added updates

84 files changed, 4797 insertions, 0 deletions

diff --git a/.catkin_workspace b/.catkin_workspace
new file mode 100644
index 000000000..52fd97e7e
--- /dev/null
+++ b/.catkin_workspace
@@ -0,0 +1 @@
+# This file currently only serves to mark the location of a catkin workspace for tool integration
diff --git a/build/CATKIN_IGNORE b/build/CATKIN_IGNORE
new file mode 100644
index 000000000..e69de29bb
--- /dev/null
+++ b/build/CATKIN_IGNORE
diff --git a/build/CMakeCache.txt b/build/CMakeCache.txt
new file mode 100644
index 000000000..8fc5c4b4a
--- /dev/null
+++ b/build/CMakeCache.txt
@@ -0,0 +1,450 @@
+# This is the CMakeCache file.
+# For build in directory: /home/roman/src/Firmware/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/roman/src/Firmware/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
+
+//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/roman/src/Firmware/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=DOXYGEN_EXECUTABLE-NOTFOUND
+
+//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/roman/src/Firmware/build
+
+//Value Computed by CMake
+Project_SOURCE_DIR:STATIC=/home/roman/src/Firmware/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/roman/src/Firmware/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;
+
+
+########################
+# INTERNAL cache entries
+########################
+
+//catkin environment
+CATKIN_ENV:INTERNAL=/home/roman/src/Firmware/build/catkin_generated/env_cached.sh
+CATKIN_TEST_RESULTS_DIR:INTERNAL=/home/roman/src/Firmware/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/roman/src/Firmware/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/roman/src/Firmware/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
+CMAKE_MODULE_LINKER_FLAGS_MINSIZEREL-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_MODULE_LINKER_FLAGS_RELEASE
+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
+//ADVANCED property for variable: CMAKE_NM
+CMAKE_NM-ADVANCED:INTERNAL=1
+//number of local generators
+CMAKE_NUMBER_OF_LOCAL_GENERATORS:INTERNAL=2
+//ADVANCED property for variable: CMAKE_OBJCOPY
+CMAKE_OBJCOPY-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_OBJDUMP
+CMAKE_OBJDUMP-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_RANLIB
+CMAKE_RANLIB-ADVANCED:INTERNAL=1
+//Path to CMake installation.
+CMAKE_ROOT:INTERNAL=/usr/share/cmake-2.8
+//ADVANCED property for variable: CMAKE_SHARED_LINKER_FLAGS
+CMAKE_SHARED_LINKER_FLAGS-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_SHARED_LINKER_FLAGS_DEBUG
+CMAKE_SHARED_LINKER_FLAGS_DEBUG-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_SHARED_LINKER_FLAGS_MINSIZEREL
+CMAKE_SHARED_LINKER_FLAGS_MINSIZEREL-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_SHARED_LINKER_FLAGS_RELEASE
+CMAKE_SHARED_LINKER_FLAGS_RELEASE-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_SHARED_LINKER_FLAGS_RELWITHDEBINFO
+CMAKE_SHARED_LINKER_FLAGS_RELWITHDEBINFO-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_SKIP_INSTALL_RPATH
+CMAKE_SKIP_INSTALL_RPATH-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_SKIP_RPATH
+CMAKE_SKIP_RPATH-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_STATIC_LINKER_FLAGS
+CMAKE_STATIC_LINKER_FLAGS-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_STATIC_LINKER_FLAGS_DEBUG
+CMAKE_STATIC_LINKER_FLAGS_DEBUG-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_STATIC_LINKER_FLAGS_MINSIZEREL
+CMAKE_STATIC_LINKER_FLAGS_MINSIZEREL-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_STATIC_LINKER_FLAGS_RELEASE
+CMAKE_STATIC_LINKER_FLAGS_RELEASE-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_STATIC_LINKER_FLAGS_RELWITHDEBINFO
+CMAKE_STATIC_LINKER_FLAGS_RELWITHDEBINFO-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_STRIP
+CMAKE_STRIP-ADVANCED:INTERNAL=1
+//uname command
+CMAKE_UNAME:INTERNAL=/bin/uname
+//ADVANCED property for variable: CMAKE_USE_RELATIVE_PATHS
+CMAKE_USE_RELATIVE_PATHS-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_VERBOSE_MAKEFILE
+CMAKE_VERBOSE_MAKEFILE-ADVANCED:INTERNAL=1
+//Details about finding PythonInterp
+FIND_PACKAGE_MESSAGE_DETAILS_PythonInterp:INTERNAL=[/usr/bin/python][v2.7.6()]
+//Details about finding Threads
+FIND_PACKAGE_MESSAGE_DETAILS_Threads:INTERNAL=[TRUE][v()]
+GTEST_FROM_SOURCE_FOUND:INTERNAL=TRUE
+GTEST_FROM_SOURCE_INCLUDE_DIRS:INTERNAL=/usr/include
+GTEST_FROM_SOURCE_LIBRARIES:INTERNAL=gtest
+GTEST_FROM_SOURCE_LIBRARY_DIRS:INTERNAL=/home/roman/src/Firmware/build/gtest
+GTEST_FROM_SOURCE_MAIN_LIBRARIES:INTERNAL=gtest_main
+//ADVANCED property for variable: GTEST_INCLUDE_DIR
+GTEST_INCLUDE_DIR-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: GTEST_LIBRARY
+GTEST_LIBRARY-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: GTEST_LIBRARY_DEBUG
+GTEST_LIBRARY_DEBUG-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: GTEST_MAIN_LIBRARY
+GTEST_MAIN_LIBRARY-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: GTEST_MAIN_LIBRARY_DEBUG
+GTEST_MAIN_LIBRARY_DEBUG-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: PYTHON_EXECUTABLE
+PYTHON_EXECUTABLE-ADVANCED:INTERNAL=1
+//This needs to be in PYTHONPATH when 'setup.py install' is called.
+//  And it needs to match.  But setuptools won't tell us where
+// it will install things.
+PYTHON_INSTALL_DIR:INTERNAL=lib/python2.7/dist-packages
+
diff --git a/build/CMakeFiles/2.8.12.2/CMakeCCompiler.cmake b/build/CMakeFiles/2.8.12.2/CMakeCCompiler.cmake
new file mode 100644
index 000000000..83254ce49
--- /dev/null
+++ b/build/CMakeFiles/2.8.12.2/CMakeCCompiler.cmake
@@ -0,0 +1,56 @@
+set(CMAKE_C_COMPILER "/usr/bin/cc")
+set(CMAKE_C_COMPILER_ARG1 "")
+set(CMAKE_C_COMPILER_ID "GNU")
+set(CMAKE_C_COMPILER_VERSION "4.8.2")
+set(CMAKE_C_PLATFORM_ID "Linux")
+
+set(CMAKE_AR "/usr/bin/ar")
+set(CMAKE_RANLIB "/usr/bin/ranlib")
+set(CMAKE_LINKER "/usr/bin/ld")
+set(CMAKE_COMPILER_IS_GNUCC 1)
+set(CMAKE_C_COMPILER_LOADED 1)
+set(CMAKE_C_COMPILER_WORKS TRUE)
+set(CMAKE_C_ABI_COMPILED TRUE)
+set(CMAKE_COMPILER_IS_MINGW )
+set(CMAKE_COMPILER_IS_CYGWIN )
+if(CMAKE_COMPILER_IS_CYGWIN)
+  set(CYGWIN 1)
+  set(UNIX 1)
+endif()
+
+set(CMAKE_C_COMPILER_ENV_VAR "CC")
+
+if(CMAKE_COMPILER_IS_MINGW)
+  set(MINGW 1)
+endif()
+set(CMAKE_C_COMPILER_ID_RUN 1)
+set(CMAKE_C_SOURCE_FILE_EXTENSIONS c)
+set(CMAKE_C_IGNORE_EXTENSIONS h;H;o;O;obj;OBJ;def;DEF;rc;RC)
+set(CMAKE_C_LINKER_PREFERENCE 10)
+
+# Save compiler ABI information.
+set(CMAKE_C_SIZEOF_DATA_PTR "8")
+set(CMAKE_C_COMPILER_ABI "ELF")
+set(CMAKE_C_LIBRARY_ARCHITECTURE "x86_64-linux-gnu")
+
+if(CMAKE_C_SIZEOF_DATA_PTR)
+  set(CMAKE_SIZEOF_VOID_P "${CMAKE_C_SIZEOF_DATA_PTR}")
+endif()
+
+if(CMAKE_C_COMPILER_ABI)
+  set(CMAKE_INTERNAL_PLATFORM_ABI "${CMAKE_C_COMPILER_ABI}")
+endif()
+
+if(CMAKE_C_LIBRARY_ARCHITECTURE)
+  set(CMAKE_LIBRARY_ARCHITECTURE "x86_64-linux-gnu")
+endif()
+
+
+
+
+set(CMAKE_C_IMPLICIT_LINK_LIBRARIES "c")
+set(CMAKE_C_IMPLICIT_LINK_DIRECTORIES "/usr/lib/gcc/x86_64-linux-gnu/4.8;/usr/lib/x86_64-linux-gnu;/usr/lib;/lib/x86_64-linux-gnu;/lib")
+set(CMAKE_C_IMPLICIT_LINK_FRAMEWORK_DIRECTORIES "")
+
+
+
diff --git a/build/CMakeFiles/2.8.12.2/CMakeCXXCompiler.cmake b/build/CMakeFiles/2.8.12.2/CMakeCXXCompiler.cmake
new file mode 100644
index 000000000..c4373d570
--- /dev/null
+++ b/build/CMakeFiles/2.8.12.2/CMakeCXXCompiler.cmake
@@ -0,0 +1,57 @@
+set(CMAKE_CXX_COMPILER "/usr/bin/c++")
+set(CMAKE_CXX_COMPILER_ARG1 "")
+set(CMAKE_CXX_COMPILER_ID "GNU")
+set(CMAKE_CXX_COMPILER_VERSION "4.8.2")
+set(CMAKE_CXX_PLATFORM_ID "Linux")
+
+set(CMAKE_AR "/usr/bin/ar")
+set(CMAKE_RANLIB "/usr/bin/ranlib")
+set(CMAKE_LINKER "/usr/bin/ld")
+set(CMAKE_COMPILER_IS_GNUCXX 1)
+set(CMAKE_CXX_COMPILER_LOADED 1)
+set(CMAKE_CXX_COMPILER_WORKS TRUE)
+set(CMAKE_CXX_ABI_COMPILED TRUE)
+set(CMAKE_COMPILER_IS_MINGW )
+set(CMAKE_COMPILER_IS_CYGWIN )
+if(CMAKE_COMPILER_IS_CYGWIN)
+  set(CYGWIN 1)
+  set(UNIX 1)
+endif()
+
+set(CMAKE_CXX_COMPILER_ENV_VAR "CXX")
+
+if(CMAKE_COMPILER_IS_MINGW)
+  set(MINGW 1)
+endif()
+set(CMAKE_CXX_COMPILER_ID_RUN 1)
+set(CMAKE_CXX_IGNORE_EXTENSIONS inl;h;hpp;HPP;H;o;O;obj;OBJ;def;DEF;rc;RC)
+set(CMAKE_CXX_SOURCE_FILE_EXTENSIONS C;M;c++;cc;cpp;cxx;m;mm;CPP)
+set(CMAKE_CXX_LINKER_PREFERENCE 30)
+set(CMAKE_CXX_LINKER_PREFERENCE_PROPAGATES 1)
+
+# Save compiler ABI information.
+set(CMAKE_CXX_SIZEOF_DATA_PTR "8")
+set(CMAKE_CXX_COMPILER_ABI "ELF")
+set(CMAKE_CXX_LIBRARY_ARCHITECTURE "x86_64-linux-gnu")
+
+if(CMAKE_CXX_SIZEOF_DATA_PTR)
+  set(CMAKE_SIZEOF_VOID_P "${CMAKE_CXX_SIZEOF_DATA_PTR}")
+endif()
+
+if(CMAKE_CXX_COMPILER_ABI)
+  set(CMAKE_INTERNAL_PLATFORM_ABI "${CMAKE_CXX_COMPILER_ABI}")
+endif()
+
+if(CMAKE_CXX_LIBRARY_ARCHITECTURE)
+  set(CMAKE_LIBRARY_ARCHITECTURE "x86_64-linux-gnu")
+endif()
+
+
+
+
+set(CMAKE_CXX_IMPLICIT_LINK_LIBRARIES "stdc++;m;c")
+set(CMAKE_CXX_IMPLICIT_LINK_DIRECTORIES "/usr/lib/gcc/x86_64-linux-gnu/4.8;/usr/lib/x86_64-linux-gnu;/usr/lib;/lib/x86_64-linux-gnu;/lib")
+set(CMAKE_CXX_IMPLICIT_LINK_FRAMEWORK_DIRECTORIES "")
+
+
+
diff --git a/build/CMakeFiles/2.8.12.2/CMakeDetermineCompilerABI_C.bin b/build/CMakeFiles/2.8.12.2/CMakeDetermineCompilerABI_C.bin
new file mode 100755
index 000000000..2f2ebe478
--- /dev/null
+++ b/build/CMakeFiles/2.8.12.2/CMakeDetermineCompilerABI_C.bin
diff --git a/build/CMakeFiles/2.8.12.2/CMakeDetermineCompilerABI_CXX.bin b/build/CMakeFiles/2.8.12.2/CMakeDetermineCompilerABI_CXX.bin
new file mode 100755
index 000000000..16c737f26
--- /dev/null
+++ b/build/CMakeFiles/2.8.12.2/CMakeDetermineCompilerABI_CXX.bin
diff --git a/build/CMakeFiles/2.8.12.2/CMakeSystem.cmake b/build/CMakeFiles/2.8.12.2/CMakeSystem.cmake
new file mode 100644
index 000000000..0616b7c1e
--- /dev/null
+++ b/build/CMakeFiles/2.8.12.2/CMakeSystem.cmake
@@ -0,0 +1,15 @@
+set(CMAKE_HOST_SYSTEM "Linux-3.13.0-24-generic")
+set(CMAKE_HOST_SYSTEM_NAME "Linux")
+set(CMAKE_HOST_SYSTEM_VERSION "3.13.0-24-generic")
+set(CMAKE_HOST_SYSTEM_PROCESSOR "x86_64")
+
+
+
+set(CMAKE_SYSTEM "Linux-3.13.0-24-generic")
+set(CMAKE_SYSTEM_NAME "Linux")
+set(CMAKE_SYSTEM_VERSION "3.13.0-24-generic")
+set(CMAKE_SYSTEM_PROCESSOR "x86_64")
+
+set(CMAKE_CROSSCOMPILING "FALSE")
+
+set(CMAKE_SYSTEM_LOADED 1)
diff --git a/build/CMakeFiles/2.8.12.2/CompilerIdC/CMakeCCompilerId.c b/build/CMakeFiles/2.8.12.2/CompilerIdC/CMakeCCompilerId.c
new file mode 100644
index 000000000..cba81d4a6
--- /dev/null
+++ b/build/CMakeFiles/2.8.12.2/CompilerIdC/CMakeCCompilerId.c
@@ -0,0 +1,389 @@
+#ifdef __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(__18CXX)
+# define ID_VOID_MAIN
+#endif
+
+#if 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_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/build/CMakeFiles/2.8.12.2/CompilerIdC/a.out b/build/CMakeFiles/2.8.12.2/CompilerIdC/a.out
new file mode 100755
index 000000000..33a3d2b58
--- /dev/null
+++ b/build/CMakeFiles/2.8.12.2/CompilerIdC/a.out
diff --git a/build/CMakeFiles/2.8.12.2/CompilerIdCXX/CMakeCXXCompilerId.cpp b/build/CMakeFiles/2.8.12.2/CompilerIdCXX/CMakeCXXCompilerId.cpp
new file mode 100644
index 000000000..e8220b26e
--- /dev/null
+++ b/build/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)
+# 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;
+}
diff --git a/build/CMakeFiles/2.8.12.2/CompilerIdCXX/a.out b/build/CMakeFiles/2.8.12.2/CompilerIdCXX/a.out
new file mode 100755
index 000000000..db35dbde0
--- /dev/null
+++ b/build/CMakeFiles/2.8.12.2/CompilerIdCXX/a.out
diff --git a/build/CMakeFiles/CMakeDirectoryInformation.cmake b/build/CMakeFiles/CMakeDirectoryInformation.cmake
new file mode 100644
index 000000000..b2cc9b7e7
--- /dev/null
+++ b/build/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 "/home/roman/src/Firmware/src")
+SET(CMAKE_RELATIVE_PATH_TOP_BINARY "/home/roman/src/Firmware/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/build/CMakeFiles/CMakeError.log b/build/CMakeFiles/CMakeError.log
new file mode 100644
index 000000000..9ab6f1e9a
--- /dev/null
+++ b/build/CMakeFiles/CMakeError.log
@@ -0,0 +1,53 @@
+Determining if the pthread_create exist failed with the following output:
+Change Dir: /home/roman/src/Firmware/build/CMakeFiles/CMakeTmp
+
+Run Build Command:/usr/bin/make "cmTryCompileExec1424100880/fast"
+/usr/bin/make -f CMakeFiles/cmTryCompileExec1424100880.dir/build.make CMakeFiles/cmTryCompileExec1424100880.dir/build
+make[1]: Entering directory `/home/roman/src/Firmware/build/CMakeFiles/CMakeTmp'
+/usr/bin/cmake -E cmake_progress_report /home/roman/src/Firmware/build/CMakeFiles/CMakeTmp/CMakeFiles 1
+Building C object CMakeFiles/cmTryCompileExec1424100880.dir/CheckSymbolExists.c.o
+/usr/bin/cc    -o CMakeFiles/cmTryCompileExec1424100880.dir/CheckSymbolExists.c.o   -c /home/roman/src/Firmware/build/CMakeFiles/CMakeTmp/CheckSymbolExists.c
+Linking C executable cmTryCompileExec1424100880
+/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTryCompileExec1424100880.dir/link.txt --verbose=1
+/usr/bin/cc       CMakeFiles/cmTryCompileExec1424100880.dir/CheckSymbolExists.c.o  -o cmTryCompileExec1424100880 -rdynamic 
+CMakeFiles/cmTryCompileExec1424100880.dir/CheckSymbolExists.c.o: In function `main':
+CheckSymbolExists.c:(.text+0x16): undefined reference to `pthread_create'
+collect2: error: ld returned 1 exit status
+make[1]: *** [cmTryCompileExec1424100880] Error 1
+make[1]: Leaving directory `/home/roman/src/Firmware/build/CMakeFiles/CMakeTmp'
+make: *** [cmTryCompileExec1424100880/fast] Error 2
+
+File /home/roman/src/Firmware/build/CMakeFiles/CMakeTmp/CheckSymbolExists.c:
+/* */
+#include <pthread.h>
+
+int main(int argc, char** argv)
+{
+  (void)argv;
+#ifndef pthread_create
+  return ((int*)(&pthread_create))[argc];
+#else
+  (void)argc;
+  return 0;
+#endif
+}
+
+Determining if the function pthread_create exists in the pthreads failed with the following output:
+Change Dir: /home/roman/src/Firmware/build/CMakeFiles/CMakeTmp
+
+Run Build Command:/usr/bin/make "cmTryCompileExec26988121/fast"
+/usr/bin/make -f CMakeFiles/cmTryCompileExec26988121.dir/build.make CMakeFiles/cmTryCompileExec26988121.dir/build
+make[1]: Entering directory `/home/roman/src/Firmware/build/CMakeFiles/CMakeTmp'
+/usr/bin/cmake -E cmake_progress_report /home/roman/src/Firmware/build/CMakeFiles/CMakeTmp/CMakeFiles 1
+Building C object CMakeFiles/cmTryCompileExec26988121.dir/CheckFunctionExists.c.o
+/usr/bin/cc   -DCHECK_FUNCTION_EXISTS=pthread_create   -o CMakeFiles/cmTryCompileExec26988121.dir/CheckFunctionExists.c.o   -c /usr/share/cmake-2.8/Modules/CheckFunctionExists.c
+Linking C executable cmTryCompileExec26988121
+/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTryCompileExec26988121.dir/link.txt --verbose=1
+/usr/bin/cc   -DCHECK_FUNCTION_EXISTS=pthread_create    CMakeFiles/cmTryCompileExec26988121.dir/CheckFunctionExists.c.o  -o cmTryCompileExec26988121 -rdynamic -lpthreads 
+/usr/bin/ld: cannot find -lpthreads
+collect2: error: ld returned 1 exit status
+make[1]: *** [cmTryCompileExec26988121] Error 1
+make[1]: Leaving directory `/home/roman/src/Firmware/build/CMakeFiles/CMakeTmp'
+make: *** [cmTryCompileExec26988121/fast] Error 2
+
+
diff --git a/build/CMakeFiles/CMakeOutput.log b/build/CMakeFiles/CMakeOutput.log
new file mode 100644
index 000000000..a3757fc34
--- /dev/null
+++ b/build/CMakeFiles/CMakeOutput.log
@@ -0,0 +1,293 @@
+The system is: Linux - 3.13.0-24-generic - x86_64
+Compiling the C compiler identification source file "CMakeCCompilerId.c" succeeded.
