diff --git a/build/CMakeFiles/Makefile.cmake b/build/CMakeFiles/Makefile.cmake
index 9f9571a..d7e47c9 100644
--- a/build/CMakeFiles/Makefile.cmake
+++ b/build/CMakeFiles/Makefile.cmake
@@ -208,7 +208,6 @@ set(CMAKE_DEPEND_INFO_FILES
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   "tutorial_pkg/CMakeFiles/sensor_msgs_generate_messages_cpp.dir/DependInfo.cmake"
   "tutorial_pkg/CMakeFiles/sensor_msgs_generate_messages_eus.dir/DependInfo.cmake"
-  "tutorial_pkg/CMakeFiles/rosgraph_msgs_generate_messages_cpp.dir/DependInfo.cmake"
   "tutorial_pkg/CMakeFiles/roscpp_generate_messages_lisp.dir/DependInfo.cmake"
   "tutorial_pkg/CMakeFiles/geometry_msgs_generate_messages_nodejs.dir/DependInfo.cmake"
   "tutorial_pkg/CMakeFiles/roscpp_generate_messages_py.dir/DependInfo.cmake"
@@ -217,6 +216,8 @@ set(CMAKE_DEPEND_INFO_FILES
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   "tutorial_pkg/CMakeFiles/roscpp_generate_messages_cpp.dir/DependInfo.cmake"
   "tutorial_pkg/CMakeFiles/sensor_msgs_generate_messages_nodejs.dir/DependInfo.cmake"
+  "tutorial_pkg/CMakeFiles/rosgraph_msgs_generate_messages_cpp.dir/DependInfo.cmake"
+  "tutorial_pkg/CMakeFiles/img_control_node.dir/DependInfo.cmake"
   "tutorial_pkg/CMakeFiles/sensor_msgs_generate_messages_py.dir/DependInfo.cmake"
   "tutorial_pkg/CMakeFiles/geometry_msgs_generate_messages_cpp.dir/DependInfo.cmake"
   "tutorial_pkg/CMakeFiles/geometry_msgs_generate_messages_lisp.dir/DependInfo.cmake"
diff --git a/build/CMakeFiles/Makefile2 b/build/CMakeFiles/Makefile2
index 8fe1ff6..d9e70ad 100644
--- a/build/CMakeFiles/Makefile2
+++ b/build/CMakeFiles/Makefile2
@@ -408,6 +408,7 @@ clean: gtest/googlemock/gtest/CMakeFiles/gtest.dir/clean
 # Directory level rules for directory tutorial_pkg
 
 # Convenience name for "all" pass in the directory.
+tutorial_pkg/all: tutorial_pkg/CMakeFiles/img_control_node.dir/all
 tutorial_pkg/all: tutorial_pkg/CMakeFiles/my_first_node.dir/all
 
 .PHONY : tutorial_pkg/all
@@ -426,7 +427,6 @@ tutorial_pkg/clean: tutorial_pkg/CMakeFiles/std_srvs_generate_messages_cpp.dir/c
 tutorial_pkg/clean: tutorial_pkg/CMakeFiles/std_msgs_generate_messages_lisp.dir/clean
 tutorial_pkg/clean: tutorial_pkg/CMakeFiles/sensor_msgs_generate_messages_cpp.dir/clean
 tutorial_pkg/clean: tutorial_pkg/CMakeFiles/sensor_msgs_generate_messages_eus.dir/clean
-tutorial_pkg/clean: tutorial_pkg/CMakeFiles/rosgraph_msgs_generate_messages_cpp.dir/clean
 tutorial_pkg/clean: tutorial_pkg/CMakeFiles/roscpp_generate_messages_lisp.dir/clean
 tutorial_pkg/clean: tutorial_pkg/CMakeFiles/geometry_msgs_generate_messages_nodejs.dir/clean
 tutorial_pkg/clean: tutorial_pkg/CMakeFiles/roscpp_generate_messages_py.dir/clean
@@ -435,6 +435,8 @@ tutorial_pkg/clean: tutorial_pkg/CMakeFiles/roscpp_generate_messages_eus.dir/cle
 tutorial_pkg/clean: tutorial_pkg/CMakeFiles/geometry_msgs_generate_messages_eus.dir/clean
 tutorial_pkg/clean: tutorial_pkg/CMakeFiles/roscpp_generate_messages_cpp.dir/clean
 tutorial_pkg/clean: tutorial_pkg/CMakeFiles/sensor_msgs_generate_messages_nodejs.dir/clean
+tutorial_pkg/clean: tutorial_pkg/CMakeFiles/rosgraph_msgs_generate_messages_cpp.dir/clean
+tutorial_pkg/clean: tutorial_pkg/CMakeFiles/img_control_node.dir/clean
 tutorial_pkg/clean: tutorial_pkg/CMakeFiles/sensor_msgs_generate_messages_py.dir/clean
 tutorial_pkg/clean: tutorial_pkg/CMakeFiles/geometry_msgs_generate_messages_cpp.dir/clean
 tutorial_pkg/clean: tutorial_pkg/CMakeFiles/geometry_msgs_generate_messages_lisp.dir/clean
@@ -868,38 +870,6 @@ clean: tutorial_pkg/CMakeFiles/sensor_msgs_generate_messages_eus.dir/clean
 
