text: //ParameterCamera
  var ParameterCamera = new ROSLIB.Param({
      ros: ros,
      name: '/FIRA/vision/FPS',
  });
  
  ParameterCamera.get(function(value) {
      if (value != null) {
          var obj = document.getElementsByName("CameraElement");
          obj[0].value = value;
          document.getElementsByName("CameraLabel")[0].value = value;
      }
  });
  
  function ParameterCameraValue() {
      let value = parseInt(document.getElementsByName('CameraElement')[0].value);
      console.log("Sent Camera Parameter: "+value);
      SendMsgs("Sent Camera Parameter: "+value);
      ParameterCamera.set(value);
  }
  //ParameterCenter_X
  var ParameterCenter_X = new ROSLIB.Param({
      ros: ros,
      name: '/FIRA/vision/Center/Center_X',
  });
  
  ParameterCenter_X.get(function(value) {
      if (value != null) {
          var obj = document.getElementsByName("CenterElement");
          obj[0].value = value;
          document.getElementsByName("CenterLabel")[0].value = value;
      }
  });
  
  
  //ParameterCenter_Y
  var ParameterCenter_Y = new ROSLIB.Param({
      ros: ros,
      name: '/FIRA/vision/Center/Center_Y',
  });
  
  ParameterCenter_Y.get(function(value) {
      if (value != null) {
          var obj = document.getElementsByName("CenterElement");
          obj[1].value = value;
          document.getElementsByName("CenterLabel")[1].value = value;
      }
  });
  
  
  
  //ParameterCenter_inner
  var ParameterCenter_Inner = new ROSLIB.Param({
      ros: ros,
      name: '/FIRA/vision/Center/Inner',
  });
  
  ParameterCenter_Inner.get(function(value) {
      if (value != null) {
          var obj = document.getElementsByName("CenterElement");
          obj[2].value = value;
          document.getElementsByName("CenterLabel")[2].value = value;
      }
  });
  
  
  
  //ParameterCenter_Outer
  var ParameterCenter_Outer = new ROSLIB.Param({
      ros: ros,
      name: '/FIRA/vision/Center/Outer',
  });
  
  ParameterCenter_Outer.get(function(value) {
      if (value != null) {
          var obj = document.getElementsByName("CenterElement");
          obj[3].value = value;
          document.getElementsByName("CenterLabel")[3].value = value;
      }
  });
  
  
  //ParameterCenter_Front
  var ParameterCenter_Front = new ROSLIB.Param({
      ros: ros,
      name: '/FIRA/vision/Center/Front',
  });
  
  ParameterCenter_Front.get(function(value) {
      if (value != null) {
          var obj = document.getElementsByName("CenterElement");
          obj[4].value = value;
          document.getElementsByName("CenterLabel")[4].value = value;
      }
  });
  
  
  //ParameterCenter_Camera_high
  var ParameterCenter_Camera_high = new ROSLIB.Param({
      ros: ros,
      name: '/FIRA/vision/Center/Camera_high',
  });
  
  ParameterCenter_Camera_high.get(function(value) {
      if (value != null) {
          var obj = document.getElementsByName("CenterElement");
          obj[5].value = value;
      }
  });
  //ParameterCenter_Horizon
  var ParameterCenter_Horizon = new ROSLIB.Param({
      ros: ros,
      name: '/FIRA/vision/Center/Horizon',
  });
  
