update

.gitignore

@@ -1,19 +1,7 @@
-# Python
+build/
+log/
+autorun_logs/
 __pycache__/
 *.pyc
-
-# ROS
-build/
-devel/
-logs/
-install/
-build_isolated/
-devel_isolated/
-*.bag
-CATKIN_IGNORE
-
-# Misc
-.vscode/
-*.swp
-log/
-test/
+*.log
+node_modules/

.space_id

@@ -0,0 +1 @@
+2361156b428d4ec3b304debed63dfe7e

README.md

@@ -1,318 +1,34 @@
-# BCR Bot
+# 仓库 3D 场景
 
-https://github.com/blackcoffeerobotics/bcr_bot/assets/13151010/0fc570a3-c70c-415b-8222-b9573d5911c8
 
-## About
 
-This repository contains a Gazebo and Isaac Sim simulation for a differential drive robot, equipped with an IMU, a depth camera, stereo camera and a 2D LiDAR. The primary contriution of this project is to support multiple ROS and Gazebo distros. Currently, the project supports the following versions - 
+## 场景预览
 
-1. [ROS Noetic + Gazebo Classic 11 (branch ros1)](#noetic--classic-ubuntu-2004)
-2. [ROS2 Humble + Gazebo Classic 11 (branch ros2)](#humble--classic-ubuntu-2204)
-3. [ROS2 Humble + Gazebo Fortress (branch ros2)](#humble--fortress-ubuntu-2204)
-4. [ROS2 Humble + Gazebo Harmonic (branch ros2)](#humble--harmonic-ubuntu-2204)
-5. [ROS2 Humble + Isaac Sim (branch ros2)](#humble--isaac-sim-ubuntu-2204)
+![迷你仓库场景预览](doc/assets/warehouse_preview.png)
 
-Each of the following sections describes depedencies, build and run instructions for each of the above combinations
 
-## Noetic + Classic (Ubuntu 20.04)
+---
 
-### Dependencies
+## 启动（唯一命令，无需编译）
 
-In addition to ROS1 Noetic and Gazebo Classic installations, the dependencies can be installed with [rosdep](http://wiki.ros.org/rosdep)
+卡片内已包含预编译 `install/`，**直接运行即可**，不要 `colcon build`。
 
 ```bash
-# From the root directory of the workspace. This will install everything mentioned in package.xml
-rosdep install --from-paths src --ignore-src -r -y
+./gzsim_run.sh
+
+
+| `./gzsim_stop.sh` | 停止仿真 |
 ```
 
