/usr/bin/empy
+
+//Empy script
+EMPY_SCRIPT:STRING=/usr/bin/empy
+
+//Path to a file.
+GTEST_INCLUDE_DIR:PATH=/usr/include
+
+//Path to a library.
+GTEST_LIBRARY:FILEPATH=GTEST_LIBRARY-NOTFOUND
+
+//Path to a library.
+GTEST_LIBRARY_DEBUG:FILEPATH=GTEST_LIBRARY_DEBUG-NOTFOUND
+
+//Path to a library.
+GTEST_MAIN_LIBRARY:FILEPATH=GTEST_MAIN_LIBRARY-NOTFOUND
+
+//Path to a library.
+GTEST_MAIN_LIBRARY_DEBUG:FILEPATH=GTEST_MAIN_LIBRARY_DEBUG-NOTFOUND
+
+//lsb_release executable was found
+LSB_FOUND:BOOL=TRUE
+
+//Path to a program.
+LSB_RELEASE_EXECUTABLE:FILEPATH=/usr/bin/lsb_release
+
+//Path to a program.
+NOSETESTS:FILEPATH=/usr/bin/nosetests-2.7
+
+//Path to a program.
+PYTHON_EXECUTABLE:FILEPATH=/usr/bin/python
+
+//Specify specific Python version to use ('major.minor' or 'major')
+PYTHON_VERSION:STRING=
+
+//Value Computed by CMake
+Project_BINARY_DIR:STATIC=/home/mech-user/2015-soft3/20150930/src/beginner_tutorials/build
+
+//Value Computed by CMake
+Project_SOURCE_DIR:STATIC=/home/mech-user/2015-soft3/20150930/src/beginner_tutorials/src
+
+//Path to a library.
+RT_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/librt.so
+
+//Enable debian style python package layout
+SETUPTOOLS_DEB_LAYOUT:BOOL=ON
+
+//LSB Distrib tag
+UBUNTU:BOOL=TRUE
+
+//LSB Distrib - codename tag
+UBUNTU_TRUSTY:BOOL=TRUE
+
+//Path to a file.
+_CATKIN_GTEST_INCLUDE:FILEPATH=/usr/include/gtest/gtest.h
+
+//Path to a file.
+_CATKIN_GTEST_SRC:FILEPATH=/usr/src/gtest/src/gtest.cc
+
+//The directory containing a CMake configuration file for catkin.
+catkin_DIR:PATH=/opt/ros/indigo/share/catkin/cmake
+
+//Value Computed by CMake
+gtest_BINARY_DIR:STATIC=/home/mech-user/2015-soft3/20150930/src/beginner_tutorials/build/gtest
+
+//Dependencies for the target
+gtest_LIB_DEPENDS:STATIC=general;-lpthread;
+
+//Value Computed by CMake
+gtest_SOURCE_DIR:STATIC=/usr/src/gtest
+
+//Build gtest's sample programs.
+gtest_build_samples:BOOL=OFF
+
+//Build all of gtest's own tests.
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+
+//Disable uses of pthreads in gtest.
+gtest_disable_pthreads:BOOL=OFF
+
+//Use shared (DLL) run-time lib even when Google Test is built
+// as static lib.
+gtest_force_shared_crt:BOOL=OFF
+
+//Dependencies for the target
+gtest_main_LIB_DEPENDS:STATIC=general;-lpthread;general;gtest;
+
+
+########################
+# INTERNAL cache entries
+########################
+
+//catkin environment
+CATKIN_ENV:INTERNAL=/home/mech-user/2015-soft3/20150930/src/beginner_tutorials/build/catkin_generated/env_cached.sh
+CATKIN_TEST_RESULTS_DIR:INTERNAL=/home/mech-user/2015-soft3/20150930/src/beginner_tutorials/build/test_results
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+CMAKE_CACHEFILE_DIR:INTERNAL=/home/mech-user/2015-soft3/20150930/src/beginner_tutorials/build
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+# define PLATFORM_ID "OpenBSD"
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+#elif defined(__sun) || defined(sun)
+# define PLATFORM_ID "SunOS"
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+#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
+# define PLATFORM_ID "AIX"
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+#elif defined(__sgi) || defined(__sgi__) || defined(_SGI)
+# define PLATFORM_ID "IRIX"
+
+#elif defined(__hpux) || defined(__hpux__)
+# define PLATFORM_ID "HP-UX"
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+#elif defined(__HAIKU__)
+# define PLATFORM_ID "Haiku"
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+# define PLATFORM_ID "BeOS"
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+# define PLATFORM_ID "Tru64"
+
+#elif defined(__riscos) || defined(__riscos__)
+# define PLATFORM_ID "RISCos"
+
+#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
+# define PLATFORM_ID "SINIX"
+
+#elif defined(__UNIX_SV__)
+# define PLATFORM_ID "UNIX_SV"
+
+#elif defined(__bsdos__)
+# define PLATFORM_ID "BSDOS"
+
+#elif defined(_MPRAS) || defined(MPRAS)
+# define PLATFORM_ID "MP-RAS"
+
+#elif defined(__osf) || defined(__osf__)
+# define PLATFORM_ID "OSF1"
+
+#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
+# define PLATFORM_ID "SCO_SV"
+
+#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
+# define PLATFORM_ID "ULTRIX"
+
+#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
+# define PLATFORM_ID "Xenix"
+
+#else /* unknown platform */
+# define PLATFORM_ID ""
+
+#endif
+
+/* For windows compilers MSVC and Intel we can determine
+   the architecture of the compiler being used.  This is because
+   the compilers do not have flags that can change the architecture,
+   but rather depend on which compiler is being used
+*/
+#if defined(_WIN32) && defined(_MSC_VER)
+# if defined(_M_IA64)
+#  define ARCHITECTURE_ID "IA64"
+
+# elif defined(_M_X64) || defined(_M_AMD64)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# elif defined(_M_ARM)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(_M_MIPS)
+#  define ARCHITECTURE_ID "MIPS"
+
+# elif defined(_M_SH)
+#  define ARCHITECTURE_ID "SHx"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#else
+#  define ARCHITECTURE_ID ""
+#endif
+
+/* Convert integer to decimal digit literals.  */
+#define DEC(n)                   \
+  ('0' + (((n) / 10000000)%10)), \
+  ('0' + (((n) / 1000000)%10)),  \
+  ('0' + (((n) / 100000)%10)),   \
+  ('0' + (((n) / 10000)%10)),    \
+  ('0' + (((n) / 1000)%10)),     \
+  ('0' + (((n) / 100)%10)),      \
+  ('0' + (((n) / 10)%10)),       \
+  ('0' +  ((n) % 10))
+
+/* Convert integer to hex digit literals.  */
+#define HEX(n)             \
+  ('0' + ((n)>>28 & 0xF)), \
+  ('0' + ((n)>>24 & 0xF)), \
+  ('0' + ((n)>>20 & 0xF)), \
+  ('0' + ((n)>>16 & 0xF)), \
+  ('0' + ((n)>>12 & 0xF)), \
+  ('0' + ((n)>>8  & 0xF)), \
+  ('0' + ((n)>>4  & 0xF)), \
+  ('0' + ((n)     & 0xF))
+
+/* Construct a string literal encoding the version number components. */
+#ifdef COMPILER_VERSION_MAJOR
+char const info_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[',
+  COMPILER_VERSION_MAJOR,
+# ifdef COMPILER_VERSION_MINOR
+  '.', COMPILER_VERSION_MINOR,
+#  ifdef COMPILER_VERSION_PATCH
+   '.', COMPILER_VERSION_PATCH,
+#   ifdef COMPILER_VERSION_TWEAK
+    '.', COMPILER_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]";
+char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
+
+
+
+/*--------------------------------------------------------------------------*/
+
+#ifdef ID_VOID_MAIN
+void main() {}
+#else
+int main(int argc, char* argv[])
+{
+  int require = 0;
+  require += info_compiler[argc];
+  require += info_platform[argc];
+  require += info_arch[argc];
+#ifdef COMPILER_VERSION_MAJOR
+  require += info_version[argc];
+#endif
+  (void)argv;
+  return require;
+}
+#endif
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--- /dev/null
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+/* This source file must have a .cpp extension so that all C++ compilers
+   recognize the extension without flags.  Borland does not know .cxx for
+   example.  */
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+# error "A C compiler has been selected for C++."
+#endif
+
+/* Version number components: V=Version, R=Revision, P=Patch
+   Version date components:   YYYY=Year, MM=Month,   DD=Day  */
+
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+# define COMPILER_ID "Comeau"
+  /* __COMO_VERSION__ = VRR */
+# define COMPILER_VERSION_MAJOR DEC(__COMO_VERSION__ / 100)
+# define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100)
+
+#elif defined(__INTEL_COMPILER) || defined(__ICC)
+# define COMPILER_ID "Intel"
+  /* __INTEL_COMPILER = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100)
+# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER    % 10)
+# if defined(__INTEL_COMPILER_BUILD_DATE)
+  /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */
+#  define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE)
+# endif
+
+#elif defined(__PATHCC__)
+# define COMPILER_ID "PathScale"
+# define COMPILER_VERSION_MAJOR DEC(__PATHCC__)
+# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__)
+# if defined(__PATHCC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__)
+# endif
+
+#elif defined(__clang__)
+# define COMPILER_ID "Clang"
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+
+#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__)
+# define COMPILER_ID "Embarcadero"
+# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF)
+# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF)
+# define COMPILER_VERSION_PATCH HEX(__CODEGEARC_VERSION__     & 0xFFFF)
+
+#elif defined(__BORLANDC__)
+# define COMPILER_ID "Borland"
+  /* __BORLANDC__ = 0xVRR */
+# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8)
+# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF)
+
+#elif defined(__WATCOMC__)
+# define COMPILER_ID "Watcom"
+  /* __WATCOMC__ = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100)
+# define COMPILER_VERSION_MINOR DEC(__WATCOMC__ % 100)
+
+#elif defined(__SUNPRO_CC)
+# define COMPILER_ID "SunPro"
+# if __SUNPRO_CC >= 0x5100
+   /* __SUNPRO_CC = 0xVRRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC    & 0xF)
+# else
+   /* __SUNPRO_CC = 0xVRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC    & 0xF)
+# endif
+
+#elif defined(__HP_aCC)
+# define COMPILER_ID "HP"
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+# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000)
+# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100)
+# define COMPILER_VERSION_PATCH DEC(__HP_aCC     % 100)
+
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+# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000  % 100)
+# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER         % 10000)
+
+#elif defined(__IBMCPP__)
+# if defined(__COMPILER_VER__)
+#  define COMPILER_ID "zOS"
+# else
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+#   define COMPILER_ID "XL"
+#  else
+#   define COMPILER_ID "VisualAge"
+#  endif
+   /* __IBMCPP__ = VRP */
+#  define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+#  define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+#  define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+# endif
+
+#elif defined(__PGI)
+# define COMPILER_ID "PGI"
+# define COMPILER_VERSION_MAJOR DEC(__PGIC__)
+# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__)
+# if defined(__PGIC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__)
+# endif
+
+#elif defined(_CRAYC)
+# define COMPILER_ID "Cray"
+# define COMPILER_VERSION_MAJOR DEC(_RELEASE)
+# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR)
+
+#elif defined(__TI_COMPILER_VERSION__)
+# define COMPILER_ID "TI"
+  /* __TI_COMPILER_VERSION__ = VVVRRRPPP */
+# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000)
+# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000   % 1000)
+# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__        % 1000)
+
+#elif defined(__SCO_VERSION__)
+# define COMPILER_ID "SCO"
+
+#elif defined(__GNUC__)
+# define COMPILER_ID "GNU"
+# define COMPILER_VERSION_MAJOR DEC(__GNUC__)
+# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
+# if defined(__GNUC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(_MSC_VER)
+# define COMPILER_ID "MSVC"
+  /* _MSC_VER = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
+# if defined(_MSC_FULL_VER)
+#  if _MSC_VER >= 1400
+    /* _MSC_FULL_VER = VVRRPPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
+#  else
+    /* _MSC_FULL_VER = VVRRPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
+#  endif
+# endif
+# if defined(_MSC_BUILD)
+#  define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
+# endif
+
+/* Analog VisualDSP++ >= 4.5.6 */
+#elif defined(__VISUALDSPVERSION__)
+# define COMPILER_ID "ADSP"
+  /* __VISUALDSPVERSION__ = 0xVVRRPP00 */
+# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24)
+# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF)
+# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8  & 0xFF)
+
+/* Analog VisualDSP++ < 4.5.6 */
+#elif defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__)
+# define COMPILER_ID "ADSP"
+
+/* IAR Systems compiler for embedded systems.
+   http://www.iar.com */
+#elif defined(__IAR_SYSTEMS_ICC__ ) || defined(__IAR_SYSTEMS_ICC)
+# define COMPILER_ID "IAR"
+
+#elif defined(_SGI_COMPILER_VERSION) || defined(_COMPILER_VERSION)
+# define COMPILER_ID "MIPSpro"
+# if defined(_SGI_COMPILER_VERSION)
+  /* _SGI_COMPILER_VERSION = VRP */
+#  define COMPILER_VERSION_MAJOR DEC(_SGI_COMPILER_VERSION/100)
+#  define COMPILER_VERSION_MINOR DEC(_SGI_COMPILER_VERSION/10 % 10)
+#  define COMPILER_VERSION_PATCH DEC(_SGI_COMPILER_VERSION    % 10)
+# else
+  /* _COMPILER_VERSION = VRP */
+#  define COMPILER_VERSION_MAJOR DEC(_COMPILER_VERSION/100)
+#  define COMPILER_VERSION_MINOR DEC(_COMPILER_VERSION/10 % 10)
+#  define COMPILER_VERSION_PATCH DEC(_COMPILER_VERSION    % 10)
+# endif
+
+/* This compiler is either not known or is too old to define an
+   identification macro.  Try to identify the platform and guess that
+   it is the native compiler.  */
+#elif defined(__sgi)
+# define COMPILER_ID "MIPSpro"
+
+#elif defined(__hpux) || defined(__hpua)
+# define COMPILER_ID "HP"
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+#else /* unknown compiler */
+# define COMPILER_ID ""
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+#endif
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+char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]";
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+/* Identify known platforms by name.  */
+#if defined(__linux) || defined(__linux__) || defined(linux)
+# define PLATFORM_ID "Linux"
+
+#elif defined(__CYGWIN__)
+# define PLATFORM_ID "Cygwin"
+
+#elif defined(__MINGW32__)
+# define PLATFORM_ID "MinGW"
+
+#elif defined(__APPLE__)
+# define PLATFORM_ID "Darwin"
+
+#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
+# define PLATFORM_ID "Windows"
+
+#elif defined(__FreeBSD__) || defined(__FreeBSD)
+# define PLATFORM_ID "FreeBSD"
+
+#elif defined(__NetBSD__) || defined(__NetBSD)
+# define PLATFORM_ID "NetBSD"
+
+#elif defined(__OpenBSD__) || defined(__OPENBSD)
+# define PLATFORM_ID "OpenBSD"
+
+#elif defined(__sun) || defined(sun)
+# define PLATFORM_ID "SunOS"
+
+#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
+# define PLATFORM_ID "AIX"
+
+#elif defined(__sgi) || defined(__sgi__) || defined(_SGI)
+# define PLATFORM_ID "IRIX"
+
+#elif defined(__hpux) || defined(__hpux__)
+# define PLATFORM_ID "HP-UX"
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+#elif defined(__HAIKU__)
+# define PLATFORM_ID "Haiku"
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+#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
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+#elif defined(__QNX__) || defined(__QNXNTO__)
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+
+#elif defined(__riscos) || defined(__riscos__)
+# define PLATFORM_ID "RISCos"
+
+#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
+# define PLATFORM_ID "SINIX"
+
+#elif defined(__UNIX_SV__)
+# define PLATFORM_ID "UNIX_SV"
+
+#elif defined(__bsdos__)
+# define PLATFORM_ID "BSDOS"
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+#elif defined(_MPRAS) || defined(MPRAS)
+# define PLATFORM_ID "MP-RAS"
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+#elif defined(__osf) || defined(__osf__)
+# define PLATFORM_ID "OSF1"
+
+#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
+# define PLATFORM_ID "SCO_SV"
+
+#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
+# define PLATFORM_ID "ULTRIX"
+
+#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
+# define PLATFORM_ID "Xenix"
+
+#else /* unknown platform */
+# define PLATFORM_ID ""
+
+#endif
+
+/* For windows compilers MSVC and Intel we can determine
+   the architecture of the compiler being used.  This is because
+   the compilers do not have flags that can change the architecture,
+   but rather depend on which compiler is being used
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+#if defined(_WIN32) && defined(_MSC_VER)
+# if defined(_M_IA64)
+#  define ARCHITECTURE_ID "IA64"
+
+# elif defined(_M_X64) || defined(_M_AMD64)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# elif defined(_M_ARM)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(_M_MIPS)
+#  define ARCHITECTURE_ID "MIPS"
+
+# elif defined(_M_SH)
+#  define ARCHITECTURE_ID "SHx"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#else
+#  define ARCHITECTURE_ID ""
+#endif
+
+/* Convert integer to decimal digit literals.  */
+#define DEC(n)                   \
+  ('0' + (((n) / 10000000)%10)), \
+  ('0' + (((n) / 1000000)%10)),  \
+  ('0' + (((n) / 100000)%10)),   \
+  ('0' + (((n) / 10000)%10)),    \
+  ('0' + (((n) / 1000)%10)),     \
+  ('0' + (((n) / 100)%10)),      \
+  ('0' + (((n) / 10)%10)),       \
+  ('0' +  ((n) % 10))
+
+/* Convert integer to hex digit literals.  */
+#define HEX(n)             \
+  ('0' + ((n)>>28 & 0xF)), \
+  ('0' + ((n)>>24 & 0xF)), \
+  ('0' + ((n)>>20 & 0xF)), \
+  ('0' + ((n)>>16 & 0xF)), \
+  ('0' + ((n)>>12 & 0xF)), \
+  ('0' + ((n)>>8  & 0xF)), \
+  ('0' + ((n)>>4  & 0xF)), \
+  ('0' + ((n)     & 0xF))
+
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+char const info_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[',
+  COMPILER_VERSION_MAJOR,
+# ifdef COMPILER_VERSION_MINOR
+  '.', COMPILER_VERSION_MINOR,
+#  ifdef COMPILER_VERSION_PATCH
+   '.', COMPILER_VERSION_PATCH,
+#   ifdef COMPILER_VERSION_TWEAK
+    '.', COMPILER_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
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+char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
+
+
+
+/*--------------------------------------------------------------------------*/
+
+int main(int argc, char* argv[])
+{
+  int require = 0;
+  require += info_compiler[argc];
+  require += info_platform[argc];
+#ifdef COMPILER_VERSION_MAJOR
+  require += info_version[argc];
+#endif
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+  return require;
+}
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+	$(CMAKE_COMMAND) -E cmake_progress_start /home/mech-user/2015-soft3/20150930/src/beginner_tutorials/build/CMakeFiles 0
+.PHONY : all
+
+# The main clean target
+clean:
+	$(MAKE) -f CMakeFiles/Makefile2 clean
+.PHONY : clean
+
+# The main clean target
+clean/fast: clean
+.PHONY : clean/fast
+
+# Prepare targets for installation.
+preinstall: all
+	$(MAKE) -f CMakeFiles/Makefile2 preinstall
+.PHONY : preinstall
+
+# Prepare targets for installation.
+preinstall/fast:
+	$(MAKE) -f CMakeFiles/Makefile2 preinstall
+.PHONY : preinstall/fast
+
+# clear depends
+depend:
+	$(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 1
+.PHONY : depend
+
+#=============================================================================
+# Target rules for targets named clean_test_results
+
+# Build rule for target.
+clean_test_results: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 clean_test_results
+.PHONY : clean_test_results
+
+# fast build rule for target.
+clean_test_results/fast:
+	$(MAKE) -f CMakeFiles/clean_test_results.dir/build.make CMakeFiles/clean_test_results.dir/build
+.PHONY : clean_test_results/fast
+
+#=============================================================================
+# Target rules for targets named doxygen
+
+# Build rule for target.
+doxygen: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 doxygen
+.PHONY : doxygen
+
+# fast build rule for target.
+doxygen/fast:
+	$(MAKE) -f CMakeFiles/doxygen.dir/build.make CMakeFiles/doxygen.dir/build
+.PHONY : doxygen/fast
+
+#=============================================================================
+# Target rules for targets named run_tests
+
+# Build rule for target.
+run_tests: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 run_tests
+.PHONY : run_tests
+
+# fast build rule for target.
+run_tests/fast:
+	$(MAKE) -f CMakeFiles/run_tests.dir/build.make CMakeFiles/run_tests.dir/build
+.PHONY : run_tests/fast
+
+#=============================================================================
+# Target rules for targets named tests
+
+# Build rule for target.
+tests: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 tests
+.PHONY : tests
+
+# fast build rule for target.
+tests/fast:
+	$(MAKE) -f CMakeFiles/tests.dir/build.make CMakeFiles/tests.dir/build
+.PHONY : tests/fast
+
+#=============================================================================
+# Target rules for targets named gtest
+
+# Build rule for target.
+gtest: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 gtest
+.PHONY : gtest
+
+# fast build rule for target.
+gtest/fast:
+	$(MAKE) -f gtest/CMakeFiles/gtest.dir/build.make gtest/CMakeFiles/gtest.dir/build
+.PHONY : gtest/fast
+
+#=============================================================================
+# Target rules for targets named gtest_main
+
+# Build rule for target.
+gtest_main: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 gtest_main
+.PHONY : gtest_main
+
+# fast build rule for target.
+gtest_main/fast:
+	$(MAKE) -f gtest/CMakeFiles/gtest_main.dir/build.make gtest/CMakeFiles/gtest_main.dir/build
+.PHONY : gtest_main/fast
+
+# 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 "... clean_test_results"
+	@echo "... doxygen"
+	@echo "... edit_cache"
+	@echo "... install"
+	@echo "... install/local"
+	@echo "... install/strip"
+	@echo "... list_install_components"
+	@echo "... rebuild_cache"
+	@echo "... run_tests"
+	@echo "... test"
+	@echo "... tests"
+	@echo "... gtest"
+	@echo "... gtest_main"
+.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:
+	$(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
+.PHONY : cmake_check_build_system
+
diff --git a/20150930/src/beginner_tutorials/build/catkin/catkin_generated/version/package.cmake b/20150930/src/beginner_tutorials/build/catkin/catkin_generated/version/package.cmake
new file mode 100644
index 00000000..bb4b8f35
--- /dev/null
+++ b/20150930/src/beginner_tutorials/build/catkin/catkin_generated/version/package.cmake
@@ -0,0 +1,9 @@
+set(_CATKIN_CURRENT_PACKAGE "catkin")
+set(catkin_VERSION "0.6.11")
+set(catkin_BUILD_DEPENDS_python-catkin-pkg_VERSION_GTE "0.2.2")
+set(catkin_BUILD_DEPENDS "python-empy" "python-argparse" "python-catkin-pkg")
+set(catkin_DEPRECATED "")
+set(catkin_RUN_DEPENDS "python-argparse" "python-catkin-pkg" "gtest" "python-empy" "python-nose")
+set(catkin_MAINTAINER "Dirk Thomas <dthomas@osrfoundation.org>")
+set(catkin_BUILDTOOL_DEPENDS "cmake")
+set(catkin_RUN_DEPENDS_python-catkin-pkg_VERSION_GTE "0.2.2")
\ No newline at end of file
diff --git a/20150930/src/beginner_tutorials/build/catkin_generated/env_cached.sh b/20150930/src/beginner_tutorials/build/catkin_generated/env_cached.sh
new file mode 100755
index 00000000..d6be91db
--- /dev/null
+++ b/20150930/src/beginner_tutorials/build/catkin_generated/env_cached.sh
@@ -0,0 +1,16 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/templates/env.sh.in
+
+if [ $# -eq 0 ] ; then
+  /bin/echo "Usage: env.sh COMMANDS"
+  /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually."
+  exit 1
+fi
+
+# ensure to not use different shell type which was set before
+CATKIN_SHELL=sh
+
+# source setup_cached.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup_cached.sh"
+exec "$@"
diff --git a/20150930/src/beginner_tutorials/build/catkin_generated/generate_cached_setup.py b/20150930/src/beginner_tutorials/build/catkin_generated/generate_cached_setup.py
new file mode 100644
index 00000000..2a8e362f
--- /dev/null
+++ b/20150930/src/beginner_tutorials/build/catkin_generated/generate_cached_setup.py
@@ -0,0 +1,29 @@
+from __future__ import print_function
+import argparse
+import os
+import stat
+import sys
+
+# find the import for catkin's python package - either from source space or from an installed underlay
+if os.path.exists(os.path.join('/opt/ros/indigo/share/catkin/cmake', 'catkinConfig.cmake.in')):
+    sys.path.insert(0, os.path.join('/opt/ros/indigo/share/catkin/cmake', '..', 'python'))
+try:
+    from catkin.environment_cache import generate_environment_script
+except ImportError:
+    # search for catkin package in all workspaces and prepend to path
+    for workspace in "/home/mech-user/2015-soft3/20151007/devel;/opt/ros/indigo".split(';'):
+        python_path = os.path.join(workspace, 'lib/python2.7/dist-packages')
+        if os.path.isdir(os.path.join(python_path, 'catkin')):
+            sys.path.insert(0, python_path)
+            break
+    from catkin.environment_cache import generate_environment_script
+
+code = generate_environment_script('/home/mech-user/2015-soft3/20150930/src/beginner_tutorials/devel/env.sh')
+
+output_filename = '/home/mech-user/2015-soft3/20150930/src/beginner_tutorials/build/catkin_generated/setup_cached.sh'
+with open(output_filename, 'w') as f:
+    #print('Generate script for cached setup "%s"' % output_filename)
+    f.write('\n'.join(code))
+
+mode = os.stat(output_filename).st_mode
+os.chmod(output_filename, mode | stat.S_IXUSR)
diff --git a/20150930/src/beginner_tutorials/build/catkin_generated/installspace/.rosinstall b/20150930/src/beginner_tutorials/build/catkin_generated/installspace/.rosinstall
new file mode 100644
index 00000000..3d004429
--- /dev/null
+++ b/20150930/src/beginner_tutorials/build/catkin_generated/installspace/.rosinstall
@@ -0,0 +1,2 @@
+- setup-file:
+    local-name: /home/mech-user/2015-soft3/20150930/src/beginner_tutorials/install/setup.sh
diff --git a/20150930/src/beginner_tutorials/build/catkin_generated/installspace/_setup_util.py b/20150930/src/beginner_tutorials/build/catkin_generated/installspace/_setup_util.py
new file mode 100755
index 00000000..5ffaba5f
--- /dev/null
+++ b/20150930/src/beginner_tutorials/build/catkin_generated/installspace/_setup_util.py
@@ -0,0 +1,287 @@
+#!/usr/bin/python
+
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2012, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+'''This file generates shell code for the setup.SHELL scripts to set environment variables'''
+
+from __future__ import print_function
+import argparse
+import copy
+import errno
+import os
+import platform
+import sys
+
+CATKIN_MARKER_FILE = '.catkin'
+
+system = platform.system()
+IS_DARWIN = (system == 'Darwin')
+IS_WINDOWS = (system == 'Windows')
+
+# subfolder of workspace prepended to CMAKE_PREFIX_PATH
+ENV_VAR_SUBFOLDERS = {
+    'CMAKE_PREFIX_PATH': '',
+    'CPATH': 'include',
+    'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')],
+    'PATH': 'bin',
+    'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')],
+    'PYTHONPATH': 'lib/python2.7/dist-packages',
+}
+
+
+def rollback_env_variables(environ, env_var_subfolders):
+    '''
+    Generate shell code to reset environment variables
+    by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH.
+    This does not cover modifications performed by environment hooks.
+    '''
+    lines = []
+    unmodified_environ = copy.copy(environ)
+    for key in sorted(env_var_subfolders.keys()):
+        subfolders = env_var_subfolders[key]
+        if not isinstance(subfolders, list):
+            subfolders = [subfolders]
+        for subfolder in subfolders:
+            value = _rollback_env_variable(unmodified_environ, key, subfolder)
+            if value is not None:
+                environ[key] = value
+                lines.append(assignment(key, value))
+    if lines:
+        lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH'))
+    return lines
+
+
+def _rollback_env_variable(environ, name, subfolder):
+    '''
+    For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder.
+
+    :param subfolder: str '' or subfoldername that may start with '/'
+    :returns: the updated value of the environment variable.
+    '''
+    value = environ[name] if name in environ else ''
+    env_paths = [path for path in value.split(os.pathsep) if path]
+    value_modified = False
+    if subfolder:
+        if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)):
+            subfolder = subfolder[1:]
+        if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)):
+            subfolder = subfolder[:-1]
+    for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True):
+        path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path
+        path_to_remove = None
+        for env_path in env_paths:
+            env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path
+            if env_path_clean == path_to_find:
+                path_to_remove = env_path
+                break
+        if path_to_remove:
+            env_paths.remove(path_to_remove)
+            value_modified = True
+    new_value = os.pathsep.join(env_paths)
+    return new_value if value_modified else None
+
+
+def _get_workspaces(environ, include_fuerte=False, include_non_existing=False):
+    '''
+    Based on CMAKE_PREFIX_PATH return all catkin workspaces.
+
+    :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool``
+    '''
+    # get all cmake prefix paths
+    env_name = 'CMAKE_PREFIX_PATH'
+    value = environ[env_name] if env_name in environ else ''
+    paths = [path for path in value.split(os.pathsep) if path]
+    # remove non-workspace paths
+    workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))]
+    return workspaces
+
+
+def prepend_env_variables(environ, env_var_subfolders, workspaces):
+    '''
+    Generate shell code to prepend environment variables
+    for the all workspaces.
+    '''
+    lines = []
+    lines.append(comment('prepend folders of workspaces to environment variables'))
+
+    paths = [path for path in workspaces.split(os.pathsep) if path]
+
+    prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '')
+    lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix))
+
+    for key in sorted([key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH']):
+        subfolder = env_var_subfolders[key]
+        prefix = _prefix_env_variable(environ, key, paths, subfolder)
+        lines.append(prepend(environ, key, prefix))
+    return lines
+
+
+def _prefix_env_variable(environ, name, paths, subfolders):
+    '''
+    Return the prefix to prepend to the environment variable NAME, adding any path in NEW_PATHS_STR without creating duplicate or empty items.
+    '''
+    value = environ[name] if name in environ else ''
+    environ_paths = [path for path in value.split(os.pathsep) if path]
+    checked_paths = []
+    for path in paths:
+        if not isinstance(subfolders, list):
+            subfolders = [subfolders]
+        for subfolder in subfolders:
+            path_tmp = path
+            if subfolder:
+                path_tmp = os.path.join(path_tmp, subfolder)
+            # exclude any path already in env and any path we already added
+            if path_tmp not in environ_paths and path_tmp not in checked_paths:
+                checked_paths.append(path_tmp)
+    prefix_str = os.pathsep.join(checked_paths)
+    if prefix_str != '' and environ_paths:
+        prefix_str += os.pathsep
+    return prefix_str
+
+
+def assignment(key, value):
+    if not IS_WINDOWS:
+        return 'export %s="%s"' % (key, value)
+    else:
+        return 'set %s=%s' % (key, value)
+
+
+def comment(msg):
+    if not IS_WINDOWS:
+        return '# %s' % msg
+    else:
+        return 'REM %s' % msg
+
+
+def prepend(environ, key, prefix):
+    if key not in environ or not environ[key]:
+        return assignment(key, prefix)
+    if not IS_WINDOWS:
+        return 'export %s="%s$%s"' % (key, prefix, key)
+    else:
+        return 'set %s=%s%%%s%%' % (key, prefix, key)
+
+
+def find_env_hooks(environ, cmake_prefix_path):
+    '''
+    Generate shell code with found environment hooks
+    for the all workspaces.
+    '''
+    lines = []
+    lines.append(comment('found environment hooks in workspaces'))
+
+    generic_env_hooks = []
+    generic_env_hooks_workspace = []
+    specific_env_hooks = []
+    specific_env_hooks_workspace = []
+    generic_env_hooks_by_filename = {}
+    specific_env_hooks_by_filename = {}
+    generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh'
+    specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None
+    # remove non-workspace paths
+    workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))]
+    for workspace in reversed(workspaces):
+        env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d')
+        if os.path.isdir(env_hook_dir):
+            for filename in sorted(os.listdir(env_hook_dir)):
+                if filename.endswith('.%s' % generic_env_hook_ext):
+                    # remove previous env hook with same name if present
+                    if filename in generic_env_hooks_by_filename:
+                        i = generic_env_hooks.index(generic_env_hooks_by_filename[filename])
+                        generic_env_hooks.pop(i)
+                        generic_env_hooks_workspace.pop(i)
+                    # append env hook
+                    generic_env_hooks.append(os.path.join(env_hook_dir, filename))
+                    generic_env_hooks_workspace.append(workspace)
+                    generic_env_hooks_by_filename[filename] = generic_env_hooks[-1]
+                elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext):
+                    # remove previous env hook with same name if present
+                    if filename in specific_env_hooks_by_filename:
+                        i = specific_env_hooks.index(specific_env_hooks_by_filename[filename])
+                        specific_env_hooks.pop(i)
+                        specific_env_hooks_workspace.pop(i)
+                    # append env hook
+                    specific_env_hooks.append(os.path.join(env_hook_dir, filename))
+                    specific_env_hooks_workspace.append(workspace)
+                    specific_env_hooks_by_filename[filename] = specific_env_hooks[-1]
+    env_hooks = generic_env_hooks + specific_env_hooks
+    env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace
+    count = len(env_hooks)
+    lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count))
+    for i in range(count):
+        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i]))
+        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i]))
+    return lines
+
+
+def _parse_arguments(args=None):
+    parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.')
+    parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context')
+    return parser.parse_known_args(args=args)[0]
+
+
+if __name__ == '__main__':
+    try:
+        try:
+            args = _parse_arguments()
+        except Exception as e:
+            print(e, file=sys.stderr)
+            sys.exit(1)
+
+        # environment at generation time
+        CMAKE_PREFIX_PATH = '/home/mech-user/2015-soft3/20151007/devel;/opt/ros/indigo'.split(';')
+        # prepend current workspace if not already part of CPP
+        base_path = os.path.dirname(__file__)
+        if base_path not in CMAKE_PREFIX_PATH:
+            CMAKE_PREFIX_PATH.insert(0, base_path)
+        CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH)
+
+        environ = dict(os.environ)
+        lines = []
+        if not args.extend:
+            lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS)
+        lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH)
+        lines += find_env_hooks(environ, CMAKE_PREFIX_PATH)
+        print('\n'.join(lines))
+
+        # need to explicitly flush the output
+        sys.stdout.flush()
+    except IOError as e:
+        # and catch potantial "broken pipe" if stdout is not writable
+        # which can happen when piping the output to a file but the disk is full
+        if e.errno == errno.EPIPE:
+            print(e, file=sys.stderr)
+            sys.exit(2)
+        raise
+
+    sys.exit(0)
diff --git a/20150930/src/beginner_tutorials/build/catkin_generated/installspace/env.sh b/20150930/src/beginner_tutorials/build/catkin_generated/installspace/env.sh
new file mode 100755
index 00000000..8aa9d244
--- /dev/null
+++ b/20150930/src/beginner_tutorials/build/catkin_generated/installspace/env.sh
@@ -0,0 +1,16 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/templates/env.sh.in
+
+if [ $# -eq 0 ] ; then
+  /bin/echo "Usage: env.sh COMMANDS"
+  /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually."
+  exit 1
+fi
+
+# ensure to not use different shell type which was set before
+CATKIN_SHELL=sh
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh"
+exec "$@"
diff --git a/20150930/src/beginner_tutorials/build/catkin_generated/installspace/setup.bash b/20150930/src/beginner_tutorials/build/catkin_generated/installspace/setup.bash
new file mode 100644
index 00000000..ff47af8f
--- /dev/null
+++ b/20150930/src/beginner_tutorials/build/catkin_generated/installspace/setup.bash
@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+# generated from catkin/cmake/templates/setup.bash.in
+
+CATKIN_SHELL=bash
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh"
diff --git a/20150930/src/beginner_tutorials/build/catkin_generated/installspace/setup.sh b/20150930/src/beginner_tutorials/build/catkin_generated/installspace/setup.sh
new file mode 100644
index 00000000..e196415e
--- /dev/null
+++ b/20150930/src/beginner_tutorials/build/catkin_generated/installspace/setup.sh
@@ -0,0 +1,87 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/template/setup.sh.in
+
+# Sets various environment variables and sources additional environment hooks.
+# It tries it's best to undo changes from a previously sourced setup file before.
+# Supported command line options:
+# --extend: skips the undoing of changes from a previously sourced setup file
+
+# since this file is sourced either use the provided _CATKIN_SETUP_DIR
+# or fall back to the destination set at configure time
+: ${_CATKIN_SETUP_DIR:=/home/mech-user/2015-soft3/20150930/src/beginner_tutorials/install}
+_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py"
+unset _CATKIN_SETUP_DIR
+
+if [ ! -f "$_SETUP_UTIL" ]; then
+  echo "Missing Python script: $_SETUP_UTIL"
+  return 22
+fi
+
+# detect if running on Darwin platform
+_UNAME=`uname -s`
+_IS_DARWIN=0
+if [ "$_UNAME" = "Darwin" ]; then
+  _IS_DARWIN=1
+fi
+unset _UNAME
+
+# make sure to export all environment variables
+export CMAKE_PREFIX_PATH
+export CPATH
+if [ $_IS_DARWIN -eq 0 ]; then
+  export LD_LIBRARY_PATH
+else
+  export DYLD_LIBRARY_PATH
+fi
+unset _IS_DARWIN
+export PATH
+export PKG_CONFIG_PATH
+export PYTHONPATH
+
+# remember type of shell if not already set
+if [ -z "$CATKIN_SHELL" ]; then
+  CATKIN_SHELL=sh
+fi
+
+# invoke Python script to generate necessary exports of environment variables
+_SETUP_TMP=`mktemp /tmp/setup.sh.XXXXXXXXXX`
+if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then
+  echo "Could not create temporary file: $_SETUP_TMP"
+  return 1
+fi
+CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ > $_SETUP_TMP
+_RC=$?
+if [ $_RC -ne 0 ]; then
+  if [ $_RC -eq 2 ]; then
+    echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?"
+  else
+    echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC"
+  fi
+  unset _RC
+  unset _SETUP_UTIL
+  rm -f $_SETUP_TMP
+  unset _SETUP_TMP
+  return 1
+fi
+unset _RC
+unset _SETUP_UTIL
+. $_SETUP_TMP
+rm -f $_SETUP_TMP
+unset _SETUP_TMP
+
+# source all environment hooks
+_i=0
+while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do
+  eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i
+  unset _CATKIN_ENVIRONMENT_HOOKS_$_i
+  eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
+  unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
+  # set workspace for environment hook
+  CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace
+  . "$_envfile"
+  unset CATKIN_ENV_HOOK_WORKSPACE
+  _i=$((_i + 1))
+done
+unset _i
+
+unset _CATKIN_ENVIRONMENT_HOOKS_COUNT
diff --git a/20150930/src/beginner_tutorials/build/catkin_generated/installspace/setup.zsh b/20150930/src/beginner_tutorials/build/catkin_generated/installspace/setup.zsh
new file mode 100644
index 00000000..952f72a4
--- /dev/null
+++ b/20150930/src/beginner_tutorials/build/catkin_generated/installspace/setup.zsh
@@ -0,0 +1,8 @@
+#!/usr/bin/env zsh
+# generated from catkin/cmake/templates/setup.zsh.in
+
+CATKIN_SHELL=zsh
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
+source "$_CATKIN_SETUP_DIR/setup.sh"
diff --git a/20150930/src/beginner_tutorials/build/catkin_generated/order_packages.cmake b/20150930/src/beginner_tutorials/build/catkin_generated/order_packages.cmake
new file mode 100644
index 00000000..69e5356a
--- /dev/null
+++ b/20150930/src/beginner_tutorials/build/catkin_generated/order_packages.cmake
@@ -0,0 +1,10 @@
+# generated from catkin/cmake/em/order_packages.cmake.em
+
+set(CATKIN_ORDERED_PACKAGES "")
+set(CATKIN_ORDERED_PACKAGE_PATHS "")
+set(CATKIN_ORDERED_PACKAGES_IS_META "")
+set(CATKIN_ORDERED_PACKAGES_BUILD_TYPE "")
+
+set(CATKIN_MESSAGE_GENERATORS )
+
+set(CATKIN_METAPACKAGE_CMAKE_TEMPLATE "/usr/lib/python2.7/dist-packages/catkin_pkg/templates/metapackage.cmake.in")
diff --git a/20150930/src/beginner_tutorials/build/catkin_generated/order_packages.py b/20150930/src/beginner_tutorials/build/catkin_generated/order_packages.py
new file mode 100644
index 00000000..71ee13ae
--- /dev/null
+++ b/20150930/src/beginner_tutorials/build/catkin_generated/order_packages.py
@@ -0,0 +1,5 @@
+# generated from catkin/cmake/template/order_packages.context.py.in
+source_root_dir = "/home/mech-user/2015-soft3/20150930/src/beginner_tutorials/src"
+whitelisted_packages = "".split(';') if "" != "" else []
+blacklisted_packages = "".split(';') if "" != "" else []
+underlay_workspaces = "/home/mech-user/2015-soft3/20151007/devel;/opt/ros/indigo".split(';') if "/home/mech-user/2015-soft3/20151007/devel;/opt/ros/indigo" != "" else []
diff --git a/20150930/src/beginner_tutorials/build/catkin_generated/setup_cached.sh b/20150930/src/beginner_tutorials/build/catkin_generated/setup_cached.sh
new file mode 100755
index 00000000..cf9b4209
--- /dev/null
+++ b/20150930/src/beginner_tutorials/build/catkin_generated/setup_cached.sh
@@ -0,0 +1,20 @@
+#!/usr/bin/env sh
+# generated from catkin/python/catkin/environment_cache.py
+
+# based on a snapshot of the environment before and after calling the setup script
+# it emulates the modifications of the setup script without recurring computations
+
+# new environment variables
+
+# modified environment variables
+export CATKIN_TEST_RESULTS_DIR="/home/mech-user/2015-soft3/20150930/src/beginner_tutorials/build/test_results"
+export CMAKE_PREFIX_PATH="/home/mech-user/2015-soft3/20150930/src/beginner_tutorials/devel:$CMAKE_PREFIX_PATH"
+export CPATH="/home/mech-user/2015-soft3/20150930/src/beginner_tutorials/devel/include:$CPATH"
+export LD_LIBRARY_PATH="/opt/ros/indigo/share/euslisp/jskeus/eus//Linux64/lib:/home/mech-user/2015-soft3/20150930/src/beginner_tutorials/devel/lib:/home/mech-user/2015-soft3/20150930/src/beginner_tutorials/devel/lib/x86_64-linux-gnu:/home/mech-user/2015-soft3/20151007/devel/lib/x86_64-linux-gnu:/opt/ros/indigo/lib/x86_64-linux-gnu:/opt/ros/indigo/share/euslisp/jskeus/eus//Linux64/lib:/home/mech-user/2015-soft3/20151007/devel/lib:/opt/ros/indigo/share/euslisp/jskeus/eus//Linux64/lib:/opt/ros/indigo/lib:/opt/ros/indigo/lib/python2.7/dist-packages:/opt/ros/indigo/lib/python2.7/dist-packages"
+export PATH="/opt/ros/indigo/share/euslisp/jskeus/eus//Linux64/bin:/home/mech-user/2015-soft3/20150930/src/beginner_tutorials/devel/bin:/home/mech-user/2015-soft3/20151007/devel/bin:/opt/ros/indigo/bin:/opt/ros/indigo/share/euslisp/jskeus/eus//Linux64/bin:/opt/ros/indigo/share/euslisp/jskeus/eus//Linux64/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games"
+export PKG_CONFIG_PATH="/home/mech-user/2015-soft3/20150930/src/beginner_tutorials/devel/lib/pkgconfig:/home/mech-user/2015-soft3/20150930/src/beginner_tutorials/devel/lib/x86_64-linux-gnu/pkgconfig:/home/mech-user/2015-soft3/20151007/devel/lib/x86_64-linux-gnu/pkgconfig:/opt/ros/indigo/lib/x86_64-linux-gnu/pkgconfig:/home/mech-user/2015-soft3/20151007/devel/lib/pkgconfig:/opt/ros/indigo/lib/pkgconfig"
+export PWD="/home/mech-user/2015-soft3/20150930/src/beginner_tutorials/build"
+export PYTHONPATH="/home/mech-user/2015-soft3/20150930/src/beginner_tutorials/devel/lib/python2.7/dist-packages:$PYTHONPATH"
+export ROSLISP_PACKAGE_DIRECTORIES="/home/mech-user/2015-soft3/20150930/src/beginner_tutorials/devel/share/common-lisp:$ROSLISP_PACKAGE_DIRECTORIES"
+export ROS_PACKAGE_PATH="/home/mech-user/2015-soft3/20150930/src/beginner_tutorials/src:$ROS_PACKAGE_PATH"
+export ROS_TEST_RESULTS_DIR="/home/mech-user/2015-soft3/20150930/src/beginner_tutorials/build/test_results"
\ No newline at end of file
diff --git a/20150930/src/beginner_tutorials/build/catkin_generated/stamps/Project/interrogate_setup_dot_py.py.stamp b/20150930/src/beginner_tutorials/build/catkin_generated/stamps/Project/interrogate_setup_dot_py.py.stamp
new file mode 100644
index 00000000..26882f02
--- /dev/null
+++ b/20150930/src/beginner_tutorials/build/catkin_generated/stamps/Project/interrogate_setup_dot_py.py.stamp
@@ -0,0 +1,250 @@
+#!/usr/bin/env python
+
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2012, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+from __future__ import print_function
+import os
+import sys
+
+import distutils.core
+try:
+    import setuptools
+except ImportError:
+    pass
+
+from argparse import ArgumentParser
+
+
+def _get_locations(pkgs, package_dir):
+    """
+    based on setuptools logic and the package_dir dict, builds a dict
+    of location roots for each pkg in pkgs.
+    See http://docs.python.org/distutils/setupscript.html
+
+    :returns: a dict {pkgname: root} for each pkgname in pkgs (and each of their parents)
+    """
+    # package_dir contains a dict {package_name: relativepath}
+    # Example {'': 'src', 'foo': 'lib', 'bar': 'lib2'}
+    #
+    # '' means where to look for any package unless a parent package
+    # is listed so package bar.pot is expected at lib2/bar/pot,
+    # whereas package sup.dee is expected at src/sup/dee
+    #
+    # if package_dir does not state anything about a package,
+    # setuptool expects the package folder to be in the root of the
+    # project
+    locations = {}
+    allprefix = package_dir.get('', '')
+    for pkg in pkgs:
+        parent_location = None
+        splits = pkg.split('.')
+        # we iterate over compound name from parent to child
+        # so once we found parent, children just append to their parent
+        for key_len in range(len(splits)):
+            key = '.'.join(splits[:key_len + 1])
+            if key not in locations:
+                if key in package_dir:
+                    locations[key] = package_dir[key]
+                elif parent_location is not None:
+                    locations[key] = parent_location
+                else:
+                    locations[key] = allprefix
+            parent_location = locations[key]
+    return locations
+
+
+def generate_cmake_file(package_name, version, scripts, package_dir, pkgs, modules):
+    """
+    Generates lines to add to a cmake file which will set variables
+
+    :param version: str, format 'int.int.int'
+    :param scripts: [list of str]: relative paths to scripts
+    :param package_dir: {modulename: path}
+    :pkgs: [list of str] python_packages declared in catkin package
+    :modules: [list of str] python modules
+    """
+    prefix = '%s_SETUP_PY' % package_name
+    result = []
+    result.append(r'set(%s_VERSION "%s")' % (prefix, version))
+    result.append(r'set(%s_SCRIPTS "%s")' % (prefix, ';'.join(scripts)))
+
+    # Remove packages with '.' separators.
+    #
+    # setuptools allows specifying submodules in other folders than
+    # their parent
+    #
+    # The symlink approach of catkin does not work with such submodules.
+    # In the common case, this does not matter as the submodule is
+    # within the containing module.  We verify this assumption, and if
+    # it passes, we remove submodule packages.
+    locations = _get_locations(pkgs, package_dir)
+    for pkgname, location in locations.items():
+        if not '.' in pkgname:
+            continue
+        splits = pkgname.split('.')
+        # hack: ignore write-combining setup.py files for msg and srv files
+        if splits[1] in ['msg', 'srv']:
+            continue
+        # check every child has the same root folder as its parent
+        parent_name = '.'.join(splits[:1])
+        if location != locations[parent_name]:
+            raise RuntimeError(
+                "catkin_export_python does not support setup.py files that combine across multiple directories: %s in %s, %s in %s" % (pkgname, location, parent_name, locations[parent_name]))
+
+    # If checks pass, remove all submodules
+    pkgs = [p for p in pkgs if '.' not in p]
+
+    resolved_pkgs = []
+    for pkg in pkgs:
+        resolved_pkgs += [os.path.join(locations[pkg], pkg)]
+
+    result.append(r'set(%s_PACKAGES "%s")' % (prefix, ';'.join(pkgs)))
+    result.append(r'set(%s_PACKAGE_DIRS "%s")' % (prefix, ';'.join(resolved_pkgs).replace("\\", "/")))
+
+    # skip modules which collide with package names
+    filtered_modules = []
+    for modname in modules:
+        splits = modname.split('.')
+        # check all parents too
+        equals_package = [('.'.join(splits[:-i]) in locations) for i in range(len(splits))]
+        if any(equals_package):
+            continue
+        filtered_modules.append(modname)
+    module_locations = _get_locations(filtered_modules, package_dir)
+
+    result.append(r'set(%s_MODULES "%s")' % (prefix, ';'.join(['%s.py' % m.replace('.', '/') for m in filtered_modules])))
+    result.append(r'set(%s_MODULE_DIRS "%s")' % (prefix, ';'.join([module_locations[m] for m in filtered_modules]).replace("\\", "/")))
+
+    return result
+
+
+def _create_mock_setup_function(package_name, outfile):
+    """
+    Creates a function to call instead of distutils.core.setup or
+    setuptools.setup, which just captures some args and writes them
+    into a file that can be used from cmake
+
+    :param package_name: name of the package
+    :param outfile: filename that cmake will use afterwards
+    :returns: a function to replace disutils.core.setup and setuptools.setup
+    """
+
+    def setup(*args, **kwargs):
+        '''
+        Checks kwargs and writes a scriptfile
+        '''
+        if 'version' not in kwargs:
+            sys.stderr.write("\n*** Unable to find 'version' in setup.py of %s\n" % package_name)
+            raise RuntimeError("version not found in setup.py")
+        version = kwargs['version']
+        package_dir = kwargs.get('package_dir', {})
+
+        pkgs = kwargs.get('packages', [])
+        scripts = kwargs.get('scripts', [])
+        modules = kwargs.get('py_modules', [])
+
+        unsupported_args = [
+            'entry_points',
+            'exclude_package_data',
+            'ext_modules ',
+            'ext_package',
+            'include_package_data',
+            'namespace_packages',
+            'setup_requires',
+            'use_2to3',
+            'zip_safe']
+        used_unsupported_args = [arg for arg in unsupported_args if arg in kwargs]
+        if used_unsupported_args:
+            sys.stderr.write("*** Arguments %s to setup() not supported in catkin devel space in setup.py of %s\n" % (used_unsupported_args, package_name))
+
+        result = generate_cmake_file(package_name=package_name,
+                                     version=version,
+                                     scripts=scripts,
+                                     package_dir=package_dir,
+                                     pkgs=pkgs,
+                                     modules=modules)
+        with open(outfile, 'w') as out:
+            out.write('\n'.join(result))
+
+    return setup
+
+
+def main():
+    """
+    Script main, parses arguments and invokes Dummy.setup indirectly.
+    """
+    parser = ArgumentParser(description='Utility to read setup.py values from cmake macros. Creates a file with CMake set commands setting variables.')
+    parser.add_argument('package_name', help='Name of catkin package')
+    parser.add_argument('setupfile_path', help='Full path to setup.py')
+    parser.add_argument('outfile', help='Where to write result to')
+
+    args = parser.parse_args()
+
+    # print("%s" % sys.argv)
+    # PACKAGE_NAME = sys.argv[1]
+    # OUTFILE = sys.argv[3]
+    # print("Interrogating setup.py for package %s into %s " % (PACKAGE_NAME, OUTFILE),
+    #      file=sys.stderr)
+
+    # print("executing %s" % args.setupfile_path)
+
+    # be sure you're in the directory containing
+    # setup.py so the sys.path manipulation works,
+    # so the import of __version__ works
+    os.chdir(os.path.dirname(os.path.abspath(args.setupfile_path)))
+
+    # patch setup() function of distutils and setuptools for the
+    # context of evaluating setup.py
+    try:
+        fake_setup = _create_mock_setup_function(package_name=args.package_name,
+                                                outfile=args.outfile)
+
+        distutils_backup = distutils.core.setup
+        distutils.core.setup = fake_setup
+        try:
+            setuptools_backup = setuptools.setup
+            setuptools.setup = fake_setup
+        except NameError:
+            pass
+
+        with open(args.setupfile_path, 'r') as fh:
+            exec(fh.read())
+    finally:
+        distutils.core.setup = distutils_backup
+        try:
+            setuptools.setup = setuptools_backup
+        except NameError:
+            pass
+
+if __name__ == '__main__':
+    main()
diff --git a/20150930/src/beginner_tutorials/build/catkin_generated/stamps/Project/order_packages.cmake.em.stamp b/20150930/src/beginner_tutorials/build/catkin_generated/stamps/Project/order_packages.cmake.em.stamp
new file mode 100644
index 00000000..087d4d80
--- /dev/null
+++ b/20150930/src/beginner_tutorials/build/catkin_generated/stamps/Project/order_packages.cmake.em.stamp
@@ -0,0 +1,56 @@
+# generated from catkin/cmake/em/order_packages.cmake.em
+@{
+import os
+try:
+    from catkin_pkg.cmake import get_metapackage_cmake_template_path
+except ImportError as e:
+    raise RuntimeError('ImportError: "from catkin_pkg.cmake import get_metapackage_cmake_template_path" failed: %s\nMake sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.' % e)
+try:
+    from catkin_pkg.topological_order import topological_order
+except ImportError as e:
+    raise RuntimeError('ImportError: "from catkin_pkg.topological_order import topological_order" failed: %s\nMake sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.' % e)
+try:
+    from catkin_pkg.package import InvalidPackage
+except ImportError as e:
+    raise RuntimeError('ImportError: "from catkin_pkg.package import InvalidPackage" failed: %s\nMake sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.' % e)
+# vars defined in order_packages.context.py.in
+try:
+    ordered_packages = topological_order(os.path.normpath(source_root_dir), whitelisted=whitelisted_packages, blacklisted=blacklisted_packages, underlay_workspaces=underlay_workspaces)
+except InvalidPackage as e:
+    print('message(FATAL_ERROR "%s")' % ('%s' % e).replace('"', '\\"'))
+    ordered_packages = []
+fatal_error = False
+}@
+
+set(CATKIN_ORDERED_PACKAGES "")
+set(CATKIN_ORDERED_PACKAGE_PATHS "")
+set(CATKIN_ORDERED_PACKAGES_IS_META "")
+set(CATKIN_ORDERED_PACKAGES_BUILD_TYPE "")
+@[for path, package in ordered_packages]@
+@[if path is None]@
+message(FATAL_ERROR "Circular dependency in subset of packages:\n@package")
+@{
+fatal_error = True
+}@
+@[elif package.name != 'catkin']@
+list(APPEND CATKIN_ORDERED_PACKAGES "@(package.name)")
+list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "@(path.replace('\\','/'))")
+list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "@(str('metapackage' in [e.tagname for e in package.exports]))")
+list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "@(str([e.content for e in package.exports if e.tagname == 'build_type'][0]) if 'build_type' in [e.tagname for e in package.exports] else 'catkin')")
+@{
+deprecated = [e for e in package.exports if e.tagname == 'deprecated']
+}@
+@[if deprecated]@
+message("WARNING: Package '@(package.name)' is deprecated@(' (%s)' % deprecated[0].content if deprecated[0].content else '')")
+@[end if]@
+@[end if]@
+@[end for]@
+
+@[if not fatal_error]@
+@{
+message_generators = [package.name for (_, package) in ordered_packages if 'message_generator' in [e.tagname for e in package.exports]]
+}@
+set(CATKIN_MESSAGE_GENERATORS @(' '.join(message_generators)))
+@[end if]@
+
+set(CATKIN_METAPACKAGE_CMAKE_TEMPLATE "@(get_metapackage_cmake_template_path().replace('\\','/'))")
diff --git a/20150930/src/beginner_tutorials/build/catkin_generated/stamps/Project/package.xml.stamp b/20150930/src/beginner_tutorials/build/catkin_generated/stamps/Project/package.xml.stamp
new file mode 100644
index 00000000..c0bf80b0
--- /dev/null
+++ b/20150930/src/beginner_tutorials/build/catkin_generated/stamps/Project/package.xml.stamp
@@ -0,0 +1,37 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>catkin</name>
+  <version>0.6.11</version>
+  <description>Low-level build system macros and infrastructure for ROS.</description>
+  <maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
+  <license>BSD</license>
+
+  <url type="website">http://www.ros.org/wiki/catkin</url>
+  <url type="bugtracker">https://github.com/ros/catkin/issues</url>
+  <url type="repository">https://github.com/ros/catkin</url>
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new file mode 100644
index 00000000..46345986
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+src/gtest-all.cc.i:
+	cd /home/mech-user/2015-soft3/20150930/src/beginner_tutorials/build && $(MAKE) -f gtest/CMakeFiles/gtest.dir/build.make gtest/CMakeFiles/gtest.dir/src/gtest-all.cc.i
+.PHONY : src/gtest-all.cc.i
+
+src/gtest-all.s: src/gtest-all.cc.s
+.PHONY : src/gtest-all.s
+
+# target to generate assembly for a file
+src/gtest-all.cc.s:
+	cd /home/mech-user/2015-soft3/20150930/src/beginner_tutorials/build && $(MAKE) -f gtest/CMakeFiles/gtest.dir/build.make gtest/CMakeFiles/gtest.dir/src/gtest-all.cc.s
+.PHONY : src/gtest-all.cc.s
+
+src/gtest_main.o: src/gtest_main.cc.o
+.PHONY : src/gtest_main.o
+
+# target to build an object file
+src/gtest_main.cc.o:
+	cd /home/mech-user/2015-soft3/20150930/src/beginner_tutorials/build && $(MAKE) -f gtest/CMakeFiles/gtest_main.dir/build.make gtest/CMakeFiles/gtest_main.dir/src/gtest_main.cc.o
+.PHONY : src/gtest_main.cc.o
+
+src/gtest_main.i: src/gtest_main.cc.i
+.PHONY : src/gtest_main.i
+
+# target to preprocess a source file
+src/gtest_main.cc.i:
+	cd /home/mech-user/2015-soft3/20150930/src/beginner_tutorials/build && $(MAKE) -f gtest/CMakeFiles/gtest_main.dir/build.make gtest/CMakeFiles/gtest_main.dir/src/gtest_main.cc.i
+.PHONY : src/gtest_main.cc.i
+
+src/gtest_main.s: src/gtest_main.cc.s
+.PHONY : src/gtest_main.s
+
+# target to generate assembly for a file
+src/gtest_main.cc.s:
+	cd /home/mech-user/2015-soft3/20150930/src/beginner_tutorials/build && $(MAKE) -f gtest/CMakeFiles/gtest_main.dir/build.make gtest/CMakeFiles/gtest_main.dir/src/gtest_main.cc.s
+.PHONY : src/gtest_main.cc.s
+
+# 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 "... edit_cache"
+	@echo "... gtest"
+	@echo "... gtest_main"
+	@echo "... install"
+	@echo "... install/local"
+	@echo "... install/strip"
+	@echo "... list_install_components"
+	@echo "... rebuild_cache"
+	@echo "... test"
+	@echo "... src/gtest-all.o"
+	@echo "... src/gtest-all.i"
+	@echo "... src/gtest-all.s"
+	@echo "... src/gtest_main.o"
+	@echo "... src/gtest_main.i"
+	@echo "... src/gtest_main.s"
+.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/mech-user/2015-soft3/20150930/src/beginner_tutorials/build && $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
+.PHONY : cmake_check_build_system
+
diff --git a/20150930/src/beginner_tutorials/build/gtest/cmake_install.cmake b/20150930/src/beginner_tutorials/build/gtest/cmake_install.cmake
new file mode 100644
index 00000000..6b65caea
--- /dev/null
+++ b/20150930/src/beginner_tutorials/build/gtest/cmake_install.cmake
@@ -0,0 +1,34 @@
+# Install script for directory: /usr/src/gtest
+
+# Set the install prefix
+IF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+  SET(CMAKE_INSTALL_PREFIX "/home/mech-user/2015-soft3/20150930/src/beginner_tutorials/install")
+ENDIF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+STRING(REGEX REPLACE "/$" "" 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(BUILD_TYPE)
+    SET(CMAKE_INSTALL_CONFIG_NAME "")
+  ENDIF(BUILD_TYPE)
+  MESSAGE(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
+ENDIF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+
+# Set the component getting installed.
+IF(NOT CMAKE_INSTALL_COMPONENT)
+  IF(COMPONENT)
+    MESSAGE(STATUS "Install component: \"${COMPONENT}\"")
+    SET(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
+  ELSE(COMPONENT)
+    SET(CMAKE_INSTALL_COMPONENT)
+  ENDIF(COMPONENT)
+ENDIF(NOT CMAKE_INSTALL_COMPONENT)
+
+# Install shared libraries without execute permission?
+IF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+  SET(CMAKE_INSTALL_SO_NO_EXE "1")
+ENDIF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+
diff --git a/20150930/src/beginner_tutorials/devel/.catkin b/20150930/src/beginner_tutorials/devel/.catkin
new file mode 100644
index 00000000..f1b3caf9
--- /dev/null
+++ b/20150930/src/beginner_tutorials/devel/.catkin
@@ -0,0 +1 @@
+/home/mech-user/2015-soft3/20150930/src/beginner_tutorials/src
\ No newline at end of file
diff --git a/20150930/src/beginner_tutorials/devel/.rosinstall b/20150930/src/beginner_tutorials/devel/.rosinstall
new file mode 100644
index 00000000..55b2920c
--- /dev/null
+++ b/20150930/src/beginner_tutorials/devel/.rosinstall
@@ -0,0 +1,2 @@
+- setup-file:
+    local-name: /home/mech-user/2015-soft3/20150930/src/beginner_tutorials/devel/setup.sh
diff --git a/20150930/src/beginner_tutorials/devel/_setup_util.py b/20150930/src/beginner_tutorials/devel/_setup_util.py
new file mode 100755
index 00000000..5ffaba5f
--- /dev/null
+++ b/20150930/src/beginner_tutorials/devel/_setup_util.py
@@ -0,0 +1,287 @@
+#!/usr/bin/python
+
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2012, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+'''This file generates shell code for the setup.SHELL scripts to set environment variables'''
+
+from __future__ import print_function
+import argparse
+import copy
+import errno
+import os
+import platform
+import sys
+
+CATKIN_MARKER_FILE = '.catkin'
+
+system = platform.system()
+IS_DARWIN = (system == 'Darwin')
+IS_WINDOWS = (system == 'Windows')
+
+# subfolder of workspace prepended to CMAKE_PREFIX_PATH
+ENV_VAR_SUBFOLDERS = {
+    'CMAKE_PREFIX_PATH': '',
+    'CPATH': 'include',
+    'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')],
+    'PATH': 'bin',
+    'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')],
+    'PYTHONPATH': 'lib/python2.7/dist-packages',
+}
+
+
+def rollback_env_variables(environ, env_var_subfolders):
+    '''
+    Generate shell code to reset environment variables
+    by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH.
+    This does not cover modifications performed by environment hooks.
+    '''
+    lines = []
+    unmodified_environ = copy.copy(environ)
+    for key in sorted(env_var_subfolders.keys()):
+        subfolders = env_var_subfolders[key]
+        if not isinstance(subfolders, list):
+            subfolders = [subfolders]
+        for subfolder in subfolders:
+            value = _rollback_env_variable(unmodified_environ, key, subfolder)
+            if value is not None:
+                environ[key] = value
+                lines.append(assignment(key, value))
+    if lines:
+        lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH'))
+    return lines
+
+
+def _rollback_env_variable(environ, name, subfolder):
+    '''
+    For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder.
+
+    :param subfolder: str '' or subfoldername that may start with '/'
+    :returns: the updated value of the environment variable.
+    '''
+    value = environ[name] if name in environ else ''
+    env_paths = [path for path in value.split(os.pathsep) if path]
+    value_modified = False
+    if subfolder:
+        if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)):
+            subfolder = subfolder[1:]
+        if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)):
+            subfolder = subfolder[:-1]
+    for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True):
+        path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path
+        path_to_remove = None
+        for env_path in env_paths:
+            env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path
+            if env_path_clean == path_to_find:
+                path_to_remove = env_path
+                break
+        if path_to_remove:
+            env_paths.remove(path_to_remove)
+            value_modified = True
+    new_value = os.pathsep.join(env_paths)
+    return new_value if value_modified else None
+
+
+def _get_workspaces(environ, include_fuerte=False, include_non_existing=False):
+    '''
+    Based on CMAKE_PREFIX_PATH return all catkin workspaces.
+
+    :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool``
+    '''
+    # get all cmake prefix paths
+    env_name = 'CMAKE_PREFIX_PATH'
+    value = environ[env_name] if env_name in environ else ''
+    paths = [path for path in value.split(os.pathsep) if path]
+    # remove non-workspace paths
+    workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))]
+    return workspaces
+
+
+def prepend_env_variables(environ, env_var_subfolders, workspaces):
+    '''
+    Generate shell code to prepend environment variables
+    for the all workspaces.
+    '''
+    lines = []
+    lines.append(comment('prepend folders of workspaces to environment variables'))
+
+    paths = [path for path in workspaces.split(os.pathsep) if path]
+
+    prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '')
+    lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix))
+
+    for key in sorted([key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH']):
+        subfolder = env_var_subfolders[key]
+        prefix = _prefix_env_variable(environ, key, paths, subfolder)
+        lines.append(prepend(environ, key, prefix))
+    return lines
+
+
+def _prefix_env_variable(environ, name, paths, subfolders):
+    '''
+    Return the prefix to prepend to the environment variable NAME, adding any path in NEW_PATHS_STR without creating duplicate or empty items.
+    '''
+    value = environ[name] if name in environ else ''
+    environ_paths = [path for path in value.split(os.pathsep) if path]
+    checked_paths = []
+    for path in paths:
+        if not isinstance(subfolders, list):
+            subfolders = [subfolders]
+        for subfolder in subfolders:
+            path_tmp = path
+            if subfolder:
+                path_tmp = os.path.join(path_tmp, subfolder)
+            # exclude any path already in env and any path we already added
+            if path_tmp not in environ_paths and path_tmp not in checked_paths:
+                checked_paths.append(path_tmp)
+    prefix_str = os.pathsep.join(checked_paths)
+    if prefix_str != '' and environ_paths:
+        prefix_str += os.pathsep
+    return prefix_str
+
+
+def assignment(key, value):
+    if not IS_WINDOWS:
+        return 'export %s="%s"' % (key, value)
+    else:
+        return 'set %s=%s' % (key, value)
+
+
+def comment(msg):
+    if not IS_WINDOWS:
+        return '# %s' % msg
+    else:
+        return 'REM %s' % msg
+
+
+def prepend(environ, key, prefix):
+    if key not in environ or not environ[key]:
+        return assignment(key, prefix)
+    if not IS_WINDOWS:
+        return 'export %s="%s$%s"' % (key, prefix, key)
+    else:
+        return 'set %s=%s%%%s%%' % (key, prefix, key)
+
+
+def find_env_hooks(environ, cmake_prefix_path):
+    '''
+    Generate shell code with found environment hooks
+    for the all workspaces.
+    '''
+    lines = []
+    lines.append(comment('found environment hooks in workspaces'))
+
+    generic_env_hooks = []
+    generic_env_hooks_workspace = []
+    specific_env_hooks = []
+    specific_env_hooks_workspace = []
+    generic_env_hooks_by_filename = {}
+    specific_env_hooks_by_filename = {}
+    generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh'
+    specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None
+    # remove non-workspace paths
+    workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))]
+    for workspace in reversed(workspaces):
+        env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d')
+        if os.path.isdir(env_hook_dir):
+            for filename in sorted(os.listdir(env_hook_dir)):
+                if filename.endswith('.%s' % generic_env_hook_ext):
+                    # remove previous env hook with same name if present
+                    if filename in generic_env_hooks_by_filename:
+                        i = generic_env_hooks.index(generic_env_hooks_by_filename[filename])
+                        generic_env_hooks.pop(i)
+                        generic_env_hooks_workspace.pop(i)
+                    # append env hook
+                    generic_env_hooks.append(os.path.join(env_hook_dir, filename))
+                    generic_env_hooks_workspace.append(workspace)
+                    generic_env_hooks_by_filename[filename] = generic_env_hooks[-1]
+                elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext):
+                    # remove previous env hook with same name if present
+                    if filename in specific_env_hooks_by_filename:
+                        i = specific_env_hooks.index(specific_env_hooks_by_filename[filename])
+                        specific_env_hooks.pop(i)
+                        specific_env_hooks_workspace.pop(i)
+                    # append env hook
+                    specific_env_hooks.append(os.path.join(env_hook_dir, filename))
+                    specific_env_hooks_workspace.append(workspace)
+                    specific_env_hooks_by_filename[filename] = specific_env_hooks[-1]
+    env_hooks = generic_env_hooks + specific_env_hooks
+    env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace
+    count = len(env_hooks)
+    lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count))
+    for i in range(count):
+        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i]))
+        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i]))
+    return lines
+
+
+def _parse_arguments(args=None):
+    parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.')
+    parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context')
+    return parser.parse_known_args(args=args)[0]
+
+
+if __name__ == '__main__':
+    try:
+        try:
+            args = _parse_arguments()
+        except Exception as e:
+            print(e, file=sys.stderr)
+            sys.exit(1)
+
+        # environment at generation time
+        CMAKE_PREFIX_PATH = '/home/mech-user/2015-soft3/20151007/devel;/opt/ros/indigo'.split(';')
+        # prepend current workspace if not already part of CPP
+        base_path = os.path.dirname(__file__)
+        if base_path not in CMAKE_PREFIX_PATH:
+            CMAKE_PREFIX_PATH.insert(0, base_path)
+        CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH)
+
+        environ = dict(os.environ)
+        lines = []
+        if not args.extend:
+            lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS)
+        lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH)
+        lines += find_env_hooks(environ, CMAKE_PREFIX_PATH)
+        print('\n'.join(lines))
+
+        # need to explicitly flush the output
+        sys.stdout.flush()
+    except IOError as e:
+        # and catch potantial "broken pipe" if stdout is not writable
+        # which can happen when piping the output to a file but the disk is full
+        if e.errno == errno.EPIPE:
+            print(e, file=sys.stderr)
+            sys.exit(2)
+        raise
+
+    sys.exit(0)
diff --git a/20150930/src/beginner_tutorials/devel/env.sh b/20150930/src/beginner_tutorials/devel/env.sh
new file mode 100755
index 00000000..8aa9d244
--- /dev/null
+++ b/20150930/src/beginner_tutorials/devel/env.sh
@@ -0,0 +1,16 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/templates/env.sh.in
+
+if [ $# -eq 0 ] ; then
+  /bin/echo "Usage: env.sh COMMANDS"
+  /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually."
+  exit 1
+fi
+
+# ensure to not use different shell type which was set before
+CATKIN_SHELL=sh
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh"
+exec "$@"
diff --git a/20150930/src/beginner_tutorials/devel/etc/catkin/profile.d/05.catkin-test-results.sh b/20150930/src/beginner_tutorials/devel/etc/catkin/profile.d/05.catkin-test-results.sh
new file mode 100644
index 00000000..b880553c
--- /dev/null
+++ b/20150930/src/beginner_tutorials/devel/etc/catkin/profile.d/05.catkin-test-results.sh
@@ -0,0 +1,4 @@
+# generated from catkin/cmake/env-hooks/05.catkin-test-results.sh.develspace.in
+
+export CATKIN_TEST_RESULTS_DIR="/home/mech-user/2015-soft3/20150930/src/beginner_tutorials/build/test_results"
+export ROS_TEST_RESULTS_DIR="$CATKIN_TEST_RESULTS_DIR"
diff --git a/20150930/src/beginner_tutorials/devel/etc/catkin/profile.d/05.catkin_make.bash b/20150930/src/beginner_tutorials/devel/etc/catkin/profile.d/05.catkin_make.bash
new file mode 100644
index 00000000..621d668a
--- /dev/null
+++ b/20150930/src/beginner_tutorials/devel/etc/catkin/profile.d/05.catkin_make.bash
@@ -0,0 +1,67 @@
+function _catkin_make()
+{
+    local cur prev
+    cur=${COMP_WORDS[COMP_CWORD]}
+    prev=${COMP_WORDS[COMP_CWORD-1]}
+
+    # autocomplete path arguments for -C, --directory, --source, --build
+    case $prev in
+        -C|--directory|--source|--build)
+            _filedir -d
+            return 0
+            ;;
+    esac
+
+    if [[ "$cur" == -DCMAKE_BUILD_TYPE=* ]]; then
+        # autocomplete CMake argument CMAKE_BUILD_TYPE with its options
+        COMPREPLY=( $( compgen -P "-DCMAKE_BUILD_TYPE=" -W "None Debug Release RelWithDebInfo MinSizeRel" -- "${cur:19}" ) )
+    elif [[ "$cur" == -DCATKIN_ENABLE_TESTING=* ]]; then
+        # autocomplete catkin argument CATKIN_ENABLE_TESTING with its options
+        COMPREPLY=( $( compgen -P "-DCATKIN_ENABLE_TESTING=" -W "0 1" -- "${cur:24}" ) )
+    elif [[ "$cur" == -DCATKIN_DEVEL_PREFIX=* || "$cur" == -DCMAKE_INSTALL_PREFIX=* ]]; then
+        COMPREPLY=()
+    elif [[ "$cur" == -* ]]; then
+        local opts="$( _parse_help "$1" )"
+        [[ $opts ]] || opts="$( _parse_usage "$1" )"
+        if [[ "$cur" == -* ]]; then
+            # suggest some common CMake arguments
+            opts="$opts -DCATKIN_DEVEL_PREFIX= -DCATKIN_ENABLE_TESTING= -DCMAKE_INSTALL_PREFIX= -DCMAKE_BUILD_TYPE="
+        fi
+        COMPREPLY=( $( compgen -W "$opts" -- "$cur" ) )
+        [[ $COMPREPLY == *= ]] && compopt -o nospace
+    else
+        # check if custom workspace root has been specified on the command line
+        local workspace_dir="."
+        for (( i=0; i < ${#COMP_WORDS[@]}; i++ )); do
+            if [[ ${COMP_WORDS[i]} == -C || ${COMP_WORDS[i]} == --directory ]]; then
+                # eval to expand tilde
+                eval workspace_dir=${COMP_WORDS[i+1]}
+            fi
+        done
+        # check if custom build folder has been specified on the command line
+        local build_dir="build"
+        for (( i=0; i < ${#COMP_WORDS[@]}; i++ )); do
+            if [[ ${COMP_WORDS[i]} == --build ]]; then
+                # eval to expand tilde
+                eval build_dir=${COMP_WORDS[i+1]}
+            fi
+        done
+
+        # determine location of Makefile
+        local makefile_dir
+        if [[ "$build_dir" = /* ]]; then
+            makefile_dir="$build_dir"
+        else
+            makefile_dir="$workspace_dir/$build_dir"
+        fi
+        COMPREPLY=()
+        if [ -f "$makefile_dir/Makefile" ]; then
+            cur=${COMP_WORDS[COMP_CWORD]}
+            COMPREPLY=( $( compgen -W "`make -C $makefile_dir -qp 2>/dev/null | awk -F':' '/^[a-zA-Z0-9][a-zA-Z0-9_\.]*:/ { print $1 }'`" -- $cur ))
+        elif [ -f "$makefile_dir/build.ninja" ]; then
+            cur=${COMP_WORDS[COMP_CWORD]}
+            COMPREPLY=( $( compgen -W "`ninja -C $makefile_dir -t targets 2>/dev/null | awk -F':' '/^[a-zA-Z0-9][a-zA-Z0-9_\.]*:/ { print $1 }'`" -- $cur ))
+        fi
+    fi
+} &&
+complete -F _catkin_make catkin_make
diff --git a/20150930/src/beginner_tutorials/devel/etc/catkin/profile.d/05.catkin_make_isolated.bash b/20150930/src/beginner_tutorials/devel/etc/catkin/profile.d/05.catkin_make_isolated.bash
new file mode 100644
index 00000000..99e5d301
--- /dev/null
+++ b/20150930/src/beginner_tutorials/devel/etc/catkin/profile.d/05.catkin_make_isolated.bash
@@ -0,0 +1,65 @@
+function _catkin_make_isolated()
+{
+    local cur prev
+    cur=${COMP_WORDS[COMP_CWORD]}
+    prev=${COMP_WORDS[COMP_CWORD-1]}
+
+    # autocomplete path arguments for -C, --directory, --source, --build, --devel, --install
+    case $prev in
+        -C|--directory|--source|--build|--devel|--install)
+            _filedir -d
+            return 0
+            ;;
+    esac
+
+    if [[ "$cur" == -DCMAKE_BUILD_TYPE=* ]]; then
+        # autocomplete CMake argument CMAKE_BUILD_TYPE with its options
+        COMPREPLY=( $( compgen -P "-DCMAKE_BUILD_TYPE=" -W "None Debug Release RelWithDebInfo MinSizeRel" -- "${cur:19}" ) )
+    elif [[ "$cur" == -DCATKIN_ENABLE_TESTING=* ]]; then
+        # autocomplete catkin argument CATKIN_ENABLE_TESTING with its options
+        COMPREPLY=( $( compgen -P "-DCATKIN_ENABLE_TESTING=" -W "0 1" -- "${cur:24}" ) )
+    elif [[ "$cur" == -* ]]; then
+        local opts="$( _parse_help "$1" )"
+        [[ $opts ]] || opts="$( _parse_usage "$1" )"
+        if [[ "$cur" == -* ]]; then
+            # suggest some common CMake arguments
+            opts="$opts -DCATKIN_ENABLE_TESTING= -DCMAKE_BUILD_TYPE="
+        fi
+        COMPREPLY=( $( compgen -W "$opts" -- "$cur" ) )
+        [[ $COMPREPLY == *= ]] && compopt -o nospace
+    else
+        # check if custom workspace root has been specified on the command line
+        local workspace_dir="."
+        for (( i=0; i < ${#COMP_WORDS[@]}; i++ )); do
+            if [[ ${COMP_WORDS[i]} == -C || ${COMP_WORDS[i]} == --directory ]]; then
+                # eval to expand tilde
+                eval workspace_dir=${COMP_WORDS[i+1]}
+            fi
+        done
+        # check if custom build folder has been specified on the command line
+        local build_dir="build_isolated"
+        for (( i=0; i < ${#COMP_WORDS[@]}; i++ )); do
+            if [[ ${COMP_WORDS[i]} == --build ]]; then
+                # eval to expand tilde
+                eval build_dir=${COMP_WORDS[i+1]}
+            fi
+        done
+
+        # determine location of Makefile
+        local makefile_dir
+        if [[ "$build_dir" = /* ]]; then
+            makefile_dir="$build_dir"
+        else
+            makefile_dir="$workspace_dir/$build_dir"
+        fi
+        COMPREPLY=()
+        if [ -f "$makefile_dir/Makefile" ]; then
+            cur=${COMP_WORDS[COMP_CWORD]}
+            COMPREPLY=( $( compgen -W "`make -C $makefile_dir -qp 2>/dev/null | awk -F':' '/^[a-zA-Z0-9][a-zA-Z0-9_\.]*:/ { print $1 }'`" -- $cur ))
+        elif [ -f "$makefile_dir/build.ninja" ]; then
+            cur=${COMP_WORDS[COMP_CWORD]}
+            COMPREPLY=( $( compgen -W "`ninja -C $makefile_dir -t targets 2>/dev/null | awk -F':' '/^[a-zA-Z0-9][a-zA-Z0-9_\.]*:/ { print $1 }'`" -- $cur ))
+        fi
+    fi
+} &&
+complete -F _catkin_make_isolated catkin_make_isolated
diff --git a/20150930/src/beginner_tutorials/devel/setup.bash b/20150930/src/beginner_tutorials/devel/setup.bash
new file mode 100644
index 00000000..ff47af8f
--- /dev/null
+++ b/20150930/src/beginner_tutorials/devel/setup.bash
@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+# generated from catkin/cmake/templates/setup.bash.in
+
+CATKIN_SHELL=bash
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh"
diff --git a/20150930/src/beginner_tutorials/devel/setup.sh b/20150930/src/beginner_tutorials/devel/setup.sh
new file mode 100644
index 00000000..b156f819
--- /dev/null
+++ b/20150930/src/beginner_tutorials/devel/setup.sh
@@ -0,0 +1,87 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/template/setup.sh.in
+
+# Sets various environment variables and sources additional environment hooks.
+# It tries it's best to undo changes from a previously sourced setup file before.
+# Supported command line options:
+# --extend: skips the undoing of changes from a previously sourced setup file
+
+# since this file is sourced either use the provided _CATKIN_SETUP_DIR
+# or fall back to the destination set at configure time
+: ${_CATKIN_SETUP_DIR:=/home/mech-user/2015-soft3/20150930/src/beginner_tutorials/devel}
+_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py"
+unset _CATKIN_SETUP_DIR
+
+if [ ! -f "$_SETUP_UTIL" ]; then
+  echo "Missing Python script: $_SETUP_UTIL"
+  return 22
+fi
+
+# detect if running on Darwin platform
+_UNAME=`uname -s`
+_IS_DARWIN=0
+if [ "$_UNAME" = "Darwin" ]; then
+  _IS_DARWIN=1
+fi
+unset _UNAME
+
+# make sure to export all environment variables
+export CMAKE_PREFIX_PATH
+export CPATH