+Compiler: /usr/bin/cc 
+Build flags: 
+Id flags: 
+
+The output was:
+0
+
+
+Compilation of the C compiler identification source "CMakeCCompilerId.c" produced "a.out"
+
+The C compiler identification is GNU, found in "/home/roman/src/Firmware/build/CMakeFiles/2.8.12.2/CompilerIdC/a.out"
+
+Compiling the CXX compiler identification source file "CMakeCXXCompilerId.cpp" succeeded.
+Compiler: /usr/bin/c++ 
+Build flags: 
+Id flags: 
+
+The output was:
+0
+
+
+Compilation of the CXX compiler identification source "CMakeCXXCompilerId.cpp" produced "a.out"
+
+The CXX compiler identification is GNU, found in "/home/roman/src/Firmware/build/CMakeFiles/2.8.12.2/CompilerIdCXX/a.out"
+
+Determining if the C compiler works passed with the following output:
+Change Dir: /home/roman/src/Firmware/build/CMakeFiles/CMakeTmp
+
+Run Build Command:/usr/bin/make "cmTryCompileExec4189733644/fast"
+/usr/bin/make -f CMakeFiles/cmTryCompileExec4189733644.dir/build.make CMakeFiles/cmTryCompileExec4189733644.dir/build
+make[1]: Entering directory `/home/roman/src/Firmware/build/CMakeFiles/CMakeTmp'
+/usr/bin/cmake -E cmake_progress_report /home/roman/src/Firmware/build/CMakeFiles/CMakeTmp/CMakeFiles 1
+Building C object CMakeFiles/cmTryCompileExec4189733644.dir/testCCompiler.c.o
+/usr/bin/cc    -o CMakeFiles/cmTryCompileExec4189733644.dir/testCCompiler.c.o   -c /home/roman/src/Firmware/build/CMakeFiles/CMakeTmp/testCCompiler.c
+Linking C executable cmTryCompileExec4189733644
+/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTryCompileExec4189733644.dir/link.txt --verbose=1
+/usr/bin/cc       CMakeFiles/cmTryCompileExec4189733644.dir/testCCompiler.c.o  -o cmTryCompileExec4189733644 -rdynamic 
+make[1]: Leaving directory `/home/roman/src/Firmware/build/CMakeFiles/CMakeTmp'
+
+
+Detecting C compiler ABI info compiled with the following output:
+Change Dir: /home/roman/src/Firmware/build/CMakeFiles/CMakeTmp
+
+Run Build Command:/usr/bin/make "cmTryCompileExec2944435992/fast"
+/usr/bin/make -f CMakeFiles/cmTryCompileExec2944435992.dir/build.make CMakeFiles/cmTryCompileExec2944435992.dir/build
+make[1]: Entering directory `/home/roman/src/Firmware/build/CMakeFiles/CMakeTmp'
+/usr/bin/cmake -E cmake_progress_report /home/roman/src/Firmware/build/CMakeFiles/CMakeTmp/CMakeFiles 1
+Building C object CMakeFiles/cmTryCompileExec2944435992.dir/CMakeCCompilerABI.c.o
+/usr/bin/cc    -o CMakeFiles/cmTryCompileExec2944435992.dir/CMakeCCompilerABI.c.o   -c /usr/share/cmake-2.8/Modules/CMakeCCompilerABI.c
+Linking C executable cmTryCompileExec2944435992
+/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTryCompileExec2944435992.dir/link.txt --verbose=1
+/usr/bin/cc     -v CMakeFiles/cmTryCompileExec2944435992.dir/CMakeCCompilerABI.c.o  -o cmTryCompileExec2944435992 -rdynamic  
+Using built-in specs.
+COLLECT_GCC=/usr/bin/cc
+COLLECT_LTO_WRAPPER=/usr/lib/gcc/x86_64-linux-gnu/4.8/lto-wrapper
+Target: x86_64-linux-gnu
+Configured with: ../src/configure -v --with-pkgversion='Ubuntu 4.8.2-19ubuntu1' --with-bugurl=file:///usr/share/doc/gcc-4.8/README.Bugs --enable-languages=c,c++,java,go,d,fortran,objc,obj-c++ --prefix=/usr --program-suffix=-4.8 --enable-shared --enable-linker-build-id --libexecdir=/usr/lib --without-included-gettext --enable-threads=posix --with-gxx-include-dir=/usr/include/c++/4.8 --libdir=/usr/lib --enable-nls --with-sysroot=/ --enable-clocale=gnu --enable-libstdcxx-debug --enable-libstdcxx-time=yes --enable-gnu-unique-object --disable-libmudflap --enable-plugin --with-system-zlib --disable-browser-plugin --enable-java-awt=gtk --enable-gtk-cairo --with-java-home=/usr/lib/jvm/java-1.5.0-gcj-4.8-amd64/jre --enable-java-home --with-jvm-root-dir=/usr/lib/jvm/java-1.5.0-gcj-4.8-amd64 --with-jvm-jar-dir=/usr/lib/jvm-exports/java-1.5.0-gcj-4.8-amd64 --with-arch-directory=amd64 --with-ecj-jar=/usr/share/java/eclipse-ecj.jar --enable-objc-gc --enable-multiarch --disable-werror --with-arch-32=i686 --with-abi=m64 --with-multilib-list=m32,m64,mx32 --with-tune=generic --enable-checking=release --build=x86_64-linux-gnu --host=x86_64-linux-gnu --target=x86_64-linux-gnu
+Thread model: posix
+gcc version 4.8.2 (Ubuntu 4.8.2-19ubuntu1) 
+COMPILER_PATH=/usr/lib/gcc/x86_64-linux-gnu/4.8/:/usr/lib/gcc/x86_64-linux-gnu/4.8/:/usr/lib/gcc/x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/4.8/:/usr/lib/gcc/x86_64-linux-gnu/
+LIBRARY_PATH=/usr/lib/gcc/x86_64-linux-gnu/4.8/:/usr/lib/gcc/x86_64-linux-gnu/4.8/../../../x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/4.8/../../../../lib/:/lib/x86_64-linux-gnu/:/lib/../lib/:/usr/lib/x86_64-linux-gnu/:/usr/lib/../lib/:/usr/lib/gcc/x86_64-linux-gnu/4.8/../../../:/lib/:/usr/lib/
+COLLECT_GCC_OPTIONS='-v' '-o' 'cmTryCompileExec2944435992' '-rdynamic' '-mtune=generic' '-march=x86-64'
+ /usr/lib/gcc/x86_64-linux-gnu/4.8/collect2 --sysroot=/ --build-id --eh-frame-hdr -m elf_x86_64 --hash-style=gnu --as-needed -export-dynamic -dynamic-linker /lib64/ld-linux-x86-64.so.2 -z relro -o cmTryCompileExec2944435992 /usr/lib/gcc/x86_64-linux-gnu/4.8/../../../x86_64-linux-gnu/crt1.o /usr/lib/gcc/x86_64-linux-gnu/4.8/../../../x86_64-linux-gnu/crti.o /usr/lib/gcc/x86_64-linux-gnu/4.8/crtbegin.o -L/usr/lib/gcc/x86_64-linux-gnu/4.8 -L/usr/lib/gcc/x86_64-linux-gnu/4.8/../../../x86_64-linux-gnu -L/usr/lib/gcc/x86_64-linux-gnu/4.8/../../../../lib -L/lib/x86_64-linux-gnu -L/lib/../lib -L/usr/lib/x86_64-linux-gnu -L/usr/lib/../lib -L/usr/lib/gcc/x86_64-linux-gnu/4.8/../../.. CMakeFiles/cmTryCompileExec2944435992.dir/CMakeCCompilerABI.c.o -lgcc --as-needed -lgcc_s --no-as-needed -lc -lgcc --as-needed -lgcc_s --no-as-needed /usr/lib/gcc/x86_64-linux-gnu/4.8/crtend.o /usr/lib/gcc/x86_64-linux-gnu/4.8/../../../x86_64-linux-gnu/crtn.o
+make[1]: Leaving directory `/home/roman/src/Firmware/build/CMakeFiles/CMakeTmp'
+
+
+Parsed C implicit link information from above output:
+  link line regex: [^( *|.*[/\])(ld|([^/\]+-)?ld|collect2)[^/\]*( |$)]
+  ignore line: [Change Dir: /home/roman/src/Firmware/build/CMakeFiles/CMakeTmp]
+  ignore line: []
+  ignore line: [Run Build Command:/usr/bin/make "cmTryCompileExec2944435992/fast"]
+  ignore line: [/usr/bin/make -f CMakeFiles/cmTryCompileExec2944435992.dir/build.make CMakeFiles/cmTryCompileExec2944435992.dir/build]
+  ignore line: [make[1]: Entering directory `/home/roman/src/Firmware/build/CMakeFiles/CMakeTmp']
+  ignore line: [/usr/bin/cmake -E cmake_progress_report /home/roman/src/Firmware/build/CMakeFiles/CMakeTmp/CMakeFiles 1]
+  ignore line: [Building C object CMakeFiles/cmTryCompileExec2944435992.dir/CMakeCCompilerABI.c.o]
+  ignore line: [/usr/bin/cc    -o CMakeFiles/cmTryCompileExec2944435992.dir/CMakeCCompilerABI.c.o   -c /usr/share/cmake-2.8/Modules/CMakeCCompilerABI.c]
+  ignore line: [Linking C executable cmTryCompileExec2944435992]
+  ignore line: [/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTryCompileExec2944435992.dir/link.txt --verbose=1]
+  ignore line: [/usr/bin/cc     -v CMakeFiles/cmTryCompileExec2944435992.dir/CMakeCCompilerABI.c.o  -o cmTryCompileExec2944435992 -rdynamic  ]
+  ignore line: [Using built-in specs.]
+  ignore line: [COLLECT_GCC=/usr/bin/cc]
+  ignore line: [COLLECT_LTO_WRAPPER=/usr/lib/gcc/x86_64-linux-gnu/4.8/lto-wrapper]
+  ignore line: [Target: x86_64-linux-gnu]
+  ignore line: [Configured with: ../src/configure -v --with-pkgversion='Ubuntu 4.8.2-19ubuntu1' --with-bugurl=file:///usr/share/doc/gcc-4.8/README.Bugs --enable-languages=c,c++,java,go,d,fortran,objc,obj-c++ --prefix=/usr --program-suffix=-4.8 --enable-shared --enable-linker-build-id --libexecdir=/usr/lib --without-included-gettext --enable-threads=posix --with-gxx-include-dir=/usr/include/c++/4.8 --libdir=/usr/lib --enable-nls --with-sysroot=/ --enable-clocale=gnu --enable-libstdcxx-debug --enable-libstdcxx-time=yes --enable-gnu-unique-object --disable-libmudflap --enable-plugin --with-system-zlib --disable-browser-plugin --enable-java-awt=gtk --enable-gtk-cairo --with-java-home=/usr/lib/jvm/java-1.5.0-gcj-4.8-amd64/jre --enable-java-home --with-jvm-root-dir=/usr/lib/jvm/java-1.5.0-gcj-4.8-amd64 --with-jvm-jar-dir=/usr/lib/jvm-exports/java-1.5.0-gcj-4.8-amd64 --with-arch-directory=amd64 --with-ecj-jar=/usr/share/java/eclipse-ecj.jar --enable-objc-gc --enable-multiarch --disable-werror --with-arch-32=i686 --with-abi=m64 --with-multilib-list=m32,m64,mx32 --with-tune=generic --enable-checking=release --build=x86_64-linux-gnu --host=x86_64-linux-gnu --target=x86_64-linux-gnu]
+  ignore line: [Thread model: posix]
+  ignore line: [gcc version 4.8.2 (Ubuntu 4.8.2-19ubuntu1) ]
+  ignore line: [COMPILER_PATH=/usr/lib/gcc/x86_64-linux-gnu/4.8/:/usr/lib/gcc/x86_64-linux-gnu/4.8/:/usr/lib/gcc/x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/4.8/:/usr/lib/gcc/x86_64-linux-gnu/]
+  ignore line: [LIBRARY_PATH=/usr/lib/gcc/x86_64-linux-gnu/4.8/:/usr/lib/gcc/x86_64-linux-gnu/4.8/../../../x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/4.8/../../../../lib/:/lib/x86_64-linux-gnu/:/lib/../lib/:/usr/lib/x86_64-linux-gnu/:/usr/lib/../lib/:/usr/lib/gcc/x86_64-linux-gnu/4.8/../../../:/lib/:/usr/lib/]
+  ignore line: [COLLECT_GCC_OPTIONS='-v' '-o' 'cmTryCompileExec2944435992' '-rdynamic' '-mtune=generic' '-march=x86-64']
+  link line: [ /usr/lib/gcc/x86_64-linux-gnu/4.8/collect2 --sysroot=/ --build-id --eh-frame-hdr -m elf_x86_64 --hash-style=gnu --as-needed -export-dynamic -dynamic-linker /lib64/ld-linux-x86-64.so.2 -z relro -o cmTryCompileExec2944435992 /usr/lib/gcc/x86_64-linux-gnu/4.8/../../../x86_64-linux-gnu/crt1.o /usr/lib/gcc/x86_64-linux-gnu/4.8/../../../x86_64-linux-gnu/crti.o /usr/lib/gcc/x86_64-linux-gnu/4.8/crtbegin.o -L/usr/lib/gcc/x86_64-linux-gnu/4.8 -L/usr/lib/gcc/x86_64-linux-gnu/4.8/../../../x86_64-linux-gnu -L/usr/lib/gcc/x86_64-linux-gnu/4.8/../../../../lib -L/lib/x86_64-linux-gnu -L/lib/../lib -L/usr/lib/x86_64-linux-gnu -L/usr/lib/../lib -L/usr/lib/gcc/x86_64-linux-gnu/4.8/../../.. CMakeFiles/cmTryCompileExec2944435992.dir/CMakeCCompilerABI.c.o -lgcc --as-needed -lgcc_s --no-as-needed -lc -lgcc --as-needed -lgcc_s --no-as-needed /usr/lib/gcc/x86_64-linux-gnu/4.8/crtend.o /usr/lib/gcc/x86_64-linux-gnu/4.8/../../../x86_64-linux-gnu/crtn.o]
+    arg [/usr/lib/gcc/x86_64-linux-gnu/4.8/collect2] ==> ignore
+    arg [--sysroot=/] ==> ignore
+    arg [--build-id] ==> ignore
+    arg [--eh-frame-hdr] ==> ignore
+    arg [-m] ==> ignore
+    arg [elf_x86_64] ==> ignore
+    arg [--hash-style=gnu] ==> ignore
+    arg [--as-needed] ==> ignore
+    arg [-export-dynamic] ==> ignore
+    arg [-dynamic-linker] ==> ignore
+    arg [/lib64/ld-linux-x86-64.so.2] ==> ignore
+    arg [-zrelro] ==> ignore
+    arg [-o] ==> ignore
+    arg [cmTryCompileExec2944435992] ==> ignore
+    arg [/usr/lib/gcc/x86_64-linux-gnu/4.8/../../../x86_64-linux-gnu/crt1.o] ==> ignore
+    arg [/usr/lib/gcc/x86_64-linux-gnu/4.8/../../../x86_64-linux-gnu/crti.o] ==> ignore
+    arg [/usr/lib/gcc/x86_64-linux-gnu/4.8/crtbegin.o] ==> ignore
+    arg [-L/usr/lib/gcc/x86_64-linux-gnu/4.8] ==> dir [/usr/lib/gcc/x86_64-linux-gnu/4.8]
+    arg [-L/usr/lib/gcc/x86_64-linux-gnu/4.8/../../../x86_64-linux-gnu] ==> dir [/usr/lib/gcc/x86_64-linux-gnu/4.8/../../../x86_64-linux-gnu]
+    arg [-L/usr/lib/gcc/x86_64-linux-gnu/4.8/../../../../lib] ==> dir [/usr/lib/gcc/x86_64-linux-gnu/4.8/../../../../lib]
+    arg [-L/lib/x86_64-linux-gnu] ==> dir [/lib/x86_64-linux-gnu]
+    arg [-L/lib/../lib] ==> dir [/lib/../lib]
+    arg [-L/usr/lib/x86_64-linux-gnu] ==> dir [/usr/lib/x86_64-linux-gnu]
+    arg [-L/usr/lib/../lib] ==> dir [/usr/lib/../lib]
+    arg [-L/usr/lib/gcc/x86_64-linux-gnu/4.8/../../..] ==> dir [/usr/lib/gcc/x86_64-linux-gnu/4.8/../../..]