  ParameterCenter_Horizon.get(function(value) {
      if (value != null) {
          var obj = document.getElementsByName("HorizonElement");
          obj[0].value = value;
          document.getElementsByName("HorizonLabel")[0].value = value;
      }
  });
  function ParameterCenterTransfer() {
      let value = new Array();
      for(let i=0; i<6; i++){
          value[i] = parseInt(document.getElementsByName('CenterElement')[i].value);
      }
      let horizonmsg = parseInt(document.getElementsByName('HorizonElement')[0].value);
      ParameterCenter_X.set(value[0]);
      ParameterCenter_Y.set(value[1]);
      ParameterCenter_Inner.set(value[2]);
      ParameterCenter_Outer.set(value[3]);
      ParameterCenter_Front.set(value[4]);
      ParameterCenter_Camera_high.set(value[5]);
      ParameterCenter_Horizon.set(horizonmsg);
      let str = "Sent Center Parameter: ";
      for(let i=0; i<6; i++){
          str += value[i];
          if(i!=5){
              str +=", ";        
          }
      }
      str+=", "+horizonmsg;
      console.log(str);
      SendMsgs(str);
  }
  
  //ParameterScan_Angel_Near_Gap
  var ParameterScan1 = new ROSLIB.Param({
      ros: ros,
      name: '/FIRA/vision/SCAN/Angle_Near_Gap',
  });
  
  ParameterScan1.get(function(value) {
      if (value != null) {
          var obj = document.getElementsByName("ScanElement");
          obj[0].value = value;
          document.getElementsByName("ScanLabel")[0].value = value; 
      }
  });
  
  
  //ParameterScan_Magn_Near_Gap
  var ParameterScan2 = new ROSLIB.Param({
      ros: ros,
      name: '/FIRA/vision/SCAN/Magn_Near_Gap',
  });
  
  ParameterScan2.get(function(value) {
      if (value != null) {
          var obj = document.getElementsByName("ScanElement");
          obj[1].value = value;
          document.getElementsByName("ScanLabel")[1].value = value; 
      }
  });
  
  //ParameterScan_Magn_Near_Start
  var ParameterScan3 = new ROSLIB.Param({
      ros: ros,
      name: '/FIRA/vision/SCAN/Magn_Near_Start',
  });
  
  ParameterScan3.get(function(value) {
      if (value != null) {
          var obj = document.getElementsByName("ScanElement");
          obj[2].value = value;
          document.getElementsByName("ScanLabel")[2].value = value; 
      }
  });
  
  //ParameterScan_Magn_Middel_Start
  var ParameterScan4 = new ROSLIB.Param({
      ros: ros,
      name: '/FIRA/vision/SCAN/Magn_Middle_Start',
  });
  
  ParameterScan4.get(function(value) {
      if (value != null) {
          var obj = document.getElementsByName("ScanElement");
          obj[3].value = value;
          document.getElementsByName("ScanLabel")[3].value = value; 
      }
  });
  
  //ParameterScan_Magn_Far_Start
  var ParameterScan5 = new ROSLIB.Param({
      ros: ros,
      name: '/FIRA/vision/SCAN/Magn_Far_Start',
  });
  
  ParameterScan5.get(function(value) {
      if (value != null) {
          var obj = document.getElementsByName("ScanElement");
          obj[4].value = value;
          document.getElementsByName("ScanLabel")[4].value = value; 
      }
  });
  
  //ParameterScan_Magn_Far_End
  var ParameterScan6 = new ROSLIB.Param({
      ros: ros,
      name: '/FIRA/vision/SCAN/Magn_Far_End',
  });
  
  ParameterScan6.get(function(value) {
      if (value != null) {
          var obj = document.getElementsByName("ScanElement");
          obj[5].value = value;
          document.getElementsByName("ScanLabel")[5].value = value; 
      }
  });
  
  
  //ParameterScan_Dont_Search_Angle_1
  var ParameterScan7 = new ROSLIB.Param({
      ros: ros,
      name: '/FIRA/vision/SCAN/Dont_Search_Angle_1',
  });
  
  ParameterScan7.get(function(value) {
      if (value != null) {
          var obj = document.getElementsByName("ScanElement");
          obj[6].value = value;
          document.getElementsByName("ScanLabel")[6].value = value; 
      }
  });
  
  
  //ParameterScan_Dont_Search_Angle_2
  var ParameterScan8 = new ROSLIB.Param({
      ros: ros,
      name: '/FIRA/vision/SCAN/Dont_Search_Angle_2',
  });
  
