diff --git a/src/rqt_rover_gui/src/MapData.cpp b/src/rqt_rover_gui/src/MapData.cpp
index f6a3da1e..abe08bfb 100644
--- a/src/rqt_rover_gui/src/MapData.cpp
+++ b/src/rqt_rover_gui/src/MapData.cpp
@@ -2,9 +2,9 @@
 
 using namespace std;
 
-MapData::MapData( )
+MapData::MapData()
 {
-
+    display_global_offset = false;
 }
 
 void MapData::addToGPSRoverPath(string rover, float x, float y)
@@ -18,7 +18,13 @@ void MapData::addToGPSRoverPath(string rover, float x, float y)
     if (y < min_gps_seen_y[rover]) min_gps_seen_y[rover] = y;
 
     update_mutex.lock();
+
+    float offset_x = rover_global_offsets[rover].first;
+    float offset_y = rover_global_offsets[rover].second;
+    global_offset_gps_rover_path[rover].push_back(pair<float,float>(x+offset_x,y-offset_y));
+
     gps_rover_path[rover].push_back(pair<float,float>(x,y));
+
     update_mutex.unlock();
 
 }
@@ -34,7 +40,13 @@ void MapData::addToEncoderRoverPath(string rover, float x, float y)
     if (y < min_encoder_seen_y[rover]) min_encoder_seen_y[rover] = y;
 
     update_mutex.lock();
+
+    float offset_x = rover_global_offsets[rover].first;
+    float offset_y = rover_global_offsets[rover].second;
+    global_offset_encoder_rover_path[rover].push_back(pair<float,float>(x+offset_x,y-offset_y));
+
     encoder_rover_path[rover].push_back(pair<float,float>(x,y));
+
     update_mutex.unlock();
 
 }
@@ -51,7 +63,13 @@ void MapData::addToEKFRoverPath(string rover, float x, float y)
     if (y < min_ekf_seen_y[rover]) min_ekf_seen_y[rover] = y;
 
     update_mutex.lock();
+
+    float offset_x = rover_global_offsets[rover].first;
+    float offset_y = rover_global_offsets[rover].second;
+    global_offset_ekf_rover_path[rover].push_back(pair<float,float>(x+offset_x,y-offset_y));
+
     ekf_rover_path[rover].push_back(pair<float,float>(x,y));
+
     update_mutex.unlock();
 
 }
@@ -79,6 +97,15 @@ void MapData::addCollectionPoint(string rover, float x, float y)
 
 }
 
+void MapData::setGlobalOffset(bool display)
+{
+    display_global_offset = display;
+}
+
+void MapData::setGlobalOffsetForRover(string rover, float x, float y)
+{
+    rover_global_offsets[rover] = pair<float,float>(x,y);
+}
 
 void MapData::clear()
 {
@@ -87,6 +114,9 @@ void MapData::clear()
     ekf_rover_path.clear();
     encoder_rover_path.clear();
     gps_rover_path.clear();
+    global_offset_ekf_rover_path.clear();
+    global_offset_encoder_rover_path.clear();
+    global_offset_gps_rover_path.clear();
     target_locations.clear();
     collection_points.clear();
 
@@ -100,6 +130,9 @@ void MapData::clear(string rover)
     ekf_rover_path[rover].clear();
     encoder_rover_path[rover].clear();
     gps_rover_path[rover].clear();
+    global_offset_ekf_rover_path[rover].clear();
+    global_offset_encoder_rover_path[rover].clear();
+    global_offset_gps_rover_path[rover].clear();
     target_locations[rover].clear();
     collection_points[rover].clear();
 
@@ -114,16 +147,31 @@ void MapData::clear(string rover)
 
 std::vector< std::pair<float,float> >* MapData::getEKFPath(std::string rover_name)
 {
+    if(display_global_offset)
+    {
+        return &global_offset_ekf_rover_path[rover_name];
+    }
+
     return &ekf_rover_path[rover_name];
 }
 
 std::vector< std::pair<float,float> >* MapData::getGPSPath(std::string rover_name)
 {
+    if(display_global_offset)
+    {
+        return &global_offset_gps_rover_path[rover_name];
+    }
+
     return &gps_rover_path[rover_name];
 }
 
 std::vector< std::pair<float,float> >* MapData::getEncoderPath(std::string rover_name)
 {
+    if(display_global_offset)
+    {
+        return &global_offset_encoder_rover_path[rover_name];
+    }
+
     return &encoder_rover_path[rover_name];
 }
 
@@ -140,61 +188,121 @@ std::vector< std::pair<float,float> >* MapData::getCollectionPoints(std::string
 // These functions report the maximum and minimum map values seen. This is useful for the GUI when it is calculating the map coordinate system.
 float MapData::getMaxGPSX(string rover_name)
 {
+    if(display_global_offset)
+    {
+        return max_gps_seen_x[rover_name] + rover_global_offsets[rover_name].first;
+    }
+
     return max_gps_seen_x[rover_name];
 }
 
 float MapData::getMaxGPSY(string rover_name)
 {
+    if(display_global_offset)
+    {
+        return max_gps_seen_y[rover_name] - rover_global_offsets[rover_name].second;
+    }
+
     return max_gps_seen_y[rover_name];
 }
 
 float MapData::getMinGPSX(string rover_name)
 {
+    if(display_global_offset)
+    {
+        return min_gps_seen_x[rover_name] + rover_global_offsets[rover_name].first;
+    }
+
     return min_gps_seen_x[rover_name];
 }
 
 float MapData::getMinGPSY(string rover_name)
 {
+    if(display_global_offset)
+    {
+        return min_gps_seen_y[rover_name] - rover_global_offsets[rover_name].second;
+    }
+
     return min_gps_seen_y[rover_name];
 }
 
 float MapData::getMaxEKFX(string rover_name)
 {
+    if(display_global_offset)
+    {
+        return max_ekf_seen_x[rover_name] + rover_global_offsets[rover_name].first;
+    }
+
     return max_ekf_seen_x[rover_name];
 }
 
 float MapData::getMaxEKFY(string rover_name)
 {
+    if(display_global_offset)
+    {
+        return max_ekf_seen_y[rover_name] - rover_global_offsets[rover_name].second;
+    }
+
     return max_ekf_seen_y[rover_name];
 }
 
 float MapData::getMinEKFX(string rover_name)
 {
+    if(display_global_offset)
+    {
+        return min_ekf_seen_x[rover_name] + rover_global_offsets[rover_name].first;
+    }
+
     return min_ekf_seen_x[rover_name];
 }
 
 float MapData::getMinEKFY(string rover_name)
 {
+    if(display_global_offset)
+    {
+        return min_ekf_seen_y[rover_name] - rover_global_offsets[rover_name].second;
+    }
+
     return min_ekf_seen_y[rover_name];
 }
 
 float MapData::getMaxEncoderX(string rover_name)
 {
+    if(display_global_offset)
+    {
+        return max_encoder_seen_x[rover_name] + rover_global_offsets[rover_name].first;
+    }
+
     return max_encoder_seen_x[rover_name];
 }
 
 float MapData::getMaxEncoderY(string rover_name)
 {
+    if(display_global_offset)
+    {
+        return max_encoder_seen_y[rover_name] - rover_global_offsets[rover_name].second;
+    }
+
     return max_encoder_seen_y[rover_name];
 }
 
 float MapData::getMinEncoderX(string rover_name)
 {
+    if(display_global_offset)
+    {
+        return min_encoder_seen_x[rover_name] + rover_global_offsets[rover_name].first;
+    }
+
     return min_encoder_seen_x[rover_name];
 }
 
 float MapData::getMinEncoderY(string rover_name)
 {
+    if(display_global_offset)
+    {
+        return min_encoder_seen_y[rover_name] - rover_global_offsets[rover_name].second;
+    }
+
     return min_encoder_seen_y[rover_name];
 }
 
diff --git a/src/rqt_rover_gui/src/MapData.h b/src/rqt_rover_gui/src/MapData.h
index c35208b4..b178fa2f 100644
--- a/src/rqt_rover_gui/src/MapData.h
+++ b/src/rqt_rover_gui/src/MapData.h
@@ -24,6 +24,9 @@ class MapData
     void addTargetLocation(std::string rover, float x, float y);
     void addCollectionPoint(std::string rover, float x, float y);
 
+    void setGlobalOffset(bool display);
+    void setGlobalOffsetForRover(std::string rover, float x, float y);
+
     void clear();
     void clear(std::string rover_name);
     void lock();
@@ -56,8 +59,13 @@ class MapData
 private:
 
     std::map<std::string, std::vector< std::pair<float,float> > > gps_rover_path;
-    std::map<std::string, std::vector< std::pair<float,float> > >  ekf_rover_path;
-    std::map<std::string, std::vector< std::pair<float,float> > >  encoder_rover_path;
+    std::map<std::string, std::vector< std::pair<float,float> > > ekf_rover_path;
+    std::map<std::string, std::vector< std::pair<float,float> > > encoder_rover_path;
+
+    std::map<std::string, std::pair<float,float> > rover_global_offsets;
+    std::map<std::string, std::vector< std::pair<float,float> > > global_offset_gps_rover_path;
+    std::map<std::string, std::vector< std::pair<float,float> > > global_offset_ekf_rover_path;
+    std::map<std::string, std::vector< std::pair<float,float> > > global_offset_encoder_rover_path;
 
     std::map<std::string, std::vector< std::pair<float,float> > >  collection_points;
     std::map<std::string, std::vector< std::pair<float,float> > >  target_locations;
@@ -77,6 +85,8 @@ class MapData
     std::map<std::string, float> min_ekf_seen_x;
     std::map<std::string, float> min_ekf_seen_y;
 
+    bool display_global_offset;
+
     QMutex update_mutex; // To prevent race conditions when the data is being displayed by MapFrame
 };
 
diff --git a/src/rqt_rover_gui/src/MapFrame.cpp b/src/rqt_rover_gui/src/MapFrame.cpp
index 135b631b..89ee6d38 100644
--- a/src/rqt_rover_gui/src/MapFrame.cpp
+++ b/src/rqt_rover_gui/src/MapFrame.cpp
@@ -16,621 +16,682 @@ namespace rqt_rover_gui
 
 MapFrame::MapFrame(QWidget *parent, Qt::WindowFlags flags) : QFrame(parent)
 {
-    connect(this, SIGNAL(delayedUpdate()), this, SLOT(update()), Qt::QueuedConnection);
+  connect(this, SIGNAL(delayedUpdate()), this, SLOT(update()), Qt::QueuedConnection);
 
-    // Scale coordinates
-    frame_width = this->width();
-    frame_height = this->height();
+  // Scale coordinates
+  frame_width = this->width();
+  frame_height = this->height();
 
-    // So we can keep track of relative mouse movements to make
-    // panning feel natural
-    previous_clicked_position = QPoint(0,0);
+  // So we can keep track of relative mouse movements to make
+  // panning feel natural
+  previous_clicked_position = QPoint(0,0);
 
-    auto_transform = true;
-    scale = 10;
+  auto_transform = true;
+  scale = 10;
 
-    translate_x = 0.0f;
-    translate_y = 0.0f;
-    previous_translate_x = 0.0f;
-    previous_translate_y = 0.0f;
+  translate_x = 0.0f;
+  translate_y = 0.0f;
+  previous_translate_x = 0.0f;
+  previous_translate_y = 0.0f;
 
-    scale_speed = 0.1; // The amount of zoom per mouse wheel angle change
-    translate_speed = 1.5f;
+  scale_speed = 0.1; // The amount of zoom per mouse wheel angle change
+  translate_speed = 1.5f;
 
-    display_ekf_data = false;
-    display_gps_data = false;
-    display_encoder_data = false;
+  display_ekf_data = false;
+  display_gps_data = false;
+  display_encoder_data = false;
+  display_global_offset = false;
+  display_unique_rover_colors = false;
 
-    frames = 0;
-    popout_mapframe = NULL;
-    popout_window = NULL;
+  frames = 0;
+  popout_mapframe = NULL;
+  popout_window = NULL;
 
-    map_data = NULL;
+  map_data = NULL;
 }
 
 // This can't go in the constructor or there will be an infinite regression.
 // Instead call from the main UI in it's startup routine.
 void MapFrame::createPopoutWindow( MapData * map_data )
 {
-    popout_window = new QMainWindow();
-    popout_mapframe = new MapFrame(popout_window, 0);
-    popout_mapframe->setMapData(map_data);
+  popout_window = new QMainWindow();
+  popout_mapframe = new MapFrame(popout_window, 0);
+  popout_mapframe->setMapData(map_data);
 
-    QGridLayout* layout = new QGridLayout();
-    layout->addWidget(popout_mapframe);
+  QGridLayout* layout = new QGridLayout();
+  layout->addWidget(popout_mapframe);
 
-    QWidget* central_widget = new QWidget();
-    central_widget->setLayout(layout);
+  QWidget* central_widget = new QWidget();
+  central_widget->setLayout(layout);
 
-    popout_window->setGeometry(QRect(10, 10, 500, 500));
-    popout_window->setStyleSheet("background-color: rgb(0, 0, 0); border-color: rgb(255, 255, 255);");
-    popout_window->setCentralWidget(central_widget);
+  popout_window->setGeometry(QRect(10, 10, 500, 500));
+  popout_window->setStyleSheet("background-color: rgb(0, 0, 0); border-color: rgb(255, 255, 255);");
+  popout_window->setCentralWidget(central_widget);
 
-    connect(this, SIGNAL(delayedUpdate()), popout_mapframe, SLOT(update()), Qt::QueuedConnection);
+  connect(this, SIGNAL(delayedUpdate()), popout_mapframe, SLOT(update()), Qt::QueuedConnection);
 }
 
 void MapFrame::paintEvent(QPaintEvent* event) {
-    // Begin drawing the map
-    QPainter painter(this);
-    painter.setPen(Qt::white);
-    QFont font = painter.font();
-    qreal font_size = font.pointSizeF();
-    QFontMetrics fm(font);
-
-    // Track the frames per second for development purposes
-    QString frames_per_second;
-    frames_per_second = QString::number(frames / (frame_rate_timer.elapsed() / 1000.0), 'f', 0) + " FPS";
+  // Begin drawing the map
+  QPainter painter(this);
+  painter.setPen(Qt::white);
+  QFont font = painter.font();
+  qreal font_size = font.pointSizeF();
+  QFontMetrics fm(font);
 
-    painter.drawText(this->width()-fm.width(frames_per_second), fm.height(), frames_per_second);
+  // Track the frames per second for development purposes
+  QString frames_per_second;
+  frames_per_second = QString::number(frames / (frame_rate_timer.elapsed() / 1000.0), 'f', 0) + " FPS";
 
-    frames++;
+  painter.drawText(this->width()-fm.width(frames_per_second), fm.height(), frames_per_second);
 
-    if (!(frames % 100)) // time how long it takes to dispay 100 frames
-    {
-        frame_rate_timer.start();
-        frames = 0;
-    }
+  frames++;
 
-    // end frames per second
+  if (!(frames % 100)) // time how long it takes to dispay 100 frames
+  {
+    frame_rate_timer.start();
+    frames = 0;
+  }
 
-    // Check if any rovers have been selected for display
-    if ( !map_data )
-    {
-        painter.drawText(QPoint(50,50), "No map data provided");
-        return;
-    }
+  // end frames per second
 
+  // Check if any rovers have been selected for display
+  if ( !map_data )
+  {
+    painter.drawText(QPoint(50,50), "No map data provided");
+    return;
+  }
 
-    // Check if any rovers have been selected for display
-    if ( display_list.empty() )
-    {
-        painter.drawText(QPoint(50,50), "No rover maps selected for display");
-        return;
-    }
 
-    map_data->lock();
+  // Check if any rovers have been selected for display
+  if ( display_list.empty() )
+  {
+    painter.drawText(QPoint(50,50), "No rover maps selected for display");
+    return;
+  }
 
-    // Colorblind friendly colors
-    QColor green(17, 192, 131);
-    QColor red(255, 65, 30);
+  map_data->lock();
 
-    float max_seen_x = -std::numeric_limits<float>::max(); // std::numeric_limits<float>::max() is the max possible floating point value
-    float max_seen_y = -std::numeric_limits<float>::max();
+  // Colorblind friendly colors
+  QColor green(17, 192, 131);
+  QColor red(255, 65, 30);
 
-    float min_seen_x = std::numeric_limits<float>::max();
-    float min_seen_y = std::numeric_limits<float>::max();
+  float max_seen_x = -std::numeric_limits<float>::max(); // std::numeric_limits<float>::max() is the max possible floating point value
+  float max_seen_y = -std::numeric_limits<float>::max();
 
-    float max_seen_width = -std::numeric_limits<float>::max();
-    float max_seen_height = -std::numeric_limits<float>::max();
+  float min_seen_x = std::numeric_limits<float>::max();
+  float min_seen_y = std::numeric_limits<float>::max();
 
-    int no_data_offset = 0; // So the "no data" message is not overlayed if there are multiple rovers with no data.
+  float max_seen_width = -std::numeric_limits<float>::max();
+  float max_seen_height = -std::numeric_limits<float>::max();
 
-    // Repeat the display code for each rover selected by the user - Using C++11 range syntax
-    for(auto rover_to_display : display_list) {
-	    if (map_data->getEKFPath(rover_to_display)->empty() && map_data->getEncoderPath(rover_to_display)->empty() && map_data->getGPSPath(rover_to_display)->empty() && map_data->getTargetLocations(rover_to_display)->empty() && map_data->getCollectionPoints(rover_to_display)->empty()) {
-        painter.drawText(QPoint(50,50+no_data_offset), QString::fromStdString(rover_to_display) + ": No data.");
-        no_data_offset += 10;
-	    }
+  int no_data_offset = 0; // So the "no data" message is not overlayed if there are multiple rovers with no data.
 
-	    // Check extended kalman filter has any values in it
-	    else if (map_data->getEKFPath(rover_to_display)->empty()) {
-        painter.drawText(QPoint(50,50+no_data_offset), "Map Frame: No EKF data received.");
-        no_data_offset += 10;
-	    }
+  // Repeat the display code for each rover selected by the user - Using C++11 range syntax
+  for(auto rover_to_display : display_list) {
+    if (map_data->getEKFPath(rover_to_display)->empty() && map_data->getEncoderPath(rover_to_display)->empty() && map_data->getGPSPath(rover_to_display)->empty() && map_data->getTargetLocations(rover_to_display)->empty() && map_data->getCollectionPoints(rover_to_display)->empty()) {
+      painter.drawText(QPoint(50,50+no_data_offset), QString::fromStdString(rover_to_display) + ": No data.");
+      no_data_offset += 10;
     }
+    // Check extended kalman filter has any values in it
+    else if (map_data->getEKFPath(rover_to_display)->empty()) {
+      painter.drawText(QPoint(50,50+no_data_offset), "Map Frame: No EKF data received.");
+      no_data_offset += 10;
+    }
+  }
 
-    // Calculate the map bounds if in auto transform mode. Iterate over the
-    // rovers and get the min and max data values scale the map to include
-    // these values
-    if (auto_transform)
+  // Calculate the map bounds if in auto transform mode. Iterate over the
+  // rovers and get the min and max data values scale the map to include
+  // these values
+  if (auto_transform)
+  {
+    for(auto rover_to_display : display_list)
     {
-        for(auto rover_to_display : display_list)
-        {
-            // Set the max and min seen values depending on which data the user
-            // has selected to view
-
-            // Check each of the display data options and choose the most
-            // extreme value from those selected by the user
-
-            // Always include the ekf data because that is what we are using to
-            // position the current position marker for the rover
-
-            if (display_ekf_data)
-            {
-                if (min_seen_x > map_data->getMinEKFX(rover_to_display)) min_seen_x = map_data->getMinEKFX(rover_to_display);
-                if (min_seen_y > map_data->getMinEKFY(rover_to_display)) min_seen_y = map_data->getMinEKFY(rover_to_display);
-                if (max_seen_x < map_data->getMaxEKFX(rover_to_display)) max_seen_x = map_data->getMaxEKFX(rover_to_display);
-                if (max_seen_y < map_data->getMaxEKFY(rover_to_display)) max_seen_y = map_data->getMaxEKFY(rover_to_display);
-            }
-
-            if (display_gps_data)
-            {
-                if (min_seen_x > map_data->getMinGPSX(rover_to_display)) min_seen_x = map_data->getMinGPSX(rover_to_display);
-                if (min_seen_y > map_data->getMinGPSY(rover_to_display)) min_seen_y = map_data->getMinGPSY(rover_to_display);
-                if (max_seen_x < map_data->getMaxGPSX(rover_to_display)) max_seen_x = map_data->getMaxGPSX(rover_to_display);
-                if (max_seen_y < map_data->getMaxGPSY(rover_to_display)) max_seen_y = map_data->getMaxGPSY(rover_to_display);
-            }
-
-            if (display_encoder_data)
-            {
-                if (min_seen_x > map_data->getMinEncoderX(rover_to_display)) min_seen_x = map_data->getMinEncoderX(rover_to_display);
-                if (min_seen_y > map_data->getMinEncoderY(rover_to_display)) min_seen_y = map_data->getMinEncoderY(rover_to_display);
-                if (max_seen_x < map_data->getMaxEncoderX(rover_to_display)) max_seen_x = map_data->getMaxEncoderX(rover_to_display);
-                if (max_seen_y < map_data->getMaxEncoderY(rover_to_display)) max_seen_y = map_data->getMaxEncoderY(rover_to_display);
-            }
-
-            // Normalize the displayed coordinates to the largest coordinates
-            // seen since we don't know the coordinate system.
-            max_seen_width = max_seen_x-min_seen_x;
-            max_seen_height = max_seen_y-min_seen_y;
-        }
+      // Set the max and min seen values depending on which data the user
+      // has selected to view
+
+      // Check each of the display data options and choose the most
+      // extreme value from those selected by the user
+
+      // Always include the ekf data because that is what we are using to
+      // position the current position marker for the rover
+
+      if (display_ekf_data)
+      {
+      if (min_seen_x > map_data->getMinEKFX(rover_to_display)) min_seen_x = map_data->getMinEKFX(rover_to_display);
+      if (min_seen_y > map_data->getMinEKFY(rover_to_display)) min_seen_y = map_data->getMinEKFY(rover_to_display);
+      if (max_seen_x < map_data->getMaxEKFX(rover_to_display)) max_seen_x = map_data->getMaxEKFX(rover_to_display);
+      if (max_seen_y < map_data->getMaxEKFY(rover_to_display)) max_seen_y = map_data->getMaxEKFY(rover_to_display);
+      }
+
+      if (display_gps_data)
+      {
+      if (min_seen_x > map_data->getMinGPSX(rover_to_display)) min_seen_x = map_data->getMinGPSX(rover_to_display);
+      if (min_seen_y > map_data->getMinGPSY(rover_to_display)) min_seen_y = map_data->getMinGPSY(rover_to_display);
+      if (max_seen_x < map_data->getMaxGPSX(rover_to_display)) max_seen_x = map_data->getMaxGPSX(rover_to_display);
+      if (max_seen_y < map_data->getMaxGPSY(rover_to_display)) max_seen_y = map_data->getMaxGPSY(rover_to_display);
+      }
+
+      if (display_encoder_data)
+      {
+      if (min_seen_x > map_data->getMinEncoderX(rover_to_display)) min_seen_x = map_data->getMinEncoderX(rover_to_display);
+      if (min_seen_y > map_data->getMinEncoderY(rover_to_display)) min_seen_y = map_data->getMinEncoderY(rover_to_display);
+      if (max_seen_x < map_data->getMaxEncoderX(rover_to_display)) max_seen_x = map_data->getMaxEncoderX(rover_to_display);
+      if (max_seen_y < map_data->getMaxEncoderY(rover_to_display)) max_seen_y = map_data->getMaxEncoderY(rover_to_display);
+      }
+
+      // Normalize the displayed coordinates to the largest coordinates
+      // seen since we don't know the coordinate system.
+      max_seen_width = max_seen_x-min_seen_x;
+      max_seen_height = max_seen_y-min_seen_y;
+    }
+  }
+  else
+  {
+    // Perform the manual zoom and pan transform
+
+    max_seen_width = max_seen_width_when_manual_enabled * (scale * scale_speed);
+    max_seen_height = max_seen_height_when_manual_enabled * (scale * scale_speed);
+
+    min_seen_x = (min_seen_x_when_manual_enabled + translate_x) * (scale * scale_speed);
+    min_seen_y = (min_seen_y_when_manual_enabled + translate_y) * (scale * scale_speed);
+
+    // emit sendInfoLogMessage("MapFrame: paint event: manual transform: min_seen_x: " + QString::number(min_seen_x) + " min_seen_y: " + QString::number(min_seen_y));
+  }
+
+  // Maintain aspect ratio
+  max_seen_height > max_seen_width ? max_seen_width = max_seen_height : max_seen_height = max_seen_width;
+
+  // Calculate the axis positions
+  int map_origin_x = fm.width(QString::number(-max_seen_height, 'f', 1)+"m");
+  int map_origin_y = 2*fm.height();
+
+  int map_width = this->width()-1;// Minus 1 or will go off the edge
+  int map_height = this->height()-1;//
+
+  int map_center_x = map_origin_x+((map_width-map_origin_x)/2);
+  int map_center_y = map_origin_y+((map_height-map_origin_y)/2);
+
+  // The map axes do not need to be redrawn for each rover so this code is
+  // sandwiched between the two rover display list loops
+
+  // Draw the scale bars
+  //painter.setPen(Qt::gray);
+  //painter.drawLine(QPoint(map_center_x, map_origin_y), QPoint(map_center_x, map_height));
+  //painter.drawLine(QPoint(map_origin_x, map_center_y), QPoint(map_width, map_center_y));
+  //painter.setPen(Qt::white);
+
+  // Cross hairs at map display center
+  QPoint axes_origin(map_origin_x,map_origin_y);
+  QPoint x_axis(map_width,map_origin_y);
+  QPoint y_axis(map_origin_x,map_height);
+  painter.drawLine(axes_origin, x_axis);
+  painter.drawLine(axes_origin, y_axis);
+  painter.drawLine(QPoint(map_width, map_origin_y), QPoint(map_width, map_height));
+  painter.drawLine(QPoint(map_origin_x, map_height), QPoint(map_width, map_height));
+
+  // Draw north arrow
+  QPoint northArrow_point(map_center_x, 0);
+  QPoint northArrow_left(map_center_x - 5, 5);
+  QPoint northArrow_right(map_center_x + 5, 5);
+  QRect northArrow_textBox(northArrow_left.x(), northArrow_left.y(), 10, 15);
+  painter.drawLine(northArrow_left, northArrow_right);
+  painter.drawLine(northArrow_left, northArrow_point);
+  painter.drawLine(northArrow_right, northArrow_point);
+  painter.drawText(northArrow_textBox, QString("N"));
+
+  // Draw rover origin crosshairs
+  // painter.setPen(green);
+
+  float initial_x = 0.0; //map_data->getEKFPath(rover_to_display).begin()->first;
+  float initial_y = 0.001; //map_data->getEKFPath(rover_to_display).begin()->second;
+  float rover_origin_x = map_origin_x+((initial_x-min_seen_x)/max_seen_width)*(map_width-map_origin_x);
+  float rover_origin_y = map_origin_y+((initial_y-min_seen_y)/max_seen_height)*(map_height-map_origin_y);
+  painter.setPen(Qt::gray);
+  painter.drawLine(QPoint(rover_origin_x, map_origin_y), QPoint(rover_origin_x, map_height));
+  painter.drawLine(QPoint(map_origin_x, rover_origin_y), QPoint(map_width, rover_origin_y));
+  painter.setPen(Qt::white);
+
+  int n_ticks = 6;
+  float tick_length = 5;
+  QPoint x_axis_ticks[n_ticks];
+  QPoint y_axis_ticks[n_ticks];
+
+  for (int i = 0; i < n_ticks-1; i++)
+  {
+    x_axis_ticks[i].setX(axes_origin.x()+(i+1)*map_width/n_ticks);
+    x_axis_ticks[i].setY(axes_origin.y());
+
+    y_axis_ticks[i].setX(axes_origin.x());
+    y_axis_ticks[i].setY(axes_origin.y()+(i+1)*map_height/n_ticks);
+  }
+
+  for (int i = 0; i < n_ticks-1; i++)
+  {
+    painter.drawLine(x_axis_ticks[i], QPoint(x_axis_ticks[i].x(), x_axis_ticks[i].y()+tick_length));
+    painter.drawLine(y_axis_ticks[i], QPoint(y_axis_ticks[i].x()+tick_length, y_axis_ticks[i].y()));
+  }
+
+  for (int i = 0; i < n_ticks-1; i++)
+  {
+    float fraction_of_map_to_rover_x = (rover_origin_x-map_origin_x)/map_width;
+    float fraction_of_map_to_rover_y = (rover_origin_y-map_origin_y)/map_height;
+    float x_label_f = (i+1)*max_seen_width/n_ticks-fraction_of_map_to_rover_x*max_seen_width;
+    float y_label_f = (i+1)*max_seen_height/n_ticks-fraction_of_map_to_rover_y*max_seen_height;
+
+    QString x_label = QString::number(x_label_f, 'f', 1) + "m";
+    QString y_label = QString::number(-y_label_f, 'f', 1) + "m";
+
+    int x_labels_offset_x = -(fm.width(x_label))/2;
+    int x_labels_offset_y = 0;
+
+    int y_labels_offset_x = -(fm.width(y_label));
+    int y_labels_offset_y = fm.height()/3;
+
+    painter.drawText(x_axis_ticks[i].x()+x_labels_offset_x, axes_origin.y()+x_labels_offset_y, x_label);
+    painter.drawText(axes_origin.x()+y_labels_offset_x, y_axis_ticks[i].y()+y_labels_offset_y, y_label);
+  }
+
+  // End draw scale bars
+
+  int hardware_rover_color_index = 0;
+
+  // Repeat the display code for each rover selected by the user - Using C++11 range syntax
+  for(auto rover_to_display : display_list)
+  {
+    // scale coordinates
+    std::vector<QPoint> scaled_target_locations;
+    for(std::vector< pair<float,float> >::iterator it = map_data->getTargetLocations(rover_to_display)->begin(); it < map_data->getTargetLocations(rover_to_display)->end(); ++it) {
+      pair<float,float> coordinate  = *it;
+      QPoint point;
+      point.setX(map_origin_x+coordinate.first*map_width);
+      point.setY(map_origin_y+coordinate.second*map_height);
+      scaled_target_locations.push_back(point);
     }
-    else
-    {
-        // Perform the manual zoom and pan transform
 
