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thank you for responding pedro i am runing tum simulator on ROS fuerte on ubuntu 12.04.5 the rostopic list gives me the following (ps: i can't upload an image coz am new here so sorry for the mess): slowmed@ubuntu:~$ rostopic list /ardrone/bottom/camera_info /ardrone/bottom/depth/camera_info /ardrone/bottom/depth/image_raw /ardrone/bottom/image_raw /ardrone/bottom/image_raw/compressed /ardrone/bottom/image_raw/compressed/parameter_descriptions /ardrone/bottom/image_raw/compressed/parameter_updates /ardrone/bottom/image_raw/compressedDepth /ardrone/bottom/image_raw/compressedDepth/parameter_descriptions /ardrone/bottom/image_raw/compressedDepth/parameter_updates /ardrone/bottom/image_raw/theora /ardrone/bottom/image_raw/theora/parameter_descriptions /ardrone/bottom/image_raw/theora/parameter_updates /ardrone/bottom/parameter_descriptions /ardrone/bottom/parameter_updates /ardrone/bottom/points /ardrone/bottom/set_hfov /ardrone/bottom/set_update_rate /ardrone/front/camera_info /ardrone/front/depth/camera_info /ardrone/front/depth/image_raw /ardrone/front/image_raw /ardrone/front/image_raw/compressed /ardrone/front/image_raw/compressed/parameter_descriptions /ardrone/front/image_raw/compressed/parameter_updates /ardrone/front/image_raw/compressedDepth /ardrone/front/image_raw/compressedDepth/parameter_descriptions /ardrone/front/image_raw/compressedDepth/parameter_updates /ardrone/front/image_raw/theora /ardrone/front/image_raw/theora/parameter_descriptions /ardrone/front/image_raw/theora/parameter_updates /ardrone/front/parameter_descriptions /ardrone/front/parameter_updates /ardrone/front/points /ardrone/front/set_hfov /ardrone/front/set_update_rate /clock /gazebo/link_states /gazebo/model_states /gazebo/parameter_descriptions /gazebo/parameter_updates /gazebo/set_link_state /gazebo/set_model_state /goal /ground_truth/state /initialpose /joint_states /rosout /rosout_agg /scan /tf /trajectory