-### Source Build
+**必须等到**终端出现：
 
-```bash
-catkin build --packages-select bcr_bot
+```text
+[autorun] GzWeb scene OK (... bytes), 9002 stable
+[autorun] ✓ 全部就绪 — 现在刷新「仿真器」面板
 ```
 
-### Binary Install
-To install BCR bot in the binaries:
 
-```bash
-sudo apt-get install ros-noetic-bcr-bot
-```
-### Run
 
-To launch the robot in Gazebo,
-```bash
-roslaunch bcr_bot gazebo.launch
-```
-To view in rviz,
-```bash
-roslaunch bcr_bot rviz.launch
-```
-### Configuration
 
-The launch file accepts multiple launch arguments,
-```bash
-roslaunch bcr_bot gazebo.launch 
-	camera_enabled:=True \
-	two_d_lidar_enabled:=True \
-	position_x:=0.0 \
-	position_y:=0.0 \
-	orientation_yaw:=0.0 \
-	odometry_source:=world \
-	world_file:=small_warehouse.world \
-	robot_namespace:="bcr_bot"
-```
-**Note:** To use stereo_image_proc with the stereo images excute following command: 
-```bash
-ROS_NAMESPACE=bcr_bot/stereo_camera rosrun stereo_image_proc stereo_image_proc
-```
 
-## Humble + Classic (Ubuntu 22.04)
 
-### Dependencies
-
-In addition to ROS2 Humble and Gazebo Classic installations, we need to manually install [gazebo_ros_pkgs](https://github.com/ros-simulation/gazebo_ros_pkgs/tree/ros2) (since the same branch supports Classic and Fortress)
-
-```bash
-sudo apt-get install ros-humble-gazebo-ros-pkgs
-```
-Remainder of the dependencies can be installed with [rosdep](http://wiki.ros.org/rosdep)
-
-```bash
-# From the root directory of the workspace. This will install everything mentioned in package.xml
-rosdep install --from-paths src --ignore-src -r -y
-```
-
-### Source Build
-
-```bash
-colcon build --packages-select bcr_bot
-```
-
-### Binary Install
-To install BCR bot in the binaries:
-
-```bash
-sudo apt-get install ros-humble-bcr-bot
-```
-
-### Run
-
-To launch the robot in Gazebo,
-```bash
-ros2 launch bcr_bot gazebo.launch.py
-```
-To view in rviz,
-```bash
-ros2 launch bcr_bot rviz.launch.py
-```
-### Configuration
-
-The launch file accepts multiple launch arguments,
-```bash
-ros2 launch bcr_bot gazebo.launch.py \
-	camera_enabled:=True \
-	two_d_lidar_enabled:=True \
-	stereo_camera_enabled:=False \
-	position_x:=0.0 \
-	position_y:=0.0 \
-	orientation_yaw:=0.0 \
-	odometry_source:=world \
-	world_file:=small_warehouse.sdf \
-	robot_namespace:="bcr_bot"
-```
-**Note:** To use stereo_image_proc with the stereo images excute following command: 
-```bash
-ros2 launch stereo_image_proc stereo_image_proc.launch.py left_namespace:=bcr_bot/stereo_camera/left right_namespace:=bcr_bot/stereo_camera/right
-```
-## Humble + Fortress (Ubuntu 22.04)
-
-### Dependencies
-
-In addition to ROS2 Humble and [Gazebo Fortress installations](https://gazebosim.org/docs/fortress/install_ubuntu), we need to manually install interfaces between ROS2 and Gazebo sim as follows,
-
-```bash
-sudo apt-get install ros-humble-ros-gz-sim ros-humble-ros-gz-bridge ros-humble-ros-gz-interfaces 
-```
-Remainder of the dependencies can be installed with [rosdep](http://wiki.ros.org/rosdep)
-
-```bash
-# From the root directory of the workspace. This will install everything mentioned in package.xml
-rosdep install --from-paths src --ignore-src -r -y
-```
-
-### Source Build
-
-```bash
-colcon build --packages-select bcr_bot
-```
-
-### Binary Install
-To install BCR bot in the binaries:
-
-```bash
-sudo apt-get install ros-humble-bcr-bot
-```
-
-### Run
-
-To launch the robot in Gazebo,
-```bash
-ros2 launch bcr_bot ign.launch.py
-```
-To view in rviz,
-```bash
-ros2 launch bcr_bot rviz.launch.py
-```
-
-### Configuration
-
-The launch file accepts multiple launch arguments,
-```bash
-ros2 launch bcr_bot ign.launch.py \
-	camera_enabled:=True \
-	stereo_camera_enabled:=False \
-	two_d_lidar_enabled:=True \
-	position_x:=0.0 \
-	position_y:=0.0  \
-	orientation_yaw:=0.0 \
-	odometry_source:=world \
-	world_file:=small_warehouse.sdf
-```
-**Note:** To use stereo_image_proc with the stereo images excute following command: 
-```bash
-ros2 launch stereo_image_proc stereo_image_proc.launch.py left_namespace:=bcr_bot/stereo_camera/left right_namespace:=bcr_bot/stereo_camera/right
-```
-
-## Humble + Harmonic (Ubuntu 22.04)
-
-### Dependencies
-
-In addition to ROS2 Humble and [Gazebo Harmonic installations](https://gazebosim.org/docs/harmonic/install_ubuntu), we need to manually install interfaces between ROS2 and Gazebo sim as follows,
-
-```bash
-sudo apt-get install ros-humble-ros-gzharmonic
-```
-Remainder of the dependencies can be installed with [rosdep](http://wiki.ros.org/rosdep)
-
-```bash
-# From the root directory of the workspace. This will install everything mentioned in package.xml
-rosdep install --from-paths src --ignore-src -r -y
-```
-
-### Build
-
-```bash
-colcon build --packages-select bcr_bot
-```
-
-### Run
-
-To launch the robot in Gazebo,
-```bash
-ros2 launch bcr_bot gz.launch.py
-```
-To view in rviz,
-```bash
-ros2 launch bcr_bot rviz.launch.py
-```
-
-### Configuration
-
-The launch file accepts multiple launch arguments,
-```bash
-ros2 launch bcr_bot gz.launch.py \
-	camera_enabled:=True \
-	stereo_camera_enabled:=False \
-	two_d_lidar_enabled:=True \
-	position_x:=0.0 \
-	position_y:=0.0  \
-	orientation_yaw:=0.0 \
-	odometry_source:=world \
-	world_file:=small_warehouse.sdf
-```
-**Note:** 
-1. To use stereo_image_proc with the stereo images excute following command: 
-```bash
-ros2 launch stereo_image_proc stereo_image_proc.launch.py left_namespace:=bcr_bot/stereo_camera/left right_namespace:=bcr_bot/stereo_camera/right
-```
-2. Harmonic support is not available in the bcr_bot binaries yet.
-
-**Warning:**  `gz-harmonic` cannot be installed alongside gazebo-classic (eg. gazebo11) since both use the `gz` command line tool.
-
-### Humble + Isaac Sim (Ubuntu 22.04)
-
-### Dependencies
-
-In addition to ROS2 Humble [Isaac Sim installation](https://docs.omniverse.nvidia.com/isaacsim/latest/installation/index.html) with ROS2 extension is required. Remainder of bcr_bot specific dependencies can be installed with [rosdep](http://wiki.ros.org/rosdep)
-
-```bash
-# From the root directory of the workspace. This will install everything mentioned in package.xml
-rosdep install --from-paths src --ignore-src -r -y
-```
-
-### Build
-
-```bash
-colcon build --packages-select bcr_bot
-```
-
-### Run
-
-To launch the robot in Isaac Sim:
-- Open Isaac Sim and load the `warehouse_scene.usd` or `scene.usd` from [here](usd). 
-- Add in extra viewports for different camera views.
-- Start the Simulation: Run the simulation directly within Isaac Sim.
-- The following USDs are included in the package:
-	- `warehouse_scene.usd` - Warehouse scene with a robot.
-	- `scene.usd` - Scene with a robot in a empty world.
-	- `bcr_bot.usd` - Robot model that can be imported into any scene.
-	- `ActionGraphFull.usd` - Action graph for the robot to publish all the required topics.
-
-To view in rviz:
-```bash
-ros2 launch bcr_bot rviz.launch.py
-```
-NOTE: The command to run mapping and navigation is common between all versions of gazebo and Isaac sim see [here](#mapping-with-slam-toolbox).
-
-### Mapping with SLAM Toolbox
-
-SLAM Toolbox is an open-source package designed to map the environment using laser scans and odometry, generating a map for autonomous navigation.
-
-NOTE: The command to run mapping is common between all versions of gazebo.
-
-To start mapping:
-```bash
-ros2 launch bcr_bot mapping.launch.py
-```
-
-Use the teleop twist keyboard to control the robot and map the area:
-```bash
-ros2 run teleop_twist_keyboard teleop_twist_keyboard cmd_vel:=/bcr_bot/cmd_vel
-```
-
-To save the map:
-```bash
-cd src/bcr_bot/config
-ros2 run nav2_map_server map_saver_cli -f bcr_map
-```
-
-### Using Nav2 with bcr_bot
-
-Nav2 is an open-source navigation package that enables a robot to navigate through an environment easily. It takes laser scan and odometry data, along with the map of the environment, as inputs.
-
-NOTE: The command to run navigation is common between all versions of gazebo and Isaac sim.
-
-To run Nav2 on bcr_bot:
-```bash
-ros2 launch bcr_bot nav2.launch.py
-```
-
-### Simulation and Visualization
-1. Gz Sim (Ignition Gazebo) (small_warehouse World):
-	![](res/gz.jpg)
-
-2. Isaac Sim:
-	![](res/isaac.jpg) 
-