-        max_seen_width = max_seen_width_when_manual_enabled * (scale * scale_speed);
-        max_seen_height = max_seen_height_when_manual_enabled * (scale * scale_speed);
+    std::vector<QPoint> scaled_collection_points;
+    for(std::vector< pair<float,float> >::iterator it = map_data->getCollectionPoints(rover_to_display)->begin(); it < map_data->getCollectionPoints(rover_to_display)->end(); ++it) {
+      pair<float,float> coordinate  = *it;
+      QPoint point;
+      point.setX(map_origin_x+coordinate.first*map_width);
+      point.setY(map_origin_y+coordinate.second*map_height);
+      scaled_collection_points.push_back(point);
+    }
 
-        min_seen_x = (min_seen_x_when_manual_enabled + translate_x) * (scale * scale_speed);
-        min_seen_y = (min_seen_y_when_manual_enabled + translate_y) * (scale * scale_speed);
+    std::vector<QPoint> scaled_gps_rover_points;
+    for(std::vector< pair<float,float> >::iterator it = map_data->getGPSPath(rover_to_display)->begin(); it < map_data->getGPSPath(rover_to_display)->end(); ++it) {
+      pair<float,float> coordinate  = *it;
 
-        // emit sendInfoLogMessage("MapFrame: paint event: manual transform: min_seen_x: " + QString::number(min_seen_x) + " min_seen_y: " + QString::number(min_seen_y));
+      float x = map_origin_x+((coordinate.first-min_seen_x)/max_seen_width)*(map_width-map_origin_x);
+      float y = map_origin_y+((coordinate.second-min_seen_y)/max_seen_height)*(map_height-map_origin_y);
+      scaled_gps_rover_points.push_back( QPoint(x,y) );
     }
 
-    // Maintain aspect ratio
-    max_seen_height > max_seen_width ? max_seen_width = max_seen_height : max_seen_height = max_seen_width;
-
-    // Calculate the axis positions
-    int map_origin_x = fm.width(QString::number(-max_seen_height, 'f', 1)+"m");
-    int map_origin_y = 2*fm.height();
-
-    int map_width = this->width()-1;// Minus 1 or will go off the edge
-    int map_height = this->height()-1;//
-
-    int map_center_x = map_origin_x+((map_width-map_origin_x)/2);
-    int map_center_y = map_origin_y+((map_height-map_origin_y)/2);
-
-    // The map axes do not need to be redrawn for each rover so this code is
-    // sandwiched between the two rover display list loops
-
-    // Draw the scale bars
-    //painter.setPen(Qt::gray);
-    //painter.drawLine(QPoint(map_center_x, map_origin_y), QPoint(map_center_x, map_height));
-    //painter.drawLine(QPoint(map_origin_x, map_center_y), QPoint(map_width, map_center_y));
-    //painter.setPen(Qt::white);
-
-    // Cross hairs at map display center
-    QPoint axes_origin(map_origin_x,map_origin_y);
-    QPoint x_axis(map_width,map_origin_y);
-    QPoint y_axis(map_origin_x,map_height);
-    painter.drawLine(axes_origin, x_axis);
-    painter.drawLine(axes_origin, y_axis);
-    painter.drawLine(QPoint(map_width, map_origin_y), QPoint(map_width, map_height));
-    painter.drawLine(QPoint(map_origin_x, map_height), QPoint(map_width, map_height));
-
-    // Draw north arrow
-    QPoint northArrow_point(map_center_x, 0);
-    QPoint northArrow_left(map_center_x - 5, 5);
-    QPoint northArrow_right(map_center_x + 5, 5);
-    QRect northArrow_textBox(northArrow_left.x(), northArrow_left.y(), 10, 15);
-    painter.drawLine(northArrow_left, northArrow_right);
-    painter.drawLine(northArrow_left, northArrow_point);
-    painter.drawLine(northArrow_right, northArrow_point);
-    painter.drawText(northArrow_textBox, QString("N"));
-
-    // Draw rover origin crosshairs
-    // painter.setPen(green);
-
-    float initial_x = 0.0; //map_data->getEKFPath(rover_to_display).begin()->first;
-    float initial_y = 0.001; //map_data->getEKFPath(rover_to_display).begin()->second;
-    float rover_origin_x = map_origin_x+((initial_x-min_seen_x)/max_seen_width)*(map_width-map_origin_x);
-    float rover_origin_y = map_origin_y+((initial_y-min_seen_y)/max_seen_height)*(map_height-map_origin_y);
-    painter.setPen(Qt::gray);
-    painter.drawLine(QPoint(rover_origin_x, map_origin_y), QPoint(rover_origin_x, map_height));
-    painter.drawLine(QPoint(map_origin_x, rover_origin_y), QPoint(map_width, rover_origin_y));
-    painter.setPen(Qt::white);
+    QPainterPath scaled_ekf_rover_path;
+    for(std::vector< pair<float,float> >::iterator it = map_data->getEKFPath(rover_to_display)->begin(); it < map_data->getEKFPath(rover_to_display)->end(); ++it) {
+      pair<float,float> coordinate  = *it;
+      QPoint point;
+      float x = map_origin_x+((coordinate.first-min_seen_x)/max_seen_width)*(map_width-map_origin_x);
+      float y = map_origin_y+((coordinate.second-min_seen_y)/max_seen_height)*(map_height-map_origin_y);
+
+      // Move to the starting point of the path without drawing a line
+      if (it == map_data->getEKFPath(rover_to_display)->begin()) scaled_ekf_rover_path.moveTo(x, y);
+      scaled_ekf_rover_path.lineTo(x, y);
+    }
 
-    int n_ticks = 6;
-    float tick_length = 5;
-    QPoint x_axis_ticks[n_ticks];
-    QPoint y_axis_ticks[n_ticks];
+    QPainterPath scaled_encoder_rover_path;
+    for(std::vector< pair<float,float> >::iterator it = map_data->getEncoderPath(rover_to_display)->begin(); it < map_data->getEncoderPath(rover_to_display)->end(); ++it) {
+     
+      pair<float,float> coordinate  = *it;
+      QPoint point;
+      float x = map_origin_x+((coordinate.first-min_seen_x)/max_seen_width)*(map_width-map_origin_x);
+      float y = map_origin_y+((coordinate.second-min_seen_y)/max_seen_height)*(map_height-map_origin_y);
 
-    for (int i = 0; i < n_ticks-1; i++)
-    {
-        x_axis_ticks[i].setX(axes_origin.x()+(i+1)*map_width/n_ticks);
-        x_axis_ticks[i].setY(axes_origin.y());
+      // Move to the starting point of the path without drawing a line
+      if (it == map_data->getEncoderPath(rover_to_display)->begin()) scaled_encoder_rover_path.moveTo(x, y);
 
-        y_axis_ticks[i].setX(axes_origin.x());
-        y_axis_ticks[i].setY(axes_origin.y()+(i+1)*map_height/n_ticks);
+      scaled_encoder_rover_path.lineTo(x, y);
     }
 
-    for (int i = 0; i < n_ticks-1; i++)
+    QColor rover_color = QColor(255, 255, 255); // white
+
+    // if we have properly set a color for simulated rovers initialise the color here
+    // also make the popout map frame aware of the colors we use here
+    if(unique_simulated_rover_colors.find(rover_to_display) != unique_simulated_rover_colors.end())
     {
-        painter.drawLine(x_axis_ticks[i], QPoint(x_axis_ticks[i].x(), x_axis_ticks[i].y()+tick_length));
-        painter.drawLine(y_axis_ticks[i], QPoint(y_axis_ticks[i].x()+tick_length, y_axis_ticks[i].y()));
-    }
+      rover_color = unique_simulated_rover_colors[rover_to_display];
 
-    for (int i = 0; i < n_ticks-1; i++)
+      if(popout_mapframe)
+      {
+        popout_mapframe->setUniqueRoverColor(rover_to_display, unique_simulated_rover_colors[rover_to_display]);
+      }
+    }
+    // caveat in the case that
+    //     1) we haven't set sim rover colors properly
+    //     2) we are using hardware rovers
+    else if(display_unique_rover_colors)
     {
-        float fraction_of_map_to_rover_x = (rover_origin_x-map_origin_x)/map_width;
-        float fraction_of_map_to_rover_y = (rover_origin_y-map_origin_y)/map_height;
-        float x_label_f = (i+1)*max_seen_width/n_ticks-fraction_of_map_to_rover_x*max_seen_width;
-        float y_label_f = (i+1)*max_seen_height/n_ticks-fraction_of_map_to_rover_y*max_seen_height;
+      rover_color = unique_physical_rover_colors[hardware_rover_color_index];
+    }
 
-        QString x_label = QString::number(x_label_f, 'f', 1) + "m";
-        QString y_label = QString::number(-y_label_f, 'f', 1) + "m";
+    painter.setPen(rover_color);
 
-        int x_labels_offset_x = -(fm.width(x_label))/2;
-        int x_labels_offset_y = 0;
+    if(!display_unique_rover_colors) painter.setPen(red);
 
-        int y_labels_offset_x = -(fm.width(y_label));
-        int y_labels_offset_y = fm.height()/3;
+    if (display_gps_data) painter.drawPoints(&scaled_gps_rover_points[0], scaled_gps_rover_points.size());
+    // if (display_gps_data) painter.drawPath(scaled_gps_rover_path);
 
-        painter.drawText(x_axis_ticks[i].x()+x_labels_offset_x, axes_origin.y()+x_labels_offset_y, x_label);
-        painter.drawText(axes_origin.x()+y_labels_offset_x, y_axis_ticks[i].y()+y_labels_offset_y, y_label);
-    }
+    if(!display_unique_rover_colors) painter.setPen(Qt::white);
 
-    // End draw scale bars
+    if (display_ekf_data) painter.drawPath(scaled_ekf_rover_path);
 
-    // Repeat the display code for each rover selected by the user - Using C++11 range syntax
-    for(auto rover_to_display : display_list)
+    if(!display_unique_rover_colors) painter.setPen(green);
+
+    if (display_encoder_data) painter.drawPath(scaled_encoder_rover_path);
+
+    painter.setPen(red);
+    QPoint* point_array = &scaled_collection_points[0];
+    painter.drawPoints(point_array, scaled_collection_points.size());
+
+    painter.setPen(green);
+    point_array = &scaled_target_locations[0];
+    painter.drawPoints(point_array, scaled_target_locations.size());
+
+    // Draw a yellow circle at the current EKF estimated rover location
+    if(!map_data->getEKFPath(rover_to_display)->empty())
     {
-        // scale coordinates
-
-        std::vector<QPoint> scaled_target_locations;
-        for(std::vector< pair<float,float> >::iterator it = map_data->getTargetLocations(rover_to_display)->begin(); it < map_data->getTargetLocations(rover_to_display)->end(); ++it) {
-            pair<float,float> coordinate  = *it;
-            QPoint point;
-            point.setX(map_origin_x+coordinate.first*map_width);
-            point.setY(map_origin_y+coordinate.second*map_height);
-            scaled_target_locations.push_back(point);
-        }
-
-        std::vector<QPoint> scaled_collection_points;
-        for(std::vector< pair<float,float> >::iterator it = map_data->getCollectionPoints(rover_to_display)->begin(); it < map_data->getCollectionPoints(rover_to_display)->end(); ++it) {
-            pair<float,float> coordinate  = *it;
-            QPoint point;
-            point.setX(map_origin_x+coordinate.first*map_width);
-            point.setY(map_origin_y+coordinate.second*map_height);
-            scaled_collection_points.push_back(point);
-        }
-
-        std::vector<QPoint> scaled_gps_rover_points;
-        for(std::vector< pair<float,float> >::iterator it = map_data->getGPSPath(rover_to_display)->begin(); it < map_data->getGPSPath(rover_to_display)->end(); ++it) {
-            pair<float,float> coordinate  = *it;
-
-            float x = map_origin_x+((coordinate.first-min_seen_x)/max_seen_width)*(map_width-map_origin_x);
-            float y = map_origin_y+((coordinate.second-min_seen_y)/max_seen_height)*(map_height-map_origin_y);
-            scaled_gps_rover_points.push_back( QPoint(x,y) );
-        }
-
-        QPainterPath scaled_ekf_rover_path;
-        for(std::vector< pair<float,float> >::iterator it = map_data->getEKFPath(rover_to_display)->begin(); it < map_data->getEKFPath(rover_to_display)->end(); ++it) {
-            pair<float,float> coordinate  = *it;
-            QPoint point;
-            float x = map_origin_x+((coordinate.first-min_seen_x)/max_seen_width)*(map_width-map_origin_x);
-            float y = map_origin_y+((coordinate.second-min_seen_y)/max_seen_height)*(map_height-map_origin_y);
-
-            // Move to the starting point of the path without drawing a line
-            if (it == map_data->getEKFPath(rover_to_display)->begin()) scaled_ekf_rover_path.moveTo(x, y);
-            scaled_ekf_rover_path.lineTo(x, y);
-        }
-
-        QPainterPath scaled_encoder_rover_path;
-        for(std::vector< pair<float,float> >::iterator it = map_data->getEncoderPath(rover_to_display)->begin(); it < map_data->getEncoderPath(rover_to_display)->end(); ++it) {
-         
-            pair<float,float> coordinate  = *it;
-            QPoint point;
-            float x = map_origin_x+((coordinate.first-min_seen_x)/max_seen_width)*(map_width-map_origin_x);
-            float y = map_origin_y+((coordinate.second-min_seen_y)/max_seen_height)*(map_height-map_origin_y);
-
-            // Move to the starting point of the path without drawing a line
-            if (it == map_data->getEncoderPath(rover_to_display)->begin()) scaled_encoder_rover_path.moveTo(x, y);
-
-            scaled_encoder_rover_path.lineTo(x, y);
-        }
-
-        painter.setPen(red);
-        if (display_gps_data) painter.drawPoints(&scaled_gps_rover_points[0], scaled_gps_rover_points.size());
-        // if (display_gps_data) painter.drawPath(scaled_gps_rover_path);
-
-        painter.setPen(Qt::white);
-        if (display_ekf_data) painter.drawPath(scaled_ekf_rover_path);
-        painter.setPen(green);
-        if (display_encoder_data) painter.drawPath(scaled_encoder_rover_path);
-
-        painter.setPen(red);
-        QPoint* point_array = &scaled_collection_points[0];
-        painter.drawPoints(point_array, scaled_collection_points.size());
-        painter.setPen(green);
-        point_array = &scaled_target_locations[0];
-        painter.drawPoints(point_array, scaled_target_locations.size());
-
-        // Draw a yellow circle at the current EKF estimated rover location
-        if(!map_data->getEKFPath(rover_to_display)->empty()) {
-          painter.setPen(Qt::yellow);
-          pair<float,float> current_coordinate;
-          current_coordinate = map_data->getEKFPath(rover_to_display)->back();
-
-          float x = map_origin_x+((current_coordinate.first-min_seen_x)/max_seen_width)*(map_width-map_origin_x);
-          float y = map_origin_y+((current_coordinate.second-min_seen_y)/max_seen_height)*(map_height-map_origin_y);
-          float radius = 2.5;
-
-          painter.drawEllipse(QPointF(x,y), radius, radius);
-          painter.drawText(QPoint(x,y), QString::fromStdString(rover_to_display));
-        }
-
-        map_data->unlock();
-
-        painter.setPen(Qt::white);
-    } // End rover display list set iteration
-
-    // Diagnostic output
-    /*
-    font.setPointSizeF( 12 );
-    painter.drawText(QPoint(0,15), "min_seen_x: " + QString::number(min_seen_x));
-    painter.drawText(QPoint(0,30), "min_seen_y: " + QString::number(min_seen_y));
-    painter.drawText(QPoint(0,45), "max_width_seen: " + QString::number(max_seen_width));
-    painter.drawText(QPoint(0,60), "max_height_seen: " + QString::number(max_seen_height));
-    painter.drawText(QPoint(0,75), "map_origin_x: " + QString::number(map_origin_x));
-    painter.drawText(QPoint(0,90), "map_origin_y: " + QString::number(map_origin_y));
-    painter.drawText(QPoint(0,105), "map_width: " + QString::number(map_width));
-    painter.drawText(QPoint(0,120), "map_height: " + QString::number(map_height));
-    painter.drawText(QPoint(0,135), "map_center_x: " + QString::number(map_center_x));
-    */
+      if(display_unique_rover_colors) painter.setPen(rover_color);
+      else painter.setPen(Qt::yellow);
+
+      pair<float,float> current_coordinate;
+      current_coordinate = map_data->getEKFPath(rover_to_display)->back();
+
+      float x = map_origin_x+((current_coordinate.first-min_seen_x)/max_seen_width)*(map_width-map_origin_x);
+      float y = map_origin_y+((current_coordinate.second-min_seen_y)/max_seen_height)*(map_height-map_origin_y);
+      float radius = 2.5;
+
+      painter.drawEllipse(QPointF(x,y), radius, radius);
+      painter.drawText(QPoint(x,y), QString::fromStdString(rover_to_display));
+    }
+
+    map_data->unlock();
 
     painter.setPen(Qt::white);
+
+    hardware_rover_color_index = (hardware_rover_color_index + 1) % 8;
+
+  } // End rover display list set iteration
+
+  // Diagnostic output
+  /*
+  font.setPointSizeF( 12 );
+  painter.drawText(QPoint(0,15), "min_seen_x: " + QString::number(min_seen_x));
+  painter.drawText(QPoint(0,30), "min_seen_y: " + QString::number(min_seen_y));
+  painter.drawText(QPoint(0,45), "max_width_seen: " + QString::number(max_seen_width));
+  painter.drawText(QPoint(0,60), "max_height_seen: " + QString::number(max_seen_height));
+  painter.drawText(QPoint(0,75), "map_origin_x: " + QString::number(map_origin_x));
+  painter.drawText(QPoint(0,90), "map_origin_y: " + QString::number(map_origin_y));
+  painter.drawText(QPoint(0,105), "map_width: " + QString::number(map_width));
+  painter.drawText(QPoint(0,120), "map_height: " + QString::number(map_height));
+  painter.drawText(QPoint(0,135), "map_center_x: " + QString::number(map_center_x));
+  */
+
+  painter.setPen(Qt::white);
 }
 
 
 void MapFrame::setDisplayEncoderData(bool display)
 {
-    display_encoder_data = display;
+  display_encoder_data = display;
 
-    if(popout_mapframe) popout_mapframe->setDisplayEncoderData(display);
+  if(popout_mapframe) popout_mapframe->setDisplayEncoderData(display);
 }
 
 void MapFrame::setDisplayGPSData(bool display)
 {
-    display_gps_data = display;
+  display_gps_data = display;
 
-    if(popout_mapframe) popout_mapframe->setDisplayGPSData(display);
+  if(popout_mapframe) popout_mapframe->setDisplayGPSData(display);
 }
 
 void MapFrame::setDisplayEKFData(bool display)
 {
-    display_ekf_data = display;
+  display_ekf_data = display;
 
-    if(popout_mapframe) popout_mapframe->setDisplayEKFData(display);
+  if(popout_mapframe) popout_mapframe->setDisplayEKFData(display);
 }
 
-void MapFrame::setWhetherToDisplay(string rover, bool yes)
+void MapFrame::setGlobalOffset(bool display)
 {
-    map_data->lock();
+    display_global_offset = display;
+    map_data->setGlobalOffset(display);
 
-    if (yes)
-    {
-        display_list.insert(rover);
-    }
-    else
-    {
-        display_list.erase(rover);
-    }
+    if(popout_mapframe) popout_mapframe->setGlobalOffset(display);
+}
 
-    map_data->unlock();
+void MapFrame::setGlobalOffsetForRover(string rover, float x, float y)
+{
+    map_data->setGlobalOffsetForRover(rover, x, y);
+}
+
+void MapFrame::setDisplayUniqueRoverColors(bool display)
+{
+    display_unique_rover_colors = display;
 
-    if(popout_mapframe) popout_mapframe->setWhetherToDisplay(rover, yes);
+    if(popout_mapframe) popout_mapframe->setDisplayUniqueRoverColors(display);
+}
+
+void MapFrame::setUniqueRoverColor(string rover, QColor rover_color)
+{
+    unique_rover_colors[rover] = rover_color;
+}
+
+void MapFrame::setWhetherToDisplay(string rover, bool yes)
+{
+  map_data->lock();
+
+  if (yes)
+  {
+    display_list.insert(rover);
+  }
+  else
+  {
+    display_list.erase(rover);
+  }
+
+  map_data->unlock();
+
+  if(popout_mapframe) popout_mapframe->setWhetherToDisplay(rover, yes);
 }
 
 void MapFrame::mouseReleaseEvent(QMouseEvent *event) {
-    previous_translate_x = translate_x;
-    previous_translate_y = translate_y;
+  previous_translate_x = translate_x;
+  previous_translate_y = translate_y;
 }
 
 void MapFrame::mousePressEvent(QMouseEvent *event)
 {
-    previous_clicked_position = event->pos();
-    // emit sendInfoLogMessage("MapFrame: mouse press. x: " + QString::number(mouse_event->pos().x()) + ", y: " + QString::number(mouse_event->pos().y()));
+  previous_clicked_position = event->pos();
+  // emit sendInfoLogMessage("MapFrame: mouse press. x: " + QString::number(mouse_event->pos().x()) + ", y: " + QString::number(mouse_event->pos().y()));
 }
 
 void MapFrame::mouseMoveEvent(QMouseEvent *event)
 {
-    // Do not adjust panning in auto-transform mode.. the changes will not be reflected
-    // and will be applied only when the user clicks on manual panning mode which will
-    // cause undesired results.
-    if (auto_transform == true) return;
-
-    if (event->type() == QEvent::MouseMove) {
-        QMouseEvent* mouse_event = static_cast<QMouseEvent*>(event);
-        float max_width = this->width();
-        float max_height = this->height();
-
-        // start with the previous translate
-        translate_x = previous_translate_x;
-        translate_y = previous_translate_y;
-
-        // add the scaled translation based on the previous mouse click
-        // and the current mouse position while dragging; multiply the translation
-        // by the given translate speed to keep the map lined up with mouse movement
-        translate_x += translate_speed * (previous_clicked_position.x() - mouse_event->pos().x()) / max_width;
-        translate_y += translate_speed * (previous_clicked_position.y() - mouse_event->pos().y()) / max_height;
-
-        // debug info log messages
-        // emit sendInfoLogMessage("MapFrame: mouse move: translate_x: " + QString::number(translate_x) + " translate_y: " + QString::number(translate_y) + "\n");
-        // emit sendInfoLogMessage("MapFrame: mouse move: frame_width: " + QString::number(this->width()) + " frame_height: " + QString::number(this->height()));
-        // emit sendInfoLogMessage("MapFrame: mouse move: x: " + QString::number(mouse_event->pos().x()) + " y: " + QString::number(mouse_event->pos().y()));
-        // emit sendInfoLogMessage("MapFrame: mouse move: xp: " + QString::number(previous_clicked_position.x()) + " yp: " + QString::number(previous_clicked_position.y()));
-    }
+  // Do not adjust panning in auto-transform mode.. the changes will not be reflected
+  // and will be applied only when the user clicks on manual panning mode which will
+  // cause undesired results.
+  if (auto_transform == true) return;
+
+  if (event->type() == QEvent::MouseMove) {
+    QMouseEvent* mouse_event = static_cast<QMouseEvent*>(event);
+    float max_width = this->width();
+    float max_height = this->height();
+
+    // start with the previous translate
+    translate_x = previous_translate_x;
+    translate_y = previous_translate_y;
+
+    // add the scaled translation based on the previous mouse click
+    // and the current mouse position while dragging; multiply the translation
+    // by the given translate speed to keep the map lined up with mouse movement
+    translate_x += translate_speed * (previous_clicked_position.x() - mouse_event->pos().x()) / max_width;
+    translate_y += translate_speed * (previous_clicked_position.y() - mouse_event->pos().y()) / max_height;
+
+    // debug info log messages
+    // emit sendInfoLogMessage("MapFrame: mouse move: translate_x: " + QString::number(translate_x) + " translate_y: " + QString::number(translate_y) + "\n");
+    // emit sendInfoLogMessage("MapFrame: mouse move: frame_width: " + QString::number(this->width()) + " frame_height: " + QString::number(this->height()));
+    // emit sendInfoLogMessage("MapFrame: mouse move: x: " + QString::number(mouse_event->pos().x()) + " y: " + QString::number(mouse_event->pos().y()));
+    // emit sendInfoLogMessage("MapFrame: mouse move: xp: " + QString::number(previous_clicked_position.x()) + " yp: " + QString::number(previous_clicked_position.y()));
+  }
 }
 