  ParameterScan8.get(function(value) {
      if (value != null) {
          var obj = document.getElementsByName("ScanElement");
          obj[7].value = value;
          document.getElementsByName("ScanLabel")[7].value = value; 
      }
  });
  
  //ParameterScan_Dont_Search_Angle_3
  var ParameterScan9 = new ROSLIB.Param({
      ros: ros,
      name: '/FIRA/vision/SCAN/Dont_Search_Angle_3',
  });
  
  ParameterScan9.get(function(value) {
      if (value != null) {
          var obj = document.getElementsByName("ScanElement");
          obj[8].value = value;
          document.getElementsByName("ScanLabel")[8].value = value; 
      }
  });
  
  //ParameterScan_Angle_range_1
  var ParameterScan10 = new ROSLIB.Param({
      ros: ros,
      name: '/FIRA/vision/SCAN/Angle_range_1',
  });
  
  ParameterScan10.get(function(value) {
      if (value != null) {
          var obj = document.getElementsByName("ScanElement");
          obj[9].value = value;
          document.getElementsByName("ScanLabel")[9].value = value; 
      }
  });
  
  //ParameterScan_Angle_range_2_3
  var ParameterScan11 = new ROSLIB.Param({
      ros: ros,
      name: '/FIRA/vision/SCAN/Angle_range_2_3',
  });
  
  ParameterScan11.get(function(value) {
      if (value != null) {
          var obj = document.getElementsByName("ScanElement");
          obj[10].value = value;
          document.getElementsByName("ScanLabel")[10].value = value; 
      }
  });
  
  function ParameterScanTransfer() {
      let value = new Array();
      for(let i=0; i<11; i++){
          value[i] = parseInt(document.getElementsByName('ScanElement')[i].value);
      }
      ParameterScan1.set(value[0]);
      ParameterScan2.set(value[1]);
      ParameterScan3.set(value[2]);
      ParameterScan4.set(value[3]);
      ParameterScan5.set(value[4]);
      ParameterScan6.set(value[5]);
      ParameterScan7.set(value[6]);
      ParameterScan8.set(value[7]);
      ParameterScan9.set(value[8]);
      ParameterScan10.set(value[9]);
      ParameterScan11.set(value[10]);
  
      let str = "Sent Scan Parameter: ";
      for(let i=0; i<11; i++){
          str += value[i];
          if(i!=10){
              str +=", ";        
          }
      }
      console.log(str);
      SendMsgs(str);
  }
  
  
  //ParameterHSV
  var ParameterHSV_Ball = new ROSLIB.Param({
      ros: ros,
      name: '/FIRA/vision/HSV/Ball',
  });
  var ParameterHSV_Green = new ROSLIB.Param({
      ros: ros,
      name: '/FIRA/vision/HSV/Green',
  });
  var ParameterHSV_Blue = new ROSLIB.Param({
      ros: ros,
      name: '/FIRA/vision/HSV/Blue',
  });
  var ParameterHSV_Yellow = new ROSLIB.Param({
      ros: ros,
      name: '/FIRA/vision/HSV/Yellow',
  });
  var ParameterHSV_White = new ROSLIB.Param({
      ros: ros,
      name: '/FIRA/vision/HSV/White',
  });
  
  ParameterHSV_Ball.get(function(value) {
      if (value != null) {
          var obj = document.getElementsByName("HSVElement");
          for (var i = 0; i < obj.length; i++) {
              //obj[i].value = value[i];
              OrangeBox[i] = value[i];
              obj[i].value = value[i];
              document.getElementsByName('HSVElement2')[i].value = value[i];
          }
      }
  });
  
  ParameterHSV_Green.get(function(value) {
      if (value != null) {
          var obj = document.getElementsByName("HSVElement");
          for (var i = 0; i < obj.length; i++) {
              GreenBox[i] = value[i];
          }
      }
  });
  