-3. Rviz (Depth camera) (small_warehouse World):
-	![](res/rviz.jpg)

autorun.sh

@@ -0,0 +1,3 @@
+#!/usr/bin/env bash
+# 容器 INIT_SCRIPT 入口 — 仅调用唯一启动脚本
+exec /workspace/gzsim_run.sh

doc.md

@@ -0,0 +1,40 @@
+# 仓库 3D 场景
+
+
+
+## 场景预览
+
+![迷你仓库场景预览](doc/assets/warehouse_preview.png)
+
+
+---
+
+## 启动（唯一命令，无需编译）
+
+卡片内已包含预编译 `install/`，**直接运行即可**，不要 `colcon build`。
+
+```bash
+./gzsim_run.sh
+
+
+| `./gzsim_stop.sh` | 停止仿真 |
+```
+
+**必须等到**终端出现：
+
+```text
+[autorun] GzWeb scene OK (... bytes), 9002 stable
+[autorun] ✓ 全部就绪 — 现在刷新「仿真器」面板
+```
+
+打开rviz，显示实时点云数据
+
+```bash
+source install/setup.bash 
+ros2 launch bcr_bot rviz.launch.py 
+```
+
+
+
+
+

gzsim_check.sh

@@ -0,0 +1,14 @@
+#!/usr/bin/env bash
+# 简要诊断 :9002 / gz-launch（GzWeb 使用 wss://同域/gzbridge/）
+set -euo pipefail
+
+echo "========== GzWeb / gzbridge (:9002) =========="
+echo "[1] port 9002"
+ss -ltnp 2>/dev/null | grep ':9002 ' || echo "  (not listening)"
+
+echo
+echo "[2] processes"
+ps aux | grep -E 'gz sim|gz-launch|gz launch.*websocket|warehouse_gzweb' | grep -v grep || echo "  (none)"
+
+echo
+echo "GzWeb panel: wss://{your-space}.spaces.databall.tech/gzbridge/"

gzsim_run.sh

@@ -0,0 +1,56 @@
+#!/usr/bin/env bash
+# GzWeb 仓库场景 — Gazebo Sim + gz-launch :9002（GzWeb 连 wss://同域/gzbridge/）
+set -euo pipefail
+
+ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+
+sleep 3
+export PATH="/usr/bin:/bin:/opt/ros/humble/bin:${PATH}"
+export LIBGL_ALWAYS_SOFTWARE=1
+export QT_QPA_PLATFORM=offscreen
+set +u
+source /opt/ros/humble/setup.bash
+[[ -f "${ROOT}/install/setup.bash" ]] && source "${ROOT}/install/setup.bash"
+set -u
+
+LOG_DIR="${ROOT}/autorun_logs/autorun_$(date +%Y%m%d_%H%M%S)"
+mkdir -p "$LOG_DIR"
+
+pkill -f 'gz launch.*websocket' 2>/dev/null || true
+pkill -f 'gz-launch.*websocket' 2>/dev/null || true
+sleep 1
+
+echo "[autorun] launching warehouse Gazebo Sim ..."
+ros2 launch bcr_bot gz.launch.py > "${LOG_DIR}/warehouse_gzsim.log" 2>&1 &
+GZSIM_PID=$!
+
+sleep 15
+if ! ps -p "$GZSIM_PID" > /dev/null; then
+  echo "[autorun] Gazebo exited early:"
+  tail -40 "${LOG_DIR}/warehouse_gzsim.log" || true
+  exit 1
+fi
+
+WS_CONFIG="${ROOT}/src/websocket.gzlaunch"
+[[ -f "$WS_CONFIG" ]] || WS_CONFIG="/usr/share/gz/gz-launch7/configs/websocket.gzlaunch"
+
+# WebsocketServer is a separate process from ros2 launch — it does NOT inherit
+# AppendEnvironmentVariable from warehouse_gzweb.launch.py. Without install/src
+# on GZ_SIM_RESOURCE_PATH, mesh requests get "Access denied" and GzWeb stays empty.
+export GZ_SIM_RESOURCE_PATH="${ROOT}/install:${ROOT}/src${GZ_SIM_RESOURCE_PATH:+:$GZ_SIM_RESOURCE_PATH}"
+export IGN_GAZEBO_RESOURCE_PATH="${GZ_SIM_RESOURCE_PATH}"
+
+echo "[autorun] starting gz-launch websocket on :9002 ..."
+echo "[autorun] GZ_SIM_RESOURCE_PATH=${GZ_SIM_RESOURCE_PATH}"
+gz launch "$WS_CONFIG" > "${LOG_DIR}/websocket.log" 2>&1 &
+WEBSOCKET_PID=$!
+
+sleep 10
+if ! ps -p "$WEBSOCKET_PID" > /dev/null; then
+  echo "[autorun] websocket exited:"
+  cat "${LOG_DIR}/websocket.log" || true
+  exit 1
+fi
+
+echo "[autorun] ready. Refresh GzWeb (wss://{host}/gzbridge/). logs: ${LOG_DIR}"
+wait

gzsim_run.sh.bak.20260724034245

@@ -0,0 +1,52 @@
+#!/usr/bin/env bash
+# GzWeb 仓库场景 — Gazebo Sim + gz-launch :9002（GzWeb 连 wss://同域/gzbridge/）
+set -euo pipefail
+
+ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+
+sleep 3
+export PATH="/usr/bin:/bin:/opt/ros/humble/bin:${PATH}"
+export LIBGL_ALWAYS_SOFTWARE=1
+export QT_QPA_PLATFORM=offscreen
+set +u
+source /opt/ros/humble/setup.bash
+[[ -f "${ROOT}/install/setup.bash" ]] && source "${ROOT}/install/setup.bash"
+set -u
+
+# WebsocketServer asset whitelist (mesh under install/ share).
+export GZ_SIM_RESOURCE_PATH="/workspace/install/bcr_bot/share/bcr_bot:/workspace/install:${GZ_SIM_RESOURCE_PATH:-}"
+
+LOG_DIR="${ROOT}/autorun_logs/autorun_$(date +%Y%m%d_%H%M%S)"
+mkdir -p "$LOG_DIR"
+
+pkill -f 'gz launch.*websocket' 2>/dev/null || true
+pkill -f 'gz-launch.*websocket' 2>/dev/null || true
+sleep 1
+
+echo "[autorun] launching warehouse Gazebo Sim ..."
+ros2 launch bcr_bot warehouse_gzweb.launch.py > "${LOG_DIR}/warehouse_gzsim.log" 2>&1 &
+GZSIM_PID=$!
+
+sleep 15
+if ! ps -p "$GZSIM_PID" > /dev/null; then
+  echo "[autorun] Gazebo exited early:"
+  tail -40 "${LOG_DIR}/warehouse_gzsim.log" || true
+  exit 1
+fi
+
+WS_CONFIG="${ROOT}/src/websocket.gzlaunch"
+[[ -f "$WS_CONFIG" ]] || WS_CONFIG="/usr/share/gz/gz-launch7/configs/websocket.gzlaunch"
+
+echo "[autorun] starting gz-launch websocket on :9002 ..."
+gz launch "$WS_CONFIG" > "${LOG_DIR}/websocket.log" 2>&1 &
+WEBSOCKET_PID=$!
+
+sleep 10
+if ! ps -p "$WEBSOCKET_PID" > /dev/null; then
+  echo "[autorun] websocket exited:"
+  cat "${LOG_DIR}/websocket.log" || true
+  exit 1
+fi
+
+echo "[autorun] ready. Refresh GzWeb (wss://{host}/gzbridge/). logs: ${LOG_DIR}"
+wait

gzsim_stop.sh

@@ -0,0 +1,31 @@
+#!/usr/bin/env bash
+# 停止仓库 GzWeb 仿真（释放 9002 与单实例锁）
+set -euo pipefail
+
+echo "[stop] stopping warehouse GzWeb services ..."
+
+pkill -9 -f 'warehouse_foxglove_guard.sh' 2>/dev/null || true
+pkill -9 -f 'warehouse_gzsim_keepalive.sh' 2>/dev/null || true
+pkill -9 -f 'warehouse_gzweb.launch.py' 2>/dev/null || true
+pkill -9 -f 'gz-launch.*websocket' 2>/dev/null || true
+pkill -9 -f 'gz launch.*websocket' 2>/dev/null || true
+pkill -9 -f 'foxglove_bridge' 2>/dev/null || true
+pkill -9 -f 'gz sim' 2>/dev/null || true
+pkill -9 -f 'robot_state_publisher' 2>/dev/null || true
+sleep 1
+
+pids="$(ss -ltnp 2>/dev/null | grep ':9002 ' | sed -E 's/.*pid=([0-9]+).*/\1/' | sort -u || true)"
+if [[ -n "${pids}" ]]; then
+  kill -9 ${pids} 2>/dev/null || true
+fi
+
+rm -f /tmp/warehouse_gzsim.lock
+sleep 1
+
+if ps aux | grep -E 'warehouse_gzweb|warehouse_foxglove|warehouse_gzsim_keepalive|gz-launch|gz sim' | grep -v grep >/dev/null; then
+  echo "[stop] WARN: some processes may remain:"
+  ps aux | grep -E 'warehouse_gzweb|warehouse_foxglove|warehouse_gzsim_keepalive|gz-launch|gz sim' | grep -v grep || true
+  exit 1
+fi
+
+echo "[stop] done. 9002 free, lock removed. Now run: ./gzsim_run.sh"

install/.colcon_install_layout

@@ -0,0 +1 @@
+isolated

install/_local_setup_util_ps1.py

@@ -0,0 +1,406 @@
+# Copyright 2016-2019 Dirk Thomas
+# Licensed under the Apache License, Version 2.0
+
+import argparse
+from collections import OrderedDict
+import os
+from pathlib import Path
+import sys
+
+
+FORMAT_STR_COMMENT_LINE = '# {comment}'
+FORMAT_STR_SET_ENV_VAR = 'Set-Item -Path "Env:{name}" -Value "{value}"'
+FORMAT_STR_USE_ENV_VAR = '$env:{name}'
+FORMAT_STR_INVOKE_SCRIPT = '_colcon_prefix_powershell_source_script "{script_path}"'  # noqa: E501
+FORMAT_STR_REMOVE_LEADING_SEPARATOR = ''  # noqa: E501
+FORMAT_STR_REMOVE_TRAILING_SEPARATOR = ''  # noqa: E501
+
+DSV_TYPE_APPEND_NON_DUPLICATE = 'append-non-duplicate'
+DSV_TYPE_PREPEND_NON_DUPLICATE = 'prepend-non-duplicate'
+DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS = 'prepend-non-duplicate-if-exists'
+DSV_TYPE_SET = 'set'
+DSV_TYPE_SET_IF_UNSET = 'set-if-unset'
+DSV_TYPE_SOURCE = 'source'
+
+
+def main(argv=sys.argv[1:]):  # noqa: D103
+    parser = argparse.ArgumentParser(
+        description='Output shell commands for the packages in topological '
+                    'order')
+    parser.add_argument(
+        'primary_extension',
+        help='The file extension of the primary shell')
+    parser.add_argument(
+        'additional_extension', nargs='?',
+        help='The additional file extension to be considered')
+    parser.add_argument(
+        '--merged-install', action='store_true',
+        help='All install prefixes are merged into a single location')
+    args = parser.parse_args(argv)
+
+    packages = get_packages(Path(__file__).parent, args.merged_install)
+
+    ordered_packages = order_packages(packages)
+    for pkg_name in ordered_packages:
+        if _include_comments():
+            print(
+                FORMAT_STR_COMMENT_LINE.format_map(
+                    {'comment': 'Package: ' + pkg_name}))
+        prefix = os.path.abspath(os.path.dirname(__file__))
+        if not args.merged_install:
+            prefix = os.path.join(prefix, pkg_name)
+        for line in get_commands(
+            pkg_name, prefix, args.primary_extension,
+            args.additional_extension