 void MapFrame::wheelEvent(QWheelEvent *event)
 {
-    // Do not adjust the zoom in auto-transform mode.. the changes will not be reflected
-    // and will be applied only when the user clicks on manual panning mode which will
-    // cause undesired results.
-    if (auto_transform == true) return;
-
-    // 100% map zoom is set when scale = 10; 10% adjustments to 
-    // the zoom occur with each mouse wheel adjustment
-    if (event->delta() < 0) {
-      scale++;
-    } else {
-      scale--;
-    }
-
-    // limit the lower bound of the scale so we do not invert the map and have
-    // negative zoom values
-    if (scale <= 0) {
-      scale = 1;
-      // emit sendInfoLogMessage("Map Zoom Set: " + QString::number(scale * 10) + "% (Minimum Zoom)");
-    } else {
-      // emit sendInfoLogMessage("Map Zoom Set: " + QString::number(scale * 10) + "%");
-    }
-
-    // debug info log messages
-    // emit sendInfoLogMessage("MapFrame: mouse wheel. Degrees: " + QString::number(num_degrees) + " Scale: " + QString::number(scale));
-    // emit sendInfoLogMessage("MapFrame: mouse wheel. x: " + QString::number(event->pos().x()) + " y: " + QString::number(event->pos().y()));
+  // Do not adjust the zoom in auto-transform mode.. the changes will not be reflected
+  // and will be applied only when the user clicks on manual panning mode which will
+  // cause undesired results.
+  if (auto_transform == true) return;
+
+  // 100% map zoom is set when scale = 10; 10% adjustments to 
+  // the zoom occur with each mouse wheel adjustment
+  if (event->delta() < 0) {
+    scale++;
+  } else {
+    scale--;
+  }
+
+  // limit the lower bound of the scale so we do not invert the map and have
+  // negative zoom values
+  if (scale <= 0) {
+    scale = 1;
+    // emit sendInfoLogMessage("Map Zoom Set: " + QString::number(scale * 10) + "% (Minimum Zoom)");
+  } else {
+    // emit sendInfoLogMessage("Map Zoom Set: " + QString::number(scale * 10) + "%");
+  }
+
+  // debug info log messages
+  // emit sendInfoLogMessage("MapFrame: mouse wheel. Degrees: " + QString::number(num_degrees) + " Scale: " + QString::number(scale));
+  // emit sendInfoLogMessage("MapFrame: mouse wheel. x: " + QString::number(event->pos().x()) + " y: " + QString::number(event->pos().y()));
 }
 
 void MapFrame::setManualTransform()
 {
-    if (popout_mapframe) popout_mapframe->setManualTransform();
-    auto_transform = false;
-
-    // Calculate and store the max and min values seen so far for use my the manual transform
-    float max_seen_x = -std::numeric_limits<float>::max(); // std::numeric_limits<float>::max() is the max possible floating point value
-    float max_seen_y = -std::numeric_limits<float>::max();
-    float min_seen_x = std::numeric_limits<float>::max();
-    float min_seen_y = std::numeric_limits<float>::max();
-
-    for (auto rover_to_display : display_list)
-    {
-        if (display_ekf_data)
-        {
-            if (min_seen_x > map_data->getMinEKFX(rover_to_display)) min_seen_x = map_data->getMinEKFX(rover_to_display);
-            if (min_seen_y > map_data->getMinEKFY(rover_to_display)) min_seen_y = map_data->getMinEKFY(rover_to_display);
-            if (max_seen_x < map_data->getMaxEKFX(rover_to_display)) max_seen_x = map_data->getMaxEKFX(rover_to_display);
-            if (max_seen_y < map_data->getMaxEKFY(rover_to_display)) max_seen_y = map_data->getMaxEKFY(rover_to_display);
-        }
-
-        if (display_gps_data)
-        {
-            if (min_seen_x > map_data->getMinGPSX(rover_to_display)) min_seen_x = map_data->getMinGPSX(rover_to_display);
-            if (min_seen_y > map_data->getMinGPSY(rover_to_display)) min_seen_y = map_data->getMinGPSY(rover_to_display);
-            if (max_seen_x < map_data->getMaxGPSX(rover_to_display)) max_seen_x = map_data->getMaxGPSX(rover_to_display);
-            if (max_seen_y < map_data->getMaxGPSY(rover_to_display)) max_seen_y = map_data->getMaxGPSY(rover_to_display);
-        }
-
-        if (display_encoder_data)
-        {
-            if (min_seen_x > map_data->getMinEncoderX(rover_to_display)) min_seen_x = map_data->getMinEncoderX(rover_to_display);
-            if (min_seen_y > map_data->getMinEncoderY(rover_to_display)) min_seen_y = map_data->getMinEncoderY(rover_to_display);
-            if (max_seen_x < map_data->getMaxEncoderX(rover_to_display)) max_seen_x = map_data->getMaxEncoderX(rover_to_display);
-            if (max_seen_y < map_data->getMaxEncoderY(rover_to_display)) max_seen_y = map_data->getMaxEncoderY(rover_to_display);
-        }
-    }
-
-    // Normalize the displayed coordinates to the largest coordinates seen since we don't know the coordinate system.
-    float max_seen_width = max_seen_x-min_seen_x;
-    float max_seen_height = max_seen_y-min_seen_y;
-    min_seen_x_when_manual_enabled = min_seen_x;
-    min_seen_y_when_manual_enabled = min_seen_y;
-    max_seen_width_when_manual_enabled = max_seen_width;
-    max_seen_height_when_manual_enabled = max_seen_height;
-
-    /* scale the translate speed with the max seen width and height */
-    translate_speed = (max_seen_width * 0.75) + (max_seen_height * 0.75);
+  if (popout_mapframe) popout_mapframe->setManualTransform();
+  auto_transform = false;
+
+  // Calculate and store the max and min values seen so far for use my the manual transform
+  float max_seen_x = -std::numeric_limits<float>::max(); // std::numeric_limits<float>::max() is the max possible floating point value
+  float max_seen_y = -std::numeric_limits<float>::max();
+  float min_seen_x = std::numeric_limits<float>::max();
+  float min_seen_y = std::numeric_limits<float>::max();
+
+  for (auto rover_to_display : display_list)
+  {
+      if (display_ekf_data)
+      {
+        if (min_seen_x > map_data->getMinEKFX(rover_to_display)) min_seen_x = map_data->getMinEKFX(rover_to_display);
+        if (min_seen_y > map_data->getMinEKFY(rover_to_display)) min_seen_y = map_data->getMinEKFY(rover_to_display);
+        if (max_seen_x < map_data->getMaxEKFX(rover_to_display)) max_seen_x = map_data->getMaxEKFX(rover_to_display);
+        if (max_seen_y < map_data->getMaxEKFY(rover_to_display)) max_seen_y = map_data->getMaxEKFY(rover_to_display);
+      }
+
+      if (display_gps_data)
+      {
+        if (min_seen_x > map_data->getMinGPSX(rover_to_display)) min_seen_x = map_data->getMinGPSX(rover_to_display);
+        if (min_seen_y > map_data->getMinGPSY(rover_to_display)) min_seen_y = map_data->getMinGPSY(rover_to_display);
+        if (max_seen_x < map_data->getMaxGPSX(rover_to_display)) max_seen_x = map_data->getMaxGPSX(rover_to_display);
+        if (max_seen_y < map_data->getMaxGPSY(rover_to_display)) max_seen_y = map_data->getMaxGPSY(rover_to_display);
+      }
+
+      if (display_encoder_data)
+      {
+        if (min_seen_x > map_data->getMinEncoderX(rover_to_display)) min_seen_x = map_data->getMinEncoderX(rover_to_display);
+        if (min_seen_y > map_data->getMinEncoderY(rover_to_display)) min_seen_y = map_data->getMinEncoderY(rover_to_display);
+        if (max_seen_x < map_data->getMaxEncoderX(rover_to_display)) max_seen_x = map_data->getMaxEncoderX(rover_to_display);
+        if (max_seen_y < map_data->getMaxEncoderY(rover_to_display)) max_seen_y = map_data->getMaxEncoderY(rover_to_display);
+      }
+  }
+
+  // Normalize the displayed coordinates to the largest coordinates seen since we don't know the coordinate system.
+  float max_seen_width = max_seen_x-min_seen_x;
+  float max_seen_height = max_seen_y-min_seen_y;
+  min_seen_x_when_manual_enabled = min_seen_x;
+  min_seen_y_when_manual_enabled = min_seen_y;
+  max_seen_width_when_manual_enabled = max_seen_width;
+  max_seen_height_when_manual_enabled = max_seen_height;
+
+  /* scale the translate speed with the max seen width and height */
+  translate_speed = (max_seen_width * 0.75) + (max_seen_height * 0.75);
 }
 
 void MapFrame::setAutoTransform()
 {
-    if (popout_mapframe) popout_mapframe->setAutoTransform();
-    auto_transform = true;
-    scale = 10;
-    translate_x = 0.0f;
-    translate_y = 0.0f;
-    previous_translate_x = 0.0f;
-    previous_translate_y = 0.0f;
-    previous_clicked_position = QPoint(0,0);
+  if (popout_mapframe) popout_mapframe->setAutoTransform();
+  auto_transform = true;
+  scale = 10;
+  translate_x = 0.0f;
+  translate_y = 0.0f;
+  previous_translate_x = 0.0f;
+  previous_translate_y = 0.0f;
+  previous_clicked_position = QPoint(0,0);
 }
 
 void MapFrame::clear()
 {
-    map_data->lock();
-    display_list.clear();
-    map_data->unlock();
+  map_data->lock();
+  display_list.clear();
+  map_data->unlock();
 }
 
 void MapFrame::clear(string rover)
 {
-    map_data->lock();
-    display_list.erase(rover);
-    map_data->unlock();
+  map_data->lock();
+  display_list.erase(rover);
+  map_data->unlock();
 }
 
 void MapFrame::popout()
 {
-    if (popout_window) popout_window->show();
+  if (popout_window) popout_window->show();
 }
 
  void MapFrame::setMapData(MapData* data)
  {
-     map_data = data;
+   map_data = data;
  }
 
  void MapFrame::addToGPSRoverPath(std::string rover, float x, float y)
  {
-     if (map_data)
-     {
-        map_data->addToGPSRoverPath(rover, x, y);
-        emit delayedUpdate();
-     }
+   if (map_data)
+   {
+      map_data->addToGPSRoverPath(rover, x, y);
+      emit delayedUpdate();
+   }
  }
 
  void MapFrame::addToEncoderRoverPath(std::string rover, float x, float y)
  {
-     if (map_data)
-     {
-        map_data->addToEncoderRoverPath(rover, x, y);
-        emit delayedUpdate();
-     }
+   if (map_data)
+   {
+      map_data->addToEncoderRoverPath(rover, x, y);
+      emit delayedUpdate();
+   }
 }
 
  void MapFrame::addToEKFRoverPath(std::string rover, float x, float y)
  {
-     if (map_data)
-     {
-         map_data->addToEKFRoverPath(rover, x, y);
-         emit delayedUpdate();
-     }
+   if (map_data)
+   {
+      map_data->addToEKFRoverPath(rover, x, y);
+      emit delayedUpdate();
+   }
  }
 
 MapFrame::~MapFrame()
 {
-    // Safely erase map data - locks to make sure a frame isnt being drawn
-    // clearMap();
-    if (popout_window) delete popout_window;
+  // Safely erase map data - locks to make sure a frame isnt being drawn
+  // clearMap();
+  if (popout_window) delete popout_window;
 }
 
 }
diff --git a/src/rqt_rover_gui/src/MapFrame.h b/src/rqt_rover_gui/src/MapFrame.h
index 194ec28d..c394fab6 100644
--- a/src/rqt_rover_gui/src/MapFrame.h
+++ b/src/rqt_rover_gui/src/MapFrame.h
@@ -51,6 +51,10 @@ namespace rqt_rover_gui
       void setDisplayEncoderData(bool display);
       void setDisplayGPSData(bool display);
       void setDisplayEKFData(bool display);
+      void setGlobalOffset(bool display);
+      void setGlobalOffsetForRover(std::string rover, float x, float y);
+      void setDisplayUniqueRoverColors(bool display);
+      void setUniqueRoverColor(std::string, QColor rover_color);
 
       void addToGPSRoverPath(std::string rover, float x, float y);
       void addToEncoderRoverPath(std::string rover, float x, float y);
@@ -100,11 +104,23 @@ namespace rqt_rover_gui
       bool display_gps_data;
       bool display_ekf_data;
       bool display_encoder_data;
+      bool display_global_offset;
+      bool display_unique_rover_colors;
 
       QTime frame_rate_timer;
       int frames;
 
       set<string> display_list;
+      std::map<std::string, QColor> unique_rover_colors;
+      std::map<std::string, QColor> unique_simulated_rover_colors;
+      QColor unique_physical_rover_colors[8] = { /* green         */ QColor(  0, 255,   0),
+                                                 /* yellow        */ QColor(255, 255,   0),
+                                                 /* white         */ QColor(255, 255, 255),
+                                                 /* red           */ QColor(255,   0,   0),
+                                                 /* deep sky blue */ QColor(  0, 191, 255),
+                                                 /* hot pink      */ QColor(255, 105, 180),
+                                                 /* chocolate     */ QColor(210, 105,  30),
+                                                 /* indigo        */ QColor( 75,   0, 130) };
 
       // For external pop out window
       QMainWindow* popout_window;
diff --git a/src/rqt_rover_gui/src/rover_gui_plugin.cpp b/src/rqt_rover_gui/src/rover_gui_plugin.cpp
index 778099bc..7354bebe 100644
--- a/src/rqt_rover_gui/src/rover_gui_plugin.cpp
+++ b/src/rqt_rover_gui/src/rover_gui_plugin.cpp
@@ -124,6 +124,8 @@ namespace rqt_rover_gui
     connect(ui.ekf_checkbox, SIGNAL(toggled(bool)), this, SLOT(EKFCheckboxToggledEventHandler(bool)));
     connect(ui.gps_checkbox, SIGNAL(toggled(bool)), this, SLOT(GPSCheckboxToggledEventHandler(bool)));
     connect(ui.encoder_checkbox, SIGNAL(toggled(bool)), this, SLOT(encoderCheckboxToggledEventHandler(bool)));
+    connect(ui.global_offset_checkbox, SIGNAL(toggled(bool)), this, SLOT(globalOffsetCheckboxToggledEventHandler(bool)));
+    connect(ui.unique_rover_colors_checkbox, SIGNAL(toggled(bool)), this, SLOT(uniqueRoverColorsCheckboxToggledEventHandler(bool)));
     connect(ui.autonomous_control_radio_button, SIGNAL(toggled(bool)), this, SLOT(autonomousRadioButtonEventHandler(bool)));
     connect(ui.joystick_control_radio_button, SIGNAL(toggled(bool)), this, SLOT(joystickRadioButtonEventHandler(bool)));
     connect(ui.all_autonomous_button, SIGNAL(pressed()), this, SLOT(allAutonomousButtonEventHandler()));
@@ -155,9 +157,13 @@ namespace rqt_rover_gui
     connect(this, SIGNAL(updateNumberOfSatellites(QString)), ui.gps_numSV_label, SLOT(setText(QString)));
     connect(this, SIGNAL(sendInfoLogMessage(QString)), this, SLOT(receiveInfoLogMessage(QString)));
     connect(this, SIGNAL(sendDiagLogMessage(QString)), this, SLOT(receiveDiagLogMessage(QString)));
+
     connect(ui.custom_world_path_button, SIGNAL(pressed()), this, SLOT(customWorldButtonEventHandler()));
     connect(ui.custom_distribution_radio_button, SIGNAL(toggled(bool)), this, SLOT(customWorldRadioButtonEventHandler(bool)));
+    connect(ui.powerlaw_distribution_radio_button, SIGNAL(toggled(bool)), this, SLOT(powerlawDistributionRadioButtonEventHandler(bool)));
+    connect(ui.unbounded_radio_button, SIGNAL(toggled(bool)), this, SLOT(unboundedRadioButtonEventHandler(bool)));
     connect(ui.override_num_rovers_checkbox, SIGNAL(toggled(bool)), this, SLOT(overrideNumRoversCheckboxToggledEventHandler(bool)));
+    connect(ui.create_savable_world_checkbox, SIGNAL(toggled(bool)), this, SLOT(createSavableWorldCheckboxToggledEventHandler(bool)));
 
     // Receive log messages from contained frames
     connect(ui.map_frame, SIGNAL(sendInfoLogMessage(QString)), this, SLOT(receiveInfoLogMessage(QString)));
@@ -211,7 +217,7 @@ namespace rqt_rover_gui
     info_log_subscriber = nh.subscribe("/infoLog", 10, &RoverGUIPlugin::infoLogMessageEventHandler, this);
     diag_log_subscriber = nh.subscribe("/diagsLog", 10, &RoverGUIPlugin::diagLogMessageEventHandler, this);
 
-    emit updateNumberOfSatellites("<font color='white'>Number of GPS Satellites: ---</font>");
+    emit updateNumberOfSatellites("<font color='white'>---</font>");
   }
 
   void RoverGUIPlugin::shutdownPlugin()
@@ -429,10 +435,10 @@ void RoverGUIPlugin::GPSNavSolutionEventHandler(const ros::MessageEvent<const ub
     // and the number of detected satellites is > 0
     if (selected_rover_name.compare("") != 0 && msg.get()->numSV > 0) {
         // Update the label in the GUI with the selected rover's information
-        QString newLabelText = "Number of GPS Satellites: " + QString::number(rover_numSV_state[selected_rover_name]);
+        QString newLabelText = QString::number(rover_numSV_state[selected_rover_name]);
         emit updateNumberOfSatellites("<font color='white'>" + newLabelText + "</font>");
     } else {
-        emit updateNumberOfSatellites("<font color='white'>Number of GPS Satellites: ---</font>");
+        emit updateNumberOfSatellites("<font color='white'>---</font>");
     }
 }
 
@@ -674,10 +680,10 @@ void RoverGUIPlugin::currentRoverChangedEventHandler(QListWidgetItem *current, Q
 
     // only update the number of satellites if a valid rover name has been selected
     if (selected_rover_name.compare("") != 0 && rover_numSV_state[selected_rover_name] > 0) {
-        QString newLabelText = "Number of GPS Satellites: " + QString::number(rover_numSV_state[selected_rover_name]);
+        QString newLabelText = QString::number(rover_numSV_state[selected_rover_name]);
         emit updateNumberOfSatellites("<font color='white'>" + newLabelText + "</font>");
     } else {
-        emit updateNumberOfSatellites("<font color='white'>Number of GPS Satellites: ---</font>");
+        emit updateNumberOfSatellites("<font color='white'>---</font>");
     }
 
     // Enable control mode radio group now that a rover has been selected
@@ -1132,6 +1138,16 @@ void RoverGUIPlugin::encoderCheckboxToggledEventHandler(bool checked)
     ui.map_frame->setDisplayEncoderData(checked);
 }
 
+void RoverGUIPlugin::globalOffsetCheckboxToggledEventHandler(bool checked)
+{
+    ui.map_frame->setGlobalOffset(checked);
+}
+
+void RoverGUIPlugin::uniqueRoverColorsCheckboxToggledEventHandler(bool checked)
+{
+    ui.map_frame->setDisplayUniqueRoverColors(checked);
+}
+
 void RoverGUIPlugin::displayDiagLogMessage(QString msg)
 {
     if (msg.isEmpty()) msg = "Message is empty";
@@ -1316,20 +1332,20 @@ void RoverGUIPlugin::allAutonomousButtonEventHandler()
     ui.autonomous_control_radio_button->setChecked(true);
     ui.joystick_frame->setHidden(true);
     
-    //Disable all autonomous button
+    // Disable all autonomous button
     ui.all_autonomous_button->setEnabled(false);
     ui.all_autonomous_button->setStyleSheet("color: grey; border:2px solid grey;");
 
-    //Experiment Timer START
+    // Experiment Timer START
 
     // this catches the case when the /clock timer is not running
     // AKA: when we are not running a simulation
     if (current_simulated_time_in_seconds > 0.0) {
-        if (ui.simulation_timer_combo_box->currentText() == "no time limit") {
+        if (ui.simulation_timer_combobox->currentText() == "no time limit") {
             timer_start_time_in_seconds = 0.0;
             timer_stop_time_in_seconds = 0.0;
             is_timer_on = false;
-        } else if (ui.simulation_timer_combo_box->currentText() == "10 min (Testing)") {
+        } else if (ui.simulation_timer_combobox->currentText() == "10 min (Testing)") {
             timer_start_time_in_seconds = current_simulated_time_in_seconds;
             timer_stop_time_in_seconds = timer_start_time_in_seconds + 600.0;
             is_timer_on = true;
@@ -1349,9 +1365,31 @@ void RoverGUIPlugin::allAutonomousButtonEventHandler()
                                                  QString::number(getHours(timer_stop_time_in_seconds)) + " hours, " +
                                                  QString::number(getMinutes(timer_stop_time_in_seconds)) + " minutes, " +
                                                  QString::number(floor(getSeconds(timer_stop_time_in_seconds))) + " seconds</font>");
-            ui.simulation_timer_combo_box->setEnabled(false);
-            ui.simulation_timer_combo_box->setStyleSheet("color: grey; border:2px solid grey;");
-        } else if (ui.simulation_timer_combo_box->currentText() == "30 min (Preliminary)") {
+            ui.simulation_timer_combobox->setEnabled(false);
+            ui.simulation_timer_combobox->setStyleSheet("color: grey; border:2px solid grey;");
+        } else if (ui.simulation_timer_combobox->currentText() == "20 min (Preliminary)") {
+            timer_start_time_in_seconds = current_simulated_time_in_seconds;
+            timer_stop_time_in_seconds = timer_start_time_in_seconds + 1200.0;
+            is_timer_on = true;
+            emit sendInfoLogMessage("\nSetting experiment timer to start at: " +
+                                    QString::number(getHours(timer_start_time_in_seconds)) + " hours, " +
+                                    QString::number(getMinutes(timer_start_time_in_seconds)) + " minutes, " +
+                                    QString::number(getSeconds(timer_start_time_in_seconds)) + " seconds");
+            ui.simulationTimerStartLabel->setText("<font color='white'>" +
+                                                  QString::number(getHours(timer_start_time_in_seconds)) + " hours, " +
+                                                  QString::number(getMinutes(timer_start_time_in_seconds)) + " minutes, " +
+                                                  QString::number(floor(getSeconds(timer_start_time_in_seconds))) + " seconds</font>");
+            emit sendInfoLogMessage("Setting experiment timer to stop at: " +
+                                    QString::number(getHours(timer_stop_time_in_seconds)) + " hours, " +
+                                    QString::number(getMinutes(timer_stop_time_in_seconds)) + " minutes, " +
+                                    QString::number(getSeconds(timer_stop_time_in_seconds)) + " seconds\n");
+            ui.simulationTimerStopLabel->setText("<font color='white'>" +
+                                                 QString::number(getHours(timer_stop_time_in_seconds)) + " hours, " +
+                                                 QString::number(getMinutes(timer_stop_time_in_seconds)) + " minutes, " +
+                                                 QString::number(floor(getSeconds(timer_stop_time_in_seconds))) + " seconds</font>");
+            ui.simulation_timer_combobox->setEnabled(false);
+            ui.simulation_timer_combobox->setStyleSheet("color: grey; border:2px solid grey;");
+        } else if (ui.simulation_timer_combobox->currentText() == "30 min (Preliminary)") {
             timer_start_time_in_seconds = current_simulated_time_in_seconds;
             timer_stop_time_in_seconds = timer_start_time_in_seconds + 1800.0;
             is_timer_on = true;
@@ -1371,9 +1409,9 @@ void RoverGUIPlugin::allAutonomousButtonEventHandler()
                                                  QString::number(getHours(timer_stop_time_in_seconds)) + " hours, " +
                                                  QString::number(getMinutes(timer_stop_time_in_seconds)) + " minutes, " +
                                                  QString::number(floor(getSeconds(timer_stop_time_in_seconds))) + " seconds</font>");
-            ui.simulation_timer_combo_box->setEnabled(false);
-            ui.simulation_timer_combo_box->setStyleSheet("color: grey; border:2px solid grey;");
-        } else if (ui.simulation_timer_combo_box->currentText() == "60 min (Final)") {
+            ui.simulation_timer_combobox->setEnabled(false);
+            ui.simulation_timer_combobox->setStyleSheet("color: grey; border:2px solid grey;");
+        } else if (ui.simulation_timer_combobox->currentText() == "60 min (Final)") {
             timer_start_time_in_seconds = current_simulated_time_in_seconds;
             timer_stop_time_in_seconds = timer_start_time_in_seconds + 3600.0;
             is_timer_on = true;
@@ -1393,11 +1431,12 @@ void RoverGUIPlugin::allAutonomousButtonEventHandler()
                                                  QString::number(getHours(timer_stop_time_in_seconds)) + " hours, " +
                                                  QString::number(getMinutes(timer_stop_time_in_seconds)) + " minutes, " +
                                                  QString::number(floor(getSeconds(timer_stop_time_in_seconds))) + " seconds</font>");
-            ui.simulation_timer_combo_box->setEnabled(false);
-            ui.simulation_timer_combo_box->setStyleSheet("color: grey; border:2px solid grey;");
+            ui.simulation_timer_combobox->setEnabled(false);
+            ui.simulation_timer_combobox->setStyleSheet("color: grey; border:2px solid grey;");
         }
     }
-    //Experiment Timer END
+
+    // Experiment Timer END
 }
 
 double RoverGUIPlugin::getHours(double seconds) {
@@ -1477,8 +1516,8 @@ void RoverGUIPlugin::allStopButtonEventHandler()
     ui.all_stop_button->setStyleSheet("color: grey; border:2px solid grey;");
 
     // reset the simulation timer variables
-    ui.simulation_timer_combo_box->setEnabled(true);
-    ui.simulation_timer_combo_box->setStyleSheet("color: white; border:1px solid white; padding: 1px 0px 1px 3px");
+    ui.simulation_timer_combobox->setEnabled(true);
+    ui.simulation_timer_combobox->setStyleSheet("color: white; border:1px solid white; padding: 1px 0px 1px 3px");
     ui.simulationTimerStartLabel->setText("<font color='white'>---</font>");
     ui.simulationTimerStopLabel->setText("<font color='white'>---</font>");
     timer_start_time_in_seconds = 0.0;
@@ -1521,18 +1560,61 @@ void RoverGUIPlugin::customWorldButtonEventHandler()
 void RoverGUIPlugin::customWorldRadioButtonEventHandler(bool toggled)
 {
     ui.custom_world_path_button->setEnabled(toggled);
+    ui.number_of_tags_combobox->setEnabled(!toggled);
 
     // Set the button color to reflect whether or not it is disabled
     // Clear the sim path if custom distribution it deselected
-    if( toggled )
+    if(toggled)
     {
         ui.custom_world_path_button->setStyleSheet("color: white; border:2px solid white;");
+
+        ui.number_of_tags_label->setStyleSheet("color: grey;");
+        ui.number_of_tags_combobox->setStyleSheet("color: grey; border:2px solid grey; padding: 1px 0px 1px 3px");
     }
     else
     {
         sim_mgr.setCustomWorldPath("");
         ui.custom_world_path->setText("");
         ui.custom_world_path_button->setStyleSheet("color: grey; border:2px solid grey;");
+
+        ui.number_of_tags_label->setStyleSheet("color: white;");
+        ui.number_of_tags_combobox->setStyleSheet("color: white; border:2px solid white; padding: 1px 0px 1px 3px");
+    }
+}
+
+// Currently, we cannot use the power law distribution with custon numbers of cubes.
+// I.E., we always use 256 tags, so disable the option to change the number of cubes when
+// generating a power law distribution. If we add dynamic power law distribution generation
+// in the future this block can be removed.
+void RoverGUIPlugin::powerlawDistributionRadioButtonEventHandler(bool toggled)
+{
+    ui.number_of_tags_combobox->setEnabled(!toggled);
+
+    if(!toggled)
+    {
+        ui.number_of_tags_label->setStyleSheet("color: white;");
+        ui.number_of_tags_combobox->setStyleSheet("color: white; border:2px solid white; padding: 1px 0px 1px 3px");
+    }
+    else
+    {
+        ui.number_of_tags_label->setStyleSheet("color: grey;");
+        ui.number_of_tags_combobox->setStyleSheet("color: grey; border:2px solid grey; padding: 1px 0px 1px 3px");
+    }
+}
+
+void RoverGUIPlugin::unboundedRadioButtonEventHandler(bool toggled)
+{
+    ui.unbounded_arena_size_combobox->setEnabled(toggled);
+
+    if(toggled)
+    {
+        ui.unbounded_arena_size_label->setStyleSheet("color: white;");
+        ui.unbounded_arena_size_combobox->setStyleSheet("color: white; border:2px solid white; padding: 1px 0px 1px 3px");
+    }
+    else
+    {
+        ui.unbounded_arena_size_label->setStyleSheet("color: grey;");
+        ui.unbounded_arena_size_combobox->setStyleSheet("color: grey; border:2px solid grey; padding: 1px 0px 1px 3px");
     }
 }
 
