diff --git a/README.md b/README.md
old mode 100644
new mode 100755
index 61c8790..185d9da
--- a/README.md
+++ b/README.md
@@ -1,18 +1,96 @@
-# 开始拉取代码
+# 语义推理与导航
 
----
-```
-git clone http://git-test.databall.tech:3000/databall-official/4752e5f5cf2545c8bbb0e6bbb0da51a8.git
+卡片名称：办公室场景下的小车语义推理与导航
 
-cd 4752e5f5cf2545c8bbb0e6bbb0da51a8
+描述：基于 `VLM`、`RRT*`、`Nav2` 和视觉语言模型的语义导航项目，把仿真导航、目标检测、语义记忆库和自然语言导航串成一条完整链路。
 
-# add your files to repo
-git push
+这是一个基于 `ROS 2 Humble`、`Gazebo Sim`、`Nav2` 和视觉语言模型的语义导航项目。系统把仿真导航、目标检测、语义记忆库和自然语言导航串成一条完整链路：机器人先在环境中自主移动并识别目标物体，把高置信度的语义结果保存为 JSON 记忆库；随后用户输入自然语言目标，系统从记忆库中检索最匹配的语义对象，并调用 Nav2 完成导航。
+
+![Semantic Navigation Preview](assets/picture20.png)
+
+## 项目能力
+
+本项目包含以下核心能力：
+
+- 使用 `TurtleBot3 + Gazebo Sim` 构建室内办公场景导航仿真
+- 使用自定义 `RRT*` 全局规划器接入 Nav2
+- 使用 `VLM` 目标检测节点进行语义目标标注
+- 基于 RGB-D 与 TF 估计物体在地图中的位置并生成语义记忆库
+- 将检测结果保存为 JSON 文件，支持后续复用
+- 接收自然语言输入，匹配语义目标并导航到目标附近的可行接近点
+
+## 整体流程
+
+项目运行分为两个阶段：
+
+1. 语义记忆构建阶段  
+   机器人在仿真环境中移动，检测节点从相机图像中识别目标物体，并把标签、置信度和目标坐标写入 JSON 语义记忆库。
+
+2. 语义导航阶段  
+   用户输入自然语言目标，例如 `water dispenser`、`sofa`、`refrigerator`，系统将语义文本映射到已保存的目标条目，选取目标附近的可达点，并通过 Nav2 发送导航目标。
+
+## 核心模块
+
+### 1. 导航与仿真
+
+- `src/TurtleBot-RRT-Star/`：自定义 `RRT*` 全局规划器，包名为 `nav2_rrtstar_planner`
+- `src/turtlebot3_simulations/`：TurtleBot3 仿真环境、世界文件和启动资源
+- `gzsim_run.sh`：一键启动 Gazebo Sim 与 websocket 服务（内含 `setup_model_cache.sh`）
+- `setup_model_cache.sh` / `VENDOR_MODELS.md`：vendor 共享权重与下载、同步说明
+
+### 2. 语义感知
+
+- `src/vlm_perception_pkg/`：语义检测节点
+- 入口命令：`ros2 run vlm_perception_pkg vlm_detection`
+- 功能：读取机器人相机图像，识别候选目标，结合深度和 TF 写入语义记忆库
+
+### 3. 语义导航
+
+- `src/vlm_nav_pkg/`：自然语言语义导航节点
+- 入口命令：`ros2 run vlm_nav_pkg semantic_nav`
+- 功能：加载 JSON 语义记忆库，匹配语义标签，选择可行导航点并发送目标给 Nav2
+
+### 4. 语义记忆库
+
+示例语义结果文件位于：
+
+- `src/vlm_nav_pkg/config/example_object_detection_vlm.json`
+- `src/vlm_nav_pkg/config/test_vlm.json`
+
+语义记忆库保存的是目标标签、置信度和地图坐标。系统会优先保留高分结果，以减少低质量检测对导航的影响。
+
+## 仓库结构
+
+```text
+.
+├── README.md
+├── doc.md
+├── gzsim_run.sh
+├── bootstrap_ros2_conda_workspace.sh
+├── requirements.txt
+├── requirements-v100.txt
+├── assets/
+└── src/
+    ├── TurtleBot-RRT-Star/
+    ├── turtlebot3_simulations/
+    ├── vlm_nav_pkg/
+    ├── vlm_perception_pkg/
+    └── websocket.gzlaunch
 ```
----
-```
-cd existing_repo
-git remote add origin http://git-test.databall.tech:3000/databall-official/4752e5f5cf2545c8bbb0e6bbb0da51a8.git
-git branch -M main
-git push -uf origin main
-```
\ No newline at end of file
+
+各目录作用如下：
+
+- `doc.md`：完整课程说明，包含带截图的分步骤操作
+- `assets/`：运行截图和展示图片
+- `src/TurtleBot-RRT-Star/`：RRT* 全局规划插件与 Nav2 参数
+- `src/vlm_perception_pkg/`：检测与语义标注相关代码
+- `src/vlm_nav_pkg/`：语义导航相关代码与配置文件
+- `gzsim_run.sh`：仿真与 websocket 启动脚本
+- `requirements*.txt`：Python 依赖列表
+
+## 相关资源
+
+- 详细操作文档：[doc.md](doc.md)
+- 语义记忆示例：[src/vlm_nav_pkg/config/example_object_detection_vlm.json](src/vlm_nav_pkg/config/example_object_detection_vlm.json)
+- 更优测试样例：[src/vlm_nav_pkg/config/test_vlm.json](src/vlm_nav_pkg/config/test_vlm.json)
+- RRT* 参数文件：`src/TurtleBot-RRT-Star/nav2_params.yaml`
diff --git a/VENDOR_MODELS.md b/VENDOR_MODELS.md
new file mode 100644
index 0000000..2d47cde
--- /dev/null
+++ b/VENDOR_MODELS.md
@@ -0,0 +1,73 @@
+# office_vlm 预训练权重（vendor 共享）
+
+`vlm_detection` / `semantic_nav` 首次运行会拉取约 **500MB** 权重。放入 JuiceFS **vendor** 后，各用户 workspace 通过 `setup_model_cache.sh` 幂等软链到 `~/.cache`，避免重复下载。
+
+## 模型与下载地址
+
+| 用途 | 代码 | 文件名 | 约大小 | 下载 URL |
+|------|------|--------|--------|----------|
+| Faster R-CNN v2 | `fasterrcnn_resnet50_fpn_v2(weights="DEFAULT")` | `fasterrcnn_resnet50_fpn_v2_coco-dd69338a.pth` | ~167 MB | https://download.pytorch.org/models/fasterrcnn_resnet50_fpn_v2_coco-dd69338a.pth |
+| CLIP ViT-B/32 | `clip.load("ViT-B/32")` | `ViT-B-32.pt` | ~338 MB | https://openaipublic.azureedge.net/clip/models/40d365715913c9da98579312b702a82c18be219cc2a73407c4526f58eba950af/ViT-B-32.pt |
+
+CLIP 校验 SHA256：`40d365715913c9da98579312b702a82c18be219cc2a73407c4526f58eba950af`
+
+本地打包目录示例（上传前）：
+
+```text
+office_vlm_models/
+├── torch/hub/checkpoints/
+│   └── fasterrcnn_resnet50_fpn_v2_coco-dd69338a.pth
+└── clip/
+    └── ViT-B-32.pt
+```
+
+## vendor 卷内路径（容器内 `/opt/vendor`）
+
+```text
+/opt/vendor/models/office_vlm/
+├── torch/hub/checkpoints/fasterrcnn_resnet50_fpn_v2_coco-dd69338a.pth
+└── clip/ViT-B-32.pt
+```
+
+运行时缓存（软链目标）：
+
+| 框架 | 路径 |
+|------|------|
+| torchvision | `~/.cache/torch/hub/checkpoints/fasterrcnn_resnet50_fpn_v2_coco-dd69338a.pth` |
+| CLIP | `~/.cache/clip/ViT-B-32.pt` |
+
+## 各环境 vendor 挂载主机（读写）
+
+| 环境 | SSH Host | 卷上路径（与 `/opt/vendor` 对应） |
+|------|----------|-----------------------------------|
+| **DEV** | `wpinfra` | `/mnt/jfs-dev/shared-libraries/vendor/models/office_vlm/` |
+| **UAT** | `gpurunner` | `/data/vendor/models/office_vlm/` |
+| **SIT** | `databallsitslave`（或 `databallsitmaster`） | `/data/vendor/models/office_vlm/` |
+| **PROD** | `databallproddb` | `/data/vendor/models/office_vlm/` |
+
+说明：
+
+- Space 容器内 vendor 只读挂载为 `/opt/vendor`（与上表 `.../vendor/` 为同一 JuiceFS 树）。
+- SIT 边缘 `databall01` 为 `/mnt/jfs-sit-vendor` → 容器 `/opt/vendor`。
+- DEV→SIT vendor 全量同步见 `pms/scripts/juicefs/rsync_wpinfra_to_sit_vendor.sh`；本目录随 vendor 树一并同步。
+
+## 本仓库脚本
+
+| 脚本 | 作用 |
+|------|------|
+| `setup_model_cache.sh` | 幂等 `ln -sf` vendor → `~/.cache` |
+| `gzsim_run.sh` | 启动仿真前自动 `source setup_model_cache.sh` |
+
+运维上传脚本（pms 仓库）：`pms/scripts/vendor/upload_office_vlm_models.sh`
+
+## 手动下载示例
+
+```bash
+mkdir -p office_vlm_models/torch/hub/checkpoints office_vlm_models/clip
+curl -fL -o office_vlm_models/torch/hub/checkpoints/fasterrcnn_resnet50_fpn_v2_coco-dd69338a.pth \
+  https://download.pytorch.org/models/fasterrcnn_resnet50_fpn_v2_coco-dd69338a.pth
+curl -fL -o office_vlm_models/clip/ViT-B-32.pt \
+  https://openaipublic.azureedge.net/clip/models/40d365715913c9da98579312b702a82c18be219cc2a73407c4526f58eba950af/ViT-B-32.pt
+sha256sum office_vlm_models/clip/ViT-B-32.pt
+# 应等于 40d365715913c9da98579312b702a82c18be219cc2a73407c4526f58eba950af
+```
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diff --git a/autorun.sh b/autorun.sh
old mode 100644
new mode 100755
index e69de29..82ca493
--- a/autorun.sh
+++ b/autorun.sh
@@ -0,0 +1,5 @@
+#!/usr/bin/env bash
+# Foundation INIT_SCRIPT: Gazebo Sim + gz-launch websocket (:9002) for GzWeb /gzbridge/
+set -euo pipefail
+ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+exec bash "${ROOT}/gzsim_run.sh"
diff --git a/autorun_logs/autorun_20260629_091153/tb3_gzsim.log b/autorun_logs/autorun_20260629_091153/tb3_gzsim.log
new file mode 100644
index 0000000..b87eb72
--- /dev/null
+++ b/autorun_logs/autorun_20260629_091153/tb3_gzsim.log
@@ -0,0 +1,64 @@
+[INFO] [launch]: All log files can be found below /home/devuser/.ros/log/2026-06-29-09-11-55-896796-pms-space-6950f1ca-1599-42c5-a926-29eb731cb95c-3b8732-3742
+[INFO] [launch]: Default logging verbosity is set to INFO
+urdf_file_name : turtlebot3_burger.urdf
+urdf_file_name : turtlebot3_burger.urdf
+[INFO] [ruby $(which gz) sim-1]: process started with pid [3752]
+[INFO] [robot_state_publisher-2]: process started with pid [3754]
+[INFO] [create-3]: process started with pid [3756]
+[INFO] [bridge_node-4]: process started with pid [3758]
+[INFO] [scan_frame_fix.py-5]: process started with pid [3760]
+[create-3] [INFO] [1782724317.205182245] [ros_gz_sim]: Requesting list of world names.
+[robot_state_publisher-2] [INFO] [1782724317.377189345] [robot_state_publisher]: got segment base_footprint
+[robot_state_publisher-2] [INFO] [1782724317.377322424] [robot_state_publisher]: got segment base_link
+[robot_state_publisher-2] [INFO] [1782724317.377335749] [robot_state_publisher]: got segment base_scan
+[robot_state_publisher-2] [INFO] [1782724317.377345164] [robot_state_publisher]: got segment camera_depth_optical_frame
+[robot_state_publisher-2] [INFO] [1782724317.377354759] [robot_state_publisher]: got segment camera_rgb_frame
+[robot_state_publisher-2] [INFO] [1782724317.377363902] [robot_state_publisher]: got segment camera_rgb_optical_frame
+[robot_state_publisher-2] [INFO] [1782724317.377372764] [robot_state_publisher]: got segment caster_back_link
+[robot_state_publisher-2] [INFO] [1782724317.377381280] [robot_state_publisher]: got segment imu_link
+[robot_state_publisher-2] [INFO] [1782724317.377389607] [robot_state_publisher]: got segment realsense_depth_frame
+[robot_state_publisher-2] [INFO] [1782724317.377398086] [robot_state_publisher]: got segment realsense_link
+[robot_state_publisher-2] [INFO] [1782724317.377406376] [robot_state_publisher]: got segment wheel_left_link
+[robot_state_publisher-2] [INFO] [1782724317.377414892] [robot_state_publisher]: got segment wheel_right_link
+[bridge_node-4] [INFO] [1782724318.304664937] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/model/burger/tf (gz.msgs.Pose_V) -> /tf (tf2_msgs/msg/TFMessage)] (Lazy 0)
+[bridge_node-4] [INFO] [1782724318.322673781] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/world/default/model/burger/link/base_scan/sensor/hls_lfcd_lds/scan (gz.msgs.LaserScan) -> /scan_raw (sensor_msgs/msg/LaserScan)] (Lazy 0)
+[bridge_node-4] [INFO] [1782724318.330819848] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/world/default/model/burger/link/realsense_link/sensor/intel_realsense_r200_rgb/image (gz.msgs.Image) -> /intel_realsense_r200_rgb/image_raw (sensor_msgs/msg/Image)] (Lazy 0)
+[bridge_node-4] [INFO] [1782724318.332133692] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/world/default/model/burger/link/realsense_link/sensor/intel_realsense_r200_rgb/camera_info (gz.msgs.CameraInfo) -> /intel_realsense_r200_rgb/camera_info (sensor_msgs/msg/CameraInfo)] (Lazy 0)
+[bridge_node-4] [INFO] [1782724318.333441056] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/world/default/model/burger/link/realsense_link/sensor/intel_realsense_r200_depth/depth_image (gz.msgs.Image) -> /intel_realsense_r200_depth/depth/image_raw (sensor_msgs/msg/Image)] (Lazy 0)
+[bridge_node-4] [INFO] [1782724318.334445430] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/world/default/model/burger/link/realsense_link/sensor/intel_realsense_r200_depth/camera_info (gz.msgs.CameraInfo) -> /intel_realsense_r200_depth/camera_info (sensor_msgs/msg/CameraInfo)] (Lazy 0)
+[bridge_node-4] [INFO] [1782724318.335577882] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/clock (gz.msgs.Clock) -> /clock (rosgraph_msgs/msg/Clock)] (Lazy 0)
+[bridge_node-4] [INFO] [1782724318.336701344] [ros_gz_bridge]: Creating ROS->GZ Bridge: [/cmd_vel (geometry_msgs/msg/Twist) -> /model/burger/cmd_vel (gz.msgs.Twist)] (Lazy 0)
+[bridge_node-4] [INFO] [1782724318.338097331] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/model/burger/odometry (gz.msgs.Odometry) -> /odom (nav_msgs/msg/Odometry)] (Lazy 0)
+[scan_frame_fix.py-5] [INFO] [1782724318.341010939] [scan_frame_fix]: Relaying [/scan_raw] -> [/scan], overriding frame_id -> base_scan
+[create-3] [INFO] [1782724319.241037994] [ros_gz_sim]: Requested creation of entity.
+[create-3] [INFO] [1782724319.241095742] [ros_gz_sim]: OK creation of entity.
+[INFO] [create-3]: process has finished cleanly [pid 3756]
+[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/model[@name="turtlebot3_burger"]/link[@name="realsense_link"]/sensor[@name="intel_realsense_r200_depth"]/gz_frame_id:/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_burger/model_gz.sdf:L318]: XML Element[gz_frame_id], child of element[sensor], not defined in SDF. Copying[gz_frame_id] as children of [sensor].
+[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/model[@name="turtlebot3_burger"]/link[@name="realsense_link"]/sensor[@name="intel_realsense_r200_rgb"]/gz_frame_id:/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_burger/model_gz.sdf:L345]: XML Element[gz_frame_id], child of element[sensor], not defined in SDF. Copying[gz_frame_id] as children of [sensor].
+[ruby $(which gz) sim-1] libEGL warning: failed to open /dev/dri/renderD128: Permission denied
+[ruby $(which gz) sim-1] 
+[ruby $(which gz) sim-1] libEGL warning: failed to open /dev/dri/card1: Permission denied
+[ruby $(which gz) sim-1] 
+[robot_state_publisher-2] [INFO] [1782725232.754251457] [rclcpp]: signal_handler(SIGINT/SIGTERM)
+[bridge_node-4] [INFO] [1782725232.754293576] [rclcpp]: signal_handler(SIGINT/SIGTERM)
+[scan_frame_fix.py-5] Traceback (most recent call last):
+[scan_frame_fix.py-5]   File "/workspace/install/turtlebot3_gazebo/lib/turtlebot3_gazebo/scan_frame_fix.py", line 50, in <module>
+[scan_frame_fix.py-5]     main()
+[scan_frame_fix.py-5]   File "/workspace/install/turtlebot3_gazebo/lib/turtlebot3_gazebo/scan_frame_fix.py", line 44, in main
+[scan_frame_fix.py-5]     rclpy.spin(node)
+[scan_frame_fix.py-5]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 229, in spin
+[scan_frame_fix.py-5]     executor.spin_once()
+[scan_frame_fix.py-5]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 808, in spin_once
+[scan_frame_fix.py-5]     self._spin_once_impl(timeout_sec)
+[scan_frame_fix.py-5]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 797, in _spin_once_impl
+[scan_frame_fix.py-5]     handler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec)
+[scan_frame_fix.py-5]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 780, in wait_for_ready_callbacks
+[scan_frame_fix.py-5]     return next(self._cb_iter)
+[scan_frame_fix.py-5]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 681, in _wait_for_ready_callbacks
+[scan_frame_fix.py-5]     raise ExternalShutdownException()
+[scan_frame_fix.py-5] rclpy.executors.ExternalShutdownException
+[INFO] [robot_state_publisher-2]: process has finished cleanly [pid 3754]
+[INFO] [bridge_node-4]: process has finished cleanly [pid 3758]
+[ERROR] [scan_frame_fix.py-5]: process has died [pid 3760, exit code 1, cmd '/workspace/install/turtlebot3_gazebo/lib/turtlebot3_gazebo/scan_frame_fix.py --ros-args --params-file /tmp/launch_params_ghcggfo0'].
+[INFO] [ruby $(which gz) sim-1]: process has finished cleanly [pid 3752]
+[INFO] [launch]: process[ruby $(which gz) sim-1] was required: shutting down launched system
diff --git a/autorun_logs/autorun_20260629_091153/websocket.log b/autorun_logs/autorun_20260629_091153/websocket.log
new file mode 100644
index 0000000..e69de29
diff --git a/bootstrap_ros2_conda_workspace.sh b/bootstrap_ros2_conda_workspace.sh
new file mode 100755
index 0000000..a6b926b
--- /dev/null
+++ b/bootstrap_ros2_conda_workspace.sh
@@ -0,0 +1,124 @@
+#!/usr/bin/env bash
+# One-time (idempotent) setup for sim-office-nav-sem:
+#   conda ros2 + ML deps + colcon build with conda python + entry-point shebang fix.
+#
+# Usage (in card terminal):
+#   conda activate ros2
+#   bash /workspace/bootstrap_ros2_conda_workspace.sh
+set -euo pipefail
+
+ROOT="${OFFICE_VLM_ROOT:-/workspace}"
+CONDA_ENV="${ROS2_CONDA_ENV:-ros2}"
+MARKER="${ROOT}/.ros2_conda_workspace_ready"
+CLIP_VENDOR="${ROOT}/vendor/CLIP"
+CLIP_COMMIT="${CLIP_GIT_COMMIT:-d05afc436d78f1c48dc0dbf8e5980a9d471f35f6}"
+
+log() { echo "[bootstrap-ros2] $*"; }
+
+if [[ ! -f "${HOME}/miniconda3/etc/profile.d/conda.sh" ]]; then
+  log "ERROR: miniconda3 not found under ${HOME}; run prod_juicefs_clone_ros2_env.sh on cluster first"
+  exit 1
+fi
+
+# shellcheck source=/dev/null
+source "${HOME}/miniconda3/etc/profile.d/conda.sh"
+conda activate "${CONDA_ENV}"
+
+export PYTHONNOUSERSITE=1
+PY="${CONDA_PREFIX}/bin/python3"
+PIP="${CONDA_PREFIX}/bin/pip"
+
+log "conda env=${CONDA_ENV} python=$(${PY} --version 2>&1)"
+
+# Remove wrong PyPI "clip" (clipboard CLI) and ~/.local pollution from old docs.
+"${PIP}" uninstall -y clip open-clip-torch 2>/dev/null || true
+rm -rf "${HOME}/.local/lib/python3.10/site-packages/clip"* 2>/dev/null || true
+
+log "installing ML + colcon build deps into conda (not --user)"
+"${PIP}" install --upgrade pip
+"${PIP}" install numpy==1.26.4 \
+  torch==2.6.0 torchvision==0.21.0 \
+  "opencv-python<4.11" Pillow ftfy regex tqdm matplotlib \
+  catkin_pkg empy lark-parser
+
+_ensure_openai_clip() {
+  if "${PY}" -c "import clip; assert hasattr(clip, 'load')" 2>/dev/null; then
+    log "openai CLIP already available"
+    return 0
+  fi
+  mkdir -p "$(dirname "${CLIP_VENDOR}")"
+  touch "$(dirname "${CLIP_VENDOR}")/COLCON_IGNORE"
+  if [[ ! -f "${CLIP_VENDOR}/clip/clip.py" ]]; then
+    log "cloning OpenAI CLIP -> ${CLIP_VENDOR}"
+    rm -rf "${CLIP_VENDOR}"
+    for url in \
+      "https://ghproxy.net/https://github.com/openai/CLIP.git" \
+      "https://github.com/openai/CLIP.git"; do
+      if git clone --depth 1 "${url}" "${CLIP_VENDOR}" 2>/dev/null; then
+        break
+      fi
+      rm -rf "${CLIP_VENDOR}"
+    done
+    [[ -f "${CLIP_VENDOR}/clip/clip.py" ]] || {
+      log "ERROR: failed to fetch OpenAI CLIP source"
+      exit 1
+    }
+    if [[ -n "${CLIP_COMMIT}" ]]; then
+      git -C "${CLIP_VENDOR}" fetch --depth 1 origin "${CLIP_COMMIT}" 2>/dev/null \
+        && git -C "${CLIP_VENDOR}" checkout "${CLIP_COMMIT}" 2>/dev/null || true
+    fi
+  fi
+  "${PIP}" install "${CLIP_VENDOR}"
+  "${PY}" -c "import clip; assert hasattr(clip, 'load')"
+  log "openai CLIP installed"
+}
+
+_ensure_openai_clip
+
+set +u
+# shellcheck source=/dev/null
+source /opt/ros/humble/setup.bash
+set -u
+
+cd "${ROOT}"
+if [[ -f "${MARKER}" ]] && grep -q "${CONDA_PREFIX}/bin/python3" "${MARKER}" 2>/dev/null; then
+  log "workspace already built for this conda python (marker present); rebuilding vlm packages only"
+  colcon build --symlink-install \
+    --packages-select vlm_perception_pkg vlm_nav_pkg \
+    --cmake-args "-DPython3_EXECUTABLE=${PY}"
+else
+  log "colcon build (full workspace, conda python)"
+  colcon build --symlink-install --cmake-args "-DPython3_EXECUTABLE=${PY}" || {
+    log "WARN: full build had failures; ensuring vlm packages at minimum"
+    colcon build --symlink-install \
+      --packages-select vlm_perception_pkg vlm_nav_pkg \
+      --cmake-args "-DPython3_EXECUTABLE=${PY}"
+  }
+fi
+
+_patch_entry_shebangs() {
+  local f
+  while IFS= read -r -d '' f; do
+    if head -1 "$f" | grep -q '^#!/usr/bin/python3'; then
+      sed -i "1s|#!/usr/bin/python3|#!${PY}|" "$f"
+      log "patched shebang: $f"
+    fi
+  done < <(find "${ROOT}/install" -type f -perm /111 -print0 2>/dev/null || true)
+}
+
+_patch_entry_shebangs
+
+date -Iseconds > "${MARKER}"
+echo "CONDA_PREFIX=${CONDA_PREFIX}" >> "${MARKER}"
+
+set +u
+# shellcheck source=/dev/null
+source "${ROOT}/install/setup.bash"
+set -u
+"${PY}" -c "import torch, clip, rclpy; print('verify OK', torch.__version__, torch.cuda.is_available())"
+
+log "done. In new terminals run:"
+log "  conda activate ${CONDA_ENV}"
+log "  export PYTHONNOUSERSITE=1"
+log "  source /opt/ros/humble/setup.bash"
+log "  source ${ROOT}/install/setup.bash"
diff --git a/build/.built_by b/build/.built_by
new file mode 100644
index 0000000..06e74ac
--- /dev/null
+++ b/build/.built_by
@@ -0,0 +1 @@
+colcon
diff --git a/build/COLCON_IGNORE b/build/COLCON_IGNORE
new file mode 100644
index 0000000..e69de29
diff --git a/build/nav2_rrtstar_planner/.cmake/api/v1/query/client-colcon-cmake/codemodel-v2 b/build/nav2_rrtstar_planner/.cmake/api/v1/query/client-colcon-cmake/codemodel-v2
new file mode 100644
index 0000000..e69de29
diff --git a/build/nav2_rrtstar_planner/.cmake/api/v1/reply/codemodel-v2-2a783a4353220c91e989.json b/build/nav2_rrtstar_planner/.cmake/api/v1/reply/codemodel-v2-2a783a4353220c91e989.json
new file mode 100644
index 0000000..3cdf67a
--- /dev/null
+++ b/build/nav2_rrtstar_planner/.cmake/api/v1/reply/codemodel-v2-2a783a4353220c91e989.json
@@ -0,0 +1,79 @@
+{
+	"configurations" : 
+	[
+		{
+			"directories" : 
+			[
+				{
+					"build" : ".",
+					"hasInstallRule" : true,
+					"jsonFile" : "directory-.-161fadb0a31f8467f3f4.json",
+					"minimumCMakeVersion" : 
+					{
+						"string" : "3.12"
+					},
+					"projectIndex" : 0,
+					"source" : ".",
+					"targetIndexes" : 
+					[
+						0,
+						1,
+						2
+					]
+				}
+			],
+			"name" : "",
+			"projects" : 
+			[
+				{
+					"directoryIndexes" : 
+					[
+						0
+					],
+					"name" : "nav2_rrtstar_planner",
+					"targetIndexes" : 
+					[
+						0,
+						1,
+						2
+					]
+				}
+			],
+			"targets" : 
+			[
+				{
+					"directoryIndex" : 0,
+					"id" : "nav2_rrtstar_planner_plugin::@6890427a1f51a3e7e1df",
+					"jsonFile" : "target-nav2_rrtstar_planner_plugin-a3676924d9f115758bc9.json",
+					"name" : "nav2_rrtstar_planner_plugin",
+					"projectIndex" : 0
+				},
+				{
+					"directoryIndex" : 0,
+					"id" : "nav2_rrtstar_planner_uninstall::@6890427a1f51a3e7e1df",
+					"jsonFile" : "target-nav2_rrtstar_planner_uninstall-b1a87129a57823d38365.json",
+					"name" : "nav2_rrtstar_planner_uninstall",
+					"projectIndex" : 0
+				},
+				{
+					"directoryIndex" : 0,
+					"id" : "uninstall::@6890427a1f51a3e7e1df",
+					"jsonFile" : "target-uninstall-292d30418deb8c22f0fa.json",
+					"name" : "uninstall",
+					"projectIndex" : 0
+				}
+			]
+		}
+	],
+	"kind" : "codemodel",
+	"paths" : 
+	{
+		"build" : "/workspace/build/nav2_rrtstar_planner",
+		"source" : "/workspace/src/TurtleBot-RRT-Star"
+	},
+	"version" : 
+	{
+		"major" : 2,
+		"minor" : 3
+	}
+}
diff --git a/build/nav2_rrtstar_planner/.cmake/api/v1/reply/directory-.-161fadb0a31f8467f3f4.json b/build/nav2_rrtstar_planner/.cmake/api/v1/reply/directory-.-161fadb0a31f8467f3f4.json
new file mode 100644
index 0000000..8e31220
--- /dev/null
+++ b/build/nav2_rrtstar_planner/.cmake/api/v1/reply/directory-.-161fadb0a31f8467f3f4.json
@@ -0,0 +1,93 @@
+{
+	"backtraceGraph" : 
+	{
+		"commands" : 
+		[
+			"_install",
+			"install",
+			"include",
+			"find_package"
+		],
+		"files" : 
+		[
+			"/opt/ros/humble/share/ament_cmake_core/cmake/symlink_install/install.cmake",
+			"/opt/ros/humble/share/ament_cmake_core/cmake/ament_cmake_symlink_install-extras.cmake",
+			"/opt/ros/humble/share/ament_cmake_core/cmake/ament_cmake_coreConfig.cmake",
+			"/opt/ros/humble/share/ament_cmake/cmake/ament_cmake_export_dependencies-extras.cmake",
+			"/opt/ros/humble/share/ament_cmake/cmake/ament_cmakeConfig.cmake",
+			"CMakeLists.txt"
+		],
+		"nodes" : 
+		[
+			{
+				"file" : 5
+			},
+			{
+				"command" : 3,
+				"file" : 5,
+				"line" : 12,
+				"parent" : 0
+			},
+			{
+				"file" : 4,
+				"parent" : 1
+			},
+			{
+				"command" : 2,
+				"file" : 4,
+				"line" : 41,
+				"parent" : 2
+			},
+			{
+				"file" : 3,
+				"parent" : 3
+			},
+			{
+				"command" : 3,
+				"file" : 3,
+				"line" : 15,
+				"parent" : 4
+			},
+			{
+				"file" : 2,
+				"parent" : 5
+			},
+			{
+				"command" : 2,
+				"file" : 2,
+				"line" : 41,
+				"parent" : 6
+			},
+			{
+				"file" : 1,
+				"parent" : 7
+			},
+			{
+				"command" : 1,
+				"file" : 1,
+				"line" : 47,
+				"parent" : 8
+			},
+			{
+				"command" : 0,
+				"file" : 0,
+				"line" : 43,
+				"parent" : 9
+			}
+		]
+	},
+	"installers" : 
+	[
+		{
+			"backtrace" : 10,
+			"component" : "Unspecified",
+			"scriptFile" : "/workspace/build/nav2_rrtstar_planner/ament_cmake_symlink_install/ament_cmake_symlink_install.cmake",
+			"type" : "script"
+		}
+	],
+	"paths" : 
+	{
+		"build" : ".",
+		"source" : "."
+	}
+}
diff --git a/build/nav2_rrtstar_planner/.cmake/api/v1/reply/index-2026-06-29T09-02-58-0380.json b/build/nav2_rrtstar_planner/.cmake/api/v1/reply/index-2026-06-29T09-02-58-0380.json
new file mode 100644
index 0000000..8677917
--- /dev/null
+++ b/build/nav2_rrtstar_planner/.cmake/api/v1/reply/index-2026-06-29T09-02-58-0380.json
@@ -0,0 +1,54 @@
+{
+	"cmake" : 
+	{
+		"generator" : 
+		{
+			"multiConfig" : false,
+			"name" : "Unix Makefiles"
+		},
+		"paths" : 
+		{
+			"cmake" : "/usr/bin/cmake",
+			"cpack" : "/usr/bin/cpack",
+			"ctest" : "/usr/bin/ctest",
+			"root" : "/usr/share/cmake-3.22"
+		},
+		"version" : 
+		{
+			"isDirty" : false,
+			"major" : 3,
+			"minor" : 22,
+			"patch" : 1,
+			"string" : "3.22.1",
+			"suffix" : ""
+		}
+	},
+	"objects" : 
+	[
+		{
+			"jsonFile" : "codemodel-v2-2a783a4353220c91e989.json",
+			"kind" : "codemodel",
+			"version" : 
+			{
+				"major" : 2,
+				"minor" : 3
+			}
+		}
+	],
+	"reply" : 
+	{
+		"client-colcon-cmake" : 
+		{
+			"codemodel-v2" : 
+			{
+				"jsonFile" : "codemodel-v2-2a783a4353220c91e989.json",
+				"kind" : "codemodel",
+				"version" : 
+				{
+					"major" : 2,
+					"minor" : 3
+				}
+			}
+		}
+	}
+}
diff --git a/build/nav2_rrtstar_planner/.cmake/api/v1/reply/target-nav2_rrtstar_planner_plugin-a3676924d9f115758bc9.json b/build/nav2_rrtstar_planner/.cmake/api/v1/reply/target-nav2_rrtstar_planner_plugin-a3676924d9f115758bc9.json
new file mode 100644
index 0000000..6cfd476
--- /dev/null
+++ b/build/nav2_rrtstar_planner/.cmake/api/v1/reply/target-nav2_rrtstar_planner_plugin-a3676924d9f115758bc9.json
@@ -0,0 +1,2513 @@
+{
+	"artifacts" : 
+	[
+		{
+			"path" : "libnav2_rrtstar_planner_plugin.so"
+		}
+	],
+	"backtrace" : 1,
+	"backtraceGraph" : 
+	{
+		"commands" : 
+		[
+			"add_library",
+			"target_link_libraries",
+			"ament_target_dependencies",
+			"target_compile_definitions",
+			"include_directories",
+			"target_include_directories"
+		],
+		"files" : 
+		[
+			"CMakeLists.txt",
+			"/opt/ros/humble/share/ament_cmake_target_dependencies/cmake/ament_target_dependencies.cmake"
+		],
+		"nodes" : 
+		[
+			{
+				"file" : 0
+			},
+			{
+				"command" : 0,
+				"file" : 0,
+				"line" : 51,
+				"parent" : 0
+			},
+			{
+				"command" : 2,
+				"file" : 0,
+				"line" : 55,
+				"parent" : 0
+			},
+			{
+				"command" : 1,
+				"file" : 1,
+				"line" : 145,
+				"parent" : 2
+			},
+			{
+				"command" : 1,
+				"file" : 1,
+				"line" : 151,
+				"parent" : 2
+			},
+			{
+				"command" : 3,
+				"file" : 0,
+				"line" : 59,
+				"parent" : 0
+			},
+			{
+				"command" : 4,
+				"file" : 0,
+				"line" : 28,
+				"parent" : 0
+			},
+			{
+				"command" : 5,
+				"file" : 1,
+				"line" : 141,
+				"parent" : 2
+			}
+		]
+	},
+	"compileGroups" : 
+	[
+		{
+			"compileCommandFragments" : 
+			[
+				{
+					"fragment" : "-fPIC"
+				}
+			],
+			"defines" : 
+			[
+				{
+					"backtrace" : 3,
+					"define" : "DEFAULT_RMW_IMPLEMENTATION=rmw_fastrtps_cpp"
+				},
+				{
+					"backtrace" : 3,
+					"define" : "FASTCDR_DYN_LINK"
+				},
+				{
+					"backtrace" : 5,
+					"define" : "PLUGINLIB__DISABLE_BOOST_FUNCTIONS"
+				},
+				{
+					"backtrace" : 3,
+					"define" : "RCUTILS_ENABLE_FAULT_INJECTION"
+				},
+				{
+					"define" : "nav2_rrtstar_planner_plugin_EXPORTS"
+				}
+			],
+			"includes" : 
+			[
+				{
+					"backtrace" : 6,
+					"path" : "/workspace/src/TurtleBot-RRT-Star/include"
+				},
+				{
+					"backtrace" : 7,
+					"isSystem" : true,
+					"path" : "/opt/ros/humble/include/rclcpp"
+				},
+				{
+					"backtrace" : 7,
+					"isSystem" : true,
+					"path" : "/opt/ros/humble/include/rclcpp_action"
+				},
+				{
+					"backtrace" : 7,
+					"isSystem" : true,
+					"path" : "/opt/ros/humble/include/rclcpp_lifecycle"
+				},
+				{
+					"backtrace" : 7,
+					"isSystem" : true,
+					"path" : "/opt/ros/humble/include/std_msgs"
+				},
+				{
+					"backtrace" : 7,
+					"isSystem" : true,
+					"path" : "/opt/ros/humble/include/visualization_msgs"
+				},
+				{
+					"backtrace" : 7,
+					"isSystem" : true,
+					"path" : "/opt/ros/humble/include/nav2_msgs"
+				},
+				{
+					"backtrace" : 7,
+					"isSystem" : true,
+					"path" : "/opt/ros/humble/include/nav_msgs"
+				},
+				{
+					"backtrace" : 7,
+					"isSystem" : true,
+					"path" : "/opt/ros/humble/include/geometry_msgs"
+				},
+				{
+					"backtrace" : 7,
+					"isSystem" : true,
+					"path" : "/opt/ros/humble/include/builtin_interfaces"
+				},
+				{
+					"backtrace" : 7,
+					"isSystem" : true,
+					"path" : "/opt/ros/humble/include/tf2_ros"
+				},
+				{
+					"backtrace" : 7,
+					"isSystem" : true,
+					"path" : "/opt/ros/humble/include"
+				},
+				{
+					"backtrace" : 7,
+					"isSystem" : true,
+					"path" : "/opt/ros/humble/include/tf2"
+				},
+				{
+					"backtrace" : 7,
+					"isSystem" : true,
+					"path" : "/opt/ros/humble/include/tf2_geometry_msgs"
+				},
+				{
+					"backtrace" : 7,
+					"isSystem" : true,
+					"path" : "/opt/ros/humble/include/lifecycle_msgs"
+				},
+				{
+					"backtrace" : 7,
+					"isSystem" : true,
+					"path" : "/opt/ros/humble/include/bondcpp"
+				},
+				{
+					"backtrace" : 7,
+					"isSystem" : true,
+					"path" : "/opt/ros/humble/include/bond"
+				},
+				{
+					"backtrace" : 7,
+					"isSystem" : true,
+					"path" : "/opt/ros/humble/include/action_msgs"
+				},
+				{
+					"backtrace" : 7,
+					"isSystem" : true,
+					"path" : "/opt/ros/humble/include/rcl_interfaces"
+				},
+				{
+					"backtrace" : 7,
+					"isSystem" : true,
+					"path" : "/opt/ros/humble/include/sensor_msgs"
+				},
+				{
+					"backtrace" : 7,
+					"isSystem" : true,
+					"path" : "/opt/ros/humble/include/nav2_costmap_2d"
+				},
+				{
+					"backtrace" : 7,
+					"isSystem" : true,
+					"path" : "/opt/ros/humble/include/pluginlib"
+				},
+				{
+					"backtrace" : 7,
+					"isSystem" : true,
+					"path" : "/usr/include/uuid"
+				},
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+//The directory containing a CMake configuration file for ament_lint_auto.