+    arg [CMakeFiles/cmTryCompileExec2944435992.dir/CMakeCCompilerABI.c.o] ==> ignore
+    arg [-lgcc] ==> lib [gcc]
+    arg [--as-needed] ==> ignore
+    arg [-lgcc_s] ==> lib [gcc_s]
+    arg [--no-as-needed] ==> ignore
+    arg [-lc] ==> lib [c]
+    arg [-lgcc] ==> lib [gcc]
+    arg [--as-needed] ==> ignore
+    arg [-lgcc_s] ==> lib [gcc_s]
+    arg [--no-as-needed] ==> ignore
+    arg [/usr/lib/gcc/x86_64-linux-gnu/4.8/crtend.o] ==> ignore
+    arg [/usr/lib/gcc/x86_64-linux-gnu/4.8/../../../x86_64-linux-gnu/crtn.o] ==> ignore
+  remove lib [gcc]
+  remove lib [gcc_s]
+  remove lib [gcc]
+  remove lib [gcc_s]
+  collapse library dir [/usr/lib/gcc/x86_64-linux-gnu/4.8] ==> [/usr/lib/gcc/x86_64-linux-gnu/4.8]
+  collapse library dir [/usr/lib/gcc/x86_64-linux-gnu/4.8/../../../x86_64-linux-gnu] ==> [/usr/lib/x86_64-linux-gnu]
+  collapse library dir [/usr/lib/gcc/x86_64-linux-gnu/4.8/../../../../lib] ==> [/usr/lib]
+  collapse library dir [/lib/x86_64-linux-gnu] ==> [/lib/x86_64-linux-gnu]
+  collapse library dir [/lib/../lib] ==> [/lib]
+  collapse library dir [/usr/lib/x86_64-linux-gnu] ==> [/usr/lib/x86_64-linux-gnu]
+  collapse library dir [/usr/lib/../lib] ==> [/usr/lib]
+  collapse library dir [/usr/lib/gcc/x86_64-linux-gnu/4.8/../../..] ==> [/usr/lib]
+  implicit libs: [c]
+  implicit dirs: [/usr/lib/gcc/x86_64-linux-gnu/4.8;/usr/lib/x86_64-linux-gnu;/usr/lib;/lib/x86_64-linux-gnu;/lib]
+  implicit fwks: []
+
+
+Determining if the CXX compiler works passed with the following output:
+Change Dir: /home/roman/src/Firmware/build/CMakeFiles/CMakeTmp
+
+Run Build Command:/usr/bin/make "cmTryCompileExec191173331/fast"
+/usr/bin/make -f CMakeFiles/cmTryCompileExec191173331.dir/build.make CMakeFiles/cmTryCompileExec191173331.dir/build
+make[1]: Entering directory `/home/roman/src/Firmware/build/CMakeFiles/CMakeTmp'
+/usr/bin/cmake -E cmake_progress_report /home/roman/src/Firmware/build/CMakeFiles/CMakeTmp/CMakeFiles 1
+Building CXX object CMakeFiles/cmTryCompileExec191173331.dir/testCXXCompiler.cxx.o
+/usr/bin/c++     -o CMakeFiles/cmTryCompileExec191173331.dir/testCXXCompiler.cxx.o -c /home/roman/src/Firmware/build/CMakeFiles/CMakeTmp/testCXXCompiler.cxx
+Linking CXX executable cmTryCompileExec191173331
+/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTryCompileExec191173331.dir/link.txt --verbose=1
+/usr/bin/c++        CMakeFiles/cmTryCompileExec191173331.dir/testCXXCompiler.cxx.o  -o cmTryCompileExec191173331 -rdynamic 
+make[1]: Leaving directory `/home/roman/src/Firmware/build/CMakeFiles/CMakeTmp'
+
+
+Detecting CXX compiler ABI info compiled with the following output:
+Change Dir: /home/roman/src/Firmware/build/CMakeFiles/CMakeTmp
+
+Run Build Command:/usr/bin/make "cmTryCompileExec843003076/fast"
+/usr/bin/make -f CMakeFiles/cmTryCompileExec843003076.dir/build.make CMakeFiles/cmTryCompileExec843003076.dir/build
+make[1]: Entering directory `/home/roman/src/Firmware/build/CMakeFiles/CMakeTmp'
+/usr/bin/cmake -E cmake_progress_report /home/roman/src/Firmware/build/CMakeFiles/CMakeTmp/CMakeFiles 1
+Building CXX object CMakeFiles/cmTryCompileExec843003076.dir/CMakeCXXCompilerABI.cpp.o
+/usr/bin/c++     -o CMakeFiles/cmTryCompileExec843003076.dir/CMakeCXXCompilerABI.cpp.o -c /usr/share/cmake-2.8/Modules/CMakeCXXCompilerABI.cpp
+Linking CXX executable cmTryCompileExec843003076
+/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTryCompileExec843003076.dir/link.txt --verbose=1
+/usr/bin/c++      -v CMakeFiles/cmTryCompileExec843003076.dir/CMakeCXXCompilerABI.cpp.o  -o cmTryCompileExec843003076 -rdynamic  
+Using built-in specs.
+COLLECT_GCC=/usr/bin/c++
+COLLECT_LTO_WRAPPER=/usr/lib/gcc/x86_64-linux-gnu/4.8/lto-wrapper
+Target: x86_64-linux-gnu
+Configured with: ../src/configure -v --with-pkgversion='Ubuntu 4.8.2-19ubuntu1' --with-bugurl=file:///usr/share/doc/gcc-4.8/README.Bugs --enable-languages=c,c++,java,go,d,fortran,objc,obj-c++ --prefix=/usr --program-suffix=-4.8 --enable-shared --enable-linker-build-id --libexecdir=/usr/lib --without-included-gettext --enable-threads=posix --with-gxx-include-dir=/usr/include/c++/4.8 --libdir=/usr/lib --enable-nls --with-sysroot=/ --enable-clocale=gnu --enable-libstdcxx-debug --enable-libstdcxx-time=yes --enable-gnu-unique-object --disable-libmudflap --enable-plugin --with-system-zlib --disable-browser-plugin --enable-java-awt=gtk --enable-gtk-cairo --with-java-home=/usr/lib/jvm/java-1.5.0-gcj-4.8-amd64/jre --enable-java-home --with-jvm-root-dir=/usr/lib/jvm/java-1.5.0-gcj-4.8-amd64 --with-jvm-jar-dir=/usr/lib/jvm-exports/java-1.5.0-gcj-4.8-amd64 --with-arch-directory=amd64 --with-ecj-jar=/usr/share/java/eclipse-ecj.jar --enable-objc-gc --enable-multiarch --disable-werror --with-arch-32=i686 --with-abi=m64 --with-multilib-list=m32,m64,mx32 --with-tune=generic --enable-checking=release --build=x86_64-linux-gnu --host=x86_64-linux-gnu --target=x86_64-linux-gnu
+Thread model: posix
+gcc version 4.8.2 (Ubuntu 4.8.2-19ubuntu1) 
+COMPILER_PATH=/usr/lib/gcc/x86_64-linux-gnu/4.8/:/usr/lib/gcc/x86_64-linux-gnu/4.8/:/usr/lib/gcc/x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/4.8/:/usr/lib/gcc/x86_64-linux-gnu/
+LIBRARY_PATH=/usr/lib/gcc/x86_64-linux-gnu/4.8/:/usr/lib/gcc/x86_64-linux-gnu/4.8/../../../x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/4.8/../../../../lib/:/lib/x86_64-linux-gnu/:/lib/../lib/:/usr/lib/x86_64-linux-gnu/:/usr/lib/../lib/:/usr/lib/gcc/x86_64-linux-gnu/4.8/../../../:/lib/:/usr/lib/
+COLLECT_GCC_OPTIONS='-v' '-o' 'cmTryCompileExec843003076' '-rdynamic' '-shared-libgcc' '-mtune=generic' '-march=x86-64'
+ /usr/lib/gcc/x86_64-linux-gnu/4.8/collect2 --sysroot=/ --build-id --eh-frame-hdr -m elf_x86_64 --hash-style=gnu --as-needed -export-dynamic -dynamic-linker /lib64/ld-linux-x86-64.so.2 -z relro -o cmTryCompileExec843003076 /usr/lib/gcc/x86_64-linux-gnu/4.8/../../../x86_64-linux-gnu/crt1.o /usr/lib/gcc/x86_64-linux-gnu/4.8/../../../x86_64-linux-gnu/crti.o /usr/lib/gcc/x86_64-linux-gnu/4.8/crtbegin.o -L/usr/lib/gcc/x86_64-linux-gnu/4.8 -L/usr/lib/gcc/x86_64-linux-gnu/4.8/../../../x86_64-linux-gnu -L/usr/lib/gcc/x86_64-linux-gnu/4.8/../../../../lib -L/lib/x86_64-linux-gnu -L/lib/../lib -L/usr/lib/x86_64-linux-gnu -L/usr/lib/../lib -L/usr/lib/gcc/x86_64-linux-gnu/4.8/../../.. CMakeFiles/cmTryCompileExec843003076.dir/CMakeCXXCompilerABI.cpp.o -lstdc++ -lm -lgcc_s -lgcc -lc -lgcc_s -lgcc /usr/lib/gcc/x86_64-linux-gnu/4.8/crtend.o /usr/lib/gcc/x86_64-linux-gnu/4.8/../../../x86_64-linux-gnu/crtn.o
+make[1]: Leaving directory `/home/roman/src/Firmware/build/CMakeFiles/CMakeTmp'
+
+
+Parsed CXX implicit link information from above output:
+  link line regex: [^( *|.*[/\])(ld|([^/\]+-)?ld|collect2)[^/\]*( |$)]
+  ignore line: [Change Dir: /home/roman/src/Firmware/build/CMakeFiles/CMakeTmp]
+  ignore line: []
+  ignore line: [Run Build Command:/usr/bin/make "cmTryCompileExec843003076/fast"]
+  ignore line: [/usr/bin/make -f CMakeFiles/cmTryCompileExec843003076.dir/build.make CMakeFiles/cmTryCompileExec843003076.dir/build]
+  ignore line: [make[1]: Entering directory `/home/roman/src/Firmware/build/CMakeFiles/CMakeTmp']
+  ignore line: [/usr/bin/cmake -E cmake_progress_report /home/roman/src/Firmware/build/CMakeFiles/CMakeTmp/CMakeFiles 1]
+  ignore line: [Building CXX object CMakeFiles/cmTryCompileExec843003076.dir/CMakeCXXCompilerABI.cpp.o]
+  ignore line: [/usr/bin/c++     -o CMakeFiles/cmTryCompileExec843003076.dir/CMakeCXXCompilerABI.cpp.o -c /usr/share/cmake-2.8/Modules/CMakeCXXCompilerABI.cpp]
+  ignore line: [Linking CXX executable cmTryCompileExec843003076]
+  ignore line: [/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTryCompileExec843003076.dir/link.txt --verbose=1]
+  ignore line: [/usr/bin/c++      -v CMakeFiles/cmTryCompileExec843003076.dir/CMakeCXXCompilerABI.cpp.o  -o cmTryCompileExec843003076 -rdynamic  ]
+  ignore line: [Using built-in specs.]
+  ignore line: [COLLECT_GCC=/usr/bin/c++]
+  ignore line: [COLLECT_LTO_WRAPPER=/usr/lib/gcc/x86_64-linux-gnu/4.8/lto-wrapper]
+  ignore line: [Target: x86_64-linux-gnu]
+  ignore line: [Configured with: ../src/configure -v --with-pkgversion='Ubuntu 4.8.2-19ubuntu1' --with-bugurl=file:///usr/share/doc/gcc-4.8/README.Bugs --enable-languages=c,c++,java,go,d,fortran,objc,obj-c++ --prefix=/usr --program-suffix=-4.8 --enable-shared --enable-linker-build-id --libexecdir=/usr/lib --without-included-gettext --enable-threads=posix --with-gxx-include-dir=/usr/include/c++/4.8 --libdir=/usr/lib --enable-nls --with-sysroot=/ --enable-clocale=gnu --enable-libstdcxx-debug --enable-libstdcxx-time=yes --enable-gnu-unique-object --disable-libmudflap --enable-plugin --with-system-zlib --disable-browser-plugin --enable-java-awt=gtk --enable-gtk-cairo --with-java-home=/usr/lib/jvm/java-1.5.0-gcj-4.8-amd64/jre --enable-java-home --with-jvm-root-dir=/usr/lib/jvm/java-1.5.0-gcj-4.8-amd64 --with-jvm-jar-dir=/usr/lib/jvm-exports/java-1.5.0-gcj-4.8-amd64 --with-arch-directory=amd64 --with-ecj-jar=/usr/share/java/eclipse-ecj.jar --enable-objc-gc --enable-multiarch --disable-werror --with-arch-32=i686 --with-abi=m64 --with-multilib-list=m32,m64,mx32 --with-tune=generic --enable-checking=release --build=x86_64-linux-gnu --host=x86_64-linux-gnu --target=x86_64-linux-gnu]
+  ignore line: [Thread model: posix]
+  ignore line: [gcc version 4.8.2 (Ubuntu 4.8.2-19ubuntu1) ]
+  ignore line: [COMPILER_PATH=/usr/lib/gcc/x86_64-linux-gnu/4.8/:/usr/lib/gcc/x86_64-linux-gnu/4.8/:/usr/lib/gcc/x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/4.8/:/usr/lib/gcc/x86_64-linux-gnu/]
+  ignore line: [LIBRARY_PATH=/usr/lib/gcc/x86_64-linux-gnu/4.8/:/usr/lib/gcc/x86_64-linux-gnu/4.8/../../../x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/4.8/../../../../lib/:/lib/x86_64-linux-gnu/:/lib/../lib/:/usr/lib/x86_64-linux-gnu/:/usr/lib/../lib/:/usr/lib/gcc/x86_64-linux-gnu/4.8/../../../:/lib/:/usr/lib/]
+  ignore line: [COLLECT_GCC_OPTIONS='-v' '-o' 'cmTryCompileExec843003076' '-rdynamic' '-shared-libgcc' '-mtune=generic' '-march=x86-64']
+  link line: [ /usr/lib/gcc/x86_64-linux-gnu/4.8/collect2 --sysroot=/ --build-id --eh-frame-hdr -m elf_x86_64 --hash-style=gnu --as-needed -export-dynamic -dynamic-linker /lib64/ld-linux-x86-64.so.2 -z relro -o cmTryCompileExec843003076 /usr/lib/gcc/x86_64-linux-gnu/4.8/../../../x86_64-linux-gnu/crt1.o /usr/lib/gcc/x86_64-linux-gnu/4.8/../../../x86_64-linux-gnu/crti.o /usr/lib/gcc/x86_64-linux-gnu/4.8/crtbegin.o -L/usr/lib/gcc/x86_64-linux-gnu/4.8 -L/usr/lib/gcc/x86_64-linux-gnu/4.8/../../../x86_64-linux-gnu -L/usr/lib/gcc/x86_64-linux-gnu/4.8/../../../../lib -L/lib/x86_64-linux-gnu -L/lib/../lib -L/usr/lib/x86_64-linux-gnu -L/usr/lib/../lib -L/usr/lib/gcc/x86_64-linux-gnu/4.8/../../.. CMakeFiles/cmTryCompileExec843003076.dir/CMakeCXXCompilerABI.cpp.o -lstdc++ -lm -lgcc_s -lgcc -lc -lgcc_s -lgcc /usr/lib/gcc/x86_64-linux-gnu/4.8/crtend.o /usr/lib/gcc/x86_64-linux-gnu/4.8/../../../x86_64-linux-gnu/crtn.o]
+    arg [/usr/lib/gcc/x86_64-linux-gnu/4.8/collect2] ==> ignore
+    arg [--sysroot=/] ==> ignore
+    arg [--build-id] ==> ignore
+    arg [--eh-frame-hdr] ==> ignore
+    arg [-m] ==> ignore
+    arg [elf_x86_64] ==> ignore
+    arg [--hash-style=gnu] ==> ignore
+    arg [--as-needed] ==> ignore
+    arg [-export-dynamic] ==> ignore
+    arg [-dynamic-linker] ==> ignore
+    arg [/lib64/ld-linux-x86-64.so.2] ==> ignore
+    arg [-zrelro] ==> ignore
+    arg [-o] ==> ignore
+    arg [cmTryCompileExec843003076] ==> ignore
+    arg [/usr/lib/gcc/x86_64-linux-gnu/4.8/../../../x86_64-linux-gnu/crt1.o] ==> ignore
+    arg [/usr/lib/gcc/x86_64-linux-gnu/4.8/../../../x86_64-linux-gnu/crti.o] ==> ignore
+    arg [/usr/lib/gcc/x86_64-linux-gnu/4.8/crtbegin.o] ==> ignore
+    arg [-L/usr/lib/gcc/x86_64-linux-gnu/4.8] ==> dir [/usr/lib/gcc/x86_64-linux-gnu/4.8]
+    arg [-L/usr/lib/gcc/x86_64-linux-gnu/4.8/../../../x86_64-linux-gnu] ==> dir [/usr/lib/gcc/x86_64-linux-gnu/4.8/../../../x86_64-linux-gnu]
+    arg [-L/usr/lib/gcc/x86_64-linux-gnu/4.8/../../../../lib] ==> dir [/usr/lib/gcc/x86_64-linux-gnu/4.8/../../../../lib]
+    arg [-L/lib/x86_64-linux-gnu] ==> dir [/lib/x86_64-linux-gnu]
+    arg [-L/lib/../lib] ==> dir [/lib/../lib]
+    arg [-L/usr/lib/x86_64-linux-gnu] ==> dir [/usr/lib/x86_64-linux-gnu]
+    arg [-L/usr/lib/../lib] ==> dir [/usr/lib/../lib]
+    arg [-L/usr/lib/gcc/x86_64-linux-gnu/4.8/../../..] ==> dir [/usr/lib/gcc/x86_64-linux-gnu/4.8/../../..]