+        ):
+            print(line)
+
+    for line in _remove_ending_separators():
+        print(line)
+
+
+def get_packages(prefix_path, merged_install):
+    """
+    Find packages based on colcon-specific files created during installation.
+
+    :param Path prefix_path: The install prefix path of all packages
+    :param bool merged_install: The flag if the packages are all installed
+      directly in the prefix or if each package is installed in a subdirectory
+      named after the package
+    :returns: A mapping from the package name to the set of runtime
+      dependencies
+    :rtype: dict
+    """
+    packages = {}
+    # since importing colcon_core isn't feasible here the following constant
+    # must match colcon_core.location.get_relative_package_index_path()
+    subdirectory = 'share/colcon-core/packages'
+    if merged_install:
+        # return if workspace is empty
+        if not (prefix_path / subdirectory).is_dir():
+            return packages
+        # find all files in the subdirectory
+        for p in (prefix_path / subdirectory).iterdir():
+            if not p.is_file():
+                continue
+            if p.name.startswith('.'):
+                continue
+            add_package_runtime_dependencies(p, packages)
+    else:
+        # for each subdirectory look for the package specific file
+        for p in prefix_path.iterdir():
+            if not p.is_dir():
+                continue
+            if p.name.startswith('.'):
+                continue
+            p = p / subdirectory / p.name
+            if p.is_file():
+                add_package_runtime_dependencies(p, packages)
+
+    # remove unknown dependencies
+    pkg_names = set(packages.keys())
+    for k in packages.keys():
+        packages[k] = {d for d in packages[k] if d in pkg_names}
+
+    return packages
+
+
+def add_package_runtime_dependencies(path, packages):
+    """
+    Check the path and if it exists extract the packages runtime dependencies.
+
+    :param Path path: The resource file containing the runtime dependencies
+    :param dict packages: A mapping from package names to the sets of runtime
+      dependencies to add to
+    """
+    content = path.read_text()
+    dependencies = set(content.split(os.pathsep) if content else [])
+    packages[path.name] = dependencies
+
+
+def order_packages(packages):
+    """
+    Order packages topologically.
+
+    :param dict packages: A mapping from package name to the set of runtime
+      dependencies
+    :returns: The package names
+    :rtype: list
+    """
+    # select packages with no dependencies in alphabetical order
+    to_be_ordered = list(packages.keys())
+    ordered = []
+    while to_be_ordered:
+        pkg_names_without_deps = [
+            name for name in to_be_ordered if not packages[name]]
+        if not pkg_names_without_deps:
+            reduce_cycle_set(packages)
+            raise RuntimeError(
+                'Circular dependency between: ' + ', '.join(sorted(packages)))
+        pkg_names_without_deps.sort()
+        pkg_name = pkg_names_without_deps[0]
+        to_be_ordered.remove(pkg_name)
+        ordered.append(pkg_name)
+        # remove item from dependency lists
+        for k in list(packages.keys()):
+            if pkg_name in packages[k]:
+                packages[k].remove(pkg_name)
+    return ordered
+
+
+def reduce_cycle_set(packages):
+    """
+    Reduce the set of packages to the ones part of the circular dependency.
+
+    :param dict packages: A mapping from package name to the set of runtime
+      dependencies which is modified in place
+    """
+    last_depended = None
+    while len(packages) > 0:
+        # get all remaining dependencies
+        depended = set()
+        for pkg_name, dependencies in packages.items():
+            depended = depended.union(dependencies)
+        # remove all packages which are not dependent on
+        for name in list(packages.keys()):
+            if name not in depended:
+                del packages[name]
+        if last_depended:
+            # if remaining packages haven't changed return them
+            if last_depended == depended:
+                return packages.keys()
+        # otherwise reduce again
+        last_depended = depended
+
+
+def _include_comments():
+    # skipping comment lines when COLCON_TRACE is not set speeds up the
+    # processing especially on Windows
+    return bool(os.environ.get('COLCON_TRACE'))
+
+
+def get_commands(pkg_name, prefix, primary_extension, additional_extension):
+    commands = []
+    package_dsv_path = os.path.join(prefix, 'share', pkg_name, 'package.dsv')
+    if os.path.exists(package_dsv_path):
+        commands += process_dsv_file(
+            package_dsv_path, prefix, primary_extension, additional_extension)
+    return commands
+
+
+def process_dsv_file(
+    dsv_path, prefix, primary_extension=None, additional_extension=None
+):
+    commands = []
+    if _include_comments():
+        commands.append(FORMAT_STR_COMMENT_LINE.format_map({
+            'comment': dsv_path}))
+    with open(dsv_path, 'r') as h:
+        content = h.read()
+    lines = content.splitlines()
+
+    basename_map = OrderedDict()
+    for i, line in enumerate(lines):
+        # skip over empty or whitespace-only lines
+        if not line.strip():
+            continue
+        # skip over comments
+        if line.startswith('#'):
+            continue
+        try:
+            type_, remainder = line.split(';', 1)
+        except ValueError:
+            raise RuntimeError(
+                "Line %d in '%s' doesn't contain a semicolon separating the "
+                'type from the arguments' % (i + 1, dsv_path))
+        if type_ != DSV_TYPE_SOURCE:
+            # handle non-source lines
+            try:
+                commands += handle_dsv_types_except_source(
+                    type_, remainder, prefix)
+            except RuntimeError as e:
+                raise RuntimeError(
+                    "Line %d in '%s' %s" % (i + 1, dsv_path, e)) from e
+        else:
+            # group remaining source lines by basename
+            path_without_ext, ext = os.path.splitext(remainder)
+            if path_without_ext not in basename_map:
+                basename_map[path_without_ext] = set()
+            assert ext.startswith('.')
+            ext = ext[1:]
+            if ext in (primary_extension, additional_extension):
+                basename_map[path_without_ext].add(ext)
+
+    # add the dsv extension to each basename if the file exists
+    for basename, extensions in basename_map.items():
+        if not os.path.isabs(basename):
+            basename = os.path.join(prefix, basename)
+        if os.path.exists(basename + '.dsv'):
+            extensions.add('dsv')
+
+    for basename, extensions in basename_map.items():
+        if not os.path.isabs(basename):
+            basename = os.path.join(prefix, basename)
+        if 'dsv' in extensions:
+            # process dsv files recursively
+            commands += process_dsv_file(
+                basename + '.dsv', prefix, primary_extension=primary_extension,
+                additional_extension=additional_extension)
+        elif primary_extension in extensions and len(extensions) == 1:
+            # source primary-only files
+            commands += [
+                FORMAT_STR_INVOKE_SCRIPT.format_map({
+                    'prefix': prefix,
+                    'script_path': basename + '.' + primary_extension})]
+        elif additional_extension in extensions:
+            # source non-primary files
+            commands += [
+                FORMAT_STR_INVOKE_SCRIPT.format_map({
+                    'prefix': prefix,
+                    'script_path': basename + '.' + additional_extension})]
+
+    return commands
+
+
+def handle_dsv_types_except_source(type_, remainder, prefix):
+    commands = []
+    if type_ in (DSV_TYPE_SET, DSV_TYPE_SET_IF_UNSET):
+        try:
+            env_name, value = remainder.split(';', 1)
+        except ValueError:
+            raise RuntimeError(
+                "doesn't contain a semicolon separating the environment name "
+                'from the value')
