diff --git a/tower_builder b/tower_builder
new file mode 100644
index 0000000..5119375
--- /dev/null
+++ b/tower_builder
@@ -0,0 +1,167 @@
+#include "math.h"
+#include <chrono>
+#include <cstdlib>
+#include <memory>
+
+#include "rclcpp/rclcpp.hpp"
+#include "advrobotics_lab3_interfaces/srv/invkin.hpp"
+#include "advrobotics_lab3_interfaces/msg/joints.hpp"
+#include "advrobotics_lab3_interfaces/msg/gripper.hpp"
+
+
+#include "Kinematics.h"
+
+
+using namespace std::chrono_literals;
+
+double deg2rad(double angle)
+{
+	return -angle / 180.0 * M_PI;
+}
+
+int main(int argc, char** argv)
+{
+	// inits ROS2
+	rclcpp::init(argc, argv);
+	
+	
+	// creates the client node
+	std::shared_ptr<rclcpp::Node> node = rclcpp::Node::make_shared("ik_client");  
+	rclcpp::Client<advrobotics_lab3_interfaces::srv::Invkin>::SharedPtr client =               
+	node->create_client<advrobotics_lab3_interfaces::srv::Invkin>("invkin");          
+
+	// creates a publisher to move the robot joints
+	auto publisher = node->create_publisher<advrobotics_lab3_interfaces::msg::Joints>("joint_cmd", 10);
+	auto gripper = node->create_publisher<advrobotics_lab3_interfaces::msg::Gripper>("gripper_cmd", 10);
+	
+	// opens the gripper
+		// creates a message to publish
+		advrobotics_lab3_interfaces::msg::Gripper  gripperCmdMsg;
+			gripperCmdMsg.gripper = -40.0;
+						
+		// publises the message to move the robot joints
+		RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "Publish to gripper_cmd topic...");
+		gripper->publish(gripperCmdMsg);
+		rclcpp::Rate rate(1);
+		rate.sleep();
+		
+	
+	// creates the request from the input args
+	auto request = std::make_shared<advrobotics_lab3_interfaces::srv::Invkin::Request>();       
+	request->x = 9.0;
+	request->y = 0.0;
+	request->z = 0.0;
+	
+	// connects to the service
+	while (!client->wait_for_service(1s)) 
+	{
+		if (!rclcpp::ok()) 
+		{
+			RCLCPP_ERROR(rclcpp::get_logger("rclcpp"), "[ERROR] Interrupted while waiting for the service. Exiting.");
+			return 0;
+		}
+		RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "[WARNING] service not available, waiting again...");
+	}
+	
+	// sends the request
+	auto result = client->async_send_request(request);
+	
+	// waitw for the result.
+	if (rclcpp::spin_until_future_complete(node, result) == rclcpp::FutureReturnCode::SUCCESS)
+	{
+		// gets the result
+		auto response = result.get();
+		
+		// displays i/o values
+		RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "IK: (x,y,z) --> (J1, J2, j3)");
+		RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "(9.0, 0.0, 0.0) --> (%f, %f, %f)", rad2deg(response->q1), rad2deg(response->q2), rad2deg(response->q3));
+		
+		// creates a message to publish
+		advrobotics_lab3_interfaces::msg::Joints  jointCmdMsg;
+			jointCmdMsg.q1 = rad2deg(response->q1);
+			jointCmdMsg.q2 = rad2deg(response->q2);
+			jointCmdMsg.q3 = rad2deg(response->q3);
+			
+		// publises the message to move the robot joints
+		RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "Publish to joint_cmd topic...");
+		publisher->publish(jointCmdMsg);
+		rclcpp::Rate rate(1);
+		rate.sleep();
+		RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "Done!");
+	} 
+	else 
+	{
+		RCLCPP_ERROR(rclcpp::get_logger("rclcpp"), "[ERROR] Failed to call service invkin");  
+	}
+	
+	// creates a message to publish
+			gripperCmdMsg.gripper = 10.0;
+						
+		// publises the message to move the robot joints
+		RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "Publish to gripper_cmd topic...");
+		gripper->publish(gripperCmdMsg);
+		//rclcpp::Rate rate(1);
+		rate.sleep();
+	
+	// creates the request from the input args
+	//auto request = std::make_shared<advrobotics_lab3_interfaces::srv::Invkin::Request>();       
+	request->x = 9.0;
+	request->y = 4.0;
+	request->z = 0.0;
+	
+	// connects to the service
+	while (!client->wait_for_service(1s)) 
+	{
+		if (!rclcpp::ok()) 
+		{
+			RCLCPP_ERROR(rclcpp::get_logger("rclcpp"), "[ERROR] Interrupted while waiting for the service. Exiting.");
+			return 0;
+		}
+		RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "[WARNING] service not available, waiting again...");
+	}
+	
+	// sends the request
+	result = client->async_send_request(request);
+	
+	// waitw for the result.
+	if (rclcpp::spin_until_future_complete(node, result) == rclcpp::FutureReturnCode::SUCCESS)
+	{
+		// gets the result
+		auto response = result.get();
+		
+		// displays i/o values
+		RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "IK: (x,y,z) --> (J1, J2, j3)");
+		RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "(9.0,4.0, 0.0) --> (%f, %f, %f)", rad2deg(response->q1), rad2deg(response->q2), rad2deg(response->q3));
+		
+		// creates a message to publish
+		advrobotics_lab3_interfaces::msg::Joints  jointCmdMsg;
+			jointCmdMsg.q1 = rad2deg(response->q1);
+			jointCmdMsg.q2 = rad2deg(response->q2);
+			jointCmdMsg.q3 = rad2deg(response->q3);
+			
+		// publises the message to move the robot joints
+		RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "Publish to joint_cmd topic...");
+		publisher->publish(jointCmdMsg);
+		rclcpp::Rate rate(1);
+		rate.sleep();
+		RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "Done!");
+	} 
+	else 
+	{
+		RCLCPP_ERROR(rclcpp::get_logger("rclcpp"), "[ERROR] Failed to call service invkin");  
+	}
+
+	// opens the gripper
+		// creates a message to publish
+			gripperCmdMsg.gripper = -40.0;
+						
+		// publises the message to move the robot joints
+		RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "Publish to gripper_cmd topic...");
+		gripper->publish(gripperCmdMsg);
+		//rclcpp::Rate rate(1);
+		rate.sleep();
+	
+	rclcpp::shutdown();
+	return 0;
+	
+}
\ No newline at end of file