diff --git a/docker2021.md b/docker2021.md
new file mode 100644
index 0000000000000000000000000000000000000000..a2c9e3eea4b5c369a90aecdd7eb1ef8ff2b1d806
--- /dev/null
+++ b/docker2021.md
@@ -0,0 +1,40 @@
+
+## System requirements
+
+OS: Ubuntu
+App: docker, tmux
+
+## Step 1
+
+create a new tmux session and several windows
+
+```
+bash setup_tmux.sh
+```
+
+## Step 2
+
+attach the tmux session to the terminal
+
+```
+tmux a
+```
+## Step 3
+
+Switch to 2nd window (src/t_all.sh t2)
+
+Ctrl-b w
+
+Enter
+
+Switch to next window and run command (t3,t4,t5,t5a/t5a)
+
+## Step
+
+detach tmux session and return the terminal
+
+Ctrl-b d
+
+```
+bash close_tmux.sh
+```
diff --git a/route_guidance_ros/requirements.txt b/route_guidance_ros/requirements.txt
index 4226c03d297f03200f3495f378962a09c20a6f63..8a07e9b7a2b94c576397367790bf7053b8cfee6c 100644
--- a/route_guidance_ros/requirements.txt
+++ b/route_guidance_ros/requirements.txt
@@ -1,4 +1,5 @@
-pyrois==0.0.3
+pyrois==0.0.6
+pyRoIS-common==0.0.6
 numpy
 termcolor
 transitions
diff --git a/route_guidance_ros/scripts/service_app_with_eng_client.py b/route_guidance_ros/scripts/service_app_with_eng_client.py
index 841e879fc7bcf5e46e2be759746aff293937ed8b..a9d68589622bdc230fa30635200fa67fff3334aa 100644
--- a/route_guidance_ros/scripts/service_app_with_eng_client.py
+++ b/route_guidance_ros/scripts/service_app_with_eng_client.py
@@ -2,7 +2,7 @@
 from pyrois import RoIS_Service, RoIS_HRI
 from pyrois.RoIS_Common import Component_Status
 from pyrois.RoIS_Service import Completed_Status
-import HRI_Engine_client_sample
+from pyrois_common import HRI_Engine_client_sample
 
 import logging
 import queue
@@ -127,10 +127,11 @@ class Service(HRI_Engine_client_sample.IF):
         self.get_parameter('urn:x-rois:def:HRIComponent:Kyutech:main:SystemInformation')
 
         self.Start()
-        print(self.state)
+        # print(self.state)
         # self.PLSuccess()
         # print(self.state)
-
+        while True:
+            time.sleep(5)
 
 if __name__ == '__main__':
     service = Service()
diff --git a/route_guidance_ros/scripts/setup_comp_servers.py b/route_guidance_ros/scripts/setup_comp_servers.py
index 4db0b39a68119e438519e15e0cced6066baa1d45..0efc1434130dbbe5ee21f46b9e15825cf7670b70 100644
--- a/route_guidance_ros/scripts/setup_comp_servers.py
+++ b/route_guidance_ros/scripts/setup_comp_servers.py
@@ -65,7 +65,7 @@ def launch_components_and_subengines(**robot_port_table):
     ]
     process.append(SubprocessWrapper(command))
     print("Person Localization Component Constructed.")
-    time.sleep(10)
+    # time.sleep(10)
 
     # for engine_port in robot_port_table.values():
     #     process.append(SubEngineWrapper(engine_port))
diff --git a/route_guidance_ros/scripts/setup_engines.py b/route_guidance_ros/scripts/setup_engines.py
new file mode 100644
index 0000000000000000000000000000000000000000..eca75e5cb964db8e57c6063fa7c2cb59f4c55fc9
--- /dev/null
+++ b/route_guidance_ros/scripts/setup_engines.py
@@ -0,0 +1,5 @@
+#!/usr/bin/env python
+
+from pyrois_common import HRI_Engine_sample
+
+HRI_Engine_sample.test_engine(8000,'engine_profile/engine_profile_gazebo', 'client_info_gazebo', None, None)
diff --git a/run_docker_i.sh b/run_docker_i.sh
index 90602d7e857453d69bb549d11df59272b0c44a15..e4bd62b39f05cbafb9d643b2abe9a54416694a96 100644
--- a/run_docker_i.sh
+++ b/run_docker_i.sh
@@ -2,4 +2,4 @@ xhost +
 docker run -it --rm --name sim --gpus all \
   -e DISPLAY=$DISPLAY -v "/tmp/.X11-unix:/tmp/.X11-unix:rw" \
   --device /dev/snd -v "${PWD}:/root/src" \
-  mysim:melodic bash /root/src/start_i.sh
+  mysim:melodic-1.0 bash /root/src/start_i.sh
diff --git a/setup_tmux.sh b/setup_tmux.sh
index a5c2181d60658bf8045295e8ae83c83abc482ce5..04ff4ac4ecf52c6d18851dad47c4f852921917ae 100644
--- a/setup_tmux.sh
+++ b/setup_tmux.sh
@@ -2,30 +2,32 @@
 
 echo "launch gazebo"
 tmux new-session -d \; \
-    send-keys "bash run_docker_i.sh" C-m\;
+    send-keys "bash run_docker_i.sh" C-m \;
 