@@ -1559,199 +1641,252 @@ void RoverGUIPlugin::buildSimulationButtonEventHandler()
     QProcess* sim_server_process = sim_mgr.startGazeboServer();
     connect(sim_server_process, SIGNAL(finished(int)), this, SLOT(gazeboServerFinishedEventHandler()));
 
-
-    if (ui.final_radio_button->isChecked())
+    if (ui.final_radio_button->isChecked() && !ui.create_savable_world_checkbox->isChecked())
     {
          arena_dim = 23.1;
          addFinalsWalls();
+         emit sendInfoLogMessage(QString("Set arena size to ")+QString::number(arena_dim)+"x"+QString::number(arena_dim));
     }
-    else
+    else if (ui.prelim_radio_button->isChecked() && !ui.create_savable_world_checkbox->isChecked())
     {
         arena_dim = 15;
         addPrelimsWalls();
+        emit sendInfoLogMessage(QString("Set arena size to ")+QString::number(arena_dim)+"x"+QString::number(arena_dim));
+    }
+    else
+    {
+        arena_dim = ui.unbounded_arena_size_combobox->currentText().toInt();
+        emit sendInfoLogMessage(QString("Set arena size to ")+QString::number(arena_dim)+"x"+QString::number(arena_dim)+" with no barriers");
     }
 
-    emit sendInfoLogMessage(QString("Set arena size to ")+QString::number(arena_dim)+"x"+QString::number(arena_dim));
-
-    if (ui.texture_combobox->currentText() == "Gravel")
+    if(!ui.create_savable_world_checkbox->isChecked())
     {
-    emit sendInfoLogMessage("Adding gravel ground plane...");
-    return_msg = sim_mgr.addGroundPlane("mars_ground_plane");
-    emit sendInfoLogMessage(return_msg);
+        if (ui.texture_combobox->currentText() == "Gravel")
+        {
+            emit sendInfoLogMessage("Adding gravel ground plane...");
+            return_msg = sim_mgr.addGroundPlane("mars_ground_plane");
+            emit sendInfoLogMessage(return_msg);
+        }
+        else if (ui.texture_combobox->currentText() == "KSC Concrete")
+        {
+            emit sendInfoLogMessage("Adding concrete ground plane...");
+            return_msg = sim_mgr.addGroundPlane("concrete_ground_plane");
+            emit sendInfoLogMessage(return_msg);
+        }
+        else if (ui.texture_combobox->currentText() == "Car park")
+        {
+            emit sendInfoLogMessage("Adding carpark ground plane...");
+            return_msg = sim_mgr.addGroundPlane("carpark_ground_plane");
+            emit sendInfoLogMessage(return_msg);
+        }
+        else
+        {
+            emit sendInfoLogMessage("Unknown ground plane...");
+        }
     }
-    else if (ui.texture_combobox->currentText() == "KSC Concrete")
+    else
     {
-    emit sendInfoLogMessage("Adding concrete ground plane...");
-    return_msg = sim_mgr.addGroundPlane("concrete_ground_plane");
-    emit sendInfoLogMessage(return_msg);
+        emit sendInfoLogMessage("Not using a ground plane texture...");
     }
-    else if (ui.texture_combobox->currentText() == "Car park")
+
+    if(!ui.create_savable_world_checkbox->isChecked())
     {
-    emit sendInfoLogMessage("Adding carpark ground plane...");
-    return_msg = sim_mgr.addGroundPlane("carpark_ground_plane");
-    emit sendInfoLogMessage(return_msg);
+        emit sendInfoLogMessage("Adding collection disk...");
+        float collection_disk_radius = 0.5; // meters
+        sim_mgr.addModel("collection_disk", "collection_disk", 0, 0, 0, collection_disk_radius);
+        score_subscriber = nh.subscribe("/collectionZone/score", 10, &RoverGUIPlugin::scoreEventHandler, this);
+        simulation_timer_subscriber = nh.subscribe("/clock", 10, &RoverGUIPlugin::simulationTimerEventHandler, this);
     }
     else
     {
-        emit sendInfoLogMessage("Unknown ground plane...");
+        emit sendInfoLogMessage("Not adding collection disk...");
     }
 
+    if(!ui.create_savable_world_checkbox->isChecked())
+    {
+        int n_rovers_created = 0;
+        int n_rovers = 3;
+        if (ui.final_radio_button->isChecked()) n_rovers = 6;
+
+        // If the user chose to override the number of rovers to add to the simulation read the selected value
+        // Please notice that this will override "n_rovers = 6" above if the final radio button is selected
+        if (ui.override_num_rovers_checkbox->isChecked()) n_rovers = ui.custom_num_rovers_combobox->currentText().toInt();
+
+        QProgressDialog progress_dialog;
+        progress_dialog.setWindowTitle("Creating rovers");
+        progress_dialog.setCancelButton(NULL); // no cancel button
+        progress_dialog.setWindowModality(Qt::ApplicationModal);
+        progress_dialog.setWindowFlags(progress_dialog.windowFlags() | Qt::WindowStaysOnTopHint);
+        progress_dialog.resize(500, 50);
+        progress_dialog.show();
+
+        QString rovers[8] = {"achilles", "aeneas", "ajax", "diomedes", "hector", "paris", "thor", "zeus"};
+
+        QColor rover_colors[8] = { /* green         */ QColor(  0, 255,   0),
+                                   /* yellow        */ QColor(255, 255,   0),
+                                   /* white         */ QColor(255, 255, 255),
+                                   /* red           */ QColor(255,   0,   0),
+                                   /* deep sky blue */ QColor(  0, 191, 255),
+                                   /* hot pink      */ QColor(255, 105, 180),
+                                   /* chocolate     */ QColor(210, 105,  30),
+                                   /* indigo        */ QColor( 75,   0, 130) };
+
+        /**
+         * The distance to the rover from a corner position is calculated differently
+         * than the distance to a cardinal position.
+         *
+         * The cardinal direction rovers are a straightforward calculation where:
+         *     a = the distance to the edge of the collection zone
+         *         i.e., 1/2 of the collection zone square side length
+         *     b = the 50cm distance required by the rules for placing the rover
+         *     c = offset for the simulation for the center of the rover (30cm)
+         *         i.e., the rover position is at the center of its body
+         *
+         * The corner rovers use trigonometry to calculate the distance where each
+         * value of d, e, and f, are the legs to an isosceles right triangle. In
+         * other words, we are calculating and summing X and Y offsets to position
+         * the rover.
+         *     d = a
+         *     e = xy offset to move the rover 50cm from the corner of the collection zone
+         *     f = xy offset to move the rover 30cm to account for its position being
+         *         calculated at the center of its body
+         *
+         *                       *  *          d = 0.508m
+         *                     *      *        e = 0.354m
+         *                   *          *    + f = 0.212m
+         *                 *     /*     *    ------------
+         *                 *    / | f *            1.072m
+         *                   * /--| *
+         *                    /* *
+         *                   / | e
+         *                  /--|
+         *     *************
+         *     *          /|
+         *     *         / |
+         *     *        /  | d                 a = 0.508m
+         *     *       /   |     *********     b = 0.500m
+         *     *      /    |     *       *   + c = 0.300m
+         *     *     *-----|-----*---*   *   ------------
+         *     *        a  *  b  * c     *         1.308m
+         *     *           *     *********
+         *     *           *
+         *     *           *
+         *     *           *
+         *     *************
+         */
+        QPointF rover_positions[8] =
+        {
+          /* cardinal rovers: North, East, South, West */
+          QPointF(-1.308,  0.000), // 1.308 = distance_from_center_to_edge_of_collection_zone
+          QPointF( 0.000, -1.308), //             + 50 cm distance to rover
+          QPointF( 1.308,  0.000), //             + 30 cm distance_from_center_of_rover_to_edge_of_rover
+          QPointF( 0.000,  1.308), // 1.308m = 0.508m + 0.5m + 0.3m
+
+          /* corner rovers: Northeast, Southwest */
+          QPointF( 1.072,  1.072), // 1.072 = diagonal_distance_from_center_to_edge_of_collection_zone
+          QPointF(-1.072, -1.072), //             + diagonal_distance_to_move_50cm
+                                   //             + diagonal_distance_to_move_30cm
+                                   // 1.072m = 0.508 + 0.354 + 0.212
+
+          /* corner rovers: Northwest, Southeast */
+          QPointF(-1.072,  1.072),
+          QPointF( 1.072, -1.072)
+        };
+
+        /* In this case, the yaw is the value that turns rover "left" and "right" */
+        float rover_yaw[8] =
+        {
+           0.000, //  0.00 * PI
+           1.571, //  0.50 * PI
+          -3.142, // -1.00 * PI
+          -1.571, // -0.50 * PI
+          -2.356, // -0.75 * PI
+           0.785, //  0.25 * PI
+          -0.785, // -0.25 * PI
+           2.356  //  0.75 * PI
+        };
+
+        // Add rovers to the simulation and start the associated ROS nodes
+        for (int i = 0; i < n_rovers; i++)
+        {
+            // add the global offset for sim rovers
+            ui.map_frame->setGlobalOffsetForRover(rovers[i].toStdString(), rover_positions[i].x(), rover_positions[i].y());
+            ui.map_frame->setUniqueRoverColor(rovers[i].toStdString(), rover_colors[i]);
 
-    emit sendInfoLogMessage("Adding collection disk...");
-    float collection_disk_radius = 0.5; // meters
-    sim_mgr.addModel("collection_disk", "collection_disk", 0, 0, 0, collection_disk_radius);
-    score_subscriber = nh.subscribe("/collectionZone/score", 10, &RoverGUIPlugin::scoreEventHandler, this);
-    simulation_timer_subscriber = nh.subscribe("/clock", 10, &RoverGUIPlugin::simulationTimerEventHandler, this);
-
-    int n_rovers_created = 0;
-    int n_rovers = 3;
-    if (ui.final_radio_button->isChecked()) n_rovers = 6;
+            emit sendInfoLogMessage("Adding rover "+rovers[i]+"...");
+            return_msg = sim_mgr.addRover(rovers[i], rover_positions[i].x(), rover_positions[i].y(), 0, 0, 0, rover_yaw[i]);
+            emit sendInfoLogMessage(return_msg);
 
-    // If the user chose to override the number of rovers to add to the simulation read the selected value
-    if (ui.override_num_rovers_checkbox->isChecked()) n_rovers = ui.custom_num_rovers_combobox->currentText().toInt();
+            emit sendInfoLogMessage("Starting rover node for "+rovers[i]+"...");
+            return_msg = sim_mgr.startRoverNode(rovers[i]);
+            emit sendInfoLogMessage(return_msg);
 
-    QProgressDialog progress_dialog;
-    progress_dialog.setWindowTitle("Creating rovers");
-    progress_dialog.setCancelButton(NULL); // no cancel button
-    progress_dialog.setWindowModality(Qt::ApplicationModal);
-    progress_dialog.setWindowFlags(progress_dialog.windowFlags() | Qt::WindowStaysOnTopHint);
-    progress_dialog.resize(500, 50);
-    progress_dialog.show();
-
-    QString rovers[6] = {"achilles", "aeneas", "ajax", "diomedes", "hector", "paris"};
-
-    /**
-     * The distance to the rover from a corner position is calculated differently
-     * than the distance to a cardinal position.
-     *
-     * The cardinal direction rovers are a straightforward calculation where:
-     *     a = the distance to the edge of the collection zone
-     *         i.e., 1/2 of the collection zone square side length
-     *     b = the 50cm distance required by the rules for placing the rover
-     *     c = offset for the simulation for the center of the rover (30cm)
-     *         i.e., the rover position is at the center of its body
-     *
-     * The corner rovers use trigonometry to calculate the distance where each
-     * value of d, e, and f, are the legs to an isosceles right triangle. In
-     * other words, we are calculating and summing X and Y offsets to position
-     * the rover.
-     *     d = a
-     *     e = xy offset to move the rover 50cm from the corner of the collection zone
-     *     f = xy offset to move the rover 30cm to account for its position being
-     *         calculated at the center of its body
-     *
-     *                       *  *          d = 0.508m
-     *                     *      *        e = 0.354m
-     *                   *          *    + f = 0.212m
-     *                 *     /*     *    ------------
-     *                 *    / | f *            1.072m
-     *                   * /--| *
-     *                    /* *
-     *                   / | e
-     *                  /--|
-     *     *************
-     *     *          /|
-     *     *         / |
-     *     *        /  | d                 a = 0.508m
-     *     *       /   |     *********     b = 0.500m
-     *     *      /    |     *       *   + c = 0.300m
-     *     *     *-----|-----*---*   *   ------------
-     *     *        a  *  b  * c     *         1.308m
-     *     *           *     *********
-     *     *           *
-     *     *           *
-     *     *           *
-     *     *************
-     */
-    QPointF rover_positions[6] =
-    {
-      /* cardinal rovers: North, East, South, West */
-      QPointF(-1.308,  0.000), // 1.308 = distance_from_center_to_edge_of_collection_zone
-      QPointF( 0.000, -1.308), //             + 50 cm distance to rover
-      QPointF( 1.308,  0.000), //             + 30 cm distance_from_center_of_rover_to_edge_of_rover
-      QPointF( 0.000,  1.308), // 1.308m = 0.508m + 0.5m + 0.3m
-
-      /* corner rovers: Northeast, Southwest */
-      QPointF( 1.072,  1.072), // 1.072 = diagonal_distance_from_center_to_edge_of_collection_zone
-      QPointF(-1.072, -1.072)  //             + diagonal_distance_to_move_50cm
-    };                         //             + diagonal_distance_to_move_30cm
-                               // 1.072m = 0.508 + 0.354 + 0.212
-
-    /* In this case, the yaw is the value that turns rover "left" and "right" */
-    float rover_yaw[6] =
-    {
-       0.000, //  0.00 * PI
-       1.571, //  0.50 * PI
-      -3.142, // -1.00 * PI
-      -1.571, // -0.50 * PI
-      -2.356, // -0.75 * PI
-       0.785  //  0.25 * PI
-    };
-      
-    // Add rovers to the simulation and start the associated ROS nodes
-    for (int i = 0; i < n_rovers; i++)
-    {
-        emit sendInfoLogMessage("Adding rover "+rovers[i]+"...");
-        return_msg = sim_mgr.addRover(rovers[i], rover_positions[i].x(), rover_positions[i].y(), 0, 0, 0, rover_yaw[i]);
-        emit sendInfoLogMessage(return_msg);
-
-        emit sendInfoLogMessage("Starting rover node for "+rovers[i]+"...");
-        return_msg = sim_mgr.startRoverNode(rovers[i]);
-        emit sendInfoLogMessage(return_msg);
+            progress_dialog.setValue((++n_rovers_created)*100.0f/n_rovers);
+            qApp->processEvents(QEventLoop::ExcludeUserInputEvents);
 
-        progress_dialog.setValue((++n_rovers_created)*100.0f/n_rovers);
-        qApp->processEvents(QEventLoop::ExcludeUserInputEvents);
-        
-        if(i == 0)
-        {
-          sleep(rover_load_delay); // Gives plugins enough time to finish loading
+            if(i == 0)
+            {
+              sleep(rover_load_delay); // Gives plugins enough time to finish loading
+            }
         }
     }
+    else
+    {
+        emit sendInfoLogMessage("Not creating rovers...");
+    }
 
-   if (ui.powerlaw_distribution_radio_button->isChecked())
-   {
+    if (ui.powerlaw_distribution_radio_button->isChecked())
+    {
        emit sendInfoLogMessage("Adding powerlaw distribution of targets...");
        return_msg = addPowerLawTargets();
        emit sendInfoLogMessage(return_msg);
-   }
-   else if (ui.uniform_distribution_radio_button->isChecked())
-   {
+    }
+    else if (ui.uniform_distribution_radio_button->isChecked())
+    {
        emit sendInfoLogMessage("Adding uniform distribution of targets...");
        return_msg = addUniformTargets();
        emit sendInfoLogMessage(return_msg);
-   }
-   else if (ui.clustered_distribution_radio_button->isChecked())
-   {
+    }
+    else if (ui.clustered_distribution_radio_button->isChecked())
+    {
        emit sendInfoLogMessage("Adding clustered distribution of targets...");
        return_msg = addClusteredTargets();
        emit sendInfoLogMessage(return_msg);
-   }
+    }
 
-   // add walls given nw corner (x,y) and height and width (in meters)
+    // add walls given nw corner (x,y) and height and width (in meters)
 
-   //addWalls(-arena_dim/2, -arena_dim/2, arena_dim, arena_dim);
+    //addWalls(-arena_dim/2, -arena_dim/2, arena_dim, arena_dim);
 
-   //   // Test rover movement
-   //   displayLogMessage("Moving aeneas");
-   //   return_msg = sim_mgr.moveRover("aeneas", 10, 0, 0);
-   //   displayLogMessage(return_msg);
+    //   // Test rover movement
+    //   displayLogMessage("Moving aeneas");
+    //   return_msg = sim_mgr.moveRover("aeneas", 10, 0, 0);
+    //   displayLogMessage(return_msg);
 
-   //displayLogMessage("Starting the gazebo client to visualize the simulation.");
-   //sim_mgr.startGazeboClient();
+    //displayLogMessage("Starting the gazebo client to visualize the simulation.");
+    //sim_mgr.startGazeboClient();
 
-   ui.visualize_simulation_button->setEnabled(true);
-   ui.clear_simulation_button->setEnabled(true);
+    ui.visualize_simulation_button->setEnabled(true);
+    ui.clear_simulation_button->setEnabled(true);
 
-   ui.visualize_simulation_button->setStyleSheet("color: white;border:1px solid white;");
-   ui.clear_simulation_button->setStyleSheet("color: white;border:1px solid white;");
+    ui.visualize_simulation_button->setStyleSheet("color: white;border:1px solid white;");
+    ui.clear_simulation_button->setStyleSheet("color: white;border:1px solid white;");
 
-    ui.simulation_timer_combo_box->setEnabled(true);
-    ui.simulation_timer_combo_box->setStyleSheet("color: white; border:1px solid white; padding: 1px 0px 1px 3px");
+    ui.simulation_timer_combobox->setEnabled(true);
+    ui.simulation_timer_combobox->setStyleSheet("color: white; border:1px solid white; padding: 1px 0px 1px 3px");
 
-   emit sendInfoLogMessage("Finished building simulation.");
+    emit sendInfoLogMessage("Finished building simulation.");
 
-   // Visualize the simulation by default call button event handler
-   visualizeSimulationButtonEventHandler();
+    if (ui.start_visualization_on_build_checkbox->isChecked())
+    {
+        // Visualize the simulation by default call button event handler
+        visualizeSimulationButtonEventHandler();
+        display_sim_visualization = true;
+    }
+    else
+    {
+        display_sim_visualization = false;
+    }
 }
 
 void RoverGUIPlugin::clearSimulationButtonEventHandler()
@@ -1873,11 +2008,11 @@ void RoverGUIPlugin::clearSimulationButtonEventHandler()
     obstacle_call_count = 0;
     emit updateObstacleCallCount("<font color='white'>0</font>");
     emit updateNumberOfTagsCollected("<font color='white'>0</font>");
-    emit updateNumberOfSatellites("<font color='white'>Number of GPS Satellites: ---</font>");
+    emit updateNumberOfSatellites("<font color='white'>---</font>");
 
     // reset the simulation timer variables
-    ui.simulation_timer_combo_box->setEnabled(true);
-    ui.simulation_timer_combo_box->setStyleSheet("color: white; border:1px solid white; padding: 1px 0px 1px 3px");
+    ui.simulation_timer_combobox->setEnabled(true);
+    ui.simulation_timer_combobox->setStyleSheet("color: white; border:1px solid white; padding: 1px 0px 1px 3px");
     ui.simulationTimerStartLabel->setText("<font color='white'>---</font>");
     ui.simulationTimerStopLabel->setText("<font color='white'>---</font>");
     ui.currentSimulationTimeLabel->setText("<font color='white'>---</font>");
@@ -1961,8 +2096,10 @@ QString RoverGUIPlugin::stopROSJoyNode()
 
 QString RoverGUIPlugin::addUniformTargets()
 {
+    QString number_of_tags = ui.number_of_tags_combobox->currentText();
+
     QProgressDialog progress_dialog;
-    progress_dialog.setWindowTitle("Placing 256 Targets");
+    progress_dialog.setWindowTitle("Placing " + number_of_tags + " Targets");
     progress_dialog.setCancelButton(NULL); // no cancel button
     progress_dialog.setWindowModality(Qt::ApplicationModal);
     progress_dialog.resize(500, 50);
@@ -1974,8 +2111,6 @@ QString RoverGUIPlugin::addUniformTargets()
     float proposed_x;
     float proposed_y;
 
-    // 256 piles of 1 tag
-
     // d is the distance from the center of the arena to the boundary minus the barrier clearance, i.e. the region where tags can be placed
     // is d - U(0,2d) where U(a,b) is a uniform distribition bounded by a and b.
     // (before checking for collisions including the collection disk at the center)
@@ -1984,7 +2119,7 @@ QString RoverGUIPlugin::addUniformTargets()
     progress_dialog.setValue(0.0);
     qApp->processEvents(QEventLoop::ExcludeUserInputEvents);
 
-    for (int i = 0; i < 256; i++)
+    for (int i = 0; i < number_of_tags.toInt(); i++)
     {
         do
         {
@@ -1996,19 +2131,53 @@ QString RoverGUIPlugin::addUniformTargets()
 
         emit sendInfoLogMessage("<font color=green>Succeeded.</font>");
         output = sim_mgr.addModel(QString("at")+QString::number(0),  QString("at")+QString::number(i), proposed_x, proposed_y, 0, target_cluster_size_1_clearance);
-        progress_dialog.setValue(i*100.0f/256);
+        progress_dialog.setValue(i*100.0f/number_of_tags.toInt());
         qApp->processEvents(QEventLoop::ExcludeUserInputEvents);
     }
 
-    emit sendInfoLogMessage("Placed 256 single targets");
+    emit sendInfoLogMessage("Placed " + number_of_tags + " single targets");
 
     return output;
 }
 
 QString RoverGUIPlugin::addClusteredTargets()
 {
+    QString number_of_tags = ui.number_of_tags_combobox->currentText();
+    int cluster_length = 0;
+    int cluster_width = 0;
+
+    switch(number_of_tags.toInt())
+    {
+        case 256:
+            cluster_length = 8;
+            cluster_width = 8;
+            break;
+        case 128:
+            cluster_length = 8;
+            cluster_width = 4;
+            break;
+        case 64:
+            cluster_length = 4;
+            cluster_width = 4;
+            break;
+        case 32:
+            cluster_length = 4;
+            cluster_width = 2;
+            break;
+        case 16:
+            cluster_length = 2;
+            cluster_width = 2;
+            break;
+        case 0:
+            cluster_length = 0;
+            cluster_width = 0;
+        default:
+            cluster_length = 1;
+            cluster_width = 1;
+    }
+
     QProgressDialog progress_dialog;
-    progress_dialog.setWindowTitle("Placing 256 Targets into 4 Clusters (64 targets each)");
+    progress_dialog.setWindowTitle("Placing " + number_of_tags + " Targets into four " + QString::number(cluster_length) + " x " + QString::number(cluster_width) + " clusters");
     progress_dialog.setCancelButton(NULL); // no cancel button
     progress_dialog.setWindowModality(Qt::ApplicationModal);
     progress_dialog.setWindowFlags(progress_dialog.windowFlags() | Qt::WindowStaysOnTopHint);
@@ -2020,13 +2189,14 @@ QString RoverGUIPlugin::addClusteredTargets()
     float proposed_x, proposed_x2;
     float proposed_y, proposed_y2;
 
-    float d = arena_dim/2.0-(barrier_clearance+target_cluster_size_64_clearance);
+    float target_cluster_clearance = target_cluster_size_1_clearance * ((cluster_length > cluster_width) ? (cluster_length) : (cluster_width));
+    float d = arena_dim/2.0-(barrier_clearance+target_cluster_clearance);
     int cube_index = 0;
 
     progress_dialog.setValue(0.0);
     qApp->processEvents(QEventLoop::ExcludeUserInputEvents);
 
-    // Four piles of 64
+    // Four piles
     for (int i = 0; i < 4; i++)
     {
         do
@@ -2035,14 +2205,14 @@ QString RoverGUIPlugin::addClusteredTargets()
             proposed_x = d - ((float) rand()) / RAND_MAX*2*d;
             proposed_y = d - ((float) rand()) / RAND_MAX*2*d;
         }
-        while (sim_mgr.isLocationOccupied(proposed_x, proposed_y, target_cluster_size_64_clearance));
+        while (sim_mgr.isLocationOccupied(proposed_x, proposed_y, target_cluster_clearance));
 
-        proposed_y2 = proposed_y - (target_cluster_size_1_clearance * 8);
+        proposed_y2 = proposed_y - (target_cluster_size_1_clearance * cluster_length);
 
-        for(int j = 0; j < 8; j++) {
-            proposed_x2 = proposed_x - (target_cluster_size_1_clearance * 8);
+        for(int j = 0; j < cluster_length; j++) {
+            proposed_x2 = proposed_x - (target_cluster_size_1_clearance * cluster_width);
 
-            for(int k = 0; k < 8; k++) {
+            for(int k = 0; k < cluster_width; k++) {
                 output += sim_mgr.addModel(QString("at")+QString::number(0),  QString("at")+QString::number(cube_index), proposed_x2, proposed_y2, 0, target_cluster_size_1_clearance);
                 proposed_x2 += target_cluster_size_1_clearance;
                 cube_index++;
@@ -2056,7 +2226,7 @@ QString RoverGUIPlugin::addClusteredTargets()
         emit sendInfoLogMessage("<font color=green>Succeeded.</font>");
     }
 
-    emit sendInfoLogMessage("Placed four clusters of 64 targets");
+    emit sendInfoLogMessage("Placed four " + QString::number(cluster_length) + " x " + QString::number(cluster_width) + " clusters of targets");
 
     return output;
 }
@@ -2625,6 +2795,49 @@ void RoverGUIPlugin::overrideNumRoversCheckboxToggledEventHandler(bool checked)
     else ui.custom_num_rovers_combobox->setStyleSheet("color: grey; border:1px solid grey;");
 }
 