 .PHONY : clean
 
-#=============================================================================
-# Target rules for target tutorial_pkg/CMakeFiles/rosgraph_msgs_generate_messages_cpp.dir
-
-# All Build rule for target.
-tutorial_pkg/CMakeFiles/rosgraph_msgs_generate_messages_cpp.dir/all:
-	$(MAKE) -f tutorial_pkg/CMakeFiles/rosgraph_msgs_generate_messages_cpp.dir/build.make tutorial_pkg/CMakeFiles/rosgraph_msgs_generate_messages_cpp.dir/depend
-	$(MAKE) -f tutorial_pkg/CMakeFiles/rosgraph_msgs_generate_messages_cpp.dir/build.make tutorial_pkg/CMakeFiles/rosgraph_msgs_generate_messages_cpp.dir/build
-	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --progress-dir=/home/husarion/ros_ws/build/CMakeFiles --progress-num= "Built target rosgraph_msgs_generate_messages_cpp"
-.PHONY : tutorial_pkg/CMakeFiles/rosgraph_msgs_generate_messages_cpp.dir/all
-
-# Build rule for subdir invocation for target.
-tutorial_pkg/CMakeFiles/rosgraph_msgs_generate_messages_cpp.dir/rule: cmake_check_build_system
-	$(CMAKE_COMMAND) -E cmake_progress_start /home/husarion/ros_ws/build/CMakeFiles 0
-	$(MAKE) -f CMakeFiles/Makefile2 tutorial_pkg/CMakeFiles/rosgraph_msgs_generate_messages_cpp.dir/all
-	$(CMAKE_COMMAND) -E cmake_progress_start /home/husarion/ros_ws/build/CMakeFiles 0
-.PHONY : tutorial_pkg/CMakeFiles/rosgraph_msgs_generate_messages_cpp.dir/rule
-
-# Convenience name for target.
-rosgraph_msgs_generate_messages_cpp: tutorial_pkg/CMakeFiles/rosgraph_msgs_generate_messages_cpp.dir/rule
-
-.PHONY : rosgraph_msgs_generate_messages_cpp
-
-# clean rule for target.
-tutorial_pkg/CMakeFiles/rosgraph_msgs_generate_messages_cpp.dir/clean:
-	$(MAKE) -f tutorial_pkg/CMakeFiles/rosgraph_msgs_generate_messages_cpp.dir/build.make tutorial_pkg/CMakeFiles/rosgraph_msgs_generate_messages_cpp.dir/clean
-.PHONY : tutorial_pkg/CMakeFiles/rosgraph_msgs_generate_messages_cpp.dir/clean
-
-# clean rule for target.
-clean: tutorial_pkg/CMakeFiles/rosgraph_msgs_generate_messages_cpp.dir/clean
-
-.PHONY : clean
-
 #=============================================================================
 # Target rules for target tutorial_pkg/CMakeFiles/roscpp_generate_messages_lisp.dir
 
@@ -1156,6 +1126,75 @@ clean: tutorial_pkg/CMakeFiles/sensor_msgs_generate_messages_nodejs.dir/clean
 