+if [ $_IS_DARWIN -eq 0 ]; then
+  export LD_LIBRARY_PATH
+else
+  export DYLD_LIBRARY_PATH
+fi
+unset _IS_DARWIN
+export PATH
+export PKG_CONFIG_PATH
+export PYTHONPATH
+
+# remember type of shell if not already set
+if [ -z "$CATKIN_SHELL" ]; then
+  CATKIN_SHELL=sh
+fi
+
+# invoke Python script to generate necessary exports of environment variables
+_SETUP_TMP=`mktemp /tmp/setup.sh.XXXXXXXXXX`
+if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then
+  echo "Could not create temporary file: $_SETUP_TMP"
+  return 1
+fi
+CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ > $_SETUP_TMP
+_RC=$?
+if [ $_RC -ne 0 ]; then
+  if [ $_RC -eq 2 ]; then
+    echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?"
+  else
+    echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC"
+  fi
+  unset _RC
+  unset _SETUP_UTIL
+  rm -f $_SETUP_TMP
+  unset _SETUP_TMP
+  return 1
+fi
+unset _RC
+unset _SETUP_UTIL
+. $_SETUP_TMP
+rm -f $_SETUP_TMP
+unset _SETUP_TMP
+
+# source all environment hooks
+_i=0
+while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do
+  eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i
+  unset _CATKIN_ENVIRONMENT_HOOKS_$_i
+  eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
+  unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
+  # set workspace for environment hook
+  CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace
+  . "$_envfile"
+  unset CATKIN_ENV_HOOK_WORKSPACE
+  _i=$((_i + 1))
+done
+unset _i
+
+unset _CATKIN_ENVIRONMENT_HOOKS_COUNT
diff --git a/20150930/src/beginner_tutorials/devel/setup.zsh b/20150930/src/beginner_tutorials/devel/setup.zsh
new file mode 100644
index 00000000..952f72a4
--- /dev/null
+++ b/20150930/src/beginner_tutorials/devel/setup.zsh
@@ -0,0 +1,8 @@
+#!/usr/bin/env zsh
+# generated from catkin/cmake/templates/setup.zsh.in
+
+CATKIN_SHELL=zsh
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
+source "$_CATKIN_SETUP_DIR/setup.sh"
diff --git a/20150930/src/beginner_tutorials/msg/Hello2.msg b/20150930/src/beginner_tutorials/msg/Hello2.msg
new file mode 100644
index 00000000..86dcb95d
--- /dev/null
+++ b/20150930/src/beginner_tutorials/msg/Hello2.msg
@@ -0,0 +1,3 @@
+Header header
+string hello2
+geometry_msgs/Vector3 pos
diff --git a/20150930/src/beginner_tutorials/msg/Hello2.msg~ b/20150930/src/beginner_tutorials/msg/Hello2.msg~
new file mode 100644
index 00000000..c7f9e7ef
--- /dev/null
+++ b/20150930/src/beginner_tutorials/msg/Hello2.msg~
@@ -0,0 +1,3 @@
+Header header
+string hello2
+geometry_msgs/Vector3 pos
\ No newline at end of file
diff --git a/20150930/src/beginner_tutorials/msg/Hello3.msg b/20150930/src/beginner_tutorials/msg/Hello3.msg
new file mode 100644
index 00000000..5af099f4
--- /dev/null
+++ b/20150930/src/beginner_tutorials/msg/Hello3.msg
@@ -0,0 +1,3 @@
+Header header
+string hello3
+geometry_msgs/Vector3 pos
diff --git a/20150930/src/beginner_tutorials/scripts/listener.py b/20150930/src/beginner_tutorials/scripts/listener.py
new file mode 100644
index 00000000..2e350bf5
--- /dev/null
+++ b/20150930/src/beginner_tutorials/scripts/listener.py
@@ -0,0 +1,14 @@
+#!/usr/bin/env python 
+import rospy
+from std_msgs.msg import String
+
+def callback(data):
+    rospy.loginfo(rospy.get_name() + ": I heard %s" % data.data)
+
+def listener():
+    rospy.init_node('listener',anonymous=True)
+    rospy.Subscriber("chatter",Strring, callback)
+    rospy.spin()
+
+if __name__ == '__main__':
+    listener()
diff --git a/20150930/src/beginner_tutorials/src/#talker2.py# b/20150930/src/beginner_tutorials/src/#talker2.py#
new file mode 100644
index 00000000..c06f0019
--- /dev/null
+++ b/20150930/src/beginner_tutorials/src/#talker2.py#
@@ -0,0 +1,8 @@
+#!/usr/bin/env python
+import roslib
+import rospy
+from std_msgs.msg import Hello
+
+def talker2():
+    pub = rospy.Publisher('chatter2',Hello)
+    rospy.ini
\ No newline at end of file
diff --git a/20150930/src/beginner_tutorials/src/CMakeLists.txt b/20150930/src/beginner_tutorials/src/CMakeLists.txt
new file mode 120000
index 00000000..3703df4e
--- /dev/null
+++ b/20150930/src/beginner_tutorials/src/CMakeLists.txt
@@ -0,0 +1 @@
+/opt/ros/indigo/share/catkin/cmake/toplevel.cmake
\ No newline at end of file
diff --git a/20151007/.catkin_tools/README b/20151007/.catkin_tools/README
new file mode 100644
index 00000000..79b274b4
--- /dev/null
+++ b/20151007/.catkin_tools/README
@@ -0,0 +1,13 @@
+# Catkin Tools Metadata
+
+This directory was generated by catkin_tools and it contains persistent
+configuration information used by the `catkin` command and its sub-commands.
+
+Each subdirectory contains a set of persistent configuration options for
+separate "profiles." The default profile is called `default`. If another
+profile is desired, it can be described in the `profiles.yaml` file in this
+directory.
+
+Please see the catkin_tools documentation before editing any files in this
+directory. Most actions can be performed with the `catkin` command-line
+program.
diff --git a/20151007/.catkin_tools/default/build.yaml b/20151007/.catkin_tools/default/build.yaml
new file mode 100644
index 00000000..32b5dedd
--- /dev/null
+++ b/20151007/.catkin_tools/default/build.yaml
@@ -0,0 +1,14 @@
+blacklist: []
+build_space: build
+catkin_make_args: []
+cmake_args: []
+devel_space: devel
+extend_path: null
+install: false
+install_space: install
+isolate_devel: false
+isolate_install: false
+make_args: []
+source_space: src
+use_internal_make_jobserver: true
+whitelist: []
diff --git a/20151007/.catkin_workspace b/20151007/.catkin_workspace
new file mode 100644
index 00000000..52fd97e7
--- /dev/null
+++ b/20151007/.catkin_workspace
@@ -0,0 +1 @@
+# This file currently only serves to mark the location of a catkin workspace for tool integration
diff --git a/20151007/README.md~ b/20151007/README.md~
new file mode 100644
index 00000000..8c033368
--- /dev/null
+++ b/20151007/README.md~
@@ -0,0 +1,19 @@
+##20151007宿題
+
+1-1)
+
+1-2)
+
+1-3)
+
+1-4)
+
+2)
+
+3)
+
+4)
+
+5)
+
+6)
\ No newline at end of file
diff --git a/20151007/build/.catkin_tools.yaml b/20151007/build/.catkin_tools.yaml
new file mode 100644
index 00000000..01e711dc
--- /dev/null
+++ b/20151007/build/.catkin_tools.yaml
@@ -0,0 +1,6 @@
+devel_space: /home/mech-user/2015-soft3/20151007/devel
+install: false
+install_space: /home/mech-user/2015-soft3/20151007/install
+profile: default
+source_space: /home/mech-user/2015-soft3/20151007/src
+workspace: /home/mech-user/2015-soft3/20151007
diff --git a/20151007/build/beginner_tutorials/CATKIN_IGNORE b/20151007/build/beginner_tutorials/CATKIN_IGNORE
new file mode 100644
index 00000000..e69de29b
diff --git a/20151007/build/beginner_tutorials/CMakeCache.txt b/20151007/build/beginner_tutorials/CMakeCache.txt
new file mode 100644
index 00000000..92b9b420
--- /dev/null
+++ b/20151007/build/beginner_tutorials/CMakeCache.txt
@@ -0,0 +1,510 @@
+# This is the CMakeCache file.
+# For build in directory: /home/mech-user/2015-soft3/20151007/build/beginner_tutorials
+# It was generated by CMake: /usr/bin/cmake
+# You can edit this file to change values found and used by cmake.
+# If you do not want to change any of the values, simply exit the editor.
+# If you do want to change a value, simply edit, save, and exit the editor.
+# The syntax for the file is as follows:
+# KEY:TYPE=VALUE
+# KEY is the name of a variable in the cache.
+# TYPE is a hint to GUIs for the type of VALUE, DO NOT EDIT TYPE!.
+# VALUE is the current value for the KEY.
+
+########################
+# EXTERNAL cache entries
+########################
+
+//Build shared libraries (DLLs).
+BUILD_SHARED_LIBS:BOOL=ON
+
+//catkin devel space
+CATKIN_DEVEL_PREFIX:PATH=/home/mech-user/2015-soft3/20151007/devel
+
+//Catkin enable testing
+CATKIN_ENABLE_TESTING:BOOL=ON
+
+//Prefix to apply to package generated via gendebian
+CATKIN_PACKAGE_PREFIX:STRING=
+
+//Catkin skip testing
+CATKIN_SKIP_TESTING:BOOL=OFF
+
+//Path to a program.
+CMAKE_AR:FILEPATH=/usr/bin/ar
+
+//Choose the type of build, options are: None(CMAKE_CXX_FLAGS or
+// CMAKE_C_FLAGS used) Debug Release RelWithDebInfo MinSizeRel.
+CMAKE_BUILD_TYPE:STRING=
+
+//Enable/Disable color output during build.
+CMAKE_COLOR_MAKEFILE:BOOL=ON
+
+//CXX compiler.
+CMAKE_CXX_COMPILER:FILEPATH=/usr/bin/c++
+
+//Flags used by the compiler during all build types.
+CMAKE_CXX_FLAGS:STRING=
+
+//Flags used by the compiler during debug builds.
+CMAKE_CXX_FLAGS_DEBUG:STRING=-g
+
+//Flags used by the compiler during release minsize builds.
+CMAKE_CXX_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG
+
+//Flags used by the compiler during release builds (/MD /Ob1 /Oi
+// /Ot /Oy /Gs will produce slightly less optimized but smaller
+// files).
+CMAKE_CXX_FLAGS_RELEASE:STRING=-O3 -DNDEBUG
+
+//Flags used by the compiler during Release with Debug Info builds.
+CMAKE_CXX_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG
+
+//C compiler.
+CMAKE_C_COMPILER:FILEPATH=/usr/bin/cc
+
+//Flags used by the compiler during all build types.
+CMAKE_C_FLAGS:STRING=
+
+//Flags used by the compiler during debug builds.
+CMAKE_C_FLAGS_DEBUG:STRING=-g
+
+//Flags used by the compiler during release minsize builds.
+CMAKE_C_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG
+
+//Flags used by the compiler during release builds (/MD /Ob1 /Oi
+// /Ot /Oy /Gs will produce slightly less optimized but smaller
+// files).
+CMAKE_C_FLAGS_RELEASE:STRING=-O3 -DNDEBUG
+
+//Flags used by the compiler during Release with Debug Info builds.
+CMAKE_C_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG
+
+//Flags used by the linker.
+CMAKE_EXE_LINKER_FLAGS:STRING=' '
+
+//Flags used by the linker during debug builds.
+CMAKE_EXE_LINKER_FLAGS_DEBUG:STRING=
+
+//Flags used by the linker during release minsize builds.
+CMAKE_EXE_LINKER_FLAGS_MINSIZEREL:STRING=
+
+//Flags used by the linker during release builds.
+CMAKE_EXE_LINKER_FLAGS_RELEASE:STRING=
+
+//Flags used by the linker during Release with Debug Info builds.
+CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO:STRING=
+
+//Enable/Disable output of compile commands during generation.
+CMAKE_EXPORT_COMPILE_COMMANDS:BOOL=OFF
+
+//Install path prefix, prepended onto install directories.
+CMAKE_INSTALL_PREFIX:PATH=/home/mech-user/2015-soft3/20151007/install
+
+//Path to a program.
+CMAKE_LINKER:FILEPATH=/usr/bin/ld
+
+//Path to a program.
+CMAKE_MAKE_PROGRAM:FILEPATH=/usr/bin/make
+
+//Flags used by the linker during the creation of modules.
+CMAKE_MODULE_LINKER_FLAGS:STRING=' '
+
+//Flags used by the linker during debug builds.
+CMAKE_MODULE_LINKER_FLAGS_DEBUG:STRING=
+
+//Flags used by the linker during release minsize builds.
+CMAKE_MODULE_LINKER_FLAGS_MINSIZEREL:STRING=
+
+//Flags used by the linker during release builds.
+CMAKE_MODULE_LINKER_FLAGS_RELEASE:STRING=
+
+//Flags used by the linker during Release with Debug Info builds.
+CMAKE_MODULE_LINKER_FLAGS_RELWITHDEBINFO:STRING=
+
+//Path to a program.
+CMAKE_NM:FILEPATH=/usr/bin/nm
+
+//Path to a program.
+CMAKE_OBJCOPY:FILEPATH=/usr/bin/objcopy
+
+//Path to a program.
+CMAKE_OBJDUMP:FILEPATH=/usr/bin/objdump
+
+//Value Computed by CMake
+CMAKE_PROJECT_NAME:STATIC=beginner_tutorials
+
+//Path to a program.
+CMAKE_RANLIB:FILEPATH=/usr/bin/ranlib
+
+//Flags used by the linker during the creation of dll's.
+CMAKE_SHARED_LINKER_FLAGS:STRING=' '
+
+//Flags used by the linker during debug builds.
+CMAKE_SHARED_LINKER_FLAGS_DEBUG:STRING=
+
+//Flags used by the linker during release minsize builds.
+CMAKE_SHARED_LINKER_FLAGS_MINSIZEREL:STRING=
+
+//Flags used by the linker during release builds.
+CMAKE_SHARED_LINKER_FLAGS_RELEASE:STRING=
+
+//Flags used by the linker during Release with Debug Info builds.
+CMAKE_SHARED_LINKER_FLAGS_RELWITHDEBINFO:STRING=
+
+//If set, runtime paths are not added when installing shared libraries,
+// but are added when building.
+CMAKE_SKIP_INSTALL_RPATH:BOOL=NO
+
+//If set, runtime paths are not added when using shared libraries.
+CMAKE_SKIP_RPATH:BOOL=NO
+
+//Flags used by the linker during the creation of static libraries.
+CMAKE_STATIC_LINKER_FLAGS:STRING=
+
+//Flags used by the linker during debug builds.
+CMAKE_STATIC_LINKER_FLAGS_DEBUG:STRING=
+
+//Flags used by the linker during release minsize builds.
+CMAKE_STATIC_LINKER_FLAGS_MINSIZEREL:STRING=
+
+//Flags used by the linker during release builds.
+CMAKE_STATIC_LINKER_FLAGS_RELEASE:STRING=
+
+//Flags used by the linker during Release with Debug Info builds.
+CMAKE_STATIC_LINKER_FLAGS_RELWITHDEBINFO:STRING=
+
+//Path to a program.
+CMAKE_STRIP:FILEPATH=/usr/bin/strip
+
+//If true, cmake will use relative paths in makefiles and projects.
+CMAKE_USE_RELATIVE_PATHS:BOOL=OFF
+
+//If this value is on, makefiles will be generated without the
+// .SILENT directive, and all commands will be echoed to the console
+// during the make.  This is useful for debugging only. With Visual
+// Studio IDE projects all commands are done without /nologo.
+CMAKE_VERBOSE_MAKEFILE:BOOL=FALSE
+
+//Path to a program.
+DOXYGEN_EXECUTABLE:FILEPATH=/usr/bin/doxygen
+
+//Doxygen found
+DOXYGEN_FOUND:BOOL=TRUE
+
+//Path to a program.
+EMPY_EXECUTABLE:FILEPATH=/usr/bin/empy
+
+//Empy script
+EMPY_SCRIPT:STRING=/usr/bin/empy
+
+//Path to a file.
+GTEST_INCLUDE_DIR:PATH=/usr/include
+
+//Path to a library.
+GTEST_LIBRARY:FILEPATH=GTEST_LIBRARY-NOTFOUND
+
+//Path to a library.
+GTEST_LIBRARY_DEBUG:FILEPATH=GTEST_LIBRARY_DEBUG-NOTFOUND
+
+//Path to a library.
+GTEST_MAIN_LIBRARY:FILEPATH=GTEST_MAIN_LIBRARY-NOTFOUND
+
+//Path to a library.
+GTEST_MAIN_LIBRARY_DEBUG:FILEPATH=GTEST_MAIN_LIBRARY_DEBUG-NOTFOUND
+
+//lsb_release executable was found
+LSB_FOUND:BOOL=TRUE
+
+//Path to a program.
+LSB_RELEASE_EXECUTABLE:FILEPATH=/usr/bin/lsb_release
+
+//Path to a program.
+NOSETESTS:FILEPATH=/usr/bin/nosetests-2.7
+
+//Path to a program.
+PYTHON_EXECUTABLE:FILEPATH=/usr/bin/python
+
+//Specify specific Python version to use ('major.minor' or 'major')
+PYTHON_VERSION:STRING=
+
+//Path to a library.
+RT_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/librt.so
+
+//Enable debian style python package layout
+SETUPTOOLS_DEB_LAYOUT:BOOL=ON
+
+//LSB Distrib tag
+UBUNTU:BOOL=TRUE
+
+//LSB Distrib - codename tag
+UBUNTU_TRUSTY:BOOL=TRUE
+
+//Path to a file.
+_CATKIN_GTEST_INCLUDE:FILEPATH=/usr/include/gtest/gtest.h
+
+//Path to a file.
+_CATKIN_GTEST_SRC:FILEPATH=/usr/src/gtest/src/gtest.cc
+
+//The directory containing a CMake configuration file for actionlib.
+actionlib_DIR:PATH=/opt/ros/indigo/share/actionlib/cmake
+
+//The directory containing a CMake configuration file for actionlib_msgs.
+actionlib_msgs_DIR:PATH=/opt/ros/indigo/share/actionlib_msgs/cmake
+
+//Value Computed by CMake
+beginner_tutorials_BINARY_DIR:STATIC=/home/mech-user/2015-soft3/20151007/build/beginner_tutorials
+
+//Value Computed by CMake
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+# define COMPILER_ID "Watcom"
+  /* __WATCOMC__ = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100)
+# define COMPILER_VERSION_MINOR DEC(__WATCOMC__ % 100)
+
+#elif defined(__SUNPRO_C)
+# define COMPILER_ID "SunPro"
+# if __SUNPRO_C >= 0x5100
+   /* __SUNPRO_C = 0xVRRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>12)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xFF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_C    & 0xF)
+# else
+   /* __SUNPRO_C = 0xVRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>8)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_C    & 0xF)
+# endif
+
+#elif defined(__HP_cc)
+# define COMPILER_ID "HP"
+  /* __HP_cc = VVRRPP */
+# define COMPILER_VERSION_MAJOR DEC(__HP_cc/10000)
+# define COMPILER_VERSION_MINOR DEC(__HP_cc/100 % 100)
+# define COMPILER_VERSION_PATCH DEC(__HP_cc     % 100)
+
+#elif defined(__DECC)
+# define COMPILER_ID "Compaq"
+  /* __DECC_VER = VVRRTPPPP */
+# define COMPILER_VERSION_MAJOR DEC(__DECC_VER/10000000)
+# define COMPILER_VERSION_MINOR DEC(__DECC_VER/100000  % 100)
+# define COMPILER_VERSION_PATCH DEC(__DECC_VER         % 10000)
+
+#elif defined(__IBMC__)
+# if defined(__COMPILER_VER__)
+#  define COMPILER_ID "zOS"
+# else
+#  if __IBMC__ >= 800
+#   define COMPILER_ID "XL"
+#  else
+#   define COMPILER_ID "VisualAge"
+#  endif
+   /* __IBMC__ = VRP */
+#  define COMPILER_VERSION_MAJOR DEC(__IBMC__/100)
+#  define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10)
+#  define COMPILER_VERSION_PATCH DEC(__IBMC__    % 10)
+# endif
+
+#elif defined(__PGI)
+# define COMPILER_ID "PGI"
+# define COMPILER_VERSION_MAJOR DEC(__PGIC__)
+# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__)
+# if defined(__PGIC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__)
+# endif
+
+#elif defined(_CRAYC)
+# define COMPILER_ID "Cray"
+# define COMPILER_VERSION_MAJOR DEC(_RELEASE)
+# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR)
+
+#elif defined(__TI_COMPILER_VERSION__)
+# define COMPILER_ID "TI"
+  /* __TI_COMPILER_VERSION__ = VVVRRRPPP */
+# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000)
+# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000   % 1000)
+# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__        % 1000)
+
+#elif defined(__TINYC__)
+# define COMPILER_ID "TinyCC"
+
+#elif defined(__SCO_VERSION__)
+# define COMPILER_ID "SCO"
+
+#elif defined(__GNUC__)
+# define COMPILER_ID "GNU"
+# define COMPILER_VERSION_MAJOR DEC(__GNUC__)
+# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
+# if defined(__GNUC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(_MSC_VER)
+# define COMPILER_ID "MSVC"
+  /* _MSC_VER = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
+# if defined(_MSC_FULL_VER)
+#  if _MSC_VER >= 1400
+    /* _MSC_FULL_VER = VVRRPPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
+#  else
+    /* _MSC_FULL_VER = VVRRPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
+#  endif
+# endif
+# if defined(_MSC_BUILD)
+#  define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
+# endif
+
+/* Analog VisualDSP++ >= 4.5.6 */
+#elif defined(__VISUALDSPVERSION__)
+# define COMPILER_ID "ADSP"
+  /* __VISUALDSPVERSION__ = 0xVVRRPP00 */
+# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24)
+# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF)
+# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8  & 0xFF)
+
+/* Analog VisualDSP++ < 4.5.6 */
+#elif defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__)
+# define COMPILER_ID "ADSP"
+
+/* IAR Systems compiler for embedded systems.
+   http://www.iar.com */
+#elif defined(__IAR_SYSTEMS_ICC__ ) || defined(__IAR_SYSTEMS_ICC)
+# define COMPILER_ID "IAR"
+
+/* sdcc, the small devices C compiler for embedded systems,
+   http://sdcc.sourceforge.net  */
+#elif defined(SDCC)
+# define COMPILER_ID "SDCC"
+  /* SDCC = VRP */
+#  define COMPILER_VERSION_MAJOR DEC(SDCC/100)
+#  define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10)
+#  define COMPILER_VERSION_PATCH DEC(SDCC    % 10)
+
+#elif defined(_SGI_COMPILER_VERSION) || defined(_COMPILER_VERSION)
+# define COMPILER_ID "MIPSpro"
+# if defined(_SGI_COMPILER_VERSION)
+  /* _SGI_COMPILER_VERSION = VRP */
+#  define COMPILER_VERSION_MAJOR DEC(_SGI_COMPILER_VERSION/100)
+#  define COMPILER_VERSION_MINOR DEC(_SGI_COMPILER_VERSION/10 % 10)
+#  define COMPILER_VERSION_PATCH DEC(_SGI_COMPILER_VERSION    % 10)
+# else
+  /* _COMPILER_VERSION = VRP */
+#  define COMPILER_VERSION_MAJOR DEC(_COMPILER_VERSION/100)
+#  define COMPILER_VERSION_MINOR DEC(_COMPILER_VERSION/10 % 10)
+#  define COMPILER_VERSION_PATCH DEC(_COMPILER_VERSION    % 10)
+# endif
+
+/* This compiler is either not known or is too old to define an
+   identification macro.  Try to identify the platform and guess that
+   it is the native compiler.  */
+#elif defined(__sgi)
+# define COMPILER_ID "MIPSpro"
+
+#elif defined(__hpux) || defined(__hpua)
+# define COMPILER_ID "HP"
+
+#else /* unknown compiler */
+# define COMPILER_ID ""
+
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]";
+
+/* Identify known platforms by name.  */
+#if defined(__linux) || defined(__linux__) || defined(linux)
+# define PLATFORM_ID "Linux"
+
+#elif defined(__CYGWIN__)
+# define PLATFORM_ID "Cygwin"
+
+#elif defined(__MINGW32__)
+# define PLATFORM_ID "MinGW"
+
+#elif defined(__APPLE__)
+# define PLATFORM_ID "Darwin"
+
+#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
+# define PLATFORM_ID "Windows"
+
+#elif defined(__FreeBSD__) || defined(__FreeBSD)
+# define PLATFORM_ID "FreeBSD"
+
+#elif defined(__NetBSD__) || defined(__NetBSD)
+# define PLATFORM_ID "NetBSD"
+
+#elif defined(__OpenBSD__) || defined(__OPENBSD)
+# define PLATFORM_ID "OpenBSD"
+
+#elif defined(__sun) || defined(sun)
+# define PLATFORM_ID "SunOS"
+
+#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
+# define PLATFORM_ID "AIX"
+
+#elif defined(__sgi) || defined(__sgi__) || defined(_SGI)
+# define PLATFORM_ID "IRIX"
+
+#elif defined(__hpux) || defined(__hpux__)
+# define PLATFORM_ID "HP-UX"
+
+#elif defined(__HAIKU__)
+# define PLATFORM_ID "Haiku"
+
+#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
+# define PLATFORM_ID "BeOS"
+
+#elif defined(__QNX__) || defined(__QNXNTO__)
+# define PLATFORM_ID "QNX"
+
+#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__)
+# define PLATFORM_ID "Tru64"
+
+#elif defined(__riscos) || defined(__riscos__)
+# define PLATFORM_ID "RISCos"
+
+#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
+# define PLATFORM_ID "SINIX"
+
+#elif defined(__UNIX_SV__)
+# define PLATFORM_ID "UNIX_SV"
+
+#elif defined(__bsdos__)
+# define PLATFORM_ID "BSDOS"
+
+#elif defined(_MPRAS) || defined(MPRAS)
+# define PLATFORM_ID "MP-RAS"
+
+#elif defined(__osf) || defined(__osf__)
+# define PLATFORM_ID "OSF1"
+
+#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
+# define PLATFORM_ID "SCO_SV"
+
+#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
+# define PLATFORM_ID "ULTRIX"
+
+#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
+# define PLATFORM_ID "Xenix"
+
+#else /* unknown platform */
+# define PLATFORM_ID ""
+
+#endif
+
+/* For windows compilers MSVC and Intel we can determine
+   the architecture of the compiler being used.  This is because
+   the compilers do not have flags that can change the architecture,
+   but rather depend on which compiler is being used
+*/
+#if defined(_WIN32) && defined(_MSC_VER)
+# if defined(_M_IA64)
+#  define ARCHITECTURE_ID "IA64"
+
+# elif defined(_M_X64) || defined(_M_AMD64)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# elif defined(_M_ARM)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(_M_MIPS)
+#  define ARCHITECTURE_ID "MIPS"
+
+# elif defined(_M_SH)
+#  define ARCHITECTURE_ID "SHx"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#else
+#  define ARCHITECTURE_ID ""
+#endif
+
+/* Convert integer to decimal digit literals.  */
+#define DEC(n)                   \
+  ('0' + (((n) / 10000000)%10)), \
+  ('0' + (((n) / 1000000)%10)),  \
+  ('0' + (((n) / 100000)%10)),   \
+  ('0' + (((n) / 10000)%10)),    \
+  ('0' + (((n) / 1000)%10)),     \
+  ('0' + (((n) / 100)%10)),      \
+  ('0' + (((n) / 10)%10)),       \
+  ('0' +  ((n) % 10))
+
+/* Convert integer to hex digit literals.  */
+#define HEX(n)             \
+  ('0' + ((n)>>28 & 0xF)), \
+  ('0' + ((n)>>24 & 0xF)), \
+  ('0' + ((n)>>20 & 0xF)), \
+  ('0' + ((n)>>16 & 0xF)), \
+  ('0' + ((n)>>12 & 0xF)), \
+  ('0' + ((n)>>8  & 0xF)), \
+  ('0' + ((n)>>4  & 0xF)), \
+  ('0' + ((n)     & 0xF))
+
+/* Construct a string literal encoding the version number components. */
+#ifdef COMPILER_VERSION_MAJOR
+char const info_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[',
+  COMPILER_VERSION_MAJOR,
+# ifdef COMPILER_VERSION_MINOR
+  '.', COMPILER_VERSION_MINOR,
+#  ifdef COMPILER_VERSION_PATCH
+   '.', COMPILER_VERSION_PATCH,
+#   ifdef COMPILER_VERSION_TWEAK
+    '.', COMPILER_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]";
+char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
+
+
+
+/*--------------------------------------------------------------------------*/
+
+#ifdef ID_VOID_MAIN
+void main() {}
+#else
+int main(int argc, char* argv[])
+{
+  int require = 0;
+  require += info_compiler[argc];
+  require += info_platform[argc];
+  require += info_arch[argc];
+#ifdef COMPILER_VERSION_MAJOR
+  require += info_version[argc];
+#endif
+  (void)argv;
+  return require;
+}
+#endif
diff --git a/20151007/build/beginner_tutorials/CMakeFiles/2.8.12.2/CompilerIdC/a.out b/20151007/build/beginner_tutorials/CMakeFiles/2.8.12.2/CompilerIdC/a.out
new file mode 100755
index 00000000..33a3d2b5
Binary files /dev/null and b/20151007/build/beginner_tutorials/CMakeFiles/2.8.12.2/CompilerIdC/a.out differ
diff --git a/20151007/build/beginner_tutorials/CMakeFiles/2.8.12.2/CompilerIdCXX/CMakeCXXCompilerId.cpp b/20151007/build/beginner_tutorials/CMakeFiles/2.8.12.2/CompilerIdCXX/CMakeCXXCompilerId.cpp
new file mode 100644
index 00000000..e8220b26
--- /dev/null
+++ b/20151007/build/beginner_tutorials/CMakeFiles/2.8.12.2/CompilerIdCXX/CMakeCXXCompilerId.cpp
@@ -0,0 +1,377 @@
+/* This source file must have a .cpp extension so that all C++ compilers
+   recognize the extension without flags.  Borland does not know .cxx for
+   example.  */
+#ifndef __cplusplus
+# error "A C compiler has been selected for C++."
+#endif
+
+/* Version number components: V=Version, R=Revision, P=Patch
+   Version date components:   YYYY=Year, MM=Month,   DD=Day  */
+
+#if defined(__COMO__)
+# define COMPILER_ID "Comeau"
+  /* __COMO_VERSION__ = VRR */
+# define COMPILER_VERSION_MAJOR DEC(__COMO_VERSION__ / 100)
+# define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100)
+
+#elif defined(__INTEL_COMPILER) || defined(__ICC)
+# define COMPILER_ID "Intel"
+  /* __INTEL_COMPILER = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100)
+# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER    % 10)
+# if defined(__INTEL_COMPILER_BUILD_DATE)
+  /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */
+#  define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE)
+# endif
+
+#elif defined(__PATHCC__)
+# define COMPILER_ID "PathScale"
+# define COMPILER_VERSION_MAJOR DEC(__PATHCC__)
+# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__)
+# if defined(__PATHCC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__)
+# endif
+
+#elif defined(__clang__)
+# define COMPILER_ID "Clang"
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+
+#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__)
+# define COMPILER_ID "Embarcadero"
+# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF)
+# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF)
+# define COMPILER_VERSION_PATCH HEX(__CODEGEARC_VERSION__     & 0xFFFF)
+
+#elif defined(__BORLANDC__)
+# define COMPILER_ID "Borland"
+  /* __BORLANDC__ = 0xVRR */
+# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8)
+# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF)
+
+#elif defined(__WATCOMC__)
+# define COMPILER_ID "Watcom"
+  /* __WATCOMC__ = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100)
+# define COMPILER_VERSION_MINOR DEC(__WATCOMC__ % 100)
+
+#elif defined(__SUNPRO_CC)
+# define COMPILER_ID "SunPro"
+# if __SUNPRO_CC >= 0x5100
+   /* __SUNPRO_CC = 0xVRRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC    & 0xF)
+# else
+   /* __SUNPRO_CC = 0xVRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC    & 0xF)
+# endif
+
+#elif defined(__HP_aCC)
+# define COMPILER_ID "HP"
+  /* __HP_aCC = VVRRPP */
+# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000)
+# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100)
+# define COMPILER_VERSION_PATCH DEC(__HP_aCC     % 100)
+
+#elif defined(__DECCXX)
+# define COMPILER_ID "Compaq"
+  /* __DECCXX_VER = VVRRTPPPP */
+# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000)
+# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000  % 100)
+# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER         % 10000)
+
+#elif defined(__IBMCPP__)
+# if defined(__COMPILER_VER__)
+#  define COMPILER_ID "zOS"
+# else
+#  if __IBMCPP__ >= 800
+#   define COMPILER_ID "XL"
+#  else
+#   define COMPILER_ID "VisualAge"
+#  endif
+   /* __IBMCPP__ = VRP */
+#  define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+#  define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+#  define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+# endif
+
+#elif defined(__PGI)
+# define COMPILER_ID "PGI"
+# define COMPILER_VERSION_MAJOR DEC(__PGIC__)
+# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__)
+# if defined(__PGIC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__)
+# endif
+
+#elif defined(_CRAYC)
+# define COMPILER_ID "Cray"
+# define COMPILER_VERSION_MAJOR DEC(_RELEASE)
+# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR)
+
+#elif defined(__TI_COMPILER_VERSION__)
+# define COMPILER_ID "TI"
+  /* __TI_COMPILER_VERSION__ = VVVRRRPPP */
+# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000)
+# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000   % 1000)
+# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__        % 1000)
+
+#elif defined(__SCO_VERSION__)
+# define COMPILER_ID "SCO"
+
+#elif defined(__GNUC__)
+# define COMPILER_ID "GNU"
+# define COMPILER_VERSION_MAJOR DEC(__GNUC__)
+# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
+# if defined(__GNUC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(_MSC_VER)
+# define COMPILER_ID "MSVC"
+  /* _MSC_VER = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
+# if defined(_MSC_FULL_VER)
+#  if _MSC_VER >= 1400
+    /* _MSC_FULL_VER = VVRRPPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
+#  else
+    /* _MSC_FULL_VER = VVRRPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
+#  endif
+# endif
+# if defined(_MSC_BUILD)
+#  define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
+# endif
+
+/* Analog VisualDSP++ >= 4.5.6 */
+#elif defined(__VISUALDSPVERSION__)
+# define COMPILER_ID "ADSP"
+  /* __VISUALDSPVERSION__ = 0xVVRRPP00 */
+# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24)
+# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF)
+# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8  & 0xFF)
+
+/* Analog VisualDSP++ < 4.5.6 */
+#elif defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__)
+# define COMPILER_ID "ADSP"
+
+/* IAR Systems compiler for embedded systems.
+   http://www.iar.com */
+#elif defined(__IAR_SYSTEMS_ICC__ ) || defined(__IAR_SYSTEMS_ICC)
+# define COMPILER_ID "IAR"
+
+#elif defined(_SGI_COMPILER_VERSION) || defined(_COMPILER_VERSION)
+# define COMPILER_ID "MIPSpro"
+# if defined(_SGI_COMPILER_VERSION)
+  /* _SGI_COMPILER_VERSION = VRP */
+#  define COMPILER_VERSION_MAJOR DEC(_SGI_COMPILER_VERSION/100)
+#  define COMPILER_VERSION_MINOR DEC(_SGI_COMPILER_VERSION/10 % 10)
+#  define COMPILER_VERSION_PATCH DEC(_SGI_COMPILER_VERSION    % 10)
+# else
+  /* _COMPILER_VERSION = VRP */
+#  define COMPILER_VERSION_MAJOR DEC(_COMPILER_VERSION/100)
+#  define COMPILER_VERSION_MINOR DEC(_COMPILER_VERSION/10 % 10)
+#  define COMPILER_VERSION_PATCH DEC(_COMPILER_VERSION    % 10)
+# endif
+
+/* This compiler is either not known or is too old to define an
+   identification macro.  Try to identify the platform and guess that
+   it is the native compiler.  */
+#elif defined(__sgi)
+# define COMPILER_ID "MIPSpro"
+
+#elif defined(__hpux) || defined(__hpua)
+# define COMPILER_ID "HP"
+
+#else /* unknown compiler */
+# define COMPILER_ID ""
+
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]";
+
+/* Identify known platforms by name.  */
+#if defined(__linux) || defined(__linux__) || defined(linux)
+# define PLATFORM_ID "Linux"
+
+#elif defined(__CYGWIN__)
+# define PLATFORM_ID "Cygwin"
+
+#elif defined(__MINGW32__)
+# define PLATFORM_ID "MinGW"
+
+#elif defined(__APPLE__)
+# define PLATFORM_ID "Darwin"
+
+#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
+# define PLATFORM_ID "Windows"
+
+#elif defined(__FreeBSD__) || defined(__FreeBSD)
+# define PLATFORM_ID "FreeBSD"
+
+#elif defined(__NetBSD__) || defined(__NetBSD)
+# define PLATFORM_ID "NetBSD"
+
+#elif defined(__OpenBSD__) || defined(__OPENBSD)
+# define PLATFORM_ID "OpenBSD"
+
+#elif defined(__sun) || defined(sun)
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+# define PLATFORM_ID "BSDOS"
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+# define PLATFORM_ID "SCO_SV"
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+# define PLATFORM_ID "ULTRIX"
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+  int require = 0;
+  require += info_compiler[argc];
+  require += info_platform[argc];
+#ifdef COMPILER_VERSION_MAJOR
+  require += info_version[argc];
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+# target to generate assembly for a file
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+# target to build an object file
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+
+# target to build an object file
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+
+# target to preprocess a source file
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+# target to generate assembly for a file
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+	$(MAKE) -f CMakeFiles/talker.dir/build.make CMakeFiles/talker.dir/src/talker.cpp.s
+.PHONY : src/talker.cpp.s
+
+# 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 "... _beginner_tutorials_generate_messages_check_deps_AddTwoInts"
+	@echo "... _beginner_tutorials_generate_messages_check_deps_DoDishesAction"
+	@echo "... _beginner_tutorials_generate_messages_check_deps_DoDishesActionFeedback"
+	@echo "... _beginner_tutorials_generate_messages_check_deps_DoDishesActionGoal"
+	@echo "... _beginner_tutorials_generate_messages_check_deps_DoDishesActionResult"
+	@echo "... _beginner_tutorials_generate_messages_check_deps_DoDishesFeedback"
+	@echo "... _beginner_tutorials_generate_messages_check_deps_DoDishesGoal"
+	@echo "... _beginner_tutorials_generate_messages_check_deps_DoDishesResult"
+	@echo "... actionlib_generate_messages_cpp"
+	@echo "... actionlib_generate_messages_lisp"
+	@echo "... actionlib_generate_messages_py"
+	@echo "... actionlib_msgs_generate_messages_cpp"
+	@echo "... actionlib_msgs_generate_messages_lisp"
+	@echo "... actionlib_msgs_generate_messages_py"
+	@echo "... add_two_ints_client"
+	@echo "... add_two_ints_server"
+	@echo "... beginner_tutorials_gencpp"
+	@echo "... beginner_tutorials_generate_messages"
+	@echo "... beginner_tutorials_generate_messages_cpp"
+	@echo "... beginner_tutorials_generate_messages_lisp"
+	@echo "... beginner_tutorials_generate_messages_py"
+	@echo "... beginner_tutorials_genlisp"
+	@echo "... beginner_tutorials_genpy"
+	@echo "... clean_test_results"
+	@echo "... doxygen"
+	@echo "... edit_cache"
+	@echo "... geometry_msgs_generate_messages_cpp"
+	@echo "... geometry_msgs_generate_messages_lisp"
+	@echo "... geometry_msgs_generate_messages_py"
+	@echo "... install"
+	@echo "... install/local"
+	@echo "... install/strip"
+	@echo "... list_install_components"
+	@echo "... listener"
+	@echo "... rebuild_cache"
+	@echo "... roscpp_generate_messages_cpp"
+	@echo "... roscpp_generate_messages_lisp"
+	@echo "... roscpp_generate_messages_py"
+	@echo "... rosgraph_msgs_generate_messages_cpp"
+	@echo "... rosgraph_msgs_generate_messages_lisp"
+	@echo "... rosgraph_msgs_generate_messages_py"
+	@echo "... run_tests"
+	@echo "... simple_action_client"
+	@echo "... simple_action_server"
+	@echo "... std_msgs_generate_messages_cpp"
+	@echo "... std_msgs_generate_messages_lisp"
+	@echo "... std_msgs_generate_messages_py"
+	@echo "... talker"
+	@echo "... test"
+	@echo "... tests"
+	@echo "... gtest"
+	@echo "... gtest_main"
+	@echo "... src/add_two_ints_client.o"
+	@echo "... src/add_two_ints_client.i"
+	@echo "... src/add_two_ints_client.s"
+	@echo "... src/add_two_ints_server.o"
+	@echo "... src/add_two_ints_server.i"
+	@echo "... src/add_two_ints_server.s"
+	@echo "... src/listener.o"
+	@echo "... src/listener.i"
+	@echo "... src/listener.s"
+	@echo "... src/simple_action_client.o"
+	@echo "... src/simple_action_client.i"
+	@echo "... src/simple_action_client.s"
+	@echo "... src/simple_action_server.o"
+	@echo "... src/simple_action_server.i"
+	@echo "... src/simple_action_server.s"
+	@echo "... src/talker.o"
+	@echo "... src/talker.i"
+	@echo "... src/talker.s"
+.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:
+	$(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
+.PHONY : cmake_check_build_system
+
diff --git a/20151007/build/beginner_tutorials/build_env.sh b/20151007/build/beginner_tutorials/build_env.sh
new file mode 100755
index 00000000..5772fba3
--- /dev/null
+++ b/20151007/build/beginner_tutorials/build_env.sh
@@ -0,0 +1,46 @@
+#!/usr/bin/env sh
+# generated from within catkin_tools/verbs/catkin_build/common.py
+
+if [ $# -eq 0 ] ; then
+  /bin/echo "Usage: build_env.sh COMMANDS"
+  /bin/echo "Calling build_env.sh without arguments is not supported anymore."
+  /bin/echo "Instead spawn a subshell and source a setup file manually."
+  exit 1
+fi
+
+# save original args for later
+_ARGS=
+_ARGI=0
+for arg in "$@"; do
+  # Define placeholder variable
+  eval "_A$_ARGI=\$arg"
+  # Add placeholder variable to arg list
+  _ARGS="$_ARGS \"\$_A$_ARGI\""
+  # Increment arg index
+  _ARGI=`expr $_ARGI + 1`
+
+  #######################
+  ## Uncomment for debug:
+  #_escaped="$(echo "$arg" | sed -e 's@ @ @g')"
+  #echo "$_escaped"
+  #eval "echo '$_ARGI \$_A$_ARGI'"
+  #######################
+done
+
+#######################
+## Uncomment for debug:
+#echo "exec args:"
+#echo "$_ARGS"
+#for arg in $_ARGS; do eval echo $arg; done
+#echo "-----------"
+#####################
+
+# remove all passed in args, resetting $@, $*, $#, $n
+shift $#
+# set the args for the sourced scripts
+set -- $@ "--extend"
+# source setup.sh with implicit --extend argument for each direct build depend in the workspace
+. "/home/mech-user/2015-soft3/20151007/devel/setup.sh"
+
+# execute given args
+eval exec $_ARGS
diff --git a/20151007/build/beginner_tutorials/catkin/catkin_generated/version/package.cmake b/20151007/build/beginner_tutorials/catkin/catkin_generated/version/package.cmake
new file mode 100644
index 00000000..bb4b8f35
--- /dev/null
+++ b/20151007/build/beginner_tutorials/catkin/catkin_generated/version/package.cmake
@@ -0,0 +1,9 @@
+set(_CATKIN_CURRENT_PACKAGE "catkin")
+set(catkin_VERSION "0.6.11")
+set(catkin_BUILD_DEPENDS_python-catkin-pkg_VERSION_GTE "0.2.2")
+set(catkin_BUILD_DEPENDS "python-empy" "python-argparse" "python-catkin-pkg")
+set(catkin_DEPRECATED "")
+set(catkin_RUN_DEPENDS "python-argparse" "python-catkin-pkg" "gtest" "python-empy" "python-nose")
+set(catkin_MAINTAINER "Dirk Thomas <dthomas@osrfoundation.org>")
+set(catkin_BUILDTOOL_DEPENDS "cmake")
+set(catkin_RUN_DEPENDS_python-catkin-pkg_VERSION_GTE "0.2.2")
\ No newline at end of file
diff --git a/20151007/build/beginner_tutorials/catkin_generated/beginner_tutorials-msg-extras.cmake.develspace.in b/20151007/build/beginner_tutorials/catkin_generated/beginner_tutorials-msg-extras.cmake.develspace.in
new file mode 100644
index 00000000..d614f1d1
--- /dev/null
+++ b/20151007/build/beginner_tutorials/catkin_generated/beginner_tutorials-msg-extras.cmake.develspace.in
@@ -0,0 +1,2 @@
+set(beginner_tutorials_MESSAGE_FILES "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesAction.msg;/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionGoal.msg;/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionResult.msg;/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionFeedback.msg;/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesGoal.msg;/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesResult.msg;/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesFeedback.msg")
+set(beginner_tutorials_SERVICE_FILES "/home/mech-user/2015-soft3/20151007/src/beginner_tutorials/srv/AddTwoInts.srv")
diff --git a/20151007/build/beginner_tutorials/catkin_generated/beginner_tutorials-msg-extras.cmake.installspace.in b/20151007/build/beginner_tutorials/catkin_generated/beginner_tutorials-msg-extras.cmake.installspace.in
new file mode 100644
index 00000000..af1f6438
--- /dev/null
+++ b/20151007/build/beginner_tutorials/catkin_generated/beginner_tutorials-msg-extras.cmake.installspace.in
@@ -0,0 +1,2 @@
+set(beginner_tutorials_MESSAGE_FILES "msg/DoDishesAction.msg;msg/DoDishesActionGoal.msg;msg/DoDishesActionResult.msg;msg/DoDishesActionFeedback.msg;msg/DoDishesGoal.msg;msg/DoDishesResult.msg;msg/DoDishesFeedback.msg")
+set(beginner_tutorials_SERVICE_FILES "srv/AddTwoInts.srv")
diff --git a/20151007/build/beginner_tutorials/catkin_generated/env_cached.sh b/20151007/build/beginner_tutorials/catkin_generated/env_cached.sh
new file mode 100755
index 00000000..d6be91db
--- /dev/null
+++ b/20151007/build/beginner_tutorials/catkin_generated/env_cached.sh
@@ -0,0 +1,16 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/templates/env.sh.in
+
+if [ $# -eq 0 ] ; then
+  /bin/echo "Usage: env.sh COMMANDS"
+  /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually."
+  exit 1
+fi
+
+# ensure to not use different shell type which was set before
+CATKIN_SHELL=sh
+
+# source setup_cached.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup_cached.sh"
+exec "$@"
diff --git a/20151007/build/beginner_tutorials/catkin_generated/generate_cached_setup.py b/20151007/build/beginner_tutorials/catkin_generated/generate_cached_setup.py
new file mode 100644
index 00000000..16dfa156
--- /dev/null
+++ b/20151007/build/beginner_tutorials/catkin_generated/generate_cached_setup.py
@@ -0,0 +1,29 @@
+from __future__ import print_function
+import argparse
+import os
+import stat
+import sys
+
+# find the import for catkin's python package - either from source space or from an installed underlay
+if os.path.exists(os.path.join('/opt/ros/indigo/share/catkin/cmake', 'catkinConfig.cmake.in')):
+    sys.path.insert(0, os.path.join('/opt/ros/indigo/share/catkin/cmake', '..', 'python'))
+try:
+    from catkin.environment_cache import generate_environment_script
+except ImportError:
+    # search for catkin package in all workspaces and prepend to path
+    for workspace in "/home/mech-user/2015-soft3/20151007/devel;/opt/ros/indigo".split(';'):
+        python_path = os.path.join(workspace, 'lib/python2.7/dist-packages')
+        if os.path.isdir(os.path.join(python_path, 'catkin')):
+            sys.path.insert(0, python_path)
+            break
+    from catkin.environment_cache import generate_environment_script
+
+code = generate_environment_script('/home/mech-user/2015-soft3/20151007/devel/env.sh')
+
+output_filename = '/home/mech-user/2015-soft3/20151007/build/beginner_tutorials/catkin_generated/setup_cached.sh'
+with open(output_filename, 'w') as f:
+    #print('Generate script for cached setup "%s"' % output_filename)
+    f.write('\n'.join(code))
+
+mode = os.stat(output_filename).st_mode
+os.chmod(output_filename, mode | stat.S_IXUSR)
diff --git a/20151007/build/beginner_tutorials/catkin_generated/installspace/.rosinstall b/20151007/build/beginner_tutorials/catkin_generated/installspace/.rosinstall
new file mode 100644
index 00000000..a873be3f
--- /dev/null
+++ b/20151007/build/beginner_tutorials/catkin_generated/installspace/.rosinstall
@@ -0,0 +1,2 @@
+- setup-file:
+    local-name: /home/mech-user/2015-soft3/20151007/install/setup.sh
diff --git a/20151007/build/beginner_tutorials/catkin_generated/installspace/_setup_util.py b/20151007/build/beginner_tutorials/catkin_generated/installspace/_setup_util.py
new file mode 100755
index 00000000..5ffaba5f
--- /dev/null
+++ b/20151007/build/beginner_tutorials/catkin_generated/installspace/_setup_util.py
@@ -0,0 +1,287 @@
+#!/usr/bin/python
+
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2012, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+'''This file generates shell code for the setup.SHELL scripts to set environment variables'''
+
+from __future__ import print_function
+import argparse
+import copy
+import errno
+import os
+import platform
+import sys
+
+CATKIN_MARKER_FILE = '.catkin'
+
+system = platform.system()
+IS_DARWIN = (system == 'Darwin')
+IS_WINDOWS = (system == 'Windows')
+
+# subfolder of workspace prepended to CMAKE_PREFIX_PATH
+ENV_VAR_SUBFOLDERS = {
+    'CMAKE_PREFIX_PATH': '',
+    'CPATH': 'include',
+    'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')],
+    'PATH': 'bin',
+    'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')],
+    'PYTHONPATH': 'lib/python2.7/dist-packages',
+}
+
+
+def rollback_env_variables(environ, env_var_subfolders):
+    '''
+    Generate shell code to reset environment variables
+    by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH.
+    This does not cover modifications performed by environment hooks.
+    '''
+    lines = []
+    unmodified_environ = copy.copy(environ)
+    for key in sorted(env_var_subfolders.keys()):
+        subfolders = env_var_subfolders[key]
+        if not isinstance(subfolders, list):
+            subfolders = [subfolders]
+        for subfolder in subfolders:
+            value = _rollback_env_variable(unmodified_environ, key, subfolder)
+            if value is not None:
+                environ[key] = value
+                lines.append(assignment(key, value))
+    if lines:
+        lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH'))
+    return lines
+
+
+def _rollback_env_variable(environ, name, subfolder):
+    '''
+    For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder.
+
+    :param subfolder: str '' or subfoldername that may start with '/'
+    :returns: the updated value of the environment variable.
+    '''
+    value = environ[name] if name in environ else ''
+    env_paths = [path for path in value.split(os.pathsep) if path]
+    value_modified = False
+    if subfolder:
+        if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)):
+            subfolder = subfolder[1:]
+        if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)):
+            subfolder = subfolder[:-1]
+    for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True):
+        path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path
+        path_to_remove = None
+        for env_path in env_paths:
+            env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path
+            if env_path_clean == path_to_find:
+                path_to_remove = env_path
+                break
+        if path_to_remove:
+            env_paths.remove(path_to_remove)
+            value_modified = True
+    new_value = os.pathsep.join(env_paths)
+    return new_value if value_modified else None
+
+
+def _get_workspaces(environ, include_fuerte=False, include_non_existing=False):
+    '''
+    Based on CMAKE_PREFIX_PATH return all catkin workspaces.
+
+    :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool``
+    '''
+    # get all cmake prefix paths
+    env_name = 'CMAKE_PREFIX_PATH'
+    value = environ[env_name] if env_name in environ else ''
+    paths = [path for path in value.split(os.pathsep) if path]
+    # remove non-workspace paths
+    workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))]
+    return workspaces
+
+
+def prepend_env_variables(environ, env_var_subfolders, workspaces):
+    '''
+    Generate shell code to prepend environment variables
+    for the all workspaces.
+    '''
+    lines = []
+    lines.append(comment('prepend folders of workspaces to environment variables'))
+
+    paths = [path for path in workspaces.split(os.pathsep) if path]
+
+    prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '')
+    lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix))
+
+    for key in sorted([key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH']):
+        subfolder = env_var_subfolders[key]
+        prefix = _prefix_env_variable(environ, key, paths, subfolder)
+        lines.append(prepend(environ, key, prefix))
+    return lines
+
+
+def _prefix_env_variable(environ, name, paths, subfolders):
+    '''
+    Return the prefix to prepend to the environment variable NAME, adding any path in NEW_PATHS_STR without creating duplicate or empty items.
+    '''
+    value = environ[name] if name in environ else ''
+    environ_paths = [path for path in value.split(os.pathsep) if path]
+    checked_paths = []
+    for path in paths:
+        if not isinstance(subfolders, list):
+            subfolders = [subfolders]
+        for subfolder in subfolders:
+            path_tmp = path
+            if subfolder:
+                path_tmp = os.path.join(path_tmp, subfolder)
+            # exclude any path already in env and any path we already added
+            if path_tmp not in environ_paths and path_tmp not in checked_paths:
+                checked_paths.append(path_tmp)
+    prefix_str = os.pathsep.join(checked_paths)
+    if prefix_str != '' and environ_paths:
+        prefix_str += os.pathsep
+    return prefix_str
+
+
+def assignment(key, value):
+    if not IS_WINDOWS:
+        return 'export %s="%s"' % (key, value)
+    else:
+        return 'set %s=%s' % (key, value)
+
+
+def comment(msg):
+    if not IS_WINDOWS:
+        return '# %s' % msg
+    else:
+        return 'REM %s' % msg
+
+
+def prepend(environ, key, prefix):
+    if key not in environ or not environ[key]:
+        return assignment(key, prefix)
+    if not IS_WINDOWS:
+        return 'export %s="%s$%s"' % (key, prefix, key)
+    else:
+        return 'set %s=%s%%%s%%' % (key, prefix, key)
+
+
+def find_env_hooks(environ, cmake_prefix_path):
+    '''
+    Generate shell code with found environment hooks
+    for the all workspaces.
+    '''
+    lines = []
+    lines.append(comment('found environment hooks in workspaces'))
+
+    generic_env_hooks = []
+    generic_env_hooks_workspace = []
+    specific_env_hooks = []
+    specific_env_hooks_workspace = []
+    generic_env_hooks_by_filename = {}
+    specific_env_hooks_by_filename = {}
+    generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh'
+    specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None
+    # remove non-workspace paths
+    workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))]
+    for workspace in reversed(workspaces):
+        env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d')
+        if os.path.isdir(env_hook_dir):
+            for filename in sorted(os.listdir(env_hook_dir)):
+                if filename.endswith('.%s' % generic_env_hook_ext):
+                    # remove previous env hook with same name if present
+                    if filename in generic_env_hooks_by_filename:
+                        i = generic_env_hooks.index(generic_env_hooks_by_filename[filename])
+                        generic_env_hooks.pop(i)
+                        generic_env_hooks_workspace.pop(i)
+                    # append env hook
+                    generic_env_hooks.append(os.path.join(env_hook_dir, filename))
+                    generic_env_hooks_workspace.append(workspace)
+                    generic_env_hooks_by_filename[filename] = generic_env_hooks[-1]
+                elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext):
+                    # remove previous env hook with same name if present
+                    if filename in specific_env_hooks_by_filename:
+                        i = specific_env_hooks.index(specific_env_hooks_by_filename[filename])
+                        specific_env_hooks.pop(i)
+                        specific_env_hooks_workspace.pop(i)
+                    # append env hook
+                    specific_env_hooks.append(os.path.join(env_hook_dir, filename))
+                    specific_env_hooks_workspace.append(workspace)
+                    specific_env_hooks_by_filename[filename] = specific_env_hooks[-1]
+    env_hooks = generic_env_hooks + specific_env_hooks
+    env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace
+    count = len(env_hooks)
+    lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count))
+    for i in range(count):
+        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i]))
+        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i]))
+    return lines
+
+
+def _parse_arguments(args=None):
+    parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.')
+    parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context')
+    return parser.parse_known_args(args=args)[0]
+
+
+if __name__ == '__main__':
+    try:
+        try:
+            args = _parse_arguments()
+        except Exception as e:
+            print(e, file=sys.stderr)
+            sys.exit(1)
+
+        # environment at generation time
+        CMAKE_PREFIX_PATH = '/home/mech-user/2015-soft3/20151007/devel;/opt/ros/indigo'.split(';')
+        # prepend current workspace if not already part of CPP
+        base_path = os.path.dirname(__file__)
+        if base_path not in CMAKE_PREFIX_PATH:
+            CMAKE_PREFIX_PATH.insert(0, base_path)
+        CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH)
+
+        environ = dict(os.environ)
+        lines = []
+        if not args.extend:
+            lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS)
+        lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH)
+        lines += find_env_hooks(environ, CMAKE_PREFIX_PATH)
+        print('\n'.join(lines))
+
+        # need to explicitly flush the output
+        sys.stdout.flush()
+    except IOError as e:
+        # and catch potantial "broken pipe" if stdout is not writable
+        # which can happen when piping the output to a file but the disk is full
+        if e.errno == errno.EPIPE:
+            print(e, file=sys.stderr)
+            sys.exit(2)
+        raise
+
+    sys.exit(0)
diff --git a/20151007/build/beginner_tutorials/catkin_generated/installspace/beginner_tutorials-msg-extras.cmake b/20151007/build/beginner_tutorials/catkin_generated/installspace/beginner_tutorials-msg-extras.cmake
new file mode 100644
index 00000000..af1f6438
--- /dev/null
+++ b/20151007/build/beginner_tutorials/catkin_generated/installspace/beginner_tutorials-msg-extras.cmake
@@ -0,0 +1,2 @@
+set(beginner_tutorials_MESSAGE_FILES "msg/DoDishesAction.msg;msg/DoDishesActionGoal.msg;msg/DoDishesActionResult.msg;msg/DoDishesActionFeedback.msg;msg/DoDishesGoal.msg;msg/DoDishesResult.msg;msg/DoDishesFeedback.msg")
+set(beginner_tutorials_SERVICE_FILES "srv/AddTwoInts.srv")
diff --git a/20151007/build/beginner_tutorials/catkin_generated/installspace/beginner_tutorials-msg-paths.cmake b/20151007/build/beginner_tutorials/catkin_generated/installspace/beginner_tutorials-msg-paths.cmake
new file mode 100644
index 00000000..fb71b658
--- /dev/null
+++ b/20151007/build/beginner_tutorials/catkin_generated/installspace/beginner_tutorials-msg-paths.cmake
@@ -0,0 +1,4 @@
+# generated from genmsg/cmake/pkg-msg-paths.cmake.installspace.in
+
+_prepend_path("${beginner_tutorials_DIR}/.." "msg" beginner_tutorials_MSG_INCLUDE_DIRS UNIQUE)
+set(beginner_tutorials_MSG_DEPENDENCIES geometry_msgs;actionlib_msgs)
diff --git a/20151007/build/beginner_tutorials/catkin_generated/installspace/beginner_tutorials.pc b/20151007/build/beginner_tutorials/catkin_generated/installspace/beginner_tutorials.pc
new file mode 100644
index 00000000..bdabef6f
--- /dev/null
+++ b/20151007/build/beginner_tutorials/catkin_generated/installspace/beginner_tutorials.pc
@@ -0,0 +1,8 @@
+prefix=/home/mech-user/2015-soft3/20151007/install
+
+Name: beginner_tutorials
+Description: Description of beginner_tutorials
+Version: 0.0.0
+Cflags: -I/home/mech-user/2015-soft3/20151007/install/include
+Libs: -L/home/mech-user/2015-soft3/20151007/install/lib 
+Requires: 
diff --git a/20151007/build/beginner_tutorials/catkin_generated/installspace/beginner_tutorialsConfig-version.cmake b/20151007/build/beginner_tutorials/catkin_generated/installspace/beginner_tutorialsConfig-version.cmake
new file mode 100644
index 00000000..7fd9f993
--- /dev/null
+++ b/20151007/build/beginner_tutorials/catkin_generated/installspace/beginner_tutorialsConfig-version.cmake
@@ -0,0 +1,14 @@
+# generated from catkin/cmake/template/pkgConfig-version.cmake.in
+set(PACKAGE_VERSION "0.0.0")
+
+set(PACKAGE_VERSION_EXACT False)
+set(PACKAGE_VERSION_COMPATIBLE False)
+
+if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_EXACT True)
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
+
+if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
diff --git a/20151007/build/beginner_tutorials/catkin_generated/installspace/beginner_tutorialsConfig.cmake b/20151007/build/beginner_tutorials/catkin_generated/installspace/beginner_tutorialsConfig.cmake
new file mode 100644
index 00000000..729ce4ff
--- /dev/null
+++ b/20151007/build/beginner_tutorials/catkin_generated/installspace/beginner_tutorialsConfig.cmake
@@ -0,0 +1,191 @@
+# generated from catkin/cmake/template/pkgConfig.cmake.in
+
+# append elements to a list and remove existing duplicates from the list
+# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig
+# self contained
+macro(_list_append_deduplicate listname)
+  if(NOT "${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(beginner_tutorials_CONFIG_INCLUDED)
+  return()
+endif()
+set(beginner_tutorials_CONFIG_INCLUDED TRUE)
+
+# set variables for source/devel/install prefixes
+if("FALSE" STREQUAL "TRUE")
+  set(beginner_tutorials_SOURCE_PREFIX /home/mech-user/2015-soft3/20151007/src/beginner_tutorials)
+  set(beginner_tutorials_DEVEL_PREFIX /home/mech-user/2015-soft3/20151007/devel)
+  set(beginner_tutorials_INSTALL_PREFIX "")
+  set(beginner_tutorials_PREFIX ${beginner_tutorials_DEVEL_PREFIX})
+else()
+  set(beginner_tutorials_SOURCE_PREFIX "")
+  set(beginner_tutorials_DEVEL_PREFIX "")
+  set(beginner_tutorials_INSTALL_PREFIX /home/mech-user/2015-soft3/20151007/install)
+  set(beginner_tutorials_PREFIX ${beginner_tutorials_INSTALL_PREFIX})
+endif()
+
+# warn when using a deprecated package
+if(NOT "" STREQUAL "")
+  set(_msg "WARNING: package 'beginner_tutorials' is deprecated")
+  # append custom deprecation text if available
+  if(NOT "" STREQUAL "TRUE")
+    set(_msg "${_msg} ()")
+  endif()
+  message("${_msg}")
+endif()
+
+# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project
+set(beginner_tutorials_FOUND_CATKIN_PROJECT TRUE)
+
+if(NOT "include" STREQUAL "")
+  set(beginner_tutorials_INCLUDE_DIRS "")
+  set(_include_dirs "include")
+  foreach(idir ${_include_dirs})
+    if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir})
+      set(include ${idir})
+    elseif("${idir}" STREQUAL "include")
+      get_filename_component(include "${beginner_tutorials_DIR}/../../../include" ABSOLUTE)
+      if(NOT IS_DIRECTORY ${include})
+        message(FATAL_ERROR "Project 'beginner_tutorials' specifies '${idir}' as an include dir, which is not found.  It does not exist in '${include}'.  Ask the maintainer 'mech-user <mech-user@todo.todo>' to fix it.")
+      endif()
+    else()
+      message(FATAL_ERROR "Project 'beginner_tutorials' specifies '${idir}' as an include dir, which is not found.  It does neither exist as an absolute directory nor in '/home/mech-user/2015-soft3/20151007/install/${idir}'.  Ask the maintainer 'mech-user <mech-user@todo.todo>' to fix it.")
+    endif()
+    _list_append_unique(beginner_tutorials_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 beginner_tutorials_LIBRARIES ${library})
+  elseif(TARGET ${library})
+    list(APPEND beginner_tutorials_LIBRARIES ${library})
+  elseif(IS_ABSOLUTE ${library})
+    list(APPEND beginner_tutorials_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/mech-user/2015-soft3/20151007/install/lib;/home/mech-user/2015-soft3/20151007/devel/lib;/opt/ros/indigo/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(beginner_tutorials_LIBRARY_DIRS ${lib_path})
+      list(APPEND beginner_tutorials_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 'beginner_tutorials'?  Did you find_package() it before the subdirectory containing its code is included?")
+      endif()
+      list(APPEND beginner_tutorials_LIBRARIES ${lib})
+    endif()
+  endif()
+endforeach()
+
+set(beginner_tutorials_EXPORTED_TARGETS "beginner_tutorials_generate_messages_cpp;beginner_tutorials_generate_messages_lisp;beginner_tutorials_generate_messages_py")
+# create dummy targets for exported code generation targets to make life of users easier
+foreach(t ${beginner_tutorials_EXPORTED_TARGETS})
+  if(NOT TARGET ${t})
+    add_custom_target(${t})
+  endif()
+endforeach()
+
+set(depends "")
+foreach(depend ${depends})
+  string(REPLACE " " ";" depend_list ${depend})
+  # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls
+  list(GET depend_list 0 beginner_tutorials_dep)
+  list(LENGTH depend_list count)
+  if(${count} EQUAL 1)
+    # simple dependencies must only be find_package()-ed once
+    if(NOT ${beginner_tutorials_dep}_FOUND)
+      find_package(${beginner_tutorials_dep} REQUIRED)
+    endif()
+  else()
+    # dependencies with components must be find_package()-ed again
+    list(REMOVE_AT depend_list 0)
+    find_package(${beginner_tutorials_dep} REQUIRED ${depend_list})
+  endif()
+  _list_append_unique(beginner_tutorials_INCLUDE_DIRS ${${beginner_tutorials_dep}_INCLUDE_DIRS})
+
+  # merge build configuration keywords with library names to correctly deduplicate
+  _pack_libraries_with_build_configuration(beginner_tutorials_LIBRARIES ${beginner_tutorials_LIBRARIES})
+  _pack_libraries_with_build_configuration(_libraries ${${beginner_tutorials_dep}_LIBRARIES})
+  _list_append_deduplicate(beginner_tutorials_LIBRARIES ${_libraries})
+  # undo build configuration keyword merging after deduplication
+  _unpack_libraries_with_build_configuration(beginner_tutorials_LIBRARIES ${beginner_tutorials_LIBRARIES})
+
+  _list_append_unique(beginner_tutorials_LIBRARY_DIRS ${${beginner_tutorials_dep}_LIBRARY_DIRS})
+  list(APPEND beginner_tutorials_EXPORTED_TARGETS ${${beginner_tutorials_dep}_EXPORTED_TARGETS})
+endforeach()
+
+set(pkg_cfg_extras "beginner_tutorials-msg-extras.cmake")
+foreach(extra ${pkg_cfg_extras})
+  if(NOT IS_ABSOLUTE ${extra})
+    set(extra ${beginner_tutorials_DIR}/${extra})
+  endif()
+  include(${extra})
+endforeach()
diff --git a/20151007/build/beginner_tutorials/catkin_generated/installspace/env.sh b/20151007/build/beginner_tutorials/catkin_generated/installspace/env.sh
new file mode 100755
index 00000000..8aa9d244
--- /dev/null
+++ b/20151007/build/beginner_tutorials/catkin_generated/installspace/env.sh
@@ -0,0 +1,16 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/templates/env.sh.in
+
+if [ $# -eq 0 ] ; then
+  /bin/echo "Usage: env.sh COMMANDS"
+  /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually."
+  exit 1
+fi
+
+# ensure to not use different shell type which was set before
+CATKIN_SHELL=sh
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh"
+exec "$@"
diff --git a/20151007/build/beginner_tutorials/catkin_generated/installspace/setup.bash b/20151007/build/beginner_tutorials/catkin_generated/installspace/setup.bash
new file mode 100644
index 00000000..ff47af8f
--- /dev/null
+++ b/20151007/build/beginner_tutorials/catkin_generated/installspace/setup.bash
@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+# generated from catkin/cmake/templates/setup.bash.in
+
+CATKIN_SHELL=bash
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh"
diff --git a/20151007/build/beginner_tutorials/catkin_generated/installspace/setup.sh b/20151007/build/beginner_tutorials/catkin_generated/installspace/setup.sh
new file mode 100644
index 00000000..33cbd87f
--- /dev/null
+++ b/20151007/build/beginner_tutorials/catkin_generated/installspace/setup.sh
@@ -0,0 +1,87 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/template/setup.sh.in
+
+# Sets various environment variables and sources additional environment hooks.
+# It tries it's best to undo changes from a previously sourced setup file before.
+# Supported command line options:
+# --extend: skips the undoing of changes from a previously sourced setup file
+
+# since this file is sourced either use the provided _CATKIN_SETUP_DIR
+# or fall back to the destination set at configure time
+: ${_CATKIN_SETUP_DIR:=/home/mech-user/2015-soft3/20151007/install}
+_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py"
+unset _CATKIN_SETUP_DIR
+
+if [ ! -f "$_SETUP_UTIL" ]; then
+  echo "Missing Python script: $_SETUP_UTIL"
+  return 22
+fi
+
+# detect if running on Darwin platform
+_UNAME=`uname -s`
+_IS_DARWIN=0
+if [ "$_UNAME" = "Darwin" ]; then
+  _IS_DARWIN=1
+fi
+unset _UNAME
+
+# make sure to export all environment variables
+export CMAKE_PREFIX_PATH
+export CPATH
+if [ $_IS_DARWIN -eq 0 ]; then
+  export LD_LIBRARY_PATH
+else
+  export DYLD_LIBRARY_PATH
+fi
+unset _IS_DARWIN
+export PATH
+export PKG_CONFIG_PATH
+export PYTHONPATH
+
+# remember type of shell if not already set
+if [ -z "$CATKIN_SHELL" ]; then
+  CATKIN_SHELL=sh
+fi
+
+# invoke Python script to generate necessary exports of environment variables
+_SETUP_TMP=`mktemp /tmp/setup.sh.XXXXXXXXXX`
+if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then
+  echo "Could not create temporary file: $_SETUP_TMP"
+  return 1
+fi
+CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ > $_SETUP_TMP
+_RC=$?
+if [ $_RC -ne 0 ]; then
+  if [ $_RC -eq 2 ]; then
+    echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?"
+  else
+    echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC"
+  fi
+  unset _RC
+  unset _SETUP_UTIL
+  rm -f $_SETUP_TMP
+  unset _SETUP_TMP
+  return 1
+fi
+unset _RC
+unset _SETUP_UTIL
+. $_SETUP_TMP
+rm -f $_SETUP_TMP
+unset _SETUP_TMP
+
+# source all environment hooks
+_i=0
+while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do
+  eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i
+  unset _CATKIN_ENVIRONMENT_HOOKS_$_i
+  eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
+  unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
+  # set workspace for environment hook
+  CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace
+  . "$_envfile"
+  unset CATKIN_ENV_HOOK_WORKSPACE
+  _i=$((_i + 1))
+done
+unset _i
+
+unset _CATKIN_ENVIRONMENT_HOOKS_COUNT
diff --git a/20151007/build/beginner_tutorials/catkin_generated/installspace/setup.zsh b/20151007/build/beginner_tutorials/catkin_generated/installspace/setup.zsh
new file mode 100644
index 00000000..952f72a4
--- /dev/null
+++ b/20151007/build/beginner_tutorials/catkin_generated/installspace/setup.zsh
@@ -0,0 +1,8 @@
+#!/usr/bin/env zsh
+# generated from catkin/cmake/templates/setup.zsh.in
+
+CATKIN_SHELL=zsh
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
+source "$_CATKIN_SETUP_DIR/setup.sh"
diff --git a/20151007/build/beginner_tutorials/catkin_generated/ordered_paths.cmake b/20151007/build/beginner_tutorials/catkin_generated/ordered_paths.cmake
new file mode 100644
index 00000000..22f3651e
--- /dev/null
+++ b/20151007/build/beginner_tutorials/catkin_generated/ordered_paths.cmake
@@ -0,0 +1 @@
+set(ORDERED_PATHS "/opt/ros/indigo/lib")
\ No newline at end of file
diff --git a/20151007/build/beginner_tutorials/catkin_generated/package.cmake b/20151007/build/beginner_tutorials/catkin_generated/package.cmake
new file mode 100644
index 00000000..771bd6bb
--- /dev/null
+++ b/20151007/build/beginner_tutorials/catkin_generated/package.cmake
@@ -0,0 +1,7 @@
+set(_CATKIN_CURRENT_PACKAGE "beginner_tutorials")
+set(beginner_tutorials_MAINTAINER "mech-user <mech-user@todo.todo>")
+set(beginner_tutorials_DEPRECATED "")
+set(beginner_tutorials_VERSION "0.0.0")
+set(beginner_tutorials_BUILD_DEPENDS "geometry_msgs" "message_generation" "roscpp" "rospy" "std_msgs" "actionlib" "actionlib_msgs")
+set(beginner_tutorials_RUN_DEPENDS "geometry_msgs" "message_runtime" "roscpp" "rospy" "std_msgs" "acitonlib" "actionlib_msgs")
+set(beginner_tutorials_BUILDTOOL_DEPENDS "catkin")
\ No newline at end of file
diff --git a/20151007/build/beginner_tutorials/catkin_generated/pkg.develspace.context.pc.py b/20151007/build/beginner_tutorials/catkin_generated/pkg.develspace.context.pc.py
new file mode 100644
index 00000000..1de84b01
--- /dev/null
+++ b/20151007/build/beginner_tutorials/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 = "/home/mech-user/2015-soft3/20151007/devel/include".split(';') if "/home/mech-user/2015-soft3/20151007/devel/include" != "" else []
+PROJECT_CATKIN_DEPENDS = "".replace(';', ' ')
+PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else []
+PROJECT_NAME = "beginner_tutorials"
+PROJECT_SPACE_DIR = "/home/mech-user/2015-soft3/20151007/devel"
+PROJECT_VERSION = "0.0.0"
diff --git a/20151007/build/beginner_tutorials/catkin_generated/pkg.installspace.context.pc.py b/20151007/build/beginner_tutorials/catkin_generated/pkg.installspace.context.pc.py
new file mode 100644
index 00000000..282c1123
--- /dev/null
+++ b/20151007/build/beginner_tutorials/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 = "/home/mech-user/2015-soft3/20151007/install/include".split(';') if "/home/mech-user/2015-soft3/20151007/install/include" != "" else []
+PROJECT_CATKIN_DEPENDS = "".replace(';', ' ')
+PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else []
+PROJECT_NAME = "beginner_tutorials"
+PROJECT_SPACE_DIR = "/home/mech-user/2015-soft3/20151007/install"
+PROJECT_VERSION = "0.0.0"
diff --git a/20151007/build/beginner_tutorials/catkin_generated/setup_cached.sh b/20151007/build/beginner_tutorials/catkin_generated/setup_cached.sh
new file mode 100755
index 00000000..43e84703
--- /dev/null
+++ b/20151007/build/beginner_tutorials/catkin_generated/setup_cached.sh
@@ -0,0 +1,14 @@
+#!/usr/bin/env sh
+# generated from catkin/python/catkin/environment_cache.py
+
+# based on a snapshot of the environment before and after calling the setup script
+# it emulates the modifications of the setup script without recurring computations
+
+# new environment variables
+
+# modified environment variables
+export CATKIN_TEST_RESULTS_DIR="/home/mech-user/2015-soft3/20151007/build/beginner_tutorials/test_results"
+export LD_LIBRARY_PATH="/opt/ros/indigo/share/euslisp/jskeus/eus//Linux64/lib:/home/mech-user/2015-soft3/20151007/devel/lib/x86_64-linux-gnu:/opt/ros/indigo/lib/x86_64-linux-gnu:/opt/ros/indigo/share/euslisp/jskeus/eus//Linux64/lib:/opt/ros/indigo/share/euslisp/jskeus/eus//Linux64/lib:/home/mech-user/2015-soft3/20151007/devel/lib:/opt/ros/indigo/share/euslisp/jskeus/eus//Linux64/lib:/opt/ros/indigo/lib:/opt/ros/indigo/lib/python2.7/dist-packages:/opt/ros/indigo/lib/python2.7/dist-packages"
+export PATH="/opt/ros/indigo/share/euslisp/jskeus/eus//Linux64/bin:/home/mech-user/2015-soft3/20151007/devel/bin:/opt/ros/indigo/bin:/opt/ros/indigo/share/euslisp/jskeus/eus//Linux64/bin:/opt/ros/indigo/share/euslisp/jskeus/eus//Linux64/bin:/opt/ros/indigo/share/euslisp/jskeus/eus//Linux64/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games"
+export PKG_CONFIG_PATH="/home/mech-user/2015-soft3/20151007/devel/lib/x86_64-linux-gnu/pkgconfig:/opt/ros/indigo/lib/x86_64-linux-gnu/pkgconfig:/home/mech-user/2015-soft3/20151007/devel/lib/pkgconfig:/opt/ros/indigo/lib/pkgconfig"
+export ROS_TEST_RESULTS_DIR="/home/mech-user/2015-soft3/20151007/build/beginner_tutorials/test_results"
\ No newline at end of file
diff --git a/20151007/build/beginner_tutorials/catkin_generated/stamps/beginner_tutorials/DoDishes.action.stamp b/20151007/build/beginner_tutorials/catkin_generated/stamps/beginner_tutorials/DoDishes.action.stamp
new file mode 100644
index 00000000..f3a9a0d3
--- /dev/null
+++ b/20151007/build/beginner_tutorials/catkin_generated/stamps/beginner_tutorials/DoDishes.action.stamp
@@ -0,0 +1,8 @@
+#Define the goal
+uint32 dishwasher_id #Specify which dishwasher we want to use
+---
+#Define the result
+uint32 total_dishes_cleaned
+---
+#Define a feedback message
+float32 percent_complete
\ No newline at end of file
diff --git a/20151007/build/beginner_tutorials/catkin_generated/stamps/beginner_tutorials/interrogate_setup_dot_py.py.stamp b/20151007/build/beginner_tutorials/catkin_generated/stamps/beginner_tutorials/interrogate_setup_dot_py.py.stamp
new file mode 100644
index 00000000..26882f02
--- /dev/null
+++ b/20151007/build/beginner_tutorials/catkin_generated/stamps/beginner_tutorials/interrogate_setup_dot_py.py.stamp
@@ -0,0 +1,250 @@
+#!/usr/bin/env python
+
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2012, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+from __future__ import print_function
+import os
+import sys
+
+import distutils.core
+try:
+    import setuptools
+except ImportError:
+    pass
+
+from argparse import ArgumentParser
+
+
+def _get_locations(pkgs, package_dir):
+    """
+    based on setuptools logic and the package_dir dict, builds a dict
+    of location roots for each pkg in pkgs.
+    See http://docs.python.org/distutils/setupscript.html
+
+    :returns: a dict {pkgname: root} for each pkgname in pkgs (and each of their parents)
+    """
+    # package_dir contains a dict {package_name: relativepath}
+    # Example {'': 'src', 'foo': 'lib', 'bar': 'lib2'}
+    #
+    # '' means where to look for any package unless a parent package
+    # is listed so package bar.pot is expected at lib2/bar/pot,
+    # whereas package sup.dee is expected at src/sup/dee
+    #
+    # if package_dir does not state anything about a package,
+    # setuptool expects the package folder to be in the root of the
+    # project
+    locations = {}
+    allprefix = package_dir.get('', '')
+    for pkg in pkgs:
+        parent_location = None
+        splits = pkg.split('.')
+        # we iterate over compound name from parent to child
+        # so once we found parent, children just append to their parent
+        for key_len in range(len(splits)):
+            key = '.'.join(splits[:key_len + 1])
+            if key not in locations:
+                if key in package_dir:
+                    locations[key] = package_dir[key]
+                elif parent_location is not None:
+                    locations[key] = parent_location
+                else:
+                    locations[key] = allprefix
+            parent_location = locations[key]
+    return locations
+
+
+def generate_cmake_file(package_name, version, scripts, package_dir, pkgs, modules):
+    """
+    Generates lines to add to a cmake file which will set variables
+
+    :param version: str, format 'int.int.int'
+    :param scripts: [list of str]: relative paths to scripts
+    :param package_dir: {modulename: path}
+    :pkgs: [list of str] python_packages declared in catkin package
+    :modules: [list of str] python modules
+    """
+    prefix = '%s_SETUP_PY' % package_name
+    result = []
+    result.append(r'set(%s_VERSION "%s")' % (prefix, version))
+    result.append(r'set(%s_SCRIPTS "%s")' % (prefix, ';'.join(scripts)))
+
+    # Remove packages with '.' separators.
+    #
+    # setuptools allows specifying submodules in other folders than
+    # their parent
+    #
+    # The symlink approach of catkin does not work with such submodules.
+    # In the common case, this does not matter as the submodule is
+    # within the containing module.  We verify this assumption, and if
+    # it passes, we remove submodule packages.
+    locations = _get_locations(pkgs, package_dir)
+    for pkgname, location in locations.items():
+        if not '.' in pkgname:
+            continue
+        splits = pkgname.split('.')
+        # hack: ignore write-combining setup.py files for msg and srv files
+        if splits[1] in ['msg', 'srv']:
+            continue
+        # check every child has the same root folder as its parent
+        parent_name = '.'.join(splits[:1])
+        if location != locations[parent_name]:
+            raise RuntimeError(
+                "catkin_export_python does not support setup.py files that combine across multiple directories: %s in %s, %s in %s" % (pkgname, location, parent_name, locations[parent_name]))
+
+    # If checks pass, remove all submodules
+    pkgs = [p for p in pkgs if '.' not in p]
+
+    resolved_pkgs = []
+    for pkg in pkgs:
+        resolved_pkgs += [os.path.join(locations[pkg], pkg)]
+
+    result.append(r'set(%s_PACKAGES "%s")' % (prefix, ';'.join(pkgs)))
+    result.append(r'set(%s_PACKAGE_DIRS "%s")' % (prefix, ';'.join(resolved_pkgs).replace("\\", "/")))
+
+    # skip modules which collide with package names
+    filtered_modules = []
+    for modname in modules:
+        splits = modname.split('.')
+        # check all parents too
+        equals_package = [('.'.join(splits[:-i]) in locations) for i in range(len(splits))]
+        if any(equals_package):
+            continue
+        filtered_modules.append(modname)
+    module_locations = _get_locations(filtered_modules, package_dir)
+
+    result.append(r'set(%s_MODULES "%s")' % (prefix, ';'.join(['%s.py' % m.replace('.', '/') for m in filtered_modules])))
+    result.append(r'set(%s_MODULE_DIRS "%s")' % (prefix, ';'.join([module_locations[m] for m in filtered_modules]).replace("\\", "/")))
+
+    return result
+
+
+def _create_mock_setup_function(package_name, outfile):
+    """
+    Creates a function to call instead of distutils.core.setup or
+    setuptools.setup, which just captures some args and writes them
+    into a file that can be used from cmake
+
+    :param package_name: name of the package
+    :param outfile: filename that cmake will use afterwards
+    :returns: a function to replace disutils.core.setup and setuptools.setup
+    """
+
+    def setup(*args, **kwargs):
+        '''
+        Checks kwargs and writes a scriptfile
+        '''
+        if 'version' not in kwargs:
+            sys.stderr.write("\n*** Unable to find 'version' in setup.py of %s\n" % package_name)
+            raise RuntimeError("version not found in setup.py")
+        version = kwargs['version']
+        package_dir = kwargs.get('package_dir', {})
+
+        pkgs = kwargs.get('packages', [])
+        scripts = kwargs.get('scripts', [])
+        modules = kwargs.get('py_modules', [])
+
+        unsupported_args = [
+            'entry_points',
+            'exclude_package_data',
+            'ext_modules ',
+            'ext_package',
+            'include_package_data',
+            'namespace_packages',
+            'setup_requires',
+            'use_2to3',
+            'zip_safe']
+        used_unsupported_args = [arg for arg in unsupported_args if arg in kwargs]
+        if used_unsupported_args:
+            sys.stderr.write("*** Arguments %s to setup() not supported in catkin devel space in setup.py of %s\n" % (used_unsupported_args, package_name))
+
+        result = generate_cmake_file(package_name=package_name,
+                                     version=version,
+                                     scripts=scripts,
+                                     package_dir=package_dir,
+                                     pkgs=pkgs,
+                                     modules=modules)
+        with open(outfile, 'w') as out:
+            out.write('\n'.join(result))
+
+    return setup
+
+
+def main():
+    """
+    Script main, parses arguments and invokes Dummy.setup indirectly.
+    """
+    parser = ArgumentParser(description='Utility to read setup.py values from cmake macros. Creates a file with CMake set commands setting variables.')
+    parser.add_argument('package_name', help='Name of catkin package')
+    parser.add_argument('setupfile_path', help='Full path to setup.py')
+    parser.add_argument('outfile', help='Where to write result to')
+
+    args = parser.parse_args()
+
+    # print("%s" % sys.argv)
+    # PACKAGE_NAME = sys.argv[1]
+    # OUTFILE = sys.argv[3]
+    # print("Interrogating setup.py for package %s into %s " % (PACKAGE_NAME, OUTFILE),
+    #      file=sys.stderr)
+
+    # print("executing %s" % args.setupfile_path)
+
+    # be sure you're in the directory containing
+    # setup.py so the sys.path manipulation works,
+    # so the import of __version__ works
+    os.chdir(os.path.dirname(os.path.abspath(args.setupfile_path)))
+
+    # patch setup() function of distutils and setuptools for the
+    # context of evaluating setup.py
+    try:
+        fake_setup = _create_mock_setup_function(package_name=args.package_name,
+                                                outfile=args.outfile)
+
+        distutils_backup = distutils.core.setup
+        distutils.core.setup = fake_setup
+        try:
+            setuptools_backup = setuptools.setup
+            setuptools.setup = fake_setup
+        except NameError:
+            pass
+
+        with open(args.setupfile_path, 'r') as fh:
+            exec(fh.read())
+    finally:
+        distutils.core.setup = distutils_backup
+        try:
+            setuptools.setup = setuptools_backup
+        except NameError:
+            pass
+
+if __name__ == '__main__':
+    main()
diff --git a/20151021/src/enshu_20151021/package.xml b/20151007/build/beginner_tutorials/catkin_generated/stamps/beginner_tutorials/package.xml.stamp
similarity index 67%
rename from 20151021/src/enshu_20151021/package.xml
rename to 20151007/build/beginner_tutorials/catkin_generated/stamps/beginner_tutorials/package.xml.stamp
index 5954b4ce..e1367f59 100644
--- a/20151021/src/enshu_20151021/package.xml
+++ b/20151007/build/beginner_tutorials/catkin_generated/stamps/beginner_tutorials/package.xml.stamp
@@ -1,13 +1,13 @@
 <?xml version="1.0"?>
 <package>
-  <name>enshu_20151021</name>
+  <name>beginner_tutorials</name>
   <version>0.0.0</version>
-  <description>The enshu_20151021 package</description>
+  <description>The beginner_tutorials package</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag --> 
   <!-- Example:  -->
   <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
-  <maintainer email="k-okada@todo.todo">k-okada</maintainer>
+  <maintainer email="mech-user@todo.todo">mech-user</maintainer>
 
