rosserial-arduino

Title	Answered?	Asker	Created	Updated
Rosserial data section exceeds available space	False	Phyrokar	2021-12-27 09:34:56	2021-12-27 09:34:56
Arduino subscribing gps data not getting update	False	Rakeh	2019-07-08 02:27:51	2019-07-08 07:08:35
rosserial_arduino: publishing a ROS message corrupts other messages	False	mmata	2017-06-03 18:24:37	2017-06-03 18:24:37
Problem with rosserial_arduino topic publishing?	False	thanhvu94	2017-06-12 20:31:55	2017-06-12 20:31:55
Robot Left Wheel does not completely stop using teleop_twist_keyboard control	False	et435	2022-02-08 15:11:54	2022-02-08 15:11:54
Rosserial arduino MultiArray subscriber ploblem.	False	CHA42	2022-02-19 07:28:07	2022-02-19 07:49:23
ROS with arduino and rosserial	False	Lilipop	2023-05-23 12:34:49	2023-05-23 12:34:49
How to subscribe sensor_msg/IMU from rosserial arduino	False	zyb1777	2022-03-05 18:45:51	2022-03-05 18:45:51
Arduino multiple callback error	False	renanmb	2017-07-30 02:48:28	2017-07-30 05:49:33
compiling error in ros_lib blink example	False	maazismail	2023-05-31 18:57:41	2023-05-31 18:57:41
Rosserial mbed vs Arduino. Awkward performance difference?	False	pmundt	2017-08-13 22:53:31	2017-08-13 22:53:31
Lost sync with device.. restarting	False	dimaluigi	2019-07-18 08:23:41	2019-07-18 08:23:41
How to run rosserial_arduino/Tutorials/Arduino%20Oscilloscope	False	hodu	2022-05-09 10:31:26	2022-05-09 10:31:26
How to search ROS parameters from Arduino?	False	Cobalt	2017-09-04 03:05:36	2017-09-04 03:05:36
hi am using Arduino Mega with LIDAR Lite V3 to create a map but it get restaring after some time	False	ARUN T S	2017-11-12 20:14:43	2017-11-12 20:42:04
Using bondcpp to connect node on Arduino to node on computer	False	pedro1713	2017-12-06 20:28:00	2017-12-06 20:28:00
Arduino Mega can't receive joint_state data form Moveit! via cmd_msg.position[] and rosserial	False	Dreambuild	2022-12-28 11:34:38	2022-12-28 11:36:53
Arduino rosserial - Unable to sync with device	False	Tanvir	2018-01-17 00:44:23	2018-01-17 00:45:17
rosserial lost sync with device restarting error	False	denizitu	2023-01-22 06:24:57	2023-01-22 06:24:57
rosserial with Platformio	False	EPisano	2021-03-23 11:16:14	2021-03-23 11:25:02
ROS Twist to PWM conversion help needed	False	praveen_khm	2022-09-06 20:33:42	2022-09-06 20:38:46
Rosserial interrupts serial communication of Arduino	False	Jonbou	2022-02-19 12:44:27	2022-02-19 12:44:27
Unable to sync with device; possible link problem or link software version mismatch such as hydro rosserial_python with groovy Arduino	False	Teo Cardoso	2018-03-01 12:37:34	2018-03-01 12:37:34
How to create ROS Arduino custom messages.	False	ramizdayi18.04	2023-05-30 09:46:07	2023-05-30 09:46:07
ROS Serial Several Sensor Msg as String	False	ba2sakal	2022-06-20 17:05:45	2022-06-20 17:05:45
rosserial sensor_msgs/Imu data not coming through clean	False	zjjames212	2018-07-14 19:23:36	2018-07-14 21:09:33
Integrating Autonomous Navigation with SLAM	False	Prasanth Suresh	2018-07-15 18:38:38	2018-07-15 18:43:12
communication lost between arduino and raspberry (rosserial)	False	robotham	2019-07-26 08:11:00	2019-07-26 08:11:00
Issues with ros_lib for Arduino	False	renanmb	2018-09-22 23:50:14	2018-09-22 23:50:14