+        try_prefixed_value = os.path.join(prefix, value) if value else prefix
+        if os.path.exists(try_prefixed_value):
+            value = try_prefixed_value
+        if type_ == DSV_TYPE_SET:
+            commands += _set(env_name, value)
+        elif type_ == DSV_TYPE_SET_IF_UNSET:
+            commands += _set_if_unset(env_name, value)
+        else:
+            assert False
+    elif type_ in (
+        DSV_TYPE_APPEND_NON_DUPLICATE,
+        DSV_TYPE_PREPEND_NON_DUPLICATE,
+        DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS
+    ):
+        try:
+            env_name_and_values = remainder.split(';')
+        except ValueError:
+            raise RuntimeError(
+                "doesn't contain a semicolon separating the environment name "
+                'from the values')
+        env_name = env_name_and_values[0]
+        values = env_name_and_values[1:]
+        for value in values:
+            if not value:
+                value = prefix
+            elif not os.path.isabs(value):
+                value = os.path.join(prefix, value)
+            if (
+                type_ == DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS and
+                not os.path.exists(value)
+            ):
+                comment = f'skip extending {env_name} with not existing ' \
+                    f'path: {value}'
+                if _include_comments():
+                    commands.append(FORMAT_STR_COMMENT_LINE.format_map({
+                        'comment': comment}))
+            elif type_ == DSV_TYPE_APPEND_NON_DUPLICATE:
+                commands += _append_unique_value(env_name, value)
+            else:
+                commands += _prepend_unique_value(env_name, value)
+    else:
+        raise RuntimeError(
+            'contains an unknown environment hook type: ' + type_)
+    return commands
+
+
+env_state = {}
+
+
+def _append_unique_value(name, value):
+    if name not in env_state:
+        if os.environ.get(name):
+            env_state[name] = set(os.environ[name].split(os.pathsep))
+        else:
+            env_state[name] = set()
+    # Append even if the variable has not been set yet, in case a shell script
+    # sets the same variable without the knowledge of this Python script.
+    # Later, _remove_ending_separators() will cleanup any unintentional
+    # leading separator.
+    extend = FORMAT_STR_USE_ENV_VAR.format_map({'name': name}) + os.pathsep
+    line = FORMAT_STR_SET_ENV_VAR.format_map(
+        {'name': name, 'value': extend + value})
+    if value not in env_state[name]:
+        env_state[name].add(value)
+    else:
+        if not _include_comments():
+            return []
+        line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
+    return [line]
+
+
+def _prepend_unique_value(name, value):
+    if name not in env_state:
+        if os.environ.get(name):
+            env_state[name] = set(os.environ[name].split(os.pathsep))
+        else:
+            env_state[name] = set()
+    # Prepend even if the variable has not been set yet, in case a shell script
+    # sets the same variable without the knowledge of this Python script.
+    # Later, _remove_ending_separators() will cleanup any unintentional
+    # trailing separator.
+    extend = os.pathsep + FORMAT_STR_USE_ENV_VAR.format_map({'name': name})
+    line = FORMAT_STR_SET_ENV_VAR.format_map(
+        {'name': name, 'value': value + extend})
+    if value not in env_state[name]:
+        env_state[name].add(value)
+    else:
+        if not _include_comments():
+            return []
+        line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
+    return [line]
+
+
+# generate commands for removing prepended underscores
+def _remove_ending_separators():
+    # do nothing if the shell extension does not implement the logic
+    if FORMAT_STR_REMOVE_TRAILING_SEPARATOR is None:
+        return []
+
+    commands = []
+    for name in env_state:
+        # skip variables that already had values before this script started
+        # appending/prepending
+        if name in os.environ:
+            continue
+        commands += [
+            FORMAT_STR_REMOVE_LEADING_SEPARATOR.format_map({'name': name}),
+            FORMAT_STR_REMOVE_TRAILING_SEPARATOR.format_map({'name': name})]
+    return commands
+
+
+def _set(name, value):
+    env_state[name] = value
+    line = FORMAT_STR_SET_ENV_VAR.format_map(
+        {'name': name, 'value': value})
+    return [line]
+
+
+def _set_if_unset(name, value):
+    line = FORMAT_STR_SET_ENV_VAR.format_map(
+        {'name': name, 'value': value})
+    if env_state.get(name, os.environ.get(name)):
+        line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
+    return [line]
+
+
+if __name__ == '__main__':  # pragma: no cover
+    try:
+        rc = main()
+    except RuntimeError as e:
+        print(str(e), file=sys.stderr)
+        rc = 1
+    sys.exit(rc)

install/_local_setup_util_sh.py

@@ -0,0 +1,406 @@
+# Copyright 2016-2019 Dirk Thomas
+# Licensed under the Apache License, Version 2.0
+
+import argparse
+from collections import OrderedDict
+import os
+from pathlib import Path
+import sys
+
+
+FORMAT_STR_COMMENT_LINE = '# {comment}'
+FORMAT_STR_SET_ENV_VAR = 'export {name}="{value}"'
+FORMAT_STR_USE_ENV_VAR = '${name}'
+FORMAT_STR_INVOKE_SCRIPT = 'COLCON_CURRENT_PREFIX="{prefix}" _colcon_prefix_sh_source_script "{script_path}"'  # noqa: E501
+FORMAT_STR_REMOVE_LEADING_SEPARATOR = 'export {name}=${{{name}#:}}'  # noqa: E501
+FORMAT_STR_REMOVE_TRAILING_SEPARATOR = 'export {name}=${{{name}%:}}'  # noqa: E501
+
+DSV_TYPE_APPEND_NON_DUPLICATE = 'append-non-duplicate'
+DSV_TYPE_PREPEND_NON_DUPLICATE = 'prepend-non-duplicate'
+DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS = 'prepend-non-duplicate-if-exists'
+DSV_TYPE_SET = 'set'
+DSV_TYPE_SET_IF_UNSET = 'set-if-unset'
+DSV_TYPE_SOURCE = 'source'
+
+
+def main(argv=sys.argv[1:]):  # noqa: D103
+    parser = argparse.ArgumentParser(
+        description='Output shell commands for the packages in topological '
+                    'order')
+    parser.add_argument(
+        'primary_extension',
+        help='The file extension of the primary shell')
+    parser.add_argument(
+        'additional_extension', nargs='?',
+        help='The additional file extension to be considered')
+    parser.add_argument(
+        '--merged-install', action='store_true',
+        help='All install prefixes are merged into a single location')
+    args = parser.parse_args(argv)
+
+    packages = get_packages(Path(__file__).parent, args.merged_install)
+
+    ordered_packages = order_packages(packages)
+    for pkg_name in ordered_packages:
+        if _include_comments():
+            print(
+                FORMAT_STR_COMMENT_LINE.format_map(
+                    {'comment': 'Package: ' + pkg_name}))
+        prefix = os.path.abspath(os.path.dirname(__file__))
+        if not args.merged_install:
+            prefix = os.path.join(prefix, pkg_name)
+        for line in get_commands(
+            pkg_name, prefix, args.primary_extension,
+            args.additional_extension
+        ):
+            print(line)
+
+    for line in _remove_ending_separators():
+        print(line)
+
+
+def get_packages(prefix_path, merged_install):
+    """
+    Find packages based on colcon-specific files created during installation.
+
+    :param Path prefix_path: The install prefix path of all packages
+    :param bool merged_install: The flag if the packages are all installed
+      directly in the prefix or if each package is installed in a subdirectory
+      named after the package
+    :returns: A mapping from the package name to the set of runtime
+      dependencies
+    :rtype: dict
+    """
+    packages = {}
+    # since importing colcon_core isn't feasible here the following constant
+    # must match colcon_core.location.get_relative_package_index_path()
+    subdirectory = 'share/colcon-core/packages'
+    if merged_install:
+        # return if workspace is empty
+        if not (prefix_path / subdirectory).is_dir():
+            return packages
+        # find all files in the subdirectory
+        for p in (prefix_path / subdirectory).iterdir():
+            if not p.is_file():