+ament_lint_auto_DIR:PATH=/opt/ros/humble/share/ament_lint_auto/cmake
+
+//Path to a program.
+ament_lint_cmake_BIN:FILEPATH=/opt/ros/humble/bin/ament_lint_cmake
+
+//The directory containing a CMake configuration file for ament_lint_common.
+ament_lint_common_DIR:PATH=/opt/ros/humble/share/ament_lint_common/cmake
+
+//Path to a program.
+ament_pep257_BIN:FILEPATH=/opt/ros/humble/bin/ament_pep257
+
+//Path to a program.
+ament_uncrustify_BIN:FILEPATH=/opt/ros/humble/bin/ament_uncrustify
+
+//Path to a program.
+ament_xmllint_BIN:FILEPATH=/opt/ros/humble/bin/ament_xmllint
+
+//The directory containing a CMake configuration file for angles.
+angles_DIR:PATH=/opt/ros/humble/share/angles/cmake
+
+//The directory containing a CMake configuration file for bond.
+bond_DIR:PATH=/opt/ros/humble/share/bond/cmake
+
+//The directory containing a CMake configuration file for bondcpp.
+bondcpp_DIR:PATH=/opt/ros/humble/share/bondcpp/cmake
+
+//The directory containing a CMake configuration file for builtin_interfaces.
+builtin_interfaces_DIR:PATH=/opt/ros/humble/share/builtin_interfaces/cmake
+
+//The directory containing a CMake configuration file for class_loader.
+class_loader_DIR:PATH=/opt/ros/humble/share/class_loader/cmake
+
+//The directory containing a CMake configuration file for composition_interfaces.
+composition_interfaces_DIR:PATH=/opt/ros/humble/share/composition_interfaces/cmake
+
+//The directory containing a CMake configuration file for console_bridge.
+console_bridge_DIR:PATH=/usr/lib/x86_64-linux-gnu/console_bridge/cmake
+
+//The directory containing a CMake configuration file for eigen3_cmake_module.
+eigen3_cmake_module_DIR:PATH=/opt/ros/humble/share/eigen3_cmake_module/cmake
+
+//The directory containing a CMake configuration file for fastcdr.
+fastcdr_DIR:PATH=/opt/ros/humble/lib/cmake/fastcdr
+
+//The directory containing a CMake configuration file for fastrtps.
+fastrtps_DIR:PATH=/opt/ros/humble/share/fastrtps/cmake
+
+//The directory containing a CMake configuration file for fastrtps_cmake_module.
+fastrtps_cmake_module_DIR:PATH=/opt/ros/humble/share/fastrtps_cmake_module/cmake
+
+//The directory containing a CMake configuration file for fmt.
+fmt_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/fmt
+
+//The directory containing a CMake configuration file for foonathan_memory.
+foonathan_memory_DIR:PATH=/opt/ros/humble/lib/foonathan_memory/cmake
+
+//The directory containing a CMake configuration file for geometry_msgs.
+geometry_msgs_DIR:PATH=/opt/ros/humble/share/geometry_msgs/cmake
+
+//The directory containing a CMake configuration file for laser_geometry.
+laser_geometry_DIR:PATH=/opt/ros/humble/share/laser_geometry/cmake
+
+//The directory containing a CMake configuration file for libstatistics_collector.
+libstatistics_collector_DIR:PATH=/opt/ros/humble/share/libstatistics_collector/cmake
+
+//The directory containing a CMake configuration file for libyaml_vendor.
+libyaml_vendor_DIR:PATH=/opt/ros/humble/share/libyaml_vendor/cmake
+
+//The directory containing a CMake configuration file for lifecycle_msgs.
+lifecycle_msgs_DIR:PATH=/opt/ros/humble/share/lifecycle_msgs/cmake
+
+//The directory containing a CMake configuration file for map_msgs.
+map_msgs_DIR:PATH=/opt/ros/humble/share/map_msgs/cmake
+
+//The directory containing a CMake configuration file for message_filters.
+message_filters_DIR:PATH=/opt/ros/humble/share/message_filters/cmake
+
+//The directory containing a CMake configuration file for nav2_core.
+nav2_core_DIR:PATH=/opt/ros/humble/share/nav2_core/cmake
+
+//The directory containing a CMake configuration file for nav2_costmap_2d.
+nav2_costmap_2d_DIR:PATH=/opt/ros/humble/share/nav2_costmap_2d/cmake
+
+//The directory containing a CMake configuration file for nav2_msgs.
+nav2_msgs_DIR:PATH=/opt/ros/humble/share/nav2_msgs/cmake
+
+//Value Computed by CMake
+nav2_rrtstar_planner_BINARY_DIR:STATIC=/workspace/build/nav2_rrtstar_planner
+
+//Value Computed by CMake
+nav2_rrtstar_planner_IS_TOP_LEVEL:STATIC=ON
+
+//Value Computed by CMake
+nav2_rrtstar_planner_SOURCE_DIR:STATIC=/workspace/src/TurtleBot-RRT-Star
+
+//Dependencies for the target
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+
+//The directory containing a CMake configuration file for nav2_util.
+nav2_util_DIR:PATH=/opt/ros/humble/share/nav2_util/cmake
+
+//The directory containing a CMake configuration file for nav2_voxel_grid.
+nav2_voxel_grid_DIR:PATH=/opt/ros/humble/share/nav2_voxel_grid/cmake
+
+//The directory containing a CMake configuration file for nav_msgs.
+nav_msgs_DIR:PATH=/opt/ros/humble/share/nav_msgs/cmake
+
+//The directory containing a CMake configuration file for orocos_kdl.
+orocos_kdl_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/orocos_kdl
+
+//Path to a library.
+orocos_kdl_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/liborocos-kdl.so
+
+//The directory containing a CMake configuration file for orocos_kdl_vendor.
+orocos_kdl_vendor_DIR:PATH=/opt/ros/humble/share/orocos_kdl_vendor/cmake
+
+//Path to a library.
+pkgcfg_lib__OPENSSL_crypto:FILEPATH=/usr/lib/x86_64-linux-gnu/libcrypto.so
+
+//Path to a library.
+pkgcfg_lib__OPENSSL_ssl:FILEPATH=/usr/lib/x86_64-linux-gnu/libssl.so
+
+//The directory containing a CMake configuration file for pluginlib.
+pluginlib_DIR:PATH=/opt/ros/humble/share/pluginlib/cmake
+
+//The directory containing a CMake configuration file for rcl.
+rcl_DIR:PATH=/opt/ros/humble/share/rcl/cmake
+
+//The directory containing a CMake configuration file for rcl_action.
+rcl_action_DIR:PATH=/opt/ros/humble/share/rcl_action/cmake
+
+//The directory containing a CMake configuration file for rcl_interfaces.
+rcl_interfaces_DIR:PATH=/opt/ros/humble/share/rcl_interfaces/cmake
+
+//The directory containing a CMake configuration file for rcl_lifecycle.
+rcl_lifecycle_DIR:PATH=/opt/ros/humble/share/rcl_lifecycle/cmake
+
+//The directory containing a CMake configuration file for rcl_logging_interface.
+rcl_logging_interface_DIR:PATH=/opt/ros/humble/share/rcl_logging_interface/cmake
+
+//The directory containing a CMake configuration file for rcl_logging_spdlog.
+rcl_logging_spdlog_DIR:PATH=/opt/ros/humble/share/rcl_logging_spdlog/cmake
+
+//The directory containing a CMake configuration file for rcl_yaml_param_parser.
+rcl_yaml_param_parser_DIR:PATH=/opt/ros/humble/share/rcl_yaml_param_parser/cmake
+
+//The directory containing a CMake configuration file for rclcpp.
+rclcpp_DIR:PATH=/opt/ros/humble/share/rclcpp/cmake
+
+//The directory containing a CMake configuration file for rclcpp_action.
+rclcpp_action_DIR:PATH=/opt/ros/humble/share/rclcpp_action/cmake
+
+//The directory containing a CMake configuration file for rclcpp_components.
+rclcpp_components_DIR:PATH=/opt/ros/humble/share/rclcpp_components/cmake
+
+//The directory containing a CMake configuration file for rclcpp_lifecycle.
+rclcpp_lifecycle_DIR:PATH=/opt/ros/humble/share/rclcpp_lifecycle/cmake
+
+//The directory containing a CMake configuration file for rcpputils.
+rcpputils_DIR:PATH=/opt/ros/humble/share/rcpputils/cmake
+
+//The directory containing a CMake configuration file for rcutils.
+rcutils_DIR:PATH=/opt/ros/humble/share/rcutils/cmake
+
+//The directory containing a CMake configuration file for rmw.
+rmw_DIR:PATH=/opt/ros/humble/share/rmw/cmake
+
+//The directory containing a CMake configuration file for rmw_dds_common.
+rmw_dds_common_DIR:PATH=/opt/ros/humble/share/rmw_dds_common/cmake
+
+//The directory containing a CMake configuration file for rmw_fastrtps_cpp.
+rmw_fastrtps_cpp_DIR:PATH=/opt/ros/humble/share/rmw_fastrtps_cpp/cmake
+
+//The directory containing a CMake configuration file for rmw_fastrtps_shared_cpp.
+rmw_fastrtps_shared_cpp_DIR:PATH=/opt/ros/humble/share/rmw_fastrtps_shared_cpp/cmake
+
+//The directory containing a CMake configuration file for rmw_implementation.
+rmw_implementation_DIR:PATH=/opt/ros/humble/share/rmw_implementation/cmake
+
+//The directory containing a CMake configuration file for rmw_implementation_cmake.
+rmw_implementation_cmake_DIR:PATH=/opt/ros/humble/share/rmw_implementation_cmake/cmake
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+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(_MSC_VER)
+# define COMPILER_ID "MSVC"
+  /* _MSC_VER = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
+# if defined(_MSC_FULL_VER)
+#  if _MSC_VER >= 1400
+    /* _MSC_FULL_VER = VVRRPPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
+#  else
+    /* _MSC_FULL_VER = VVRRPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
+#  endif
+# endif
+# if defined(_MSC_BUILD)
+#  define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
+# endif
+
+#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__)
+# define COMPILER_ID "ADSP"
+#if defined(__VISUALDSPVERSION__)
+  /* __VISUALDSPVERSION__ = 0xVVRRPP00 */
+# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24)
+# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF)
+# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8  & 0xFF)
+#endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# define COMPILER_ID "IAR"
+# if defined(__VER__) && defined(__ICCARM__)
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000)
+#  define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000)
+#  define COMPILER_VERSION_PATCH DEC((__VER__) % 1000)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__) || defined(__ICCSTM8__))
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 100)
+#  define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100))
+#  define COMPILER_VERSION_PATCH DEC(__SUBVERSION__)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# endif
+
+#elif defined(__SDCC_VERSION_MAJOR) || defined(SDCC)
+# define COMPILER_ID "SDCC"
+# if defined(__SDCC_VERSION_MAJOR)
+#  define COMPILER_VERSION_MAJOR DEC(__SDCC_VERSION_MAJOR)
+#  define COMPILER_VERSION_MINOR DEC(__SDCC_VERSION_MINOR)
+#  define COMPILER_VERSION_PATCH DEC(__SDCC_VERSION_PATCH)
+# else
+  /* SDCC = VRP */
+#  define COMPILER_VERSION_MAJOR DEC(SDCC/100)
+#  define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10)
+#  define COMPILER_VERSION_PATCH DEC(SDCC    % 10)
+# endif
+
+
+/* These compilers are either not known or too old to define an
+  identification macro.  Try to identify the platform and guess that
+  it is the native compiler.  */
+#elif defined(__hpux) || defined(__hpua)
+# define COMPILER_ID "HP"
+
+#else /* unknown compiler */
+# define COMPILER_ID ""
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]";
+#ifdef SIMULATE_ID
+char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]";
+#endif
+
+#ifdef __QNXNTO__
+char const* qnxnto = "INFO" ":" "qnxnto[]";
+#endif
+
+#if defined(__CRAYXT_COMPUTE_LINUX_TARGET)
+char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]";
+#endif
+
+#define STRINGIFY_HELPER(X) #X
+#define STRINGIFY(X) STRINGIFY_HELPER(X)
+
+/* Identify known platforms by name.  */
+#if defined(__linux) || defined(__linux__) || defined(linux)
+# define PLATFORM_ID "Linux"
+
+#elif defined(__MSYS__)
+# define PLATFORM_ID "MSYS"
+
+#elif defined(__CYGWIN__)
+# define PLATFORM_ID "Cygwin"
+
+#elif defined(__MINGW32__)
+# define PLATFORM_ID "MinGW"
+
+#elif defined(__APPLE__)
+# define PLATFORM_ID "Darwin"
+
+#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
+# define PLATFORM_ID "Windows"
+
+#elif defined(__FreeBSD__) || defined(__FreeBSD)
+# define PLATFORM_ID "FreeBSD"
+
+#elif defined(__NetBSD__) || defined(__NetBSD)
+# define PLATFORM_ID "NetBSD"
+
+#elif defined(__OpenBSD__) || defined(__OPENBSD)
+# define PLATFORM_ID "OpenBSD"
+
+#elif defined(__sun) || defined(sun)
+# define PLATFORM_ID "SunOS"
+
+#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
+# define PLATFORM_ID "AIX"
+
+#elif defined(__hpux) || defined(__hpux__)
+# define PLATFORM_ID "HP-UX"
+
+#elif defined(__HAIKU__)
+# define PLATFORM_ID "Haiku"
+
+#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
+# define PLATFORM_ID "BeOS"
+
+#elif defined(__QNX__) || defined(__QNXNTO__)
+# define PLATFORM_ID "QNX"
+
+#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__)
+# define PLATFORM_ID "Tru64"
+
+#elif defined(__riscos) || defined(__riscos__)
+# define PLATFORM_ID "RISCos"
+
+#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
+# define PLATFORM_ID "SINIX"
+
+#elif defined(__UNIX_SV__)
+# define PLATFORM_ID "UNIX_SV"
+
+#elif defined(__bsdos__)
+# define PLATFORM_ID "BSDOS"
+
+#elif defined(_MPRAS) || defined(MPRAS)
+# define PLATFORM_ID "MP-RAS"
+
+#elif defined(__osf) || defined(__osf__)
+# define PLATFORM_ID "OSF1"
+
+#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
+# define PLATFORM_ID "SCO_SV"
+
+#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
+# define PLATFORM_ID "ULTRIX"
+
+#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
+# define PLATFORM_ID "Xenix"
+
+#elif defined(__WATCOMC__)
+# if defined(__LINUX__)
+#  define PLATFORM_ID "Linux"
+
+# elif defined(__DOS__)
+#  define PLATFORM_ID "DOS"
+
+# elif defined(__OS2__)
+#  define PLATFORM_ID "OS2"
+
+# elif defined(__WINDOWS__)
+#  define PLATFORM_ID "Windows3x"
+
+# elif defined(__VXWORKS__)
+#  define PLATFORM_ID "VxWorks"
+
+# else /* unknown platform */
+#  define PLATFORM_ID
+# endif
+
+#elif defined(__INTEGRITY)
+# if defined(INT_178B)
+#  define PLATFORM_ID "Integrity178"
+
+# else /* regular Integrity */
+#  define PLATFORM_ID "Integrity"
+# endif
+
+#else /* unknown platform */
+# define PLATFORM_ID
+
+#endif
+
+/* For windows compilers MSVC and Intel we can determine
+   the architecture of the compiler being used.  This is because
+   the compilers do not have flags that can change the architecture,
+   but rather depend on which compiler is being used
+*/
+#if defined(_WIN32) && defined(_MSC_VER)
+# if defined(_M_IA64)
+#  define ARCHITECTURE_ID "IA64"
+
+# elif defined(_M_ARM64EC)
+#  define ARCHITECTURE_ID "ARM64EC"
+
+# elif defined(_M_X64) || defined(_M_AMD64)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# elif defined(_M_ARM64)
+#  define ARCHITECTURE_ID "ARM64"
+
+# elif defined(_M_ARM)
+#  if _M_ARM == 4
+#   define ARCHITECTURE_ID "ARMV4I"
+#  elif _M_ARM == 5
+#   define ARCHITECTURE_ID "ARMV5I"
+#  else
+#   define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM)
+#  endif
+
+# elif defined(_M_MIPS)
+#  define ARCHITECTURE_ID "MIPS"
+
+# elif defined(_M_SH)
+#  define ARCHITECTURE_ID "SHx"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__WATCOMC__)
+# if defined(_M_I86)
+#  define ARCHITECTURE_ID "I86"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# if defined(__ICCARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__ICCRX__)
+#  define ARCHITECTURE_ID "RX"
+
+# elif defined(__ICCRH850__)
+#  define ARCHITECTURE_ID "RH850"
+
+# elif defined(__ICCRL78__)
+#  define ARCHITECTURE_ID "RL78"
+
+# elif defined(__ICCRISCV__)
+#  define ARCHITECTURE_ID "RISCV"
+
+# elif defined(__ICCAVR__)
+#  define ARCHITECTURE_ID "AVR"
+
+# elif defined(__ICC430__)
+#  define ARCHITECTURE_ID "MSP430"
+
+# elif defined(__ICCV850__)
+#  define ARCHITECTURE_ID "V850"
+
+# elif defined(__ICC8051__)
+#  define ARCHITECTURE_ID "8051"
+
+# elif defined(__ICCSTM8__)
+#  define ARCHITECTURE_ID "STM8"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__ghs__)
+# if defined(__PPC64__)
+#  define ARCHITECTURE_ID "PPC64"
+
+# elif defined(__ppc__)
+#  define ARCHITECTURE_ID "PPC"
+
+# elif defined(__ARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__x86_64__)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(__i386__)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__TI_COMPILER_VERSION__)
+# if defined(__TI_ARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__MSP430__)
+#  define ARCHITECTURE_ID "MSP430"
+
+# elif defined(__TMS320C28XX__)
+#  define ARCHITECTURE_ID "TMS320C28x"
+
+# elif defined(__TMS320C6X__) || defined(_TMS320C6X)
+#  define ARCHITECTURE_ID "TMS320C6x"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#else
+#  define ARCHITECTURE_ID
+#endif
+
+/* Convert integer to decimal digit literals.  */
+#define DEC(n)                   \
+  ('0' + (((n) / 10000000)%10)), \
+  ('0' + (((n) / 1000000)%10)),  \
+  ('0' + (((n) / 100000)%10)),   \
+  ('0' + (((n) / 10000)%10)),    \
+  ('0' + (((n) / 1000)%10)),     \
+  ('0' + (((n) / 100)%10)),      \
+  ('0' + (((n) / 10)%10)),       \
+  ('0' +  ((n) % 10))
+
+/* Convert integer to hex digit literals.  */
+#define HEX(n)             \
+  ('0' + ((n)>>28 & 0xF)), \
+  ('0' + ((n)>>24 & 0xF)), \
+  ('0' + ((n)>>20 & 0xF)), \
+  ('0' + ((n)>>16 & 0xF)), \
+  ('0' + ((n)>>12 & 0xF)), \
+  ('0' + ((n)>>8  & 0xF)), \
+  ('0' + ((n)>>4  & 0xF)), \
+  ('0' + ((n)     & 0xF))
+
+/* Construct a string literal encoding the version number. */
+#ifdef COMPILER_VERSION
+char const* info_version = "INFO" ":" "compiler_version[" COMPILER_VERSION "]";
+
+/* Construct a string literal encoding the version number components. */
+#elif defined(COMPILER_VERSION_MAJOR)
+char const info_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[',
+  COMPILER_VERSION_MAJOR,
+# ifdef COMPILER_VERSION_MINOR
+  '.', COMPILER_VERSION_MINOR,
+#  ifdef COMPILER_VERSION_PATCH
+   '.', COMPILER_VERSION_PATCH,
+#   ifdef COMPILER_VERSION_TWEAK
+    '.', COMPILER_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct a string literal encoding the internal version number. */
+#ifdef COMPILER_VERSION_INTERNAL
+char const info_version_internal[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_',
+  'i','n','t','e','r','n','a','l','[',
+  COMPILER_VERSION_INTERNAL,']','\0'};
+#elif defined(COMPILER_VERSION_INTERNAL_STR)
+char const* info_version_internal = "INFO" ":" "compiler_version_internal[" COMPILER_VERSION_INTERNAL_STR "]";
+#endif
+
+/* Construct a string literal encoding the version number components. */
+#ifdef SIMULATE_VERSION_MAJOR
+char const info_simulate_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[',
+  SIMULATE_VERSION_MAJOR,
+# ifdef SIMULATE_VERSION_MINOR
+  '.', SIMULATE_VERSION_MINOR,
+#  ifdef SIMULATE_VERSION_PATCH
+   '.', SIMULATE_VERSION_PATCH,
+#   ifdef SIMULATE_VERSION_TWEAK
+    '.', SIMULATE_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]";
+char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
+
+
+
+#if !defined(__STDC__) && !defined(__clang__)
+# if defined(_MSC_VER) || defined(__ibmxl__) || defined(__IBMC__)
+#  define C_VERSION "90"
+# else
+#  define C_VERSION
+# endif
+#elif __STDC_VERSION__ > 201710L
+# define C_VERSION "23"
+#elif __STDC_VERSION__ >= 201710L
+# define C_VERSION "17"
+#elif __STDC_VERSION__ >= 201000L
+# define C_VERSION "11"
+#elif __STDC_VERSION__ >= 199901L
+# define C_VERSION "99"
+#else
+# define C_VERSION "90"
+#endif
+const char* info_language_standard_default =
+  "INFO" ":" "standard_default[" C_VERSION "]";
+
+const char* info_language_extensions_default = "INFO" ":" "extensions_default["
+/* !defined(_MSC_VER) to exclude Clang's MSVC compatibility mode. */
+#if (defined(__clang__) || defined(__GNUC__) ||                               \
+     defined(__TI_COMPILER_VERSION__)) &&                                     \
+  !defined(__STRICT_ANSI__) && !defined(_MSC_VER)
+  "ON"
+#else
+  "OFF"
+#endif
+"]";
+
+/*--------------------------------------------------------------------------*/
+
+#ifdef ID_VOID_MAIN
+void main() {}
+#else
+# if defined(__CLASSIC_C__)
+int main(argc, argv) int argc; char *argv[];
+# else
+int main(int argc, char* argv[])
+# endif
+{
+  int require = 0;
+  require += info_compiler[argc];
+  require += info_platform[argc];
+  require += info_arch[argc];
+#ifdef COMPILER_VERSION_MAJOR
+  require += info_version[argc];
+#endif
+#ifdef COMPILER_VERSION_INTERNAL
+  require += info_version_internal[argc];
+#endif
+#ifdef SIMULATE_ID
+  require += info_simulate[argc];
+#endif
+#ifdef SIMULATE_VERSION_MAJOR
+  require += info_simulate_version[argc];
+#endif
+#if defined(__CRAYXT_COMPUTE_LINUX_TARGET)
+  require += info_cray[argc];
+#endif
+  require += info_language_standard_default[argc];
+  require += info_language_extensions_default[argc];
+  (void)argv;
+  return require;
+}
+#endif
diff --git a/build/nav2_rrtstar_planner/CMakeFiles/3.22.1/CompilerIdC/a.out b/build/nav2_rrtstar_planner/CMakeFiles/3.22.1/CompilerIdC/a.out
new file mode 100755
index 0000000..7873b2c
Binary files /dev/null and b/build/nav2_rrtstar_planner/CMakeFiles/3.22.1/CompilerIdC/a.out differ
diff --git a/build/nav2_rrtstar_planner/CMakeFiles/3.22.1/CompilerIdCXX/CMakeCXXCompilerId.cpp b/build/nav2_rrtstar_planner/CMakeFiles/3.22.1/CompilerIdCXX/CMakeCXXCompilerId.cpp
new file mode 100644
index 0000000..25c62a8
--- /dev/null
+++ b/build/nav2_rrtstar_planner/CMakeFiles/3.22.1/CompilerIdCXX/CMakeCXXCompilerId.cpp
@@ -0,0 +1,791 @@
+/* This source file must have a .cpp extension so that all C++ compilers
+   recognize the extension without flags.  Borland does not know .cxx for
+   example.  */
+#ifndef __cplusplus
+# error "A C compiler has been selected for C++."
+#endif
+
+#if !defined(__has_include)
+/* If the compiler does not have __has_include, pretend the answer is
+   always no.  */
+#  define __has_include(x) 0
+#endif
+
+
+/* Version number components: V=Version, R=Revision, P=Patch
+   Version date components:   YYYY=Year, MM=Month,   DD=Day  */
+
+#if defined(__COMO__)
+# define COMPILER_ID "Comeau"
+  /* __COMO_VERSION__ = VRR */
+# define COMPILER_VERSION_MAJOR DEC(__COMO_VERSION__ / 100)
+# define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100)
+
+#elif defined(__INTEL_COMPILER) || defined(__ICC)
+# define COMPILER_ID "Intel"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# if defined(__GNUC__)
+#  define SIMULATE_ID "GNU"
+# endif
+  /* __INTEL_COMPILER = VRP prior to 2021, and then VVVV for 2021 and later,
+     except that a few beta releases use the old format with V=2021.  */
+# if __INTEL_COMPILER < 2021 || __INTEL_COMPILER == 202110 || __INTEL_COMPILER == 202111
+#  define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100)
+#  define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10)
+#  if defined(__INTEL_COMPILER_UPDATE)
+#   define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE)
+#  else
+#   define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER   % 10)
+#  endif
+# else
+#  define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER)
+#  define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER_UPDATE)
+   /* The third version component from --version is an update index,
+      but no macro is provided for it.  */
+#  define COMPILER_VERSION_PATCH DEC(0)
+# endif
+# if defined(__INTEL_COMPILER_BUILD_DATE)
+   /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */
+#  define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE)
+# endif
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# if defined(__GNUC__)
+#  define SIMULATE_VERSION_MAJOR DEC(__GNUC__)
+# elif defined(__GNUG__)
+#  define SIMULATE_VERSION_MAJOR DEC(__GNUG__)
+# endif
+# if defined(__GNUC_MINOR__)
+#  define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+#  define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif (defined(__clang__) && defined(__INTEL_CLANG_COMPILER)) || defined(__INTEL_LLVM_COMPILER)
+# define COMPILER_ID "IntelLLVM"
+#if defined(_MSC_VER)
+# define SIMULATE_ID "MSVC"
+#endif
+#if defined(__GNUC__)
+# define SIMULATE_ID "GNU"
+#endif
+/* __INTEL_LLVM_COMPILER = VVVVRP prior to 2021.2.0, VVVVRRPP for 2021.2.0 and
+ * later.  Look for 6 digit vs. 8 digit version number to decide encoding.
+ * VVVV is no smaller than the current year when a version is released.
+ */
+#if __INTEL_LLVM_COMPILER < 1000000L
+# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/100)
+# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER    % 10)
+#else
+# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/10000)
+# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/100 % 100)
+# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER     % 100)
+#endif
+#if defined(_MSC_VER)
+  /* _MSC_VER = VVRR */
+# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+#endif
+#if defined(__GNUC__)
+# define SIMULATE_VERSION_MAJOR DEC(__GNUC__)
+#elif defined(__GNUG__)
+# define SIMULATE_VERSION_MAJOR DEC(__GNUG__)
+#endif
+#if defined(__GNUC_MINOR__)
+# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
+#endif
+#if defined(__GNUC_PATCHLEVEL__)
+# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+#endif
+
+#elif defined(__PATHCC__)
+# define COMPILER_ID "PathScale"
+# define COMPILER_VERSION_MAJOR DEC(__PATHCC__)
+# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__)
+# if defined(__PATHCC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__)
+# endif
+
+#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__)
+# define COMPILER_ID "Embarcadero"
+# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF)
+# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF)
+# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__     & 0xFFFF)
+
+#elif defined(__BORLANDC__)
+# define COMPILER_ID "Borland"
+  /* __BORLANDC__ = 0xVRR */
+# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8)
+# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF)
+
+#elif defined(__WATCOMC__) && __WATCOMC__ < 1200
+# define COMPILER_ID "Watcom"
+   /* __WATCOMC__ = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+#  define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__WATCOMC__)
+# define COMPILER_ID "OpenWatcom"
+   /* __WATCOMC__ = VVRP + 1100 */
+# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+#  define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__SUNPRO_CC)
+# define COMPILER_ID "SunPro"
+# if __SUNPRO_CC >= 0x5100
+   /* __SUNPRO_CC = 0xVRRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC    & 0xF)
+# else
+   /* __SUNPRO_CC = 0xVRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC    & 0xF)
+# endif
+
+#elif defined(__HP_aCC)
+# define COMPILER_ID "HP"
+  /* __HP_aCC = VVRRPP */
+# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000)
+# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100)
+# define COMPILER_VERSION_PATCH DEC(__HP_aCC     % 100)
+
+#elif defined(__DECCXX)
+# define COMPILER_ID "Compaq"
+  /* __DECCXX_VER = VVRRTPPPP */
+# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000)
+# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000  % 100)
+# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER         % 10000)
+
+#elif defined(__IBMCPP__) && defined(__COMPILER_VER__)
+# define COMPILER_ID "zOS"
+  /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+
+#elif defined(__ibmxl__) && defined(__clang__)
+# define COMPILER_ID "XLClang"
+# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__)
+# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__)
+# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__)
+# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__)
+
+
+#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ >= 800
+# define COMPILER_ID "XL"
+  /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+
+#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ < 800
+# define COMPILER_ID "VisualAge"
+  /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+
+#elif defined(__NVCOMPILER)
+# define COMPILER_ID "NVHPC"
+# define COMPILER_VERSION_MAJOR DEC(__NVCOMPILER_MAJOR__)
+# define COMPILER_VERSION_MINOR DEC(__NVCOMPILER_MINOR__)
+# if defined(__NVCOMPILER_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__NVCOMPILER_PATCHLEVEL__)
+# endif
+
+#elif defined(__PGI)
+# define COMPILER_ID "PGI"
+# define COMPILER_VERSION_MAJOR DEC(__PGIC__)
+# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__)
+# if defined(__PGIC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__)
+# endif
+
+#elif defined(_CRAYC)
+# define COMPILER_ID "Cray"
+# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR)
+# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR)
+
+#elif defined(__TI_COMPILER_VERSION__)
+# define COMPILER_ID "TI"
+  /* __TI_COMPILER_VERSION__ = VVVRRRPPP */
+# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000)
+# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000   % 1000)
+# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__        % 1000)
+
+#elif defined(__CLANG_FUJITSU)
+# define COMPILER_ID "FujitsuClang"
+# define COMPILER_VERSION_MAJOR DEC(__FCC_major__)
+# define COMPILER_VERSION_MINOR DEC(__FCC_minor__)
+# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__)
+# define COMPILER_VERSION_INTERNAL_STR __clang_version__
+
+
+#elif defined(__FUJITSU)
+# define COMPILER_ID "Fujitsu"
+# if defined(__FCC_version__)
+#   define COMPILER_VERSION __FCC_version__
+# elif defined(__FCC_major__)
+#   define COMPILER_VERSION_MAJOR DEC(__FCC_major__)
+#   define COMPILER_VERSION_MINOR DEC(__FCC_minor__)
+#   define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__)
+# endif
+# if defined(__fcc_version)
+#   define COMPILER_VERSION_INTERNAL DEC(__fcc_version)
+# elif defined(__FCC_VERSION)
+#   define COMPILER_VERSION_INTERNAL DEC(__FCC_VERSION)
+# endif
+
+
+#elif defined(__ghs__)
+# define COMPILER_ID "GHS"
+/* __GHS_VERSION_NUMBER = VVVVRP */
+# ifdef __GHS_VERSION_NUMBER
+# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100)
+# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER      % 10)
+# endif
+
+#elif defined(__SCO_VERSION__)
+# define COMPILER_ID "SCO"
+
+#elif defined(__ARMCC_VERSION) && !defined(__clang__)
+# define COMPILER_ID "ARMCC"
+#if __ARMCC_VERSION >= 1000000
+  /* __ARMCC_VERSION = VRRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION     % 10000)
+#else
+  /* __ARMCC_VERSION = VRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION    % 10000)
+#endif
+
+
+#elif defined(__clang__) && defined(__apple_build_version__)
+# define COMPILER_ID "AppleClang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__)
+
+#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION)
+# define COMPILER_ID "ARMClang"
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION     % 10000)
+# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION)
+
+#elif defined(__clang__)
+# define COMPILER_ID "Clang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+
+#elif defined(__GNUC__) || defined(__GNUG__)
+# define COMPILER_ID "GNU"
+# if defined(__GNUC__)
+#  define COMPILER_VERSION_MAJOR DEC(__GNUC__)
+# else
+#  define COMPILER_VERSION_MAJOR DEC(__GNUG__)
+# endif
+# if defined(__GNUC_MINOR__)
+#  define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(_MSC_VER)
+# define COMPILER_ID "MSVC"
+  /* _MSC_VER = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
+# if defined(_MSC_FULL_VER)
+#  if _MSC_VER >= 1400
+    /* _MSC_FULL_VER = VVRRPPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
+#  else
+    /* _MSC_FULL_VER = VVRRPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
+#  endif
+# endif
+# if defined(_MSC_BUILD)
+#  define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
+# endif
+
+#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__)
+# define COMPILER_ID "ADSP"
+#if defined(__VISUALDSPVERSION__)
+  /* __VISUALDSPVERSION__ = 0xVVRRPP00 */
+# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24)
+# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF)
+# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8  & 0xFF)
+#endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# define COMPILER_ID "IAR"
+# if defined(__VER__) && defined(__ICCARM__)
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000)
+#  define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000)
+#  define COMPILER_VERSION_PATCH DEC((__VER__) % 1000)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__) || defined(__ICCSTM8__))
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 100)
+#  define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100))
+#  define COMPILER_VERSION_PATCH DEC(__SUBVERSION__)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# endif
+
+
+/* These compilers are either not known or too old to define an
+  identification macro.  Try to identify the platform and guess that
+  it is the native compiler.  */
+#elif defined(__hpux) || defined(__hpua)
+# define COMPILER_ID "HP"
+
+#else /* unknown compiler */
+# define COMPILER_ID ""
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]";
+#ifdef SIMULATE_ID
+char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]";
+#endif
+
+#ifdef __QNXNTO__
+char const* qnxnto = "INFO" ":" "qnxnto[]";
+#endif
+
+#if defined(__CRAYXT_COMPUTE_LINUX_TARGET)
+char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]";
+#endif
+
+#define STRINGIFY_HELPER(X) #X
+#define STRINGIFY(X) STRINGIFY_HELPER(X)
+
+/* Identify known platforms by name.  */
+#if defined(__linux) || defined(__linux__) || defined(linux)
+# define PLATFORM_ID "Linux"
+
+#elif defined(__MSYS__)
+# define PLATFORM_ID "MSYS"
+
+#elif defined(__CYGWIN__)
+# define PLATFORM_ID "Cygwin"
+
+#elif defined(__MINGW32__)
+# define PLATFORM_ID "MinGW"
+
+#elif defined(__APPLE__)
+# define PLATFORM_ID "Darwin"
+
+#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
+# define PLATFORM_ID "Windows"
+
+#elif defined(__FreeBSD__) || defined(__FreeBSD)
+# define PLATFORM_ID "FreeBSD"
+
+#elif defined(__NetBSD__) || defined(__NetBSD)
+# define PLATFORM_ID "NetBSD"
+
+#elif defined(__OpenBSD__) || defined(__OPENBSD)
+# define PLATFORM_ID "OpenBSD"
+
+#elif defined(__sun) || defined(sun)
+# define PLATFORM_ID "SunOS"
+
+#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
+# define PLATFORM_ID "AIX"
+
+#elif defined(__hpux) || defined(__hpux__)
+# define PLATFORM_ID "HP-UX"
+
+#elif defined(__HAIKU__)
+# define PLATFORM_ID "Haiku"
+
+#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
+# define PLATFORM_ID "BeOS"
+
+#elif defined(__QNX__) || defined(__QNXNTO__)
+# define PLATFORM_ID "QNX"
