diff --git a/class_model/include/class_model/requestData.h b/class_model/include/class_model/requestData.h
index 29b85b2..2cdf59a 100755
--- a/class_model/include/class_model/requestData.h
+++ b/class_model/include/class_model/requestData.h
@@ -31,7 +31,10 @@ private:
     void jsonToString(std::string data);
     void StringToJson(std::string data);
     float heading;
+    global_location leader_position;
     rapidjson::Document document;
+    json j_data;
+
   // SUBSCRIBE
     ros::Subscriber mqtt_data; 
     ros::Subscriber formation_data;
diff --git a/class_model/src/requestData.cpp b/class_model/src/requestData.cpp
index 8c1c204..33e5bce 100755
--- a/class_model/src/requestData.cpp
+++ b/class_model/src/requestData.cpp
@@ -2,8 +2,6 @@
 #include <cstdlib>
 #include <iostream>
 
-global_location leader_position;
-json j_data;
 int command; 
 
 RequestClass::RequestClass() : node_handle_(""){
@@ -131,35 +129,37 @@ void RequestClass::jsonToString(std::string data){
 }
 
 void RequestClass::StringToJson(std::string data){
-
-  std::string lat = "",lon = "",alt = "",degree = "";
-	// j_data = json::parse(data);
+	
   std::cout << data << std::endl;
-  document.Parse(data.c_str());
+
+  // document.Parse(data.c_str());                  //china's library
+  // leader_position.lat=document["lat"].GetInt();   
+	// leader_position.lon=document["lon"].GetInt();
+  // leader_position.alt=document["alt"].GetInt();
+  // heading = document["heading"].GetInt();
+
+  // std::cout << document["lat"].GetInt() << std::endl;
+  // std::cout << document["lon"].GetInt() << std::endl;
+  // std::cout << document["alt"].GetInt() << std::endl;
+  // std::cout << document["heading"].GetInt() << std::endl;
+
+  //********************************************//
+  j_data = json::parse(data);        //open source
+
+  // std::string lat = "",lon = "",alt = "",degree = "";
   // lat = j_data["lat"];
   // lon = j_data["lon"];
   // alt = j_data["alt"];
   // degree = j_data["heading"];
   
-  // leader_position.lat=std::stoi(lat);   
-	// leader_position.lon=std::stoi(lon);
-  // leader_position.alt=std::stoi(alt);
-  // heading = std::stoi(degree);
-
-  leader_position.lat=document["lat"].GetInt();   
-	leader_position.lon=document["lon"].GetInt();
-  leader_position.alt=document["alt"].GetInt();
-  heading = document["heading"].GetInt();
-
-
+  leader_position.lat=j_data["lat"];   
+	leader_position.lon=j_data["lon"];
+  leader_position.alt=j_data["alt"];
+  heading = j_data["heading"];
   
   //std::cout << "sensor" << sensor->data << std::endl;
-  std::cout << document["lat"].GetInt() << std::endl;
-  std::cout << document["lon"].GetInt() << std::endl;
-  std::cout << document["alt"].GetInt() << std::endl;
-  std::cout << document["heading"].GetInt() << std::endl;
-  // std::cout << leader_position.lat << std::endl;
-  // std::cout << leader_position.lon << std::endl;
-  // std::cout << leader_position.alt << std::endl;
-  // std::cout << heading << std::endl;
+  std::cout << leader_position.lat << std::endl;
+  std::cout << leader_position.lon << std::endl;
+  std::cout << leader_position.alt << std::endl;
+  std::cout << heading << std::endl;
 }
\ No newline at end of file