 
   <!-- One license tag required, multiple allowed, one license per tag -->
@@ -19,7 +19,7 @@
   <!-- Url tags are optional, but mutiple are allowed, one per tag -->
   <!-- Optional attribute type can be: website, bugtracker, or repository -->
   <!-- Example: -->
-  <!-- <url type="website">http://wiki.ros.org/enshu_20151021</url> -->
+  <!-- <url type="website">http://wiki.ros.org/beginner_tutorials</url> -->
 
 
   <!-- Author tags are optional, mutiple are allowed, one per tag -->
@@ -40,8 +40,21 @@
   <!-- Use test_depend for packages you need only for testing: -->
   <!--   <test_depend>gtest</test_depend> -->
   <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>euslisp</build_depend>
-  <run_depend>euslisp</run_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>message_generation</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>actionlib</build_depend>
+  <build_depend>actionlib_msgs</build_depend>
+  <run_depend>geometry_msgs</run_depend>
+  <run_depend>message_runtime</run_depend>
+  <run_depend>roscpp</run_depend>
+  <run_depend>rospy</run_depend>
+  <run_depend>std_msgs</run_depend>
+  <run_depend>acitonlib</run_depend>
+  <run_depend>actionlib_msgs</run_depend>
+
 
 
   <!-- The export tag contains other, unspecified, tags -->
diff --git a/20151007/build/beginner_tutorials/catkin_generated/stamps/beginner_tutorials/pkg-genmsg.cmake.em.stamp b/20151007/build/beginner_tutorials/catkin_generated/stamps/beginner_tutorials/pkg-genmsg.cmake.em.stamp
new file mode 100644
index 00000000..7bae5933
--- /dev/null
+++ b/20151007/build/beginner_tutorials/catkin_generated/stamps/beginner_tutorials/pkg-genmsg.cmake.em.stamp
@@ -0,0 +1,164 @@
+# generated from genmsg/cmake/pkg-genmsg.cmake.em
+
+@{
+import os
+import sys
+
+import genmsg
+import genmsg.base
+genmsg.base.log_verbose('GENMSG_VERBOSE' in os.environ)
+import genmsg.deps
+import genmsg.gentools
+
+# split incoming variables
+messages = messages_str.split(';') if messages_str != '' else []
+services = services_str.split(';') if services_str != '' else []
+dependencies = dependencies_str.split(';') if dependencies_str != '' else []
+dep_search_paths = dep_include_paths_str.split(';') if dep_include_paths_str != '' else []
+
+dep_search_paths_dict = {}
+dep_search_paths_tuple_list = []
+is_even = True
+for val in dep_search_paths:
+    if is_even:
+        dep_search_paths_dict.setdefault(val, [])
+        val_prev = val
+        is_even = False
+    else:
+        dep_search_paths_dict[val_prev].append(val)
+        dep_search_paths_tuple_list.append((val_prev, val))
+        is_even = True
+dep_search_paths = dep_search_paths_dict
+
+if not messages and not services:
+    print('message(WARNING "Invoking generate_messages() without having added any message or service file before.\nYou should either add add_message_files() and/or add_service_files() calls or remove the invocation of generate_messages().")')
+
+msg_deps = {}
+msg_dep_types = {}
+for m in messages:
+  try:
+    _deps = genmsg.deps.find_msg_dependencies_with_type(pkg_name, m, dep_search_paths)
+    msg_deps[m] = [d[1] for d in _deps]
+    msg_dep_types[m] = [d[0] for d in _deps]
+  except genmsg.MsgNotFound as e:
+    print('message(FATAL_ERROR "Could not find messages which \'%s\' depends on. Did you forget to specify generate_messages(DEPENDENCIES ...)?\n%s")' % (m, str(e).replace('"', '\\"')))
+
+srv_deps = {}
+srv_dep_types = {}
+for s in services:
+  try:
+    _deps = genmsg.deps.find_srv_dependencies_with_type(pkg_name, s, dep_search_paths)
+    srv_deps[s] = [d[1] for d in _deps]
+    srv_dep_types[s] = [d[0] for d in _deps]
+  except genmsg.MsgNotFound as e:
+    print('message(FATAL_ERROR "Could not find messages which \'%s\' depends on. Did you forget to specify generate_messages(DEPENDENCIES ...)?\n%s")' % (s, str(e).replace('"', '\\"')))
+
+}@
+message(STATUS "@(pkg_name): @(len(messages)) messages, @(len(services)) services")
+
+set(MSG_I_FLAGS "@(';'.join(["-I%s:%s" % (dep, dir) for dep, dir in dep_search_paths_tuple_list]))")
+
+# Find all generators
+@[if langs]@
+@[for l in langs.split(';')]@
+find_package(@l REQUIRED)
+@[end for]@
+@[end if]@
+
+add_custom_target(@(pkg_name)_generate_messages ALL)
+
+# verify that message/service dependencies have not changed since configure
+@{all_deps = dict(list(msg_deps.items()) + list(srv_deps.items()))}
+@{all_dep_types = dict(list(msg_dep_types.items()) + list(srv_dep_types.items()))}
+@[for f in all_deps.keys()]@
+@{dep_types = ':'.join(all_dep_types[f]).replace('\\','/')}
+get_filename_component(_filename "@(f)" NAME_WE)
+add_custom_target(_@(pkg_name)_generate_messages_check_deps_${_filename}
+  COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "@(pkg_name)" "@(f)" "@(dep_types)"
+)
+@[end for]@# messages and services
+
+#
+#  langs = @langs
+#
+
+@[if langs]@
+@[for l in langs.split(';')]@
+### Section generating for lang: @l
+### Generating Messages
+@[for m in msg_deps.keys()]@
+_generate_msg_@(l[3:])(@pkg_name
+  "@m"
+  "${MSG_I_FLAGS}"
+  "@(';'.join(msg_deps[m]).replace("\\","/"))"
+  ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name
+)
+@[end for]@# messages
+
+### Generating Services
+@[for s in srv_deps.keys()]@
+_generate_srv_@(l[3:])(@pkg_name
+  "@s"
+  "${MSG_I_FLAGS}"
+  "@(';'.join(srv_deps[s]).replace("\\","/"))"
+  ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name
+)
+@[end for]@# services
+
+### Generating Module File
+_generate_module_@(l[3:])(@pkg_name
+  ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name
+  "${ALL_GEN_OUTPUT_FILES_@(l[3:])}"
+)
+
+add_custom_target(@(pkg_name)_generate_messages_@(l[3:])
+  DEPENDS ${ALL_GEN_OUTPUT_FILES_@(l[3:])}
+)
+add_dependencies(@(pkg_name)_generate_messages @(pkg_name)_generate_messages_@(l[3:]))
+
+# add dependencies to all check dependencies targets
+@[for f in all_deps.keys()]@
+get_filename_component(_filename "@(f)" NAME_WE)
+add_dependencies(@(pkg_name)_generate_messages_@(l[3:]) _@(pkg_name)_generate_messages_check_deps_${_filename})
+@[end for]@# messages and services
+
+# target for backward compatibility
+add_custom_target(@(pkg_name)_@(l))
+add_dependencies(@(pkg_name)_@(l) @(pkg_name)_generate_messages_@(l[3:]))
+
+# register target for catkin_package(EXPORTED_TARGETS)
+list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS @(pkg_name)_generate_messages_@(l[3:]))
+
+@[end for]@# langs
+@[end if]@
+
+@[if langs]@
+@[for l in langs.split(';')]@
+
+if(@(l)_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name)
+@[if l == 'genpy']@
+  install(CODE "execute_process(COMMAND \"@(PYTHON_EXECUTABLE)\" -m compileall \"${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name\")")
+@[end if]@
+  # install generated code
+  install(
+    DIRECTORY ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name
+    DESTINATION ${@(l)_INSTALL_DIR}
+@[if l == 'genpy' and package_has_static_sources]@
+    # skip all init files
+    PATTERN "__init__.py" EXCLUDE
+    PATTERN "__init__.pyc" EXCLUDE
+  )
+  # install init files which are not in the root folder of the generated code
+  install(
+    DIRECTORY ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name
+    DESTINATION ${@(l)_INSTALL_DIR}
+    FILES_MATCHING
+    REGEX "${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@(pkg_name)/.+/__init__.pyc?$"
+@[end if]@
+  )
+endif()
+@[for d in dependencies]@
+add_dependencies(@(pkg_name)_generate_messages_@(l[3:]) @(d)_generate_messages_@(l[3:]))
+@[end for]@# dependencies
+@[end for]@# langs
+@[end if]@
diff --git a/20151007/build/beginner_tutorials/catkin_generated/stamps/beginner_tutorials/pkg.pc.em.stamp b/20151007/build/beginner_tutorials/catkin_generated/stamps/beginner_tutorials/pkg.pc.em.stamp
new file mode 100644
index 00000000..a4f72576
--- /dev/null
+++ b/20151007/build/beginner_tutorials/catkin_generated/stamps/beginner_tutorials/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/20151007/build/beginner_tutorials/cmake/beginner_tutorials-genmsg-context.py b/20151007/build/beginner_tutorials/cmake/beginner_tutorials-genmsg-context.py
new file mode 100644
index 00000000..ba4454d5
--- /dev/null
+++ b/20151007/build/beginner_tutorials/cmake/beginner_tutorials-genmsg-context.py
@@ -0,0 +1,11 @@
+# generated from genmsg/cmake/pkg-genmsg.context.in
+
+messages_str = "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesAction.msg;/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionGoal.msg;/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionResult.msg;/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionFeedback.msg;/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesGoal.msg;/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesResult.msg;/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesFeedback.msg"
+services_str = "/home/mech-user/2015-soft3/20151007/src/beginner_tutorials/srv/AddTwoInts.srv"
+pkg_name = "beginner_tutorials"
+dependencies_str = "geometry_msgs;actionlib_msgs"
+langs = "gencpp;genlisp;genpy"
+dep_include_paths_str = "beginner_tutorials;/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg;geometry_msgs;/opt/ros/indigo/share/geometry_msgs/cmake/../msg;actionlib_msgs;/opt/ros/indigo/share/actionlib_msgs/cmake/../msg;std_msgs;/opt/ros/indigo/share/std_msgs/cmake/../msg"
+PYTHON_EXECUTABLE = "/usr/bin/python"
+package_has_static_sources = '' == 'TRUE'
+genmsg_check_deps_script = "/opt/ros/indigo/share/genmsg/cmake/../../../lib/genmsg/genmsg_check_deps.py"
diff --git a/20151007/build/beginner_tutorials/cmake/beginner_tutorials-genmsg.cmake b/20151007/build/beginner_tutorials/cmake/beginner_tutorials-genmsg.cmake
new file mode 100644
index 00000000..41f35fa6
--- /dev/null
+++ b/20151007/build/beginner_tutorials/cmake/beginner_tutorials-genmsg.cmake
@@ -0,0 +1,360 @@
+# generated from genmsg/cmake/pkg-genmsg.cmake.em
+
+message(STATUS "beginner_tutorials: 7 messages, 1 services")
+
+set(MSG_I_FLAGS "-Ibeginner_tutorials:/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg;-Igeometry_msgs:/opt/ros/indigo/share/geometry_msgs/cmake/../msg;-Iactionlib_msgs:/opt/ros/indigo/share/actionlib_msgs/cmake/../msg;-Istd_msgs:/opt/ros/indigo/share/std_msgs/cmake/../msg")
+
+# Find all generators
+find_package(gencpp REQUIRED)
+find_package(genlisp REQUIRED)
+find_package(genpy REQUIRED)
+
+add_custom_target(beginner_tutorials_generate_messages ALL)
+
+# verify that message/service dependencies have not changed since configure
+
+
+
+get_filename_component(_filename "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesGoal.msg" NAME_WE)
+add_custom_target(_beginner_tutorials_generate_messages_check_deps_${_filename}
+  COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "beginner_tutorials" "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesGoal.msg" ""
+)
+
+get_filename_component(_filename "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesFeedback.msg" NAME_WE)
+add_custom_target(_beginner_tutorials_generate_messages_check_deps_${_filename}
+  COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "beginner_tutorials" "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesFeedback.msg" ""
+)
+
+get_filename_component(_filename "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesAction.msg" NAME_WE)
+add_custom_target(_beginner_tutorials_generate_messages_check_deps_${_filename}
+  COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "beginner_tutorials" "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesAction.msg" "beginner_tutorials/DoDishesFeedback:beginner_tutorials/DoDishesActionFeedback:actionlib_msgs/GoalStatus:actionlib_msgs/GoalID:beginner_tutorials/DoDishesActionResult:beginner_tutorials/DoDishesActionGoal:beginner_tutorials/DoDishesGoal:std_msgs/Header:beginner_tutorials/DoDishesResult"
+)
+
+get_filename_component(_filename "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionGoal.msg" NAME_WE)
+add_custom_target(_beginner_tutorials_generate_messages_check_deps_${_filename}
+  COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "beginner_tutorials" "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionGoal.msg" "actionlib_msgs/GoalID:beginner_tutorials/DoDishesGoal:std_msgs/Header"
+)
+
+get_filename_component(_filename "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionResult.msg" NAME_WE)
+add_custom_target(_beginner_tutorials_generate_messages_check_deps_${_filename}
+  COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "beginner_tutorials" "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionResult.msg" "beginner_tutorials/DoDishesResult:actionlib_msgs/GoalStatus:actionlib_msgs/GoalID:std_msgs/Header"
+)
+
+get_filename_component(_filename "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionFeedback.msg" NAME_WE)
+add_custom_target(_beginner_tutorials_generate_messages_check_deps_${_filename}
+  COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "beginner_tutorials" "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionFeedback.msg" "actionlib_msgs/GoalStatus:actionlib_msgs/GoalID:beginner_tutorials/DoDishesFeedback:std_msgs/Header"
+)
+
+get_filename_component(_filename "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesResult.msg" NAME_WE)
+add_custom_target(_beginner_tutorials_generate_messages_check_deps_${_filename}
+  COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "beginner_tutorials" "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesResult.msg" ""
+)
+
+get_filename_component(_filename "/home/mech-user/2015-soft3/20151007/src/beginner_tutorials/srv/AddTwoInts.srv" NAME_WE)
+add_custom_target(_beginner_tutorials_generate_messages_check_deps_${_filename}
+  COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "beginner_tutorials" "/home/mech-user/2015-soft3/20151007/src/beginner_tutorials/srv/AddTwoInts.srv" ""
+)
+
+#
+#  langs = gencpp;genlisp;genpy
+#
+
+### Section generating for lang: gencpp
+### Generating Messages
+_generate_msg_cpp(beginner_tutorials
+  "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesGoal.msg"
+  "${MSG_I_FLAGS}"
+  ""
+  ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/beginner_tutorials
+)
+_generate_msg_cpp(beginner_tutorials
+  "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesFeedback.msg"
+  "${MSG_I_FLAGS}"
+  ""
+  ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/beginner_tutorials
+)
+_generate_msg_cpp(beginner_tutorials
+  "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesAction.msg"
+  "${MSG_I_FLAGS}"
+  "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesFeedback.msg;/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionFeedback.msg;/opt/ros/indigo/share/actionlib_msgs/cmake/../msg/GoalStatus.msg;/opt/ros/indigo/share/actionlib_msgs/cmake/../msg/GoalID.msg;/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionResult.msg;/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionGoal.msg;/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesGoal.msg;/opt/ros/indigo/share/std_msgs/cmake/../msg/Header.msg;/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesResult.msg"
+  ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/beginner_tutorials
+)
+_generate_msg_cpp(beginner_tutorials
+  "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionGoal.msg"
+  "${MSG_I_FLAGS}"
+  "/opt/ros/indigo/share/actionlib_msgs/cmake/../msg/GoalID.msg;/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesGoal.msg;/opt/ros/indigo/share/std_msgs/cmake/../msg/Header.msg"
+  ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/beginner_tutorials
+)
+_generate_msg_cpp(beginner_tutorials
+  "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionResult.msg"
+  "${MSG_I_FLAGS}"
+  "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesResult.msg;/opt/ros/indigo/share/actionlib_msgs/cmake/../msg/GoalStatus.msg;/opt/ros/indigo/share/actionlib_msgs/cmake/../msg/GoalID.msg;/opt/ros/indigo/share/std_msgs/cmake/../msg/Header.msg"
+  ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/beginner_tutorials
+)
+_generate_msg_cpp(beginner_tutorials
+  "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionFeedback.msg"
+  "${MSG_I_FLAGS}"
+  "/opt/ros/indigo/share/actionlib_msgs/cmake/../msg/GoalStatus.msg;/opt/ros/indigo/share/actionlib_msgs/cmake/../msg/GoalID.msg;/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesFeedback.msg;/opt/ros/indigo/share/std_msgs/cmake/../msg/Header.msg"
+  ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/beginner_tutorials
+)
+_generate_msg_cpp(beginner_tutorials
+  "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesResult.msg"
+  "${MSG_I_FLAGS}"
+  ""
+  ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/beginner_tutorials
+)
+
+### Generating Services
+_generate_srv_cpp(beginner_tutorials
+  "/home/mech-user/2015-soft3/20151007/src/beginner_tutorials/srv/AddTwoInts.srv"
+  "${MSG_I_FLAGS}"
+  ""
+  ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/beginner_tutorials
+)
+
+### Generating Module File
+_generate_module_cpp(beginner_tutorials
+  ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/beginner_tutorials
+  "${ALL_GEN_OUTPUT_FILES_cpp}"
+)
+
+add_custom_target(beginner_tutorials_generate_messages_cpp
+  DEPENDS ${ALL_GEN_OUTPUT_FILES_cpp}
+)
+add_dependencies(beginner_tutorials_generate_messages beginner_tutorials_generate_messages_cpp)
+
+# add dependencies to all check dependencies targets
+get_filename_component(_filename "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesGoal.msg" NAME_WE)
+add_dependencies(beginner_tutorials_generate_messages_cpp _beginner_tutorials_generate_messages_check_deps_${_filename})
+get_filename_component(_filename "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesFeedback.msg" NAME_WE)
+add_dependencies(beginner_tutorials_generate_messages_cpp _beginner_tutorials_generate_messages_check_deps_${_filename})
+get_filename_component(_filename "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesAction.msg" NAME_WE)
+add_dependencies(beginner_tutorials_generate_messages_cpp _beginner_tutorials_generate_messages_check_deps_${_filename})
+get_filename_component(_filename "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionGoal.msg" NAME_WE)
+add_dependencies(beginner_tutorials_generate_messages_cpp _beginner_tutorials_generate_messages_check_deps_${_filename})
+get_filename_component(_filename "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionResult.msg" NAME_WE)
+add_dependencies(beginner_tutorials_generate_messages_cpp _beginner_tutorials_generate_messages_check_deps_${_filename})
+get_filename_component(_filename "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionFeedback.msg" NAME_WE)
+add_dependencies(beginner_tutorials_generate_messages_cpp _beginner_tutorials_generate_messages_check_deps_${_filename})
+get_filename_component(_filename "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesResult.msg" NAME_WE)
+add_dependencies(beginner_tutorials_generate_messages_cpp _beginner_tutorials_generate_messages_check_deps_${_filename})
+get_filename_component(_filename "/home/mech-user/2015-soft3/20151007/src/beginner_tutorials/srv/AddTwoInts.srv" NAME_WE)
+add_dependencies(beginner_tutorials_generate_messages_cpp _beginner_tutorials_generate_messages_check_deps_${_filename})
+
+# target for backward compatibility
+add_custom_target(beginner_tutorials_gencpp)
+add_dependencies(beginner_tutorials_gencpp beginner_tutorials_generate_messages_cpp)
+
+# register target for catkin_package(EXPORTED_TARGETS)
+list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS beginner_tutorials_generate_messages_cpp)
+
+### Section generating for lang: genlisp
+### Generating Messages
+_generate_msg_lisp(beginner_tutorials
+  "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesGoal.msg"
+  "${MSG_I_FLAGS}"
+  ""
+  ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/beginner_tutorials
+)
+_generate_msg_lisp(beginner_tutorials
+  "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesFeedback.msg"
+  "${MSG_I_FLAGS}"
+  ""
+  ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/beginner_tutorials
+)
+_generate_msg_lisp(beginner_tutorials
+  "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesAction.msg"
+  "${MSG_I_FLAGS}"
+  "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesFeedback.msg;/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionFeedback.msg;/opt/ros/indigo/share/actionlib_msgs/cmake/../msg/GoalStatus.msg;/opt/ros/indigo/share/actionlib_msgs/cmake/../msg/GoalID.msg;/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionResult.msg;/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionGoal.msg;/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesGoal.msg;/opt/ros/indigo/share/std_msgs/cmake/../msg/Header.msg;/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesResult.msg"
+  ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/beginner_tutorials
+)
+_generate_msg_lisp(beginner_tutorials
+  "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionGoal.msg"
+  "${MSG_I_FLAGS}"
+  "/opt/ros/indigo/share/actionlib_msgs/cmake/../msg/GoalID.msg;/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesGoal.msg;/opt/ros/indigo/share/std_msgs/cmake/../msg/Header.msg"
+  ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/beginner_tutorials
+)
+_generate_msg_lisp(beginner_tutorials
+  "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionResult.msg"
+  "${MSG_I_FLAGS}"
+  "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesResult.msg;/opt/ros/indigo/share/actionlib_msgs/cmake/../msg/GoalStatus.msg;/opt/ros/indigo/share/actionlib_msgs/cmake/../msg/GoalID.msg;/opt/ros/indigo/share/std_msgs/cmake/../msg/Header.msg"
+  ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/beginner_tutorials
+)
+_generate_msg_lisp(beginner_tutorials
+  "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionFeedback.msg"
+  "${MSG_I_FLAGS}"
+  "/opt/ros/indigo/share/actionlib_msgs/cmake/../msg/GoalStatus.msg;/opt/ros/indigo/share/actionlib_msgs/cmake/../msg/GoalID.msg;/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesFeedback.msg;/opt/ros/indigo/share/std_msgs/cmake/../msg/Header.msg"
+  ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/beginner_tutorials
+)
+_generate_msg_lisp(beginner_tutorials
+  "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesResult.msg"
+  "${MSG_I_FLAGS}"
+  ""
+  ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/beginner_tutorials
+)
+
+### Generating Services
+_generate_srv_lisp(beginner_tutorials
+  "/home/mech-user/2015-soft3/20151007/src/beginner_tutorials/srv/AddTwoInts.srv"
+  "${MSG_I_FLAGS}"
+  ""
+  ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/beginner_tutorials
+)
+
+### Generating Module File
+_generate_module_lisp(beginner_tutorials
+  ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/beginner_tutorials
+  "${ALL_GEN_OUTPUT_FILES_lisp}"
+)
+
+add_custom_target(beginner_tutorials_generate_messages_lisp
+  DEPENDS ${ALL_GEN_OUTPUT_FILES_lisp}
+)
+add_dependencies(beginner_tutorials_generate_messages beginner_tutorials_generate_messages_lisp)
+
+# add dependencies to all check dependencies targets
+get_filename_component(_filename "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesGoal.msg" NAME_WE)
+add_dependencies(beginner_tutorials_generate_messages_lisp _beginner_tutorials_generate_messages_check_deps_${_filename})
+get_filename_component(_filename "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesFeedback.msg" NAME_WE)
+add_dependencies(beginner_tutorials_generate_messages_lisp _beginner_tutorials_generate_messages_check_deps_${_filename})
+get_filename_component(_filename "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesAction.msg" NAME_WE)
+add_dependencies(beginner_tutorials_generate_messages_lisp _beginner_tutorials_generate_messages_check_deps_${_filename})
+get_filename_component(_filename "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionGoal.msg" NAME_WE)
+add_dependencies(beginner_tutorials_generate_messages_lisp _beginner_tutorials_generate_messages_check_deps_${_filename})
+get_filename_component(_filename "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionResult.msg" NAME_WE)
+add_dependencies(beginner_tutorials_generate_messages_lisp _beginner_tutorials_generate_messages_check_deps_${_filename})
+get_filename_component(_filename "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionFeedback.msg" NAME_WE)
+add_dependencies(beginner_tutorials_generate_messages_lisp _beginner_tutorials_generate_messages_check_deps_${_filename})
+get_filename_component(_filename "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesResult.msg" NAME_WE)
+add_dependencies(beginner_tutorials_generate_messages_lisp _beginner_tutorials_generate_messages_check_deps_${_filename})
+get_filename_component(_filename "/home/mech-user/2015-soft3/20151007/src/beginner_tutorials/srv/AddTwoInts.srv" NAME_WE)
+add_dependencies(beginner_tutorials_generate_messages_lisp _beginner_tutorials_generate_messages_check_deps_${_filename})
+
+# target for backward compatibility
+add_custom_target(beginner_tutorials_genlisp)
+add_dependencies(beginner_tutorials_genlisp beginner_tutorials_generate_messages_lisp)
+
+# register target for catkin_package(EXPORTED_TARGETS)
+list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS beginner_tutorials_generate_messages_lisp)
+
+### Section generating for lang: genpy
+### Generating Messages
+_generate_msg_py(beginner_tutorials
+  "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesGoal.msg"
+  "${MSG_I_FLAGS}"
+  ""
+  ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/beginner_tutorials
+)
+_generate_msg_py(beginner_tutorials
+  "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesFeedback.msg"
+  "${MSG_I_FLAGS}"
+  ""
+  ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/beginner_tutorials
+)
+_generate_msg_py(beginner_tutorials
+  "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesAction.msg"
+  "${MSG_I_FLAGS}"
+  "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesFeedback.msg;/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionFeedback.msg;/opt/ros/indigo/share/actionlib_msgs/cmake/../msg/GoalStatus.msg;/opt/ros/indigo/share/actionlib_msgs/cmake/../msg/GoalID.msg;/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionResult.msg;/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionGoal.msg;/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesGoal.msg;/opt/ros/indigo/share/std_msgs/cmake/../msg/Header.msg;/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesResult.msg"
+  ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/beginner_tutorials
+)
+_generate_msg_py(beginner_tutorials
+  "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionGoal.msg"
+  "${MSG_I_FLAGS}"
+  "/opt/ros/indigo/share/actionlib_msgs/cmake/../msg/GoalID.msg;/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesGoal.msg;/opt/ros/indigo/share/std_msgs/cmake/../msg/Header.msg"
+  ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/beginner_tutorials
+)
+_generate_msg_py(beginner_tutorials
+  "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionResult.msg"
+  "${MSG_I_FLAGS}"
+  "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesResult.msg;/opt/ros/indigo/share/actionlib_msgs/cmake/../msg/GoalStatus.msg;/opt/ros/indigo/share/actionlib_msgs/cmake/../msg/GoalID.msg;/opt/ros/indigo/share/std_msgs/cmake/../msg/Header.msg"
+  ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/beginner_tutorials
+)
+_generate_msg_py(beginner_tutorials
+  "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionFeedback.msg"
+  "${MSG_I_FLAGS}"
+  "/opt/ros/indigo/share/actionlib_msgs/cmake/../msg/GoalStatus.msg;/opt/ros/indigo/share/actionlib_msgs/cmake/../msg/GoalID.msg;/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesFeedback.msg;/opt/ros/indigo/share/std_msgs/cmake/../msg/Header.msg"
+  ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/beginner_tutorials
+)
+_generate_msg_py(beginner_tutorials
+  "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesResult.msg"
+  "${MSG_I_FLAGS}"
+  ""
+  ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/beginner_tutorials
+)
+
+### Generating Services
+_generate_srv_py(beginner_tutorials
+  "/home/mech-user/2015-soft3/20151007/src/beginner_tutorials/srv/AddTwoInts.srv"
+  "${MSG_I_FLAGS}"
+  ""
+  ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/beginner_tutorials
+)
+
+### Generating Module File
+_generate_module_py(beginner_tutorials
+  ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/beginner_tutorials
+  "${ALL_GEN_OUTPUT_FILES_py}"
+)
+
+add_custom_target(beginner_tutorials_generate_messages_py
+  DEPENDS ${ALL_GEN_OUTPUT_FILES_py}
+)
+add_dependencies(beginner_tutorials_generate_messages beginner_tutorials_generate_messages_py)
+
+# add dependencies to all check dependencies targets
+get_filename_component(_filename "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesGoal.msg" NAME_WE)
+add_dependencies(beginner_tutorials_generate_messages_py _beginner_tutorials_generate_messages_check_deps_${_filename})
+get_filename_component(_filename "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesFeedback.msg" NAME_WE)
+add_dependencies(beginner_tutorials_generate_messages_py _beginner_tutorials_generate_messages_check_deps_${_filename})
+get_filename_component(_filename "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesAction.msg" NAME_WE)
+add_dependencies(beginner_tutorials_generate_messages_py _beginner_tutorials_generate_messages_check_deps_${_filename})
+get_filename_component(_filename "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionGoal.msg" NAME_WE)
+add_dependencies(beginner_tutorials_generate_messages_py _beginner_tutorials_generate_messages_check_deps_${_filename})
+get_filename_component(_filename "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionResult.msg" NAME_WE)
+add_dependencies(beginner_tutorials_generate_messages_py _beginner_tutorials_generate_messages_check_deps_${_filename})
+get_filename_component(_filename "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionFeedback.msg" NAME_WE)
+add_dependencies(beginner_tutorials_generate_messages_py _beginner_tutorials_generate_messages_check_deps_${_filename})
+get_filename_component(_filename "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesResult.msg" NAME_WE)
+add_dependencies(beginner_tutorials_generate_messages_py _beginner_tutorials_generate_messages_check_deps_${_filename})
+get_filename_component(_filename "/home/mech-user/2015-soft3/20151007/src/beginner_tutorials/srv/AddTwoInts.srv" NAME_WE)
+add_dependencies(beginner_tutorials_generate_messages_py _beginner_tutorials_generate_messages_check_deps_${_filename})
+
+# target for backward compatibility
+add_custom_target(beginner_tutorials_genpy)
+add_dependencies(beginner_tutorials_genpy beginner_tutorials_generate_messages_py)
+
+# register target for catkin_package(EXPORTED_TARGETS)
+list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS beginner_tutorials_generate_messages_py)
+
+
+
+if(gencpp_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/beginner_tutorials)
+  # install generated code
+  install(
+    DIRECTORY ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/beginner_tutorials
+    DESTINATION ${gencpp_INSTALL_DIR}
+  )
+endif()
+add_dependencies(beginner_tutorials_generate_messages_cpp geometry_msgs_generate_messages_cpp)
+add_dependencies(beginner_tutorials_generate_messages_cpp actionlib_msgs_generate_messages_cpp)
+
+if(genlisp_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/beginner_tutorials)
+  # install generated code
+  install(
+    DIRECTORY ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/beginner_tutorials
+    DESTINATION ${genlisp_INSTALL_DIR}
+  )
+endif()
+add_dependencies(beginner_tutorials_generate_messages_lisp geometry_msgs_generate_messages_lisp)
+add_dependencies(beginner_tutorials_generate_messages_lisp actionlib_msgs_generate_messages_lisp)
+
+if(genpy_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/beginner_tutorials)
+  install(CODE "execute_process(COMMAND \"/usr/bin/python\" -m compileall \"${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/beginner_tutorials\")")
+  # install generated code
+  install(
+    DIRECTORY ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/beginner_tutorials
+    DESTINATION ${genpy_INSTALL_DIR}
+  )
+endif()
+add_dependencies(beginner_tutorials_generate_messages_py geometry_msgs_generate_messages_py)
+add_dependencies(beginner_tutorials_generate_messages_py actionlib_msgs_generate_messages_py)
diff --git a/20151007/build/beginner_tutorials/cmake_install.cmake b/20151007/build/beginner_tutorials/cmake_install.cmake
new file mode 100644
index 00000000..e289217c
--- /dev/null
+++ b/20151007/build/beginner_tutorials/cmake_install.cmake
@@ -0,0 +1,199 @@
+# Install script for directory: /home/mech-user/2015-soft3/20151007/src/beginner_tutorials
+
+# Set the install prefix
+IF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+  SET(CMAKE_INSTALL_PREFIX "/home/mech-user/2015-soft3/20151007/install")
+ENDIF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+STRING(REGEX REPLACE "/$" "" 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(BUILD_TYPE)
+    SET(CMAKE_INSTALL_CONFIG_NAME "")
+  ENDIF(BUILD_TYPE)
+  MESSAGE(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
+ENDIF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+
+# Set the component getting installed.
+IF(NOT CMAKE_INSTALL_COMPONENT)
+  IF(COMPONENT)
+    MESSAGE(STATUS "Install component: \"${COMPONENT}\"")
+    SET(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
+  ELSE(COMPONENT)
+    SET(CMAKE_INSTALL_COMPONENT)
+  ENDIF(COMPONENT)
+ENDIF(NOT CMAKE_INSTALL_COMPONENT)
+
+# Install shared libraries without execute permission?
+IF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+  SET(CMAKE_INSTALL_SO_NO_EXE "1")
+ENDIF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+
+IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+  
+      if (NOT EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}")
+        file(MAKE_DIRECTORY "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}")
+      endif()
+      if (NOT EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/.catkin")
+        file(WRITE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/.catkin" "")
+      endif()
+ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+
+IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+  list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
+   "/home/mech-user/2015-soft3/20151007/install/_setup_util.py")
+  IF (CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  ENDIF (CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
+  IF (CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  ENDIF (CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+FILE(INSTALL DESTINATION "/home/mech-user/2015-soft3/20151007/install" TYPE PROGRAM FILES "/home/mech-user/2015-soft3/20151007/build/beginner_tutorials/catkin_generated/installspace/_setup_util.py")
+ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+
+IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+  list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
+   "/home/mech-user/2015-soft3/20151007/install/env.sh")
+  IF (CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  ENDIF (CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
+  IF (CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  ENDIF (CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+FILE(INSTALL DESTINATION "/home/mech-user/2015-soft3/20151007/install" TYPE PROGRAM FILES "/home/mech-user/2015-soft3/20151007/build/beginner_tutorials/catkin_generated/installspace/env.sh")
+ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+
+IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+  list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
+   "/home/mech-user/2015-soft3/20151007/install/setup.bash")
+  IF (CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  ENDIF (CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
+  IF (CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  ENDIF (CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+FILE(INSTALL DESTINATION "/home/mech-user/2015-soft3/20151007/install" TYPE FILE FILES "/home/mech-user/2015-soft3/20151007/build/beginner_tutorials/catkin_generated/installspace/setup.bash")
+ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+
+IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+  list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
+   "/home/mech-user/2015-soft3/20151007/install/setup.sh")
+  IF (CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  ENDIF (CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
+  IF (CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  ENDIF (CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
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diff --git a/20151007/build/beginner_tutorials/gtest/cmake_install.cmake b/20151007/build/beginner_tutorials/gtest/cmake_install.cmake
new file mode 100644
index 00000000..db486455
--- /dev/null
+++ b/20151007/build/beginner_tutorials/gtest/cmake_install.cmake
@@ -0,0 +1,34 @@
+# Install script for directory: /usr/src/gtest
+
+# Set the install prefix
+IF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+  SET(CMAKE_INSTALL_PREFIX "/home/mech-user/2015-soft3/20151007/install")
+ENDIF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+STRING(REGEX REPLACE "/$" "" 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(BUILD_TYPE)
+    SET(CMAKE_INSTALL_CONFIG_NAME "")
+  ENDIF(BUILD_TYPE)
+  MESSAGE(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
+ENDIF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+
+# Set the component getting installed.
+IF(NOT CMAKE_INSTALL_COMPONENT)
+  IF(COMPONENT)
+    MESSAGE(STATUS "Install component: \"${COMPONENT}\"")
+    SET(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
+  ELSE(COMPONENT)
+    SET(CMAKE_INSTALL_COMPONENT)
+  ENDIF(COMPONENT)
+ENDIF(NOT CMAKE_INSTALL_COMPONENT)
+
+# Install shared libraries without execute permission?
+IF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+  SET(CMAKE_INSTALL_SO_NO_EXE "1")
+ENDIF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+
diff --git a/20151007/build/build_logs/beginner_tutorials.log b/20151007/build/build_logs/beginner_tutorials.log
new file mode 100644
index 00000000..616082f7
--- /dev/null
+++ b/20151007/build/build_logs/beginner_tutorials.log
@@ -0,0 +1,28 @@
+[beginner_tutorials] ==> '/home/mech-user/2015-soft3/20151007/build/beginner_tutorials/build_env.sh /usr/bin/make cmake_check_build_system' in '/home/mech-user/2015-soft3/20151007/build/beginner_tutorials'
+[beginner_tutorials] <== '/home/mech-user/2015-soft3/20151007/build/beginner_tutorials/build_env.sh /usr/bin/make cmake_check_build_system' finished with return code '0'
+[beginner_tutorials] ==> '/home/mech-user/2015-soft3/20151007/build/beginner_tutorials/build_env.sh /usr/bin/make --jobserver-fds=3,5 -j' in '/home/mech-user/2015-soft3/20151007/build/beginner_tutorials'
+[  0%] Built target actionlib_msgs_generate_messages_cpp
+[  0%] Built target geometry_msgs_generate_messages_cpp
+[  0%] [  0%] [  0%] [  0%] Built target _beginner_tutorials_generate_messages_check_deps_DoDishesFeedback
+[  0%] Built target _beginner_tutorials_generate_messages_check_deps_AddTwoInts
+Built target _beginner_tutorials_generate_messages_check_deps_DoDishesActionGoal
+[  0%] Built target _beginner_tutorials_generate_messages_check_deps_DoDishesActionFeedback
+Built target _beginner_tutorials_generate_messages_check_deps_DoDishesActionResult
+Built target _beginner_tutorials_generate_messages_check_deps_DoDishesResult
+[  0%] [  0%] Built target _beginner_tutorials_generate_messages_check_deps_DoDishesAction
+Built target _beginner_tutorials_generate_messages_check_deps_DoDishesGoal
+[  0%] [  0%] Built target actionlib_msgs_generate_messages_lisp
+Built target actionlib_msgs_generate_messages_py
+[  0%] [  0%] Built target geometry_msgs_generate_messages_py
+Built target geometry_msgs_generate_messages_lisp
+[ 31%] Built target beginner_tutorials_generate_messages_py
+[ 81%] [ 81%] Built target beginner_tutorials_generate_messages_lisp
+Built target beginner_tutorials_generate_messages_cpp
+[ 81%] Built target beginner_tutorials_generate_messages
+[ 84%] [ 87%] [ 90%] Built target talker
+Built target listener
+Built target add_two_ints_client
+[ 93%] Built target add_two_ints_server
+[ 96%] Built target simple_action_client
+[100%] Built target simple_action_server
+[beginner_tutorials] <== '/home/mech-user/2015-soft3/20151007/build/beginner_tutorials/build_env.sh /usr/bin/make --jobserver-fds=3,5 -j' finished with return code '0'
diff --git a/20151007/built/.catkin_tools.yaml b/20151007/built/.catkin_tools.yaml
new file mode 100644
index 00000000..01e711dc
--- /dev/null
+++ b/20151007/built/.catkin_tools.yaml
@@ -0,0 +1,6 @@
+devel_space: /home/mech-user/2015-soft3/20151007/devel
+install: false
+install_space: /home/mech-user/2015-soft3/20151007/install
+profile: default
+source_space: /home/mech-user/2015-soft3/20151007/src
+workspace: /home/mech-user/2015-soft3/20151007
diff --git a/20151007/built/CATKIN_IGNORE b/20151007/built/CATKIN_IGNORE
new file mode 100644
index 00000000..e69de29b
diff --git a/20151007/built/CMakeCache.txt b/20151007/built/CMakeCache.txt
new file mode 100644
index 00000000..51bc6057
--- /dev/null
+++ b/20151007/built/CMakeCache.txt
@@ -0,0 +1,522 @@
+# This is the CMakeCache file.
+# For build in directory: /home/mech-user/2015-soft3/20151007/build
+# It was generated by CMake: /usr/bin/cmake
+# You can edit this file to change values found and used by cmake.
+# If you do not want to change any of the values, simply exit the editor.
+# If you do want to change a value, simply edit, save, and exit the editor.
+# The syntax for the file is as follows:
+# KEY:TYPE=VALUE
+# KEY is the name of a variable in the cache.
+# TYPE is a hint to GUIs for the type of VALUE, DO NOT EDIT TYPE!.
+# VALUE is the current value for the KEY.
+
+########################
+# EXTERNAL cache entries
+########################
+
+//Build shared libraries (DLLs).
+BUILD_SHARED_LIBS:BOOL=ON
+
+//List of ';' separated packages to exclude
+CATKIN_BLACKLIST_PACKAGES:STRING=
+
+//catkin devel space
+CATKIN_DEVEL_PREFIX:PATH=/home/mech-user/2015-soft3/20151007/devel
+
+//Catkin enable testing
+CATKIN_ENABLE_TESTING:BOOL=ON
+
+//Prefix to apply to package generated via gendebian
+CATKIN_PACKAGE_PREFIX:STRING=
+
+//Catkin skip testing
+CATKIN_SKIP_TESTING:BOOL=OFF
+
+//List of ';' separated packages to build
+CATKIN_WHITELIST_PACKAGES:STRING=
+
+//Path to a program.
+CMAKE_AR:FILEPATH=/usr/bin/ar
+
+//Choose the type of build, options are: None(CMAKE_CXX_FLAGS or
+// CMAKE_C_FLAGS used) Debug Release RelWithDebInfo MinSizeRel.
+CMAKE_BUILD_TYPE:STRING=
+
+//Enable/Disable color output during build.
+CMAKE_COLOR_MAKEFILE:BOOL=ON
+
+//CXX compiler.
+CMAKE_CXX_COMPILER:FILEPATH=/usr/bin/c++
+
+//Flags used by the compiler during all build types.
+CMAKE_CXX_FLAGS:STRING=
+
+//Flags used by the compiler during debug builds.
+CMAKE_CXX_FLAGS_DEBUG:STRING=-g
+
+//Flags used by the compiler during release minsize builds.
+CMAKE_CXX_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG
+
+//Flags used by the compiler during release builds (/MD /Ob1 /Oi
+// /Ot /Oy /Gs will produce slightly less optimized but smaller
+// files).
+CMAKE_CXX_FLAGS_RELEASE:STRING=-O3 -DNDEBUG
+
+//Flags used by the compiler during Release with Debug Info builds.
+CMAKE_CXX_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG
+
+//C compiler.
+CMAKE_C_COMPILER:FILEPATH=/usr/bin/cc
+
+//Flags used by the compiler during all build types.
+CMAKE_C_FLAGS:STRING=
+
+//Flags used by the compiler during debug builds.
+CMAKE_C_FLAGS_DEBUG:STRING=-g
+
+//Flags used by the compiler during release minsize builds.
+CMAKE_C_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG
+
+//Flags used by the compiler during release builds (/MD /Ob1 /Oi
+// /Ot /Oy /Gs will produce slightly less optimized but smaller
+// files).
+CMAKE_C_FLAGS_RELEASE:STRING=-O3 -DNDEBUG
+
+//Flags used by the compiler during Release with Debug Info builds.
+CMAKE_C_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG
+
+//Flags used by the linker.
+CMAKE_EXE_LINKER_FLAGS:STRING=' '
+
+//Flags used by the linker during debug builds.
+CMAKE_EXE_LINKER_FLAGS_DEBUG:STRING=
+
+//Flags used by the linker during release minsize builds.
+CMAKE_EXE_LINKER_FLAGS_MINSIZEREL:STRING=
+
+//Flags used by the linker during release builds.
+CMAKE_EXE_LINKER_FLAGS_RELEASE:STRING=
+
+//Flags used by the linker during Release with Debug Info builds.
+CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO:STRING=
+
+//Enable/Disable output of compile commands during generation.
+CMAKE_EXPORT_COMPILE_COMMANDS:BOOL=OFF
+
+//Install path prefix, prepended onto install directories.
+CMAKE_INSTALL_PREFIX:PATH=/home/mech-user/2015-soft3/20151007/install
+
+//Path to a program.
+CMAKE_LINKER:FILEPATH=/usr/bin/ld
+
+//Path to a program.
+CMAKE_MAKE_PROGRAM:FILEPATH=/usr/bin/make
+
+//Flags used by the linker during the creation of modules.
+CMAKE_MODULE_LINKER_FLAGS:STRING=' '
+
+//Flags used by the linker during debug builds.
+CMAKE_MODULE_LINKER_FLAGS_DEBUG:STRING=
+
+//Flags used by the linker during release minsize builds.
+CMAKE_MODULE_LINKER_FLAGS_MINSIZEREL:STRING=
+
+//Flags used by the linker during release builds.
+CMAKE_MODULE_LINKER_FLAGS_RELEASE:STRING=
+
+//Flags used by the linker during Release with Debug Info builds.
+CMAKE_MODULE_LINKER_FLAGS_RELWITHDEBINFO:STRING=
+
+//Path to a program.
+CMAKE_NM:FILEPATH=/usr/bin/nm
+
+//Path to a program.
+CMAKE_OBJCOPY:FILEPATH=/usr/bin/objcopy
+
+//Path to a program.
+CMAKE_OBJDUMP:FILEPATH=/usr/bin/objdump
+
+//Value Computed by CMake
+CMAKE_PROJECT_NAME:STATIC=Project
+
+//Path to a program.
+CMAKE_RANLIB:FILEPATH=/usr/bin/ranlib
+
+//Flags used by the linker during the creation of dll's.
+CMAKE_SHARED_LINKER_FLAGS:STRING=' '
+
+//Flags used by the linker during debug builds.
+CMAKE_SHARED_LINKER_FLAGS_DEBUG:STRING=
+
+//Flags used by the linker during release minsize builds.
+CMAKE_SHARED_LINKER_FLAGS_MINSIZEREL:STRING=
+
+//Flags used by the linker during release builds.
+CMAKE_SHARED_LINKER_FLAGS_RELEASE:STRING=
+
+//Flags used by the linker during Release with Debug Info builds.
+CMAKE_SHARED_LINKER_FLAGS_RELWITHDEBINFO:STRING=
+
+//If set, runtime paths are not added when installing shared libraries,
+// but are added when building.
+CMAKE_SKIP_INSTALL_RPATH:BOOL=NO
+
+//If set, runtime paths are not added when using shared libraries.
+CMAKE_SKIP_RPATH:BOOL=NO
+
+//Flags used by the linker during the creation of static libraries.
+CMAKE_STATIC_LINKER_FLAGS:STRING=
+
+//Flags used by the linker during debug builds.
+CMAKE_STATIC_LINKER_FLAGS_DEBUG:STRING=
+
+//Flags used by the linker during release minsize builds.
+CMAKE_STATIC_LINKER_FLAGS_MINSIZEREL:STRING=
+
+//Flags used by the linker during release builds.
+CMAKE_STATIC_LINKER_FLAGS_RELEASE:STRING=
+
+//Flags used by the linker during Release with Debug Info builds.
+CMAKE_STATIC_LINKER_FLAGS_RELWITHDEBINFO:STRING=
+
+//Path to a program.
+CMAKE_STRIP:FILEPATH=/usr/bin/strip
+
+//If true, cmake will use relative paths in makefiles and projects.
+CMAKE_USE_RELATIVE_PATHS:BOOL=OFF
+
+//If this value is on, makefiles will be generated without the
+// .SILENT directive, and all commands will be echoed to the console
+// during the make.  This is useful for debugging only. With Visual
+// Studio IDE projects all commands are done without /nologo.
+CMAKE_VERBOSE_MAKEFILE:BOOL=FALSE
+
+//Path to a program.
+DOXYGEN_EXECUTABLE:FILEPATH=/usr/bin/doxygen
+
+//Doxygen found
+DOXYGEN_FOUND:BOOL=TRUE
+
+//Path to a program.
+EMPY_EXECUTABLE:FILEPATH=/usr/bin/empy
+
+//Empy script
+EMPY_SCRIPT:STRING=/usr/bin/empy
+
+//Path to a file.
+GTEST_INCLUDE_DIR:PATH=/usr/include
+
+//Path to a library.
+GTEST_LIBRARY:FILEPATH=GTEST_LIBRARY-NOTFOUND
+
+//Path to a library.
+GTEST_LIBRARY_DEBUG:FILEPATH=GTEST_LIBRARY_DEBUG-NOTFOUND
+
+//Path to a library.
+GTEST_MAIN_LIBRARY:FILEPATH=GTEST_MAIN_LIBRARY-NOTFOUND
+
+//Path to a library.
+GTEST_MAIN_LIBRARY_DEBUG:FILEPATH=GTEST_MAIN_LIBRARY_DEBUG-NOTFOUND
+
+//lsb_release executable was found
+LSB_FOUND:BOOL=TRUE
+
+//Path to a program.
+LSB_RELEASE_EXECUTABLE:FILEPATH=/usr/bin/lsb_release
+
+//Path to a program.
+NOSETESTS:FILEPATH=/usr/bin/nosetests-2.7
+
+//Path to a program.
+PYTHON_EXECUTABLE:FILEPATH=/usr/bin/python
+
+//Specify specific Python version to use ('major.minor' or 'major')
+PYTHON_VERSION:STRING=
+
+//Value Computed by CMake
+Project_BINARY_DIR:STATIC=/home/mech-user/2015-soft3/20151007/build
+
+//Value Computed by CMake
+Project_SOURCE_DIR:STATIC=/home/mech-user/2015-soft3/20151007/src
+
+//Path to a library.
+RT_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/librt.so
+
+//Enable debian style python package layout
+SETUPTOOLS_DEB_LAYOUT:BOOL=ON
+
+//LSB Distrib tag
+UBUNTU:BOOL=TRUE
+
+//LSB Distrib - codename tag
+UBUNTU_TRUSTY:BOOL=TRUE
+
+//Path to a file.
+_CATKIN_GTEST_INCLUDE:FILEPATH=/usr/include/gtest/gtest.h
+
+//Path to a file.
+_CATKIN_GTEST_SRC:FILEPATH=/usr/src/gtest/src/gtest.cc
+
+//The directory containing a CMake configuration file for actionlib.
+actionlib_DIR:PATH=/opt/ros/indigo/share/actionlib/cmake
+
+//The directory containing a CMake configuration file for actionlib_msgs.
+actionlib_msgs_DIR:PATH=/opt/ros/indigo/share/actionlib_msgs/cmake
+
+//Value Computed by CMake
+beginner_tutorials_BINARY_DIR:STATIC=/home/mech-user/2015-soft3/20151007/build/beginner_tutorials
+
+//Value Computed by CMake
+beginner_tutorials_SOURCE_DIR:STATIC=/home/mech-user/2015-soft3/20151007/src/beginner_tutorials
+
+//The directory containing a CMake configuration file for catkin.
+catkin_DIR:PATH=/opt/ros/indigo/share/catkin/cmake
+
+//The directory containing a CMake configuration file for cpp_common.
+cpp_common_DIR:PATH=/opt/ros/indigo/share/cpp_common/cmake
+
+//The directory containing a CMake configuration file for gencpp.
+gencpp_DIR:PATH=/opt/ros/indigo/share/gencpp/cmake
+
+//The directory containing a CMake configuration file for genlisp.
+genlisp_DIR:PATH=/opt/ros/indigo/share/genlisp/cmake
+
+//The directory containing a CMake configuration file for genmsg.
+genmsg_DIR:PATH=/opt/ros/indigo/share/genmsg/cmake
+
+//The directory containing a CMake configuration file for genpy.
+genpy_DIR:PATH=/opt/ros/indigo/share/genpy/cmake
+
+//The directory containing a CMake configuration file for geometry_msgs.
+geometry_msgs_DIR:PATH=/opt/ros/indigo/share/geometry_msgs/cmake
+
+//Value Computed by CMake
+gtest_BINARY_DIR:STATIC=/home/mech-user/2015-soft3/20151007/build/gtest
+
+//Dependencies for the target
+gtest_LIB_DEPENDS:STATIC=general;-lpthread;
+
+//Value Computed by CMake
+gtest_SOURCE_DIR:STATIC=/usr/src/gtest
+
+//Build gtest's sample programs.
+gtest_build_samples:BOOL=OFF
+
+//Build all of gtest's own tests.
+gtest_build_tests:BOOL=OFF
+
+//Disable uses of pthreads in gtest.
+gtest_disable_pthreads:BOOL=OFF
+
+//Use shared (DLL) run-time lib even when Google Test is built
+// as static lib.
+gtest_force_shared_crt:BOOL=OFF
+
+//Dependencies for the target
+gtest_main_LIB_DEPENDS:STATIC=general;-lpthread;general;gtest;
+
+//Path to a library.
+lib:FILEPATH=/opt/ros/indigo/lib/libactionlib.so
+
+//The directory containing a CMake configuration file for message_generation.
+message_generation_DIR:PATH=/opt/ros/indigo/share/message_generation/cmake
+
+//The directory containing a CMake configuration file for message_runtime.
+message_runtime_DIR:PATH=/opt/ros/indigo/share/message_runtime/cmake
+
+//The directory containing a CMake configuration file for rosconsole.
+rosconsole_DIR:PATH=/opt/ros/indigo/share/rosconsole/cmake
+
+//The directory containing a CMake configuration file for roscpp.
+roscpp_DIR:PATH=/opt/ros/indigo/share/roscpp/cmake
+
+//The directory containing a CMake configuration file for roscpp_serialization.
+roscpp_serialization_DIR:PATH=/opt/ros/indigo/share/roscpp_serialization/cmake
+
+//The directory containing a CMake configuration file for roscpp_traits.
+roscpp_traits_DIR:PATH=/opt/ros/indigo/share/roscpp_traits/cmake
+
+//The directory containing a CMake configuration file for rosgraph_msgs.
+rosgraph_msgs_DIR:PATH=/opt/ros/indigo/share/rosgraph_msgs/cmake
+
+//The directory containing a CMake configuration file for rospy.
+rospy_DIR:PATH=/opt/ros/indigo/share/rospy/cmake
+
+//The directory containing a CMake configuration file for rostime.
+rostime_DIR:PATH=/opt/ros/indigo/share/rostime/cmake
+
+//The directory containing a CMake configuration file for std_msgs.
+std_msgs_DIR:PATH=/opt/ros/indigo/share/std_msgs/cmake
+
+//The directory containing a CMake configuration file for xmlrpcpp.
+xmlrpcpp_DIR:PATH=/opt/ros/indigo/share/xmlrpcpp/cmake
+
+
+########################
+# INTERNAL cache entries
+########################
+
+//catkin environment
+CATKIN_ENV:INTERNAL=/home/mech-user/2015-soft3/20151007/build/catkin_generated/env_cached.sh
+CATKIN_TEST_RESULTS_DIR:INTERNAL=/home/mech-user/2015-soft3/20151007/build/test_results
+//ADVANCED property for variable: CMAKE_AR
+CMAKE_AR-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_BUILD_TOOL
+CMAKE_BUILD_TOOL-ADVANCED:INTERNAL=1
+//What is the target build tool cmake is generating for.
+CMAKE_BUILD_TOOL:INTERNAL=/usr/bin/make
+//This is the directory where this CMakeCache.txt was created
+CMAKE_CACHEFILE_DIR:INTERNAL=/home/mech-user/2015-soft3/20151007/build
+//Major version of cmake used to create the current loaded cache
+CMAKE_CACHE_MAJOR_VERSION:INTERNAL=2
+//Minor version of cmake used to create the current loaded cache
+CMAKE_CACHE_MINOR_VERSION:INTERNAL=8
+//Patch version of cmake used to create the current loaded cache
+CMAKE_CACHE_PATCH_VERSION:INTERNAL=12
+//ADVANCED property for variable: CMAKE_COLOR_MAKEFILE
+CMAKE_COLOR_MAKEFILE-ADVANCED:INTERNAL=1
+//Path to CMake executable.
+CMAKE_COMMAND:INTERNAL=/usr/bin/cmake
+//Path to cpack program executable.
+CMAKE_CPACK_COMMAND:INTERNAL=/usr/bin/cpack
+//Path to ctest program executable.
+CMAKE_CTEST_COMMAND:INTERNAL=/usr/bin/ctest
+//ADVANCED property for variable: CMAKE_CXX_COMPILER
+CMAKE_CXX_COMPILER-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_CXX_FLAGS
+CMAKE_CXX_FLAGS-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_CXX_FLAGS_DEBUG
+CMAKE_CXX_FLAGS_DEBUG-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_CXX_FLAGS_MINSIZEREL
+CMAKE_CXX_FLAGS_MINSIZEREL-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_CXX_FLAGS_RELEASE
+CMAKE_CXX_FLAGS_RELEASE-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_CXX_FLAGS_RELWITHDEBINFO
+CMAKE_CXX_FLAGS_RELWITHDEBINFO-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_C_COMPILER
+CMAKE_C_COMPILER-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_C_FLAGS
+CMAKE_C_FLAGS-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_C_FLAGS_DEBUG
+CMAKE_C_FLAGS_DEBUG-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_C_FLAGS_MINSIZEREL
+CMAKE_C_FLAGS_MINSIZEREL-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_C_FLAGS_RELEASE
+CMAKE_C_FLAGS_RELEASE-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_C_FLAGS_RELWITHDEBINFO
+CMAKE_C_FLAGS_RELWITHDEBINFO-ADVANCED:INTERNAL=1
+//Executable file format
+CMAKE_EXECUTABLE_FORMAT:INTERNAL=ELF
+//ADVANCED property for variable: CMAKE_EXE_LINKER_FLAGS
+CMAKE_EXE_LINKER_FLAGS-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_EXE_LINKER_FLAGS_DEBUG
+CMAKE_EXE_LINKER_FLAGS_DEBUG-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_EXE_LINKER_FLAGS_MINSIZEREL
+CMAKE_EXE_LINKER_FLAGS_MINSIZEREL-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_EXE_LINKER_FLAGS_RELEASE
+CMAKE_EXE_LINKER_FLAGS_RELEASE-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO
+CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_EXPORT_COMPILE_COMMANDS
+CMAKE_EXPORT_COMPILE_COMMANDS-ADVANCED:INTERNAL=1
+//Name of generator.
+CMAKE_GENERATOR:INTERNAL=Unix Makefiles
+//Name of generator toolset.
+CMAKE_GENERATOR_TOOLSET:INTERNAL=
+//Have symbol pthread_create
+CMAKE_HAVE_LIBC_CREATE:INTERNAL=
+//Have library pthreads
+CMAKE_HAVE_PTHREADS_CREATE:INTERNAL=
+//Have library pthread
+CMAKE_HAVE_PTHREAD_CREATE:INTERNAL=1
+//Have include pthread.h
+CMAKE_HAVE_PTHREAD_H:INTERNAL=1
+//Start directory with the top level CMakeLists.txt file for this
+// project
+CMAKE_HOME_DIRECTORY:INTERNAL=/home/mech-user/2015-soft3/20151007/src
+//Install .so files without execute permission.
+CMAKE_INSTALL_SO_NO_EXE:INTERNAL=1
+//ADVANCED property for variable: CMAKE_LINKER
+CMAKE_LINKER-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_MAKE_PROGRAM
+CMAKE_MAKE_PROGRAM-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_MODULE_LINKER_FLAGS
+CMAKE_MODULE_LINKER_FLAGS-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_MODULE_LINKER_FLAGS_DEBUG
+CMAKE_MODULE_LINKER_FLAGS_DEBUG-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_MODULE_LINKER_FLAGS_MINSIZEREL
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+CMAKE_MODULE_LINKER_FLAGS_RELEASE-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_MODULE_LINKER_FLAGS_RELWITHDEBINFO
+CMAKE_MODULE_LINKER_FLAGS_RELWITHDEBINFO-ADVANCED:INTERNAL=1
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+
+#endif
+
+/* For windows compilers MSVC and Intel we can determine
+   the architecture of the compiler being used.  This is because
+   the compilers do not have flags that can change the architecture,
+   but rather depend on which compiler is being used
+*/
+#if defined(_WIN32) && defined(_MSC_VER)
+# if defined(_M_IA64)
+#  define ARCHITECTURE_ID "IA64"
+
+# elif defined(_M_X64) || defined(_M_AMD64)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# elif defined(_M_ARM)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(_M_MIPS)
+#  define ARCHITECTURE_ID "MIPS"
+
+# elif defined(_M_SH)
+#  define ARCHITECTURE_ID "SHx"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#else
+#  define ARCHITECTURE_ID ""
+#endif
+
+/* Convert integer to decimal digit literals.  */
+#define DEC(n)                   \
+  ('0' + (((n) / 10000000)%10)), \
+  ('0' + (((n) / 1000000)%10)),  \
+  ('0' + (((n) / 100000)%10)),   \
+  ('0' + (((n) / 10000)%10)),    \
+  ('0' + (((n) / 1000)%10)),     \
+  ('0' + (((n) / 100)%10)),      \
+  ('0' + (((n) / 10)%10)),       \
+  ('0' +  ((n) % 10))
+
+/* Convert integer to hex digit literals.  */
+#define HEX(n)             \
+  ('0' + ((n)>>28 & 0xF)), \
+  ('0' + ((n)>>24 & 0xF)), \
+  ('0' + ((n)>>20 & 0xF)), \
+  ('0' + ((n)>>16 & 0xF)), \
+  ('0' + ((n)>>12 & 0xF)), \
+  ('0' + ((n)>>8  & 0xF)), \
+  ('0' + ((n)>>4  & 0xF)), \
+  ('0' + ((n)     & 0xF))
+
+/* Construct a string literal encoding the version number components. */
+#ifdef COMPILER_VERSION_MAJOR
+char const info_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[',
+  COMPILER_VERSION_MAJOR,
+# ifdef COMPILER_VERSION_MINOR
+  '.', COMPILER_VERSION_MINOR,
+#  ifdef COMPILER_VERSION_PATCH
+   '.', COMPILER_VERSION_PATCH,
+#   ifdef COMPILER_VERSION_TWEAK
+    '.', COMPILER_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]";
+char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
+
+
+
+/*--------------------------------------------------------------------------*/
+
+#ifdef ID_VOID_MAIN
+void main() {}
+#else
+int main(int argc, char* argv[])
+{
+  int require = 0;
+  require += info_compiler[argc];
+  require += info_platform[argc];
+  require += info_arch[argc];
+#ifdef COMPILER_VERSION_MAJOR
+  require += info_version[argc];
+#endif
+  (void)argv;
+  return require;
+}
+#endif
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--- /dev/null
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+/* This source file must have a .cpp extension so that all C++ compilers
+   recognize the extension without flags.  Borland does not know .cxx for
+   example.  */
+#ifndef __cplusplus
+# error "A C compiler has been selected for C++."
+#endif
+
+/* Version number components: V=Version, R=Revision, P=Patch
+   Version date components:   YYYY=Year, MM=Month,   DD=Day  */
+
+#if defined(__COMO__)
+# define COMPILER_ID "Comeau"
+  /* __COMO_VERSION__ = VRR */
+# define COMPILER_VERSION_MAJOR DEC(__COMO_VERSION__ / 100)
+# define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100)
+
+#elif defined(__INTEL_COMPILER) || defined(__ICC)
+# define COMPILER_ID "Intel"
+  /* __INTEL_COMPILER = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100)
+# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER    % 10)
+# if defined(__INTEL_COMPILER_BUILD_DATE)
+  /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */
+#  define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE)
+# endif
+
+#elif defined(__PATHCC__)
+# define COMPILER_ID "PathScale"
+# define COMPILER_VERSION_MAJOR DEC(__PATHCC__)
+# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__)
+# if defined(__PATHCC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__)
+# endif
+
+#elif defined(__clang__)
+# define COMPILER_ID "Clang"
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+
+#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__)
+# define COMPILER_ID "Embarcadero"
+# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF)
+# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF)
+# define COMPILER_VERSION_PATCH HEX(__CODEGEARC_VERSION__     & 0xFFFF)
+
+#elif defined(__BORLANDC__)
+# define COMPILER_ID "Borland"
+  /* __BORLANDC__ = 0xVRR */
+# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8)
+# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF)
+
+#elif defined(__WATCOMC__)
+# define COMPILER_ID "Watcom"
+  /* __WATCOMC__ = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100)
+# define COMPILER_VERSION_MINOR DEC(__WATCOMC__ % 100)
+
+#elif defined(__SUNPRO_CC)
+# define COMPILER_ID "SunPro"
+# if __SUNPRO_CC >= 0x5100
+   /* __SUNPRO_CC = 0xVRRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC    & 0xF)
+# else
+   /* __SUNPRO_CC = 0xVRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC    & 0xF)
+# endif
+
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+# define COMPILER_ID "HP"
+  /* __HP_aCC = VVRRPP */
+# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000)
+# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100)
+# define COMPILER_VERSION_PATCH DEC(__HP_aCC     % 100)
+
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+  /* __DECCXX_VER = VVRRTPPPP */
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+# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000  % 100)
+# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER         % 10000)
+
+#elif defined(__IBMCPP__)
+# if defined(__COMPILER_VER__)
+#  define COMPILER_ID "zOS"
+# else
+#  if __IBMCPP__ >= 800
+#   define COMPILER_ID "XL"
+#  else
+#   define COMPILER_ID "VisualAge"
+#  endif
+   /* __IBMCPP__ = VRP */
+#  define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+#  define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+#  define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+# endif
+
+#elif defined(__PGI)
+# define COMPILER_ID "PGI"
+# define COMPILER_VERSION_MAJOR DEC(__PGIC__)
+# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__)
+# if defined(__PGIC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__)
+# endif
+
+#elif defined(_CRAYC)
+# define COMPILER_ID "Cray"
+# define COMPILER_VERSION_MAJOR DEC(_RELEASE)
+# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR)
+
+#elif defined(__TI_COMPILER_VERSION__)
+# define COMPILER_ID "TI"
+  /* __TI_COMPILER_VERSION__ = VVVRRRPPP */
+# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000)
+# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000   % 1000)
+# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__        % 1000)
+
+#elif defined(__SCO_VERSION__)
+# define COMPILER_ID "SCO"
+
+#elif defined(__GNUC__)
+# define COMPILER_ID "GNU"
+# define COMPILER_VERSION_MAJOR DEC(__GNUC__)
+# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
+# if defined(__GNUC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(_MSC_VER)
+# define COMPILER_ID "MSVC"
+  /* _MSC_VER = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
+# if defined(_MSC_FULL_VER)
+#  if _MSC_VER >= 1400
+    /* _MSC_FULL_VER = VVRRPPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
+#  else
+    /* _MSC_FULL_VER = VVRRPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
+#  endif
+# endif
+# if defined(_MSC_BUILD)
+#  define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
+# endif
+
+/* Analog VisualDSP++ >= 4.5.6 */
+#elif defined(__VISUALDSPVERSION__)
+# define COMPILER_ID "ADSP"
+  /* __VISUALDSPVERSION__ = 0xVVRRPP00 */
+# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24)
+# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF)
+# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8  & 0xFF)
+
+/* Analog VisualDSP++ < 4.5.6 */
+#elif defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__)
+# define COMPILER_ID "ADSP"
+
+/* IAR Systems compiler for embedded systems.
+   http://www.iar.com */
+#elif defined(__IAR_SYSTEMS_ICC__ ) || defined(__IAR_SYSTEMS_ICC)
+# define COMPILER_ID "IAR"
+
+#elif defined(_SGI_COMPILER_VERSION) || defined(_COMPILER_VERSION)
+# define COMPILER_ID "MIPSpro"
+# if defined(_SGI_COMPILER_VERSION)
+  /* _SGI_COMPILER_VERSION = VRP */
+#  define COMPILER_VERSION_MAJOR DEC(_SGI_COMPILER_VERSION/100)
+#  define COMPILER_VERSION_MINOR DEC(_SGI_COMPILER_VERSION/10 % 10)
+#  define COMPILER_VERSION_PATCH DEC(_SGI_COMPILER_VERSION    % 10)
+# else
+  /* _COMPILER_VERSION = VRP */
+#  define COMPILER_VERSION_MAJOR DEC(_COMPILER_VERSION/100)
+#  define COMPILER_VERSION_MINOR DEC(_COMPILER_VERSION/10 % 10)
+#  define COMPILER_VERSION_PATCH DEC(_COMPILER_VERSION    % 10)
+# endif
+
+/* This compiler is either not known or is too old to define an
+   identification macro.  Try to identify the platform and guess that
+   it is the native compiler.  */
+#elif defined(__sgi)
+# define COMPILER_ID "MIPSpro"
+
+#elif defined(__hpux) || defined(__hpua)
+# define COMPILER_ID "HP"
+
+#else /* unknown compiler */
+# define COMPILER_ID ""
+
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]";
+
+/* Identify known platforms by name.  */
+#if defined(__linux) || defined(__linux__) || defined(linux)
+# define PLATFORM_ID "Linux"
+
+#elif defined(__CYGWIN__)
+# define PLATFORM_ID "Cygwin"
+
+#elif defined(__MINGW32__)
+# define PLATFORM_ID "MinGW"
+
+#elif defined(__APPLE__)
+# define PLATFORM_ID "Darwin"
+
+#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
+# define PLATFORM_ID "Windows"
+
+#elif defined(__FreeBSD__) || defined(__FreeBSD)
+# define PLATFORM_ID "FreeBSD"
+
+#elif defined(__NetBSD__) || defined(__NetBSD)
+# define PLATFORM_ID "NetBSD"
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+#elif defined(__OpenBSD__) || defined(__OPENBSD)
+# define PLATFORM_ID "OpenBSD"
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+#elif defined(__sun) || defined(sun)
+# define PLATFORM_ID "SunOS"
+
+#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
+# define PLATFORM_ID "AIX"
+
+#elif defined(__sgi) || defined(__sgi__) || defined(_SGI)
+# define PLATFORM_ID "IRIX"
+
+#elif defined(__hpux) || defined(__hpux__)
+# define PLATFORM_ID "HP-UX"
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+#elif defined(__HAIKU__)
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+
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+# define PLATFORM_ID "SINIX"
+
+#elif defined(__UNIX_SV__)
+# define PLATFORM_ID "UNIX_SV"
+
+#elif defined(__bsdos__)
+# define PLATFORM_ID "BSDOS"
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+#elif defined(_MPRAS) || defined(MPRAS)
+# define PLATFORM_ID "MP-RAS"
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+#elif defined(__osf) || defined(__osf__)
+# define PLATFORM_ID "OSF1"
+
+#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
+# define PLATFORM_ID "SCO_SV"
+
+#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
+# define PLATFORM_ID "ULTRIX"
+
+#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
+# define PLATFORM_ID "Xenix"
+
+#else /* unknown platform */
+# define PLATFORM_ID ""
+
+#endif
+
+/* For windows compilers MSVC and Intel we can determine
+   the architecture of the compiler being used.  This is because
+   the compilers do not have flags that can change the architecture,
+   but rather depend on which compiler is being used
+*/
+#if defined(_WIN32) && defined(_MSC_VER)
+# if defined(_M_IA64)
+#  define ARCHITECTURE_ID "IA64"
+
+# elif defined(_M_X64) || defined(_M_AMD64)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# elif defined(_M_ARM)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(_M_MIPS)
+#  define ARCHITECTURE_ID "MIPS"
+
+# elif defined(_M_SH)
+#  define ARCHITECTURE_ID "SHx"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#else
+#  define ARCHITECTURE_ID ""
+#endif
+
+/* Convert integer to decimal digit literals.  */
+#define DEC(n)                   \
+  ('0' + (((n) / 10000000)%10)), \
+  ('0' + (((n) / 1000000)%10)),  \
+  ('0' + (((n) / 100000)%10)),   \
+  ('0' + (((n) / 10000)%10)),    \
+  ('0' + (((n) / 1000)%10)),     \
+  ('0' + (((n) / 100)%10)),      \
+  ('0' + (((n) / 10)%10)),       \
+  ('0' +  ((n) % 10))
+
+/* Convert integer to hex digit literals.  */
+#define HEX(n)             \
+  ('0' + ((n)>>28 & 0xF)), \
+  ('0' + ((n)>>24 & 0xF)), \
+  ('0' + ((n)>>20 & 0xF)), \
+  ('0' + ((n)>>16 & 0xF)), \
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+  ('0' + ((n)>>8  & 0xF)), \
+  ('0' + ((n)>>4  & 0xF)), \
+  ('0' + ((n)     & 0xF))
+
+/* Construct a string literal encoding the version number components. */
+#ifdef COMPILER_VERSION_MAJOR
+char const info_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[',
+  COMPILER_VERSION_MAJOR,
+# ifdef COMPILER_VERSION_MINOR
+  '.', COMPILER_VERSION_MINOR,
+#  ifdef COMPILER_VERSION_PATCH
+   '.', COMPILER_VERSION_PATCH,
+#   ifdef COMPILER_VERSION_TWEAK
+    '.', COMPILER_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
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+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
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+char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]";
+char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
+
+
+
+/*--------------------------------------------------------------------------*/
+
+int main(int argc, char* argv[])
+{
+  int require = 0;
+  require += info_compiler[argc];
+  require += info_platform[argc];
+#ifdef COMPILER_VERSION_MAJOR
+  require += info_version[argc];
+#endif
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+#elif defined(__sgi) || defined(__sgi__) || defined(_SGI)
+# define PLATFORM_ID "IRIX"
+
+#elif defined(__hpux) || defined(__hpux__)
+# define PLATFORM_ID "HP-UX"
+
+#elif defined(__HAIKU__)
+# define PLATFORM_ID "Haiku"
+
+#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
+# define PLATFORM_ID "BeOS"
+
+#elif defined(__QNX__) || defined(__QNXNTO__)
+# define PLATFORM_ID "QNX"
+
+#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__)
+# define PLATFORM_ID "Tru64"
+
+#elif defined(__riscos) || defined(__riscos__)
+# define PLATFORM_ID "RISCos"
+
+#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
+# define PLATFORM_ID "SINIX"
+
+#elif defined(__UNIX_SV__)
+# define PLATFORM_ID "UNIX_SV"
+
+#elif defined(__bsdos__)
+# define PLATFORM_ID "BSDOS"
+
+#elif defined(_MPRAS) || defined(MPRAS)
+# define PLATFORM_ID "MP-RAS"
+
+#elif defined(__osf) || defined(__osf__)
+# define PLATFORM_ID "OSF1"
+
+#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
+# define PLATFORM_ID "SCO_SV"
+
+#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
+# define PLATFORM_ID "ULTRIX"
+
+#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
+# define PLATFORM_ID "Xenix"
+
+#else /* unknown platform */
+# define PLATFORM_ID ""
+
+#endif
+
+/* For windows compilers MSVC and Intel we can determine
+   the architecture of the compiler being used.  This is because
+   the compilers do not have flags that can change the architecture,
+   but rather depend on which compiler is being used
+*/
+#if defined(_WIN32) && defined(_MSC_VER)
+# if defined(_M_IA64)
+#  define ARCHITECTURE_ID "IA64"
+
+# elif defined(_M_X64) || defined(_M_AMD64)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# elif defined(_M_ARM)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(_M_MIPS)
+#  define ARCHITECTURE_ID "MIPS"
+
+# elif defined(_M_SH)
+#  define ARCHITECTURE_ID "SHx"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#else
+#  define ARCHITECTURE_ID ""
+#endif
+
+/* Convert integer to decimal digit literals.  */
+#define DEC(n)                   \
+  ('0' + (((n) / 10000000)%10)), \
+  ('0' + (((n) / 1000000)%10)),  \
+  ('0' + (((n) / 100000)%10)),   \
+  ('0' + (((n) / 10000)%10)),    \
+  ('0' + (((n) / 1000)%10)),     \
+  ('0' + (((n) / 100)%10)),      \
+  ('0' + (((n) / 10)%10)),       \
+  ('0' +  ((n) % 10))
+
+/* Convert integer to hex digit literals.  */
+#define HEX(n)             \
+  ('0' + ((n)>>28 & 0xF)), \
+  ('0' + ((n)>>24 & 0xF)), \
+  ('0' + ((n)>>20 & 0xF)), \
+  ('0' + ((n)>>16 & 0xF)), \
+  ('0' + ((n)>>12 & 0xF)), \
+  ('0' + ((n)>>8  & 0xF)), \
+  ('0' + ((n)>>4  & 0xF)), \
+  ('0' + ((n)     & 0xF))
+
+/* Construct a string literal encoding the version number components. */
+#ifdef COMPILER_VERSION_MAJOR
+char const info_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[',
+  COMPILER_VERSION_MAJOR,
+# ifdef COMPILER_VERSION_MINOR
+  '.', COMPILER_VERSION_MINOR,
+#  ifdef COMPILER_VERSION_PATCH
+   '.', COMPILER_VERSION_PATCH,
+#   ifdef COMPILER_VERSION_TWEAK
+    '.', COMPILER_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]";
+char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
+
+
+
+/*--------------------------------------------------------------------------*/
+
+#ifdef ID_VOID_MAIN
+void main() {}
+#else
+int main(int argc, char* argv[])
+{
+  int require = 0;
+  require += info_compiler[argc];
+  require += info_platform[argc];
+  require += info_arch[argc];
+#ifdef COMPILER_VERSION_MAJOR
+  require += info_version[argc];
+#endif
+  (void)argv;
+  return require;
+}
+#endif
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--- /dev/null
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+/* This source file must have a .cpp extension so that all C++ compilers
+   recognize the extension without flags.  Borland does not know .cxx for
+   example.  */
+#ifndef __cplusplus
+# error "A C compiler has been selected for C++."
+#endif
+
+/* Version number components: V=Version, R=Revision, P=Patch
+   Version date components:   YYYY=Year, MM=Month,   DD=Day  */
+
+#if defined(__COMO__)
+# define COMPILER_ID "Comeau"
+  /* __COMO_VERSION__ = VRR */
+# define COMPILER_VERSION_MAJOR DEC(__COMO_VERSION__ / 100)
+# define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100)
+
+#elif defined(__INTEL_COMPILER) || defined(__ICC)
+# define COMPILER_ID "Intel"
+  /* __INTEL_COMPILER = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100)
+# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER    % 10)
+# if defined(__INTEL_COMPILER_BUILD_DATE)
+  /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */
+#  define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE)
+# endif
+
+#elif defined(__PATHCC__)
+# define COMPILER_ID "PathScale"
+# define COMPILER_VERSION_MAJOR DEC(__PATHCC__)
+# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__)
+# if defined(__PATHCC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__)
+# endif
+
+#elif defined(__clang__)
+# define COMPILER_ID "Clang"
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+
+#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__)
+# define COMPILER_ID "Embarcadero"
+# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF)
+# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF)
+# define COMPILER_VERSION_PATCH HEX(__CODEGEARC_VERSION__     & 0xFFFF)
+
+#elif defined(__BORLANDC__)
+# define COMPILER_ID "Borland"
+  /* __BORLANDC__ = 0xVRR */
+# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8)
+# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF)
+
+#elif defined(__WATCOMC__)
+# define COMPILER_ID "Watcom"
+  /* __WATCOMC__ = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100)
+# define COMPILER_VERSION_MINOR DEC(__WATCOMC__ % 100)
+
+#elif defined(__SUNPRO_CC)
+# define COMPILER_ID "SunPro"
+# if __SUNPRO_CC >= 0x5100
+   /* __SUNPRO_CC = 0xVRRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC    & 0xF)
+# else
+   /* __SUNPRO_CC = 0xVRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC    & 0xF)
+# endif
+
+#elif defined(__HP_aCC)
+# define COMPILER_ID "HP"
+  /* __HP_aCC = VVRRPP */
+# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000)
+# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100)
+# define COMPILER_VERSION_PATCH DEC(__HP_aCC     % 100)
+
+#elif defined(__DECCXX)
+# define COMPILER_ID "Compaq"
+  /* __DECCXX_VER = VVRRTPPPP */
+# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000)
+# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000  % 100)
+# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER         % 10000)
+
+#elif defined(__IBMCPP__)
+# if defined(__COMPILER_VER__)
+#  define COMPILER_ID "zOS"
+# else
+#  if __IBMCPP__ >= 800
+#   define COMPILER_ID "XL"
+#  else
+#   define COMPILER_ID "VisualAge"
+#  endif
+   /* __IBMCPP__ = VRP */
+#  define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+#  define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+#  define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+# endif
+
+#elif defined(__PGI)
+# define COMPILER_ID "PGI"
+# define COMPILER_VERSION_MAJOR DEC(__PGIC__)
+# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__)
+# if defined(__PGIC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__)
+# endif
+
+#elif defined(_CRAYC)
+# define COMPILER_ID "Cray"
+# define COMPILER_VERSION_MAJOR DEC(_RELEASE)
+# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR)
+
+#elif defined(__TI_COMPILER_VERSION__)
+# define COMPILER_ID "TI"
+  /* __TI_COMPILER_VERSION__ = VVVRRRPPP */
+# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000)
+# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000   % 1000)
+# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__        % 1000)
+
+#elif defined(__SCO_VERSION__)
+# define COMPILER_ID "SCO"
+
+#elif defined(__GNUC__)
+# define COMPILER_ID "GNU"
+# define COMPILER_VERSION_MAJOR DEC(__GNUC__)
+# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
+# if defined(__GNUC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(_MSC_VER)
+# define COMPILER_ID "MSVC"
+  /* _MSC_VER = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
+# if defined(_MSC_FULL_VER)
+#  if _MSC_VER >= 1400
+    /* _MSC_FULL_VER = VVRRPPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
+#  else
+    /* _MSC_FULL_VER = VVRRPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
+#  endif
+# endif
+# if defined(_MSC_BUILD)
+#  define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
+# endif
+
+/* Analog VisualDSP++ >= 4.5.6 */
+#elif defined(__VISUALDSPVERSION__)
+# define COMPILER_ID "ADSP"
+  /* __VISUALDSPVERSION__ = 0xVVRRPP00 */
+# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24)
+# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF)
+# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8  & 0xFF)
+
+/* Analog VisualDSP++ < 4.5.6 */
+#elif defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__)
+# define COMPILER_ID "ADSP"
+
+/* IAR Systems compiler for embedded systems.
+   http://www.iar.com */
+#elif defined(__IAR_SYSTEMS_ICC__ ) || defined(__IAR_SYSTEMS_ICC)
+# define COMPILER_ID "IAR"
+
+#elif defined(_SGI_COMPILER_VERSION) || defined(_COMPILER_VERSION)
+# define COMPILER_ID "MIPSpro"
+# if defined(_SGI_COMPILER_VERSION)
+  /* _SGI_COMPILER_VERSION = VRP */
+#  define COMPILER_VERSION_MAJOR DEC(_SGI_COMPILER_VERSION/100)
+#  define COMPILER_VERSION_MINOR DEC(_SGI_COMPILER_VERSION/10 % 10)
+#  define COMPILER_VERSION_PATCH DEC(_SGI_COMPILER_VERSION    % 10)
+# else
+  /* _COMPILER_VERSION = VRP */
+#  define COMPILER_VERSION_MAJOR DEC(_COMPILER_VERSION/100)
+#  define COMPILER_VERSION_MINOR DEC(_COMPILER_VERSION/10 % 10)
+#  define COMPILER_VERSION_PATCH DEC(_COMPILER_VERSION    % 10)
+# endif
+
+/* This compiler is either not known or is too old to define an
+   identification macro.  Try to identify the platform and guess that
+   it is the native compiler.  */
+#elif defined(__sgi)
+# define COMPILER_ID "MIPSpro"
+
+#elif defined(__hpux) || defined(__hpua)
+# define COMPILER_ID "HP"
+
+#else /* unknown compiler */
+# define COMPILER_ID ""
+
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]";
+
+/* Identify known platforms by name.  */
+#if defined(__linux) || defined(__linux__) || defined(linux)
+# define PLATFORM_ID "Linux"
+
+#elif defined(__CYGWIN__)
+# define PLATFORM_ID "Cygwin"
+
+#elif defined(__MINGW32__)
+# define PLATFORM_ID "MinGW"
+
+#elif defined(__APPLE__)
+# define PLATFORM_ID "Darwin"
+
+#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
+# define PLATFORM_ID "Windows"
+
+#elif defined(__FreeBSD__) || defined(__FreeBSD)
+# define PLATFORM_ID "FreeBSD"
+
+#elif defined(__NetBSD__) || defined(__NetBSD)
+# define PLATFORM_ID "NetBSD"
+
+#elif defined(__OpenBSD__) || defined(__OPENBSD)
+# define PLATFORM_ID "OpenBSD"
+
+#elif defined(__sun) || defined(sun)
+# define PLATFORM_ID "SunOS"
+
+#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
+# define PLATFORM_ID "AIX"
+
+#elif defined(__sgi) || defined(__sgi__) || defined(_SGI)
+# define PLATFORM_ID "IRIX"
+
+#elif defined(__hpux) || defined(__hpux__)
+# define PLATFORM_ID "HP-UX"
+
+#elif defined(__HAIKU__)
+# define PLATFORM_ID "Haiku"
+
+#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
+# define PLATFORM_ID "BeOS"
+
+#elif defined(__QNX__) || defined(__QNXNTO__)
+# define PLATFORM_ID "QNX"
+
+#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__)
+# define PLATFORM_ID "Tru64"
+
+#elif defined(__riscos) || defined(__riscos__)
+# define PLATFORM_ID "RISCos"
+
+#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
+# define PLATFORM_ID "SINIX"
+
+#elif defined(__UNIX_SV__)
+# define PLATFORM_ID "UNIX_SV"
+
+#elif defined(__bsdos__)
+# define PLATFORM_ID "BSDOS"
+
+#elif defined(_MPRAS) || defined(MPRAS)
+# define PLATFORM_ID "MP-RAS"
+
+#elif defined(__osf) || defined(__osf__)
+# define PLATFORM_ID "OSF1"
+
+#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
+# define PLATFORM_ID "SCO_SV"
+
+#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
+# define PLATFORM_ID "ULTRIX"
+
+#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
+# define PLATFORM_ID "Xenix"
+
+#else /* unknown platform */
+# define PLATFORM_ID ""
+
+#endif
+
+/* For windows compilers MSVC and Intel we can determine
+   the architecture of the compiler being used.  This is because
+   the compilers do not have flags that can change the architecture,
+   but rather depend on which compiler is being used
+*/
+#if defined(_WIN32) && defined(_MSC_VER)
+# if defined(_M_IA64)
+#  define ARCHITECTURE_ID "IA64"
+
+# elif defined(_M_X64) || defined(_M_AMD64)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# elif defined(_M_ARM)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(_M_MIPS)
+#  define ARCHITECTURE_ID "MIPS"
+
+# elif defined(_M_SH)
+#  define ARCHITECTURE_ID "SHx"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#else
+#  define ARCHITECTURE_ID ""
+#endif
+
+/* Convert integer to decimal digit literals.  */
+#define DEC(n)                   \
+  ('0' + (((n) / 10000000)%10)), \
+  ('0' + (((n) / 1000000)%10)),  \
+  ('0' + (((n) / 100000)%10)),   \
+  ('0' + (((n) / 10000)%10)),    \
+  ('0' + (((n) / 1000)%10)),     \
+  ('0' + (((n) / 100)%10)),      \
+  ('0' + (((n) / 10)%10)),       \
+  ('0' +  ((n) % 10))
+
+/* Convert integer to hex digit literals.  */
+#define HEX(n)             \
+  ('0' + ((n)>>28 & 0xF)), \
+  ('0' + ((n)>>24 & 0xF)), \
+  ('0' + ((n)>>20 & 0xF)), \
+  ('0' + ((n)>>16 & 0xF)), \
+  ('0' + ((n)>>12 & 0xF)), \
+  ('0' + ((n)>>8  & 0xF)), \
+  ('0' + ((n)>>4  & 0xF)), \
+  ('0' + ((n)     & 0xF))
+
+/* Construct a string literal encoding the version number components. */
+#ifdef COMPILER_VERSION_MAJOR
+char const info_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[',
+  COMPILER_VERSION_MAJOR,
+# ifdef COMPILER_VERSION_MINOR
+  '.', COMPILER_VERSION_MINOR,
+#  ifdef COMPILER_VERSION_PATCH
+   '.', COMPILER_VERSION_PATCH,
+#   ifdef COMPILER_VERSION_TWEAK
+    '.', COMPILER_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]";
+char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
+
+
+
+/*--------------------------------------------------------------------------*/
+
+int main(int argc, char* argv[])
+{
+  int require = 0;
+  require += info_compiler[argc];
+  require += info_platform[argc];
+#ifdef COMPILER_VERSION_MAJOR
+  require += info_version[argc];
+#endif
+  (void)argv;
+  return require;
+}
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new file mode 100755
index 00000000..5772fba3
--- /dev/null
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+set(catkin_RUN_DEPENDS_python-catkin-pkg_VERSION_GTE "0.2.2")
\ No newline at end of file
diff --git a/20151007/built/beginner_tutorials/catkin_generated/beginner_tutorials-msg-extras.cmake.develspace.in b/20151007/built/beginner_tutorials/catkin_generated/beginner_tutorials-msg-extras.cmake.develspace.in
new file mode 100644
index 00000000..d614f1d1
--- /dev/null
+++ b/20151007/built/beginner_tutorials/catkin_generated/beginner_tutorials-msg-extras.cmake.develspace.in
@@ -0,0 +1,2 @@
+set(beginner_tutorials_MESSAGE_FILES "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesAction.msg;/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionGoal.msg;/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionResult.msg;/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionFeedback.msg;/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesGoal.msg;/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesResult.msg;/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesFeedback.msg")
+set(beginner_tutorials_SERVICE_FILES "/home/mech-user/2015-soft3/20151007/src/beginner_tutorials/srv/AddTwoInts.srv")
diff --git a/20151007/built/beginner_tutorials/catkin_generated/beginner_tutorials-msg-extras.cmake.installspace.in b/20151007/built/beginner_tutorials/catkin_generated/beginner_tutorials-msg-extras.cmake.installspace.in
new file mode 100644
index 00000000..af1f6438
--- /dev/null
+++ b/20151007/built/beginner_tutorials/catkin_generated/beginner_tutorials-msg-extras.cmake.installspace.in
@@ -0,0 +1,2 @@
+set(beginner_tutorials_MESSAGE_FILES "msg/DoDishesAction.msg;msg/DoDishesActionGoal.msg;msg/DoDishesActionResult.msg;msg/DoDishesActionFeedback.msg;msg/DoDishesGoal.msg;msg/DoDishesResult.msg;msg/DoDishesFeedback.msg")
+set(beginner_tutorials_SERVICE_FILES "srv/AddTwoInts.srv")
diff --git a/20151007/built/beginner_tutorials/catkin_generated/env_cached.sh b/20151007/built/beginner_tutorials/catkin_generated/env_cached.sh
new file mode 100755
index 00000000..d6be91db
--- /dev/null
+++ b/20151007/built/beginner_tutorials/catkin_generated/env_cached.sh
@@ -0,0 +1,16 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/templates/env.sh.in
+
+if [ $# -eq 0 ] ; then
+  /bin/echo "Usage: env.sh COMMANDS"
+  /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually."
+  exit 1
+fi
+
+# ensure to not use different shell type which was set before
+CATKIN_SHELL=sh
+
+# source setup_cached.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup_cached.sh"
+exec "$@"
diff --git a/20151007/built/beginner_tutorials/catkin_generated/generate_cached_setup.py b/20151007/built/beginner_tutorials/catkin_generated/generate_cached_setup.py
new file mode 100644
index 00000000..16dfa156
--- /dev/null
+++ b/20151007/built/beginner_tutorials/catkin_generated/generate_cached_setup.py
@@ -0,0 +1,29 @@
+from __future__ import print_function
+import argparse
+import os
+import stat
+import sys
+
+# find the import for catkin's python package - either from source space or from an installed underlay
+if os.path.exists(os.path.join('/opt/ros/indigo/share/catkin/cmake', 'catkinConfig.cmake.in')):
+    sys.path.insert(0, os.path.join('/opt/ros/indigo/share/catkin/cmake', '..', 'python'))
+try:
+    from catkin.environment_cache import generate_environment_script
+except ImportError:
+    # search for catkin package in all workspaces and prepend to path
+    for workspace in "/home/mech-user/2015-soft3/20151007/devel;/opt/ros/indigo".split(';'):
+        python_path = os.path.join(workspace, 'lib/python2.7/dist-packages')
+        if os.path.isdir(os.path.join(python_path, 'catkin')):
+            sys.path.insert(0, python_path)
+            break
+    from catkin.environment_cache import generate_environment_script
+
+code = generate_environment_script('/home/mech-user/2015-soft3/20151007/devel/env.sh')
+
+output_filename = '/home/mech-user/2015-soft3/20151007/build/beginner_tutorials/catkin_generated/setup_cached.sh'
+with open(output_filename, 'w') as f:
+    #print('Generate script for cached setup "%s"' % output_filename)
+    f.write('\n'.join(code))
+
+mode = os.stat(output_filename).st_mode
+os.chmod(output_filename, mode | stat.S_IXUSR)
diff --git a/20151007/built/beginner_tutorials/catkin_generated/installspace/.rosinstall b/20151007/built/beginner_tutorials/catkin_generated/installspace/.rosinstall
new file mode 100644
index 00000000..a873be3f
--- /dev/null
+++ b/20151007/built/beginner_tutorials/catkin_generated/installspace/.rosinstall
@@ -0,0 +1,2 @@
+- setup-file:
+    local-name: /home/mech-user/2015-soft3/20151007/install/setup.sh
diff --git a/20151007/built/beginner_tutorials/catkin_generated/installspace/_setup_util.py b/20151007/built/beginner_tutorials/catkin_generated/installspace/_setup_util.py
new file mode 100755
index 00000000..5ffaba5f
--- /dev/null
+++ b/20151007/built/beginner_tutorials/catkin_generated/installspace/_setup_util.py
@@ -0,0 +1,287 @@
+#!/usr/bin/python
+
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2012, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+'''This file generates shell code for the setup.SHELL scripts to set environment variables'''
+
+from __future__ import print_function
+import argparse
+import copy
+import errno
+import os
+import platform
+import sys
+
+CATKIN_MARKER_FILE = '.catkin'
+
+system = platform.system()
+IS_DARWIN = (system == 'Darwin')
+IS_WINDOWS = (system == 'Windows')
+
+# subfolder of workspace prepended to CMAKE_PREFIX_PATH
+ENV_VAR_SUBFOLDERS = {
+    'CMAKE_PREFIX_PATH': '',
+    'CPATH': 'include',
+    'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')],
+    'PATH': 'bin',
+    'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')],
+    'PYTHONPATH': 'lib/python2.7/dist-packages',
+}
+
+
+def rollback_env_variables(environ, env_var_subfolders):
+    '''
+    Generate shell code to reset environment variables
+    by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH.
+    This does not cover modifications performed by environment hooks.
+    '''
+    lines = []
+    unmodified_environ = copy.copy(environ)
+    for key in sorted(env_var_subfolders.keys()):
+        subfolders = env_var_subfolders[key]
+        if not isinstance(subfolders, list):
+            subfolders = [subfolders]
+        for subfolder in subfolders:
+            value = _rollback_env_variable(unmodified_environ, key, subfolder)
+            if value is not None:
+                environ[key] = value
+                lines.append(assignment(key, value))
+    if lines:
+        lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH'))
+    return lines
+
+
+def _rollback_env_variable(environ, name, subfolder):
+    '''
+    For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder.
+
+    :param subfolder: str '' or subfoldername that may start with '/'
+    :returns: the updated value of the environment variable.
+    '''
+    value = environ[name] if name in environ else ''
+    env_paths = [path for path in value.split(os.pathsep) if path]
+    value_modified = False
+    if subfolder:
+        if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)):
+            subfolder = subfolder[1:]
+        if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)):
+            subfolder = subfolder[:-1]
+    for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True):
+        path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path
+        path_to_remove = None
+        for env_path in env_paths:
+            env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path
+            if env_path_clean == path_to_find:
+                path_to_remove = env_path
+                break
+        if path_to_remove:
+            env_paths.remove(path_to_remove)
+            value_modified = True
+    new_value = os.pathsep.join(env_paths)
+    return new_value if value_modified else None
+
+
+def _get_workspaces(environ, include_fuerte=False, include_non_existing=False):
+    '''
+    Based on CMAKE_PREFIX_PATH return all catkin workspaces.
+
+    :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool``
+    '''
+    # get all cmake prefix paths
+    env_name = 'CMAKE_PREFIX_PATH'
+    value = environ[env_name] if env_name in environ else ''
+    paths = [path for path in value.split(os.pathsep) if path]
+    # remove non-workspace paths
+    workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))]
+    return workspaces
+
+
+def prepend_env_variables(environ, env_var_subfolders, workspaces):
+    '''
+    Generate shell code to prepend environment variables
+    for the all workspaces.
+    '''
+    lines = []
+    lines.append(comment('prepend folders of workspaces to environment variables'))
+
+    paths = [path for path in workspaces.split(os.pathsep) if path]
+
+    prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '')
+    lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix))
+
+    for key in sorted([key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH']):
+        subfolder = env_var_subfolders[key]
+        prefix = _prefix_env_variable(environ, key, paths, subfolder)
+        lines.append(prepend(environ, key, prefix))
+    return lines
+
+
+def _prefix_env_variable(environ, name, paths, subfolders):
+    '''
+    Return the prefix to prepend to the environment variable NAME, adding any path in NEW_PATHS_STR without creating duplicate or empty items.
+    '''
+    value = environ[name] if name in environ else ''
+    environ_paths = [path for path in value.split(os.pathsep) if path]
+    checked_paths = []
+    for path in paths:
+        if not isinstance(subfolders, list):
+            subfolders = [subfolders]
+        for subfolder in subfolders:
+            path_tmp = path
+            if subfolder:
+                path_tmp = os.path.join(path_tmp, subfolder)
+            # exclude any path already in env and any path we already added
+            if path_tmp not in environ_paths and path_tmp not in checked_paths:
+                checked_paths.append(path_tmp)
+    prefix_str = os.pathsep.join(checked_paths)
+    if prefix_str != '' and environ_paths:
+        prefix_str += os.pathsep
+    return prefix_str
+
+
+def assignment(key, value):
+    if not IS_WINDOWS:
+        return 'export %s="%s"' % (key, value)
+    else:
+        return 'set %s=%s' % (key, value)
+
+
+def comment(msg):
+    if not IS_WINDOWS:
+        return '# %s' % msg
+    else:
+        return 'REM %s' % msg
+
+
+def prepend(environ, key, prefix):
+    if key not in environ or not environ[key]:
+        return assignment(key, prefix)
+    if not IS_WINDOWS:
+        return 'export %s="%s$%s"' % (key, prefix, key)
+    else:
+        return 'set %s=%s%%%s%%' % (key, prefix, key)
+
+
+def find_env_hooks(environ, cmake_prefix_path):
+    '''
+    Generate shell code with found environment hooks
+    for the all workspaces.
+    '''
+    lines = []
+    lines.append(comment('found environment hooks in workspaces'))
+
+    generic_env_hooks = []
+    generic_env_hooks_workspace = []
+    specific_env_hooks = []
+    specific_env_hooks_workspace = []
+    generic_env_hooks_by_filename = {}
+    specific_env_hooks_by_filename = {}
+    generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh'
+    specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None
+    # remove non-workspace paths
+    workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))]
+    for workspace in reversed(workspaces):
+        env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d')
+        if os.path.isdir(env_hook_dir):
+            for filename in sorted(os.listdir(env_hook_dir)):
+                if filename.endswith('.%s' % generic_env_hook_ext):
+                    # remove previous env hook with same name if present
+                    if filename in generic_env_hooks_by_filename:
+                        i = generic_env_hooks.index(generic_env_hooks_by_filename[filename])
+                        generic_env_hooks.pop(i)
+                        generic_env_hooks_workspace.pop(i)
+                    # append env hook
+                    generic_env_hooks.append(os.path.join(env_hook_dir, filename))
+                    generic_env_hooks_workspace.append(workspace)
+                    generic_env_hooks_by_filename[filename] = generic_env_hooks[-1]
+                elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext):
+                    # remove previous env hook with same name if present
+                    if filename in specific_env_hooks_by_filename:
+                        i = specific_env_hooks.index(specific_env_hooks_by_filename[filename])
+                        specific_env_hooks.pop(i)
+                        specific_env_hooks_workspace.pop(i)
+                    # append env hook
+                    specific_env_hooks.append(os.path.join(env_hook_dir, filename))
+                    specific_env_hooks_workspace.append(workspace)
+                    specific_env_hooks_by_filename[filename] = specific_env_hooks[-1]
+    env_hooks = generic_env_hooks + specific_env_hooks
+    env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace
+    count = len(env_hooks)
+    lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count))
+    for i in range(count):
+        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i]))
+        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i]))
+    return lines
+
+
+def _parse_arguments(args=None):
+    parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.')
+    parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context')
+    return parser.parse_known_args(args=args)[0]
+
+
+if __name__ == '__main__':
+    try:
+        try:
+            args = _parse_arguments()
+        except Exception as e:
+            print(e, file=sys.stderr)
+            sys.exit(1)
+
+        # environment at generation time
+        CMAKE_PREFIX_PATH = '/home/mech-user/2015-soft3/20151007/devel;/opt/ros/indigo'.split(';')
+        # prepend current workspace if not already part of CPP
+        base_path = os.path.dirname(__file__)
+        if base_path not in CMAKE_PREFIX_PATH:
+            CMAKE_PREFIX_PATH.insert(0, base_path)
+        CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH)
+
+        environ = dict(os.environ)
+        lines = []
+        if not args.extend:
+            lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS)
+        lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH)
+        lines += find_env_hooks(environ, CMAKE_PREFIX_PATH)