+
+#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__)
+# define PLATFORM_ID "Tru64"
+
+#elif defined(__riscos) || defined(__riscos__)
+# define PLATFORM_ID "RISCos"
+
+#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
+# define PLATFORM_ID "SINIX"
+
+#elif defined(__UNIX_SV__)
+# define PLATFORM_ID "UNIX_SV"
+
+#elif defined(__bsdos__)
+# define PLATFORM_ID "BSDOS"
+
+#elif defined(_MPRAS) || defined(MPRAS)
+# define PLATFORM_ID "MP-RAS"
+
+#elif defined(__osf) || defined(__osf__)
+# define PLATFORM_ID "OSF1"
+
+#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
+# define PLATFORM_ID "SCO_SV"
+
+#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
+# define PLATFORM_ID "ULTRIX"
+
+#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
+# define PLATFORM_ID "Xenix"
+
+#elif defined(__WATCOMC__)
+# if defined(__LINUX__)
+#  define PLATFORM_ID "Linux"
+
+# elif defined(__DOS__)
+#  define PLATFORM_ID "DOS"
+
+# elif defined(__OS2__)
+#  define PLATFORM_ID "OS2"
+
+# elif defined(__WINDOWS__)
+#  define PLATFORM_ID "Windows3x"
+
+# elif defined(__VXWORKS__)
+#  define PLATFORM_ID "VxWorks"
+
+# else /* unknown platform */
+#  define PLATFORM_ID
+# endif
+
+#elif defined(__INTEGRITY)
+# if defined(INT_178B)
+#  define PLATFORM_ID "Integrity178"
+
+# else /* regular Integrity */
+#  define PLATFORM_ID "Integrity"
+# endif
+
+#else /* unknown platform */
+# define PLATFORM_ID
+
+#endif
+
+/* For windows compilers MSVC and Intel we can determine
+   the architecture of the compiler being used.  This is because
+   the compilers do not have flags that can change the architecture,
+   but rather depend on which compiler is being used
+*/
+#if defined(_WIN32) && defined(_MSC_VER)
+# if defined(_M_IA64)
+#  define ARCHITECTURE_ID "IA64"
+
+# elif defined(_M_ARM64EC)
+#  define ARCHITECTURE_ID "ARM64EC"
+
+# elif defined(_M_X64) || defined(_M_AMD64)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# elif defined(_M_ARM64)
+#  define ARCHITECTURE_ID "ARM64"
+
+# elif defined(_M_ARM)
+#  if _M_ARM == 4
+#   define ARCHITECTURE_ID "ARMV4I"
+#  elif _M_ARM == 5
+#   define ARCHITECTURE_ID "ARMV5I"
+#  else
+#   define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM)
+#  endif
+
+# elif defined(_M_MIPS)
+#  define ARCHITECTURE_ID "MIPS"
+
+# elif defined(_M_SH)
+#  define ARCHITECTURE_ID "SHx"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__WATCOMC__)
+# if defined(_M_I86)
+#  define ARCHITECTURE_ID "I86"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# if defined(__ICCARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__ICCRX__)
+#  define ARCHITECTURE_ID "RX"
+
+# elif defined(__ICCRH850__)
+#  define ARCHITECTURE_ID "RH850"
+
+# elif defined(__ICCRL78__)
+#  define ARCHITECTURE_ID "RL78"
+
+# elif defined(__ICCRISCV__)
+#  define ARCHITECTURE_ID "RISCV"
+
+# elif defined(__ICCAVR__)
+#  define ARCHITECTURE_ID "AVR"
+
+# elif defined(__ICC430__)
+#  define ARCHITECTURE_ID "MSP430"
+
+# elif defined(__ICCV850__)
+#  define ARCHITECTURE_ID "V850"
+
+# elif defined(__ICC8051__)
+#  define ARCHITECTURE_ID "8051"
+
+# elif defined(__ICCSTM8__)
+#  define ARCHITECTURE_ID "STM8"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__ghs__)
+# if defined(__PPC64__)
+#  define ARCHITECTURE_ID "PPC64"
+
+# elif defined(__ppc__)
+#  define ARCHITECTURE_ID "PPC"
+
+# elif defined(__ARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__x86_64__)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(__i386__)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__TI_COMPILER_VERSION__)
+# if defined(__TI_ARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__MSP430__)
+#  define ARCHITECTURE_ID "MSP430"
+
+# elif defined(__TMS320C28XX__)
+#  define ARCHITECTURE_ID "TMS320C28x"
+
+# elif defined(__TMS320C6X__) || defined(_TMS320C6X)
+#  define ARCHITECTURE_ID "TMS320C6x"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#else
+#  define ARCHITECTURE_ID
+#endif
+
+/* Convert integer to decimal digit literals.  */
+#define DEC(n)                   \
+  ('0' + (((n) / 10000000)%10)), \
+  ('0' + (((n) / 1000000)%10)),  \
+  ('0' + (((n) / 100000)%10)),   \
+  ('0' + (((n) / 10000)%10)),    \
+  ('0' + (((n) / 1000)%10)),     \
+  ('0' + (((n) / 100)%10)),      \
+  ('0' + (((n) / 10)%10)),       \
+  ('0' +  ((n) % 10))
+
+/* Convert integer to hex digit literals.  */
+#define HEX(n)             \
+  ('0' + ((n)>>28 & 0xF)), \
+  ('0' + ((n)>>24 & 0xF)), \
+  ('0' + ((n)>>20 & 0xF)), \
+  ('0' + ((n)>>16 & 0xF)), \
+  ('0' + ((n)>>12 & 0xF)), \
+  ('0' + ((n)>>8  & 0xF)), \
+  ('0' + ((n)>>4  & 0xF)), \
+  ('0' + ((n)     & 0xF))
+
+/* Construct a string literal encoding the version number. */
+#ifdef COMPILER_VERSION
+char const* info_version = "INFO" ":" "compiler_version[" COMPILER_VERSION "]";
+
+/* Construct a string literal encoding the version number components. */
+#elif defined(COMPILER_VERSION_MAJOR)
+char const info_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[',
+  COMPILER_VERSION_MAJOR,
+# ifdef COMPILER_VERSION_MINOR
+  '.', COMPILER_VERSION_MINOR,
+#  ifdef COMPILER_VERSION_PATCH
+   '.', COMPILER_VERSION_PATCH,
+#   ifdef COMPILER_VERSION_TWEAK
+    '.', COMPILER_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct a string literal encoding the internal version number. */
+#ifdef COMPILER_VERSION_INTERNAL
+char const info_version_internal[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_',
+  'i','n','t','e','r','n','a','l','[',
+  COMPILER_VERSION_INTERNAL,']','\0'};
+#elif defined(COMPILER_VERSION_INTERNAL_STR)
+char const* info_version_internal = "INFO" ":" "compiler_version_internal[" COMPILER_VERSION_INTERNAL_STR "]";
+#endif
+
+/* Construct a string literal encoding the version number components. */
+#ifdef SIMULATE_VERSION_MAJOR
+char const info_simulate_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[',
+  SIMULATE_VERSION_MAJOR,
+# ifdef SIMULATE_VERSION_MINOR
+  '.', SIMULATE_VERSION_MINOR,
+#  ifdef SIMULATE_VERSION_PATCH
+   '.', SIMULATE_VERSION_PATCH,
+#   ifdef SIMULATE_VERSION_TWEAK
+    '.', SIMULATE_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]";
+char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
+
+
+
+#if defined(__INTEL_COMPILER) && defined(_MSVC_LANG) && _MSVC_LANG < 201403L
+#  if defined(__INTEL_CXX11_MODE__)
+#    if defined(__cpp_aggregate_nsdmi)
+#      define CXX_STD 201402L
+#    else
+#      define CXX_STD 201103L
+#    endif
+#  else
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+set_tests_properties(copyright PROPERTIES  LABELS "copyright;linter" TIMEOUT "200" WORKING_DIRECTORY "/workspace/src/TurtleBot-RRT-Star" _BACKTRACE_TRIPLES "/opt/ros/humble/share/ament_cmake_test/cmake/ament_add_test.cmake;125;add_test;/opt/ros/humble/share/ament_cmake_copyright/cmake/ament_copyright.cmake;51;ament_add_test;/opt/ros/humble/share/ament_cmake_copyright/cmake/ament_cmake_copyright_lint_hook.cmake;22;ament_copyright;/opt/ros/humble/share/ament_cmake_copyright/cmake/ament_cmake_copyright_lint_hook.cmake;0;;/opt/ros/humble/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake;48;include;/opt/ros/humble/share/ament_lint_auto/cmake/ament_lint_auto_package_hook.cmake;21;ament_execute_extensions;/opt/ros/humble/share/ament_lint_auto/cmake/ament_lint_auto_package_hook.cmake;0;;/opt/ros/humble/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake;48;include;/opt/ros/humble/share/ament_cmake_core/cmake/core/ament_package.cmake;66;ament_execute_extensions;/workspace/src/TurtleBot-RRT-Star/CMakeLists.txt;91;ament_package;/workspace/src/TurtleBot-RRT-Star/CMakeLists.txt;0;")
+add_test(cppcheck "/usr/bin/python3" "-u" "/opt/ros/humble/share/ament_cmake_test/cmake/run_test.py" "/workspace/build/nav2_rrtstar_planner/test_results/nav2_rrtstar_planner/cppcheck.xunit.xml" "--package-name" "nav2_rrtstar_planner" "--output-file" "/workspace/build/nav2_rrtstar_planner/ament_cppcheck/cppcheck.txt" "--command" "/opt/ros/humble/bin/ament_cppcheck" "--xunit-file" "/workspace/build/nav2_rrtstar_planner/test_results/nav2_rrtstar_planner/cppcheck.xunit.xml" "--include_dirs" "/workspace/src/TurtleBot-RRT-Star/include")
+set_tests_properties(cppcheck PROPERTIES  LABELS "cppcheck;linter" TIMEOUT "300" WORKING_DIRECTORY "/workspace/src/TurtleBot-RRT-Star" _BACKTRACE_TRIPLES "/opt/ros/humble/share/ament_cmake_test/cmake/ament_add_test.cmake;125;add_test;/opt/ros/humble/share/ament_cmake_cppcheck/cmake/ament_cppcheck.cmake;66;ament_add_test;/opt/ros/humble/share/ament_cmake_cppcheck/cmake/ament_cmake_cppcheck_lint_hook.cmake;87;ament_cppcheck;/opt/ros/humble/share/ament_cmake_cppcheck/cmake/ament_cmake_cppcheck_lint_hook.cmake;0;;/opt/ros/humble/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake;48;include;/opt/ros/humble/share/ament_lint_auto/cmake/ament_lint_auto_package_hook.cmake;21;ament_execute_extensions;/opt/ros/humble/share/ament_lint_auto/cmake/ament_lint_auto_package_hook.cmake;0;;/opt/ros/humble/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake;48;include;/opt/ros/humble/share/ament_cmake_core/cmake/core/ament_package.cmake;66;ament_execute_extensions;/workspace/src/TurtleBot-RRT-Star/CMakeLists.txt;91;ament_package;/workspace/src/TurtleBot-RRT-Star/CMakeLists.txt;0;")
+add_test(cpplint "/usr/bin/python3" "-u" "/opt/ros/humble/share/ament_cmake_test/cmake/run_test.py" "/workspace/build/nav2_rrtstar_planner/test_results/nav2_rrtstar_planner/cpplint.xunit.xml" "--package-name" "nav2_rrtstar_planner" "--output-file" "/workspace/build/nav2_rrtstar_planner/ament_cpplint/cpplint.txt" "--command" "/opt/ros/humble/bin/ament_cpplint" "--xunit-file" "/workspace/build/nav2_rrtstar_planner/test_results/nav2_rrtstar_planner/cpplint.xunit.xml")
+set_tests_properties(cpplint PROPERTIES  LABELS "cpplint;linter" TIMEOUT "120" WORKING_DIRECTORY "/workspace/src/TurtleBot-RRT-Star" _BACKTRACE_TRIPLES "/opt/ros/humble/share/ament_cmake_test/cmake/ament_add_test.cmake;125;add_test;/opt/ros/humble/share/ament_cmake_cpplint/cmake/ament_cpplint.cmake;68;ament_add_test;/opt/ros/humble/share/ament_cmake_cpplint/cmake/ament_cmake_cpplint_lint_hook.cmake;39;ament_cpplint;/opt/ros/humble/share/ament_cmake_cpplint/cmake/ament_cmake_cpplint_lint_hook.cmake;0;;/opt/ros/humble/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake;48;include;/opt/ros/humble/share/ament_lint_auto/cmake/ament_lint_auto_package_hook.cmake;21;ament_execute_extensions;/opt/ros/humble/share/ament_lint_auto/cmake/ament_lint_auto_package_hook.cmake;0;;/opt/ros/humble/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake;48;include;/opt/ros/humble/share/ament_cmake_core/cmake/core/ament_package.cmake;66;ament_execute_extensions;/workspace/src/TurtleBot-RRT-Star/CMakeLists.txt;91;ament_package;/workspace/src/TurtleBot-RRT-Star/CMakeLists.txt;0;")
+add_test(flake8 "/usr/bin/python3" "-u" "/opt/ros/humble/share/ament_cmake_test/cmake/run_test.py" "/workspace/build/nav2_rrtstar_planner/test_results/nav2_rrtstar_planner/flake8.xunit.xml" "--package-name" "nav2_rrtstar_planner" "--output-file" "/workspace/build/nav2_rrtstar_planner/ament_flake8/flake8.txt" "--command" "/opt/ros/humble/bin/ament_flake8" "--xunit-file" "/workspace/build/nav2_rrtstar_planner/test_results/nav2_rrtstar_planner/flake8.xunit.xml")
+set_tests_properties(flake8 PROPERTIES  LABELS "flake8;linter" TIMEOUT "60" WORKING_DIRECTORY "/workspace/src/TurtleBot-RRT-Star" _BACKTRACE_TRIPLES "/opt/ros/humble/share/ament_cmake_test/cmake/ament_add_test.cmake;125;add_test;/opt/ros/humble/share/ament_cmake_flake8/cmake/ament_flake8.cmake;63;ament_add_test;/opt/ros/humble/share/ament_cmake_flake8/cmake/ament_cmake_flake8_lint_hook.cmake;18;ament_flake8;/opt/ros/humble/share/ament_cmake_flake8/cmake/ament_cmake_flake8_lint_hook.cmake;0;;/opt/ros/humble/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake;48;include;/opt/ros/humble/share/ament_lint_auto/cmake/ament_lint_auto_package_hook.cmake;21;ament_execute_extensions;/opt/ros/humble/share/ament_lint_auto/cmake/ament_lint_auto_package_hook.cmake;0;;/opt/ros/humble/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake;48;include;/opt/ros/humble/share/ament_cmake_core/cmake/core/ament_package.cmake;66;ament_execute_extensions;/workspace/src/TurtleBot-RRT-Star/CMakeLists.txt;91;ament_package;/workspace/src/TurtleBot-RRT-Star/CMakeLists.txt;0;")
+add_test(lint_cmake "/usr/bin/python3" "-u" "/opt/ros/humble/share/ament_cmake_test/cmake/run_test.py" "/workspace/build/nav2_rrtstar_planner/test_results/nav2_rrtstar_planner/lint_cmake.xunit.xml" "--package-name" "nav2_rrtstar_planner" "--output-file" "/workspace/build/nav2_rrtstar_planner/ament_lint_cmake/lint_cmake.txt" "--command" "/opt/ros/humble/bin/ament_lint_cmake" "--xunit-file" "/workspace/build/nav2_rrtstar_planner/test_results/nav2_rrtstar_planner/lint_cmake.xunit.xml")
+set_tests_properties(lint_cmake PROPERTIES  LABELS "lint_cmake;linter" TIMEOUT "60" WORKING_DIRECTORY "/workspace/src/TurtleBot-RRT-Star" _BACKTRACE_TRIPLES "/opt/ros/humble/share/ament_cmake_test/cmake/ament_add_test.cmake;125;add_test;/opt/ros/humble/share/ament_cmake_lint_cmake/cmake/ament_lint_cmake.cmake;47;ament_add_test;/opt/ros/humble/share/ament_cmake_lint_cmake/cmake/ament_cmake_lint_cmake_lint_hook.cmake;21;ament_lint_cmake;/opt/ros/humble/share/ament_cmake_lint_cmake/cmake/ament_cmake_lint_cmake_lint_hook.cmake;0;;/opt/ros/humble/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake;48;include;/opt/ros/humble/share/ament_lint_auto/cmake/ament_lint_auto_package_hook.cmake;21;ament_execute_extensions;/opt/ros/humble/share/ament_lint_auto/cmake/ament_lint_auto_package_hook.cmake;0;;/opt/ros/humble/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake;48;include;/opt/ros/humble/share/ament_cmake_core/cmake/core/ament_package.cmake;66;ament_execute_extensions;/workspace/src/TurtleBot-RRT-Star/CMakeLists.txt;91;ament_package;/workspace/src/TurtleBot-RRT-Star/CMakeLists.txt;0;")
+add_test(pep257 "/usr/bin/python3" "-u" "/opt/ros/humble/share/ament_cmake_test/cmake/run_test.py" "/workspace/build/nav2_rrtstar_planner/test_results/nav2_rrtstar_planner/pep257.xunit.xml" "--package-name" "nav2_rrtstar_planner" "--output-file" "/workspace/build/nav2_rrtstar_planner/ament_pep257/pep257.txt" "--command" "/opt/ros/humble/bin/ament_pep257" "--xunit-file" "/workspace/build/nav2_rrtstar_planner/test_results/nav2_rrtstar_planner/pep257.xunit.xml")
+set_tests_properties(pep257 PROPERTIES  LABELS "pep257;linter" TIMEOUT "60" WORKING_DIRECTORY "/workspace/src/TurtleBot-RRT-Star" _BACKTRACE_TRIPLES "/opt/ros/humble/share/ament_cmake_test/cmake/ament_add_test.cmake;125;add_test;/opt/ros/humble/share/ament_cmake_pep257/cmake/ament_pep257.cmake;41;ament_add_test;/opt/ros/humble/share/ament_cmake_pep257/cmake/ament_cmake_pep257_lint_hook.cmake;18;ament_pep257;/opt/ros/humble/share/ament_cmake_pep257/cmake/ament_cmake_pep257_lint_hook.cmake;0;;/opt/ros/humble/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake;48;include;/opt/ros/humble/share/ament_lint_auto/cmake/ament_lint_auto_package_hook.cmake;21;ament_execute_extensions;/opt/ros/humble/share/ament_lint_auto/cmake/ament_lint_auto_package_hook.cmake;0;;/opt/ros/humble/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake;48;include;/opt/ros/humble/share/ament_cmake_core/cmake/core/ament_package.cmake;66;ament_execute_extensions;/workspace/src/TurtleBot-RRT-Star/CMakeLists.txt;91;ament_package;/workspace/src/TurtleBot-RRT-Star/CMakeLists.txt;0;")
+add_test(uncrustify "/usr/bin/python3" "-u" "/opt/ros/humble/share/ament_cmake_test/cmake/run_test.py" "/workspace/build/nav2_rrtstar_planner/test_results/nav2_rrtstar_planner/uncrustify.xunit.xml" "--package-name" "nav2_rrtstar_planner" "--output-file" "/workspace/build/nav2_rrtstar_planner/ament_uncrustify/uncrustify.txt" "--command" "/opt/ros/humble/bin/ament_uncrustify" "--xunit-file" "/workspace/build/nav2_rrtstar_planner/test_results/nav2_rrtstar_planner/uncrustify.xunit.xml")
+set_tests_properties(uncrustify PROPERTIES  LABELS "uncrustify;linter" TIMEOUT "60" WORKING_DIRECTORY "/workspace/src/TurtleBot-RRT-Star" _BACKTRACE_TRIPLES "/opt/ros/humble/share/ament_cmake_test/cmake/ament_add_test.cmake;125;add_test;/opt/ros/humble/share/ament_cmake_uncrustify/cmake/ament_uncrustify.cmake;70;ament_add_test;/opt/ros/humble/share/ament_cmake_uncrustify/cmake/ament_cmake_uncrustify_lint_hook.cmake;43;ament_uncrustify;/opt/ros/humble/share/ament_cmake_uncrustify/cmake/ament_cmake_uncrustify_lint_hook.cmake;0;;/opt/ros/humble/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake;48;include;/opt/ros/humble/share/ament_lint_auto/cmake/ament_lint_auto_package_hook.cmake;21;ament_execute_extensions;/opt/ros/humble/share/ament_lint_auto/cmake/ament_lint_auto_package_hook.cmake;0;;/opt/ros/humble/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake;48;include;/opt/ros/humble/share/ament_cmake_core/cmake/core/ament_package.cmake;66;ament_execute_extensions;/workspace/src/TurtleBot-RRT-Star/CMakeLists.txt;91;ament_package;/workspace/src/TurtleBot-RRT-Star/CMakeLists.txt;0;")
+add_test(xmllint "/usr/bin/python3" "-u" "/opt/ros/humble/share/ament_cmake_test/cmake/run_test.py" "/workspace/build/nav2_rrtstar_planner/test_results/nav2_rrtstar_planner/xmllint.xunit.xml" "--package-name" "nav2_rrtstar_planner" "--output-file" "/workspace/build/nav2_rrtstar_planner/ament_xmllint/xmllint.txt" "--command" "/opt/ros/humble/bin/ament_xmllint" "--xunit-file" "/workspace/build/nav2_rrtstar_planner/test_results/nav2_rrtstar_planner/xmllint.xunit.xml")
+set_tests_properties(xmllint PROPERTIES  LABELS "xmllint;linter" TIMEOUT "60" WORKING_DIRECTORY "/workspace/src/TurtleBot-RRT-Star" _BACKTRACE_TRIPLES "/opt/ros/humble/share/ament_cmake_test/cmake/ament_add_test.cmake;125;add_test;/opt/ros/humble/share/ament_cmake_xmllint/cmake/ament_xmllint.cmake;50;ament_add_test;/opt/ros/humble/share/ament_cmake_xmllint/cmake/ament_cmake_xmllint_lint_hook.cmake;18;ament_xmllint;/opt/ros/humble/share/ament_cmake_xmllint/cmake/ament_cmake_xmllint_lint_hook.cmake;0;;/opt/ros/humble/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake;48;include;/opt/ros/humble/share/ament_lint_auto/cmake/ament_lint_auto_package_hook.cmake;21;ament_execute_extensions;/opt/ros/humble/share/ament_lint_auto/cmake/ament_lint_auto_package_hook.cmake;0;;/opt/ros/humble/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake;48;include;/opt/ros/humble/share/ament_cmake_core/cmake/core/ament_package.cmake;66;ament_execute_extensions;/workspace/src/TurtleBot-RRT-Star/CMakeLists.txt;91;ament_package;/workspace/src/TurtleBot-RRT-Star/CMakeLists.txt;0;")
diff --git a/build/nav2_rrtstar_planner/Makefile b/build/nav2_rrtstar_planner/Makefile
new file mode 100644
index 0000000..830c5ba
--- /dev/null
+++ b/build/nav2_rrtstar_planner/Makefile
@@ -0,0 +1,269 @@
+# CMAKE generated file: DO NOT EDIT!
+# Generated by "Unix Makefiles" Generator, CMake Version 3.22
+
+# Default target executed when no arguments are given to make.
+default_target: all
+.PHONY : default_target
+
+# Allow only one "make -f Makefile2" at a time, but pass parallelism.
+.NOTPARALLEL:
+
+#=============================================================================
+# Special targets provided by cmake.
+
+# Disable implicit rules so canonical targets will work.
+.SUFFIXES:
+
+# Disable VCS-based implicit rules.
+% : %,v
+
+# Disable VCS-based implicit rules.
+% : RCS/%
+
+# Disable VCS-based implicit rules.
+% : RCS/%,v
+
+# Disable VCS-based implicit rules.
+% : SCCS/s.%
+
+# Disable VCS-based implicit rules.
+% : s.%
+
+.SUFFIXES: .hpux_make_needs_suffix_list
+
+# Command-line flag to silence nested $(MAKE).
+$(VERBOSE)MAKESILENT = -s
+
+#Suppress display of executed commands.
+$(VERBOSE).SILENT:
+
+# A target that is always out of date.
+cmake_force:
+.PHONY : cmake_force
+
+#=============================================================================
+# Set environment variables for the build.
+
+# The shell in which to execute make rules.
+SHELL = /bin/sh
+
+# The CMake executable.
+CMAKE_COMMAND = /usr/bin/cmake
+
+# The command to remove a file.
+RM = /usr/bin/cmake -E rm -f
+
+# Escaping for special characters.
+EQUALS = =
+
+# The top-level source directory on which CMake was run.
+CMAKE_SOURCE_DIR = /workspace/src/TurtleBot-RRT-Star
+
+# The top-level build directory on which CMake was run.
+CMAKE_BINARY_DIR = /workspace/build/nav2_rrtstar_planner
+
+#=============================================================================
+# Targets provided globally by CMake.
+
+# Special rule for the target test
+test:
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Running tests..."
+	/usr/bin/ctest --force-new-ctest-process $(ARGS)
+.PHONY : test
+
+# Special rule for the target test
+test/fast: test
+.PHONY : test/fast
+
+# Special rule for the target edit_cache
+edit_cache:
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "No interactive CMake dialog available..."
+	/usr/bin/cmake -E echo No\ interactive\ CMake\ dialog\ available.
+.PHONY : edit_cache
+
+# Special rule for the target edit_cache
+edit_cache/fast: edit_cache
+.PHONY : edit_cache/fast
+
+# Special rule for the target rebuild_cache
+rebuild_cache:
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Running CMake to regenerate build system..."
+	/usr/bin/cmake --regenerate-during-build -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR)
+.PHONY : rebuild_cache
+
+# Special rule for the target rebuild_cache
+rebuild_cache/fast: rebuild_cache
+.PHONY : rebuild_cache/fast
+
+# Special rule for the target list_install_components
+list_install_components:
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Available install components are: \"Unspecified\""
+.PHONY : list_install_components
+
+# Special rule for the target list_install_components
+list_install_components/fast: list_install_components
+.PHONY : list_install_components/fast
+
+# Special rule for the target install
+install: preinstall
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Install the project..."
+	/usr/bin/cmake -P cmake_install.cmake
+.PHONY : install
+
+# Special rule for the target install
+install/fast: preinstall/fast
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Install the project..."
+	/usr/bin/cmake -P cmake_install.cmake
+.PHONY : install/fast
+
+# Special rule for the target install/local
+install/local: preinstall
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing only the local directory..."
+	/usr/bin/cmake -DCMAKE_INSTALL_LOCAL_ONLY=1 -P cmake_install.cmake
+.PHONY : install/local
+
+# Special rule for the target install/local
+install/local/fast: preinstall/fast
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing only the local directory..."
+	/usr/bin/cmake -DCMAKE_INSTALL_LOCAL_ONLY=1 -P cmake_install.cmake
+.PHONY : install/local/fast
+
+# Special rule for the target install/strip
+install/strip: preinstall
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing the project stripped..."
+	/usr/bin/cmake -DCMAKE_INSTALL_DO_STRIP=1 -P cmake_install.cmake
+.PHONY : install/strip
+
+# Special rule for the target install/strip
+install/strip/fast: preinstall/fast
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing the project stripped..."
+	/usr/bin/cmake -DCMAKE_INSTALL_DO_STRIP=1 -P cmake_install.cmake
+.PHONY : install/strip/fast
+
+# The main all target
+all: cmake_check_build_system
+	$(CMAKE_COMMAND) -E cmake_progress_start /workspace/build/nav2_rrtstar_planner/CMakeFiles /workspace/build/nav2_rrtstar_planner//CMakeFiles/progress.marks
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/Makefile2 all
+	$(CMAKE_COMMAND) -E cmake_progress_start /workspace/build/nav2_rrtstar_planner/CMakeFiles 0
+.PHONY : all
+
+# The main clean target
+clean:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/Makefile2 clean
+.PHONY : clean
+
+# The main clean target
+clean/fast: clean
+.PHONY : clean/fast
+
+# Prepare targets for installation.
+preinstall: all
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/Makefile2 preinstall
+.PHONY : preinstall
+
+# Prepare targets for installation.
+preinstall/fast:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/Makefile2 preinstall
+.PHONY : preinstall/fast
+
+# clear depends
+depend:
+	$(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 1
+.PHONY : depend
+
+#=============================================================================
+# Target rules for targets named uninstall
+
+# Build rule for target.
+uninstall: cmake_check_build_system
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/Makefile2 uninstall
+.PHONY : uninstall
+
+# fast build rule for target.
+uninstall/fast:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/uninstall.dir/build.make CMakeFiles/uninstall.dir/build
+.PHONY : uninstall/fast
+
+#=============================================================================
+# Target rules for targets named nav2_rrtstar_planner_uninstall
+
+# Build rule for target.
+nav2_rrtstar_planner_uninstall: cmake_check_build_system
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/Makefile2 nav2_rrtstar_planner_uninstall
+.PHONY : nav2_rrtstar_planner_uninstall
+
+# fast build rule for target.
+nav2_rrtstar_planner_uninstall/fast:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/nav2_rrtstar_planner_uninstall.dir/build.make CMakeFiles/nav2_rrtstar_planner_uninstall.dir/build
+.PHONY : nav2_rrtstar_planner_uninstall/fast
+
+#=============================================================================
+# Target rules for targets named nav2_rrtstar_planner_plugin
+
+# Build rule for target.
+nav2_rrtstar_planner_plugin: cmake_check_build_system
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/Makefile2 nav2_rrtstar_planner_plugin
+.PHONY : nav2_rrtstar_planner_plugin
+
+# fast build rule for target.
+nav2_rrtstar_planner_plugin/fast:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/nav2_rrtstar_planner_plugin.dir/build.make CMakeFiles/nav2_rrtstar_planner_plugin.dir/build
+.PHONY : nav2_rrtstar_planner_plugin/fast
+
+src/rrtstar_planner.o: src/rrtstar_planner.cpp.o
+.PHONY : src/rrtstar_planner.o
+
+# target to build an object file
+src/rrtstar_planner.cpp.o:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/nav2_rrtstar_planner_plugin.dir/build.make CMakeFiles/nav2_rrtstar_planner_plugin.dir/src/rrtstar_planner.cpp.o
+.PHONY : src/rrtstar_planner.cpp.o
+
+src/rrtstar_planner.i: src/rrtstar_planner.cpp.i
+.PHONY : src/rrtstar_planner.i
+
+# target to preprocess a source file
+src/rrtstar_planner.cpp.i:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/nav2_rrtstar_planner_plugin.dir/build.make CMakeFiles/nav2_rrtstar_planner_plugin.dir/src/rrtstar_planner.cpp.i
+.PHONY : src/rrtstar_planner.cpp.i
+
+src/rrtstar_planner.s: src/rrtstar_planner.cpp.s
+.PHONY : src/rrtstar_planner.s
+
+# target to generate assembly for a file
+src/rrtstar_planner.cpp.s:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/nav2_rrtstar_planner_plugin.dir/build.make CMakeFiles/nav2_rrtstar_planner_plugin.dir/src/rrtstar_planner.cpp.s
+.PHONY : src/rrtstar_planner.cpp.s
+
+# Help Target
+help:
+	@echo "The following are some of the valid targets for this Makefile:"
+	@echo "... all (the default if no target is provided)"
+	@echo "... clean"
+	@echo "... depend"
+	@echo "... edit_cache"
+	@echo "... install"
+	@echo "... install/local"
+	@echo "... install/strip"
+	@echo "... list_install_components"
+	@echo "... rebuild_cache"
+	@echo "... test"
+	@echo "... nav2_rrtstar_planner_uninstall"
+	@echo "... uninstall"
+	@echo "... nav2_rrtstar_planner_plugin"
+	@echo "... src/rrtstar_planner.o"
+	@echo "... src/rrtstar_planner.i"
+	@echo "... src/rrtstar_planner.s"
+.PHONY : help
+
+
+
+#=============================================================================
+# Special targets to cleanup operation of make.
+
+# Special rule to run CMake to check the build system integrity.
+# No rule that depends on this can have commands that come from listfiles
+# because they might be regenerated.
+cmake_check_build_system:
+	$(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
+.PHONY : cmake_check_build_system
+
diff --git a/build/nav2_rrtstar_planner/ament_cmake_core/nav2_rrtstar_plannerConfig-version.cmake b/build/nav2_rrtstar_planner/ament_cmake_core/nav2_rrtstar_plannerConfig-version.cmake
new file mode 100644
index 0000000..1a5b413
--- /dev/null
+++ b/build/nav2_rrtstar_planner/ament_cmake_core/nav2_rrtstar_plannerConfig-version.cmake
@@ -0,0 +1,14 @@
+# generated from ament/cmake/core/templates/nameConfig-version.cmake.in
+set(PACKAGE_VERSION "1.0.0")
+
+set(PACKAGE_VERSION_EXACT False)
+set(PACKAGE_VERSION_COMPATIBLE False)
+
+if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_EXACT True)
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
+
+if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
diff --git a/build/nav2_rrtstar_planner/ament_cmake_core/nav2_rrtstar_plannerConfig.cmake b/build/nav2_rrtstar_planner/ament_cmake_core/nav2_rrtstar_plannerConfig.cmake
new file mode 100644
index 0000000..4230ecf
--- /dev/null
+++ b/build/nav2_rrtstar_planner/ament_cmake_core/nav2_rrtstar_plannerConfig.cmake
@@ -0,0 +1,42 @@
+# generated from ament/cmake/core/templates/nameConfig.cmake.in
+
+# prevent multiple inclusion
+if(_nav2_rrtstar_planner_CONFIG_INCLUDED)
+  # ensure to keep the found flag the same
+  if(NOT DEFINED nav2_rrtstar_planner_FOUND)
+    # explicitly set it to FALSE, otherwise CMake will set it to TRUE
+    set(nav2_rrtstar_planner_FOUND FALSE)
+  elseif(NOT nav2_rrtstar_planner_FOUND)
+    # use separate condition to avoid uninitialized variable warning
+    set(nav2_rrtstar_planner_FOUND FALSE)
+  endif()
+  return()
+endif()
+set(_nav2_rrtstar_planner_CONFIG_INCLUDED TRUE)
+
+# output package information
+if(NOT nav2_rrtstar_planner_FIND_QUIETLY)
+  message(STATUS "Found nav2_rrtstar_planner: 1.0.0 (${nav2_rrtstar_planner_DIR})")
+endif()
+
+# warn when using a deprecated package
+if(NOT "" STREQUAL "")
+  set(_msg "Package 'nav2_rrtstar_planner' is deprecated")
+  # append custom deprecation text if available
+  if(NOT "" STREQUAL "TRUE")
+    set(_msg "${_msg} ()")
+  endif()
+  # optionally quiet the deprecation message
+  if(NOT ${nav2_rrtstar_planner_DEPRECATED_QUIET})
+    message(DEPRECATION "${_msg}")
+  endif()
+endif()
+
+# flag package as ament-based to distinguish it after being find_package()-ed
+set(nav2_rrtstar_planner_FOUND_AMENT_PACKAGE TRUE)
+
+# include all config extra files
+set(_extras "ament_cmake_export_include_directories-extras.cmake;ament_cmake_export_libraries-extras.cmake;ament_cmake_export_dependencies-extras.cmake")
+foreach(_extra ${_extras})
+  include("${nav2_rrtstar_planner_DIR}/${_extra}")
+endforeach()
diff --git a/build/nav2_rrtstar_planner/ament_cmake_core/package.cmake b/build/nav2_rrtstar_planner/ament_cmake_core/package.cmake
new file mode 100644
index 0000000..89831a2
--- /dev/null
+++ b/build/nav2_rrtstar_planner/ament_cmake_core/package.cmake
@@ -0,0 +1,15 @@
+set(_AMENT_PACKAGE_NAME "nav2_rrtstar_planner")
+set(nav2_rrtstar_planner_VERSION "1.0.0")
+set(nav2_rrtstar_planner_MAINTAINER "echo <echo@126.com>")
+set(nav2_rrtstar_planner_BUILD_DEPENDS "rclcpp" "rclcpp_action" "rclcpp_lifecycle" "std_msgs" "visualization_msgs" "nav2_util" "nav2_msgs" "nav_msgs" "geometry_msgs" "builtin_interfaces" "tf2_ros" "nav2_costmap_2d" "nav2_core" "pluginlib" "nav2_bringup" "random" "vector" "limits")
+set(nav2_rrtstar_planner_BUILDTOOL_DEPENDS "ament_cmake")
+set(nav2_rrtstar_planner_BUILD_EXPORT_DEPENDS "rclcpp" "rclcpp_action" "rclcpp_lifecycle" "std_msgs" "visualization_msgs" "nav2_util" "nav2_msgs" "nav_msgs" "geometry_msgs" "builtin_interfaces" "tf2_ros" "nav2_costmap_2d" "nav2_core" "pluginlib" "nav2_bringup" "random" "vector" "limits")
+set(nav2_rrtstar_planner_BUILDTOOL_EXPORT_DEPENDS )
+set(nav2_rrtstar_planner_EXEC_DEPENDS "rclcpp" "rclcpp_action" "rclcpp_lifecycle" "std_msgs" "visualization_msgs" "nav2_util" "nav2_msgs" "nav_msgs" "geometry_msgs" "builtin_interfaces" "tf2_ros" "nav2_costmap_2d" "nav2_core" "pluginlib" "nav2_bringup" "random" "vector" "limits")
+set(nav2_rrtstar_planner_TEST_DEPENDS "ament_lint_auto" "ament_lint_common")
+set(nav2_rrtstar_planner_GROUP_DEPENDS )
+set(nav2_rrtstar_planner_MEMBER_OF_GROUPS )
+set(nav2_rrtstar_planner_DEPRECATED "")
+set(nav2_rrtstar_planner_EXPORT_TAGS)
+list(APPEND nav2_rrtstar_planner_EXPORT_TAGS "<build_type>ament_cmake</build_type>")
+list(APPEND nav2_rrtstar_planner_EXPORT_TAGS "<nav2_core plugin=\"global_planner_plugin.xml\"/>")
diff --git a/build/nav2_rrtstar_planner/ament_cmake_core/stamps/ament_cmake_export_dependencies-extras.cmake.stamp b/build/nav2_rrtstar_planner/ament_cmake_core/stamps/ament_cmake_export_dependencies-extras.cmake.stamp
new file mode 100644
index 0000000..d660a7d
--- /dev/null
+++ b/build/nav2_rrtstar_planner/ament_cmake_core/stamps/ament_cmake_export_dependencies-extras.cmake.stamp
@@ -0,0 +1,92 @@
+# generated from ament_cmake_export_dependencies/cmake/ament_cmake_export_dependencies-extras.cmake.in
+
+set(_exported_dependencies "rclcpp;rclcpp_action;rclcpp_lifecycle;std_msgs;visualization_msgs;nav2_util;nav2_msgs;nav_msgs;geometry_msgs;builtin_interfaces;tf2_ros;nav2_costmap_2d;nav2_core;pluginlib")
+
+find_package(ament_cmake_libraries QUIET REQUIRED)
+
+# find_package() all dependencies
+# and append their DEFINITIONS INCLUDE_DIRS, LIBRARIES, and LINK_FLAGS
+# variables to nav2_rrtstar_planner_DEFINITIONS, nav2_rrtstar_planner_INCLUDE_DIRS,
+# nav2_rrtstar_planner_LIBRARIES, and nav2_rrtstar_planner_LINK_FLAGS.
+# Additionally collect the direct dependency names in
+# nav2_rrtstar_planner_DEPENDENCIES as well as the recursive dependency names
+# in nav2_rrtstar_planner_RECURSIVE_DEPENDENCIES.