+                continue
+            if p.name.startswith('.'):
+                continue
+            add_package_runtime_dependencies(p, packages)
+    else:
+        # for each subdirectory look for the package specific file
+        for p in prefix_path.iterdir():
+            if not p.is_dir():
+                continue
+            if p.name.startswith('.'):
+                continue
+            p = p / subdirectory / p.name
+            if p.is_file():
+                add_package_runtime_dependencies(p, packages)
+
+    # remove unknown dependencies
+    pkg_names = set(packages.keys())
+    for k in packages.keys():
+        packages[k] = {d for d in packages[k] if d in pkg_names}
+
+    return packages
+
+
+def add_package_runtime_dependencies(path, packages):
+    """
+    Check the path and if it exists extract the packages runtime dependencies.
+
+    :param Path path: The resource file containing the runtime dependencies
+    :param dict packages: A mapping from package names to the sets of runtime
+      dependencies to add to
+    """
+    content = path.read_text()
+    dependencies = set(content.split(os.pathsep) if content else [])
+    packages[path.name] = dependencies
+
+
+def order_packages(packages):
+    """
+    Order packages topologically.
+
+    :param dict packages: A mapping from package name to the set of runtime
+      dependencies
+    :returns: The package names
+    :rtype: list
+    """
+    # select packages with no dependencies in alphabetical order
+    to_be_ordered = list(packages.keys())
+    ordered = []
+    while to_be_ordered:
+        pkg_names_without_deps = [
+            name for name in to_be_ordered if not packages[name]]
+        if not pkg_names_without_deps:
+            reduce_cycle_set(packages)
+            raise RuntimeError(
+                'Circular dependency between: ' + ', '.join(sorted(packages)))
+        pkg_names_without_deps.sort()
+        pkg_name = pkg_names_without_deps[0]
+        to_be_ordered.remove(pkg_name)
+        ordered.append(pkg_name)
+        # remove item from dependency lists
+        for k in list(packages.keys()):
+            if pkg_name in packages[k]:
+                packages[k].remove(pkg_name)
+    return ordered
+
+
+def reduce_cycle_set(packages):
+    """
+    Reduce the set of packages to the ones part of the circular dependency.
+
+    :param dict packages: A mapping from package name to the set of runtime
+      dependencies which is modified in place
+    """
+    last_depended = None
+    while len(packages) > 0:
+        # get all remaining dependencies
+        depended = set()
+        for pkg_name, dependencies in packages.items():
+            depended = depended.union(dependencies)
+        # remove all packages which are not dependent on
+        for name in list(packages.keys()):
+            if name not in depended:
+                del packages[name]
+        if last_depended:
+            # if remaining packages haven't changed return them
+            if last_depended == depended:
+                return packages.keys()
+        # otherwise reduce again
+        last_depended = depended
+
+
+def _include_comments():
+    # skipping comment lines when COLCON_TRACE is not set speeds up the
+    # processing especially on Windows
+    return bool(os.environ.get('COLCON_TRACE'))
+
+
+def get_commands(pkg_name, prefix, primary_extension, additional_extension):
+    commands = []
+    package_dsv_path = os.path.join(prefix, 'share', pkg_name, 'package.dsv')
+    if os.path.exists(package_dsv_path):
+        commands += process_dsv_file(
+            package_dsv_path, prefix, primary_extension, additional_extension)
+    return commands
+
+
+def process_dsv_file(
+    dsv_path, prefix, primary_extension=None, additional_extension=None
+):
+    commands = []
+    if _include_comments():
+        commands.append(FORMAT_STR_COMMENT_LINE.format_map({
+            'comment': dsv_path}))
+    with open(dsv_path, 'r') as h:
+        content = h.read()
+    lines = content.splitlines()
+
+    basename_map = OrderedDict()
+    for i, line in enumerate(lines):
+        # skip over empty or whitespace-only lines
+        if not line.strip():
+            continue
+        # skip over comments
+        if line.startswith('#'):
+            continue
+        try:
+            type_, remainder = line.split(';', 1)
+        except ValueError:
+            raise RuntimeError(
+                "Line %d in '%s' doesn't contain a semicolon separating the "
+                'type from the arguments' % (i + 1, dsv_path))
+        if type_ != DSV_TYPE_SOURCE:
+            # handle non-source lines
+            try:
+                commands += handle_dsv_types_except_source(
+                    type_, remainder, prefix)
+            except RuntimeError as e:
+                raise RuntimeError(
+                    "Line %d in '%s' %s" % (i + 1, dsv_path, e)) from e
+        else:
+            # group remaining source lines by basename
+            path_without_ext, ext = os.path.splitext(remainder)
+            if path_without_ext not in basename_map:
+                basename_map[path_without_ext] = set()
+            assert ext.startswith('.')
+            ext = ext[1:]
+            if ext in (primary_extension, additional_extension):
+                basename_map[path_without_ext].add(ext)
+
+    # add the dsv extension to each basename if the file exists
+    for basename, extensions in basename_map.items():
+        if not os.path.isabs(basename):
+            basename = os.path.join(prefix, basename)
+        if os.path.exists(basename + '.dsv'):
+            extensions.add('dsv')
+
+    for basename, extensions in basename_map.items():
+        if not os.path.isabs(basename):
+            basename = os.path.join(prefix, basename)
+        if 'dsv' in extensions:
+            # process dsv files recursively
+            commands += process_dsv_file(
+                basename + '.dsv', prefix, primary_extension=primary_extension,
+                additional_extension=additional_extension)
+        elif primary_extension in extensions and len(extensions) == 1:
+            # source primary-only files
+            commands += [
+                FORMAT_STR_INVOKE_SCRIPT.format_map({
+                    'prefix': prefix,
+                    'script_path': basename + '.' + primary_extension})]
+        elif additional_extension in extensions:
+            # source non-primary files
+            commands += [
+                FORMAT_STR_INVOKE_SCRIPT.format_map({
+                    'prefix': prefix,
+                    'script_path': basename + '.' + additional_extension})]
+
+    return commands
+
+
+def handle_dsv_types_except_source(type_, remainder, prefix):
+    commands = []
+    if type_ in (DSV_TYPE_SET, DSV_TYPE_SET_IF_UNSET):
+        try:
+            env_name, value = remainder.split(';', 1)
+        except ValueError:
+            raise RuntimeError(
+                "doesn't contain a semicolon separating the environment name "
+                'from the value')
+        try_prefixed_value = os.path.join(prefix, value) if value else prefix
+        if os.path.exists(try_prefixed_value):
+            value = try_prefixed_value
+        if type_ == DSV_TYPE_SET:
+            commands += _set(env_name, value)
+        elif type_ == DSV_TYPE_SET_IF_UNSET:
+            commands += _set_if_unset(env_name, value)
+        else:
+            assert False
+    elif type_ in (
+        DSV_TYPE_APPEND_NON_DUPLICATE,
+        DSV_TYPE_PREPEND_NON_DUPLICATE,
+        DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS
+    ):
+        try:
+            env_name_and_values = remainder.split(';')
+        except ValueError:
+            raise RuntimeError(
+                "doesn't contain a semicolon separating the environment name "
+                'from the values')
+        env_name = env_name_and_values[0]
+        values = env_name_and_values[1:]
+        for value in values:
+            if not value:
+                value = prefix
+            elif not os.path.isabs(value):
+                value = os.path.join(prefix, value)
+            if (
+                type_ == DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS and