+        print('\n'.join(lines))
+
+        # need to explicitly flush the output
+        sys.stdout.flush()
+    except IOError as e:
+        # and catch potantial "broken pipe" if stdout is not writable
+        # which can happen when piping the output to a file but the disk is full
+        if e.errno == errno.EPIPE:
+            print(e, file=sys.stderr)
+            sys.exit(2)
+        raise
+
+    sys.exit(0)
diff --git a/20151007/built/beginner_tutorials/catkin_generated/installspace/beginner_tutorials-msg-extras.cmake b/20151007/built/beginner_tutorials/catkin_generated/installspace/beginner_tutorials-msg-extras.cmake
new file mode 100644
index 00000000..af1f6438
--- /dev/null
+++ b/20151007/built/beginner_tutorials/catkin_generated/installspace/beginner_tutorials-msg-extras.cmake
@@ -0,0 +1,2 @@
+set(beginner_tutorials_MESSAGE_FILES "msg/DoDishesAction.msg;msg/DoDishesActionGoal.msg;msg/DoDishesActionResult.msg;msg/DoDishesActionFeedback.msg;msg/DoDishesGoal.msg;msg/DoDishesResult.msg;msg/DoDishesFeedback.msg")
+set(beginner_tutorials_SERVICE_FILES "srv/AddTwoInts.srv")
diff --git a/20151007/built/beginner_tutorials/catkin_generated/installspace/beginner_tutorials-msg-paths.cmake b/20151007/built/beginner_tutorials/catkin_generated/installspace/beginner_tutorials-msg-paths.cmake
new file mode 100644
index 00000000..fb71b658
--- /dev/null
+++ b/20151007/built/beginner_tutorials/catkin_generated/installspace/beginner_tutorials-msg-paths.cmake
@@ -0,0 +1,4 @@
+# generated from genmsg/cmake/pkg-msg-paths.cmake.installspace.in
+
+_prepend_path("${beginner_tutorials_DIR}/.." "msg" beginner_tutorials_MSG_INCLUDE_DIRS UNIQUE)
+set(beginner_tutorials_MSG_DEPENDENCIES geometry_msgs;actionlib_msgs)
diff --git a/20151007/built/beginner_tutorials/catkin_generated/installspace/beginner_tutorials.pc b/20151007/built/beginner_tutorials/catkin_generated/installspace/beginner_tutorials.pc
new file mode 100644
index 00000000..bdabef6f
--- /dev/null
+++ b/20151007/built/beginner_tutorials/catkin_generated/installspace/beginner_tutorials.pc
@@ -0,0 +1,8 @@
+prefix=/home/mech-user/2015-soft3/20151007/install
+
+Name: beginner_tutorials
+Description: Description of beginner_tutorials
+Version: 0.0.0
+Cflags: -I/home/mech-user/2015-soft3/20151007/install/include
+Libs: -L/home/mech-user/2015-soft3/20151007/install/lib 
+Requires: 
diff --git a/20151007/built/beginner_tutorials/catkin_generated/installspace/beginner_tutorialsConfig-version.cmake b/20151007/built/beginner_tutorials/catkin_generated/installspace/beginner_tutorialsConfig-version.cmake
new file mode 100644
index 00000000..7fd9f993
--- /dev/null
+++ b/20151007/built/beginner_tutorials/catkin_generated/installspace/beginner_tutorialsConfig-version.cmake
@@ -0,0 +1,14 @@
+# generated from catkin/cmake/template/pkgConfig-version.cmake.in
+set(PACKAGE_VERSION "0.0.0")
+
+set(PACKAGE_VERSION_EXACT False)
+set(PACKAGE_VERSION_COMPATIBLE False)
+
+if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_EXACT True)
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
+
+if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
diff --git a/20151007/built/beginner_tutorials/catkin_generated/installspace/beginner_tutorialsConfig.cmake b/20151007/built/beginner_tutorials/catkin_generated/installspace/beginner_tutorialsConfig.cmake
new file mode 100644
index 00000000..729ce4ff
--- /dev/null
+++ b/20151007/built/beginner_tutorials/catkin_generated/installspace/beginner_tutorialsConfig.cmake
@@ -0,0 +1,191 @@
+# generated from catkin/cmake/template/pkgConfig.cmake.in
+
+# append elements to a list and remove existing duplicates from the list
+# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig
+# self contained
+macro(_list_append_deduplicate listname)
+  if(NOT "${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(beginner_tutorials_CONFIG_INCLUDED)
+  return()
+endif()
+set(beginner_tutorials_CONFIG_INCLUDED TRUE)
+
+# set variables for source/devel/install prefixes
+if("FALSE" STREQUAL "TRUE")
+  set(beginner_tutorials_SOURCE_PREFIX /home/mech-user/2015-soft3/20151007/src/beginner_tutorials)
+  set(beginner_tutorials_DEVEL_PREFIX /home/mech-user/2015-soft3/20151007/devel)
+  set(beginner_tutorials_INSTALL_PREFIX "")
+  set(beginner_tutorials_PREFIX ${beginner_tutorials_DEVEL_PREFIX})
+else()
+  set(beginner_tutorials_SOURCE_PREFIX "")
+  set(beginner_tutorials_DEVEL_PREFIX "")
+  set(beginner_tutorials_INSTALL_PREFIX /home/mech-user/2015-soft3/20151007/install)
+  set(beginner_tutorials_PREFIX ${beginner_tutorials_INSTALL_PREFIX})
+endif()
+
+# warn when using a deprecated package
+if(NOT "" STREQUAL "")
+  set(_msg "WARNING: package 'beginner_tutorials' is deprecated")
+  # append custom deprecation text if available
+  if(NOT "" STREQUAL "TRUE")
+    set(_msg "${_msg} ()")
+  endif()
+  message("${_msg}")
+endif()
+
+# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project
+set(beginner_tutorials_FOUND_CATKIN_PROJECT TRUE)
+
+if(NOT "include" STREQUAL "")
+  set(beginner_tutorials_INCLUDE_DIRS "")
+  set(_include_dirs "include")
+  foreach(idir ${_include_dirs})
+    if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir})
+      set(include ${idir})
+    elseif("${idir}" STREQUAL "include")
+      get_filename_component(include "${beginner_tutorials_DIR}/../../../include" ABSOLUTE)
+      if(NOT IS_DIRECTORY ${include})
+        message(FATAL_ERROR "Project 'beginner_tutorials' specifies '${idir}' as an include dir, which is not found.  It does not exist in '${include}'.  Ask the maintainer 'mech-user <mech-user@todo.todo>' to fix it.")
+      endif()
+    else()
+      message(FATAL_ERROR "Project 'beginner_tutorials' specifies '${idir}' as an include dir, which is not found.  It does neither exist as an absolute directory nor in '/home/mech-user/2015-soft3/20151007/install/${idir}'.  Ask the maintainer 'mech-user <mech-user@todo.todo>' to fix it.")
+    endif()
+    _list_append_unique(beginner_tutorials_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 beginner_tutorials_LIBRARIES ${library})
+  elseif(TARGET ${library})
+    list(APPEND beginner_tutorials_LIBRARIES ${library})
+  elseif(IS_ABSOLUTE ${library})
+    list(APPEND beginner_tutorials_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/mech-user/2015-soft3/20151007/install/lib;/home/mech-user/2015-soft3/20151007/devel/lib;/opt/ros/indigo/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(beginner_tutorials_LIBRARY_DIRS ${lib_path})
+      list(APPEND beginner_tutorials_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 'beginner_tutorials'?  Did you find_package() it before the subdirectory containing its code is included?")
+      endif()
+      list(APPEND beginner_tutorials_LIBRARIES ${lib})
+    endif()
+  endif()
+endforeach()
+
+set(beginner_tutorials_EXPORTED_TARGETS "beginner_tutorials_generate_messages_cpp;beginner_tutorials_generate_messages_lisp;beginner_tutorials_generate_messages_py")
+# create dummy targets for exported code generation targets to make life of users easier
+foreach(t ${beginner_tutorials_EXPORTED_TARGETS})
+  if(NOT TARGET ${t})
+    add_custom_target(${t})
+  endif()
+endforeach()
+
+set(depends "")
+foreach(depend ${depends})
+  string(REPLACE " " ";" depend_list ${depend})
+  # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls
+  list(GET depend_list 0 beginner_tutorials_dep)
+  list(LENGTH depend_list count)
+  if(${count} EQUAL 1)
+    # simple dependencies must only be find_package()-ed once
+    if(NOT ${beginner_tutorials_dep}_FOUND)
+      find_package(${beginner_tutorials_dep} REQUIRED)
+    endif()
+  else()
+    # dependencies with components must be find_package()-ed again
+    list(REMOVE_AT depend_list 0)
+    find_package(${beginner_tutorials_dep} REQUIRED ${depend_list})
+  endif()
+  _list_append_unique(beginner_tutorials_INCLUDE_DIRS ${${beginner_tutorials_dep}_INCLUDE_DIRS})
+
+  # merge build configuration keywords with library names to correctly deduplicate
+  _pack_libraries_with_build_configuration(beginner_tutorials_LIBRARIES ${beginner_tutorials_LIBRARIES})
+  _pack_libraries_with_build_configuration(_libraries ${${beginner_tutorials_dep}_LIBRARIES})
+  _list_append_deduplicate(beginner_tutorials_LIBRARIES ${_libraries})
+  # undo build configuration keyword merging after deduplication
+  _unpack_libraries_with_build_configuration(beginner_tutorials_LIBRARIES ${beginner_tutorials_LIBRARIES})
+
+  _list_append_unique(beginner_tutorials_LIBRARY_DIRS ${${beginner_tutorials_dep}_LIBRARY_DIRS})
+  list(APPEND beginner_tutorials_EXPORTED_TARGETS ${${beginner_tutorials_dep}_EXPORTED_TARGETS})
+endforeach()
+
+set(pkg_cfg_extras "beginner_tutorials-msg-extras.cmake")
+foreach(extra ${pkg_cfg_extras})
+  if(NOT IS_ABSOLUTE ${extra})
+    set(extra ${beginner_tutorials_DIR}/${extra})
+  endif()
+  include(${extra})
+endforeach()
diff --git a/20151007/built/beginner_tutorials/catkin_generated/installspace/env.sh b/20151007/built/beginner_tutorials/catkin_generated/installspace/env.sh
new file mode 100755
index 00000000..8aa9d244
--- /dev/null
+++ b/20151007/built/beginner_tutorials/catkin_generated/installspace/env.sh
@@ -0,0 +1,16 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/templates/env.sh.in
+
+if [ $# -eq 0 ] ; then
+  /bin/echo "Usage: env.sh COMMANDS"
+  /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually."
+  exit 1
+fi
+
+# ensure to not use different shell type which was set before
+CATKIN_SHELL=sh
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh"
+exec "$@"
diff --git a/20151007/built/beginner_tutorials/catkin_generated/installspace/setup.bash b/20151007/built/beginner_tutorials/catkin_generated/installspace/setup.bash
new file mode 100644
index 00000000..ff47af8f
--- /dev/null
+++ b/20151007/built/beginner_tutorials/catkin_generated/installspace/setup.bash
@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+# generated from catkin/cmake/templates/setup.bash.in
+
+CATKIN_SHELL=bash
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh"
diff --git a/20151007/built/beginner_tutorials/catkin_generated/installspace/setup.sh b/20151007/built/beginner_tutorials/catkin_generated/installspace/setup.sh
new file mode 100644
index 00000000..33cbd87f
--- /dev/null
+++ b/20151007/built/beginner_tutorials/catkin_generated/installspace/setup.sh
@@ -0,0 +1,87 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/template/setup.sh.in
+
+# Sets various environment variables and sources additional environment hooks.
+# It tries it's best to undo changes from a previously sourced setup file before.
+# Supported command line options:
+# --extend: skips the undoing of changes from a previously sourced setup file
+
+# since this file is sourced either use the provided _CATKIN_SETUP_DIR
+# or fall back to the destination set at configure time
+: ${_CATKIN_SETUP_DIR:=/home/mech-user/2015-soft3/20151007/install}
+_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py"
+unset _CATKIN_SETUP_DIR
+
+if [ ! -f "$_SETUP_UTIL" ]; then
+  echo "Missing Python script: $_SETUP_UTIL"
+  return 22
+fi
+
+# detect if running on Darwin platform
+_UNAME=`uname -s`
+_IS_DARWIN=0
+if [ "$_UNAME" = "Darwin" ]; then
+  _IS_DARWIN=1
+fi
+unset _UNAME
+
+# make sure to export all environment variables
+export CMAKE_PREFIX_PATH
+export CPATH
+if [ $_IS_DARWIN -eq 0 ]; then
+  export LD_LIBRARY_PATH
+else
+  export DYLD_LIBRARY_PATH
+fi
+unset _IS_DARWIN
+export PATH
+export PKG_CONFIG_PATH
+export PYTHONPATH
+
+# remember type of shell if not already set
+if [ -z "$CATKIN_SHELL" ]; then
+  CATKIN_SHELL=sh
+fi
+
+# invoke Python script to generate necessary exports of environment variables
+_SETUP_TMP=`mktemp /tmp/setup.sh.XXXXXXXXXX`
+if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then
+  echo "Could not create temporary file: $_SETUP_TMP"
+  return 1
+fi
+CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ > $_SETUP_TMP
+_RC=$?
+if [ $_RC -ne 0 ]; then
+  if [ $_RC -eq 2 ]; then
+    echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?"
+  else
+    echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC"
+  fi
+  unset _RC
+  unset _SETUP_UTIL
+  rm -f $_SETUP_TMP
+  unset _SETUP_TMP
+  return 1
+fi
+unset _RC
+unset _SETUP_UTIL
+. $_SETUP_TMP
+rm -f $_SETUP_TMP
+unset _SETUP_TMP
+
+# source all environment hooks
+_i=0
+while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do
+  eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i
+  unset _CATKIN_ENVIRONMENT_HOOKS_$_i
+  eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
+  unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
+  # set workspace for environment hook
+  CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace
+  . "$_envfile"
+  unset CATKIN_ENV_HOOK_WORKSPACE
+  _i=$((_i + 1))
+done
+unset _i
+
+unset _CATKIN_ENVIRONMENT_HOOKS_COUNT
diff --git a/20151007/built/beginner_tutorials/catkin_generated/installspace/setup.zsh b/20151007/built/beginner_tutorials/catkin_generated/installspace/setup.zsh
new file mode 100644
index 00000000..952f72a4
--- /dev/null
+++ b/20151007/built/beginner_tutorials/catkin_generated/installspace/setup.zsh
@@ -0,0 +1,8 @@
+#!/usr/bin/env zsh
+# generated from catkin/cmake/templates/setup.zsh.in
+
+CATKIN_SHELL=zsh
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
+source "$_CATKIN_SETUP_DIR/setup.sh"
diff --git a/20151007/built/beginner_tutorials/catkin_generated/ordered_paths.cmake b/20151007/built/beginner_tutorials/catkin_generated/ordered_paths.cmake
new file mode 100644
index 00000000..22f3651e
--- /dev/null
+++ b/20151007/built/beginner_tutorials/catkin_generated/ordered_paths.cmake
@@ -0,0 +1 @@
+set(ORDERED_PATHS "/opt/ros/indigo/lib")
\ No newline at end of file
diff --git a/20151007/built/beginner_tutorials/catkin_generated/package.cmake b/20151007/built/beginner_tutorials/catkin_generated/package.cmake
new file mode 100644
index 00000000..771bd6bb
--- /dev/null
+++ b/20151007/built/beginner_tutorials/catkin_generated/package.cmake
@@ -0,0 +1,7 @@
+set(_CATKIN_CURRENT_PACKAGE "beginner_tutorials")
+set(beginner_tutorials_MAINTAINER "mech-user <mech-user@todo.todo>")
+set(beginner_tutorials_DEPRECATED "")
+set(beginner_tutorials_VERSION "0.0.0")
+set(beginner_tutorials_BUILD_DEPENDS "geometry_msgs" "message_generation" "roscpp" "rospy" "std_msgs" "actionlib" "actionlib_msgs")
+set(beginner_tutorials_RUN_DEPENDS "geometry_msgs" "message_runtime" "roscpp" "rospy" "std_msgs" "acitonlib" "actionlib_msgs")
+set(beginner_tutorials_BUILDTOOL_DEPENDS "catkin")
\ No newline at end of file
diff --git a/20151007/built/beginner_tutorials/catkin_generated/pkg.develspace.context.pc.py b/20151007/built/beginner_tutorials/catkin_generated/pkg.develspace.context.pc.py
new file mode 100644
index 00000000..1de84b01
--- /dev/null
+++ b/20151007/built/beginner_tutorials/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 = "/home/mech-user/2015-soft3/20151007/devel/include".split(';') if "/home/mech-user/2015-soft3/20151007/devel/include" != "" else []
+PROJECT_CATKIN_DEPENDS = "".replace(';', ' ')
+PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else []
+PROJECT_NAME = "beginner_tutorials"
+PROJECT_SPACE_DIR = "/home/mech-user/2015-soft3/20151007/devel"
+PROJECT_VERSION = "0.0.0"
diff --git a/20151007/built/beginner_tutorials/catkin_generated/pkg.installspace.context.pc.py b/20151007/built/beginner_tutorials/catkin_generated/pkg.installspace.context.pc.py
new file mode 100644
index 00000000..282c1123
--- /dev/null
+++ b/20151007/built/beginner_tutorials/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 = "/home/mech-user/2015-soft3/20151007/install/include".split(';') if "/home/mech-user/2015-soft3/20151007/install/include" != "" else []
+PROJECT_CATKIN_DEPENDS = "".replace(';', ' ')
+PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else []
+PROJECT_NAME = "beginner_tutorials"
+PROJECT_SPACE_DIR = "/home/mech-user/2015-soft3/20151007/install"
+PROJECT_VERSION = "0.0.0"
diff --git a/20151007/built/beginner_tutorials/catkin_generated/setup_cached.sh b/20151007/built/beginner_tutorials/catkin_generated/setup_cached.sh
new file mode 100755
index 00000000..2891c396
--- /dev/null
+++ b/20151007/built/beginner_tutorials/catkin_generated/setup_cached.sh
@@ -0,0 +1,11 @@
+#!/usr/bin/env sh
+# generated from catkin/python/catkin/environment_cache.py
+
+# based on a snapshot of the environment before and after calling the setup script
+# it emulates the modifications of the setup script without recurring computations
+
+# new environment variables
+
+# modified environment variables
+export LD_LIBRARY_PATH="/home/mech-user/2015-soft3/20151007/devel/lib/x86_64-linux-gnu:/opt/ros/indigo/lib/x86_64-linux-gnu:/home/mech-user/2015-soft3/20151007/devel/lib:/opt/ros/indigo/lib"
+export PKG_CONFIG_PATH="/home/mech-user/2015-soft3/20151007/devel/lib/x86_64-linux-gnu/pkgconfig:/opt/ros/indigo/lib/x86_64-linux-gnu/pkgconfig:/home/mech-user/2015-soft3/20151007/devel/lib/pkgconfig:/opt/ros/indigo/lib/pkgconfig"
\ No newline at end of file
diff --git a/20151007/built/beginner_tutorials/catkin_generated/stamps/beginner_tutorials/DoDishes.action.stamp b/20151007/built/beginner_tutorials/catkin_generated/stamps/beginner_tutorials/DoDishes.action.stamp
new file mode 100644
index 00000000..f3a9a0d3
--- /dev/null
+++ b/20151007/built/beginner_tutorials/catkin_generated/stamps/beginner_tutorials/DoDishes.action.stamp
@@ -0,0 +1,8 @@
+#Define the goal
+uint32 dishwasher_id #Specify which dishwasher we want to use
+---
+#Define the result
+uint32 total_dishes_cleaned
+---
+#Define a feedback message
+float32 percent_complete
\ No newline at end of file
diff --git a/20151007/built/beginner_tutorials/catkin_generated/stamps/beginner_tutorials/interrogate_setup_dot_py.py.stamp b/20151007/built/beginner_tutorials/catkin_generated/stamps/beginner_tutorials/interrogate_setup_dot_py.py.stamp
new file mode 100644
index 00000000..26882f02
--- /dev/null
+++ b/20151007/built/beginner_tutorials/catkin_generated/stamps/beginner_tutorials/interrogate_setup_dot_py.py.stamp
@@ -0,0 +1,250 @@
+#!/usr/bin/env python
+
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2012, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+from __future__ import print_function
+import os
+import sys
+
+import distutils.core
+try:
+    import setuptools
+except ImportError:
+    pass
+
+from argparse import ArgumentParser
+
+
+def _get_locations(pkgs, package_dir):
+    """
+    based on setuptools logic and the package_dir dict, builds a dict
+    of location roots for each pkg in pkgs.
+    See http://docs.python.org/distutils/setupscript.html
+
+    :returns: a dict {pkgname: root} for each pkgname in pkgs (and each of their parents)
+    """
+    # package_dir contains a dict {package_name: relativepath}
+    # Example {'': 'src', 'foo': 'lib', 'bar': 'lib2'}
+    #
+    # '' means where to look for any package unless a parent package
+    # is listed so package bar.pot is expected at lib2/bar/pot,
+    # whereas package sup.dee is expected at src/sup/dee
+    #
+    # if package_dir does not state anything about a package,
+    # setuptool expects the package folder to be in the root of the
+    # project
+    locations = {}
+    allprefix = package_dir.get('', '')
+    for pkg in pkgs:
+        parent_location = None
+        splits = pkg.split('.')
+        # we iterate over compound name from parent to child
+        # so once we found parent, children just append to their parent
+        for key_len in range(len(splits)):
+            key = '.'.join(splits[:key_len + 1])
+            if key not in locations:
+                if key in package_dir:
+                    locations[key] = package_dir[key]
+                elif parent_location is not None:
+                    locations[key] = parent_location
+                else:
+                    locations[key] = allprefix
+            parent_location = locations[key]
+    return locations
+
+
+def generate_cmake_file(package_name, version, scripts, package_dir, pkgs, modules):
+    """
+    Generates lines to add to a cmake file which will set variables
+
+    :param version: str, format 'int.int.int'
+    :param scripts: [list of str]: relative paths to scripts
+    :param package_dir: {modulename: path}
+    :pkgs: [list of str] python_packages declared in catkin package
+    :modules: [list of str] python modules
+    """
+    prefix = '%s_SETUP_PY' % package_name
+    result = []
+    result.append(r'set(%s_VERSION "%s")' % (prefix, version))
+    result.append(r'set(%s_SCRIPTS "%s")' % (prefix, ';'.join(scripts)))
+
+    # Remove packages with '.' separators.
+    #
+    # setuptools allows specifying submodules in other folders than
+    # their parent
+    #
+    # The symlink approach of catkin does not work with such submodules.
+    # In the common case, this does not matter as the submodule is
+    # within the containing module.  We verify this assumption, and if
+    # it passes, we remove submodule packages.
+    locations = _get_locations(pkgs, package_dir)
+    for pkgname, location in locations.items():
+        if not '.' in pkgname:
+            continue
+        splits = pkgname.split('.')
+        # hack: ignore write-combining setup.py files for msg and srv files
+        if splits[1] in ['msg', 'srv']:
+            continue
+        # check every child has the same root folder as its parent
+        parent_name = '.'.join(splits[:1])
+        if location != locations[parent_name]:
+            raise RuntimeError(
+                "catkin_export_python does not support setup.py files that combine across multiple directories: %s in %s, %s in %s" % (pkgname, location, parent_name, locations[parent_name]))
+
+    # If checks pass, remove all submodules
+    pkgs = [p for p in pkgs if '.' not in p]
+
+    resolved_pkgs = []
+    for pkg in pkgs:
+        resolved_pkgs += [os.path.join(locations[pkg], pkg)]
+
+    result.append(r'set(%s_PACKAGES "%s")' % (prefix, ';'.join(pkgs)))
+    result.append(r'set(%s_PACKAGE_DIRS "%s")' % (prefix, ';'.join(resolved_pkgs).replace("\\", "/")))
+
+    # skip modules which collide with package names
+    filtered_modules = []
+    for modname in modules:
+        splits = modname.split('.')
+        # check all parents too
+        equals_package = [('.'.join(splits[:-i]) in locations) for i in range(len(splits))]
+        if any(equals_package):
+            continue
+        filtered_modules.append(modname)
+    module_locations = _get_locations(filtered_modules, package_dir)
+
+    result.append(r'set(%s_MODULES "%s")' % (prefix, ';'.join(['%s.py' % m.replace('.', '/') for m in filtered_modules])))
+    result.append(r'set(%s_MODULE_DIRS "%s")' % (prefix, ';'.join([module_locations[m] for m in filtered_modules]).replace("\\", "/")))
+
+    return result
+
+
+def _create_mock_setup_function(package_name, outfile):
+    """
+    Creates a function to call instead of distutils.core.setup or
+    setuptools.setup, which just captures some args and writes them
+    into a file that can be used from cmake
+
+    :param package_name: name of the package
+    :param outfile: filename that cmake will use afterwards
+    :returns: a function to replace disutils.core.setup and setuptools.setup
+    """
+
+    def setup(*args, **kwargs):
+        '''
+        Checks kwargs and writes a scriptfile
+        '''
+        if 'version' not in kwargs:
+            sys.stderr.write("\n*** Unable to find 'version' in setup.py of %s\n" % package_name)
+            raise RuntimeError("version not found in setup.py")
+        version = kwargs['version']
+        package_dir = kwargs.get('package_dir', {})
+
+        pkgs = kwargs.get('packages', [])
+        scripts = kwargs.get('scripts', [])
+        modules = kwargs.get('py_modules', [])
+
+        unsupported_args = [
+            'entry_points',
+            'exclude_package_data',
+            'ext_modules ',
+            'ext_package',
+            'include_package_data',
+            'namespace_packages',
+            'setup_requires',
+            'use_2to3',
+            'zip_safe']
+        used_unsupported_args = [arg for arg in unsupported_args if arg in kwargs]
+        if used_unsupported_args:
+            sys.stderr.write("*** Arguments %s to setup() not supported in catkin devel space in setup.py of %s\n" % (used_unsupported_args, package_name))
+
+        result = generate_cmake_file(package_name=package_name,
+                                     version=version,
+                                     scripts=scripts,
+                                     package_dir=package_dir,
+                                     pkgs=pkgs,
+                                     modules=modules)
+        with open(outfile, 'w') as out:
+            out.write('\n'.join(result))
+
+    return setup
+
+
+def main():
+    """
+    Script main, parses arguments and invokes Dummy.setup indirectly.
+    """
+    parser = ArgumentParser(description='Utility to read setup.py values from cmake macros. Creates a file with CMake set commands setting variables.')
+    parser.add_argument('package_name', help='Name of catkin package')
+    parser.add_argument('setupfile_path', help='Full path to setup.py')
+    parser.add_argument('outfile', help='Where to write result to')
+
+    args = parser.parse_args()
+
+    # print("%s" % sys.argv)
+    # PACKAGE_NAME = sys.argv[1]
+    # OUTFILE = sys.argv[3]
+    # print("Interrogating setup.py for package %s into %s " % (PACKAGE_NAME, OUTFILE),
+    #      file=sys.stderr)
+
+    # print("executing %s" % args.setupfile_path)
+
+    # be sure you're in the directory containing
+    # setup.py so the sys.path manipulation works,
+    # so the import of __version__ works
+    os.chdir(os.path.dirname(os.path.abspath(args.setupfile_path)))
+
+    # patch setup() function of distutils and setuptools for the
+    # context of evaluating setup.py
+    try:
+        fake_setup = _create_mock_setup_function(package_name=args.package_name,
+                                                outfile=args.outfile)
+
+        distutils_backup = distutils.core.setup
+        distutils.core.setup = fake_setup
+        try:
+            setuptools_backup = setuptools.setup
+            setuptools.setup = fake_setup
+        except NameError:
+            pass
+
+        with open(args.setupfile_path, 'r') as fh:
+            exec(fh.read())
+    finally:
+        distutils.core.setup = distutils_backup
+        try:
+            setuptools.setup = setuptools_backup
+        except NameError:
+            pass
+
+if __name__ == '__main__':
+    main()
diff --git a/20151007/built/beginner_tutorials/catkin_generated/stamps/beginner_tutorials/package.xml.stamp b/20151007/built/beginner_tutorials/catkin_generated/stamps/beginner_tutorials/package.xml.stamp
new file mode 100644
index 00000000..e1367f59
--- /dev/null
+++ b/20151007/built/beginner_tutorials/catkin_generated/stamps/beginner_tutorials/package.xml.stamp
@@ -0,0 +1,65 @@
+<?xml version="1.0"?>
+<package>
+  <name>beginner_tutorials</name>
+  <version>0.0.0</version>
+  <description>The beginner_tutorials package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="mech-user@todo.todo">mech-user</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 mutiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/beginner_tutorials</url> -->
+
+
+  <!-- Author tags are optional, mutiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintianers, 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 build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use run_depend for packages you need at runtime: -->
+  <!--   <run_depend>message_runtime</run_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>message_generation</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>actionlib</build_depend>
+  <build_depend>actionlib_msgs</build_depend>
+  <run_depend>geometry_msgs</run_depend>
+  <run_depend>message_runtime</run_depend>
+  <run_depend>roscpp</run_depend>
+  <run_depend>rospy</run_depend>
+  <run_depend>std_msgs</run_depend>
+  <run_depend>acitonlib</run_depend>
+  <run_depend>actionlib_msgs</run_depend>
+
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
diff --git a/20151007/built/beginner_tutorials/catkin_generated/stamps/beginner_tutorials/pkg-genmsg.cmake.em.stamp b/20151007/built/beginner_tutorials/catkin_generated/stamps/beginner_tutorials/pkg-genmsg.cmake.em.stamp
new file mode 100644
index 00000000..7bae5933
--- /dev/null
+++ b/20151007/built/beginner_tutorials/catkin_generated/stamps/beginner_tutorials/pkg-genmsg.cmake.em.stamp
@@ -0,0 +1,164 @@
+# generated from genmsg/cmake/pkg-genmsg.cmake.em
+
+@{
+import os
+import sys
+
+import genmsg
+import genmsg.base
+genmsg.base.log_verbose('GENMSG_VERBOSE' in os.environ)
+import genmsg.deps
+import genmsg.gentools
+
+# split incoming variables
+messages = messages_str.split(';') if messages_str != '' else []
+services = services_str.split(';') if services_str != '' else []
+dependencies = dependencies_str.split(';') if dependencies_str != '' else []
+dep_search_paths = dep_include_paths_str.split(';') if dep_include_paths_str != '' else []
+
+dep_search_paths_dict = {}
+dep_search_paths_tuple_list = []
+is_even = True
+for val in dep_search_paths:
+    if is_even:
+        dep_search_paths_dict.setdefault(val, [])
+        val_prev = val
+        is_even = False
+    else:
+        dep_search_paths_dict[val_prev].append(val)
+        dep_search_paths_tuple_list.append((val_prev, val))
+        is_even = True
+dep_search_paths = dep_search_paths_dict
+
+if not messages and not services:
+    print('message(WARNING "Invoking generate_messages() without having added any message or service file before.\nYou should either add add_message_files() and/or add_service_files() calls or remove the invocation of generate_messages().")')
+
+msg_deps = {}
+msg_dep_types = {}
+for m in messages:
+  try:
+    _deps = genmsg.deps.find_msg_dependencies_with_type(pkg_name, m, dep_search_paths)
+    msg_deps[m] = [d[1] for d in _deps]
+    msg_dep_types[m] = [d[0] for d in _deps]
+  except genmsg.MsgNotFound as e:
+    print('message(FATAL_ERROR "Could not find messages which \'%s\' depends on. Did you forget to specify generate_messages(DEPENDENCIES ...)?\n%s")' % (m, str(e).replace('"', '\\"')))
+
+srv_deps = {}
+srv_dep_types = {}
+for s in services:
+  try:
+    _deps = genmsg.deps.find_srv_dependencies_with_type(pkg_name, s, dep_search_paths)
+    srv_deps[s] = [d[1] for d in _deps]
+    srv_dep_types[s] = [d[0] for d in _deps]
+  except genmsg.MsgNotFound as e:
+    print('message(FATAL_ERROR "Could not find messages which \'%s\' depends on. Did you forget to specify generate_messages(DEPENDENCIES ...)?\n%s")' % (s, str(e).replace('"', '\\"')))
+
+}@
+message(STATUS "@(pkg_name): @(len(messages)) messages, @(len(services)) services")
+
+set(MSG_I_FLAGS "@(';'.join(["-I%s:%s" % (dep, dir) for dep, dir in dep_search_paths_tuple_list]))")
+
+# Find all generators
+@[if langs]@
+@[for l in langs.split(';')]@
+find_package(@l REQUIRED)
+@[end for]@
+@[end if]@
+
+add_custom_target(@(pkg_name)_generate_messages ALL)
+
+# verify that message/service dependencies have not changed since configure
+@{all_deps = dict(list(msg_deps.items()) + list(srv_deps.items()))}
+@{all_dep_types = dict(list(msg_dep_types.items()) + list(srv_dep_types.items()))}
+@[for f in all_deps.keys()]@
+@{dep_types = ':'.join(all_dep_types[f]).replace('\\','/')}
+get_filename_component(_filename "@(f)" NAME_WE)
+add_custom_target(_@(pkg_name)_generate_messages_check_deps_${_filename}
+  COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "@(pkg_name)" "@(f)" "@(dep_types)"
+)
+@[end for]@# messages and services
+
+#
+#  langs = @langs
+#
+
+@[if langs]@
+@[for l in langs.split(';')]@
+### Section generating for lang: @l
+### Generating Messages
+@[for m in msg_deps.keys()]@
+_generate_msg_@(l[3:])(@pkg_name
+  "@m"
+  "${MSG_I_FLAGS}"
+  "@(';'.join(msg_deps[m]).replace("\\","/"))"
+  ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name
+)
+@[end for]@# messages
+
+### Generating Services
+@[for s in srv_deps.keys()]@
+_generate_srv_@(l[3:])(@pkg_name
+  "@s"
+  "${MSG_I_FLAGS}"
+  "@(';'.join(srv_deps[s]).replace("\\","/"))"
+  ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name
+)
+@[end for]@# services
+
+### Generating Module File
+_generate_module_@(l[3:])(@pkg_name
+  ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name
+  "${ALL_GEN_OUTPUT_FILES_@(l[3:])}"
+)
+
+add_custom_target(@(pkg_name)_generate_messages_@(l[3:])
+  DEPENDS ${ALL_GEN_OUTPUT_FILES_@(l[3:])}
+)
+add_dependencies(@(pkg_name)_generate_messages @(pkg_name)_generate_messages_@(l[3:]))
+
+# add dependencies to all check dependencies targets
+@[for f in all_deps.keys()]@
+get_filename_component(_filename "@(f)" NAME_WE)
+add_dependencies(@(pkg_name)_generate_messages_@(l[3:]) _@(pkg_name)_generate_messages_check_deps_${_filename})
+@[end for]@# messages and services
+
+# target for backward compatibility
+add_custom_target(@(pkg_name)_@(l))
+add_dependencies(@(pkg_name)_@(l) @(pkg_name)_generate_messages_@(l[3:]))
+
+# register target for catkin_package(EXPORTED_TARGETS)
+list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS @(pkg_name)_generate_messages_@(l[3:]))
+
+@[end for]@# langs
+@[end if]@
+
+@[if langs]@
+@[for l in langs.split(';')]@
+
+if(@(l)_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name)
+@[if l == 'genpy']@
+  install(CODE "execute_process(COMMAND \"@(PYTHON_EXECUTABLE)\" -m compileall \"${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name\")")
+@[end if]@
+  # install generated code
+  install(
+    DIRECTORY ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name
+    DESTINATION ${@(l)_INSTALL_DIR}
+@[if l == 'genpy' and package_has_static_sources]@
+    # skip all init files
+    PATTERN "__init__.py" EXCLUDE
+    PATTERN "__init__.pyc" EXCLUDE
+  )
+  # install init files which are not in the root folder of the generated code
+  install(
+    DIRECTORY ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name
+    DESTINATION ${@(l)_INSTALL_DIR}
+    FILES_MATCHING
+    REGEX "${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@(pkg_name)/.+/__init__.pyc?$"
+@[end if]@
+  )
+endif()
+@[for d in dependencies]@
+add_dependencies(@(pkg_name)_generate_messages_@(l[3:]) @(d)_generate_messages_@(l[3:]))
+@[end for]@# dependencies
+@[end for]@# langs
+@[end if]@
diff --git a/20151007/built/beginner_tutorials/catkin_generated/stamps/beginner_tutorials/pkg.pc.em.stamp b/20151007/built/beginner_tutorials/catkin_generated/stamps/beginner_tutorials/pkg.pc.em.stamp
new file mode 100644
index 00000000..a4f72576
--- /dev/null
+++ b/20151007/built/beginner_tutorials/catkin_generated/stamps/beginner_tutorials/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/20151007/built/beginner_tutorials/cmake/beginner_tutorials-genmsg-context.py b/20151007/built/beginner_tutorials/cmake/beginner_tutorials-genmsg-context.py
new file mode 100644
index 00000000..ba4454d5
--- /dev/null
+++ b/20151007/built/beginner_tutorials/cmake/beginner_tutorials-genmsg-context.py
@@ -0,0 +1,11 @@
+# generated from genmsg/cmake/pkg-genmsg.context.in
+
+messages_str = "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesAction.msg;/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionGoal.msg;/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionResult.msg;/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionFeedback.msg;/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesGoal.msg;/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesResult.msg;/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesFeedback.msg"
+services_str = "/home/mech-user/2015-soft3/20151007/src/beginner_tutorials/srv/AddTwoInts.srv"
+pkg_name = "beginner_tutorials"
+dependencies_str = "geometry_msgs;actionlib_msgs"
+langs = "gencpp;genlisp;genpy"
+dep_include_paths_str = "beginner_tutorials;/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg;geometry_msgs;/opt/ros/indigo/share/geometry_msgs/cmake/../msg;actionlib_msgs;/opt/ros/indigo/share/actionlib_msgs/cmake/../msg;std_msgs;/opt/ros/indigo/share/std_msgs/cmake/../msg"
+PYTHON_EXECUTABLE = "/usr/bin/python"
+package_has_static_sources = '' == 'TRUE'
+genmsg_check_deps_script = "/opt/ros/indigo/share/genmsg/cmake/../../../lib/genmsg/genmsg_check_deps.py"
diff --git a/20151007/built/beginner_tutorials/cmake/beginner_tutorials-genmsg.cmake b/20151007/built/beginner_tutorials/cmake/beginner_tutorials-genmsg.cmake
new file mode 100644
index 00000000..41f35fa6
--- /dev/null
+++ b/20151007/built/beginner_tutorials/cmake/beginner_tutorials-genmsg.cmake
@@ -0,0 +1,360 @@
+# generated from genmsg/cmake/pkg-genmsg.cmake.em
+
+message(STATUS "beginner_tutorials: 7 messages, 1 services")
+
+set(MSG_I_FLAGS "-Ibeginner_tutorials:/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg;-Igeometry_msgs:/opt/ros/indigo/share/geometry_msgs/cmake/../msg;-Iactionlib_msgs:/opt/ros/indigo/share/actionlib_msgs/cmake/../msg;-Istd_msgs:/opt/ros/indigo/share/std_msgs/cmake/../msg")
+
+# Find all generators
+find_package(gencpp REQUIRED)
+find_package(genlisp REQUIRED)
+find_package(genpy REQUIRED)
+
+add_custom_target(beginner_tutorials_generate_messages ALL)
+
+# verify that message/service dependencies have not changed since configure
+
+
+
+get_filename_component(_filename "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesGoal.msg" NAME_WE)
+add_custom_target(_beginner_tutorials_generate_messages_check_deps_${_filename}
+  COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "beginner_tutorials" "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesGoal.msg" ""
+)
+
+get_filename_component(_filename "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesFeedback.msg" NAME_WE)
+add_custom_target(_beginner_tutorials_generate_messages_check_deps_${_filename}
+  COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "beginner_tutorials" "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesFeedback.msg" ""
+)
+
+get_filename_component(_filename "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesAction.msg" NAME_WE)
+add_custom_target(_beginner_tutorials_generate_messages_check_deps_${_filename}
+  COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "beginner_tutorials" "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesAction.msg" "beginner_tutorials/DoDishesFeedback:beginner_tutorials/DoDishesActionFeedback:actionlib_msgs/GoalStatus:actionlib_msgs/GoalID:beginner_tutorials/DoDishesActionResult:beginner_tutorials/DoDishesActionGoal:beginner_tutorials/DoDishesGoal:std_msgs/Header:beginner_tutorials/DoDishesResult"
+)
+
+get_filename_component(_filename "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionGoal.msg" NAME_WE)
+add_custom_target(_beginner_tutorials_generate_messages_check_deps_${_filename}
+  COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "beginner_tutorials" "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionGoal.msg" "actionlib_msgs/GoalID:beginner_tutorials/DoDishesGoal:std_msgs/Header"
+)
+
+get_filename_component(_filename "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionResult.msg" NAME_WE)
+add_custom_target(_beginner_tutorials_generate_messages_check_deps_${_filename}
+  COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "beginner_tutorials" "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionResult.msg" "beginner_tutorials/DoDishesResult:actionlib_msgs/GoalStatus:actionlib_msgs/GoalID:std_msgs/Header"
+)
+
+get_filename_component(_filename "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionFeedback.msg" NAME_WE)
+add_custom_target(_beginner_tutorials_generate_messages_check_deps_${_filename}
+  COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "beginner_tutorials" "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionFeedback.msg" "actionlib_msgs/GoalStatus:actionlib_msgs/GoalID:beginner_tutorials/DoDishesFeedback:std_msgs/Header"
+)
+
+get_filename_component(_filename "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesResult.msg" NAME_WE)
+add_custom_target(_beginner_tutorials_generate_messages_check_deps_${_filename}
+  COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "beginner_tutorials" "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesResult.msg" ""
+)
+
+get_filename_component(_filename "/home/mech-user/2015-soft3/20151007/src/beginner_tutorials/srv/AddTwoInts.srv" NAME_WE)
+add_custom_target(_beginner_tutorials_generate_messages_check_deps_${_filename}
+  COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "beginner_tutorials" "/home/mech-user/2015-soft3/20151007/src/beginner_tutorials/srv/AddTwoInts.srv" ""
+)
+
+#
+#  langs = gencpp;genlisp;genpy
+#
+
+### Section generating for lang: gencpp
+### Generating Messages
+_generate_msg_cpp(beginner_tutorials
+  "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesGoal.msg"
+  "${MSG_I_FLAGS}"
+  ""
+  ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/beginner_tutorials
+)
+_generate_msg_cpp(beginner_tutorials
+  "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesFeedback.msg"
+  "${MSG_I_FLAGS}"
+  ""
+  ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/beginner_tutorials
+)
+_generate_msg_cpp(beginner_tutorials
+  "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesAction.msg"
+  "${MSG_I_FLAGS}"
+  "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesFeedback.msg;/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionFeedback.msg;/opt/ros/indigo/share/actionlib_msgs/cmake/../msg/GoalStatus.msg;/opt/ros/indigo/share/actionlib_msgs/cmake/../msg/GoalID.msg;/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionResult.msg;/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionGoal.msg;/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesGoal.msg;/opt/ros/indigo/share/std_msgs/cmake/../msg/Header.msg;/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesResult.msg"
+  ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/beginner_tutorials
+)
+_generate_msg_cpp(beginner_tutorials
+  "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionGoal.msg"
+  "${MSG_I_FLAGS}"
+  "/opt/ros/indigo/share/actionlib_msgs/cmake/../msg/GoalID.msg;/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesGoal.msg;/opt/ros/indigo/share/std_msgs/cmake/../msg/Header.msg"
+  ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/beginner_tutorials
+)
+_generate_msg_cpp(beginner_tutorials
+  "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionResult.msg"
+  "${MSG_I_FLAGS}"
+  "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesResult.msg;/opt/ros/indigo/share/actionlib_msgs/cmake/../msg/GoalStatus.msg;/opt/ros/indigo/share/actionlib_msgs/cmake/../msg/GoalID.msg;/opt/ros/indigo/share/std_msgs/cmake/../msg/Header.msg"
+  ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/beginner_tutorials
+)
+_generate_msg_cpp(beginner_tutorials
+  "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionFeedback.msg"
+  "${MSG_I_FLAGS}"
+  "/opt/ros/indigo/share/actionlib_msgs/cmake/../msg/GoalStatus.msg;/opt/ros/indigo/share/actionlib_msgs/cmake/../msg/GoalID.msg;/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesFeedback.msg;/opt/ros/indigo/share/std_msgs/cmake/../msg/Header.msg"
+  ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/beginner_tutorials
+)
+_generate_msg_cpp(beginner_tutorials
+  "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesResult.msg"
+  "${MSG_I_FLAGS}"
+  ""
+  ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/beginner_tutorials
+)
+
+### Generating Services
+_generate_srv_cpp(beginner_tutorials
+  "/home/mech-user/2015-soft3/20151007/src/beginner_tutorials/srv/AddTwoInts.srv"
+  "${MSG_I_FLAGS}"
+  ""
+  ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/beginner_tutorials
+)
+
+### Generating Module File
+_generate_module_cpp(beginner_tutorials
+  ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/beginner_tutorials
+  "${ALL_GEN_OUTPUT_FILES_cpp}"
+)
+
+add_custom_target(beginner_tutorials_generate_messages_cpp
+  DEPENDS ${ALL_GEN_OUTPUT_FILES_cpp}
+)
+add_dependencies(beginner_tutorials_generate_messages beginner_tutorials_generate_messages_cpp)
+
+# add dependencies to all check dependencies targets
+get_filename_component(_filename "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesGoal.msg" NAME_WE)
+add_dependencies(beginner_tutorials_generate_messages_cpp _beginner_tutorials_generate_messages_check_deps_${_filename})
+get_filename_component(_filename "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesFeedback.msg" NAME_WE)
+add_dependencies(beginner_tutorials_generate_messages_cpp _beginner_tutorials_generate_messages_check_deps_${_filename})
+get_filename_component(_filename "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesAction.msg" NAME_WE)
+add_dependencies(beginner_tutorials_generate_messages_cpp _beginner_tutorials_generate_messages_check_deps_${_filename})
+get_filename_component(_filename "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionGoal.msg" NAME_WE)
+add_dependencies(beginner_tutorials_generate_messages_cpp _beginner_tutorials_generate_messages_check_deps_${_filename})
+get_filename_component(_filename "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionResult.msg" NAME_WE)
+add_dependencies(beginner_tutorials_generate_messages_cpp _beginner_tutorials_generate_messages_check_deps_${_filename})
+get_filename_component(_filename "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionFeedback.msg" NAME_WE)
+add_dependencies(beginner_tutorials_generate_messages_cpp _beginner_tutorials_generate_messages_check_deps_${_filename})
+get_filename_component(_filename "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesResult.msg" NAME_WE)
+add_dependencies(beginner_tutorials_generate_messages_cpp _beginner_tutorials_generate_messages_check_deps_${_filename})
+get_filename_component(_filename "/home/mech-user/2015-soft3/20151007/src/beginner_tutorials/srv/AddTwoInts.srv" NAME_WE)
+add_dependencies(beginner_tutorials_generate_messages_cpp _beginner_tutorials_generate_messages_check_deps_${_filename})
+
+# target for backward compatibility
+add_custom_target(beginner_tutorials_gencpp)
+add_dependencies(beginner_tutorials_gencpp beginner_tutorials_generate_messages_cpp)
+
+# register target for catkin_package(EXPORTED_TARGETS)
+list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS beginner_tutorials_generate_messages_cpp)
+
+### Section generating for lang: genlisp
+### Generating Messages
+_generate_msg_lisp(beginner_tutorials
+  "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesGoal.msg"
+  "${MSG_I_FLAGS}"
+  ""
+  ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/beginner_tutorials
+)
+_generate_msg_lisp(beginner_tutorials
+  "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesFeedback.msg"
+  "${MSG_I_FLAGS}"
+  ""
+  ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/beginner_tutorials
+)
+_generate_msg_lisp(beginner_tutorials
+  "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesAction.msg"
+  "${MSG_I_FLAGS}"
+  "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesFeedback.msg;/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionFeedback.msg;/opt/ros/indigo/share/actionlib_msgs/cmake/../msg/GoalStatus.msg;/opt/ros/indigo/share/actionlib_msgs/cmake/../msg/GoalID.msg;/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionResult.msg;/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionGoal.msg;/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesGoal.msg;/opt/ros/indigo/share/std_msgs/cmake/../msg/Header.msg;/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesResult.msg"
+  ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/beginner_tutorials
+)
+_generate_msg_lisp(beginner_tutorials
+  "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionGoal.msg"
+  "${MSG_I_FLAGS}"
+  "/opt/ros/indigo/share/actionlib_msgs/cmake/../msg/GoalID.msg;/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesGoal.msg;/opt/ros/indigo/share/std_msgs/cmake/../msg/Header.msg"
+  ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/beginner_tutorials
+)
+_generate_msg_lisp(beginner_tutorials
+  "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionResult.msg"
+  "${MSG_I_FLAGS}"
+  "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesResult.msg;/opt/ros/indigo/share/actionlib_msgs/cmake/../msg/GoalStatus.msg;/opt/ros/indigo/share/actionlib_msgs/cmake/../msg/GoalID.msg;/opt/ros/indigo/share/std_msgs/cmake/../msg/Header.msg"
+  ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/beginner_tutorials
+)
+_generate_msg_lisp(beginner_tutorials
+  "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionFeedback.msg"
+  "${MSG_I_FLAGS}"
+  "/opt/ros/indigo/share/actionlib_msgs/cmake/../msg/GoalStatus.msg;/opt/ros/indigo/share/actionlib_msgs/cmake/../msg/GoalID.msg;/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesFeedback.msg;/opt/ros/indigo/share/std_msgs/cmake/../msg/Header.msg"
+  ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/beginner_tutorials
+)
+_generate_msg_lisp(beginner_tutorials
+  "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesResult.msg"
+  "${MSG_I_FLAGS}"
+  ""
+  ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/beginner_tutorials
+)
+
+### Generating Services
+_generate_srv_lisp(beginner_tutorials
+  "/home/mech-user/2015-soft3/20151007/src/beginner_tutorials/srv/AddTwoInts.srv"
+  "${MSG_I_FLAGS}"
+  ""
+  ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/beginner_tutorials
+)
+
+### Generating Module File
+_generate_module_lisp(beginner_tutorials
+  ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/beginner_tutorials
+  "${ALL_GEN_OUTPUT_FILES_lisp}"
+)
+
+add_custom_target(beginner_tutorials_generate_messages_lisp
+  DEPENDS ${ALL_GEN_OUTPUT_FILES_lisp}
+)
+add_dependencies(beginner_tutorials_generate_messages beginner_tutorials_generate_messages_lisp)
+
+# add dependencies to all check dependencies targets
+get_filename_component(_filename "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesGoal.msg" NAME_WE)
+add_dependencies(beginner_tutorials_generate_messages_lisp _beginner_tutorials_generate_messages_check_deps_${_filename})
+get_filename_component(_filename "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesFeedback.msg" NAME_WE)
+add_dependencies(beginner_tutorials_generate_messages_lisp _beginner_tutorials_generate_messages_check_deps_${_filename})
+get_filename_component(_filename "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesAction.msg" NAME_WE)
+add_dependencies(beginner_tutorials_generate_messages_lisp _beginner_tutorials_generate_messages_check_deps_${_filename})
+get_filename_component(_filename "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionGoal.msg" NAME_WE)
+add_dependencies(beginner_tutorials_generate_messages_lisp _beginner_tutorials_generate_messages_check_deps_${_filename})
+get_filename_component(_filename "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionResult.msg" NAME_WE)
+add_dependencies(beginner_tutorials_generate_messages_lisp _beginner_tutorials_generate_messages_check_deps_${_filename})
+get_filename_component(_filename "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionFeedback.msg" NAME_WE)
+add_dependencies(beginner_tutorials_generate_messages_lisp _beginner_tutorials_generate_messages_check_deps_${_filename})
+get_filename_component(_filename "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesResult.msg" NAME_WE)
+add_dependencies(beginner_tutorials_generate_messages_lisp _beginner_tutorials_generate_messages_check_deps_${_filename})
+get_filename_component(_filename "/home/mech-user/2015-soft3/20151007/src/beginner_tutorials/srv/AddTwoInts.srv" NAME_WE)
+add_dependencies(beginner_tutorials_generate_messages_lisp _beginner_tutorials_generate_messages_check_deps_${_filename})
+
+# target for backward compatibility
+add_custom_target(beginner_tutorials_genlisp)
+add_dependencies(beginner_tutorials_genlisp beginner_tutorials_generate_messages_lisp)
+
+# register target for catkin_package(EXPORTED_TARGETS)
+list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS beginner_tutorials_generate_messages_lisp)
+
+### Section generating for lang: genpy
+### Generating Messages
+_generate_msg_py(beginner_tutorials
+  "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesGoal.msg"
+  "${MSG_I_FLAGS}"
+  ""
+  ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/beginner_tutorials
+)
+_generate_msg_py(beginner_tutorials
+  "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesFeedback.msg"
+  "${MSG_I_FLAGS}"
+  ""
+  ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/beginner_tutorials
+)
+_generate_msg_py(beginner_tutorials
+  "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesAction.msg"
+  "${MSG_I_FLAGS}"
+  "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesFeedback.msg;/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionFeedback.msg;/opt/ros/indigo/share/actionlib_msgs/cmake/../msg/GoalStatus.msg;/opt/ros/indigo/share/actionlib_msgs/cmake/../msg/GoalID.msg;/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionResult.msg;/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionGoal.msg;/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesGoal.msg;/opt/ros/indigo/share/std_msgs/cmake/../msg/Header.msg;/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesResult.msg"
+  ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/beginner_tutorials
+)
+_generate_msg_py(beginner_tutorials
+  "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionGoal.msg"
+  "${MSG_I_FLAGS}"
+  "/opt/ros/indigo/share/actionlib_msgs/cmake/../msg/GoalID.msg;/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesGoal.msg;/opt/ros/indigo/share/std_msgs/cmake/../msg/Header.msg"
+  ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/beginner_tutorials
+)
+_generate_msg_py(beginner_tutorials
+  "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionResult.msg"
+  "${MSG_I_FLAGS}"
+  "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesResult.msg;/opt/ros/indigo/share/actionlib_msgs/cmake/../msg/GoalStatus.msg;/opt/ros/indigo/share/actionlib_msgs/cmake/../msg/GoalID.msg;/opt/ros/indigo/share/std_msgs/cmake/../msg/Header.msg"
+  ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/beginner_tutorials
+)
+_generate_msg_py(beginner_tutorials
+  "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionFeedback.msg"
+  "${MSG_I_FLAGS}"
+  "/opt/ros/indigo/share/actionlib_msgs/cmake/../msg/GoalStatus.msg;/opt/ros/indigo/share/actionlib_msgs/cmake/../msg/GoalID.msg;/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesFeedback.msg;/opt/ros/indigo/share/std_msgs/cmake/../msg/Header.msg"
+  ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/beginner_tutorials
+)
+_generate_msg_py(beginner_tutorials
+  "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesResult.msg"
+  "${MSG_I_FLAGS}"
+  ""
+  ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/beginner_tutorials
+)
+
+### Generating Services
+_generate_srv_py(beginner_tutorials
+  "/home/mech-user/2015-soft3/20151007/src/beginner_tutorials/srv/AddTwoInts.srv"
+  "${MSG_I_FLAGS}"
+  ""
+  ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/beginner_tutorials
+)
+
+### Generating Module File
+_generate_module_py(beginner_tutorials
+  ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/beginner_tutorials
+  "${ALL_GEN_OUTPUT_FILES_py}"
+)
+
+add_custom_target(beginner_tutorials_generate_messages_py
+  DEPENDS ${ALL_GEN_OUTPUT_FILES_py}
+)
+add_dependencies(beginner_tutorials_generate_messages beginner_tutorials_generate_messages_py)
+
+# add dependencies to all check dependencies targets
+get_filename_component(_filename "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesGoal.msg" NAME_WE)
+add_dependencies(beginner_tutorials_generate_messages_py _beginner_tutorials_generate_messages_check_deps_${_filename})
+get_filename_component(_filename "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesFeedback.msg" NAME_WE)
+add_dependencies(beginner_tutorials_generate_messages_py _beginner_tutorials_generate_messages_check_deps_${_filename})
+get_filename_component(_filename "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesAction.msg" NAME_WE)
+add_dependencies(beginner_tutorials_generate_messages_py _beginner_tutorials_generate_messages_check_deps_${_filename})
+get_filename_component(_filename "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionGoal.msg" NAME_WE)
+add_dependencies(beginner_tutorials_generate_messages_py _beginner_tutorials_generate_messages_check_deps_${_filename})
+get_filename_component(_filename "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionResult.msg" NAME_WE)
+add_dependencies(beginner_tutorials_generate_messages_py _beginner_tutorials_generate_messages_check_deps_${_filename})
+get_filename_component(_filename "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionFeedback.msg" NAME_WE)
+add_dependencies(beginner_tutorials_generate_messages_py _beginner_tutorials_generate_messages_check_deps_${_filename})
+get_filename_component(_filename "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesResult.msg" NAME_WE)
+add_dependencies(beginner_tutorials_generate_messages_py _beginner_tutorials_generate_messages_check_deps_${_filename})
+get_filename_component(_filename "/home/mech-user/2015-soft3/20151007/src/beginner_tutorials/srv/AddTwoInts.srv" NAME_WE)
+add_dependencies(beginner_tutorials_generate_messages_py _beginner_tutorials_generate_messages_check_deps_${_filename})
+
+# target for backward compatibility
+add_custom_target(beginner_tutorials_genpy)
+add_dependencies(beginner_tutorials_genpy beginner_tutorials_generate_messages_py)
+
+# register target for catkin_package(EXPORTED_TARGETS)
+list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS beginner_tutorials_generate_messages_py)
+
+
+
+if(gencpp_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/beginner_tutorials)
+  # install generated code
+  install(
+    DIRECTORY ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/beginner_tutorials
+    DESTINATION ${gencpp_INSTALL_DIR}
+  )
+endif()
+add_dependencies(beginner_tutorials_generate_messages_cpp geometry_msgs_generate_messages_cpp)
+add_dependencies(beginner_tutorials_generate_messages_cpp actionlib_msgs_generate_messages_cpp)
+
+if(genlisp_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/beginner_tutorials)
+  # install generated code
+  install(
+    DIRECTORY ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/beginner_tutorials
+    DESTINATION ${genlisp_INSTALL_DIR}
+  )
+endif()
+add_dependencies(beginner_tutorials_generate_messages_lisp geometry_msgs_generate_messages_lisp)
+add_dependencies(beginner_tutorials_generate_messages_lisp actionlib_msgs_generate_messages_lisp)
+
+if(genpy_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/beginner_tutorials)
+  install(CODE "execute_process(COMMAND \"/usr/bin/python\" -m compileall \"${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/beginner_tutorials\")")
+  # install generated code
+  install(
+    DIRECTORY ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/beginner_tutorials
+    DESTINATION ${genpy_INSTALL_DIR}
+  )
+endif()
+add_dependencies(beginner_tutorials_generate_messages_py geometry_msgs_generate_messages_py)
+add_dependencies(beginner_tutorials_generate_messages_py actionlib_msgs_generate_messages_py)
diff --git a/20151007/built/beginner_tutorials/cmake_install.cmake b/20151007/built/beginner_tutorials/cmake_install.cmake
new file mode 100644
index 00000000..57a5db3f
--- /dev/null
+++ b/20151007/built/beginner_tutorials/cmake_install.cmake
@@ -0,0 +1,93 @@
+# Install script for directory: /home/mech-user/2015-soft3/20151007/src/beginner_tutorials
+
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+-- Detecting C compiler ABI info - done
+-- Check for working CXX compiler: /usr/bin/c++
+-- Check for working CXX compiler: /usr/bin/c++ -- works
+-- Detecting CXX compiler ABI info
+-- Detecting CXX compiler ABI info - done
+-- Using CATKIN_DEVEL_PREFIX: /home/mech-user/2015-soft3/20151007/build/devel
+-- Using CMAKE_PREFIX_PATH: /home/mech-user/2015-soft3/20151007/devel;/opt/ros/indigo
+-- This workspace overlays: /home/mech-user/2015-soft3/20151007/devel;/opt/ros/indigo
+-- Found PythonInterp: /usr/bin/python (found version "2.7.6") 
+-- Using PYTHON_EXECUTABLE: /usr/bin/python
+-- Using Debian Python package layout
+-- Using empy: /usr/bin/empy
+-- Using CATKIN_ENABLE_TESTING: ON
+-- Call enable_testing()
+-- Using CATKIN_TEST_RESULTS_DIR: /home/mech-user/2015-soft3/20151007/build/test_results
+-- Looking for include file pthread.h
+-- Looking for include file pthread.h - found
+-- Looking for pthread_create
+-- Looking for pthread_create - not found
+-- Looking for pthread_create in pthreads
+-- Looking for pthread_create in pthreads - not found
+-- Looking for pthread_create in pthread
+-- Looking for pthread_create in pthread - found
+-- Found Threads: TRUE  
+-- Found gtest sources under '/usr/src/gtest': gtests will be built
+-- Using Python nosetests: /usr/bin/nosetests-2.7
+-- catkin 0.6.11
+-- Using these message generators: gencpp;genlisp;genpy
+CMake Error at /opt/ros/indigo/share/actionlib_msgs/cmake/actionlib_msgs-extras.cmake:20 (message):
+  add_action_files() directory not found:
+  /home/mech-user/2015-soft3/20151007/src/action
+Call Stack (most recent call first):
+  CMakeLists.txt:71 (add_action_files)
+
+
+-- Configuring incomplete, errors occurred!
+See also "/home/mech-user/2015-soft3/20151007/build/CMakeFiles/CMakeOutput.log".
+See also "/home/mech-user/2015-soft3/20151007/build/CMakeFiles/CMakeError.log".
+make: *** [cmake_check_build_system]  1
+[beginner_tutorials] <== '/home/mech-user/2015-soft3/20151007/build/beginner_tutorials/build_env.sh /usr/bin/make cmake_check_build_system' failed with return code '2'
diff --git a/20151007/built/catkin/catkin_generated/version/package.cmake b/20151007/built/catkin/catkin_generated/version/package.cmake
new file mode 100644
index 00000000..bb4b8f35
--- /dev/null
+++ b/20151007/built/catkin/catkin_generated/version/package.cmake
@@ -0,0 +1,9 @@
+set(_CATKIN_CURRENT_PACKAGE "catkin")
+set(catkin_VERSION "0.6.11")
+set(catkin_BUILD_DEPENDS_python-catkin-pkg_VERSION_GTE "0.2.2")
+set(catkin_BUILD_DEPENDS "python-empy" "python-argparse" "python-catkin-pkg")
+set(catkin_DEPRECATED "")
+set(catkin_RUN_DEPENDS "python-argparse" "python-catkin-pkg" "gtest" "python-empy" "python-nose")
+set(catkin_MAINTAINER "Dirk Thomas <dthomas@osrfoundation.org>")
+set(catkin_BUILDTOOL_DEPENDS "cmake")
+set(catkin_RUN_DEPENDS_python-catkin-pkg_VERSION_GTE "0.2.2")
\ No newline at end of file
diff --git a/20151007/built/catkin_generated/env_cached.sh b/20151007/built/catkin_generated/env_cached.sh
new file mode 100755
index 00000000..d6be91db
--- /dev/null
+++ b/20151007/built/catkin_generated/env_cached.sh
@@ -0,0 +1,16 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/templates/env.sh.in
+
+if [ $# -eq 0 ] ; then
+  /bin/echo "Usage: env.sh COMMANDS"
+  /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually."
+  exit 1
+fi
+
+# ensure to not use different shell type which was set before
+CATKIN_SHELL=sh
+
+# source setup_cached.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup_cached.sh"
+exec "$@"
diff --git a/20151007/built/catkin_generated/generate_cached_setup.py b/20151007/built/catkin_generated/generate_cached_setup.py
new file mode 100644
index 00000000..20e88c65
--- /dev/null
+++ b/20151007/built/catkin_generated/generate_cached_setup.py
@@ -0,0 +1,29 @@
+from __future__ import print_function
+import argparse
+import os
+import stat
+import sys
+
+# find the import for catkin's python package - either from source space or from an installed underlay
+if os.path.exists(os.path.join('/opt/ros/indigo/share/catkin/cmake', 'catkinConfig.cmake.in')):
+    sys.path.insert(0, os.path.join('/opt/ros/indigo/share/catkin/cmake', '..', 'python'))
+try:
+    from catkin.environment_cache import generate_environment_script
+except ImportError:
+    # search for catkin package in all workspaces and prepend to path
+    for workspace in "/home/mech-user/2015-soft3/20151007/devel;/opt/ros/indigo".split(';'):
+        python_path = os.path.join(workspace, 'lib/python2.7/dist-packages')
+        if os.path.isdir(os.path.join(python_path, 'catkin')):
+            sys.path.insert(0, python_path)
+            break
+    from catkin.environment_cache import generate_environment_script
+
+code = generate_environment_script('/home/mech-user/2015-soft3/20151007/devel/env.sh')
+
+output_filename = '/home/mech-user/2015-soft3/20151007/build/catkin_generated/setup_cached.sh'
+with open(output_filename, 'w') as f:
+    #print('Generate script for cached setup "%s"' % output_filename)
+    f.write('\n'.join(code))
+
+mode = os.stat(output_filename).st_mode
+os.chmod(output_filename, mode | stat.S_IXUSR)
diff --git a/20151007/built/catkin_generated/installspace/.rosinstall b/20151007/built/catkin_generated/installspace/.rosinstall
new file mode 100644
index 00000000..a873be3f
--- /dev/null
+++ b/20151007/built/catkin_generated/installspace/.rosinstall
@@ -0,0 +1,2 @@
+- setup-file:
+    local-name: /home/mech-user/2015-soft3/20151007/install/setup.sh
diff --git a/20151007/built/catkin_generated/installspace/_setup_util.py b/20151007/built/catkin_generated/installspace/_setup_util.py
new file mode 100755
index 00000000..5ffaba5f
--- /dev/null
+++ b/20151007/built/catkin_generated/installspace/_setup_util.py
@@ -0,0 +1,287 @@
+#!/usr/bin/python
+
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2012, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+'''This file generates shell code for the setup.SHELL scripts to set environment variables'''
+
+from __future__ import print_function
+import argparse
+import copy
+import errno
+import os
+import platform
+import sys
+
+CATKIN_MARKER_FILE = '.catkin'
+
+system = platform.system()
+IS_DARWIN = (system == 'Darwin')
+IS_WINDOWS = (system == 'Windows')
+
+# subfolder of workspace prepended to CMAKE_PREFIX_PATH
+ENV_VAR_SUBFOLDERS = {
+    'CMAKE_PREFIX_PATH': '',
+    'CPATH': 'include',
+    'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')],
+    'PATH': 'bin',
+    'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')],
+    'PYTHONPATH': 'lib/python2.7/dist-packages',
+}
+
+
+def rollback_env_variables(environ, env_var_subfolders):
+    '''
+    Generate shell code to reset environment variables
+    by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH.
+    This does not cover modifications performed by environment hooks.
+    '''
+    lines = []
+    unmodified_environ = copy.copy(environ)
+    for key in sorted(env_var_subfolders.keys()):
+        subfolders = env_var_subfolders[key]
+        if not isinstance(subfolders, list):
+            subfolders = [subfolders]
+        for subfolder in subfolders:
+            value = _rollback_env_variable(unmodified_environ, key, subfolder)
+            if value is not None:
+                environ[key] = value
+                lines.append(assignment(key, value))
+    if lines:
+        lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH'))
+    return lines
+
+
+def _rollback_env_variable(environ, name, subfolder):
+    '''
+    For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder.
+
+    :param subfolder: str '' or subfoldername that may start with '/'
+    :returns: the updated value of the environment variable.
+    '''
+    value = environ[name] if name in environ else ''
+    env_paths = [path for path in value.split(os.pathsep) if path]
+    value_modified = False
+    if subfolder:
+        if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)):
+            subfolder = subfolder[1:]
+        if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)):
+            subfolder = subfolder[:-1]
+    for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True):
+        path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path
+        path_to_remove = None
+        for env_path in env_paths:
+            env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path
+            if env_path_clean == path_to_find:
+                path_to_remove = env_path
+                break
+        if path_to_remove:
+            env_paths.remove(path_to_remove)
+            value_modified = True
+    new_value = os.pathsep.join(env_paths)
+    return new_value if value_modified else None
+
+
+def _get_workspaces(environ, include_fuerte=False, include_non_existing=False):
+    '''
+    Based on CMAKE_PREFIX_PATH return all catkin workspaces.
+
+    :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool``
+    '''
+    # get all cmake prefix paths
+    env_name = 'CMAKE_PREFIX_PATH'
+    value = environ[env_name] if env_name in environ else ''
+    paths = [path for path in value.split(os.pathsep) if path]
+    # remove non-workspace paths
+    workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))]
+    return workspaces
+
+
+def prepend_env_variables(environ, env_var_subfolders, workspaces):
+    '''
+    Generate shell code to prepend environment variables
+    for the all workspaces.
+    '''
+    lines = []
+    lines.append(comment('prepend folders of workspaces to environment variables'))
+
+    paths = [path for path in workspaces.split(os.pathsep) if path]
+
+    prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '')
+    lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix))
+
+    for key in sorted([key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH']):
+        subfolder = env_var_subfolders[key]
+        prefix = _prefix_env_variable(environ, key, paths, subfolder)
+        lines.append(prepend(environ, key, prefix))
+    return lines
+
+
+def _prefix_env_variable(environ, name, paths, subfolders):
+    '''
+    Return the prefix to prepend to the environment variable NAME, adding any path in NEW_PATHS_STR without creating duplicate or empty items.
+    '''
+    value = environ[name] if name in environ else ''
+    environ_paths = [path for path in value.split(os.pathsep) if path]
+    checked_paths = []
+    for path in paths:
+        if not isinstance(subfolders, list):
+            subfolders = [subfolders]
+        for subfolder in subfolders:
+            path_tmp = path
+            if subfolder:
+                path_tmp = os.path.join(path_tmp, subfolder)
+            # exclude any path already in env and any path we already added
+            if path_tmp not in environ_paths and path_tmp not in checked_paths:
+                checked_paths.append(path_tmp)
+    prefix_str = os.pathsep.join(checked_paths)
+    if prefix_str != '' and environ_paths:
+        prefix_str += os.pathsep
+    return prefix_str
+
+
+def assignment(key, value):
+    if not IS_WINDOWS:
+        return 'export %s="%s"' % (key, value)
+    else:
+        return 'set %s=%s' % (key, value)
+
+
+def comment(msg):
+    if not IS_WINDOWS:
+        return '# %s' % msg
+    else:
+        return 'REM %s' % msg
+
+
+def prepend(environ, key, prefix):
+    if key not in environ or not environ[key]:
+        return assignment(key, prefix)
+    if not IS_WINDOWS:
+        return 'export %s="%s$%s"' % (key, prefix, key)
+    else:
+        return 'set %s=%s%%%s%%' % (key, prefix, key)
+
+
+def find_env_hooks(environ, cmake_prefix_path):
+    '''
+    Generate shell code with found environment hooks
+    for the all workspaces.
+    '''
+    lines = []
+    lines.append(comment('found environment hooks in workspaces'))
+
+    generic_env_hooks = []
+    generic_env_hooks_workspace = []
+    specific_env_hooks = []
+    specific_env_hooks_workspace = []
+    generic_env_hooks_by_filename = {}
+    specific_env_hooks_by_filename = {}
+    generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh'
+    specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None
+    # remove non-workspace paths
+    workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))]
+    for workspace in reversed(workspaces):
+        env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d')
+        if os.path.isdir(env_hook_dir):
+            for filename in sorted(os.listdir(env_hook_dir)):
+                if filename.endswith('.%s' % generic_env_hook_ext):
+                    # remove previous env hook with same name if present
+                    if filename in generic_env_hooks_by_filename:
+                        i = generic_env_hooks.index(generic_env_hooks_by_filename[filename])
+                        generic_env_hooks.pop(i)
+                        generic_env_hooks_workspace.pop(i)
+                    # append env hook
+                    generic_env_hooks.append(os.path.join(env_hook_dir, filename))
+                    generic_env_hooks_workspace.append(workspace)
+                    generic_env_hooks_by_filename[filename] = generic_env_hooks[-1]
+                elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext):
+                    # remove previous env hook with same name if present
+                    if filename in specific_env_hooks_by_filename:
+                        i = specific_env_hooks.index(specific_env_hooks_by_filename[filename])
+                        specific_env_hooks.pop(i)
+                        specific_env_hooks_workspace.pop(i)
+                    # append env hook
+                    specific_env_hooks.append(os.path.join(env_hook_dir, filename))
+                    specific_env_hooks_workspace.append(workspace)
+                    specific_env_hooks_by_filename[filename] = specific_env_hooks[-1]
+    env_hooks = generic_env_hooks + specific_env_hooks
+    env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace
+    count = len(env_hooks)
+    lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count))
+    for i in range(count):
+        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i]))
+        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i]))
+    return lines
+
+
+def _parse_arguments(args=None):
+    parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.')
+    parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context')
+    return parser.parse_known_args(args=args)[0]
+
+
+if __name__ == '__main__':
+    try:
+        try:
+            args = _parse_arguments()
+        except Exception as e:
+            print(e, file=sys.stderr)
+            sys.exit(1)
+
+        # environment at generation time
+        CMAKE_PREFIX_PATH = '/home/mech-user/2015-soft3/20151007/devel;/opt/ros/indigo'.split(';')
+        # prepend current workspace if not already part of CPP
+        base_path = os.path.dirname(__file__)
+        if base_path not in CMAKE_PREFIX_PATH:
+            CMAKE_PREFIX_PATH.insert(0, base_path)
+        CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH)
+
+        environ = dict(os.environ)
+        lines = []
+        if not args.extend:
+            lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS)
+        lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH)
+        lines += find_env_hooks(environ, CMAKE_PREFIX_PATH)
+        print('\n'.join(lines))
+
+        # need to explicitly flush the output
+        sys.stdout.flush()
+    except IOError as e:
+        # and catch potantial "broken pipe" if stdout is not writable
+        # which can happen when piping the output to a file but the disk is full
+        if e.errno == errno.EPIPE:
+            print(e, file=sys.stderr)
+            sys.exit(2)
+        raise
+
+    sys.exit(0)
diff --git a/20151007/built/catkin_generated/installspace/env.sh b/20151007/built/catkin_generated/installspace/env.sh
new file mode 100755
index 00000000..8aa9d244
--- /dev/null
+++ b/20151007/built/catkin_generated/installspace/env.sh
@@ -0,0 +1,16 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/templates/env.sh.in
+
+if [ $# -eq 0 ] ; then
+  /bin/echo "Usage: env.sh COMMANDS"
+  /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually."
+  exit 1
+fi
+
+# ensure to not use different shell type which was set before
+CATKIN_SHELL=sh
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh"
+exec "$@"
diff --git a/20151007/built/catkin_generated/installspace/setup.bash b/20151007/built/catkin_generated/installspace/setup.bash
new file mode 100644
index 00000000..ff47af8f
--- /dev/null
+++ b/20151007/built/catkin_generated/installspace/setup.bash
@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+# generated from catkin/cmake/templates/setup.bash.in
+
+CATKIN_SHELL=bash
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh"
diff --git a/20151007/built/catkin_generated/installspace/setup.sh b/20151007/built/catkin_generated/installspace/setup.sh
new file mode 100644
index 00000000..33cbd87f
--- /dev/null
+++ b/20151007/built/catkin_generated/installspace/setup.sh
@@ -0,0 +1,87 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/template/setup.sh.in
+
+# Sets various environment variables and sources additional environment hooks.
+# It tries it's best to undo changes from a previously sourced setup file before.
+# Supported command line options:
+# --extend: skips the undoing of changes from a previously sourced setup file
+
+# since this file is sourced either use the provided _CATKIN_SETUP_DIR
+# or fall back to the destination set at configure time
+: ${_CATKIN_SETUP_DIR:=/home/mech-user/2015-soft3/20151007/install}
+_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py"
+unset _CATKIN_SETUP_DIR
+
+if [ ! -f "$_SETUP_UTIL" ]; then
+  echo "Missing Python script: $_SETUP_UTIL"
+  return 22
+fi
+
+# detect if running on Darwin platform
+_UNAME=`uname -s`
+_IS_DARWIN=0
+if [ "$_UNAME" = "Darwin" ]; then
+  _IS_DARWIN=1
+fi
+unset _UNAME
+
+# make sure to export all environment variables
+export CMAKE_PREFIX_PATH
+export CPATH
+if [ $_IS_DARWIN -eq 0 ]; then
+  export LD_LIBRARY_PATH
+else
+  export DYLD_LIBRARY_PATH
+fi
+unset _IS_DARWIN
+export PATH
+export PKG_CONFIG_PATH
+export PYTHONPATH
+
+# remember type of shell if not already set
+if [ -z "$CATKIN_SHELL" ]; then
+  CATKIN_SHELL=sh
+fi
+
+# invoke Python script to generate necessary exports of environment variables
+_SETUP_TMP=`mktemp /tmp/setup.sh.XXXXXXXXXX`
+if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then
+  echo "Could not create temporary file: $_SETUP_TMP"
+  return 1
+fi
+CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ > $_SETUP_TMP
+_RC=$?
+if [ $_RC -ne 0 ]; then
+  if [ $_RC -eq 2 ]; then
+    echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?"
+  else
+    echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC"
+  fi
+  unset _RC
+  unset _SETUP_UTIL
+  rm -f $_SETUP_TMP
+  unset _SETUP_TMP
+  return 1
+fi
+unset _RC
+unset _SETUP_UTIL
+. $_SETUP_TMP
+rm -f $_SETUP_TMP
+unset _SETUP_TMP
+
+# source all environment hooks
+_i=0
+while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do
+  eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i
+  unset _CATKIN_ENVIRONMENT_HOOKS_$_i
+  eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
+  unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
+  # set workspace for environment hook
+  CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace
+  . "$_envfile"
+  unset CATKIN_ENV_HOOK_WORKSPACE
+  _i=$((_i + 1))
+done
+unset _i
+
+unset _CATKIN_ENVIRONMENT_HOOKS_COUNT
diff --git a/20151007/built/catkin_generated/installspace/setup.zsh b/20151007/built/catkin_generated/installspace/setup.zsh
new file mode 100644
index 00000000..952f72a4
--- /dev/null
+++ b/20151007/built/catkin_generated/installspace/setup.zsh
@@ -0,0 +1,8 @@
+#!/usr/bin/env zsh
+# generated from catkin/cmake/templates/setup.zsh.in
+
+CATKIN_SHELL=zsh
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
+source "$_CATKIN_SETUP_DIR/setup.sh"
diff --git a/20151007/built/catkin_generated/order_packages.cmake b/20151007/built/catkin_generated/order_packages.cmake
new file mode 100644
index 00000000..0adc95c4
--- /dev/null
+++ b/20151007/built/catkin_generated/order_packages.cmake
@@ -0,0 +1,14 @@
+# generated from catkin/cmake/em/order_packages.cmake.em
+
+set(CATKIN_ORDERED_PACKAGES "")
+set(CATKIN_ORDERED_PACKAGE_PATHS "")
+set(CATKIN_ORDERED_PACKAGES_IS_META "")
+set(CATKIN_ORDERED_PACKAGES_BUILD_TYPE "")
+list(APPEND CATKIN_ORDERED_PACKAGES "beginner_tutorials")
+list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "beginner_tutorials")
+list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "False")
+list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "catkin")
+
+set(CATKIN_MESSAGE_GENERATORS )
+
+set(CATKIN_METAPACKAGE_CMAKE_TEMPLATE "/usr/lib/python2.7/dist-packages/catkin_pkg/templates/metapackage.cmake.in")
diff --git a/20151007/built/catkin_generated/order_packages.py b/20151007/built/catkin_generated/order_packages.py
new file mode 100644
index 00000000..4d4f694b
--- /dev/null
+++ b/20151007/built/catkin_generated/order_packages.py
@@ -0,0 +1,5 @@
+# generated from catkin/cmake/template/order_packages.context.py.in
+source_root_dir = "/home/mech-user/2015-soft3/20151007/src"
+whitelisted_packages = "".split(';') if "" != "" else []
+blacklisted_packages = "".split(';') if "" != "" else []
+underlay_workspaces = "/home/mech-user/2015-soft3/20151007/devel;/opt/ros/indigo".split(';') if "/home/mech-user/2015-soft3/20151007/devel;/opt/ros/indigo" != "" else []
diff --git a/20151007/built/catkin_generated/ordered_paths.cmake b/20151007/built/catkin_generated/ordered_paths.cmake
new file mode 100644
index 00000000..22f3651e
--- /dev/null
+++ b/20151007/built/catkin_generated/ordered_paths.cmake
@@ -0,0 +1 @@
+set(ORDERED_PATHS "/opt/ros/indigo/lib")
\ No newline at end of file
diff --git a/20151007/built/catkin_generated/setup_cached.sh b/20151007/built/catkin_generated/setup_cached.sh
new file mode 100755
index 00000000..14a7a791
--- /dev/null
+++ b/20151007/built/catkin_generated/setup_cached.sh
@@ -0,0 +1,13 @@
+#!/usr/bin/env sh
+# generated from catkin/python/catkin/environment_cache.py
+
+# based on a snapshot of the environment before and after calling the setup script
+# it emulates the modifications of the setup script without recurring computations
+
+# new environment variables
+
+# modified environment variables
+export LD_LIBRARY_PATH="/opt/ros/indigo/share/euslisp/jskeus/eus//Linux64/lib:/home/mech-user/2015-soft3/20151007/devel/lib/x86_64-linux-gnu:/opt/ros/indigo/lib/x86_64-linux-gnu:/opt/ros/indigo/share/euslisp/jskeus/eus//Linux64/lib:/home/mech-user/2015-soft3/20151007/devel/lib:/opt/ros/indigo/share/euslisp/jskeus/eus//Linux64/lib:/opt/ros/indigo/lib:/opt/ros/indigo/lib/python2.7/dist-packages:/opt/ros/indigo/lib/python2.7/dist-packages"
+export PATH="/opt/ros/indigo/share/euslisp/jskeus/eus//Linux64/bin:/home/mech-user/2015-soft3/20151007/devel/bin:/opt/ros/indigo/bin:/opt/ros/indigo/share/euslisp/jskeus/eus//Linux64/bin:/opt/ros/indigo/share/euslisp/jskeus/eus//Linux64/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games"
+export PKG_CONFIG_PATH="/home/mech-user/2015-soft3/20151007/devel/lib/x86_64-linux-gnu/pkgconfig:/opt/ros/indigo/lib/x86_64-linux-gnu/pkgconfig:/home/mech-user/2015-soft3/20151007/devel/lib/pkgconfig:/opt/ros/indigo/lib/pkgconfig"
+export PWD="/home/mech-user/2015-soft3/20151007/build"
\ No newline at end of file
diff --git a/20151007/built/catkin_generated/stamps/Project/interrogate_setup_dot_py.py.stamp b/20151007/built/catkin_generated/stamps/Project/interrogate_setup_dot_py.py.stamp
new file mode 100644
index 00000000..26882f02
--- /dev/null
+++ b/20151007/built/catkin_generated/stamps/Project/interrogate_setup_dot_py.py.stamp
@@ -0,0 +1,250 @@
+#!/usr/bin/env python
+
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2012, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+from __future__ import print_function
+import os
+import sys
+
+import distutils.core
+try:
+    import setuptools
+except ImportError:
+    pass
+
+from argparse import ArgumentParser
+
+
+def _get_locations(pkgs, package_dir):
+    """
+    based on setuptools logic and the package_dir dict, builds a dict
+    of location roots for each pkg in pkgs.
+    See http://docs.python.org/distutils/setupscript.html
+
+    :returns: a dict {pkgname: root} for each pkgname in pkgs (and each of their parents)
+    """
+    # package_dir contains a dict {package_name: relativepath}
+    # Example {'': 'src', 'foo': 'lib', 'bar': 'lib2'}
+    #
+    # '' means where to look for any package unless a parent package
+    # is listed so package bar.pot is expected at lib2/bar/pot,
+    # whereas package sup.dee is expected at src/sup/dee
+    #
+    # if package_dir does not state anything about a package,
+    # setuptool expects the package folder to be in the root of the
+    # project
+    locations = {}
+    allprefix = package_dir.get('', '')
+    for pkg in pkgs:
+        parent_location = None
+        splits = pkg.split('.')
+        # we iterate over compound name from parent to child
+        # so once we found parent, children just append to their parent
+        for key_len in range(len(splits)):
+            key = '.'.join(splits[:key_len + 1])
+            if key not in locations:
+                if key in package_dir:
+                    locations[key] = package_dir[key]
+                elif parent_location is not None:
+                    locations[key] = parent_location
+                else:
+                    locations[key] = allprefix
+            parent_location = locations[key]
+    return locations
+
+
+def generate_cmake_file(package_name, version, scripts, package_dir, pkgs, modules):
+    """
+    Generates lines to add to a cmake file which will set variables
+
+    :param version: str, format 'int.int.int'
+    :param scripts: [list of str]: relative paths to scripts
+    :param package_dir: {modulename: path}
+    :pkgs: [list of str] python_packages declared in catkin package
+    :modules: [list of str] python modules
+    """
+    prefix = '%s_SETUP_PY' % package_name
+    result = []
+    result.append(r'set(%s_VERSION "%s")' % (prefix, version))
+    result.append(r'set(%s_SCRIPTS "%s")' % (prefix, ';'.join(scripts)))
+
+    # Remove packages with '.' separators.
+    #
+    # setuptools allows specifying submodules in other folders than
+    # their parent
+    #
+    # The symlink approach of catkin does not work with such submodules.
+    # In the common case, this does not matter as the submodule is
+    # within the containing module.  We verify this assumption, and if
+    # it passes, we remove submodule packages.
+    locations = _get_locations(pkgs, package_dir)
+    for pkgname, location in locations.items():
+        if not '.' in pkgname:
+            continue
+        splits = pkgname.split('.')
+        # hack: ignore write-combining setup.py files for msg and srv files
+        if splits[1] in ['msg', 'srv']:
+            continue
+        # check every child has the same root folder as its parent
+        parent_name = '.'.join(splits[:1])
+        if location != locations[parent_name]:
+            raise RuntimeError(
+                "catkin_export_python does not support setup.py files that combine across multiple directories: %s in %s, %s in %s" % (pkgname, location, parent_name, locations[parent_name]))
+
+    # If checks pass, remove all submodules
+    pkgs = [p for p in pkgs if '.' not in p]
+
+    resolved_pkgs = []
+    for pkg in pkgs:
+        resolved_pkgs += [os.path.join(locations[pkg], pkg)]
+
+    result.append(r'set(%s_PACKAGES "%s")' % (prefix, ';'.join(pkgs)))
+    result.append(r'set(%s_PACKAGE_DIRS "%s")' % (prefix, ';'.join(resolved_pkgs).replace("\\", "/")))
+
+    # skip modules which collide with package names
+    filtered_modules = []
+    for modname in modules:
+        splits = modname.split('.')
+        # check all parents too
+        equals_package = [('.'.join(splits[:-i]) in locations) for i in range(len(splits))]
+        if any(equals_package):
+            continue
+        filtered_modules.append(modname)
+    module_locations = _get_locations(filtered_modules, package_dir)
+
+    result.append(r'set(%s_MODULES "%s")' % (prefix, ';'.join(['%s.py' % m.replace('.', '/') for m in filtered_modules])))
+    result.append(r'set(%s_MODULE_DIRS "%s")' % (prefix, ';'.join([module_locations[m] for m in filtered_modules]).replace("\\", "/")))
+
+    return result
+
+
+def _create_mock_setup_function(package_name, outfile):
+    """
+    Creates a function to call instead of distutils.core.setup or
+    setuptools.setup, which just captures some args and writes them
+    into a file that can be used from cmake
+
+    :param package_name: name of the package
+    :param outfile: filename that cmake will use afterwards
+    :returns: a function to replace disutils.core.setup and setuptools.setup
+    """
+
+    def setup(*args, **kwargs):
+        '''
+        Checks kwargs and writes a scriptfile
+        '''
+        if 'version' not in kwargs:
+            sys.stderr.write("\n*** Unable to find 'version' in setup.py of %s\n" % package_name)
+            raise RuntimeError("version not found in setup.py")
+        version = kwargs['version']
+        package_dir = kwargs.get('package_dir', {})
+
+        pkgs = kwargs.get('packages', [])
+        scripts = kwargs.get('scripts', [])
+        modules = kwargs.get('py_modules', [])
+
+        unsupported_args = [
+            'entry_points',
+            'exclude_package_data',
+            'ext_modules ',
+            'ext_package',
+            'include_package_data',
+            'namespace_packages',
+            'setup_requires',
+            'use_2to3',
+            'zip_safe']
+        used_unsupported_args = [arg for arg in unsupported_args if arg in kwargs]
+        if used_unsupported_args:
+            sys.stderr.write("*** Arguments %s to setup() not supported in catkin devel space in setup.py of %s\n" % (used_unsupported_args, package_name))
+
+        result = generate_cmake_file(package_name=package_name,
+                                     version=version,
+                                     scripts=scripts,
+                                     package_dir=package_dir,
+                                     pkgs=pkgs,
+                                     modules=modules)
+        with open(outfile, 'w') as out:
+            out.write('\n'.join(result))
+
+    return setup
+
+
+def main():
+    """
+    Script main, parses arguments and invokes Dummy.setup indirectly.
+    """
+    parser = ArgumentParser(description='Utility to read setup.py values from cmake macros. Creates a file with CMake set commands setting variables.')
+    parser.add_argument('package_name', help='Name of catkin package')
+    parser.add_argument('setupfile_path', help='Full path to setup.py')
+    parser.add_argument('outfile', help='Where to write result to')
+
+    args = parser.parse_args()
+
+    # print("%s" % sys.argv)
+    # PACKAGE_NAME = sys.argv[1]
+    # OUTFILE = sys.argv[3]
+    # print("Interrogating setup.py for package %s into %s " % (PACKAGE_NAME, OUTFILE),
+    #      file=sys.stderr)
+
+    # print("executing %s" % args.setupfile_path)
+
+    # be sure you're in the directory containing
+    # setup.py so the sys.path manipulation works,
+    # so the import of __version__ works
+    os.chdir(os.path.dirname(os.path.abspath(args.setupfile_path)))
+
+    # patch setup() function of distutils and setuptools for the
+    # context of evaluating setup.py
+    try:
+        fake_setup = _create_mock_setup_function(package_name=args.package_name,
+                                                outfile=args.outfile)
+
+        distutils_backup = distutils.core.setup
+        distutils.core.setup = fake_setup
+        try:
+            setuptools_backup = setuptools.setup
+            setuptools.setup = fake_setup
+        except NameError:
+            pass
+
+        with open(args.setupfile_path, 'r') as fh:
+            exec(fh.read())
+    finally:
+        distutils.core.setup = distutils_backup
+        try:
+            setuptools.setup = setuptools_backup
+        except NameError:
+            pass
+
+if __name__ == '__main__':
+    main()
diff --git a/20151007/built/catkin_generated/stamps/Project/order_packages.cmake.em.stamp b/20151007/built/catkin_generated/stamps/Project/order_packages.cmake.em.stamp
new file mode 100644
index 00000000..087d4d80
--- /dev/null
+++ b/20151007/built/catkin_generated/stamps/Project/order_packages.cmake.em.stamp
@@ -0,0 +1,56 @@
+# generated from catkin/cmake/em/order_packages.cmake.em
+@{
+import os
+try:
+    from catkin_pkg.cmake import get_metapackage_cmake_template_path
+except ImportError as e:
+    raise RuntimeError('ImportError: "from catkin_pkg.cmake import get_metapackage_cmake_template_path" failed: %s\nMake sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.' % e)
+try:
+    from catkin_pkg.topological_order import topological_order
+except ImportError as e:
+    raise RuntimeError('ImportError: "from catkin_pkg.topological_order import topological_order" failed: %s\nMake sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.' % e)
+try:
+    from catkin_pkg.package import InvalidPackage
+except ImportError as e:
+    raise RuntimeError('ImportError: "from catkin_pkg.package import InvalidPackage" failed: %s\nMake sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.' % e)
+# vars defined in order_packages.context.py.in
+try:
+    ordered_packages = topological_order(os.path.normpath(source_root_dir), whitelisted=whitelisted_packages, blacklisted=blacklisted_packages, underlay_workspaces=underlay_workspaces)
+except InvalidPackage as e:
+    print('message(FATAL_ERROR "%s")' % ('%s' % e).replace('"', '\\"'))
+    ordered_packages = []
+fatal_error = False
+}@
+
+set(CATKIN_ORDERED_PACKAGES "")
+set(CATKIN_ORDERED_PACKAGE_PATHS "")
+set(CATKIN_ORDERED_PACKAGES_IS_META "")
+set(CATKIN_ORDERED_PACKAGES_BUILD_TYPE "")
+@[for path, package in ordered_packages]@
+@[if path is None]@
+message(FATAL_ERROR "Circular dependency in subset of packages:\n@package")
+@{
+fatal_error = True
+}@
+@[elif package.name != 'catkin']@
+list(APPEND CATKIN_ORDERED_PACKAGES "@(package.name)")
+list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "@(path.replace('\\','/'))")
+list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "@(str('metapackage' in [e.tagname for e in package.exports]))")
+list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "@(str([e.content for e in package.exports if e.tagname == 'build_type'][0]) if 'build_type' in [e.tagname for e in package.exports] else 'catkin')")
+@{
+deprecated = [e for e in package.exports if e.tagname == 'deprecated']
+}@
+@[if deprecated]@
+message("WARNING: Package '@(package.name)' is deprecated@(' (%s)' % deprecated[0].content if deprecated[0].content else '')")
+@[end if]@
+@[end if]@
+@[end for]@
+
+@[if not fatal_error]@
+@{
+message_generators = [package.name for (_, package) in ordered_packages if 'message_generator' in [e.tagname for e in package.exports]]
+}@
+set(CATKIN_MESSAGE_GENERATORS @(' '.join(message_generators)))
+@[end if]@
+
+set(CATKIN_METAPACKAGE_CMAKE_TEMPLATE "@(get_metapackage_cmake_template_path().replace('\\','/'))")
diff --git a/20151007/built/catkin_generated/stamps/Project/package.xml.stamp b/20151007/built/catkin_generated/stamps/Project/package.xml.stamp
new file mode 100644
index 00000000..c0bf80b0
--- /dev/null
+++ b/20151007/built/catkin_generated/stamps/Project/package.xml.stamp
@@ -0,0 +1,37 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>catkin</name>
+  <version>0.6.11</version>
+  <description>Low-level build system macros and infrastructure for ROS.</description>
+  <maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
+  <license>BSD</license>
+
+  <url type="website">http://www.ros.org/wiki/catkin</url>
+  <url type="bugtracker">https://github.com/ros/catkin/issues</url>
+  <url type="repository">https://github.com/ros/catkin</url>
+
+  <author>Troy Straszheim</author>
+  <author>Morten Kjaergaard</author>
+  <author>Brian Gerkey</author>
+  <author>Dirk Thomas</author>
+
+  <buildtool_depend>cmake</buildtool_depend>
+  <buildtool_export_depend>cmake</buildtool_export_depend>
+
+  <depend>python-argparse</depend>
+  <depend version_gte="0.2.2">python-catkin-pkg</depend>
+
+  <build_depend>python-empy</build_depend>
+
+  <build_export_depend>gtest</build_export_depend>
+  <build_export_depend>python-empy</build_export_depend>
+  <build_export_depend>python-nose</build_export_depend>
+
+  <test_depend>python-mock</test_depend>
+  <test_depend>python-nose</test_depend>
+
+  <export>
+    <rosdoc config="rosdoc.yaml"/>
+    <architecture_independent/>
+  </export>
+</package>
diff --git a/20151007/built/catkin_generated/stamps/beginner_tutorials/interrogate_setup_dot_py.py.stamp b/20151007/built/catkin_generated/stamps/beginner_tutorials/interrogate_setup_dot_py.py.stamp
new file mode 100644
index 00000000..26882f02
--- /dev/null
+++ b/20151007/built/catkin_generated/stamps/beginner_tutorials/interrogate_setup_dot_py.py.stamp
@@ -0,0 +1,250 @@
+#!/usr/bin/env python
+
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2012, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+from __future__ import print_function
+import os
+import sys
+
+import distutils.core
+try:
+    import setuptools
+except ImportError:
+    pass
+
+from argparse import ArgumentParser
+
+
+def _get_locations(pkgs, package_dir):
+    """
+    based on setuptools logic and the package_dir dict, builds a dict
+    of location roots for each pkg in pkgs.
+    See http://docs.python.org/distutils/setupscript.html
+
+    :returns: a dict {pkgname: root} for each pkgname in pkgs (and each of their parents)
+    """
+    # package_dir contains a dict {package_name: relativepath}
+    # Example {'': 'src', 'foo': 'lib', 'bar': 'lib2'}
+    #
+    # '' means where to look for any package unless a parent package
+    # is listed so package bar.pot is expected at lib2/bar/pot,
+    # whereas package sup.dee is expected at src/sup/dee
+    #
+    # if package_dir does not state anything about a package,
+    # setuptool expects the package folder to be in the root of the
+    # project
+    locations = {}
+    allprefix = package_dir.get('', '')
+    for pkg in pkgs:
+        parent_location = None
+        splits = pkg.split('.')
+        # we iterate over compound name from parent to child
+        # so once we found parent, children just append to their parent
+        for key_len in range(len(splits)):
+            key = '.'.join(splits[:key_len + 1])
+            if key not in locations:
+                if key in package_dir:
+                    locations[key] = package_dir[key]
+                elif parent_location is not None:
+                    locations[key] = parent_location
+                else:
+                    locations[key] = allprefix
+            parent_location = locations[key]
+    return locations
+
+
+def generate_cmake_file(package_name, version, scripts, package_dir, pkgs, modules):
+    """
+    Generates lines to add to a cmake file which will set variables
+
+    :param version: str, format 'int.int.int'
+    :param scripts: [list of str]: relative paths to scripts
+    :param package_dir: {modulename: path}
+    :pkgs: [list of str] python_packages declared in catkin package
+    :modules: [list of str] python modules
+    """
+    prefix = '%s_SETUP_PY' % package_name
+    result = []
+    result.append(r'set(%s_VERSION "%s")' % (prefix, version))
+    result.append(r'set(%s_SCRIPTS "%s")' % (prefix, ';'.join(scripts)))
+
+    # Remove packages with '.' separators.
+    #
+    # setuptools allows specifying submodules in other folders than
+    # their parent