Arduino 101 as a ROS Node	False	saurabh	2018-10-05 13:08:24	2018-10-05 13:08:24
rosserial Esp8266HelloWorld example does not work with UDP mode	False	Stefan Kohlbrecher	2018-10-13 23:51:50	2018-10-13 23:51:50
I'm getting following warning while installing rosserial libraries.Which dependency should i install?	False	atharva_jadhav	2018-10-31 10:00:21	2018-10-31 10:00:21
Problem in bridging CORE2 to ROS network	False	onezerofive	2020-05-07 03:20:32	2020-05-07 03:24:01
Using Arbotix instead of arduino	False	Batman	2019-01-20 23:02:14	2019-01-20 23:02:14
Library for XBee Pro's and Arduino	False	Duncan Van Keulen	2019-01-31 20:31:23	2019-01-31 20:31:23
Arduino rosserial - Long action results in: lost sync with device	False	SH	2022-06-03 14:40:30	2022-06-03 14:40:30
I am doing a project with rosserial making the encoder reach the desired angle.I publish the angle from the terminal and the arduino side subscribes it. But the encoder motor keeps rotating without stopping at the desired angle. Why?	False	Sai Htet	2019-03-04 11:42:40	2019-03-04 12:32:26
ROSSerial: Unable to sync: Teensy 3.6	False	THLL	2019-04-07 16:40:06	2019-04-07 16:40:06
[rosserial] Advertise/subscribe within class with global node handle	False	floriantschopp	2019-07-09 16:38:52	2019-07-09 17:17:53
ROS Publisher/Subscriber using ros_serial_arduino	False	yg97	2019-07-23 13:28:26	2019-07-23 13:28:26
Ros serial arduino sub and pub cmd vel	False	mahmoud tamimi	2022-07-29 22:36:06	2022-07-29 23:02:57
4WD vehicle arduino rosserial, pid, quadrature, encoder help	False	makemelive	2019-08-02 11:48:01	2019-08-02 11:48:01
2d Cartograhper map spinning out of control when imu data included	False	fyi	2019-08-18 08:59:54	2019-08-18 08:59:54
rosserial_arduino cmake with updated arduino-core	False	arpaterson	2022-08-16 14:38:08	2022-08-16 14:39:18
[ERROR] [1571394602.587660]: Unable to sync with device; possible link problem or link software version mismatch such as hydro rosserial_python with groovy Arduino	False	mohan97	2019-10-18 10:57:52	2019-10-18 10:57:52
lagging of rostopic pub (rosserial)	False	cadbabcd	2019-11-10 08:10:01	2019-11-10 08:10:01
Including Publisher/Subscriber/NodeHandle without "ros.h"	False	mhyde64	2019-11-19 11:44:29	2019-11-19 11:44:29
Problem building rosserial on Ubuntu 18.04 and ROS Melodic	False	yogic	2019-11-22 17:08:12	2019-11-22 17:08:12
PINE was not declared in this scope	False	Usui	2019-12-20 23:29:45	2019-12-20 23:29:45
Problem interfacing laptop keyboard and arduino via ROS	False	dw007	2019-06-13 07:25:31	2019-06-13 16:10:28
ros/ros.h: No such file or directory (ros arduino)	False	mahmoud tamimi	2022-08-07 22:17:05	2022-08-07 22:17:26
issues in rosserial via bluetooth	False	SeminAhn	2020-05-12 07:45:12	2020-05-12 08:37:36
Rosserial odom no new message	False	Kevin7909	2020-06-22 22:05:11	2020-06-22 22:08:48
rosserial data format	False	GUENNI	2020-07-03 15:29:12	2020-07-03 16:52:35
Problems with Float64MultiArray rosserial	False	Gbouna	2020-08-10 13:07:45	2020-08-10 13:07:45
Issue syncing with rosserial Arduino Uno when using TLE9879 BLDC motor shield	False	imoss15	2020-08-17 22:24:00	2020-08-17 22:24:00
