diff --git a/vision_comm/src/vision_node.cpp b/vision_comm/src/vision_node.cpp
index 532efc45..ab9b5d92 100644
--- a/vision_comm/src/vision_node.cpp
+++ b/vision_comm/src/vision_node.cpp
@@ -1,6 +1,6 @@
 #include "ros/ros.h"
 #include "std_msgs/String.h"
-
+#include <bits/stdc++.h>
 #include "robocup_ssl_client.h"
 #include <sstream>
 #include <krssg_ssl_msgs/SSL_DetectionFrame.h>
@@ -10,7 +10,9 @@
 #include "messages_robocup_ssl_wrapper.pb.h"
 #include <ctime>
 #include "timer.h"
+#include <unistd.h>
 
+#define num_cam 4
 
 using namespace std;
 
@@ -30,18 +32,28 @@ int main(int argc, char **argv)
 	ros::Publisher chatter_pub = n.advertise<krssg_ssl_msgs::SSL_DetectionFrame>("vision", 10000);
 	// ros::Rate loop_rate(10);
 
-	
+	float max_ball_confidence = 0;
+	float max_blue_bot_confidence[6] = {0};
+	float max_yellow_bot_confidence[6] = {0};
+	int camera_bool[num_cam] = {0};
 	GOOGLE_PROTOBUF_VERIFY_VERSION;
-	int port = use_grsim_vision? 10020: 10016;
-	string net_address = "224.5.23.1";
+	int port = use_grsim_vision? 10020: 10006;
+	string net_address = "224.5.23.2";
 	RoboCupSSLClient client(port, net_address);	
 	client.open();
 	printf("Connected to %s.\n", use_grsim_vision? "grSim vision" : "ssl-vision");
 	SSL_WrapperPacket packet;
+	krssg_ssl_msgs::SSL_DetectionFrame msg;
+	int is_blue_bot_detected[6] = {0};
+	int is_yellow_bot_detected[6] = {0};
+	map< int, krssg_ssl_msgs::SSL_DetectionRobot > blue_bots;
+	map< int, krssg_ssl_msgs::SSL_DetectionRobot > yellow_bots;
+	krssg_ssl_msgs::SSL_DetectionBall ball;
 	while(ros::ok()) {
-		printf("........\n");
+		//printf("........abcd\n");
 		if (client.receive(packet)) {
-			krssg_ssl_msgs::SSL_DetectionFrame msg;
+			cout<<"In IF************\n";
+			
 			//see if the packet contains a robot detection frame:
 			if (packet.has_detection()) {
 				SSL_DetectionFrame detection = packet.detection();
@@ -51,56 +63,121 @@ int main(int argc, char **argv)
 
 				msg.frame_number = detection.frame_number();
 				msg.t_capture = detection.t_capture();
+				
+				cout<<"Frame number: "<<msg.frame_number<<endl;
 				msg.t_sent = detection.t_sent();
 				msg.camera_id = detection.camera_id();
 				//Ball info:
+				cout<<"Camera num: "<<detection.camera_id()<<endl;
+				if (camera_bool[detection.camera_id()] == 1)
+				{
+					max_ball_confidence = 0;
+					msg.balls.push_back(ball);	
+					// cout << "ball.x"				
+				}
 				for (int i = 0; i < balls_n; i++) {
-					SSL_DetectionBall ball = detection.balls(i);
-					krssg_ssl_msgs::SSL_DetectionBall ballmsg;
-					ballmsg.confidence = ball.confidence();
-					ballmsg.area = ball.area();
-					ballmsg.x = ball.x();
-					ballmsg.y = ball.y();
-					ballmsg.z = ball.z();
+					SSL_DetectionBall ball_new = detection.balls(i);
+					
+					//krssg_ssl_msgs::SSL_DetectionBall ballmsg;
+					if (ball_new.confidence() > max_ball_confidence)
+					{
+						max_ball_confidence = ball_new.confidence();
+						ball.confidence = ball_new.confidence();
+						ball.area = ball_new.area();
+						ball.x = ball_new.x();
+						ball.y = ball_new.y();
+						ball.z = ball_new.z();
+					}
+					
 					// Not using 
 					// ballmsg.pixel_x = ball.pixel_x();
 					// ballmsg.pixel_y = ball.pixel_y();
-					msg.balls.push_back(ballmsg);
-					cout << "Ball pos: " << ballmsg.x<<"," << ballmsg.y<<endl;
+					//msg.balls.push_back(ballmsg);
+					//cout << "Ball pos: " << ballmsg.x<<"," << ballmsg.y<<endl;
 				}
 