+                not os.path.exists(value)
+            ):
+                comment = f'skip extending {env_name} with not existing ' \
+                    f'path: {value}'
+                if _include_comments():
+                    commands.append(FORMAT_STR_COMMENT_LINE.format_map({
+                        'comment': comment}))
+            elif type_ == DSV_TYPE_APPEND_NON_DUPLICATE:
+                commands += _append_unique_value(env_name, value)
+            else:
+                commands += _prepend_unique_value(env_name, value)
+    else:
+        raise RuntimeError(
+            'contains an unknown environment hook type: ' + type_)
+    return commands
+
+
+env_state = {}
+
+
+def _append_unique_value(name, value):
+    if name not in env_state:
+        if os.environ.get(name):
+            env_state[name] = set(os.environ[name].split(os.pathsep))
+        else:
+            env_state[name] = set()
+    # Append even if the variable has not been set yet, in case a shell script
+    # sets the same variable without the knowledge of this Python script.
+    # Later, _remove_ending_separators() will cleanup any unintentional
+    # leading separator.
+    extend = FORMAT_STR_USE_ENV_VAR.format_map({'name': name}) + os.pathsep
+    line = FORMAT_STR_SET_ENV_VAR.format_map(
+        {'name': name, 'value': extend + value})
+    if value not in env_state[name]:
+        env_state[name].add(value)
+    else:
+        if not _include_comments():
+            return []
+        line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
+    return [line]
+
+
+def _prepend_unique_value(name, value):
+    if name not in env_state:
+        if os.environ.get(name):
+            env_state[name] = set(os.environ[name].split(os.pathsep))
+        else:
+            env_state[name] = set()
+    # Prepend even if the variable has not been set yet, in case a shell script
+    # sets the same variable without the knowledge of this Python script.
+    # Later, _remove_ending_separators() will cleanup any unintentional
+    # trailing separator.
+    extend = os.pathsep + FORMAT_STR_USE_ENV_VAR.format_map({'name': name})
+    line = FORMAT_STR_SET_ENV_VAR.format_map(
+        {'name': name, 'value': value + extend})
+    if value not in env_state[name]:
+        env_state[name].add(value)
+    else:
+        if not _include_comments():
+            return []
+        line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
+    return [line]
+
+
+# generate commands for removing prepended underscores
+def _remove_ending_separators():
+    # do nothing if the shell extension does not implement the logic
+    if FORMAT_STR_REMOVE_TRAILING_SEPARATOR is None:
+        return []
+
+    commands = []
+    for name in env_state:
+        # skip variables that already had values before this script started
+        # appending/prepending
+        if name in os.environ:
+            continue
+        commands += [
+            FORMAT_STR_REMOVE_LEADING_SEPARATOR.format_map({'name': name}),
+            FORMAT_STR_REMOVE_TRAILING_SEPARATOR.format_map({'name': name})]
+    return commands
+
+
+def _set(name, value):
+    env_state[name] = value
+    line = FORMAT_STR_SET_ENV_VAR.format_map(
+        {'name': name, 'value': value})
+    return [line]
+
+
+def _set_if_unset(name, value):
+    line = FORMAT_STR_SET_ENV_VAR.format_map(
+        {'name': name, 'value': value})
+    if env_state.get(name, os.environ.get(name)):
+        line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
+    return [line]
+
+
+if __name__ == '__main__':  # pragma: no cover
+    try:
+        rc = main()
+    except RuntimeError as e:
+        print(str(e), file=sys.stderr)
+        rc = 1
+    sys.exit(rc)

install/bcr_bot/share/ament_index/resource_index/package_run_dependencies/bcr_bot

@@ -0,0 +1 @@
+ament_index_python;launch;launch_ros;robot_state_publisher;xacro

install/bcr_bot/share/ament_index/resource_index/parent_prefix_path/bcr_bot

@@ -0,0 +1 @@
+/workspace/install/bcr_bot:/opt/ros/humble

install/bcr_bot/share/bcr_bot/cmake/bcr_botConfig-version.cmake

@@ -0,0 +1,14 @@
+# generated from ament/cmake/core/templates/nameConfig-version.cmake.in
+set(PACKAGE_VERSION "1.0.2")
+
+set(PACKAGE_VERSION_EXACT False)
+set(PACKAGE_VERSION_COMPATIBLE False)
+
+if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_EXACT True)
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
+
+if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()

install/bcr_bot/share/bcr_bot/cmake/bcr_botConfig.cmake

@@ -0,0 +1,42 @@
+# generated from ament/cmake/core/templates/nameConfig.cmake.in
+
+# prevent multiple inclusion
+if(_bcr_bot_CONFIG_INCLUDED)
+  # ensure to keep the found flag the same
+  if(NOT DEFINED bcr_bot_FOUND)
+    # explicitly set it to FALSE, otherwise CMake will set it to TRUE
+    set(bcr_bot_FOUND FALSE)
+  elseif(NOT bcr_bot_FOUND)
+    # use separate condition to avoid uninitialized variable warning
+    set(bcr_bot_FOUND FALSE)
+  endif()
+  return()
+endif()
+set(_bcr_bot_CONFIG_INCLUDED TRUE)
+
+# output package information
+if(NOT bcr_bot_FIND_QUIETLY)
+  message(STATUS "Found bcr_bot: 1.0.2 (${bcr_bot_DIR})")
+endif()
+
+# warn when using a deprecated package
+if(NOT "" STREQUAL "")
+  set(_msg "Package 'bcr_bot' is deprecated")
+  # append custom deprecation text if available
+  if(NOT "" STREQUAL "TRUE")
+    set(_msg "${_msg} ()")
+  endif()
+  # optionally quiet the deprecation message
+  if(NOT ${bcr_bot_DEPRECATED_QUIET})
+    message(DEPRECATION "${_msg}")
+  endif()
+endif()
+
+# flag package as ament-based to distinguish it after being find_package()-ed
+set(bcr_bot_FOUND_AMENT_PACKAGE TRUE)
+
+# include all config extra files
+set(_extras "")
+foreach(_extra ${_extras})
+  include("${bcr_bot_DIR}/${_extra}")
+endforeach()

install/bcr_bot/share/bcr_bot/environment/ament_prefix_path.dsv

@@ -0,0 +1 @@
+prepend-non-duplicate;AMENT_PREFIX_PATH;

install/bcr_bot/share/bcr_bot/environment/ament_prefix_path.sh

@@ -0,0 +1,4 @@
+# copied from
+# ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh
+
+ament_prepend_unique_value AMENT_PREFIX_PATH "$AMENT_CURRENT_PREFIX"

install/bcr_bot/share/bcr_bot/environment/path.dsv

@@ -0,0 +1 @@
+prepend-non-duplicate-if-exists;PATH;bin

install/bcr_bot/share/bcr_bot/environment/path.sh

@@ -0,0 +1,5 @@
+# copied from ament_cmake_core/cmake/environment_hooks/environment/path.sh
+
+if [ -d "$AMENT_CURRENT_PREFIX/bin" ]; then
+  ament_prepend_unique_value PATH "$AMENT_CURRENT_PREFIX/bin"
+fi

install/bcr_bot/share/bcr_bot/hook/cmake_prefix_path.dsv

@@ -0,0 +1 @@
+prepend-non-duplicate;CMAKE_PREFIX_PATH;

install/bcr_bot/share/bcr_bot/hook/cmake_prefix_path.ps1

@@ -0,0 +1,3 @@
+# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
+
+colcon_prepend_unique_value CMAKE_PREFIX_PATH "$env:COLCON_CURRENT_PREFIX"

install/bcr_bot/share/bcr_bot/hook/cmake_prefix_path.sh

@@ -0,0 +1,3 @@
+# generated from colcon_core/shell/template/hook_prepend_value.sh.em
+
+_colcon_prepend_unique_value CMAKE_PREFIX_PATH "$COLCON_CURRENT_PREFIX"

install/bcr_bot/share/bcr_bot/launch/gz.launch.py

@@ -19,7 +19,7 @@ def generate_launch_description():
     gz_sim = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(join(gz_sim_share, "launch", "gz_sim.launch.py")),
         launch_arguments={
-            "gz_args" : PythonExpression(["'", world_file, " -r'"])
+            "gz_args" : PythonExpression(["'", world_file, " -r -s'"])
 
         }.items()
     )

install/bcr_bot/share/bcr_bot/local_setup.bash

@@ -0,0 +1,46 @@
+# generated from ament_package/template/package_level/local_setup.bash.in
+
+# source local_setup.sh from same directory as this file
+_this_path=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" && pwd)
+# provide AMENT_CURRENT_PREFIX to shell script
+AMENT_CURRENT_PREFIX=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." && pwd)
+# store AMENT_CURRENT_PREFIX to restore it before each environment hook
+_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX
+
+# trace output
+if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
+  echo "# . \"$_this_path/local_setup.sh\""
+fi
+. "$_this_path/local_setup.sh"
+unset _this_path