 .PHONY : clean
 
+#=============================================================================
+# Target rules for target tutorial_pkg/CMakeFiles/rosgraph_msgs_generate_messages_cpp.dir
+
+# All Build rule for target.
+tutorial_pkg/CMakeFiles/rosgraph_msgs_generate_messages_cpp.dir/all:
+	$(MAKE) -f tutorial_pkg/CMakeFiles/rosgraph_msgs_generate_messages_cpp.dir/build.make tutorial_pkg/CMakeFiles/rosgraph_msgs_generate_messages_cpp.dir/depend
+	$(MAKE) -f tutorial_pkg/CMakeFiles/rosgraph_msgs_generate_messages_cpp.dir/build.make tutorial_pkg/CMakeFiles/rosgraph_msgs_generate_messages_cpp.dir/build
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --progress-dir=/home/husarion/ros_ws/build/CMakeFiles --progress-num= "Built target rosgraph_msgs_generate_messages_cpp"
+.PHONY : tutorial_pkg/CMakeFiles/rosgraph_msgs_generate_messages_cpp.dir/all
+
+# Build rule for subdir invocation for target.
+tutorial_pkg/CMakeFiles/rosgraph_msgs_generate_messages_cpp.dir/rule: cmake_check_build_system
+	$(CMAKE_COMMAND) -E cmake_progress_start /home/husarion/ros_ws/build/CMakeFiles 0
+	$(MAKE) -f CMakeFiles/Makefile2 tutorial_pkg/CMakeFiles/rosgraph_msgs_generate_messages_cpp.dir/all
+	$(CMAKE_COMMAND) -E cmake_progress_start /home/husarion/ros_ws/build/CMakeFiles 0
+.PHONY : tutorial_pkg/CMakeFiles/rosgraph_msgs_generate_messages_cpp.dir/rule
+
+# Convenience name for target.
+rosgraph_msgs_generate_messages_cpp: tutorial_pkg/CMakeFiles/rosgraph_msgs_generate_messages_cpp.dir/rule
+
+.PHONY : rosgraph_msgs_generate_messages_cpp
+
+# clean rule for target.
+tutorial_pkg/CMakeFiles/rosgraph_msgs_generate_messages_cpp.dir/clean:
+	$(MAKE) -f tutorial_pkg/CMakeFiles/rosgraph_msgs_generate_messages_cpp.dir/build.make tutorial_pkg/CMakeFiles/rosgraph_msgs_generate_messages_cpp.dir/clean
+.PHONY : tutorial_pkg/CMakeFiles/rosgraph_msgs_generate_messages_cpp.dir/clean
+
+# clean rule for target.
+clean: tutorial_pkg/CMakeFiles/rosgraph_msgs_generate_messages_cpp.dir/clean
+
+.PHONY : clean
+
+#=============================================================================
+# Target rules for target tutorial_pkg/CMakeFiles/img_control_node.dir
+
+# All Build rule for target.
+tutorial_pkg/CMakeFiles/img_control_node.dir/all:
+	$(MAKE) -f tutorial_pkg/CMakeFiles/img_control_node.dir/build.make tutorial_pkg/CMakeFiles/img_control_node.dir/depend
+	$(MAKE) -f tutorial_pkg/CMakeFiles/img_control_node.dir/build.make tutorial_pkg/CMakeFiles/img_control_node.dir/build
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --progress-dir=/home/husarion/ros_ws/build/CMakeFiles --progress-num=12,13 "Built target img_control_node"
+.PHONY : tutorial_pkg/CMakeFiles/img_control_node.dir/all
+
+# Include target in all.
+all: tutorial_pkg/CMakeFiles/img_control_node.dir/all
+
+.PHONY : all
+
+# Build rule for subdir invocation for target.
+tutorial_pkg/CMakeFiles/img_control_node.dir/rule: cmake_check_build_system
+	$(CMAKE_COMMAND) -E cmake_progress_start /home/husarion/ros_ws/build/CMakeFiles 2
+	$(MAKE) -f CMakeFiles/Makefile2 tutorial_pkg/CMakeFiles/img_control_node.dir/all
+	$(CMAKE_COMMAND) -E cmake_progress_start /home/husarion/ros_ws/build/CMakeFiles 0
+.PHONY : tutorial_pkg/CMakeFiles/img_control_node.dir/rule
+
+# Convenience name for target.
+img_control_node: tutorial_pkg/CMakeFiles/img_control_node.dir/rule
+
+.PHONY : img_control_node
+
+# clean rule for target.
+tutorial_pkg/CMakeFiles/img_control_node.dir/clean:
+	$(MAKE) -f tutorial_pkg/CMakeFiles/img_control_node.dir/build.make tutorial_pkg/CMakeFiles/img_control_node.dir/clean
+.PHONY : tutorial_pkg/CMakeFiles/img_control_node.dir/clean
+
+# clean rule for target.
+clean: tutorial_pkg/CMakeFiles/img_control_node.dir/clean
+
+.PHONY : clean
+
 #=============================================================================
 # Target rules for target tutorial_pkg/CMakeFiles/sensor_msgs_generate_messages_py.dir
 
@@ -1419,7 +1458,7 @@ clean: tutorial_pkg/CMakeFiles/std_srvs_generate_messages_py.dir/clean
 tutorial_pkg/CMakeFiles/my_first_node.dir/all:
 	$(MAKE) -f tutorial_pkg/CMakeFiles/my_first_node.dir/build.make tutorial_pkg/CMakeFiles/my_first_node.dir/depend
 	$(MAKE) -f tutorial_pkg/CMakeFiles/my_first_node.dir/build.make tutorial_pkg/CMakeFiles/my_first_node.dir/build
-	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --progress-dir=/home/husarion/ros_ws/build/CMakeFiles --progress-num=12,13 "Built target my_first_node"
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --progress-dir=/home/husarion/ros_ws/build/CMakeFiles --progress-num=14,15 "Built target my_first_node"
 .PHONY : tutorial_pkg/CMakeFiles/my_first_node.dir/all
 