+    arg [CMakeFiles/cmTryCompileExec843003076.dir/CMakeCXXCompilerABI.cpp.o] ==> ignore
+    arg [-lstdc++] ==> lib [stdc++]
+    arg [-lm] ==> lib [m]
+    arg [-lgcc_s] ==> lib [gcc_s]
+    arg [-lgcc] ==> lib [gcc]
+    arg [-lc] ==> lib [c]
+    arg [-lgcc_s] ==> lib [gcc_s]
+    arg [-lgcc] ==> lib [gcc]
+    arg [/usr/lib/gcc/x86_64-linux-gnu/4.8/crtend.o] ==> ignore
+    arg [/usr/lib/gcc/x86_64-linux-gnu/4.8/../../../x86_64-linux-gnu/crtn.o] ==> ignore
+  remove lib [gcc_s]
+  remove lib [gcc]
+  remove lib [gcc_s]
+  remove lib [gcc]
+  collapse library dir [/usr/lib/gcc/x86_64-linux-gnu/4.8] ==> [/usr/lib/gcc/x86_64-linux-gnu/4.8]
+  collapse library dir [/usr/lib/gcc/x86_64-linux-gnu/4.8/../../../x86_64-linux-gnu] ==> [/usr/lib/x86_64-linux-gnu]
+  collapse library dir [/usr/lib/gcc/x86_64-linux-gnu/4.8/../../../../lib] ==> [/usr/lib]
+  collapse library dir [/lib/x86_64-linux-gnu] ==> [/lib/x86_64-linux-gnu]
+  collapse library dir [/lib/../lib] ==> [/lib]
+  collapse library dir [/usr/lib/x86_64-linux-gnu] ==> [/usr/lib/x86_64-linux-gnu]
+  collapse library dir [/usr/lib/../lib] ==> [/usr/lib]
+  collapse library dir [/usr/lib/gcc/x86_64-linux-gnu/4.8/../../..] ==> [/usr/lib]
+  implicit libs: [stdc++;m;c]
+  implicit dirs: [/usr/lib/gcc/x86_64-linux-gnu/4.8;/usr/lib/x86_64-linux-gnu;/usr/lib;/lib/x86_64-linux-gnu;/lib]
+  implicit fwks: []
+
+
+Determining if files pthread.h exist passed with the following output:
+Change Dir: /home/roman/src/Firmware/build/CMakeFiles/CMakeTmp
+
+Run Build Command:/usr/bin/make "cmTryCompileExec3897003384/fast"
+/usr/bin/make -f CMakeFiles/cmTryCompileExec3897003384.dir/build.make CMakeFiles/cmTryCompileExec3897003384.dir/build
+make[1]: Entering directory `/home/roman/src/Firmware/build/CMakeFiles/CMakeTmp'
+/usr/bin/cmake -E cmake_progress_report /home/roman/src/Firmware/build/CMakeFiles/CMakeTmp/CMakeFiles 1
+Building C object CMakeFiles/cmTryCompileExec3897003384.dir/CheckIncludeFiles.c.o
+/usr/bin/cc    -o CMakeFiles/cmTryCompileExec3897003384.dir/CheckIncludeFiles.c.o   -c /home/roman/src/Firmware/build/CMakeFiles/CMakeTmp/CheckIncludeFiles.c
+Linking C executable cmTryCompileExec3897003384
+/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTryCompileExec3897003384.dir/link.txt --verbose=1
+/usr/bin/cc       CMakeFiles/cmTryCompileExec3897003384.dir/CheckIncludeFiles.c.o  -o cmTryCompileExec3897003384 -rdynamic 
+make[1]: Leaving directory `/home/roman/src/Firmware/build/CMakeFiles/CMakeTmp'
+
+
+Determining if the function pthread_create exists in the pthread passed with the following output:
+Change Dir: /home/roman/src/Firmware/build/CMakeFiles/CMakeTmp
+
+Run Build Command:/usr/bin/make "cmTryCompileExec4077710905/fast"
+/usr/bin/make -f CMakeFiles/cmTryCompileExec4077710905.dir/build.make CMakeFiles/cmTryCompileExec4077710905.dir/build
+make[1]: Entering directory `/home/roman/src/Firmware/build/CMakeFiles/CMakeTmp'
+/usr/bin/cmake -E cmake_progress_report /home/roman/src/Firmware/build/CMakeFiles/CMakeTmp/CMakeFiles 1
+Building C object CMakeFiles/cmTryCompileExec4077710905.dir/CheckFunctionExists.c.o
+/usr/bin/cc   -DCHECK_FUNCTION_EXISTS=pthread_create   -o CMakeFiles/cmTryCompileExec4077710905.dir/CheckFunctionExists.c.o   -c /usr/share/cmake-2.8/Modules/CheckFunctionExists.c
+Linking C executable cmTryCompileExec4077710905
+/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTryCompileExec4077710905.dir/link.txt --verbose=1
+/usr/bin/cc   -DCHECK_FUNCTION_EXISTS=pthread_create    CMakeFiles/cmTryCompileExec4077710905.dir/CheckFunctionExists.c.o  -o cmTryCompileExec4077710905 -rdynamic -lpthread 
+make[1]: Leaving directory `/home/roman/src/Firmware/build/CMakeFiles/CMakeTmp'
+
+
diff --git a/build/CMakeFiles/CMakeRuleHashes.txt b/build/CMakeFiles/CMakeRuleHashes.txt
new file mode 100644
index 000000000..b1bfe30c0
--- /dev/null
+++ b/build/CMakeFiles/CMakeRuleHashes.txt
@@ -0,0 +1,5 @@
+# Hashes of file build rules.
+353bd50eb4c4b757d9a3d734d52d4f76 CMakeFiles/clean_test_results
+d83f452b18a5909d95cdb786c10abffb CMakeFiles/doxygen
+d83f452b18a5909d95cdb786c10abffb CMakeFiles/run_tests
+d83f452b18a5909d95cdb786c10abffb CMakeFiles/tests
diff --git a/build/CMakeFiles/Makefile.cmake b/build/CMakeFiles/Makefile.cmake
new file mode 100644
index 000000000..d232bacff
--- /dev/null
+++ b/build/CMakeFiles/Makefile.cmake
@@ -0,0 +1,150 @@
+# CMAKE generated file: DO NOT EDIT!
+# Generated by "Unix Makefiles" Generator, CMake Version 2.8
+
+# The generator used is:
+SET(CMAKE_DEPENDS_GENERATOR "Unix Makefiles")
+
+# The top level Makefile was generated from the following files:
+SET(CMAKE_MAKEFILE_DEPENDS
+  "CMakeCache.txt"
+  "CMakeFiles/2.8.12.2/CMakeCCompiler.cmake"
+  "CMakeFiles/2.8.12.2/CMakeCXXCompiler.cmake"
+  "CMakeFiles/2.8.12.2/CMakeSystem.cmake"
+  "catkin/catkin_generated/version/package.cmake"
+  "catkin_generated/order_packages.cmake"
+  "/home/roman/src/Firmware/src/CMakeLists.txt"
+  "/opt/ros/indigo/share/catkin/cmake/../package.xml"
+  "/opt/ros/indigo/share/catkin/cmake/all.cmake"
+  "/opt/ros/indigo/share/catkin/cmake/assert.cmake"
+  "/opt/ros/indigo/share/catkin/cmake/atomic_configure_file.cmake"
+  "/opt/ros/indigo/share/catkin/cmake/catkinConfig-version.cmake"
+  "/opt/ros/indigo/share/catkin/cmake/catkinConfig.cmake"
+  "/opt/ros/indigo/share/catkin/cmake/catkin_add_env_hooks.cmake"
+  "/opt/ros/indigo/share/catkin/cmake/catkin_destinations.cmake"
+  "/opt/ros/indigo/share/catkin/cmake/catkin_generate_environment.cmake"
+  "/opt/ros/indigo/share/catkin/cmake/catkin_install_python.cmake"
+  "/opt/ros/indigo/share/catkin/cmake/catkin_libraries.cmake"
+  "/opt/ros/indigo/share/catkin/cmake/catkin_metapackage.cmake"
+  "/opt/ros/indigo/share/catkin/cmake/catkin_package.cmake"
+  "/opt/ros/indigo/share/catkin/cmake/catkin_package_xml.cmake"
+  "/opt/ros/indigo/share/catkin/cmake/catkin_python_setup.cmake"
+  "/opt/ros/indigo/share/catkin/cmake/catkin_workspace.cmake"
+  "/opt/ros/indigo/share/catkin/cmake/debug_message.cmake"
+  "/opt/ros/indigo/share/catkin/cmake/em/order_packages.cmake.em"
+  "/opt/ros/indigo/share/catkin/cmake/em_expand.cmake"
+  "/opt/ros/indigo/share/catkin/cmake/empy.cmake"
+  "/opt/ros/indigo/share/catkin/cmake/env-hooks/05.catkin-test-results.sh.develspace.in"
+  "/opt/ros/indigo/share/catkin/cmake/find_program_required.cmake"
+  "/opt/ros/indigo/share/catkin/cmake/interrogate_setup_dot_py.py"
+  "/opt/ros/indigo/share/catkin/cmake/legacy.cmake"
+  "/opt/ros/indigo/share/catkin/cmake/list_append_deduplicate.cmake"
+  "/opt/ros/indigo/share/catkin/cmake/list_append_unique.cmake"
+  "/opt/ros/indigo/share/catkin/cmake/list_insert_in_workspace_order.cmake"
+  "/opt/ros/indigo/share/catkin/cmake/platform/lsb.cmake"
+  "/opt/ros/indigo/share/catkin/cmake/platform/ubuntu.cmake"
+  "/opt/ros/indigo/share/catkin/cmake/platform/windows.cmake"
+  "/opt/ros/indigo/share/catkin/cmake/python.cmake"
+  "/opt/ros/indigo/share/catkin/cmake/safe_execute_process.cmake"
+  "/opt/ros/indigo/share/catkin/cmake/stamp.cmake"
+  "/opt/ros/indigo/share/catkin/cmake/string_starts_with.cmake"
+  "/opt/ros/indigo/share/catkin/cmake/templates/_setup_util.py.in"
+  "/opt/ros/indigo/share/catkin/cmake/templates/env.sh.in"
+  "/opt/ros/indigo/share/catkin/cmake/templates/generate_cached_setup.py.in"
+  "/opt/ros/indigo/share/catkin/cmake/templates/order_packages.context.py.in"
+  "/opt/ros/indigo/share/catkin/cmake/templates/rosinstall.in"
+  "/opt/ros/indigo/share/catkin/cmake/templates/setup.bash.in"
+  "/opt/ros/indigo/share/catkin/cmake/templates/setup.sh.in"
+  "/opt/ros/indigo/share/catkin/cmake/templates/setup.zsh.in"
+  "/opt/ros/indigo/share/catkin/cmake/test/catkin_download_test_data.cmake"
+  "/opt/ros/indigo/share/catkin/cmake/test/gtest.cmake"
+  "/opt/ros/indigo/share/catkin/cmake/test/nosetests.cmake"
+  "/opt/ros/indigo/share/catkin/cmake/test/tests.cmake"
+  "/opt/ros/indigo/share/catkin/cmake/tools/doxygen.cmake"
+  "/opt/ros/indigo/share/catkin/cmake/tools/libraries.cmake"
+  "/opt/ros/indigo/share/catkin/cmake/tools/rt.cmake"
+  "/usr/share/cmake-2.8/Modules/CMakeCCompiler.cmake.in"
+  "/usr/share/cmake-2.8/Modules/CMakeCCompilerABI.c"
+  "/usr/share/cmake-2.8/Modules/CMakeCInformation.cmake"
+  "/usr/share/cmake-2.8/Modules/CMakeCXXCompiler.cmake.in"
+  "/usr/share/cmake-2.8/Modules/CMakeCXXCompilerABI.cpp"
+  "/usr/share/cmake-2.8/Modules/CMakeCXXInformation.cmake"
+  "/usr/share/cmake-2.8/Modules/CMakeClDeps.cmake"
+  "/usr/share/cmake-2.8/Modules/CMakeCommonLanguageInclude.cmake"
+  "/usr/share/cmake-2.8/Modules/CMakeConfigurableFile.in"
+  "/usr/share/cmake-2.8/Modules/CMakeDetermineCCompiler.cmake"
+  "/usr/share/cmake-2.8/Modules/CMakeDetermineCXXCompiler.cmake"
+  "/usr/share/cmake-2.8/Modules/CMakeDetermineCompiler.cmake"
+  "/usr/share/cmake-2.8/Modules/CMakeDetermineCompilerABI.cmake"
+  "/usr/share/cmake-2.8/Modules/CMakeDetermineCompilerId.cmake"
+  "/usr/share/cmake-2.8/Modules/CMakeDetermineSystem.cmake"
+  "/usr/share/cmake-2.8/Modules/CMakeFindBinUtils.cmake"
+  "/usr/share/cmake-2.8/Modules/CMakeGenericSystem.cmake"
+  "/usr/share/cmake-2.8/Modules/CMakeParseArguments.cmake"
+  "/usr/share/cmake-2.8/Modules/CMakeParseImplicitLinkInfo.cmake"
+  "/usr/share/cmake-2.8/Modules/CMakeSystem.cmake.in"
+  "/usr/share/cmake-2.8/Modules/CMakeSystemSpecificInformation.cmake"
+  "/usr/share/cmake-2.8/Modules/CMakeTestCCompiler.cmake"
+  "/usr/share/cmake-2.8/Modules/CMakeTestCXXCompiler.cmake"
+  "/usr/share/cmake-2.8/Modules/CMakeTestCompilerCommon.cmake"
+  "/usr/share/cmake-2.8/Modules/CMakeUnixFindMake.cmake"
+  "/usr/share/cmake-2.8/Modules/CheckFunctionExists.c"
+  "/usr/share/cmake-2.8/Modules/CheckIncludeFiles.cmake"
+  "/usr/share/cmake-2.8/Modules/CheckLibraryExists.cmake"
+  "/usr/share/cmake-2.8/Modules/CheckSymbolExists.cmake"
+  "/usr/share/cmake-2.8/Modules/Compiler/GNU-C.cmake"
+  "/usr/share/cmake-2.8/Modules/Compiler/GNU-CXX.cmake"
+  "/usr/share/cmake-2.8/Modules/Compiler/GNU.cmake"
+  "/usr/share/cmake-2.8/Modules/FindGTest.cmake"
+  "/usr/share/cmake-2.8/Modules/FindPackageHandleStandardArgs.cmake"
+  "/usr/share/cmake-2.8/Modules/FindPackageMessage.cmake"
+  "/usr/share/cmake-2.8/Modules/FindPythonInterp.cmake"
+  "/usr/share/cmake-2.8/Modules/FindThreads.cmake"
+  "/usr/share/cmake-2.8/Modules/MultiArchCross.cmake"
+  "/usr/share/cmake-2.8/Modules/Platform/Linux-CXX.cmake"
+  "/usr/share/cmake-2.8/Modules/Platform/Linux-GNU-C.cmake"
+  "/usr/share/cmake-2.8/Modules/Platform/Linux-GNU-CXX.cmake"
+  "/usr/share/cmake-2.8/Modules/Platform/Linux-GNU.cmake"
+  "/usr/share/cmake-2.8/Modules/Platform/Linux.cmake"
+  "/usr/share/cmake-2.8/Modules/Platform/UnixPaths.cmake"
+  "/usr/src/gtest/CMakeLists.txt"
+  "/usr/src/gtest/cmake/internal_utils.cmake"
+  )
+
+# The corresponding makefile is:
+SET(CMAKE_MAKEFILE_OUTPUTS
+  "Makefile"
+  "CMakeFiles/cmake.check_cache"
+  )
+
+# Byproducts of CMake generate step:
+SET(CMAKE_MAKEFILE_PRODUCTS
+  "CMakeFiles/2.8.12.2/CMakeSystem.cmake"
+  "CMakeFiles/2.8.12.2/CMakeCCompiler.cmake"
+  "CMakeFiles/2.8.12.2/CMakeCXXCompiler.cmake"
+  "CMakeFiles/2.8.12.2/CMakeCCompiler.cmake"
+  "CMakeFiles/2.8.12.2/CMakeCXXCompiler.cmake"
+  "catkin_generated/stamps/Project/package.xml.stamp"
+  "catkin_generated/installspace/_setup_util.py"
+  "catkin_generated/installspace/env.sh"
+  "catkin_generated/installspace/setup.bash"
+  "catkin_generated/installspace/setup.sh"
+  "catkin_generated/installspace/setup.zsh"
+  "catkin_generated/installspace/.rosinstall"
+  "catkin_generated/generate_cached_setup.py"
+  "catkin_generated/env_cached.sh"
+  "catkin_generated/stamps/Project/interrogate_setup_dot_py.py.stamp"
+  "catkin_generated/order_packages.py"
+  "catkin_generated/stamps/Project/order_packages.cmake.em.stamp"
+  "CMakeFiles/CMakeDirectoryInformation.cmake"
+  "gtest/CMakeFiles/CMakeDirectoryInformation.cmake"
+  )
+
+# Dependency information for all targets:
+SET(CMAKE_DEPEND_INFO_FILES
+  "CMakeFiles/clean_test_results.dir/DependInfo.cmake"
+  "CMakeFiles/doxygen.dir/DependInfo.cmake"
+  "CMakeFiles/run_tests.dir/DependInfo.cmake"
+  "CMakeFiles/tests.dir/DependInfo.cmake"
+  "gtest/CMakeFiles/gtest.dir/DependInfo.cmake"
+  "gtest/CMakeFiles/gtest_main.dir/DependInfo.cmake"
+  )
diff --git a/build/CMakeFiles/Makefile2 b/build/CMakeFiles/Makefile2
new file mode 100644
index 000000000..2a11fe8ef
--- /dev/null
+++ b/build/CMakeFiles/Makefile2
@@ -0,0 +1,266 @@
+# CMAKE generated file: DO NOT EDIT!
+# Generated by "Unix Makefiles" Generator, CMake Version 2.8
+
+# Default target executed when no arguments are given to make.
+default_target: all
+.PHONY : default_target
+
+# The main recursive all target
+all:
+.PHONY : all
+
+# The main recursive preinstall target
+preinstall:
+.PHONY : preinstall
+
+#=============================================================================
+# Special targets provided by cmake.
+
+# Disable implicit rules so canonical targets will work.
+.SUFFIXES:
+
+# Remove some rules from gmake that .SUFFIXES does not remove.
+SUFFIXES =
+
+.SUFFIXES: .hpux_make_needs_suffix_list
+
+# Suppress display of executed commands.
+$(VERBOSE).SILENT:
+
+# A target that is always out of date.
+cmake_force:
+.PHONY : cmake_force
+
+#=============================================================================
+# Set environment variables for the build.
+
+# The shell in which to execute make rules.
+SHELL = /bin/sh
+
+# The CMake executable.