+    #
+    # The symlink approach of catkin does not work with such submodules.
+    # In the common case, this does not matter as the submodule is
+    # within the containing module.  We verify this assumption, and if
+    # it passes, we remove submodule packages.
+    locations = _get_locations(pkgs, package_dir)
+    for pkgname, location in locations.items():
+        if not '.' in pkgname:
+            continue
+        splits = pkgname.split('.')
+        # hack: ignore write-combining setup.py files for msg and srv files
+        if splits[1] in ['msg', 'srv']:
+            continue
+        # check every child has the same root folder as its parent
+        parent_name = '.'.join(splits[:1])
+        if location != locations[parent_name]:
+            raise RuntimeError(
+                "catkin_export_python does not support setup.py files that combine across multiple directories: %s in %s, %s in %s" % (pkgname, location, parent_name, locations[parent_name]))
+
+    # If checks pass, remove all submodules
+    pkgs = [p for p in pkgs if '.' not in p]
+
+    resolved_pkgs = []
+    for pkg in pkgs:
+        resolved_pkgs += [os.path.join(locations[pkg], pkg)]
+
+    result.append(r'set(%s_PACKAGES "%s")' % (prefix, ';'.join(pkgs)))
+    result.append(r'set(%s_PACKAGE_DIRS "%s")' % (prefix, ';'.join(resolved_pkgs).replace("\\", "/")))
+
+    # skip modules which collide with package names
+    filtered_modules = []
+    for modname in modules:
+        splits = modname.split('.')
+        # check all parents too
+        equals_package = [('.'.join(splits[:-i]) in locations) for i in range(len(splits))]
+        if any(equals_package):
+            continue
+        filtered_modules.append(modname)
+    module_locations = _get_locations(filtered_modules, package_dir)
+
+    result.append(r'set(%s_MODULES "%s")' % (prefix, ';'.join(['%s.py' % m.replace('.', '/') for m in filtered_modules])))
+    result.append(r'set(%s_MODULE_DIRS "%s")' % (prefix, ';'.join([module_locations[m] for m in filtered_modules]).replace("\\", "/")))
+
+    return result
+
+
+def _create_mock_setup_function(package_name, outfile):
+    """
+    Creates a function to call instead of distutils.core.setup or
+    setuptools.setup, which just captures some args and writes them
+    into a file that can be used from cmake
+
+    :param package_name: name of the package
+    :param outfile: filename that cmake will use afterwards
+    :returns: a function to replace disutils.core.setup and setuptools.setup
+    """
+
+    def setup(*args, **kwargs):
+        '''
+        Checks kwargs and writes a scriptfile
+        '''
+        if 'version' not in kwargs:
+            sys.stderr.write("\n*** Unable to find 'version' in setup.py of %s\n" % package_name)
+            raise RuntimeError("version not found in setup.py")
+        version = kwargs['version']
+        package_dir = kwargs.get('package_dir', {})
+
+        pkgs = kwargs.get('packages', [])
+        scripts = kwargs.get('scripts', [])
+        modules = kwargs.get('py_modules', [])
+
+        unsupported_args = [
+            'entry_points',
+            'exclude_package_data',
+            'ext_modules ',
+            'ext_package',
+            'include_package_data',
+            'namespace_packages',
+            'setup_requires',
+            'use_2to3',
+            'zip_safe']
+        used_unsupported_args = [arg for arg in unsupported_args if arg in kwargs]
+        if used_unsupported_args:
+            sys.stderr.write("*** Arguments %s to setup() not supported in catkin devel space in setup.py of %s\n" % (used_unsupported_args, package_name))
+
+        result = generate_cmake_file(package_name=package_name,
+                                     version=version,
+                                     scripts=scripts,
+                                     package_dir=package_dir,
+                                     pkgs=pkgs,
+                                     modules=modules)
+        with open(outfile, 'w') as out:
+            out.write('\n'.join(result))
+
+    return setup
+
+
+def main():
+    """
+    Script main, parses arguments and invokes Dummy.setup indirectly.
+    """
+    parser = ArgumentParser(description='Utility to read setup.py values from cmake macros. Creates a file with CMake set commands setting variables.')
+    parser.add_argument('package_name', help='Name of catkin package')
+    parser.add_argument('setupfile_path', help='Full path to setup.py')
+    parser.add_argument('outfile', help='Where to write result to')
+
+    args = parser.parse_args()
+
+    # print("%s" % sys.argv)
+    # PACKAGE_NAME = sys.argv[1]
+    # OUTFILE = sys.argv[3]
+    # print("Interrogating setup.py for package %s into %s " % (PACKAGE_NAME, OUTFILE),
+    #      file=sys.stderr)
+
+    # print("executing %s" % args.setupfile_path)
+
+    # be sure you're in the directory containing
+    # setup.py so the sys.path manipulation works,
+    # so the import of __version__ works
+    os.chdir(os.path.dirname(os.path.abspath(args.setupfile_path)))
+
+    # patch setup() function of distutils and setuptools for the
+    # context of evaluating setup.py
+    try:
+        fake_setup = _create_mock_setup_function(package_name=args.package_name,
+                                                outfile=args.outfile)
+
+        distutils_backup = distutils.core.setup
+        distutils.core.setup = fake_setup
+        try:
+            setuptools_backup = setuptools.setup
+            setuptools.setup = fake_setup
+        except NameError:
+            pass
+
+        with open(args.setupfile_path, 'r') as fh:
+            exec(fh.read())
+    finally:
+        distutils.core.setup = distutils_backup
+        try:
+            setuptools.setup = setuptools_backup
+        except NameError:
+            pass
+
+if __name__ == '__main__':
+    main()
diff --git a/20151007/built/catkin_generated/stamps/beginner_tutorials/package.xml.stamp b/20151007/built/catkin_generated/stamps/beginner_tutorials/package.xml.stamp
new file mode 100644
index 00000000..c0bf80b0
--- /dev/null
+++ b/20151007/built/catkin_generated/stamps/beginner_tutorials/package.xml.stamp
@@ -0,0 +1,37 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>catkin</name>
+  <version>0.6.11</version>
+  <description>Low-level build system macros and infrastructure for ROS.</description>
+  <maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
+  <license>BSD</license>
+
+  <url type="website">http://www.ros.org/wiki/catkin</url>
+  <url type="bugtracker">https://github.com/ros/catkin/issues</url>
+  <url type="repository">https://github.com/ros/catkin</url>
+
+  <author>Troy Straszheim</author>
+  <author>Morten Kjaergaard</author>
+  <author>Brian Gerkey</author>
+  <author>Dirk Thomas</author>
+
+  <buildtool_depend>cmake</buildtool_depend>
+  <buildtool_export_depend>cmake</buildtool_export_depend>
+
+  <depend>python-argparse</depend>
+  <depend version_gte="0.2.2">python-catkin-pkg</depend>
+
+  <build_depend>python-empy</build_depend>
+
+  <build_export_depend>gtest</build_export_depend>
+  <build_export_depend>python-empy</build_export_depend>
+  <build_export_depend>python-nose</build_export_depend>
+
+  <test_depend>python-mock</test_depend>
+  <test_depend>python-nose</test_depend>
+
+  <export>
+    <rosdoc config="rosdoc.yaml"/>
+    <architecture_independent/>
+  </export>
+</package>
diff --git a/20151007/built/catkin_make.cache b/20151007/built/catkin_make.cache
new file mode 100644
index 00000000..3bde26ef
--- /dev/null
+++ b/20151007/built/catkin_make.cache
@@ -0,0 +1,2 @@
+beginner_tutorials
+-DCATKIN_DEVEL_PREFIX=/home/mech-user/2015-soft3/20151007/devel -DCMAKE_INSTALL_PREFIX=/home/mech-user/2015-soft3/20151007/install -G Unix Makefiles
\ No newline at end of file
diff --git a/20151007/built/cmake_install.cmake b/20151007/built/cmake_install.cmake
new file mode 100644
index 00000000..8b56b605
--- /dev/null
+++ b/20151007/built/cmake_install.cmake
@@ -0,0 +1,141 @@
+# Install script for directory: /home/mech-user/2015-soft3/20151007/src
+
+# Set the install prefix
+IF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+  SET(CMAKE_INSTALL_PREFIX "/home/mech-user/2015-soft3/20151007/install")
+ENDIF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+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 "${BUILD_TYPE}")
+  ELSE(BUILD_TYPE)
+    SET(CMAKE_INSTALL_CONFIG_NAME "")
+  ENDIF(BUILD_TYPE)
+  MESSAGE(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
+ENDIF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+
+# Set the component getting installed.
+IF(NOT CMAKE_INSTALL_COMPONENT)
+  IF(COMPONENT)
+    MESSAGE(STATUS "Install component: \"${COMPONENT}\"")
+    SET(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
+  ELSE(COMPONENT)
+    SET(CMAKE_INSTALL_COMPONENT)
+  ENDIF(COMPONENT)
+ENDIF(NOT CMAKE_INSTALL_COMPONENT)
+
+# Install shared libraries without execute permission?
+IF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+  SET(CMAKE_INSTALL_SO_NO_EXE "1")
+ENDIF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+
+IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+  
+      if (NOT EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}")
+        file(MAKE_DIRECTORY "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}")
+      endif()
+      if (NOT EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/.catkin")
+        file(WRITE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/.catkin" "")
+      endif()
+ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+
+IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+  list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
+   "/home/mech-user/2015-soft3/20151007/install/_setup_util.py")
+  IF (CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  ENDIF (CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
+  IF (CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  ENDIF (CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+FILE(INSTALL DESTINATION "/home/mech-user/2015-soft3/20151007/install" TYPE PROGRAM FILES "/home/mech-user/2015-soft3/20151007/build/catkin_generated/installspace/_setup_util.py")
+ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+
+IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+  list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
+   "/home/mech-user/2015-soft3/20151007/install/env.sh")
+  IF (CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  ENDIF (CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
+  IF (CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  ENDIF (CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+FILE(INSTALL DESTINATION "/home/mech-user/2015-soft3/20151007/install" TYPE PROGRAM FILES "/home/mech-user/2015-soft3/20151007/build/catkin_generated/installspace/env.sh")
+ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+
+IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+  list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
+   "/home/mech-user/2015-soft3/20151007/install/setup.bash")
+  IF (CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  ENDIF (CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
+  IF (CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  ENDIF (CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+FILE(INSTALL DESTINATION "/home/mech-user/2015-soft3/20151007/install" TYPE FILE FILES "/home/mech-user/2015-soft3/20151007/build/catkin_generated/installspace/setup.bash")
+ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+
+IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+  list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
+   "/home/mech-user/2015-soft3/20151007/install/setup.sh")
+  IF (CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  ENDIF (CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
+  IF (CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  ENDIF (CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+FILE(INSTALL DESTINATION "/home/mech-user/2015-soft3/20151007/install" TYPE FILE FILES "/home/mech-user/2015-soft3/20151007/build/catkin_generated/installspace/setup.sh")
+ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+
+IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+  list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
+   "/home/mech-user/2015-soft3/20151007/install/setup.zsh")
+  IF (CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  ENDIF (CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
+  IF (CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  ENDIF (CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+FILE(INSTALL DESTINATION "/home/mech-user/2015-soft3/20151007/install" TYPE FILE FILES "/home/mech-user/2015-soft3/20151007/build/catkin_generated/installspace/setup.zsh")
+ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+
+IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+  list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
+   "/home/mech-user/2015-soft3/20151007/install/.rosinstall")
+  IF (CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  ENDIF (CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
+  IF (CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  ENDIF (CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+FILE(INSTALL DESTINATION "/home/mech-user/2015-soft3/20151007/install" TYPE FILE FILES "/home/mech-user/2015-soft3/20151007/build/catkin_generated/installspace/.rosinstall")
+ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+
+IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+  FILE(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/etc/catkin/profile.d" TYPE FILE FILES "/opt/ros/indigo/share/catkin/cmake/env-hooks/05.catkin_make.bash")
+ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+
+IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+  FILE(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/etc/catkin/profile.d" TYPE FILE FILES "/opt/ros/indigo/share/catkin/cmake/env-hooks/05.catkin_make_isolated.bash")
+ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+
+IF(NOT CMAKE_INSTALL_LOCAL_ONLY)
+  # Include the install script for each subdirectory.
+  INCLUDE("/home/mech-user/2015-soft3/20151007/build/gtest/cmake_install.cmake")
+  INCLUDE("/home/mech-user/2015-soft3/20151007/build/beginner_tutorials/cmake_install.cmake")
+
+ENDIF(NOT CMAKE_INSTALL_LOCAL_ONLY)
+
+IF(CMAKE_INSTALL_COMPONENT)
+  SET(CMAKE_INSTALL_MANIFEST "install_manifest_${CMAKE_INSTALL_COMPONENT}.txt")
+ELSE(CMAKE_INSTALL_COMPONENT)
+  SET(CMAKE_INSTALL_MANIFEST "install_manifest.txt")
+ENDIF(CMAKE_INSTALL_COMPONENT)
+
+FILE(WRITE "/home/mech-user/2015-soft3/20151007/build/${CMAKE_INSTALL_MANIFEST}" "")
+FOREACH(file ${CMAKE_INSTALL_MANIFEST_FILES})
+  FILE(APPEND "/home/mech-user/2015-soft3/20151007/build/${CMAKE_INSTALL_MANIFEST}" "${file}\n")
+ENDFOREACH(file)
diff --git a/20151007/built/devel/.catkin b/20151007/built/devel/.catkin
new file mode 100644
index 00000000..df23ed33
--- /dev/null
+++ b/20151007/built/devel/.catkin
@@ -0,0 +1 @@
+/home/mech-user/2015-soft3/20151007/src
\ No newline at end of file
diff --git a/20151007/built/devel/.rosinstall b/20151007/built/devel/.rosinstall
new file mode 100644
index 00000000..06927da8
--- /dev/null
+++ b/20151007/built/devel/.rosinstall
@@ -0,0 +1,2 @@
+- setup-file:
+    local-name: /home/mech-user/2015-soft3/20151007/build/devel/setup.sh
diff --git a/20151007/built/devel/_setup_util.py b/20151007/built/devel/_setup_util.py
new file mode 100755
index 00000000..5ffaba5f
--- /dev/null
+++ b/20151007/built/devel/_setup_util.py
@@ -0,0 +1,287 @@
+#!/usr/bin/python
+
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2012, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+'''This file generates shell code for the setup.SHELL scripts to set environment variables'''
+
+from __future__ import print_function
+import argparse
+import copy
+import errno
+import os
+import platform
+import sys
+
+CATKIN_MARKER_FILE = '.catkin'
+
+system = platform.system()
+IS_DARWIN = (system == 'Darwin')
+IS_WINDOWS = (system == 'Windows')
+
+# subfolder of workspace prepended to CMAKE_PREFIX_PATH
+ENV_VAR_SUBFOLDERS = {
+    'CMAKE_PREFIX_PATH': '',
+    'CPATH': 'include',
+    'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')],
+    'PATH': 'bin',
+    'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')],
+    'PYTHONPATH': 'lib/python2.7/dist-packages',
+}
+
+
+def rollback_env_variables(environ, env_var_subfolders):
+    '''
+    Generate shell code to reset environment variables
+    by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH.
+    This does not cover modifications performed by environment hooks.
+    '''
+    lines = []
+    unmodified_environ = copy.copy(environ)
+    for key in sorted(env_var_subfolders.keys()):
+        subfolders = env_var_subfolders[key]
+        if not isinstance(subfolders, list):
+            subfolders = [subfolders]
+        for subfolder in subfolders:
+            value = _rollback_env_variable(unmodified_environ, key, subfolder)
+            if value is not None:
+                environ[key] = value
+                lines.append(assignment(key, value))
+    if lines:
+        lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH'))
+    return lines
+
+
+def _rollback_env_variable(environ, name, subfolder):
+    '''
+    For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder.
+
+    :param subfolder: str '' or subfoldername that may start with '/'
+    :returns: the updated value of the environment variable.
+    '''
+    value = environ[name] if name in environ else ''
+    env_paths = [path for path in value.split(os.pathsep) if path]
+    value_modified = False
+    if subfolder:
+        if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)):
+            subfolder = subfolder[1:]
+        if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)):
+            subfolder = subfolder[:-1]
+    for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True):
+        path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path
+        path_to_remove = None
+        for env_path in env_paths:
+            env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path
+            if env_path_clean == path_to_find:
+                path_to_remove = env_path
+                break
+        if path_to_remove:
+            env_paths.remove(path_to_remove)
+            value_modified = True
+    new_value = os.pathsep.join(env_paths)
+    return new_value if value_modified else None
+
+
+def _get_workspaces(environ, include_fuerte=False, include_non_existing=False):
+    '''
+    Based on CMAKE_PREFIX_PATH return all catkin workspaces.
+
+    :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool``
+    '''
+    # get all cmake prefix paths
+    env_name = 'CMAKE_PREFIX_PATH'
+    value = environ[env_name] if env_name in environ else ''
+    paths = [path for path in value.split(os.pathsep) if path]
+    # remove non-workspace paths
+    workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))]
+    return workspaces
+
+
+def prepend_env_variables(environ, env_var_subfolders, workspaces):
+    '''
+    Generate shell code to prepend environment variables
+    for the all workspaces.
+    '''
+    lines = []
+    lines.append(comment('prepend folders of workspaces to environment variables'))
+
+    paths = [path for path in workspaces.split(os.pathsep) if path]
+
+    prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '')
+    lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix))
+
+    for key in sorted([key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH']):
+        subfolder = env_var_subfolders[key]
+        prefix = _prefix_env_variable(environ, key, paths, subfolder)
+        lines.append(prepend(environ, key, prefix))
+    return lines
+
+
+def _prefix_env_variable(environ, name, paths, subfolders):
+    '''
+    Return the prefix to prepend to the environment variable NAME, adding any path in NEW_PATHS_STR without creating duplicate or empty items.
+    '''
+    value = environ[name] if name in environ else ''
+    environ_paths = [path for path in value.split(os.pathsep) if path]
+    checked_paths = []
+    for path in paths:
+        if not isinstance(subfolders, list):
+            subfolders = [subfolders]
+        for subfolder in subfolders:
+            path_tmp = path
+            if subfolder:
+                path_tmp = os.path.join(path_tmp, subfolder)
+            # exclude any path already in env and any path we already added
+            if path_tmp not in environ_paths and path_tmp not in checked_paths:
+                checked_paths.append(path_tmp)
+    prefix_str = os.pathsep.join(checked_paths)
+    if prefix_str != '' and environ_paths:
+        prefix_str += os.pathsep
+    return prefix_str
+
+
+def assignment(key, value):
+    if not IS_WINDOWS:
+        return 'export %s="%s"' % (key, value)
+    else:
+        return 'set %s=%s' % (key, value)
+
+
+def comment(msg):
+    if not IS_WINDOWS:
+        return '# %s' % msg
+    else:
+        return 'REM %s' % msg
+
+
+def prepend(environ, key, prefix):
+    if key not in environ or not environ[key]:
+        return assignment(key, prefix)
+    if not IS_WINDOWS:
+        return 'export %s="%s$%s"' % (key, prefix, key)
+    else:
+        return 'set %s=%s%%%s%%' % (key, prefix, key)
+
+
+def find_env_hooks(environ, cmake_prefix_path):
+    '''
+    Generate shell code with found environment hooks
+    for the all workspaces.
+    '''
+    lines = []
+    lines.append(comment('found environment hooks in workspaces'))
+
+    generic_env_hooks = []
+    generic_env_hooks_workspace = []
+    specific_env_hooks = []
+    specific_env_hooks_workspace = []
+    generic_env_hooks_by_filename = {}
+    specific_env_hooks_by_filename = {}
+    generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh'
+    specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None
+    # remove non-workspace paths
+    workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))]
+    for workspace in reversed(workspaces):
+        env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d')
+        if os.path.isdir(env_hook_dir):
+            for filename in sorted(os.listdir(env_hook_dir)):
+                if filename.endswith('.%s' % generic_env_hook_ext):
+                    # remove previous env hook with same name if present
+                    if filename in generic_env_hooks_by_filename:
+                        i = generic_env_hooks.index(generic_env_hooks_by_filename[filename])
+                        generic_env_hooks.pop(i)
+                        generic_env_hooks_workspace.pop(i)
+                    # append env hook
+                    generic_env_hooks.append(os.path.join(env_hook_dir, filename))
+                    generic_env_hooks_workspace.append(workspace)
+                    generic_env_hooks_by_filename[filename] = generic_env_hooks[-1]
+                elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext):
+                    # remove previous env hook with same name if present
+                    if filename in specific_env_hooks_by_filename:
+                        i = specific_env_hooks.index(specific_env_hooks_by_filename[filename])
+                        specific_env_hooks.pop(i)
+                        specific_env_hooks_workspace.pop(i)
+                    # append env hook
+                    specific_env_hooks.append(os.path.join(env_hook_dir, filename))
+                    specific_env_hooks_workspace.append(workspace)
+                    specific_env_hooks_by_filename[filename] = specific_env_hooks[-1]
+    env_hooks = generic_env_hooks + specific_env_hooks
+    env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace
+    count = len(env_hooks)
+    lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count))
+    for i in range(count):
+        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i]))
+        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i]))
+    return lines
+
+
+def _parse_arguments(args=None):
+    parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.')
+    parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context')
+    return parser.parse_known_args(args=args)[0]
+
+
+if __name__ == '__main__':
+    try:
+        try:
+            args = _parse_arguments()
+        except Exception as e:
+            print(e, file=sys.stderr)
+            sys.exit(1)
+
+        # environment at generation time
+        CMAKE_PREFIX_PATH = '/home/mech-user/2015-soft3/20151007/devel;/opt/ros/indigo'.split(';')
+        # prepend current workspace if not already part of CPP
+        base_path = os.path.dirname(__file__)
+        if base_path not in CMAKE_PREFIX_PATH:
+            CMAKE_PREFIX_PATH.insert(0, base_path)
+        CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH)
+
+        environ = dict(os.environ)
+        lines = []
+        if not args.extend:
+            lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS)
+        lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH)
+        lines += find_env_hooks(environ, CMAKE_PREFIX_PATH)
+        print('\n'.join(lines))
+
+        # need to explicitly flush the output
+        sys.stdout.flush()
+    except IOError as e:
+        # and catch potantial "broken pipe" if stdout is not writable
+        # which can happen when piping the output to a file but the disk is full
+        if e.errno == errno.EPIPE:
+            print(e, file=sys.stderr)
+            sys.exit(2)
+        raise
+
+    sys.exit(0)
diff --git a/20151007/built/devel/env.sh b/20151007/built/devel/env.sh
new file mode 100755
index 00000000..8aa9d244
--- /dev/null
+++ b/20151007/built/devel/env.sh
@@ -0,0 +1,16 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/templates/env.sh.in
+
+if [ $# -eq 0 ] ; then
+  /bin/echo "Usage: env.sh COMMANDS"
+  /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually."
+  exit 1
+fi
+
+# ensure to not use different shell type which was set before
+CATKIN_SHELL=sh
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh"
+exec "$@"
diff --git a/20151007/built/devel/etc/catkin/profile.d/05.catkin-test-results.sh b/20151007/built/devel/etc/catkin/profile.d/05.catkin-test-results.sh
new file mode 100644
index 00000000..30defa81
--- /dev/null
+++ b/20151007/built/devel/etc/catkin/profile.d/05.catkin-test-results.sh
@@ -0,0 +1,4 @@
+# generated from catkin/cmake/env-hooks/05.catkin-test-results.sh.develspace.in
+
+export CATKIN_TEST_RESULTS_DIR="/home/mech-user/2015-soft3/20151007/build/test_results"
+export ROS_TEST_RESULTS_DIR="$CATKIN_TEST_RESULTS_DIR"
diff --git a/20151007/built/devel/etc/catkin/profile.d/05.catkin_make.bash b/20151007/built/devel/etc/catkin/profile.d/05.catkin_make.bash
new file mode 100644
index 00000000..621d668a
--- /dev/null
+++ b/20151007/built/devel/etc/catkin/profile.d/05.catkin_make.bash
@@ -0,0 +1,67 @@
+function _catkin_make()
+{
+    local cur prev
+    cur=${COMP_WORDS[COMP_CWORD]}
+    prev=${COMP_WORDS[COMP_CWORD-1]}
+
+    # autocomplete path arguments for -C, --directory, --source, --build
+    case $prev in
+        -C|--directory|--source|--build)
+            _filedir -d
+            return 0
+            ;;
+    esac
+
+    if [[ "$cur" == -DCMAKE_BUILD_TYPE=* ]]; then
+        # autocomplete CMake argument CMAKE_BUILD_TYPE with its options
+        COMPREPLY=( $( compgen -P "-DCMAKE_BUILD_TYPE=" -W "None Debug Release RelWithDebInfo MinSizeRel" -- "${cur:19}" ) )
+    elif [[ "$cur" == -DCATKIN_ENABLE_TESTING=* ]]; then
+        # autocomplete catkin argument CATKIN_ENABLE_TESTING with its options
+        COMPREPLY=( $( compgen -P "-DCATKIN_ENABLE_TESTING=" -W "0 1" -- "${cur:24}" ) )
+    elif [[ "$cur" == -DCATKIN_DEVEL_PREFIX=* || "$cur" == -DCMAKE_INSTALL_PREFIX=* ]]; then
+        COMPREPLY=()
+    elif [[ "$cur" == -* ]]; then
+        local opts="$( _parse_help "$1" )"
+        [[ $opts ]] || opts="$( _parse_usage "$1" )"
+        if [[ "$cur" == -* ]]; then
+            # suggest some common CMake arguments
+            opts="$opts -DCATKIN_DEVEL_PREFIX= -DCATKIN_ENABLE_TESTING= -DCMAKE_INSTALL_PREFIX= -DCMAKE_BUILD_TYPE="
+        fi
+        COMPREPLY=( $( compgen -W "$opts" -- "$cur" ) )
+        [[ $COMPREPLY == *= ]] && compopt -o nospace
+    else
+        # check if custom workspace root has been specified on the command line
+        local workspace_dir="."
+        for (( i=0; i < ${#COMP_WORDS[@]}; i++ )); do
+            if [[ ${COMP_WORDS[i]} == -C || ${COMP_WORDS[i]} == --directory ]]; then
+                # eval to expand tilde
+                eval workspace_dir=${COMP_WORDS[i+1]}
+            fi
+        done
+        # check if custom build folder has been specified on the command line
+        local build_dir="build"
+        for (( i=0; i < ${#COMP_WORDS[@]}; i++ )); do
+            if [[ ${COMP_WORDS[i]} == --build ]]; then
+                # eval to expand tilde
+                eval build_dir=${COMP_WORDS[i+1]}
+            fi
+        done
+
+        # determine location of Makefile
+        local makefile_dir
+        if [[ "$build_dir" = /* ]]; then
+            makefile_dir="$build_dir"
+        else
+            makefile_dir="$workspace_dir/$build_dir"
+        fi
+        COMPREPLY=()
+        if [ -f "$makefile_dir/Makefile" ]; then
+            cur=${COMP_WORDS[COMP_CWORD]}
+            COMPREPLY=( $( compgen -W "`make -C $makefile_dir -qp 2>/dev/null | awk -F':' '/^[a-zA-Z0-9][a-zA-Z0-9_\.]*:/ { print $1 }'`" -- $cur ))
+        elif [ -f "$makefile_dir/build.ninja" ]; then
+            cur=${COMP_WORDS[COMP_CWORD]}
+            COMPREPLY=( $( compgen -W "`ninja -C $makefile_dir -t targets 2>/dev/null | awk -F':' '/^[a-zA-Z0-9][a-zA-Z0-9_\.]*:/ { print $1 }'`" -- $cur ))
+        fi
+    fi
+} &&
+complete -F _catkin_make catkin_make
diff --git a/20151007/built/devel/etc/catkin/profile.d/05.catkin_make_isolated.bash b/20151007/built/devel/etc/catkin/profile.d/05.catkin_make_isolated.bash
new file mode 100644
index 00000000..99e5d301
--- /dev/null
+++ b/20151007/built/devel/etc/catkin/profile.d/05.catkin_make_isolated.bash
@@ -0,0 +1,65 @@
+function _catkin_make_isolated()
+{
+    local cur prev
+    cur=${COMP_WORDS[COMP_CWORD]}
+    prev=${COMP_WORDS[COMP_CWORD-1]}
+
+    # autocomplete path arguments for -C, --directory, --source, --build, --devel, --install
+    case $prev in
+        -C|--directory|--source|--build|--devel|--install)
+            _filedir -d
+            return 0
+            ;;
+    esac
+
+    if [[ "$cur" == -DCMAKE_BUILD_TYPE=* ]]; then
+        # autocomplete CMake argument CMAKE_BUILD_TYPE with its options
+        COMPREPLY=( $( compgen -P "-DCMAKE_BUILD_TYPE=" -W "None Debug Release RelWithDebInfo MinSizeRel" -- "${cur:19}" ) )
+    elif [[ "$cur" == -DCATKIN_ENABLE_TESTING=* ]]; then
+        # autocomplete catkin argument CATKIN_ENABLE_TESTING with its options
+        COMPREPLY=( $( compgen -P "-DCATKIN_ENABLE_TESTING=" -W "0 1" -- "${cur:24}" ) )
+    elif [[ "$cur" == -* ]]; then
+        local opts="$( _parse_help "$1" )"
+        [[ $opts ]] || opts="$( _parse_usage "$1" )"
+        if [[ "$cur" == -* ]]; then
+            # suggest some common CMake arguments
+            opts="$opts -DCATKIN_ENABLE_TESTING= -DCMAKE_BUILD_TYPE="
+        fi
+        COMPREPLY=( $( compgen -W "$opts" -- "$cur" ) )
+        [[ $COMPREPLY == *= ]] && compopt -o nospace
+    else
+        # check if custom workspace root has been specified on the command line
+        local workspace_dir="."
+        for (( i=0; i < ${#COMP_WORDS[@]}; i++ )); do
+            if [[ ${COMP_WORDS[i]} == -C || ${COMP_WORDS[i]} == --directory ]]; then
+                # eval to expand tilde
+                eval workspace_dir=${COMP_WORDS[i+1]}
+            fi
+        done
+        # check if custom build folder has been specified on the command line
+        local build_dir="build_isolated"
+        for (( i=0; i < ${#COMP_WORDS[@]}; i++ )); do
+            if [[ ${COMP_WORDS[i]} == --build ]]; then
+                # eval to expand tilde
+                eval build_dir=${COMP_WORDS[i+1]}
+            fi
+        done
+
+        # determine location of Makefile
+        local makefile_dir
+        if [[ "$build_dir" = /* ]]; then
+            makefile_dir="$build_dir"
+        else
+            makefile_dir="$workspace_dir/$build_dir"
+        fi
+        COMPREPLY=()
+        if [ -f "$makefile_dir/Makefile" ]; then
+            cur=${COMP_WORDS[COMP_CWORD]}
+            COMPREPLY=( $( compgen -W "`make -C $makefile_dir -qp 2>/dev/null | awk -F':' '/^[a-zA-Z0-9][a-zA-Z0-9_\.]*:/ { print $1 }'`" -- $cur ))
+        elif [ -f "$makefile_dir/build.ninja" ]; then
+            cur=${COMP_WORDS[COMP_CWORD]}
+            COMPREPLY=( $( compgen -W "`ninja -C $makefile_dir -t targets 2>/dev/null | awk -F':' '/^[a-zA-Z0-9][a-zA-Z0-9_\.]*:/ { print $1 }'`" -- $cur ))
+        fi
+    fi
+} &&
+complete -F _catkin_make_isolated catkin_make_isolated
diff --git a/20151007/built/devel/setup.bash b/20151007/built/devel/setup.bash
new file mode 100644
index 00000000..ff47af8f
--- /dev/null
+++ b/20151007/built/devel/setup.bash
@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+# generated from catkin/cmake/templates/setup.bash.in
+
+CATKIN_SHELL=bash
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh"
diff --git a/20151007/built/devel/setup.sh b/20151007/built/devel/setup.sh
new file mode 100644
index 00000000..83247d0b
--- /dev/null
+++ b/20151007/built/devel/setup.sh
@@ -0,0 +1,87 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/template/setup.sh.in
+
+# Sets various environment variables and sources additional environment hooks.
+# It tries it's best to undo changes from a previously sourced setup file before.
+# Supported command line options:
+# --extend: skips the undoing of changes from a previously sourced setup file
+
+# since this file is sourced either use the provided _CATKIN_SETUP_DIR
+# or fall back to the destination set at configure time
+: ${_CATKIN_SETUP_DIR:=/home/mech-user/2015-soft3/20151007/build/devel}
+_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py"
+unset _CATKIN_SETUP_DIR
+
+if [ ! -f "$_SETUP_UTIL" ]; then
+  echo "Missing Python script: $_SETUP_UTIL"
+  return 22
+fi
+
+# detect if running on Darwin platform
+_UNAME=`uname -s`
+_IS_DARWIN=0
+if [ "$_UNAME" = "Darwin" ]; then
+  _IS_DARWIN=1
+fi
+unset _UNAME
+
+# make sure to export all environment variables
+export CMAKE_PREFIX_PATH
+export CPATH
+if [ $_IS_DARWIN -eq 0 ]; then
+  export LD_LIBRARY_PATH
+else
+  export DYLD_LIBRARY_PATH
+fi
+unset _IS_DARWIN
+export PATH
+export PKG_CONFIG_PATH
+export PYTHONPATH
+
+# remember type of shell if not already set
+if [ -z "$CATKIN_SHELL" ]; then
+  CATKIN_SHELL=sh
+fi
+
+# invoke Python script to generate necessary exports of environment variables
+_SETUP_TMP=`mktemp /tmp/setup.sh.XXXXXXXXXX`
+if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then
+  echo "Could not create temporary file: $_SETUP_TMP"
+  return 1
+fi
+CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ > $_SETUP_TMP
+_RC=$?
+if [ $_RC -ne 0 ]; then
+  if [ $_RC -eq 2 ]; then
+    echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?"
+  else
+    echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC"
+  fi
+  unset _RC
+  unset _SETUP_UTIL
+  rm -f $_SETUP_TMP
+  unset _SETUP_TMP
+  return 1
+fi
+unset _RC
+unset _SETUP_UTIL
+. $_SETUP_TMP
+rm -f $_SETUP_TMP
+unset _SETUP_TMP
+
+# source all environment hooks
+_i=0
+while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do
+  eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i
+  unset _CATKIN_ENVIRONMENT_HOOKS_$_i
+  eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
+  unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
+  # set workspace for environment hook
+  CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace
+  . "$_envfile"
+  unset CATKIN_ENV_HOOK_WORKSPACE
+  _i=$((_i + 1))
+done
+unset _i
+
+unset _CATKIN_ENVIRONMENT_HOOKS_COUNT
diff --git a/20151007/built/devel/setup.zsh b/20151007/built/devel/setup.zsh
new file mode 100644
index 00000000..952f72a4
--- /dev/null
+++ b/20151007/built/devel/setup.zsh
@@ -0,0 +1,8 @@
+#!/usr/bin/env zsh
+# generated from catkin/cmake/templates/setup.zsh.in
+
+CATKIN_SHELL=zsh
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
+source "$_CATKIN_SETUP_DIR/setup.sh"
diff --git a/20151007/built/gtest/CMakeFiles/CMakeDirectoryInformation.cmake b/20151007/built/gtest/CMakeFiles/CMakeDirectoryInformation.cmake
new file mode 100644
index 00000000..5b684183
--- /dev/null
+++ b/20151007/built/gtest/CMakeFiles/CMakeDirectoryInformation.cmake
@@ -0,0 +1,16 @@
+# CMAKE generated file: DO NOT EDIT!
+# Generated by "Unix Makefiles" Generator, CMake Version 2.8
+
+# Relative path conversion top directories.
+SET(CMAKE_RELATIVE_PATH_TOP_SOURCE "/usr/src/gtest")
+SET(CMAKE_RELATIVE_PATH_TOP_BINARY "/home/mech-user/2015-soft3/20151007/build")
+
+# Force unix paths in dependencies.
+SET(CMAKE_FORCE_UNIX_PATHS 1)
+
+
+# The C and CXX include file regular expressions for this directory.
+SET(CMAKE_C_INCLUDE_REGEX_SCAN "^.*$")
+SET(CMAKE_C_INCLUDE_REGEX_COMPLAIN "^$")
+SET(CMAKE_CXX_INCLUDE_REGEX_SCAN ${CMAKE_C_INCLUDE_REGEX_SCAN})
+SET(CMAKE_CXX_INCLUDE_REGEX_COMPLAIN ${CMAKE_C_INCLUDE_REGEX_COMPLAIN})
diff --git a/20151007/built/gtest/CMakeFiles/gtest.dir/DependInfo.cmake b/20151007/built/gtest/CMakeFiles/gtest.dir/DependInfo.cmake
new file mode 100644
index 00000000..103dd42c
--- /dev/null
+++ b/20151007/built/gtest/CMakeFiles/gtest.dir/DependInfo.cmake
@@ -0,0 +1,27 @@
+# The set of languages for which implicit dependencies are needed:
+SET(CMAKE_DEPENDS_LANGUAGES
+  "CXX"
+  )
+# The set of files for implicit dependencies of each language:
+SET(CMAKE_DEPENDS_CHECK_CXX
+  "/usr/src/gtest/src/gtest-all.cc" "/home/mech-user/2015-soft3/20151007/build/gtest/CMakeFiles/gtest.dir/src/gtest-all.cc.o"
+  )
+SET(CMAKE_CXX_COMPILER_ID "GNU")
+
+# Preprocessor definitions for this target.
+SET(CMAKE_TARGET_DEFINITIONS
+  "GTEST_CREATE_SHARED_LIBRARY=1"
+  )
+
+# Targets to which this target links.
+SET(CMAKE_TARGET_LINKED_INFO_FILES
+  )
+
+# The include file search paths:
+SET(CMAKE_C_TARGET_INCLUDE_PATH
+  "/usr/src/gtest/include"
+  "/usr/src/gtest"
+  )
+SET(CMAKE_CXX_TARGET_INCLUDE_PATH ${CMAKE_C_TARGET_INCLUDE_PATH})
+SET(CMAKE_Fortran_TARGET_INCLUDE_PATH ${CMAKE_C_TARGET_INCLUDE_PATH})
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+	/usr/bin/cmake -P cmake_install.cmake
+.PHONY : install/fast
+
+# Special rule for the target install/local
+install/local: preinstall
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing only the local directory..."
+	/usr/bin/cmake -DCMAKE_INSTALL_LOCAL_ONLY=1 -P cmake_install.cmake
+.PHONY : install/local
+
+# Special rule for the target install/local
+install/local/fast: install/local
+.PHONY : install/local/fast
+
+# Special rule for the target install/strip
+install/strip: preinstall
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing the project stripped..."
+	/usr/bin/cmake -DCMAKE_INSTALL_DO_STRIP=1 -P cmake_install.cmake
+.PHONY : install/strip
+
+# Special rule for the target install/strip
+install/strip/fast: install/strip
+.PHONY : install/strip/fast
+
+# Special rule for the target list_install_components
+list_install_components:
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Available install components are: \"Unspecified\""
+.PHONY : list_install_components
+
+# Special rule for the target list_install_components
+list_install_components/fast: list_install_components
+.PHONY : list_install_components/fast
+
+# Special rule for the target rebuild_cache
+rebuild_cache:
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Running CMake to regenerate build system..."
+	/usr/bin/cmake -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR)
+.PHONY : rebuild_cache
+
+# Special rule for the target rebuild_cache
+rebuild_cache/fast: rebuild_cache
+.PHONY : rebuild_cache/fast
+
+# Special rule for the target test
+test:
+	@$(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
+
+# The main all target
+all: cmake_check_build_system
+	cd /home/mech-user/2015-soft3/20151007/build && $(CMAKE_COMMAND) -E cmake_progress_start /home/mech-user/2015-soft3/20151007/build/CMakeFiles /home/mech-user/2015-soft3/20151007/build/gtest/CMakeFiles/progress.marks
+	cd /home/mech-user/2015-soft3/20151007/build && $(MAKE) -f CMakeFiles/Makefile2 gtest/all
+	$(CMAKE_COMMAND) -E cmake_progress_start /home/mech-user/2015-soft3/20151007/build/CMakeFiles 0
+.PHONY : all
+
+# The main clean target
+clean:
+	cd /home/mech-user/2015-soft3/20151007/build && $(MAKE) -f CMakeFiles/Makefile2 gtest/clean
+.PHONY : clean
+
+# The main clean target
+clean/fast: clean
+.PHONY : clean/fast
+
+# Prepare targets for installation.
+preinstall: all
+	cd /home/mech-user/2015-soft3/20151007/build && $(MAKE) -f CMakeFiles/Makefile2 gtest/preinstall
+.PHONY : preinstall
+
+# Prepare targets for installation.
+preinstall/fast:
+	cd /home/mech-user/2015-soft3/20151007/build && $(MAKE) -f CMakeFiles/Makefile2 gtest/preinstall
+.PHONY : preinstall/fast
+
+# clear depends
+depend:
+	cd /home/mech-user/2015-soft3/20151007/build && $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 1
+.PHONY : depend
+
+# Convenience name for target.
+gtest/CMakeFiles/gtest.dir/rule:
+	cd /home/mech-user/2015-soft3/20151007/build && $(MAKE) -f CMakeFiles/Makefile2 gtest/CMakeFiles/gtest.dir/rule
+.PHONY : gtest/CMakeFiles/gtest.dir/rule
+
+# Convenience name for target.
+gtest: gtest/CMakeFiles/gtest.dir/rule
+.PHONY : gtest
+
+# fast build rule for target.
+gtest/fast:
+	cd /home/mech-user/2015-soft3/20151007/build && $(MAKE) -f gtest/CMakeFiles/gtest.dir/build.make gtest/CMakeFiles/gtest.dir/build
+.PHONY : gtest/fast
+
+# Convenience name for target.
+gtest/CMakeFiles/gtest_main.dir/rule:
+	cd /home/mech-user/2015-soft3/20151007/build && $(MAKE) -f CMakeFiles/Makefile2 gtest/CMakeFiles/gtest_main.dir/rule
+.PHONY : gtest/CMakeFiles/gtest_main.dir/rule
+
+# Convenience name for target.
+gtest_main: gtest/CMakeFiles/gtest_main.dir/rule
+.PHONY : gtest_main
+
+# fast build rule for target.
+gtest_main/fast:
+	cd /home/mech-user/2015-soft3/20151007/build && $(MAKE) -f gtest/CMakeFiles/gtest_main.dir/build.make gtest/CMakeFiles/gtest_main.dir/build
+.PHONY : gtest_main/fast
+
+src/gtest-all.o: src/gtest-all.cc.o
+.PHONY : src/gtest-all.o
+
+# target to build an object file
+src/gtest-all.cc.o:
+	cd /home/mech-user/2015-soft3/20151007/build && $(MAKE) -f gtest/CMakeFiles/gtest.dir/build.make gtest/CMakeFiles/gtest.dir/src/gtest-all.cc.o
+.PHONY : src/gtest-all.cc.o
+
+src/gtest-all.i: src/gtest-all.cc.i
+.PHONY : src/gtest-all.i
+
+# target to preprocess a source file
+src/gtest-all.cc.i:
+	cd /home/mech-user/2015-soft3/20151007/build && $(MAKE) -f gtest/CMakeFiles/gtest.dir/build.make gtest/CMakeFiles/gtest.dir/src/gtest-all.cc.i
+.PHONY : src/gtest-all.cc.i
+
+src/gtest-all.s: src/gtest-all.cc.s
+.PHONY : src/gtest-all.s
+
+# target to generate assembly for a file
+src/gtest-all.cc.s:
+	cd /home/mech-user/2015-soft3/20151007/build && $(MAKE) -f gtest/CMakeFiles/gtest.dir/build.make gtest/CMakeFiles/gtest.dir/src/gtest-all.cc.s
+.PHONY : src/gtest-all.cc.s
+
+src/gtest_main.o: src/gtest_main.cc.o
+.PHONY : src/gtest_main.o
+
+# target to build an object file
+src/gtest_main.cc.o:
+	cd /home/mech-user/2015-soft3/20151007/build && $(MAKE) -f gtest/CMakeFiles/gtest_main.dir/build.make gtest/CMakeFiles/gtest_main.dir/src/gtest_main.cc.o
+.PHONY : src/gtest_main.cc.o
+
+src/gtest_main.i: src/gtest_main.cc.i
+.PHONY : src/gtest_main.i
+
+# target to preprocess a source file
+src/gtest_main.cc.i:
+	cd /home/mech-user/2015-soft3/20151007/build && $(MAKE) -f gtest/CMakeFiles/gtest_main.dir/build.make gtest/CMakeFiles/gtest_main.dir/src/gtest_main.cc.i
+.PHONY : src/gtest_main.cc.i
+
+src/gtest_main.s: src/gtest_main.cc.s
+.PHONY : src/gtest_main.s
+
+# target to generate assembly for a file
+src/gtest_main.cc.s:
+	cd /home/mech-user/2015-soft3/20151007/build && $(MAKE) -f gtest/CMakeFiles/gtest_main.dir/build.make gtest/CMakeFiles/gtest_main.dir/src/gtest_main.cc.s
+.PHONY : src/gtest_main.cc.s
+
+# 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 "... edit_cache"
+	@echo "... gtest"
+	@echo "... gtest_main"
+	@echo "... install"
+	@echo "... install/local"
+	@echo "... install/strip"
+	@echo "... list_install_components"
+	@echo "... rebuild_cache"
+	@echo "... test"
+	@echo "... src/gtest-all.o"
+	@echo "... src/gtest-all.i"
+	@echo "... src/gtest-all.s"
+	@echo "... src/gtest_main.o"
+	@echo "... src/gtest_main.i"
+	@echo "... src/gtest_main.s"
+.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/mech-user/2015-soft3/20151007/build && $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
+.PHONY : cmake_check_build_system
+
diff --git a/20151007/built/gtest/cmake_install.cmake b/20151007/built/gtest/cmake_install.cmake
new file mode 100644
index 00000000..db486455
--- /dev/null
+++ b/20151007/built/gtest/cmake_install.cmake
@@ -0,0 +1,34 @@
+# Install script for directory: /usr/src/gtest
+
+# Set the install prefix
+IF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+  SET(CMAKE_INSTALL_PREFIX "/home/mech-user/2015-soft3/20151007/install")
+ENDIF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+STRING(REGEX REPLACE "/$" "" 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(BUILD_TYPE)
+    SET(CMAKE_INSTALL_CONFIG_NAME "")
+  ENDIF(BUILD_TYPE)
+  MESSAGE(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
+ENDIF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+
+# Set the component getting installed.
+IF(NOT CMAKE_INSTALL_COMPONENT)
+  IF(COMPONENT)
+    MESSAGE(STATUS "Install component: \"${COMPONENT}\"")
+    SET(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
+  ELSE(COMPONENT)
+    SET(CMAKE_INSTALL_COMPONENT)
+  ENDIF(COMPONENT)
+ENDIF(NOT CMAKE_INSTALL_COMPONENT)
+
+# Install shared libraries without execute permission?
+IF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+  SET(CMAKE_INSTALL_SO_NO_EXE "1")
+ENDIF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+
diff --git a/20151007/devel/.catkin b/20151007/devel/.catkin
new file mode 100644
index 00000000..2b5a60a0
--- /dev/null
+++ b/20151007/devel/.catkin
@@ -0,0 +1 @@
+/home/mech-user/2015-soft3/20151007/src/beginner_tutorials;/home/mech-user/2015-soft3/20151007/src
\ No newline at end of file
diff --git a/20151007/devel/.rosinstall b/20151007/devel/.rosinstall
new file mode 100644
index 00000000..7a7d9378
--- /dev/null
+++ b/20151007/devel/.rosinstall
@@ -0,0 +1,2 @@
+- setup-file:
+    local-name: /home/mech-user/2015-soft3/20151007/devel/setup.sh
diff --git a/20151007/devel/_setup_util.py b/20151007/devel/_setup_util.py
new file mode 100755
index 00000000..5ffaba5f
--- /dev/null
+++ b/20151007/devel/_setup_util.py
@@ -0,0 +1,287 @@
+#!/usr/bin/python
+
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2012, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+'''This file generates shell code for the setup.SHELL scripts to set environment variables'''
+
+from __future__ import print_function
+import argparse
+import copy
+import errno
+import os
+import platform
+import sys
+
+CATKIN_MARKER_FILE = '.catkin'
+
+system = platform.system()
+IS_DARWIN = (system == 'Darwin')
+IS_WINDOWS = (system == 'Windows')
+
+# subfolder of workspace prepended to CMAKE_PREFIX_PATH
+ENV_VAR_SUBFOLDERS = {
+    'CMAKE_PREFIX_PATH': '',
+    'CPATH': 'include',
+    'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')],
+    'PATH': 'bin',
+    'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')],
+    'PYTHONPATH': 'lib/python2.7/dist-packages',
+}
+
+
+def rollback_env_variables(environ, env_var_subfolders):
+    '''
+    Generate shell code to reset environment variables
+    by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH.
+    This does not cover modifications performed by environment hooks.
+    '''
+    lines = []
+    unmodified_environ = copy.copy(environ)
+    for key in sorted(env_var_subfolders.keys()):
+        subfolders = env_var_subfolders[key]
+        if not isinstance(subfolders, list):
+            subfolders = [subfolders]
+        for subfolder in subfolders:
+            value = _rollback_env_variable(unmodified_environ, key, subfolder)
+            if value is not None:
+                environ[key] = value
+                lines.append(assignment(key, value))
+    if lines:
+        lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH'))
+    return lines
+
+
+def _rollback_env_variable(environ, name, subfolder):
+    '''
+    For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder.
+
+    :param subfolder: str '' or subfoldername that may start with '/'
+    :returns: the updated value of the environment variable.
+    '''
+    value = environ[name] if name in environ else ''
+    env_paths = [path for path in value.split(os.pathsep) if path]
+    value_modified = False
+    if subfolder:
+        if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)):
+            subfolder = subfolder[1:]
+        if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)):
+            subfolder = subfolder[:-1]
+    for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True):
+        path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path
+        path_to_remove = None
+        for env_path in env_paths:
+            env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path
+            if env_path_clean == path_to_find:
+                path_to_remove = env_path
+                break
+        if path_to_remove:
+            env_paths.remove(path_to_remove)
+            value_modified = True
+    new_value = os.pathsep.join(env_paths)
+    return new_value if value_modified else None
+
+
+def _get_workspaces(environ, include_fuerte=False, include_non_existing=False):
+    '''
+    Based on CMAKE_PREFIX_PATH return all catkin workspaces.
+
+    :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool``
+    '''
+    # get all cmake prefix paths
+    env_name = 'CMAKE_PREFIX_PATH'
+    value = environ[env_name] if env_name in environ else ''
+    paths = [path for path in value.split(os.pathsep) if path]
+    # remove non-workspace paths
+    workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))]
+    return workspaces
+
+
+def prepend_env_variables(environ, env_var_subfolders, workspaces):
+    '''
+    Generate shell code to prepend environment variables
+    for the all workspaces.
+    '''
+    lines = []
+    lines.append(comment('prepend folders of workspaces to environment variables'))
+
+    paths = [path for path in workspaces.split(os.pathsep) if path]
+
+    prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '')
+    lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix))
+
+    for key in sorted([key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH']):
+        subfolder = env_var_subfolders[key]
+        prefix = _prefix_env_variable(environ, key, paths, subfolder)
+        lines.append(prepend(environ, key, prefix))
+    return lines
+
+
+def _prefix_env_variable(environ, name, paths, subfolders):
+    '''
+    Return the prefix to prepend to the environment variable NAME, adding any path in NEW_PATHS_STR without creating duplicate or empty items.
+    '''
+    value = environ[name] if name in environ else ''
+    environ_paths = [path for path in value.split(os.pathsep) if path]
+    checked_paths = []
+    for path in paths:
+        if not isinstance(subfolders, list):
+            subfolders = [subfolders]
+        for subfolder in subfolders:
+            path_tmp = path
+            if subfolder:
+                path_tmp = os.path.join(path_tmp, subfolder)
+            # exclude any path already in env and any path we already added
+            if path_tmp not in environ_paths and path_tmp not in checked_paths:
+                checked_paths.append(path_tmp)
+    prefix_str = os.pathsep.join(checked_paths)
+    if prefix_str != '' and environ_paths:
+        prefix_str += os.pathsep
+    return prefix_str
+
+
+def assignment(key, value):
+    if not IS_WINDOWS:
+        return 'export %s="%s"' % (key, value)
+    else:
+        return 'set %s=%s' % (key, value)
+
+
+def comment(msg):
+    if not IS_WINDOWS:
+        return '# %s' % msg
+    else:
+        return 'REM %s' % msg
+
+
+def prepend(environ, key, prefix):
+    if key not in environ or not environ[key]:
+        return assignment(key, prefix)
+    if not IS_WINDOWS:
+        return 'export %s="%s$%s"' % (key, prefix, key)
+    else:
+        return 'set %s=%s%%%s%%' % (key, prefix, key)
+
+
+def find_env_hooks(environ, cmake_prefix_path):
+    '''
+    Generate shell code with found environment hooks
+    for the all workspaces.
+    '''
+    lines = []
+    lines.append(comment('found environment hooks in workspaces'))
+
+    generic_env_hooks = []
+    generic_env_hooks_workspace = []
+    specific_env_hooks = []
+    specific_env_hooks_workspace = []
+    generic_env_hooks_by_filename = {}
+    specific_env_hooks_by_filename = {}
+    generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh'
+    specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None
+    # remove non-workspace paths
+    workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))]
+    for workspace in reversed(workspaces):
+        env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d')
+        if os.path.isdir(env_hook_dir):
+            for filename in sorted(os.listdir(env_hook_dir)):
+                if filename.endswith('.%s' % generic_env_hook_ext):
+                    # remove previous env hook with same name if present
+                    if filename in generic_env_hooks_by_filename:
+                        i = generic_env_hooks.index(generic_env_hooks_by_filename[filename])
+                        generic_env_hooks.pop(i)
+                        generic_env_hooks_workspace.pop(i)
+                    # append env hook
+                    generic_env_hooks.append(os.path.join(env_hook_dir, filename))
+                    generic_env_hooks_workspace.append(workspace)
+                    generic_env_hooks_by_filename[filename] = generic_env_hooks[-1]
+                elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext):
+                    # remove previous env hook with same name if present
+                    if filename in specific_env_hooks_by_filename:
+                        i = specific_env_hooks.index(specific_env_hooks_by_filename[filename])
+                        specific_env_hooks.pop(i)
+                        specific_env_hooks_workspace.pop(i)
+                    # append env hook
+                    specific_env_hooks.append(os.path.join(env_hook_dir, filename))
+                    specific_env_hooks_workspace.append(workspace)
+                    specific_env_hooks_by_filename[filename] = specific_env_hooks[-1]
+    env_hooks = generic_env_hooks + specific_env_hooks
+    env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace
+    count = len(env_hooks)
+    lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count))
+    for i in range(count):
+        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i]))
+        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i]))
+    return lines
+
+
+def _parse_arguments(args=None):
+    parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.')
+    parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context')
+    return parser.parse_known_args(args=args)[0]
+
+
+if __name__ == '__main__':
+    try:
+        try:
+            args = _parse_arguments()
+        except Exception as e:
+            print(e, file=sys.stderr)
+            sys.exit(1)
+
+        # environment at generation time
+        CMAKE_PREFIX_PATH = '/home/mech-user/2015-soft3/20151007/devel;/opt/ros/indigo'.split(';')
+        # prepend current workspace if not already part of CPP
+        base_path = os.path.dirname(__file__)
+        if base_path not in CMAKE_PREFIX_PATH:
+            CMAKE_PREFIX_PATH.insert(0, base_path)
+        CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH)
+
+        environ = dict(os.environ)
+        lines = []
+        if not args.extend:
+            lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS)
+        lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH)
+        lines += find_env_hooks(environ, CMAKE_PREFIX_PATH)
+        print('\n'.join(lines))
+
+        # need to explicitly flush the output
+        sys.stdout.flush()
+    except IOError as e:
+        # and catch potantial "broken pipe" if stdout is not writable
+        # which can happen when piping the output to a file but the disk is full
+        if e.errno == errno.EPIPE:
+            print(e, file=sys.stderr)
+            sys.exit(2)
+        raise
+
+    sys.exit(0)
diff --git a/20151007/devel/env.sh b/20151007/devel/env.sh
new file mode 100755
index 00000000..8aa9d244
--- /dev/null
+++ b/20151007/devel/env.sh
@@ -0,0 +1,16 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/templates/env.sh.in
+
+if [ $# -eq 0 ] ; then
+  /bin/echo "Usage: env.sh COMMANDS"
+  /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually."
+  exit 1
+fi
+
+# ensure to not use different shell type which was set before
+CATKIN_SHELL=sh
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh"
+exec "$@"
diff --git a/20151007/devel/etc/catkin/profile.d/05.catkin-test-results.sh b/20151007/devel/etc/catkin/profile.d/05.catkin-test-results.sh
new file mode 100644
index 00000000..fee8730c
--- /dev/null
+++ b/20151007/devel/etc/catkin/profile.d/05.catkin-test-results.sh
@@ -0,0 +1,4 @@
+# generated from catkin/cmake/env-hooks/05.catkin-test-results.sh.develspace.in
+
+export CATKIN_TEST_RESULTS_DIR="/home/mech-user/2015-soft3/20151007/build/beginner_tutorials/test_results"
+export ROS_TEST_RESULTS_DIR="$CATKIN_TEST_RESULTS_DIR"
diff --git a/20151007/devel/etc/catkin/profile.d/05.catkin_make.bash b/20151007/devel/etc/catkin/profile.d/05.catkin_make.bash
new file mode 100644
index 00000000..621d668a
--- /dev/null
+++ b/20151007/devel/etc/catkin/profile.d/05.catkin_make.bash
@@ -0,0 +1,67 @@
+function _catkin_make()
+{
+    local cur prev
+    cur=${COMP_WORDS[COMP_CWORD]}
+    prev=${COMP_WORDS[COMP_CWORD-1]}
+
+    # autocomplete path arguments for -C, --directory, --source, --build
+    case $prev in
+        -C|--directory|--source|--build)
+            _filedir -d
+            return 0
+            ;;
+    esac
+
+    if [[ "$cur" == -DCMAKE_BUILD_TYPE=* ]]; then
+        # autocomplete CMake argument CMAKE_BUILD_TYPE with its options
+        COMPREPLY=( $( compgen -P "-DCMAKE_BUILD_TYPE=" -W "None Debug Release RelWithDebInfo MinSizeRel" -- "${cur:19}" ) )
+    elif [[ "$cur" == -DCATKIN_ENABLE_TESTING=* ]]; then
+        # autocomplete catkin argument CATKIN_ENABLE_TESTING with its options
+        COMPREPLY=( $( compgen -P "-DCATKIN_ENABLE_TESTING=" -W "0 1" -- "${cur:24}" ) )
+    elif [[ "$cur" == -DCATKIN_DEVEL_PREFIX=* || "$cur" == -DCMAKE_INSTALL_PREFIX=* ]]; then
+        COMPREPLY=()
+    elif [[ "$cur" == -* ]]; then
+        local opts="$( _parse_help "$1" )"
+        [[ $opts ]] || opts="$( _parse_usage "$1" )"
+        if [[ "$cur" == -* ]]; then
+            # suggest some common CMake arguments
+            opts="$opts -DCATKIN_DEVEL_PREFIX= -DCATKIN_ENABLE_TESTING= -DCMAKE_INSTALL_PREFIX= -DCMAKE_BUILD_TYPE="
+        fi
+        COMPREPLY=( $( compgen -W "$opts" -- "$cur" ) )
+        [[ $COMPREPLY == *= ]] && compopt -o nospace
+    else
+        # check if custom workspace root has been specified on the command line
+        local workspace_dir="."
+        for (( i=0; i < ${#COMP_WORDS[@]}; i++ )); do
+            if [[ ${COMP_WORDS[i]} == -C || ${COMP_WORDS[i]} == --directory ]]; then
+                # eval to expand tilde
+                eval workspace_dir=${COMP_WORDS[i+1]}
+            fi
+        done
+        # check if custom build folder has been specified on the command line
+        local build_dir="build"
+        for (( i=0; i < ${#COMP_WORDS[@]}; i++ )); do
+            if [[ ${COMP_WORDS[i]} == --build ]]; then
+                # eval to expand tilde
+                eval build_dir=${COMP_WORDS[i+1]}
+            fi
+        done
+
+        # determine location of Makefile
+        local makefile_dir
+        if [[ "$build_dir" = /* ]]; then
+            makefile_dir="$build_dir"
+        else
+            makefile_dir="$workspace_dir/$build_dir"
+        fi
+        COMPREPLY=()
+        if [ -f "$makefile_dir/Makefile" ]; then
+            cur=${COMP_WORDS[COMP_CWORD]}
+            COMPREPLY=( $( compgen -W "`make -C $makefile_dir -qp 2>/dev/null | awk -F':' '/^[a-zA-Z0-9][a-zA-Z0-9_\.]*:/ { print $1 }'`" -- $cur ))
+        elif [ -f "$makefile_dir/build.ninja" ]; then
+            cur=${COMP_WORDS[COMP_CWORD]}
+            COMPREPLY=( $( compgen -W "`ninja -C $makefile_dir -t targets 2>/dev/null | awk -F':' '/^[a-zA-Z0-9][a-zA-Z0-9_\.]*:/ { print $1 }'`" -- $cur ))
+        fi
+    fi
+} &&
+complete -F _catkin_make catkin_make
diff --git a/20151007/devel/etc/catkin/profile.d/05.catkin_make_isolated.bash b/20151007/devel/etc/catkin/profile.d/05.catkin_make_isolated.bash
new file mode 100644
index 00000000..99e5d301
--- /dev/null
+++ b/20151007/devel/etc/catkin/profile.d/05.catkin_make_isolated.bash
@@ -0,0 +1,65 @@
+function _catkin_make_isolated()
+{
+    local cur prev
+    cur=${COMP_WORDS[COMP_CWORD]}
+    prev=${COMP_WORDS[COMP_CWORD-1]}
+
+    # autocomplete path arguments for -C, --directory, --source, --build, --devel, --install
+    case $prev in
+        -C|--directory|--source|--build|--devel|--install)
+            _filedir -d
+            return 0
+            ;;
+    esac
+
+    if [[ "$cur" == -DCMAKE_BUILD_TYPE=* ]]; then
+        # autocomplete CMake argument CMAKE_BUILD_TYPE with its options
+        COMPREPLY=( $( compgen -P "-DCMAKE_BUILD_TYPE=" -W "None Debug Release RelWithDebInfo MinSizeRel" -- "${cur:19}" ) )
+    elif [[ "$cur" == -DCATKIN_ENABLE_TESTING=* ]]; then
+        # autocomplete catkin argument CATKIN_ENABLE_TESTING with its options
+        COMPREPLY=( $( compgen -P "-DCATKIN_ENABLE_TESTING=" -W "0 1" -- "${cur:24}" ) )
+    elif [[ "$cur" == -* ]]; then
+        local opts="$( _parse_help "$1" )"
+        [[ $opts ]] || opts="$( _parse_usage "$1" )"
+        if [[ "$cur" == -* ]]; then
+            # suggest some common CMake arguments
+            opts="$opts -DCATKIN_ENABLE_TESTING= -DCMAKE_BUILD_TYPE="
+        fi
+        COMPREPLY=( $( compgen -W "$opts" -- "$cur" ) )
+        [[ $COMPREPLY == *= ]] && compopt -o nospace
+    else
+        # check if custom workspace root has been specified on the command line
+        local workspace_dir="."
+        for (( i=0; i < ${#COMP_WORDS[@]}; i++ )); do
+            if [[ ${COMP_WORDS[i]} == -C || ${COMP_WORDS[i]} == --directory ]]; then
+                # eval to expand tilde
+                eval workspace_dir=${COMP_WORDS[i+1]}
+            fi
+        done
+        # check if custom build folder has been specified on the command line
+        local build_dir="build_isolated"
+        for (( i=0; i < ${#COMP_WORDS[@]}; i++ )); do
+            if [[ ${COMP_WORDS[i]} == --build ]]; then
+                # eval to expand tilde
+                eval build_dir=${COMP_WORDS[i+1]}
+            fi
+        done
+
+        # determine location of Makefile
+        local makefile_dir
+        if [[ "$build_dir" = /* ]]; then
+            makefile_dir="$build_dir"
+        else
+            makefile_dir="$workspace_dir/$build_dir"
+        fi
+        COMPREPLY=()
+        if [ -f "$makefile_dir/Makefile" ]; then
+            cur=${COMP_WORDS[COMP_CWORD]}
+            COMPREPLY=( $( compgen -W "`make -C $makefile_dir -qp 2>/dev/null | awk -F':' '/^[a-zA-Z0-9][a-zA-Z0-9_\.]*:/ { print $1 }'`" -- $cur ))
+        elif [ -f "$makefile_dir/build.ninja" ]; then
+            cur=${COMP_WORDS[COMP_CWORD]}
+            COMPREPLY=( $( compgen -W "`ninja -C $makefile_dir -t targets 2>/dev/null | awk -F':' '/^[a-zA-Z0-9][a-zA-Z0-9_\.]*:/ { print $1 }'`" -- $cur ))
+        fi
+    fi
+} &&
+complete -F _catkin_make_isolated catkin_make_isolated
diff --git a/20151007/devel/include/beginner_tutorials/AddTwoInts.h b/20151007/devel/include/beginner_tutorials/AddTwoInts.h
new file mode 100644
index 00000000..b1a6e344
--- /dev/null
+++ b/20151007/devel/include/beginner_tutorials/AddTwoInts.h
@@ -0,0 +1,123 @@
+// Generated by gencpp from file beginner_tutorials/AddTwoInts.msg
+// DO NOT EDIT!
+
+
+#ifndef BEGINNER_TUTORIALS_MESSAGE_ADDTWOINTS_H
+#define BEGINNER_TUTORIALS_MESSAGE_ADDTWOINTS_H
+
+#include <ros/service_traits.h>
+
+
+#include <beginner_tutorials/AddTwoIntsRequest.h>
+#include <beginner_tutorials/AddTwoIntsResponse.h>
+
+
+namespace beginner_tutorials
+{
+
+struct AddTwoInts
+{
+
+typedef AddTwoIntsRequest Request;
+typedef AddTwoIntsResponse Response;
+Request request;
+Response response;
+
+typedef Request RequestType;
+typedef Response ResponseType;
+
+}; // struct AddTwoInts
+} // namespace beginner_tutorials
+
+
+namespace ros
+{
+namespace service_traits
+{
+
+
+template<>
+struct MD5Sum< ::beginner_tutorials::AddTwoInts > {
+  static const char* value()
+  {
+    return "6a2e34150c00229791cc89ff309fff21";
+  }
+
+  static const char* value(const ::beginner_tutorials::AddTwoInts&) { return value(); }
+};
+
+template<>
+struct DataType< ::beginner_tutorials::AddTwoInts > {
+  static const char* value()
+  {
+    return "beginner_tutorials/AddTwoInts";
+  }
+
+  static const char* value(const ::beginner_tutorials::AddTwoInts&) { return value(); }
+};
+
+
+// service_traits::MD5Sum< ::beginner_tutorials::AddTwoIntsRequest> should match 
+// service_traits::MD5Sum< ::beginner_tutorials::AddTwoInts > 
+template<>
+struct MD5Sum< ::beginner_tutorials::AddTwoIntsRequest>
+{
+  static const char* value()
+  {
+    return MD5Sum< ::beginner_tutorials::AddTwoInts >::value();
+  }
+  static const char* value(const ::beginner_tutorials::AddTwoIntsRequest&)
+  {
+    return value();
+  }
+};
+
+// service_traits::DataType< ::beginner_tutorials::AddTwoIntsRequest> should match 
+// service_traits::DataType< ::beginner_tutorials::AddTwoInts > 
+template<>
+struct DataType< ::beginner_tutorials::AddTwoIntsRequest>
+{
+  static const char* value()
+  {
+    return DataType< ::beginner_tutorials::AddTwoInts >::value();
+  }
+  static const char* value(const ::beginner_tutorials::AddTwoIntsRequest&)
+  {
+    return value();
+  }
+};
+
+// service_traits::MD5Sum< ::beginner_tutorials::AddTwoIntsResponse> should match 
+// service_traits::MD5Sum< ::beginner_tutorials::AddTwoInts > 
+template<>
+struct MD5Sum< ::beginner_tutorials::AddTwoIntsResponse>
+{
+  static const char* value()
+  {
+    return MD5Sum< ::beginner_tutorials::AddTwoInts >::value();
+  }
+  static const char* value(const ::beginner_tutorials::AddTwoIntsResponse&)
+  {
+    return value();
+  }
+};
+
+// service_traits::DataType< ::beginner_tutorials::AddTwoIntsResponse> should match 
+// service_traits::DataType< ::beginner_tutorials::AddTwoInts > 
+template<>
+struct DataType< ::beginner_tutorials::AddTwoIntsResponse>
+{
+  static const char* value()
+  {
+    return DataType< ::beginner_tutorials::AddTwoInts >::value();
+  }
+  static const char* value(const ::beginner_tutorials::AddTwoIntsResponse&)
+  {
+    return value();
+  }
+};
+
+} // namespace service_traits
+} // namespace ros
+
+#endif // BEGINNER_TUTORIALS_MESSAGE_ADDTWOINTS_H
diff --git a/20151007/devel/include/beginner_tutorials/AddTwoIntsRequest.h b/20151007/devel/include/beginner_tutorials/AddTwoIntsRequest.h
new file mode 100644
index 00000000..1a4a9ea4
--- /dev/null
+++ b/20151007/devel/include/beginner_tutorials/AddTwoIntsRequest.h
@@ -0,0 +1,194 @@
+// Generated by gencpp from file beginner_tutorials/AddTwoIntsRequest.msg
+// DO NOT EDIT!
+
+
+#ifndef BEGINNER_TUTORIALS_MESSAGE_ADDTWOINTSREQUEST_H
+#define BEGINNER_TUTORIALS_MESSAGE_ADDTWOINTSREQUEST_H
+
+
+#include <string>
+#include <vector>
+#include <map>
+
+#include <ros/types.h>
+#include <ros/serialization.h>
+#include <ros/builtin_message_traits.h>
+#include <ros/message_operations.h>
+
+
+namespace beginner_tutorials
+{
+template <class ContainerAllocator>
+struct AddTwoIntsRequest_
+{
+  typedef AddTwoIntsRequest_<ContainerAllocator> Type;
+
+  AddTwoIntsRequest_()
+    : a(0)
+    , b(0)  {
+    }
+  AddTwoIntsRequest_(const ContainerAllocator& _alloc)
+    : a(0)
+    , b(0)  {
+    }
+
+
+
+   typedef int64_t _a_type;
+  _a_type a;
+
+   typedef int64_t _b_type;
+  _b_type b;
+
+
+
+
+  typedef boost::shared_ptr< ::beginner_tutorials::AddTwoIntsRequest_<ContainerAllocator> > Ptr;
+  typedef boost::shared_ptr< ::beginner_tutorials::AddTwoIntsRequest_<ContainerAllocator> const> ConstPtr;
+
+}; // struct AddTwoIntsRequest_
+
+typedef ::beginner_tutorials::AddTwoIntsRequest_<std::allocator<void> > AddTwoIntsRequest;
+
+typedef boost::shared_ptr< ::beginner_tutorials::AddTwoIntsRequest > AddTwoIntsRequestPtr;
+typedef boost::shared_ptr< ::beginner_tutorials::AddTwoIntsRequest const> AddTwoIntsRequestConstPtr;
+
+// constants requiring out of line definition
+
+
+
+template<typename ContainerAllocator>
+std::ostream& operator<<(std::ostream& s, const ::beginner_tutorials::AddTwoIntsRequest_<ContainerAllocator> & v)
+{
+ros::message_operations::Printer< ::beginner_tutorials::AddTwoIntsRequest_<ContainerAllocator> >::stream(s, "", v);
+return s;
+}
+
+} // namespace beginner_tutorials
+
+namespace ros
+{
+namespace message_traits
+{
+
+
+
+// BOOLTRAITS {'IsFixedSize': True, 'IsMessage': True, 'HasHeader': False}
+// {'beginner_tutorials': ['/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg'], 'std_msgs': ['/opt/ros/indigo/share/std_msgs/cmake/../msg'], 'actionlib_msgs': ['/opt/ros/indigo/share/actionlib_msgs/cmake/../msg'], 'geometry_msgs': ['/opt/ros/indigo/share/geometry_msgs/cmake/../msg']}
+
+// !!!!!!!!!!! ['__class__', '__delattr__', '__dict__', '__doc__', '__eq__', '__format__', '__getattribute__', '__hash__', '__init__', '__module__', '__ne__', '__new__', '__reduce__', '__reduce_ex__', '__repr__', '__setattr__', '__sizeof__', '__str__', '__subclasshook__', '__weakref__', '_parsed_fields', 'constants', 'fields', 'full_name', 'has_header', 'header_present', 'names', 'package', 'parsed_fields', 'short_name', 'text', 'types']
+
+
+
+
+template <class ContainerAllocator>
+struct IsFixedSize< ::beginner_tutorials::AddTwoIntsRequest_<ContainerAllocator> >
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct IsFixedSize< ::beginner_tutorials::AddTwoIntsRequest_<ContainerAllocator> const>
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct IsMessage< ::beginner_tutorials::AddTwoIntsRequest_<ContainerAllocator> >
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct IsMessage< ::beginner_tutorials::AddTwoIntsRequest_<ContainerAllocator> const>
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct HasHeader< ::beginner_tutorials::AddTwoIntsRequest_<ContainerAllocator> >
+  : FalseType
+  { };
+
+template <class ContainerAllocator>
+struct HasHeader< ::beginner_tutorials::AddTwoIntsRequest_<ContainerAllocator> const>
+  : FalseType
+  { };
+
+
+template<class ContainerAllocator>
+struct MD5Sum< ::beginner_tutorials::AddTwoIntsRequest_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "36d09b846be0b371c5f190354dd3153e";
+  }
+
+  static const char* value(const ::beginner_tutorials::AddTwoIntsRequest_<ContainerAllocator>&) { return value(); }
+  static const uint64_t static_value1 = 0x36d09b846be0b371ULL;
+  static const uint64_t static_value2 = 0xc5f190354dd3153eULL;
+};
+
+template<class ContainerAllocator>
+struct DataType< ::beginner_tutorials::AddTwoIntsRequest_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "beginner_tutorials/AddTwoIntsRequest";
+  }
+
+  static const char* value(const ::beginner_tutorials::AddTwoIntsRequest_<ContainerAllocator>&) { return value(); }
+};
+
+template<class ContainerAllocator>
+struct Definition< ::beginner_tutorials::AddTwoIntsRequest_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "int64 a\n\
+int64 b\n\
+";
+  }
+
+  static const char* value(const ::beginner_tutorials::AddTwoIntsRequest_<ContainerAllocator>&) { return value(); }
+};
+
+} // namespace message_traits
+} // namespace ros
+
+namespace ros
+{
+namespace serialization
+{
+
+  template<class ContainerAllocator> struct Serializer< ::beginner_tutorials::AddTwoIntsRequest_<ContainerAllocator> >
+  {
+    template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
+    {
+      stream.next(m.a);
+      stream.next(m.b);
+    }
+
+    ROS_DECLARE_ALLINONE_SERIALIZER;
+  }; // struct AddTwoIntsRequest_
+
+} // namespace serialization
+} // namespace ros
+
+namespace ros
+{
+namespace message_operations
+{
+
+template<class ContainerAllocator>
+struct Printer< ::beginner_tutorials::AddTwoIntsRequest_<ContainerAllocator> >
+{
+  template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::beginner_tutorials::AddTwoIntsRequest_<ContainerAllocator>& v)
+  {
+    s << indent << "a: ";
+    Printer<int64_t>::stream(s, indent + "  ", v.a);
+    s << indent << "b: ";
+    Printer<int64_t>::stream(s, indent + "  ", v.b);
+  }
+};
+
+} // namespace message_operations
+} // namespace ros
+
+#endif // BEGINNER_TUTORIALS_MESSAGE_ADDTWOINTSREQUEST_H
diff --git a/20151007/devel/include/beginner_tutorials/AddTwoIntsResponse.h b/20151007/devel/include/beginner_tutorials/AddTwoIntsResponse.h
new file mode 100644
index 00000000..d8cabc7d
--- /dev/null
+++ b/20151007/devel/include/beginner_tutorials/AddTwoIntsResponse.h
@@ -0,0 +1,185 @@
+// Generated by gencpp from file beginner_tutorials/AddTwoIntsResponse.msg
+// DO NOT EDIT!
+
+
+#ifndef BEGINNER_TUTORIALS_MESSAGE_ADDTWOINTSRESPONSE_H
+#define BEGINNER_TUTORIALS_MESSAGE_ADDTWOINTSRESPONSE_H
+
+
+#include <string>
+#include <vector>
+#include <map>
+
+#include <ros/types.h>
+#include <ros/serialization.h>
+#include <ros/builtin_message_traits.h>
+#include <ros/message_operations.h>
+
+
+namespace beginner_tutorials
+{
+template <class ContainerAllocator>
+struct AddTwoIntsResponse_
+{
+  typedef AddTwoIntsResponse_<ContainerAllocator> Type;
+
+  AddTwoIntsResponse_()
+    : sum(0)  {
+    }
+  AddTwoIntsResponse_(const ContainerAllocator& _alloc)
+    : sum(0)  {
+    }
+
+
+
+   typedef int64_t _sum_type;
+  _sum_type sum;
+
+
+
+
+  typedef boost::shared_ptr< ::beginner_tutorials::AddTwoIntsResponse_<ContainerAllocator> > Ptr;
+  typedef boost::shared_ptr< ::beginner_tutorials::AddTwoIntsResponse_<ContainerAllocator> const> ConstPtr;
+
+}; // struct AddTwoIntsResponse_
+
+typedef ::beginner_tutorials::AddTwoIntsResponse_<std::allocator<void> > AddTwoIntsResponse;
+
+typedef boost::shared_ptr< ::beginner_tutorials::AddTwoIntsResponse > AddTwoIntsResponsePtr;
+typedef boost::shared_ptr< ::beginner_tutorials::AddTwoIntsResponse const> AddTwoIntsResponseConstPtr;
+
+// constants requiring out of line definition
+
+
+
+template<typename ContainerAllocator>
+std::ostream& operator<<(std::ostream& s, const ::beginner_tutorials::AddTwoIntsResponse_<ContainerAllocator> & v)
+{
+ros::message_operations::Printer< ::beginner_tutorials::AddTwoIntsResponse_<ContainerAllocator> >::stream(s, "", v);
+return s;
+}
+
+} // namespace beginner_tutorials
+
+namespace ros
+{
+namespace message_traits
+{
+
+
+
+// BOOLTRAITS {'IsFixedSize': True, 'IsMessage': True, 'HasHeader': False}
+// {'beginner_tutorials': ['/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg'], 'std_msgs': ['/opt/ros/indigo/share/std_msgs/cmake/../msg'], 'actionlib_msgs': ['/opt/ros/indigo/share/actionlib_msgs/cmake/../msg'], 'geometry_msgs': ['/opt/ros/indigo/share/geometry_msgs/cmake/../msg']}
+
+// !!!!!!!!!!! ['__class__', '__delattr__', '__dict__', '__doc__', '__eq__', '__format__', '__getattribute__', '__hash__', '__init__', '__module__', '__ne__', '__new__', '__reduce__', '__reduce_ex__', '__repr__', '__setattr__', '__sizeof__', '__str__', '__subclasshook__', '__weakref__', '_parsed_fields', 'constants', 'fields', 'full_name', 'has_header', 'header_present', 'names', 'package', 'parsed_fields', 'short_name', 'text', 'types']
+
+
+
+
+template <class ContainerAllocator>
+struct IsFixedSize< ::beginner_tutorials::AddTwoIntsResponse_<ContainerAllocator> >
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct IsFixedSize< ::beginner_tutorials::AddTwoIntsResponse_<ContainerAllocator> const>
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct IsMessage< ::beginner_tutorials::AddTwoIntsResponse_<ContainerAllocator> >
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct IsMessage< ::beginner_tutorials::AddTwoIntsResponse_<ContainerAllocator> const>
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct HasHeader< ::beginner_tutorials::AddTwoIntsResponse_<ContainerAllocator> >
+  : FalseType
+  { };
+
+template <class ContainerAllocator>
+struct HasHeader< ::beginner_tutorials::AddTwoIntsResponse_<ContainerAllocator> const>
+  : FalseType
+  { };
+
+
+template<class ContainerAllocator>
+struct MD5Sum< ::beginner_tutorials::AddTwoIntsResponse_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "b88405221c77b1878a3cbbfff53428d7";
+  }
+
+  static const char* value(const ::beginner_tutorials::AddTwoIntsResponse_<ContainerAllocator>&) { return value(); }
+  static const uint64_t static_value1 = 0xb88405221c77b187ULL;
+  static const uint64_t static_value2 = 0x8a3cbbfff53428d7ULL;
+};
+
+template<class ContainerAllocator>
+struct DataType< ::beginner_tutorials::AddTwoIntsResponse_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "beginner_tutorials/AddTwoIntsResponse";
+  }
+
+  static const char* value(const ::beginner_tutorials::AddTwoIntsResponse_<ContainerAllocator>&) { return value(); }
+};
+
+template<class ContainerAllocator>
+struct Definition< ::beginner_tutorials::AddTwoIntsResponse_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "int64 sum\n\
+";
+  }
+
+  static const char* value(const ::beginner_tutorials::AddTwoIntsResponse_<ContainerAllocator>&) { return value(); }
+};
+
+} // namespace message_traits
+} // namespace ros
+
+namespace ros
+{
+namespace serialization
+{
+
+  template<class ContainerAllocator> struct Serializer< ::beginner_tutorials::AddTwoIntsResponse_<ContainerAllocator> >
+  {
+    template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
+    {
+      stream.next(m.sum);
+    }
+
+    ROS_DECLARE_ALLINONE_SERIALIZER;
+  }; // struct AddTwoIntsResponse_
+
+} // namespace serialization
+} // namespace ros
+
+namespace ros
+{
+namespace message_operations
+{
+
+template<class ContainerAllocator>
+struct Printer< ::beginner_tutorials::AddTwoIntsResponse_<ContainerAllocator> >
+{
+  template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::beginner_tutorials::AddTwoIntsResponse_<ContainerAllocator>& v)
+  {
+    s << indent << "sum: ";
+    Printer<int64_t>::stream(s, indent + "  ", v.sum);
+  }
+};
+
+} // namespace message_operations
+} // namespace ros
+
+#endif // BEGINNER_TUTORIALS_MESSAGE_ADDTWOINTSRESPONSE_H
diff --git a/20151007/devel/include/beginner_tutorials/DoDishesAction.h b/20151007/devel/include/beginner_tutorials/DoDishesAction.h
new file mode 100644
index 00000000..c466b61a
--- /dev/null
+++ b/20151007/devel/include/beginner_tutorials/DoDishesAction.h
@@ -0,0 +1,310 @@
+// Generated by gencpp from file beginner_tutorials/DoDishesAction.msg
+// DO NOT EDIT!
+
+
+#ifndef BEGINNER_TUTORIALS_MESSAGE_DODISHESACTION_H
+#define BEGINNER_TUTORIALS_MESSAGE_DODISHESACTION_H
+
+
+#include <string>
+#include <vector>
+#include <map>
+
+#include <ros/types.h>
+#include <ros/serialization.h>
+#include <ros/builtin_message_traits.h>
+#include <ros/message_operations.h>
+
+#include <beginner_tutorials/DoDishesActionGoal.h>
+#include <beginner_tutorials/DoDishesActionResult.h>
+#include <beginner_tutorials/DoDishesActionFeedback.h>
+
+namespace beginner_tutorials
+{
+template <class ContainerAllocator>
+struct DoDishesAction_
+{
+  typedef DoDishesAction_<ContainerAllocator> Type;
+
+  DoDishesAction_()
+    : action_goal()
+    , action_result()
+    , action_feedback()  {
+    }
+  DoDishesAction_(const ContainerAllocator& _alloc)
+    : action_goal(_alloc)
+    , action_result(_alloc)
+    , action_feedback(_alloc)  {
+    }
+
+
+
+   typedef  ::beginner_tutorials::DoDishesActionGoal_<ContainerAllocator>  _action_goal_type;
+  _action_goal_type action_goal;
+
+   typedef  ::beginner_tutorials::DoDishesActionResult_<ContainerAllocator>  _action_result_type;
+  _action_result_type action_result;
+
+   typedef  ::beginner_tutorials::DoDishesActionFeedback_<ContainerAllocator>  _action_feedback_type;
+  _action_feedback_type action_feedback;
+
+
+
+
+  typedef boost::shared_ptr< ::beginner_tutorials::DoDishesAction_<ContainerAllocator> > Ptr;
+  typedef boost::shared_ptr< ::beginner_tutorials::DoDishesAction_<ContainerAllocator> const> ConstPtr;
+
+}; // struct DoDishesAction_
+
+typedef ::beginner_tutorials::DoDishesAction_<std::allocator<void> > DoDishesAction;
+
+typedef boost::shared_ptr< ::beginner_tutorials::DoDishesAction > DoDishesActionPtr;
+typedef boost::shared_ptr< ::beginner_tutorials::DoDishesAction const> DoDishesActionConstPtr;
+
+// constants requiring out of line definition
+
+
+
+template<typename ContainerAllocator>
+std::ostream& operator<<(std::ostream& s, const ::beginner_tutorials::DoDishesAction_<ContainerAllocator> & v)
+{
+ros::message_operations::Printer< ::beginner_tutorials::DoDishesAction_<ContainerAllocator> >::stream(s, "", v);
+return s;
+}
+
+} // namespace beginner_tutorials
+
+namespace ros
+{
+namespace message_traits
+{
+
+
+
+// BOOLTRAITS {'IsFixedSize': False, 'IsMessage': True, 'HasHeader': False}
+// {'beginner_tutorials': ['/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg'], 'std_msgs': ['/opt/ros/indigo/share/std_msgs/cmake/../msg'], 'actionlib_msgs': ['/opt/ros/indigo/share/actionlib_msgs/cmake/../msg'], 'geometry_msgs': ['/opt/ros/indigo/share/geometry_msgs/cmake/../msg']}
+
+// !!!!!!!!!!! ['__class__', '__delattr__', '__dict__', '__doc__', '__eq__', '__format__', '__getattribute__', '__hash__', '__init__', '__module__', '__ne__', '__new__', '__reduce__', '__reduce_ex__', '__repr__', '__setattr__', '__sizeof__', '__str__', '__subclasshook__', '__weakref__', '_parsed_fields', 'constants', 'fields', 'full_name', 'has_header', 'header_present', 'names', 'package', 'parsed_fields', 'short_name', 'text', 'types']
+
+
+
+
+template <class ContainerAllocator>
+struct IsFixedSize< ::beginner_tutorials::DoDishesAction_<ContainerAllocator> >
+  : FalseType
+  { };
+
+template <class ContainerAllocator>
+struct IsFixedSize< ::beginner_tutorials::DoDishesAction_<ContainerAllocator> const>
+  : FalseType
+  { };
+
+template <class ContainerAllocator>
+struct IsMessage< ::beginner_tutorials::DoDishesAction_<ContainerAllocator> >
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct IsMessage< ::beginner_tutorials::DoDishesAction_<ContainerAllocator> const>
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct HasHeader< ::beginner_tutorials::DoDishesAction_<ContainerAllocator> >
+  : FalseType
+  { };
+
+template <class ContainerAllocator>
+struct HasHeader< ::beginner_tutorials::DoDishesAction_<ContainerAllocator> const>
+  : FalseType
+  { };
+
+
+template<class ContainerAllocator>
+struct MD5Sum< ::beginner_tutorials::DoDishesAction_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "7cf97263ad11380965ab1a0c44b4a7cf";
+  }
+
+  static const char* value(const ::beginner_tutorials::DoDishesAction_<ContainerAllocator>&) { return value(); }
+  static const uint64_t static_value1 = 0x7cf97263ad113809ULL;
+  static const uint64_t static_value2 = 0x65ab1a0c44b4a7cfULL;
+};
+
+template<class ContainerAllocator>
+struct DataType< ::beginner_tutorials::DoDishesAction_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "beginner_tutorials/DoDishesAction";
+  }
+
+  static const char* value(const ::beginner_tutorials::DoDishesAction_<ContainerAllocator>&) { return value(); }
+};
+
+template<class ContainerAllocator>
+struct Definition< ::beginner_tutorials::DoDishesAction_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
+\n\
+DoDishesActionGoal action_goal\n\
+DoDishesActionResult action_result\n\
+DoDishesActionFeedback action_feedback\n\
+\n\
+================================================================================\n\
+MSG: beginner_tutorials/DoDishesActionGoal\n\
+# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
+\n\
+Header header\n\
+actionlib_msgs/GoalID goal_id\n\
+DoDishesGoal goal\n\
+\n\
+================================================================================\n\
+MSG: std_msgs/Header\n\
+# Standard metadata for higher-level stamped data types.\n\
+# This is generally used to communicate timestamped data \n\
+# in a particular coordinate frame.\n\
+# \n\
+# sequence ID: consecutively increasing ID \n\
+uint32 seq\n\
+#Two-integer timestamp that is expressed as:\n\
+# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')\n\
+# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')\n\
+# time-handling sugar is provided by the client library\n\
+time stamp\n\
+#Frame this data is associated with\n\
+# 0: no frame\n\
+# 1: global frame\n\
+string frame_id\n\
+\n\
+================================================================================\n\
+MSG: actionlib_msgs/GoalID\n\
+# The stamp should store the time at which this goal was requested.\n\
+# It is used by an action server when it tries to preempt all\n\
+# goals that were requested before a certain time\n\
+time stamp\n\
+\n\
+# The id provides a way to associate feedback and\n\
+# result message with specific goal requests. The id\n\
+# specified must be unique.\n\
+string id\n\
+\n\
+\n\
+================================================================================\n\
+MSG: beginner_tutorials/DoDishesGoal\n\
+# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
+#Define the goal\n\
+uint32 dishwasher_id #Specify which dishwasher we want to use\n\
+\n\
+================================================================================\n\
+MSG: beginner_tutorials/DoDishesActionResult\n\
+# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
+\n\
+Header header\n\
+actionlib_msgs/GoalStatus status\n\
+DoDishesResult result\n\
+\n\
+================================================================================\n\
+MSG: actionlib_msgs/GoalStatus\n\
+GoalID goal_id\n\
+uint8 status\n\
+uint8 PENDING         = 0   # The goal has yet to be processed by the action server\n\
+uint8 ACTIVE          = 1   # The goal is currently being processed by the action server\n\
+uint8 PREEMPTED       = 2   # The goal received a cancel request after it started executing\n\
+                            #   and has since completed its execution (Terminal State)\n\
+uint8 SUCCEEDED       = 3   # The goal was achieved successfully by the action server (Terminal State)\n\
+uint8 ABORTED         = 4   # The goal was aborted during execution by the action server due\n\
+                            #    to some failure (Terminal State)\n\
+uint8 REJECTED        = 5   # The goal was rejected by the action server without being processed,\n\
+                            #    because the goal was unattainable or invalid (Terminal State)\n\
+uint8 PREEMPTING      = 6   # The goal received a cancel request after it started executing\n\
+                            #    and has not yet completed execution\n\
+uint8 RECALLING       = 7   # The goal received a cancel request before it started executing,\n\
+                            #    but the action server has not yet confirmed that the goal is canceled\n\
+uint8 RECALLED        = 8   # The goal received a cancel request before it started executing\n\
+                            #    and was successfully cancelled (Terminal State)\n\
+uint8 LOST            = 9   # An action client can determine that a goal is LOST. This should not be\n\
+                            #    sent over the wire by an action server\n\
+\n\
+#Allow for the user to associate a string with GoalStatus for debugging\n\
+string text\n\
+\n\
+\n\
+================================================================================\n\
+MSG: beginner_tutorials/DoDishesResult\n\
+# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
+#Define the result\n\
+uint32 total_dishes_cleaned\n\
+\n\
+================================================================================\n\
+MSG: beginner_tutorials/DoDishesActionFeedback\n\
+# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
+\n\
+Header header\n\
+actionlib_msgs/GoalStatus status\n\
+DoDishesFeedback feedback\n\
+\n\
+================================================================================\n\
+MSG: beginner_tutorials/DoDishesFeedback\n\
+# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
+#Define a feedback message\n\
+float32 percent_complete\n\
+";
+  }
+
+  static const char* value(const ::beginner_tutorials::DoDishesAction_<ContainerAllocator>&) { return value(); }
+};
+
+} // namespace message_traits
+} // namespace ros
+
+namespace ros
+{
+namespace serialization
+{
+
+  template<class ContainerAllocator> struct Serializer< ::beginner_tutorials::DoDishesAction_<ContainerAllocator> >
+  {
+    template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
+    {
+      stream.next(m.action_goal);
+      stream.next(m.action_result);
+      stream.next(m.action_feedback);
+    }
+
+    ROS_DECLARE_ALLINONE_SERIALIZER;
+  }; // struct DoDishesAction_
+
+} // namespace serialization
+} // namespace ros
+
+namespace ros
+{
+namespace message_operations
+{
+
+template<class ContainerAllocator>
+struct Printer< ::beginner_tutorials::DoDishesAction_<ContainerAllocator> >
+{
+  template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::beginner_tutorials::DoDishesAction_<ContainerAllocator>& v)
+  {
+    s << indent << "action_goal: ";
+    s << std::endl;
+    Printer< ::beginner_tutorials::DoDishesActionGoal_<ContainerAllocator> >::stream(s, indent + "  ", v.action_goal);
+    s << indent << "action_result: ";
+    s << std::endl;
+    Printer< ::beginner_tutorials::DoDishesActionResult_<ContainerAllocator> >::stream(s, indent + "  ", v.action_result);
+    s << indent << "action_feedback: ";
+    s << std::endl;
+    Printer< ::beginner_tutorials::DoDishesActionFeedback_<ContainerAllocator> >::stream(s, indent + "  ", v.action_feedback);
+  }
+};
+
+} // namespace message_operations
+} // namespace ros
+
+#endif // BEGINNER_TUTORIALS_MESSAGE_DODISHESACTION_H
diff --git a/20151007/devel/include/beginner_tutorials/DoDishesActionFeedback.h b/20151007/devel/include/beginner_tutorials/DoDishesActionFeedback.h
new file mode 100644
index 00000000..f2c93edf
--- /dev/null
+++ b/20151007/devel/include/beginner_tutorials/DoDishesActionFeedback.h
@@ -0,0 +1,274 @@
+// Generated by gencpp from file beginner_tutorials/DoDishesActionFeedback.msg
+// DO NOT EDIT!
+
+
+#ifndef BEGINNER_TUTORIALS_MESSAGE_DODISHESACTIONFEEDBACK_H
+#define BEGINNER_TUTORIALS_MESSAGE_DODISHESACTIONFEEDBACK_H
+
+
+#include <string>
+#include <vector>
+#include <map>
+
+#include <ros/types.h>
+#include <ros/serialization.h>
+#include <ros/builtin_message_traits.h>
+#include <ros/message_operations.h>
+
+#include <std_msgs/Header.h>
+#include <actionlib_msgs/GoalStatus.h>
+#include <beginner_tutorials/DoDishesFeedback.h>
+
+namespace beginner_tutorials
+{
+template <class ContainerAllocator>
+struct DoDishesActionFeedback_
+{
+  typedef DoDishesActionFeedback_<ContainerAllocator> Type;
+
+  DoDishesActionFeedback_()
+    : header()
+    , status()
+    , feedback()  {
+    }
+  DoDishesActionFeedback_(const ContainerAllocator& _alloc)
+    : header(_alloc)
+    , status(_alloc)
+    , feedback(_alloc)  {
+    }
+
+
+
+   typedef  ::std_msgs::Header_<ContainerAllocator>  _header_type;
+  _header_type header;
+
+   typedef  ::actionlib_msgs::GoalStatus_<ContainerAllocator>  _status_type;
+  _status_type status;
+
+   typedef  ::beginner_tutorials::DoDishesFeedback_<ContainerAllocator>  _feedback_type;
+  _feedback_type feedback;
+
+
+
+
+  typedef boost::shared_ptr< ::beginner_tutorials::DoDishesActionFeedback_<ContainerAllocator> > Ptr;
+  typedef boost::shared_ptr< ::beginner_tutorials::DoDishesActionFeedback_<ContainerAllocator> const> ConstPtr;
+
+}; // struct DoDishesActionFeedback_
+
+typedef ::beginner_tutorials::DoDishesActionFeedback_<std::allocator<void> > DoDishesActionFeedback;
+
+typedef boost::shared_ptr< ::beginner_tutorials::DoDishesActionFeedback > DoDishesActionFeedbackPtr;
+typedef boost::shared_ptr< ::beginner_tutorials::DoDishesActionFeedback const> DoDishesActionFeedbackConstPtr;
+
+// constants requiring out of line definition
+
+
+
+template<typename ContainerAllocator>
+std::ostream& operator<<(std::ostream& s, const ::beginner_tutorials::DoDishesActionFeedback_<ContainerAllocator> & v)
+{
+ros::message_operations::Printer< ::beginner_tutorials::DoDishesActionFeedback_<ContainerAllocator> >::stream(s, "", v);
+return s;
+}
+
+} // namespace beginner_tutorials
+
+namespace ros
+{
+namespace message_traits
+{
+
+
+
+// BOOLTRAITS {'IsFixedSize': False, 'IsMessage': True, 'HasHeader': True}
+// {'beginner_tutorials': ['/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg'], 'std_msgs': ['/opt/ros/indigo/share/std_msgs/cmake/../msg'], 'actionlib_msgs': ['/opt/ros/indigo/share/actionlib_msgs/cmake/../msg'], 'geometry_msgs': ['/opt/ros/indigo/share/geometry_msgs/cmake/../msg']}
+
+// !!!!!!!!!!! ['__class__', '__delattr__', '__dict__', '__doc__', '__eq__', '__format__', '__getattribute__', '__hash__', '__init__', '__module__', '__ne__', '__new__', '__reduce__', '__reduce_ex__', '__repr__', '__setattr__', '__sizeof__', '__str__', '__subclasshook__', '__weakref__', '_parsed_fields', 'constants', 'fields', 'full_name', 'has_header', 'header_present', 'names', 'package', 'parsed_fields', 'short_name', 'text', 'types']
+
+
+
+
+template <class ContainerAllocator>
+struct IsFixedSize< ::beginner_tutorials::DoDishesActionFeedback_<ContainerAllocator> >
+  : FalseType
+  { };
+
+template <class ContainerAllocator>
+struct IsFixedSize< ::beginner_tutorials::DoDishesActionFeedback_<ContainerAllocator> const>
+  : FalseType
+  { };
+
+template <class ContainerAllocator>
+struct IsMessage< ::beginner_tutorials::DoDishesActionFeedback_<ContainerAllocator> >
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct IsMessage< ::beginner_tutorials::DoDishesActionFeedback_<ContainerAllocator> const>
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct HasHeader< ::beginner_tutorials::DoDishesActionFeedback_<ContainerAllocator> >
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct HasHeader< ::beginner_tutorials::DoDishesActionFeedback_<ContainerAllocator> const>
+  : TrueType
+  { };
+
+
+template<class ContainerAllocator>
+struct MD5Sum< ::beginner_tutorials::DoDishesActionFeedback_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "25bfb21ced59f4f9490772d56f6961f4";
+  }
+
+  static const char* value(const ::beginner_tutorials::DoDishesActionFeedback_<ContainerAllocator>&) { return value(); }
+  static const uint64_t static_value1 = 0x25bfb21ced59f4f9ULL;
+  static const uint64_t static_value2 = 0x490772d56f6961f4ULL;
+};
+
+template<class ContainerAllocator>
+struct DataType< ::beginner_tutorials::DoDishesActionFeedback_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "beginner_tutorials/DoDishesActionFeedback";
+  }
+
+  static const char* value(const ::beginner_tutorials::DoDishesActionFeedback_<ContainerAllocator>&) { return value(); }
+};
+
+template<class ContainerAllocator>
+struct Definition< ::beginner_tutorials::DoDishesActionFeedback_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
+\n\
+Header header\n\
+actionlib_msgs/GoalStatus status\n\
+DoDishesFeedback feedback\n\
+\n\
+================================================================================\n\
+MSG: std_msgs/Header\n\
+# Standard metadata for higher-level stamped data types.\n\
+# This is generally used to communicate timestamped data \n\
+# in a particular coordinate frame.\n\
+# \n\
+# sequence ID: consecutively increasing ID \n\
+uint32 seq\n\
+#Two-integer timestamp that is expressed as:\n\
+# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')\n\
+# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')\n\
+# time-handling sugar is provided by the client library\n\
+time stamp\n\
+#Frame this data is associated with\n\
+# 0: no frame\n\
+# 1: global frame\n\
+string frame_id\n\
+\n\
+================================================================================\n\
+MSG: actionlib_msgs/GoalStatus\n\
+GoalID goal_id\n\
+uint8 status\n\
+uint8 PENDING         = 0   # The goal has yet to be processed by the action server\n\
+uint8 ACTIVE          = 1   # The goal is currently being processed by the action server\n\
+uint8 PREEMPTED       = 2   # The goal received a cancel request after it started executing\n\
+                            #   and has since completed its execution (Terminal State)\n\
+uint8 SUCCEEDED       = 3   # The goal was achieved successfully by the action server (Terminal State)\n\
+uint8 ABORTED         = 4   # The goal was aborted during execution by the action server due\n\
+                            #    to some failure (Terminal State)\n\
+uint8 REJECTED        = 5   # The goal was rejected by the action server without being processed,\n\
+                            #    because the goal was unattainable or invalid (Terminal State)\n\
+uint8 PREEMPTING      = 6   # The goal received a cancel request after it started executing\n\
+                            #    and has not yet completed execution\n\
+uint8 RECALLING       = 7   # The goal received a cancel request before it started executing,\n\
+                            #    but the action server has not yet confirmed that the goal is canceled\n\
+uint8 RECALLED        = 8   # The goal received a cancel request before it started executing\n\
+                            #    and was successfully cancelled (Terminal State)\n\
+uint8 LOST            = 9   # An action client can determine that a goal is LOST. This should not be\n\
+                            #    sent over the wire by an action server\n\
+\n\
+#Allow for the user to associate a string with GoalStatus for debugging\n\
+string text\n\
+\n\
+\n\
+================================================================================\n\
+MSG: actionlib_msgs/GoalID\n\
+# The stamp should store the time at which this goal was requested.\n\
+# It is used by an action server when it tries to preempt all\n\
+# goals that were requested before a certain time\n\
+time stamp\n\
+\n\
+# The id provides a way to associate feedback and\n\
+# result message with specific goal requests. The id\n\
+# specified must be unique.\n\
+string id\n\
+\n\
+\n\
+================================================================================\n\
+MSG: beginner_tutorials/DoDishesFeedback\n\
+# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
+#Define a feedback message\n\
+float32 percent_complete\n\
+";
+  }
+
+  static const char* value(const ::beginner_tutorials::DoDishesActionFeedback_<ContainerAllocator>&) { return value(); }
+};
+
+} // namespace message_traits
+} // namespace ros
+
+namespace ros
+{
+namespace serialization
+{
+
+  template<class ContainerAllocator> struct Serializer< ::beginner_tutorials::DoDishesActionFeedback_<ContainerAllocator> >
+  {
+    template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
+    {
+      stream.next(m.header);