+if(NOT _exported_dependencies STREQUAL "")
+  find_package(ament_cmake_core QUIET REQUIRED)
+  set(nav2_rrtstar_planner_DEPENDENCIES ${_exported_dependencies})
+  set(nav2_rrtstar_planner_RECURSIVE_DEPENDENCIES ${_exported_dependencies})
+  set(_libraries)
+  foreach(_dep ${_exported_dependencies})
+    if(NOT ${_dep}_FOUND)
+      find_package("${_dep}" QUIET REQUIRED)
+    endif()
+    # if a package provides modern CMake interface targets use them
+    # exclusively assuming the classic CMake variables only exist for
+    # backward compatibility
+    set(use_modern_cmake FALSE)
+    if(NOT "${${_dep}_TARGETS}" STREQUAL "")
+      foreach(_target ${${_dep}_TARGETS})
+        # only use actual targets
+        # in case a package uses this variable for other content
+        if(TARGET "${_target}")
+          get_target_property(_include_dirs ${_target} INTERFACE_INCLUDE_DIRECTORIES)
+          if(_include_dirs)
+            list_append_unique(nav2_rrtstar_planner_INCLUDE_DIRS "${_include_dirs}")
+          endif()
+
+          get_target_property(_imported_configurations ${_target} IMPORTED_CONFIGURATIONS)
+          if(_imported_configurations)
+            string(TOUPPER "${_imported_configurations}" _imported_configurations)
+            if(DEBUG_CONFIGURATIONS)
+              string(TOUPPER "${DEBUG_CONFIGURATIONS}" _debug_configurations_uppercase)
+            else()
+              set(_debug_configurations_uppercase "DEBUG")
+            endif()
+            foreach(_imported_config ${_imported_configurations})
+              get_target_property(_imported_implib ${_target} IMPORTED_IMPLIB_${_imported_config})
+              if(_imported_implib)
+                set(_imported_implib_config "optimized")
+                if(${_imported_config} IN_LIST _debug_configurations_uppercase)
+                  set(_imported_implib_config "debug")
+                endif()
+                list(APPEND _libraries ${_imported_implib_config} ${_imported_implib})
+              else()
+                get_target_property(_imported_location ${_target} IMPORTED_LOCATION_${_imported_config})
+                if(_imported_location)
+                  list(APPEND _libraries "${_imported_location}")
+                endif()
+              endif()
+            endforeach()
+          endif()
+
+          get_target_property(_link_libraries ${_target} INTERFACE_LINK_LIBRARIES)
+          if(_link_libraries)
+            list(APPEND _libraries "${_link_libraries}")
+          endif()
+          set(use_modern_cmake TRUE)
+        endif()
+      endforeach()
+    endif()
+    if(NOT use_modern_cmake)
+      if(${_dep}_DEFINITIONS)
+        list_append_unique(nav2_rrtstar_planner_DEFINITIONS "${${_dep}_DEFINITIONS}")
+      endif()
+      if(${_dep}_INCLUDE_DIRS)
+        list_append_unique(nav2_rrtstar_planner_INCLUDE_DIRS "${${_dep}_INCLUDE_DIRS}")
+      endif()
+      if(${_dep}_LIBRARIES)
+        list(APPEND _libraries "${${_dep}_LIBRARIES}")
+      endif()
+      if(${_dep}_LINK_FLAGS)
+        list_append_unique(nav2_rrtstar_planner_LINK_FLAGS "${${_dep}_LINK_FLAGS}")
+      endif()
+      if(${_dep}_RECURSIVE_DEPENDENCIES)
+        list_append_unique(nav2_rrtstar_planner_RECURSIVE_DEPENDENCIES "${${_dep}_RECURSIVE_DEPENDENCIES}")
+      endif()
+    endif()
+    if(_libraries)
+      ament_libraries_deduplicate(_libraries "${_libraries}")
+      list(APPEND nav2_rrtstar_planner_LIBRARIES "${_libraries}")
+    endif()
+  endforeach()
+endif()
diff --git a/build/nav2_rrtstar_planner/ament_cmake_core/stamps/ament_cmake_export_include_directories-extras.cmake.stamp b/build/nav2_rrtstar_planner/ament_cmake_core/stamps/ament_cmake_export_include_directories-extras.cmake.stamp
new file mode 100644
index 0000000..9c6f544
--- /dev/null
+++ b/build/nav2_rrtstar_planner/ament_cmake_core/stamps/ament_cmake_export_include_directories-extras.cmake.stamp
@@ -0,0 +1,16 @@
+# generated from ament_cmake_export_include_directories/cmake/ament_cmake_export_include_directories-extras.cmake.in
+
+set(_exported_include_dirs "${nav2_rrtstar_planner_DIR}/../../../include")
+
+# append include directories to nav2_rrtstar_planner_INCLUDE_DIRS
+# warn about not existing paths
+if(NOT _exported_include_dirs STREQUAL "")
+  find_package(ament_cmake_core QUIET REQUIRED)
+  foreach(_exported_include_dir ${_exported_include_dirs})
+    if(NOT IS_DIRECTORY "${_exported_include_dir}")
+      message(WARNING "Package 'nav2_rrtstar_planner' exports the include directory '${_exported_include_dir}' which doesn't exist")
+    endif()
+    normalize_path(_exported_include_dir "${_exported_include_dir}")
+    list(APPEND nav2_rrtstar_planner_INCLUDE_DIRS "${_exported_include_dir}")
+  endforeach()
+endif()
diff --git a/build/nav2_rrtstar_planner/ament_cmake_core/stamps/ament_cmake_export_libraries-extras.cmake.stamp b/build/nav2_rrtstar_planner/ament_cmake_core/stamps/ament_cmake_export_libraries-extras.cmake.stamp
new file mode 100644
index 0000000..2e1ca67
--- /dev/null
+++ b/build/nav2_rrtstar_planner/ament_cmake_core/stamps/ament_cmake_export_libraries-extras.cmake.stamp
@@ -0,0 +1,141 @@
+# generated from ament_cmake_export_libraries/cmake/template/ament_cmake_export_libraries.cmake.in
+
+set(_exported_libraries "nav2_rrtstar_planner_plugin")
+set(_exported_library_names "")
+
+# populate nav2_rrtstar_planner_LIBRARIES
+if(NOT _exported_libraries STREQUAL "")
+  # loop over libraries, either target names or absolute paths
+  list(LENGTH _exported_libraries _length)
+  set(_i 0)
+  while(_i LESS _length)
+    list(GET _exported_libraries ${_i} _arg)
+
+    # pass linker flags along
+    if("${_arg}" MATCHES "^-" AND NOT "${_arg}" MATCHES "^-[l|framework]")
+      list(APPEND nav2_rrtstar_planner_LIBRARIES "${_arg}")
+      math(EXPR _i "${_i} + 1")
+      continue()
+    endif()
+
+    if("${_arg}" MATCHES "^(debug|optimized|general)$")
+      # remember build configuration keyword
+      # and get following library
+      set(_cfg "${_arg}")
+      math(EXPR _i "${_i} + 1")
+      if(_i EQUAL _length)
+        message(FATAL_ERROR "Package 'nav2_rrtstar_planner' passes the build configuration keyword '${_cfg}' as the last exported library")
+      endif()
+      list(GET _exported_libraries ${_i} _library)
+    else()
+      # the value is a library without a build configuration keyword
+      set(_cfg "")
+      set(_library "${_arg}")
+    endif()
+    math(EXPR _i "${_i} + 1")
+
+    if(NOT IS_ABSOLUTE "${_library}")
+      # search for library target relative to this CMake file
+      set(_lib "NOTFOUND")
+      find_library(
+        _lib NAMES "${_library}"
+        PATHS "${nav2_rrtstar_planner_DIR}/../../../lib"
+        NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH
+      )
+
+      if(NOT _lib)
+        # warn about not existing library and ignore it
+        message(FATAL_ERROR "Package 'nav2_rrtstar_planner' exports the library '${_library}' which couldn't be found")
+      elseif(NOT IS_ABSOLUTE "${_lib}")
+        # the found library must be an absolute path
+        message(FATAL_ERROR "Package 'nav2_rrtstar_planner' found the library '${_library}' at '${_lib}' which is not an absolute path")
+      elseif(NOT EXISTS "${_lib}")
+        # the found library must exist
+        message(FATAL_ERROR "Package 'nav2_rrtstar_planner' found the library '${_lib}' which doesn't exist")
+      else()
+        list(APPEND nav2_rrtstar_planner_LIBRARIES ${_cfg} "${_lib}")
+      endif()
+
+    else()
+      if(NOT EXISTS "${_library}")
+        # the found library must exist
+        message(WARNING "Package 'nav2_rrtstar_planner' exports the library '${_library}' which doesn't exist")
+      else()
+        list(APPEND nav2_rrtstar_planner_LIBRARIES ${_cfg} "${_library}")
+      endif()
+    endif()
+  endwhile()
+endif()
+
+# find_library() library names with optional LIBRARY_DIRS
+# and add the libraries to nav2_rrtstar_planner_LIBRARIES
+if(NOT _exported_library_names STREQUAL "")
+  # loop over library names
+  # but remember related build configuration keyword if available
+  list(LENGTH _exported_library_names _length)
+  set(_i 0)
+  while(_i LESS _length)
+    list(GET _exported_library_names ${_i} _arg)
+    # pass linker flags along
+    if("${_arg}" MATCHES "^-" AND NOT "${_arg}" MATCHES "^-[l|framework]")
+      list(APPEND nav2_rrtstar_planner_LIBRARIES "${_arg}")
+      math(EXPR _i "${_i} + 1")
+      continue()
+    endif()
+
+    if("${_arg}" MATCHES "^(debug|optimized|general)$")
+      # remember build configuration keyword
+      # and get following library name
+      set(_cfg "${_arg}")
+      math(EXPR _i "${_i} + 1")
+      if(_i EQUAL _length)
+        message(FATAL_ERROR "Package 'nav2_rrtstar_planner' passes the build configuration keyword '${_cfg}' as the last exported target")
+      endif()
+      list(GET _exported_library_names ${_i} _library)
+    else()
+      # the value is a library target without a build configuration keyword
+      set(_cfg "")
+      set(_library "${_arg}")
+    endif()
+    math(EXPR _i "${_i} + 1")
+
+    # extract optional LIBRARY_DIRS from library name
+    string(REPLACE ":" ";" _library_dirs "${_library}")
+    list(GET _library_dirs 0 _library_name)
+    list(REMOVE_AT _library_dirs 0)
+
+    set(_lib "NOTFOUND")
+    if(NOT _library_dirs)
+      # search for library in the common locations
+      find_library(
+        _lib
+        NAMES "${_library_name}"
+      )
+      if(NOT _lib)
+        # warn about not existing library and later ignore it
+        message(WARNING "Package 'nav2_rrtstar_planner' exports library '${_library_name}' which couldn't be found")
+      endif()
+    else()
+      # search for library in the specified directories
+      find_library(
+        _lib
+        NAMES "${_library_name}"
+        PATHS ${_library_dirs}
+        NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH
+      )
+      if(NOT _lib)
+        # warn about not existing library and later ignore it
+        message(WARNING
+          "Package 'nav2_rrtstar_planner' exports library '${_library_name}' with LIBRARY_DIRS '${_library_dirs}' which couldn't be found")
+      endif()
+    endif()
+    if(_lib)
+      list(APPEND nav2_rrtstar_planner_LIBRARIES ${_cfg} "${_lib}")
+    endif()
+  endwhile()
+endif()
+
+# TODO(dirk-thomas) deduplicate nav2_rrtstar_planner_LIBRARIES
+# while maintaining library order
+# as well as build configuration keywords
+# as well as linker flags
diff --git a/build/nav2_rrtstar_planner/ament_cmake_core/stamps/ament_prefix_path.sh.stamp b/build/nav2_rrtstar_planner/ament_cmake_core/stamps/ament_prefix_path.sh.stamp
new file mode 100644
index 0000000..02e441b
--- /dev/null
+++ b/build/nav2_rrtstar_planner/ament_cmake_core/stamps/ament_prefix_path.sh.stamp
@@ -0,0 +1,4 @@
+# copied from
+# ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh
+
+ament_prepend_unique_value AMENT_PREFIX_PATH "$AMENT_CURRENT_PREFIX"
diff --git a/build/nav2_rrtstar_planner/ament_cmake_core/stamps/library_path.sh.stamp b/build/nav2_rrtstar_planner/ament_cmake_core/stamps/library_path.sh.stamp
new file mode 100644
index 0000000..292e518
--- /dev/null
+++ b/build/nav2_rrtstar_planner/ament_cmake_core/stamps/library_path.sh.stamp
@@ -0,0 +1,16 @@
+# copied from ament_package/template/environment_hook/library_path.sh
+
+# detect if running on Darwin platform
+_UNAME=`uname -s`
+_IS_DARWIN=0
+if [ "$_UNAME" = "Darwin" ]; then
+  _IS_DARWIN=1
+fi
+unset _UNAME
+
+if [ $_IS_DARWIN -eq 0 ]; then
+  ament_prepend_unique_value LD_LIBRARY_PATH "$AMENT_CURRENT_PREFIX/lib"
+else
+  ament_prepend_unique_value DYLD_LIBRARY_PATH "$AMENT_CURRENT_PREFIX/lib"
+fi
+unset _IS_DARWIN
diff --git a/build/nav2_rrtstar_planner/ament_cmake_core/stamps/nameConfig-version.cmake.in.stamp b/build/nav2_rrtstar_planner/ament_cmake_core/stamps/nameConfig-version.cmake.in.stamp
new file mode 100644
index 0000000..ee49c9f
--- /dev/null
+++ b/build/nav2_rrtstar_planner/ament_cmake_core/stamps/nameConfig-version.cmake.in.stamp
@@ -0,0 +1,14 @@
+# generated from ament/cmake/core/templates/nameConfig-version.cmake.in
+set(PACKAGE_VERSION "@PACKAGE_VERSION@")
+
+set(PACKAGE_VERSION_EXACT False)
+set(PACKAGE_VERSION_COMPATIBLE False)
+
+if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_EXACT True)
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
+
+if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
diff --git a/build/nav2_rrtstar_planner/ament_cmake_core/stamps/nameConfig.cmake.in.stamp b/build/nav2_rrtstar_planner/ament_cmake_core/stamps/nameConfig.cmake.in.stamp
new file mode 100644
index 0000000..6fb3fe7
--- /dev/null
+++ b/build/nav2_rrtstar_planner/ament_cmake_core/stamps/nameConfig.cmake.in.stamp
@@ -0,0 +1,42 @@
+# generated from ament/cmake/core/templates/nameConfig.cmake.in
+
+# prevent multiple inclusion
+if(_@PROJECT_NAME@_CONFIG_INCLUDED)
+  # ensure to keep the found flag the same
+  if(NOT DEFINED @PROJECT_NAME@_FOUND)
+    # explicitly set it to FALSE, otherwise CMake will set it to TRUE
+    set(@PROJECT_NAME@_FOUND FALSE)
+  elseif(NOT @PROJECT_NAME@_FOUND)
+    # use separate condition to avoid uninitialized variable warning
+    set(@PROJECT_NAME@_FOUND FALSE)
+  endif()
+  return()
+endif()
+set(_@PROJECT_NAME@_CONFIG_INCLUDED TRUE)
+
+# output package information
+if(NOT @PROJECT_NAME@_FIND_QUIETLY)
+  message(STATUS "Found @PROJECT_NAME@: @PACKAGE_VERSION@ (${@PROJECT_NAME@_DIR})")
+endif()
+
+# warn when using a deprecated package
+if(NOT "@PACKAGE_DEPRECATED@" STREQUAL "")
+  set(_msg "Package '@PROJECT_NAME@' is deprecated")
+  # append custom deprecation text if available
+  if(NOT "@PACKAGE_DEPRECATED@" STREQUAL "TRUE")
+    set(_msg "${_msg} (@PACKAGE_DEPRECATED@)")
+  endif()
+  # optionally quiet the deprecation message
+  if(NOT ${@PROJECT_NAME@_DEPRECATED_QUIET})
+    message(DEPRECATION "${_msg}")
+  endif()
+endif()
+
+# flag package as ament-based to distinguish it after being find_package()-ed
+set(@PROJECT_NAME@_FOUND_AMENT_PACKAGE TRUE)
+
+# include all config extra files
+set(_extras "@PACKAGE_CONFIG_EXTRA_FILES@")
+foreach(_extra ${_extras})
+  include("${@PROJECT_NAME@_DIR}/${_extra}")
+endforeach()
diff --git a/build/nav2_rrtstar_planner/ament_cmake_core/stamps/package.xml.stamp b/build/nav2_rrtstar_planner/ament_cmake_core/stamps/package.xml.stamp
new file mode 100755
index 0000000..118575b
--- /dev/null
+++ b/build/nav2_rrtstar_planner/ament_cmake_core/stamps/package.xml.stamp
@@ -0,0 +1,38 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>nav2_rrtstar_planner</name>
+  <version>1.0.0</version>
+  <description>RRT Star path planner.</description>
+  <maintainer email="echo@126.com">echo</maintainer>
+  <license>BSD-3-Clause</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>rclcpp</depend>
+  <depend>rclcpp_action</depend>
+  <depend>rclcpp_lifecycle</depend>  
+  <depend>std_msgs</depend>
+  <depend>visualization_msgs</depend>
+  <depend>nav2_util</depend>
+  <depend>nav2_msgs</depend>
+  <depend>nav_msgs</depend>
+  <depend>geometry_msgs</depend>
+  <depend>builtin_interfaces</depend>
+  <depend>tf2_ros</depend>
+  <depend>nav2_costmap_2d</depend>
+  <depend>nav2_core</depend>
+  <depend>pluginlib</depend>
+  <depend>nav2_bringup</depend>
+  <depend>random</depend>
+  <depend>vector</depend>
+  <depend>limits</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+    <nav2_core plugin="${prefix}/global_planner_plugin.xml" />
+  </export>
+</package>
diff --git a/build/nav2_rrtstar_planner/ament_cmake_core/stamps/package_xml_2_cmake.py.stamp b/build/nav2_rrtstar_planner/ament_cmake_core/stamps/package_xml_2_cmake.py.stamp
new file mode 100644
index 0000000..8be9894
--- /dev/null
+++ b/build/nav2_rrtstar_planner/ament_cmake_core/stamps/package_xml_2_cmake.py.stamp
@@ -0,0 +1,150 @@
+#!/usr/bin/env python3
+
+# Copyright 2014-2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import argparse
+from collections import OrderedDict
+import os
+import sys
+
+from catkin_pkg.package import parse_package_string
+
+
+def main(argv=sys.argv[1:]):
+    """
+    Extract the information from package.xml and make them accessible to CMake.
+
+    Parse the given package.xml file and
+    print CMake code defining several variables containing the content.
+    """
+    parser = argparse.ArgumentParser(
+        description='Parse package.xml file and print CMake code defining '
+                    'several variables',
+    )
+    parser.add_argument(
+        'package_xml',
+        type=argparse.FileType('r', encoding='utf-8'),
+        help='The path to a package.xml file',
+    )
+    parser.add_argument(
+        'outfile',
+        nargs='?',
+        help='The filename where the output should be written to',
+    )
+    args = parser.parse_args(argv)
+
+    try:
+        package = parse_package_string(
+            args.package_xml.read(), filename=args.package_xml.name)
+    except Exception as e:
+        print("Error parsing '%s':" % args.package_xml.name, file=sys.stderr)
+        raise e
+    finally:
+        args.package_xml.close()
+
+    lines = generate_cmake_code(package)
+    if args.outfile:
+        with open(args.outfile, 'w', encoding='utf-8') as f:
+            for line in lines:
+                f.write('%s\n' % line)
+    else:
+        for line in lines:
+            print(line)
+
+
+def get_dependency_values(key, depends):
+    dependencies = []
+
+    # Filter the dependencies, checking for any condition attributes
+    dependencies.append((key, ' '.join([
+        '"%s"' % str(d) for d in depends
+        if d.condition is None or d.evaluate_condition(os.environ)
+    ])))
+
+    for d in depends:
+        comparisons = [
+            'version_lt',
+            'version_lte',
+            'version_eq',
+            'version_gte',
+            'version_gt']
+        for comp in comparisons:
+            value = getattr(d, comp, None)
+            if value is not None:
+                dependencies.append(('%s_%s_%s' % (key, str(d), comp.upper()),
+                                     '"%s"' % value))
+    return dependencies
+
+
+def generate_cmake_code(package):
+    """
+    Return a list of CMake set() commands containing the manifest information.
+
+    :param package: catkin_pkg.package.Package
+    :returns: list of str
+    """
+    variables = []
+    variables.append(('VERSION', '"%s"' % package.version))
+
+    variables.append((
+        'MAINTAINER',
+        '"%s"' % (', '.join([str(m) for m in package.maintainers]))))
+
+    variables.extend(get_dependency_values('BUILD_DEPENDS',
+                                           package.build_depends))
+    variables.extend(get_dependency_values('BUILDTOOL_DEPENDS',
+                                           package.buildtool_depends))
+    variables.extend(get_dependency_values('BUILD_EXPORT_DEPENDS',
+                                           package.build_export_depends))
+    variables.extend(get_dependency_values('BUILDTOOL_EXPORT_DEPENDS',
+                                           package.buildtool_export_depends))
+    variables.extend(get_dependency_values('EXEC_DEPENDS',
+                                           package.exec_depends))
+    variables.extend(get_dependency_values('TEST_DEPENDS',
+                                           package.test_depends))
+    variables.extend(get_dependency_values('GROUP_DEPENDS',
+                                           package.group_depends))
+    variables.extend(get_dependency_values('MEMBER_OF_GROUPS',
+                                           package.member_of_groups))
+
+    deprecated = [e.content for e in package.exports
+                  if e.tagname == 'deprecated']
+    variables.append(('DEPRECATED',
+                      '"%s"' % ((deprecated[0] if deprecated[0] else 'TRUE')
+                                if deprecated
+                                else '')))
+
+    lines = []
+    lines.append('set(_AMENT_PACKAGE_NAME "%s")' % package.name)
+    for (k, v) in variables:
+        lines.append('set(%s_%s %s)' % (package.name, k, v))
+
+    lines.append('set(%s_EXPORT_TAGS)' % package.name)
+    replaces = OrderedDict()
+    replaces['${prefix}/'] = ''
+    replaces['\\'] = '\\\\'  # escape backslashes
+    replaces['"'] = '\\"'  # prevent double quotes to end the CMake string
+    replaces[';'] = '\\;'  # prevent semicolons to be interpreted as list separators
+    for export in package.exports:
+        export = str(export)
+        for k, v in replaces.items():
+            export = export.replace(k, v)
+        lines.append('list(APPEND %s_EXPORT_TAGS "%s")' % (package.name, export))
+
+    return lines
+
+
+if __name__ == '__main__':
+    main()
diff --git a/build/nav2_rrtstar_planner/ament_cmake_core/stamps/path.sh.stamp b/build/nav2_rrtstar_planner/ament_cmake_core/stamps/path.sh.stamp
new file mode 100644
index 0000000..e59b749
--- /dev/null
+++ b/build/nav2_rrtstar_planner/ament_cmake_core/stamps/path.sh.stamp
@@ -0,0 +1,5 @@
+# copied from ament_cmake_core/cmake/environment_hooks/environment/path.sh
+
+if [ -d "$AMENT_CURRENT_PREFIX/bin" ]; then
+  ament_prepend_unique_value PATH "$AMENT_CURRENT_PREFIX/bin"
+fi
diff --git a/build/nav2_rrtstar_planner/ament_cmake_core/stamps/templates_2_cmake.py.stamp b/build/nav2_rrtstar_planner/ament_cmake_core/stamps/templates_2_cmake.py.stamp
new file mode 100644
index 0000000..fb2fb47
--- /dev/null
+++ b/build/nav2_rrtstar_planner/ament_cmake_core/stamps/templates_2_cmake.py.stamp
@@ -0,0 +1,112 @@
+#!/usr/bin/env python3
+
+# Copyright 2014-2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import argparse
+import os
+import sys
+
+from ament_package.templates import get_environment_hook_template_path
+from ament_package.templates import get_package_level_template_names
+from ament_package.templates import get_package_level_template_path
+from ament_package.templates import get_prefix_level_template_names
+from ament_package.templates import get_prefix_level_template_path
+
+IS_WINDOWS = os.name == 'nt'
+
+
+def main(argv=sys.argv[1:]):
+    """
+    Extract the information about templates provided by ament_package.
+
+    Call the API provided by ament_package and
+    print CMake code defining several variables containing information about
+    the available templates.
+    """
+    parser = argparse.ArgumentParser(
+        description='Extract information about templates provided by '
+                    'ament_package and print CMake code defining several '
+                    'variables',
+    )
+    parser.add_argument(
+        'outfile',
+        nargs='?',
+        help='The filename where the output should be written to',
+    )
+    args = parser.parse_args(argv)
+
+    lines = generate_cmake_code()
+    if args.outfile:
+        basepath = os.path.dirname(args.outfile)
+        if not os.path.exists(basepath):
+            os.makedirs(basepath)
+        with open(args.outfile, 'w') as f:
+            for line in lines:
+                f.write('%s\n' % line)
+    else:
+        for line in lines:
+            print(line)
+
+
+def generate_cmake_code():
+    """
+    Return a list of CMake set() commands containing the template information.
+
+    :returns: list of str
+    """
+    variables = []
+
+    if not IS_WINDOWS:
+        variables.append((
+            'ENVIRONMENT_HOOK_LIBRARY_PATH',
+            '"%s"' % get_environment_hook_template_path('library_path.sh')))
+    else:
+        variables.append(('ENVIRONMENT_HOOK_LIBRARY_PATH', ''))
+
+    ext = '.bat.in' if IS_WINDOWS else '.sh.in'
+    variables.append((
+        'ENVIRONMENT_HOOK_PYTHONPATH',
+        '"%s"' % get_environment_hook_template_path('pythonpath' + ext)))
+
+    templates = []
+    for name in get_package_level_template_names():
+        templates.append('"%s"' % get_package_level_template_path(name))
+    variables.append((
+        'PACKAGE_LEVEL',
+        templates))
+
+    templates = []
+    for name in get_prefix_level_template_names():
+        templates.append('"%s"' % get_prefix_level_template_path(name))
+    variables.append((
+        'PREFIX_LEVEL',
+        templates))
+
+    lines = []
+    for (k, v) in variables:
+        if isinstance(v, list):
+            lines.append('set(ament_cmake_package_templates_%s "")' % k)
+            for vv in v:
+                lines.append('list(APPEND ament_cmake_package_templates_%s %s)'
+                             % (k, vv))
+        else:
+            lines.append('set(ament_cmake_package_templates_%s %s)' % (k, v))
+    # Ensure backslashes are replaced with forward slashes because CMake cannot
+    # parse files with backslashes in it.
+    return [line.replace('\\', '/') for line in lines]
+
+
+if __name__ == '__main__':
+    main()
diff --git a/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/ament_prefix_path.dsv b/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/ament_prefix_path.dsv
new file mode 100644
index 0000000..79d4c95
--- /dev/null
+++ b/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/ament_prefix_path.dsv
@@ -0,0 +1 @@
+prepend-non-duplicate;AMENT_PREFIX_PATH;
diff --git a/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/library_path.dsv b/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/library_path.dsv
new file mode 100644
index 0000000..89bec93
--- /dev/null
+++ b/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/library_path.dsv
@@ -0,0 +1 @@
+prepend-non-duplicate;LD_LIBRARY_PATH;lib
diff --git a/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/local_setup.bash b/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/local_setup.bash
new file mode 100644
index 0000000..49782f2
--- /dev/null
+++ b/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/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
diff --git a/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/local_setup.dsv b/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/local_setup.dsv
new file mode 100644
index 0000000..3856f2a
--- /dev/null
+++ b/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/local_setup.dsv
@@ -0,0 +1,3 @@
+source;share/nav2_rrtstar_planner/environment/ament_prefix_path.sh
+source;share/nav2_rrtstar_planner/environment/library_path.sh
+source;share/nav2_rrtstar_planner/environment/path.sh
diff --git a/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/local_setup.sh b/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/local_setup.sh
new file mode 100644
index 0000000..3c116c4
--- /dev/null
+++ b/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/local_setup.sh
@@ -0,0 +1,185 @@
+# 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
+: ${AMENT_CURRENT_PREFIX:="/workspace/install/nav2_rrtstar_planner"}
+if [ ! -d "$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 "$AMENT_CURRENT_PREFIX/share/nav2_rrtstar_planner/environment/ament_prefix_path.sh"
+ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/nav2_rrtstar_planner/environment/library_path.sh"
+ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/nav2_rrtstar_planner/environment/path.sh"
+
+# source all shell-specific environment hooks of this package
+# if not returning them
+if [ -z "$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=$_package_local_setup_IFS
+  unset _package_local_setup_IFS
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+# reset AMENT_CURRENT_PREFIX after each package
+# allowing to source multiple package-level setup files
+unset AMENT_CURRENT_PREFIX
diff --git a/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/local_setup.zsh b/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/local_setup.zsh
new file mode 100644
index 0000000..fe161be
--- /dev/null
+++ b/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/local_setup.zsh
@@ -0,0 +1,59 @@
+# generated from ament_package/template/package_level/local_setup.zsh.in
+
+AMENT_SHELL=zsh
+
+# source local_setup.sh from same directory as this file
+_this_path=$(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
diff --git a/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/package.dsv b/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/package.dsv
new file mode 100644
index 0000000..e933377
--- /dev/null
+++ b/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/package.dsv
@@ -0,0 +1,4 @@
+source;share/nav2_rrtstar_planner/local_setup.bash
+source;share/nav2_rrtstar_planner/local_setup.dsv
+source;share/nav2_rrtstar_planner/local_setup.sh
+source;share/nav2_rrtstar_planner/local_setup.zsh
diff --git a/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/path.dsv b/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/path.dsv
new file mode 100644
index 0000000..b94426a
--- /dev/null
+++ b/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/path.dsv
@@ -0,0 +1 @@
+prepend-non-duplicate-if-exists;PATH;bin
diff --git a/build/nav2_rrtstar_planner/ament_cmake_export_dependencies/ament_cmake_export_dependencies-extras.cmake b/build/nav2_rrtstar_planner/ament_cmake_export_dependencies/ament_cmake_export_dependencies-extras.cmake
new file mode 100644
index 0000000..d660a7d
--- /dev/null
+++ b/build/nav2_rrtstar_planner/ament_cmake_export_dependencies/ament_cmake_export_dependencies-extras.cmake
@@ -0,0 +1,92 @@
+# generated from ament_cmake_export_dependencies/cmake/ament_cmake_export_dependencies-extras.cmake.in
+
+set(_exported_dependencies "rclcpp;rclcpp_action;rclcpp_lifecycle;std_msgs;visualization_msgs;nav2_util;nav2_msgs;nav_msgs;geometry_msgs;builtin_interfaces;tf2_ros;nav2_costmap_2d;nav2_core;pluginlib")
+
+find_package(ament_cmake_libraries QUIET REQUIRED)
+
+# find_package() all dependencies
+# and append their DEFINITIONS INCLUDE_DIRS, LIBRARIES, and LINK_FLAGS
+# variables to nav2_rrtstar_planner_DEFINITIONS, nav2_rrtstar_planner_INCLUDE_DIRS,
+# nav2_rrtstar_planner_LIBRARIES, and nav2_rrtstar_planner_LINK_FLAGS.
+# Additionally collect the direct dependency names in
+# nav2_rrtstar_planner_DEPENDENCIES as well as the recursive dependency names
+# in nav2_rrtstar_planner_RECURSIVE_DEPENDENCIES.
+if(NOT _exported_dependencies STREQUAL "")
+  find_package(ament_cmake_core QUIET REQUIRED)
+  set(nav2_rrtstar_planner_DEPENDENCIES ${_exported_dependencies})
+  set(nav2_rrtstar_planner_RECURSIVE_DEPENDENCIES ${_exported_dependencies})
+  set(_libraries)
+  foreach(_dep ${_exported_dependencies})
+    if(NOT ${_dep}_FOUND)
+      find_package("${_dep}" QUIET REQUIRED)
+    endif()
+    # if a package provides modern CMake interface targets use them
+    # exclusively assuming the classic CMake variables only exist for
+    # backward compatibility
+    set(use_modern_cmake FALSE)
+    if(NOT "${${_dep}_TARGETS}" STREQUAL "")
+      foreach(_target ${${_dep}_TARGETS})
+        # only use actual targets
+        # in case a package uses this variable for other content
+        if(TARGET "${_target}")
+          get_target_property(_include_dirs ${_target} INTERFACE_INCLUDE_DIRECTORIES)
+          if(_include_dirs)
+            list_append_unique(nav2_rrtstar_planner_INCLUDE_DIRS "${_include_dirs}")
+          endif()
+
+          get_target_property(_imported_configurations ${_target} IMPORTED_CONFIGURATIONS)
+          if(_imported_configurations)
+            string(TOUPPER "${_imported_configurations}" _imported_configurations)
+            if(DEBUG_CONFIGURATIONS)
+              string(TOUPPER "${DEBUG_CONFIGURATIONS}" _debug_configurations_uppercase)
+            else()
+              set(_debug_configurations_uppercase "DEBUG")
+            endif()
+            foreach(_imported_config ${_imported_configurations})
+              get_target_property(_imported_implib ${_target} IMPORTED_IMPLIB_${_imported_config})
+              if(_imported_implib)
+                set(_imported_implib_config "optimized")
+                if(${_imported_config} IN_LIST _debug_configurations_uppercase)
+                  set(_imported_implib_config "debug")
+                endif()
+                list(APPEND _libraries ${_imported_implib_config} ${_imported_implib})
+              else()
+                get_target_property(_imported_location ${_target} IMPORTED_LOCATION_${_imported_config})
+                if(_imported_location)
+                  list(APPEND _libraries "${_imported_location}")
+                endif()
+              endif()
+            endforeach()
+          endif()
+
+          get_target_property(_link_libraries ${_target} INTERFACE_LINK_LIBRARIES)
+          if(_link_libraries)
+            list(APPEND _libraries "${_link_libraries}")
+          endif()
+          set(use_modern_cmake TRUE)
+        endif()
+      endforeach()
+    endif()
+    if(NOT use_modern_cmake)
+      if(${_dep}_DEFINITIONS)
+        list_append_unique(nav2_rrtstar_planner_DEFINITIONS "${${_dep}_DEFINITIONS}")
+      endif()
+      if(${_dep}_INCLUDE_DIRS)
+        list_append_unique(nav2_rrtstar_planner_INCLUDE_DIRS "${${_dep}_INCLUDE_DIRS}")
+      endif()
+      if(${_dep}_LIBRARIES)
+        list(APPEND _libraries "${${_dep}_LIBRARIES}")
+      endif()
+      if(${_dep}_LINK_FLAGS)
+        list_append_unique(nav2_rrtstar_planner_LINK_FLAGS "${${_dep}_LINK_FLAGS}")
+      endif()
+      if(${_dep}_RECURSIVE_DEPENDENCIES)
+        list_append_unique(nav2_rrtstar_planner_RECURSIVE_DEPENDENCIES "${${_dep}_RECURSIVE_DEPENDENCIES}")
+      endif()
+    endif()
+    if(_libraries)
+      ament_libraries_deduplicate(_libraries "${_libraries}")
+      list(APPEND nav2_rrtstar_planner_LIBRARIES "${_libraries}")
+    endif()
+  endforeach()
+endif()
diff --git a/build/nav2_rrtstar_planner/ament_cmake_export_include_directories/ament_cmake_export_include_directories-extras.cmake b/build/nav2_rrtstar_planner/ament_cmake_export_include_directories/ament_cmake_export_include_directories-extras.cmake
new file mode 100644
index 0000000..9c6f544
--- /dev/null
+++ b/build/nav2_rrtstar_planner/ament_cmake_export_include_directories/ament_cmake_export_include_directories-extras.cmake
@@ -0,0 +1,16 @@
+# generated from ament_cmake_export_include_directories/cmake/ament_cmake_export_include_directories-extras.cmake.in
+
+set(_exported_include_dirs "${nav2_rrtstar_planner_DIR}/../../../include")
+
+# append include directories to nav2_rrtstar_planner_INCLUDE_DIRS
+# warn about not existing paths
+if(NOT _exported_include_dirs STREQUAL "")
+  find_package(ament_cmake_core QUIET REQUIRED)
+  foreach(_exported_include_dir ${_exported_include_dirs})
+    if(NOT IS_DIRECTORY "${_exported_include_dir}")
+      message(WARNING "Package 'nav2_rrtstar_planner' exports the include directory '${_exported_include_dir}' which doesn't exist")
+    endif()
+    normalize_path(_exported_include_dir "${_exported_include_dir}")
+    list(APPEND nav2_rrtstar_planner_INCLUDE_DIRS "${_exported_include_dir}")
+  endforeach()
+endif()
diff --git a/build/nav2_rrtstar_planner/ament_cmake_export_libraries/ament_cmake_export_libraries-extras.cmake b/build/nav2_rrtstar_planner/ament_cmake_export_libraries/ament_cmake_export_libraries-extras.cmake
new file mode 100644
index 0000000..2e1ca67
--- /dev/null
+++ b/build/nav2_rrtstar_planner/ament_cmake_export_libraries/ament_cmake_export_libraries-extras.cmake
@@ -0,0 +1,141 @@
+# generated from ament_cmake_export_libraries/cmake/template/ament_cmake_export_libraries.cmake.in
+
+set(_exported_libraries "nav2_rrtstar_planner_plugin")
+set(_exported_library_names "")
+
+# populate nav2_rrtstar_planner_LIBRARIES
+if(NOT _exported_libraries STREQUAL "")
+  # loop over libraries, either target names or absolute paths
+  list(LENGTH _exported_libraries _length)
+  set(_i 0)
+  while(_i LESS _length)
+    list(GET _exported_libraries ${_i} _arg)
+
+    # pass linker flags along
+    if("${_arg}" MATCHES "^-" AND NOT "${_arg}" MATCHES "^-[l|framework]")
+      list(APPEND nav2_rrtstar_planner_LIBRARIES "${_arg}")
+      math(EXPR _i "${_i} + 1")
+      continue()
+    endif()
+
+    if("${_arg}" MATCHES "^(debug|optimized|general)$")
+      # remember build configuration keyword
+      # and get following library
+      set(_cfg "${_arg}")
+      math(EXPR _i "${_i} + 1")
+      if(_i EQUAL _length)
+        message(FATAL_ERROR "Package 'nav2_rrtstar_planner' passes the build configuration keyword '${_cfg}' as the last exported library")
+      endif()
+      list(GET _exported_libraries ${_i} _library)
+    else()
+      # the value is a library without a build configuration keyword
+      set(_cfg "")
+      set(_library "${_arg}")
+    endif()
+    math(EXPR _i "${_i} + 1")
+
+    if(NOT IS_ABSOLUTE "${_library}")
+      # search for library target relative to this CMake file
+      set(_lib "NOTFOUND")
+      find_library(
+        _lib NAMES "${_library}"
+        PATHS "${nav2_rrtstar_planner_DIR}/../../../lib"
+        NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH
+      )
+
+      if(NOT _lib)
+        # warn about not existing library and ignore it
+        message(FATAL_ERROR "Package 'nav2_rrtstar_planner' exports the library '${_library}' which couldn't be found")
+      elseif(NOT IS_ABSOLUTE "${_lib}")
+        # the found library must be an absolute path
+        message(FATAL_ERROR "Package 'nav2_rrtstar_planner' found the library '${_library}' at '${_lib}' which is not an absolute path")
+      elseif(NOT EXISTS "${_lib}")
+        # the found library must exist
+        message(FATAL_ERROR "Package 'nav2_rrtstar_planner' found the library '${_lib}' which doesn't exist")
+      else()
+        list(APPEND nav2_rrtstar_planner_LIBRARIES ${_cfg} "${_lib}")
+      endif()
+
+    else()
+      if(NOT EXISTS "${_library}")
+        # the found library must exist
+        message(WARNING "Package 'nav2_rrtstar_planner' exports the library '${_library}' which doesn't exist")
+      else()
+        list(APPEND nav2_rrtstar_planner_LIBRARIES ${_cfg} "${_library}")
+      endif()
+    endif()
+  endwhile()
+endif()
+
+# find_library() library names with optional LIBRARY_DIRS
+# and add the libraries to nav2_rrtstar_planner_LIBRARIES
+if(NOT _exported_library_names STREQUAL "")
+  # loop over library names
+  # but remember related build configuration keyword if available
+  list(LENGTH _exported_library_names _length)
+  set(_i 0)
+  while(_i LESS _length)
+    list(GET _exported_library_names ${_i} _arg)
+    # pass linker flags along
+    if("${_arg}" MATCHES "^-" AND NOT "${_arg}" MATCHES "^-[l|framework]")
+      list(APPEND nav2_rrtstar_planner_LIBRARIES "${_arg}")
+      math(EXPR _i "${_i} + 1")
+      continue()
+    endif()
+
+    if("${_arg}" MATCHES "^(debug|optimized|general)$")
+      # remember build configuration keyword
+      # and get following library name
+      set(_cfg "${_arg}")
+      math(EXPR _i "${_i} + 1")
+      if(_i EQUAL _length)
+        message(FATAL_ERROR "Package 'nav2_rrtstar_planner' passes the build configuration keyword '${_cfg}' as the last exported target")
+      endif()
+      list(GET _exported_library_names ${_i} _library)
+    else()
+      # the value is a library target without a build configuration keyword
+      set(_cfg "")
+      set(_library "${_arg}")
+    endif()
+    math(EXPR _i "${_i} + 1")
+
+    # extract optional LIBRARY_DIRS from library name
+    string(REPLACE ":" ";" _library_dirs "${_library}")
+    list(GET _library_dirs 0 _library_name)
+    list(REMOVE_AT _library_dirs 0)
+
+    set(_lib "NOTFOUND")
+    if(NOT _library_dirs)
+      # search for library in the common locations
+      find_library(
+        _lib
+        NAMES "${_library_name}"
+      )
+      if(NOT _lib)
+        # warn about not existing library and later ignore it
+        message(WARNING "Package 'nav2_rrtstar_planner' exports library '${_library_name}' which couldn't be found")
+      endif()
+    else()
+      # search for library in the specified directories
+      find_library(
+        _lib
+        NAMES "${_library_name}"
+        PATHS ${_library_dirs}
+        NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH
+      )
+      if(NOT _lib)
+        # warn about not existing library and later ignore it
+        message(WARNING
+          "Package 'nav2_rrtstar_planner' exports library '${_library_name}' with LIBRARY_DIRS '${_library_dirs}' which couldn't be found")
+      endif()
+    endif()
+    if(_lib)
+      list(APPEND nav2_rrtstar_planner_LIBRARIES ${_cfg} "${_lib}")
+    endif()
+  endwhile()
+endif()
+
+# TODO(dirk-thomas) deduplicate nav2_rrtstar_planner_LIBRARIES
+# while maintaining library order
+# as well as build configuration keywords
+# as well as linker flags
diff --git a/build/nav2_rrtstar_planner/ament_cmake_index/share/ament_index/resource_index/nav2_core__pluginlib__plugin/nav2_rrtstar_planner b/build/nav2_rrtstar_planner/ament_cmake_index/share/ament_index/resource_index/nav2_core__pluginlib__plugin/nav2_rrtstar_planner
new file mode 100644
index 0000000..80c2319
--- /dev/null
+++ b/build/nav2_rrtstar_planner/ament_cmake_index/share/ament_index/resource_index/nav2_core__pluginlib__plugin/nav2_rrtstar_planner
@@ -0,0 +1 @@
+share/nav2_rrtstar_planner/global_planner_plugin.xml
diff --git a/build/nav2_rrtstar_planner/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/nav2_rrtstar_planner b/build/nav2_rrtstar_planner/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/nav2_rrtstar_planner
new file mode 100644
index 0000000..ea48fae
--- /dev/null
+++ b/build/nav2_rrtstar_planner/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/nav2_rrtstar_planner
@@ -0,0 +1 @@
+rclcpp;rclcpp_action;rclcpp_lifecycle;std_msgs;visualization_msgs;nav2_util;nav2_msgs;nav_msgs;geometry_msgs;builtin_interfaces;tf2_ros;nav2_costmap_2d;nav2_core;pluginlib;nav2_bringup;random;vector;limits;ament_lint_auto;ament_lint_common
\ No newline at end of file
diff --git a/build/nav2_rrtstar_planner/ament_cmake_index/share/ament_index/resource_index/packages/nav2_rrtstar_planner b/build/nav2_rrtstar_planner/ament_cmake_index/share/ament_index/resource_index/packages/nav2_rrtstar_planner
new file mode 100644
index 0000000..e69de29
diff --git a/build/nav2_rrtstar_planner/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/nav2_rrtstar_planner b/build/nav2_rrtstar_planner/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/nav2_rrtstar_planner
new file mode 100644
index 0000000..6350bc1
--- /dev/null
+++ b/build/nav2_rrtstar_planner/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/nav2_rrtstar_planner
@@ -0,0 +1 @@
+/opt/ros/humble
\ No newline at end of file
diff --git a/build/nav2_rrtstar_planner/ament_cmake_package_templates/templates.cmake b/build/nav2_rrtstar_planner/ament_cmake_package_templates/templates.cmake
new file mode 100644
index 0000000..42a5a03
--- /dev/null
+++ b/build/nav2_rrtstar_planner/ament_cmake_package_templates/templates.cmake
@@ -0,0 +1,14 @@
+set(ament_cmake_package_templates_ENVIRONMENT_HOOK_LIBRARY_PATH "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/environment_hook/library_path.sh")
+set(ament_cmake_package_templates_ENVIRONMENT_HOOK_PYTHONPATH "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/environment_hook/pythonpath.sh.in")
+set(ament_cmake_package_templates_PACKAGE_LEVEL "")
+list(APPEND ament_cmake_package_templates_PACKAGE_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/package_level/local_setup.bash.in")
+list(APPEND ament_cmake_package_templates_PACKAGE_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/package_level/local_setup.sh.in")
+list(APPEND ament_cmake_package_templates_PACKAGE_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/package_level/local_setup.zsh.in")
+set(ament_cmake_package_templates_PREFIX_LEVEL "")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/prefix_level/local_setup.bash")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/prefix_level/local_setup.sh.in")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/prefix_level/local_setup.zsh")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/prefix_level/setup.bash")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/prefix_level/setup.sh.in")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/prefix_level/setup.zsh")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/prefix_level/_local_setup_util.py")
diff --git a/build/nav2_rrtstar_planner/ament_cmake_symlink_install/ament_cmake_symlink_install.cmake b/build/nav2_rrtstar_planner/ament_cmake_symlink_install/ament_cmake_symlink_install.cmake
new file mode 100644
index 0000000..fdef27e
--- /dev/null
+++ b/build/nav2_rrtstar_planner/ament_cmake_symlink_install/ament_cmake_symlink_install.cmake
@@ -0,0 +1,391 @@
+# generated from
+# ament_cmake_core/cmake/symlink_install/ament_cmake_symlink_install.cmake.in
+
+# create empty symlink install manifest before starting install step
+file(WRITE "${CMAKE_CURRENT_BINARY_DIR}/symlink_install_manifest.txt")
+
+#
+# Reimplement CMake install(DIRECTORY) command to use symlinks instead of
+# copying resources.
