diff --git a/demo/tutorial_6/6_object_tracking/yolo_tracking.py b/demo/tutorial_6/6_object_tracking/yolo_tracking.py
new file mode 100644
index 00000000..87154ca9
--- /dev/null
+++ b/demo/tutorial_6/6_object_tracking/yolo_tracking.py
@@ -0,0 +1,21 @@
+import rospy
+import sys 
+sys.path.append('/home/robin/catkin_ws/devel/lib/python2.7/dist-packages')
+from darknet_ros_msgs.msg import BoundingBoxes
+from commander import Commander
+import time
+Kp=0.01
+x_center=752/2
+y_center=480/2
+con=Commander()
+def darknet_callback(data):
+    if(data.bounding_boxes[0].xmax):
+        x_error=y_center-(data.bounding_boxes[0].ymax+data.bounding_boxes[0].ymin)/2
+        y_error=x_center-(data.bounding_boxes[0].xmax+data.bounding_boxes[0].xmin)/2
+        con.move(Kp*x_error,Kp*y_error,z=0)
+#rospy.init_node('yolo_tracking')
+rospy.Subscriber("/darknet_ros/bounding_boxes", BoundingBoxes, darknet_callback)
+ # spin() simply keeps python from exiting until this node is stopped
+rate = rospy.Rate(60) #the rate will take care of updating the publisher at a specified speed - 50hz in this case
+while(True):
+    rate.sleep()
diff --git a/demo/tutorial_6/6_object_tracking/yolo_tracking_test.py b/demo/tutorial_6/6_object_tracking/yolo_tracking_test.py
new file mode 100644
index 00000000..b508c8d9
--- /dev/null
+++ b/demo/tutorial_6/6_object_tracking/yolo_tracking_test.py
@@ -0,0 +1,23 @@
+import rospy
+import sys 
+sys.path.append('/home/robin/catkin_ws/devel/lib/python2.7/dist-packages')
+from darknet_ros_msgs.msg import BoundingBoxes
+#from commander import Commander
+import time
+Kp=0.01
+x_center=752/2
+y_center=480/2
+#con=Commander()
+def darknet_callback(data):
+    if(data.bounding_boxes[0].xmax):
+        x_error=y_center-(data.bounding_boxes[0].ymax+data.bounding_boxes[0].ymin)/2
+        y_error=x_center-(data.bounding_boxes[0].xmax+data.bounding_boxes[0].xmin)/2
+	print('x_error:',x_error)
+	print('y_error:',y_error)        
+	#con.move(Kp*x_error,Kp*y_error,z=0)
+rospy.init_node('yolo_tracking')
+rospy.Subscriber("/darknet_ros/bounding_boxes", BoundingBoxes, darknet_callback)
+ # spin() simply keeps python from exiting until this node is stopped
+rate = rospy.Rate(60) #the rate will take care of updating the publisher at a specified speed - 50hz in this case
+while(True):
+    rate.sleep()
diff --git a/software/darknet_ros b/software/darknet_ros
new file mode 160000
index 00000000..c9188638
--- /dev/null
+++ b/software/darknet_ros
@@ -0,0 +1 @@
+Subproject commit c9188638eb67d13dec842419fb49ab0920a25837