+
+# unset AMENT_ENVIRONMENT_HOOKS
+# if not appending to them for return
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks
+AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
+# list all environment hooks of this package
+
+# source all shell-specific environment hooks of this package
+# if not returning them
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  _package_local_setup_IFS=$IFS
+  IFS=":"
+  for _hook in $AMENT_ENVIRONMENT_HOOKS; do
+    # restore AMENT_CURRENT_PREFIX for each environment hook
+    AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
+    # restore IFS before sourcing other files
+    IFS=$_package_local_setup_IFS
+    . "$_hook"
+  done
+  unset _hook
+  IFS=$_package_local_setup_IFS
+  unset _package_local_setup_IFS
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+unset _package_local_setup_AMENT_CURRENT_PREFIX
+unset AMENT_CURRENT_PREFIX

install/bcr_bot/share/bcr_bot/local_setup.dsv

@@ -0,0 +1,2 @@
+source;share/bcr_bot/environment/ament_prefix_path.sh
+source;share/bcr_bot/environment/path.sh

install/bcr_bot/share/bcr_bot/local_setup.sh

@@ -0,0 +1,184 @@
+# generated from ament_package/template/package_level/local_setup.sh.in
+
+# since this file is sourced use either the provided AMENT_CURRENT_PREFIX
+# or fall back to the destination set at configure time
+: ${AMENT_CURRENT_PREFIX:="/workspace/install/bcr_bot"}
+if [ ! -d "$AMENT_CURRENT_PREFIX" ]; then
+  if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+    echo "The compile time prefix path '$AMENT_CURRENT_PREFIX' doesn't " \
+      "exist. Consider sourcing a different extension than '.sh'." 1>&2
+  else
+    AMENT_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+  fi
+fi
+
+# function to append values to environment variables
+# using colons as separators and avoiding leading separators
+ament_append_value() {
+  # arguments
+  _listname="$1"
+  _value="$2"
+  #echo "listname $_listname"
+  #eval echo "list value \$$_listname"
+  #echo "value $_value"
+
+  # avoid leading separator
+  eval _values=\"\$$_listname\"
+  if [ -z "$_values" ]; then
+    eval export $_listname=\"$_value\"
+    #eval echo "set list \$$_listname"
+  else
+    # field separator must not be a colon
+    _ament_append_value_IFS=$IFS
+    unset IFS
+    eval export $_listname=\"\$$_listname:$_value\"
+    #eval echo "append list \$$_listname"
+    IFS=$_ament_append_value_IFS
+    unset _ament_append_value_IFS
+  fi
+  unset _values
+
+  unset _value
+  unset _listname
+}
+
+# function to append non-duplicate values to environment variables
+# using colons as separators and avoiding leading separators
+ament_append_unique_value() {
+  # arguments
+  _listname=$1
+  _value=$2
+  #echo "listname $_listname"
+  #eval echo "list value \$$_listname"
+  #echo "value $_value"
+
+  # check if the list contains the value
+  eval _values=\$$_listname
+  _duplicate=
+  _ament_append_unique_value_IFS=$IFS
+  IFS=":"
+  if [ "$AMENT_SHELL" = "zsh" ]; then
+    ament_zsh_to_array _values
+  fi
+  for _item in $_values; do
+    # ignore empty strings
+    if [ -z "$_item" ]; then
+      continue
+    fi
+    if [ $_item = $_value ]; then
+      _duplicate=1
+    fi
+  done
+  unset _item
+
+  # append only non-duplicates
+  if [ -z "$_duplicate" ]; then
+    # avoid leading separator
+    if [ -z "$_values" ]; then
+      eval $_listname=\"$_value\"
+      #eval echo "set list \$$_listname"
+    else
+      # field separator must not be a colon
+      unset IFS
+      eval $_listname=\"\$$_listname:$_value\"
+      #eval echo "append list \$$_listname"
+    fi
+  fi
+  IFS=$_ament_append_unique_value_IFS
+  unset _ament_append_unique_value_IFS
+  unset _duplicate
+  unset _values
+
+  unset _value
+  unset _listname
+}
+
+# function to prepend non-duplicate values to environment variables
+# using colons as separators and avoiding trailing separators
+ament_prepend_unique_value() {
+  # arguments
+  _listname="$1"
+  _value="$2"
+  #echo "listname $_listname"
+  #eval echo "list value \$$_listname"
+  #echo "value $_value"
+
+  # check if the list contains the value
+  eval _values=\"\$$_listname\"
+  _duplicate=
+  _ament_prepend_unique_value_IFS=$IFS
+  IFS=":"
+  if [ "$AMENT_SHELL" = "zsh" ]; then
+    ament_zsh_to_array _values
+  fi
+  for _item in $_values; do
+    # ignore empty strings
+    if [ -z "$_item" ]; then
+      continue
+    fi
+    if [ "$_item" = "$_value" ]; then
+      _duplicate=1
+    fi
+  done
+  unset _item
+
+  # prepend only non-duplicates
+  if [ -z "$_duplicate" ]; then
+    # avoid trailing separator
+    if [ -z "$_values" ]; then
+      eval export $_listname=\"$_value\"
+      #eval echo "set list \$$_listname"
+    else
+      # field separator must not be a colon
+      unset IFS
+      eval export $_listname=\"$_value:\$$_listname\"
+      #eval echo "prepend list \$$_listname"
+    fi
+  fi
+  IFS=$_ament_prepend_unique_value_IFS
+  unset _ament_prepend_unique_value_IFS
+  unset _duplicate
+  unset _values
+
+  unset _value
+  unset _listname
+}
+
+# unset AMENT_ENVIRONMENT_HOOKS
+# if not appending to them for return
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+# list all environment hooks of this package
+ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/bcr_bot/environment/ament_prefix_path.sh"
+ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/bcr_bot/environment/path.sh"
+
+# source all shell-specific environment hooks of this package
+# if not returning them
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  _package_local_setup_IFS=$IFS
+  IFS=":"
+  if [ "$AMENT_SHELL" = "zsh" ]; then
+    ament_zsh_to_array AMENT_ENVIRONMENT_HOOKS
+  fi
+  for _hook in $AMENT_ENVIRONMENT_HOOKS; do
+    if [ -f "$_hook" ]; then
+      # restore IFS before sourcing other files
+      IFS=$_package_local_setup_IFS
+      # trace output
+      if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
+        echo "# . \"$_hook\""
+      fi
+      . "$_hook"
+    fi
+  done
+  unset _hook
+  IFS=$_package_local_setup_IFS
+  unset _package_local_setup_IFS
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+# reset AMENT_CURRENT_PREFIX after each package
+# allowing to source multiple package-level setup files
+unset AMENT_CURRENT_PREFIX

install/bcr_bot/share/bcr_bot/local_setup.zsh

@@ -0,0 +1,59 @@
+# generated from ament_package/template/package_level/local_setup.zsh.in
+
+AMENT_SHELL=zsh
+
+# source local_setup.sh from same directory as this file
+_this_path=$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd)
+# provide AMENT_CURRENT_PREFIX to shell script
+AMENT_CURRENT_PREFIX=$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd)
+# store AMENT_CURRENT_PREFIX to restore it before each environment hook
+_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX
+
+# function to convert array-like strings into arrays
+# to wordaround SH_WORD_SPLIT not being set
+ament_zsh_to_array() {
+  local _listname=$1
+  local _dollar="$"
+  local _split="{="
+  local _to_array="(\"$_dollar$_split$_listname}\")"
+  eval $_listname=$_to_array
+}
+
+# trace output
+if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
+  echo "# . \"$_this_path/local_setup.sh\""
+fi
+# the package-level local_setup file unsets AMENT_CURRENT_PREFIX
+. "$_this_path/local_setup.sh"
+unset _this_path
+
+# unset AMENT_ENVIRONMENT_HOOKS
+# if not appending to them for return
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks
+AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
+# list all environment hooks of this package
+
+# source all shell-specific environment hooks of this package
+# if not returning them
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  _package_local_setup_IFS=$IFS
+  IFS=":"
+  for _hook in $AMENT_ENVIRONMENT_HOOKS; do
+    # restore AMENT_CURRENT_PREFIX for each environment hook
+    AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
+    # restore IFS before sourcing other files
+    IFS=$_package_local_setup_IFS
+    . "$_hook"
+  done
+  unset _hook
+  IFS=$_package_local_setup_IFS
+  unset _package_local_setup_IFS
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+unset _package_local_setup_AMENT_CURRENT_PREFIX
+unset AMENT_CURRENT_PREFIX