+void RoverGUIPlugin::createSavableWorldCheckboxToggledEventHandler(bool checked)
+{
+    ui.round_type_button_group->setEnabled(!checked);
+    ui.custom_num_rovers_combobox->setEnabled(!checked);
+    ui.override_num_rovers_checkbox->setEnabled(!checked);
+    ui.ground_texture_label->setEnabled(!checked);
+    ui.texture_combobox->setEnabled(!checked);
+    ui.simulation_timer_label->setEnabled(!checked);
+    ui.simulation_timer_combobox->setEnabled(!checked);
+
+    ui.prelim_radio_button->click();
+    unboundedRadioButtonEventHandler(false);
+
+    // change specific GUI elements to the "disabled" color scheme
+    if(checked)
+    {
+        ui.round_type_button_group->setStyleSheet("color: grey;");
+        ui.prelim_radio_button->setStyleSheet("color: grey;");
+        ui.final_radio_button->setStyleSheet("color: grey;");
+        ui.unbounded_radio_button->setStyleSheet("color: grey;");
+        ui.custom_num_rovers_combobox->setStyleSheet("color: grey; border:1px solid grey; padding: 1px 0px 1px 3px;");
+        ui.override_num_rovers_checkbox->setStyleSheet("clor: grey;");
+        ui.ground_texture_label->setStyleSheet("color: grey;");
+        ui.texture_combobox->setStyleSheet("color: grey; border:1px solid grey; padding: 1px 0px 1px 3px;");
+        ui.simulation_timer_label->setStyleSheet("color: grey;");
+        ui.simulation_timer_combobox->setStyleSheet("color: grey; border:1px solid grey; padding: 1px 0px 1px 3px;");
+    }
+    // change specific GUI elements to the "enabled" color scheme
+    else
+    {
+        ui.round_type_button_group->setStyleSheet("color: white;");
+        ui.prelim_radio_button->setStyleSheet("color: white;");
+        ui.final_radio_button->setStyleSheet("color: white;");
+        ui.unbounded_radio_button->setStyleSheet("color: white;");
+        ui.custom_num_rovers_combobox->setStyleSheet("color: white; border:1px solid white; padding: 1px 0px 1px 3px;");
+        ui.override_num_rovers_checkbox->setStyleSheet("color: white;");
+        ui.ground_texture_label->setStyleSheet("color: white");
+        ui.texture_combobox->setStyleSheet("color: white; border:1px solid white; padding: 1px 0px 1px 3px;");
+        ui.simulation_timer_label->setStyleSheet("color: white;");
+        ui.simulation_timer_combobox->setStyleSheet("color: white; border:1px solid white; padding: 1px 0px 1px 3px;");
+    }
+}
+
 // Slot used to update the GUI diagnostic data output. Ensures we update from the correct process.
 void RoverGUIPlugin::receiveDiagsDataUpdate(QString rover_name, QString text, QColor colour)
 {
diff --git a/src/rqt_rover_gui/src/rover_gui_plugin.h b/src/rqt_rover_gui/src/rover_gui_plugin.h
index 36cadf32..c1bf9033 100644
--- a/src/rqt_rover_gui/src/rover_gui_plugin.h
+++ b/src/rqt_rover_gui/src/rover_gui_plugin.h
@@ -173,7 +173,10 @@ namespace rqt_rover_gui {
     void GPSCheckboxToggledEventHandler(bool checked);
     void EKFCheckboxToggledEventHandler(bool checked);
     void encoderCheckboxToggledEventHandler(bool checked);
+    void globalOffsetCheckboxToggledEventHandler(bool checked);
+    void uniqueRoverColorsCheckboxToggledEventHandler(bool checked);
     void overrideNumRoversCheckboxToggledEventHandler(bool checked);
+    void createSavableWorldCheckboxToggledEventHandler(bool checked);
 
     void mapSelectionListItemChangedHandler(QListWidgetItem* changed_item);
     void mapAutoRadioButtonEventHandler(bool marked);
@@ -186,6 +189,8 @@ namespace rqt_rover_gui {
     void allStopButtonEventHandler();
     void customWorldButtonEventHandler();
     void customWorldRadioButtonEventHandler(bool marked);
+    void powerlawDistributionRadioButtonEventHandler(bool marked);
+    void unboundedRadioButtonEventHandler(bool marked);
 
     void buildSimulationButtonEventHandler();
     void clearSimulationButtonEventHandler();
@@ -260,7 +265,7 @@ namespace rqt_rover_gui {
 
     bool display_sim_visualization;
 