+      stream.next(m.status);
+      stream.next(m.feedback);
+    }
+
+    ROS_DECLARE_ALLINONE_SERIALIZER;
+  }; // struct DoDishesActionFeedback_
+
+} // namespace serialization
+} // namespace ros
+
+namespace ros
+{
+namespace message_operations
+{
+
+template<class ContainerAllocator>
+struct Printer< ::beginner_tutorials::DoDishesActionFeedback_<ContainerAllocator> >
+{
+  template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::beginner_tutorials::DoDishesActionFeedback_<ContainerAllocator>& v)
+  {
+    s << indent << "header: ";
+    s << std::endl;
+    Printer< ::std_msgs::Header_<ContainerAllocator> >::stream(s, indent + "  ", v.header);
+    s << indent << "status: ";
+    s << std::endl;
+    Printer< ::actionlib_msgs::GoalStatus_<ContainerAllocator> >::stream(s, indent + "  ", v.status);
+    s << indent << "feedback: ";
+    s << std::endl;
+    Printer< ::beginner_tutorials::DoDishesFeedback_<ContainerAllocator> >::stream(s, indent + "  ", v.feedback);
+  }
+};
+
+} // namespace message_operations
+} // namespace ros
+
+#endif // BEGINNER_TUTORIALS_MESSAGE_DODISHESACTIONFEEDBACK_H
diff --git a/20151007/devel/include/beginner_tutorials/DoDishesActionGoal.h b/20151007/devel/include/beginner_tutorials/DoDishesActionGoal.h
new file mode 100644
index 00000000..0cba999a
--- /dev/null
+++ b/20151007/devel/include/beginner_tutorials/DoDishesActionGoal.h
@@ -0,0 +1,248 @@
+// Generated by gencpp from file beginner_tutorials/DoDishesActionGoal.msg
+// DO NOT EDIT!
+
+
+#ifndef BEGINNER_TUTORIALS_MESSAGE_DODISHESACTIONGOAL_H
+#define BEGINNER_TUTORIALS_MESSAGE_DODISHESACTIONGOAL_H
+
+
+#include <string>
+#include <vector>
+#include <map>
+
+#include <ros/types.h>
+#include <ros/serialization.h>
+#include <ros/builtin_message_traits.h>
+#include <ros/message_operations.h>
+
+#include <std_msgs/Header.h>
+#include <actionlib_msgs/GoalID.h>
+#include <beginner_tutorials/DoDishesGoal.h>
+
+namespace beginner_tutorials
+{
+template <class ContainerAllocator>
+struct DoDishesActionGoal_
+{
+  typedef DoDishesActionGoal_<ContainerAllocator> Type;
+
+  DoDishesActionGoal_()
+    : header()
+    , goal_id()
+    , goal()  {
+    }
+  DoDishesActionGoal_(const ContainerAllocator& _alloc)
+    : header(_alloc)
+    , goal_id(_alloc)
+    , goal(_alloc)  {
+    }
+
+
+
+   typedef  ::std_msgs::Header_<ContainerAllocator>  _header_type;
+  _header_type header;
+
+   typedef  ::actionlib_msgs::GoalID_<ContainerAllocator>  _goal_id_type;
+  _goal_id_type goal_id;
+
+   typedef  ::beginner_tutorials::DoDishesGoal_<ContainerAllocator>  _goal_type;
+  _goal_type goal;
+
+
+
+
+  typedef boost::shared_ptr< ::beginner_tutorials::DoDishesActionGoal_<ContainerAllocator> > Ptr;
+  typedef boost::shared_ptr< ::beginner_tutorials::DoDishesActionGoal_<ContainerAllocator> const> ConstPtr;
+
+}; // struct DoDishesActionGoal_
+
+typedef ::beginner_tutorials::DoDishesActionGoal_<std::allocator<void> > DoDishesActionGoal;
+
+typedef boost::shared_ptr< ::beginner_tutorials::DoDishesActionGoal > DoDishesActionGoalPtr;
+typedef boost::shared_ptr< ::beginner_tutorials::DoDishesActionGoal const> DoDishesActionGoalConstPtr;
+
+// constants requiring out of line definition
+
+
+
+template<typename ContainerAllocator>
+std::ostream& operator<<(std::ostream& s, const ::beginner_tutorials::DoDishesActionGoal_<ContainerAllocator> & v)
+{
+ros::message_operations::Printer< ::beginner_tutorials::DoDishesActionGoal_<ContainerAllocator> >::stream(s, "", v);
+return s;
+}
+
+} // namespace beginner_tutorials
+
+namespace ros
+{
+namespace message_traits
+{
+
+
+
+// BOOLTRAITS {'IsFixedSize': False, 'IsMessage': True, 'HasHeader': True}
+// {'beginner_tutorials': ['/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg'], 'std_msgs': ['/opt/ros/indigo/share/std_msgs/cmake/../msg'], 'actionlib_msgs': ['/opt/ros/indigo/share/actionlib_msgs/cmake/../msg'], 'geometry_msgs': ['/opt/ros/indigo/share/geometry_msgs/cmake/../msg']}
+
+// !!!!!!!!!!! ['__class__', '__delattr__', '__dict__', '__doc__', '__eq__', '__format__', '__getattribute__', '__hash__', '__init__', '__module__', '__ne__', '__new__', '__reduce__', '__reduce_ex__', '__repr__', '__setattr__', '__sizeof__', '__str__', '__subclasshook__', '__weakref__', '_parsed_fields', 'constants', 'fields', 'full_name', 'has_header', 'header_present', 'names', 'package', 'parsed_fields', 'short_name', 'text', 'types']
+
+
+
+
+template <class ContainerAllocator>
+struct IsFixedSize< ::beginner_tutorials::DoDishesActionGoal_<ContainerAllocator> >
+  : FalseType
+  { };
+
+template <class ContainerAllocator>
+struct IsFixedSize< ::beginner_tutorials::DoDishesActionGoal_<ContainerAllocator> const>
+  : FalseType
+  { };
+
+template <class ContainerAllocator>
+struct IsMessage< ::beginner_tutorials::DoDishesActionGoal_<ContainerAllocator> >
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct IsMessage< ::beginner_tutorials::DoDishesActionGoal_<ContainerAllocator> const>
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct HasHeader< ::beginner_tutorials::DoDishesActionGoal_<ContainerAllocator> >
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct HasHeader< ::beginner_tutorials::DoDishesActionGoal_<ContainerAllocator> const>
+  : TrueType
+  { };
+
+
+template<class ContainerAllocator>
+struct MD5Sum< ::beginner_tutorials::DoDishesActionGoal_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "83f2a96811c1f4ed2d6e73eb983a3cb9";
+  }
+
+  static const char* value(const ::beginner_tutorials::DoDishesActionGoal_<ContainerAllocator>&) { return value(); }
+  static const uint64_t static_value1 = 0x83f2a96811c1f4edULL;
+  static const uint64_t static_value2 = 0x2d6e73eb983a3cb9ULL;
+};
+
+template<class ContainerAllocator>
+struct DataType< ::beginner_tutorials::DoDishesActionGoal_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "beginner_tutorials/DoDishesActionGoal";
+  }
+
+  static const char* value(const ::beginner_tutorials::DoDishesActionGoal_<ContainerAllocator>&) { return value(); }
+};
+
+template<class ContainerAllocator>
+struct Definition< ::beginner_tutorials::DoDishesActionGoal_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
+\n\
+Header header\n\
+actionlib_msgs/GoalID goal_id\n\
+DoDishesGoal goal\n\
+\n\
+================================================================================\n\
+MSG: std_msgs/Header\n\
+# Standard metadata for higher-level stamped data types.\n\
+# This is generally used to communicate timestamped data \n\
+# in a particular coordinate frame.\n\
+# \n\
+# sequence ID: consecutively increasing ID \n\
+uint32 seq\n\
+#Two-integer timestamp that is expressed as:\n\
+# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')\n\
+# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')\n\
+# time-handling sugar is provided by the client library\n\
+time stamp\n\
+#Frame this data is associated with\n\
+# 0: no frame\n\
+# 1: global frame\n\
+string frame_id\n\
+\n\
+================================================================================\n\
+MSG: actionlib_msgs/GoalID\n\
+# The stamp should store the time at which this goal was requested.\n\
+# It is used by an action server when it tries to preempt all\n\
+# goals that were requested before a certain time\n\
+time stamp\n\
+\n\
+# The id provides a way to associate feedback and\n\
+# result message with specific goal requests. The id\n\
+# specified must be unique.\n\
+string id\n\
+\n\
+\n\
+================================================================================\n\
+MSG: beginner_tutorials/DoDishesGoal\n\
+# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
+#Define the goal\n\
+uint32 dishwasher_id #Specify which dishwasher we want to use\n\
+";
+  }
+
+  static const char* value(const ::beginner_tutorials::DoDishesActionGoal_<ContainerAllocator>&) { return value(); }
+};
+
+} // namespace message_traits
+} // namespace ros
+
+namespace ros
+{
+namespace serialization
+{
+
+  template<class ContainerAllocator> struct Serializer< ::beginner_tutorials::DoDishesActionGoal_<ContainerAllocator> >
+  {
+    template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
+    {
+      stream.next(m.header);
+      stream.next(m.goal_id);
+      stream.next(m.goal);
+    }
+
+    ROS_DECLARE_ALLINONE_SERIALIZER;
+  }; // struct DoDishesActionGoal_
+
+} // namespace serialization
+} // namespace ros
+
+namespace ros
+{
+namespace message_operations
+{
+
+template<class ContainerAllocator>
+struct Printer< ::beginner_tutorials::DoDishesActionGoal_<ContainerAllocator> >
+{
+  template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::beginner_tutorials::DoDishesActionGoal_<ContainerAllocator>& v)
+  {
+    s << indent << "header: ";
+    s << std::endl;
+    Printer< ::std_msgs::Header_<ContainerAllocator> >::stream(s, indent + "  ", v.header);
+    s << indent << "goal_id: ";
+    s << std::endl;
+    Printer< ::actionlib_msgs::GoalID_<ContainerAllocator> >::stream(s, indent + "  ", v.goal_id);
+    s << indent << "goal: ";
+    s << std::endl;
+    Printer< ::beginner_tutorials::DoDishesGoal_<ContainerAllocator> >::stream(s, indent + "  ", v.goal);
+  }
+};
+
+} // namespace message_operations
+} // namespace ros
+
+#endif // BEGINNER_TUTORIALS_MESSAGE_DODISHESACTIONGOAL_H
diff --git a/20151007/devel/include/beginner_tutorials/DoDishesActionResult.h b/20151007/devel/include/beginner_tutorials/DoDishesActionResult.h
new file mode 100644
index 00000000..5d89ee38
--- /dev/null
+++ b/20151007/devel/include/beginner_tutorials/DoDishesActionResult.h
@@ -0,0 +1,274 @@
+// Generated by gencpp from file beginner_tutorials/DoDishesActionResult.msg
+// DO NOT EDIT!
+
+
+#ifndef BEGINNER_TUTORIALS_MESSAGE_DODISHESACTIONRESULT_H
+#define BEGINNER_TUTORIALS_MESSAGE_DODISHESACTIONRESULT_H
+
+
+#include <string>
+#include <vector>
+#include <map>
+
+#include <ros/types.h>
+#include <ros/serialization.h>
+#include <ros/builtin_message_traits.h>
+#include <ros/message_operations.h>
+
+#include <std_msgs/Header.h>
+#include <actionlib_msgs/GoalStatus.h>
+#include <beginner_tutorials/DoDishesResult.h>
+
+namespace beginner_tutorials
+{
+template <class ContainerAllocator>
+struct DoDishesActionResult_
+{
+  typedef DoDishesActionResult_<ContainerAllocator> Type;
+
+  DoDishesActionResult_()
+    : header()
+    , status()
+    , result()  {
+    }
+  DoDishesActionResult_(const ContainerAllocator& _alloc)
+    : header(_alloc)
+    , status(_alloc)
+    , result(_alloc)  {
+    }
+
+
+
+   typedef  ::std_msgs::Header_<ContainerAllocator>  _header_type;
+  _header_type header;
+
+   typedef  ::actionlib_msgs::GoalStatus_<ContainerAllocator>  _status_type;
+  _status_type status;
+
+   typedef  ::beginner_tutorials::DoDishesResult_<ContainerAllocator>  _result_type;
+  _result_type result;
+
+
+
+
+  typedef boost::shared_ptr< ::beginner_tutorials::DoDishesActionResult_<ContainerAllocator> > Ptr;
+  typedef boost::shared_ptr< ::beginner_tutorials::DoDishesActionResult_<ContainerAllocator> const> ConstPtr;
+
+}; // struct DoDishesActionResult_
+
+typedef ::beginner_tutorials::DoDishesActionResult_<std::allocator<void> > DoDishesActionResult;
+
+typedef boost::shared_ptr< ::beginner_tutorials::DoDishesActionResult > DoDishesActionResultPtr;
+typedef boost::shared_ptr< ::beginner_tutorials::DoDishesActionResult const> DoDishesActionResultConstPtr;
+
+// constants requiring out of line definition
+
+
+
+template<typename ContainerAllocator>
+std::ostream& operator<<(std::ostream& s, const ::beginner_tutorials::DoDishesActionResult_<ContainerAllocator> & v)
+{
+ros::message_operations::Printer< ::beginner_tutorials::DoDishesActionResult_<ContainerAllocator> >::stream(s, "", v);
+return s;
+}
+
+} // namespace beginner_tutorials
+
+namespace ros
+{
+namespace message_traits
+{
+
+
+
+// BOOLTRAITS {'IsFixedSize': False, 'IsMessage': True, 'HasHeader': True}
+// {'beginner_tutorials': ['/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg'], 'std_msgs': ['/opt/ros/indigo/share/std_msgs/cmake/../msg'], 'actionlib_msgs': ['/opt/ros/indigo/share/actionlib_msgs/cmake/../msg'], 'geometry_msgs': ['/opt/ros/indigo/share/geometry_msgs/cmake/../msg']}
+
+// !!!!!!!!!!! ['__class__', '__delattr__', '__dict__', '__doc__', '__eq__', '__format__', '__getattribute__', '__hash__', '__init__', '__module__', '__ne__', '__new__', '__reduce__', '__reduce_ex__', '__repr__', '__setattr__', '__sizeof__', '__str__', '__subclasshook__', '__weakref__', '_parsed_fields', 'constants', 'fields', 'full_name', 'has_header', 'header_present', 'names', 'package', 'parsed_fields', 'short_name', 'text', 'types']
+
+
+
+
+template <class ContainerAllocator>
+struct IsFixedSize< ::beginner_tutorials::DoDishesActionResult_<ContainerAllocator> >
+  : FalseType
+  { };
+
+template <class ContainerAllocator>
+struct IsFixedSize< ::beginner_tutorials::DoDishesActionResult_<ContainerAllocator> const>
+  : FalseType
+  { };
+
+template <class ContainerAllocator>
+struct IsMessage< ::beginner_tutorials::DoDishesActionResult_<ContainerAllocator> >
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct IsMessage< ::beginner_tutorials::DoDishesActionResult_<ContainerAllocator> const>
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct HasHeader< ::beginner_tutorials::DoDishesActionResult_<ContainerAllocator> >
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct HasHeader< ::beginner_tutorials::DoDishesActionResult_<ContainerAllocator> const>
+  : TrueType
+  { };
+
+
+template<class ContainerAllocator>
+struct MD5Sum< ::beginner_tutorials::DoDishesActionResult_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "61019e447a1d83a4fa7410860a41f245";
+  }
+
+  static const char* value(const ::beginner_tutorials::DoDishesActionResult_<ContainerAllocator>&) { return value(); }
+  static const uint64_t static_value1 = 0x61019e447a1d83a4ULL;
+  static const uint64_t static_value2 = 0xfa7410860a41f245ULL;
+};
+
+template<class ContainerAllocator>
+struct DataType< ::beginner_tutorials::DoDishesActionResult_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "beginner_tutorials/DoDishesActionResult";
+  }
+
+  static const char* value(const ::beginner_tutorials::DoDishesActionResult_<ContainerAllocator>&) { return value(); }
+};
+
+template<class ContainerAllocator>
+struct Definition< ::beginner_tutorials::DoDishesActionResult_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
+\n\
+Header header\n\
+actionlib_msgs/GoalStatus status\n\
+DoDishesResult result\n\
+\n\
+================================================================================\n\
+MSG: std_msgs/Header\n\
+# Standard metadata for higher-level stamped data types.\n\
+# This is generally used to communicate timestamped data \n\
+# in a particular coordinate frame.\n\
+# \n\
+# sequence ID: consecutively increasing ID \n\
+uint32 seq\n\
+#Two-integer timestamp that is expressed as:\n\
+# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')\n\
+# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')\n\
+# time-handling sugar is provided by the client library\n\
+time stamp\n\
+#Frame this data is associated with\n\
+# 0: no frame\n\
+# 1: global frame\n\
+string frame_id\n\
+\n\
+================================================================================\n\
+MSG: actionlib_msgs/GoalStatus\n\
+GoalID goal_id\n\
+uint8 status\n\
+uint8 PENDING         = 0   # The goal has yet to be processed by the action server\n\
+uint8 ACTIVE          = 1   # The goal is currently being processed by the action server\n\
+uint8 PREEMPTED       = 2   # The goal received a cancel request after it started executing\n\
+                            #   and has since completed its execution (Terminal State)\n\
+uint8 SUCCEEDED       = 3   # The goal was achieved successfully by the action server (Terminal State)\n\
+uint8 ABORTED         = 4   # The goal was aborted during execution by the action server due\n\
+                            #    to some failure (Terminal State)\n\
+uint8 REJECTED        = 5   # The goal was rejected by the action server without being processed,\n\
+                            #    because the goal was unattainable or invalid (Terminal State)\n\
+uint8 PREEMPTING      = 6   # The goal received a cancel request after it started executing\n\
+                            #    and has not yet completed execution\n\
+uint8 RECALLING       = 7   # The goal received a cancel request before it started executing,\n\
+                            #    but the action server has not yet confirmed that the goal is canceled\n\
+uint8 RECALLED        = 8   # The goal received a cancel request before it started executing\n\
+                            #    and was successfully cancelled (Terminal State)\n\
+uint8 LOST            = 9   # An action client can determine that a goal is LOST. This should not be\n\
+                            #    sent over the wire by an action server\n\
+\n\
+#Allow for the user to associate a string with GoalStatus for debugging\n\
+string text\n\
+\n\
+\n\
+================================================================================\n\
+MSG: actionlib_msgs/GoalID\n\
+# The stamp should store the time at which this goal was requested.\n\
+# It is used by an action server when it tries to preempt all\n\
+# goals that were requested before a certain time\n\
+time stamp\n\
+\n\
+# The id provides a way to associate feedback and\n\
+# result message with specific goal requests. The id\n\
+# specified must be unique.\n\
+string id\n\
+\n\
+\n\
+================================================================================\n\
+MSG: beginner_tutorials/DoDishesResult\n\
+# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
+#Define the result\n\
+uint32 total_dishes_cleaned\n\
+";
+  }
+
+  static const char* value(const ::beginner_tutorials::DoDishesActionResult_<ContainerAllocator>&) { return value(); }
+};
+
+} // namespace message_traits
+} // namespace ros
+
+namespace ros
+{
+namespace serialization
+{
+
+  template<class ContainerAllocator> struct Serializer< ::beginner_tutorials::DoDishesActionResult_<ContainerAllocator> >
+  {
+    template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
+    {
+      stream.next(m.header);
+      stream.next(m.status);
+      stream.next(m.result);
+    }
+
+    ROS_DECLARE_ALLINONE_SERIALIZER;
+  }; // struct DoDishesActionResult_
+
+} // namespace serialization
+} // namespace ros
+
+namespace ros
+{
+namespace message_operations
+{
+
+template<class ContainerAllocator>
+struct Printer< ::beginner_tutorials::DoDishesActionResult_<ContainerAllocator> >
+{
+  template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::beginner_tutorials::DoDishesActionResult_<ContainerAllocator>& v)
+  {
+    s << indent << "header: ";
+    s << std::endl;
+    Printer< ::std_msgs::Header_<ContainerAllocator> >::stream(s, indent + "  ", v.header);
+    s << indent << "status: ";
+    s << std::endl;
+    Printer< ::actionlib_msgs::GoalStatus_<ContainerAllocator> >::stream(s, indent + "  ", v.status);
+    s << indent << "result: ";
+    s << std::endl;
+    Printer< ::beginner_tutorials::DoDishesResult_<ContainerAllocator> >::stream(s, indent + "  ", v.result);
+  }
+};
+
+} // namespace message_operations
+} // namespace ros
+
+#endif // BEGINNER_TUTORIALS_MESSAGE_DODISHESACTIONRESULT_H
diff --git a/20151007/devel/include/beginner_tutorials/DoDishesFeedback.h b/20151007/devel/include/beginner_tutorials/DoDishesFeedback.h
new file mode 100644
index 00000000..5664afa0
--- /dev/null
+++ b/20151007/devel/include/beginner_tutorials/DoDishesFeedback.h
@@ -0,0 +1,187 @@
+// Generated by gencpp from file beginner_tutorials/DoDishesFeedback.msg
+// DO NOT EDIT!
+
+
+#ifndef BEGINNER_TUTORIALS_MESSAGE_DODISHESFEEDBACK_H
+#define BEGINNER_TUTORIALS_MESSAGE_DODISHESFEEDBACK_H
+
+
+#include <string>
+#include <vector>
+#include <map>
+
+#include <ros/types.h>
+#include <ros/serialization.h>
+#include <ros/builtin_message_traits.h>
+#include <ros/message_operations.h>
+
+
+namespace beginner_tutorials
+{
+template <class ContainerAllocator>
+struct DoDishesFeedback_
+{
+  typedef DoDishesFeedback_<ContainerAllocator> Type;
+
+  DoDishesFeedback_()
+    : percent_complete(0.0)  {
+    }
+  DoDishesFeedback_(const ContainerAllocator& _alloc)
+    : percent_complete(0.0)  {
+    }
+
+
+
+   typedef float _percent_complete_type;
+  _percent_complete_type percent_complete;
+
+
+
+
+  typedef boost::shared_ptr< ::beginner_tutorials::DoDishesFeedback_<ContainerAllocator> > Ptr;
+  typedef boost::shared_ptr< ::beginner_tutorials::DoDishesFeedback_<ContainerAllocator> const> ConstPtr;
+
+}; // struct DoDishesFeedback_
+
+typedef ::beginner_tutorials::DoDishesFeedback_<std::allocator<void> > DoDishesFeedback;
+
+typedef boost::shared_ptr< ::beginner_tutorials::DoDishesFeedback > DoDishesFeedbackPtr;
+typedef boost::shared_ptr< ::beginner_tutorials::DoDishesFeedback const> DoDishesFeedbackConstPtr;
+
+// constants requiring out of line definition
+
+
+
+template<typename ContainerAllocator>
+std::ostream& operator<<(std::ostream& s, const ::beginner_tutorials::DoDishesFeedback_<ContainerAllocator> & v)
+{
+ros::message_operations::Printer< ::beginner_tutorials::DoDishesFeedback_<ContainerAllocator> >::stream(s, "", v);
+return s;
+}
+
+} // namespace beginner_tutorials
+
+namespace ros
+{
+namespace message_traits
+{
+
+
+
+// BOOLTRAITS {'IsFixedSize': True, 'IsMessage': True, 'HasHeader': False}
+// {'beginner_tutorials': ['/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg'], 'std_msgs': ['/opt/ros/indigo/share/std_msgs/cmake/../msg'], 'actionlib_msgs': ['/opt/ros/indigo/share/actionlib_msgs/cmake/../msg'], 'geometry_msgs': ['/opt/ros/indigo/share/geometry_msgs/cmake/../msg']}
+
+// !!!!!!!!!!! ['__class__', '__delattr__', '__dict__', '__doc__', '__eq__', '__format__', '__getattribute__', '__hash__', '__init__', '__module__', '__ne__', '__new__', '__reduce__', '__reduce_ex__', '__repr__', '__setattr__', '__sizeof__', '__str__', '__subclasshook__', '__weakref__', '_parsed_fields', 'constants', 'fields', 'full_name', 'has_header', 'header_present', 'names', 'package', 'parsed_fields', 'short_name', 'text', 'types']
+
+
+
+
+template <class ContainerAllocator>
+struct IsFixedSize< ::beginner_tutorials::DoDishesFeedback_<ContainerAllocator> >
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct IsFixedSize< ::beginner_tutorials::DoDishesFeedback_<ContainerAllocator> const>
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct IsMessage< ::beginner_tutorials::DoDishesFeedback_<ContainerAllocator> >
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct IsMessage< ::beginner_tutorials::DoDishesFeedback_<ContainerAllocator> const>
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct HasHeader< ::beginner_tutorials::DoDishesFeedback_<ContainerAllocator> >
+  : FalseType
+  { };
+
+template <class ContainerAllocator>
+struct HasHeader< ::beginner_tutorials::DoDishesFeedback_<ContainerAllocator> const>
+  : FalseType
+  { };
+
+
+template<class ContainerAllocator>
+struct MD5Sum< ::beginner_tutorials::DoDishesFeedback_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "d342375c60a5a58d3bc32664070a1368";
+  }
+
+  static const char* value(const ::beginner_tutorials::DoDishesFeedback_<ContainerAllocator>&) { return value(); }
+  static const uint64_t static_value1 = 0xd342375c60a5a58dULL;
+  static const uint64_t static_value2 = 0x3bc32664070a1368ULL;
+};
+
+template<class ContainerAllocator>
+struct DataType< ::beginner_tutorials::DoDishesFeedback_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "beginner_tutorials/DoDishesFeedback";
+  }
+
+  static const char* value(const ::beginner_tutorials::DoDishesFeedback_<ContainerAllocator>&) { return value(); }
+};
+
+template<class ContainerAllocator>
+struct Definition< ::beginner_tutorials::DoDishesFeedback_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
+#Define a feedback message\n\
+float32 percent_complete\n\
+";
+  }
+
+  static const char* value(const ::beginner_tutorials::DoDishesFeedback_<ContainerAllocator>&) { return value(); }
+};
+
+} // namespace message_traits
+} // namespace ros
+
+namespace ros
+{
+namespace serialization
+{
+
+  template<class ContainerAllocator> struct Serializer< ::beginner_tutorials::DoDishesFeedback_<ContainerAllocator> >
+  {
+    template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
+    {
+      stream.next(m.percent_complete);
+    }
+
+    ROS_DECLARE_ALLINONE_SERIALIZER;
+  }; // struct DoDishesFeedback_
+
+} // namespace serialization
+} // namespace ros
+
+namespace ros
+{
+namespace message_operations
+{
+
+template<class ContainerAllocator>
+struct Printer< ::beginner_tutorials::DoDishesFeedback_<ContainerAllocator> >
+{
+  template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::beginner_tutorials::DoDishesFeedback_<ContainerAllocator>& v)
+  {
+    s << indent << "percent_complete: ";
+    Printer<float>::stream(s, indent + "  ", v.percent_complete);
+  }
+};
+
+} // namespace message_operations
+} // namespace ros
+
+#endif // BEGINNER_TUTORIALS_MESSAGE_DODISHESFEEDBACK_H
diff --git a/20151007/devel/include/beginner_tutorials/DoDishesGoal.h b/20151007/devel/include/beginner_tutorials/DoDishesGoal.h
new file mode 100644
index 00000000..50fe5f02
--- /dev/null
+++ b/20151007/devel/include/beginner_tutorials/DoDishesGoal.h
@@ -0,0 +1,187 @@
+// Generated by gencpp from file beginner_tutorials/DoDishesGoal.msg
+// DO NOT EDIT!
+
+
+#ifndef BEGINNER_TUTORIALS_MESSAGE_DODISHESGOAL_H
+#define BEGINNER_TUTORIALS_MESSAGE_DODISHESGOAL_H
+
+
+#include <string>
+#include <vector>
+#include <map>
+
+#include <ros/types.h>
+#include <ros/serialization.h>
+#include <ros/builtin_message_traits.h>
+#include <ros/message_operations.h>
+
+
+namespace beginner_tutorials
+{
+template <class ContainerAllocator>
+struct DoDishesGoal_
+{
+  typedef DoDishesGoal_<ContainerAllocator> Type;
+
+  DoDishesGoal_()
+    : dishwasher_id(0)  {
+    }
+  DoDishesGoal_(const ContainerAllocator& _alloc)
+    : dishwasher_id(0)  {
+    }
+
+
+
+   typedef uint32_t _dishwasher_id_type;
+  _dishwasher_id_type dishwasher_id;
+
+
+
+
+  typedef boost::shared_ptr< ::beginner_tutorials::DoDishesGoal_<ContainerAllocator> > Ptr;
+  typedef boost::shared_ptr< ::beginner_tutorials::DoDishesGoal_<ContainerAllocator> const> ConstPtr;
+
+}; // struct DoDishesGoal_
+
+typedef ::beginner_tutorials::DoDishesGoal_<std::allocator<void> > DoDishesGoal;
+
+typedef boost::shared_ptr< ::beginner_tutorials::DoDishesGoal > DoDishesGoalPtr;
+typedef boost::shared_ptr< ::beginner_tutorials::DoDishesGoal const> DoDishesGoalConstPtr;
+
+// constants requiring out of line definition
+
+
+
+template<typename ContainerAllocator>
+std::ostream& operator<<(std::ostream& s, const ::beginner_tutorials::DoDishesGoal_<ContainerAllocator> & v)
+{
+ros::message_operations::Printer< ::beginner_tutorials::DoDishesGoal_<ContainerAllocator> >::stream(s, "", v);
+return s;
+}
+
+} // namespace beginner_tutorials
+
+namespace ros
+{
+namespace message_traits
+{
+
+
+
+// BOOLTRAITS {'IsFixedSize': True, 'IsMessage': True, 'HasHeader': False}
+// {'beginner_tutorials': ['/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg'], 'std_msgs': ['/opt/ros/indigo/share/std_msgs/cmake/../msg'], 'actionlib_msgs': ['/opt/ros/indigo/share/actionlib_msgs/cmake/../msg'], 'geometry_msgs': ['/opt/ros/indigo/share/geometry_msgs/cmake/../msg']}
+
+// !!!!!!!!!!! ['__class__', '__delattr__', '__dict__', '__doc__', '__eq__', '__format__', '__getattribute__', '__hash__', '__init__', '__module__', '__ne__', '__new__', '__reduce__', '__reduce_ex__', '__repr__', '__setattr__', '__sizeof__', '__str__', '__subclasshook__', '__weakref__', '_parsed_fields', 'constants', 'fields', 'full_name', 'has_header', 'header_present', 'names', 'package', 'parsed_fields', 'short_name', 'text', 'types']
+
+
+
+
+template <class ContainerAllocator>
+struct IsFixedSize< ::beginner_tutorials::DoDishesGoal_<ContainerAllocator> >
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct IsFixedSize< ::beginner_tutorials::DoDishesGoal_<ContainerAllocator> const>
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct IsMessage< ::beginner_tutorials::DoDishesGoal_<ContainerAllocator> >
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct IsMessage< ::beginner_tutorials::DoDishesGoal_<ContainerAllocator> const>
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct HasHeader< ::beginner_tutorials::DoDishesGoal_<ContainerAllocator> >
+  : FalseType
+  { };
+
+template <class ContainerAllocator>
+struct HasHeader< ::beginner_tutorials::DoDishesGoal_<ContainerAllocator> const>
+  : FalseType
+  { };
+
+
+template<class ContainerAllocator>
+struct MD5Sum< ::beginner_tutorials::DoDishesGoal_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "65bd9e09a531006f4ecdeabe719004b9";
+  }
+
+  static const char* value(const ::beginner_tutorials::DoDishesGoal_<ContainerAllocator>&) { return value(); }
+  static const uint64_t static_value1 = 0x65bd9e09a531006fULL;
+  static const uint64_t static_value2 = 0x4ecdeabe719004b9ULL;
+};
+
+template<class ContainerAllocator>
+struct DataType< ::beginner_tutorials::DoDishesGoal_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "beginner_tutorials/DoDishesGoal";
+  }
+
+  static const char* value(const ::beginner_tutorials::DoDishesGoal_<ContainerAllocator>&) { return value(); }
+};
+
+template<class ContainerAllocator>
+struct Definition< ::beginner_tutorials::DoDishesGoal_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
+#Define the goal\n\
+uint32 dishwasher_id #Specify which dishwasher we want to use\n\
+";
+  }
+
+  static const char* value(const ::beginner_tutorials::DoDishesGoal_<ContainerAllocator>&) { return value(); }
+};
+
+} // namespace message_traits
+} // namespace ros
+
+namespace ros
+{
+namespace serialization
+{
+
+  template<class ContainerAllocator> struct Serializer< ::beginner_tutorials::DoDishesGoal_<ContainerAllocator> >
+  {
+    template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
+    {
+      stream.next(m.dishwasher_id);
+    }
+
+    ROS_DECLARE_ALLINONE_SERIALIZER;
+  }; // struct DoDishesGoal_
+
+} // namespace serialization
+} // namespace ros
+
+namespace ros
+{
+namespace message_operations
+{
+
+template<class ContainerAllocator>
+struct Printer< ::beginner_tutorials::DoDishesGoal_<ContainerAllocator> >
+{
+  template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::beginner_tutorials::DoDishesGoal_<ContainerAllocator>& v)
+  {
+    s << indent << "dishwasher_id: ";
+    Printer<uint32_t>::stream(s, indent + "  ", v.dishwasher_id);
+  }
+};
+
+} // namespace message_operations
+} // namespace ros
+
+#endif // BEGINNER_TUTORIALS_MESSAGE_DODISHESGOAL_H
diff --git a/20151007/devel/include/beginner_tutorials/DoDishesResult.h b/20151007/devel/include/beginner_tutorials/DoDishesResult.h
new file mode 100644
index 00000000..b528aac9
--- /dev/null
+++ b/20151007/devel/include/beginner_tutorials/DoDishesResult.h
@@ -0,0 +1,187 @@
+// Generated by gencpp from file beginner_tutorials/DoDishesResult.msg
+// DO NOT EDIT!
+
+
+#ifndef BEGINNER_TUTORIALS_MESSAGE_DODISHESRESULT_H
+#define BEGINNER_TUTORIALS_MESSAGE_DODISHESRESULT_H
+
+
+#include <string>
+#include <vector>
+#include <map>
+
+#include <ros/types.h>
+#include <ros/serialization.h>
+#include <ros/builtin_message_traits.h>
+#include <ros/message_operations.h>
+
+
+namespace beginner_tutorials
+{
+template <class ContainerAllocator>
+struct DoDishesResult_
+{
+  typedef DoDishesResult_<ContainerAllocator> Type;
+
+  DoDishesResult_()
+    : total_dishes_cleaned(0)  {
+    }
+  DoDishesResult_(const ContainerAllocator& _alloc)
+    : total_dishes_cleaned(0)  {
+    }
+
+
+
+   typedef uint32_t _total_dishes_cleaned_type;
+  _total_dishes_cleaned_type total_dishes_cleaned;
+
+
+
+
+  typedef boost::shared_ptr< ::beginner_tutorials::DoDishesResult_<ContainerAllocator> > Ptr;
+  typedef boost::shared_ptr< ::beginner_tutorials::DoDishesResult_<ContainerAllocator> const> ConstPtr;
+
+}; // struct DoDishesResult_
+
+typedef ::beginner_tutorials::DoDishesResult_<std::allocator<void> > DoDishesResult;
+
+typedef boost::shared_ptr< ::beginner_tutorials::DoDishesResult > DoDishesResultPtr;
+typedef boost::shared_ptr< ::beginner_tutorials::DoDishesResult const> DoDishesResultConstPtr;
+
+// constants requiring out of line definition
+
+
+
+template<typename ContainerAllocator>
+std::ostream& operator<<(std::ostream& s, const ::beginner_tutorials::DoDishesResult_<ContainerAllocator> & v)
+{
+ros::message_operations::Printer< ::beginner_tutorials::DoDishesResult_<ContainerAllocator> >::stream(s, "", v);
+return s;
+}
+
+} // namespace beginner_tutorials
+
+namespace ros
+{
+namespace message_traits
+{
+
+
+
+// BOOLTRAITS {'IsFixedSize': True, 'IsMessage': True, 'HasHeader': False}
+// {'beginner_tutorials': ['/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg'], 'std_msgs': ['/opt/ros/indigo/share/std_msgs/cmake/../msg'], 'actionlib_msgs': ['/opt/ros/indigo/share/actionlib_msgs/cmake/../msg'], 'geometry_msgs': ['/opt/ros/indigo/share/geometry_msgs/cmake/../msg']}
+
+// !!!!!!!!!!! ['__class__', '__delattr__', '__dict__', '__doc__', '__eq__', '__format__', '__getattribute__', '__hash__', '__init__', '__module__', '__ne__', '__new__', '__reduce__', '__reduce_ex__', '__repr__', '__setattr__', '__sizeof__', '__str__', '__subclasshook__', '__weakref__', '_parsed_fields', 'constants', 'fields', 'full_name', 'has_header', 'header_present', 'names', 'package', 'parsed_fields', 'short_name', 'text', 'types']
+
+
+
+
+template <class ContainerAllocator>
+struct IsFixedSize< ::beginner_tutorials::DoDishesResult_<ContainerAllocator> >
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct IsFixedSize< ::beginner_tutorials::DoDishesResult_<ContainerAllocator> const>
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct IsMessage< ::beginner_tutorials::DoDishesResult_<ContainerAllocator> >
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct IsMessage< ::beginner_tutorials::DoDishesResult_<ContainerAllocator> const>
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct HasHeader< ::beginner_tutorials::DoDishesResult_<ContainerAllocator> >
+  : FalseType
+  { };
+
+template <class ContainerAllocator>
+struct HasHeader< ::beginner_tutorials::DoDishesResult_<ContainerAllocator> const>
+  : FalseType
+  { };
+
+
+template<class ContainerAllocator>
+struct MD5Sum< ::beginner_tutorials::DoDishesResult_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "58faa44dda59c6545bea63ff57491cbe";
+  }
+
+  static const char* value(const ::beginner_tutorials::DoDishesResult_<ContainerAllocator>&) { return value(); }
+  static const uint64_t static_value1 = 0x58faa44dda59c654ULL;
+  static const uint64_t static_value2 = 0x5bea63ff57491cbeULL;
+};
+
+template<class ContainerAllocator>
+struct DataType< ::beginner_tutorials::DoDishesResult_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "beginner_tutorials/DoDishesResult";
+  }
+
+  static const char* value(const ::beginner_tutorials::DoDishesResult_<ContainerAllocator>&) { return value(); }
+};
+
+template<class ContainerAllocator>
+struct Definition< ::beginner_tutorials::DoDishesResult_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
+#Define the result\n\
+uint32 total_dishes_cleaned\n\
+";
+  }
+
+  static const char* value(const ::beginner_tutorials::DoDishesResult_<ContainerAllocator>&) { return value(); }
+};
+
+} // namespace message_traits
+} // namespace ros
+
+namespace ros
+{
+namespace serialization
+{
+
+  template<class ContainerAllocator> struct Serializer< ::beginner_tutorials::DoDishesResult_<ContainerAllocator> >
+  {
+    template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
+    {
+      stream.next(m.total_dishes_cleaned);
+    }
+
+    ROS_DECLARE_ALLINONE_SERIALIZER;
+  }; // struct DoDishesResult_
+
+} // namespace serialization
+} // namespace ros
+
+namespace ros
+{
+namespace message_operations
+{
+
+template<class ContainerAllocator>
+struct Printer< ::beginner_tutorials::DoDishesResult_<ContainerAllocator> >
+{
+  template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::beginner_tutorials::DoDishesResult_<ContainerAllocator>& v)
+  {
+    s << indent << "total_dishes_cleaned: ";
+    Printer<uint32_t>::stream(s, indent + "  ", v.total_dishes_cleaned);
+  }
+};
+
+} // namespace message_operations
+} // namespace ros
+
+#endif // BEGINNER_TUTORIALS_MESSAGE_DODISHESRESULT_H
diff --git a/20151007/devel/lib/beginner_tutorials/add_two_ints_client b/20151007/devel/lib/beginner_tutorials/add_two_ints_client
new file mode 100755
index 00000000..b3db2083
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diff --git a/20151007/devel/lib/beginner_tutorials/add_two_ints_server b/20151007/devel/lib/beginner_tutorials/add_two_ints_server
new file mode 100755
index 00000000..a0dd7786
Binary files /dev/null and b/20151007/devel/lib/beginner_tutorials/add_two_ints_server differ
diff --git a/20151007/devel/lib/beginner_tutorials/listener b/20151007/devel/lib/beginner_tutorials/listener
new file mode 100755
index 00000000..a1ac86b3
Binary files /dev/null and b/20151007/devel/lib/beginner_tutorials/listener differ
diff --git a/20151007/devel/lib/beginner_tutorials/simple_action_client b/20151007/devel/lib/beginner_tutorials/simple_action_client
new file mode 100755
index 00000000..8d77a0f8
Binary files /dev/null and b/20151007/devel/lib/beginner_tutorials/simple_action_client differ
diff --git a/20151007/devel/lib/beginner_tutorials/simple_action_server b/20151007/devel/lib/beginner_tutorials/simple_action_server
new file mode 100755
index 00000000..d736b918
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diff --git a/20151007/devel/lib/beginner_tutorials/talker b/20151007/devel/lib/beginner_tutorials/talker
new file mode 100755
index 00000000..4774f526
Binary files /dev/null and b/20151007/devel/lib/beginner_tutorials/talker differ
diff --git a/20151007/devel/lib/pkgconfig/beginner_tutorials.pc b/20151007/devel/lib/pkgconfig/beginner_tutorials.pc
new file mode 100644
index 00000000..b4e20dca
--- /dev/null
+++ b/20151007/devel/lib/pkgconfig/beginner_tutorials.pc
@@ -0,0 +1,8 @@
+prefix=/home/mech-user/2015-soft3/20151007/devel
+
+Name: beginner_tutorials
+Description: Description of beginner_tutorials
+Version: 0.0.0
+Cflags: -I/home/mech-user/2015-soft3/20151007/devel/include
+Libs: -L/home/mech-user/2015-soft3/20151007/devel/lib 
+Requires: 
diff --git a/20151007/devel/lib/python2.7/dist-packages/beginner_tutorials/__init__.py b/20151007/devel/lib/python2.7/dist-packages/beginner_tutorials/__init__.py
new file mode 100644
index 00000000..e69de29b
diff --git a/20151007/devel/lib/python2.7/dist-packages/beginner_tutorials/__init__.pyc b/20151007/devel/lib/python2.7/dist-packages/beginner_tutorials/__init__.pyc
new file mode 100644
index 00000000..20f0cbef
Binary files /dev/null and b/20151007/devel/lib/python2.7/dist-packages/beginner_tutorials/__init__.pyc differ
diff --git a/20151007/devel/lib/python2.7/dist-packages/beginner_tutorials/msg/_DoDishesAction.py b/20151007/devel/lib/python2.7/dist-packages/beginner_tutorials/msg/_DoDishesAction.py
new file mode 100644
index 00000000..0ae4b55c
--- /dev/null
+++ b/20151007/devel/lib/python2.7/dist-packages/beginner_tutorials/msg/_DoDishesAction.py
@@ -0,0 +1,603 @@
+"""autogenerated by genpy from beginner_tutorials/DoDishesAction.msg. Do not edit."""
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+import beginner_tutorials.msg
+import genpy
+import actionlib_msgs.msg
+import std_msgs.msg
+
+class DoDishesAction(genpy.Message):
+  _md5sum = "7cf97263ad11380965ab1a0c44b4a7cf"
+  _type = "beginner_tutorials/DoDishesAction"
+  _has_header = False #flag to mark the presence of a Header object
+  _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
+
+DoDishesActionGoal action_goal
+DoDishesActionResult action_result
+DoDishesActionFeedback action_feedback
+
+================================================================================
+MSG: beginner_tutorials/DoDishesActionGoal
+# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
+
+Header header
+actionlib_msgs/GoalID goal_id
+DoDishesGoal goal
+
+================================================================================
+MSG: std_msgs/Header
+# Standard metadata for higher-level stamped data types.
+# This is generally used to communicate timestamped data 
+# in a particular coordinate frame.
+# 
+# sequence ID: consecutively increasing ID 
+uint32 seq
+#Two-integer timestamp that is expressed as:
+# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
+# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
+# time-handling sugar is provided by the client library
+time stamp
+#Frame this data is associated with
+# 0: no frame
+# 1: global frame
+string frame_id
+
+================================================================================
+MSG: actionlib_msgs/GoalID
+# The stamp should store the time at which this goal was requested.
+# It is used by an action server when it tries to preempt all
+# goals that were requested before a certain time
+time stamp
+
+# The id provides a way to associate feedback and
+# result message with specific goal requests. The id
+# specified must be unique.
+string id
+
+
+================================================================================
+MSG: beginner_tutorials/DoDishesGoal
+# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
+#Define the goal
+uint32 dishwasher_id #Specify which dishwasher we want to use
+
+================================================================================
+MSG: beginner_tutorials/DoDishesActionResult
+# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
+
+Header header
+actionlib_msgs/GoalStatus status
+DoDishesResult result
+
+================================================================================
+MSG: actionlib_msgs/GoalStatus
+GoalID goal_id
+uint8 status
+uint8 PENDING         = 0   # The goal has yet to be processed by the action server
+uint8 ACTIVE          = 1   # The goal is currently being processed by the action server
+uint8 PREEMPTED       = 2   # The goal received a cancel request after it started executing
+                            #   and has since completed its execution (Terminal State)
+uint8 SUCCEEDED       = 3   # The goal was achieved successfully by the action server (Terminal State)
+uint8 ABORTED         = 4   # The goal was aborted during execution by the action server due
+                            #    to some failure (Terminal State)
+uint8 REJECTED        = 5   # The goal was rejected by the action server without being processed,
+                            #    because the goal was unattainable or invalid (Terminal State)
+uint8 PREEMPTING      = 6   # The goal received a cancel request after it started executing
+                            #    and has not yet completed execution
+uint8 RECALLING       = 7   # The goal received a cancel request before it started executing,
+                            #    but the action server has not yet confirmed that the goal is canceled
+uint8 RECALLED        = 8   # The goal received a cancel request before it started executing
+                            #    and was successfully cancelled (Terminal State)
+uint8 LOST            = 9   # An action client can determine that a goal is LOST. This should not be
+                            #    sent over the wire by an action server
+
+#Allow for the user to associate a string with GoalStatus for debugging
+string text
+
+
+================================================================================
+MSG: beginner_tutorials/DoDishesResult
+# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
+#Define the result
+uint32 total_dishes_cleaned
+
+================================================================================
+MSG: beginner_tutorials/DoDishesActionFeedback
+# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
+
+Header header
+actionlib_msgs/GoalStatus status
+DoDishesFeedback feedback
+
+================================================================================
+MSG: beginner_tutorials/DoDishesFeedback
+# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
+#Define a feedback message
+float32 percent_complete
+
+"""
+  __slots__ = ['action_goal','action_result','action_feedback']
+  _slot_types = ['beginner_tutorials/DoDishesActionGoal','beginner_tutorials/DoDishesActionResult','beginner_tutorials/DoDishesActionFeedback']
+
+  def __init__(self, *args, **kwds):
+    """
+    Constructor. Any message fields that are implicitly/explicitly
+    set to None will be assigned a default value. The recommend
+    use is keyword arguments as this is more robust to future message
+    changes.  You cannot mix in-order arguments and keyword arguments.
+
+    The available fields are:
+       action_goal,action_result,action_feedback
+
+    :param args: complete set of field values, in .msg order
+    :param kwds: use keyword arguments corresponding to message field names
+    to set specific fields.
+    """
+    if args or kwds:
+      super(DoDishesAction, self).__init__(*args, **kwds)
+      #message fields cannot be None, assign default values for those that are
+      if self.action_goal is None:
+        self.action_goal = beginner_tutorials.msg.DoDishesActionGoal()
+      if self.action_result is None:
+        self.action_result = beginner_tutorials.msg.DoDishesActionResult()
+      if self.action_feedback is None:
+        self.action_feedback = beginner_tutorials.msg.DoDishesActionFeedback()
+    else:
+      self.action_goal = beginner_tutorials.msg.DoDishesActionGoal()
+      self.action_result = beginner_tutorials.msg.DoDishesActionResult()
+      self.action_feedback = beginner_tutorials.msg.DoDishesActionFeedback()
+
+  def _get_types(self):
+    """
+    internal API method
+    """
+    return self._slot_types
+
+  def serialize(self, buff):
+    """
+    serialize message into buffer
+    :param buff: buffer, ``StringIO``
+    """
+    try:
+      _x = self
+      buff.write(_struct_3I.pack(_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs))
+      _x = self.action_goal.header.frame_id
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      if python3:
+        buff.write(struct.pack('<I%sB'%length, length, *_x))
+      else:
+        buff.write(struct.pack('<I%ss'%length, length, _x))
+      _x = self
+      buff.write(_struct_2I.pack(_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs))
+      _x = self.action_goal.goal_id.id
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      if python3:
+        buff.write(struct.pack('<I%sB'%length, length, *_x))
+      else:
+        buff.write(struct.pack('<I%ss'%length, length, _x))
+      _x = self
+      buff.write(_struct_4I.pack(_x.action_goal.goal.dishwasher_id, _x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs))
+      _x = self.action_result.header.frame_id
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      if python3:
+        buff.write(struct.pack('<I%sB'%length, length, *_x))
+      else:
+        buff.write(struct.pack('<I%ss'%length, length, _x))
+      _x = self
+      buff.write(_struct_2I.pack(_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs))
+      _x = self.action_result.status.goal_id.id
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      if python3:
+        buff.write(struct.pack('<I%sB'%length, length, *_x))
+      else:
+        buff.write(struct.pack('<I%ss'%length, length, _x))
+      buff.write(_struct_B.pack(self.action_result.status.status))
+      _x = self.action_result.status.text
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      if python3:
+        buff.write(struct.pack('<I%sB'%length, length, *_x))
+      else:
+        buff.write(struct.pack('<I%ss'%length, length, _x))
+      _x = self
+      buff.write(_struct_4I.pack(_x.action_result.result.total_dishes_cleaned, _x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs))
+      _x = self.action_feedback.header.frame_id
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      if python3:
+        buff.write(struct.pack('<I%sB'%length, length, *_x))
+      else:
+        buff.write(struct.pack('<I%ss'%length, length, _x))
+      _x = self
+      buff.write(_struct_2I.pack(_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs))
+      _x = self.action_feedback.status.goal_id.id
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      if python3:
+        buff.write(struct.pack('<I%sB'%length, length, *_x))
+      else:
+        buff.write(struct.pack('<I%ss'%length, length, _x))
+      buff.write(_struct_B.pack(self.action_feedback.status.status))
+      _x = self.action_feedback.status.text
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      if python3:
+        buff.write(struct.pack('<I%sB'%length, length, *_x))
+      else:
+        buff.write(struct.pack('<I%ss'%length, length, _x))
+      buff.write(_struct_f.pack(self.action_feedback.feedback.percent_complete))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
+
+  def deserialize(self, str):
+    """
+    unpack serialized message in str into this message instance
+    :param str: byte array of serialized message, ``str``
+    """
+    try:
+      if self.action_goal is None:
+        self.action_goal = beginner_tutorials.msg.DoDishesActionGoal()
+      if self.action_result is None:
+        self.action_result = beginner_tutorials.msg.DoDishesActionResult()
+      if self.action_feedback is None:
+        self.action_feedback = beginner_tutorials.msg.DoDishesActionFeedback()
+      end = 0
+      _x = self
+      start = end
+      end += 12
+      (_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.action_goal.header.frame_id = str[start:end].decode('utf-8')
+      else:
+        self.action_goal.header.frame_id = str[start:end]
+      _x = self
+      start = end
+      end += 8
+      (_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.action_goal.goal_id.id = str[start:end].decode('utf-8')
+      else:
+        self.action_goal.goal_id.id = str[start:end]
+      _x = self
+      start = end
+      end += 16
+      (_x.action_goal.goal.dishwasher_id, _x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs,) = _struct_4I.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.action_result.header.frame_id = str[start:end].decode('utf-8')
+      else:
+        self.action_result.header.frame_id = str[start:end]
+      _x = self
+      start = end
+      end += 8
+      (_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.action_result.status.goal_id.id = str[start:end].decode('utf-8')
+      else:
+        self.action_result.status.goal_id.id = str[start:end]
+      start = end
+      end += 1
+      (self.action_result.status.status,) = _struct_B.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.action_result.status.text = str[start:end].decode('utf-8')
+      else:
+        self.action_result.status.text = str[start:end]
+      _x = self
+      start = end
+      end += 16
+      (_x.action_result.result.total_dishes_cleaned, _x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs,) = _struct_4I.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.action_feedback.header.frame_id = str[start:end].decode('utf-8')
+      else:
+        self.action_feedback.header.frame_id = str[start:end]
+      _x = self
+      start = end
+      end += 8
+      (_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.action_feedback.status.goal_id.id = str[start:end].decode('utf-8')
+      else:
+        self.action_feedback.status.goal_id.id = str[start:end]
+      start = end
+      end += 1
+      (self.action_feedback.status.status,) = _struct_B.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.action_feedback.status.text = str[start:end].decode('utf-8')
+      else:
+        self.action_feedback.status.text = str[start:end]
+      start = end
+      end += 4
+      (self.action_feedback.feedback.percent_complete,) = _struct_f.unpack(str[start:end])
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e) #most likely buffer underfill
+
+
+  def serialize_numpy(self, buff, numpy):
+    """
+    serialize message with numpy array types into buffer
+    :param buff: buffer, ``StringIO``
+    :param numpy: numpy python module
+    """
+    try:
+      _x = self
+      buff.write(_struct_3I.pack(_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs))
+      _x = self.action_goal.header.frame_id
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      if python3:
+        buff.write(struct.pack('<I%sB'%length, length, *_x))
+      else:
+        buff.write(struct.pack('<I%ss'%length, length, _x))
+      _x = self
+      buff.write(_struct_2I.pack(_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs))
+      _x = self.action_goal.goal_id.id
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      if python3:
+        buff.write(struct.pack('<I%sB'%length, length, *_x))
+      else:
+        buff.write(struct.pack('<I%ss'%length, length, _x))
+      _x = self
+      buff.write(_struct_4I.pack(_x.action_goal.goal.dishwasher_id, _x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs))
+      _x = self.action_result.header.frame_id
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      if python3:
+        buff.write(struct.pack('<I%sB'%length, length, *_x))
+      else:
+        buff.write(struct.pack('<I%ss'%length, length, _x))
+      _x = self
+      buff.write(_struct_2I.pack(_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs))
+      _x = self.action_result.status.goal_id.id
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      if python3:
+        buff.write(struct.pack('<I%sB'%length, length, *_x))
+      else:
+        buff.write(struct.pack('<I%ss'%length, length, _x))
+      buff.write(_struct_B.pack(self.action_result.status.status))
+      _x = self.action_result.status.text
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      if python3:
+        buff.write(struct.pack('<I%sB'%length, length, *_x))
+      else:
+        buff.write(struct.pack('<I%ss'%length, length, _x))
+      _x = self
+      buff.write(_struct_4I.pack(_x.action_result.result.total_dishes_cleaned, _x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs))
+      _x = self.action_feedback.header.frame_id
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      if python3:
+        buff.write(struct.pack('<I%sB'%length, length, *_x))
+      else:
+        buff.write(struct.pack('<I%ss'%length, length, _x))
+      _x = self
+      buff.write(_struct_2I.pack(_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs))
+      _x = self.action_feedback.status.goal_id.id
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      if python3:
+        buff.write(struct.pack('<I%sB'%length, length, *_x))
+      else:
+        buff.write(struct.pack('<I%ss'%length, length, _x))
+      buff.write(_struct_B.pack(self.action_feedback.status.status))
+      _x = self.action_feedback.status.text
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      if python3:
+        buff.write(struct.pack('<I%sB'%length, length, *_x))
+      else:
+        buff.write(struct.pack('<I%ss'%length, length, _x))
+      buff.write(_struct_f.pack(self.action_feedback.feedback.percent_complete))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
+
+  def deserialize_numpy(self, str, numpy):
+    """
+    unpack serialized message in str into this message instance using numpy for array types
+    :param str: byte array of serialized message, ``str``
+    :param numpy: numpy python module
+    """
+    try:
+      if self.action_goal is None:
+        self.action_goal = beginner_tutorials.msg.DoDishesActionGoal()
+      if self.action_result is None:
+        self.action_result = beginner_tutorials.msg.DoDishesActionResult()
+      if self.action_feedback is None:
+        self.action_feedback = beginner_tutorials.msg.DoDishesActionFeedback()
+      end = 0
+      _x = self
+      start = end
+      end += 12
+      (_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.action_goal.header.frame_id = str[start:end].decode('utf-8')
+      else:
+        self.action_goal.header.frame_id = str[start:end]
+      _x = self
+      start = end
+      end += 8
+      (_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.action_goal.goal_id.id = str[start:end].decode('utf-8')
+      else:
+        self.action_goal.goal_id.id = str[start:end]
+      _x = self
+      start = end
+      end += 16
+      (_x.action_goal.goal.dishwasher_id, _x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs,) = _struct_4I.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.action_result.header.frame_id = str[start:end].decode('utf-8')
+      else:
+        self.action_result.header.frame_id = str[start:end]
+      _x = self
+      start = end
+      end += 8
+      (_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.action_result.status.goal_id.id = str[start:end].decode('utf-8')
+      else:
+        self.action_result.status.goal_id.id = str[start:end]
+      start = end
+      end += 1
+      (self.action_result.status.status,) = _struct_B.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.action_result.status.text = str[start:end].decode('utf-8')
+      else:
+        self.action_result.status.text = str[start:end]
+      _x = self
+      start = end
+      end += 16
+      (_x.action_result.result.total_dishes_cleaned, _x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs,) = _struct_4I.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.action_feedback.header.frame_id = str[start:end].decode('utf-8')
+      else:
+        self.action_feedback.header.frame_id = str[start:end]
+      _x = self
+      start = end
+      end += 8
+      (_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.action_feedback.status.goal_id.id = str[start:end].decode('utf-8')
+      else:
+        self.action_feedback.status.goal_id.id = str[start:end]
+      start = end
+      end += 1
+      (self.action_feedback.status.status,) = _struct_B.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.action_feedback.status.text = str[start:end].decode('utf-8')
+      else:
+        self.action_feedback.status.text = str[start:end]
+      start = end
+      end += 4
+      (self.action_feedback.feedback.percent_complete,) = _struct_f.unpack(str[start:end])
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e) #most likely buffer underfill
+
+_struct_I = genpy.struct_I
+_struct_3I = struct.Struct("<3I")
+_struct_B = struct.Struct("<B")
+_struct_2I = struct.Struct("<2I")
+_struct_f = struct.Struct("<f")
+_struct_4I = struct.Struct("<4I")
diff --git a/20151007/devel/lib/python2.7/dist-packages/beginner_tutorials/msg/_DoDishesAction.pyc b/20151007/devel/lib/python2.7/dist-packages/beginner_tutorials/msg/_DoDishesAction.pyc
new file mode 100644
index 00000000..76a31a85
Binary files /dev/null and b/20151007/devel/lib/python2.7/dist-packages/beginner_tutorials/msg/_DoDishesAction.pyc differ
diff --git a/20151007/devel/lib/python2.7/dist-packages/beginner_tutorials/msg/_DoDishesActionFeedback.py b/20151007/devel/lib/python2.7/dist-packages/beginner_tutorials/msg/_DoDishesActionFeedback.py
new file mode 100644
index 00000000..3c27ca6c
--- /dev/null
+++ b/20151007/devel/lib/python2.7/dist-packages/beginner_tutorials/msg/_DoDishesActionFeedback.py
@@ -0,0 +1,330 @@
+"""autogenerated by genpy from beginner_tutorials/DoDishesActionFeedback.msg. Do not edit."""
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+import beginner_tutorials.msg
+import genpy
+import actionlib_msgs.msg
+import std_msgs.msg
+
+class DoDishesActionFeedback(genpy.Message):
+  _md5sum = "25bfb21ced59f4f9490772d56f6961f4"
+  _type = "beginner_tutorials/DoDishesActionFeedback"
+  _has_header = True #flag to mark the presence of a Header object
+  _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
+
+Header header
+actionlib_msgs/GoalStatus status
+DoDishesFeedback feedback
+
+================================================================================
+MSG: std_msgs/Header
+# Standard metadata for higher-level stamped data types.
+# This is generally used to communicate timestamped data 
+# in a particular coordinate frame.
+# 
+# sequence ID: consecutively increasing ID 
+uint32 seq
+#Two-integer timestamp that is expressed as:
+# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
+# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
+# time-handling sugar is provided by the client library
+time stamp
+#Frame this data is associated with
+# 0: no frame
+# 1: global frame
+string frame_id
+
+================================================================================
+MSG: actionlib_msgs/GoalStatus
+GoalID goal_id
+uint8 status
+uint8 PENDING         = 0   # The goal has yet to be processed by the action server
+uint8 ACTIVE          = 1   # The goal is currently being processed by the action server
+uint8 PREEMPTED       = 2   # The goal received a cancel request after it started executing
+                            #   and has since completed its execution (Terminal State)
+uint8 SUCCEEDED       = 3   # The goal was achieved successfully by the action server (Terminal State)
+uint8 ABORTED         = 4   # The goal was aborted during execution by the action server due
+                            #    to some failure (Terminal State)
+uint8 REJECTED        = 5   # The goal was rejected by the action server without being processed,
+                            #    because the goal was unattainable or invalid (Terminal State)
+uint8 PREEMPTING      = 6   # The goal received a cancel request after it started executing
+                            #    and has not yet completed execution
+uint8 RECALLING       = 7   # The goal received a cancel request before it started executing,
+                            #    but the action server has not yet confirmed that the goal is canceled
+uint8 RECALLED        = 8   # The goal received a cancel request before it started executing
+                            #    and was successfully cancelled (Terminal State)
+uint8 LOST            = 9   # An action client can determine that a goal is LOST. This should not be
+                            #    sent over the wire by an action server
+
+#Allow for the user to associate a string with GoalStatus for debugging
+string text
+
+
+================================================================================
+MSG: actionlib_msgs/GoalID
+# The stamp should store the time at which this goal was requested.
+# It is used by an action server when it tries to preempt all
+# goals that were requested before a certain time
+time stamp
+
+# The id provides a way to associate feedback and
+# result message with specific goal requests. The id
+# specified must be unique.
+string id
+
+
+================================================================================
+MSG: beginner_tutorials/DoDishesFeedback
+# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
+#Define a feedback message
+float32 percent_complete
+
+"""
+  __slots__ = ['header','status','feedback']
+  _slot_types = ['std_msgs/Header','actionlib_msgs/GoalStatus','beginner_tutorials/DoDishesFeedback']
+
+  def __init__(self, *args, **kwds):
+    """
+    Constructor. Any message fields that are implicitly/explicitly
+    set to None will be assigned a default value. The recommend
+    use is keyword arguments as this is more robust to future message
+    changes.  You cannot mix in-order arguments and keyword arguments.
+
+    The available fields are:
+       header,status,feedback
+
+    :param args: complete set of field values, in .msg order
+    :param kwds: use keyword arguments corresponding to message field names
+    to set specific fields.
+    """
+    if args or kwds:
+      super(DoDishesActionFeedback, self).__init__(*args, **kwds)
+      #message fields cannot be None, assign default values for those that are
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      if self.status is None:
+        self.status = actionlib_msgs.msg.GoalStatus()
+      if self.feedback is None:
+        self.feedback = beginner_tutorials.msg.DoDishesFeedback()
+    else:
+      self.header = std_msgs.msg.Header()
+      self.status = actionlib_msgs.msg.GoalStatus()
+      self.feedback = beginner_tutorials.msg.DoDishesFeedback()
+
+  def _get_types(self):
+    """
+    internal API method
+    """
+    return self._slot_types
+
+  def serialize(self, buff):
+    """
+    serialize message into buffer
+    :param buff: buffer, ``StringIO``
+    """
+    try:
+      _x = self
+      buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
+      _x = self.header.frame_id
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      if python3:
+        buff.write(struct.pack('<I%sB'%length, length, *_x))
+      else:
+        buff.write(struct.pack('<I%ss'%length, length, _x))
+      _x = self
+      buff.write(_struct_2I.pack(_x.status.goal_id.stamp.secs, _x.status.goal_id.stamp.nsecs))
+      _x = self.status.goal_id.id
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      if python3:
+        buff.write(struct.pack('<I%sB'%length, length, *_x))
+      else:
+        buff.write(struct.pack('<I%ss'%length, length, _x))
+      buff.write(_struct_B.pack(self.status.status))
+      _x = self.status.text
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      if python3:
+        buff.write(struct.pack('<I%sB'%length, length, *_x))
+      else:
+        buff.write(struct.pack('<I%ss'%length, length, _x))
+      buff.write(_struct_f.pack(self.feedback.percent_complete))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
+
+  def deserialize(self, str):
+    """
+    unpack serialized message in str into this message instance
+    :param str: byte array of serialized message, ``str``
+    """
+    try:
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      if self.status is None:
+        self.status = actionlib_msgs.msg.GoalStatus()
+      if self.feedback is None:
+        self.feedback = beginner_tutorials.msg.DoDishesFeedback()
+      end = 0
+      _x = self
+      start = end
+      end += 12
+      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.header.frame_id = str[start:end].decode('utf-8')
+      else:
+        self.header.frame_id = str[start:end]
+      _x = self
+      start = end
+      end += 8
+      (_x.status.goal_id.stamp.secs, _x.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.status.goal_id.id = str[start:end].decode('utf-8')
+      else:
+        self.status.goal_id.id = str[start:end]
+      start = end
+      end += 1
+      (self.status.status,) = _struct_B.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.status.text = str[start:end].decode('utf-8')
+      else:
+        self.status.text = str[start:end]
+      start = end
+      end += 4
+      (self.feedback.percent_complete,) = _struct_f.unpack(str[start:end])
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e) #most likely buffer underfill
+
+
+  def serialize_numpy(self, buff, numpy):
+    """
+    serialize message with numpy array types into buffer
+    :param buff: buffer, ``StringIO``
+    :param numpy: numpy python module
+    """
+    try:
+      _x = self
+      buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
+      _x = self.header.frame_id
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      if python3:
+        buff.write(struct.pack('<I%sB'%length, length, *_x))
+      else:
+        buff.write(struct.pack('<I%ss'%length, length, _x))
+      _x = self
+      buff.write(_struct_2I.pack(_x.status.goal_id.stamp.secs, _x.status.goal_id.stamp.nsecs))
+      _x = self.status.goal_id.id
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      if python3:
+        buff.write(struct.pack('<I%sB'%length, length, *_x))
+      else:
+        buff.write(struct.pack('<I%ss'%length, length, _x))
+      buff.write(_struct_B.pack(self.status.status))
+      _x = self.status.text
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      if python3:
+        buff.write(struct.pack('<I%sB'%length, length, *_x))
+      else:
+        buff.write(struct.pack('<I%ss'%length, length, _x))
+      buff.write(_struct_f.pack(self.feedback.percent_complete))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
+
+  def deserialize_numpy(self, str, numpy):
+    """
+    unpack serialized message in str into this message instance using numpy for array types
+    :param str: byte array of serialized message, ``str``
+    :param numpy: numpy python module
+    """
+    try:
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      if self.status is None:
+        self.status = actionlib_msgs.msg.GoalStatus()
+      if self.feedback is None:
+        self.feedback = beginner_tutorials.msg.DoDishesFeedback()
+      end = 0
+      _x = self
+      start = end
+      end += 12
+      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.header.frame_id = str[start:end].decode('utf-8')
+      else:
+        self.header.frame_id = str[start:end]
+      _x = self
+      start = end
+      end += 8
+      (_x.status.goal_id.stamp.secs, _x.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.status.goal_id.id = str[start:end].decode('utf-8')
+      else:
+        self.status.goal_id.id = str[start:end]
+      start = end
+      end += 1
+      (self.status.status,) = _struct_B.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.status.text = str[start:end].decode('utf-8')
+      else:
+        self.status.text = str[start:end]
+      start = end
+      end += 4
+      (self.feedback.percent_complete,) = _struct_f.unpack(str[start:end])
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e) #most likely buffer underfill
+
+_struct_I = genpy.struct_I
+_struct_3I = struct.Struct("<3I")
+_struct_B = struct.Struct("<B")
+_struct_2I = struct.Struct("<2I")
+_struct_f = struct.Struct("<f")
diff --git a/20151007/devel/lib/python2.7/dist-packages/beginner_tutorials/msg/_DoDishesActionFeedback.pyc b/20151007/devel/lib/python2.7/dist-packages/beginner_tutorials/msg/_DoDishesActionFeedback.pyc
new file mode 100644
index 00000000..c646c860
Binary files /dev/null and b/20151007/devel/lib/python2.7/dist-packages/beginner_tutorials/msg/_DoDishesActionFeedback.pyc differ
diff --git a/20151007/devel/lib/python2.7/dist-packages/beginner_tutorials/msg/_DoDishesActionGoal.py b/20151007/devel/lib/python2.7/dist-packages/beginner_tutorials/msg/_DoDishesActionGoal.py
new file mode 100644
index 00000000..22e3c449
--- /dev/null
+++ b/20151007/devel/lib/python2.7/dist-packages/beginner_tutorials/msg/_DoDishesActionGoal.py
@@ -0,0 +1,258 @@
+"""autogenerated by genpy from beginner_tutorials/DoDishesActionGoal.msg. Do not edit."""
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+import beginner_tutorials.msg
+import genpy
+import actionlib_msgs.msg
+import std_msgs.msg
+
+class DoDishesActionGoal(genpy.Message):
+  _md5sum = "83f2a96811c1f4ed2d6e73eb983a3cb9"
+  _type = "beginner_tutorials/DoDishesActionGoal"
+  _has_header = True #flag to mark the presence of a Header object
+  _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
+
+Header header
+actionlib_msgs/GoalID goal_id
+DoDishesGoal goal
+
+================================================================================
+MSG: std_msgs/Header
+# Standard metadata for higher-level stamped data types.
+# This is generally used to communicate timestamped data 
+# in a particular coordinate frame.
+# 
+# sequence ID: consecutively increasing ID 
+uint32 seq
+#Two-integer timestamp that is expressed as:
+# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
+# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
+# time-handling sugar is provided by the client library
+time stamp
+#Frame this data is associated with
+# 0: no frame
+# 1: global frame
+string frame_id
+
+================================================================================
+MSG: actionlib_msgs/GoalID
+# The stamp should store the time at which this goal was requested.
+# It is used by an action server when it tries to preempt all
+# goals that were requested before a certain time
+time stamp
+
+# The id provides a way to associate feedback and
+# result message with specific goal requests. The id
+# specified must be unique.
+string id
+
+
+================================================================================
+MSG: beginner_tutorials/DoDishesGoal
+# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
+#Define the goal
+uint32 dishwasher_id #Specify which dishwasher we want to use
+
+"""
+  __slots__ = ['header','goal_id','goal']
+  _slot_types = ['std_msgs/Header','actionlib_msgs/GoalID','beginner_tutorials/DoDishesGoal']
+
+  def __init__(self, *args, **kwds):
+    """
+    Constructor. Any message fields that are implicitly/explicitly
+    set to None will be assigned a default value. The recommend
+    use is keyword arguments as this is more robust to future message
+    changes.  You cannot mix in-order arguments and keyword arguments.
+
+    The available fields are:
+       header,goal_id,goal
+
+    :param args: complete set of field values, in .msg order
+    :param kwds: use keyword arguments corresponding to message field names
+    to set specific fields.
+    """
+    if args or kwds:
+      super(DoDishesActionGoal, self).__init__(*args, **kwds)
+      #message fields cannot be None, assign default values for those that are
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      if self.goal_id is None:
+        self.goal_id = actionlib_msgs.msg.GoalID()
+      if self.goal is None:
+        self.goal = beginner_tutorials.msg.DoDishesGoal()
+    else:
+      self.header = std_msgs.msg.Header()
+      self.goal_id = actionlib_msgs.msg.GoalID()
+      self.goal = beginner_tutorials.msg.DoDishesGoal()
+
+  def _get_types(self):
+    """
+    internal API method
+    """
+    return self._slot_types
+
+  def serialize(self, buff):
+    """
+    serialize message into buffer
+    :param buff: buffer, ``StringIO``
+    """
+    try:
+      _x = self
+      buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
+      _x = self.header.frame_id
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      if python3:
+        buff.write(struct.pack('<I%sB'%length, length, *_x))
+      else:
+        buff.write(struct.pack('<I%ss'%length, length, _x))
+      _x = self
+      buff.write(_struct_2I.pack(_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs))
+      _x = self.goal_id.id
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      if python3:
+        buff.write(struct.pack('<I%sB'%length, length, *_x))
+      else:
+        buff.write(struct.pack('<I%ss'%length, length, _x))
+      buff.write(_struct_I.pack(self.goal.dishwasher_id))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
+
+  def deserialize(self, str):
+    """
+    unpack serialized message in str into this message instance
+    :param str: byte array of serialized message, ``str``
+    """
+    try:
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      if self.goal_id is None:
+        self.goal_id = actionlib_msgs.msg.GoalID()
+      if self.goal is None:
+        self.goal = beginner_tutorials.msg.DoDishesGoal()
+      end = 0
+      _x = self
+      start = end
+      end += 12
+      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.header.frame_id = str[start:end].decode('utf-8')
+      else:
+        self.header.frame_id = str[start:end]
+      _x = self
+      start = end
+      end += 8
+      (_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.goal_id.id = str[start:end].decode('utf-8')
+      else:
+        self.goal_id.id = str[start:end]
+      start = end
+      end += 4
+      (self.goal.dishwasher_id,) = _struct_I.unpack(str[start:end])
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e) #most likely buffer underfill
+
+
+  def serialize_numpy(self, buff, numpy):
+    """
+    serialize message with numpy array types into buffer
+    :param buff: buffer, ``StringIO``
+    :param numpy: numpy python module
+    """
+    try:
+      _x = self
+      buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
+      _x = self.header.frame_id
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      if python3:
+        buff.write(struct.pack('<I%sB'%length, length, *_x))
+      else:
+        buff.write(struct.pack('<I%ss'%length, length, _x))
+      _x = self
+      buff.write(_struct_2I.pack(_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs))
+      _x = self.goal_id.id
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      if python3:
+        buff.write(struct.pack('<I%sB'%length, length, *_x))
+      else:
+        buff.write(struct.pack('<I%ss'%length, length, _x))
+      buff.write(_struct_I.pack(self.goal.dishwasher_id))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
+
+  def deserialize_numpy(self, str, numpy):
+    """
+    unpack serialized message in str into this message instance using numpy for array types
+    :param str: byte array of serialized message, ``str``
+    :param numpy: numpy python module
+    """
+    try:
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      if self.goal_id is None:
+        self.goal_id = actionlib_msgs.msg.GoalID()
+      if self.goal is None:
+        self.goal = beginner_tutorials.msg.DoDishesGoal()
+      end = 0
+      _x = self
+      start = end
+      end += 12
+      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.header.frame_id = str[start:end].decode('utf-8')
+      else:
+        self.header.frame_id = str[start:end]
+      _x = self
+      start = end
+      end += 8
+      (_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.goal_id.id = str[start:end].decode('utf-8')
+      else:
+        self.goal_id.id = str[start:end]
+      start = end
+      end += 4
+      (self.goal.dishwasher_id,) = _struct_I.unpack(str[start:end])
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e) #most likely buffer underfill
+
+_struct_I = genpy.struct_I
+_struct_3I = struct.Struct("<3I")
+_struct_2I = struct.Struct("<2I")
diff --git a/20151007/devel/lib/python2.7/dist-packages/beginner_tutorials/msg/_DoDishesActionGoal.pyc b/20151007/devel/lib/python2.7/dist-packages/beginner_tutorials/msg/_DoDishesActionGoal.pyc
new file mode 100644
index 00000000..6c07880d
Binary files /dev/null and b/20151007/devel/lib/python2.7/dist-packages/beginner_tutorials/msg/_DoDishesActionGoal.pyc differ
diff --git a/20151007/devel/lib/python2.7/dist-packages/beginner_tutorials/msg/_DoDishesActionResult.py b/20151007/devel/lib/python2.7/dist-packages/beginner_tutorials/msg/_DoDishesActionResult.py
new file mode 100644
index 00000000..d79a8793
--- /dev/null
+++ b/20151007/devel/lib/python2.7/dist-packages/beginner_tutorials/msg/_DoDishesActionResult.py
@@ -0,0 +1,329 @@
+"""autogenerated by genpy from beginner_tutorials/DoDishesActionResult.msg. Do not edit."""
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+import beginner_tutorials.msg
+import genpy
+import actionlib_msgs.msg
+import std_msgs.msg
+
+class DoDishesActionResult(genpy.Message):
+  _md5sum = "61019e447a1d83a4fa7410860a41f245"
+  _type = "beginner_tutorials/DoDishesActionResult"
+  _has_header = True #flag to mark the presence of a Header object
+  _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
+
+Header header
+actionlib_msgs/GoalStatus status
+DoDishesResult result
+
+================================================================================
+MSG: std_msgs/Header
+# Standard metadata for higher-level stamped data types.
+# This is generally used to communicate timestamped data 
+# in a particular coordinate frame.
+# 
+# sequence ID: consecutively increasing ID 
+uint32 seq
+#Two-integer timestamp that is expressed as:
+# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
+# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
+# time-handling sugar is provided by the client library
+time stamp
+#Frame this data is associated with
+# 0: no frame
+# 1: global frame
+string frame_id
+
+================================================================================
+MSG: actionlib_msgs/GoalStatus
+GoalID goal_id
+uint8 status
+uint8 PENDING         = 0   # The goal has yet to be processed by the action server
+uint8 ACTIVE          = 1   # The goal is currently being processed by the action server
+uint8 PREEMPTED       = 2   # The goal received a cancel request after it started executing
+                            #   and has since completed its execution (Terminal State)
+uint8 SUCCEEDED       = 3   # The goal was achieved successfully by the action server (Terminal State)
+uint8 ABORTED         = 4   # The goal was aborted during execution by the action server due
+                            #    to some failure (Terminal State)
+uint8 REJECTED        = 5   # The goal was rejected by the action server without being processed,
+                            #    because the goal was unattainable or invalid (Terminal State)
+uint8 PREEMPTING      = 6   # The goal received a cancel request after it started executing
+                            #    and has not yet completed execution
+uint8 RECALLING       = 7   # The goal received a cancel request before it started executing,
+                            #    but the action server has not yet confirmed that the goal is canceled
+uint8 RECALLED        = 8   # The goal received a cancel request before it started executing
+                            #    and was successfully cancelled (Terminal State)
+uint8 LOST            = 9   # An action client can determine that a goal is LOST. This should not be
+                            #    sent over the wire by an action server
+
+#Allow for the user to associate a string with GoalStatus for debugging
+string text
+
+
+================================================================================
+MSG: actionlib_msgs/GoalID
+# The stamp should store the time at which this goal was requested.
+# It is used by an action server when it tries to preempt all
+# goals that were requested before a certain time
+time stamp
+
+# The id provides a way to associate feedback and
+# result message with specific goal requests. The id
+# specified must be unique.
+string id
+
+
+================================================================================
+MSG: beginner_tutorials/DoDishesResult
+# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
+#Define the result
+uint32 total_dishes_cleaned
+
+"""
+  __slots__ = ['header','status','result']
+  _slot_types = ['std_msgs/Header','actionlib_msgs/GoalStatus','beginner_tutorials/DoDishesResult']
+
+  def __init__(self, *args, **kwds):
+    """
+    Constructor. Any message fields that are implicitly/explicitly
+    set to None will be assigned a default value. The recommend
+    use is keyword arguments as this is more robust to future message
+    changes.  You cannot mix in-order arguments and keyword arguments.
+
+    The available fields are:
+       header,status,result
+
+    :param args: complete set of field values, in .msg order
+    :param kwds: use keyword arguments corresponding to message field names
+    to set specific fields.
+    """
+    if args or kwds:
+      super(DoDishesActionResult, self).__init__(*args, **kwds)
+      #message fields cannot be None, assign default values for those that are
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      if self.status is None:
+        self.status = actionlib_msgs.msg.GoalStatus()
+      if self.result is None:
+        self.result = beginner_tutorials.msg.DoDishesResult()
+    else:
+      self.header = std_msgs.msg.Header()
+      self.status = actionlib_msgs.msg.GoalStatus()
+      self.result = beginner_tutorials.msg.DoDishesResult()
+
+  def _get_types(self):
+    """
+    internal API method
+    """
+    return self._slot_types
+
+  def serialize(self, buff):
+    """
+    serialize message into buffer
+    :param buff: buffer, ``StringIO``
+    """
+    try:
+      _x = self
+      buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
+      _x = self.header.frame_id
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      if python3:
+        buff.write(struct.pack('<I%sB'%length, length, *_x))
+      else:
+        buff.write(struct.pack('<I%ss'%length, length, _x))
+      _x = self
+      buff.write(_struct_2I.pack(_x.status.goal_id.stamp.secs, _x.status.goal_id.stamp.nsecs))
+      _x = self.status.goal_id.id
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      if python3:
+        buff.write(struct.pack('<I%sB'%length, length, *_x))
+      else:
+        buff.write(struct.pack('<I%ss'%length, length, _x))
+      buff.write(_struct_B.pack(self.status.status))
+      _x = self.status.text
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      if python3:
+        buff.write(struct.pack('<I%sB'%length, length, *_x))
+      else:
+        buff.write(struct.pack('<I%ss'%length, length, _x))
+      buff.write(_struct_I.pack(self.result.total_dishes_cleaned))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
+
+  def deserialize(self, str):
+    """
+    unpack serialized message in str into this message instance
+    :param str: byte array of serialized message, ``str``
+    """
+    try:
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      if self.status is None:
+        self.status = actionlib_msgs.msg.GoalStatus()
+      if self.result is None:
+        self.result = beginner_tutorials.msg.DoDishesResult()
+      end = 0
+      _x = self
+      start = end
+      end += 12
+      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.header.frame_id = str[start:end].decode('utf-8')
+      else:
+        self.header.frame_id = str[start:end]
+      _x = self
+      start = end
+      end += 8
+      (_x.status.goal_id.stamp.secs, _x.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.status.goal_id.id = str[start:end].decode('utf-8')
+      else:
+        self.status.goal_id.id = str[start:end]
+      start = end
+      end += 1
+      (self.status.status,) = _struct_B.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.status.text = str[start:end].decode('utf-8')
+      else:
+        self.status.text = str[start:end]
+      start = end
+      end += 4
+      (self.result.total_dishes_cleaned,) = _struct_I.unpack(str[start:end])
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e) #most likely buffer underfill
+
+
+  def serialize_numpy(self, buff, numpy):
+    """
+    serialize message with numpy array types into buffer
+    :param buff: buffer, ``StringIO``
+    :param numpy: numpy python module
+    """
+    try:
+      _x = self
+      buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
+      _x = self.header.frame_id
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      if python3:
+        buff.write(struct.pack('<I%sB'%length, length, *_x))
+      else:
+        buff.write(struct.pack('<I%ss'%length, length, _x))
+      _x = self
+      buff.write(_struct_2I.pack(_x.status.goal_id.stamp.secs, _x.status.goal_id.stamp.nsecs))
+      _x = self.status.goal_id.id
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      if python3:
+        buff.write(struct.pack('<I%sB'%length, length, *_x))
+      else:
+        buff.write(struct.pack('<I%ss'%length, length, _x))
+      buff.write(_struct_B.pack(self.status.status))
+      _x = self.status.text
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      if python3:
+        buff.write(struct.pack('<I%sB'%length, length, *_x))
+      else:
+        buff.write(struct.pack('<I%ss'%length, length, _x))
+      buff.write(_struct_I.pack(self.result.total_dishes_cleaned))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
+
+  def deserialize_numpy(self, str, numpy):
+    """
+    unpack serialized message in str into this message instance using numpy for array types
+    :param str: byte array of serialized message, ``str``
+    :param numpy: numpy python module
+    """
+    try:
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      if self.status is None:
+        self.status = actionlib_msgs.msg.GoalStatus()
+      if self.result is None:
+        self.result = beginner_tutorials.msg.DoDishesResult()
+      end = 0
+      _x = self
+      start = end
+      end += 12
+      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.header.frame_id = str[start:end].decode('utf-8')
+      else:
+        self.header.frame_id = str[start:end]
+      _x = self
+      start = end
+      end += 8
+      (_x.status.goal_id.stamp.secs, _x.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.status.goal_id.id = str[start:end].decode('utf-8')
+      else:
+        self.status.goal_id.id = str[start:end]
+      start = end
+      end += 1
+      (self.status.status,) = _struct_B.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.status.text = str[start:end].decode('utf-8')
+      else:
+        self.status.text = str[start:end]
+      start = end
+      end += 4
+      (self.result.total_dishes_cleaned,) = _struct_I.unpack(str[start:end])
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e) #most likely buffer underfill
+
+_struct_I = genpy.struct_I
+_struct_3I = struct.Struct("<3I")
+_struct_B = struct.Struct("<B")
+_struct_2I = struct.Struct("<2I")
diff --git a/20151007/devel/lib/python2.7/dist-packages/beginner_tutorials/msg/_DoDishesActionResult.pyc b/20151007/devel/lib/python2.7/dist-packages/beginner_tutorials/msg/_DoDishesActionResult.pyc
new file mode 100644
index 00000000..3201be55
Binary files /dev/null and b/20151007/devel/lib/python2.7/dist-packages/beginner_tutorials/msg/_DoDishesActionResult.pyc differ
diff --git a/20151007/devel/lib/python2.7/dist-packages/beginner_tutorials/msg/_DoDishesFeedback.py b/20151007/devel/lib/python2.7/dist-packages/beginner_tutorials/msg/_DoDishesFeedback.py
new file mode 100644
index 00000000..24c42c4e
--- /dev/null
+++ b/20151007/devel/lib/python2.7/dist-packages/beginner_tutorials/msg/_DoDishesFeedback.py
@@ -0,0 +1,100 @@
+"""autogenerated by genpy from beginner_tutorials/DoDishesFeedback.msg. Do not edit."""
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+
+class DoDishesFeedback(genpy.Message):
+  _md5sum = "d342375c60a5a58d3bc32664070a1368"
+  _type = "beginner_tutorials/DoDishesFeedback"
+  _has_header = False #flag to mark the presence of a Header object
+  _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
+#Define a feedback message
+float32 percent_complete
+
+"""
+  __slots__ = ['percent_complete']
+  _slot_types = ['float32']
+
+  def __init__(self, *args, **kwds):
+    """
+    Constructor. Any message fields that are implicitly/explicitly
+    set to None will be assigned a default value. The recommend
+    use is keyword arguments as this is more robust to future message
+    changes.  You cannot mix in-order arguments and keyword arguments.
+
+    The available fields are:
+       percent_complete
+
+    :param args: complete set of field values, in .msg order
+    :param kwds: use keyword arguments corresponding to message field names
+    to set specific fields.
+    """
+    if args or kwds:
+      super(DoDishesFeedback, self).__init__(*args, **kwds)
+      #message fields cannot be None, assign default values for those that are
+      if self.percent_complete is None:
+        self.percent_complete = 0.
+    else:
+      self.percent_complete = 0.
+
+  def _get_types(self):
+    """
+    internal API method
+    """
+    return self._slot_types
+
+  def serialize(self, buff):
+    """
+    serialize message into buffer
+    :param buff: buffer, ``StringIO``
+    """
+    try:
+      buff.write(_struct_f.pack(self.percent_complete))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
+
+  def deserialize(self, str):
+    """
+    unpack serialized message in str into this message instance
+    :param str: byte array of serialized message, ``str``
+    """
+    try:
+      end = 0
+      start = end
+      end += 4
+      (self.percent_complete,) = _struct_f.unpack(str[start:end])
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e) #most likely buffer underfill
+
+
+  def serialize_numpy(self, buff, numpy):
+    """
+    serialize message with numpy array types into buffer
+    :param buff: buffer, ``StringIO``
+    :param numpy: numpy python module
+    """
+    try:
+      buff.write(_struct_f.pack(self.percent_complete))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
+
+  def deserialize_numpy(self, str, numpy):
+    """
+    unpack serialized message in str into this message instance using numpy for array types
+    :param str: byte array of serialized message, ``str``
+    :param numpy: numpy python module
+    """
+    try:
+      end = 0
+      start = end
+      end += 4
+      (self.percent_complete,) = _struct_f.unpack(str[start:end])
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e) #most likely buffer underfill
+
+_struct_I = genpy.struct_I
+_struct_f = struct.Struct("<f")
diff --git a/20151007/devel/lib/python2.7/dist-packages/beginner_tutorials/msg/_DoDishesFeedback.pyc b/20151007/devel/lib/python2.7/dist-packages/beginner_tutorials/msg/_DoDishesFeedback.pyc
new file mode 100644
index 00000000..5077ec96
Binary files /dev/null and b/20151007/devel/lib/python2.7/dist-packages/beginner_tutorials/msg/_DoDishesFeedback.pyc differ
diff --git a/20151007/devel/lib/python2.7/dist-packages/beginner_tutorials/msg/_DoDishesGoal.py b/20151007/devel/lib/python2.7/dist-packages/beginner_tutorials/msg/_DoDishesGoal.py
new file mode 100644
index 00000000..5ce4d7ea
--- /dev/null
+++ b/20151007/devel/lib/python2.7/dist-packages/beginner_tutorials/msg/_DoDishesGoal.py
@@ -0,0 +1,99 @@
+"""autogenerated by genpy from beginner_tutorials/DoDishesGoal.msg. Do not edit."""
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+
+class DoDishesGoal(genpy.Message):
+  _md5sum = "65bd9e09a531006f4ecdeabe719004b9"
+  _type = "beginner_tutorials/DoDishesGoal"
+  _has_header = False #flag to mark the presence of a Header object
+  _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
+#Define the goal
+uint32 dishwasher_id #Specify which dishwasher we want to use
+
+"""
+  __slots__ = ['dishwasher_id']
+  _slot_types = ['uint32']
+
+  def __init__(self, *args, **kwds):
+    """
+    Constructor. Any message fields that are implicitly/explicitly
+    set to None will be assigned a default value. The recommend
+    use is keyword arguments as this is more robust to future message
+    changes.  You cannot mix in-order arguments and keyword arguments.
+
+    The available fields are:
+       dishwasher_id
+
+    :param args: complete set of field values, in .msg order
+    :param kwds: use keyword arguments corresponding to message field names
+    to set specific fields.
+    """
+    if args or kwds:
+      super(DoDishesGoal, self).__init__(*args, **kwds)
+      #message fields cannot be None, assign default values for those that are
+      if self.dishwasher_id is None:
+        self.dishwasher_id = 0
+    else:
+      self.dishwasher_id = 0
+
+  def _get_types(self):
+    """
+    internal API method
+    """
+    return self._slot_types
+
+  def serialize(self, buff):
+    """
+    serialize message into buffer
+    :param buff: buffer, ``StringIO``
+    """
+    try:
+      buff.write(_struct_I.pack(self.dishwasher_id))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
+
+  def deserialize(self, str):
+    """
+    unpack serialized message in str into this message instance
+    :param str: byte array of serialized message, ``str``
+    """
+    try:
+      end = 0
+      start = end
+      end += 4
+      (self.dishwasher_id,) = _struct_I.unpack(str[start:end])
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e) #most likely buffer underfill
+
+
+  def serialize_numpy(self, buff, numpy):
+    """
+    serialize message with numpy array types into buffer
+    :param buff: buffer, ``StringIO``
+    :param numpy: numpy python module
+    """
+    try:
+      buff.write(_struct_I.pack(self.dishwasher_id))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
+
+  def deserialize_numpy(self, str, numpy):
+    """
+    unpack serialized message in str into this message instance using numpy for array types
+    :param str: byte array of serialized message, ``str``
+    :param numpy: numpy python module
+    """
+    try:
+      end = 0
+      start = end
+      end += 4
+      (self.dishwasher_id,) = _struct_I.unpack(str[start:end])
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e) #most likely buffer underfill
+
+_struct_I = genpy.struct_I
diff --git a/20151007/devel/lib/python2.7/dist-packages/beginner_tutorials/msg/_DoDishesGoal.pyc b/20151007/devel/lib/python2.7/dist-packages/beginner_tutorials/msg/_DoDishesGoal.pyc
new file mode 100644
index 00000000..34ce1aae
Binary files /dev/null and b/20151007/devel/lib/python2.7/dist-packages/beginner_tutorials/msg/_DoDishesGoal.pyc differ
diff --git a/20151007/devel/lib/python2.7/dist-packages/beginner_tutorials/msg/_DoDishesResult.py b/20151007/devel/lib/python2.7/dist-packages/beginner_tutorials/msg/_DoDishesResult.py
new file mode 100644
index 00000000..d1b5c15d
--- /dev/null
+++ b/20151007/devel/lib/python2.7/dist-packages/beginner_tutorials/msg/_DoDishesResult.py
@@ -0,0 +1,99 @@
+"""autogenerated by genpy from beginner_tutorials/DoDishesResult.msg. Do not edit."""
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+
+class DoDishesResult(genpy.Message):
+  _md5sum = "58faa44dda59c6545bea63ff57491cbe"
+  _type = "beginner_tutorials/DoDishesResult"
+  _has_header = False #flag to mark the presence of a Header object
+  _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
+#Define the result
+uint32 total_dishes_cleaned
+
+"""
+  __slots__ = ['total_dishes_cleaned']
+  _slot_types = ['uint32']
+
+  def __init__(self, *args, **kwds):
+    """
+    Constructor. Any message fields that are implicitly/explicitly
+    set to None will be assigned a default value. The recommend
+    use is keyword arguments as this is more robust to future message
+    changes.  You cannot mix in-order arguments and keyword arguments.
+
+    The available fields are:
+       total_dishes_cleaned
+
+    :param args: complete set of field values, in .msg order
+    :param kwds: use keyword arguments corresponding to message field names
+    to set specific fields.
+    """
+    if args or kwds:
+      super(DoDishesResult, self).__init__(*args, **kwds)
+      #message fields cannot be None, assign default values for those that are
+      if self.total_dishes_cleaned is None:
+        self.total_dishes_cleaned = 0
+    else:
+      self.total_dishes_cleaned = 0
+
+  def _get_types(self):
+    """
+    internal API method
+    """
+    return self._slot_types
+
+  def serialize(self, buff):
+    """
+    serialize message into buffer
+    :param buff: buffer, ``StringIO``
+    """
+    try:
+      buff.write(_struct_I.pack(self.total_dishes_cleaned))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
+
+  def deserialize(self, str):
+    """
+    unpack serialized message in str into this message instance
+    :param str: byte array of serialized message, ``str``
+    """
+    try:
+      end = 0
+      start = end
+      end += 4
+      (self.total_dishes_cleaned,) = _struct_I.unpack(str[start:end])
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e) #most likely buffer underfill
+
+
+  def serialize_numpy(self, buff, numpy):
+    """
+    serialize message with numpy array types into buffer
+    :param buff: buffer, ``StringIO``
+    :param numpy: numpy python module
+    """
+    try:
+      buff.write(_struct_I.pack(self.total_dishes_cleaned))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
+
+  def deserialize_numpy(self, str, numpy):
+    """
+    unpack serialized message in str into this message instance using numpy for array types