ESP32 ROS connection to Jetson Nano via J41 header	False	mjwhite	2020-09-09 01:19:19	2020-09-09 01:20:12
ERROR: Mismatched protocol version in packet	False	max43234	2020-10-01 11:15:44	2020-10-01 12:45:57
Geting error subscriber/publiser failed: need more than 1 value	False	ptkth	2020-11-06 13:20:39	2020-11-08 10:18:34
Unable to properly set up Odometer	False	Robot_fox	2020-11-21 17:18:53	2020-11-21 17:18:53
need help with tf	False	mahmoud tamimi	2022-08-12 15:51:52	2022-08-12 18:27:29
Implementing a subscriber with std_msgs::Int16	False	Dragonjinx	2020-03-10 22:42:26	2020-03-10 22:42:26
setting up rosserial_arduino for nucleo board F103RB	False	pariamog	2021-04-20 09:14:28	2021-04-20 09:14:28
Rosserial arduino CMake unable to link libraries	False	Wes G	2021-05-16 01:59:49	2021-05-16 01:59:49
rosserial logging in setup()	False	book	2021-05-30 13:39:50	2021-05-30 13:39:50
Ubuntu 20.04 + ROS NOETIC + Arduino Mega 2560	False	mtlazaro	2022-05-31 19:52:42	2022-06-01 11:29:38
Error while communicating with Xbee	False	Kishore Kumar	2017-02-19 22:06:28	2017-02-19 22:07:16
publish encoder ticks and make odom to base_link transform	False	mahmoud tamimi	2022-08-29 18:19:35	2022-08-29 18:19:35
ROSserial trys to build all packages in catkin workspace	False	FirefoxMetzger	2017-03-01 14:18:13	2017-03-03 17:24:01
Error publishing to rosserial node	False	Sknet	2021-09-25 21:10:40	2021-09-26 12:52:25
Lost sync with device, restarting	False	Veera Ragav	2017-03-07 12:27:23	2017-03-07 15:27:26
Error in serial communication between ROS and Arduino Mega	False	thanhvu94	2017-05-04 17:31:35	2017-05-04 17:31:35
How to configure communication with arduino	False	tomahawk077	2017-05-06 16:32:40	2017-05-06 16:32:40

Title	Answers	Answered?	Asker	Created	Updated
Use catkin build/catkin-tools with rosserial arduino sketches	1	False	arpaterson	2022-09-03 11:08:08	2022-11-09 10:55:01
How can i publish data with new a topic from receving imu sensor in arduino??	1	False	turkoahmet	2022-01-14 21:41:42	2022-01-14 22:53:41
rosserial - Arduino DUE - sync issues	1	False	jesse	2017-06-26 14:04:09	2017-07-02 16:55:06
How does the ROS-side host machine interface identify a rosserial-enabled device	1	False	TCIII	2022-02-18 16:46:02	2022-02-19 18:27:16
Rosserial problem with std_msgs on Arduino	1	False	PabloCordoba	2022-03-09 12:44:44	2022-03-10 17:59:55
How to communicate an arduino code with ROS?	1	False	Mekateng	2017-10-15 11:48:07	2017-10-15 17:55:53
control stepper motors with an arduino via ROS	2	False	nadaanas1988	2017-11-15 14:25:41	2017-11-15 15:23:45
Ros closed loop stepper motor driver Arduino Zero	1	False	jrobi772	2017-11-23 21:38:10	2020-05-17 21:29:50
Differential Drive calculation	2	False	cerebraldad	2018-01-05 15:30:42	2018-01-05 21:58:41
ROS2 Serial Communication with Arduino	2	False	andrew_103	2020-11-05 23:21:16	2021-01-26 09:57:33
unable to integrate MPU6050 with ros	1	False	khansaadbinhasan	2018-01-27 17:48:05	2018-01-29 06:17:26
Keyboard Teleop settings.	2	False	melvinyesudas	2018-03-08 07:43:04	2018-03-10 05:17:06
How to use a Arduino Due in a CMake-based package using rosserial-arduino?	2	False	Stefan Kohlbrecher	2018-05-03 11:28:55	2018-05-14 22:16:37