 # Include target in all.
diff --git a/build/CMakeFiles/TargetDirectories.txt b/build/CMakeFiles/TargetDirectories.txt
index a47bead..97a94cd 100644
--- a/build/CMakeFiles/TargetDirectories.txt
+++ b/build/CMakeFiles/TargetDirectories.txt
@@ -36,6 +36,7 @@
 /home/husarion/ros_ws/build/gtest/googlemock/gtest/CMakeFiles/gtest.dir
 /home/husarion/ros_ws/build/gtest/googlemock/gtest/CMakeFiles/rebuild_cache.dir
 /home/husarion/ros_ws/build/tutorial_pkg/CMakeFiles/install/strip.dir
+/home/husarion/ros_ws/build/tutorial_pkg/CMakeFiles/install.dir
 /home/husarion/ros_ws/build/tutorial_pkg/CMakeFiles/std_msgs_generate_messages_py.dir
 /home/husarion/ros_ws/build/tutorial_pkg/CMakeFiles/std_srvs_generate_messages_lisp.dir
 /home/husarion/ros_ws/build/tutorial_pkg/CMakeFiles/std_msgs_generate_messages_nodejs.dir
@@ -46,11 +47,9 @@
 /home/husarion/ros_ws/build/tutorial_pkg/CMakeFiles/rosgraph_msgs_generate_messages_lisp.dir
 /home/husarion/ros_ws/build/tutorial_pkg/CMakeFiles/rosgraph_msgs_generate_messages_eus.dir
 /home/husarion/ros_ws/build/tutorial_pkg/CMakeFiles/std_srvs_generate_messages_cpp.dir
-/home/husarion/ros_ws/build/tutorial_pkg/CMakeFiles/install.dir
 /home/husarion/ros_ws/build/tutorial_pkg/CMakeFiles/std_msgs_generate_messages_lisp.dir
 /home/husarion/ros_ws/build/tutorial_pkg/CMakeFiles/sensor_msgs_generate_messages_cpp.dir
 /home/husarion/ros_ws/build/tutorial_pkg/CMakeFiles/sensor_msgs_generate_messages_eus.dir
-/home/husarion/ros_ws/build/tutorial_pkg/CMakeFiles/rosgraph_msgs_generate_messages_cpp.dir
 /home/husarion/ros_ws/build/tutorial_pkg/CMakeFiles/roscpp_generate_messages_lisp.dir
 /home/husarion/ros_ws/build/tutorial_pkg/CMakeFiles/geometry_msgs_generate_messages_nodejs.dir
 /home/husarion/ros_ws/build/tutorial_pkg/CMakeFiles/edit_cache.dir
@@ -62,6 +61,8 @@
 /home/husarion/ros_ws/build/tutorial_pkg/CMakeFiles/roscpp_generate_messages_cpp.dir
 /home/husarion/ros_ws/build/tutorial_pkg/CMakeFiles/rebuild_cache.dir
 /home/husarion/ros_ws/build/tutorial_pkg/CMakeFiles/sensor_msgs_generate_messages_nodejs.dir
+/home/husarion/ros_ws/build/tutorial_pkg/CMakeFiles/rosgraph_msgs_generate_messages_cpp.dir
+/home/husarion/ros_ws/build/tutorial_pkg/CMakeFiles/img_control_node.dir
 /home/husarion/ros_ws/build/tutorial_pkg/CMakeFiles/sensor_msgs_generate_messages_py.dir
 /home/husarion/ros_ws/build/tutorial_pkg/CMakeFiles/geometry_msgs_generate_messages_cpp.dir
 /home/husarion/ros_ws/build/tutorial_pkg/CMakeFiles/geometry_msgs_generate_messages_lisp.dir
diff --git a/build/CMakeFiles/progress.marks b/build/CMakeFiles/progress.marks
index 0cfbf08..b8626c4 100644
--- a/build/CMakeFiles/progress.marks
+++ b/build/CMakeFiles/progress.marks
@@ -1 +1 @@
-2
+4
diff --git a/build/Makefile b/build/Makefile
index a28e59c..54221da 100644
--- a/build/Makefile
+++ b/build/Makefile
@@ -453,19 +453,6 @@ sensor_msgs_generate_messages_eus/fast:
 	$(MAKE) -f tutorial_pkg/CMakeFiles/sensor_msgs_generate_messages_eus.dir/build.make tutorial_pkg/CMakeFiles/sensor_msgs_generate_messages_eus.dir/build
 .PHONY : sensor_msgs_generate_messages_eus/fast
 
-#=============================================================================
-# Target rules for targets named rosgraph_msgs_generate_messages_cpp
-
-# Build rule for target.
-rosgraph_msgs_generate_messages_cpp: cmake_check_build_system
-	$(MAKE) -f CMakeFiles/Makefile2 rosgraph_msgs_generate_messages_cpp
-.PHONY : rosgraph_msgs_generate_messages_cpp
-
-# fast build rule for target.
-rosgraph_msgs_generate_messages_cpp/fast:
-	$(MAKE) -f tutorial_pkg/CMakeFiles/rosgraph_msgs_generate_messages_cpp.dir/build.make tutorial_pkg/CMakeFiles/rosgraph_msgs_generate_messages_cpp.dir/build
-.PHONY : rosgraph_msgs_generate_messages_cpp/fast
-
 #=============================================================================
 # Target rules for targets named roscpp_generate_messages_lisp
 
@@ -570,6 +557,32 @@ sensor_msgs_generate_messages_nodejs/fast:
 	$(MAKE) -f tutorial_pkg/CMakeFiles/sensor_msgs_generate_messages_nodejs.dir/build.make tutorial_pkg/CMakeFiles/sensor_msgs_generate_messages_nodejs.dir/build
 .PHONY : sensor_msgs_generate_messages_nodejs/fast
 