-    // Object clearance. These values are used to quickly determine where objects can be placed int time simulation
+    // Object clearance. These values are used to quickly determine where objects can be placed in the simulation
     float target_cluster_size_64_clearance;
     float target_cluster_size_16_clearance;
     float target_cluster_size_4_clearance;
diff --git a/src/rqt_rover_gui/src/rover_gui_plugin.ui b/src/rqt_rover_gui/src/rover_gui_plugin.ui
index 8b4dcdc5..65753373 100644
--- a/src/rqt_rover_gui/src/rover_gui_plugin.ui
+++ b/src/rqt_rover_gui/src/rover_gui_plugin.ui
@@ -41,7 +41,7 @@ border-color: rgb(255, 255, 255);</string>
      <x>330</x>
      <y>10</y>
      <width>761</width>
-     <height>551</height>
+     <height>521</height>
     </rect>
    </property>
    <property name="sizePolicy">
@@ -118,10 +118,10 @@ QTabBar::tab:only-one {
     <widget class="rqt_rover_gui::IMUFrame" name="imu_frame">
      <property name="geometry">
       <rect>
-       <x>350</x>
-       <y>290</y>
-       <width>281</width>
-       <height>191</height>
+       <x>246</x>
+       <y>306</y>
+       <width>209</width>
+       <height>179</height>
       </rect>
      </property>
      <property name="sizePolicy">
@@ -140,10 +140,10 @@ QTabBar::tab:only-one {
     <widget class="rqt_rover_gui::MapFrame" name="map_frame">
      <property name="geometry">
       <rect>
-       <x>350</x>
-       <y>10</y>
-       <width>320</width>
-       <height>271</height>
+       <x>392</x>
+       <y>26</y>
+       <width>354</width>
+       <height>249</height>
       </rect>
      </property>
      <property name="styleSheet">
@@ -162,10 +162,10 @@ QTabBar::tab:only-one {
     <widget class="rqt_rover_gui::USFrame" name="us_frame">
      <property name="geometry">
       <rect>
-       <x>50</x>
-       <y>290</y>
-       <width>281</width>
-       <height>191</height>
+       <x>16</x>
+       <y>306</y>
+       <width>209</width>
+       <height>179</height>
       </rect>
      </property>
      <property name="frameShape">
@@ -178,10 +178,10 @@ QTabBar::tab:only-one {
     <widget class="rqt_rover_gui::CameraFrame" name="camera_frame">
      <property name="geometry">
       <rect>
-       <x>10</x>
-       <y>10</y>
-       <width>320</width>
-       <height>271</height>
+       <x>16</x>
+       <y>26</y>
+       <width>354</width>
+       <height>249</height>
       </rect>
      </property>
      <property name="frameShape">
@@ -191,144 +191,425 @@ QTabBar::tab:only-one {
       <enum>QFrame::Raised</enum>
      </property>
     </widget>
-    <widget class="QCheckBox" name="gps_checkbox">
+    <widget class="QFrame" name="map_settings_frame">
      <property name="geometry">
       <rect>
-       <x>670</x>
-       <y>50</y>
-       <width>81</width>
-       <height>22</height>
+       <x>470</x>
+       <y>300</y>
+       <width>281</width>
+       <height>191</height>
       </rect>
      </property>
-     <property name="toolTip">
-      <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;GPS aligned with the map output (mutually recursive with MAP)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+     <property name="frameShape">
+      <enum>QFrame::StyledPanel</enum>
+     </property>
+     <property name="frameShadow">
+      <enum>QFrame::Raised</enum>
+     </property>
+     <widget class="QPushButton" name="map_popout_button">
+      <property name="enabled">
+       <bool>true</bool>
+      </property>
+      <property name="geometry">
+       <rect>
+        <x>200</x>
+        <y>145</y>
+        <width>60</width>
+        <height>25</height>
+       </rect>
+      </property>
+      <property name="styleSheet">
+       <string notr="true">color: rgb(255, 255, 255);
+border-color: rgb(255, 255, 255);
+border: 1px solid white; 
+</string>
+      </property>
+      <property name="text">
+       <string>Popout</string>
+      </property>
+     </widget>
+     <widget class="QCheckBox" name="ekf_checkbox">
+      <property name="geometry">
+       <rect>
+        <x>30</x>
+        <y>40</y>
+        <width>60</width>
+        <height>22</height>
+       </rect>
+      </property>
+      <property name="toolTip">
+       <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;EKF combination of IMU, Encoders and GPS (mutually recursive with NAVSAT)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+      </property>
+      <property name="styleSheet">
+       <string notr="true">color: rgb(255, 255, 255);</string>
+      </property>
+      <property name="text">
+       <string>MAP</string>
+      </property>
+      <property name="checked">
+       <bool>true</bool>
+      </property>
+     </widget>
+     <widget class="QCheckBox" name="encoder_checkbox">
+      <property name="geometry">
+       <rect>
+        <x>130</x>
+        <y>40</y>
+        <width>75</width>
+        <height>22</height>
+       </rect>
+      </property>
+      <property name="toolTip">
+       <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;EKF combination of IMU and Encoders&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+      </property>
+      <property name="styleSheet">
+       <string notr="true">color: rgb(255, 255, 255);</string>
+      </property>
+      <property name="text">
+       <string>ODOM</string>
+      </property>
+      <property name="checked">
+       <bool>false</bool>
+      </property>
+     </widget>
+     <widget class="QCheckBox" name="gps_checkbox">
+      <property name="geometry">
+       <rect>
+        <x>30</x>
+        <y>60</y>
+        <width>91</width>
+        <height>22</height>
+       </rect>
+      </property>
+      <property name="toolTip">
+       <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;GPS aligned with the map output (mutually recursive with MAP)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+      </property>
+      <property name="styleSheet">
+       <string notr="true">color: rgb(255, 255, 255);</string>
+      </property>
+      <property name="text">
+       <string>NAVSAT</string>
+      </property>
+      <property name="checked">
+       <bool>false</bool>
+      </property>
+     </widget>
+     <widget class="QRadioButton" name="map_manual_radio_button">
+      <property name="enabled">
+       <bool>true</bool>
+      </property>
+      <property name="geometry">
+       <rect>
+        <x>30</x>
+        <y>110</y>
+        <width>81</width>
+        <height>20</height>
+       </rect>
+      </property>
+      <property name="styleSheet">
+       <string notr="true">color: rgb(255, 255, 255);</string>
+      </property>
+      <property name="text">
+       <string>Manual</string>
+      </property>
+      <property name="checked">
+       <bool>false</bool>
+      </property>
+     </widget>
+     <widget class="QRadioButton" name="map_auto_radio_button">
+      <property name="enabled">
+       <bool>true</bool>
+      </property>
+      <property name="geometry">
+       <rect>
+        <x>130</x>
+        <y>110</y>
+        <width>61</width>
+        <height>20</height>
+       </rect>
+      </property>
+      <property name="styleSheet">
+       <string notr="true">color: rgb(255, 255, 255);</string>
+      </property>
+      <property name="text">
+       <string>Auto</string>
+      </property>
+      <property name="checked">
+       <bool>true</bool>
+      </property>
+     </widget>
+     <widget class="QCheckBox" name="unique_rover_colors_checkbox">
+      <property name="geometry">
+       <rect>
+        <x>20</x>
+        <y>145</y>
+        <width>165</width>
+        <height>25</height>
+       </rect>
+      </property>
+      <property name="styleSheet">
+       <string notr="true">color: rgb(255, 255, 255);</string>
+      </property>
+      <property name="text">
+       <string>Unique Rover Colors</string>
+      </property>
+     </widget>
+     <widget class="QCheckBox" name="global_offset_checkbox">
+      <property name="geometry">
+       <rect>
+        <x>130</x>
+        <y>60</y>
+        <width>121</width>
+        <height>25</height>
+       </rect>
+      </property>
+      <property name="styleSheet">
+       <string notr="true">color: rgb(255, 255, 255);</string>
+      </property>
+      <property name="text">
+       <string>Global Frame</string>
+      </property>
+     </widget>
+     <widget class="QLabel" name="map_frame_views_label">
+      <property name="geometry">
+       <rect>
+        <x>10</x>
+        <y>20</y>
+        <width>125</width>
+        <height>20</height>
+       </rect>
+      </property>
+      <property name="styleSheet">
+       <string notr="true">color: rgb(255, 255, 255);</string>
+      </property>
+      <property name="text">
+       <string>Frame Views</string>
+      </property>
+      <property name="alignment">
+       <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+      </property>
+      <property name="wordWrap">
+       <bool>true</bool>
+      </property>
+     </widget>
+     <widget class="QLabel" name="map_frame_views_label_2">
+      <property name="geometry">
+       <rect>
+        <x>10</x>
+        <y>90</y>
+        <width>90</width>
+        <height>20</height>
+       </rect>
+      </property>
+      <property name="styleSheet">
+       <string notr="true">color: rgb(255, 255, 255);</string>
+      </property>
+      <property name="text">
+       <string>Panning</string>
+      </property>
+      <property name="alignment">
+       <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+      </property>
+      <property name="wordWrap">
+       <bool>true</bool>
+      </property>
+     </widget>
+    </widget>
+    <widget class="QLabel" name="map_settings_label">
+     <property name="geometry">
+      <rect>
+       <x>490</x>
+       <y>290</y>
+       <width>105</width>
+       <height>20</height>
+      </rect>
      </property>
      <property name="styleSheet">
-      <string notr="true">color: rgb(255, 255, 255);</string>
+      <string notr="true">color: white;
+border: 1px solid white;
+padding: 1px;</string>
      </property>
      <property name="text">
-      <string>NAVSAT</string>
+      <string>Map Settings</string>
      </property>
-     <property name="checked">
-      <bool>false</bool>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+     <property name="wordWrap">
+      <bool>true</bool>
      </property>
     </widget>
-    <widget class="QCheckBox" name="ekf_checkbox">
+    <widget class="QFrame" name="imu_frame_frame">
      <property name="geometry">
       <rect>
-       <x>670</x>
-       <y>10</y>
-       <width>91</width>
-       <height>22</height>
+       <x>240</x>
+       <y>300</y>
+       <width>221</width>
+       <height>191</height>
       </rect>
      </property>
-     <property name="toolTip">
-      <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;EKF combination of IMU, Encoders and GPS (mutually recursive with NAVSAT)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+     <property name="frameShape">
+      <enum>QFrame::StyledPanel</enum>
      </property>
-     <property name="styleSheet">
-      <string notr="true">color: rgb(255, 255, 255);</string>
+     <property name="frameShadow">
+      <enum>QFrame::Raised</enum>
      </property>
-     <property name="text">
-      <string>MAP</string>
+    </widget>
+    <widget class="QFrame" name="us_frame_frame">
+     <property name="geometry">
+      <rect>
+       <x>10</x>
+       <y>300</y>
+       <width>221</width>
+       <height>191</height>
+      </rect>
      </property>
-     <property name="checked">
-      <bool>true</bool>
+     <property name="frameShape">
+      <enum>QFrame::StyledPanel</enum>
+     </property>
+     <property name="frameShadow">
+      <enum>QFrame::Raised</enum>
      </property>
     </widget>
-    <widget class="QCheckBox" name="encoder_checkbox">
+    <widget class="QLabel" name="IMU_label">
      <property name="geometry">
       <rect>
-       <x>670</x>
-       <y>30</y>
-       <width>81</width>
-       <height>22</height>
+       <x>260</x>
+       <y>290</y>
+       <width>40</width>
+       <height>20</height>
       </rect>
      </property>
-     <property name="toolTip">
-      <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;EKF combination of IMU and Encoders&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-     </property>
      <property name="styleSheet">
-      <string notr="true">color: rgb(255, 255, 255);</string>
+      <string notr="true">color: white;
+border: 1px solid white;
+padding: 1px;</string>
      </property>
      <property name="text">
-      <string>ODOM</string>
+      <string>IMU</string>
      </property>
-     <property name="checked">
-      <bool>false</bool>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
      </property>
-    </widget>
-    <widget class="QRadioButton" name="map_manual_radio_button">
-     <property name="enabled">
+     <property name="wordWrap">
       <bool>true</bool>
      </property>
+    </widget>
+    <widget class="QLabel" name="ultrasound_label">
      <property name="geometry">
       <rect>
-       <x>670</x>
-       <y>85</y>
-       <width>117</width>
+       <x>30</x>
+       <y>290</y>
+       <width>90</width>
        <height>20</height>
       </rect>
      </property>
      <property name="styleSheet">
-      <string notr="true">color: rgb(255, 255, 255);</string>
+      <string notr="true">color: white;
+border: 1px solid white;
+padding: 1px;</string>
      </property>
      <property name="text">
-      <string>Manual</string>
+      <string>Ultrasound</string>
      </property>
-     <property name="checked">
-      <bool>false</bool>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
      </property>
-     <attribute name="buttonGroup">
-      <string notr="true">map_display_button_group</string>
-     </attribute>
     </widget>
-    <widget class="QRadioButton" name="map_auto_radio_button">
-     <property name="enabled">
-      <bool>true</bool>
+    <widget class="QFrame" name="camera_frame_frame">
+     <property name="geometry">
+      <rect>
+       <x>10</x>
+       <y>20</y>
+       <width>366</width>
+       <height>261</height>
+      </rect>
+     </property>
+     <property name="frameShape">
+      <enum>QFrame::StyledPanel</enum>
      </property>
+     <property name="frameShadow">
+      <enum>QFrame::Raised</enum>
+     </property>
+    </widget>
+    <widget class="QFrame" name="map_frame_frame">
      <property name="geometry">
       <rect>
-       <x>670</x>
-       <y>110</y>
-       <width>171</width>
-       <height>16</height>
+       <x>386</x>
+       <y>20</y>
+       <width>366</width>
+       <height>261</height>
+      </rect>
+     </property>
+     <property name="frameShape">
+      <enum>QFrame::StyledPanel</enum>
+     </property>
+     <property name="frameShadow">
+      <enum>QFrame::Raised</enum>
+     </property>
+    </widget>
+    <widget class="QLabel" name="map_label">
+     <property name="geometry">
+      <rect>
+       <x>406</x>
+       <y>10</y>
+       <width>40</width>
+       <height>20</height>
       </rect>
      </property>
      <property name="styleSheet">
-      <string notr="true">color: rgb(255, 255, 255);</string>
+      <string notr="true">color: white;
+border: 1px solid white;
+padding: 1px;</string>
      </property>
      <property name="text">
-      <string>Auto</string>
+      <string>Map</string>
      </property>
-     <property name="checked">
-      <bool>true</bool>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
      </property>
-     <attribute name="buttonGroup">
-      <string notr="true">map_display_button_group</string>
-     </attribute>
-    </widget>
-    <widget class="QPushButton" name="map_popout_button">
-     <property name="enabled">
+     <property name="wordWrap">
       <bool>true</bool>
      </property>
+    </widget>
+    <widget class="QLabel" name="map_label_2">
      <property name="geometry">
       <rect>
-       <x>680</x>
-       <y>140</y>
-       <width>61</width>
-       <height>22</height>
+       <x>30</x>
+       <y>10</y>
+       <width>65</width>
+       <height>20</height>
       </rect>
      </property>
      <property name="styleSheet">
-      <string notr="true">color: rgb(255, 255, 255);
-border-color: rgb(255, 255, 255);
-border: 1px solid white; 
-</string>
+      <string notr="true">color: white;
+border: 1px solid white;
+padding: 1px;</string>
      </property>
      <property name="text">
-      <string>Popout</string>
+      <string>Camera</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+     <property name="wordWrap">
+      <bool>true</bool>
      </property>
     </widget>
+    <zorder>map_frame_frame</zorder>
+    <zorder>camera_frame_frame</zorder>
+    <zorder>us_frame_frame</zorder>
+    <zorder>imu_frame_frame</zorder>
+    <zorder>map_settings_frame</zorder>
+    <zorder>imu_frame</zorder>
+    <zorder>map_frame</zorder>
+    <zorder>us_frame</zorder>
+    <zorder>camera_frame</zorder>
+    <zorder>map_settings_label</zorder>
+    <zorder>map_label_2</zorder>
+    <zorder>map_label</zorder>
+    <zorder>ultrasound_label</zorder>
+    <zorder>IMU_label</zorder>
    </widget>
    <widget class="QWidget" name="simulation_parameters_tab">
     <attribute name="title">
@@ -338,9 +619,9 @@ border: 1px solid white;
      <property name="geometry">
       <rect>
        <x>10</x>
-       <y>60</y>
-       <width>301</width>
-       <height>306</height>
+       <y>20</y>
+       <width>531</width>
+       <height>311</height>
       </rect>
      </property>
      <property name="frameShape">
@@ -353,9 +634,9 @@ border: 1px solid white;
       <property name="geometry">
        <rect>
         <x>10</x>
-        <y>10</y>
-        <width>141</width>
-        <height>161</height>
+        <y>20</y>
+        <width>161</width>
+        <height>111</height>
        </rect>
       </property>
       <property name="styleSheet">
@@ -371,10 +652,10 @@ border-color: rgb(255, 255, 255);</string>
        </property>
        <property name="geometry">
         <rect>
-         <x>30</x>
+         <x>20</x>
          <y>30</y>
          <width>91</width>
-         <height>22</height>
+         <height>16</height>
         </rect>
        </property>
        <property name="styleSheet">
@@ -393,10 +674,10 @@ border-color: rgb(255, 255, 255);</string>
        </property>
        <property name="geometry">
         <rect>
-         <x>30</x>
-         <y>90</y>
+         <x>20</x>
+         <y>70</y>
          <width>101</width>
-         <height>22</height>
+         <height>16</height>
         </rect>
        </property>
        <property name="styleSheet">
@@ -412,10 +693,10 @@ border-color: rgb(255, 255, 255);</string>
        </property>
        <property name="geometry">
         <rect>
-         <x>30</x>
-         <y>60</y>
-         <width>91</width>
-         <height>22</height>
+         <x>20</x>
+         <y>50</y>
+         <width>101</width>
+         <height>16</height>
         </rect>
        </property>
        <property name="styleSheet">
@@ -434,10 +715,10 @@ border-color: rgb(255, 255, 255);</string>
        </property>
        <property name="geometry">
         <rect>
-         <x>30</x>
-         <y>120</y>
-         <width>117</width>
-         <height>22</height>
+         <x>20</x>
+         <y>90</y>
+         <width>121</width>
+         <height>16</height>
         </rect>
        </property>
        <property name="toolTip">
@@ -447,7 +728,7 @@ border-color: rgb(255, 255, 255);</string>
         <string notr="true">color: rgb(255, 255, 255);</string>
        </property>
        <property name="text">
-        <string>Custom</string>
+        <string>Custom World</string>
        </property>
        <property name="checked">
         <bool>true</bool>
@@ -460,8 +741,8 @@ border-color: rgb(255, 255, 255);</string>
       </property>
       <property name="geometry">
        <rect>
-        <x>140</x>
-        <y>130</y>
+        <x>160</x>
+        <y>105</y>
         <width>70</width>
         <height>25</height>
        </rect>
@@ -482,10 +763,10 @@ border: 1px solid white;
      <widget class="QGroupBox" name="round_type_button_group">
       <property name="geometry">
        <rect>
-        <x>160</x>
-        <y>30</y>
-        <width>121</width>
-        <height>91</height>
+        <x>280</x>
+        <y>120</y>
+        <width>211</width>
+        <height>131</height>
        </rect>
       </property>
       <property name="styleSheet">
@@ -495,7 +776,7 @@ border-color: rgb(255, 255, 255);</string>
       <property name="title">
        <string>Round Type</string>
       </property>
-      <widget class="QRadioButton" name="joystick_radio_button">
+      <widget class="QRadioButton" name="prelim_radio_button">
        <property name="enabled">
         <bool>true</bool>
        </property>
@@ -503,7 +784,7 @@ border-color: rgb(255, 255, 255);</string>
         <rect>
          <x>10</x>
          <y>30</y>
-         <width>161</width>
+         <width>111</width>
          <height>22</height>
         </rect>
        </property>
@@ -523,25 +804,120 @@ border-color: rgb(255, 255, 255);</string>
        </property>
        <property name="geometry">
         <rect>
-         <x>10</x>
-         <y>60</y>
-         <width>117</width>
-         <height>22</height>
+         <x>10</x>
+         <y>50</y>
+         <width>71</width>
+         <height>22</height>
+        </rect>
+       </property>
+       <property name="styleSheet">
+        <string notr="true">color: rgb(255, 255, 255);</string>
+       </property>
+       <property name="text">
+        <string>Final </string>
+       </property>
+      </widget>
+      <widget class="QRadioButton" name="unbounded_radio_button">
+       <property name="enabled">
+        <bool>true</bool>
+       </property>
+       <property name="geometry">
+        <rect>
+         <x>10</x>
+         <y>70</y>
+         <width>111</width>
+         <height>22</height>
+        </rect>
+       </property>
+       <property name="styleSheet">
+        <string notr="true">color: rgb(255, 255, 255);</string>
+       </property>
+       <property name="text">
+        <string>Unbounded</string>
+       </property>
+      </widget>
+      <widget class="QLabel" name="unbounded_arena_size_label">
+       <property name="geometry">
+        <rect>
+         <x>40</x>
+         <y>98</y>
+         <width>81</width>
+         <height>20</height>
+        </rect>
+       </property>
+       <property name="styleSheet">
+        <string notr="true">color: grey;</string>
+       </property>
+       <property name="text">
+        <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p align=&quot;center&quot;&gt;Arena Size&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+       </property>
+      </widget>
+      <widget class="QComboBox" name="unbounded_arena_size_combobox">
+       <property name="enabled">
+        <bool>false</bool>
+       </property>
+       <property name="geometry">
+        <rect>
+         <x>125</x>
+         <y>95</y>
+         <width>71</width>
+         <height>27</height>
         </rect>
        </property>
        <property name="styleSheet">
-        <string notr="true">color: rgb(255, 255, 255);</string>
-       </property>
-       <property name="text">
-        <string>Final </string>
+        <string notr="true">color: grey;
+border-color: grey;
+border: 1px solid grey; 
+padding: 1px 0px 1px 3px; /*This makes text colour work*/
+</string>
        </property>
+       <item>
+        <property name="text">
+         <string>15</string>
+        </property>
+       </item>
+       <item>
+        <property name="text">
+         <string>20</string>
+        </property>
+       </item>
+       <item>
+        <property name="text">
+         <string>25</string>
+        </property>
+       </item>
+       <item>
+        <property name="text">
+         <string>30</string>
+        </property>
+       </item>
+       <item>
+        <property name="text">
+         <string>35</string>
+        </property>
+       </item>
+       <item>
+        <property name="text">
+         <string>40</string>
+        </property>
+       </item>
+       <item>
+        <property name="text">
+         <string>45</string>
+        </property>
+       </item>
+       <item>
+        <property name="text">
+         <string>50</string>
+        </property>
+       </item>
       </widget>
      </widget>
-     <widget class="QLabel" name="label_5">
+     <widget class="QLabel" name="ground_texture_label">
       <property name="geometry">
        <rect>
         <x>20</x>
-        <y>190</y>
+        <y>180</y>
         <width>111</width>
         <height>20</height>
        </rect>
@@ -559,9 +935,9 @@ border-color: rgb(255, 255, 255);</string>
      <widget class="QComboBox" name="texture_combobox">
       <property name="geometry">
        <rect>
-        <x>150</x>
-        <y>190</y>
-        <width>131</width>
+        <x>140</x>
+        <y>180</y>
+        <width>121</width>
         <height>27</height>
        </rect>
       </property>
@@ -591,14 +967,16 @@ padding: 1px 0px 1px 3px; /*This makes text colour work*/
      <widget class="QLabel" name="custom_world_path">
       <property name="geometry">
        <rect>
-        <x>68</x>
-        <y>162</y>
-        <width>200</width>
+        <x>58</x>
+        <y>140</y>
+        <width>203</width>
         <height>20</height>
        </rect>
       </property>
       <property name="styleSheet">
-       <string notr="true">color: rgb(255, 255, 255);</string>
+       <string notr="true">color: white;
+border: 1px solid white;
+padding: 1px;</string>
       </property>
       <property name="text">
        <string/>
@@ -611,7 +989,7 @@ padding: 1px 0px 1px 3px; /*This makes text colour work*/
       <property name="geometry">
        <rect>
         <x>20</x>
-        <y>230</y>
+        <y>220</y>
         <width>181</width>
         <height>22</height>
        </rect>
@@ -632,9 +1010,9 @@ padding: 1px 0px 1px 3px; /*This makes text colour work*/
       </property>
       <property name="geometry">
        <rect>
-        <x>210</x>
-        <y>230</y>
-        <width>71</width>
+        <x>200</x>
+        <y>220</y>
+        <width>61</width>
         <height>27</height>
        </rect>
       </property>
@@ -680,17 +1058,27 @@ padding: 1px 0px 1px 3px; /*This makes text colour work*/
         <string>6</string>
        </property>
       </item>
+      <item>
+       <property name="text">
+        <string>7</string>
+       </property>
+      </item>
+      <item>
+       <property name="text">
+        <string>8</string>
+       </property>
+      </item>
      </widget>
-     <widget class="QComboBox" name="simulation_timer_combo_box">
+     <widget class="QComboBox" name="simulation_timer_combobox">
       <property name="enabled">
        <bool>true</bool>
       </property>
       <property name="geometry">
        <rect>
         <x>150</x>
-        <y>270</y>
-        <width>131</width>
-        <height>23</height>
+        <y>260</y>
+        <width>111</width>
+        <height>27</height>
        </rect>
       </property>
       <property name="styleSheet">
@@ -728,6 +1116,11 @@ padding: 1px 0px 1px 3px; /*This makes text colour work*/
         <string>10 min (Testing)</string>
        </property>
       </item>
+      <item>
+       <property name="text">
+        <string>20 min (Preliminary)</string>
+       </property>
+      </item>
       <item>
        <property name="text">
         <string>30 min (Preliminary)</string>
@@ -743,7 +1136,7 @@ padding: 1px 0px 1px 3px; /*This makes text colour work*/
       <property name="geometry">
        <rect>
         <x>20</x>
-        <y>270</y>
+        <y>260</y>
         <width>130</width>
         <height>20</height>
        </rect>
@@ -758,62 +1151,217 @@ padding: 1px 0px 1px 3px; /*This makes text colour work*/
        <set>Qt::AlignBottom|Qt::AlignLeading|Qt::AlignLeft</set>
       </property>
      </widget>
+     <widget class="QCheckBox" name="create_savable_world_checkbox">
+      <property name="enabled">
+       <bool>true</bool>
+      </property>
+      <property name="geometry">
+       <rect>
+        <x>280</x>
+        <y>260</y>
+        <width>211</width>
+        <height>22</height>
+       </rect>
+      </property>
+      <property name="sizePolicy">
+       <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+        <horstretch>0</horstretch>
+        <verstretch>0</verstretch>
+       </sizepolicy>
+      </property>
+      <property name="maximumSize">
+       <size>
+        <width>16777215</width>
+        <height>22</height>
+       </size>
+      </property>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+       </font>
+      </property>
+      <property name="toolTip">
+       <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;When checked, a Gazebo world without rovers, walls, ground texture, or a collection zone will be created. The purpose of this option is to generate tag distributions using the Uniform, Clustered, or Power Law in a way that you can save the world file from Gazebo and re-use that same distribution later using the Custom world option. It will also load much faster as well when loading a pre-built distribution.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+      </property>
+      <property name="whatsThis">
+       <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;When checked, a Gazebo world without rovers, walls, ground texture, or a collection zone will be created. The purpose of this option is to generate tag distributions using the Uniform, Clustered, or Power Law in a way that you can save the world file from Gazebo and re-use that same distribution later using the Custom world option. It will also load much faster as well when loading a pre-built distribution.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+      </property>
+      <property name="styleSheet">
+       <string notr="true">color: rgb(255, 255, 255);</string>
+      </property>
+      <property name="text">
+       <string>Create Savable Gazebo World</string>
+      </property>
+      <property name="checked">
+       <bool>false</bool>
+      </property>
+     </widget>
+     <widget class="QComboBox" name="number_of_tags_combobox">
+      <property name="enabled">
+       <bool>false</bool>
+      </property>
+      <property name="geometry">
+       <rect>
+        <x>280</x>
+        <y>55</y>
+        <width>131</width>
+        <height>27</height>
+       </rect>
+      </property>
+      <property name="toolTip">
+       <string notr="true">&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The number of april tag cubes generated by the Uniform or Clustered distributions.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+      </property>
+      <property name="whatsThis">
+       <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;The number of april tag cubes generated by the Uniform or Clustered distributions.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+      </property>
+      <property name="styleSheet">
+       <string notr="true">color: grey;
+border-color: grey;
+border: 1px solid grey; 
+padding: 1px 0px 1px 3px; /*This makes text colour work*/
+</string>
+      </property>
+      <item>
+       <property name="text">
+        <string>256</string>
+       </property>
+      </item>
+      <item>
+       <property name="text">
+        <string>128</string>
+       </property>
+      </item>
+      <item>
+       <property name="text">
+        <string>64</string>
+       </property>
+      </item>
+      <item>
+       <property name="text">
+        <string>32</string>
+       </property>
+      </item>
+      <item>
+       <property name="text">
+        <string>16</string>
+       </property>
+      </item>
+      <item>
+       <property name="text">
+        <string>0</string>
+       </property>
+      </item>
+     </widget>
+     <widget class="QLabel" name="number_of_tags_label">
+      <property name="geometry">
+       <rect>
+        <x>280</x>
+        <y>35</y>
+        <width>121</width>
+        <height>20</height>
+       </rect>
+      </property>
+      <property name="styleSheet">
+       <string notr="true">color: grey;</string>
+      </property>
+      <property name="text">
+       <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p align=&quot;center&quot;&gt;Number of Cubes&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+      </property>
+      <property name="alignment">
+       <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+      </property>
+     </widget>
+     <widget class="QLabel" name="number_of_tags_label_2">
+      <property name="geometry">
+       <rect>
+        <x>280</x>
+        <y>80</y>
+        <width>231</width>
+        <height>20</height>
+       </rect>
+      </property>
+      <property name="styleSheet">
+       <string notr="true">color: rgb(255, 255, 255);</string>
+      </property>
+      <property name="text">
+       <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p align=&quot;center&quot;&gt;&lt;span style=&quot; font-size:8pt;&quot;&gt;*not available for Power Law or Custom World&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+      </property>
+      <property name="alignment">
+       <set>Qt::AlignBottom|Qt::AlignLeading|Qt::AlignLeft</set>
+      </property>
+     </widget>
+     <zorder>round_type_button_group</zorder>
+     <zorder>target_distribution_group_box</zorder>
+     <zorder>custom_world_path_button</zorder>
+     <zorder>ground_texture_label</zorder>
+     <zorder>texture_combobox</zorder>
+     <zorder>custom_world_path</zorder>
+     <zorder>override_num_rovers_checkbox</zorder>
+     <zorder>custom_num_rovers_combobox</zorder>
+     <zorder>simulation_timer_combobox</zorder>
+     <zorder>simulation_timer_label</zorder>
+     <zorder>create_savable_world_checkbox</zorder>
+     <zorder>number_of_tags_label</zorder>
+     <zorder>number_of_tags_label_2</zorder>
+     <zorder>number_of_tags_combobox</zorder>
     </widget>
     <widget class="QLabel" name="label_7">
      <property name="geometry">
       <rect>
-       <x>80</x>
-       <y>50</y>
-       <width>121</width>
+       <x>205</x>
+       <y>10</y>
+       <width>140</width>
        <height>20</height>
       </rect>
      </property>
-     <property name="text">
-      <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; color:#ffffff;&quot;&gt;Simulation Setup&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-     </property>
-    </widget>
-    <widget class="QLabel" name="rover_image_label">
-     <property name="geometry">
-      <rect>
-       <x>290</x>
-       <y>20</y>
-       <width>501</width>
-       <height>427</height>
-      </rect>
+     <property name="styleSheet">
+      <string notr="true">color: white;
+border: 1px solid white;
+padding: 1px;</string>
      </property>
      <property name="text">
-      <string/>
+      <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; color:#ffffff;&quot;&gt;Simulation Setup&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
      </property>
-     <property name="pixmap">
-      <pixmap>../resources/rover.png</pixmap>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
      </property>
     </widget>
-    <widget class="QPushButton" name="build_simulation_button">
+    <widget class="QLabel" name="label_11">
      <property name="geometry">
       <rect>
-       <x>80</x>
-       <y>370</y>
-       <width>161</width>
-       <height>27</height>
+       <x>220</x>
+       <y>340</y>
+       <width>40</width>
+       <height>20</height>
       </rect>
      </property>
      <property name="styleSheet">
-      <string notr="true">color: rgb(255, 255, 255);
-border-color: rgb(255, 255, 255);
-border: 1px solid white; 
-</string>
+      <string notr="true">color: white;
+border: 1px solid white;
+padding: 1px;</string>
      </property>
      <property name="text">
-      <string>Build Simulation</string>
+      <string>GPS</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
      </property>
     </widget>
-    <widget class="QFrame" name="frame_2">
+    <widget class="QFrame" name="GPS_frame">
      <property name="geometry">
       <rect>
-       <x>510</x>
-       <y>330</y>
-       <width>191</width>
-       <height>161</height>
+       <x>200</x>
+       <y>350</y>
+       <width>201</width>
+       <height>141</height>
       </rect>
      </property>
      <property name="frameShape">
@@ -822,111 +1370,272 @@ border: 1px solid white;
      <property name="frameShadow">
       <enum>QFrame::Raised</enum>
      </property>
-     <widget class="QLabel" name="label_39">
+     <widget class="QLabel" name="label_23">
+      <property name="geometry">
+       <rect>
+        <x>10</x>
+        <y>25</y>
+        <width>61</width>
+        <height>16</height>
+       </rect>
+      </property>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+       </font>
+      </property>
+      <property name="styleSheet">
+       <string notr="true">color: rgb(255, 255, 255);</string>
+      </property>
+      <property name="text">
+       <string>Ref. Lat.</string>
+      </property>
+     </widget>
+     <widget class="QLabel" name="label_22">
+      <property name="geometry">
+       <rect>
+        <x>10</x>
+        <y>10</y>
+        <width>61</width>
+        <height>16</height>
+       </rect>
+      </property>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+       </font>
+      </property>
+      <property name="styleSheet">
+       <string notr="true">color: rgb(255, 255, 255);</string>
+      </property>
+      <property name="text">
+       <string>Rate</string>
+      </property>
+     </widget>
+     <widget class="QLabel" name="label_24">
+      <property name="geometry">
+       <rect>
+        <x>10</x>
+        <y>40</y>
+        <width>61</width>
+        <height>16</height>
+       </rect>
+      </property>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+       </font>
+      </property>
+      <property name="styleSheet">
+       <string notr="true">color: rgb(255, 255, 255);</string>
+      </property>
+      <property name="text">
+       <string>Ref. Long.</string>
+      </property>
+     </widget>
+     <widget class="QLabel" name="label_26">
+      <property name="geometry">
+       <rect>
+        <x>10</x>
+        <y>55</y>
+        <width>61</width>
+        <height>16</height>
+       </rect>
+      </property>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+       </font>
+      </property>
+      <property name="styleSheet">
+       <string notr="true">color: rgb(255, 255, 255);</string>
+      </property>
+      <property name="text">
+       <string>Ref. Head.</string>
+      </property>
+     </widget>
+     <widget class="QLabel" name="gps_update_rate">
+      <property name="geometry">
+       <rect>
+        <x>79</x>
+        <y>10</y>
+        <width>111</width>
+        <height>16</height>
+       </rect>
+      </property>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+       </font>
+      </property>
+      <property name="styleSheet">
+       <string notr="true">color: rgb(255, 255, 255);</string>
+      </property>
+      <property name="text">
+       <string>val</string>
+      </property>
+     </widget>
+     <widget class="QLabel" name="gps_ref_lat">
+      <property name="geometry">
+       <rect>
+        <x>79</x>
+        <y>25</y>
+        <width>111</width>
+        <height>16</height>
+       </rect>
+      </property>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+       </font>
+      </property>
+      <property name="styleSheet">
+       <string notr="true">color: rgb(255, 255, 255);</string>
+      </property>
+      <property name="text">
+       <string>val</string>
+      </property>
+     </widget>
+     <widget class="QLabel" name="gps_ref_long">
       <property name="geometry">
        <rect>
-        <x>10</x>
-        <y>10</y>
-        <width>71</width>
-        <height>17</height>
+        <x>79</x>
+        <y>40</y>
+        <width>111</width>
+        <height>16</height>
        </rect>
       </property>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+       </font>
+      </property>
       <property name="styleSheet">
        <string notr="true">color: rgb(255, 255, 255);</string>
       </property>
       <property name="text">
-       <string>Horz. Res</string>
+       <string>val</string>
       </property>
      </widget>
-     <widget class="QLabel" name="label_40">