rosserial arduino timer problem	1	False	MrMartins	2019-07-11 20:31:46	2019-07-12 16:57:34
Issue with Rosserial Custom Message	1	False	nprof50	2018-07-10 14:43:32	2018-07-24 19:16:46
Why cant Arduino find created headers?	1	False	Blackstar	2018-07-16 08:52:50	2022-06-25 14:26:56
rosserial arduino ackermann_msgs subscriber problem	1	False	jsjsjs0775	2018-09-22 05:55:17	2018-09-22 11:47:12
Arduino zero rosserial tutorial	2	False	gab27	2018-11-08 11:26:34	2018-12-05 22:53:28
how to localize my robot using rosserial	1	False	hasandaoud	2018-11-19 07:57:35	2018-11-19 19:39:12
[SOLVED] Arduino ethernet communication with ROS	4	False	Tim Nicolas	2018-12-06 15:03:23	2018-12-14 09:55:14
How to set up an Arduino sub-node which is connected to raspberry pi via usb.	2	False	iamashwin99	2019-01-26 06:28:19	2019-01-26 22:43:11
How to publish before shutdown	1	False	KSWang	2018-12-19 08:19:58	2018-12-19 08:29:50
rosserial_arduino Integer Printing	1	False	yg97	2019-07-24 18:36:02	2019-07-25 17:18:16
Unable to sync with device - Arduino Nano rosserial	1	False	MiPlayer	2021-06-28 01:47:31	2021-07-02 02:19:01
rosserial doesnot publish imu data when combined with some other data publisher/subscriber	1	False	pravin1	2019-05-06 12:48:35	2023-01-10 01:06:48
convert simulink to rosserial	1	False	jamesislost	2019-06-04 11:56:25	2019-06-13 21:30:29
uint8[] field in message definition is empty when i echo the topic.	1	False	dimaluigi	2019-07-05 19:35:04	2019-07-06 07:17:22
geometry_msgs/Vector3Stamped	1	False	mahmoud tamimi	2022-08-06 11:27:19	2022-08-07 11:19:37
ROS Arduino creating more than one subscriber (function)	1	False	cyotmhnd	2019-10-03 16:36:12	2019-10-04 08:06:07
arduino robot arm with moveit	2	False	makemelive	2019-11-03 20:17:45	2020-04-17 09:31:37
Why would rosserial_python fail when it connect to arduino?	1	False	Liuche	2017-11-02 03:22:47	2017-11-03 06:15:34
Custom Action Messages in ROSSerial Arduino	1	False	mhyde64	2019-11-21 01:30:11	2019-11-22 00:20:51
Benefit from implementing ROS(2) on microcontrollers	1	False	Hirnrich	2020-04-20 10:55:42	2021-01-22 11:04:05
rosserial module SerialClient not found	1	False	GUENNI	2020-06-11 16:12:08	2020-06-29 09:51:45
Does rosserial (arduino) work with rosparam server ?	1	False	dmb	2020-06-20 19:24:18	2020-06-25 14:29:29
rosserial lost sync error	1	False	sohartma	2020-06-29 13:49:28	2020-07-02 11:46:31
How to subscribe sensor_msg/Imu via rosserial_arduino	1	False	zyb1777	2022-03-05 18:49:21	2022-03-13 08:35:12
Rosserial arduino - wrong checksum and mismatched protocol errors	1	False	hvak	2020-08-13 21:51:17	2020-08-16 13:43:20
6 Wheels Odometry	1	False	fgastald	2020-11-06 09:03:22	2020-11-06 18:49:28
Adding geometry_msgs/Pose caused geometry_msgs/Twist value to change [rosserial]	1	False	ariccspstk	2020-11-25 02:12:03	2020-11-26 02:27:45
How to use rosserial with Arduino hardware serial3?	1	False	the3kr	2021-02-24 11:05:23	2021-05-21 03:04:28
Rosserial Multiarray Problem	1	False	mat46ias	2021-04-23 06:06:34	2021-04-24 21:20:33
How to create a ros launch file for arduino node?	1	False	shashikg	2017-01-22 05:57:06	2018-06-28 07:07:21
Error while running rosserial on bluetooth	1	False	Kishore Kumar	2017-02-01 21:40:13	2017-02-02 22:18:29