+    :param str: byte array of serialized message, ``str``
+    :param numpy: numpy python module
+    """
+    try:
+      end = 0
+      start = end
+      end += 4
+      (self.total_dishes_cleaned,) = _struct_I.unpack(str[start:end])
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e) #most likely buffer underfill
+
+_struct_I = genpy.struct_I
diff --git a/20151007/devel/lib/python2.7/dist-packages/beginner_tutorials/msg/_DoDishesResult.pyc b/20151007/devel/lib/python2.7/dist-packages/beginner_tutorials/msg/_DoDishesResult.pyc
new file mode 100644
index 00000000..6d7ffb3b
Binary files /dev/null and b/20151007/devel/lib/python2.7/dist-packages/beginner_tutorials/msg/_DoDishesResult.pyc differ
diff --git a/20151007/devel/lib/python2.7/dist-packages/beginner_tutorials/msg/__init__.py b/20151007/devel/lib/python2.7/dist-packages/beginner_tutorials/msg/__init__.py
new file mode 100644
index 00000000..f636c579
--- /dev/null
+++ b/20151007/devel/lib/python2.7/dist-packages/beginner_tutorials/msg/__init__.py
@@ -0,0 +1,7 @@
+from ._DoDishesResult import *
+from ._DoDishesFeedback import *
+from ._DoDishesActionFeedback import *
+from ._DoDishesActionGoal import *
+from ._DoDishesGoal import *
+from ._DoDishesActionResult import *
+from ._DoDishesAction import *
diff --git a/20151007/devel/lib/python2.7/dist-packages/beginner_tutorials/msg/__init__.pyc b/20151007/devel/lib/python2.7/dist-packages/beginner_tutorials/msg/__init__.pyc
new file mode 100644
index 00000000..b641633b
Binary files /dev/null and b/20151007/devel/lib/python2.7/dist-packages/beginner_tutorials/msg/__init__.pyc differ
diff --git a/20151007/devel/lib/python2.7/dist-packages/beginner_tutorials/srv/_AddTwoInts.py b/20151007/devel/lib/python2.7/dist-packages/beginner_tutorials/srv/_AddTwoInts.py
new file mode 100644
index 00000000..d54bab7b
--- /dev/null
+++ b/20151007/devel/lib/python2.7/dist-packages/beginner_tutorials/srv/_AddTwoInts.py
@@ -0,0 +1,209 @@
+"""autogenerated by genpy from beginner_tutorials/AddTwoIntsRequest.msg. Do not edit."""
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+
+class AddTwoIntsRequest(genpy.Message):
+  _md5sum = "36d09b846be0b371c5f190354dd3153e"
+  _type = "beginner_tutorials/AddTwoIntsRequest"
+  _has_header = False #flag to mark the presence of a Header object
+  _full_text = """int64 a
+int64 b
+
+"""
+  __slots__ = ['a','b']
+  _slot_types = ['int64','int64']
+
+  def __init__(self, *args, **kwds):
+    """
+    Constructor. Any message fields that are implicitly/explicitly
+    set to None will be assigned a default value. The recommend
+    use is keyword arguments as this is more robust to future message
+    changes.  You cannot mix in-order arguments and keyword arguments.
+
+    The available fields are:
+       a,b
+
+    :param args: complete set of field values, in .msg order
+    :param kwds: use keyword arguments corresponding to message field names
+    to set specific fields.
+    """
+    if args or kwds:
+      super(AddTwoIntsRequest, self).__init__(*args, **kwds)
+      #message fields cannot be None, assign default values for those that are
+      if self.a is None:
+        self.a = 0
+      if self.b is None:
+        self.b = 0
+    else:
+      self.a = 0
+      self.b = 0
+
+  def _get_types(self):
+    """
+    internal API method
+    """
+    return self._slot_types
+
+  def serialize(self, buff):
+    """
+    serialize message into buffer
+    :param buff: buffer, ``StringIO``
+    """
+    try:
+      _x = self
+      buff.write(_struct_2q.pack(_x.a, _x.b))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
+
+  def deserialize(self, str):
+    """
+    unpack serialized message in str into this message instance
+    :param str: byte array of serialized message, ``str``
+    """
+    try:
+      end = 0
+      _x = self
+      start = end
+      end += 16
+      (_x.a, _x.b,) = _struct_2q.unpack(str[start:end])
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e) #most likely buffer underfill
+
+
+  def serialize_numpy(self, buff, numpy):
+    """
+    serialize message with numpy array types into buffer
+    :param buff: buffer, ``StringIO``
+    :param numpy: numpy python module
+    """
+    try:
+      _x = self
+      buff.write(_struct_2q.pack(_x.a, _x.b))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
+
+  def deserialize_numpy(self, str, numpy):
+    """
+    unpack serialized message in str into this message instance using numpy for array types
+    :param str: byte array of serialized message, ``str``
+    :param numpy: numpy python module
+    """
+    try:
+      end = 0
+      _x = self
+      start = end
+      end += 16
+      (_x.a, _x.b,) = _struct_2q.unpack(str[start:end])
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e) #most likely buffer underfill
+
+_struct_I = genpy.struct_I
+_struct_2q = struct.Struct("<2q")
+"""autogenerated by genpy from beginner_tutorials/AddTwoIntsResponse.msg. Do not edit."""
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+
+class AddTwoIntsResponse(genpy.Message):
+  _md5sum = "b88405221c77b1878a3cbbfff53428d7"
+  _type = "beginner_tutorials/AddTwoIntsResponse"
+  _has_header = False #flag to mark the presence of a Header object
+  _full_text = """int64 sum
+
+"""
+  __slots__ = ['sum']
+  _slot_types = ['int64']
+
+  def __init__(self, *args, **kwds):
+    """
+    Constructor. Any message fields that are implicitly/explicitly
+    set to None will be assigned a default value. The recommend
+    use is keyword arguments as this is more robust to future message
+    changes.  You cannot mix in-order arguments and keyword arguments.
+
+    The available fields are:
+       sum
+
+    :param args: complete set of field values, in .msg order
+    :param kwds: use keyword arguments corresponding to message field names
+    to set specific fields.
+    """
+    if args or kwds:
+      super(AddTwoIntsResponse, self).__init__(*args, **kwds)
+      #message fields cannot be None, assign default values for those that are
+      if self.sum is None:
+        self.sum = 0
+    else:
+      self.sum = 0
+
+  def _get_types(self):
+    """
+    internal API method
+    """
+    return self._slot_types
+
+  def serialize(self, buff):
+    """
+    serialize message into buffer
+    :param buff: buffer, ``StringIO``
+    """
+    try:
+      buff.write(_struct_q.pack(self.sum))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
+
+  def deserialize(self, str):
+    """
+    unpack serialized message in str into this message instance
+    :param str: byte array of serialized message, ``str``
+    """
+    try:
+      end = 0
+      start = end
+      end += 8
+      (self.sum,) = _struct_q.unpack(str[start:end])
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e) #most likely buffer underfill
+
+
+  def serialize_numpy(self, buff, numpy):
+    """
+    serialize message with numpy array types into buffer
+    :param buff: buffer, ``StringIO``
+    :param numpy: numpy python module
+    """
+    try:
+      buff.write(_struct_q.pack(self.sum))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
+
+  def deserialize_numpy(self, str, numpy):
+    """
+    unpack serialized message in str into this message instance using numpy for array types
+    :param str: byte array of serialized message, ``str``
+    :param numpy: numpy python module
+    """
+    try:
+      end = 0
+      start = end
+      end += 8
+      (self.sum,) = _struct_q.unpack(str[start:end])
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e) #most likely buffer underfill
+
+_struct_I = genpy.struct_I
+_struct_q = struct.Struct("<q")
+class AddTwoInts(object):
+  _type          = 'beginner_tutorials/AddTwoInts'
+  _md5sum = '6a2e34150c00229791cc89ff309fff21'
+  _request_class  = AddTwoIntsRequest
+  _response_class = AddTwoIntsResponse
diff --git a/20151007/devel/lib/python2.7/dist-packages/beginner_tutorials/srv/_AddTwoInts.pyc b/20151007/devel/lib/python2.7/dist-packages/beginner_tutorials/srv/_AddTwoInts.pyc
new file mode 100644
index 00000000..f20c8bc3
Binary files /dev/null and b/20151007/devel/lib/python2.7/dist-packages/beginner_tutorials/srv/_AddTwoInts.pyc differ
diff --git a/20151007/devel/lib/python2.7/dist-packages/beginner_tutorials/srv/__init__.py b/20151007/devel/lib/python2.7/dist-packages/beginner_tutorials/srv/__init__.py
new file mode 100644
index 00000000..3c2bbdc6
--- /dev/null
+++ b/20151007/devel/lib/python2.7/dist-packages/beginner_tutorials/srv/__init__.py
@@ -0,0 +1 @@
+from ._AddTwoInts import *
diff --git a/20151007/devel/lib/python2.7/dist-packages/beginner_tutorials/srv/__init__.pyc b/20151007/devel/lib/python2.7/dist-packages/beginner_tutorials/srv/__init__.pyc
new file mode 100644
index 00000000..46bed01e
Binary files /dev/null and b/20151007/devel/lib/python2.7/dist-packages/beginner_tutorials/srv/__init__.pyc differ
diff --git a/20151007/devel/setup.bash b/20151007/devel/setup.bash
new file mode 100644
index 00000000..ff47af8f
--- /dev/null
+++ b/20151007/devel/setup.bash
@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+# generated from catkin/cmake/templates/setup.bash.in
+
+CATKIN_SHELL=bash
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh"
diff --git a/20151007/devel/setup.sh b/20151007/devel/setup.sh
new file mode 100644
index 00000000..5448fb13
--- /dev/null
+++ b/20151007/devel/setup.sh
@@ -0,0 +1,87 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/template/setup.sh.in
+
+# Sets various environment variables and sources additional environment hooks.
+# It tries it's best to undo changes from a previously sourced setup file before.
+# Supported command line options:
+# --extend: skips the undoing of changes from a previously sourced setup file
+
+# since this file is sourced either use the provided _CATKIN_SETUP_DIR
+# or fall back to the destination set at configure time
+: ${_CATKIN_SETUP_DIR:=/home/mech-user/2015-soft3/20151007/devel}
+_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py"
+unset _CATKIN_SETUP_DIR
+
+if [ ! -f "$_SETUP_UTIL" ]; then
+  echo "Missing Python script: $_SETUP_UTIL"
+  return 22
+fi
+
+# detect if running on Darwin platform
+_UNAME=`uname -s`
+_IS_DARWIN=0
+if [ "$_UNAME" = "Darwin" ]; then
+  _IS_DARWIN=1
+fi
+unset _UNAME
+
+# make sure to export all environment variables
+export CMAKE_PREFIX_PATH
+export CPATH
+if [ $_IS_DARWIN -eq 0 ]; then
+  export LD_LIBRARY_PATH
+else
+  export DYLD_LIBRARY_PATH
+fi
+unset _IS_DARWIN
+export PATH
+export PKG_CONFIG_PATH
+export PYTHONPATH
+
+# remember type of shell if not already set
+if [ -z "$CATKIN_SHELL" ]; then
+  CATKIN_SHELL=sh
+fi
+
+# invoke Python script to generate necessary exports of environment variables
+_SETUP_TMP=`mktemp /tmp/setup.sh.XXXXXXXXXX`
+if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then
+  echo "Could not create temporary file: $_SETUP_TMP"
+  return 1
+fi
+CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ > $_SETUP_TMP
+_RC=$?
+if [ $_RC -ne 0 ]; then
+  if [ $_RC -eq 2 ]; then
+    echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?"
+  else
+    echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC"
+  fi
+  unset _RC
+  unset _SETUP_UTIL
+  rm -f $_SETUP_TMP
+  unset _SETUP_TMP
+  return 1
+fi
+unset _RC
+unset _SETUP_UTIL
+. $_SETUP_TMP
+rm -f $_SETUP_TMP
+unset _SETUP_TMP
+
+# source all environment hooks
+_i=0
+while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do
+  eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i
+  unset _CATKIN_ENVIRONMENT_HOOKS_$_i
+  eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
+  unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
+  # set workspace for environment hook
+  CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace
+  . "$_envfile"
+  unset CATKIN_ENV_HOOK_WORKSPACE
+  _i=$((_i + 1))
+done
+unset _i
+
+unset _CATKIN_ENVIRONMENT_HOOKS_COUNT
diff --git a/20151007/devel/setup.zsh b/20151007/devel/setup.zsh
new file mode 100644
index 00000000..952f72a4
--- /dev/null
+++ b/20151007/devel/setup.zsh
@@ -0,0 +1,8 @@
+#!/usr/bin/env zsh
+# generated from catkin/cmake/templates/setup.zsh.in
+
+CATKIN_SHELL=zsh
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
+source "$_CATKIN_SETUP_DIR/setup.sh"
diff --git a/20151007/devel/share/beginner_tutorials/cmake/beginner_tutorials-msg-extras.cmake b/20151007/devel/share/beginner_tutorials/cmake/beginner_tutorials-msg-extras.cmake
new file mode 100644
index 00000000..d614f1d1
--- /dev/null
+++ b/20151007/devel/share/beginner_tutorials/cmake/beginner_tutorials-msg-extras.cmake
@@ -0,0 +1,2 @@
+set(beginner_tutorials_MESSAGE_FILES "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesAction.msg;/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionGoal.msg;/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionResult.msg;/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesActionFeedback.msg;/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesGoal.msg;/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesResult.msg;/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg/DoDishesFeedback.msg")
+set(beginner_tutorials_SERVICE_FILES "/home/mech-user/2015-soft3/20151007/src/beginner_tutorials/srv/AddTwoInts.srv")
diff --git a/20151007/devel/share/beginner_tutorials/cmake/beginner_tutorials-msg-paths.cmake b/20151007/devel/share/beginner_tutorials/cmake/beginner_tutorials-msg-paths.cmake
new file mode 100644
index 00000000..148923ab
--- /dev/null
+++ b/20151007/devel/share/beginner_tutorials/cmake/beginner_tutorials-msg-paths.cmake
@@ -0,0 +1,4 @@
+# generated from genmsg/cmake/pkg-msg-paths.cmake.develspace.in
+
+set(beginner_tutorials_MSG_INCLUDE_DIRS "/home/mech-user/2015-soft3/20151007/devel/share/beginner_tutorials/msg")
+set(beginner_tutorials_MSG_DEPENDENCIES geometry_msgs;actionlib_msgs)
diff --git a/20151007/devel/share/beginner_tutorials/cmake/beginner_tutorialsConfig-version.cmake b/20151007/devel/share/beginner_tutorials/cmake/beginner_tutorialsConfig-version.cmake
new file mode 100644
index 00000000..7fd9f993
--- /dev/null
+++ b/20151007/devel/share/beginner_tutorials/cmake/beginner_tutorialsConfig-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/20151007/devel/share/beginner_tutorials/cmake/beginner_tutorialsConfig.cmake b/20151007/devel/share/beginner_tutorials/cmake/beginner_tutorialsConfig.cmake
new file mode 100644
index 00000000..53491ce3
--- /dev/null
+++ b/20151007/devel/share/beginner_tutorials/cmake/beginner_tutorialsConfig.cmake
@@ -0,0 +1,191 @@
+# 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(beginner_tutorials_CONFIG_INCLUDED)
+  return()
+endif()
+set(beginner_tutorials_CONFIG_INCLUDED TRUE)
+
+# set variables for source/devel/install prefixes
+if("TRUE" STREQUAL "TRUE")
+  set(beginner_tutorials_SOURCE_PREFIX /home/mech-user/2015-soft3/20151007/src/beginner_tutorials)
+  set(beginner_tutorials_DEVEL_PREFIX /home/mech-user/2015-soft3/20151007/devel)
+  set(beginner_tutorials_INSTALL_PREFIX "")
+  set(beginner_tutorials_PREFIX ${beginner_tutorials_DEVEL_PREFIX})
+else()
+  set(beginner_tutorials_SOURCE_PREFIX "")
+  set(beginner_tutorials_DEVEL_PREFIX "")
+  set(beginner_tutorials_INSTALL_PREFIX /home/mech-user/2015-soft3/20151007/install)
+  set(beginner_tutorials_PREFIX ${beginner_tutorials_INSTALL_PREFIX})
+endif()
+
+# warn when using a deprecated package
+if(NOT "" STREQUAL "")
+  set(_msg "WARNING: package 'beginner_tutorials' is deprecated")
+  # append custom deprecation text if available
+  if(NOT "" STREQUAL "TRUE")
+    set(_msg "${_msg} ()")
+  endif()
+  message("${_msg}")
+endif()
+
+# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project
+set(beginner_tutorials_FOUND_CATKIN_PROJECT TRUE)
+
+if(NOT "/home/mech-user/2015-soft3/20151007/devel/include" STREQUAL "")
+  set(beginner_tutorials_INCLUDE_DIRS "")
+  set(_include_dirs "/home/mech-user/2015-soft3/20151007/devel/include")
+  foreach(idir ${_include_dirs})
+    if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir})
+      set(include ${idir})
+    elseif("${idir}" STREQUAL "include")
+      get_filename_component(include "${beginner_tutorials_DIR}/../../../include" ABSOLUTE)
+      if(NOT IS_DIRECTORY ${include})
+        message(FATAL_ERROR "Project 'beginner_tutorials' specifies '${idir}' as an include dir, which is not found.  It does not exist in '${include}'.  Ask the maintainer 'mech-user <mech-user@todo.todo>' to fix it.")
+      endif()
+    else()
+      message(FATAL_ERROR "Project 'beginner_tutorials' specifies '${idir}' as an include dir, which is not found.  It does neither exist as an absolute directory nor in '/home/mech-user/2015-soft3/20151007/src/beginner_tutorials/${idir}'.  Ask the maintainer 'mech-user <mech-user@todo.todo>' to fix it.")
+    endif()
+    _list_append_unique(beginner_tutorials_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 beginner_tutorials_LIBRARIES ${library})
+  elseif(TARGET ${library})
+    list(APPEND beginner_tutorials_LIBRARIES ${library})
+  elseif(IS_ABSOLUTE ${library})
+    list(APPEND beginner_tutorials_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/mech-user/2015-soft3/20151007/devel/lib;/home/mech-user/2015-soft3/20151007/devel/lib;/opt/ros/indigo/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(beginner_tutorials_LIBRARY_DIRS ${lib_path})
+      list(APPEND beginner_tutorials_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 'beginner_tutorials'?  Did you find_package() it before the subdirectory containing its code is included?")
+      endif()
+      list(APPEND beginner_tutorials_LIBRARIES ${lib})
+    endif()
+  endif()
+endforeach()
+
+set(beginner_tutorials_EXPORTED_TARGETS "beginner_tutorials_generate_messages_cpp;beginner_tutorials_generate_messages_lisp;beginner_tutorials_generate_messages_py")
+# create dummy targets for exported code generation targets to make life of users easier
+foreach(t ${beginner_tutorials_EXPORTED_TARGETS})
+  if(NOT TARGET ${t})
+    add_custom_target(${t})
+  endif()
+endforeach()
+
+set(depends "")
+foreach(depend ${depends})
+  string(REPLACE " " ";" depend_list ${depend})
+  # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls
+  list(GET depend_list 0 beginner_tutorials_dep)
+  list(LENGTH depend_list count)
+  if(${count} EQUAL 1)
+    # simple dependencies must only be find_package()-ed once
+    if(NOT ${beginner_tutorials_dep}_FOUND)
+      find_package(${beginner_tutorials_dep} REQUIRED)
+    endif()
+  else()
+    # dependencies with components must be find_package()-ed again
+    list(REMOVE_AT depend_list 0)
+    find_package(${beginner_tutorials_dep} REQUIRED ${depend_list})
+  endif()
+  _list_append_unique(beginner_tutorials_INCLUDE_DIRS ${${beginner_tutorials_dep}_INCLUDE_DIRS})
+
+  # merge build configuration keywords with library names to correctly deduplicate
+  _pack_libraries_with_build_configuration(beginner_tutorials_LIBRARIES ${beginner_tutorials_LIBRARIES})
+  _pack_libraries_with_build_configuration(_libraries ${${beginner_tutorials_dep}_LIBRARIES})
+  _list_append_deduplicate(beginner_tutorials_LIBRARIES ${_libraries})
+  # undo build configuration keyword merging after deduplication
+  _unpack_libraries_with_build_configuration(beginner_tutorials_LIBRARIES ${beginner_tutorials_LIBRARIES})
+
+  _list_append_unique(beginner_tutorials_LIBRARY_DIRS ${${beginner_tutorials_dep}_LIBRARY_DIRS})
+  list(APPEND beginner_tutorials_EXPORTED_TARGETS ${${beginner_tutorials_dep}_EXPORTED_TARGETS})
+endforeach()
+
+set(pkg_cfg_extras "beginner_tutorials-msg-extras.cmake")
+foreach(extra ${pkg_cfg_extras})
+  if(NOT IS_ABSOLUTE ${extra})
+    set(extra ${beginner_tutorials_DIR}/${extra})
+  endif()
+  include(${extra})
+endforeach()
diff --git a/20151007/devel/share/beginner_tutorials/msg/DoDishesAction.msg b/20151007/devel/share/beginner_tutorials/msg/DoDishesAction.msg
new file mode 100644
index 00000000..1965e65c
--- /dev/null
+++ b/20151007/devel/share/beginner_tutorials/msg/DoDishesAction.msg
@@ -0,0 +1,5 @@
+# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
+
+DoDishesActionGoal action_goal
+DoDishesActionResult action_result
+DoDishesActionFeedback action_feedback
diff --git a/20151007/devel/share/beginner_tutorials/msg/DoDishesActionFeedback.msg b/20151007/devel/share/beginner_tutorials/msg/DoDishesActionFeedback.msg
new file mode 100644
index 00000000..4262c1ea
--- /dev/null
+++ b/20151007/devel/share/beginner_tutorials/msg/DoDishesActionFeedback.msg
@@ -0,0 +1,5 @@
+# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
+
+Header header
+actionlib_msgs/GoalStatus status
+DoDishesFeedback feedback
diff --git a/20151007/devel/share/beginner_tutorials/msg/DoDishesActionGoal.msg b/20151007/devel/share/beginner_tutorials/msg/DoDishesActionGoal.msg
new file mode 100644
index 00000000..7e5613cd
--- /dev/null
+++ b/20151007/devel/share/beginner_tutorials/msg/DoDishesActionGoal.msg
@@ -0,0 +1,5 @@
+# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
+
+Header header
+actionlib_msgs/GoalID goal_id
+DoDishesGoal goal
diff --git a/20151007/devel/share/beginner_tutorials/msg/DoDishesActionResult.msg b/20151007/devel/share/beginner_tutorials/msg/DoDishesActionResult.msg
new file mode 100644
index 00000000..221981d4
--- /dev/null
+++ b/20151007/devel/share/beginner_tutorials/msg/DoDishesActionResult.msg
@@ -0,0 +1,5 @@
+# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
+
+Header header
+actionlib_msgs/GoalStatus status
+DoDishesResult result
diff --git a/20151007/devel/share/beginner_tutorials/msg/DoDishesFeedback.msg b/20151007/devel/share/beginner_tutorials/msg/DoDishesFeedback.msg
new file mode 100644
index 00000000..4e0c3ce4
--- /dev/null
+++ b/20151007/devel/share/beginner_tutorials/msg/DoDishesFeedback.msg
@@ -0,0 +1,3 @@
+# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
+#Define a feedback message
+float32 percent_complete
diff --git a/20151007/devel/share/beginner_tutorials/msg/DoDishesGoal.msg b/20151007/devel/share/beginner_tutorials/msg/DoDishesGoal.msg
new file mode 100644
index 00000000..43c009e4
--- /dev/null
+++ b/20151007/devel/share/beginner_tutorials/msg/DoDishesGoal.msg
@@ -0,0 +1,3 @@
+# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
+#Define the goal
+uint32 dishwasher_id #Specify which dishwasher we want to use
diff --git a/20151007/devel/share/beginner_tutorials/msg/DoDishesResult.msg b/20151007/devel/share/beginner_tutorials/msg/DoDishesResult.msg
new file mode 100644
index 00000000..56e4608e
--- /dev/null
+++ b/20151007/devel/share/beginner_tutorials/msg/DoDishesResult.msg
@@ -0,0 +1,3 @@
+# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
+#Define the result
+uint32 total_dishes_cleaned
diff --git a/20151007/devel/share/common-lisp/ros/beginner_tutorials/msg/DoDishesAction.lisp b/20151007/devel/share/common-lisp/ros/beginner_tutorials/msg/DoDishesAction.lisp
new file mode 100644
index 00000000..4141ad13
--- /dev/null
+++ b/20151007/devel/share/common-lisp/ros/beginner_tutorials/msg/DoDishesAction.lisp
@@ -0,0 +1,92 @@
+; Auto-generated. Do not edit!
+
+
+(cl:in-package beginner_tutorials-msg)
+
+
+;//! \htmlinclude DoDishesAction.msg.html
+
+(cl:defclass <DoDishesAction> (roslisp-msg-protocol:ros-message)
+  ((action_goal
+    :reader action_goal
+    :initarg :action_goal
+    :type beginner_tutorials-msg:DoDishesActionGoal
+    :initform (cl:make-instance 'beginner_tutorials-msg:DoDishesActionGoal))
+   (action_result
+    :reader action_result
+    :initarg :action_result
+    :type beginner_tutorials-msg:DoDishesActionResult
+    :initform (cl:make-instance 'beginner_tutorials-msg:DoDishesActionResult))
+   (action_feedback
+    :reader action_feedback
+    :initarg :action_feedback
+    :type beginner_tutorials-msg:DoDishesActionFeedback
+    :initform (cl:make-instance 'beginner_tutorials-msg:DoDishesActionFeedback)))
+)
+
+(cl:defclass DoDishesAction (<DoDishesAction>)
+  ())
+
+(cl:defmethod cl:initialize-instance :after ((m <DoDishesAction>) cl:&rest args)
+  (cl:declare (cl:ignorable args))
+  (cl:unless (cl:typep m 'DoDishesAction)
+    (roslisp-msg-protocol:msg-deprecation-warning "using old message class name beginner_tutorials-msg:<DoDishesAction> is deprecated: use beginner_tutorials-msg:DoDishesAction instead.")))
+
+(cl:ensure-generic-function 'action_goal-val :lambda-list '(m))
+(cl:defmethod action_goal-val ((m <DoDishesAction>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader beginner_tutorials-msg:action_goal-val is deprecated.  Use beginner_tutorials-msg:action_goal instead.")
+  (action_goal m))
+
+(cl:ensure-generic-function 'action_result-val :lambda-list '(m))
+(cl:defmethod action_result-val ((m <DoDishesAction>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader beginner_tutorials-msg:action_result-val is deprecated.  Use beginner_tutorials-msg:action_result instead.")
+  (action_result m))
+
+(cl:ensure-generic-function 'action_feedback-val :lambda-list '(m))
+(cl:defmethod action_feedback-val ((m <DoDishesAction>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader beginner_tutorials-msg:action_feedback-val is deprecated.  Use beginner_tutorials-msg:action_feedback instead.")
+  (action_feedback m))
+(cl:defmethod roslisp-msg-protocol:serialize ((msg <DoDishesAction>) ostream)
+  "Serializes a message object of type '<DoDishesAction>"
+  (roslisp-msg-protocol:serialize (cl:slot-value msg 'action_goal) ostream)
+  (roslisp-msg-protocol:serialize (cl:slot-value msg 'action_result) ostream)
+  (roslisp-msg-protocol:serialize (cl:slot-value msg 'action_feedback) ostream)
+)
+(cl:defmethod roslisp-msg-protocol:deserialize ((msg <DoDishesAction>) istream)
+  "Deserializes a message object of type '<DoDishesAction>"
+  (roslisp-msg-protocol:deserialize (cl:slot-value msg 'action_goal) istream)
+  (roslisp-msg-protocol:deserialize (cl:slot-value msg 'action_result) istream)
+  (roslisp-msg-protocol:deserialize (cl:slot-value msg 'action_feedback) istream)
+  msg
+)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<DoDishesAction>)))
+  "Returns string type for a message object of type '<DoDishesAction>"
+  "beginner_tutorials/DoDishesAction")
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'DoDishesAction)))
+  "Returns string type for a message object of type 'DoDishesAction"
+  "beginner_tutorials/DoDishesAction")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<DoDishesAction>)))
+  "Returns md5sum for a message object of type '<DoDishesAction>"
+  "7cf97263ad11380965ab1a0c44b4a7cf")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'DoDishesAction)))
+  "Returns md5sum for a message object of type 'DoDishesAction"
+  "7cf97263ad11380965ab1a0c44b4a7cf")
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<DoDishesAction>)))
+  "Returns full string definition for message of type '<DoDishesAction>"
+  (cl:format cl:nil "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======~%~%DoDishesActionGoal action_goal~%DoDishesActionResult action_result~%DoDishesActionFeedback action_feedback~%~%================================================================================~%MSG: beginner_tutorials/DoDishesActionGoal~%# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======~%~%Header header~%actionlib_msgs/GoalID goal_id~%DoDishesGoal goal~%~%================================================================================~%MSG: std_msgs/Header~%# Standard metadata for higher-level stamped data types.~%# This is generally used to communicate timestamped data ~%# in a particular coordinate frame.~%# ~%# sequence ID: consecutively increasing ID ~%uint32 seq~%#Two-integer timestamp that is expressed as:~%# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')~%# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')~%# time-handling sugar is provided by the client library~%time stamp~%#Frame this data is associated with~%# 0: no frame~%# 1: global frame~%string frame_id~%~%================================================================================~%MSG: actionlib_msgs/GoalID~%# The stamp should store the time at which this goal was requested.~%# It is used by an action server when it tries to preempt all~%# goals that were requested before a certain time~%time stamp~%~%# The id provides a way to associate feedback and~%# result message with specific goal requests. The id~%# specified must be unique.~%string id~%~%~%================================================================================~%MSG: beginner_tutorials/DoDishesGoal~%# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======~%#Define the goal~%uint32 dishwasher_id #Specify which dishwasher we want to use~%~%================================================================================~%MSG: beginner_tutorials/DoDishesActionResult~%# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======~%~%Header header~%actionlib_msgs/GoalStatus status~%DoDishesResult result~%~%================================================================================~%MSG: actionlib_msgs/GoalStatus~%GoalID goal_id~%uint8 status~%uint8 PENDING         = 0   # The goal has yet to be processed by the action server~%uint8 ACTIVE          = 1   # The goal is currently being processed by the action server~%uint8 PREEMPTED       = 2   # The goal received a cancel request after it started executing~%                            #   and has since completed its execution (Terminal State)~%uint8 SUCCEEDED       = 3   # The goal was achieved successfully by the action server (Terminal State)~%uint8 ABORTED         = 4   # The goal was aborted during execution by the action server due~%                            #    to some failure (Terminal State)~%uint8 REJECTED        = 5   # The goal was rejected by the action server without being processed,~%                            #    because the goal was unattainable or invalid (Terminal State)~%uint8 PREEMPTING      = 6   # The goal received a cancel request after it started executing~%                            #    and has not yet completed execution~%uint8 RECALLING       = 7   # The goal received a cancel request before it started executing,~%                            #    but the action server has not yet confirmed that the goal is canceled~%uint8 RECALLED        = 8   # The goal received a cancel request before it started executing~%                            #    and was successfully cancelled (Terminal State)~%uint8 LOST            = 9   # An action client can determine that a goal is LOST. This should not be~%                            #    sent over the wire by an action server~%~%#Allow for the user to associate a string with GoalStatus for debugging~%string text~%~%~%================================================================================~%MSG: beginner_tutorials/DoDishesResult~%# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======~%#Define the result~%uint32 total_dishes_cleaned~%~%================================================================================~%MSG: beginner_tutorials/DoDishesActionFeedback~%# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======~%~%Header header~%actionlib_msgs/GoalStatus status~%DoDishesFeedback feedback~%~%================================================================================~%MSG: beginner_tutorials/DoDishesFeedback~%# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======~%#Define a feedback message~%float32 percent_complete~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'DoDishesAction)))
+  "Returns full string definition for message of type 'DoDishesAction"
+  (cl:format cl:nil "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======~%~%DoDishesActionGoal action_goal~%DoDishesActionResult action_result~%DoDishesActionFeedback action_feedback~%~%================================================================================~%MSG: beginner_tutorials/DoDishesActionGoal~%# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======~%~%Header header~%actionlib_msgs/GoalID goal_id~%DoDishesGoal goal~%~%================================================================================~%MSG: std_msgs/Header~%# Standard metadata for higher-level stamped data types.~%# This is generally used to communicate timestamped data ~%# in a particular coordinate frame.~%# ~%# sequence ID: consecutively increasing ID ~%uint32 seq~%#Two-integer timestamp that is expressed as:~%# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')~%# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')~%# time-handling sugar is provided by the client library~%time stamp~%#Frame this data is associated with~%# 0: no frame~%# 1: global frame~%string frame_id~%~%================================================================================~%MSG: actionlib_msgs/GoalID~%# The stamp should store the time at which this goal was requested.~%# It is used by an action server when it tries to preempt all~%# goals that were requested before a certain time~%time stamp~%~%# The id provides a way to associate feedback and~%# result message with specific goal requests. The id~%# specified must be unique.~%string id~%~%~%================================================================================~%MSG: beginner_tutorials/DoDishesGoal~%# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======~%#Define the goal~%uint32 dishwasher_id #Specify which dishwasher we want to use~%~%================================================================================~%MSG: beginner_tutorials/DoDishesActionResult~%# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======~%~%Header header~%actionlib_msgs/GoalStatus status~%DoDishesResult result~%~%================================================================================~%MSG: actionlib_msgs/GoalStatus~%GoalID goal_id~%uint8 status~%uint8 PENDING         = 0   # The goal has yet to be processed by the action server~%uint8 ACTIVE          = 1   # The goal is currently being processed by the action server~%uint8 PREEMPTED       = 2   # The goal received a cancel request after it started executing~%                            #   and has since completed its execution (Terminal State)~%uint8 SUCCEEDED       = 3   # The goal was achieved successfully by the action server (Terminal State)~%uint8 ABORTED         = 4   # The goal was aborted during execution by the action server due~%                            #    to some failure (Terminal State)~%uint8 REJECTED        = 5   # The goal was rejected by the action server without being processed,~%                            #    because the goal was unattainable or invalid (Terminal State)~%uint8 PREEMPTING      = 6   # The goal received a cancel request after it started executing~%                            #    and has not yet completed execution~%uint8 RECALLING       = 7   # The goal received a cancel request before it started executing,~%                            #    but the action server has not yet confirmed that the goal is canceled~%uint8 RECALLED        = 8   # The goal received a cancel request before it started executing~%                            #    and was successfully cancelled (Terminal State)~%uint8 LOST            = 9   # An action client can determine that a goal is LOST. This should not be~%                            #    sent over the wire by an action server~%~%#Allow for the user to associate a string with GoalStatus for debugging~%string text~%~%~%================================================================================~%MSG: beginner_tutorials/DoDishesResult~%# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======~%#Define the result~%uint32 total_dishes_cleaned~%~%================================================================================~%MSG: beginner_tutorials/DoDishesActionFeedback~%# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======~%~%Header header~%actionlib_msgs/GoalStatus status~%DoDishesFeedback feedback~%~%================================================================================~%MSG: beginner_tutorials/DoDishesFeedback~%# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======~%#Define a feedback message~%float32 percent_complete~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <DoDishesAction>))
+  (cl:+ 0
+     (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'action_goal))
+     (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'action_result))
+     (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'action_feedback))
+))
+(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <DoDishesAction>))
+  "Converts a ROS message object to a list"
+  (cl:list 'DoDishesAction
+    (cl:cons ':action_goal (action_goal msg))
+    (cl:cons ':action_result (action_result msg))
+    (cl:cons ':action_feedback (action_feedback msg))
+))
diff --git a/20151007/devel/share/common-lisp/ros/beginner_tutorials/msg/DoDishesActionFeedback.lisp b/20151007/devel/share/common-lisp/ros/beginner_tutorials/msg/DoDishesActionFeedback.lisp
new file mode 100644
index 00000000..1e8727ea
--- /dev/null
+++ b/20151007/devel/share/common-lisp/ros/beginner_tutorials/msg/DoDishesActionFeedback.lisp
@@ -0,0 +1,92 @@
+; Auto-generated. Do not edit!
+
+
+(cl:in-package beginner_tutorials-msg)
+
+
+;//! \htmlinclude DoDishesActionFeedback.msg.html
+
+(cl:defclass <DoDishesActionFeedback> (roslisp-msg-protocol:ros-message)
+  ((header
+    :reader header
+    :initarg :header
+    :type std_msgs-msg:Header
+    :initform (cl:make-instance 'std_msgs-msg:Header))
+   (status
+    :reader status
+    :initarg :status
+    :type actionlib_msgs-msg:GoalStatus
+    :initform (cl:make-instance 'actionlib_msgs-msg:GoalStatus))
+   (feedback
+    :reader feedback
+    :initarg :feedback
+    :type beginner_tutorials-msg:DoDishesFeedback
+    :initform (cl:make-instance 'beginner_tutorials-msg:DoDishesFeedback)))
+)
+
+(cl:defclass DoDishesActionFeedback (<DoDishesActionFeedback>)
+  ())
+
+(cl:defmethod cl:initialize-instance :after ((m <DoDishesActionFeedback>) cl:&rest args)
+  (cl:declare (cl:ignorable args))
+  (cl:unless (cl:typep m 'DoDishesActionFeedback)
+    (roslisp-msg-protocol:msg-deprecation-warning "using old message class name beginner_tutorials-msg:<DoDishesActionFeedback> is deprecated: use beginner_tutorials-msg:DoDishesActionFeedback instead.")))
+
+(cl:ensure-generic-function 'header-val :lambda-list '(m))
+(cl:defmethod header-val ((m <DoDishesActionFeedback>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader beginner_tutorials-msg:header-val is deprecated.  Use beginner_tutorials-msg:header instead.")
+  (header m))
+
+(cl:ensure-generic-function 'status-val :lambda-list '(m))
+(cl:defmethod status-val ((m <DoDishesActionFeedback>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader beginner_tutorials-msg:status-val is deprecated.  Use beginner_tutorials-msg:status instead.")
+  (status m))
+
+(cl:ensure-generic-function 'feedback-val :lambda-list '(m))
+(cl:defmethod feedback-val ((m <DoDishesActionFeedback>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader beginner_tutorials-msg:feedback-val is deprecated.  Use beginner_tutorials-msg:feedback instead.")
+  (feedback m))
+(cl:defmethod roslisp-msg-protocol:serialize ((msg <DoDishesActionFeedback>) ostream)
+  "Serializes a message object of type '<DoDishesActionFeedback>"
+  (roslisp-msg-protocol:serialize (cl:slot-value msg 'header) ostream)
+  (roslisp-msg-protocol:serialize (cl:slot-value msg 'status) ostream)
+  (roslisp-msg-protocol:serialize (cl:slot-value msg 'feedback) ostream)
+)
+(cl:defmethod roslisp-msg-protocol:deserialize ((msg <DoDishesActionFeedback>) istream)
+  "Deserializes a message object of type '<DoDishesActionFeedback>"
+  (roslisp-msg-protocol:deserialize (cl:slot-value msg 'header) istream)
+  (roslisp-msg-protocol:deserialize (cl:slot-value msg 'status) istream)
+  (roslisp-msg-protocol:deserialize (cl:slot-value msg 'feedback) istream)
+  msg
+)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<DoDishesActionFeedback>)))
+  "Returns string type for a message object of type '<DoDishesActionFeedback>"
+  "beginner_tutorials/DoDishesActionFeedback")
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'DoDishesActionFeedback)))
+  "Returns string type for a message object of type 'DoDishesActionFeedback"
+  "beginner_tutorials/DoDishesActionFeedback")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<DoDishesActionFeedback>)))
+  "Returns md5sum for a message object of type '<DoDishesActionFeedback>"
+  "25bfb21ced59f4f9490772d56f6961f4")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'DoDishesActionFeedback)))
+  "Returns md5sum for a message object of type 'DoDishesActionFeedback"
+  "25bfb21ced59f4f9490772d56f6961f4")
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<DoDishesActionFeedback>)))
+  "Returns full string definition for message of type '<DoDishesActionFeedback>"
+  (cl:format cl:nil "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======~%~%Header header~%actionlib_msgs/GoalStatus status~%DoDishesFeedback feedback~%~%================================================================================~%MSG: std_msgs/Header~%# Standard metadata for higher-level stamped data types.~%# This is generally used to communicate timestamped data ~%# in a particular coordinate frame.~%# ~%# sequence ID: consecutively increasing ID ~%uint32 seq~%#Two-integer timestamp that is expressed as:~%# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')~%# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')~%# time-handling sugar is provided by the client library~%time stamp~%#Frame this data is associated with~%# 0: no frame~%# 1: global frame~%string frame_id~%~%================================================================================~%MSG: actionlib_msgs/GoalStatus~%GoalID goal_id~%uint8 status~%uint8 PENDING         = 0   # The goal has yet to be processed by the action server~%uint8 ACTIVE          = 1   # The goal is currently being processed by the action server~%uint8 PREEMPTED       = 2   # The goal received a cancel request after it started executing~%                            #   and has since completed its execution (Terminal State)~%uint8 SUCCEEDED       = 3   # The goal was achieved successfully by the action server (Terminal State)~%uint8 ABORTED         = 4   # The goal was aborted during execution by the action server due~%                            #    to some failure (Terminal State)~%uint8 REJECTED        = 5   # The goal was rejected by the action server without being processed,~%                            #    because the goal was unattainable or invalid (Terminal State)~%uint8 PREEMPTING      = 6   # The goal received a cancel request after it started executing~%                            #    and has not yet completed execution~%uint8 RECALLING       = 7   # The goal received a cancel request before it started executing,~%                            #    but the action server has not yet confirmed that the goal is canceled~%uint8 RECALLED        = 8   # The goal received a cancel request before it started executing~%                            #    and was successfully cancelled (Terminal State)~%uint8 LOST            = 9   # An action client can determine that a goal is LOST. This should not be~%                            #    sent over the wire by an action server~%~%#Allow for the user to associate a string with GoalStatus for debugging~%string text~%~%~%================================================================================~%MSG: actionlib_msgs/GoalID~%# The stamp should store the time at which this goal was requested.~%# It is used by an action server when it tries to preempt all~%# goals that were requested before a certain time~%time stamp~%~%# The id provides a way to associate feedback and~%# result message with specific goal requests. The id~%# specified must be unique.~%string id~%~%~%================================================================================~%MSG: beginner_tutorials/DoDishesFeedback~%# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======~%#Define a feedback message~%float32 percent_complete~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'DoDishesActionFeedback)))
+  "Returns full string definition for message of type 'DoDishesActionFeedback"
+  (cl:format cl:nil "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======~%~%Header header~%actionlib_msgs/GoalStatus status~%DoDishesFeedback feedback~%~%================================================================================~%MSG: std_msgs/Header~%# Standard metadata for higher-level stamped data types.~%# This is generally used to communicate timestamped data ~%# in a particular coordinate frame.~%# ~%# sequence ID: consecutively increasing ID ~%uint32 seq~%#Two-integer timestamp that is expressed as:~%# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')~%# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')~%# time-handling sugar is provided by the client library~%time stamp~%#Frame this data is associated with~%# 0: no frame~%# 1: global frame~%string frame_id~%~%================================================================================~%MSG: actionlib_msgs/GoalStatus~%GoalID goal_id~%uint8 status~%uint8 PENDING         = 0   # The goal has yet to be processed by the action server~%uint8 ACTIVE          = 1   # The goal is currently being processed by the action server~%uint8 PREEMPTED       = 2   # The goal received a cancel request after it started executing~%                            #   and has since completed its execution (Terminal State)~%uint8 SUCCEEDED       = 3   # The goal was achieved successfully by the action server (Terminal State)~%uint8 ABORTED         = 4   # The goal was aborted during execution by the action server due~%                            #    to some failure (Terminal State)~%uint8 REJECTED        = 5   # The goal was rejected by the action server without being processed,~%                            #    because the goal was unattainable or invalid (Terminal State)~%uint8 PREEMPTING      = 6   # The goal received a cancel request after it started executing~%                            #    and has not yet completed execution~%uint8 RECALLING       = 7   # The goal received a cancel request before it started executing,~%                            #    but the action server has not yet confirmed that the goal is canceled~%uint8 RECALLED        = 8   # The goal received a cancel request before it started executing~%                            #    and was successfully cancelled (Terminal State)~%uint8 LOST            = 9   # An action client can determine that a goal is LOST. This should not be~%                            #    sent over the wire by an action server~%~%#Allow for the user to associate a string with GoalStatus for debugging~%string text~%~%~%================================================================================~%MSG: actionlib_msgs/GoalID~%# The stamp should store the time at which this goal was requested.~%# It is used by an action server when it tries to preempt all~%# goals that were requested before a certain time~%time stamp~%~%# The id provides a way to associate feedback and~%# result message with specific goal requests. The id~%# specified must be unique.~%string id~%~%~%================================================================================~%MSG: beginner_tutorials/DoDishesFeedback~%# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======~%#Define a feedback message~%float32 percent_complete~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <DoDishesActionFeedback>))
+  (cl:+ 0
+     (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'header))
+     (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'status))
+     (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'feedback))
+))
+(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <DoDishesActionFeedback>))
+  "Converts a ROS message object to a list"
+  (cl:list 'DoDishesActionFeedback
+    (cl:cons ':header (header msg))
+    (cl:cons ':status (status msg))
+    (cl:cons ':feedback (feedback msg))
+))
diff --git a/20151007/devel/share/common-lisp/ros/beginner_tutorials/msg/DoDishesActionGoal.lisp b/20151007/devel/share/common-lisp/ros/beginner_tutorials/msg/DoDishesActionGoal.lisp
new file mode 100644
index 00000000..de4cb184
--- /dev/null
+++ b/20151007/devel/share/common-lisp/ros/beginner_tutorials/msg/DoDishesActionGoal.lisp
@@ -0,0 +1,92 @@
+; Auto-generated. Do not edit!
+
+
+(cl:in-package beginner_tutorials-msg)
+
+
+;//! \htmlinclude DoDishesActionGoal.msg.html
+
+(cl:defclass <DoDishesActionGoal> (roslisp-msg-protocol:ros-message)
+  ((header
+    :reader header
+    :initarg :header
+    :type std_msgs-msg:Header
+    :initform (cl:make-instance 'std_msgs-msg:Header))
+   (goal_id
+    :reader goal_id
+    :initarg :goal_id
+    :type actionlib_msgs-msg:GoalID
+    :initform (cl:make-instance 'actionlib_msgs-msg:GoalID))
+   (goal
+    :reader goal
+    :initarg :goal
+    :type beginner_tutorials-msg:DoDishesGoal
+    :initform (cl:make-instance 'beginner_tutorials-msg:DoDishesGoal)))
+)
+
+(cl:defclass DoDishesActionGoal (<DoDishesActionGoal>)
+  ())
+
+(cl:defmethod cl:initialize-instance :after ((m <DoDishesActionGoal>) cl:&rest args)
+  (cl:declare (cl:ignorable args))
+  (cl:unless (cl:typep m 'DoDishesActionGoal)
+    (roslisp-msg-protocol:msg-deprecation-warning "using old message class name beginner_tutorials-msg:<DoDishesActionGoal> is deprecated: use beginner_tutorials-msg:DoDishesActionGoal instead.")))
+
+(cl:ensure-generic-function 'header-val :lambda-list '(m))
+(cl:defmethod header-val ((m <DoDishesActionGoal>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader beginner_tutorials-msg:header-val is deprecated.  Use beginner_tutorials-msg:header instead.")
+  (header m))
+
+(cl:ensure-generic-function 'goal_id-val :lambda-list '(m))
+(cl:defmethod goal_id-val ((m <DoDishesActionGoal>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader beginner_tutorials-msg:goal_id-val is deprecated.  Use beginner_tutorials-msg:goal_id instead.")
+  (goal_id m))
+
+(cl:ensure-generic-function 'goal-val :lambda-list '(m))
+(cl:defmethod goal-val ((m <DoDishesActionGoal>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader beginner_tutorials-msg:goal-val is deprecated.  Use beginner_tutorials-msg:goal instead.")
+  (goal m))
+(cl:defmethod roslisp-msg-protocol:serialize ((msg <DoDishesActionGoal>) ostream)
+  "Serializes a message object of type '<DoDishesActionGoal>"
+  (roslisp-msg-protocol:serialize (cl:slot-value msg 'header) ostream)
+  (roslisp-msg-protocol:serialize (cl:slot-value msg 'goal_id) ostream)
+  (roslisp-msg-protocol:serialize (cl:slot-value msg 'goal) ostream)
+)
+(cl:defmethod roslisp-msg-protocol:deserialize ((msg <DoDishesActionGoal>) istream)
+  "Deserializes a message object of type '<DoDishesActionGoal>"
+  (roslisp-msg-protocol:deserialize (cl:slot-value msg 'header) istream)
+  (roslisp-msg-protocol:deserialize (cl:slot-value msg 'goal_id) istream)
+  (roslisp-msg-protocol:deserialize (cl:slot-value msg 'goal) istream)
+  msg
+)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<DoDishesActionGoal>)))
+  "Returns string type for a message object of type '<DoDishesActionGoal>"
+  "beginner_tutorials/DoDishesActionGoal")
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'DoDishesActionGoal)))
+  "Returns string type for a message object of type 'DoDishesActionGoal"
+  "beginner_tutorials/DoDishesActionGoal")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<DoDishesActionGoal>)))
+  "Returns md5sum for a message object of type '<DoDishesActionGoal>"
+  "83f2a96811c1f4ed2d6e73eb983a3cb9")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'DoDishesActionGoal)))
+  "Returns md5sum for a message object of type 'DoDishesActionGoal"
+  "83f2a96811c1f4ed2d6e73eb983a3cb9")
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<DoDishesActionGoal>)))
+  "Returns full string definition for message of type '<DoDishesActionGoal>"
+  (cl:format cl:nil "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======~%~%Header header~%actionlib_msgs/GoalID goal_id~%DoDishesGoal goal~%~%================================================================================~%MSG: std_msgs/Header~%# Standard metadata for higher-level stamped data types.~%# This is generally used to communicate timestamped data ~%# in a particular coordinate frame.~%# ~%# sequence ID: consecutively increasing ID ~%uint32 seq~%#Two-integer timestamp that is expressed as:~%# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')~%# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')~%# time-handling sugar is provided by the client library~%time stamp~%#Frame this data is associated with~%# 0: no frame~%# 1: global frame~%string frame_id~%~%================================================================================~%MSG: actionlib_msgs/GoalID~%# The stamp should store the time at which this goal was requested.~%# It is used by an action server when it tries to preempt all~%# goals that were requested before a certain time~%time stamp~%~%# The id provides a way to associate feedback and~%# result message with specific goal requests. The id~%# specified must be unique.~%string id~%~%~%================================================================================~%MSG: beginner_tutorials/DoDishesGoal~%# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======~%#Define the goal~%uint32 dishwasher_id #Specify which dishwasher we want to use~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'DoDishesActionGoal)))
+  "Returns full string definition for message of type 'DoDishesActionGoal"
+  (cl:format cl:nil "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======~%~%Header header~%actionlib_msgs/GoalID goal_id~%DoDishesGoal goal~%~%================================================================================~%MSG: std_msgs/Header~%# Standard metadata for higher-level stamped data types.~%# This is generally used to communicate timestamped data ~%# in a particular coordinate frame.~%# ~%# sequence ID: consecutively increasing ID ~%uint32 seq~%#Two-integer timestamp that is expressed as:~%# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')~%# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')~%# time-handling sugar is provided by the client library~%time stamp~%#Frame this data is associated with~%# 0: no frame~%# 1: global frame~%string frame_id~%~%================================================================================~%MSG: actionlib_msgs/GoalID~%# The stamp should store the time at which this goal was requested.~%# It is used by an action server when it tries to preempt all~%# goals that were requested before a certain time~%time stamp~%~%# The id provides a way to associate feedback and~%# result message with specific goal requests. The id~%# specified must be unique.~%string id~%~%~%================================================================================~%MSG: beginner_tutorials/DoDishesGoal~%# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======~%#Define the goal~%uint32 dishwasher_id #Specify which dishwasher we want to use~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <DoDishesActionGoal>))
+  (cl:+ 0
+     (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'header))
+     (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'goal_id))
+     (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'goal))
+))
+(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <DoDishesActionGoal>))
+  "Converts a ROS message object to a list"
+  (cl:list 'DoDishesActionGoal
+    (cl:cons ':header (header msg))
+    (cl:cons ':goal_id (goal_id msg))
+    (cl:cons ':goal (goal msg))
+))
diff --git a/20151007/devel/share/common-lisp/ros/beginner_tutorials/msg/DoDishesActionResult.lisp b/20151007/devel/share/common-lisp/ros/beginner_tutorials/msg/DoDishesActionResult.lisp
new file mode 100644
index 00000000..c41fcc72
--- /dev/null
+++ b/20151007/devel/share/common-lisp/ros/beginner_tutorials/msg/DoDishesActionResult.lisp
@@ -0,0 +1,92 @@
+; Auto-generated. Do not edit!
+
+
+(cl:in-package beginner_tutorials-msg)
+
+
+;//! \htmlinclude DoDishesActionResult.msg.html
+
+(cl:defclass <DoDishesActionResult> (roslisp-msg-protocol:ros-message)
+  ((header
+    :reader header
+    :initarg :header
+    :type std_msgs-msg:Header
+    :initform (cl:make-instance 'std_msgs-msg:Header))
+   (status
+    :reader status
+    :initarg :status
+    :type actionlib_msgs-msg:GoalStatus
+    :initform (cl:make-instance 'actionlib_msgs-msg:GoalStatus))
+   (result
+    :reader result
+    :initarg :result
+    :type beginner_tutorials-msg:DoDishesResult
+    :initform (cl:make-instance 'beginner_tutorials-msg:DoDishesResult)))
+)
+
+(cl:defclass DoDishesActionResult (<DoDishesActionResult>)
+  ())
+
+(cl:defmethod cl:initialize-instance :after ((m <DoDishesActionResult>) cl:&rest args)
+  (cl:declare (cl:ignorable args))
+  (cl:unless (cl:typep m 'DoDishesActionResult)
+    (roslisp-msg-protocol:msg-deprecation-warning "using old message class name beginner_tutorials-msg:<DoDishesActionResult> is deprecated: use beginner_tutorials-msg:DoDishesActionResult instead.")))
+
+(cl:ensure-generic-function 'header-val :lambda-list '(m))
+(cl:defmethod header-val ((m <DoDishesActionResult>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader beginner_tutorials-msg:header-val is deprecated.  Use beginner_tutorials-msg:header instead.")
+  (header m))
+
+(cl:ensure-generic-function 'status-val :lambda-list '(m))
+(cl:defmethod status-val ((m <DoDishesActionResult>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader beginner_tutorials-msg:status-val is deprecated.  Use beginner_tutorials-msg:status instead.")
+  (status m))
+
+(cl:ensure-generic-function 'result-val :lambda-list '(m))
+(cl:defmethod result-val ((m <DoDishesActionResult>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader beginner_tutorials-msg:result-val is deprecated.  Use beginner_tutorials-msg:result instead.")
+  (result m))
+(cl:defmethod roslisp-msg-protocol:serialize ((msg <DoDishesActionResult>) ostream)
+  "Serializes a message object of type '<DoDishesActionResult>"
+  (roslisp-msg-protocol:serialize (cl:slot-value msg 'header) ostream)
+  (roslisp-msg-protocol:serialize (cl:slot-value msg 'status) ostream)
+  (roslisp-msg-protocol:serialize (cl:slot-value msg 'result) ostream)
+)
+(cl:defmethod roslisp-msg-protocol:deserialize ((msg <DoDishesActionResult>) istream)
+  "Deserializes a message object of type '<DoDishesActionResult>"
+  (roslisp-msg-protocol:deserialize (cl:slot-value msg 'header) istream)
+  (roslisp-msg-protocol:deserialize (cl:slot-value msg 'status) istream)
+  (roslisp-msg-protocol:deserialize (cl:slot-value msg 'result) istream)
+  msg
+)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<DoDishesActionResult>)))
+  "Returns string type for a message object of type '<DoDishesActionResult>"
+  "beginner_tutorials/DoDishesActionResult")
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'DoDishesActionResult)))
+  "Returns string type for a message object of type 'DoDishesActionResult"
+  "beginner_tutorials/DoDishesActionResult")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<DoDishesActionResult>)))
+  "Returns md5sum for a message object of type '<DoDishesActionResult>"
+  "61019e447a1d83a4fa7410860a41f245")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'DoDishesActionResult)))
+  "Returns md5sum for a message object of type 'DoDishesActionResult"
+  "61019e447a1d83a4fa7410860a41f245")
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<DoDishesActionResult>)))
+  "Returns full string definition for message of type '<DoDishesActionResult>"
+  (cl:format cl:nil "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======~%~%Header header~%actionlib_msgs/GoalStatus status~%DoDishesResult result~%~%================================================================================~%MSG: std_msgs/Header~%# Standard metadata for higher-level stamped data types.~%# This is generally used to communicate timestamped data ~%# in a particular coordinate frame.~%# ~%# sequence ID: consecutively increasing ID ~%uint32 seq~%#Two-integer timestamp that is expressed as:~%# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')~%# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')~%# time-handling sugar is provided by the client library~%time stamp~%#Frame this data is associated with~%# 0: no frame~%# 1: global frame~%string frame_id~%~%================================================================================~%MSG: actionlib_msgs/GoalStatus~%GoalID goal_id~%uint8 status~%uint8 PENDING         = 0   # The goal has yet to be processed by the action server~%uint8 ACTIVE          = 1   # The goal is currently being processed by the action server~%uint8 PREEMPTED       = 2   # The goal received a cancel request after it started executing~%                            #   and has since completed its execution (Terminal State)~%uint8 SUCCEEDED       = 3   # The goal was achieved successfully by the action server (Terminal State)~%uint8 ABORTED         = 4   # The goal was aborted during execution by the action server due~%                            #    to some failure (Terminal State)~%uint8 REJECTED        = 5   # The goal was rejected by the action server without being processed,~%                            #    because the goal was unattainable or invalid (Terminal State)~%uint8 PREEMPTING      = 6   # The goal received a cancel request after it started executing~%                            #    and has not yet completed execution~%uint8 RECALLING       = 7   # The goal received a cancel request before it started executing,~%                            #    but the action server has not yet confirmed that the goal is canceled~%uint8 RECALLED        = 8   # The goal received a cancel request before it started executing~%                            #    and was successfully cancelled (Terminal State)~%uint8 LOST            = 9   # An action client can determine that a goal is LOST. This should not be~%                            #    sent over the wire by an action server~%~%#Allow for the user to associate a string with GoalStatus for debugging~%string text~%~%~%================================================================================~%MSG: actionlib_msgs/GoalID~%# The stamp should store the time at which this goal was requested.~%# It is used by an action server when it tries to preempt all~%# goals that were requested before a certain time~%time stamp~%~%# The id provides a way to associate feedback and~%# result message with specific goal requests. The id~%# specified must be unique.~%string id~%~%~%================================================================================~%MSG: beginner_tutorials/DoDishesResult~%# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======~%#Define the result~%uint32 total_dishes_cleaned~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'DoDishesActionResult)))
+  "Returns full string definition for message of type 'DoDishesActionResult"
+  (cl:format cl:nil "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======~%~%Header header~%actionlib_msgs/GoalStatus status~%DoDishesResult result~%~%================================================================================~%MSG: std_msgs/Header~%# Standard metadata for higher-level stamped data types.~%# This is generally used to communicate timestamped data ~%# in a particular coordinate frame.~%# ~%# sequence ID: consecutively increasing ID ~%uint32 seq~%#Two-integer timestamp that is expressed as:~%# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')~%# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')~%# time-handling sugar is provided by the client library~%time stamp~%#Frame this data is associated with~%# 0: no frame~%# 1: global frame~%string frame_id~%~%================================================================================~%MSG: actionlib_msgs/GoalStatus~%GoalID goal_id~%uint8 status~%uint8 PENDING         = 0   # The goal has yet to be processed by the action server~%uint8 ACTIVE          = 1   # The goal is currently being processed by the action server~%uint8 PREEMPTED       = 2   # The goal received a cancel request after it started executing~%                            #   and has since completed its execution (Terminal State)~%uint8 SUCCEEDED       = 3   # The goal was achieved successfully by the action server (Terminal State)~%uint8 ABORTED         = 4   # The goal was aborted during execution by the action server due~%                            #    to some failure (Terminal State)~%uint8 REJECTED        = 5   # The goal was rejected by the action server without being processed,~%                            #    because the goal was unattainable or invalid (Terminal State)~%uint8 PREEMPTING      = 6   # The goal received a cancel request after it started executing~%                            #    and has not yet completed execution~%uint8 RECALLING       = 7   # The goal received a cancel request before it started executing,~%                            #    but the action server has not yet confirmed that the goal is canceled~%uint8 RECALLED        = 8   # The goal received a cancel request before it started executing~%                            #    and was successfully cancelled (Terminal State)~%uint8 LOST            = 9   # An action client can determine that a goal is LOST. This should not be~%                            #    sent over the wire by an action server~%~%#Allow for the user to associate a string with GoalStatus for debugging~%string text~%~%~%================================================================================~%MSG: actionlib_msgs/GoalID~%# The stamp should store the time at which this goal was requested.~%# It is used by an action server when it tries to preempt all~%# goals that were requested before a certain time~%time stamp~%~%# The id provides a way to associate feedback and~%# result message with specific goal requests. The id~%# specified must be unique.~%string id~%~%~%================================================================================~%MSG: beginner_tutorials/DoDishesResult~%# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======~%#Define the result~%uint32 total_dishes_cleaned~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <DoDishesActionResult>))
+  (cl:+ 0
+     (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'header))
+     (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'status))
+     (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'result))
+))
+(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <DoDishesActionResult>))
+  "Converts a ROS message object to a list"
+  (cl:list 'DoDishesActionResult
+    (cl:cons ':header (header msg))
+    (cl:cons ':status (status msg))
+    (cl:cons ':result (result msg))
+))
diff --git a/20151007/devel/share/common-lisp/ros/beginner_tutorials/msg/DoDishesFeedback.lisp b/20151007/devel/share/common-lisp/ros/beginner_tutorials/msg/DoDishesFeedback.lisp
new file mode 100644
index 00000000..5eba688b
--- /dev/null
+++ b/20151007/devel/share/common-lisp/ros/beginner_tutorials/msg/DoDishesFeedback.lisp
@@ -0,0 +1,73 @@
+; Auto-generated. Do not edit!
+
+
+(cl:in-package beginner_tutorials-msg)
+
+
+;//! \htmlinclude DoDishesFeedback.msg.html
+
+(cl:defclass <DoDishesFeedback> (roslisp-msg-protocol:ros-message)
+  ((percent_complete
+    :reader percent_complete
+    :initarg :percent_complete
+    :type cl:float
+    :initform 0.0))
+)
+
+(cl:defclass DoDishesFeedback (<DoDishesFeedback>)
+  ())
+
+(cl:defmethod cl:initialize-instance :after ((m <DoDishesFeedback>) cl:&rest args)
+  (cl:declare (cl:ignorable args))
+  (cl:unless (cl:typep m 'DoDishesFeedback)
+    (roslisp-msg-protocol:msg-deprecation-warning "using old message class name beginner_tutorials-msg:<DoDishesFeedback> is deprecated: use beginner_tutorials-msg:DoDishesFeedback instead.")))
+
+(cl:ensure-generic-function 'percent_complete-val :lambda-list '(m))
+(cl:defmethod percent_complete-val ((m <DoDishesFeedback>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader beginner_tutorials-msg:percent_complete-val is deprecated.  Use beginner_tutorials-msg:percent_complete instead.")
+  (percent_complete m))
+(cl:defmethod roslisp-msg-protocol:serialize ((msg <DoDishesFeedback>) ostream)
+  "Serializes a message object of type '<DoDishesFeedback>"
+  (cl:let ((bits (roslisp-utils:encode-single-float-bits (cl:slot-value msg 'percent_complete))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream))
+)
+(cl:defmethod roslisp-msg-protocol:deserialize ((msg <DoDishesFeedback>) istream)
+  "Deserializes a message object of type '<DoDishesFeedback>"
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+    (cl:setf (cl:slot-value msg 'percent_complete) (roslisp-utils:decode-single-float-bits bits)))
+  msg
+)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<DoDishesFeedback>)))
+  "Returns string type for a message object of type '<DoDishesFeedback>"
+  "beginner_tutorials/DoDishesFeedback")
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'DoDishesFeedback)))
+  "Returns string type for a message object of type 'DoDishesFeedback"
+  "beginner_tutorials/DoDishesFeedback")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<DoDishesFeedback>)))
+  "Returns md5sum for a message object of type '<DoDishesFeedback>"
+  "d342375c60a5a58d3bc32664070a1368")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'DoDishesFeedback)))
+  "Returns md5sum for a message object of type 'DoDishesFeedback"
+  "d342375c60a5a58d3bc32664070a1368")
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<DoDishesFeedback>)))
+  "Returns full string definition for message of type '<DoDishesFeedback>"
+  (cl:format cl:nil "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======~%#Define a feedback message~%float32 percent_complete~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'DoDishesFeedback)))
+  "Returns full string definition for message of type 'DoDishesFeedback"
+  (cl:format cl:nil "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======~%#Define a feedback message~%float32 percent_complete~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <DoDishesFeedback>))
+  (cl:+ 0
+     4
+))
+(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <DoDishesFeedback>))
+  "Converts a ROS message object to a list"
+  (cl:list 'DoDishesFeedback
+    (cl:cons ':percent_complete (percent_complete msg))
+))
diff --git a/20151007/devel/share/common-lisp/ros/beginner_tutorials/msg/DoDishesGoal.lisp b/20151007/devel/share/common-lisp/ros/beginner_tutorials/msg/DoDishesGoal.lisp
new file mode 100644
index 00000000..e015640e
--- /dev/null
+++ b/20151007/devel/share/common-lisp/ros/beginner_tutorials/msg/DoDishesGoal.lisp
@@ -0,0 +1,70 @@
+; Auto-generated. Do not edit!
+
+
+(cl:in-package beginner_tutorials-msg)
+
+
+;//! \htmlinclude DoDishesGoal.msg.html
+
+(cl:defclass <DoDishesGoal> (roslisp-msg-protocol:ros-message)
+  ((dishwasher_id
+    :reader dishwasher_id
+    :initarg :dishwasher_id
+    :type cl:integer
+    :initform 0))
+)
+
+(cl:defclass DoDishesGoal (<DoDishesGoal>)
+  ())
+
+(cl:defmethod cl:initialize-instance :after ((m <DoDishesGoal>) cl:&rest args)
+  (cl:declare (cl:ignorable args))
+  (cl:unless (cl:typep m 'DoDishesGoal)
+    (roslisp-msg-protocol:msg-deprecation-warning "using old message class name beginner_tutorials-msg:<DoDishesGoal> is deprecated: use beginner_tutorials-msg:DoDishesGoal instead.")))
+
+(cl:ensure-generic-function 'dishwasher_id-val :lambda-list '(m))
+(cl:defmethod dishwasher_id-val ((m <DoDishesGoal>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader beginner_tutorials-msg:dishwasher_id-val is deprecated.  Use beginner_tutorials-msg:dishwasher_id instead.")
+  (dishwasher_id m))
+(cl:defmethod roslisp-msg-protocol:serialize ((msg <DoDishesGoal>) ostream)
+  "Serializes a message object of type '<DoDishesGoal>"
+  (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'dishwasher_id)) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'dishwasher_id)) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 16) (cl:slot-value msg 'dishwasher_id)) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 24) (cl:slot-value msg 'dishwasher_id)) ostream)
+)
+(cl:defmethod roslisp-msg-protocol:deserialize ((msg <DoDishesGoal>) istream)
+  "Deserializes a message object of type '<DoDishesGoal>"
+    (cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'dishwasher_id)) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'dishwasher_id)) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 16) (cl:slot-value msg 'dishwasher_id)) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 24) (cl:slot-value msg 'dishwasher_id)) (cl:read-byte istream))
+  msg
+)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<DoDishesGoal>)))
+  "Returns string type for a message object of type '<DoDishesGoal>"
+  "beginner_tutorials/DoDishesGoal")
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'DoDishesGoal)))
+  "Returns string type for a message object of type 'DoDishesGoal"
+  "beginner_tutorials/DoDishesGoal")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<DoDishesGoal>)))
+  "Returns md5sum for a message object of type '<DoDishesGoal>"
+  "65bd9e09a531006f4ecdeabe719004b9")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'DoDishesGoal)))
+  "Returns md5sum for a message object of type 'DoDishesGoal"
+  "65bd9e09a531006f4ecdeabe719004b9")
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<DoDishesGoal>)))
+  "Returns full string definition for message of type '<DoDishesGoal>"
+  (cl:format cl:nil "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======~%#Define the goal~%uint32 dishwasher_id #Specify which dishwasher we want to use~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'DoDishesGoal)))
+  "Returns full string definition for message of type 'DoDishesGoal"
+  (cl:format cl:nil "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======~%#Define the goal~%uint32 dishwasher_id #Specify which dishwasher we want to use~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <DoDishesGoal>))
+  (cl:+ 0
+     4
+))
+(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <DoDishesGoal>))
+  "Converts a ROS message object to a list"
+  (cl:list 'DoDishesGoal
+    (cl:cons ':dishwasher_id (dishwasher_id msg))
+))
diff --git a/20151007/devel/share/common-lisp/ros/beginner_tutorials/msg/DoDishesResult.lisp b/20151007/devel/share/common-lisp/ros/beginner_tutorials/msg/DoDishesResult.lisp
new file mode 100644
index 00000000..7585c201
--- /dev/null
+++ b/20151007/devel/share/common-lisp/ros/beginner_tutorials/msg/DoDishesResult.lisp
@@ -0,0 +1,70 @@
+; Auto-generated. Do not edit!
+
+
+(cl:in-package beginner_tutorials-msg)
+
+
+;//! \htmlinclude DoDishesResult.msg.html
+
+(cl:defclass <DoDishesResult> (roslisp-msg-protocol:ros-message)
+  ((total_dishes_cleaned
+    :reader total_dishes_cleaned
+    :initarg :total_dishes_cleaned
+    :type cl:integer
+    :initform 0))
+)
+
+(cl:defclass DoDishesResult (<DoDishesResult>)
+  ())
+
+(cl:defmethod cl:initialize-instance :after ((m <DoDishesResult>) cl:&rest args)
+  (cl:declare (cl:ignorable args))
+  (cl:unless (cl:typep m 'DoDishesResult)
+    (roslisp-msg-protocol:msg-deprecation-warning "using old message class name beginner_tutorials-msg:<DoDishesResult> is deprecated: use beginner_tutorials-msg:DoDishesResult instead.")))
+
+(cl:ensure-generic-function 'total_dishes_cleaned-val :lambda-list '(m))
+(cl:defmethod total_dishes_cleaned-val ((m <DoDishesResult>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader beginner_tutorials-msg:total_dishes_cleaned-val is deprecated.  Use beginner_tutorials-msg:total_dishes_cleaned instead.")
+  (total_dishes_cleaned m))
+(cl:defmethod roslisp-msg-protocol:serialize ((msg <DoDishesResult>) ostream)
+  "Serializes a message object of type '<DoDishesResult>"
+  (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'total_dishes_cleaned)) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'total_dishes_cleaned)) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 16) (cl:slot-value msg 'total_dishes_cleaned)) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 24) (cl:slot-value msg 'total_dishes_cleaned)) ostream)
+)
+(cl:defmethod roslisp-msg-protocol:deserialize ((msg <DoDishesResult>) istream)
+  "Deserializes a message object of type '<DoDishesResult>"
+    (cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'total_dishes_cleaned)) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'total_dishes_cleaned)) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 16) (cl:slot-value msg 'total_dishes_cleaned)) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 24) (cl:slot-value msg 'total_dishes_cleaned)) (cl:read-byte istream))
+  msg
+)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<DoDishesResult>)))
+  "Returns string type for a message object of type '<DoDishesResult>"
+  "beginner_tutorials/DoDishesResult")
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'DoDishesResult)))
+  "Returns string type for a message object of type 'DoDishesResult"
+  "beginner_tutorials/DoDishesResult")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<DoDishesResult>)))
+  "Returns md5sum for a message object of type '<DoDishesResult>"
+  "58faa44dda59c6545bea63ff57491cbe")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'DoDishesResult)))
+  "Returns md5sum for a message object of type 'DoDishesResult"
+  "58faa44dda59c6545bea63ff57491cbe")
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<DoDishesResult>)))
+  "Returns full string definition for message of type '<DoDishesResult>"
+  (cl:format cl:nil "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======~%#Define the result~%uint32 total_dishes_cleaned~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'DoDishesResult)))
+  "Returns full string definition for message of type 'DoDishesResult"
+  (cl:format cl:nil "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======~%#Define the result~%uint32 total_dishes_cleaned~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <DoDishesResult>))
+  (cl:+ 0
+     4
+))
+(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <DoDishesResult>))
+  "Converts a ROS message object to a list"
+  (cl:list 'DoDishesResult
+    (cl:cons ':total_dishes_cleaned (total_dishes_cleaned msg))
+))
diff --git a/20151007/devel/share/common-lisp/ros/beginner_tutorials/msg/_package.lisp b/20151007/devel/share/common-lisp/ros/beginner_tutorials/msg/_package.lisp
new file mode 100644
index 00000000..65e07a33
--- /dev/null
+++ b/20151007/devel/share/common-lisp/ros/beginner_tutorials/msg/_package.lisp
@@ -0,0 +1,19 @@
+(cl:defpackage beginner_tutorials-msg
+  (:use )
+  (:export
+   "<DODISHESGOAL>"
+   "DODISHESGOAL"
+   "<DODISHESFEEDBACK>"
+   "DODISHESFEEDBACK"
+   "<DODISHESACTIONRESULT>"
+   "DODISHESACTIONRESULT"
+   "<DODISHESACTION>"
+   "DODISHESACTION"
+   "<DODISHESACTIONGOAL>"
+   "DODISHESACTIONGOAL"
+   "<DODISHESRESULT>"
+   "DODISHESRESULT"
+   "<DODISHESACTIONFEEDBACK>"
+   "DODISHESACTIONFEEDBACK"
+  ))
+
diff --git a/20151007/devel/share/common-lisp/ros/beginner_tutorials/msg/_package_DoDishesAction.lisp b/20151007/devel/share/common-lisp/ros/beginner_tutorials/msg/_package_DoDishesAction.lisp
new file mode 100644
index 00000000..c18eae4d
--- /dev/null
+++ b/20151007/devel/share/common-lisp/ros/beginner_tutorials/msg/_package_DoDishesAction.lisp
@@ -0,0 +1,8 @@
+(cl:in-package beginner_tutorials-msg)
+(cl:export '(ACTION_GOAL-VAL
+          ACTION_GOAL
+          ACTION_RESULT-VAL
+          ACTION_RESULT
+          ACTION_FEEDBACK-VAL
+          ACTION_FEEDBACK
+))
\ No newline at end of file
diff --git a/20151007/devel/share/common-lisp/ros/beginner_tutorials/msg/_package_DoDishesActionFeedback.lisp b/20151007/devel/share/common-lisp/ros/beginner_tutorials/msg/_package_DoDishesActionFeedback.lisp
new file mode 100644
index 00000000..a2a5a330
--- /dev/null
+++ b/20151007/devel/share/common-lisp/ros/beginner_tutorials/msg/_package_DoDishesActionFeedback.lisp
@@ -0,0 +1,8 @@
+(cl:in-package beginner_tutorials-msg)
+(cl:export '(HEADER-VAL
+          HEADER
+          STATUS-VAL
+          STATUS
+          FEEDBACK-VAL
+          FEEDBACK
+))
\ No newline at end of file
diff --git a/20151007/devel/share/common-lisp/ros/beginner_tutorials/msg/_package_DoDishesActionGoal.lisp b/20151007/devel/share/common-lisp/ros/beginner_tutorials/msg/_package_DoDishesActionGoal.lisp
new file mode 100644
index 00000000..953e03d9
--- /dev/null
+++ b/20151007/devel/share/common-lisp/ros/beginner_tutorials/msg/_package_DoDishesActionGoal.lisp
@@ -0,0 +1,8 @@
+(cl:in-package beginner_tutorials-msg)
+(cl:export '(HEADER-VAL
+          HEADER
+          GOAL_ID-VAL
+          GOAL_ID
+          GOAL-VAL
+          GOAL
+))
\ No newline at end of file
diff --git a/20151007/devel/share/common-lisp/ros/beginner_tutorials/msg/_package_DoDishesActionResult.lisp b/20151007/devel/share/common-lisp/ros/beginner_tutorials/msg/_package_DoDishesActionResult.lisp
new file mode 100644
index 00000000..48882f38
--- /dev/null
+++ b/20151007/devel/share/common-lisp/ros/beginner_tutorials/msg/_package_DoDishesActionResult.lisp
@@ -0,0 +1,8 @@
+(cl:in-package beginner_tutorials-msg)
+(cl:export '(HEADER-VAL
+          HEADER
+          STATUS-VAL
+          STATUS
+          RESULT-VAL
+          RESULT
+))
\ No newline at end of file
diff --git a/20151007/devel/share/common-lisp/ros/beginner_tutorials/msg/_package_DoDishesFeedback.lisp b/20151007/devel/share/common-lisp/ros/beginner_tutorials/msg/_package_DoDishesFeedback.lisp
new file mode 100644
index 00000000..3ff22112
--- /dev/null
+++ b/20151007/devel/share/common-lisp/ros/beginner_tutorials/msg/_package_DoDishesFeedback.lisp
@@ -0,0 +1,4 @@
+(cl:in-package beginner_tutorials-msg)
+(cl:export '(PERCENT_COMPLETE-VAL
+          PERCENT_COMPLETE
+))
\ No newline at end of file
diff --git a/20151007/devel/share/common-lisp/ros/beginner_tutorials/msg/_package_DoDishesGoal.lisp b/20151007/devel/share/common-lisp/ros/beginner_tutorials/msg/_package_DoDishesGoal.lisp
new file mode 100644
index 00000000..aa9d0dca
--- /dev/null
+++ b/20151007/devel/share/common-lisp/ros/beginner_tutorials/msg/_package_DoDishesGoal.lisp
@@ -0,0 +1,4 @@
+(cl:in-package beginner_tutorials-msg)
+(cl:export '(DISHWASHER_ID-VAL
+          DISHWASHER_ID
+))
\ No newline at end of file
diff --git a/20151007/devel/share/common-lisp/ros/beginner_tutorials/msg/_package_DoDishesResult.lisp b/20151007/devel/share/common-lisp/ros/beginner_tutorials/msg/_package_DoDishesResult.lisp
new file mode 100644
index 00000000..385ec672
--- /dev/null
+++ b/20151007/devel/share/common-lisp/ros/beginner_tutorials/msg/_package_DoDishesResult.lisp
@@ -0,0 +1,4 @@
+(cl:in-package beginner_tutorials-msg)
+(cl:export '(TOTAL_DISHES_CLEANED-VAL
+          TOTAL_DISHES_CLEANED
+))
\ No newline at end of file
diff --git a/20151007/devel/share/common-lisp/ros/beginner_tutorials/msg/beginner_tutorials-msg.asd b/20151007/devel/share/common-lisp/ros/beginner_tutorials/msg/beginner_tutorials-msg.asd
new file mode 100644
index 00000000..4cbba912
--- /dev/null
+++ b/20151007/devel/share/common-lisp/ros/beginner_tutorials/msg/beginner_tutorials-msg.asd
@@ -0,0 +1,23 @@
+
+(cl:in-package :asdf)
+
+(defsystem "beginner_tutorials-msg"
+  :depends-on (:roslisp-msg-protocol :roslisp-utils :actionlib_msgs-msg
+               :std_msgs-msg
+)
+  :components ((:file "_package")
+    (:file "DoDishesGoal" :depends-on ("_package_DoDishesGoal"))
+    (:file "_package_DoDishesGoal" :depends-on ("_package"))
+    (:file "DoDishesFeedback" :depends-on ("_package_DoDishesFeedback"))
+    (:file "_package_DoDishesFeedback" :depends-on ("_package"))
+    (:file "DoDishesActionResult" :depends-on ("_package_DoDishesActionResult"))
+    (:file "_package_DoDishesActionResult" :depends-on ("_package"))
+    (:file "DoDishesAction" :depends-on ("_package_DoDishesAction"))
+    (:file "_package_DoDishesAction" :depends-on ("_package"))
+    (:file "DoDishesActionGoal" :depends-on ("_package_DoDishesActionGoal"))
+    (:file "_package_DoDishesActionGoal" :depends-on ("_package"))
+    (:file "DoDishesResult" :depends-on ("_package_DoDishesResult"))
+    (:file "_package_DoDishesResult" :depends-on ("_package"))
+    (:file "DoDishesActionFeedback" :depends-on ("_package_DoDishesActionFeedback"))
+    (:file "_package_DoDishesActionFeedback" :depends-on ("_package"))
+  ))
\ No newline at end of file
diff --git a/20151007/devel/share/common-lisp/ros/beginner_tutorials/srv/AddTwoInts.lisp b/20151007/devel/share/common-lisp/ros/beginner_tutorials/srv/AddTwoInts.lisp
new file mode 100644
index 00000000..6992201a
--- /dev/null
+++ b/20151007/devel/share/common-lisp/ros/beginner_tutorials/srv/AddTwoInts.lisp
@@ -0,0 +1,197 @@
+; Auto-generated. Do not edit!
+
+
+(cl:in-package beginner_tutorials-srv)
+
+
+;//! \htmlinclude AddTwoInts-request.msg.html
+
+(cl:defclass <AddTwoInts-request> (roslisp-msg-protocol:ros-message)
+  ((a
+    :reader a
+    :initarg :a
+    :type cl:integer
+    :initform 0)
+   (b
+    :reader b
+    :initarg :b
+    :type cl:integer
+    :initform 0))
+)
+
+(cl:defclass AddTwoInts-request (<AddTwoInts-request>)
+  ())
+
+(cl:defmethod cl:initialize-instance :after ((m <AddTwoInts-request>) cl:&rest args)
+  (cl:declare (cl:ignorable args))
+  (cl:unless (cl:typep m 'AddTwoInts-request)
+    (roslisp-msg-protocol:msg-deprecation-warning "using old message class name beginner_tutorials-srv:<AddTwoInts-request> is deprecated: use beginner_tutorials-srv:AddTwoInts-request instead.")))
+
+(cl:ensure-generic-function 'a-val :lambda-list '(m))
+(cl:defmethod a-val ((m <AddTwoInts-request>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader beginner_tutorials-srv:a-val is deprecated.  Use beginner_tutorials-srv:a instead.")
+  (a m))
+
+(cl:ensure-generic-function 'b-val :lambda-list '(m))
+(cl:defmethod b-val ((m <AddTwoInts-request>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader beginner_tutorials-srv:b-val is deprecated.  Use beginner_tutorials-srv:b instead.")
+  (b m))
+(cl:defmethod roslisp-msg-protocol:serialize ((msg <AddTwoInts-request>) ostream)
+  "Serializes a message object of type '<AddTwoInts-request>"
+  (cl:let* ((signed (cl:slot-value msg 'a)) (unsigned (cl:if (cl:< signed 0) (cl:+ signed 18446744073709551616) signed)))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) unsigned) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) unsigned) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) unsigned) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) unsigned) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 32) unsigned) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 40) unsigned) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 48) unsigned) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 56) unsigned) ostream)
+    )
+  (cl:let* ((signed (cl:slot-value msg 'b)) (unsigned (cl:if (cl:< signed 0) (cl:+ signed 18446744073709551616) signed)))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) unsigned) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) unsigned) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) unsigned) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) unsigned) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 32) unsigned) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 40) unsigned) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 48) unsigned) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 56) unsigned) ostream)
+    )
+)
+(cl:defmethod roslisp-msg-protocol:deserialize ((msg <AddTwoInts-request>) istream)
+  "Deserializes a message object of type '<AddTwoInts-request>"
+    (cl:let ((unsigned 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 32) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 40) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 48) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 56) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:slot-value msg 'a) (cl:if (cl:< unsigned 9223372036854775808) unsigned (cl:- unsigned 18446744073709551616))))
+    (cl:let ((unsigned 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 32) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 40) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 48) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 56) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:slot-value msg 'b) (cl:if (cl:< unsigned 9223372036854775808) unsigned (cl:- unsigned 18446744073709551616))))
+  msg
+)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<AddTwoInts-request>)))
+  "Returns string type for a service object of type '<AddTwoInts-request>"
+  "beginner_tutorials/AddTwoIntsRequest")
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'AddTwoInts-request)))
+  "Returns string type for a service object of type 'AddTwoInts-request"
+  "beginner_tutorials/AddTwoIntsRequest")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<AddTwoInts-request>)))
+  "Returns md5sum for a message object of type '<AddTwoInts-request>"
+  "6a2e34150c00229791cc89ff309fff21")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'AddTwoInts-request)))
+  "Returns md5sum for a message object of type 'AddTwoInts-request"
+  "6a2e34150c00229791cc89ff309fff21")
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<AddTwoInts-request>)))
+  "Returns full string definition for message of type '<AddTwoInts-request>"
+  (cl:format cl:nil "int64 a~%int64 b~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'AddTwoInts-request)))
+  "Returns full string definition for message of type 'AddTwoInts-request"
+  (cl:format cl:nil "int64 a~%int64 b~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <AddTwoInts-request>))
+  (cl:+ 0
+     8
+     8
+))
+(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <AddTwoInts-request>))
+  "Converts a ROS message object to a list"
+  (cl:list 'AddTwoInts-request
+    (cl:cons ':a (a msg))
+    (cl:cons ':b (b msg))
+))
+;//! \htmlinclude AddTwoInts-response.msg.html
+
+(cl:defclass <AddTwoInts-response> (roslisp-msg-protocol:ros-message)
+  ((sum
+    :reader sum
+    :initarg :sum
+    :type cl:integer
+    :initform 0))
+)
+
+(cl:defclass AddTwoInts-response (<AddTwoInts-response>)
+  ())
+
+(cl:defmethod cl:initialize-instance :after ((m <AddTwoInts-response>) cl:&rest args)
+  (cl:declare (cl:ignorable args))
+  (cl:unless (cl:typep m 'AddTwoInts-response)
+    (roslisp-msg-protocol:msg-deprecation-warning "using old message class name beginner_tutorials-srv:<AddTwoInts-response> is deprecated: use beginner_tutorials-srv:AddTwoInts-response instead.")))
+
+(cl:ensure-generic-function 'sum-val :lambda-list '(m))
+(cl:defmethod sum-val ((m <AddTwoInts-response>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader beginner_tutorials-srv:sum-val is deprecated.  Use beginner_tutorials-srv:sum instead.")
+  (sum m))
+(cl:defmethod roslisp-msg-protocol:serialize ((msg <AddTwoInts-response>) ostream)
+  "Serializes a message object of type '<AddTwoInts-response>"
+  (cl:let* ((signed (cl:slot-value msg 'sum)) (unsigned (cl:if (cl:< signed 0) (cl:+ signed 18446744073709551616) signed)))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) unsigned) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) unsigned) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) unsigned) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) unsigned) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 32) unsigned) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 40) unsigned) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 48) unsigned) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 56) unsigned) ostream)
+    )
+)
+(cl:defmethod roslisp-msg-protocol:deserialize ((msg <AddTwoInts-response>) istream)
+  "Deserializes a message object of type '<AddTwoInts-response>"
+    (cl:let ((unsigned 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 32) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 40) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 48) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 56) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:slot-value msg 'sum) (cl:if (cl:< unsigned 9223372036854775808) unsigned (cl:- unsigned 18446744073709551616))))
+  msg
+)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<AddTwoInts-response>)))
+  "Returns string type for a service object of type '<AddTwoInts-response>"
+  "beginner_tutorials/AddTwoIntsResponse")
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'AddTwoInts-response)))
+  "Returns string type for a service object of type 'AddTwoInts-response"
+  "beginner_tutorials/AddTwoIntsResponse")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<AddTwoInts-response>)))
+  "Returns md5sum for a message object of type '<AddTwoInts-response>"
+  "6a2e34150c00229791cc89ff309fff21")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'AddTwoInts-response)))
+  "Returns md5sum for a message object of type 'AddTwoInts-response"
+  "6a2e34150c00229791cc89ff309fff21")
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<AddTwoInts-response>)))
+  "Returns full string definition for message of type '<AddTwoInts-response>"
+  (cl:format cl:nil "int64 sum~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'AddTwoInts-response)))
+  "Returns full string definition for message of type 'AddTwoInts-response"
+  (cl:format cl:nil "int64 sum~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <AddTwoInts-response>))
+  (cl:+ 0
+     8
+))
+(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <AddTwoInts-response>))
+  "Converts a ROS message object to a list"
+  (cl:list 'AddTwoInts-response
+    (cl:cons ':sum (sum msg))
+))
+(cl:defmethod roslisp-msg-protocol:service-request-type ((msg (cl:eql 'AddTwoInts)))
+  'AddTwoInts-request)
+(cl:defmethod roslisp-msg-protocol:service-response-type ((msg (cl:eql 'AddTwoInts)))
+  'AddTwoInts-response)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'AddTwoInts)))
+  "Returns string type for a service object of type '<AddTwoInts>"
+  "beginner_tutorials/AddTwoInts")
\ No newline at end of file
diff --git a/20151007/devel/share/common-lisp/ros/beginner_tutorials/srv/_package.lisp b/20151007/devel/share/common-lisp/ros/beginner_tutorials/srv/_package.lisp
new file mode 100644
index 00000000..18641fe9
--- /dev/null
+++ b/20151007/devel/share/common-lisp/ros/beginner_tutorials/srv/_package.lisp
@@ -0,0 +1,10 @@
+(cl:defpackage beginner_tutorials-srv
+  (:use )
+  (:export
+   "ADDTWOINTS"
+   "<ADDTWOINTS-REQUEST>"
+   "ADDTWOINTS-REQUEST"
+   "<ADDTWOINTS-RESPONSE>"
+   "ADDTWOINTS-RESPONSE"
+  ))
+
diff --git a/20151007/devel/share/common-lisp/ros/beginner_tutorials/srv/_package_AddTwoInts.lisp b/20151007/devel/share/common-lisp/ros/beginner_tutorials/srv/_package_AddTwoInts.lisp
new file mode 100644
index 00000000..26866da6
--- /dev/null
+++ b/20151007/devel/share/common-lisp/ros/beginner_tutorials/srv/_package_AddTwoInts.lisp
@@ -0,0 +1,8 @@
+(cl:in-package beginner_tutorials-srv)
+(cl:export '(A-VAL
+          A
+          B-VAL
+          B
+          SUM-VAL
+          SUM
+))
\ No newline at end of file
diff --git a/20151007/devel/share/common-lisp/ros/beginner_tutorials/srv/beginner_tutorials-srv.asd b/20151007/devel/share/common-lisp/ros/beginner_tutorials/srv/beginner_tutorials-srv.asd
new file mode 100644
index 00000000..7325ef8c
--- /dev/null
+++ b/20151007/devel/share/common-lisp/ros/beginner_tutorials/srv/beginner_tutorials-srv.asd
@@ -0,0 +1,9 @@
+
+(cl:in-package :asdf)
+
+(defsystem "beginner_tutorials-srv"
+  :depends-on (:roslisp-msg-protocol :roslisp-utils )
+  :components ((:file "_package")
+    (:file "AddTwoInts" :depends-on ("_package_AddTwoInts"))
+    (:file "_package_AddTwoInts" :depends-on ("_package"))
+  ))
\ No newline at end of file
diff --git a/20151007/src/CMakeLists.txt b/20151007/src/CMakeLists.txt
new file mode 120000
index 00000000..3703df4e
--- /dev/null
+++ b/20151007/src/CMakeLists.txt
@@ -0,0 +1 @@
+/opt/ros/indigo/share/catkin/cmake/toplevel.cmake
\ No newline at end of file
diff --git a/20151007/src/beginner_tutorials/#CMakeLists.txt# b/20151007/src/beginner_tutorials/#CMakeLists.txt#
new file mode 100644
index 00000000..0413795e
--- /dev/null
+++ b/20151007/src/beginner_tutorials/#CMakeLists.txt#
@@ -0,0 +1,216 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(beginner_tutorials)
+
+## 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
+ geometry_msgs
+ message_generation
+ message_runtime
+ roscpp
+ rospy
+ std_msgs
+ actionlib actionlib_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 run_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 run_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
+# )
+
+######add_action_files(FILES DoDishes.action)
+######add_service_files(FILES AddTwoInts.srv)
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+# DEPENDENCIES
+# geometry_msgs# std_msgs
+# )
+
+generate_messages(DEPENDENCIES geometry_msgs actionlib_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 run_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 you 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 beginner_tutorials
+# CATKIN_DEPENDS geometry_msgs message_generation message_runtime 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)
+include_directories(
+ ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(beginner_tutorials
+# src/${PROJECT_NAME}/beginner_tutorials.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(beginner_tutorials ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+# add_executable(beginner_tutorials_node src/beginner_tutorials_node.cpp)
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(beginner_tutorials_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(beginner_tutorials_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 beginner_tutorials beginner_tutorials_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_beginner_tutorials.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)
+add_executable(talker src/talker.cpp)
+target_link_libraries(talker ${catkin_LIBRARIES})
+add_executable(listener src/listener.cpp)
+target_link_libraries(listener ${catkin_LIBRARIES})
+
+#####add_executable(add_two_ints_server src/add_two_ints_server.cpp)
+#target_link_libraries(add_two_ints_server ${catkin_LIBRARIES})
+#add_dependencies(add_two_ints_server ${PROJECT_NAME}_generate_messages_cpp)
+#add_executable(add_two_ints_client src/add_two_ints_client.cpp)
+#target_link_libraries(add_two_ints_client ${catkin_LIBRARIES})
+#add_dependencies(add_two_ints_client ${PROJECT_NAME}_generate_messages_cpp)
+
+#add_executable(simple_action_client src/simple_action_client.cpp)
+#target_link_libraries(simple_action_client ${catkin_LIBRARIES})
+#add_executable(simple_action_server src/simple_action_server.cpp)
+#target_link_libraries(simple_action_server ${catkin_LIBRARIES})
+#add_dependencies(simple_action_server ${PROJECT_NAME}_generate_messages_cpp)
+#add_dependencies(simple_action_client ${PROJECT_NAME}_generate_messages_cpp)
\ No newline at end of file
diff --git a/20151014/src/enshu_20151014/CMakeLists.txt b/20151007/src/beginner_tutorials/CMakeLists.txt~
similarity index 81%
rename from 20151014/src/enshu_20151014/CMakeLists.txt
rename to 20151007/src/beginner_tutorials/CMakeLists.txt~
index 9e415d97..69d54111 100644
--- a/20151014/src/enshu_20151014/CMakeLists.txt
+++ b/20151007/src/beginner_tutorials/CMakeLists.txt~
@@ -1,11 +1,12 @@
 cmake_minimum_required(VERSION 2.8.3)
-project(enshu_20151014)
+project(beginner_tutorials)
 
