diff --git a/remote_control/measurement_server.py b/remote_control/measurement_server.py
index d9942b9..4a4cbcf 100644
--- a/remote_control/measurement_server.py
+++ b/remote_control/measurement_server.py
@@ -22,7 +22,13 @@ class MeasurementHandler(socketserver.BaseRequestHandler):
                     self.request.sendall((json.dumps(event) + '\n').encode())
                     self.server.estimator.last_event = None
                 time.sleep(1.0 / self.server.max_measurements_per_second)
-
+        elif 'corners' in data.decode():
+            # send positions of the board markers
+            corner_estimates = self.server.estimator.corner_estimates
+            response = {}
+            for corner, data in corner_estimates.items():
+                response[corner] = {'x': data['x'], 'y': data['y']}
+            self.request.sendall((json.dumps(response) + '\n').encode())
         else:
             # send robot position
             try:
@@ -57,12 +63,23 @@ class MeasurementServer(socketserver.ThreadingMixIn, socketserver.TCPServer):
 
 
 if __name__ == "__main__":
-    aruco_estimator = ArucoEstimator(use_realsense=True, robot_marker_ids=[11, 12, 13, 14])
-    estimator_thread = threading.Thread(target=aruco_estimator.run_tracking, kwargs={'invert_grayscale': True})
-    estimator_thread.start()
+    aruco_estimator = ArucoEstimator(use_realsense=True, robot_marker_ids=[12, 13])
 
-    with MeasurementServer(('0.0.0.0', 42424), MeasurementHandler, aruco_estimator,
-                           max_measurements_per_second=30) as measurement_server:
-        measurement_server.serve_forever()
+    # first we start thread for the measurement server
+    measurement_server = MeasurementServer(('0.0.0.0', 42424), MeasurementHandler, aruco_estimator, max_measurements_per_second=30)
+    server_thread = threading.Thread(target=measurement_server.serve_forever)
+    server_thread.start()
+
+    # now we start the Aruco estimator GUI
+    aruco_estimator.process_frame()
+    import sys
+    from pyqtgraph.Qt import QtCore, QtGui
+
+    if (sys.flags.interactive != 1) or not hasattr(QtCore, 'PYQT_VERSION'):
+        QtGui.QApplication.instance().exec_()
+
+    #with MeasurementServer(('0.0.0.0', 42424), MeasurementHandler, aruco_estimator,
+    #                       max_measurements_per_second=30) as measurement_server:
+    #    measurement_server.serve_forever()
 
     # receive with: nc 127.0.0.1 42424  -> 12 + Enter