  ParameterHSV_Blue.get(function(value) {
      if (value != null) {
          var obj = document.getElementsByName("HSVElement");
          for (var i = 0; i < obj.length; i++) {
              BlueBox[i] = value[i];
          }
      }
  });
  
  ParameterHSV_Yellow.get(function(value) {
      if (value != null) {
          var obj = document.getElementsByName("HSVElement");
          for (var i = 0; i < obj.length; i++) {
              YellowBox[i] = value[i];
          }
      }
  });
  
  ParameterHSV_White.get(function(value) {
      if (value != null) {
          var obj = document.getElementsByName("HSVElement");
          for (var i = 0; i < obj.length; i++) {
              WhiteBox[i] = value[i];
          }
      }
  });
  
  
  function ParameterHSVTransfer() {
      var mode = parseInt(document.getElementById('HSVSelect').value);
      var box = [];
      let str = "";
      switch (mode) {
          case 0:
              for (let i = 0; i < 6; i++) {
                  box[i] = parseInt(document.getElementsByName('HSVElement')[i].value);
              }
              str += "Sent Red Parameter: ";
              ParameterHSV_Ball.set(box);
              break;
          case 1:
              for (var i = 0; i < 6; i++) {
                  box[i] = parseInt(document.getElementsByName('HSVElement')[i].value);
              }
              str += "Sent Green Parameter: ";
              ParameterHSV_Green.set(box);
              break;
          case 2:
              for (var i = 0; i < 6; i++) {
                  box[i] = parseInt(document.getElementsByName('HSVElement')[i].value);
              }
             str += "Sent Blue Parameter: ";
              ParameterHSV_Blue.set(box);
              break;
          case 3:
              for (var i = 0; i < 6; i++) {
                  box[i] = parseInt(document.getElementsByName('HSVElement')[i].value);
              }
              str += "Sent Yellow Parameter: ";
              ParameterHSV_Yellow.set(box);
              break;
          case 4:
              for (var i = 0; i < 6; i++) {
                  box[i] = parseInt(document.getElementsByName('HSVElement')[i].value);
              }
              str += "Sent White Parameter: ";
              ParameterHSV_White.set(box);
              break;
      }
      for(let i=0; i<6; i++){
          str += box[i];
          if(i!=5){
              str +=", ";        
          }
      }
      console.log(str);
      SendMsgs(str);
  }
  //ParameterWhite
  //==========================================
  var ParameterWhite_gray = new ROSLIB.Param({
      ros: ros,
      name: '/FIRA/vision/HSV/white/gray',
  });
  
  ParameterWhite_gray.get(function(value) {
      if (value != null) {
          var obj = document.getElementsByName("WhiteElement");
          obj[0].value = value;
          document.getElementsByName("WhiteLabel")[0].value = value; 
      }
  });
  
  var ParameterWhite_angle = new ROSLIB.Param({
      ros: ros,
      name: '/FIRA/vision/HSV/white/angle',
  });
  
  ParameterWhite_angle.get(function(value) {
      if (value != null) {
          var obj = document.getElementsByName("WhiteElement");
          obj[1].value = value;
          document.getElementsByName("WhiteLabel")[1].value = value; 
      }
  });
  function ParameterWhiteTransfer() {
      let value = new Array();
      let str = "";
      value[0]=parseInt(document.getElementsByName('WhiteElement')[0].value);
      value[1]=parseInt(document.getElementsByName('WhiteElement')[1].value);
      ParameterWhite_gray.set(value[0]);
      ParameterWhite_angle.set(value[1]);
      str += "Sent White_Line Parameter: ";
      for(let i=0; i<2; i++){
          str += value[i];
          if(i!=1){
              str +=", ";        
          }
      }
      SendMsgs(str);
      
  }
  //=================================
  var ParameterWhite_gray2 = new ROSLIB.Param({
      ros: ros,
      name: '/FIRA/HSV/white/gray',
  });
  
