diff --git a/aruco_pose/src/aruco_detect.cpp b/aruco_pose/src/aruco_detect.cpp
index 8d3337c1..0c394b16 100644
--- a/aruco_pose/src/aruco_detect.cpp
+++ b/aruco_pose/src/aruco_detect.cpp
@@ -50,6 +50,7 @@
 #include <aruco_pose/DetectorConfig.h>
 #include <aruco_pose/SetMarkers.h>
 
+#include "draw.h"
 #include "utils.h"
 #include <memory>
 #include <functional>
@@ -264,8 +265,7 @@ private:
 			cv::aruco::drawDetectedMarkers(debug, corners, ids); // draw markers
 			if (estimate_poses_)
 				for (unsigned int i = 0; i < ids.size(); i++)
-					cv::aruco::drawAxis(debug, camera_matrix_, dist_coeffs_,
-					                    rvecs[i], tvecs[i], getMarkerLength(ids[i]));
+					_drawAxis(debug, camera_matrix_, dist_coeffs_, rvecs[i], tvecs[i], getMarkerLength(ids[i]));
 
 			cv_bridge::CvImage out_msg;
 			out_msg.header.frame_id = msg->header.frame_id;
diff --git a/clover_blocks/README.md b/clover_blocks/README.md
index f00cb86c..51d2dfaa 100644
--- a/clover_blocks/README.md
+++ b/clover_blocks/README.md
@@ -47,6 +47,7 @@ http://<hostname>/clover_blocks/?navigate_tolerance=0.5&sleep_time=0.1
 
 * `~running` ([*std_msgs/Bool*](http://docs.ros.org/noetic/api/std_msgs/html/msg/Bool.html)) – indicates if the program is currently running.
 * `~block` ([*std_msgs/String*](http://docs.ros.org/noetic/api/std_msgs/html/msg/String.html)) – current executing block (maximum topic rate is limited).
+* `~print` ([*std_msgs/String*](http://docs.ros.org/noetic/api/std_msgs/html/msg/String.html)) – user program output messages (published in *print* blocks).
 * `~error` ([*std_msgs/String*](http://docs.ros.org/noetic/api/std_msgs/html/msg/String.html)) – user program errors and exceptions.
 * `~prompt` ([*clover_blocks/Prompt*](msg/Prompt.msg)) – user input request (includes random request ID string).
 
diff --git a/docs/en/copterhack2023.md b/docs/en/copterhack2023.md
index d53ca911..2cfe24fe 100644
--- a/docs/en/copterhack2023.md
+++ b/docs/en/copterhack2023.md
@@ -16,7 +16,7 @@ The proposed projects are supposed to be open-source and be compatible with the
 ||🇰🇬 Zavarka|[Система обмена грузами с помощью конвейера](https://github.com/aiurobotics/clover/blob/conveyance/docs/ru/conveyance.md)||
 ||🇮🇳 DJS PHOENIX|[Autonomous Racing Drone](https://github.com/DJSPhoenix/clover/blob/DJSPhoenix_chetak/docs/ru/djs_phoenix_chetak.md)||
 ||🇷🇺 FSOTM|[Drone Interceptor](https://github.com/deadln/clover/blob/interceptor/docs/ru/interceptor.md)||
-||🇰🇬 Homelesses|[Trash Collector](https://github.com/Isa-jesus/clover/blob/trash-collector/docs/ru/trash-collector.md)||
+||🇰🇬 Homelesses|[Trash Collector](https://github.com/Isa-jesus/clover/blob/trash-collector/docs/ru/show_maker.md)||
 ||🇷🇺 Digital otters|[Digital otters](https://github.com/Mentalsupernova/clover_cool/blob/new-article.md/docs/ru/new-article.md)||
 ||🇷🇺 Light Flight|[Сопровождение БПЛА при посадке](https://github.com/SirSerow/clover_inertial_ns/blob/inertial-1/Description.md)||
 ||🇰🇬 LiveSavers|[LiveSavers](https://github.com/Sarvar00/clover/blob/livesavers/docs/ru/livesaver.md)||
diff --git a/docs/ru/copterhack2023.md b/docs/ru/copterhack2023.md
index 0d3ca4af..f2ffab59 100644
--- a/docs/ru/copterhack2023.md
+++ b/docs/ru/copterhack2023.md
@@ -16,7 +16,7 @@ CopterHack 2023 — это международный конкурс по ра
 ||🇰🇬 Zavarka|[Система обмена грузами с помощью конвейера](https://github.com/aiurobotics/clover/blob/conveyance/docs/ru/conveyance.md)||
 ||🇮🇳 DJS PHOENIX|[Autonomous Racing Drone](https://github.com/DJSPhoenix/clover/blob/DJSPhoenix_chetak/docs/ru/djs_phoenix_chetak.md)||
 ||🇷🇺 FSOTM|[Дрон-перехватчик](https://github.com/deadln/clover/blob/interceptor/docs/ru/interceptor.md)||
-||🇰🇬 Бездомные|[Дрон-бездомный](https://github.com/Isa-jesus/clover/blob/trash-collector/docs/ru/trash-collector.md)||
+||🇰🇬 Бездомные|[Дрон-бездомный](https://github.com/Isa-jesus/clover/blob/trash-collector/docs/ru/show_maker.md)||
 ||🇷🇺 Digital otters|[Digital otters](https://github.com/Mentalsupernova/clover_cool/blob/new-article.md/docs/ru/new-article.md)||
 ||🇷🇺 Light Flight|[Сопровождение БПЛА при посадке](https://github.com/SirSerow/clover_inertial_ns/blob/inertial-1/Description.md)||
 ||🇰🇬 LiveSavers|[LiveSavers](https://github.com/Sarvar00/clover/blob/livesavers/docs/ru/livesaver.md)||