+#
+# :param cmake_current_source_dir: The CMAKE_CURRENT_SOURCE_DIR when install
+#   was invoked
+# :type cmake_current_source_dir: string
+# :param ARGN: the same arguments as the CMake install command.
+# :type ARGN: various
+#
+function(ament_cmake_symlink_install_directory cmake_current_source_dir)
+  cmake_parse_arguments(ARG "OPTIONAL" "DESTINATION" "DIRECTORY;PATTERN;PATTERN_EXCLUDE" ${ARGN})
+  if(ARG_UNPARSED_ARGUMENTS)
+    message(FATAL_ERROR "ament_cmake_symlink_install_directory() called with "
+      "unused/unsupported arguments: ${ARG_UNPARSED_ARGUMENTS}")
+  endif()
+
+  # make destination absolute path and ensure that it exists
+  if(NOT IS_ABSOLUTE "${ARG_DESTINATION}")
+    set(ARG_DESTINATION "/workspace/install/nav2_rrtstar_planner/${ARG_DESTINATION}")
+  endif()
+  if(NOT EXISTS "${ARG_DESTINATION}")
+    file(MAKE_DIRECTORY "${ARG_DESTINATION}")
+  endif()
+
+  # default pattern to include
+  if(NOT ARG_PATTERN)
+    set(ARG_PATTERN "*")
+  endif()
+
+  # iterate over directories
+  foreach(dir ${ARG_DIRECTORY})
+    # make dir an absolute path
+    if(NOT IS_ABSOLUTE "${dir}")
+      set(dir "${cmake_current_source_dir}/${dir}")
+    endif()
+
+    if(EXISTS "${dir}")
+      # if directory has no trailing slash
+      # append folder name to destination
+      set(destination "${ARG_DESTINATION}")
+      string(LENGTH "${dir}" length)
+      math(EXPR offset "${length} - 1")
+      string(SUBSTRING "${dir}" ${offset} 1 dir_last_char)
+      if(NOT dir_last_char STREQUAL "/")
+        get_filename_component(destination_name "${dir}" NAME)
+        set(destination "${destination}/${destination_name}")
+      else()
+        # remove trailing slash
+        string(SUBSTRING "${dir}" 0 ${offset} dir)
+      endif()
+      
+      # Create destination directory.
+      # This does *not* solve the problem of empty directories WITHIN the install tree,
+      # but does make sure that the top-level directory specified by the caller gets created.
+      file(MAKE_DIRECTORY "${destination}")
+
+      # glob recursive files
+      set(relative_files "")
+      foreach(pattern ${ARG_PATTERN})
+        file(
+          GLOB_RECURSE
+          include_files
+          RELATIVE "${dir}"
+          "${dir}/${pattern}"
+        )
+        if(NOT include_files STREQUAL "")
+          list(APPEND relative_files ${include_files})
+        endif()
+      endforeach()
+      foreach(pattern ${ARG_PATTERN_EXCLUDE})
+        file(
+          GLOB_RECURSE
+          exclude_files
+          RELATIVE "${dir}"
+          "${dir}/${pattern}"
+        )
+        if(NOT exclude_files STREQUAL "")
+          list(REMOVE_ITEM relative_files ${exclude_files})
+        endif()
+      endforeach()
+      list(SORT relative_files)
+
+      foreach(relative_file ${relative_files})
+        set(absolute_file "${dir}/${relative_file}")
+        # determine link name for file including destination path
+        set(symlink "${destination}/${relative_file}")
+
+        # ensure that destination exists
+        get_filename_component(symlink_dir "${symlink}" PATH)
+        if(NOT EXISTS "${symlink_dir}")
+          file(MAKE_DIRECTORY "${symlink_dir}")
+        endif()
+
+        _ament_cmake_symlink_install_create_symlink("${absolute_file}" "${symlink}")
+      endforeach()
+    else()
+      if(NOT ARG_OPTIONAL)
+        message(FATAL_ERROR
+          "ament_cmake_symlink_install_directory() can't find '${dir}'")
+      endif()
+    endif()
+  endforeach()
+endfunction()
+
+#
+# Reimplement CMake install(FILES) command to use symlinks instead of copying
+# resources.
+#
+# :param cmake_current_source_dir: The CMAKE_CURRENT_SOURCE_DIR when install
+#   was invoked
+# :type cmake_current_source_dir: string
+# :param ARGN: the same arguments as the CMake install command.
+# :type ARGN: various
+#
+function(ament_cmake_symlink_install_files cmake_current_source_dir)
+  cmake_parse_arguments(ARG "OPTIONAL" "DESTINATION;RENAME" "FILES" ${ARGN})
+  if(ARG_UNPARSED_ARGUMENTS)
+    message(FATAL_ERROR "ament_cmake_symlink_install_files() called with "
+      "unused/unsupported arguments: ${ARG_UNPARSED_ARGUMENTS}")
+  endif()
+
+  # make destination an absolute path and ensure that it exists
+  if(NOT IS_ABSOLUTE "${ARG_DESTINATION}")
+    set(ARG_DESTINATION "/workspace/install/nav2_rrtstar_planner/${ARG_DESTINATION}")
+  endif()
+  if(NOT EXISTS "${ARG_DESTINATION}")
+    file(MAKE_DIRECTORY "${ARG_DESTINATION}")
+  endif()
+
+  if(ARG_RENAME)
+    list(LENGTH ARG_FILES file_count)
+    if(NOT file_count EQUAL 1)
+    message(FATAL_ERROR "ament_cmake_symlink_install_files() called with "
+      "RENAME argument but not with a single file")
+    endif()
+  endif()
+
+  # iterate over files
+  foreach(file ${ARG_FILES})
+    # make file an absolute path
+    if(NOT IS_ABSOLUTE "${file}")
+      set(file "${cmake_current_source_dir}/${file}")
+    endif()
+
+    if(EXISTS "${file}")
+      # determine link name for file including destination path
+      get_filename_component(filename "${file}" NAME)
+      if(NOT ARG_RENAME)
+        set(symlink "${ARG_DESTINATION}/${filename}")
+      else()
+        set(symlink "${ARG_DESTINATION}/${ARG_RENAME}")
+      endif()
+      _ament_cmake_symlink_install_create_symlink("${file}" "${symlink}")
+    else()
+      if(NOT ARG_OPTIONAL)
+        message(FATAL_ERROR
+          "ament_cmake_symlink_install_files() can't find '${file}'")
+      endif()
+    endif()
+  endforeach()
+endfunction()
+
+#
+# Reimplement CMake install(PROGRAMS) command to use symlinks instead of copying
+# resources.
+#
+# :param cmake_current_source_dir: The CMAKE_CURRENT_SOURCE_DIR when install
+#   was invoked
+# :type cmake_current_source_dir: string
+# :param ARGN: the same arguments as the CMake install command.
+# :type ARGN: various
+#
+function(ament_cmake_symlink_install_programs cmake_current_source_dir)
+  cmake_parse_arguments(ARG "OPTIONAL" "DESTINATION" "PROGRAMS" ${ARGN})
+  if(ARG_UNPARSED_ARGUMENTS)
+    message(FATAL_ERROR "ament_cmake_symlink_install_programs() called with "
+      "unused/unsupported arguments: ${ARG_UNPARSED_ARGUMENTS}")
+  endif()
+
+  # make destination an absolute path and ensure that it exists
+  if(NOT IS_ABSOLUTE "${ARG_DESTINATION}")
+    set(ARG_DESTINATION "/workspace/install/nav2_rrtstar_planner/${ARG_DESTINATION}")
+  endif()
+  if(NOT EXISTS "${ARG_DESTINATION}")
+    file(MAKE_DIRECTORY "${ARG_DESTINATION}")
+  endif()
+
+  # iterate over programs
+  foreach(file ${ARG_PROGRAMS})
+    # make file an absolute path
+    if(NOT IS_ABSOLUTE "${file}")
+      set(file "${cmake_current_source_dir}/${file}")
+    endif()
+
+    if(EXISTS "${file}")
+      # determine link name for file including destination path
+      get_filename_component(filename "${file}" NAME)
+      set(symlink "${ARG_DESTINATION}/${filename}")
+      _ament_cmake_symlink_install_create_symlink("${file}" "${symlink}")
+    else()
+      if(NOT ARG_OPTIONAL)
+        message(FATAL_ERROR
+          "ament_cmake_symlink_install_programs() can't find '${file}'")
+      endif()
+    endif()
+  endforeach()
+endfunction()
+
+#
+# Reimplement CMake install(TARGETS) command to use symlinks instead of copying
+# resources.
+#
+# :param TARGET_FILES: the absolute files, replacing the name of targets passed
+#   in as TARGETS
+# :type TARGET_FILES: list of files
+# :param ARGN: the same arguments as the CMake install command except that
+#   keywords identifying the kind of type and the DESTINATION keyword must be
+#   joined with an underscore, e.g. ARCHIVE_DESTINATION.
+# :type ARGN: various
+#
+function(ament_cmake_symlink_install_targets)
+  cmake_parse_arguments(ARG "OPTIONAL" "ARCHIVE_DESTINATION;DESTINATION;LIBRARY_DESTINATION;RUNTIME_DESTINATION"
+    "TARGETS;TARGET_FILES" ${ARGN})
+  if(ARG_UNPARSED_ARGUMENTS)
+    message(FATAL_ERROR "ament_cmake_symlink_install_targets() called with "
+      "unused/unsupported arguments: ${ARG_UNPARSED_ARGUMENTS}")
+  endif()
+
+  # iterate over target files
+  foreach(file ${ARG_TARGET_FILES})
+    if(NOT IS_ABSOLUTE "${file}")
+      message(FATAL_ERROR "ament_cmake_symlink_install_targets() target file "
+        "'${file}' must be an absolute path")
+    endif()
+
+    # determine destination of file based on extension
+    set(destination "")
+    get_filename_component(fileext "${file}" EXT)
+    if(fileext STREQUAL ".a" OR fileext STREQUAL ".lib")
+      set(destination "${ARG_ARCHIVE_DESTINATION}")
+    elseif(fileext STREQUAL ".dylib" OR fileext MATCHES "\\.so(\\.[0-9]+)?(\\.[0-9]+)?(\\.[0-9]+)?$")
+      set(destination "${ARG_LIBRARY_DESTINATION}")
+    elseif(fileext STREQUAL "" OR fileext STREQUAL ".dll" OR fileext STREQUAL ".exe")
+      set(destination "${ARG_RUNTIME_DESTINATION}")
+    endif()
+    if(destination STREQUAL "")
+      set(destination "${ARG_DESTINATION}")
+    endif()
+
+    # make destination an absolute path and ensure that it exists
+    if(NOT IS_ABSOLUTE "${destination}")
+      set(destination "/workspace/install/nav2_rrtstar_planner/${destination}")
+    endif()
+    if(NOT EXISTS "${destination}")
+      file(MAKE_DIRECTORY "${destination}")
+    endif()
+
+    if(EXISTS "${file}")
+      # determine link name for file including destination path
+      get_filename_component(filename "${file}" NAME)
+      set(symlink "${destination}/${filename}")
+      _ament_cmake_symlink_install_create_symlink("${file}" "${symlink}")
+    else()
+      if(NOT ARG_OPTIONAL)
+        message(FATAL_ERROR
+          "ament_cmake_symlink_install_targets() can't find '${file}'")
+      endif()
+    endif()
+  endforeach()
+endfunction()
+
+function(_ament_cmake_symlink_install_create_symlink absolute_file symlink)
+  # register symlink for being removed during install step
+  file(APPEND "${CMAKE_CURRENT_BINARY_DIR}/symlink_install_manifest.txt"
+    "${symlink}\n")
+
+  # avoid any work if correct symlink is already in place
+  if(EXISTS "${symlink}" AND IS_SYMLINK "${symlink}")
+    get_filename_component(destination "${symlink}" REALPATH)
+    get_filename_component(real_absolute_file "${absolute_file}" REALPATH)
+    if(destination STREQUAL real_absolute_file)
+      message(STATUS "Up-to-date symlink: ${symlink}")
+      return()
+    endif()
+  endif()
+
+  message(STATUS "Symlinking: ${symlink}")
+  if(EXISTS "${symlink}" OR IS_SYMLINK "${symlink}")
+    file(REMOVE "${symlink}")
+  endif()
+
+  execute_process(
+    COMMAND "/usr/bin/cmake" "-E" "create_symlink"
+      "${absolute_file}"
+      "${symlink}"
+  )
+  # the CMake command does not provide a return code so check manually
+  if(NOT EXISTS "${symlink}" OR NOT IS_SYMLINK "${symlink}")
+    get_filename_component(destination "${symlink}" REALPATH)
+    message(FATAL_ERROR
+      "Could not create symlink '${symlink}' pointing to '${absolute_file}'")
+  endif()
+endfunction()
+
+# end of template
+
+message(STATUS "Execute custom install script")
+
+# begin of custom install code
+
+# install(FILES "global_planner_plugin.xml" "DESTINATION" "share/nav2_rrtstar_planner/")
+ament_cmake_symlink_install_files("/workspace/src/TurtleBot-RRT-Star" FILES "global_planner_plugin.xml" "DESTINATION" "share/nav2_rrtstar_planner/")
+
+# install("TARGETS" "nav2_rrtstar_planner_plugin" "ARCHIVE_DESTINATION" "lib" "LIBRARY_DESTINATION" "lib" "RUNTIME_DESTINATION" "lib/nav2_rrtstar_planner")
+include("/workspace/build/nav2_rrtstar_planner/ament_cmake_symlink_install_targets_0_${CMAKE_INSTALL_CONFIG_NAME}.cmake")
+
+# install(DIRECTORY "include/" "DESTINATION" "include/")
+ament_cmake_symlink_install_directory("/workspace/src/TurtleBot-RRT-Star" DIRECTORY "include/" "DESTINATION" "include/")
+
+# install(FILES "global_planner_plugin.xml" "DESTINATION" "share/nav2_rrtstar_planner")
+ament_cmake_symlink_install_files("/workspace/src/TurtleBot-RRT-Star" FILES "global_planner_plugin.xml" "DESTINATION" "share/nav2_rrtstar_planner")
+
+# install(DIRECTORY "launch/" "DESTINATION" "share/nav2_rrtstar_planner/launch")
+ament_cmake_symlink_install_directory("/workspace/src/TurtleBot-RRT-Star" DIRECTORY "launch/" "DESTINATION" "share/nav2_rrtstar_planner/launch")
+
+# install(FILES "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/environment_hook/library_path.sh" "DESTINATION" "share/nav2_rrtstar_planner/environment")
+ament_cmake_symlink_install_files("/workspace/src/TurtleBot-RRT-Star" FILES "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/environment_hook/library_path.sh" "DESTINATION" "share/nav2_rrtstar_planner/environment")
+
+# install(FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/library_path.dsv" "DESTINATION" "share/nav2_rrtstar_planner/environment")
+ament_cmake_symlink_install_files("/workspace/src/TurtleBot-RRT-Star" FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/library_path.dsv" "DESTINATION" "share/nav2_rrtstar_planner/environment")
+
+# install(FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/nav2_rrtstar_planner" "DESTINATION" "share/ament_index/resource_index/package_run_dependencies")
+ament_cmake_symlink_install_files("/workspace/src/TurtleBot-RRT-Star" FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/nav2_rrtstar_planner" "DESTINATION" "share/ament_index/resource_index/package_run_dependencies")
+
+# install(FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/nav2_rrtstar_planner" "DESTINATION" "share/ament_index/resource_index/parent_prefix_path")
+ament_cmake_symlink_install_files("/workspace/src/TurtleBot-RRT-Star" FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/nav2_rrtstar_planner" "DESTINATION" "share/ament_index/resource_index/parent_prefix_path")
+
+# install(FILES "/opt/ros/humble/share/ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh" "DESTINATION" "share/nav2_rrtstar_planner/environment")
+ament_cmake_symlink_install_files("/workspace/src/TurtleBot-RRT-Star" FILES "/opt/ros/humble/share/ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh" "DESTINATION" "share/nav2_rrtstar_planner/environment")
+
+# install(FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/ament_prefix_path.dsv" "DESTINATION" "share/nav2_rrtstar_planner/environment")
+ament_cmake_symlink_install_files("/workspace/src/TurtleBot-RRT-Star" FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/ament_prefix_path.dsv" "DESTINATION" "share/nav2_rrtstar_planner/environment")
+
+# install(FILES "/opt/ros/humble/share/ament_cmake_core/cmake/environment_hooks/environment/path.sh" "DESTINATION" "share/nav2_rrtstar_planner/environment")
+ament_cmake_symlink_install_files("/workspace/src/TurtleBot-RRT-Star" FILES "/opt/ros/humble/share/ament_cmake_core/cmake/environment_hooks/environment/path.sh" "DESTINATION" "share/nav2_rrtstar_planner/environment")
+
+# install(FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/path.dsv" "DESTINATION" "share/nav2_rrtstar_planner/environment")
+ament_cmake_symlink_install_files("/workspace/src/TurtleBot-RRT-Star" FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/path.dsv" "DESTINATION" "share/nav2_rrtstar_planner/environment")
+
+# install(FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/local_setup.bash" "DESTINATION" "share/nav2_rrtstar_planner")
+ament_cmake_symlink_install_files("/workspace/src/TurtleBot-RRT-Star" FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/local_setup.bash" "DESTINATION" "share/nav2_rrtstar_planner")
+
+# install(FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/local_setup.sh" "DESTINATION" "share/nav2_rrtstar_planner")
+ament_cmake_symlink_install_files("/workspace/src/TurtleBot-RRT-Star" FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/local_setup.sh" "DESTINATION" "share/nav2_rrtstar_planner")
+
+# install(FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/local_setup.zsh" "DESTINATION" "share/nav2_rrtstar_planner")
+ament_cmake_symlink_install_files("/workspace/src/TurtleBot-RRT-Star" FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/local_setup.zsh" "DESTINATION" "share/nav2_rrtstar_planner")
+
+# install(FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/local_setup.dsv" "DESTINATION" "share/nav2_rrtstar_planner")
+ament_cmake_symlink_install_files("/workspace/src/TurtleBot-RRT-Star" FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/local_setup.dsv" "DESTINATION" "share/nav2_rrtstar_planner")
+
+# install(FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/package.dsv" "DESTINATION" "share/nav2_rrtstar_planner")
+ament_cmake_symlink_install_files("/workspace/src/TurtleBot-RRT-Star" FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/package.dsv" "DESTINATION" "share/nav2_rrtstar_planner")
+
+# install(FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_index/share/ament_index/resource_index/packages/nav2_rrtstar_planner" "DESTINATION" "share/ament_index/resource_index/packages")
+ament_cmake_symlink_install_files("/workspace/src/TurtleBot-RRT-Star" FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_index/share/ament_index/resource_index/packages/nav2_rrtstar_planner" "DESTINATION" "share/ament_index/resource_index/packages")
+
+# install(FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_index/share/ament_index/resource_index/nav2_core__pluginlib__plugin/nav2_rrtstar_planner" "DESTINATION" "share/ament_index/resource_index/nav2_core__pluginlib__plugin")
+ament_cmake_symlink_install_files("/workspace/src/TurtleBot-RRT-Star" FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_index/share/ament_index/resource_index/nav2_core__pluginlib__plugin/nav2_rrtstar_planner" "DESTINATION" "share/ament_index/resource_index/nav2_core__pluginlib__plugin")
+
+# install(FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_export_include_directories/ament_cmake_export_include_directories-extras.cmake" "DESTINATION" "share/nav2_rrtstar_planner/cmake")
+ament_cmake_symlink_install_files("/workspace/src/TurtleBot-RRT-Star" FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_export_include_directories/ament_cmake_export_include_directories-extras.cmake" "DESTINATION" "share/nav2_rrtstar_planner/cmake")
+
+# install(FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_export_libraries/ament_cmake_export_libraries-extras.cmake" "DESTINATION" "share/nav2_rrtstar_planner/cmake")
+ament_cmake_symlink_install_files("/workspace/src/TurtleBot-RRT-Star" FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_export_libraries/ament_cmake_export_libraries-extras.cmake" "DESTINATION" "share/nav2_rrtstar_planner/cmake")
+
+# install(FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_export_dependencies/ament_cmake_export_dependencies-extras.cmake" "DESTINATION" "share/nav2_rrtstar_planner/cmake")
+ament_cmake_symlink_install_files("/workspace/src/TurtleBot-RRT-Star" FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_export_dependencies/ament_cmake_export_dependencies-extras.cmake" "DESTINATION" "share/nav2_rrtstar_planner/cmake")
+
+# install(FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_core/nav2_rrtstar_plannerConfig.cmake" "/workspace/build/nav2_rrtstar_planner/ament_cmake_core/nav2_rrtstar_plannerConfig-version.cmake" "DESTINATION" "share/nav2_rrtstar_planner/cmake")
+ament_cmake_symlink_install_files("/workspace/src/TurtleBot-RRT-Star" FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_core/nav2_rrtstar_plannerConfig.cmake" "/workspace/build/nav2_rrtstar_planner/ament_cmake_core/nav2_rrtstar_plannerConfig-version.cmake" "DESTINATION" "share/nav2_rrtstar_planner/cmake")
+
+# install(FILES "/workspace/src/TurtleBot-RRT-Star/package.xml" "DESTINATION" "share/nav2_rrtstar_planner")
+ament_cmake_symlink_install_files("/workspace/src/TurtleBot-RRT-Star" FILES "/workspace/src/TurtleBot-RRT-Star/package.xml" "DESTINATION" "share/nav2_rrtstar_planner")
diff --git a/build/nav2_rrtstar_planner/ament_cmake_symlink_install/ament_cmake_symlink_install_uninstall_script.cmake b/build/nav2_rrtstar_planner/ament_cmake_symlink_install/ament_cmake_symlink_install_uninstall_script.cmake
new file mode 100644
index 0000000..1e7e5f7
--- /dev/null
+++ b/build/nav2_rrtstar_planner/ament_cmake_symlink_install/ament_cmake_symlink_install_uninstall_script.cmake
@@ -0,0 +1,23 @@
+# generated from
+# ament_cmake_core/cmake/symlink_install/ament_cmake_symlink_install_uninstall_script.cmake.in
+
+set(install_manifest "/workspace/build/nav2_rrtstar_planner/symlink_install_manifest.txt")
+if(NOT EXISTS "${install_manifest}")
+  message(FATAL_ERROR "Cannot find symlink install manifest: ${install_manifest}")
+endif()
+
+file(READ "${install_manifest}" installed_files)
+string(REGEX REPLACE "\n" ";" installed_files "${installed_files}")
+foreach(installed_file ${installed_files})
+  if(EXISTS "${installed_file}" OR IS_SYMLINK "${installed_file}")
+    message(STATUS "Uninstalling: ${installed_file}")
+    file(REMOVE "${installed_file}")
+    if(EXISTS "${installed_file}" OR IS_SYMLINK "${installed_file}")
+      message(FATAL_ERROR "Failed to remove '${installed_file}'")
+    endif()
+
+    # remove empty parent folders
+    get_filename_component(parent_path "${installed_file}" PATH)
+    ament_cmake_uninstall_target_remove_empty_directories("${parent_path}")
+  endif()
+endforeach()
diff --git a/build/nav2_rrtstar_planner/ament_cmake_symlink_install_targets_0_.cmake b/build/nav2_rrtstar_planner/ament_cmake_symlink_install_targets_0_.cmake
new file mode 100644
index 0000000..12daef6
--- /dev/null
+++ b/build/nav2_rrtstar_planner/ament_cmake_symlink_install_targets_0_.cmake
@@ -0,0 +1 @@
+ament_cmake_symlink_install_targets("TARGET_FILES" "/workspace/build/nav2_rrtstar_planner/libnav2_rrtstar_planner_plugin.so" "TARGETS" "nav2_rrtstar_planner_plugin" "ARCHIVE_DESTINATION" "lib" "LIBRARY_DESTINATION" "lib" "RUNTIME_DESTINATION" "lib/nav2_rrtstar_planner")
diff --git a/build/nav2_rrtstar_planner/ament_cmake_uninstall_target/ament_cmake_uninstall_target.cmake b/build/nav2_rrtstar_planner/ament_cmake_uninstall_target/ament_cmake_uninstall_target.cmake
new file mode 100644
index 0000000..3267015
--- /dev/null
+++ b/build/nav2_rrtstar_planner/ament_cmake_uninstall_target/ament_cmake_uninstall_target.cmake
@@ -0,0 +1,60 @@
+# generated from
+# ament_cmake_core/cmake/uninstall_target/ament_cmake_uninstall_target.cmake.in
+
+function(ament_cmake_uninstall_target_remove_empty_directories path)
+  set(install_space "/workspace/install/nav2_rrtstar_planner")
+  if(install_space STREQUAL "")
+    message(FATAL_ERROR "The CMAKE_INSTALL_PREFIX variable must not be empty")
+  endif()
+
+  string(LENGTH "${install_space}" length)
+  string(SUBSTRING "${path}" 0 ${length} path_prefix)
+  if(NOT path_prefix STREQUAL install_space)
+    message(FATAL_ERROR "The path '${path}' must be within the install space '${install_space}'")
+  endif()
+  if(path STREQUAL install_space)
+    return()
+  endif()
+
+  # check if directory is empty
+  file(GLOB files "${path}/*")
+  list(LENGTH files length)
+  if(length EQUAL 0)
+    message(STATUS "Uninstalling: ${path}/")
+    execute_process(COMMAND "/usr/bin/cmake" "-E" "remove_directory" "${path}")
+    # recursively try to remove parent directories
+    get_filename_component(parent_path "${path}" PATH)
+    ament_cmake_uninstall_target_remove_empty_directories("${parent_path}")
+  endif()
+endfunction()
+
+# uninstall files installed using the standard install() function
+set(install_manifest "/workspace/build/nav2_rrtstar_planner/install_manifest.txt")
+if(NOT EXISTS "${install_manifest}")
+  message(FATAL_ERROR "Cannot find install manifest: ${install_manifest}")
+endif()
+
+file(READ "${install_manifest}" installed_files)
+string(REGEX REPLACE "\n" ";" installed_files "${installed_files}")
+foreach(installed_file ${installed_files})
+  if(EXISTS "${installed_file}" OR IS_SYMLINK "${installed_file}")
+    message(STATUS "Uninstalling: ${installed_file}")
+    file(REMOVE "${installed_file}")
+    if(EXISTS "${installed_file}" OR IS_SYMLINK "${installed_file}")
+      message(FATAL_ERROR "Failed to remove '${installed_file}'")
+    endif()
+
+    # remove empty parent folders
+    get_filename_component(parent_path "${installed_file}" PATH)
+    ament_cmake_uninstall_target_remove_empty_directories("${parent_path}")
+  endif()
+endforeach()
+
+# end of template
+
+message(STATUS "Execute custom uninstall script")
+
+# begin of custom uninstall code
+
+# uninstall files installed using the symlink install functions
+include("/workspace/build/nav2_rrtstar_planner/ament_cmake_symlink_install/ament_cmake_symlink_install_uninstall_script.cmake")
diff --git a/build/nav2_rrtstar_planner/cmake_args.last b/build/nav2_rrtstar_planner/cmake_args.last
new file mode 100644
index 0000000..7aacf90
--- /dev/null
+++ b/build/nav2_rrtstar_planner/cmake_args.last
@@ -0,0 +1 @@
+['-DAMENT_CMAKE_SYMLINK_INSTALL=1']
\ No newline at end of file
diff --git a/build/nav2_rrtstar_planner/cmake_install.cmake b/build/nav2_rrtstar_planner/cmake_install.cmake
new file mode 100644
index 0000000..48ca128
--- /dev/null
+++ b/build/nav2_rrtstar_planner/cmake_install.cmake
@@ -0,0 +1,58 @@
+# Install script for directory: /workspace/src/TurtleBot-RRT-Star
+
+# Set the install prefix
+if(NOT DEFINED CMAKE_INSTALL_PREFIX)
+  set(CMAKE_INSTALL_PREFIX "/workspace/install/nav2_rrtstar_planner")
+endif()
+string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
+
+# Set the install configuration name.
+if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+  if(BUILD_TYPE)
+    string(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
+           CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
+  else()
+    set(CMAKE_INSTALL_CONFIG_NAME "")
+  endif()
+  message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
+endif()
+
+# Set the component getting installed.
+if(NOT CMAKE_INSTALL_COMPONENT)
+  if(COMPONENT)
+    message(STATUS "Install component: \"${COMPONENT}\"")
+    set(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
+  else()
+    set(CMAKE_INSTALL_COMPONENT)
+  endif()
+endif()
+
+# Install shared libraries without execute permission?
+if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+  set(CMAKE_INSTALL_SO_NO_EXE "1")
+endif()
+
+# Is this installation the result of a crosscompile?
+if(NOT DEFINED CMAKE_CROSSCOMPILING)
+  set(CMAKE_CROSSCOMPILING "FALSE")
+endif()
+
+# Set default install directory permissions.