-sleep 5
+# sleep 5
 echo "spawn a human"
 tmux new-window \; \
-    send-keys "docker exec -it sim bash src/t2.sh" C-m \;
+    send-keys "docker exec -it sim bash src/t_all.sh t2" \;
 
-sleep 5
+# sleep 5
 echo "setup components"
 tmux new-window \; \
-    send-keys "docker exec -it sim bash src/t3.sh" C-m \;
+    send-keys "docker exec -it sim bash src/t_all.sh t3" \;
 
-sleep 15
-echo "run service app"
+# sleep 15
+echo "run HRI engines"
 tmux new-window \; \
-    send-keys "docker exec -it sim bash src/t4.sh" C-m \;
+    send-keys "docker exec -it sim bash src/t_all.sh t4" \;
 
-sleep 15
-echo "operate the human"
+# sleep 15
+echo "run SA"
 tmux new-window \; \
-    send-keys "docker exec -it sim bash src/t5a.sh" C-m \;
+    send-keys "docker exec -it sim bash src/t_all.sh t5" \;
 
-sleep 30
-echo "ask the robot to navigate"
+# sleep 30
+echo "operate human to walk"
 tmux new-window \; \
-    send-keys "docker exec -it sim bash src/t5o.sh" C-m \;
-echo "finish script"
\ No newline at end of file
+    send-keys "docker exec -it sim bash src/t_all.sh t5a" \;
+echo "finish script"
+
+tmux a
diff --git a/t3.sh b/t3.sh
index f355409ed48189b4362c5c46b69e39c0fe25398c..bfcd1c2e658b1aabeb52ac1b2fbbd1e191809b4c 100644
--- a/t3.sh
+++ b/t3.sh
@@ -1,3 +1,4 @@
 . devel/setup.bash
 roscd route_guidance_ros/scripts/
-python3 -c "import utilities;utilities.setup_single_robot();input('hit Enter key')"
+# python3 -c "import utilities;utilities.setup_single_robot();input('hit Enter key')"
+python3 -c "import setup_comp_servers;setup_comp_servers.setup_single_robot();input('hit Enter key')"
diff --git a/t4.sh b/t4.sh
index 3f7a522ee7ab472a6c6a5302195b38e85713004e..78a7296b86b74781ed9c310970d3fc2bafdd772e 100644
--- a/t4.sh
+++ b/t4.sh
@@ -1,3 +1,4 @@
 .  devel/setup.bash
 roscd route_guidance_ros/scripts/
-python3 service_app_lv2.py
+# python3 service_app_lv2.py
+python3 setup_engines.py
\ No newline at end of file
diff --git a/t5.sh b/t5.sh
index 68a169a34aec3f6761d9da71faee5ba59a0f39c4..d7b31d92d4a07f51511e5a9ba5be2645aa641447 100644
--- a/t5.sh
+++ b/t5.sh
@@ -1,3 +1,5 @@
 .  devel/setup.bash
-cd src
-rosbag play -q gan_cmd01.bag
\ No newline at end of file
+# cd src
+# rosbag play -q gan_cmd01.bag
+roscd route_guidance_ros/scripts/
+python3 service_app_with_eng_client.py
\ No newline at end of file
diff --git a/t_all.sh b/t_all.sh
new file mode 100644
index 0000000000000000000000000000000000000000..a04adaf61cf6abf8dbff6c54f380722c615c3f2c
--- /dev/null
+++ b/t_all.sh
@@ -0,0 +1,27 @@
+source devel/setup.bash
+
+case $1 in
+    "t2" )
+        roslaunch rois_gazebo spawn_human.launch
+        ;;
+    "t3" )
+        roscd route_guidance_ros/scripts/
+        python3 -c "import setup_comp_servers;setup_comp_servers.setup_single_robot();input('hit Enter key')"
+        ;;
+    "t4" )
+        roscd route_guidance_ros/scripts/
+        python3 setup_engines.py
+        ;;
+    "t5" )
+        roscd route_guidance_ros/scripts/
+        python3 service_app_with_eng_client.py
+        ;;
+    "t5a" )
+        rostopic pub -1 human1/diff_drive_controller/cmd_vel geometry_msgs/Twist -- "[0,0,0]" "[0,0,-1]"
+        rostopic pub -1 human1/diff_drive_controller/cmd_vel geometry_msgs/Twist -- "[1,0,0]" "[0,0,0]"
+        rostopic pub -1 human1/diff_drive_controller/cmd_vel geometry_msgs/Twist -- "[1,0,0]" "[0,0,0]"
+        ;;
+    "t5o" )
+        rostopic pub -1 robot1/detected_text std_msgs/String "data: 'point_a'"
+        ;;
+esac
\ No newline at end of file