diff --git a/uwrt_mars_rover_navigation/plot/backup_cleaned.txt b/uwrt_mars_rover_navigation/plot/backup_cleaned.txt
new file mode 100644
index 00000000..6877c059
--- /dev/null
+++ b/uwrt_mars_rover_navigation/plot/backup_cleaned.txt
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diff --git a/uwrt_mars_rover_navigation/plot/calc.py b/uwrt_mars_rover_navigation/plot/calc.py
new file mode 100644
index 00000000..50119448
--- /dev/null
+++ b/uwrt_mars_rover_navigation/plot/calc.py
@@ -0,0 +1,32 @@
+from math import radians, sin, cos, sqrt, atan2
+import sys
+
+def haversine_distance(lat1, lon1, lat2, lon2):
+    # Convert latitude and longitude from degrees to radians
+    lat1, lon1, lat2, lon2 = map(radians, [lat1, lon1, lat2, lon2])
+
+    # Haversine formula
+    dlat = lat2 - lat1
+    dlon = lon2 - lon1
+    a = sin(dlat / 2)**2 + cos(lat1) * cos(lat2) * sin(dlon / 2)**2
+    c = 2 * atan2(sqrt(a), sqrt(1 - a))
+
+    # Radius of the Earth in meters (mean value)
+    earth_radius = 6371000
+
+    # Calculate the distance
+    distance = earth_radius * c
+
+    return distance
+
+# Define the fixed point
+fixed_point = (43.54245135, -80.51818219)
+
+# Read input from stdin
+for line in sys.stdin:
+    timestamp, latitude, longitude = map(float, line.split())
+    
+    # Calculate distance using the haversine_distance function
+    distance = haversine_distance(latitude, longitude, *fixed_point)
+    
+    print(f"{timestamp} {distance}")
diff --git a/uwrt_mars_rover_navigation/plot/cleaned.txt b/uwrt_mars_rover_navigation/plot/cleaned.txt
new file mode 100644
index 00000000..6877c059
--- /dev/null
+++ b/uwrt_mars_rover_navigation/plot/cleaned.txt
@@ -0,0 +1,35760 @@
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diff --git a/uwrt_mars_rover_navigation/plot/data.txt b/uwrt_mars_rover_navigation/plot/data.txt
new file mode 100644
index 00000000..a8b65996
--- /dev/null
+++ b/uwrt_mars_rover_navigation/plot/data.txt
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+[ros2run]: Interrupt
diff --git a/uwrt_mars_rover_navigation/plot/end.txt b/uwrt_mars_rover_navigation/plot/end.txt
new file mode 100644
index 00000000..0d8e1051
--- /dev/null
+++ b/uwrt_mars_rover_navigation/plot/end.txt
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diff --git a/uwrt_mars_rover_navigation/plot/final.txt b/uwrt_mars_rover_navigation/plot/final.txt
new file mode 100644
index 00000000..2a0405c7
--- /dev/null
+++ b/uwrt_mars_rover_navigation/plot/final.txt
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diff --git a/uwrt_mars_rover_navigation/plot/plot.py b/uwrt_mars_rover_navigation/plot/plot.py
new file mode 100644
index 00000000..44da8d00
--- /dev/null
+++ b/uwrt_mars_rover_navigation/plot/plot.py
@@ -0,0 +1,22 @@
+import matplotlib.pyplot as plt
+
+def plot_distance_time(file_path):
+    timestamps = []
+    distances = []
+
+    # Read data from the file
+    with open(file_path, 'r') as file:
+        for line in file:
+            timestamp, distance = map(float, line.split())
+            timestamps.append(timestamp)
+            distances.append(distance)
+
+    # Plot the data
+    plt.plot(timestamps, distances, marker='o', linestyle='-')
+    plt.title('Distance vs Time')
+    plt.xlabel('Timestamp')
+    plt.ylabel('Distance (meters)')
+    plt.grid(True)
+    plt.show()
+
+plot_distance_time('end.txt')
diff --git a/uwrt_mars_rover_navigation/plot/vn300_accuracy.png b/uwrt_mars_rover_navigation/plot/vn300_accuracy.png
new file mode 100644
index 00000000..e126cbb1
Binary files /dev/null and b/uwrt_mars_rover_navigation/plot/vn300_accuracy.png differ
diff --git a/uwrt_mars_rover_navigation/vn300_accuracy/package.xml b/uwrt_mars_rover_navigation/vn300_accuracy/package.xml
new file mode 100644
index 00000000..73e28cd2
--- /dev/null
+++ b/uwrt_mars_rover_navigation/vn300_accuracy/package.xml
@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>vn300_accuracy</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="edawordwang@gmail.com">edw</maintainer>
+  <license>TODO: License declaration</license>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <depend>sensor_msgs</depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>
diff --git a/uwrt_mars_rover_navigation/vn300_accuracy/resource/vn300_accuracy b/uwrt_mars_rover_navigation/vn300_accuracy/resource/vn300_accuracy
new file mode 100644
index 00000000..e69de29b
diff --git a/uwrt_mars_rover_navigation/vn300_accuracy/setup.cfg b/uwrt_mars_rover_navigation/vn300_accuracy/setup.cfg
new file mode 100644
index 00000000..c71eda6f
--- /dev/null