  ParameterWhite_gray2.get(function(value) {
      if (value != null) {
          var obj = document.getElementsByName("WhiteElement");
          obj[0].value = value;
          document.getElementsByName("WhiteLabel")[0].value = value; 
      }
  });
  
  var ParameterWhite_angle2 = new ROSLIB.Param({
      ros: ros,
      name: '/FIRA/HSV/white/angle',
  });
  
  ParameterWhite_angle2.get(function(value) {
      if (value != null) {
          var obj = document.getElementsByName("WhiteElement");
          obj[1].value = value;
          document.getElementsByName("WhiteLabel")[1].value = value; 
      }
  });
  
  function ParameterWhiteTransfer2() {
      let value = new Array();
      let str = "";
      value[0]=parseInt(document.getElementsByName('WhiteElement')[0].value);
      value[1]=parseInt(document.getElementsByName('WhiteElement')[1].value);
      ParameterWhite_gray2.set(value[0]);
      ParameterWhite_angle2.set(value[1]);
      str += "Sent White_Line Parameter: ";
      for(let i=0; i<2; i++){
          str += value[i];
          if(i!=1){
              str +=", ";        
          }
      }
      //SendMsgs(str);
      
  }
  //==========================================
  //ParameterBlack
  var ParameterBlack_angle = new ROSLIB.Param({
      ros: ros,
      name: '/FIRA/vision/HSV/black/angle',
  });
  
  ParameterBlack_angle.get(function(value) {
      if (value != null) {
          var obj = document.getElementsByName("BlackElement");
          obj[1].value = value;
          document.getElementsByName("BlackLabel")[1].value = value; 
      }
  });
  
  
  var ParameterBlack_gray = new ROSLIB.Param({
      ros: ros,
      name: '/FIRA/vision/HSV/black/gray',
  });
  
  ParameterBlack_gray.get(function(value) {
      if (value != null) {
          var obj = document.getElementsByName("BlackElement");
          obj[0].value = value;
          document.getElementsByName("BlackLabel")[0].value = value; 
      }
  });
  function ParameterBlackTransfer() {
      let value = new Array();
      let str = "";
      value[0]=parseInt(document.getElementsByName('BlackElement')[0].value);
      value[1]=parseInt(document.getElementsByName('BlackElement')[1].value);
      ParameterBlack_gray.set(value[0]);
      ParameterBlack_angle.set(value[1]);
      str += "Sent Black_Item Parameter: ";
      for(let i=0; i<2; i++){
          str += value[i];
          if(i!=1){
              str +=", ";        
          }
      }
      SendMsgs(str);
      
  }
  //======================================
  var ParameterBlack_angle2 = new ROSLIB.Param({
      ros: ros,
      name: '/FIRA/vision/HSV/black/angle',
  });
  
  ParameterBlack_angle2.get(function(value) {
      if (value != null) {
          var obj = document.getElementsByName("BlackElement");
          obj[1].value = value;
          document.getElementsByName("BlackLabel")[1].value = value; 
      }
  });
  
  
  var ParameterBlack_gray2 = new ROSLIB.Param({
      ros: ros,
      name: '/FIRA/vision/HSV/black/gray',
  });
  
  ParameterBlack_gray2.get(function(value) {
      if (value != null) {
          var obj = document.getElementsByName("BlackElement");
          obj[0].value = value;
          document.getElementsByName("BlackLabel")[0].value = value; 
      }
  });
  function ParameterBlackTransfer2() {
      let value = new Array();
      let str = "";
      value[0]=parseInt(document.getElementsByName('BlackElement')[0].value);
      value[1]=parseInt(document.getElementsByName('BlackElement')[1].value);
      ParameterBlack_gray2.set(value[0]);
      ParameterBlack_angle2.set(value[1]);
      str += "Sent Black_Item Parameter: ";
      for(let i=0; i<2; i++){
          str += value[i];
          if(i!=1){
              str +=", ";        
          }
      }
      //SendMsgs(str);
      
  }
  
  