diff --git a/config/70-sensors.rules b/config/70-sensors.rules
index cfb10e9..6e3f488 100644
--- a/config/70-sensors.rules
+++ b/config/70-sensors.rules
@@ -3,3 +3,18 @@
 SUBSYSTEMS=="usb", KERNEL=="ttyUSB[0-9]*", ACTION=="add", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", MODE="666", SYMLINK+="ZLAC8015D",          GROUP="dialout"
 SUBSYSTEMS=="usb", KERNEL=="ttyUSB[0-9]*", ACTION=="add", ATTRS{idVendor}=="15d1", ATTRS{idProduct}=="0000", MODE="666", SYMLINK+="sensors/hokuyo_urg", GROUP="dialout"
 SUBSYSTEMS=="usb", KERNEL=="ttyUSB[0-9]*", ACTION=="add", ATTRS{idVendor}=="2886", ATTRS{idProduct}=="802f", MODE="666", SYMLINK+="sensors/imu",        GROUP="dialout"
+
+
+
+# igvc2022
+# SUBSYSTEMS=="usb", KERNEL=="ttyACM[0-9]*", ACTION=="add", ATTRS{idVendor}=="15d1", ATTRS{idProduct}=="0000", MODE="666", SYMLINK+="sensors/hokuyo_urg", GROUP="dialout"
+# SUBSYSTEMS=="usb", KERNEL=="ttyACM[0-9]*", ACTION=="add", ATTRS{idVendor}=="03eb", ATTRS{idProduct}=="6119", MODE="666", SYMLINK+="sensors/icart-mini", GROUP="dialout"
+# SUBSYSTEMS=="usb", KERNEL=="ttyUSB[0-9]*", ACTION=="add", ATTRS{product}=="FT232R USB UART", MODE="666", SYMLINK+="sensors/ftdi%n", GROUP="dialout"
+# SUBSYSTEMS=="usb", KERNEL=="ttyACM[0-9]*", ACTION=="add", ATTRS{idVendor}=="1546", ATTRS{idProduct}=="01a8", MODE="666", SYMLINK+="sensors/rtkgps", GROUP="dialout"
+# SUBSYSTEMS=="usb", KERNEL=="ttyACM[0-9]*", ACTION=="add", ATTRS{idVendor}=="1546", ATTRS{idProduct}=="01a9", MODE="666", SYMLINK+="sensors/gps", GROUP="dialout"
+# SUBSYSTEMS=="usb", KERNEL=="ttyUSB[0-9]*", ACTION=="add", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", MODE="666", SYMLINK+="sensors/jg35fd", GROUP="dialout"
+# SUBSYSTEMS=="usb", KERNEL=="ttyUSB[0-9]*", ACTION=="add", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6015", MODE="666", SYMLINK+="sensors/LED", GROUP="dialout"
+# SUBSYSTEMS=="usb", KERNEL=="video2", ACTION=="add", ATTRS{idVendor}=="2e1a", ATTRS{idProduct}=="1000", MODE="666", SYMLINK+="sensors/insta360_air", GROUP="dialout"
+# SUBSYSTEMS=="usb", KERNEL=="ttyACM[0-9]*", ACTION=="add", ATTRS{idVendor}=="2341", ATTRS{idProduct}=="0043", MODE="666", SYMLINK+="arduino", GROUP="dialout"
+# SUBSYSTEMS=="usb", KERNEL=="ttyACM[0-9]*", ACTION=="add", ATTRS{idVendor}=="2886", ATTRS{idProduct}=="802f", MODE="666", SYMLINK+="sensors/imu", GROUP="dialout"
+# ACTION=="add", ATTRS{idVendor}=="05ca", ATTRS{idProduct}=="2711",MODE="666"
diff --git a/run.sh b/run.sh
index 09e8591..f3ba96f 100755
--- a/run.sh
+++ b/run.sh
@@ -1,21 +1,23 @@
 if [ -n "$1" ]; then
-TAG=$1
+	TAG=$1
 else
-read REPOSITORY TAG ID CREATED SIZE < <(docker images | grep bvbnatsu)
+	read REPOSITORY TAG ID CREATED SIZE < <(docker images | grep bvbnatsu)
 fi
 
 echo "Starting bvbnatsu/tsukuba2022:$TAG"
 
 docker run \
-    --rm \
-    --shm-size=512m \
-    -p 6080:80 \
-    -p 2222:22 \
-    -p 10940:10940 \
-    -p 2368:2368/udp \
-    -p 8308:8308/udp \
-    -e RESOLUTION=1920x1080 \
-    -e HOME=/home/ubuntu \
-    -e SHELL=/bin/bash \
-    --entrypoint '/startup.sh' \
-    bvbnatsu/tsukuba2022:$TAG 
+	-p 6080:80 \
+	-p 2222:22 \
+        -p 10940:10940 \
+        -p 2368:2368/udp \
+        -p 8308:8308/udp \
+	--shm-size=512m \
+	-e HOME=/home/ubuntu -e SHELL=/bin/bash \
+	--device /dev/ZLAC8015D:/dev/ZLAC8015D:mwr \
+	--device /dev/sensors/hokuyo_urg:/dev/sensors/hokuyo_urg:mwr \
+	--device /dev/sensors/imu:/dev/sensors/imu:mwr \
+	--device /dev/input/js0:/dev/input/js0:mwr \
+	--entrypoint '/startup.sh' bvbnatsu/tsukuba2022:$TAG
+	
+	#-e RESOLUTION=1920x1080
diff --git a/runLite.sh b/runLite.sh
index 4f953cc..de515ac 100755
--- a/runLite.sh
+++ b/runLite.sh
@@ -8,26 +8,14 @@
 
 docker run \
     --rm \
-<<<<<<< HEAD
-    --shm-size=512m \
-=======
->>>>>>> 7d3c39e7349c487e2d20e3ecba62f455c0a877ba
     -p 6080:80 \
     -p 2222:22 \
     -p 10940:10940 \
     -p 2368:2368/udp \
     -p 8308:8308/udp \
-<<<<<<< HEAD
-    -e RESOLUTION=1920x1080 \
     -e HOME=/home/ubuntu \
     -e SHELL=/bin/bash \
     --entrypoint '/startup.sh' \
-    bvbnatsu/tsukuba2022:$TAG 
-=======
-    -e HOME=/home/ubuntu \
-    -e SHELL=/bin/bash \
-    -v /home/kbkn/tsukuba2022/waypoint_navigation:/home/ubuntu/catkin_ws/src/waypoint_navigation \
-    --shm-size=512m \
-    --entrypoint '/startup.sh'\
     bvbnatsu/tsukuba2022:$TAG
->>>>>>> 7d3c39e7349c487e2d20e3ecba62f455c0a877ba
+    
+    #-e RESOLUTION=1920x1080 \