+#=============================================================================
+# Target rules for targets named rosgraph_msgs_generate_messages_cpp
+
+# Build rule for target.
+rosgraph_msgs_generate_messages_cpp: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 rosgraph_msgs_generate_messages_cpp
+.PHONY : rosgraph_msgs_generate_messages_cpp
+
+# fast build rule for target.
+rosgraph_msgs_generate_messages_cpp/fast:
+	$(MAKE) -f tutorial_pkg/CMakeFiles/rosgraph_msgs_generate_messages_cpp.dir/build.make tutorial_pkg/CMakeFiles/rosgraph_msgs_generate_messages_cpp.dir/build
+.PHONY : rosgraph_msgs_generate_messages_cpp/fast
+
+#=============================================================================
+# Target rules for targets named img_control_node
+
+# Build rule for target.
+img_control_node: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 img_control_node
+.PHONY : img_control_node
+
+# fast build rule for target.
+img_control_node/fast:
+	$(MAKE) -f tutorial_pkg/CMakeFiles/img_control_node.dir/build.make tutorial_pkg/CMakeFiles/img_control_node.dir/build
+.PHONY : img_control_node/fast
+
 #=============================================================================
 # Target rules for targets named sensor_msgs_generate_messages_py
 
@@ -722,7 +735,6 @@ help:
 	@echo "... std_msgs_generate_messages_lisp"
 	@echo "... sensor_msgs_generate_messages_cpp"
 	@echo "... sensor_msgs_generate_messages_eus"
-	@echo "... rosgraph_msgs_generate_messages_cpp"
 	@echo "... roscpp_generate_messages_lisp"
 	@echo "... geometry_msgs_generate_messages_nodejs"
 	@echo "... roscpp_generate_messages_py"
@@ -731,6 +743,8 @@ help:
 	@echo "... geometry_msgs_generate_messages_eus"
 	@echo "... roscpp_generate_messages_cpp"
 	@echo "... sensor_msgs_generate_messages_nodejs"
+	@echo "... rosgraph_msgs_generate_messages_cpp"
+	@echo "... img_control_node"
 	@echo "... sensor_msgs_generate_messages_py"
 	@echo "... geometry_msgs_generate_messages_cpp"
 	@echo "... geometry_msgs_generate_messages_lisp"
diff --git a/build/atomic_configure/_setup_util.py b/build/atomic_configure/_setup_util.py
index 9e48bf7..f99ab5c 100755
--- a/build/atomic_configure/_setup_util.py
+++ b/build/atomic_configure/_setup_util.py
@@ -268,7 +268,7 @@ if __name__ == '__main__':
 
         if not args.local:
             # environment at generation time
-            CMAKE_PREFIX_PATH = r'/home/husarion/husarion_ws/devel;/opt/ros/melodic'.split(';')
+            CMAKE_PREFIX_PATH = r'/home/husarion/ros_ws/devel;/home/husarion/husarion_ws/devel;/opt/ros/melodic'.split(';')
         else:
             # don't consider any other prefix path than this one
             CMAKE_PREFIX_PATH = []
diff --git a/build/catkin_generated/generate_cached_setup.py b/build/catkin_generated/generate_cached_setup.py
index 3501718..716e2f8 100644
--- a/build/catkin_generated/generate_cached_setup.py
+++ b/build/catkin_generated/generate_cached_setup.py
@@ -12,7 +12,7 @@ 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/husarion/husarion_ws/devel;/opt/ros/melodic'.split(';'):
+    for workspace in '/home/husarion/ros_ws/devel;/home/husarion/husarion_ws/devel;/opt/ros/melodic'.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)
diff --git a/build/catkin_generated/installspace/_setup_util.py b/build/catkin_generated/installspace/_setup_util.py
index 9e48bf7..f99ab5c 100755
--- a/build/catkin_generated/installspace/_setup_util.py
+++ b/build/catkin_generated/installspace/_setup_util.py
@@ -268,7 +268,7 @@ if __name__ == '__main__':
 
         if not args.local:
             # environment at generation time
-            CMAKE_PREFIX_PATH = r'/home/husarion/husarion_ws/devel;/opt/ros/melodic'.split(';')
+            CMAKE_PREFIX_PATH = r'/home/husarion/ros_ws/devel;/home/husarion/husarion_ws/devel;/opt/ros/melodic'.split(';')
         else:
             # don't consider any other prefix path than this one
             CMAKE_PREFIX_PATH = []
diff --git a/build/catkin_generated/order_packages.py b/build/catkin_generated/order_packages.py
index 8e1ada9..367ff49 100644
--- a/build/catkin_generated/order_packages.py
+++ b/build/catkin_generated/order_packages.py
@@ -2,4 +2,4 @@
 source_root_dir = '/home/husarion/ros_ws/src'
 whitelisted_packages = ''.split(';') if '' != '' else []
 blacklisted_packages = ''.split(';') if '' != '' else []
-underlay_workspaces = '/home/husarion/husarion_ws/devel;/opt/ros/melodic'.split(';') if '/home/husarion/husarion_ws/devel;/opt/ros/melodic' != '' else []
+underlay_workspaces = '/home/husarion/ros_ws/devel;/home/husarion/husarion_ws/devel;/opt/ros/melodic'.split(';') if '/home/husarion/ros_ws/devel;/home/husarion/husarion_ws/devel;/opt/ros/melodic' != '' else []
diff --git a/build/catkin_generated/setup_cached.sh b/build/catkin_generated/setup_cached.sh
index 7c81e5f..7e34a2a 100755
--- a/build/catkin_generated/setup_cached.sh
+++ b/build/catkin_generated/setup_cached.sh
@@ -7,8 +7,4 @@
 # new environment variables
 
