diff --git a/vision_stack/vision_gui/CMakeLists.txt b/vision_stack/vision_gui/CMakeLists.txt
index 49dfa3a..207b313 100644
--- a/vision_stack/vision_gui/CMakeLists.txt
+++ b/vision_stack/vision_gui/CMakeLists.txt
@@ -25,7 +25,7 @@ FIND_PACKAGE(Qt4 REQUIRED)
 find_package( OpenCV REQUIRED )
 INCLUDE(${QT_USE_FILE})
 ADD_DEFINITIONS(-DQT_NO_KEYWORDS)
-include_directories(include/${PROJECT_NAME}/ ${CMAKE_CURRENT_BINARY_DIR})
+include_directories(include/${PROJECT_NAME}/ ${CMAKE_CURRENT_BINARY_DIR} task_bouy/include/ task_marker/include/)
 
 ##############################################################################
 # Ros Initialisation
diff --git a/vision_stack/vision_gui/include/ImageNew/mainwindow.hpp b/vision_stack/vision_gui/include/ImageNew/mainwindow.hpp
index 125a4ea..83b26be 100644
--- a/vision_stack/vision_gui/include/ImageNew/mainwindow.hpp
+++ b/vision_stack/vision_gui/include/ImageNew/mainwindow.hpp
@@ -24,6 +24,11 @@
 #include <cstring>
 #include <sstream>
 #include <QtCore>
+#include <ros/ros.h>
+#include <ros/network.h>
+#include <cv_bridge/cv_bridge.h>
+#include <image_transport/image_transport.h>
+
 class MyLabel : public QLabel
 {
 
@@ -59,6 +64,8 @@ public Q_SLOTS:
     void on_startCamera_clicked();
     void on_pauseCamera_clicked();
     void on_closeCamera_clicked();
+    void on_submitRosTopic_clicked();
+
     // slider callbacks
     void on_HValue_slider_valueChanged(int value);
     void on_SValue_slider_valueChanged(int value);
@@ -67,6 +74,7 @@ public Q_SLOTS:
     void on_SThreshValue_slider_valueChanged(int value);
     void on_VThreshValue_slider_valueChanged(int value);
     void on_colorImage_mouseDoubleClickEvent(QMouseEvent * ev);
+    void imageCallBack(const sensor_msgs::ImageConstPtr &_msg);
 
     /******** Filters ****************/
 
@@ -119,12 +127,17 @@ public Q_SLOTS:
     Ui::MainWindow *ui;
     bool camera_opend,video_being_processed;
     cv::Scalar start,end;
+    // ros::NodeHandle n;
+    // image_transport::ImageTransport it(n);
+    // image_transport::Subscriber sub;
+    // const sensor_msgs::ImageConstPtr &msg;
     std::string fileName;
     QTimer *timer;
     cv::Mat colorImage,displayImage,thImage,binaryImage,camImage;
     cv::VideoCapture cam;
     cv::Size image_size;
     MyLabel *colorLabel;
+    // sensor_msgs::ImageConstPtr msg;
     cv::Vec3b vec;
     bool getNextFrame(cv::Mat &img);
     void displayImages();
diff --git a/vision_stack/vision_gui/manifest.xml b/vision_stack/vision_gui/manifest.xml
index 6c63de7..1250325 100644
--- a/vision_stack/vision_gui/manifest.xml
+++ b/vision_stack/vision_gui/manifest.xml
@@ -10,8 +10,12 @@
   <url>http://ros.org/wiki/ImageNew</url>
   <depend package="roscpp"/>
   <depend package="cv_bridge"/>
+  <depend package="image_transport"/>
   <depend package="blob"/>
   <depend package="resources"/>
+  <depend package="actionlib"/>
+  <depend package="actionmsg"/>
+  <depend package="kraken_msgs"/>
 
 </package>
 
diff --git a/vision_stack/vision_gui/src/mainwindow.cpp b/vision_stack/vision_gui/src/mainwindow.cpp
index 333288c..0fcb36f 100644
--- a/vision_stack/vision_gui/src/mainwindow.cpp
+++ b/vision_stack/vision_gui/src/mainwindow.cpp
@@ -5,7 +5,6 @@
 #include <fstream>
 #include <stdio.h>
 #include <stdlib.h>
-
 #include <blob/blob.h>
 #include <blob/BlobResult.h>
 #include <blob/BlobContour.h>
@@ -13,6 +12,10 @@
 #include <blob/BlobOperators.h>
 #include <blob/ComponentLabeling.h>
 #include <blob/BlobProperties.h>
+#include <ros/ros.h>
+#include <ros/network.h>
+#include <cv_bridge/cv_bridge.h>
+#include <image_transport/image_transport.h>
 
 QString fn_video;
 
@@ -76,6 +79,7 @@ MyWindow::MyWindow(QWidget *parent) :
     filter_arg2 = B_LESS;
     filter_arg4 = B_INCLUDE;
     filter_arg5_area = 500;
+
 }
 
 void MyWindow::setThresh()
@@ -502,6 +506,48 @@ void MyWindow::on_closeCamera_clicked()
     ui->closeCamera->setEnabled(false);
 }
 