 ## 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
-  euslisp
+  geometry_msgs
+  std_msgs
 )
 
 ## System dependencies are found with CMake's conventions
@@ -49,11 +50,12 @@ find_package(catkin REQUIRED COMPONENTS
 # )
 
 ## Generate services in the 'srv' folder
-# add_service_files(
-#   FILES
+ add_service_files(
+   FILES
+AddTwoInts.srv
 #   Service1.srv
 #   Service2.srv
-# )
+ )
 
 ## Generate actions in the 'action' folder
 # add_action_files(
@@ -63,10 +65,10 @@ find_package(catkin REQUIRED COMPONENTS
 # )
 
 ## Generate added messages and services with any dependencies listed here
-# generate_messages(
-#   DEPENDENCIES
-#   std_msgs  # Or other packages containing msgs
-# )
+ generate_messages(
+   DEPENDENCIES
+   geometry_msgs#   std_msgs
+ )
 
 ################################################
 ## Declare ROS dynamic reconfigure parameters ##
@@ -99,8 +101,8 @@ find_package(catkin REQUIRED COMPONENTS
 ## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
 #  INCLUDE_DIRS include
-#  LIBRARIES enshu_20151014
-#  CATKIN_DEPENDS euslisp
+#  LIBRARIES beginner_tutorials
+#  CATKIN_DEPENDS geometry_msgs std_msgs
 #  DEPENDS system_lib
 )
 
@@ -116,24 +118,24 @@ include_directories(
 )
 
 ## Declare a C++ library
-# add_library(enshu_20151014
-#   src/${PROJECT_NAME}/enshu_20151014.cpp
+# add_library(beginner_tutorials
+#   src/${PROJECT_NAME}/beginner_tutorials.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(enshu_20151014 ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+# add_dependencies(beginner_tutorials ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 ## Declare a C++ executable
-# add_executable(enshu_20151014_node src/enshu_20151014_node.cpp)
+# add_executable(beginner_tutorials_node src/beginner_tutorials_node.cpp)
 
 ## Add cmake target dependencies of the executable
 ## same as for the library above
-# add_dependencies(enshu_20151014_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+# add_dependencies(beginner_tutorials_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 ## Specify libraries to link a library or executable target against
-# target_link_libraries(enshu_20151014_node
+# target_link_libraries(beginner_tutorials_node
 #   ${catkin_LIBRARIES}
 # )
 
@@ -152,7 +154,7 @@ include_directories(
 # )
 
 ## Mark executables and/or libraries for installation
-# install(TARGETS enshu_20151014 enshu_20151014_node
+# install(TARGETS beginner_tutorials beginner_tutorials_node
 #   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
 #   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
 #   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
@@ -177,10 +179,22 @@ include_directories(
 #############
 
 ## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_enshu_20151014.cpp)
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_beginner_tutorials.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)
+
+
+
+add_executable(talker src/talker.cpp)
+target_link_libraries(talker ${catkin_LIBRARIES})
+add_executable(listener src/listener.cpp)
+target_link_libraries(listener ${catkin_LIBRARIES})
+
+add_executable(add_two_ints_server  src/add_two_ints_server.cpp)
+target_link_libraries(add_two_ints_server ${catkin_LIBRARIES})
+add_executable(add_two_ints_client src/add_two_ints_client.cpp)
+target_link_libraries(add_two_ints_client ${catkin_LIBRARIES})
\ No newline at end of file
diff --git a/20151007/src/beginner_tutorials/action/#DoDishes.action# b/20151007/src/beginner_tutorials/action/#DoDishes.action#
new file mode 100644
index 00000000..f2b0ec42
--- /dev/null
+++ b/20151007/src/beginner_tutorials/action/#DoDishes.action#
@@ -0,0 +1,9 @@
+#Define the goal
+uint32 dishwasher_id #Specify which dishwasher we want to use
+---
+#Define the result
+uint32 total_dishes_cleaned
+---
+#Define a feedback message
+float32 percent_complete
+
diff --git a/20151014/check1.test b/20151014/check1.test
deleted file mode 100644
index 1e5f0b59..00000000
--- a/20151014/check1.test
+++ /dev/null
@@ -1,5 +0,0 @@
-<launch>
-  <test test-name="renshu_1" pkg="enshu_20151014" type="renshu-1.l" />
-  <test test-name="renshu_2" pkg="enshu_20151014" type="renshu-2.l" />
-  <test test-name="renshu_3" pkg="enshu_20151014" type="renshu-3.l" />
-</launch>
diff --git a/20151014/src/enshu_20151014/euslisp/renshu-1.l b/20151014/src/enshu_20151014/euslisp/renshu-1.l
deleted file mode 100755
index b1d9654f..00000000
--- a/20151014/src/enshu_20151014/euslisp/renshu-1.l
+++ /dev/null
@@ -1,22 +0,0 @@
-#!/usr/bin/env irteusgl
-
-(load "lib/llib/unittest.l")
-(init-unit-test)
-(send *unit-test* :clear-result)
-;; DO NOT EDIT BEFORE THIS LINE
-
-;; 1
-(assert (eq (car (X (cdr '(a (b c) d)))) 'b) "mondai 1")
-;; 2
-(assert (eq (X 13 (/ 1 0)) 13) "mondai 2")
-;; 3
-(assert (equal (X #'list 1 nil) '(1)) "mondai 3")
-;;
-
-;; DO NOT EDIT AFTER THIS LINE
-(send *unit-test* :print-result)
-(exit 1)
-
-
-
-
diff --git a/20151014/src/enshu_20151014/euslisp/renshu-2.l b/20151014/src/enshu_20151014/euslisp/renshu-2.l
deleted file mode 100755
index aa965dde..00000000
--- a/20151014/src/enshu_20151014/euslisp/renshu-2.l
+++ /dev/null
@@ -1,33 +0,0 @@
-#!/usr/bin/env irteusgl
-
-(load "lib/llib/unittest.l")
-(init-unit-test)
-(send *unit-test* :clear-result)
-;; DO NOT EDIT BEFORE THIS LINE
-
-
-;; 1
-(defun dot-1 (n)
-  t)
-(defun dot-2 (n)
-  t)
-;; 
-(assert (dot-1 3) "mondai 1")
-(assert (dot-2 3) "mondai 1")
-
-;; 2
-(defun hasa-1 (lst)
-  0)
-(defun hasa-2 (lst)
-  0)
-;; 
-(assert (eq (hasa-1 '(a b c d a)) 2) "mondai 2")
-(assert (eq (hasa-2 '(a b c d a)) 2) "mondai 2")
-
-;; DO NOT EDIT AFTER THIS LINE
-(send *unit-test* :print-result)
-(exit 1)
-
-
-
-
diff --git a/20151014/src/enshu_20151014/euslisp/renshu-3.l b/20151014/src/enshu_20151014/euslisp/renshu-3.l
deleted file mode 100755
index 602d3911..00000000
--- a/20151014/src/enshu_20151014/euslisp/renshu-3.l
+++ /dev/null
@@ -1,46 +0,0 @@
-#!/usr/bin/env irteusgl
-
-(load "lib/llib/unittest.l")
-(init-unit-test)
-(send *unit-test* :clear-result)
-;; DO NOT EDIT BEFORE THIS LINE
-
-(defun unittest-error (code msg1 form &optional (msg2))
-  (format *error-output* "~C[1;3~Cm~A unittest-error: ~A"
-	  #x1b (+ 1 48)   *program-name* msg1)
-  (if msg2 (format *error-output* " ~A" msg2))
-  (if form (format *error-output* " in ~s" form))
-  (format *error-output* ", exitting...~C[0m~%"  #x1b)
-  (when code
-    (format *error-output* "~C[3~Cm[ERROR] test ~A failed" #x1b 49 form)
-    (format *error-output* " ... (~A ~A)" msg1 code)
-    (format *error-output* ".~C[0m~%" #x1b))
-  (exit 1))
-
-(lisp::install-error-handler 'unittest-error)
-
-;; 
-(defun summit (lst)
-  (remove nil lst)
-  (apply #'+ lst))
-
-(assert (equal (summit '(1 2 nil 3 4 nil)) 10) "mondai 1")
-
-(defun summit (lst)
-  (let ((x (car lst)))
-    (if (null x)
-        (summit (cdr lst))
-      (+ x (summit (cdr lst))))))
-
-(assert (equal (summit '(1 2 nil 3 4 nil)) 10) "mondai 1")
-
-;;
-;; DO NOT EDIT AFTER THIS LINE
-(send *unit-test* :print-result)
-(exit 1)
-
-
-
-
-
-
diff --git a/20151021/check1.test b/20151021/check1.test
deleted file mode 100644
index dc5a3634..00000000
--- a/20151021/check1.test
+++ /dev/null
@@ -1,8 +0,0 @@
-<launch>
-  <test test-name="renshu_1" pkg="enshu_20151021" type="renshu-1.l" />
-  <test test-name="renshu_2" pkg="enshu_20151021" type="renshu-2.l" />
-  <test test-name="renshu_3" pkg="enshu_20151021" type="renshu-3.l" />
-  <test test-name="renshu_4" pkg="enshu_20151021" type="renshu-4.l" />
-  <test test-name="renshu_5" pkg="enshu_20151021" type="renshu-5.l" />
-  <test test-name="renshu_6" pkg="enshu_20151021" type="renshu-6.l" />
-</launch>
diff --git a/20151021/check2.test b/20151021/check2.test
deleted file mode 100644
index abf14574..00000000
--- a/20151021/check2.test
+++ /dev/null
@@ -1,6 +0,0 @@
-<launch>
-  <node pkg="enshu_20151021" name="send_vel" type="send_vel.py" />
-
-  <param name="test/topic" value="/cmd_vel" />
-  <test test-name="send_vel" pkg="enshu_20151021" type="check_topic.py" name="test" />
-</launch>
diff --git a/20151021/check3.test b/20151021/check3.test
deleted file mode 100644
index 9afd4098..00000000
--- a/20151021/check3.test
+++ /dev/null
@@ -1,6 +0,0 @@
-<launch>
-  <node pkg="enshu_20151021" name="send_goal" type="send_goal.py" />
-
-  <param name="test/topic" value="/move_base/goal" />
-  <test test-name="send_goal" pkg="enshu_20151021" type="check_topic.py" name="test" />
-</launch>
diff --git a/20151021/src/enshu_20151021/euslisp/renshu-1.l b/20151021/src/enshu_20151021/euslisp/renshu-1.l
deleted file mode 100755
index fba162da..00000000
--- a/20151021/src/enshu_20151021/euslisp/renshu-1.l
+++ /dev/null
@@ -1,17 +0,0 @@
-#!/usr/bin/env irteusgl
-
-(load "lib/llib/unittest.l")
-(init-unit-test)
-(send *unit-test* :clear-result)
-;; DO NOT EDIT BEFORE THIS LINE
-
-;; 1)
-;; 太陽，地球，月のモデルをつくり，太陽の周りを地球が，地球の周りを月が回っているアニメーションを作成せよ
-
-;; DO NOT EDIT AFTER THIS LINE
-(send *unit-test* :print-result)
-(exit 1)
-
-
-
-
diff --git a/20151021/src/enshu_20151021/euslisp/renshu-2.l b/20151021/src/enshu_20151021/euslisp/renshu-2.l
deleted file mode 100755
index 77a52c3b..00000000
--- a/20151021/src/enshu_20151021/euslisp/renshu-2.l
+++ /dev/null
@@ -1,17 +0,0 @@
-#!/usr/bin/env irteusgl
-
-(load "lib/llib/unittest.l")
-(init-unit-test)
-(send *unit-test* :clear-result)
-;; DO NOT EDIT BEFORE THIS LINE
-
-;; 2)
-;; サーボモジュールを参考に直動ジョイント(linear-joint)を使ったアクチュエータを作ってみよ．
-
-;; DO NOT EDIT AFTER THIS LINE
-(send *unit-test* :print-result)
-(exit 1)
-
-
-
-
diff --git a/20151021/src/enshu_20151021/euslisp/renshu-3.l b/20151021/src/enshu_20151021/euslisp/renshu-3.l
deleted file mode 100755
index 45064247..00000000
--- a/20151021/src/enshu_20151021/euslisp/renshu-3.l
+++ /dev/null
@@ -1,17 +0,0 @@
-#!/usr/bin/env irteusgl
-
-(load "lib/llib/unittest.l")
-(init-unit-test)
-(send *unit-test* :clear-result)
-;; DO NOT EDIT BEFORE THIS LINE
-
-;; 3)
-;; ascaded-linkを使ったモデルを作成せよ．ロボットに限らず可動構造を持つものであれば（例えば家具等）何でもよい．
-
-;; DO NOT EDIT AFTER THIS LINE
-(send *unit-test* :print-result)
-(exit 1)
-
-
-
-
diff --git a/20151021/src/enshu_20151021/euslisp/renshu-4.l b/20151021/src/enshu_20151021/euslisp/renshu-4.l
deleted file mode 100755
index 88ce7813..00000000
--- a/20151021/src/enshu_20151021/euslisp/renshu-4.l
+++ /dev/null
@@ -1,18 +0,0 @@
-#!/usr/bin/env irteusgl
-
-(load "lib/llib/unittest.l")
-(init-unit-test)
-(send *unit-test* :clear-result)
-;; DO NOT EDIT BEFORE THIS LINE
-
-;; 4)
-;; cascaded-linkを使ったモデルを用いてアニメーションさせてみよ．その際必ず２つ以上の物体を画面に配置し，assoc/dissocが行われること．
-
-;; DO NOT EDIT AFTER THIS LINE
-(send *unit-test* :print-result)
-(exit 1)
-
-
-
-
-
diff --git a/20151021/src/enshu_20151021/euslisp/renshu-5.l b/20151021/src/enshu_20151021/euslisp/renshu-5.l
deleted file mode 100755
index f56c3c37..00000000
--- a/20151021/src/enshu_20151021/euslisp/renshu-5.l
+++ /dev/null
@@ -1,17 +0,0 @@
-#!/usr/bin/env irteusgl
-
-(load "lib/llib/unittest.l")
-(init-unit-test)
-(send *unit-test* :clear-result)
-;; DO NOT EDIT BEFORE THIS LINE
-
-;; 5)
-;; 6自由度以上のアームを作りrotation-axis（や冗長自由度）を利用したサンプルプログラムを書いてみよ．
-
-;; DO NOT EDIT AFTER THIS LINE
-(send *unit-test* :print-result)
-(exit 1)
-
-
-
-
diff --git a/20151021/src/enshu_20151021/euslisp/renshu-6.l b/20151021/src/enshu_20151021/euslisp/renshu-6.l
deleted file mode 100755
index 60514acb..00000000
--- a/20151021/src/enshu_20151021/euslisp/renshu-6.l
+++ /dev/null
@@ -1,18 +0,0 @@
-#!/usr/bin/env irteusgl
-
-(load "lib/llib/unittest.l")
-(init-unit-test)
-(send *unit-test* :clear-result)
-;; DO NOT EDIT BEFORE THIS LINE
-
-;; 6)
-;; ロボットや環境のモデルファイルを利用して，日常生活空間で作業するロボットのプログラムを書いてみよ．
-
-;; DO NOT EDIT AFTER THIS LINE
-(send *unit-test* :print-result)
-(exit 1)
-
-
-
-
-
diff --git a/20151021/src/enshu_20151021/test/check_topic.py b/20151021/src/enshu_20151021/test/check_topic.py
deleted file mode 100755
index 2432284f..00000000
--- a/20151021/src/enshu_20151021/test/check_topic.py
+++ /dev/null
@@ -1,18 +0,0 @@
-#!/usr/bin/env python
-
-import rospy
-import sys, time
-import unittest
-from rostopic import _rostopic_info
-
-## A sample python unit test
-class TestCheckTopic(unittest.TestCase):
-    def test_check_topic(self):
-        time.sleep(3)
-        topic = rospy.get_param("/test/topic")
-        info = _rostopic_info(topic)
-        self.assertTrue(not info)
-
-if __name__ == '__main__':
-    import rostest
-    rostest.rosrun('enshu_20151021', 'test_check_topic', TestCheckTopic)
diff --git a/20151118/src/enshu_20151118/EchoServer.java b/20151118/src/enshu_20151118/EchoServer.java
index 2e624f40..21fc1655 100644
--- a/20151118/src/enshu_20151118/EchoServer.java
+++ b/20151118/src/enshu_20151118/EchoServer.java
@@ -14,6 +14,7 @@ public void setORB(ORB orb_val){
     }
     // implement echoString() method
     public void echoString(String input){
+	System.out.print(input);
     }
     // implement shutdown() method
     public void shutdown(){
diff --git a/20151118/src/enshu_20151118/add-two-ints-server-lambda.l b/20151118/src/enshu_20151118/add-two-ints-server-lambda.l
new file mode 100644
index 00000000..e0a6fe86
--- /dev/null
+++ b/20151118/src/enshu_20151118/add-two-ints-server-lambda.l
@@ -0,0 +1,17 @@
+#!/usr/bin/env roseus
+;;;
+;;; euslisp version of ros_tutorials/rospy_tutorials/005_add_two_ints
+;;;
+(ros::load-ros-manifest "roseus")
+
+(ros::roseus "add_two_ints_server")
+(ros::advertise-service "add_two_ints" roseus::AddTwoInts 
+			#'(lambda (req)
+			        (let ((m (send req :response)))
+				        (format *error-output* "Returning [~d + ~d = ~d]~%"
+						      (send req :a) (send req :b)
+						            (+ (send req :a) (send req :b)))
+					      (send m :sum  (+ (send req :a) (send req :b)))
+					            m)))
+(do-until-key
+ (ros::spin-once)) 
diff --git a/20151118/src/enshu_20151118/add-two-ints-server-member.l b/20151118/src/enshu_20151118/add-two-ints-server-member.l
new file mode 100644
index 00000000..be0d3a68
--- /dev/null
+++ b/20151118/src/enshu_20151118/add-two-ints-server-member.l
@@ -0,0 +1,25 @@
+#!/usr/bin/env roseus
+
+(ros::load-ros-manifest("roseus")
+
+(ros::reseus "add_two_ints_server")
+
+(defclass add-two-ints-class
+  :super propertied-object
+  :slots()
+)
+
+(defmethod add-two-ints-class
+  (:init()
+	ros::rdvertise-service "add_two_ints" roseus::AddTwoInts #'send self :add-two-ints))
+  (:add-two-ints (req)
+   (let ((m (send req :response)))
+     (format *error-output* "Returning [~d + ~d = ~d]~%"
+	          (send req :a) (send req :b)
+		       (+ (send req :a) (send req :b)))
+     (send m :sum  (+ (send req :a) (send req :b)))
+     m)))
+
+(setq *ints* (instance add-two-ints-class :init))
+(do-until-key
+ (ros::spin-once))
diff --git a/20151118/src/enshu_20151118/add-two-ints-server.l b/20151118/src/enshu_20151118/add-two-ints-server.l
new file mode 100644
index 00000000..d91e8701
--- /dev/null
+++ b/20151118/src/enshu_20151118/add-two-ints-server.l
@@ -0,0 +1,17 @@
+#!/usr/bin/env roseus
+
+(ros::load-ros-manifest "roseus")
+
+(defun add-two-ints (req)
+  (let ((m (send req :response)))
+    (format *error-output* "Returning [~d + ~d = -d]~%"
+	    (send req :a) (send req :b)
+            (+ (send req :a) (send req :b)))
+    (send m :sum  (+ (send req :a) (send req :b)))
+    m))
+
+
+(ros::roseus "add_two_ints_server")
+(ros::advertise-service "add_two_ints" roseus::AddTwoInts #'add-two-ints)
+(do-until-key
+ (ros::spin-once)) 
diff --git a/20151125/src/enshu_20151125/8queen.swi b/20151125/src/enshu_20151125/8queen.swi
new file mode 100644
index 00000000..89a082a1
--- /dev/null
+++ b/20151125/src/enshu_20151125/8queen.swi
@@ -0,0 +1,11 @@
+perm([],[]).
+perm(Xs, [Z | Zs]) :- select(Z, Xs, Ys), perm(Ys, Zs).
+
+queen_f(Q) :- perm([1,2,3,4,5,6,7,8], Q), safe(Q).
+
+safe([Qt | Qr]) :- not(attack(Qt, Qr)), safe(Qr).
+safe([]).
+
+attack(X, Xs) :- attack_sub(X, 1, Xs).
+attack_sub(X, N, [Y|Ys]) :- (X =:= Y + N ; X =:= Y - N).
+attack_sub(X, N, [Y|Ys]) :- N1 is N + 1, attack_sub(X, N1, Ys).
\ No newline at end of file
diff --git a/20151125/src/enshu_20151125/8queen.swi~ b/20151125/src/enshu_20151125/8queen.swi~
new file mode 100644
index 00000000..407c972a
--- /dev/null
+++ b/20151125/src/enshu_20151125/8queen.swi~
@@ -0,0 +1,11 @@
+perm([],[]).
+perm(Xs, [Z | Zs]) :- select(Z, Xs, Ys), perm(Ys, Zs).
+
+queen(Q) :- perm([1,2,3,4,5,6,7,8], Q), safe(Q).
+
+safe([Qt | Qr]) :- not(attack(Qt, Qr)), safe(Qr).
+safe([]).
+
+attack(X, Xs) :- attack_sub(X, 1, Xs).
+attack_sub(X, N, [Y|Ys]) :- (X =:= Y + N ; X =:= Y - N).
+attack_sub(X, N, [Y|Ys]) :- N1 is N + 1, attack_sub(X, N1, Ys).
\ No newline at end of file
diff --git a/20151125/src/enshu_20151125/append.swi b/20151125/src/enshu_20151125/append.swi
index 37d9e4e5..99859418 100755
--- a/20151125/src/enshu_20151125/append.swi
+++ b/20151125/src/enshu_20151125/append.swi
@@ -4,6 +4,11 @@
 % prolog -f ./append.swi -t 'my_append("[a,b,c]", "[d,e,f]", X).'
 
 
+my_append([],Xs,Xs).
+my_append([X|Ls], Ys, [X|Zs]) :- my_append(Ls,Ys,Zs).
+
+
+
 my_append([a,b,c], [d,e,f], X).
 % X == [a,b,c,f,e,f].
 
diff --git a/20151125/src/enshu_20151125/hanoi.swi b/20151125/src/enshu_20151125/hanoi.swi
new file mode 100644
index 00000000..98abff2d
--- /dev/null
+++ b/20151125/src/enshu_20151125/hanoi.swi
@@ -0,0 +1,5 @@
+hanoi(1, From, To, _) :- write([From, to, To]), nl.
+hanoi(N, From, To, Via) :-
+        N1 is N - 1, hanoi(N1, From, Via, To),
+        write([From, to, To]), nl,
+        hanoi(N1, Via, To, From).
\ No newline at end of file
diff --git a/20151125/src/enshu_20151125/like.swi b/20151125/src/enshu_20151125/like.swi
index e47474f2..04188932 100755
--- a/20151125/src/enshu_20151125/like.swi
+++ b/20151125/src/enshu_20151125/like.swi
@@ -4,5 +4,17 @@
 % prolog -f ./like.swi -t 'like(X,Y).'
 
 
+like(taro,coffee).
+like(hanako,tea).
+like(taro,cocoa).
+
+fly(X) :-airplane(X).
+fly(X) :-superman(X).
+airplane(jet_plane).
+airplane(helicopter).
+superman(taro).
+
+
+
 
 
diff --git a/20151202/src/enshu_20151202/src/GCTest.class b/20151202/src/enshu_20151202/src/GCTest.class
new file mode 100644
index 00000000..d5873ece
Binary files /dev/null and b/20151202/src/enshu_20151202/src/GCTest.class differ
diff --git a/20151202/src/enshu_20151202/src/GCTest.cpp b/20151202/src/enshu_20151202/src/GCTest.cpp
index 4c3fd214..d03a8340 100644
--- a/20151202/src/enshu_20151202/src/GCTest.cpp
+++ b/20151202/src/enshu_20151202/src/GCTest.cpp
@@ -5,6 +5,7 @@
 #include <string.h>
 #include <pthread.h>
 #include <sys/time.h>
+#include <boost/shared_ptr.hpp>
 
 using namespace std;
 
@@ -40,8 +41,10 @@ bool do_delete = true;
 
 
 typedef vector<int> Elem;
-typedef vector<int>* ElemPtr;
-typedef vector<ElemPtr>* ElemPtrVec;
+//typedef vector<int>* ElemPtr;
+//typedef vector<ElemPtr>* ElemPtrVec;
+typedef boost::shared_ptr<vector<int> > ElemPtr;
+typedef boost::shared_ptr<vector<ElemPtr> > ElemPtrVec;
 
 class Mutator : public Thread {
   bool loop;
diff --git a/20151202/src/enshu_20151202/src/GCTest.gc.log b/20151202/src/enshu_20151202/src/GCTest.gc.log
new file mode 100644
index 00000000..ede04d64
--- /dev/null
+++ b/20151202/src/enshu_20151202/src/GCTest.gc.log
@@ -0,0 +1,9 @@
+0.870: [GC 62976K->50478K(241408K), 0.0500950 secs]
+0.985: [GC 113454K->101106K(304384K), 0.0595760 secs]
+1.176: [GC 227058K->99037K(304384K), 0.0088330 secs]
+1.307: [GC 224989K->203178K(455296K), 0.0970340 secs]
+1.405: [Full GC 203178K->112303K(594880K), 1.3727400 secs]
+3.037: [GC 364207K->321095K(594880K), 0.1659840 secs]
+3.203: [Full GC 321095K->124442K(774144K), 1.5345660 secs]
+4.836: [GC 376346K->332610K(1006208K), 0.1795910 secs]
+5.124: [GC 611778K->362025K(1053376K), 0.2069780 secs]
diff --git a/20151202/src/enshu_20151202/src/GCTest.incgc.log b/20151202/src/enshu_20151202/src/GCTest.incgc.log
new file mode 100644
index 00000000..f4d93bd8
--- /dev/null
+++ b/20151202/src/enshu_20151202/src/GCTest.incgc.log
@@ -0,0 +1,15 @@
+0.176: [GC 67200K->71959K(243520K), 0.2328240 secs]
+0.439: [GC 103166K(243520K), 0.0265490 secs]
+0.506: [GC 139159K->147522K(243520K), 0.0850220 secs]
+0.660: [GC 214722K->224773K(292480K), 0.0954420 secs]
+0.823: [GC 291973K->302526K(370240K), 0.0981950 secs]
+0.986: [GC 369726K->380196K(447808K), 0.1124680 secs]
+1.168: [GC 447396K->457473K(525184K), 0.1030070 secs]
+1.336: [GC 524673K->534888K(602560K), 0.0974190 secs]
+1.499: [GC 602088K->612679K(680320K), 0.1016010 secs]
+1.666: [GC 679879K->690416K(758080K), 0.1098140 secs]
+1.842: [GC 757616K->768088K(835648K), 0.1045910 secs]
+2.022: [GC 835288K->845553K(913216K), 0.0999840 secs]
+2.199: [GC 912753K->923133K(990784K), 0.1056360 secs]
+2.370: [GC 990333K->1000137K(1067968K), 0.1005100 secs]
+2.537: [GC 1067337K->1076426K(1144192K), 0.0968280 secs]
diff --git a/20151202/src/enshu_20151202/src/Mutator.class b/20151202/src/enshu_20151202/src/Mutator.class
new file mode 100644
index 00000000..030c328a
Binary files /dev/null and b/20151202/src/enshu_20151202/src/Mutator.class differ
diff --git a/20151202/src/enshu_20151202/src/Sort.class b/20151202/src/enshu_20151202/src/Sort.class
new file mode 100644
index 00000000..bb0be4b2
Binary files /dev/null and b/20151202/src/enshu_20151202/src/Sort.class differ
diff --git a/20151209/src/enshu_20151209/src/8puzzle.java b/20151209/src/enshu_20151209/src/8puzzle.java
new file mode 100644
index 00000000..2f6d75db
--- /dev/null
+++ b/20151209/src/enshu_20151209/src/8puzzle.java
@@ -0,0 +1,227 @@
+import java.util.*;
+import java.io.*;
+class field{
+    int cell[  ]=new int[ 9 ];
+    int evaluation;
+    int route[  ];
+    int floor;
+				
+    field(int cell[  ],int hash){
+	floor=1;
+	route = new int[ 1 ];
+	route[ 0 ] = hash;
+	for(int i=0;i<9;i++)this.cell[ i ]=cell[ i ];
+	int eva=0;
+	for(int i=0;i<9;i++){
+	    if(cell[ i ]!=0){
+		eva+=Math.abs( (cell[ i ]-1)%3-i%3);
+		eva+=Math.abs( (cell[ i ]-1)/3-i/3);
+	    }
+	}
+	evaluation = eva;
+    }
+    field(int cell[  ],int route[  ],int hash){
+	this.floor=route.length;
+	this.route = new int[ floor+1 ];
+	System.arraycopy(route,0,this.route,0,floor);
+	this.route[ floor ]=hash;
+	for(int i=0;i<9;i++)this.cell[ i ]=cell[ i ];
+	int eva=0;
+	for(int i=0;i<9;i++){
+	    if(cell[ i ]!=0){
+		eva+=Math.abs( (cell[ i ]-1)%3-i%3);
+		eva+=Math.abs( (cell[ i ]-1)/3-i/3);
+	    }
+	}
+	evaluation = eva;
+    }
+    public String toString(){
+	return new String("[ "+cell[ 0 ]+" ]"+"[ "+cell[ 1 ]+" ]"+"[ "+cell[ 2 ]+" ]\n"+"[ "+cell[ 3 ]+" ]"+"[ "+cell[ 4 ]+" ]"+"[ "+cell[ 5 ]+" ]\n"+"[ "+cell[ 6 ]+" ]"+"[ "+cell[ 7 ]+" ]"+"[ "+cell[ 8 ]+" ]");
+    }
+}
+			
+
+
+class ev_list{
+    field elem;
+    ev_list next;
+    ev_list(){
+	next = null;
+	this.elem = null;
+    }
+    ev_list(field elem){
+	next = null;
+	this.elem = elem;
+    }
+    public void insert(ev_list node){
+	//ヒューリスティック関数の値が次のノードの値より大きい、
+	//または次のノードが先端のとき挿入
+	if(this.next==null || this.next.elem.evaluation+this.next.elem.floor<node.elem.evaluation+node.elem.floor){
+	    node.next = this.next;
+	    this.next = node;
+	}
+	else this.next.insert(node);
+    }
+    public field pop(){
+	if(this.next==null)return null;
+	if(this.next.next==null){
+	    field temp=this.next.elem;
+	    this.next=null;
+	    return temp;
+	}
+	else return this.next.pop();
+    }
+}
+			
+
+
+class egt_pzl{
+				
+    static final int LEFT=0;
+    static final int RIGHT=1;
+    static final int UP=2;
+    static final int DOWN=3;
+    static final int factor[  ]={1,1,2,6,24,120,720,5040,40320};
+    static public int hashkey(int cell[  ]){
+	int val[  ] = new int[ 9 ];
+	System.arraycopy(cell,0,val,0,9);
+	for(int i=0;i<9;i++){
+	    for(int j=i+1;j<9;j++){
+		if(val[ j ]>val[ i ])val[ j ]--;
+	    }
+	}
+	int hash=0;
+	for(int i=0;i<9;i++){
+	    hash+=val[ i ]*factor[ 8-i ];
+	}
+	return hash;
+    }
+				
+    static public field dehash(int key){
+	int cell[  ] = new int[ 9 ];
+	for(int i=0;i<9;i++){
+	    cell[ i ]=key/factor[ 8-i ];
+	    key%=factor[ 8-i ];
+	}
+	for(int i=8;i>=0;i--){
+	    for(int j=i+1;j<9;j++){
+		if(cell[ i ]<=cell[ j ])cell[ j ]++;
+	    }
+	}
+	return new field(cell,key);
+    }
+				
+    //3*3のフィールドの、移動できる範囲
+    static boolean move[  ][  ] = new boolean[ 9 ][ 4 ];
+				
+    public static void main(String args[  ]){
+					
+	//右に動けるかどうかを指定。
+	move[ 0 ][ RIGHT ]=move[ 1 ][ RIGHT ]=move[ 3 ][ RIGHT ]=move[ 4 ][ RIGHT ]=move[ 6 ][ RIGHT ]=move[ 7 ][ RIGHT ]=true;
+	move[ 2 ][ RIGHT ]=move[ 5 ][ RIGHT ]=move[ 8 ][ RIGHT ]=false;
+					
+	//左に動けるかどうかを指定。
+	move[ 1 ][ LEFT ]=move[ 2 ][ LEFT ]=move[ 4 ][ LEFT ]=move[ 5 ][ LEFT ]=move[ 7 ][ LEFT ]=move[ 8 ][ LEFT ]=true;
+	move[ 0 ][ LEFT ]=move[ 3 ][ LEFT ]=move[ 6 ][ LEFT ]=false;
+					
+	//上に動けるかどうかを指定。
+	move[ 3 ][ UP ]=move[ 4 ][ UP ]=move[ 5 ][ UP ]=move[ 6 ][ UP ]=move[ 7 ][ UP ]=move[ 8 ][ UP ]=true;
+	move[ 0 ][ UP ]=move[ 1 ][ UP ]=move[ 2 ][ UP ]=false;
+					
+	//下に動けるかどうかを指定。
+	move[ 0 ][ DOWN ]=move[ 1 ][ DOWN ]=move[ 2 ][ DOWN ]=move[ 3 ][ DOWN ]=move[ 4 ][ DOWN ]=move[ 5 ][ DOWN ]=true;
+	move[ 6 ][ DOWN ]=move[ 7 ][ DOWN ]=move[ 8 ][ DOWN ]=false;
+					
+	//初期位置
+	field st;
+	int cell[  ]= new int[ 9 ];
+					
+	cell[ 0 ]=1;
+	cell[ 1 ]=8;
+	cell[ 2 ]=0;
+	cell[ 3 ]=4;
+	cell[ 4 ]=3;
+	cell[ 5 ]=2;
+	cell[ 6 ]=5;
+	cell[ 7 ]=7;
+	cell[ 8 ]=6;
+					
+	st = new field(cell,hashkey(cell) );
+	boolean visited[  ] = new boolean[ 362880 ];
+	for(int i=0;i<362880;i++)visited[ i ]=false;
+					
+	//ソートリストを設定
+	ev_list list = new ev_list();
+	list.insert(new ev_list(st) );
+	visited[ hashkey(cell) ]=true;
+					
+	field cur;
+	int hash;
+	int count=0;
+	while( (cur=list.pop() )!=null){
+	    count++;
+						
+	    for(int i=0;i<9;i++){
+		if(cur.cell[ i ]==0){
+		    if(move[ i ][ LEFT ]){
+			cur.cell[ i ]=cur.cell[ i-1 ];
+			cur.cell[ i-1 ]=0;
+			hash=hashkey(cur.cell);
+			if(!visited[ hash ]){
+			    visited[ hash ]=true;
+			    list.insert(new ev_list(new field(cur.cell,cur.route,hash) ));
+			}
+			cur.cell[ i-1 ]=cur.cell[ i ];
+			cur.cell[ i ]=0;
+		    }
+		    if(move[ i ][ RIGHT ]){
+			cur.cell[ i ]=cur.cell[ i+1 ];
+			cur.cell[ i+1 ]=0;
+			hash=hashkey(cur.cell);
+			if(!visited[ hash ]){
+			    visited[ hash ]=true;
+			    list.insert(new ev_list(new field(cur.cell,cur.route,hash) ));
+			}
+			cur.cell[ i+1 ]=cur.cell[ i ];
+			cur.cell[ i ]=0;
+		    }
+		    if(move[ i ][ UP ]){
+			cur.cell[ i ]=cur.cell[ i-3 ];
+			cur.cell[ i-3 ]=0;
+			hash=hashkey(cur.cell);
+			if(!visited[ hash ]){
+			    visited[ hash ]=true;
+			    list.insert(new ev_list(new field(cur.cell,cur.route,hash) ));
+			}
+			cur.cell[ i-3 ]=cur.cell[ i ];
+			cur.cell[ i ]=0;
+		    }
+		    if(move[ i ][ DOWN ]){
+			cur.cell[ i ]=cur.cell[ i+3 ];
+			cur.cell[ i+3 ]=0;
+			hash=hashkey(cur.cell);
+			if(!visited[ hash ]){
+			    visited[ hash ]=true;
+			    list.insert(new ev_list(new field(cur.cell,cur.route,hash) ));
+			}
+			cur.cell[ i+3 ]=cur.cell[ i ];
+			cur.cell[ i ]=0;
+		    }
+		}
+	    }
+	    if(cur.evaluation==0){
+		System.out.println(count+"");
+		System.out.println("evaluation[ "+0+" ]="+dehash(cur.route[ 0 ]).evaluation+"\n"+dehash(cur.route[ 0 ]) );
+		for(int i=1;i<cur.route.length;i++){
+		    System.out.println("↓");
+		    System.out.println("evaluation[ "+i+" ]="+dehash(cur.route[ i ]).evaluation);
+		    System.out.println("evaluation+floor[ "+i+" ]="+(dehash(cur.route[ i ]).evaluation+i) );
+		    System.out.println( dehash(cur.route[ i ]).toString() );
+		}
+		break;
+	    }
+	}
+					
+					
+    }
+}
diff --git a/20151209/src/enshu_20151209/src/egt_pzl.class b/20151209/src/enshu_20151209/src/egt_pzl.class
new file mode 100644
index 00000000..51441731
Binary files /dev/null and b/20151209/src/enshu_20151209/src/egt_pzl.class differ
diff --git a/20151209/src/enshu_20151209/src/ev_list.class b/20151209/src/enshu_20151209/src/ev_list.class
new file mode 100644
index 00000000..2b8780d9
Binary files /dev/null and b/20151209/src/enshu_20151209/src/ev_list.class differ
diff --git a/20151209/src/enshu_20151209/src/field.class b/20151209/src/enshu_20151209/src/field.class
new file mode 100644
index 00000000..178effba
Binary files /dev/null and b/20151209/src/enshu_20151209/src/field.class differ