 # modified environment variables
-export CMAKE_PREFIX_PATH="/home/husarion/ros_ws/devel:$CMAKE_PREFIX_PATH"
-export LD_LIBRARY_PATH="/home/husarion/ros_ws/devel/lib:$LD_LIBRARY_PATH"
-export PKG_CONFIG_PATH="/home/husarion/ros_ws/devel/lib/pkgconfig:$PKG_CONFIG_PATH"
-export PWD='/home/husarion/ros_ws/build'
-export ROS_PACKAGE_PATH="/home/husarion/ros_ws/src:$ROS_PACKAGE_PATH"
\ No newline at end of file
+export PWD='/home/husarion/ros_ws/build'
\ No newline at end of file
diff --git a/build/catkin_generated/stamps/Project/_setup_util.py.stamp b/build/catkin_generated/stamps/Project/_setup_util.py.stamp
index 9e48bf7..f99ab5c 100755
--- a/build/catkin_generated/stamps/Project/_setup_util.py.stamp
+++ b/build/catkin_generated/stamps/Project/_setup_util.py.stamp
@@ -268,7 +268,7 @@ if __name__ == '__main__':
 
         if not args.local:
             # environment at generation time
-            CMAKE_PREFIX_PATH = r'/home/husarion/husarion_ws/devel;/opt/ros/melodic'.split(';')
+            CMAKE_PREFIX_PATH = r'/home/husarion/ros_ws/devel;/home/husarion/husarion_ws/devel;/opt/ros/melodic'.split(';')
         else:
             # don't consider any other prefix path than this one
             CMAKE_PREFIX_PATH = []
diff --git a/build/tutorial_pkg/CMakeFiles/my_first_node.dir/progress.make b/build/tutorial_pkg/CMakeFiles/my_first_node.dir/progress.make
index 7df1340..8063b3b 100644
--- a/build/tutorial_pkg/CMakeFiles/my_first_node.dir/progress.make
+++ b/build/tutorial_pkg/CMakeFiles/my_first_node.dir/progress.make
@@ -1,3 +1,3 @@
-CMAKE_PROGRESS_1 = 12
-CMAKE_PROGRESS_2 = 13
+CMAKE_PROGRESS_1 = 14
+CMAKE_PROGRESS_2 = 15
 
diff --git a/build/tutorial_pkg/CMakeFiles/progress.marks b/build/tutorial_pkg/CMakeFiles/progress.marks
index 0cfbf08..b8626c4 100644
--- a/build/tutorial_pkg/CMakeFiles/progress.marks
+++ b/build/tutorial_pkg/CMakeFiles/progress.marks
@@ -1 +1 @@
-2
+4
diff --git a/build/tutorial_pkg/Makefile b/build/tutorial_pkg/Makefile
index bbce0e7..ac3ec64 100644
--- a/build/tutorial_pkg/Makefile
+++ b/build/tutorial_pkg/Makefile
@@ -362,21 +362,6 @@ sensor_msgs_generate_messages_eus/fast:
 	cd /home/husarion/ros_ws/build && $(MAKE) -f tutorial_pkg/CMakeFiles/sensor_msgs_generate_messages_eus.dir/build.make tutorial_pkg/CMakeFiles/sensor_msgs_generate_messages_eus.dir/build
 .PHONY : sensor_msgs_generate_messages_eus/fast
 
-# Convenience name for target.
-tutorial_pkg/CMakeFiles/rosgraph_msgs_generate_messages_cpp.dir/rule:
-	cd /home/husarion/ros_ws/build && $(MAKE) -f CMakeFiles/Makefile2 tutorial_pkg/CMakeFiles/rosgraph_msgs_generate_messages_cpp.dir/rule
-.PHONY : tutorial_pkg/CMakeFiles/rosgraph_msgs_generate_messages_cpp.dir/rule
-
-# Convenience name for target.
-rosgraph_msgs_generate_messages_cpp: tutorial_pkg/CMakeFiles/rosgraph_msgs_generate_messages_cpp.dir/rule
-
-.PHONY : rosgraph_msgs_generate_messages_cpp
-
-# fast build rule for target.
-rosgraph_msgs_generate_messages_cpp/fast:
-	cd /home/husarion/ros_ws/build && $(MAKE) -f tutorial_pkg/CMakeFiles/rosgraph_msgs_generate_messages_cpp.dir/build.make tutorial_pkg/CMakeFiles/rosgraph_msgs_generate_messages_cpp.dir/build
-.PHONY : rosgraph_msgs_generate_messages_cpp/fast
-
 # Convenience name for target.
 tutorial_pkg/CMakeFiles/roscpp_generate_messages_lisp.dir/rule:
 	cd /home/husarion/ros_ws/build && $(MAKE) -f CMakeFiles/Makefile2 tutorial_pkg/CMakeFiles/roscpp_generate_messages_lisp.dir/rule
@@ -497,6 +482,36 @@ sensor_msgs_generate_messages_nodejs/fast:
 	cd /home/husarion/ros_ws/build && $(MAKE) -f tutorial_pkg/CMakeFiles/sensor_msgs_generate_messages_nodejs.dir/build.make tutorial_pkg/CMakeFiles/sensor_msgs_generate_messages_nodejs.dir/build
 .PHONY : sensor_msgs_generate_messages_nodejs/fast
 