+     <widget class="QLabel" name="gps_ref_heading">
       <property name="geometry">
        <rect>
-        <x>10</x>
-        <y>70</y>
-        <width>71</width>
-        <height>17</height>
+        <x>79</x>
+        <y>55</y>
+        <width>111</width>
+        <height>16</height>
        </rect>
       </property>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+       </font>
+      </property>
       <property name="styleSheet">
        <string notr="true">color: rgb(255, 255, 255);</string>
       </property>
       <property name="text">
-       <string>Min Ang.</string>
+       <string>val</string>
       </property>
      </widget>
-     <widget class="QLabel" name="label_41">
+     <widget class="QLabel" name="label_49">
       <property name="geometry">
        <rect>
         <x>10</x>
-        <y>90</y>
-        <width>71</width>
-        <height>17</height>
+        <y>85</y>
+        <width>61</width>
+        <height>16</height>
        </rect>
       </property>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+       </font>
+      </property>
       <property name="styleSheet">
        <string notr="true">color: rgb(255, 255, 255);</string>
       </property>
       <property name="text">
-       <string>Max Ang.</string>
+       <string>Drift</string>
       </property>
      </widget>
-     <widget class="QLabel" name="label_42">
+     <widget class="QLabel" name="label_50">
       <property name="geometry">
        <rect>
         <x>10</x>
-        <y>50</y>
-        <width>71</width>
-        <height>17</height>
+        <y>100</y>
+        <width>61</width>
+        <height>16</height>
        </rect>
       </property>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+       </font>
+      </property>
       <property name="styleSheet">
        <string notr="true">color: rgb(255, 255, 255);</string>
       </property>
       <property name="text">
-       <string>Max</string>
+       <string>Drift Freq.</string>
       </property>
      </widget>
-     <widget class="QLabel" name="label_43">
+     <widget class="QLabel" name="label_51">
       <property name="geometry">
        <rect>
         <x>10</x>
-        <y>30</y>
-        <width>71</width>
-        <height>17</height>
+        <y>115</y>
+        <width>61</width>
+        <height>16</height>
        </rect>
       </property>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+       </font>
+      </property>
       <property name="styleSheet">
        <string notr="true">color: rgb(255, 255, 255);</string>
       </property>
       <property name="text">
-       <string>Min</string>
+       <string>Noise</string>
       </property>
      </widget>
-     <widget class="QLabel" name="label_44">
+     <widget class="QLabel" name="gps_drift">
       <property name="geometry">
        <rect>
-        <x>10</x>
-        <y>110</y>
-        <width>131</width>
-        <height>17</height>
+        <x>79</x>
+        <y>85</y>
+        <width>111</width>
+        <height>16</height>
        </rect>
       </property>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+       </font>
+      </property>
       <property name="styleSheet">
        <string notr="true">color: rgb(255, 255, 255);</string>
       </property>
       <property name="text">
-       <string>Range Resolution</string>
+       <string>val</string>
       </property>
      </widget>
-     <widget class="QLabel" name="sonar_range_res">
+     <widget class="QLabel" name="gps_drift_freq">
       <property name="geometry">
        <rect>
-        <x>140</x>
-        <y>110</y>
-        <width>41</width>
-        <height>17</height>
+        <x>79</x>
+        <y>100</y>
+        <width>111</width>
+        <height>16</height>
        </rect>
       </property>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+       </font>
+      </property>
       <property name="styleSheet">
        <string notr="true">color: rgb(255, 255, 255);</string>
       </property>
@@ -934,15 +1643,20 @@ border: 1px solid white;
        <string>val</string>
       </property>
      </widget>
-     <widget class="QLabel" name="sonar_max_angle">
+     <widget class="QLabel" name="gps_noise">
       <property name="geometry">
        <rect>
-        <x>140</x>
-        <y>90</y>
-        <width>41</width>
-        <height>17</height>
+        <x>79</x>
+        <y>115</y>
+        <width>111</width>
+        <height>16</height>
        </rect>
       </property>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+       </font>
+      </property>
       <property name="styleSheet">
        <string notr="true">color: rgb(255, 255, 255);</string>
       </property>
@@ -950,31 +1664,41 @@ border: 1px solid white;
        <string>val</string>
       </property>
      </widget>
-     <widget class="QLabel" name="sonar_min_angle">
+     <widget class="QLabel" name="label_52">
       <property name="geometry">
        <rect>
-        <x>140</x>
+        <x>10</x>
         <y>70</y>
-        <width>41</width>
-        <height>17</height>
+        <width>61</width>
+        <height>16</height>
        </rect>
       </property>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+       </font>
+      </property>
       <property name="styleSheet">
        <string notr="true">color: rgb(255, 255, 255);</string>
       </property>
       <property name="text">
-       <string>val</string>
+       <string>Ref. Alt.</string>
       </property>
      </widget>
-     <widget class="QLabel" name="sonar_max">
+     <widget class="QLabel" name="gps_ref_alt">
       <property name="geometry">
        <rect>
-        <x>140</x>
-        <y>50</y>
-        <width>41</width>
-        <height>17</height>
+        <x>79</x>
+        <y>70</y>
+        <width>111</width>
+        <height>16</height>
        </rect>
       </property>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+       </font>
+      </property>
       <property name="styleSheet">
        <string notr="true">color: rgb(255, 255, 255);</string>
       </property>
@@ -982,213 +1706,288 @@ border: 1px solid white;
        <string>val</string>
       </property>
      </widget>
-     <widget class="QLabel" name="sonar_min">
+    </widget>
+    <widget class="QFrame" name="IMU_frame">
+     <property name="geometry">
+      <rect>
+       <x>410</x>
+       <y>350</y>
+       <width>341</width>
+       <height>141</height>
+      </rect>
+     </property>
+     <property name="frameShape">
+      <enum>QFrame::StyledPanel</enum>
+     </property>
+     <property name="frameShadow">
+      <enum>QFrame::Raised</enum>
+     </property>
+     <widget class="QLabel" name="label_27">
       <property name="geometry">
        <rect>
-        <x>140</x>
-        <y>30</y>
-        <width>41</width>
-        <height>17</height>
+        <x>170</x>
+        <y>10</y>
+        <width>60</width>
+        <height>16</height>
        </rect>
       </property>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+       </font>
+      </property>
       <property name="styleSheet">
        <string notr="true">color: rgb(255, 255, 255);</string>
       </property>
       <property name="text">
-       <string>val</string>
+       <string>Rate</string>
       </property>
      </widget>
-     <widget class="QLabel" name="sonar_horz_res">
+     <widget class="QLabel" name="label_28">
       <property name="geometry">
        <rect>
-        <x>140</x>
-        <y>10</y>
-        <width>41</width>
-        <height>17</height>
+        <x>10</x>
+        <y>25</y>
+        <width>60</width>
+        <height>16</height>
        </rect>
       </property>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+       </font>
+      </property>
       <property name="styleSheet">
        <string notr="true">color: rgb(255, 255, 255);</string>
       </property>
       <property name="text">
-       <string>val</string>
+       <string>Drift</string>
       </property>
      </widget>
-     <widget class="QLabel" name="label_65">
+     <widget class="QLabel" name="label_29">
       <property name="geometry">
        <rect>
         <x>10</x>
-        <y>130</y>
-        <width>121</width>
-        <height>17</height>
+        <y>40</y>
+        <width>60</width>
+        <height>16</height>
        </rect>
       </property>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+       </font>
+      </property>
       <property name="styleSheet">
        <string notr="true">color: rgb(255, 255, 255);</string>
       </property>
       <property name="text">
-       <string>Gaussian Noise</string>
+       <string>Noise</string>
       </property>
      </widget>
-     <widget class="QLabel" name="sonar_gaussian_noise">
+     <widget class="QLabel" name="label_30">
       <property name="geometry">
        <rect>
-        <x>140</x>
-        <y>130</y>
-        <width>41</width>
-        <height>17</height>
+        <x>10</x>
+        <y>75</y>
+        <width>60</width>
+        <height>16</height>
        </rect>
       </property>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+       </font>
+      </property>
       <property name="styleSheet">
        <string notr="true">color: rgb(255, 255, 255);</string>
       </property>
       <property name="text">
-       <string>val</string>
+       <string>Offsets</string>
       </property>
      </widget>
-    </widget>
-    <widget class="QPushButton" name="clear_simulation_button">
-     <property name="enabled">
-      <bool>true</bool>
-     </property>
-     <property name="geometry">
-      <rect>
-       <x>80</x>
-       <y>400</y>
-       <width>161</width>
-       <height>27</height>
-      </rect>
-     </property>
-     <property name="styleSheet">
-      <string notr="true">color: rgb(255, 255, 255);
-border-color: rgb(255, 255, 255);
-border: 1px solid white; 
-</string>
-     </property>
-     <property name="text">
-      <string>End Simulation</string>
-     </property>
-    </widget>
-    <widget class="QLabel" name="label_11">
-     <property name="geometry">
-      <rect>
-       <x>360</x>
-       <y>310</y>
-       <width>31</width>
-       <height>17</height>
-      </rect>
-     </property>
-     <property name="styleSheet">
-      <string notr="true">color: rgb(255, 255, 255);</string>
-     </property>
-     <property name="text">
-      <string>GPS</string>
-     </property>
-    </widget>
-    <widget class="QFrame" name="frame_4">
-     <property name="geometry">
-      <rect>
-       <x>350</x>
-       <y>320</y>
-       <width>151</width>
-       <height>181</height>
-      </rect>
-     </property>
-     <property name="frameShape">
-      <enum>QFrame::StyledPanel</enum>
-     </property>
-     <property name="frameShadow">
-      <enum>QFrame::Raised</enum>
-     </property>
-     <widget class="QLabel" name="label_23">
+     <widget class="QLabel" name="label_31">
       <property name="geometry">
        <rect>
-        <x>10</x>
-        <y>30</y>
-        <width>61</width>
-        <height>17</height>
+        <x>170</x>
+        <y>25</y>
+        <width>60</width>
+        <height>16</height>
        </rect>
       </property>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+       </font>
+      </property>
       <property name="styleSheet">
        <string notr="true">color: rgb(255, 255, 255);</string>
       </property>
       <property name="text">
-       <string>Ref. Lat.</string>
+       <string>Drift</string>
       </property>
      </widget>
-     <widget class="QLabel" name="label_22">
+     <widget class="QLabel" name="label_32">
+      <property name="geometry">
+       <rect>
+        <x>170</x>
+        <y>40</y>
+        <width>60</width>
+        <height>16</height>
+       </rect>
+      </property>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+       </font>
+      </property>
+      <property name="styleSheet">
+       <string notr="true">color: rgb(255, 255, 255);</string>
+      </property>
+      <property name="text">
+       <string>Noise</string>
+      </property>
+     </widget>
+     <widget class="QLabel" name="label_33">
       <property name="geometry">
        <rect>
         <x>10</x>
         <y>10</y>
-        <width>61</width>
-        <height>17</height>
+        <width>60</width>
+        <height>16</height>
+       </rect>
+      </property>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+       </font>
+      </property>
+      <property name="styleSheet">
+       <string notr="true">color: rgb(255, 255, 255);</string>
+      </property>
+      <property name="text">
+       <string>Accel.</string>
+      </property>
+     </widget>
+     <widget class="QLabel" name="label_34">
+      <property name="geometry">
+       <rect>
+        <x>170</x>
+        <y>75</y>
+        <width>60</width>
+        <height>16</height>
+       </rect>
+      </property>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+       </font>
+      </property>
+      <property name="styleSheet">
+       <string notr="true">color: rgb(255, 255, 255);</string>
+      </property>
+      <property name="text">
+       <string>Drift</string>
+      </property>
+     </widget>
+     <widget class="QLabel" name="label_35">
+      <property name="geometry">
+       <rect>
+        <x>170</x>
+        <y>90</y>
+        <width>60</width>
+        <height>16</height>
        </rect>
       </property>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+       </font>
+      </property>
       <property name="styleSheet">
        <string notr="true">color: rgb(255, 255, 255);</string>
       </property>
       <property name="text">
-       <string>Rate</string>
+       <string>Noise</string>
       </property>
      </widget>
-     <widget class="QLabel" name="label_24">
+     <widget class="QLabel" name="label_36">
       <property name="geometry">
        <rect>
-        <x>10</x>
-        <y>50</y>
-        <width>71</width>
-        <height>17</height>
+        <x>170</x>
+        <y>60</y>
+        <width>60</width>
+        <height>16</height>
        </rect>
       </property>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+       </font>
+      </property>
       <property name="styleSheet">
        <string notr="true">color: rgb(255, 255, 255);</string>
       </property>
       <property name="text">
-       <string>Ref. Long.</string>
+       <string>Heading</string>
       </property>
      </widget>
-     <widget class="QLabel" name="label_26">
+     <widget class="QLabel" name="label_37">
       <property name="geometry">
        <rect>
         <x>10</x>
-        <y>70</y>
-        <width>71</width>
-        <height>17</height>
+        <y>60</y>
+        <width>60</width>
+        <height>16</height>
        </rect>
       </property>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+       </font>
+      </property>
       <property name="styleSheet">
        <string notr="true">color: rgb(255, 255, 255);</string>
       </property>
       <property name="text">
-       <string>Ref. Head.</string>
+       <string>RPY</string>
       </property>
      </widget>
-     <widget class="QLabel" name="gps_update_rate">
+     <widget class="QLabel" name="label_38">
       <property name="geometry">
        <rect>
-        <x>90</x>
-        <y>10</y>
-        <width>51</width>
-        <height>17</height>
+        <x>10</x>
+        <y>95</y>
+        <width>60</width>
+        <height>16</height>
        </rect>
       </property>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+       </font>
+      </property>
       <property name="styleSheet">
        <string notr="true">color: rgb(255, 255, 255);</string>
       </property>
       <property name="text">
-       <string>val</string>
+       <string>Noise</string>
       </property>
      </widget>
-     <widget class="QLabel" name="gps_ref_lat">
+     <widget class="QLabel" name="imu_update_rate">
       <property name="geometry">
        <rect>
-        <x>90</x>
-        <y>30</y>
-        <width>51</width>
-        <height>17</height>
+        <x>240</x>
+        <y>10</y>
+        <width>90</width>
+        <height>16</height>
        </rect>
       </property>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+       </font>
+      </property>
       <property name="styleSheet">
        <string notr="true">color: rgb(255, 255, 255);</string>
       </property>
@@ -1196,15 +1995,20 @@ border: 1px solid white;
        <string>val</string>
       </property>
      </widget>
-     <widget class="QLabel" name="gps_ref_long">
+     <widget class="QLabel" name="imu_rate_drift">
       <property name="geometry">
        <rect>
-        <x>90</x>
-        <y>50</y>
-        <width>51</width>
-        <height>17</height>
+        <x>240</x>
+        <y>25</y>
+        <width>90</width>
+        <height>16</height>
        </rect>
       </property>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+       </font>
+      </property>
       <property name="styleSheet">
        <string notr="true">color: rgb(255, 255, 255);</string>
       </property>
@@ -1212,15 +2016,20 @@ border: 1px solid white;
        <string>val</string>
       </property>
      </widget>
-     <widget class="QLabel" name="gps_ref_heading">
+     <widget class="QLabel" name="imu_rate_noise">
       <property name="geometry">
        <rect>
-        <x>90</x>
-        <y>70</y>
-        <width>51</width>
-        <height>17</height>
+        <x>240</x>
+        <y>40</y>
+        <width>90</width>
+        <height>16</height>
        </rect>
       </property>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+       </font>
+      </property>
       <property name="styleSheet">
        <string notr="true">color: rgb(255, 255, 255);</string>
       </property>
@@ -1228,63 +2037,83 @@ border: 1px solid white;
        <string>val</string>
       </property>
      </widget>
-     <widget class="QLabel" name="label_49">
+     <widget class="QLabel" name="imu_heading_drift">
       <property name="geometry">
        <rect>
-        <x>10</x>
-        <y>110</y>
-        <width>71</width>
-        <height>17</height>
+        <x>240</x>
+        <y>75</y>
+        <width>90</width>
+        <height>16</height>
        </rect>
       </property>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+       </font>
+      </property>
       <property name="styleSheet">
        <string notr="true">color: rgb(255, 255, 255);</string>
       </property>
       <property name="text">
-       <string>Drift</string>
+       <string>val</string>
       </property>
      </widget>
-     <widget class="QLabel" name="label_50">
+     <widget class="QLabel" name="imu_heading_noise">
       <property name="geometry">
        <rect>
-        <x>10</x>
-        <y>130</y>
-        <width>71</width>
-        <height>17</height>
+        <x>240</x>
+        <y>90</y>
+        <width>90</width>
+        <height>16</height>
        </rect>
       </property>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+       </font>
+      </property>
       <property name="styleSheet">
        <string notr="true">color: rgb(255, 255, 255);</string>
       </property>
       <property name="text">
-       <string>Drift Freq.</string>
+       <string>val</string>
       </property>
      </widget>
-     <widget class="QLabel" name="label_51">
+     <widget class="QLabel" name="imu_accel_drift">
       <property name="geometry">
        <rect>
-        <x>10</x>
-        <y>150</y>
-        <width>71</width>
-        <height>17</height>
+        <x>80</x>
+        <y>25</y>
+        <width>85</width>
+        <height>16</height>
        </rect>
       </property>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+       </font>
+      </property>
       <property name="styleSheet">
        <string notr="true">color: rgb(255, 255, 255);</string>
       </property>
       <property name="text">
-       <string>Noise</string>
+       <string>val</string>
       </property>
      </widget>
-     <widget class="QLabel" name="gps_drift">
+     <widget class="QLabel" name="imu_accel_noise">
       <property name="geometry">
        <rect>
-        <x>90</x>
-        <y>110</y>
-        <width>51</width>
-        <height>17</height>
+        <x>80</x>
+        <y>40</y>
+        <width>85</width>
+        <height>16</height>
        </rect>
       </property>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+       </font>
+      </property>
       <property name="styleSheet">
        <string notr="true">color: rgb(255, 255, 255);</string>
       </property>
@@ -1292,15 +2121,20 @@ border: 1px solid white;
        <string>val</string>
       </property>
      </widget>
-     <widget class="QLabel" name="gps_drift_freq">
+     <widget class="QLabel" name="imu_rpy_offsets">
       <property name="geometry">
        <rect>
-        <x>90</x>
-        <y>130</y>
-        <width>51</width>
-        <height>17</height>
+        <x>80</x>
+        <y>75</y>
+        <width>85</width>
+        <height>16</height>
        </rect>
       </property>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+       </font>
+      </property>
       <property name="styleSheet">
        <string notr="true">color: rgb(255, 255, 255);</string>
       </property>
@@ -1308,15 +2142,20 @@ border: 1px solid white;
        <string>val</string>
       </property>
      </widget>
-     <widget class="QLabel" name="gps_noise">
+     <widget class="QLabel" name="imu_noise">
       <property name="geometry">
        <rect>
-        <x>90</x>
-        <y>150</y>
-        <width>51</width>
-        <height>17</height>
+        <x>80</x>
+        <y>95</y>
+        <width>85</width>
+        <height>16</height>
        </rect>
       </property>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+       </font>
+      </property>
       <property name="styleSheet">
        <string notr="true">color: rgb(255, 255, 255);</string>
       </property>
@@ -1324,31 +2163,44 @@ border: 1px solid white;
        <string>val</string>
       </property>
      </widget>
-     <widget class="QLabel" name="label_52">
+     <widget class="QLabel" name="label_63">
       <property name="geometry">
        <rect>
         <x>10</x>
-        <y>90</y>
-        <width>71</width>
-        <height>17</height>
+        <y>110</y>
+        <width>60</width>
+        <height>16</height>
        </rect>
       </property>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+       </font>
+      </property>
+      <property name="toolTip">
+       <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Magnetic Declination&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+      </property>
       <property name="styleSheet">
        <string notr="true">color: rgb(255, 255, 255);</string>
       </property>
       <property name="text">
-       <string>Ref. Alt.</string>
+       <string>Mag. Dec.</string>
       </property>
      </widget>
-     <widget class="QLabel" name="gps_ref_alt">
+     <widget class="QLabel" name="label_64">
       <property name="geometry">
        <rect>
-        <x>90</x>
-        <y>90</y>
-        <width>51</width>
-        <height>17</height>
+        <x>80</x>
+        <y>110</y>
+        <width>85</width>
+        <height>16</height>
        </rect>
       </property>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+       </font>
+      </property>
       <property name="styleSheet">
        <string notr="true">color: rgb(255, 255, 255);</string>
       </property>
@@ -1357,29 +2209,13 @@ border: 1px solid white;
       </property>
      </widget>
     </widget>
-    <widget class="QLabel" name="label_12">
-     <property name="geometry">
-      <rect>
-       <x>360</x>
-       <y>130</y>
-       <width>31</width>
-       <height>17</height>
-      </rect>
-     </property>
-     <property name="styleSheet">
-      <string notr="true">color: rgb(255, 255, 255);</string>
-     </property>
-     <property name="text">
-      <string>IMU</string>
-     </property>
-    </widget>
-    <widget class="QFrame" name="frame_5">
+    <widget class="QFrame" name="camera_frame_status">
      <property name="geometry">
       <rect>
-       <x>350</x>
-       <y>140</y>
-       <width>271</width>
-       <height>171</height>
+       <x>560</x>
+       <y>20</y>
+       <width>191</width>
+       <height>131</height>
       </rect>
      </property>
      <property name="frameShape">
@@ -1388,15 +2224,20 @@ border: 1px solid white;
      <property name="frameShadow">
       <enum>QFrame::Raised</enum>
      </property>
-     <widget class="QLabel" name="label_27">
+     <widget class="QLabel" name="label_18">
       <property name="geometry">
        <rect>
-        <x>130</x>
-        <y>10</y>
+        <x>10</x>
+        <y>15</y>
         <width>61</width>
         <height>17</height>
        </rect>
       </property>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+       </font>
+      </property>
       <property name="styleSheet">
        <string notr="true">color: rgb(255, 255, 255);</string>
       </property>
@@ -1404,23 +2245,28 @@ border: 1px solid white;
        <string>Rate</string>
       </property>
      </widget>
-     <widget class="QLabel" name="label_28">
+     <widget class="QLabel" name="label_19">
       <property name="geometry">
        <rect>
         <x>10</x>
-        <y>30</y>
-        <width>91</width>
+        <y>35</y>
+        <width>61</width>
         <height>17</height>
        </rect>
       </property>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+       </font>
+      </property>
       <property name="styleSheet">
        <string notr="true">color: rgb(255, 255, 255);</string>
       </property>
       <property name="text">
-       <string>Drift</string>
+       <string>Width</string>
       </property>
      </widget>
-     <widget class="QLabel" name="label_29">
+     <widget class="QLabel" name="label_20">
       <property name="geometry">
        <rect>
         <x>10</x>
@@ -1429,182 +2275,158 @@ border: 1px solid white;
         <height>17</height>
        </rect>
       </property>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+       </font>
+      </property>
       <property name="styleSheet">
        <string notr="true">color: rgb(255, 255, 255);</string>
       </property>
       <property name="text">
-       <string>Noise</string>
+       <string>Height</string>
       </property>
      </widget>
-     <widget class="QLabel" name="label_30">
+     <widget class="QLabel" name="label_21">
       <property name="geometry">
        <rect>
         <x>10</x>
-        <y>100</y>
-        <width>81</width>
+        <y>65</y>
+        <width>61</width>
         <height>17</height>
        </rect>
       </property>
-      <property name="styleSheet">
-       <string notr="true">color: rgb(255, 255, 255);</string>
-      </property>
-      <property name="text">
-       <string>Offsets</string>
-      </property>
-     </widget>
-     <widget class="QLabel" name="label_31">
-      <property name="geometry">
-       <rect>
-        <x>130</x>
-        <y>30</y>
-        <width>91</width>
-        <height>17</height>
-       </rect>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+       </font>
       </property>
       <property name="styleSheet">
        <string notr="true">color: rgb(255, 255, 255);</string>
       </property>
       <property name="text">
-       <string>Drift</string>
+       <string>Format</string>
       </property>
      </widget>
-     <widget class="QLabel" name="label_32">
+     <widget class="QLabel" name="camera_update_rate">
       <property name="geometry">
        <rect>
-        <x>130</x>
-        <y>50</y>
-        <width>91</width>
+        <x>120</x>
+        <y>15</y>
+        <width>60</width>
         <height>17</height>
        </rect>
       </property>
-      <property name="styleSheet">
-       <string notr="true">color: rgb(255, 255, 255);</string>
-      </property>
-      <property name="text">
-       <string>Noise</string>
-      </property>
-     </widget>
-     <widget class="QLabel" name="label_33">
-      <property name="geometry">
-       <rect>
-        <x>10</x>
-        <y>10</y>
-        <width>61</width>
-        <height>17</height>
-       </rect>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+       </font>
       </property>
       <property name="styleSheet">
        <string notr="true">color: rgb(255, 255, 255);</string>
       </property>
       <property name="text">
-       <string>Accel.</string>
+       <string>val</string>
       </property>
      </widget>
-     <widget class="QLabel" name="label_34">
+     <widget class="QLabel" name="camera_width">
       <property name="geometry">
        <rect>
-        <x>130</x>
-        <y>100</y>
-        <width>91</width>
+        <x>120</x>
+        <y>35</y>
+        <width>60</width>
         <height>17</height>
        </rect>
       </property>
-      <property name="styleSheet">
-       <string notr="true">color: rgb(255, 255, 255);</string>
-      </property>
-      <property name="text">
-       <string>Drift</string>
-      </property>
-     </widget>
-     <widget class="QLabel" name="label_35">
-      <property name="geometry">
-       <rect>
-        <x>130</x>
-        <y>120</y>
-        <width>91</width>
-        <height>17</height>
-       </rect>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+       </font>
       </property>
       <property name="styleSheet">
        <string notr="true">color: rgb(255, 255, 255);</string>
       </property>
       <property name="text">
-       <string>Noise</string>
+       <string>val</string>
       </property>
      </widget>
-     <widget class="QLabel" name="label_36">
+     <widget class="QLabel" name="camera_height">
       <property name="geometry">
        <rect>
-        <x>130</x>
-        <y>80</y>
-        <width>91</width>
+        <x>120</x>
+        <y>50</y>
+        <width>60</width>
         <height>17</height>
        </rect>
       </property>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+       </font>
+      </property>
       <property name="styleSheet">
        <string notr="true">color: rgb(255, 255, 255);</string>
       </property>
       <property name="text">
-       <string>Heading</string>
+       <string>val</string>
       </property>
      </widget>
-     <widget class="QLabel" name="label_37">
+     <widget class="QLabel" name="camera_format">
       <property name="geometry">
        <rect>
-        <x>10</x>
-        <y>80</y>
-        <width>81</width>
+        <x>120</x>
+        <y>65</y>
+        <width>60</width>
         <height>17</height>
        </rect>
       </property>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+       </font>
+      </property>
       <property name="styleSheet">
        <string notr="true">color: rgb(255, 255, 255);</string>
       </property>
       <property name="text">
-       <string>RPY</string>
+       <string>val</string>
       </property>
      </widget>
-     <widget class="QLabel" name="label_38">
+     <widget class="QLabel" name="label_25">
       <property name="geometry">
        <rect>
         <x>10</x>
-        <y>130</y>
+        <y>85</y>
         <width>81</width>
         <height>17</height>
        </rect>
       </property>
-      <property name="styleSheet">
-       <string notr="true">color: rgb(255, 255, 255);</string>
-      </property>
-      <property name="text">
-       <string>Noise</string>
-      </property>
-     </widget>
-     <widget class="QLabel" name="imu_update_rate">
-      <property name="geometry">
-       <rect>
-        <x>180</x>
-        <y>10</y>
-        <width>41</width>
-        <height>17</height>
-       </rect>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+       </font>
       </property>
       <property name="styleSheet">
        <string notr="true">color: rgb(255, 255, 255);</string>
       </property>
       <property name="text">
-       <string>val</string>
+       <string>Noise Mean</string>
       </property>
      </widget>
-     <widget class="QLabel" name="imu_rate_drift">
+     <widget class="QLabel" name="camera_noise_mean">
       <property name="geometry">
        <rect>
-        <x>220</x>
-        <y>30</y>
-        <width>41</width>
+        <x>120</x>
+        <y>85</y>
+        <width>60</width>
         <height>17</height>
        </rect>
       </property>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+       </font>
+      </property>
       <property name="styleSheet">
        <string notr="true">color: rgb(255, 255, 255);</string>
       </property>
@@ -1612,31 +2434,41 @@ border: 1px solid white;
        <string>val</string>
       </property>
      </widget>
-     <widget class="QLabel" name="imu_rate_noise">
+     <widget class="QLabel" name="label_45">
       <property name="geometry">
        <rect>
-        <x>220</x>
-        <y>50</y>
+        <x>47</x>
+        <y>100</y>
         <width>41</width>
         <height>17</height>
        </rect>
       </property>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+       </font>
+      </property>
       <property name="styleSheet">
        <string notr="true">color: rgb(255, 255, 255);</string>
       </property>
       <property name="text">
-       <string>val</string>
+       <string>Stdev</string>
       </property>
      </widget>
-     <widget class="QLabel" name="imu_heading_drift">
+     <widget class="QLabel" name="camera_noise_stdev">
       <property name="geometry">
        <rect>
-        <x>220</x>
+        <x>120</x>
         <y>100</y>
-        <width>41</width>
+        <width>60</width>
         <height>17</height>
        </rect>
       </property>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+       </font>
+      </property>
       <property name="styleSheet">
        <string notr="true">color: rgb(255, 255, 255);</string>
       </property>
@@ -1644,111 +2476,174 @@ border: 1px solid white;
        <string>val</string>
       </property>
      </widget>
-     <widget class="QLabel" name="imu_heading_noise">
+     <zorder>label_19</zorder>
+     <zorder>label_20</zorder>
+     <zorder>label_21</zorder>
+     <zorder>label_18</zorder>
+     <zorder>camera_update_rate</zorder>
+     <zorder>camera_width</zorder>
+     <zorder>camera_height</zorder>
+     <zorder>camera_format</zorder>
+     <zorder>label_25</zorder>
+     <zorder>camera_noise_mean</zorder>
+     <zorder>label_45</zorder>
+     <zorder>camera_noise_stdev</zorder>
+    </widget>
+    <widget class="QFrame" name="ultrasound_frame">
+     <property name="geometry">
+      <rect>
+       <x>560</x>
+       <y>170</y>
+       <width>191</width>
+       <height>161</height>
+      </rect>
+     </property>
+     <property name="frameShape">
+      <enum>QFrame::StyledPanel</enum>
+     </property>
+     <property name="frameShadow">
+      <enum>QFrame::Raised</enum>
+     </property>
+     <widget class="QLabel" name="label_39">
       <property name="geometry">
        <rect>
-        <x>180</x>
-        <y>120</y>
-        <width>41</width>
+        <x>10</x>
+        <y>10</y>
+        <width>71</width>
         <height>17</height>
        </rect>
       </property>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+       </font>
+      </property>
       <property name="styleSheet">
        <string notr="true">color: rgb(255, 255, 255);</string>
       </property>
       <property name="text">
-       <string>val</string>
+       <string>Horz. Res</string>
       </property>
      </widget>
-     <widget class="QLabel" name="imu_accel_drift">
+     <widget class="QLabel" name="label_40">
       <property name="geometry">
        <rect>
-        <x>60</x>
-        <y>30</y>
-        <width>41</width>
-        <height>16</height>
+        <x>10</x>
+        <y>70</y>
+        <width>71</width>
+        <height>17</height>
        </rect>
       </property>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+       </font>
+      </property>
       <property name="styleSheet">
        <string notr="true">color: rgb(255, 255, 255);</string>
       </property>
       <property name="text">
-       <string>val</string>
+       <string>Min Ang.</string>
       </property>
      </widget>
-     <widget class="QLabel" name="imu_accel_noise">
+     <widget class="QLabel" name="label_41">
       <property name="geometry">
        <rect>
-        <x>60</x>
-        <y>50</y>
-        <width>41</width>
-        <height>16</height>
+        <x>10</x>
+        <y>90</y>
+        <width>71</width>
+        <height>17</height>
        </rect>
       </property>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+       </font>
+      </property>
       <property name="styleSheet">
        <string notr="true">color: rgb(255, 255, 255);</string>
       </property>
       <property name="text">
-       <string>val</string>
+       <string>Max Ang.</string>
       </property>
      </widget>
-     <widget class="QLabel" name="imu_rpy_offsets">
+     <widget class="QLabel" name="label_42">
       <property name="geometry">
        <rect>
-        <x>70</x>
-        <y>100</y>
-        <width>41</width>
+        <x>10</x>
+        <y>50</y>
+        <width>71</width>
         <height>17</height>
        </rect>
       </property>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+       </font>
+      </property>
       <property name="styleSheet">
        <string notr="true">color: rgb(255, 255, 255);</string>
       </property>
       <property name="text">
-       <string>val</string>
+       <string>Max</string>
       </property>
      </widget>
-     <widget class="QLabel" name="imu_noise">
+     <widget class="QLabel" name="label_43">
       <property name="geometry">
        <rect>
-        <x>70</x>
-        <y>130</y>
-        <width>51</width>
+        <x>10</x>
+        <y>30</y>
+        <width>71</width>
         <height>17</height>
        </rect>
       </property>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+       </font>
+      </property>
       <property name="styleSheet">
        <string notr="true">color: rgb(255, 255, 255);</string>
       </property>
       <property name="text">
-       <string>val</string>
+       <string>Min</string>
       </property>
      </widget>
-     <widget class="QLabel" name="label_63">
+     <widget class="QLabel" name="label_44">
       <property name="geometry">
        <rect>
-        <x>20</x>
-        <y>150</y>
-        <width>151</width>
+        <x>10</x>
+        <y>110</y>
+        <width>131</width>
         <height>17</height>
        </rect>
       </property>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+       </font>
+      </property>
       <property name="styleSheet">
        <string notr="true">color: rgb(255, 255, 255);</string>
       </property>
       <property name="text">
-       <string>Magnetic Declination</string>
+       <string>Range Resolution</string>
       </property>
      </widget>
-     <widget class="QLabel" name="label_64">
+     <widget class="QLabel" name="sonar_range_res">
       <property name="geometry">
        <rect>
-        <x>180</x>
-        <y>150</y>
-        <width>51</width>
+        <x>120</x>
+        <y>110</y>
+        <width>60</width>
         <height>17</height>
        </rect>
       </property>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+       </font>
+      </property>
       <property name="styleSheet">
        <string notr="true">color: rgb(255, 255, 255);</string>
       </property>
@@ -1756,111 +2651,104 @@ border: 1px solid white;
        <string>val</string>
       </property>
      </widget>
-    </widget>
-    <widget class="QLabel" name="label_17">
-     <property name="geometry">
-      <rect>
-       <x>520</x>
-       <y>0</y>
-       <width>51</width>
-       <height>17</height>
-      </rect>
-     </property>
-     <property name="styleSheet">
-      <string notr="true">color: rgb(255, 255, 255);</string>
-     </property>
-     <property name="text">
-      <string>Camera</string>
-     </property>
-    </widget>
-    <widget class="QFrame" name="frame_6">
-     <property name="geometry">
-      <rect>
-       <x>510</x>
-       <y>10</y>
-       <width>151</width>
-       <height>131</height>
-      </rect>
-     </property>
-     <property name="frameShape">
-      <enum>QFrame::StyledPanel</enum>
-     </property>
-     <property name="frameShadow">
-      <enum>QFrame::Raised</enum>
-     </property>
-     <widget class="QLabel" name="label_18">
+     <widget class="QLabel" name="sonar_max_angle">
       <property name="geometry">
        <rect>
-        <x>10</x>
-        <y>10</y>
-        <width>61</width>
+        <x>120</x>