+if(NOT DEFINED CMAKE_OBJDUMP)
+  set(CMAKE_OBJDUMP "/usr/bin/objdump")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  include("/workspace/build/nav2_rrtstar_planner/ament_cmake_symlink_install/ament_cmake_symlink_install.cmake")
+endif()
+
+if(CMAKE_INSTALL_COMPONENT)
+  set(CMAKE_INSTALL_MANIFEST "install_manifest_${CMAKE_INSTALL_COMPONENT}.txt")
+else()
+  set(CMAKE_INSTALL_MANIFEST "install_manifest.txt")
+endif()
+
+string(REPLACE ";" "\n" CMAKE_INSTALL_MANIFEST_CONTENT
+       "${CMAKE_INSTALL_MANIFEST_FILES}")
+file(WRITE "/workspace/build/nav2_rrtstar_planner/${CMAKE_INSTALL_MANIFEST}"
+     "${CMAKE_INSTALL_MANIFEST_CONTENT}")
diff --git a/build/nav2_rrtstar_planner/colcon_build.rc b/build/nav2_rrtstar_planner/colcon_build.rc
new file mode 100644
index 0000000..573541a
--- /dev/null
+++ b/build/nav2_rrtstar_planner/colcon_build.rc
@@ -0,0 +1 @@
+0
diff --git a/build/nav2_rrtstar_planner/colcon_command_prefix_build.sh b/build/nav2_rrtstar_planner/colcon_command_prefix_build.sh
new file mode 100644
index 0000000..f9867d5
--- /dev/null
+++ b/build/nav2_rrtstar_planner/colcon_command_prefix_build.sh
@@ -0,0 +1 @@
+# generated from colcon_core/shell/template/command_prefix.sh.em
diff --git a/build/nav2_rrtstar_planner/colcon_command_prefix_build.sh.env b/build/nav2_rrtstar_planner/colcon_command_prefix_build.sh.env
new file mode 100644
index 0000000..db5afb4
--- /dev/null
+++ b/build/nav2_rrtstar_planner/colcon_command_prefix_build.sh.env
@@ -0,0 +1,54 @@
+AMENT_PREFIX_PATH=/opt/ros/humble
+CODE_NO_PASSWORD=true
+COLCON=1
+DATA_PATH=/home/user/data
+DATA_PATH_V2=/data
+DESKTOP_MODE=auto
+DISPLAY=:1
+DISPLAY_BACKEND=auto
+ENABLE_CODE_SERVER=true
+ENABLE_FILEBROWSER=false
+ENABLE_FOXGLOVE=true
+ENABLE_GZWEB=true
+ENABLE_ROSBRIDGE=true
+ENABLE_TERMINAL=true
+ENABLE_VNC=true
+FILEBROWSER_BASEURL=/file
+GZWEB_APP_DIR=/opt/gzweb
+GZWEB_PORT=8000
+GZ_SIM_CACHE_PATH=/opt/gzsim/cache
+GZ_SIM_RESOURCE_PATH=/workspace/models:/opt/gzsim/models:/workspace/models:/opt/gzsim/models:/workspace/models:/opt/gzsim/models:/usr/share/gz/gz-sim7/models
+HOME=/home/devuser
+INIT_SCRIPT=sed -i "/# pms-vendor-pythonpath/d;/export PYTHONPATH=\"/opt\/vendor\/python/d" /home/${USER:-devuser}/.bashrc 2>/dev/null || true
+
+/workspace/autorun.sh
+INIT_WORKSPACE=/workspace
+LAUNCH_TYPE=EC2
+LC_CTYPE=C.UTF-8
+LD_LIBRARY_PATH=/usr/local/cuda/lib64:/usr/local/cuda/lib64:/usr/local/cuda/lib64:/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib
+LOGNAME=devuser
+MAIL=/var/mail/devuser
+OLDPWD=/workspace
+PATH=/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/opt/ros/humble/bin:/usr/local/cuda/bin:/opt/TurboVNC/bin:/opt/node/bin:/opt/foundation/bin:/home/devuser/miniconda3/bin:/home/devuser/.local/bin
+PMS_FOUNDATION_VARIANT=gpu
+PMS_VNC_MODE=turbovnc
+PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$
+PWD=/workspace/build/nav2_rrtstar_planner
+PYTHONPATH=/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages
+ROS_DISTRO=humble
+ROS_DOMAIN_ID=42
+ROS_LOCALHOST_ONLY=0
+ROS_PYTHON_VERSION=3
+ROS_VERSION=2
+SHELL=/bin/bash
+SHLVL=1
+SINGLE_DESKTOP_APP=
+SINGLE_DESKTOP_PRESET=
+SPACE_DIR=/home/user/data/309844d858e5487f9c582ea361481b3d
+SPACE_DIR_V2=/data/309844d858e5487f9c582ea361481b3d
+SPACE_ID=309844d858e5487f9c582ea361481b3d
+USER=devuser
+USER_ID=6950f1ca-1599-42c5-a926-29eb731cb95c
+VNC_NO_PASSWORD=true
+WORKSPACE=/workspace
+_=/usr/bin/colcon
diff --git a/build/nav2_rrtstar_planner/install_manifest.txt b/build/nav2_rrtstar_planner/install_manifest.txt
new file mode 100644
index 0000000..e69de29
diff --git a/build/nav2_rrtstar_planner/libnav2_rrtstar_planner_plugin.so b/build/nav2_rrtstar_planner/libnav2_rrtstar_planner_plugin.so
new file mode 100755
index 0000000..2387a9e
Binary files /dev/null and b/build/nav2_rrtstar_planner/libnav2_rrtstar_planner_plugin.so differ
diff --git a/build/nav2_rrtstar_planner/symlink_install_manifest.txt b/build/nav2_rrtstar_planner/symlink_install_manifest.txt
new file mode 100644
index 0000000..393f649
--- /dev/null
+++ b/build/nav2_rrtstar_planner/symlink_install_manifest.txt
@@ -0,0 +1,26 @@
+/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner//global_planner_plugin.xml
+/workspace/install/nav2_rrtstar_planner/lib/libnav2_rrtstar_planner_plugin.so
+/workspace/install/nav2_rrtstar_planner/include//nav2_rrtstar_planner/rrtstar_planner.hpp
+/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/global_planner_plugin.xml
+/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/launch/bringup_localization_with_initial_pose.launch.py
+/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/environment/library_path.sh
+/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/environment/library_path.dsv
+/workspace/install/nav2_rrtstar_planner/share/ament_index/resource_index/package_run_dependencies/nav2_rrtstar_planner
+/workspace/install/nav2_rrtstar_planner/share/ament_index/resource_index/parent_prefix_path/nav2_rrtstar_planner
+/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/environment/ament_prefix_path.sh
+/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/environment/ament_prefix_path.dsv
+/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/environment/path.sh
+/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/environment/path.dsv
+/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/local_setup.bash
+/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/local_setup.sh
+/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/local_setup.zsh
+/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/local_setup.dsv
+/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/package.dsv
+/workspace/install/nav2_rrtstar_planner/share/ament_index/resource_index/packages/nav2_rrtstar_planner
+/workspace/install/nav2_rrtstar_planner/share/ament_index/resource_index/nav2_core__pluginlib__plugin/nav2_rrtstar_planner
+/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/cmake/ament_cmake_export_include_directories-extras.cmake
+/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/cmake/ament_cmake_export_libraries-extras.cmake
+/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/cmake/ament_cmake_export_dependencies-extras.cmake
+/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/cmake/nav2_rrtstar_plannerConfig.cmake
+/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/cmake/nav2_rrtstar_plannerConfig-version.cmake
+/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/package.xml
diff --git a/build/turtlebot3_gazebo/.cmake/api/v1/query/client-colcon-cmake/codemodel-v2 b/build/turtlebot3_gazebo/.cmake/api/v1/query/client-colcon-cmake/codemodel-v2
new file mode 100644
index 0000000..e69de29
diff --git a/build/turtlebot3_gazebo/.cmake/api/v1/reply/codemodel-v2-f2c023901ff4b4880e32.json b/build/turtlebot3_gazebo/.cmake/api/v1/reply/codemodel-v2-f2c023901ff4b4880e32.json
new file mode 100644
index 0000000..f94bbe4
--- /dev/null
+++ b/build/turtlebot3_gazebo/.cmake/api/v1/reply/codemodel-v2-f2c023901ff4b4880e32.json
@@ -0,0 +1,79 @@
+{
+	"configurations" : 
+	[
+		{
+			"directories" : 
+			[
+				{
+					"build" : ".",
+					"hasInstallRule" : true,
+					"jsonFile" : "directory-.-6fa35cb1c132cd4b41ac.json",
+					"minimumCMakeVersion" : 
+					{
+						"string" : "3.10.2"
+					},
+					"projectIndex" : 0,
+					"source" : ".",
+					"targetIndexes" : 
+					[
+						0,
+						1,
+						2
+					]
+				}
+			],
+			"name" : "",
+			"projects" : 
+			[
+				{
+					"directoryIndexes" : 
+					[
+						0
+					],
+					"name" : "turtlebot3_gazebo",
+					"targetIndexes" : 
+					[
+						0,
+						1,
+						2
+					]
+				}
+			],
+			"targets" : 
+			[
+				{
+					"directoryIndex" : 0,
+					"id" : "turtlebot3_drive::@6890427a1f51a3e7e1df",
+					"jsonFile" : "target-turtlebot3_drive-8ed77e5abd110fc03104.json",
+					"name" : "turtlebot3_drive",
+					"projectIndex" : 0
+				},
+				{
+					"directoryIndex" : 0,
+					"id" : "turtlebot3_gazebo_uninstall::@6890427a1f51a3e7e1df",
+					"jsonFile" : "target-turtlebot3_gazebo_uninstall-843460e0ab04c919793e.json",
+					"name" : "turtlebot3_gazebo_uninstall",
+					"projectIndex" : 0
+				},
+				{
+					"directoryIndex" : 0,
+					"id" : "uninstall::@6890427a1f51a3e7e1df",
+					"jsonFile" : "target-uninstall-c4ad45ff4244405704db.json",
+					"name" : "uninstall",
+					"projectIndex" : 0
+				}
+			]
+		}
+	],
+	"kind" : "codemodel",
+	"paths" : 
+	{
+		"build" : "/workspace/build/turtlebot3_gazebo",
+		"source" : "/workspace/src/turtlebot3_simulations/turtlebot3_gazebo"
+	},
+	"version" : 
+	{
+		"major" : 2,
+		"minor" : 3
+	}
+}
diff --git a/build/turtlebot3_gazebo/.cmake/api/v1/reply/directory-.-6fa35cb1c132cd4b41ac.json b/build/turtlebot3_gazebo/.cmake/api/v1/reply/directory-.-6fa35cb1c132cd4b41ac.json
new file mode 100644
index 0000000..6268b75
--- /dev/null
+++ b/build/turtlebot3_gazebo/.cmake/api/v1/reply/directory-.-6fa35cb1c132cd4b41ac.json
@@ -0,0 +1,93 @@
+{
+	"backtraceGraph" : 
+	{
+		"commands" : 
+		[
+			"_install",
+			"install",
+			"include",
+			"find_package"
+		],
+		"files" : 
+		[
+			"/opt/ros/humble/share/ament_cmake_core/cmake/symlink_install/install.cmake",
+			"/opt/ros/humble/share/ament_cmake_core/cmake/ament_cmake_symlink_install-extras.cmake",
+			"/opt/ros/humble/share/ament_cmake_core/cmake/ament_cmake_coreConfig.cmake",
+			"/opt/ros/humble/share/ament_cmake/cmake/ament_cmake_export_dependencies-extras.cmake",
+			"/opt/ros/humble/share/ament_cmake/cmake/ament_cmakeConfig.cmake",
+			"CMakeLists.txt"
+		],
+		"nodes" : 
+		[
+			{
+				"file" : 5
+			},
+			{
+				"command" : 3,
+				"file" : 5,
+				"line" : 23,
+				"parent" : 0
+			},
+			{
+				"file" : 4,
+				"parent" : 1
+			},
+			{
+				"command" : 2,
+				"file" : 4,
+				"line" : 41,
+				"parent" : 2
+			},
+			{
+				"file" : 3,
+				"parent" : 3
+			},
+			{
+				"command" : 3,
+				"file" : 3,
+				"line" : 15,
+				"parent" : 4
+			},
+			{
+				"file" : 2,
+				"parent" : 5
+			},
+			{
+				"command" : 2,
+				"file" : 2,
+				"line" : 41,
+				"parent" : 6
+			},
+			{
+				"file" : 1,
+				"parent" : 7
+			},
+			{
+				"command" : 1,
+				"file" : 1,
+				"line" : 47,
+				"parent" : 8
+			},
+			{
+				"command" : 0,
+				"file" : 0,
+				"line" : 43,
+				"parent" : 9
+			}
+		]
+	},
+	"installers" : 
+	[
+		{
+			"backtrace" : 10,
+			"component" : "Unspecified",
+			"scriptFile" : "/workspace/build/turtlebot3_gazebo/ament_cmake_symlink_install/ament_cmake_symlink_install.cmake",
+			"type" : "script"
+		}
+	],
+	"paths" : 
+	{
+		"build" : ".",
+		"source" : "."
+	}
+}
diff --git a/build/turtlebot3_gazebo/.cmake/api/v1/reply/index-2026-06-29T09-02-58-0528.json b/build/turtlebot3_gazebo/.cmake/api/v1/reply/index-2026-06-29T09-02-58-0528.json
new file mode 100644
index 0000000..446e2b8
--- /dev/null
+++ b/build/turtlebot3_gazebo/.cmake/api/v1/reply/index-2026-06-29T09-02-58-0528.json
@@ -0,0 +1,54 @@
+{
+	"cmake" : 
+	{
+		"generator" : 
+		{
+			"multiConfig" : false,
+			"name" : "Unix Makefiles"
+		},
+		"paths" : 
+		{
+			"cmake" : "/usr/bin/cmake",
+			"cpack" : "/usr/bin/cpack",
+			"ctest" : "/usr/bin/ctest",
+			"root" : "/usr/share/cmake-3.22"
+		},
+		"version" : 
+		{
+			"isDirty" : false,
+			"major" : 3,
+			"minor" : 22,
+			"patch" : 1,
+			"string" : "3.22.1",
+			"suffix" : ""
+		}
+	},
+	"objects" : 
+	[
+		{
+			"jsonFile" : "codemodel-v2-f2c023901ff4b4880e32.json",
+			"kind" : "codemodel",
+			"version" : 
+			{
+				"major" : 2,
+				"minor" : 3
+			}
+		}
+	],
+	"reply" : 
+	{
+		"client-colcon-cmake" : 
+		{
+			"codemodel-v2" : 
+			{
+				"jsonFile" : "codemodel-v2-f2c023901ff4b4880e32.json",
+				"kind" : "codemodel",
+				"version" : 
+				{
+					"major" : 2,
+					"minor" : 3
+				}
+			}
+		}
+	}
+}
diff --git a/build/turtlebot3_gazebo/.cmake/api/v1/reply/target-turtlebot3_drive-8ed77e5abd110fc03104.json b/build/turtlebot3_gazebo/.cmake/api/v1/reply/target-turtlebot3_drive-8ed77e5abd110fc03104.json
new file mode 100644
index 0000000..303b90f
--- /dev/null
+++ b/build/turtlebot3_gazebo/.cmake/api/v1/reply/target-turtlebot3_drive-8ed77e5abd110fc03104.json
@@ -0,0 +1,730 @@
+{
+	"artifacts" : 
+	[
+		{
+			"path" : "turtlebot3_drive"
+		}
+	],
+	"backtrace" : 1,
+	"backtraceGraph" : 
+	{
+		"commands" : 
+		[
+			"add_executable",
+			"target_link_libraries",
+			"ament_target_dependencies",
+			"add_compile_options",
+			"include_directories",
+			"target_include_directories"
+		],
+		"files" : 
+		[
+			"CMakeLists.txt",
+			"/opt/ros/humble/share/ament_cmake_target_dependencies/cmake/ament_target_dependencies.cmake"
+		],
+		"nodes" : 
+		[
+			{
+				"file" : 0
+			},
+			{
+				"command" : 0,
+				"file" : 0,
+				"line" : 72,
+				"parent" : 0
+			},
+			{
+				"command" : 2,
+				"file" : 0,
+				"line" : 73,
+				"parent" : 0
+			},
+			{
+				"command" : 1,
+				"file" : 1,
+				"line" : 145,
+				"parent" : 2
+			},
+			{
+				"command" : 3,
+				"file" : 0,
+				"line" : 12,
+				"parent" : 0
+			},
+			{
+				"command" : 4,
+				"file" : 0,
+				"line" : 50,
+				"parent" : 0
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+Qt5QmlModels_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/Qt5QmlModels
+
+//The directory containing a CMake configuration file for Qt5Qml.
+Qt5Qml_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/Qt5Qml
+
+//The directory containing a CMake configuration file for Qt5QuickControls2.
+Qt5QuickControls2_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/Qt5QuickControls2
+
+//The directory containing a CMake configuration file for Qt5Quick.
+Qt5Quick_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/Qt5Quick
+
+//The directory containing a CMake configuration file for Qt5Widgets.
+Qt5Widgets_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/Qt5Widgets
+
+//The directory containing a CMake configuration file for Qt5.
+Qt5_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/Qt5
+
+//Name of the computer/site where compile is being run
+SITE:STRING=pms-space-6950f1ca-1599-42c5-a926-29eb731cb95c-3b8732
+
+//Path to a library.
+SWSCALE_LIBRARY_swscale:FILEPATH=/usr/lib/x86_64-linux-gnu/libswscale.so
+
+//Path to a library.
+TINYXML2_LIBRARY_tinyxml2:FILEPATH=/usr/lib/x86_64-linux-gnu/libtinyxml2.so
+
+//The directory containing a CMake configuration file for TinyXML2.
+TinyXML2_DIR:PATH=TinyXML2_DIR-NOTFOUND
+
+//Path to a library.
+UUID_LIBRARY_uuid:FILEPATH=/usr/lib/x86_64-linux-gnu/libuuid.so
+
+//Path to a library.
+ZIP_LIBRARY_zip:FILEPATH=/usr/lib/x86_64-linux-gnu/libzip.so
+
+//The directory containing a CMake configuration file for ZeroMQ.
+ZeroMQ_DIR:PATH=ZeroMQ_DIR-NOTFOUND
+
+//Path to a library.
+ZeroMQ_LIBRARY_zmq:FILEPATH=/usr/lib/x86_64-linux-gnu/libzmq.so
+
+//Path to a library.
+_lib:FILEPATH=/opt/ros/humble/lib/libvision_msgs__rosidl_typesupport_fastrtps_cpp.so
+
+//The directory containing a CMake configuration file for action_msgs.
+action_msgs_DIR:PATH=/opt/ros/humble/share/action_msgs/cmake
+
+//The directory containing a CMake configuration file for actuator_msgs.
+actuator_msgs_DIR:PATH=/opt/ros/humble/share/actuator_msgs/cmake
+
+//The directory containing a CMake configuration file for ament_cmake.
+ament_cmake_DIR:PATH=/opt/ros/humble/share/ament_cmake/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_core.
+ament_cmake_core_DIR:PATH=/opt/ros/humble/share/ament_cmake_core/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_export_definitions.
+ament_cmake_export_definitions_DIR:PATH=/opt/ros/humble/share/ament_cmake_export_definitions/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_export_dependencies.
+ament_cmake_export_dependencies_DIR:PATH=/opt/ros/humble/share/ament_cmake_export_dependencies/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_export_include_directories.
+ament_cmake_export_include_directories_DIR:PATH=/opt/ros/humble/share/ament_cmake_export_include_directories/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_export_interfaces.
+ament_cmake_export_interfaces_DIR:PATH=/opt/ros/humble/share/ament_cmake_export_interfaces/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_export_libraries.
+ament_cmake_export_libraries_DIR:PATH=/opt/ros/humble/share/ament_cmake_export_libraries/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_export_link_flags.
+ament_cmake_export_link_flags_DIR:PATH=/opt/ros/humble/share/ament_cmake_export_link_flags/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_export_targets.
+ament_cmake_export_targets_DIR:PATH=/opt/ros/humble/share/ament_cmake_export_targets/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_gen_version_h.
+ament_cmake_gen_version_h_DIR:PATH=/opt/ros/humble/share/ament_cmake_gen_version_h/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_include_directories.
+ament_cmake_include_directories_DIR:PATH=/opt/ros/humble/share/ament_cmake_include_directories/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_libraries.
+ament_cmake_libraries_DIR:PATH=/opt/ros/humble/share/ament_cmake_libraries/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_python.
+ament_cmake_python_DIR:PATH=/opt/ros/humble/share/ament_cmake_python/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_target_dependencies.
+ament_cmake_target_dependencies_DIR:PATH=/opt/ros/humble/share/ament_cmake_target_dependencies/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_test.
+ament_cmake_test_DIR:PATH=/opt/ros/humble/share/ament_cmake_test/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_version.
+ament_cmake_version_DIR:PATH=/opt/ros/humble/share/ament_cmake_version/cmake
+
+//The directory containing a CMake configuration file for ament_index_cpp.
+ament_index_cpp_DIR:PATH=/opt/ros/humble/share/ament_index_cpp/cmake
+
+//The directory containing a CMake configuration file for assimp.
+assimp_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/assimp-5.2
+
+//The directory containing a CMake configuration file for builtin_interfaces.
+builtin_interfaces_DIR:PATH=/opt/ros/humble/share/builtin_interfaces/cmake
+
+//The directory containing a CMake configuration file for console_bridge.
+console_bridge_DIR:PATH=/usr/lib/x86_64-linux-gnu/console_bridge/cmake
+
+//The directory containing a CMake configuration file for draco.
+draco_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/draco
+
+//The directory containing a CMake configuration file for fastcdr.
+fastcdr_DIR:PATH=/opt/ros/humble/lib/cmake/fastcdr
+
+//The directory containing a CMake configuration file for fastrtps.
+fastrtps_DIR:PATH=/opt/ros/humble/share/fastrtps/cmake
+
+//The directory containing a CMake configuration file for fastrtps_cmake_module.
+fastrtps_cmake_module_DIR:PATH=/opt/ros/humble/share/fastrtps_cmake_module/cmake
+
+//The directory containing a CMake configuration file for fmt.
+fmt_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/fmt
+
+//The directory containing a CMake configuration file for foonathan_memory.
+foonathan_memory_DIR:PATH=/opt/ros/humble/lib/foonathan_memory/cmake
+
+//The directory containing a CMake configuration file for geometry_msgs.
+geometry_msgs_DIR:PATH=/opt/ros/humble/share/geometry_msgs/cmake
+
+//The directory containing a CMake configuration file for gz-cmake3.
+gz-cmake3_DIR:PATH=/usr/share/cmake/gz-cmake3
+
+//The directory containing a CMake configuration file for gz-common5-av.
+gz-common5-av_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/gz-common5-av
+
+//The directory containing a CMake configuration file for gz-common5-events.
+gz-common5-events_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/gz-common5-events
+
+//The directory containing a CMake configuration file for gz-common5-geospatial.
+gz-common5-geospatial_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/gz-common5-geospatial
+
+//The directory containing a CMake configuration file for gz-common5-graphics.
+gz-common5-graphics_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/gz-common5-graphics
+
+//The directory containing a CMake configuration file for gz-common5-io.
+gz-common5-io_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/gz-common5-io
+
+//The directory containing a CMake configuration file for gz-common5-profiler.
+gz-common5-profiler_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/gz-common5-profiler
+
+//The directory containing a CMake configuration file for gz-common5-testing.
+gz-common5-testing_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/gz-common5-testing
+
+//The directory containing a CMake configuration file for gz-common5.
+gz-common5_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/gz-common5
+
+//The directory containing a CMake configuration file for gz-fuel_tools9.
+gz-fuel_tools9_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/gz-fuel_tools9
+
+//The directory containing a CMake configuration file for gz-gui8.
+gz-gui8_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/gz-gui8
+
+//The directory containing a CMake configuration file for gz-math7-eigen3.
+gz-math7-eigen3_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/gz-math7-eigen3
+
+//The directory containing a CMake configuration file for gz-math7.
+gz-math7_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/gz-math7
+
+//The directory containing a CMake configuration file for gz-msgs10.
+gz-msgs10_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/gz-msgs10
+
+//The directory containing a CMake configuration file for gz-physics7-heightmap.
+gz-physics7-heightmap_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/gz-physics7-heightmap
+
+//The directory containing a CMake configuration file for gz-physics7-mesh.
+gz-physics7-mesh_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/gz-physics7-mesh
+
+//The directory containing a CMake configuration file for gz-physics7-sdf.
+gz-physics7-sdf_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/gz-physics7-sdf
+
+//The directory containing a CMake configuration file for gz-physics7.
+gz-physics7_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/gz-physics7
+
+//The directory containing a CMake configuration file for gz-plugin2-all.
+gz-plugin2-all_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/gz-plugin2-all
+
+//The directory containing a CMake configuration file for gz-plugin2-loader.
+gz-plugin2-loader_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/gz-plugin2-loader
+
+//The directory containing a CMake configuration file for gz-plugin2-register.
+gz-plugin2-register_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/gz-plugin2-register
+
+//The directory containing a CMake configuration file for gz-plugin2.
+gz-plugin2_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/gz-plugin2
+
+//The directory containing a CMake configuration file for gz-rendering8.
+gz-rendering8_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/gz-rendering8
+
+//The directory containing a CMake configuration file for gz-sensors8-air_pressure.
+gz-sensors8-air_pressure_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-air_pressure
+
+//The directory containing a CMake configuration file for gz-sensors8-air_speed.
+gz-sensors8-air_speed_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-air_speed
+
+//The directory containing a CMake configuration file for gz-sensors8-altimeter.
+gz-sensors8-altimeter_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-altimeter
+
+//The directory containing a CMake configuration file for gz-sensors8-boundingbox_camera.
+gz-sensors8-boundingbox_camera_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-boundingbox_camera
+
+//The directory containing a CMake configuration file for gz-sensors8-camera.
+gz-sensors8-camera_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-camera
+
+//The directory containing a CMake configuration file for gz-sensors8-depth_camera.
+gz-sensors8-depth_camera_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-depth_camera
+
+//The directory containing a CMake configuration file for gz-sensors8-dvl.
+gz-sensors8-dvl_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-dvl
+
+//The directory containing a CMake configuration file for gz-sensors8-force_torque.
+gz-sensors8-force_torque_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-force_torque
+
+//The directory containing a CMake configuration file for gz-sensors8-gpu_lidar.
+gz-sensors8-gpu_lidar_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-gpu_lidar
+
+//The directory containing a CMake configuration file for gz-sensors8-imu.
+gz-sensors8-imu_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-imu
+
+//The directory containing a CMake configuration file for gz-sensors8-lidar.
+gz-sensors8-lidar_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-lidar
+
+//The directory containing a CMake configuration file for gz-sensors8-logical_camera.
+gz-sensors8-logical_camera_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-logical_camera
+
+//The directory containing a CMake configuration file for gz-sensors8-magnetometer.
+gz-sensors8-magnetometer_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-magnetometer
+
+//The directory containing a CMake configuration file for gz-sensors8-navsat.
+gz-sensors8-navsat_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-navsat
+
+//The directory containing a CMake configuration file for gz-sensors8-rendering.
+gz-sensors8-rendering_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-rendering
+
+//The directory containing a CMake configuration file for gz-sensors8-rgbd_camera.
+gz-sensors8-rgbd_camera_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-rgbd_camera
+
+//The directory containing a CMake configuration file for gz-sensors8-segmentation_camera.
+gz-sensors8-segmentation_camera_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-segmentation_camera
+
+//The directory containing a CMake configuration file for gz-sensors8-thermal_camera.
+gz-sensors8-thermal_camera_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-thermal_camera
+
+//The directory containing a CMake configuration file for gz-sensors8-wide_angle_camera.
+gz-sensors8-wide_angle_camera_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-wide_angle_camera
+
+//The directory containing a CMake configuration file for gz-sensors8.
+gz-sensors8_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8
+
+//The directory containing a CMake configuration file for gz-sim8.
+gz-sim8_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/gz-sim8
+
+//The directory containing a CMake configuration file for gz-transport13-log.
+gz-transport13-log_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/gz-transport13-log
+
+//The directory containing a CMake configuration file for gz-transport13-parameters.
+gz-transport13-parameters_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/gz-transport13-parameters
+
+//The directory containing a CMake configuration file for gz-transport13.
+gz-transport13_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/gz-transport13
+
+//The directory containing a CMake configuration file for gz-utils2-cli.
+gz-utils2-cli_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/gz-utils2-cli
+
+//The directory containing a CMake configuration file for gz-utils2.
+gz-utils2_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/gz-utils2
+
+//The directory containing a CMake configuration file for jsoncpp.
+jsoncpp_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/jsoncpp
+
+//The directory containing a CMake configuration file for libstatistics_collector.
+libstatistics_collector_DIR:PATH=/opt/ros/humble/share/libstatistics_collector/cmake
+
+//The directory containing a CMake configuration file for libyaml_vendor.
+libyaml_vendor_DIR:PATH=/opt/ros/humble/share/libyaml_vendor/cmake
+
+//The directory containing a CMake configuration file for nav_msgs.
+nav_msgs_DIR:PATH=/opt/ros/humble/share/nav_msgs/cmake
+
+//Path to a library.
+pkgcfg_lib_AVCODEC_avcodec:FILEPATH=/usr/lib/x86_64-linux-gnu/libavcodec.so
+
+//Path to a library.
+pkgcfg_lib_AVDEVICE_avdevice:FILEPATH=/usr/lib/x86_64-linux-gnu/libavdevice.so
+
+//Path to a library.
+pkgcfg_lib_AVFORMAT_avformat:FILEPATH=/usr/lib/x86_64-linux-gnu/libavformat.so
+
+//Path to a library.
+pkgcfg_lib_AVUTIL_avutil:FILEPATH=/usr/lib/x86_64-linux-gnu/libavutil.so
+
+//Path to a library.
+pkgcfg_lib_JSONCPP_jsoncpp:FILEPATH=/usr/lib/x86_64-linux-gnu/libjsoncpp.so
+
+//Path to a library.
+pkgcfg_lib_PC_CURL_curl:FILEPATH=/usr/lib/x86_64-linux-gnu/libcurl.so
+
+//Path to a library.
+pkgcfg_lib_SWSCALE_swscale:FILEPATH=/usr/lib/x86_64-linux-gnu/libswscale.so
+
+//Path to a library.
+pkgcfg_lib_TINYXML2_tinyxml2:FILEPATH=/usr/lib/x86_64-linux-gnu/libtinyxml2.so
+
+//Path to a library.
+pkgcfg_lib_UUID_uuid:FILEPATH=/usr/lib/x86_64-linux-gnu/libuuid.so
+
+//Path to a library.
+pkgcfg_lib_ZIP_zip:FILEPATH=/usr/lib/x86_64-linux-gnu/libzip.so
+
+//Path to a library.
+pkgcfg_lib_ZeroMQ_zmq:FILEPATH=/usr/lib/x86_64-linux-gnu/libzmq.so
+
+//Path to a library.
+pkgcfg_lib__OPENSSL_crypto:FILEPATH=/usr/lib/x86_64-linux-gnu/libcrypto.so
+
+//Path to a library.
+pkgcfg_lib__OPENSSL_ssl:FILEPATH=/usr/lib/x86_64-linux-gnu/libssl.so
+
+//The directory containing a CMake configuration file for rcl.
+rcl_DIR:PATH=/opt/ros/humble/share/rcl/cmake
+
+//The directory containing a CMake configuration file for rcl_interfaces.
+rcl_interfaces_DIR:PATH=/opt/ros/humble/share/rcl_interfaces/cmake
+
+//The directory containing a CMake configuration file for rcl_logging_interface.
+rcl_logging_interface_DIR:PATH=/opt/ros/humble/share/rcl_logging_interface/cmake
+
+//The directory containing a CMake configuration file for rcl_logging_spdlog.
+rcl_logging_spdlog_DIR:PATH=/opt/ros/humble/share/rcl_logging_spdlog/cmake
+
+//The directory containing a CMake configuration file for rcl_yaml_param_parser.
+rcl_yaml_param_parser_DIR:PATH=/opt/ros/humble/share/rcl_yaml_param_parser/cmake
+
+//The directory containing a CMake configuration file for rclcpp.
+rclcpp_DIR:PATH=/opt/ros/humble/share/rclcpp/cmake
+
+//The directory containing a CMake configuration file for rcpputils.
+rcpputils_DIR:PATH=/opt/ros/humble/share/rcpputils/cmake
+
+//The directory containing a CMake configuration file for rcutils.
+rcutils_DIR:PATH=/opt/ros/humble/share/rcutils/cmake
+
+//The directory containing a CMake configuration file for rmw.
+rmw_DIR:PATH=/opt/ros/humble/share/rmw/cmake
+
+//The directory containing a CMake configuration file for rmw_dds_common.
+rmw_dds_common_DIR:PATH=/opt/ros/humble/share/rmw_dds_common/cmake
+
+//The directory containing a CMake configuration file for rmw_fastrtps_cpp.
+rmw_fastrtps_cpp_DIR:PATH=/opt/ros/humble/share/rmw_fastrtps_cpp/cmake
+
+//The directory containing a CMake configuration file for rmw_fastrtps_shared_cpp.
+rmw_fastrtps_shared_cpp_DIR:PATH=/opt/ros/humble/share/rmw_fastrtps_shared_cpp/cmake
+
+//The directory containing a CMake configuration file for rmw_implementation.
+rmw_implementation_DIR:PATH=/opt/ros/humble/share/rmw_implementation/cmake
+
+//The directory containing a CMake configuration file for rmw_implementation_cmake.
+rmw_implementation_cmake_DIR:PATH=/opt/ros/humble/share/rmw_implementation_cmake/cmake
+
+//The directory containing a CMake configuration file for ros_gz_bridge.
+ros_gz_bridge_DIR:PATH=/opt/ros/humble/share/ros_gz_bridge/cmake
+
+//The directory containing a CMake configuration file for ros_gz_interfaces.
+ros_gz_interfaces_DIR:PATH=/opt/ros/humble/share/ros_gz_interfaces/cmake
+
+//The directory containing a CMake configuration file for ros_gz_sim.
+ros_gz_sim_DIR:PATH=/opt/ros/humble/share/ros_gz_sim/cmake
+
+//The directory containing a CMake configuration file for rosgraph_msgs.
+rosgraph_msgs_DIR:PATH=/opt/ros/humble/share/rosgraph_msgs/cmake
+
+//The directory containing a CMake configuration file for rosidl_adapter.
+rosidl_adapter_DIR:PATH=/opt/ros/humble/share/rosidl_adapter/cmake
+
+//The directory containing a CMake configuration file for rosidl_cmake.
+rosidl_cmake_DIR:PATH=/opt/ros/humble/share/rosidl_cmake/cmake
+
+//The directory containing a CMake configuration file for rosidl_default_runtime.
+rosidl_default_runtime_DIR:PATH=/opt/ros/humble/share/rosidl_default_runtime/cmake
+
+//The directory containing a CMake configuration file for rosidl_generator_c.
+rosidl_generator_c_DIR:PATH=/opt/ros/humble/share/rosidl_generator_c/cmake
+
+//The directory containing a CMake configuration file for rosidl_generator_cpp.
+rosidl_generator_cpp_DIR:PATH=/opt/ros/humble/share/rosidl_generator_cpp/cmake
+
+//The directory containing a CMake configuration file for rosidl_runtime_c.
+rosidl_runtime_c_DIR:PATH=/opt/ros/humble/share/rosidl_runtime_c/cmake
+
+//The directory containing a CMake configuration file for rosidl_runtime_cpp.
+rosidl_runtime_cpp_DIR:PATH=/opt/ros/humble/share/rosidl_runtime_cpp/cmake
+
+//The directory containing a CMake configuration file for rosidl_typesupport_c.
+rosidl_typesupport_c_DIR:PATH=/opt/ros/humble/share/rosidl_typesupport_c/cmake
+
+//The directory containing a CMake configuration file for rosidl_typesupport_cpp.
+rosidl_typesupport_cpp_DIR:PATH=/opt/ros/humble/share/rosidl_typesupport_cpp/cmake
+
+//The directory containing a CMake configuration file for rosidl_typesupport_fastrtps_c.
+rosidl_typesupport_fastrtps_c_DIR:PATH=/opt/ros/humble/share/rosidl_typesupport_fastrtps_c/cmake
+
+//The directory containing a CMake configuration file for rosidl_typesupport_fastrtps_cpp.
+rosidl_typesupport_fastrtps_cpp_DIR:PATH=/opt/ros/humble/share/rosidl_typesupport_fastrtps_cpp/cmake
+
+//The directory containing a CMake configuration file for rosidl_typesupport_interface.
+rosidl_typesupport_interface_DIR:PATH=/opt/ros/humble/share/rosidl_typesupport_interface/cmake
+
+//The directory containing a CMake configuration file for rosidl_typesupport_introspection_c.
+rosidl_typesupport_introspection_c_DIR:PATH=/opt/ros/humble/share/rosidl_typesupport_introspection_c/cmake
+
+//The directory containing a CMake configuration file for rosidl_typesupport_introspection_cpp.
+rosidl_typesupport_introspection_cpp_DIR:PATH=/opt/ros/humble/share/rosidl_typesupport_introspection_cpp/cmake
+
+//The directory containing a CMake configuration file for sdformat14.
+sdformat14_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/sdformat14
+
+//The directory containing a CMake configuration file for sensor_msgs.
+sensor_msgs_DIR:PATH=/opt/ros/humble/share/sensor_msgs/cmake
+
+//The directory containing a CMake configuration file for spdlog.
+spdlog_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/spdlog
+
+//The directory containing a CMake configuration file for spdlog_vendor.
+spdlog_vendor_DIR:PATH=/opt/ros/humble/share/spdlog_vendor/cmake
+
+//The directory containing a CMake configuration file for statistics_msgs.
+statistics_msgs_DIR:PATH=/opt/ros/humble/share/statistics_msgs/cmake
+
+//The directory containing a CMake configuration file for std_msgs.
+std_msgs_DIR:PATH=/opt/ros/humble/share/std_msgs/cmake
+
+//The directory containing a CMake configuration file for tf2.
+tf2_DIR:PATH=/opt/ros/humble/share/tf2/cmake
+
+//The directory containing a CMake configuration file for tf2_msgs.
+tf2_msgs_DIR:PATH=/opt/ros/humble/share/tf2_msgs/cmake
+
+//The directory containing a CMake configuration file for tracetools.
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+
+//The directory containing a CMake configuration file for trajectory_msgs.
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+
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+
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+
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+
+//The directory containing a CMake configuration file for unique_identifier_msgs.
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+
+//The directory containing a CMake configuration file for vision_msgs.
+vision_msgs_DIR:PATH=/opt/ros/humble/share/vision_msgs/cmake
+
+//The directory containing a CMake configuration file for yaml.
+yaml_DIR:PATH=/opt/ros/humble/cmake
+
+
+########################
+# INTERNAL cache entries
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+# endif
+# if defined(__GNUC_MINOR__)
+#  define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+#  define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif (defined(__clang__) && defined(__INTEL_CLANG_COMPILER)) || defined(__INTEL_LLVM_COMPILER)
+# define COMPILER_ID "IntelLLVM"
+#if defined(_MSC_VER)
+# define SIMULATE_ID "MSVC"
+#endif
+#if defined(__GNUC__)
+# define SIMULATE_ID "GNU"
+#endif
+/* __INTEL_LLVM_COMPILER = VVVVRP prior to 2021.2.0, VVVVRRPP for 2021.2.0 and
+ * later.  Look for 6 digit vs. 8 digit version number to decide encoding.
+ * VVVV is no smaller than the current year when a version is released.