+# Convenience name for target.
+tutorial_pkg/CMakeFiles/rosgraph_msgs_generate_messages_cpp.dir/rule:
+	cd /home/husarion/ros_ws/build && $(MAKE) -f CMakeFiles/Makefile2 tutorial_pkg/CMakeFiles/rosgraph_msgs_generate_messages_cpp.dir/rule
+.PHONY : tutorial_pkg/CMakeFiles/rosgraph_msgs_generate_messages_cpp.dir/rule
+
+# Convenience name for target.
+rosgraph_msgs_generate_messages_cpp: tutorial_pkg/CMakeFiles/rosgraph_msgs_generate_messages_cpp.dir/rule
+
+.PHONY : rosgraph_msgs_generate_messages_cpp
+
+# fast build rule for target.
+rosgraph_msgs_generate_messages_cpp/fast:
+	cd /home/husarion/ros_ws/build && $(MAKE) -f tutorial_pkg/CMakeFiles/rosgraph_msgs_generate_messages_cpp.dir/build.make tutorial_pkg/CMakeFiles/rosgraph_msgs_generate_messages_cpp.dir/build
+.PHONY : rosgraph_msgs_generate_messages_cpp/fast
+
+# Convenience name for target.
+tutorial_pkg/CMakeFiles/img_control_node.dir/rule:
+	cd /home/husarion/ros_ws/build && $(MAKE) -f CMakeFiles/Makefile2 tutorial_pkg/CMakeFiles/img_control_node.dir/rule
+.PHONY : tutorial_pkg/CMakeFiles/img_control_node.dir/rule
+
+# Convenience name for target.
+img_control_node: tutorial_pkg/CMakeFiles/img_control_node.dir/rule
+
+.PHONY : img_control_node
+
+# fast build rule for target.
+img_control_node/fast:
+	cd /home/husarion/ros_ws/build && $(MAKE) -f tutorial_pkg/CMakeFiles/img_control_node.dir/build.make tutorial_pkg/CMakeFiles/img_control_node.dir/build
+.PHONY : img_control_node/fast
+
 # Convenience name for target.
 tutorial_pkg/CMakeFiles/sensor_msgs_generate_messages_py.dir/rule:
 	cd /home/husarion/ros_ws/build && $(MAKE) -f CMakeFiles/Makefile2 tutorial_pkg/CMakeFiles/sensor_msgs_generate_messages_py.dir/rule
@@ -632,6 +647,33 @@ my_first_node/fast:
 	cd /home/husarion/ros_ws/build && $(MAKE) -f tutorial_pkg/CMakeFiles/my_first_node.dir/build.make tutorial_pkg/CMakeFiles/my_first_node.dir/build
 .PHONY : my_first_node/fast
 
+src/img_control.o: src/img_control.cpp.o
+
+.PHONY : src/img_control.o
+
+# target to build an object file
+src/img_control.cpp.o:
+	cd /home/husarion/ros_ws/build && $(MAKE) -f tutorial_pkg/CMakeFiles/img_control_node.dir/build.make tutorial_pkg/CMakeFiles/img_control_node.dir/src/img_control.cpp.o
+.PHONY : src/img_control.cpp.o
+
+src/img_control.i: src/img_control.cpp.i
+
+.PHONY : src/img_control.i
+
+# target to preprocess a source file
+src/img_control.cpp.i:
+	cd /home/husarion/ros_ws/build && $(MAKE) -f tutorial_pkg/CMakeFiles/img_control_node.dir/build.make tutorial_pkg/CMakeFiles/img_control_node.dir/src/img_control.cpp.i
+.PHONY : src/img_control.cpp.i
+
+src/img_control.s: src/img_control.cpp.s
+
+.PHONY : src/img_control.s
+
+# target to generate assembly for a file
+src/img_control.cpp.s:
+	cd /home/husarion/ros_ws/build && $(MAKE) -f tutorial_pkg/CMakeFiles/img_control_node.dir/build.make tutorial_pkg/CMakeFiles/img_control_node.dir/src/img_control.cpp.s
+.PHONY : src/img_control.cpp.s
+
 src/my_first_node.o: src/my_first_node.cpp.o
 