+        <y>90</y>
+        <width>60</width>
         <height>17</height>
        </rect>
       </property>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+       </font>
+      </property>
       <property name="styleSheet">
        <string notr="true">color: rgb(255, 255, 255);</string>
       </property>
       <property name="text">
-       <string>Rate</string>
+       <string>val</string>
       </property>
      </widget>
-     <widget class="QLabel" name="label_19">
+     <widget class="QLabel" name="sonar_min_angle">
       <property name="geometry">
        <rect>
-        <x>10</x>
-        <y>30</y>
-        <width>61</width>
+        <x>120</x>
+        <y>70</y>
+        <width>60</width>
         <height>17</height>
        </rect>
       </property>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+       </font>
+      </property>
       <property name="styleSheet">
        <string notr="true">color: rgb(255, 255, 255);</string>
       </property>
       <property name="text">
-       <string>Width</string>
+       <string>val</string>
       </property>
      </widget>
-     <widget class="QLabel" name="label_20">
+     <widget class="QLabel" name="sonar_max">
       <property name="geometry">
        <rect>
-        <x>10</x>
+        <x>120</x>
         <y>50</y>
-        <width>61</width>
+        <width>60</width>
         <height>17</height>
        </rect>
       </property>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+       </font>
+      </property>
       <property name="styleSheet">
        <string notr="true">color: rgb(255, 255, 255);</string>
       </property>
       <property name="text">
-       <string>Height</string>
+       <string>val</string>
       </property>
      </widget>
-     <widget class="QLabel" name="label_21">
+     <widget class="QLabel" name="sonar_min">
       <property name="geometry">
        <rect>
-        <x>10</x>
-        <y>70</y>
-        <width>61</width>
+        <x>120</x>
+        <y>30</y>
+        <width>60</width>
         <height>17</height>
        </rect>
       </property>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+       </font>
+      </property>
       <property name="styleSheet">
        <string notr="true">color: rgb(255, 255, 255);</string>
       </property>
       <property name="text">
-       <string>Format</string>
+       <string>val</string>
       </property>
      </widget>
-     <widget class="QLabel" name="camera_update_rate">
+     <widget class="QLabel" name="sonar_horz_res">
       <property name="geometry">
        <rect>
-        <x>80</x>
+        <x>120</x>
         <y>10</y>
-        <width>51</width>
+        <width>60</width>
         <height>17</height>
        </rect>
       </property>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+       </font>
+      </property>
       <property name="styleSheet">
        <string notr="true">color: rgb(255, 255, 255);</string>
       </property>
@@ -1868,407 +2756,271 @@ border: 1px solid white;
        <string>val</string>
       </property>
      </widget>
-     <widget class="QLabel" name="camera_width">
+     <widget class="QLabel" name="label_65">
       <property name="geometry">
        <rect>
-        <x>80</x>
-        <y>30</y>
-        <width>51</width>
+        <x>10</x>
+        <y>130</y>
+        <width>121</width>
         <height>17</height>
        </rect>
       </property>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+       </font>
+      </property>
       <property name="styleSheet">
        <string notr="true">color: rgb(255, 255, 255);</string>
       </property>
       <property name="text">
-       <string>val</string>
+       <string>Gaussian Noise</string>
       </property>
      </widget>
-     <widget class="QLabel" name="camera_height">
+     <widget class="QLabel" name="sonar_gaussian_noise">
       <property name="geometry">
        <rect>
-        <x>80</x>
-        <y>50</y>
-        <width>51</width>
+        <x>120</x>
+        <y>130</y>
+        <width>60</width>
         <height>17</height>
        </rect>
       </property>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+       </font>
+      </property>
       <property name="styleSheet">
        <string notr="true">color: rgb(255, 255, 255);</string>
       </property>
       <property name="text">
        <string>val</string>
       </property>
-     </widget>
-     <widget class="QLabel" name="camera_format">
+     </widget>
+    </widget>
+    <widget class="QLabel" name="label_10">
+     <property name="geometry">
+      <rect>
+       <x>580</x>
+       <y>160</y>
+       <width>90</width>
+       <height>20</height>
+      </rect>
+     </property>
+     <property name="styleSheet">
+      <string notr="true">color: white;
+border: 1px solid white;
+padding: 1px;</string>
+     </property>
+     <property name="text">
+      <string>Ultrasound</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+    <widget class="QLabel" name="label_12">
+     <property name="geometry">
+      <rect>
+       <x>430</x>
+       <y>340</y>
+       <width>40</width>
+       <height>20</height>
+      </rect>
+     </property>
+     <property name="styleSheet">
+      <string notr="true">color: white;
+border: 1px solid white;
+padding: 1px;</string>
+     </property>
+     <property name="text">
+      <string>IMU</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+    <widget class="QLabel" name="label_17">
+     <property name="geometry">
+      <rect>
+       <x>580</x>
+       <y>10</y>
+       <width>65</width>
+       <height>20</height>
+      </rect>
+     </property>
+     <property name="styleSheet">
+      <string notr="true">color: white;
+border: 1px solid white;
+padding: 1px;</string>
+     </property>
+     <property name="text">
+      <string>Camera</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+    <widget class="QFrame" name="button_frame">
+     <property name="geometry">
+      <rect>
+       <x>10</x>
+       <y>350</y>
+       <width>181</width>
+       <height>141</height>
+      </rect>
+     </property>
+     <property name="frameShape">
+      <enum>QFrame::StyledPanel</enum>
+     </property>
+     <property name="frameShadow">
+      <enum>QFrame::Raised</enum>
+     </property>
+     <widget class="QCheckBox" name="start_visualization_on_build_checkbox">
+      <property name="enabled">
+       <bool>true</bool>
+      </property>
       <property name="geometry">
        <rect>
-        <x>80</x>
-        <y>70</y>
-        <width>51</width>
-        <height>17</height>
+        <x>30</x>
+        <y>105</y>
+        <width>21</width>
+        <height>22</height>
        </rect>
       </property>
+      <property name="sizePolicy">
+       <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+        <horstretch>0</horstretch>
+        <verstretch>0</verstretch>
+       </sizepolicy>
+      </property>
+      <property name="maximumSize">
+       <size>
+        <width>16777215</width>
+        <height>22</height>
+       </size>
+      </property>
+      <property name="toolTip">
+       <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;When checked, a Gazebo world without rovers, walls, ground texture, or a collection zone will be created. The purpose of this option is to generate tag distributions using the Uniform, Clustered, or Power Law in a way that you can save the world file from Gazebo and re-use that same distribution later using the Custom world option. It will also load much faster as well when loading a pre-built distribution.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+      </property>
+      <property name="whatsThis">
+       <string/>
+      </property>
       <property name="styleSheet">
        <string notr="true">color: rgb(255, 255, 255);</string>
       </property>
       <property name="text">
-       <string>val</string>
+       <string/>
+      </property>
+      <property name="checked">
+       <bool>true</bool>
       </property>
      </widget>
-     <widget class="QLabel" name="label_25">
+     <widget class="QLabel" name="start_visualization_on_build_label">
       <property name="geometry">
        <rect>
-        <x>10</x>
-        <y>90</y>
-        <width>81</width>
-        <height>17</height>
+        <x>55</x>
+        <y>100</y>
+        <width>91</width>
+        <height>31</height>
        </rect>
       </property>
       <property name="styleSheet">
        <string notr="true">color: rgb(255, 255, 255);</string>
       </property>
       <property name="text">
-       <string>Noise Mean</string>
+       <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p align=&quot;center&quot;&gt;&lt;span style=&quot; font-size:8pt;&quot;&gt;Start Visualization On Build&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+      </property>
+      <property name="alignment">
+       <set>Qt::AlignCenter</set>
+      </property>
+      <property name="wordWrap">
+       <bool>true</bool>
+      </property>
+      <property name="indent">
+       <number>0</number>
       </property>
      </widget>
-     <widget class="QLabel" name="camera_noise_mean">
+     <widget class="QPushButton" name="build_simulation_button">
       <property name="geometry">
        <rect>
-        <x>100</x>
-        <y>90</y>
-        <width>41</width>
-        <height>17</height>
+        <x>10</x>
+        <y>10</y>
+        <width>161</width>
+        <height>27</height>
        </rect>
       </property>
       <property name="styleSheet">
-       <string notr="true">color: rgb(255, 255, 255);</string>
+       <string notr="true">color: rgb(255, 255, 255);
+border-color: rgb(255, 255, 255);
+border: 1px solid white; 
+</string>
       </property>
       <property name="text">
-       <string>val</string>
+       <string>Build Simulation</string>
       </property>
      </widget>
-     <widget class="QLabel" name="label_45">
+     <widget class="QPushButton" name="clear_simulation_button">
+      <property name="enabled">
+       <bool>true</bool>
+      </property>
       <property name="geometry">
        <rect>
-        <x>50</x>
-        <y>110</y>
-        <width>41</width>
-        <height>17</height>
+        <x>10</x>
+        <y>40</y>
+        <width>161</width>
+        <height>27</height>
        </rect>
       </property>
       <property name="styleSheet">
-       <string notr="true">color: rgb(255, 255, 255);</string>
+       <string notr="true">color: rgb(255, 255, 255);
+border-color: rgb(255, 255, 255);
+border: 1px solid white; 
+</string>
       </property>
       <property name="text">
-       <string>Stdev</string>
+       <string>End Simulation</string>
       </property>
      </widget>
-     <widget class="QLabel" name="camera_noise_stdev">
+     <widget class="QPushButton" name="visualize_simulation_button">
+      <property name="enabled">
+       <bool>true</bool>
+      </property>
       <property name="geometry">
        <rect>
-        <x>100</x>
-        <y>110</y>
-        <width>41</width>
-        <height>17</height>
+        <x>10</x>
+        <y>70</y>
+        <width>161</width>
+        <height>27</height>
        </rect>
       </property>
       <property name="styleSheet">
-       <string notr="true">color: rgb(255, 255, 255);</string>
+       <string notr="true">color: rgb(255, 255, 255);
+border-color: rgb(255, 255, 255);
+border: 1px solid white; 
+</string>
       </property>
       <property name="text">
-       <string>val</string>
+       <string>Toggle Visualization</string>
       </property>
      </widget>
-     <zorder>label_19</zorder>
-     <zorder>label_20</zorder>
-     <zorder>label_21</zorder>
-     <zorder>label_18</zorder>
-     <zorder>camera_update_rate</zorder>
-     <zorder>camera_width</zorder>
-     <zorder>camera_height</zorder>
-     <zorder>camera_format</zorder>
-     <zorder>label_25</zorder>
-     <zorder>camera_noise_mean</zorder>
-     <zorder>label_45</zorder>
-     <zorder>camera_noise_stdev</zorder>
-    </widget>
-    <widget class="QPushButton" name="visualize_simulation_button">
-     <property name="enabled">
-      <bool>true</bool>
-     </property>
-     <property name="geometry">
-      <rect>
-       <x>80</x>
-       <y>430</y>
-       <width>161</width>
-       <height>27</height>
-      </rect>
-     </property>
-     <property name="styleSheet">
-      <string notr="true">color: rgb(255, 255, 255);
-border-color: rgb(255, 255, 255);
-border: 1px solid white; 
-</string>
-     </property>
-     <property name="text">
-      <string>Toggle Visualization</string>
-     </property>
-    </widget>
-    <widget class="QLabel" name="label_10">
-     <property name="geometry">
-      <rect>
-       <x>520</x>
-       <y>320</y>
-       <width>81</width>
-       <height>17</height>
-      </rect>
-     </property>
-     <property name="styleSheet">
-      <string notr="true">color: rgb(255, 255, 255);</string>
-     </property>
-     <property name="text">
-      <string>Ultrasound</string>
-     </property>
     </widget>
-    <zorder>rover_image_label</zorder>
+    <zorder>button_frame</zorder>
     <zorder>setup_group</zorder>
     <zorder>label_7</zorder>
-    <zorder>build_simulation_button</zorder>
-    <zorder>frame_2</zorder>
-    <zorder>clear_simulation_button</zorder>
-    <zorder>frame_4</zorder>
+    <zorder>GPS_frame</zorder>
     <zorder>label_11</zorder>
-    <zorder>frame_5</zorder>
+    <zorder>IMU_frame</zorder>
+    <zorder>camera_frame_status</zorder>
+    <zorder>ultrasound_frame</zorder>
+    <zorder>label_10</zorder>
     <zorder>label_12</zorder>
-    <zorder>frame_6</zorder>
     <zorder>label_17</zorder>
-    <zorder>visualize_simulation_button</zorder>
-    <zorder>label_10</zorder>
-   </widget>
-   <widget class="QWidget" name="stats_tab">
-    <attribute name="title">
-     <string>Task Status</string>
-    </attribute>
-    <widget class="QLabel" name="label_6">
-     <property name="geometry">
-      <rect>
-       <x>100</x>
-       <y>60</y>
-       <width>201</width>
-       <height>17</height>
-      </rect>
-     </property>
-     <property name="text">
-      <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; color:#ffffff;&quot;&gt;Number of Targets Detected:&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-     </property>
-    </widget>
-    <widget class="QLabel" name="num_targets_detected_label">
-     <property name="geometry">
-      <rect>
-       <x>310</x>
-       <y>60</y>
-       <width>67</width>
-       <height>17</height>
-      </rect>
-     </property>
-     <property name="text">
-      <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; color:#ffffff;&quot;&gt;0&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-     </property>
-    </widget>
-    <widget class="QLabel" name="label_8">
-     <property name="geometry">
-      <rect>
-       <x>100</x>
-       <y>90</y>
-       <width>201</width>
-       <height>17</height>
-      </rect>
-     </property>
-     <property name="text">
-      <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; color:#ffffff;&quot;&gt;Number of Targets Collected:&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-     </property>
-    </widget>
-    <widget class="QLabel" name="num_targets_collected_label">
-     <property name="geometry">
-      <rect>
-       <x>310</x>
-       <y>90</y>
-       <width>67</width>
-       <height>17</height>
-      </rect>
-     </property>
-     <property name="text">
-      <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; color:#ffffff;&quot;&gt;0&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-     </property>
-    </widget>
-    <widget class="QLabel" name="label_9">
-     <property name="geometry">
-      <rect>
-       <x>100</x>
-       <y>150</y>
-       <width>181</width>
-       <height>17</height>
-      </rect>
-     </property>
-     <property name="text">
-      <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; color:#fefefe;&quot;&gt;Obstacle Avoidance Calls:&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-     </property>
-    </widget>
-    <widget class="QLabel" name="perc_of_time_avoiding_obstacles">
-     <property name="geometry">
-      <rect>
-       <x>310</x>
-       <y>150</y>
-       <width>67</width>
-       <height>17</height>
-      </rect>
-     </property>
-     <property name="text">
-      <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; color:#ffffff;&quot;&gt;0&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-     </property>
-    </widget>
-    <widget class="QLabel" name="currentSimulationTimeLabel">
-     <property name="geometry">
-      <rect>
-       <x>210</x>
-       <y>250</y>
-       <width>250</width>
-       <height>17</height>
-      </rect>
-     </property>
-     <property name="text">
-      <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; color:#ffffff;&quot;&gt;---&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-     </property>
-    </widget>
-    <widget class="QLabel" name="simulationTimerStartLabel">
-     <property name="geometry">
-      <rect>
-       <x>210</x>
-       <y>280</y>
-       <width>250</width>
-       <height>17</height>
-      </rect>
-     </property>
-     <property name="text">
-      <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; color:#ffffff;&quot;&gt;---&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-     </property>
-    </widget>
-    <widget class="QLabel" name="simulationTimerStopLabel">
-     <property name="geometry">
-      <rect>
-       <x>210</x>
-       <y>310</y>
-       <width>250</width>
-       <height>17</height>
-      </rect>
-     </property>
-     <property name="text">
-      <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; color:#ffffff;&quot;&gt;---&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-     </property>
-    </widget>
-    <widget class="QLabel" name="currentSimulationTimeTitle">
-     <property name="geometry">
-      <rect>
-       <x>100</x>
-       <y>250</y>
-       <width>100</width>
-       <height>17</height>
-      </rect>
-     </property>
-     <property name="text">
-      <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; color:#fefefe;&quot;&gt;Current Time:&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-     </property>
-     <property name="alignment">
-      <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-     </property>
-    </widget>
-    <widget class="QLabel" name="simulationTimerStartTitle">
-     <property name="geometry">
-      <rect>
-       <x>100</x>
-       <y>280</y>
-       <width>100</width>
-       <height>17</height>
-      </rect>
-     </property>
-     <property name="text">
-      <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; color:#fefefe;&quot;&gt;Timer Start:&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-     </property>
-     <property name="alignment">
-      <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-     </property>
-    </widget>
-    <widget class="QLabel" name="simulationTimerStopTitle">
-     <property name="geometry">
-      <rect>
-       <x>100</x>
-       <y>310</y>
-       <width>100</width>
-       <height>17</height>
-      </rect>
-     </property>
-     <property name="text">
-      <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; color:#fefefe;&quot;&gt;Timer Stop:&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-     </property>
-     <property name="alignment">
-      <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-     </property>
-    </widget>
-    <widget class="QFrame" name="Simulation_Timer_Frame">
-     <property name="enabled">
-      <bool>true</bool>
-     </property>
-     <property name="geometry">
-      <rect>
-       <x>90</x>
-       <y>220</y>
-       <width>400</width>
-       <height>120</height>
-      </rect>
-     </property>
-     <property name="frameShape">
-      <enum>QFrame::StyledPanel</enum>
-     </property>
-     <property name="frameShadow">
-      <enum>QFrame::Raised</enum>
-     </property>
-    </widget>
-    <widget class="QLabel" name="simulation_timer_frame_label">
-     <property name="geometry">
-      <rect>
-       <x>100</x>
-       <y>210</y>
-       <width>310</width>
-       <height>25</height>
-      </rect>
-     </property>
-     <property name="styleSheet">
-      <string notr="true">color: white;
-border: 1px solid white;
-padding: 1px;</string>
-     </property>
-     <property name="text">
-      <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; color:#fefefe;&quot;&gt;Simulation Timer (for simulated rovers only)&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-     </property>
-     <property name="alignment">
-      <set>Qt::AlignCenter</set>
-     </property>
-    </widget>
-    <zorder>Simulation_Timer_Frame</zorder>
-    <zorder>label_6</zorder>
-    <zorder>num_targets_detected_label</zorder>
-    <zorder>label_8</zorder>
-    <zorder>num_targets_collected_label</zorder>
-    <zorder>label_9</zorder>
-    <zorder>perc_of_time_avoiding_obstacles</zorder>
-    <zorder>currentSimulationTimeLabel</zorder>
-    <zorder>simulationTimerStartLabel</zorder>
-    <zorder>simulationTimerStopLabel</zorder>
-    <zorder>currentSimulationTimeTitle</zorder>
-    <zorder>simulationTimerStartTitle</zorder>
-    <zorder>simulationTimerStopTitle</zorder>
-    <zorder>simulation_timer_frame_label</zorder>
    </widget>
   </widget>
   <widget class="QFrame" name="control_frame">
@@ -2277,10 +3029,10 @@ padding: 1px;</string>
    </property>
    <property name="geometry">
     <rect>
-     <x>600</x>
-     <y>560</y>
-     <width>201</width>
-     <height>141</height>
+     <x>650</x>
+     <y>547</y>
+     <width>211</width>
+     <height>163</height>
     </rect>
    </property>
    <property name="frameShape">
@@ -2292,10 +3044,10 @@ padding: 1px;</string>
    <widget class="QGroupBox" name="control_group_box">
     <property name="geometry">
      <rect>
-      <x>10</x>
+      <x>24</x>
       <y>10</y>
-      <width>181</width>
-      <height>121</height>
+      <width>161</width>
+      <height>141</height>
      </rect>
     </property>
     <property name="styleSheet">
@@ -2311,8 +3063,8 @@ padding: 1px;</string>
      <property name="geometry">
       <rect>
        <x>10</x>
-       <y>40</y>
-       <width>171</width>
+       <y>50</y>
+       <width>121</width>
        <height>30</height>
       </rect>
      </property>
@@ -2333,7 +3085,7 @@ padding: 1px;</string>
      <property name="geometry">
       <rect>
        <x>10</x>
-       <y>25</y>
+       <y>30</y>
        <width>117</width>
        <height>20</height>
       </rect>
@@ -2358,7 +3110,7 @@ padding: 1px;</string>
      <property name="geometry">
       <rect>
        <x>10</x>
-       <y>95</y>
+       <y>110</y>
        <width>150</width>
        <height>22</height>
       </rect>
@@ -2380,7 +3132,7 @@ border: 1px solid white;
      <property name="geometry">
       <rect>
        <x>10</x>
-       <y>70</y>
+       <y>85</y>
        <width>150</width>
        <height>22</height>
       </rect>
@@ -2400,10 +3152,10 @@ border: 1px solid white;
   <widget class="QFrame" name="joystick_frame">
    <property name="geometry">
     <rect>
-     <x>810</x>
-     <y>590</y>
-     <width>191</width>
-     <height>111</height>
+     <x>870</x>
+     <y>547</y>
+     <width>211</width>
+     <height>163</height>
     </rect>
    </property>
    <property name="frameShape">
@@ -2415,8 +3167,8 @@ border: 1px solid white;
    <widget class="QLCDNumber" name="joy_lcd_drive_forward">
     <property name="geometry">
      <rect>
-      <x>110</x>
-      <y>40</y>
+      <x>118</x>
+      <y>70</y>
       <width>41</width>
       <height>16</height>
      </rect>
@@ -2430,8 +3182,8 @@ border: 1px solid white;
    <widget class="QLCDNumber" name="joy_lcd_drive_left">
     <property name="geometry">
      <rect>
-      <x>90</x>
-      <y>60</y>
+      <x>98</x>
+      <y>90</y>
       <width>41</width>
       <height>16</height>
      </rect>
@@ -2445,8 +3197,8 @@ border: 1px solid white;
    <widget class="QLCDNumber" name="joy_lcd_drive_right">
     <property name="geometry">
      <rect>
-      <x>130</x>
-      <y>60</y>
+      <x>138</x>
+      <y>90</y>
       <width>41</width>
       <height>16</height>
      </rect>
@@ -2460,8 +3212,8 @@ border: 1px solid white;
    <widget class="QLCDNumber" name="joy_lcd_drive_back">
     <property name="geometry">
      <rect>
-      <x>110</x>
-      <y>80</y>
+      <x>118</x>
+      <y>110</y>
       <width>41</width>
       <height>16</height>
      </rect>
@@ -2475,8 +3227,8 @@ border: 1px solid white;
    <widget class="QLCDNumber" name="joy_lcd_gripper_up">
     <property name="geometry">
      <rect>
-      <x>30</x>
-      <y>40</y>
+      <x>24</x>
+      <y>70</y>
       <width>41</width>
       <height>16</height>
      </rect>
@@ -2490,8 +3242,8 @@ border: 1px solid white;
    <widget class="QLCDNumber" name="joy_lcd_gripper_open">
     <property name="geometry">
      <rect>
-      <x>50</x>
-      <y>60</y>
+      <x>44</x>
+      <y>90</y>
       <width>41</width>
       <height>16</height>
      </rect>
@@ -2505,8 +3257,8 @@ border: 1px solid white;
    <widget class="QLCDNumber" name="joy_lcd_gripper_close">
     <property name="geometry">
      <rect>
-      <x>10</x>
-      <y>60</y>
+      <x>5</x>
+      <y>90</y>
       <width>41</width>
       <height>16</height>
      </rect>
@@ -2520,8 +3272,8 @@ border: 1px solid white;
    <widget class="QLCDNumber" name="joy_lcd_gripper_down">
     <property name="geometry">
      <rect>
-      <x>30</x>
-      <y>80</y>
+      <x>24</x>
+      <y>110</y>
       <width>41</width>
       <height>16</height>
      </rect>
@@ -2535,10 +3287,10 @@ border: 1px solid white;
    <widget class="QLabel" name="drive_label">
     <property name="geometry">
      <rect>
-      <x>120</x>
-      <y>10</y>
-      <width>67</width>
-      <height>17</height>
+      <x>128</x>
+      <y>30</y>
+      <width>51</width>
+      <height>20</height>
      </rect>
     </property>
     <property name="styleSheet">
@@ -2547,14 +3299,17 @@ border: 1px solid white;
     <property name="text">
      <string>Drive</string>
     </property>
+    <property name="alignment">
+     <set>Qt::AlignCenter</set>
+    </property>
    </widget>
    <widget class="QLabel" name="gripper_label">
     <property name="geometry">
      <rect>
-      <x>40</x>
-      <y>10</y>
-      <width>67</width>
-      <height>17</height>
+      <x>20</x>
+      <y>30</y>
+      <width>81</width>
+      <height>20</height>
      </rect>
     </property>
     <property name="styleSheet">
@@ -2563,6 +3318,9 @@ border: 1px solid white;
     <property name="text">
      <string>Gripper</string>
     </property>
+    <property name="alignment">
+     <set>Qt::AlignCenter</set>
+    </property>
    </widget>
   </widget>
   <widget class="QLabel" name="label">
@@ -2630,26 +3388,13 @@ border: 1px solid white;
     <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; color:#ffffff;&quot;&gt;version&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
    </property>
   </widget>
-  <widget class="QLabel" name="rover_name">
-   <property name="geometry">
-    <rect>
-     <x>10</x>
-     <y>330</y>
-     <width>191</width>
-     <height>20</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; color:#ffffff;&quot;&gt;Not Connected&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-   </property>
-  </widget>
   <widget class="BWTabWidget" name="log_tab">
    <property name="geometry">
     <rect>
      <x>10</x>
-     <y>510</y>
-     <width>571</width>
-     <height>211</height>
+     <y>520</y>
+     <width>631</width>
+     <height>201</height>
     </rect>
    </property>
    <property name="styleSheet">
@@ -2708,7 +3453,7 @@ QTabBar::tab:only-one {
 </string>
    </property>
    <property name="currentIndex">
-    <number>1</number>
+    <number>0</number>
    </property>
    <widget class="QWidget" name="info_log_tab">
     <attribute name="title">
@@ -2719,8 +3464,8 @@ QTabBar::tab:only-one {
       <rect>
        <x>0</x>
        <y>0</y>
-       <width>561</width>
-       <height>171</height>
+       <width>631</width>
+       <height>161</height>
       </rect>
      </property>
     </widget>
@@ -2734,8 +3479,8 @@ QTabBar::tab:only-one {
       <rect>
        <x>0</x>
        <y>0</y>
-       <width>571</width>
-       <height>171</height>
+       <width>631</width>
+       <height>161</height>
       </rect>
      </property>
     </widget>
@@ -2840,25 +3585,381 @@ QTabBar::tab:only-one {
     <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; font-size:9pt; color:#ffffff;&quot;&gt;Map&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
    </property>
   </widget>
-  <widget class="QLabel" name="gps_numSV_label">
+  <widget class="QFrame" name="Simulation_Timer_Frame">
+   <property name="enabled">
+    <bool>true</bool>
+   </property>
    <property name="geometry">
     <rect>
      <x>10</x>
-     <y>360</y>
-     <width>191</width>
+     <y>404</y>
+     <width>311</width>
+     <height>101</height>
+    </rect>
+   </property>
+   <property name="frameShape">
+    <enum>QFrame::StyledPanel</enum>
+   </property>
+   <property name="frameShadow">
+    <enum>QFrame::Raised</enum>
+   </property>
+   <widget class="QLabel" name="currentSimulationTimeTitle">
+    <property name="geometry">
+     <rect>
+      <x>10</x>
+      <y>40</y>
+      <width>80</width>
+      <height>17</height>
+     </rect>
+    </property>
+    <property name="font">
+     <font>
+      <pointsize>10</pointsize>
+     </font>
+    </property>
+    <property name="text">
+     <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; color:#fefefe;&quot;&gt;Current Time:&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+    </property>
+    <property name="alignment">
+     <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+    </property>
+   </widget>
+   <widget class="QLabel" name="simulationTimerStartTitle">
+    <property name="geometry">
+     <rect>
+      <x>10</x>
+      <y>55</y>
+      <width>80</width>
+      <height>17</height>
+     </rect>
+    </property>
+    <property name="font">
+     <font>
+      <pointsize>10</pointsize>
+     </font>
+    </property>
+    <property name="text">
+     <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; color:#fefefe;&quot;&gt;Timer Start:&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+    </property>
+    <property name="alignment">
+     <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+    </property>
+   </widget>
+   <widget class="QLabel" name="simulationTimerStopTitle">
+    <property name="geometry">
+     <rect>
+      <x>10</x>
+      <y>70</y>
+      <width>80</width>
+      <height>17</height>
+     </rect>
+    </property>
+    <property name="font">
+     <font>
+      <pointsize>10</pointsize>
+     </font>
+    </property>
+    <property name="text">
+     <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; color:#fefefe;&quot;&gt;Timer Stop:&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+    </property>
+    <property name="alignment">
+     <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+    </property>
+   </widget>
+   <widget class="QLabel" name="currentSimulationTimeLabel">
+    <property name="geometry">
+     <rect>
+      <x>100</x>
+      <y>40</y>
+      <width>205</width>
+      <height>17</height>
+     </rect>
+    </property>
+    <property name="font">
+     <font>
+      <pointsize>10</pointsize>
+     </font>
+    </property>
+    <property name="text">
+     <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; color:#ffffff;&quot;&gt;---&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+    </property>
+   </widget>
+   <widget class="QLabel" name="simulationTimerStartLabel">
+    <property name="geometry">
+     <rect>
+      <x>100</x>
+      <y>55</y>
+      <width>205</width>
+      <height>17</height>
+     </rect>
+    </property>
+    <property name="font">
+     <font>
+      <pointsize>10</pointsize>
+     </font>
+    </property>
+    <property name="text">
+     <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; color:#ffffff;&quot;&gt;---&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+    </property>
+   </widget>
+   <widget class="QLabel" name="simulationTimerStopLabel">
+    <property name="geometry">
+     <rect>
+      <x>100</x>
+      <y>70</y>
+      <width>205</width>
+      <height>17</height>
+     </rect>
+    </property>
+    <property name="font">
+     <font>
+      <pointsize>10</pointsize>
+     </font>
+    </property>
+    <property name="text">
+     <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; color:#ffffff;&quot;&gt;---&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+    </property>
+   </widget>
+   <widget class="QLabel" name="label_8">
+    <property name="geometry">
+     <rect>
+      <x>10</x>
+      <y>20</y>
+      <width>181</width>
+      <height>16</height>
+     </rect>
+    </property>
+    <property name="font">
+     <font>
+      <pointsize>10</pointsize>
+     </font>
+    </property>
+    <property name="text">
+     <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; color:#ffffff;&quot;&gt;Number of Targets Collected:&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+    </property>
+   </widget>
+   <widget class="QLabel" name="num_targets_collected_label">
+    <property name="geometry">
+     <rect>
+      <x>192</x>
+      <y>20</y>
+      <width>110</width>
+      <height>15</height>
+     </rect>
+    </property>
+    <property name="font">
+     <font>
+      <pointsize>10</pointsize>
+     </font>
+    </property>
+    <property name="text">
+     <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; color:#ffffff;&quot;&gt;0&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+    </property>
+   </widget>
+  </widget>
+  <widget class="QLabel" name="simulation_timer_frame_label">
+   <property name="geometry">
+    <rect>
+     <x>29</x>
+     <y>394</y>
+     <width>271</width>
      <height>20</height>
     </rect>
    </property>
-   <property name="mouseTracking">
-    <bool>true</bool>
+   <property name="font">
+    <font>
+     <pointsize>10</pointsize>
+    </font>
    </property>
-   <property name="toolTip">
-    <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Displays the number of GPS Satellites detected by the selected physical rover. Simulated rovers will not display a value here.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+   <property name="styleSheet">
+    <string notr="true">color: white;
+border: 1px solid white;
+padding: 1px;</string>
    </property>
    <property name="text">
-    <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; color:#ffffff;&quot;&gt;&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+    <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; color:#fefefe;&quot;&gt;Sim Timer And Status (simulated rovers only)&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+   </property>
+   <property name="alignment">
+    <set>Qt::AlignCenter</set>
+   </property>
+  </widget>
+  <widget class="QFrame" name="status_frame">
+   <property name="enabled">
+    <bool>true</bool>
+   </property>
+   <property name="geometry">
+    <rect>
+     <x>10</x>
+     <y>300</y>
+     <width>311</width>
+     <height>81</height>
+    </rect>
+   </property>
+   <property name="frameShape">
+    <enum>QFrame::StyledPanel</enum>
+   </property>
+   <property name="frameShadow">
+    <enum>QFrame::Raised</enum>
+   </property>
+   <widget class="QLabel" name="rover_name">
+    <property name="geometry">
+     <rect>
+      <x>10</x>
+      <y>10</y>
+      <width>191</width>
+      <height>15</height>
+     </rect>
+    </property>
+    <property name="font">
+     <font>
+      <pointsize>10</pointsize>
+     </font>
+    </property>
+    <property name="text">
+     <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; color:#ffffff;&quot;&gt;Not Connected&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+    </property>
+   </widget>
+   <widget class="QLabel" name="gps_numSV_label">
+    <property name="geometry">
+     <rect>
+      <x>170</x>
+      <y>30</y>
+      <width>120</width>
+      <height>16</height>
+     </rect>
+    </property>
+    <property name="font">
+     <font>
+      <pointsize>10</pointsize>
+     </font>
+    </property>
+    <property name="mouseTracking">
+     <bool>true</bool>
+    </property>
+    <property name="toolTip">
+     <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Displays the number of GPS Satellites detected by the selected physical rover. Simulated rovers will not display a value here.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+    </property>
+    <property name="styleSheet">
+     <string notr="true">color: rgb(255, 255, 255);</string>
+    </property>
+    <property name="text">
+     <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;---&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+    </property>
+   </widget>
+   <widget class="QLabel" name="label_9">
+    <property name="geometry">
+     <rect>
+      <x>10</x>
+      <y>50</y>
+      <width>150</width>
+      <height>16</height>
+     </rect>
+    </property>
+    <property name="font">
+     <font>
+      <pointsize>10</pointsize>
+     </font>
+    </property>
+    <property name="text">
+     <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; color:#fefefe;&quot;&gt;Obstacle Avoidance Calls:&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+    </property>
+   </widget>
+   <widget class="QLabel" name="perc_of_time_avoiding_obstacles">
+    <property name="geometry">
+     <rect>
+      <x>170</x>
+      <y>50</y>
+      <width>120</width>
+      <height>16</height>
+     </rect>
+    </property>
+    <property name="font">
+     <font>
+      <pointsize>10</pointsize>
+     </font>
+    </property>
+    <property name="text">
+     <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; color:#ffffff;&quot;&gt;0&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+    </property>
+   </widget>
+   <widget class="QLabel" name="gps_numSV_title">
+    <property name="geometry">
+     <rect>
+      <x>10</x>
+      <y>30</y>
+      <width>150</width>
+      <height>16</height>
+     </rect>
+    </property>
+    <property name="font">
+     <font>
+      <pointsize>10</pointsize>
+     </font>
+    </property>
+    <property name="styleSheet">
+     <string notr="true">color: rgb(255, 255, 255);</string>
+    </property>
+    <property name="text">
+     <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Number of GPS Satellites:&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+    </property>
+   </widget>
+  </widget>
+  <widget class="QFrame" name="joystick_disabled_frame">
+   <property name="geometry">
+    <rect>
+     <x>870</x>
+     <y>547</y>
+     <width>211</width>
+     <height>163</height>
+    </rect>
+   </property>
+   <property name="frameShape">
+    <enum>QFrame::StyledPanel</enum>
    </property>
+   <property name="frameShadow">
+    <enum>QFrame::Raised</enum>
+   </property>
+   <widget class="QLabel" name="auto_enabled_label">
+    <property name="geometry">
+     <rect>
+      <x>20</x>
+      <y>55</y>
+      <width>171</width>
+      <height>51</height>
+     </rect>
+    </property>
+    <property name="font">
+     <font>
+      <pointsize>12</pointsize>
+     </font>
+    </property>
+    <property name="text">
+     <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; color:#ffffff;&quot;&gt;Autonomous Control Enabled&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+    </property>
+    <property name="alignment">
+     <set>Qt::AlignCenter</set>
+    </property>
+    <property name="wordWrap">
+     <bool>true</bool>
+    </property>
+   </widget>
   </widget>
+  <zorder>joystick_disabled_frame</zorder>
+  <zorder>joystick_frame</zorder>
+  <zorder>tab_widget</zorder>
+  <zorder>control_frame</zorder>
+  <zorder>label</zorder>
+  <zorder>label_2</zorder>
+  <zorder>label_3</zorder>
+  <zorder>label_4</zorder>
+  <zorder>version_number_label</zorder>
+  <zorder>log_tab</zorder>
+  <zorder>Rover_frame</zorder>
+  <zorder>label_13</zorder>
+  <zorder>map_list_label</zorder>
+  <zorder>Simulation_Timer_Frame</zorder>
+  <zorder>simulation_timer_frame_label</zorder>
+  <zorder>status_frame</zorder>
  </widget>
  <layoutdefault spacing="6" margin="11"/>
  <customwidgets>
@@ -2897,6 +3998,5 @@ QTabBar::tab:only-one {
  <connections/>
  <buttongroups>
   <buttongroup name="rover_control_button_group"/>
-  <buttongroup name="map_display_button_group"/>
  </buttongroups>
 </ui>