+CMAKE_COMMAND = /usr/bin/cmake
+
+# The command to remove a file.
+RM = /usr/bin/cmake -E remove -f
+
+# Escaping for special characters.
+EQUALS = =
+
+# The top-level source directory on which CMake was run.
+CMAKE_SOURCE_DIR = /home/roman/src/Firmware/src
+
+# The top-level build directory on which CMake was run.
+CMAKE_BINARY_DIR = /home/roman/src/Firmware/build
+
+#=============================================================================
+# Target rules for target CMakeFiles/clean_test_results.dir
+
+# All Build rule for target.
+CMakeFiles/clean_test_results.dir/all:
+	$(MAKE) -f CMakeFiles/clean_test_results.dir/build.make CMakeFiles/clean_test_results.dir/depend
+	$(MAKE) -f CMakeFiles/clean_test_results.dir/build.make CMakeFiles/clean_test_results.dir/build
+	$(CMAKE_COMMAND) -E cmake_progress_report /home/roman/src/Firmware/build/CMakeFiles 
+	@echo "Built target clean_test_results"
+.PHONY : CMakeFiles/clean_test_results.dir/all
+
+# Build rule for subdir invocation for target.
+CMakeFiles/clean_test_results.dir/rule: cmake_check_build_system
+	$(CMAKE_COMMAND) -E cmake_progress_start /home/roman/src/Firmware/build/CMakeFiles 0
+	$(MAKE) -f CMakeFiles/Makefile2 CMakeFiles/clean_test_results.dir/all
+	$(CMAKE_COMMAND) -E cmake_progress_start /home/roman/src/Firmware/build/CMakeFiles 0
+.PHONY : CMakeFiles/clean_test_results.dir/rule
+
+# Convenience name for target.
+clean_test_results: CMakeFiles/clean_test_results.dir/rule
+.PHONY : clean_test_results
+
+# clean rule for target.
+CMakeFiles/clean_test_results.dir/clean:
+	$(MAKE) -f CMakeFiles/clean_test_results.dir/build.make CMakeFiles/clean_test_results.dir/clean
+.PHONY : CMakeFiles/clean_test_results.dir/clean
+
+# clean rule for target.
+clean: CMakeFiles/clean_test_results.dir/clean
+.PHONY : clean
+
+#=============================================================================
+# Target rules for target CMakeFiles/doxygen.dir
+
+# All Build rule for target.
+CMakeFiles/doxygen.dir/all:
+	$(MAKE) -f CMakeFiles/doxygen.dir/build.make CMakeFiles/doxygen.dir/depend
+	$(MAKE) -f CMakeFiles/doxygen.dir/build.make CMakeFiles/doxygen.dir/build
+	$(CMAKE_COMMAND) -E cmake_progress_report /home/roman/src/Firmware/build/CMakeFiles 
+	@echo "Built target doxygen"
+.PHONY : CMakeFiles/doxygen.dir/all
+
+# Build rule for subdir invocation for target.
+CMakeFiles/doxygen.dir/rule: cmake_check_build_system
+	$(CMAKE_COMMAND) -E cmake_progress_start /home/roman/src/Firmware/build/CMakeFiles 0
+	$(MAKE) -f CMakeFiles/Makefile2 CMakeFiles/doxygen.dir/all
+	$(CMAKE_COMMAND) -E cmake_progress_start /home/roman/src/Firmware/build/CMakeFiles 0
+.PHONY : CMakeFiles/doxygen.dir/rule
+
+# Convenience name for target.
+doxygen: CMakeFiles/doxygen.dir/rule
+.PHONY : doxygen
+
+# clean rule for target.
+CMakeFiles/doxygen.dir/clean:
+	$(MAKE) -f CMakeFiles/doxygen.dir/build.make CMakeFiles/doxygen.dir/clean
+.PHONY : CMakeFiles/doxygen.dir/clean
+
+# clean rule for target.
+clean: CMakeFiles/doxygen.dir/clean
+.PHONY : clean
+
+#=============================================================================
+# Target rules for target CMakeFiles/run_tests.dir
+
+# All Build rule for target.
+CMakeFiles/run_tests.dir/all:
+	$(MAKE) -f CMakeFiles/run_tests.dir/build.make CMakeFiles/run_tests.dir/depend
+	$(MAKE) -f CMakeFiles/run_tests.dir/build.make CMakeFiles/run_tests.dir/build
+	$(CMAKE_COMMAND) -E cmake_progress_report /home/roman/src/Firmware/build/CMakeFiles 
+	@echo "Built target run_tests"
+.PHONY : CMakeFiles/run_tests.dir/all
+
+# Build rule for subdir invocation for target.
+CMakeFiles/run_tests.dir/rule: cmake_check_build_system
+	$(CMAKE_COMMAND) -E cmake_progress_start /home/roman/src/Firmware/build/CMakeFiles 0
+	$(MAKE) -f CMakeFiles/Makefile2 CMakeFiles/run_tests.dir/all
+	$(CMAKE_COMMAND) -E cmake_progress_start /home/roman/src/Firmware/build/CMakeFiles 0
+.PHONY : CMakeFiles/run_tests.dir/rule
+
+# Convenience name for target.
+run_tests: CMakeFiles/run_tests.dir/rule
+.PHONY : run_tests
+
+# clean rule for target.
+CMakeFiles/run_tests.dir/clean:
+	$(MAKE) -f CMakeFiles/run_tests.dir/build.make CMakeFiles/run_tests.dir/clean
+.PHONY : CMakeFiles/run_tests.dir/clean
+
+# clean rule for target.
+clean: CMakeFiles/run_tests.dir/clean
+.PHONY : clean
+
+#=============================================================================
+# Target rules for target CMakeFiles/tests.dir
+
+# All Build rule for target.
+CMakeFiles/tests.dir/all:
+	$(MAKE) -f CMakeFiles/tests.dir/build.make CMakeFiles/tests.dir/depend
+	$(MAKE) -f CMakeFiles/tests.dir/build.make CMakeFiles/tests.dir/build
+	$(CMAKE_COMMAND) -E cmake_progress_report /home/roman/src/Firmware/build/CMakeFiles 
+	@echo "Built target tests"
+.PHONY : CMakeFiles/tests.dir/all
+
+# Build rule for subdir invocation for target.
+CMakeFiles/tests.dir/rule: cmake_check_build_system
+	$(CMAKE_COMMAND) -E cmake_progress_start /home/roman/src/Firmware/build/CMakeFiles 0
+	$(MAKE) -f CMakeFiles/Makefile2 CMakeFiles/tests.dir/all
+	$(CMAKE_COMMAND) -E cmake_progress_start /home/roman/src/Firmware/build/CMakeFiles 0
+.PHONY : CMakeFiles/tests.dir/rule
+
+# Convenience name for target.
+tests: CMakeFiles/tests.dir/rule
+.PHONY : tests
+
+# clean rule for target.
+CMakeFiles/tests.dir/clean:
+	$(MAKE) -f CMakeFiles/tests.dir/build.make CMakeFiles/tests.dir/clean
+.PHONY : CMakeFiles/tests.dir/clean
+
+# clean rule for target.
+clean: CMakeFiles/tests.dir/clean
+.PHONY : clean
+
+#=============================================================================
+# Directory level rules for directory gtest
+
+# Convenience name for "all" pass in the directory.
+gtest/all:
+.PHONY : gtest/all
+
+# Convenience name for "clean" pass in the directory.
+gtest/clean: gtest/CMakeFiles/gtest.dir/clean
+gtest/clean: gtest/CMakeFiles/gtest_main.dir/clean
+.PHONY : gtest/clean
+
+# Convenience name for "preinstall" pass in the directory.
+gtest/preinstall:
+.PHONY : gtest/preinstall
+
+#=============================================================================
+# Target rules for target gtest/CMakeFiles/gtest.dir
+
+# All Build rule for target.
+gtest/CMakeFiles/gtest.dir/all:
+	$(MAKE) -f gtest/CMakeFiles/gtest.dir/build.make gtest/CMakeFiles/gtest.dir/depend
+	$(MAKE) -f gtest/CMakeFiles/gtest.dir/build.make gtest/CMakeFiles/gtest.dir/build
+	$(CMAKE_COMMAND) -E cmake_progress_report /home/roman/src/Firmware/build/CMakeFiles  1
+	@echo "Built target gtest"
+.PHONY : gtest/CMakeFiles/gtest.dir/all
+
+# Build rule for subdir invocation for target.
+gtest/CMakeFiles/gtest.dir/rule: cmake_check_build_system
+	$(CMAKE_COMMAND) -E cmake_progress_start /home/roman/src/Firmware/build/CMakeFiles 1
+	$(MAKE) -f CMakeFiles/Makefile2 gtest/CMakeFiles/gtest.dir/all
+	$(CMAKE_COMMAND) -E cmake_progress_start /home/roman/src/Firmware/build/CMakeFiles 0
+.PHONY : gtest/CMakeFiles/gtest.dir/rule
+
+# Convenience name for target.
+gtest: gtest/CMakeFiles/gtest.dir/rule
+.PHONY : gtest
+
+# clean rule for target.
+gtest/CMakeFiles/gtest.dir/clean:
+	$(MAKE) -f gtest/CMakeFiles/gtest.dir/build.make gtest/CMakeFiles/gtest.dir/clean
+.PHONY : gtest/CMakeFiles/gtest.dir/clean
+
+# clean rule for target.
+clean: gtest/CMakeFiles/gtest.dir/clean
+.PHONY : clean
+
+#=============================================================================
+# Target rules for target gtest/CMakeFiles/gtest_main.dir
+
+# All Build rule for target.
+gtest/CMakeFiles/gtest_main.dir/all: gtest/CMakeFiles/gtest.dir/all
+	$(MAKE) -f gtest/CMakeFiles/gtest_main.dir/build.make gtest/CMakeFiles/gtest_main.dir/depend
+	$(MAKE) -f gtest/CMakeFiles/gtest_main.dir/build.make gtest/CMakeFiles/gtest_main.dir/build
+	$(CMAKE_COMMAND) -E cmake_progress_report /home/roman/src/Firmware/build/CMakeFiles  2
+	@echo "Built target gtest_main"
+.PHONY : gtest/CMakeFiles/gtest_main.dir/all
+
+# Build rule for subdir invocation for target.
+gtest/CMakeFiles/gtest_main.dir/rule: cmake_check_build_system
+	$(CMAKE_COMMAND) -E cmake_progress_start /home/roman/src/Firmware/build/CMakeFiles 2
+	$(MAKE) -f CMakeFiles/Makefile2 gtest/CMakeFiles/gtest_main.dir/all
+	$(CMAKE_COMMAND) -E cmake_progress_start /home/roman/src/Firmware/build/CMakeFiles 0
+.PHONY : gtest/CMakeFiles/gtest_main.dir/rule
+
+# Convenience name for target.
+gtest_main: gtest/CMakeFiles/gtest_main.dir/rule
+.PHONY : gtest_main
+
+# clean rule for target.
+gtest/CMakeFiles/gtest_main.dir/clean:
+	$(MAKE) -f gtest/CMakeFiles/gtest_main.dir/build.make gtest/CMakeFiles/gtest_main.dir/clean
+.PHONY : gtest/CMakeFiles/gtest_main.dir/clean
+
+# clean rule for target.
+clean: gtest/CMakeFiles/gtest_main.dir/clean
+.PHONY : clean
+
+#=============================================================================
+# 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/build/CMakeFiles/TargetDirectories.txt b/build/CMakeFiles/TargetDirectories.txt
new file mode 100644
index 000000000..552e0c540
--- /dev/null
+++ b/build/CMakeFiles/TargetDirectories.txt
@@ -0,0 +1,6 @@
+/home/roman/src/Firmware/build/CMakeFiles/clean_test_results.dir
+/home/roman/src/Firmware/build/CMakeFiles/doxygen.dir
+/home/roman/src/Firmware/build/gtest/CMakeFiles/gtest.dir
+/home/roman/src/Firmware/build/gtest/CMakeFiles/gtest_main.dir
+/home/roman/src/Firmware/build/CMakeFiles/run_tests.dir
+/home/roman/src/Firmware/build/CMakeFiles/tests.dir
diff --git a/build/CMakeFiles/clean_test_results.dir/DependInfo.cmake b/build/CMakeFiles/clean_test_results.dir/DependInfo.cmake
new file mode 100644
index 000000000..7aff3a53c
--- /dev/null
+++ b/build/CMakeFiles/clean_test_results.dir/DependInfo.cmake
@@ -0,0 +1,20 @@
+# The set of languages for which implicit dependencies are needed:
+SET(CMAKE_DEPENDS_LANGUAGES
+  )
+# The set of files for implicit dependencies of each language:
+
+# Preprocessor definitions for this target.
+SET(CMAKE_TARGET_DEFINITIONS
+  "ROS_BUILD_SHARED_LIBS=1"
+  )
+
+# Targets to which this target links.
+SET(CMAKE_TARGET_LINKED_INFO_FILES
+  )
+
+# The include file search paths:
+SET(CMAKE_C_TARGET_INCLUDE_PATH
+  )
+SET(CMAKE_CXX_TARGET_INCLUDE_PATH ${CMAKE_C_TARGET_INCLUDE_PATH})
+SET(CMAKE_Fortran_TARGET_INCLUDE_PATH ${CMAKE_C_TARGET_INCLUDE_PATH})
+SET(CMAKE_ASM_TARGET_INCLUDE_PATH ${CMAKE_C_TARGET_INCLUDE_PATH})
diff --git a/build/CMakeFiles/clean_test_results.dir/build.make b/build/CMakeFiles/clean_test_results.dir/build.make
new file mode 100644
index 000000000..b3776d0df
--- /dev/null
+++ b/build/CMakeFiles/clean_test_results.dir/build.make
@@ -0,0 +1,66 @@
+# CMAKE generated file: DO NOT EDIT!
+# Generated by "Unix Makefiles" Generator, CMake Version 2.8
+
+#=============================================================================
+# Special targets provided by cmake.
+
+# Disable implicit rules so canonical targets will work.
+.SUFFIXES:
+
+# Remove some rules from gmake that .SUFFIXES does not remove.
+SUFFIXES =
+
+.SUFFIXES: .hpux_make_needs_suffix_list
+
+# Suppress display of executed commands.
+$(VERBOSE).SILENT:
+
+# A target that is always out of date.
+cmake_force:
+.PHONY : cmake_force
+
+#=============================================================================
+# Set environment variables for the build.
+
+# The shell in which to execute make rules.
+SHELL = /bin/sh
+
+# The CMake executable.
+CMAKE_COMMAND = /usr/bin/cmake
+
+# The command to remove a file.
+RM = /usr/bin/cmake -E remove -f
+
+# Escaping for special characters.
+EQUALS = =
+
+# The top-level source directory on which CMake was run.
+CMAKE_SOURCE_DIR = /home/roman/src/Firmware/src
+
+# The top-level build directory on which CMake was run.
+CMAKE_BINARY_DIR = /home/roman/src/Firmware/build
+
+# Utility rule file for clean_test_results.
+
+# Include the progress variables for this target.
+include CMakeFiles/clean_test_results.dir/progress.make
+
+CMakeFiles/clean_test_results:
+	/usr/bin/cmake -E remove_directory /home/roman/src/Firmware/build/test_results
+
+clean_test_results: CMakeFiles/clean_test_results
+clean_test_results: CMakeFiles/clean_test_results.dir/build.make
+.PHONY : clean_test_results
+
+# Rule to build all files generated by this target.
+CMakeFiles/clean_test_results.dir/build: clean_test_results
+.PHONY : CMakeFiles/clean_test_results.dir/build
+
+CMakeFiles/clean_test_results.dir/clean:
+	$(CMAKE_COMMAND) -P CMakeFiles/clean_test_results.dir/cmake_clean.cmake
+.PHONY : CMakeFiles/clean_test_results.dir/clean
+
+CMakeFiles/clean_test_results.dir/depend:
+	cd /home/roman/src/Firmware/build && $(CMAKE_COMMAND) -E cmake_depends "Unix Makefiles" /home/roman/src/Firmware/src /home/roman/src/Firmware/src /home/roman/src/Firmware/build /home/roman/src/Firmware/build /home/roman/src/Firmware/build/CMakeFiles/clean_test_results.dir/DependInfo.cmake --color=$(COLOR)
+.PHONY : CMakeFiles/clean_test_results.dir/depend
+
diff --git a/build/CMakeFiles/clean_test_results.dir/cmake_clean.cmake b/build/CMakeFiles/clean_test_results.dir/cmake_clean.cmake
new file mode 100644
index 000000000..46c1cb338
--- /dev/null
+++ b/build/CMakeFiles/clean_test_results.dir/cmake_clean.cmake
@@ -0,0 +1,8 @@
+FILE(REMOVE_RECURSE
+  "CMakeFiles/clean_test_results"
+)
+
+# Per-language clean rules from dependency scanning.
+FOREACH(lang)
+  INCLUDE(CMakeFiles/clean_test_results.dir/cmake_clean_${lang}.cmake OPTIONAL)
+ENDFOREACH(lang)
diff --git a/build/CMakeFiles/clean_test_results.dir/progress.make b/build/CMakeFiles/clean_test_results.dir/progress.make
new file mode 100644
index 000000000..8b1378917
--- /dev/null
+++ b/build/CMakeFiles/clean_test_results.dir/progress.make
@@ -0,0 +1 @@
+
diff --git a/build/CMakeFiles/cmake.check_cache b/build/CMakeFiles/cmake.check_cache
new file mode 100644
index 000000000..3dccd7317
--- /dev/null
+++ b/build/CMakeFiles/cmake.check_cache
@@ -0,0 +1 @@
+# This file is generated by cmake for dependency checking of the CMakeCache.txt file
diff --git a/build/CMakeFiles/doxygen.dir/DependInfo.cmake b/build/CMakeFiles/doxygen.dir/DependInfo.cmake
new file mode 100644
index 000000000..7aff3a53c
--- /dev/null
+++ b/build/CMakeFiles/doxygen.dir/DependInfo.cmake
@@ -0,0 +1,20 @@
+# The set of languages for which implicit dependencies are needed:
+SET(CMAKE_DEPENDS_LANGUAGES
+  )
+# The set of files for implicit dependencies of each language:
+
+# Preprocessor definitions for this target.
+SET(CMAKE_TARGET_DEFINITIONS
+  "ROS_BUILD_SHARED_LIBS=1"
+  )
+
+# Targets to which this target links.