+void MyWindow::on_submitRosTopic_clicked()
+{
+    QString topic = ui->textRosTopic->text();
+    try
+    {
+        int argc = 0;
+        ros::init(argc,NULL,"vision_gui_rostopic");
+        ros::NodeHandle n;
+        std::cout <<"Correct ROS Topic input given."<< std::endl;
+        image_transport::ImageTransport it(n);
+        image_transport::Subscriber sub;
+        while(ros::ok())
+        {
+            sub = it.subscribe(topic.toUtf8().constData(), 1, &MyWindow::imageCallBack, this);
+            std::cout <<"ROS Loop"<< std::endl;
+        }
+        ros::shutdown();
+    }    
+    catch (ros::InvalidNameException& e)
+    {
+        std::cout <<"Incorrect ROS Topic input given : "<<topic.toUtf8().constData()<< std::endl;
+        ros::shutdown();
+    }
+}
+
+void MyWindow::imageCallBack(const sensor_msgs::ImageConstPtr &_msg)
+{
+    try
+    {
+        cv_bridge::CvImagePtr imagePtr = cv_bridge::toCvCopy(_msg, "bgr8");
+        std::cout <<"ROS Topic Subscription Callback." << std::endl;
+        camImage = imagePtr->image;
+        source_from_log = true;
+        video_being_processed = true;
+        setThresh();
+    }
+    catch (cv_bridge::Exception& e)
+    {
+        std::cout <<"ROS Topic input given : Could not convert from" << _msg->encoding.c_str() << std::endl;
+    }
+}
+
 void MyWindow::on_HValue_slider_valueChanged(int value)
 {
     std::ostringstream str;
diff --git a/vision_stack/vision_gui/src/mainwindow.hpp b/vision_stack/vision_gui/src/mainwindow.hpp
index 8d659ab..5f52076 100644
--- a/vision_stack/vision_gui/src/mainwindow.hpp
+++ b/vision_stack/vision_gui/src/mainwindow.hpp
@@ -24,6 +24,11 @@
 #include <cstring>
 #include <sstream>
 #include <QtCore>
+#include <ros/ros.h>
+#include <ros/network.h>
+#include <cv_bridge/cv_bridge.h>
+#include <image_transport/image_transport.h>
+
 class MyLabel : public QLabel
 {
 
@@ -59,6 +64,8 @@ public Q_SLOTS:
     void on_startCamera_clicked();
     void on_pauseCamera_clicked();
     void on_closeCamera_clicked();
+    void on_submitRosTopic_clicked();
+
     // slider callbacks
     void on_HValue_slider_valueChanged(int value);
     void on_SValue_slider_valueChanged(int value);
@@ -67,6 +74,7 @@ public Q_SLOTS:
     void on_SThreshValue_slider_valueChanged(int value);
     void on_VThreshValue_slider_valueChanged(int value);
     void on_colorImage_mouseDoubleClickEvent(QMouseEvent * ev);
+    void imageCallBack(const sensor_msgs::ImageConstPtr &msg);
 
     /******** Filters ****************/
 
@@ -119,6 +127,10 @@ public Q_SLOTS:
     Ui::MainWindow *ui;
     bool camera_opend,video_being_processed;
     cv::Scalar start,end;
+    // ros::NodeHandle n;
+    // image_transport::ImageTransport it(n);
+    // image_transport::Subscriber sub;
+    // const sensor_msgs::ImageConstPtr &msg;
     std::string fileName;
     QTimer *timer;
     cv::Mat colorImage,displayImage,thImage,binaryImage,camImage;
@@ -126,6 +138,7 @@ public Q_SLOTS:
     cv::Size image_size;
     MyLabel *colorLabel;
     cv::Vec3b vec;
+    // sensor_msgs::ImageConstPtr msg;
     bool getNextFrame(cv::Mat &img);
     void displayImages();
     void setThresh();
diff --git a/vision_stack/vision_gui/ui/mainwindow.ui b/vision_stack/vision_gui/ui/mainwindow.ui
index 04f630c..446494e 100644
--- a/vision_stack/vision_gui/ui/mainwindow.ui
+++ b/vision_stack/vision_gui/ui/mainwindow.ui
@@ -50,6 +50,11 @@
               <string>Open Video</string>
              </property>
             </item>
+            <item>
+             <property name="text">
+              <string>Open Bag</string>
+             </property>
+            </item>
            </widget>
           </item>
           <item row="0" column="1">
@@ -108,6 +113,20 @@
             </property>
            </widget>
           </item>
+          <item row="4" column="0">
+           <widget class="QLineEdit" name="textRosTopic">
+            <property name="text">
+             <string>/kraken/front_camera/buoy_image</string>
+            </property>
+           </widget>
+          </item>
+          <item row="4" column="1">
+           <widget class="QPushButton" name="submitRosTopic">
+            <property name="text">
+             <string>Submit ROS topic</string>
+            </property>
+           </widget>
+          </item>
          </layout>
         </item>
         <item>