diff --git a/config/70-sensors.rules b/config/70-sensors.rules
index 750f68f..161387c 100644
--- a/config/70-sensors.rules
+++ b/config/70-sensors.rules
@@ -1 +1,21 @@
-SUBSYSTEMS=="usb", KERNEL=="ttyUSB[0-9]*", ACTION=="add", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", MODE="666", SYMLINK+="ZLAC8015D", GROUP="dialout"
+# Copy this file to /etc/udev/rules.d/
+
+# SUBSYSTEMS=="usb", KERNEL=="ttyUSB[0-9]*", ACTION=="add", ATTRS{idVendor}=="1a86", ATTRS{idProduct}=="7523", MODE="666", SYMLINK+="ZLAC8015D",          GROUP="dialout"
+SUBSYSTEMS=="usb", KERNEL=="ttyUSB[0-9]*", ACTION=="add", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", MODE="666", SYMLINK+="ZLAC8015D",          GROUP="dialout"
+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}=="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
new file mode 100755
index 0000000..f3ba96f
--- /dev/null
+++ b/run.sh
@@ -0,0 +1,23 @@
+if [ -n "$1" ]; then
+	TAG=$1
+else
+	read REPOSITORY TAG ID CREATED SIZE < <(docker images | grep bvbnatsu)
+fi
+
+echo "Starting bvbnatsu/tsukuba2022:$TAG"
+
+docker run \
+	-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 e317266..e0408d3 100755
--- a/runLite.sh
+++ b/runLite.sh
@@ -1,7 +1,7 @@
 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:$TAG"
@@ -18,3 +18,5 @@
     --shm-size=512m \
     --entrypoint '/startup.sh'\
     bvbnatsu/tsukuba2022:$TAG
+    
+    #-e RESOLUTION=1920x1080 \
diff --git a/startnet.sh b/startnet.sh
new file mode 100755
index 0000000..6bb96c1
--- /dev/null
+++ b/startnet.sh
@@ -0,0 +1,3 @@
+sudo ifconfig enp3s0 192.168.3.1
+sudo route add -host 192.168.3.11 gw 192.168.3.1 enp3s0
+sudo route add -host 192.168.3.201 gw 192.168.3.1 enp3s0
diff --git a/velodyne.py b/velodyne.py
new file mode 100755
index 0000000..d00ce84
--- /dev/null
+++ b/velodyne.py
@@ -0,0 +1,10 @@
+#!/usr/bin/env python3
+import subprocess
+import time
+
+try:
+    while True:
+	    subprocess.run(["bash", "/home/kbkn/tsukuba2022/orange2022/startnet.sh"])
+	    time.sleep(2.0)
+except KeyboardInterrupt:
+    print("\nFinished")