+ */
+#if __INTEL_LLVM_COMPILER < 1000000L
+# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/100)
+# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER    % 10)
+#else
+# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/10000)
+# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/100 % 100)
+# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER     % 100)
+#endif
+#if defined(_MSC_VER)
+  /* _MSC_VER = VVRR */
+# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+#endif
+#if defined(__GNUC__)
+# define SIMULATE_VERSION_MAJOR DEC(__GNUC__)
+#elif defined(__GNUG__)
+# define SIMULATE_VERSION_MAJOR DEC(__GNUG__)
+#endif
+#if defined(__GNUC_MINOR__)
+# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
+#endif
+#if defined(__GNUC_PATCHLEVEL__)
+# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+#endif
+
+#elif defined(__PATHCC__)
+# define COMPILER_ID "PathScale"
+# define COMPILER_VERSION_MAJOR DEC(__PATHCC__)
+# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__)
+# if defined(__PATHCC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__)
+# endif
+
+#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__)
+# define COMPILER_ID "Embarcadero"
+# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF)
+# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF)
+# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__     & 0xFFFF)
+
+#elif defined(__BORLANDC__)
+# define COMPILER_ID "Borland"
+  /* __BORLANDC__ = 0xVRR */
+# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8)
+# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF)
+
+#elif defined(__WATCOMC__) && __WATCOMC__ < 1200
+# define COMPILER_ID "Watcom"
+   /* __WATCOMC__ = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+#  define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__WATCOMC__)
+# define COMPILER_ID "OpenWatcom"
+   /* __WATCOMC__ = VVRP + 1100 */
+# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+#  define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__SUNPRO_C)
+# define COMPILER_ID "SunPro"
+# if __SUNPRO_C >= 0x5100
+   /* __SUNPRO_C = 0xVRRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>12)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xFF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_C    & 0xF)
+# else
+   /* __SUNPRO_CC = 0xVRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>8)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_C    & 0xF)
+# endif
+
+#elif defined(__HP_cc)
+# define COMPILER_ID "HP"
+  /* __HP_cc = VVRRPP */
+# define COMPILER_VERSION_MAJOR DEC(__HP_cc/10000)
+# define COMPILER_VERSION_MINOR DEC(__HP_cc/100 % 100)
+# define COMPILER_VERSION_PATCH DEC(__HP_cc     % 100)
+
+#elif defined(__DECC)
+# define COMPILER_ID "Compaq"
+  /* __DECC_VER = VVRRTPPPP */
+# define COMPILER_VERSION_MAJOR DEC(__DECC_VER/10000000)
+# define COMPILER_VERSION_MINOR DEC(__DECC_VER/100000  % 100)
+# define COMPILER_VERSION_PATCH DEC(__DECC_VER         % 10000)
+
+#elif defined(__IBMC__) && defined(__COMPILER_VER__)
+# define COMPILER_ID "zOS"
+  /* __IBMC__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMC__    % 10)
+
+#elif defined(__ibmxl__) && defined(__clang__)
+# define COMPILER_ID "XLClang"
+# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__)
+# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__)
+# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__)
+# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__)
+
+
+#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ >= 800
+# define COMPILER_ID "XL"
+  /* __IBMC__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMC__    % 10)
+
+#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ < 800
+# define COMPILER_ID "VisualAge"
+  /* __IBMC__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMC__    % 10)
+
+#elif defined(__NVCOMPILER)
+# define COMPILER_ID "NVHPC"
+# define COMPILER_VERSION_MAJOR DEC(__NVCOMPILER_MAJOR__)
+# define COMPILER_VERSION_MINOR DEC(__NVCOMPILER_MINOR__)
+# if defined(__NVCOMPILER_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__NVCOMPILER_PATCHLEVEL__)
+# endif
+
+#elif defined(__PGI)
+# define COMPILER_ID "PGI"
+# define COMPILER_VERSION_MAJOR DEC(__PGIC__)
+# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__)
+# if defined(__PGIC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__)
+# endif
+
+#elif defined(_CRAYC)
+# define COMPILER_ID "Cray"
+# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR)
+# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR)
+
+#elif defined(__TI_COMPILER_VERSION__)
+# define COMPILER_ID "TI"
+  /* __TI_COMPILER_VERSION__ = VVVRRRPPP */
+# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000)
+# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000   % 1000)
+# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__        % 1000)
+
+#elif defined(__CLANG_FUJITSU)
+# define COMPILER_ID "FujitsuClang"
+# define COMPILER_VERSION_MAJOR DEC(__FCC_major__)
+# define COMPILER_VERSION_MINOR DEC(__FCC_minor__)
+# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__)
+# define COMPILER_VERSION_INTERNAL_STR __clang_version__
+
+
+#elif defined(__FUJITSU)
+# define COMPILER_ID "Fujitsu"
+# if defined(__FCC_version__)
+#   define COMPILER_VERSION __FCC_version__
+# elif defined(__FCC_major__)
+#   define COMPILER_VERSION_MAJOR DEC(__FCC_major__)
+#   define COMPILER_VERSION_MINOR DEC(__FCC_minor__)
+#   define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__)
+# endif
+# if defined(__fcc_version)
+#   define COMPILER_VERSION_INTERNAL DEC(__fcc_version)
+# elif defined(__FCC_VERSION)
+#   define COMPILER_VERSION_INTERNAL DEC(__FCC_VERSION)
+# endif
+
+
+#elif defined(__ghs__)
+# define COMPILER_ID "GHS"
+/* __GHS_VERSION_NUMBER = VVVVRP */
+# ifdef __GHS_VERSION_NUMBER
+# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100)
+# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER      % 10)
+# endif
+
+#elif defined(__TINYC__)
+# define COMPILER_ID "TinyCC"
+
+#elif defined(__BCC__)
+# define COMPILER_ID "Bruce"
+
+#elif defined(__SCO_VERSION__)
+# define COMPILER_ID "SCO"
+
+#elif defined(__ARMCC_VERSION) && !defined(__clang__)
+# define COMPILER_ID "ARMCC"
+#if __ARMCC_VERSION >= 1000000
+  /* __ARMCC_VERSION = VRRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION     % 10000)
+#else
+  /* __ARMCC_VERSION = VRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION    % 10000)
+#endif
+
+
+#elif defined(__clang__) && defined(__apple_build_version__)
+# define COMPILER_ID "AppleClang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__)
+
+#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION)
+# define COMPILER_ID "ARMClang"
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION     % 10000)
+# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION)
+
+#elif defined(__clang__)
+# define COMPILER_ID "Clang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+
+#elif defined(__GNUC__)
+# define COMPILER_ID "GNU"
+# define COMPILER_VERSION_MAJOR DEC(__GNUC__)
+# if defined(__GNUC_MINOR__)
+#  define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(_MSC_VER)
+# define COMPILER_ID "MSVC"
+  /* _MSC_VER = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
+# if defined(_MSC_FULL_VER)
+#  if _MSC_VER >= 1400
+    /* _MSC_FULL_VER = VVRRPPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
+#  else
+    /* _MSC_FULL_VER = VVRRPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
+#  endif
+# endif
+# if defined(_MSC_BUILD)
+#  define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
+# endif
+
+#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__)
+# define COMPILER_ID "ADSP"
+#if defined(__VISUALDSPVERSION__)
+  /* __VISUALDSPVERSION__ = 0xVVRRPP00 */
+# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24)
+# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF)
+# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8  & 0xFF)
+#endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# define COMPILER_ID "IAR"
+# if defined(__VER__) && defined(__ICCARM__)
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000)
+#  define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000)
+#  define COMPILER_VERSION_PATCH DEC((__VER__) % 1000)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__) || defined(__ICCSTM8__))
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 100)
+#  define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100))
+#  define COMPILER_VERSION_PATCH DEC(__SUBVERSION__)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# endif
+
+#elif defined(__SDCC_VERSION_MAJOR) || defined(SDCC)
+# define COMPILER_ID "SDCC"
+# if defined(__SDCC_VERSION_MAJOR)
+#  define COMPILER_VERSION_MAJOR DEC(__SDCC_VERSION_MAJOR)
+#  define COMPILER_VERSION_MINOR DEC(__SDCC_VERSION_MINOR)
+#  define COMPILER_VERSION_PATCH DEC(__SDCC_VERSION_PATCH)
+# else
+  /* SDCC = VRP */
+#  define COMPILER_VERSION_MAJOR DEC(SDCC/100)
+#  define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10)
+#  define COMPILER_VERSION_PATCH DEC(SDCC    % 10)
+# endif
+
+
+/* These compilers are either not known or too old to define an
+  identification macro.  Try to identify the platform and guess that
+  it is the native compiler.  */
+#elif defined(__hpux) || defined(__hpua)
+# define COMPILER_ID "HP"
+
+#else /* unknown compiler */
+# define COMPILER_ID ""
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]";
+#ifdef SIMULATE_ID
+char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]";
+#endif
+
+#ifdef __QNXNTO__
+char const* qnxnto = "INFO" ":" "qnxnto[]";
+#endif
+
+#if defined(__CRAYXT_COMPUTE_LINUX_TARGET)
+char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]";
+#endif
+
+#define STRINGIFY_HELPER(X) #X
+#define STRINGIFY(X) STRINGIFY_HELPER(X)
+
+/* Identify known platforms by name.  */
+#if defined(__linux) || defined(__linux__) || defined(linux)
+# define PLATFORM_ID "Linux"
+
+#elif defined(__MSYS__)
+# define PLATFORM_ID "MSYS"
+
+#elif defined(__CYGWIN__)
+# define PLATFORM_ID "Cygwin"
+
+#elif defined(__MINGW32__)
+# define PLATFORM_ID "MinGW"
+
+#elif defined(__APPLE__)
+# define PLATFORM_ID "Darwin"
+
+#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
+# define PLATFORM_ID "Windows"
+
+#elif defined(__FreeBSD__) || defined(__FreeBSD)
+# define PLATFORM_ID "FreeBSD"
+
+#elif defined(__NetBSD__) || defined(__NetBSD)
+# define PLATFORM_ID "NetBSD"
+
+#elif defined(__OpenBSD__) || defined(__OPENBSD)
+# define PLATFORM_ID "OpenBSD"
+
+#elif defined(__sun) || defined(sun)
+# define PLATFORM_ID "SunOS"
+
+#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
+# define PLATFORM_ID "AIX"
+
+#elif defined(__hpux) || defined(__hpux__)
+# define PLATFORM_ID "HP-UX"
+
+#elif defined(__HAIKU__)
+# define PLATFORM_ID "Haiku"
+
+#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
+# define PLATFORM_ID "BeOS"
+
+#elif defined(__QNX__) || defined(__QNXNTO__)
+# define PLATFORM_ID "QNX"
+
+#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__)
+# define PLATFORM_ID "Tru64"
+
+#elif defined(__riscos) || defined(__riscos__)
+# define PLATFORM_ID "RISCos"
+
+#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
+# define PLATFORM_ID "SINIX"
+
+#elif defined(__UNIX_SV__)
+# define PLATFORM_ID "UNIX_SV"
+
+#elif defined(__bsdos__)
+# define PLATFORM_ID "BSDOS"
+
+#elif defined(_MPRAS) || defined(MPRAS)
+# define PLATFORM_ID "MP-RAS"
+
+#elif defined(__osf) || defined(__osf__)
+# define PLATFORM_ID "OSF1"
+
+#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
+# define PLATFORM_ID "SCO_SV"
+
+#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
+# define PLATFORM_ID "ULTRIX"
+
+#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
+# define PLATFORM_ID "Xenix"
+
+#elif defined(__WATCOMC__)
+# if defined(__LINUX__)
+#  define PLATFORM_ID "Linux"
+
+# elif defined(__DOS__)
+#  define PLATFORM_ID "DOS"
+
+# elif defined(__OS2__)
+#  define PLATFORM_ID "OS2"
+
+# elif defined(__WINDOWS__)
+#  define PLATFORM_ID "Windows3x"
+
+# elif defined(__VXWORKS__)
+#  define PLATFORM_ID "VxWorks"
+
+# else /* unknown platform */
+#  define PLATFORM_ID
+# endif
+
+#elif defined(__INTEGRITY)
+# if defined(INT_178B)
+#  define PLATFORM_ID "Integrity178"
+
+# else /* regular Integrity */
+#  define PLATFORM_ID "Integrity"
+# endif
+
+#else /* unknown platform */
+# define PLATFORM_ID
+
+#endif
+
+/* For windows compilers MSVC and Intel we can determine
+   the architecture of the compiler being used.  This is because
+   the compilers do not have flags that can change the architecture,
+   but rather depend on which compiler is being used
+*/
+#if defined(_WIN32) && defined(_MSC_VER)
+# if defined(_M_IA64)
+#  define ARCHITECTURE_ID "IA64"
+
+# elif defined(_M_ARM64EC)
+#  define ARCHITECTURE_ID "ARM64EC"
+
+# elif defined(_M_X64) || defined(_M_AMD64)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# elif defined(_M_ARM64)
+#  define ARCHITECTURE_ID "ARM64"
+
+# elif defined(_M_ARM)
+#  if _M_ARM == 4
+#   define ARCHITECTURE_ID "ARMV4I"
+#  elif _M_ARM == 5
+#   define ARCHITECTURE_ID "ARMV5I"
+#  else
+#   define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM)
+#  endif
+
+# elif defined(_M_MIPS)
+#  define ARCHITECTURE_ID "MIPS"
+
+# elif defined(_M_SH)
+#  define ARCHITECTURE_ID "SHx"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__WATCOMC__)
+# if defined(_M_I86)
+#  define ARCHITECTURE_ID "I86"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# if defined(__ICCARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__ICCRX__)
+#  define ARCHITECTURE_ID "RX"
+
+# elif defined(__ICCRH850__)
+#  define ARCHITECTURE_ID "RH850"
+
+# elif defined(__ICCRL78__)
+#  define ARCHITECTURE_ID "RL78"
+
+# elif defined(__ICCRISCV__)
+#  define ARCHITECTURE_ID "RISCV"
+
+# elif defined(__ICCAVR__)
+#  define ARCHITECTURE_ID "AVR"
+
+# elif defined(__ICC430__)
+#  define ARCHITECTURE_ID "MSP430"
+
+# elif defined(__ICCV850__)
+#  define ARCHITECTURE_ID "V850"
+
+# elif defined(__ICC8051__)
+#  define ARCHITECTURE_ID "8051"
+
+# elif defined(__ICCSTM8__)
+#  define ARCHITECTURE_ID "STM8"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__ghs__)
+# if defined(__PPC64__)
+#  define ARCHITECTURE_ID "PPC64"
+
+# elif defined(__ppc__)
+#  define ARCHITECTURE_ID "PPC"
+
+# elif defined(__ARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__x86_64__)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(__i386__)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__TI_COMPILER_VERSION__)
+# if defined(__TI_ARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__MSP430__)
+#  define ARCHITECTURE_ID "MSP430"
+
+# elif defined(__TMS320C28XX__)
+#  define ARCHITECTURE_ID "TMS320C28x"
+
+# elif defined(__TMS320C6X__) || defined(_TMS320C6X)
+#  define ARCHITECTURE_ID "TMS320C6x"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#else
+#  define ARCHITECTURE_ID
+#endif
+
+/* Convert integer to decimal digit literals.  */
+#define DEC(n)                   \
+  ('0' + (((n) / 10000000)%10)), \
+  ('0' + (((n) / 1000000)%10)),  \
+  ('0' + (((n) / 100000)%10)),   \
+  ('0' + (((n) / 10000)%10)),    \
+  ('0' + (((n) / 1000)%10)),     \
+  ('0' + (((n) / 100)%10)),      \
+  ('0' + (((n) / 10)%10)),       \
+  ('0' +  ((n) % 10))
+
+/* Convert integer to hex digit literals.  */
+#define HEX(n)             \
+  ('0' + ((n)>>28 & 0xF)), \
+  ('0' + ((n)>>24 & 0xF)), \
+  ('0' + ((n)>>20 & 0xF)), \
+  ('0' + ((n)>>16 & 0xF)), \
+  ('0' + ((n)>>12 & 0xF)), \
+  ('0' + ((n)>>8  & 0xF)), \
+  ('0' + ((n)>>4  & 0xF)), \
+  ('0' + ((n)     & 0xF))
+
+/* Construct a string literal encoding the version number. */
+#ifdef COMPILER_VERSION
+char const* info_version = "INFO" ":" "compiler_version[" COMPILER_VERSION "]";
+
+/* Construct a string literal encoding the version number components. */
+#elif defined(COMPILER_VERSION_MAJOR)
+char const info_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[',
+  COMPILER_VERSION_MAJOR,
+# ifdef COMPILER_VERSION_MINOR
+  '.', COMPILER_VERSION_MINOR,
+#  ifdef COMPILER_VERSION_PATCH
+   '.', COMPILER_VERSION_PATCH,
+#   ifdef COMPILER_VERSION_TWEAK
+    '.', COMPILER_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct a string literal encoding the internal version number. */
+#ifdef COMPILER_VERSION_INTERNAL
+char const info_version_internal[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_',
+  'i','n','t','e','r','n','a','l','[',
+  COMPILER_VERSION_INTERNAL,']','\0'};
+#elif defined(COMPILER_VERSION_INTERNAL_STR)
+char const* info_version_internal = "INFO" ":" "compiler_version_internal[" COMPILER_VERSION_INTERNAL_STR "]";
+#endif
+
+/* Construct a string literal encoding the version number components. */
+#ifdef SIMULATE_VERSION_MAJOR
+char const info_simulate_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[',
+  SIMULATE_VERSION_MAJOR,
+# ifdef SIMULATE_VERSION_MINOR
+  '.', SIMULATE_VERSION_MINOR,
+#  ifdef SIMULATE_VERSION_PATCH
+   '.', SIMULATE_VERSION_PATCH,
+#   ifdef SIMULATE_VERSION_TWEAK
+    '.', SIMULATE_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]";
+char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
+
+
+
+#if !defined(__STDC__) && !defined(__clang__)
+# if defined(_MSC_VER) || defined(__ibmxl__) || defined(__IBMC__)
+#  define C_VERSION "90"
+# else
+#  define C_VERSION
+# endif
+#elif __STDC_VERSION__ > 201710L
+# define C_VERSION "23"
+#elif __STDC_VERSION__ >= 201710L
+# define C_VERSION "17"
+#elif __STDC_VERSION__ >= 201000L
+# define C_VERSION "11"
+#elif __STDC_VERSION__ >= 199901L
+# define C_VERSION "99"
+#else
+# define C_VERSION "90"
+#endif
+const char* info_language_standard_default =
+  "INFO" ":" "standard_default[" C_VERSION "]";
+
+const char* info_language_extensions_default = "INFO" ":" "extensions_default["
+/* !defined(_MSC_VER) to exclude Clang's MSVC compatibility mode. */
+#if (defined(__clang__) || defined(__GNUC__) ||                               \
+     defined(__TI_COMPILER_VERSION__)) &&                                     \
+  !defined(__STRICT_ANSI__) && !defined(_MSC_VER)
+  "ON"
+#else
+  "OFF"
+#endif
+"]";
+
+/*--------------------------------------------------------------------------*/
+
+#ifdef ID_VOID_MAIN
+void main() {}
+#else
+# if defined(__CLASSIC_C__)
+int main(argc, argv) int argc; char *argv[];
+# else
+int main(int argc, char* argv[])
+# endif
+{
+  int require = 0;
+  require += info_compiler[argc];
+  require += info_platform[argc];
+  require += info_arch[argc];
+#ifdef COMPILER_VERSION_MAJOR
+  require += info_version[argc];
+#endif
+#ifdef COMPILER_VERSION_INTERNAL
+  require += info_version_internal[argc];
+#endif
+#ifdef SIMULATE_ID
+  require += info_simulate[argc];
+#endif
+#ifdef SIMULATE_VERSION_MAJOR
+  require += info_simulate_version[argc];
+#endif
+#if defined(__CRAYXT_COMPUTE_LINUX_TARGET)
+  require += info_cray[argc];
+#endif
+  require += info_language_standard_default[argc];
+  require += info_language_extensions_default[argc];
+  (void)argv;
+  return require;
+}
+#endif
diff --git a/build/turtlebot3_gazebo/CMakeFiles/3.22.1/CompilerIdC/a.out b/build/turtlebot3_gazebo/CMakeFiles/3.22.1/CompilerIdC/a.out
new file mode 100755
index 0000000..7873b2c
Binary files /dev/null and b/build/turtlebot3_gazebo/CMakeFiles/3.22.1/CompilerIdC/a.out differ
diff --git a/build/turtlebot3_gazebo/CMakeFiles/3.22.1/CompilerIdCXX/CMakeCXXCompilerId.cpp b/build/turtlebot3_gazebo/CMakeFiles/3.22.1/CompilerIdCXX/CMakeCXXCompilerId.cpp
new file mode 100644
index 0000000..25c62a8
--- /dev/null
+++ b/build/turtlebot3_gazebo/CMakeFiles/3.22.1/CompilerIdCXX/CMakeCXXCompilerId.cpp
@@ -0,0 +1,791 @@
+/* This source file must have a .cpp extension so that all C++ compilers
+   recognize the extension without flags.  Borland does not know .cxx for
+   example.  */
+#ifndef __cplusplus
+# error "A C compiler has been selected for C++."
+#endif
+
+#if !defined(__has_include)
+/* If the compiler does not have __has_include, pretend the answer is
+   always no.  */
+#  define __has_include(x) 0
+#endif
+
+
+/* Version number components: V=Version, R=Revision, P=Patch
+   Version date components:   YYYY=Year, MM=Month,   DD=Day  */
+
+#if defined(__COMO__)
+# define COMPILER_ID "Comeau"
+  /* __COMO_VERSION__ = VRR */
+# define COMPILER_VERSION_MAJOR DEC(__COMO_VERSION__ / 100)
+# define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100)
+
+#elif defined(__INTEL_COMPILER) || defined(__ICC)
+# define COMPILER_ID "Intel"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# if defined(__GNUC__)
+#  define SIMULATE_ID "GNU"
+# endif
+  /* __INTEL_COMPILER = VRP prior to 2021, and then VVVV for 2021 and later,
+     except that a few beta releases use the old format with V=2021.  */
+# if __INTEL_COMPILER < 2021 || __INTEL_COMPILER == 202110 || __INTEL_COMPILER == 202111
+#  define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100)
+#  define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10)
+#  if defined(__INTEL_COMPILER_UPDATE)
+#   define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE)
+#  else
+#   define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER   % 10)
+#  endif
+# else
+#  define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER)
+#  define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER_UPDATE)
+   /* The third version component from --version is an update index,
+      but no macro is provided for it.  */
+#  define COMPILER_VERSION_PATCH DEC(0)
+# endif
+# if defined(__INTEL_COMPILER_BUILD_DATE)
+   /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */
+#  define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE)
+# endif
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# if defined(__GNUC__)
+#  define SIMULATE_VERSION_MAJOR DEC(__GNUC__)
+# elif defined(__GNUG__)
+#  define SIMULATE_VERSION_MAJOR DEC(__GNUG__)
+# endif
+# if defined(__GNUC_MINOR__)
+#  define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+#  define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif (defined(__clang__) && defined(__INTEL_CLANG_COMPILER)) || defined(__INTEL_LLVM_COMPILER)
+# define COMPILER_ID "IntelLLVM"
+#if defined(_MSC_VER)
+# define SIMULATE_ID "MSVC"
+#endif
+#if defined(__GNUC__)
+# define SIMULATE_ID "GNU"
+#endif
+/* __INTEL_LLVM_COMPILER = VVVVRP prior to 2021.2.0, VVVVRRPP for 2021.2.0 and
+ * later.  Look for 6 digit vs. 8 digit version number to decide encoding.
+ * VVVV is no smaller than the current year when a version is released.
+ */
+#if __INTEL_LLVM_COMPILER < 1000000L
+# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/100)
+# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER    % 10)
+#else
+# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/10000)
+# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/100 % 100)
+# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER     % 100)
+#endif
+#if defined(_MSC_VER)
+  /* _MSC_VER = VVRR */
+# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+#endif
+#if defined(__GNUC__)
+# define SIMULATE_VERSION_MAJOR DEC(__GNUC__)
+#elif defined(__GNUG__)
+# define SIMULATE_VERSION_MAJOR DEC(__GNUG__)
+#endif
+#if defined(__GNUC_MINOR__)
+# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
+#endif
+#if defined(__GNUC_PATCHLEVEL__)
+# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+#endif
+
+#elif defined(__PATHCC__)
+# define COMPILER_ID "PathScale"
+# define COMPILER_VERSION_MAJOR DEC(__PATHCC__)
+# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__)
+# if defined(__PATHCC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__)
+# endif
+
+#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__)
+# define COMPILER_ID "Embarcadero"
+# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF)
+# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF)
+# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__     & 0xFFFF)
+
+#elif defined(__BORLANDC__)
+# define COMPILER_ID "Borland"
+  /* __BORLANDC__ = 0xVRR */
+# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8)
+# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF)
+
+#elif defined(__WATCOMC__) && __WATCOMC__ < 1200
+# define COMPILER_ID "Watcom"
+   /* __WATCOMC__ = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+#  define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__WATCOMC__)
+# define COMPILER_ID "OpenWatcom"
+   /* __WATCOMC__ = VVRP + 1100 */
+# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+#  define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__SUNPRO_CC)
+# define COMPILER_ID "SunPro"
+# if __SUNPRO_CC >= 0x5100
+   /* __SUNPRO_CC = 0xVRRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC    & 0xF)
+# else
+   /* __SUNPRO_CC = 0xVRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC    & 0xF)
+# endif
+
+#elif defined(__HP_aCC)
+# define COMPILER_ID "HP"
+  /* __HP_aCC = VVRRPP */
+# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000)
+# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100)
+# define COMPILER_VERSION_PATCH DEC(__HP_aCC     % 100)
+
+#elif defined(__DECCXX)
+# define COMPILER_ID "Compaq"
+  /* __DECCXX_VER = VVRRTPPPP */
+# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000)
+# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000  % 100)
+# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER         % 10000)
+
+#elif defined(__IBMCPP__) && defined(__COMPILER_VER__)
+# define COMPILER_ID "zOS"
+  /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+
+#elif defined(__ibmxl__) && defined(__clang__)
+# define COMPILER_ID "XLClang"
+# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__)
+# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__)
+# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__)
+# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__)
+
+
+#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ >= 800
+# define COMPILER_ID "XL"
+  /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+
+#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ < 800
+# define COMPILER_ID "VisualAge"
+  /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+
+#elif defined(__NVCOMPILER)
+# define COMPILER_ID "NVHPC"
+# define COMPILER_VERSION_MAJOR DEC(__NVCOMPILER_MAJOR__)
+# define COMPILER_VERSION_MINOR DEC(__NVCOMPILER_MINOR__)
+# if defined(__NVCOMPILER_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__NVCOMPILER_PATCHLEVEL__)
+# endif
+
+#elif defined(__PGI)
+# define COMPILER_ID "PGI"
+# define COMPILER_VERSION_MAJOR DEC(__PGIC__)
+# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__)
+# if defined(__PGIC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__)
+# endif
+
+#elif defined(_CRAYC)
+# define COMPILER_ID "Cray"
+# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR)
+# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR)
+
+#elif defined(__TI_COMPILER_VERSION__)
+# define COMPILER_ID "TI"
+  /* __TI_COMPILER_VERSION__ = VVVRRRPPP */
+# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000)
+# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000   % 1000)
+# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__        % 1000)
+
+#elif defined(__CLANG_FUJITSU)
+# define COMPILER_ID "FujitsuClang"
+# define COMPILER_VERSION_MAJOR DEC(__FCC_major__)
+# define COMPILER_VERSION_MINOR DEC(__FCC_minor__)
+# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__)
+# define COMPILER_VERSION_INTERNAL_STR __clang_version__
+
+
+#elif defined(__FUJITSU)
+# define COMPILER_ID "Fujitsu"
+# if defined(__FCC_version__)
+#   define COMPILER_VERSION __FCC_version__
+# elif defined(__FCC_major__)
+#   define COMPILER_VERSION_MAJOR DEC(__FCC_major__)
+#   define COMPILER_VERSION_MINOR DEC(__FCC_minor__)
+#   define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__)
+# endif
+# if defined(__fcc_version)
+#   define COMPILER_VERSION_INTERNAL DEC(__fcc_version)
+# elif defined(__FCC_VERSION)
+#   define COMPILER_VERSION_INTERNAL DEC(__FCC_VERSION)
+# endif
+
+
+#elif defined(__ghs__)
+# define COMPILER_ID "GHS"
+/* __GHS_VERSION_NUMBER = VVVVRP */
+# ifdef __GHS_VERSION_NUMBER
+# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100)
+# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER      % 10)
+# endif
+
+#elif defined(__SCO_VERSION__)
+# define COMPILER_ID "SCO"
+
+#elif defined(__ARMCC_VERSION) && !defined(__clang__)
+# define COMPILER_ID "ARMCC"
+#if __ARMCC_VERSION >= 1000000
+  /* __ARMCC_VERSION = VRRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION     % 10000)
+#else
+  /* __ARMCC_VERSION = VRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION    % 10000)
+#endif
+
+
+#elif defined(__clang__) && defined(__apple_build_version__)
+# define COMPILER_ID "AppleClang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__)
+
+#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION)
+# define COMPILER_ID "ARMClang"
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION     % 10000)
+# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION)
+
+#elif defined(__clang__)
+# define COMPILER_ID "Clang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+
+#elif defined(__GNUC__) || defined(__GNUG__)
+# define COMPILER_ID "GNU"
+# if defined(__GNUC__)
+#  define COMPILER_VERSION_MAJOR DEC(__GNUC__)
+# else
+#  define COMPILER_VERSION_MAJOR DEC(__GNUG__)
+# endif
+# if defined(__GNUC_MINOR__)
+#  define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(_MSC_VER)
+# define COMPILER_ID "MSVC"
+  /* _MSC_VER = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
+# if defined(_MSC_FULL_VER)
+#  if _MSC_VER >= 1400
+    /* _MSC_FULL_VER = VVRRPPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
+#  else
+    /* _MSC_FULL_VER = VVRRPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
+#  endif
+# endif
+# if defined(_MSC_BUILD)
+#  define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
+# endif
+
+#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__)
+# define COMPILER_ID "ADSP"
+#if defined(__VISUALDSPVERSION__)
+  /* __VISUALDSPVERSION__ = 0xVVRRPP00 */
+# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24)
+# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF)
+# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8  & 0xFF)
+#endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# define COMPILER_ID "IAR"
+# if defined(__VER__) && defined(__ICCARM__)
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000)
+#  define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000)
+#  define COMPILER_VERSION_PATCH DEC((__VER__) % 1000)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__) || defined(__ICCSTM8__))
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 100)
+#  define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100))
+#  define COMPILER_VERSION_PATCH DEC(__SUBVERSION__)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# endif
+
+
+/* These compilers are either not known or too old to define an
+  identification macro.  Try to identify the platform and guess that
+  it is the native compiler.  */
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+  "/usr/lib/x86_64-linux-gnu/cmake/gz-common5-events/gz-common5-events-targets-relwithdebinfo.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-common5-events/gz-common5-events-targets.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-common5-geospatial/gz-common5-geospatial-config-version.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-common5-geospatial/gz-common5-geospatial-config.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-common5-geospatial/gz-common5-geospatial-targets-relwithdebinfo.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-common5-geospatial/gz-common5-geospatial-targets.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-common5-graphics/gz-common5-graphics-config-version.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-common5-graphics/gz-common5-graphics-config.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-common5-graphics/gz-common5-graphics-targets-relwithdebinfo.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-common5-graphics/gz-common5-graphics-targets.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-common5-io/gz-common5-io-config-version.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-common5-io/gz-common5-io-config.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-common5-io/gz-common5-io-targets-relwithdebinfo.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-common5-io/gz-common5-io-targets.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-common5-profiler/gz-common5-profiler-config-version.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-common5-profiler/gz-common5-profiler-config.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-common5-profiler/gz-common5-profiler-targets-relwithdebinfo.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-common5-profiler/gz-common5-profiler-targets.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-common5-testing/gz-common5-testing-config-version.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-common5-testing/gz-common5-testing-config.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-common5-testing/gz-common5-testing-targets-relwithdebinfo.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-common5-testing/gz-common5-testing-targets.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-common5/gz-common5-config-version.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-common5/gz-common5-config.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-common5/gz-common5-targets-relwithdebinfo.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-common5/gz-common5-targets.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-fuel_tools9/gz-fuel_tools9-config-version.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-fuel_tools9/gz-fuel_tools9-config.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-fuel_tools9/gz-fuel_tools9-targets-relwithdebinfo.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-fuel_tools9/gz-fuel_tools9-targets.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-gui8/gz-gui8-config-version.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-gui8/gz-gui8-config.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-gui8/gz-gui8-targets-relwithdebinfo.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-gui8/gz-gui8-targets.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-math7-eigen3/gz-math7-eigen3-config-version.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-math7-eigen3/gz-math7-eigen3-config.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-math7-eigen3/gz-math7-eigen3-targets.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-math7/gz-math7-config-version.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-math7/gz-math7-config.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-math7/gz-math7-targets-relwithdebinfo.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-math7/gz-math7-targets.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-msgs10/gz-msgs-extras.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-msgs10/gz-msgs10-config-version.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-msgs10/gz-msgs10-config.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-msgs10/gz-msgs10-targets-relwithdebinfo.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-msgs10/gz-msgs10-targets.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-msgs10/gz_msgs_factory.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-msgs10/gz_msgs_generate.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-msgs10/gz_msgs_protoc.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-msgs10/gz_msgs_string_utils.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-physics7-heightmap/gz-physics7-heightmap-config-version.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-physics7-heightmap/gz-physics7-heightmap-config.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-physics7-heightmap/gz-physics7-heightmap-targets.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-physics7-mesh/gz-physics7-mesh-config-version.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-physics7-mesh/gz-physics7-mesh-config.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-physics7-mesh/gz-physics7-mesh-targets.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-physics7-sdf/gz-physics7-sdf-config-version.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-physics7-sdf/gz-physics7-sdf-config.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-physics7-sdf/gz-physics7-sdf-targets.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-physics7/gz-physics7-config-version.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-physics7/gz-physics7-config.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-physics7/gz-physics7-targets-relwithdebinfo.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-physics7/gz-physics7-targets.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-plugin2-all/gz-plugin2-all-config-version.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-plugin2-all/gz-plugin2-all-config.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-plugin2-all/gz-plugin2-all-targets.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-plugin2-loader/gz-plugin2-loader-config-version.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-plugin2-loader/gz-plugin2-loader-config.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-plugin2-loader/gz-plugin2-loader-targets-relwithdebinfo.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-plugin2-loader/gz-plugin2-loader-targets.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-plugin2-register/gz-plugin2-register-config-version.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-plugin2-register/gz-plugin2-register-config.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-plugin2-register/gz-plugin2-register-targets.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-plugin2/gz-plugin2-config-version.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-plugin2/gz-plugin2-config.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-plugin2/gz-plugin2-targets-relwithdebinfo.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-plugin2/gz-plugin2-targets.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-rendering8/gz-rendering8-config-version.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-rendering8/gz-rendering8-config.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-rendering8/gz-rendering8-targets-relwithdebinfo.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-rendering8/gz-rendering8-targets.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-air_pressure/gz-sensors8-air_pressure-config-version.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-air_pressure/gz-sensors8-air_pressure-config.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-air_pressure/gz-sensors8-air_pressure-targets-relwithdebinfo.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-air_pressure/gz-sensors8-air_pressure-targets.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-air_speed/gz-sensors8-air_speed-config-version.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-air_speed/gz-sensors8-air_speed-config.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-air_speed/gz-sensors8-air_speed-targets-relwithdebinfo.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-air_speed/gz-sensors8-air_speed-targets.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-altimeter/gz-sensors8-altimeter-config-version.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-altimeter/gz-sensors8-altimeter-config.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-altimeter/gz-sensors8-altimeter-targets-relwithdebinfo.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-altimeter/gz-sensors8-altimeter-targets.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-boundingbox_camera/gz-sensors8-boundingbox_camera-config-version.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-boundingbox_camera/gz-sensors8-boundingbox_camera-config.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-boundingbox_camera/gz-sensors8-boundingbox_camera-targets-relwithdebinfo.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-boundingbox_camera/gz-sensors8-boundingbox_camera-targets.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-camera/gz-sensors8-camera-config-version.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-camera/gz-sensors8-camera-config.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-camera/gz-sensors8-camera-targets-relwithdebinfo.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-camera/gz-sensors8-camera-targets.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-depth_camera/gz-sensors8-depth_camera-config-version.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-depth_camera/gz-sensors8-depth_camera-config.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-depth_camera/gz-sensors8-depth_camera-targets-relwithdebinfo.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-depth_camera/gz-sensors8-depth_camera-targets.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-dvl/gz-sensors8-dvl-config-version.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-dvl/gz-sensors8-dvl-config.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-dvl/gz-sensors8-dvl-targets-relwithdebinfo.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-dvl/gz-sensors8-dvl-targets.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-force_torque/gz-sensors8-force_torque-config-version.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-force_torque/gz-sensors8-force_torque-config.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-force_torque/gz-sensors8-force_torque-targets-relwithdebinfo.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-force_torque/gz-sensors8-force_torque-targets.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-gpu_lidar/gz-sensors8-gpu_lidar-config-version.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-gpu_lidar/gz-sensors8-gpu_lidar-config.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-gpu_lidar/gz-sensors8-gpu_lidar-targets-relwithdebinfo.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-gpu_lidar/gz-sensors8-gpu_lidar-targets.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-imu/gz-sensors8-imu-config-version.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-imu/gz-sensors8-imu-config.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-imu/gz-sensors8-imu-targets-relwithdebinfo.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-imu/gz-sensors8-imu-targets.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-lidar/gz-sensors8-lidar-config-version.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-lidar/gz-sensors8-lidar-config.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-lidar/gz-sensors8-lidar-targets-relwithdebinfo.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-lidar/gz-sensors8-lidar-targets.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-logical_camera/gz-sensors8-logical_camera-config-version.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-logical_camera/gz-sensors8-logical_camera-config.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-logical_camera/gz-sensors8-logical_camera-targets-relwithdebinfo.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-logical_camera/gz-sensors8-logical_camera-targets.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-magnetometer/gz-sensors8-magnetometer-config-version.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-magnetometer/gz-sensors8-magnetometer-config.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-magnetometer/gz-sensors8-magnetometer-targets-relwithdebinfo.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-magnetometer/gz-sensors8-magnetometer-targets.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-navsat/gz-sensors8-navsat-config-version.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-navsat/gz-sensors8-navsat-config.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-navsat/gz-sensors8-navsat-targets-relwithdebinfo.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-navsat/gz-sensors8-navsat-targets.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-rendering/gz-sensors8-rendering-config-version.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-rendering/gz-sensors8-rendering-config.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-rendering/gz-sensors8-rendering-targets-relwithdebinfo.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-rendering/gz-sensors8-rendering-targets.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-rgbd_camera/gz-sensors8-rgbd_camera-config-version.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-rgbd_camera/gz-sensors8-rgbd_camera-config.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-rgbd_camera/gz-sensors8-rgbd_camera-targets-relwithdebinfo.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-rgbd_camera/gz-sensors8-rgbd_camera-targets.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-segmentation_camera/gz-sensors8-segmentation_camera-config-version.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-segmentation_camera/gz-sensors8-segmentation_camera-config.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-segmentation_camera/gz-sensors8-segmentation_camera-targets-relwithdebinfo.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-segmentation_camera/gz-sensors8-segmentation_camera-targets.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-thermal_camera/gz-sensors8-thermal_camera-config-version.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-thermal_camera/gz-sensors8-thermal_camera-config.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-thermal_camera/gz-sensors8-thermal_camera-targets-relwithdebinfo.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-thermal_camera/gz-sensors8-thermal_camera-targets.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-wide_angle_camera/gz-sensors8-wide_angle_camera-config-version.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-wide_angle_camera/gz-sensors8-wide_angle_camera-config.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-wide_angle_camera/gz-sensors8-wide_angle_camera-targets-relwithdebinfo.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8-wide_angle_camera/gz-sensors8-wide_angle_camera-targets.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8/gz-sensors8-config-version.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8/gz-sensors8-config.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8/gz-sensors8-targets-relwithdebinfo.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sensors8/gz-sensors8-targets.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sim8/gz-sim8-config-version.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sim8/gz-sim8-config.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sim8/gz-sim8-targets-relwithdebinfo.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-sim8/gz-sim8-targets.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-transport13-log/gz-transport13-log-config-version.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-transport13-log/gz-transport13-log-config.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-transport13-log/gz-transport13-log-targets-relwithdebinfo.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-transport13-log/gz-transport13-log-targets.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-transport13-parameters/gz-transport13-parameters-config-version.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-transport13-parameters/gz-transport13-parameters-config.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-transport13-parameters/gz-transport13-parameters-targets-relwithdebinfo.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-transport13-parameters/gz-transport13-parameters-targets.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-transport13/gz-transport13-config-version.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-transport13/gz-transport13-config.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-transport13/gz-transport13-targets-relwithdebinfo.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-transport13/gz-transport13-targets.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-utils2-cli/gz-utils2-cli-config-version.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-utils2-cli/gz-utils2-cli-config.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-utils2-cli/gz-utils2-cli-targets.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-utils2/gz-utils2-config-version.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-utils2/gz-utils2-config.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-utils2/gz-utils2-targets-relwithdebinfo.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/gz-utils2/gz-utils2-targets.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/jsoncpp/jsoncpp-namespaced-targets.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/jsoncpp/jsoncpp-targets-none.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/jsoncpp/jsoncpp-targets.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/jsoncpp/jsoncppConfig.cmake"
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+.PHONY : src/turtlebot3_drive.cpp.o
+
+src/turtlebot3_drive.i: src/turtlebot3_drive.cpp.i
+.PHONY : src/turtlebot3_drive.i
+
+# target to preprocess a source file
+src/turtlebot3_drive.cpp.i:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/turtlebot3_drive.dir/build.make CMakeFiles/turtlebot3_drive.dir/src/turtlebot3_drive.cpp.i
+.PHONY : src/turtlebot3_drive.cpp.i
+
+src/turtlebot3_drive.s: src/turtlebot3_drive.cpp.s
+.PHONY : src/turtlebot3_drive.s
+
+# target to generate assembly for a file
+src/turtlebot3_drive.cpp.s:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/turtlebot3_drive.dir/build.make CMakeFiles/turtlebot3_drive.dir/src/turtlebot3_drive.cpp.s
+.PHONY : src/turtlebot3_drive.cpp.s
+
+# Help Target
+help:
+	@echo "The following are some of the valid targets for this Makefile:"
+	@echo "... all (the default if no target is provided)"
+	@echo "... clean"
+	@echo "... depend"
+	@echo "... edit_cache"
+	@echo "... install"
+	@echo "... install/local"
+	@echo "... install/strip"
+	@echo "... list_install_components"
+	@echo "... rebuild_cache"
+	@echo "... test"
+	@echo "... turtlebot3_gazebo_uninstall"
+	@echo "... uninstall"
+	@echo "... turtlebot3_drive"
+	@echo "... src/turtlebot3_drive.o"
+	@echo "... src/turtlebot3_drive.i"
+	@echo "... src/turtlebot3_drive.s"
+.PHONY : help
+
+
+
+#=============================================================================
+# Special targets to cleanup operation of make.
+
+# Special rule to run CMake to check the build system integrity.