+SET(CMAKE_TARGET_LINKED_INFO_FILES
+  )
+
+# The include file search paths:
+SET(CMAKE_C_TARGET_INCLUDE_PATH
+  )
+SET(CMAKE_CXX_TARGET_INCLUDE_PATH ${CMAKE_C_TARGET_INCLUDE_PATH})
+SET(CMAKE_Fortran_TARGET_INCLUDE_PATH ${CMAKE_C_TARGET_INCLUDE_PATH})
+SET(CMAKE_ASM_TARGET_INCLUDE_PATH ${CMAKE_C_TARGET_INCLUDE_PATH})
diff --git a/build/CMakeFiles/doxygen.dir/build.make b/build/CMakeFiles/doxygen.dir/build.make
new file mode 100644
index 000000000..f5cc02bb3
--- /dev/null
+++ b/build/CMakeFiles/doxygen.dir/build.make
@@ -0,0 +1,65 @@
+# CMAKE generated file: DO NOT EDIT!
+# Generated by "Unix Makefiles" Generator, CMake Version 2.8
+
+#=============================================================================
+# Special targets provided by cmake.
+
+# Disable implicit rules so canonical targets will work.
+.SUFFIXES:
+
+# Remove some rules from gmake that .SUFFIXES does not remove.
+SUFFIXES =
+
+.SUFFIXES: .hpux_make_needs_suffix_list
+
+# Suppress display of executed commands.
+$(VERBOSE).SILENT:
+
+# A target that is always out of date.
+cmake_force:
+.PHONY : cmake_force
+
+#=============================================================================
+# Set environment variables for the build.
+
+# The shell in which to execute make rules.
+SHELL = /bin/sh
+
+# The CMake executable.
+CMAKE_COMMAND = /usr/bin/cmake
+
+# The command to remove a file.
+RM = /usr/bin/cmake -E remove -f
+
+# Escaping for special characters.
+EQUALS = =
+
+# The top-level source directory on which CMake was run.
+CMAKE_SOURCE_DIR = /home/roman/src/Firmware/src
+
+# The top-level build directory on which CMake was run.
+CMAKE_BINARY_DIR = /home/roman/src/Firmware/build
+
+# Utility rule file for doxygen.
+
+# Include the progress variables for this target.
+include CMakeFiles/doxygen.dir/progress.make
+
+CMakeFiles/doxygen:
+
+doxygen: CMakeFiles/doxygen
+doxygen: CMakeFiles/doxygen.dir/build.make
+.PHONY : doxygen
+
+# Rule to build all files generated by this target.
+CMakeFiles/doxygen.dir/build: doxygen
+.PHONY : CMakeFiles/doxygen.dir/build
+
+CMakeFiles/doxygen.dir/clean:
+	$(CMAKE_COMMAND) -P CMakeFiles/doxygen.dir/cmake_clean.cmake
+.PHONY : CMakeFiles/doxygen.dir/clean
+
+CMakeFiles/doxygen.dir/depend:
+	cd /home/roman/src/Firmware/build && $(CMAKE_COMMAND) -E cmake_depends "Unix Makefiles" /home/roman/src/Firmware/src /home/roman/src/Firmware/src /home/roman/src/Firmware/build /home/roman/src/Firmware/build /home/roman/src/Firmware/build/CMakeFiles/doxygen.dir/DependInfo.cmake --color=$(COLOR)
+.PHONY : CMakeFiles/doxygen.dir/depend
+
diff --git a/build/CMakeFiles/doxygen.dir/cmake_clean.cmake b/build/CMakeFiles/doxygen.dir/cmake_clean.cmake
new file mode 100644
index 000000000..3cf72d90f
--- /dev/null
+++ b/build/CMakeFiles/doxygen.dir/cmake_clean.cmake
@@ -0,0 +1,8 @@
+FILE(REMOVE_RECURSE
+  "CMakeFiles/doxygen"
+)
+
+# Per-language clean rules from dependency scanning.
+FOREACH(lang)
+  INCLUDE(CMakeFiles/doxygen.dir/cmake_clean_${lang}.cmake OPTIONAL)
+ENDFOREACH(lang)
diff --git a/build/CMakeFiles/doxygen.dir/progress.make b/build/CMakeFiles/doxygen.dir/progress.make
new file mode 100644
index 000000000..8b1378917
--- /dev/null
+++ b/build/CMakeFiles/doxygen.dir/progress.make
@@ -0,0 +1 @@
+
diff --git a/build/CMakeFiles/progress.marks b/build/CMakeFiles/progress.marks
new file mode 100644
index 000000000..573541ac9
--- /dev/null
+++ b/build/CMakeFiles/progress.marks
@@ -0,0 +1 @@
+0
diff --git a/build/CMakeFiles/run_tests.dir/DependInfo.cmake b/build/CMakeFiles/run_tests.dir/DependInfo.cmake
new file mode 100644
index 000000000..7aff3a53c
--- /dev/null
+++ b/build/CMakeFiles/run_tests.dir/DependInfo.cmake
@@ -0,0 +1,20 @@
+# The set of languages for which implicit dependencies are needed:
+SET(CMAKE_DEPENDS_LANGUAGES
+  )
+# The set of files for implicit dependencies of each language:
+
+# Preprocessor definitions for this target.
+SET(CMAKE_TARGET_DEFINITIONS
+  "ROS_BUILD_SHARED_LIBS=1"
+  )
+
+# Targets to which this target links.
+SET(CMAKE_TARGET_LINKED_INFO_FILES
+  )
+
+# The include file search paths:
+SET(CMAKE_C_TARGET_INCLUDE_PATH
+  )
+SET(CMAKE_CXX_TARGET_INCLUDE_PATH ${CMAKE_C_TARGET_INCLUDE_PATH})
+SET(CMAKE_Fortran_TARGET_INCLUDE_PATH ${CMAKE_C_TARGET_INCLUDE_PATH})
+SET(CMAKE_ASM_TARGET_INCLUDE_PATH ${CMAKE_C_TARGET_INCLUDE_PATH})
diff --git a/build/CMakeFiles/run_tests.dir/build.make b/build/CMakeFiles/run_tests.dir/build.make
new file mode 100644
index 000000000..3907c7573
--- /dev/null
+++ b/build/CMakeFiles/run_tests.dir/build.make
@@ -0,0 +1,65 @@
+# CMAKE generated file: DO NOT EDIT!
+# Generated by "Unix Makefiles" Generator, CMake Version 2.8
+
+#=============================================================================
+# Special targets provided by cmake.
+
+# Disable implicit rules so canonical targets will work.
+.SUFFIXES:
+
+# Remove some rules from gmake that .SUFFIXES does not remove.
+SUFFIXES =
+
+.SUFFIXES: .hpux_make_needs_suffix_list
+
+# Suppress display of executed commands.
+$(VERBOSE).SILENT:
+
+# A target that is always out of date.
+cmake_force:
+.PHONY : cmake_force
+
+#=============================================================================
+# Set environment variables for the build.
+
+# The shell in which to execute make rules.
+SHELL = /bin/sh
+
+# The CMake executable.
+CMAKE_COMMAND = /usr/bin/cmake
+
+# The command to remove a file.
+RM = /usr/bin/cmake -E remove -f
+
+# Escaping for special characters.
+EQUALS = =
+
+# The top-level source directory on which CMake was run.
+CMAKE_SOURCE_DIR = /home/roman/src/Firmware/src
+
+# The top-level build directory on which CMake was run.
+CMAKE_BINARY_DIR = /home/roman/src/Firmware/build
+
+# Utility rule file for run_tests.
+
+# Include the progress variables for this target.
+include CMakeFiles/run_tests.dir/progress.make
+
+CMakeFiles/run_tests:
+
+run_tests: CMakeFiles/run_tests
+run_tests: CMakeFiles/run_tests.dir/build.make
+.PHONY : run_tests
+
+# Rule to build all files generated by this target.
+CMakeFiles/run_tests.dir/build: run_tests
+.PHONY : CMakeFiles/run_tests.dir/build
+
+CMakeFiles/run_tests.dir/clean:
+	$(CMAKE_COMMAND) -P CMakeFiles/run_tests.dir/cmake_clean.cmake
+.PHONY : CMakeFiles/run_tests.dir/clean
+
+CMakeFiles/run_tests.dir/depend:
+	cd /home/roman/src/Firmware/build && $(CMAKE_COMMAND) -E cmake_depends "Unix Makefiles" /home/roman/src/Firmware/src /home/roman/src/Firmware/src /home/roman/src/Firmware/build /home/roman/src/Firmware/build /home/roman/src/Firmware/build/CMakeFiles/run_tests.dir/DependInfo.cmake --color=$(COLOR)
+.PHONY : CMakeFiles/run_tests.dir/depend
+
diff --git a/build/CMakeFiles/run_tests.dir/cmake_clean.cmake b/build/CMakeFiles/run_tests.dir/cmake_clean.cmake
new file mode 100644
index 000000000..45a3e057b
--- /dev/null
+++ b/build/CMakeFiles/run_tests.dir/cmake_clean.cmake
@@ -0,0 +1,8 @@
+FILE(REMOVE_RECURSE
+  "CMakeFiles/run_tests"
+)
+
+# Per-language clean rules from dependency scanning.
+FOREACH(lang)
+  INCLUDE(CMakeFiles/run_tests.dir/cmake_clean_${lang}.cmake OPTIONAL)
+ENDFOREACH(lang)
diff --git a/build/CMakeFiles/run_tests.dir/progress.make b/build/CMakeFiles/run_tests.dir/progress.make
new file mode 100644
index 000000000..8b1378917
--- /dev/null
+++ b/build/CMakeFiles/run_tests.dir/progress.make
@@ -0,0 +1 @@
+
diff --git a/build/CMakeFiles/tests.dir/DependInfo.cmake b/build/CMakeFiles/tests.dir/DependInfo.cmake
new file mode 100644
index 000000000..7aff3a53c
--- /dev/null
+++ b/build/CMakeFiles/tests.dir/DependInfo.cmake
@@ -0,0 +1,20 @@
+# The set of languages for which implicit dependencies are needed:
+SET(CMAKE_DEPENDS_LANGUAGES
+  )
+# The set of files for implicit dependencies of each language:
+
+# Preprocessor definitions for this target.
+SET(CMAKE_TARGET_DEFINITIONS
+  "ROS_BUILD_SHARED_LIBS=1"
+  )
+
+# Targets to which this target links.
+SET(CMAKE_TARGET_LINKED_INFO_FILES
+  )
+
+# The include file search paths:
+SET(CMAKE_C_TARGET_INCLUDE_PATH
+  )
+SET(CMAKE_CXX_TARGET_INCLUDE_PATH ${CMAKE_C_TARGET_INCLUDE_PATH})
+SET(CMAKE_Fortran_TARGET_INCLUDE_PATH ${CMAKE_C_TARGET_INCLUDE_PATH})
+SET(CMAKE_ASM_TARGET_INCLUDE_PATH ${CMAKE_C_TARGET_INCLUDE_PATH})
diff --git a/build/CMakeFiles/tests.dir/build.make b/build/CMakeFiles/tests.dir/build.make
new file mode 100644
index 000000000..720d53000
--- /dev/null
+++ b/build/CMakeFiles/tests.dir/build.make
@@ -0,0 +1,65 @@
+# CMAKE generated file: DO NOT EDIT!
+# Generated by "Unix Makefiles" Generator, CMake Version 2.8
+
+#=============================================================================
+# Special targets provided by cmake.
+
+# Disable implicit rules so canonical targets will work.
+.SUFFIXES:
+
+# Remove some rules from gmake that .SUFFIXES does not remove.
+SUFFIXES =
+
+.SUFFIXES: .hpux_make_needs_suffix_list
+
+# Suppress display of executed commands.
+$(VERBOSE).SILENT:
+
+# A target that is always out of date.
+cmake_force:
+.PHONY : cmake_force
+
+#=============================================================================
+# Set environment variables for the build.
+
+# The shell in which to execute make rules.
+SHELL = /bin/sh
+
+# The CMake executable.
+CMAKE_COMMAND = /usr/bin/cmake
+
+# The command to remove a file.
+RM = /usr/bin/cmake -E remove -f
+
+# Escaping for special characters.
+EQUALS = =
+
+# The top-level source directory on which CMake was run.
+CMAKE_SOURCE_DIR = /home/roman/src/Firmware/src
+
+# The top-level build directory on which CMake was run.
+CMAKE_BINARY_DIR = /home/roman/src/Firmware/build
+
+# Utility rule file for tests.
+
+# Include the progress variables for this target.
+include CMakeFiles/tests.dir/progress.make
+
+CMakeFiles/tests:
+
+tests: CMakeFiles/tests
+tests: CMakeFiles/tests.dir/build.make
+.PHONY : tests
+
+# Rule to build all files generated by this target.
+CMakeFiles/tests.dir/build: tests
+.PHONY : CMakeFiles/tests.dir/build
+
+CMakeFiles/tests.dir/clean:
+	$(CMAKE_COMMAND) -P CMakeFiles/tests.dir/cmake_clean.cmake
+.PHONY : CMakeFiles/tests.dir/clean
+
+CMakeFiles/tests.dir/depend:
+	cd /home/roman/src/Firmware/build && $(CMAKE_COMMAND) -E cmake_depends "Unix Makefiles" /home/roman/src/Firmware/src /home/roman/src/Firmware/src /home/roman/src/Firmware/build /home/roman/src/Firmware/build /home/roman/src/Firmware/build/CMakeFiles/tests.dir/DependInfo.cmake --color=$(COLOR)
+.PHONY : CMakeFiles/tests.dir/depend
+
diff --git a/build/CMakeFiles/tests.dir/cmake_clean.cmake b/build/CMakeFiles/tests.dir/cmake_clean.cmake
new file mode 100644
index 000000000..a0424cfc7
--- /dev/null
+++ b/build/CMakeFiles/tests.dir/cmake_clean.cmake
@@ -0,0 +1,8 @@
+FILE(REMOVE_RECURSE
+  "CMakeFiles/tests"
+)
+
+# Per-language clean rules from dependency scanning.
+FOREACH(lang)
+  INCLUDE(CMakeFiles/tests.dir/cmake_clean_${lang}.cmake OPTIONAL)
+ENDFOREACH(lang)
diff --git a/build/CMakeFiles/tests.dir/progress.make b/build/CMakeFiles/tests.dir/progress.make
new file mode 100644
index 000000000..8b1378917
--- /dev/null
+++ b/build/CMakeFiles/tests.dir/progress.make
@@ -0,0 +1 @@
+
diff --git a/build/CTestTestfile.cmake b/build/CTestTestfile.cmake
new file mode 100644
index 000000000..7b5534824
--- /dev/null
+++ b/build/CTestTestfile.cmake
@@ -0,0 +1,7 @@
+# CMake generated Testfile for 
+# Source directory: /home/roman/src/Firmware/src
+# Build directory: /home/roman/src/Firmware/build
+# 
+# This file includes the relevant testing commands required for 
+# testing this directory and lists subdirectories to be tested as well.
+SUBDIRS(gtest)
diff --git a/build/Makefile b/build/Makefile
new file mode 100644
index 000000000..c7d796cc4
--- /dev/null
+++ b/build/Makefile
@@ -0,0 +1,262 @@
+# CMAKE generated file: DO NOT EDIT!
+# Generated by "Unix Makefiles" Generator, CMake Version 2.8
+
+# Default target executed when no arguments are given to make.
+default_target: all
+.PHONY : default_target
+
+#=============================================================================
+# Special targets provided by cmake.
+
+# Disable implicit rules so canonical targets will work.
+.SUFFIXES:
+
+# Remove some rules from gmake that .SUFFIXES does not remove.
+SUFFIXES =
+
+.SUFFIXES: .hpux_make_needs_suffix_list
+
+# Suppress display of executed commands.
+$(VERBOSE).SILENT:
+
+# A target that is always out of date.
+cmake_force:
+.PHONY : cmake_force
+
+#=============================================================================
+# Set environment variables for the build.
+
+# The shell in which to execute make rules.
+SHELL = /bin/sh
+
+# The CMake executable.
+CMAKE_COMMAND = /usr/bin/cmake
+
+# The command to remove a file.
+RM = /usr/bin/cmake -E remove -f
+
+# Escaping for special characters.
+EQUALS = =
+
+# The top-level source directory on which CMake was run.
+CMAKE_SOURCE_DIR = /home/roman/src/Firmware/src
+
+# The top-level build directory on which CMake was run.
+CMAKE_BINARY_DIR = /home/roman/src/Firmware/build
+
+#=============================================================================
+# Targets provided globally by CMake.
+
+# Special rule for the target edit_cache
+edit_cache:
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Running interactive CMake command-line interface..."
+	/usr/bin/cmake -i .
+.PHONY : edit_cache
+
+# Special rule for the target edit_cache
+edit_cache/fast: edit_cache
+.PHONY : edit_cache/fast
+
+# Special rule for the target install
+install: preinstall
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Install the project..."
+	/usr/bin/cmake -P cmake_install.cmake
+.PHONY : install
+
+# Special rule for the target install
+install/fast: preinstall/fast
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Install the project..."