+++ b/uwrt_mars_rover_navigation/vn300_accuracy/setup.cfg
@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/vn300_accuracy
+[install]
+install_scripts=$base/lib/vn300_accuracy
diff --git a/uwrt_mars_rover_navigation/vn300_accuracy/setup.py b/uwrt_mars_rover_navigation/vn300_accuracy/setup.py
new file mode 100644
index 00000000..4ba54754
--- /dev/null
+++ b/uwrt_mars_rover_navigation/vn300_accuracy/setup.py
@@ -0,0 +1,26 @@
+from setuptools import find_packages, setup
+
+package_name = 'vn300_accuracy'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='edw',
+    maintainer_email='edawordwang@gmail.com',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'vn300_accuracy_node = vn300_accuracy.vn300_accuracy_node:main'
+        ],
+    },
+)
diff --git a/uwrt_mars_rover_navigation/vn300_accuracy/test/test_copyright.py b/uwrt_mars_rover_navigation/vn300_accuracy/test/test_copyright.py
new file mode 100644
index 00000000..97a39196
--- /dev/null
+++ b/uwrt_mars_rover_navigation/vn300_accuracy/test/test_copyright.py
@@ -0,0 +1,25 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'
diff --git a/uwrt_mars_rover_navigation/vn300_accuracy/test/test_flake8.py b/uwrt_mars_rover_navigation/vn300_accuracy/test/test_flake8.py
new file mode 100644
index 00000000..27ee1078
--- /dev/null
+++ b/uwrt_mars_rover_navigation/vn300_accuracy/test/test_flake8.py
@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)
diff --git a/uwrt_mars_rover_navigation/vn300_accuracy/test/test_pep257.py b/uwrt_mars_rover_navigation/vn300_accuracy/test/test_pep257.py
new file mode 100644
index 00000000..b234a384
--- /dev/null
+++ b/uwrt_mars_rover_navigation/vn300_accuracy/test/test_pep257.py
@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'
diff --git a/uwrt_mars_rover_navigation/vn300_accuracy/vn300_accuracy/__init__.py b/uwrt_mars_rover_navigation/vn300_accuracy/vn300_accuracy/__init__.py
new file mode 100644
index 00000000..e69de29b
diff --git a/uwrt_mars_rover_navigation/vn300_accuracy/vn300_accuracy/subscriber_member_function.py b/uwrt_mars_rover_navigation/vn300_accuracy/vn300_accuracy/subscriber_member_function.py
new file mode 100644
index 00000000..78c72668
--- /dev/null
+++ b/uwrt_mars_rover_navigation/vn300_accuracy/vn300_accuracy/subscriber_member_function.py
@@ -0,0 +1,51 @@
+# Copyright 2016 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import rclpy
+from rclpy.node import Node
+
+from std_msgs.msg import String
+
+
+class MinimalSubscriber(Node):
+
+    def __init__(self):
+        super().__init__('minimal_subscriber')
+        self.subscription = self.create_subscription(
+            String,
+            'topic',
+            self.listener_callback,
+            10)
+        self.subscription  # prevent unused variable warning
+
+    def listener_callback(self, msg):
+        self.get_logger().info('I heard: "%s"' % msg.data)
+
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    minimal_subscriber = MinimalSubscriber()
+
+    rclpy.spin(minimal_subscriber)
+
+    # Destroy the node explicitly
+    # (optional - otherwise it will be done automatically
+    # when the garbage collector destroys the node object)
+    minimal_subscriber.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()
diff --git a/uwrt_mars_rover_navigation/vn300_accuracy/vn300_accuracy/vn300_accuracy_node.py b/uwrt_mars_rover_navigation/vn300_accuracy/vn300_accuracy/vn300_accuracy_node.py
new file mode 100644
index 00000000..5cb9f26f
--- /dev/null
+++ b/uwrt_mars_rover_navigation/vn300_accuracy/vn300_accuracy/vn300_accuracy_node.py
@@ -0,0 +1,37 @@
+import rclpy
+from rclpy.node import Node
+
+from sensor_msgs.msg import NavSatFix
+
+class MinimalSubscriber(Node):
+
+    def __init__(self):
+        super().__init__('minimal_subscriber')
+        self.subscription = self.create_subscription(
+            NavSatFix,
+            'vectornav/navSatFix',
+            self.listener_callback,
+            10)
+        self.subscription  # prevent unused variable warning
+
+    def listener_callback(self, msg):
+        print(f"{msg.header.stamp} {msg.latitude} {msg.longitude}")
+        # self.get_logger().info('I heard: (%d, %d)' % msg.latitude, msg.longitude)
+
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    minimal_subscriber = MinimalSubscriber()
+
+    rclpy.spin(minimal_subscriber)
+
+    # Destroy the node explicitly
+    # (optional - otherwise it will be done automatically
+    # when the garbage collector destroys the node object)
+    minimal_subscriber.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()