 .PHONY : src/my_first_node.o
@@ -666,6 +708,7 @@ help:
 	@echo "... clean"
 	@echo "... depend"
 	@echo "... install/strip"
+	@echo "... install"
 	@echo "... std_msgs_generate_messages_py"
 	@echo "... std_srvs_generate_messages_lisp"
 	@echo "... std_msgs_generate_messages_nodejs"
@@ -676,11 +719,9 @@ help:
 	@echo "... rosgraph_msgs_generate_messages_lisp"
 	@echo "... rosgraph_msgs_generate_messages_eus"
 	@echo "... std_srvs_generate_messages_cpp"
-	@echo "... install"
 	@echo "... std_msgs_generate_messages_lisp"
 	@echo "... sensor_msgs_generate_messages_cpp"
 	@echo "... sensor_msgs_generate_messages_eus"
-	@echo "... rosgraph_msgs_generate_messages_cpp"
 	@echo "... roscpp_generate_messages_lisp"
 	@echo "... geometry_msgs_generate_messages_nodejs"
 	@echo "... edit_cache"
@@ -692,6 +733,8 @@ help:
 	@echo "... roscpp_generate_messages_cpp"
 	@echo "... rebuild_cache"
 	@echo "... sensor_msgs_generate_messages_nodejs"
+	@echo "... rosgraph_msgs_generate_messages_cpp"
+	@echo "... img_control_node"
 	@echo "... sensor_msgs_generate_messages_py"
 	@echo "... geometry_msgs_generate_messages_cpp"
 	@echo "... geometry_msgs_generate_messages_lisp"
@@ -703,6 +746,9 @@ help:
 	@echo "... std_srvs_generate_messages_nodejs"
 	@echo "... std_srvs_generate_messages_py"
 	@echo "... my_first_node"
+	@echo "... src/img_control.o"
+	@echo "... src/img_control.i"
+	@echo "... src/img_control.s"
 	@echo "... src/my_first_node.o"
 	@echo "... src/my_first_node.i"
 	@echo "... src/my_first_node.s"
diff --git a/build/tutorial_pkg/catkin_generated/installspace/tutorial_pkgConfig.cmake b/build/tutorial_pkg/catkin_generated/installspace/tutorial_pkgConfig.cmake
index 3d266d2..2a0710d 100644
--- a/build/tutorial_pkg/catkin_generated/installspace/tutorial_pkgConfig.cmake
+++ b/build/tutorial_pkg/catkin_generated/installspace/tutorial_pkgConfig.cmake
@@ -154,7 +154,7 @@ foreach(library ${libraries})
     set(lib_path "")
     set(lib "${library}-NOTFOUND")
     # since the path where the library is found is returned we have to iterate over the paths manually
-    foreach(path /home/husarion/ros_ws/install/lib;/home/husarion/husarion_ws/devel/lib;/opt/ros/melodic/lib)
+    foreach(path /home/husarion/ros_ws/install/lib;/home/husarion/ros_ws/devel/lib;/home/husarion/husarion_ws/devel/lib;/opt/ros/melodic/lib)
       find_library(lib ${library}
         PATHS ${path}
         NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
diff --git a/devel/_setup_util.py b/devel/_setup_util.py
index 9e48bf7..f99ab5c 100755
--- a/devel/_setup_util.py
+++ b/devel/_setup_util.py
@@ -268,7 +268,7 @@ if __name__ == '__main__':
 
         if not args.local:
             # environment at generation time
-            CMAKE_PREFIX_PATH = r'/home/husarion/husarion_ws/devel;/opt/ros/melodic'.split(';')
+            CMAKE_PREFIX_PATH = r'/home/husarion/ros_ws/devel;/home/husarion/husarion_ws/devel;/opt/ros/melodic'.split(';')
         else:
             # don't consider any other prefix path than this one
             CMAKE_PREFIX_PATH = []
diff --git a/devel/lib/tutorial_pkg/img_control_node b/devel/lib/tutorial_pkg/img_control_node
new file mode 100755
index 0000000..23358f0
Binary files /dev/null and b/devel/lib/tutorial_pkg/img_control_node differ
diff --git a/devel/share/tutorial_pkg/cmake/tutorial_pkgConfig.cmake b/devel/share/tutorial_pkg/cmake/tutorial_pkgConfig.cmake
index c362222..4ba949f 100644
--- a/devel/share/tutorial_pkg/cmake/tutorial_pkgConfig.cmake
+++ b/devel/share/tutorial_pkg/cmake/tutorial_pkgConfig.cmake
@@ -154,7 +154,7 @@ foreach(library ${libraries})
     set(lib_path "")
     set(lib "${library}-NOTFOUND")
     # since the path where the library is found is returned we have to iterate over the paths manually
-    foreach(path /home/husarion/ros_ws/devel/lib;/home/husarion/husarion_ws/devel/lib;/opt/ros/melodic/lib)
+    foreach(path /home/husarion/ros_ws/devel/lib;/home/husarion/ros_ws/devel/lib;/home/husarion/husarion_ws/devel/lib;/opt/ros/melodic/lib)
       find_library(lib ${library}
         PATHS ${path}
         NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)