+	/usr/bin/cmake -P cmake_install.cmake
+.PHONY : install/fast
+
+# Special rule for the target 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
+	$(CMAKE_COMMAND) -E cmake_progress_start /home/roman/src/Firmware/build/CMakeFiles /home/roman/src/Firmware/build/CMakeFiles/progress.marks
+	$(MAKE) -f CMakeFiles/Makefile2 all
+	$(CMAKE_COMMAND) -E cmake_progress_start /home/roman/src/Firmware/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/build/catkin/catkin_generated/version/package.cmake b/build/catkin/catkin_generated/version/package.cmake
new file mode 100644
index 000000000..1cbfc826b
--- /dev/null
+++ b/build/catkin/catkin_generated/version/package.cmake
@@ -0,0 +1,9 @@
+set(_CATKIN_CURRENT_PACKAGE "catkin")
+set(catkin_VERSION "0.6.9")
+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/build/catkin_generated/env_cached.sh b/build/catkin_generated/env_cached.sh
new file mode 100755
index 000000000..d6be91db5
--- /dev/null
+++ b/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/build/catkin_generated/generate_cached_setup.py b/build/catkin_generated/generate_cached_setup.py
new file mode 100644
index 000000000..7a56cdb7f
--- /dev/null
+++ b/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/roman/catkin_ws/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/roman/src/Firmware/devel/env.sh')
+
+output_filename = '/home/roman/src/Firmware/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/build/catkin_generated/installspace/.rosinstall b/build/catkin_generated/installspace/.rosinstall
new file mode 100644
index 000000000..a959c71ef
--- /dev/null
+++ b/build/catkin_generated/installspace/.rosinstall
@@ -0,0 +1,2 @@
+- setup-file:
+    local-name: /home/roman/src/Firmware/install/setup.sh
diff --git a/build/catkin_generated/installspace/_setup_util.py b/build/catkin_generated/installspace/_setup_util.py
new file mode 100755
index 000000000..8db644140
--- /dev/null
+++ b/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/roman/catkin_ws/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/build/catkin_generated/installspace/env.sh b/build/catkin_generated/installspace/env.sh
new file mode 100755
index 000000000..8aa9d244a
--- /dev/null
+++ b/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 "$@"
diff --git a/build/catkin_generated/installspace/setup.bash b/build/catkin_generated/installspace/setup.bash
new file mode 100644
index 000000000..ff47af8f3
--- /dev/null
+++ b/build/catkin_generated/installspace/setup.bash
@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+# generated from catkin/cmake/templates/setup.bash.in
+
+CATKIN_SHELL=bash
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh"
diff --git a/build/catkin_generated/installspace/setup.sh b/build/catkin_generated/installspace/setup.sh
new file mode 100644
index 000000000..95e1571be
--- /dev/null
+++ b/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
+: ${_CATKIN_SETUP_DIR:=/home/roman/src/Firmware/install}
+_SETUP_UTIL="$_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/build/catkin_generated/installspace/setup.zsh b/build/catkin_generated/installspace/setup.zsh
new file mode 100644
index 000000000..b66071766
--- /dev/null
+++ b/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
+_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
+emulate sh # emulate POSIX
+. "$_CATKIN_SETUP_DIR/setup.sh"
+emulate zsh # back to zsh mode
diff --git a/build/catkin_generated/order_packages.cmake b/build/catkin_generated/order_packages.cmake
new file mode 100644
index 000000000..6b0e2dff9
--- /dev/null
+++ b/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/pymodules/python2.7/catkin_pkg/templates/metapackage.cmake.in")
diff --git a/build/catkin_generated/order_packages.py b/build/catkin_generated/order_packages.py
new file mode 100644
index 000000000..5cb176580
--- /dev/null
+++ b/build/catkin_generated/order_packages.py
@@ -0,0 +1,5 @@
+# generated from catkin/cmake/template/order_packages.context.py.in
+source_root_dir = "/home/roman/src/Firmware/src"
+whitelisted_packages = "".split(';') if "" != "" else []
+blacklisted_packages = "".split(';') if "" != "" else []
+underlay_workspaces = "/home/roman/catkin_ws/devel;/opt/ros/indigo".split(';') if "/home/roman/catkin_ws/devel;/opt/ros/indigo" != "" else []
diff --git a/build/catkin_generated/setup_cached.sh b/build/catkin_generated/setup_cached.sh
new file mode 100755
index 000000000..e03bce4ba
--- /dev/null
+++ b/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/roman/src/Firmware/build/test_results"
+export CMAKE_PREFIX_PATH="/home/roman/src/Firmware/devel:$CMAKE_PREFIX_PATH"
+export CPATH="/home/roman/src/Firmware/devel/include:$CPATH"
+export LD_LIBRARY_PATH="/home/roman/src/Firmware/devel/lib:/home/roman/src/Firmware/devel/lib/x86_64-linux-gnu:/home/roman/catkin_ws/devel/lib/x86_64-linux-gnu:/opt/ros/indigo/lib/x86_64-linux-gnu:/home/roman/catkin_ws/devel/lib:/opt/ros/indigo/lib"
+export PATH="/home/roman/src/Firmware/devel/bin:$PATH"
+export PKG_CONFIG_PATH="/home/roman/src/Firmware/devel/lib/pkgconfig:/home/roman/src/Firmware/devel/lib/x86_64-linux-gnu/pkgconfig:$PKG_CONFIG_PATH"
+export PWD="/home/roman/src/Firmware/build"
+export PYTHONPATH="/home/roman/src/Firmware/devel/lib/python2.7/dist-packages:$PYTHONPATH"
+export ROSLISP_PACKAGE_DIRECTORIES="/home/roman/src/Firmware/devel/share/common-lisp:$ROSLISP_PACKAGE_DIRECTORIES"
+export ROS_PACKAGE_PATH="/home/roman/src/Firmware/src:$ROS_PACKAGE_PATH"
+export ROS_TEST_RESULTS_DIR="/home/roman/src/Firmware/build/test_results"
\ No newline at end of file
diff --git a/build/catkin_generated/stamps/Project/interrogate_setup_dot_py.py.stamp b/build/catkin_generated/stamps/Project/interrogate_setup_dot_py.py.stamp
new file mode 100644
index 000000000..26882f02a
--- /dev/null
+++ b/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/build/catkin_generated/stamps/Project/order_packages.cmake.em.stamp b/build/catkin_generated/stamps/Project/order_packages.cmake.em.stamp
new file mode 100644
index 000000000..087d4d802
--- /dev/null
+++ b/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/build/catkin_generated/stamps/Project/package.xml.stamp b/build/catkin_generated/stamps/Project/package.xml.stamp
new file mode 100644
index 000000000..7c2708ac3
--- /dev/null
+++ b/build/catkin_generated/stamps/Project/package.xml.stamp
@@ -0,0 +1,37 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>catkin</name>
+  <version>0.6.9</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/build/catkin_make.cache b/build/catkin_make.cache
new file mode 100644
index 000000000..8b1378917
--- /dev/null
+++ b/build/catkin_make.cache
@@ -0,0 +1 @@
+
diff --git a/build/cmake_install.cmake b/build/cmake_install.cmake
new file mode 100644
index 000000000..982fd705c
--- /dev/null
+++ b/build/cmake_install.cmake
@@ -0,0 +1,140 @@
+# Install script for directory: /home/roman/src/Firmware/src
+
+# Set the install prefix
+IF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+  SET(CMAKE_INSTALL_PREFIX "/home/roman/src/Firmware/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/roman/src/Firmware/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): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  ENDIF (CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+FILE(INSTALL DESTINATION "/home/roman/src/Firmware/install" TYPE PROGRAM FILES "/home/roman/src/Firmware/build/catkin_generated/installspace/_setup_util.py")
+ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+
+IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+  list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
+   "/home/roman/src/Firmware/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): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  ENDIF (CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+FILE(INSTALL DESTINATION "/home/roman/src/Firmware/install" TYPE PROGRAM FILES "/home/roman/src/Firmware/build/catkin_generated/installspace/env.sh")
+ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+
+IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+  list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
+   "/home/roman/src/Firmware/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): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  ENDIF (CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+FILE(INSTALL DESTINATION "/home/roman/src/Firmware/install" TYPE FILE FILES "/home/roman/src/Firmware/build/catkin_generated/installspace/setup.bash")
+ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+
+IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+  list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
+   "/home/roman/src/Firmware/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): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  ENDIF (CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+FILE(INSTALL DESTINATION "/home/roman/src/Firmware/install" TYPE FILE FILES "/home/roman/src/Firmware/build/catkin_generated/installspace/setup.sh")
+ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+
+IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+  list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
+   "/home/roman/src/Firmware/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): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  ENDIF (CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+FILE(INSTALL DESTINATION "/home/roman/src/Firmware/install" TYPE FILE FILES "/home/roman/src/Firmware/build/catkin_generated/installspace/setup.zsh")
+ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+
+IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+  list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
+   "/home/roman/src/Firmware/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): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  ENDIF (CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+FILE(INSTALL DESTINATION "/home/roman/src/Firmware/install" TYPE FILE FILES "/home/roman/src/Firmware/build/catkin_generated/installspace/.rosinstall")
+ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${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/roman/src/Firmware/build/gtest/cmake_install.cmake")
+
+ENDIF(NOT CMAKE_INSTALL_LOCAL_ONLY)
+
+IF(CMAKE_INSTALL_COMPONENT)
+  SET(CMAKE_INSTALL_MANIFEST "install_manifest_${CMAKE_INSTALL_COMPONENT}.txt")
+ELSE(CMAKE_INSTALL_COMPONENT)
+  SET(CMAKE_INSTALL_MANIFEST "install_manifest.txt")
+ENDIF(CMAKE_INSTALL_COMPONENT)
+
+FILE(WRITE "/home/roman/src/Firmware/build/${CMAKE_INSTALL_MANIFEST}" "")
+FOREACH(file ${CMAKE_INSTALL_MANIFEST_FILES})
+  FILE(APPEND "/home/roman/src/Firmware/build/${CMAKE_INSTALL_MANIFEST}" "${file}\n")
+ENDFOREACH(file)
diff --git a/build/gtest/CMakeFiles/CMakeDirectoryInformation.cmake b/build/gtest/CMakeFiles/CMakeDirectoryInformation.cmake
new file mode 100644
index 000000000..06b7c63c1
--- /dev/null
+++ b/build/gtest/CMakeFiles/CMakeDirectoryInformation.cmake
@@ -0,0 +1,16 @@
+# CMAKE generated file: DO NOT EDIT!
+# Generated by "Unix Makefiles" Generator, CMake Version 2.8
+
+# Relative path conversion top directories.
+SET(CMAKE_RELATIVE_PATH_TOP_SOURCE "/usr/src/gtest")
+SET(CMAKE_RELATIVE_PATH_TOP_BINARY "/home/roman/src/Firmware/build")
+
+# Force unix paths in dependencies.
+SET(CMAKE_FORCE_UNIX_PATHS 1)
+
+
+# The C and CXX include file regular expressions for this directory.
+SET(CMAKE_C_INCLUDE_REGEX_SCAN "^.*$")
+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/build/gtest/CMakeFiles/gtest.dir/DependInfo.cmake b/build/gtest/CMakeFiles/gtest.dir/DependInfo.cmake
new file mode 100644
index 000000000..40234804c
--- /dev/null
+++ b/build/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/roman/src/Firmware/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})
+SET(CMAKE_ASM_TARGET_INCLUDE_PATH ${CMAKE_C_TARGET_INCLUDE_PATH})
diff --git a/build/gtest/CMakeFiles/gtest.dir/build.make b/build/gtest/CMakeFiles/gtest.dir/build.make
new file mode 100644
index 000000000..744feec6d
--- /dev/null
+++ b/build/gtest/CMakeFiles/gtest.dir/build.make
@@ -0,0 +1,102 @@
+# CMAKE generated file: DO NOT EDIT!
+# Generated by "Unix Makefiles" Generator, CMake Version 2.8
+
+#=============================================================================
+# Special targets provided by cmake.
+
+# Disable implicit rules so canonical targets will work.
+.SUFFIXES:
+
+# Remove some rules from gmake that .SUFFIXES does not remove.
+SUFFIXES =
+
+.SUFFIXES: .hpux_make_needs_suffix_list
+
+# Suppress display of executed commands.
+$(VERBOSE).SILENT:
+
+# A target that is always out of date.
+cmake_force:
+.PHONY : cmake_force
+
+#=============================================================================
+# Set environment variables for the build.
+
+# The shell in which to execute make rules.
+SHELL = /bin/sh
+
+# The CMake executable.
+CMAKE_COMMAND = /usr/bin/cmake
+
+# The command to remove a file.
+RM = /usr/bin/cmake -E remove -f
+
+# Escaping for special characters.
+EQUALS = =
+
+# The top-level source directory on which CMake was run.
+CMAKE_SOURCE_DIR = /home/roman/src/Firmware/src
+
+# The top-level build directory on which CMake was run.
+CMAKE_BINARY_DIR = /home/roman/src/Firmware/build
+
+# Include any dependencies generated for this target.
+include gtest/CMakeFiles/gtest.dir/depend.make
+
+# Include the progress variables for this target.
+include gtest/CMakeFiles/gtest.dir/progress.make
+
+# Include the compile flags for this target's objects.
+include gtest/CMakeFiles/gtest.dir/flags.make
+
+gtest/CMakeFiles/gtest.dir/src/gtest-all.cc.o: gtest/CMakeFiles/gtest.dir/flags.make
+gtest/CMakeFiles/gtest.dir/src/gtest-all.cc.o: /usr/src/gtest/src/gtest-all.cc
+	$(CMAKE_COMMAND) -E cmake_progress_report /home/roman/src/Firmware/build/CMakeFiles $(CMAKE_PROGRESS_1)
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green "Building CXX object gtest/CMakeFiles/gtest.dir/src/gtest-all.cc.o"
+	cd /home/roman/src/Firmware/build/gtest && /usr/bin/c++   $(CXX_DEFINES) $(CXX_FLAGS) -o CMakeFiles/gtest.dir/src/gtest-all.cc.o -c /usr/src/gtest/src/gtest-all.cc
+
+gtest/CMakeFiles/gtest.dir/src/gtest-all.cc.i: cmake_force
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green "Preprocessing CXX source to CMakeFiles/gtest.dir/src/gtest-all.cc.i"
+	cd /home/roman/src/Firmware/build/gtest && /usr/bin/c++  $(CXX_DEFINES) $(CXX_FLAGS) -E /usr/src/gtest/src/gtest-all.cc > CMakeFiles/gtest.dir/src/gtest-all.cc.i
+
+gtest/CMakeFiles/gtest.dir/src/gtest-all.cc.s: cmake_force
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green "Compiling CXX source to assembly CMakeFiles/gtest.dir/src/gtest-all.cc.s"
+	cd /home/roman/src/Firmware/build/gtest && /usr/bin/c++  $(CXX_DEFINES) $(CXX_FLAGS) -S /usr/src/gtest/src/gtest-all.cc -o CMakeFiles/gtest.dir/src/gtest-all.cc.s
+
+gtest/CMakeFiles/gtest.dir/src/gtest-all.cc.o.requires:
+.PHONY : gtest/CMakeFiles/gtest.dir/src/gtest-all.cc.o.requires
+
+gtest/CMakeFiles/gtest.dir/src/gtest-all.cc.o.provides: gtest/CMakeFiles/gtest.dir/src/gtest-all.cc.o.requires
+	$(MAKE) -f gtest/CMakeFiles/gtest.dir/build.make gtest/CMakeFiles/gtest.dir/src/gtest-all.cc.o.provides.build
+.PHONY : gtest/CMakeFiles/gtest.dir/src/gtest-all.cc.o.provides
+
+gtest/CMakeFiles/gtest.dir/src/gtest-all.cc.o.provides.build: gtest/CMakeFiles/gtest.dir/src/gtest-all.cc.o
+
+# Object files for target gtest
+gtest_OBJECTS = \
+"CMakeFiles/gtest.dir/src/gtest-all.cc.o"
+
+# External object files for target gtest
+gtest_EXTERNAL_OBJECTS =
+
+gtest/libgtest.so: gtest/CMakeFiles/gtest.dir/src/gtest-all.cc.o
+gtest/libgtest.so: gtest/CMakeFiles/gtest.dir/build.make
+gtest/libgtest.so: gtest/CMakeFiles/gtest.dir/link.txt
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --red --bold "Linking CXX shared library libgtest.so"
+	cd /home/roman/src/Firmware/build/gtest && $(CMAKE_COMMAND) -E cmake_link_script CMakeFiles/gtest.dir/link.txt --verbose=$(VERBOSE)
+
+# Rule to build all files generated by this target.
+gtest/CMakeFiles/gtest.dir/build: gtest/libgtest.so
+.PHONY : gtest/CMakeFiles/gtest.dir/build
+
+gtest/CMakeFiles/gtest.dir/requires: gtest/CMakeFiles/gtest.dir/src/gtest-all.cc.o.requires
+.PHONY : gtest/CMakeFiles/gtest.dir/requires
+
+gtest/CMakeFiles/gtest.dir/clean:
+	cd /home/roman/src/Firmware/build/gtest && $(CMAKE_COMMAND) -P CMakeFiles/gtest.dir/cmake_clean.cmake
+.PHONY : gtest/CMakeFiles/gtest.dir/clean
+
+gtest/CMakeFiles/gtest.dir/depend:
+	cd /home/roman/src/Firmware/build && $(CMAKE_COMMAND) -E cmake_depends "Unix Makefiles" /home/roman/src/Firmware/src /usr/src/gtest /home/roman/src/Firmware/build /home/roman/src/Firmware/build/gtest /home/roman/src/Firmware/build/gtest/CMakeFiles/gtest.dir/DependInfo.cmake --color=$(COLOR)
+.PHONY : gtest/CMakeFiles/gtest.dir/depend
+
diff --git a/build/gtest/CMakeFiles/gtest.dir/cmake_clean.cmake b/build/gtest/CMakeFiles/gtest.dir/cmake_clean.cmake
new file mode 100644
index 000000000..015a1ee75
--- /dev/null
+++ b/build/gtest/CMakeFiles/gtest.dir/cmake_clean.cmake
@@ -0,0 +1,10 @@
+FILE(REMOVE_RECURSE
+  "CMakeFiles/gtest.dir/src/gtest-all.cc.o"
+  "libgtest.pdb"
+  "libgtest.so"
+)
+
+# Per-language clean rules from dependency scanning.
+FOREACH(lang CXX)
+  INCLUDE(CMakeFiles/gtest.dir/cmake_clean_${lang}.cmake OPTIONAL)
+ENDFOREACH(lang)
diff --git a/build/gtest/CMakeFiles/gtest.dir/depend.make b/build/gtest/CMakeFiles/gtest.dir/depend.make
new file mode 100644
index 000000000..37ac348db
--- /dev/null
+++ b/build/gtest/CMakeFiles/gtest.dir/depend.make
@@ -0,0 +1,2 @@
+# Empty dependencies file for gtest.
+# This may be replaced when dependencies are built.
diff --git a/build/gtest/CMakeFiles/gtest.dir/flags.make b/build/gtest/CMakeFiles/gtest.dir/flags.make
new file mode 100644
index 000000000..fa55300ac
--- /dev/null
+++ b/build/gtest/CMakeFiles/gtest.dir/flags.make
@@ -0,0 +1,8 @@
+# CMAKE generated file: DO NOT EDIT!