Adding ultrasonic sensors and range sensor layer	1	False	LoopingCollider	2021-09-09 14:25:31	2021-10-01 14:39:40
rosserial communication too slow and not fixed	1	False	filconsoli	2017-02-22 21:50:16	2017-09-30 23:49:59
two arduino communicate?	1	False	pond	2018-10-04 07:41:58	2018-10-05 04:40:15
Best way to publish 3 coordinates (array, mat, vector...)?	1	False	w.fradin	2017-03-31 13:23:54	2017-03-31 13:23:54
Subscribe cmd_vel with Arduino	1	False	mattMGN	2017-04-04 16:36:12	2018-03-08 17:00:04
"Lost sync with device, restarting" - Controlling arms and head on a robot	1	False	Meccanoid	2017-04-06 12:39:38	2017-04-08 16:50:57
Rosserial connection doesn't work due to signal	1	False	jonagf	2017-05-08 13:23:56	2017-09-30 23:36:00

Title	Answers	Answered?	Asker	Created	Updated
Rosserial arduino connection error	1	True	Felix_N	2017-07-06 19:46:32	2017-07-09 13:44:25
[solved]:-How to publish negative values from command line ?	3	True	melvinyesudas	2018-01-11 10:33:10	2018-01-12 07:56:53
Publish LaserScan from Arduino	1	True	mattMGN	2018-02-24 21:44:37	2018-02-25 11:56:01
ROS with arduino and rosserial	0	False	Lilipop	2023-05-23 12:34:50	2023-05-23 12:34:50
Publishing String from Terminal?	2	True	melvinyesudas	2018-03-12 11:58:33	2018-03-13 06:26:57
While loop for Ros Python Rosserial	2	False	RosStudent	2018-03-31 14:47:31	2018-04-01 07:19:53
Subscribing to message and re-publishing only specific part, real time?	3	True	nyxaria	2018-04-16 08:47:44	2018-04-19 14:25:56
[solved] How to publish multiple messages from single topic?	1	True	melvinyesudas	2018-09-26 08:44:41	2018-09-27 05:42:00
Error with service server for Arduino	1	True	Mirzam	2018-11-24 14:08:43	2018-12-06 11:58:36
Control velocity of joints in Moveit/ROS	1	False	pranavb104	2018-12-19 14:22:34	2018-12-21 14:07:35
Rosserial deserialization error when receiving Serial2	1	True	Wes G	2021-10-31 22:17:06	2021-10-31 23:37:27
Ubuntu trying to use the IPv6 address to reach packages.ros.org while installing rosserial for melodic	0	False	colidar	2019-06-11 09:19:22	2019-06-11 09:44:48
How to control turtlesim by a publisher data sent by arduino rosserial	2	True	requestadepache	2019-07-26 23:55:12	2019-08-30 17:22:36
building a custom hardware interface for MoveIt	1	True	schlitz0hr	2019-08-22 18:09:44	2020-06-18 08:09:30
Unable to operate servo with rosserial_arduino	1	True	alam121	2020-01-14 15:42:31	2020-01-14 16:03:54
Je n'arrive pas a installer rosserial pour avoir ros_lin dans l'ide arduino sur ros melodic	0	False	pbecam	2020-02-26 10:22:04	2020-02-26 10:22:04
Unable to sync with device; possible link problem or link software version mismatch such as hydro rosserial_python with groovy Arduino	0	False	mahmoud tamimi	2022-07-31 09:30:55	2022-07-31 09:30:55
Unable to sync with device; possible link problem or link software version mismatch such as hydro rosserial_python with groovy Arduino	0	False	mahmoud tamimi	2022-07-31 09:30:56	2022-07-31 09:30:56
rosserial stops working when trying to use software serial on arduino?	1	True	ekptwtos	2020-10-20 10:40:29	2021-01-04 17:35:12
rosserial_arduino best practice for messages	1	False	PaddyCube	2020-03-26 18:16:18	2021-01-06 19:09:21