 				//Blue robot info:
+				//cout<<"********* "<<robots_blue_n<<endl;
+				if (camera_bool[detection.camera_id()] == 1)
+				{
+					//cout<<"Updating Blue bots"<<endl;
+					for(int i = 0; i < 6; i++)
+					{
+						//if(is_blue_bot_detected[i] == 1)
+						msg.robots_blue.push_back(blue_bots[i]);
+						max_blue_bot_confidence[i] = 0;
+					}
+					for(int i = 0; i < 6; i++)
+						is_blue_bot_detected[i] = 0;
+				}
 				for (int i = 0; i < robots_blue_n; i++) {
 					SSL_DetectionRobot robot = detection.robots_blue(i);
-					krssg_ssl_msgs::SSL_DetectionRobot botmsg;
-					botmsg.confidence = robot.confidence();
-					botmsg.robot_id = robot.robot_id();
-					botmsg.x = robot.x();
-					botmsg.y = robot.y();
-					botmsg.orientation = robot.orientation();
+					// krssg_ssl_msgs::SSL_DetectionRobot botmsg;
+					blue_bots[robot.robot_id()].robot_id = robot.robot_id();
+					if (robot.confidence() > max_blue_bot_confidence[blue_bots[robot.robot_id()].robot_id])
+					{
+						max_blue_bot_confidence[blue_bots[robot.robot_id()].robot_id] = robot.confidence();
+						blue_bots[robot.robot_id()].confidence = robot.confidence();
+						blue_bots[robot.robot_id()].x = robot.x();
+						blue_bots[robot.robot_id()].y = robot.y();
+						blue_bots[robot.robot_id()].orientation = robot.orientation();
+					}
 					// Not using
 					// botmsg.pixel_x = robot.pixel_x();
 					// botmsg.pixel_y = robot.pixel_y();
 					// botmsg.height = robot.height();
-					msg.robots_blue.push_back(botmsg);
-					cout << "Blue bot detected, bot_id =  " << robot.robot_id() << " pos: " << robot.x() << " " << robot.y() << endl;
+					//msg.robots_blue.push_back(botmsg);
+					//cout << "Blue bot detected, bot_id =  " << robot.robot_id() << " pos: " << robot.x() << " " << robot.y() << endl;
+				}
+				if (camera_bool[detection.camera_id()] == 1)
+				{
+					for(int i = 0; i < 6; i++)
+						max_yellow_bot_confidence[i] = 0,is_yellow_bot_detected[i] = 0;
+					//msg.robots_yellow = yellow_bots;
 				}
-
 				//Yellow robot info:
 				for (int i = 0; i < robots_yellow_n; i++) {
 					SSL_DetectionRobot robot = detection.robots_yellow(i);
-					krssg_ssl_msgs::SSL_DetectionRobot botmsg;
-					botmsg.confidence = robot.confidence();
-					botmsg.robot_id = robot.robot_id();
-					botmsg.x = robot.x();
-					botmsg.y = robot.y();
-					botmsg.orientation = robot.orientation();
+					
+					//krssg_ssl_msgs::SSL_DetectionRobot botmsg;
+					yellow_bots[robot.robot_id()].robot_id = robot.robot_id();
+					if (robot.confidence() > max_yellow_bot_confidence[yellow_bots[robot.robot_id()].robot_id])
+					{
+						max_yellow_bot_confidence[yellow_bots[robot.robot_id()].robot_id] = robot.confidence();
+						yellow_bots[robot.robot_id()].confidence = robot.confidence();
+						yellow_bots[robot.robot_id()].x = robot.x();
+						yellow_bots[robot.robot_id()].y = robot.y();
+						yellow_bots[robot.robot_id()].orientation = robot.orientation();
+					}
+					
 					// Not using
 					// botmsg.pixel_x = robot.pixel_x();
 					// botmsg.pixel_y = robot.pixel_y();
 					// botmsg.height = robot.height();
-					msg.robots_yellow.push_back(botmsg);
+					//msg.robots_yellow.push_back(botmsg);
+
+				}
+				if(camera_bool[detection.camera_id()] == 1)
+				{	
+					for(int i = 0; i < 6; i++)
+					{
+						//if(is_yellow_bot_detected[i] == 1)
+						msg.robots_yellow.push_back(yellow_bots[i]);
+						
+					}
+					
+					cout << "ball size       "<<msg.balls.size() << endl;
+					chatter_pub.publish(msg);
+					for(int i = 0; i < num_cam; i++)
+					{
+						camera_bool[i] = 0;
+					}
+					msg.robots_blue.clear();
+					msg.robots_yellow.clear();
+					msg.balls.clear();
+
 				}
+				camera_bool[detection.camera_id()] = 1;
 
 			}
 
@@ -114,12 +191,13 @@ int main(int argc, char **argv)
 			// 		const SSL_GeometryCameraCalibration & calib = geom.calib(i);
 			// 	}
 			// }
-			// printf("sending packet...\n");
-			chatter_pub.publish(msg);
+			//cout<<"sending packet...\n";
+			
+			//chatter_pub.publish(msg);
 		}
 		ros::spinOnce();
 		// loop_rate.sleep();
 	}
 
 	return 0;
-}
\ No newline at end of file
+}