+# Generated by "Unix Makefiles" Generator, CMake Version 2.8
+
+# compile CXX with /usr/bin/c++
+CXX_FLAGS = -fPIC -I/usr/src/gtest/include -I/usr/src/gtest     -Wall -Wshadow -DGTEST_HAS_PTHREAD=1 -fexceptions -Wextra
+
+CXX_DEFINES = -DGTEST_CREATE_SHARED_LIBRARY=1 -Dgtest_EXPORTS
+
diff --git a/build/gtest/CMakeFiles/gtest.dir/link.txt b/build/gtest/CMakeFiles/gtest.dir/link.txt
new file mode 100644
index 000000000..8745cedd2
--- /dev/null
+++ b/build/gtest/CMakeFiles/gtest.dir/link.txt
@@ -0,0 +1 @@
+/usr/bin/c++  -fPIC    -shared -Wl,-soname,libgtest.so -o libgtest.so CMakeFiles/gtest.dir/src/gtest-all.cc.o  -L/home/roman/src/Firmware/build/gtest/src -lpthread -Wl,-rpath,/home/roman/src/Firmware/build/gtest/src 
diff --git a/build/gtest/CMakeFiles/gtest.dir/progress.make b/build/gtest/CMakeFiles/gtest.dir/progress.make
new file mode 100644
index 000000000..781c7de27
--- /dev/null
+++ b/build/gtest/CMakeFiles/gtest.dir/progress.make
@@ -0,0 +1,2 @@
+CMAKE_PROGRESS_1 = 1
+
diff --git a/build/gtest/CMakeFiles/gtest_main.dir/DependInfo.cmake b/build/gtest/CMakeFiles/gtest_main.dir/DependInfo.cmake
new file mode 100644
index 000000000..9f3beee6e
--- /dev/null
+++ b/build/gtest/CMakeFiles/gtest_main.dir/DependInfo.cmake
@@ -0,0 +1,28 @@
+# 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_main.cc" "/home/roman/src/Firmware/build/gtest/CMakeFiles/gtest_main.dir/src/gtest_main.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
+  "/home/roman/src/Firmware/build/gtest/CMakeFiles/gtest.dir/DependInfo.cmake"
+  )
+
+# 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})
+SET(CMAKE_ASM_TARGET_INCLUDE_PATH ${CMAKE_C_TARGET_INCLUDE_PATH})
diff --git a/build/gtest/CMakeFiles/gtest_main.dir/build.make b/build/gtest/CMakeFiles/gtest_main.dir/build.make
new file mode 100644
index 000000000..67a7ec018
--- /dev/null
+++ b/build/gtest/CMakeFiles/gtest_main.dir/build.make
@@ -0,0 +1,103 @@
+# CMAKE generated file: DO NOT EDIT!
+# Generated by "Unix Makefiles" Generator, CMake Version 2.8
+
+#=============================================================================
+# Special targets provided by cmake.
+
+# Disable implicit rules so canonical targets will work.
+.SUFFIXES:
+
+# Remove some rules from gmake that .SUFFIXES does not remove.
+SUFFIXES =
+
+.SUFFIXES: .hpux_make_needs_suffix_list
+
+# Suppress display of executed commands.
+$(VERBOSE).SILENT:
+
+# A target that is always out of date.
+cmake_force:
+.PHONY : cmake_force
+
+#=============================================================================
+# Set environment variables for the build.
+
+# The shell in which to execute make rules.
+SHELL = /bin/sh
+
+# The CMake executable.
+CMAKE_COMMAND = /usr/bin/cmake
+
+# The command to remove a file.
+RM = /usr/bin/cmake -E remove -f
+
+# Escaping for special characters.
+EQUALS = =
+
+# The top-level source directory on which CMake was run.
+CMAKE_SOURCE_DIR = /home/roman/src/Firmware/src
+
+# The top-level build directory on which CMake was run.
+CMAKE_BINARY_DIR = /home/roman/src/Firmware/build
+
+# Include any dependencies generated for this target.
+include gtest/CMakeFiles/gtest_main.dir/depend.make
+
+# Include the progress variables for this target.
+include gtest/CMakeFiles/gtest_main.dir/progress.make
+
+# Include the compile flags for this target's objects.
+include gtest/CMakeFiles/gtest_main.dir/flags.make
+
+gtest/CMakeFiles/gtest_main.dir/src/gtest_main.cc.o: gtest/CMakeFiles/gtest_main.dir/flags.make
+gtest/CMakeFiles/gtest_main.dir/src/gtest_main.cc.o: /usr/src/gtest/src/gtest_main.cc
+	$(CMAKE_COMMAND) -E cmake_progress_report /home/roman/src/Firmware/build/CMakeFiles $(CMAKE_PROGRESS_1)
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green "Building CXX object gtest/CMakeFiles/gtest_main.dir/src/gtest_main.cc.o"
+	cd /home/roman/src/Firmware/build/gtest && /usr/bin/c++   $(CXX_DEFINES) $(CXX_FLAGS) -o CMakeFiles/gtest_main.dir/src/gtest_main.cc.o -c /usr/src/gtest/src/gtest_main.cc
+
+gtest/CMakeFiles/gtest_main.dir/src/gtest_main.cc.i: cmake_force
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green "Preprocessing CXX source to CMakeFiles/gtest_main.dir/src/gtest_main.cc.i"
+	cd /home/roman/src/Firmware/build/gtest && /usr/bin/c++  $(CXX_DEFINES) $(CXX_FLAGS) -E /usr/src/gtest/src/gtest_main.cc > CMakeFiles/gtest_main.dir/src/gtest_main.cc.i
+
+gtest/CMakeFiles/gtest_main.dir/src/gtest_main.cc.s: cmake_force
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green "Compiling CXX source to assembly CMakeFiles/gtest_main.dir/src/gtest_main.cc.s"
+	cd /home/roman/src/Firmware/build/gtest && /usr/bin/c++  $(CXX_DEFINES) $(CXX_FLAGS) -S /usr/src/gtest/src/gtest_main.cc -o CMakeFiles/gtest_main.dir/src/gtest_main.cc.s
+
+gtest/CMakeFiles/gtest_main.dir/src/gtest_main.cc.o.requires:
+.PHONY : gtest/CMakeFiles/gtest_main.dir/src/gtest_main.cc.o.requires
+
+gtest/CMakeFiles/gtest_main.dir/src/gtest_main.cc.o.provides: gtest/CMakeFiles/gtest_main.dir/src/gtest_main.cc.o.requires
+	$(MAKE) -f gtest/CMakeFiles/gtest_main.dir/build.make gtest/CMakeFiles/gtest_main.dir/src/gtest_main.cc.o.provides.build
+.PHONY : gtest/CMakeFiles/gtest_main.dir/src/gtest_main.cc.o.provides
+
+gtest/CMakeFiles/gtest_main.dir/src/gtest_main.cc.o.provides.build: gtest/CMakeFiles/gtest_main.dir/src/gtest_main.cc.o
+
+# Object files for target gtest_main
+gtest_main_OBJECTS = \
+"CMakeFiles/gtest_main.dir/src/gtest_main.cc.o"
+
+# External object files for target gtest_main
+gtest_main_EXTERNAL_OBJECTS =
+
+gtest/libgtest_main.so: gtest/CMakeFiles/gtest_main.dir/src/gtest_main.cc.o
+gtest/libgtest_main.so: gtest/CMakeFiles/gtest_main.dir/build.make
+gtest/libgtest_main.so: gtest/libgtest.so
+gtest/libgtest_main.so: gtest/CMakeFiles/gtest_main.dir/link.txt
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --red --bold "Linking CXX shared library libgtest_main.so"
+	cd /home/roman/src/Firmware/build/gtest && $(CMAKE_COMMAND) -E cmake_link_script CMakeFiles/gtest_main.dir/link.txt --verbose=$(VERBOSE)
+
+# Rule to build all files generated by this target.
+gtest/CMakeFiles/gtest_main.dir/build: gtest/libgtest_main.so
+.PHONY : gtest/CMakeFiles/gtest_main.dir/build
+
+gtest/CMakeFiles/gtest_main.dir/requires: gtest/CMakeFiles/gtest_main.dir/src/gtest_main.cc.o.requires
+.PHONY : gtest/CMakeFiles/gtest_main.dir/requires
+
+gtest/CMakeFiles/gtest_main.dir/clean:
+	cd /home/roman/src/Firmware/build/gtest && $(CMAKE_COMMAND) -P CMakeFiles/gtest_main.dir/cmake_clean.cmake
+.PHONY : gtest/CMakeFiles/gtest_main.dir/clean
+
+gtest/CMakeFiles/gtest_main.dir/depend:
+	cd /home/roman/src/Firmware/build && $(CMAKE_COMMAND) -E cmake_depends "Unix Makefiles" /home/roman/src/Firmware/src /usr/src/gtest /home/roman/src/Firmware/build /home/roman/src/Firmware/build/gtest /home/roman/src/Firmware/build/gtest/CMakeFiles/gtest_main.dir/DependInfo.cmake --color=$(COLOR)
+.PHONY : gtest/CMakeFiles/gtest_main.dir/depend
+
diff --git a/build/gtest/CMakeFiles/gtest_main.dir/cmake_clean.cmake b/build/gtest/CMakeFiles/gtest_main.dir/cmake_clean.cmake
new file mode 100644
index 000000000..c8fe83819
--- /dev/null
+++ b/build/gtest/CMakeFiles/gtest_main.dir/cmake_clean.cmake
@@ -0,0 +1,10 @@
+FILE(REMOVE_RECURSE
+  "CMakeFiles/gtest_main.dir/src/gtest_main.cc.o"
+  "libgtest_main.pdb"
+  "libgtest_main.so"
+)
+
+# Per-language clean rules from dependency scanning.
+FOREACH(lang CXX)
+  INCLUDE(CMakeFiles/gtest_main.dir/cmake_clean_${lang}.cmake OPTIONAL)
+ENDFOREACH(lang)
diff --git a/build/gtest/CMakeFiles/gtest_main.dir/depend.make b/build/gtest/CMakeFiles/gtest_main.dir/depend.make
new file mode 100644
index 000000000..1d67c1ab5
--- /dev/null
+++ b/build/gtest/CMakeFiles/gtest_main.dir/depend.make
@@ -0,0 +1,2 @@
+# Empty dependencies file for gtest_main.
+# This may be replaced when dependencies are built.
diff --git a/build/gtest/CMakeFiles/gtest_main.dir/flags.make b/build/gtest/CMakeFiles/gtest_main.dir/flags.make
new file mode 100644
index 000000000..93ab70f12
--- /dev/null
+++ b/build/gtest/CMakeFiles/gtest_main.dir/flags.make
@@ -0,0 +1,8 @@
+# CMAKE generated file: DO NOT EDIT!
+# Generated by "Unix Makefiles" Generator, CMake Version 2.8
+
+# compile CXX with /usr/bin/c++
+CXX_FLAGS = -fPIC -I/usr/src/gtest/include -I/usr/src/gtest     -Wall -Wshadow -DGTEST_HAS_PTHREAD=1 -fexceptions -Wextra
+
+CXX_DEFINES = -DGTEST_CREATE_SHARED_LIBRARY=1 -Dgtest_main_EXPORTS
+
diff --git a/build/gtest/CMakeFiles/gtest_main.dir/link.txt b/build/gtest/CMakeFiles/gtest_main.dir/link.txt
new file mode 100644
index 000000000..d35b7f61a
--- /dev/null
+++ b/build/gtest/CMakeFiles/gtest_main.dir/link.txt
@@ -0,0 +1 @@
+/usr/bin/c++  -fPIC    -shared -Wl,-soname,libgtest_main.so -o libgtest_main.so CMakeFiles/gtest_main.dir/src/gtest_main.cc.o  -L/home/roman/src/Firmware/build/gtest/src -lpthread libgtest.so -lpthread -Wl,-rpath,/home/roman/src/Firmware/build/gtest/src:/home/roman/src/Firmware/build/gtest 
diff --git a/build/gtest/CMakeFiles/gtest_main.dir/progress.make b/build/gtest/CMakeFiles/gtest_main.dir/progress.make
new file mode 100644
index 000000000..164e1d26c
--- /dev/null
+++ b/build/gtest/CMakeFiles/gtest_main.dir/progress.make
@@ -0,0 +1,2 @@
+CMAKE_PROGRESS_1 = 2
+
diff --git a/build/gtest/CMakeFiles/progress.marks b/build/gtest/CMakeFiles/progress.marks
new file mode 100644
index 000000000..573541ac9
--- /dev/null
+++ b/build/gtest/CMakeFiles/progress.marks
@@ -0,0 +1 @@
+0
diff --git a/build/gtest/CTestTestfile.cmake b/build/gtest/CTestTestfile.cmake
new file mode 100644
index 000000000..bd4b57a8b
--- /dev/null
+++ b/build/gtest/CTestTestfile.cmake
@@ -0,0 +1,6 @@
+# CMake generated Testfile for 
+# Source directory: /usr/src/gtest
+# Build directory: /home/roman/src/Firmware/build/gtest
+# 
+# This file includes the relevant testing commands required for 
+# testing this directory and lists subdirectories to be tested as well.
diff --git a/build/gtest/Makefile b/build/gtest/Makefile
new file mode 100644
index 000000000..bc8c23a00
--- /dev/null
+++ b/build/gtest/Makefile
@@ -0,0 +1,262 @@
+# CMAKE generated file: DO NOT EDIT!
+# Generated by "Unix Makefiles" Generator, CMake Version 2.8
+
+# Default target executed when no arguments are given to make.
+default_target: all
+.PHONY : default_target
+
+#=============================================================================
+# Special targets provided by cmake.
+
+# Disable implicit rules so canonical targets will work.
+.SUFFIXES:
+
+# Remove some rules from gmake that .SUFFIXES does not remove.
+SUFFIXES =
+
+.SUFFIXES: .hpux_make_needs_suffix_list
+
+# Suppress display of executed commands.
+$(VERBOSE).SILENT:
+
+# A target that is always out of date.
+cmake_force:
+.PHONY : cmake_force
+
+#=============================================================================
+# Set environment variables for the build.
+
+# The shell in which to execute make rules.
+SHELL = /bin/sh
+
+# The CMake executable.
+CMAKE_COMMAND = /usr/bin/cmake
+
+# The command to remove a file.
+RM = /usr/bin/cmake -E remove -f
+
+# Escaping for special characters.
+EQUALS = =
+
+# The top-level source directory on which CMake was run.
+CMAKE_SOURCE_DIR = /home/roman/src/Firmware/src
+
+# The top-level build directory on which CMake was run.
+CMAKE_BINARY_DIR = /home/roman/src/Firmware/build
+
+#=============================================================================
+# Targets provided globally by CMake.
+
+# Special rule for the target edit_cache
+edit_cache:
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Running interactive CMake command-line interface..."
+	/usr/bin/cmake -i .
+.PHONY : edit_cache
+
+# Special rule for the target edit_cache
+edit_cache/fast: edit_cache
+.PHONY : edit_cache/fast
+
+# Special rule for the target install
+install: preinstall
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Install the project..."
+	/usr/bin/cmake -P cmake_install.cmake
+.PHONY : install
+
+# Special rule for the target install
+install/fast: preinstall/fast
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Install the project..."
+	/usr/bin/cmake -P cmake_install.cmake
+.PHONY : install/fast
+
+# Special rule for the target 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/roman/src/Firmware/build && $(CMAKE_COMMAND) -E cmake_progress_start /home/roman/src/Firmware/build/CMakeFiles /home/roman/src/Firmware/build/gtest/CMakeFiles/progress.marks
+	cd /home/roman/src/Firmware/build && $(MAKE) -f CMakeFiles/Makefile2 gtest/all
+	$(CMAKE_COMMAND) -E cmake_progress_start /home/roman/src/Firmware/build/CMakeFiles 0
+.PHONY : all
+
+# The main clean target
+clean:
+	cd /home/roman/src/Firmware/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/roman/src/Firmware/build && $(MAKE) -f CMakeFiles/Makefile2 gtest/preinstall
+.PHONY : preinstall
+
+# Prepare targets for installation.
+preinstall/fast:
+	cd /home/roman/src/Firmware/build && $(MAKE) -f CMakeFiles/Makefile2 gtest/preinstall
+.PHONY : preinstall/fast
+
+# clear depends
+depend:
+	cd /home/roman/src/Firmware/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/roman/src/Firmware/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/roman/src/Firmware/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/roman/src/Firmware/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/roman/src/Firmware/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/roman/src/Firmware/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/roman/src/Firmware/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/roman/src/Firmware/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/roman/src/Firmware/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/roman/src/Firmware/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/roman/src/Firmware/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/roman/src/Firmware/build && $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
+.PHONY : cmake_check_build_system
+
diff --git a/build/gtest/cmake_install.cmake b/build/gtest/cmake_install.cmake
new file mode 100644
index 000000000..f51b65651
--- /dev/null
+++ b/build/gtest/cmake_install.cmake
@@ -0,0 +1,34 @@
+# Install script for directory: /usr/src/gtest
+
+# Set the install prefix
+IF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+  SET(CMAKE_INSTALL_PREFIX "/home/roman/src/Firmware/install")
+ENDIF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+STRING(REGEX REPLACE "/$" "" 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/devel/.catkin b/devel/.catkin
new file mode 100644
index 000000000..50d43da7e
--- /dev/null
+++ b/devel/.catkin
@@ -0,0 +1 @@
+/home/roman/src/Firmware/src
\ No newline at end of file
diff --git a/devel/.rosinstall b/devel/.rosinstall
new file mode 100644
index 000000000..fda964e6c
--- /dev/null
+++ b/devel/.rosinstall
@@ -0,0 +1,2 @@
+- setup-file:
+    local-name: /home/roman/src/Firmware/devel/setup.sh
diff --git a/devel/_setup_util.py b/devel/_setup_util.py
new file mode 100755
index 000000000..8db644140
--- /dev/null
+++ b/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/roman/catkin_ws/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/devel/env.sh b/devel/env.sh
new file mode 100755
index 000000000..8aa9d244a
--- /dev/null
+++ b/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 "$@"
diff --git a/devel/setup.bash b/devel/setup.bash
new file mode 100644
index 000000000..ff47af8f3
--- /dev/null
+++ b/devel/setup.bash
@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+# generated from catkin/cmake/templates/setup.bash.in
+
+CATKIN_SHELL=bash
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh"
diff --git a/devel/setup.sh b/devel/setup.sh
new file mode 100644
index 000000000..7d80d638a
--- /dev/null
+++ b/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
+: ${_CATKIN_SETUP_DIR:=/home/roman/src/Firmware/devel}
+_SETUP_UTIL="$_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/devel/setup.zsh b/devel/setup.zsh
new file mode 100644
index 000000000..b66071766
--- /dev/null
+++ b/devel/setup.zsh
@@ -0,0 +1,8 @@
+#!/usr/bin/env zsh
+# generated from catkin/cmake/templates/setup.zsh.in
+
+CATKIN_SHELL=zsh
+_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
+emulate sh # emulate POSIX
+. "$_CATKIN_SETUP_DIR/setup.sh"
+emulate zsh # back to zsh mode
diff --git a/mavlink/include/mavlink/v1.0 b/mavlink/include/mavlink/v1.0
-Subproject 2423e47b4f9169e77f7194b36fa2118e018c94e
+Subproject 4d7487c2bc5f5ccf87bca82970fb2c08d6d8bd5
diff --git a/uavcan b/uavcan
-Subproject c7872def16e82a8b318d571829fe9622e2d35ff
+Subproject 6980ee824074aa2f7a62221bf6040ee41111952