Several errors wthen subscribing to two topics	2	True	zfellone	2017-01-26 19:11:01	2017-01-27 14:44:14
rosserial_arduino catkin_make error: unparsed argument: Port;/dev/ttyACM0	2	True	jonasfovea	2021-08-11 09:20:32	2021-08-12 12:08:38
How to name a rosserial_arduino node?	3	True	Cerin	2017-02-12 04:57:39	2021-11-01 04:58:05
How to publish a message from a rosserial_arduino subscriber	1	True	Cerin	2017-02-12 05:23:31	2017-02-12 11:01:09
Detecting host timeout in rosserial_arduino	1	True	Cerin	2017-02-13 04:19:03	2017-02-13 06:20:26
Rosserial Serialize Example	0	False	jacklu333333	2021-09-23 08:45:41	2021-09-24 04:32:26
Can rosserial set parameters?	1	True	nckswt	2017-03-08 17:25:33	2017-03-08 20:52:23
Value received in Arduino is always 0	1	False	jonagf	2017-03-30 09:22:09	2017-04-20 08:14:45
Why "#include " doesn't work on rosserial?	1	True	w.fradin	2017-04-24 13:03:36	2017-04-24 15:10:41
i have a error "Traceback (most recent call last):" could you help me?	0	False	turkoahmet	2021-12-03 17:53:52	2021-12-03 17:55:22

Questions with no answers: 73    [expand/collapse]

Questions with no accepted answers: 51    [expand/collapse]

Closed Questions: 30    [expand/collapse]

Users

Name	Asked	Answered	Accepted
Anonymous	0	96	19
schlitz0hr	1	0	0
Felix_N	1	0	0
MrMartins	1	0	0
pond	1	0	0
book	1	0	0
pravin1	1	0	0
Prasanth Suresh	1	0	0
Cobalt	1	0	0
andrew_103	1	0	0
atharva_jadhav	1	0	0
cadbabcd	1	0	0
mhyde64	2	0	0
SH	1	0	0
Stefan Kohlbrecher	2	0	0
SeminAhn	1	0	0
fyi	1	0	0
yg97	2	0	0
Tanvir	1	0	0
tomahawk077	1	0	0
jonagf	2	0	0
khansaadbinhasan	1	0	0
RosStudent	1	0	0
nprof50	1	0	0
praveen_khm	1	0	0
mtlazaro	1	0	0
iamashwin99	1	0	0
zjjames212	1	0	0
Lilipop	2	0	0
Dreambuild	1	0	0
ARUN T S	1	0	0
Veera Ragav	1	0	0
Phyrokar	1	0	0
pedro1713	1	0	0
et435	1	0	0
Blackstar	1	0	0
Cerin	3	0	0
renanmb	2	0	0
ekptwtos	1	0	0
dw007	1	0	0
ariccspstk	1	0	0
Batman	1	0	0
imoss15	1	0	0
Dragonjinx	1	0	0
Robot_fox	1	0	0
thanhvu94	2	0	0
EPisano	1	0	0
Mekateng	1	0	0
mattMGN	2	0	0
jesse	1	0	0
pariamog	1	0	0
Kevin7909	1	0	0
pbecam	1	0	0
nckswt	1	0	0
hasandaoud	1	0	0
Liuche	1	0	0
alam121	1	0	0
pmundt	1	0	0
Teo Cardoso	1	0	0
Gbouna	1	0	0
jacklu333333	1	0	0
melvinyesudas	4	0	0
PabloCordoba	1	0	0
LoopingCollider	1	0	0
max43234	1	0	0
the3kr	1	0	0
robotham	1	0	0
filconsoli	1	0	0
fgastald	1	0	0
jsjsjs0775	1	0	0
Meccanoid	1	0	0
Mirzam	1	0	0
requestadepache	1	0	0
ramizdayi18.04	1	0	0
sohartma	1	0	0
saurabh	1	0	0
THLL	1	0	0
gab27	1	0	0
mjwhite	1	0	0
zyb1777	2	0	0
ptkth	1	0	0
FirefoxMetzger	1	0	0
pranavb104	1	0	0
nyxaria	1	0	0
colidar	1	0	0
Duncan Van Keulen	1	0	0
mohan97	1	0	0
jamesislost	1	0	0
Jonbou	1	0	0
Wes G	2	0	0
Sai Htet	1	0	0
jonasfovea	1	0	0
GUENNI	2	0	0
Kishore Kumar	2	0	0
makemelive	2	0	0
arpaterson	2	0	0
nadaanas1988	1	0	0
cerebraldad	1	0	0
denizitu	1	0	0
hvak	1	0	0
hodu	1	0	0
maazismail	1	0	0
mmata	1	0	0
KSWang	1	0	0
mahmoud tamimi	7	0	0
TCIII	1	0	0
mat46ias	1	0	0
Sknet	1	0	0
w.fradin	2	0	0
onezerofive	1	0	0
zfellone	1	0	0
shashikg	1	0	0
Usui	1	0	0
MiPlayer	1	0	0
dimaluigi	2	0	0
CHA42	1	0	0
Tim Nicolas	1	0	0
jrobi772	1	0	0
PaddyCube	1	0	0
turkoahmet	2	0	0
cyotmhnd	1	0	0
Rakeh	1	0	0
dmb	1	0	0
floriantschopp	1	0	0
Hirnrich	1	0	0
ba2sakal	1	0	0
yogic	1	0	0