diff --git a/dxl_armed_turtlebot/launch/smallcircle.py b/dxl_armed_turtlebot/launch/smallcircle.py
new file mode 100644
index 00000000..28414f4d
--- /dev/null
+++ b/dxl_armed_turtlebot/launch/smallcircle.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python
+
+import rospy #rosにおけるpythonのクライアントライブラリ
+from opencv_apps.msg import RotatedRectStamped #opencv_apps/RotatedRectStampedのメッセージタイプを配信に再利用できる
+from image_view2.msg import ImageMarker2 #image_view2/ImageMarker2のメッセージタイプを配信に再利用できる
+from geometry_msgs.msg import Point #geometry_msgs/Pointのメッセージタイプを配信に再利用できる
+
+def cb(msg):
+	print msg.rect #受け取ったメッセージの矩形情報を垂れ流す
+	marker = ImageMarker2() #小さい丸のマーカーの型を作る
+	marker.type = 0 #マーカーの種類を決定
+	marker.position = Point(msg.rect.center.x, msg.rect.center.y, 0) #マーカーの位置を決定
+	pub.publish(marker) #作成されたメッセージ(marker)を現在のトピック(/Image_marker)に送信する
+
+rospy.init_node('client') #rospyにノード名をclientとして通知する
+rospy.Subscriber('/camshift/track_box', RotatedRectStamped, cb) #ノードがopencv_apps.RotatedRectStampedの方のcbトピックから購読することを宣言している
+pub = rospy.Publisher('/image_marker', ImageMarker2) #ノードが/image_markerのトピックにImageMarker2の型でメッセージを送っている
+rospy.spin() #プロセスが終了するまで、ずっとノードを保持する
diff --git a/dxl_armed_turtlebot/task/task3.py b/dxl_armed_turtlebot/task/task3.py
new file mode 100755
index 00000000..c827bdd4
--- /dev/null
+++ b/dxl_armed_turtlebot/task/task3.py
@@ -0,0 +1,24 @@
+#!/usr/bin/env python
+
+import rospy
+from sensor_msgs.msg import Joy
+from kobuki_msgs.msg import Led
+
+pub = rospy.Publisher('/mobile_base/commands/led1', Led)
+def callback(data):
+    print(rospy.get_caller_id()+"joy\n %s", data.buttons)
+    if data.buttons[5] == 1:
+        pub.publish(data.buttons[4]+1)
+    return
+
+
+def joy():
+    rospy.init_node('myJoy', anonymous=True)
+    rospy.Subscriber("/joy", Joy, callback)
+
+    print("spin")
+    rospy.spin()
+
+if __name__ == "__main__":
+    print("main")
+    joy()
diff --git a/dxl_armed_turtlebot/task/task5.l b/dxl_armed_turtlebot/task/task5.l
new file mode 100644
index 00000000..70289e45
--- /dev/null
+++ b/dxl_armed_turtlebot/task/task5.l
@@ -0,0 +1,18 @@
+(load "package://dxl_armed_turtlebot/euslisp/dxl-armed-turtlebot-interface.l")
+(dxl-armed-turtlebot-init)
+
+(ros::load-ros-manifest "sensor_msgs")
+(ros::roseus "joylistener" :anonymous t)
+
+(defun joy-cb (msg)
+(let ((buttons))
+    (progn
+        (print (list 'joy (send msg :buttons)))
+        (setq buttons (send msg:buttons))
+        (cond
+            (= buttons aref(buttons 4))
+                (send *ri* :go-velocity 0.1 0 0)
+        )
+    )
+)                
+                
diff --git a/lisp/#listener.l# b/lisp/#listener.l#
new file mode 100755
index 00000000..7240d19d
--- /dev/null
+++ b/lisp/#listener.l#
@@ -0,0 +1,19 @@
+#!/usr/bin/env roseus
+
+(ros::load-ros-manifest "kobuki_msgs")
+(ros::roseus "listener" :anonymous t)
+
+;; callback function
+(defun imudata-cb (msg)
+	(print (list 'button (send msg :button)))
+    (print (list 'state (send msg :state)))
+)
+(ros::subscribe "/mobile_base/events/button" kobuki_msgs::ButtonEvent #'imudata-cb)
+
+
+
+(ros::rate 10)
+(do-until-key
+	(ros::sleep)
+	(ros::spin-once))
+(exit)
diff --git a/lisp/listener.l b/lisp/listener.l
new file mode 100755
index 00000000..7240d19d
--- /dev/null
+++ b/lisp/listener.l
@@ -0,0 +1,19 @@
+#!/usr/bin/env roseus
+
+(ros::load-ros-manifest "kobuki_msgs")
+(ros::roseus "listener" :anonymous t)
+
+;; callback function
+(defun imudata-cb (msg)
+	(print (list 'button (send msg :button)))
+    (print (list 'state (send msg :state)))
+)
+(ros::subscribe "/mobile_base/events/button" kobuki_msgs::ButtonEvent #'imudata-cb)
+
+
+
+(ros::rate 10)
+(do-until-key
+	(ros::sleep)
+	(ros::spin-once))
+(exit)
diff --git a/turtleboteus/euslisp/listener.l b/turtleboteus/euslisp/listener.l
new file mode 100755
index 00000000..7240d19d
--- /dev/null
+++ b/turtleboteus/euslisp/listener.l
@@ -0,0 +1,19 @@
+#!/usr/bin/env roseus
+
+(ros::load-ros-manifest "kobuki_msgs")
+(ros::roseus "listener" :anonymous t)
+
+;; callback function
+(defun imudata-cb (msg)
+	(print (list 'button (send msg :button)))
+    (print (list 'state (send msg :state)))
+)
+(ros::subscribe "/mobile_base/events/button" kobuki_msgs::ButtonEvent #'imudata-cb)
+
+
+
+(ros::rate 10)
+(do-until-key
+	(ros::sleep)
+	(ros::spin-once))
+(exit)
diff --git a/turtleboteus/euslisp/task3.l b/turtleboteus/euslisp/task3.l
new file mode 100755
index 00000000..9265d4c5
--- /dev/null
+++ b/turtleboteus/euslisp/task3.l
@@ -0,0 +1,55 @@
+(turtlebot-init)
+
+(ros::load-ros-manifest "sensor_msgs")
+(ros::roseus "listener" :anonymous t)
+
+;; callback function
+(defun battery-cb (msg)
+    (progn
+    (print (list 'laptopcharge (send msg :percentage)))
+    (when (< 50 (send msg :percentage))
+        (send *ri* :publish-sound :error)
+)))
+
+(ros::subscribe "/laptop_charge" sensor_msgs::BatteryState #'battery-cb)
+
+
+
+(setq state 0)
+(setq wait 0)
+(ros::rate 100)
+(progn
+    (while t
+        ;(print (send *ri* :laptop-charge))
+        (ros::spin-once)
+        ;(print "here")
+        (cond
+            ((= state 0)
+                 (if (equal (send *ri* :state :bumper-vector) #f(0.0 0.0 0.0))
+                    (send *ri* :go-velocity 0 0 0)
+                    (setq state 1)
+                 )
+            )
+            ((= state 1)
+                 (if (> wait 100)
+                    (progn
+                        (setq state 0)
+                        (setq wait 0)
+                    )
+                    (progn
+                        (send *ri* :go-velocity -0.1 0 30)
+                        (setq wait (+ wait 1))
+                    )
+                 )
+             )
+            (t
+                (print "default")
+            )
+        )
+     )
+    (send *ri* :go-velocity 0 0 0)
+)
+                
+
+
+