+# No rule that depends on this can have commands that come from listfiles
+# because they might be regenerated.
+cmake_check_build_system:
+	$(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
+.PHONY : cmake_check_build_system
+
diff --git a/build/turtlebot3_gazebo/ament_cmake_core/package.cmake b/build/turtlebot3_gazebo/ament_cmake_core/package.cmake
new file mode 100644
index 0000000..582eb60
--- /dev/null
+++ b/build/turtlebot3_gazebo/ament_cmake_core/package.cmake
@@ -0,0 +1,16 @@
+set(_AMENT_PACKAGE_NAME "turtlebot3_gazebo")
+set(turtlebot3_gazebo_VERSION "2.4.0")
+set(turtlebot3_gazebo_MAINTAINER "Pyo <pyo@robotis.com>")
+set(turtlebot3_gazebo_BUILD_DEPENDS "geometry_msgs" "nav_msgs" "rclcpp" "sensor_msgs" "tf2" "gz-sim8" "gz-msgs10" "gz-transport13" "gz-physics7" "gz-math7" "gz-common5" "gz-plugin2" "sdformat14" "ros_gz_bridge" "ros_gz_sim" "ros_gz_interfaces" "controller_manager" "diff_drive_controller" "joint_state_broadcaster" "gz_ros2_control" "robot_state_publisher")
+set(turtlebot3_gazebo_BUILDTOOL_DEPENDS "ament_cmake")
+set(turtlebot3_gazebo_BUILD_EXPORT_DEPENDS "geometry_msgs" "nav_msgs" "rclcpp" "sensor_msgs" "tf2" "gz-sim8" "gz-msgs10" "gz-transport13" "gz-physics7" "gz-math7" "gz-common5" "gz-plugin2" "sdformat14" "ros_gz_bridge" "ros_gz_sim" "ros_gz_interfaces" "controller_manager" "diff_drive_controller" "joint_state_broadcaster" "gz_ros2_control" "robot_state_publisher")
+set(turtlebot3_gazebo_BUILDTOOL_EXPORT_DEPENDS )
+set(turtlebot3_gazebo_EXEC_DEPENDS "geometry_msgs" "nav_msgs" "rclcpp" "sensor_msgs" "tf2" "gz-sim8" "gz-msgs10" "gz-transport13" "gz-physics7" "gz-math7" "gz-common5" "gz-plugin2" "sdformat14" "ros_gz_bridge" "ros_gz_sim" "ros_gz_interfaces" "controller_manager" "diff_drive_controller" "joint_state_broadcaster" "gz_ros2_control" "robot_state_publisher")
+set(turtlebot3_gazebo_TEST_DEPENDS )
+set(turtlebot3_gazebo_GROUP_DEPENDS )
+set(turtlebot3_gazebo_MEMBER_OF_GROUPS )
+set(turtlebot3_gazebo_DEPRECATED "")
+set(turtlebot3_gazebo_EXPORT_TAGS)
+list(APPEND turtlebot3_gazebo_EXPORT_TAGS "<build_type>ament_cmake</build_type>")
+list(APPEND turtlebot3_gazebo_EXPORT_TAGS "<gazebo_ros gazebo_model_path=\"models\"/>")
+list(APPEND turtlebot3_gazebo_EXPORT_TAGS "<gazebo_ros gazebo_resource_path=\"models\"/>")
diff --git a/build/turtlebot3_gazebo/ament_cmake_core/stamps/ament_cmake_export_dependencies-extras.cmake.stamp b/build/turtlebot3_gazebo/ament_cmake_core/stamps/ament_cmake_export_dependencies-extras.cmake.stamp
new file mode 100644
index 0000000..49785e3
--- /dev/null
+++ b/build/turtlebot3_gazebo/ament_cmake_core/stamps/ament_cmake_export_dependencies-extras.cmake.stamp
@@ -0,0 +1,92 @@
+# generated from ament_cmake_export_dependencies/cmake/ament_cmake_export_dependencies-extras.cmake.in
+
+set(_exported_dependencies "geometry_msgs;nav_msgs;rclcpp;sensor_msgs;tf2")
+
+find_package(ament_cmake_libraries QUIET REQUIRED)
+
+# find_package() all dependencies
+# and append their DEFINITIONS INCLUDE_DIRS, LIBRARIES, and LINK_FLAGS
+# variables to turtlebot3_gazebo_DEFINITIONS, turtlebot3_gazebo_INCLUDE_DIRS,
+# turtlebot3_gazebo_LIBRARIES, and turtlebot3_gazebo_LINK_FLAGS.
+# Additionally collect the direct dependency names in
+# turtlebot3_gazebo_DEPENDENCIES as well as the recursive dependency names
+# in turtlebot3_gazebo_RECURSIVE_DEPENDENCIES.
+if(NOT _exported_dependencies STREQUAL "")
+  find_package(ament_cmake_core QUIET REQUIRED)
+  set(turtlebot3_gazebo_DEPENDENCIES ${_exported_dependencies})
+  set(turtlebot3_gazebo_RECURSIVE_DEPENDENCIES ${_exported_dependencies})
+  set(_libraries)
+  foreach(_dep ${_exported_dependencies})
+    if(NOT ${_dep}_FOUND)
+      find_package("${_dep}" QUIET REQUIRED)
+    endif()
+    # if a package provides modern CMake interface targets use them
+    # exclusively assuming the classic CMake variables only exist for
+    # backward compatibility
+    set(use_modern_cmake FALSE)
+    if(NOT "${${_dep}_TARGETS}" STREQUAL "")
+      foreach(_target ${${_dep}_TARGETS})
+        # only use actual targets
+        # in case a package uses this variable for other content
+        if(TARGET "${_target}")
+          get_target_property(_include_dirs ${_target} INTERFACE_INCLUDE_DIRECTORIES)
+          if(_include_dirs)
+            list_append_unique(turtlebot3_gazebo_INCLUDE_DIRS "${_include_dirs}")
+          endif()
+
+          get_target_property(_imported_configurations ${_target} IMPORTED_CONFIGURATIONS)
+          if(_imported_configurations)
+            string(TOUPPER "${_imported_configurations}" _imported_configurations)
+            if(DEBUG_CONFIGURATIONS)
+              string(TOUPPER "${DEBUG_CONFIGURATIONS}" _debug_configurations_uppercase)
+            else()
+              set(_debug_configurations_uppercase "DEBUG")
+            endif()
+            foreach(_imported_config ${_imported_configurations})
+              get_target_property(_imported_implib ${_target} IMPORTED_IMPLIB_${_imported_config})
+              if(_imported_implib)
+                set(_imported_implib_config "optimized")
+                if(${_imported_config} IN_LIST _debug_configurations_uppercase)
+                  set(_imported_implib_config "debug")
+                endif()
+                list(APPEND _libraries ${_imported_implib_config} ${_imported_implib})
+              else()
+                get_target_property(_imported_location ${_target} IMPORTED_LOCATION_${_imported_config})
+                if(_imported_location)
+                  list(APPEND _libraries "${_imported_location}")
+                endif()
+              endif()
+            endforeach()
+          endif()
+
+          get_target_property(_link_libraries ${_target} INTERFACE_LINK_LIBRARIES)
+          if(_link_libraries)
+            list(APPEND _libraries "${_link_libraries}")
+          endif()
+          set(use_modern_cmake TRUE)
+        endif()
+      endforeach()
+    endif()
+    if(NOT use_modern_cmake)
+      if(${_dep}_DEFINITIONS)
+        list_append_unique(turtlebot3_gazebo_DEFINITIONS "${${_dep}_DEFINITIONS}")
+      endif()
+      if(${_dep}_INCLUDE_DIRS)
+        list_append_unique(turtlebot3_gazebo_INCLUDE_DIRS "${${_dep}_INCLUDE_DIRS}")
+      endif()
+      if(${_dep}_LIBRARIES)
+        list(APPEND _libraries "${${_dep}_LIBRARIES}")
+      endif()
+      if(${_dep}_LINK_FLAGS)
+        list_append_unique(turtlebot3_gazebo_LINK_FLAGS "${${_dep}_LINK_FLAGS}")
+      endif()
+      if(${_dep}_RECURSIVE_DEPENDENCIES)
+        list_append_unique(turtlebot3_gazebo_RECURSIVE_DEPENDENCIES "${${_dep}_RECURSIVE_DEPENDENCIES}")
+      endif()
+    endif()
+    if(_libraries)
+      ament_libraries_deduplicate(_libraries "${_libraries}")
+      list(APPEND turtlebot3_gazebo_LIBRARIES "${_libraries}")
+    endif()
+  endforeach()
+endif()
diff --git a/build/turtlebot3_gazebo/ament_cmake_core/stamps/ament_cmake_export_include_directories-extras.cmake.stamp b/build/turtlebot3_gazebo/ament_cmake_core/stamps/ament_cmake_export_include_directories-extras.cmake.stamp
new file mode 100644
index 0000000..26a0b8c
--- /dev/null
+++ b/build/turtlebot3_gazebo/ament_cmake_core/stamps/ament_cmake_export_include_directories-extras.cmake.stamp
@@ -0,0 +1,16 @@
+# generated from ament_cmake_export_include_directories/cmake/ament_cmake_export_include_directories-extras.cmake.in
+
+set(_exported_include_dirs "${turtlebot3_gazebo_DIR}/../../../include")
+
+# append include directories to turtlebot3_gazebo_INCLUDE_DIRS
+# warn about not existing paths
+if(NOT _exported_include_dirs STREQUAL "")
+  find_package(ament_cmake_core QUIET REQUIRED)
+  foreach(_exported_include_dir ${_exported_include_dirs})
+    if(NOT IS_DIRECTORY "${_exported_include_dir}")
+      message(WARNING "Package 'turtlebot3_gazebo' exports the include directory '${_exported_include_dir}' which doesn't exist")
+    endif()
+    normalize_path(_exported_include_dir "${_exported_include_dir}")
+    list(APPEND turtlebot3_gazebo_INCLUDE_DIRS "${_exported_include_dir}")
+  endforeach()
+endif()
diff --git a/build/turtlebot3_gazebo/ament_cmake_core/stamps/ament_prefix_path.sh.stamp b/build/turtlebot3_gazebo/ament_cmake_core/stamps/ament_prefix_path.sh.stamp
new file mode 100644
index 0000000..02e441b
--- /dev/null
+++ b/build/turtlebot3_gazebo/ament_cmake_core/stamps/ament_prefix_path.sh.stamp
@@ -0,0 +1,4 @@
+# copied from
+# ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh
+
+ament_prepend_unique_value AMENT_PREFIX_PATH "$AMENT_CURRENT_PREFIX"
diff --git a/build/turtlebot3_gazebo/ament_cmake_core/stamps/nameConfig-version.cmake.in.stamp b/build/turtlebot3_gazebo/ament_cmake_core/stamps/nameConfig-version.cmake.in.stamp
new file mode 100644
index 0000000..ee49c9f
--- /dev/null
+++ b/build/turtlebot3_gazebo/ament_cmake_core/stamps/nameConfig-version.cmake.in.stamp
@@ -0,0 +1,14 @@
+# generated from ament/cmake/core/templates/nameConfig-version.cmake.in
+set(PACKAGE_VERSION "@PACKAGE_VERSION@")
+
+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()
diff --git a/build/turtlebot3_gazebo/ament_cmake_core/stamps/nameConfig.cmake.in.stamp b/build/turtlebot3_gazebo/ament_cmake_core/stamps/nameConfig.cmake.in.stamp
new file mode 100644
index 0000000..6fb3fe7
--- /dev/null
+++ b/build/turtlebot3_gazebo/ament_cmake_core/stamps/nameConfig.cmake.in.stamp
@@ -0,0 +1,42 @@
+# generated from ament/cmake/core/templates/nameConfig.cmake.in
+
+# prevent multiple inclusion
+if(_@PROJECT_NAME@_CONFIG_INCLUDED)
+  # ensure to keep the found flag the same
+  if(NOT DEFINED @PROJECT_NAME@_FOUND)
+    # explicitly set it to FALSE, otherwise CMake will set it to TRUE
+    set(@PROJECT_NAME@_FOUND FALSE)
+  elseif(NOT @PROJECT_NAME@_FOUND)
+    # use separate condition to avoid uninitialized variable warning
+    set(@PROJECT_NAME@_FOUND FALSE)
+  endif()
+  return()
+endif()
+set(_@PROJECT_NAME@_CONFIG_INCLUDED TRUE)
+
+# output package information
+if(NOT @PROJECT_NAME@_FIND_QUIETLY)
+  message(STATUS "Found @PROJECT_NAME@: @PACKAGE_VERSION@ (${@PROJECT_NAME@_DIR})")
+endif()
+
+# warn when using a deprecated package
+if(NOT "@PACKAGE_DEPRECATED@" STREQUAL "")
+  set(_msg "Package '@PROJECT_NAME@' is deprecated")
+  # append custom deprecation text if available
+  if(NOT "@PACKAGE_DEPRECATED@" STREQUAL "TRUE")
+    set(_msg "${_msg} (@PACKAGE_DEPRECATED@)")
+  endif()
+  # optionally quiet the deprecation message
+  if(NOT ${@PROJECT_NAME@_DEPRECATED_QUIET})
+    message(DEPRECATION "${_msg}")
+  endif()
+endif()
+
+# flag package as ament-based to distinguish it after being find_package()-ed
+set(@PROJECT_NAME@_FOUND_AMENT_PACKAGE TRUE)
+
+# include all config extra files
+set(_extras "@PACKAGE_CONFIG_EXTRA_FILES@")
+foreach(_extra ${_extras})
+  include("${@PROJECT_NAME@_DIR}/${_extra}")
+endforeach()
diff --git a/build/turtlebot3_gazebo/ament_cmake_core/stamps/package.xml.stamp b/build/turtlebot3_gazebo/ament_cmake_core/stamps/package.xml.stamp
new file mode 100755
index 0000000..6274a6e
--- /dev/null
+++ b/build/turtlebot3_gazebo/ament_cmake_core/stamps/package.xml.stamp
@@ -0,0 +1,55 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>turtlebot3_gazebo</name>
+  <version>2.4.0</version>
+  <description>
+    Gazebo Sim (Ignition Harmonic) simulation package for the TurtleBot3
+  </description>
+  <maintainer email="pyo@robotis.com">Pyo</maintainer>
+  <license>Apache 2.0</license>
+  <url type="website">http://turtlebot3.robotis.com</url>
+  <url type="repository">https://github.com/ROBOTIS-GIT/turtlebot3_simulations</url>
+  <url type="bugtracker">https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues</url>
+  <author email="thlim@robotis.com">Darby Lim</author>
+  <author email="pyo@robotis.com">Pyo</author>
+  <author>Ryan Shim</author>
+  <author email="kimhg@robotis.com">Hyungyu Kim</author>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <!-- ROS 2 core dependencies -->
+  <depend>geometry_msgs</depend>
+  <depend>nav_msgs</depend>
+  <depend>rclcpp</depend>
+  <depend>sensor_msgs</depend>
+  <depend>tf2</depend>
+
+  <!-- Gazebo Sim (Harmonic / gz-8) system dependencies -->
+  <depend>gz-sim8</depend>
+  <depend>gz-msgs10</depend>
+  <depend>gz-transport13</depend>
+  <depend>gz-physics7</depend>
+  <depend>gz-math7</depend>
+  <depend>gz-common5</depend>
+  <depend>gz-plugin2</depend>
+  <depend>sdformat14</depend>
+
+  <!-- ROS-Gazebo bridge dependencies -->
+  <depend>ros_gz_bridge</depend>
+  <depend>ros_gz_sim</depend>
+  <depend>ros_gz_interfaces</depend>
+
+  <!-- ros2_control: DiffDriveController + joint_state_broadcaster for TF publishing -->
+  <depend>controller_manager</depend>
+  <depend>diff_drive_controller</depend>
+  <depend>joint_state_broadcaster</depend>
+  <depend>gz_ros2_control</depend>
+  <depend>robot_state_publisher</depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+    <gazebo_ros gazebo_model_path="${prefix}/models"/>
+    <gazebo_ros gazebo_resource_path="${prefix}/models"/>
+  </export>
+</package>
diff --git a/build/turtlebot3_gazebo/ament_cmake_core/stamps/package_xml_2_cmake.py.stamp b/build/turtlebot3_gazebo/ament_cmake_core/stamps/package_xml_2_cmake.py.stamp
new file mode 100644
index 0000000..8be9894
--- /dev/null
+++ b/build/turtlebot3_gazebo/ament_cmake_core/stamps/package_xml_2_cmake.py.stamp
@@ -0,0 +1,150 @@
+#!/usr/bin/env python3
+
+# Copyright 2014-2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import argparse
+from collections import OrderedDict
+import os
+import sys
+
+from catkin_pkg.package import parse_package_string
+
+
+def main(argv=sys.argv[1:]):
+    """
+    Extract the information from package.xml and make them accessible to CMake.
+
+    Parse the given package.xml file and
+    print CMake code defining several variables containing the content.
+    """
+    parser = argparse.ArgumentParser(
+        description='Parse package.xml file and print CMake code defining '
+                    'several variables',
+    )
+    parser.add_argument(
+        'package_xml',
+        type=argparse.FileType('r', encoding='utf-8'),
+        help='The path to a package.xml file',
+    )
+    parser.add_argument(
+        'outfile',
+        nargs='?',
+        help='The filename where the output should be written to',
+    )
+    args = parser.parse_args(argv)
+
+    try:
+        package = parse_package_string(
+            args.package_xml.read(), filename=args.package_xml.name)
+    except Exception as e:
+        print("Error parsing '%s':" % args.package_xml.name, file=sys.stderr)
+        raise e
+    finally:
+        args.package_xml.close()
+
+    lines = generate_cmake_code(package)
+    if args.outfile:
+        with open(args.outfile, 'w', encoding='utf-8') as f:
+            for line in lines:
+                f.write('%s\n' % line)
+    else:
+        for line in lines:
+            print(line)
+
+
+def get_dependency_values(key, depends):
+    dependencies = []
+
+    # Filter the dependencies, checking for any condition attributes
+    dependencies.append((key, ' '.join([
+        '"%s"' % str(d) for d in depends
+        if d.condition is None or d.evaluate_condition(os.environ)
+    ])))
+
+    for d in depends:
+        comparisons = [
+            'version_lt',
+            'version_lte',
+            'version_eq',
+            'version_gte',
+            'version_gt']
+        for comp in comparisons:
+            value = getattr(d, comp, None)
+            if value is not None:
+                dependencies.append(('%s_%s_%s' % (key, str(d), comp.upper()),
+                                     '"%s"' % value))
+    return dependencies
+
+
+def generate_cmake_code(package):
+    """
+    Return a list of CMake set() commands containing the manifest information.
+
+    :param package: catkin_pkg.package.Package
+    :returns: list of str
+    """
+    variables = []
+    variables.append(('VERSION', '"%s"' % package.version))
+
+    variables.append((
+        'MAINTAINER',
+        '"%s"' % (', '.join([str(m) for m in package.maintainers]))))
+
+    variables.extend(get_dependency_values('BUILD_DEPENDS',
+                                           package.build_depends))
+    variables.extend(get_dependency_values('BUILDTOOL_DEPENDS',
+                                           package.buildtool_depends))
+    variables.extend(get_dependency_values('BUILD_EXPORT_DEPENDS',
+                                           package.build_export_depends))
+    variables.extend(get_dependency_values('BUILDTOOL_EXPORT_DEPENDS',
+                                           package.buildtool_export_depends))
+    variables.extend(get_dependency_values('EXEC_DEPENDS',
+                                           package.exec_depends))
+    variables.extend(get_dependency_values('TEST_DEPENDS',
+                                           package.test_depends))
+    variables.extend(get_dependency_values('GROUP_DEPENDS',
+                                           package.group_depends))
+    variables.extend(get_dependency_values('MEMBER_OF_GROUPS',
+                                           package.member_of_groups))
+
+    deprecated = [e.content for e in package.exports
+                  if e.tagname == 'deprecated']
+    variables.append(('DEPRECATED',
+                      '"%s"' % ((deprecated[0] if deprecated[0] else 'TRUE')
+                                if deprecated
+                                else '')))
+
+    lines = []
+    lines.append('set(_AMENT_PACKAGE_NAME "%s")' % package.name)
+    for (k, v) in variables:
+        lines.append('set(%s_%s %s)' % (package.name, k, v))
+
+    lines.append('set(%s_EXPORT_TAGS)' % package.name)
+    replaces = OrderedDict()
+    replaces['${prefix}/'] = ''
+    replaces['\\'] = '\\\\'  # escape backslashes
+    replaces['"'] = '\\"'  # prevent double quotes to end the CMake string
+    replaces[';'] = '\\;'  # prevent semicolons to be interpreted as list separators
+    for export in package.exports:
+        export = str(export)
+        for k, v in replaces.items():
+            export = export.replace(k, v)
+        lines.append('list(APPEND %s_EXPORT_TAGS "%s")' % (package.name, export))
+
+    return lines
+
+
+if __name__ == '__main__':
+    main()
diff --git a/build/turtlebot3_gazebo/ament_cmake_core/stamps/path.sh.stamp b/build/turtlebot3_gazebo/ament_cmake_core/stamps/path.sh.stamp
new file mode 100644
index 0000000..e59b749
--- /dev/null
+++ b/build/turtlebot3_gazebo/ament_cmake_core/stamps/path.sh.stamp
@@ -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
diff --git a/build/turtlebot3_gazebo/ament_cmake_core/stamps/templates_2_cmake.py.stamp b/build/turtlebot3_gazebo/ament_cmake_core/stamps/templates_2_cmake.py.stamp
new file mode 100644
index 0000000..fb2fb47
--- /dev/null
+++ b/build/turtlebot3_gazebo/ament_cmake_core/stamps/templates_2_cmake.py.stamp
@@ -0,0 +1,112 @@
+#!/usr/bin/env python3
+
+# Copyright 2014-2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import argparse
+import os
+import sys
+
+from ament_package.templates import get_environment_hook_template_path
+from ament_package.templates import get_package_level_template_names
+from ament_package.templates import get_package_level_template_path
+from ament_package.templates import get_prefix_level_template_names
+from ament_package.templates import get_prefix_level_template_path
+
+IS_WINDOWS = os.name == 'nt'
+
+
+def main(argv=sys.argv[1:]):
+    """
+    Extract the information about templates provided by ament_package.
+
+    Call the API provided by ament_package and
+    print CMake code defining several variables containing information about
+    the available templates.
+    """
+    parser = argparse.ArgumentParser(
+        description='Extract information about templates provided by '
+                    'ament_package and print CMake code defining several '
+                    'variables',
+    )
+    parser.add_argument(
+        'outfile',
+        nargs='?',
+        help='The filename where the output should be written to',
+    )
+    args = parser.parse_args(argv)
+
+    lines = generate_cmake_code()
+    if args.outfile:
+        basepath = os.path.dirname(args.outfile)
+        if not os.path.exists(basepath):
+            os.makedirs(basepath)
+        with open(args.outfile, 'w') as f:
+            for line in lines:
+                f.write('%s\n' % line)
+    else:
+        for line in lines:
+            print(line)
+
+
+def generate_cmake_code():
+    """
+    Return a list of CMake set() commands containing the template information.
+
+    :returns: list of str
+    """
+    variables = []
+
+    if not IS_WINDOWS:
+        variables.append((
+            'ENVIRONMENT_HOOK_LIBRARY_PATH',
+            '"%s"' % get_environment_hook_template_path('library_path.sh')))
+    else:
+        variables.append(('ENVIRONMENT_HOOK_LIBRARY_PATH', ''))
+
+    ext = '.bat.in' if IS_WINDOWS else '.sh.in'
+    variables.append((
+        'ENVIRONMENT_HOOK_PYTHONPATH',
+        '"%s"' % get_environment_hook_template_path('pythonpath' + ext)))
+
+    templates = []
+    for name in get_package_level_template_names():
+        templates.append('"%s"' % get_package_level_template_path(name))
+    variables.append((
+        'PACKAGE_LEVEL',
+        templates))
+
+    templates = []
+    for name in get_prefix_level_template_names():
+        templates.append('"%s"' % get_prefix_level_template_path(name))
+    variables.append((
+        'PREFIX_LEVEL',
+        templates))
+
+    lines = []
+    for (k, v) in variables:
+        if isinstance(v, list):
+            lines.append('set(ament_cmake_package_templates_%s "")' % k)
+            for vv in v:
+                lines.append('list(APPEND ament_cmake_package_templates_%s %s)'
+                             % (k, vv))
+        else:
+            lines.append('set(ament_cmake_package_templates_%s %s)' % (k, v))
+    # Ensure backslashes are replaced with forward slashes because CMake cannot
+    # parse files with backslashes in it.
+    return [line.replace('\\', '/') for line in lines]
+
+
+if __name__ == '__main__':
+    main()
diff --git a/build/turtlebot3_gazebo/ament_cmake_core/turtlebot3_gazeboConfig-version.cmake b/build/turtlebot3_gazebo/ament_cmake_core/turtlebot3_gazeboConfig-version.cmake
new file mode 100644
index 0000000..989b461
--- /dev/null
+++ b/build/turtlebot3_gazebo/ament_cmake_core/turtlebot3_gazeboConfig-version.cmake
@@ -0,0 +1,14 @@
+# generated from ament/cmake/core/templates/nameConfig-version.cmake.in
+set(PACKAGE_VERSION "2.4.0")
+
+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()
diff --git a/build/turtlebot3_gazebo/ament_cmake_core/turtlebot3_gazeboConfig.cmake b/build/turtlebot3_gazebo/ament_cmake_core/turtlebot3_gazeboConfig.cmake
new file mode 100644
index 0000000..30f3245
--- /dev/null
+++ b/build/turtlebot3_gazebo/ament_cmake_core/turtlebot3_gazeboConfig.cmake
@@ -0,0 +1,42 @@
+# generated from ament/cmake/core/templates/nameConfig.cmake.in
+
+# prevent multiple inclusion
+if(_turtlebot3_gazebo_CONFIG_INCLUDED)
+  # ensure to keep the found flag the same
+  if(NOT DEFINED turtlebot3_gazebo_FOUND)
+    # explicitly set it to FALSE, otherwise CMake will set it to TRUE
+    set(turtlebot3_gazebo_FOUND FALSE)
+  elseif(NOT turtlebot3_gazebo_FOUND)
+    # use separate condition to avoid uninitialized variable warning
+    set(turtlebot3_gazebo_FOUND FALSE)
+  endif()
+  return()
+endif()
+set(_turtlebot3_gazebo_CONFIG_INCLUDED TRUE)
+
+# output package information
+if(NOT turtlebot3_gazebo_FIND_QUIETLY)
+  message(STATUS "Found turtlebot3_gazebo: 2.4.0 (${turtlebot3_gazebo_DIR})")
+endif()
+
+# warn when using a deprecated package
+if(NOT "" STREQUAL "")
+  set(_msg "Package 'turtlebot3_gazebo' is deprecated")
+  # append custom deprecation text if available
+  if(NOT "" STREQUAL "TRUE")
+    set(_msg "${_msg} ()")
+  endif()
+  # optionally quiet the deprecation message
+  if(NOT ${turtlebot3_gazebo_DEPRECATED_QUIET})
+    message(DEPRECATION "${_msg}")
+  endif()
+endif()
+
+# flag package as ament-based to distinguish it after being find_package()-ed
+set(turtlebot3_gazebo_FOUND_AMENT_PACKAGE TRUE)
+
+# include all config extra files
+set(_extras "ament_cmake_export_include_directories-extras.cmake;ament_cmake_export_dependencies-extras.cmake")
+foreach(_extra ${_extras})
+  include("${turtlebot3_gazebo_DIR}/${_extra}")
+endforeach()
diff --git a/build/turtlebot3_gazebo/ament_cmake_environment_hooks/ament_prefix_path.dsv b/build/turtlebot3_gazebo/ament_cmake_environment_hooks/ament_prefix_path.dsv
new file mode 100644
index 0000000..79d4c95
--- /dev/null
+++ b/build/turtlebot3_gazebo/ament_cmake_environment_hooks/ament_prefix_path.dsv
@@ -0,0 +1 @@
+prepend-non-duplicate;AMENT_PREFIX_PATH;
diff --git a/build/turtlebot3_gazebo/ament_cmake_environment_hooks/local_setup.bash b/build/turtlebot3_gazebo/ament_cmake_environment_hooks/local_setup.bash
new file mode 100644
index 0000000..49782f2
--- /dev/null
+++ b/build/turtlebot3_gazebo/ament_cmake_environment_hooks/local_setup.bash
@@ -0,0 +1,46 @@
+# generated from ament_package/template/package_level/local_setup.bash.in
+
+# source local_setup.sh from same directory as this file
+_this_path=$(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
diff --git a/build/turtlebot3_gazebo/ament_cmake_environment_hooks/local_setup.dsv b/build/turtlebot3_gazebo/ament_cmake_environment_hooks/local_setup.dsv
new file mode 100644
index 0000000..5c51cd5
--- /dev/null
+++ b/build/turtlebot3_gazebo/ament_cmake_environment_hooks/local_setup.dsv
@@ -0,0 +1,2 @@
+source;share/turtlebot3_gazebo/environment/ament_prefix_path.sh
+source;share/turtlebot3_gazebo/environment/path.sh
diff --git a/build/turtlebot3_gazebo/ament_cmake_environment_hooks/local_setup.sh b/build/turtlebot3_gazebo/ament_cmake_environment_hooks/local_setup.sh
new file mode 100644
index 0000000..60eddb3
--- /dev/null
+++ b/build/turtlebot3_gazebo/ament_cmake_environment_hooks/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
+: ${AMENT_CURRENT_PREFIX:="/workspace/install/turtlebot3_gazebo"}
+if [ ! -d "$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 "$AMENT_CURRENT_PREFIX/share/turtlebot3_gazebo/environment/ament_prefix_path.sh"
+ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/turtlebot3_gazebo/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=$_package_local_setup_IFS
+  unset _package_local_setup_IFS
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+# reset AMENT_CURRENT_PREFIX after each package
+# allowing to source multiple package-level setup files
+unset AMENT_CURRENT_PREFIX
diff --git a/build/turtlebot3_gazebo/ament_cmake_environment_hooks/local_setup.zsh b/build/turtlebot3_gazebo/ament_cmake_environment_hooks/local_setup.zsh
new file mode 100644
index 0000000..fe161be
--- /dev/null
+++ b/build/turtlebot3_gazebo/ament_cmake_environment_hooks/local_setup.zsh
@@ -0,0 +1,59 @@
+# generated from ament_package/template/package_level/local_setup.zsh.in
+
+AMENT_SHELL=zsh
+
+# source local_setup.sh from same directory as this file
+_this_path=$(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
diff --git a/build/turtlebot3_gazebo/ament_cmake_environment_hooks/package.dsv b/build/turtlebot3_gazebo/ament_cmake_environment_hooks/package.dsv
new file mode 100644
index 0000000..8ee9ea4
--- /dev/null
+++ b/build/turtlebot3_gazebo/ament_cmake_environment_hooks/package.dsv
@@ -0,0 +1,4 @@
+source;share/turtlebot3_gazebo/local_setup.bash
+source;share/turtlebot3_gazebo/local_setup.dsv
+source;share/turtlebot3_gazebo/local_setup.sh
+source;share/turtlebot3_gazebo/local_setup.zsh
diff --git a/build/turtlebot3_gazebo/ament_cmake_environment_hooks/path.dsv b/build/turtlebot3_gazebo/ament_cmake_environment_hooks/path.dsv
new file mode 100644
index 0000000..b94426a
--- /dev/null
+++ b/build/turtlebot3_gazebo/ament_cmake_environment_hooks/path.dsv
@@ -0,0 +1 @@
+prepend-non-duplicate-if-exists;PATH;bin
diff --git a/build/turtlebot3_gazebo/ament_cmake_export_dependencies/ament_cmake_export_dependencies-extras.cmake b/build/turtlebot3_gazebo/ament_cmake_export_dependencies/ament_cmake_export_dependencies-extras.cmake
new file mode 100644
index 0000000..49785e3
--- /dev/null
+++ b/build/turtlebot3_gazebo/ament_cmake_export_dependencies/ament_cmake_export_dependencies-extras.cmake
@@ -0,0 +1,92 @@
+# generated from ament_cmake_export_dependencies/cmake/ament_cmake_export_dependencies-extras.cmake.in
+
+set(_exported_dependencies "geometry_msgs;nav_msgs;rclcpp;sensor_msgs;tf2")
+
+find_package(ament_cmake_libraries QUIET REQUIRED)
+
+# find_package() all dependencies
+# and append their DEFINITIONS INCLUDE_DIRS, LIBRARIES, and LINK_FLAGS
+# variables to turtlebot3_gazebo_DEFINITIONS, turtlebot3_gazebo_INCLUDE_DIRS,
+# turtlebot3_gazebo_LIBRARIES, and turtlebot3_gazebo_LINK_FLAGS.
+# Additionally collect the direct dependency names in
+# turtlebot3_gazebo_DEPENDENCIES as well as the recursive dependency names
+# in turtlebot3_gazebo_RECURSIVE_DEPENDENCIES.
+if(NOT _exported_dependencies STREQUAL "")
+  find_package(ament_cmake_core QUIET REQUIRED)
+  set(turtlebot3_gazebo_DEPENDENCIES ${_exported_dependencies})
+  set(turtlebot3_gazebo_RECURSIVE_DEPENDENCIES ${_exported_dependencies})
+  set(_libraries)
+  foreach(_dep ${_exported_dependencies})
+    if(NOT ${_dep}_FOUND)
+      find_package("${_dep}" QUIET REQUIRED)
+    endif()
+    # if a package provides modern CMake interface targets use them
+    # exclusively assuming the classic CMake variables only exist for
+    # backward compatibility
+    set(use_modern_cmake FALSE)
+    if(NOT "${${_dep}_TARGETS}" STREQUAL "")
+      foreach(_target ${${_dep}_TARGETS})
+        # only use actual targets
+        # in case a package uses this variable for other content
+        if(TARGET "${_target}")
+          get_target_property(_include_dirs ${_target} INTERFACE_INCLUDE_DIRECTORIES)
+          if(_include_dirs)
+            list_append_unique(turtlebot3_gazebo_INCLUDE_DIRS "${_include_dirs}")
+          endif()
+
+          get_target_property(_imported_configurations ${_target} IMPORTED_CONFIGURATIONS)
+          if(_imported_configurations)
+            string(TOUPPER "${_imported_configurations}" _imported_configurations)
+            if(DEBUG_CONFIGURATIONS)
+              string(TOUPPER "${DEBUG_CONFIGURATIONS}" _debug_configurations_uppercase)
+            else()
+              set(_debug_configurations_uppercase "DEBUG")
+            endif()
+            foreach(_imported_config ${_imported_configurations})
+              get_target_property(_imported_implib ${_target} IMPORTED_IMPLIB_${_imported_config})
+              if(_imported_implib)
+                set(_imported_implib_config "optimized")
+                if(${_imported_config} IN_LIST _debug_configurations_uppercase)
+                  set(_imported_implib_config "debug")
+                endif()
+                list(APPEND _libraries ${_imported_implib_config} ${_imported_implib})
+              else()
+                get_target_property(_imported_location ${_target} IMPORTED_LOCATION_${_imported_config})
+                if(_imported_location)
+                  list(APPEND _libraries "${_imported_location}")
+                endif()
+              endif()
+            endforeach()
+          endif()
+
+          get_target_property(_link_libraries ${_target} INTERFACE_LINK_LIBRARIES)
+          if(_link_libraries)
+            list(APPEND _libraries "${_link_libraries}")
+          endif()
+          set(use_modern_cmake TRUE)
+        endif()
+      endforeach()
+    endif()
+    if(NOT use_modern_cmake)
+      if(${_dep}_DEFINITIONS)
+        list_append_unique(turtlebot3_gazebo_DEFINITIONS "${${_dep}_DEFINITIONS}")
+      endif()
+      if(${_dep}_INCLUDE_DIRS)
+        list_append_unique(turtlebot3_gazebo_INCLUDE_DIRS "${${_dep}_INCLUDE_DIRS}")
+      endif()
+      if(${_dep}_LIBRARIES)
+        list(APPEND _libraries "${${_dep}_LIBRARIES}")
+      endif()
+      if(${_dep}_LINK_FLAGS)
+        list_append_unique(turtlebot3_gazebo_LINK_FLAGS "${${_dep}_LINK_FLAGS}")
+      endif()
+      if(${_dep}_RECURSIVE_DEPENDENCIES)
+        list_append_unique(turtlebot3_gazebo_RECURSIVE_DEPENDENCIES "${${_dep}_RECURSIVE_DEPENDENCIES}")
+      endif()
+    endif()
+    if(_libraries)
+      ament_libraries_deduplicate(_libraries "${_libraries}")
+      list(APPEND turtlebot3_gazebo_LIBRARIES "${_libraries}")
+    endif()
+  endforeach()
+endif()
diff --git a/build/turtlebot3_gazebo/ament_cmake_export_include_directories/ament_cmake_export_include_directories-extras.cmake b/build/turtlebot3_gazebo/ament_cmake_export_include_directories/ament_cmake_export_include_directories-extras.cmake
new file mode 100644
index 0000000..26a0b8c
--- /dev/null
+++ b/build/turtlebot3_gazebo/ament_cmake_export_include_directories/ament_cmake_export_include_directories-extras.cmake
@@ -0,0 +1,16 @@
+# generated from ament_cmake_export_include_directories/cmake/ament_cmake_export_include_directories-extras.cmake.in
+
+set(_exported_include_dirs "${turtlebot3_gazebo_DIR}/../../../include")
+
+# append include directories to turtlebot3_gazebo_INCLUDE_DIRS
+# warn about not existing paths
+if(NOT _exported_include_dirs STREQUAL "")
+  find_package(ament_cmake_core QUIET REQUIRED)
+  foreach(_exported_include_dir ${_exported_include_dirs})
+    if(NOT IS_DIRECTORY "${_exported_include_dir}")
+      message(WARNING "Package 'turtlebot3_gazebo' exports the include directory '${_exported_include_dir}' which doesn't exist")
+    endif()
+    normalize_path(_exported_include_dir "${_exported_include_dir}")
+    list(APPEND turtlebot3_gazebo_INCLUDE_DIRS "${_exported_include_dir}")
+  endforeach()
+endif()
diff --git a/build/turtlebot3_gazebo/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/turtlebot3_gazebo b/build/turtlebot3_gazebo/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/turtlebot3_gazebo
new file mode 100644
index 0000000..6b7d612
--- /dev/null
+++ b/build/turtlebot3_gazebo/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/turtlebot3_gazebo
@@ -0,0 +1 @@
+geometry_msgs;nav_msgs;rclcpp;sensor_msgs;tf2;gz-sim8;gz-msgs10;gz-transport13;gz-physics7;gz-math7;gz-common5;gz-plugin2;sdformat14;ros_gz_bridge;ros_gz_sim;ros_gz_interfaces;controller_manager;diff_drive_controller;joint_state_broadcaster;gz_ros2_control;robot_state_publisher
\ No newline at end of file
diff --git a/build/turtlebot3_gazebo/ament_cmake_index/share/ament_index/resource_index/packages/turtlebot3_gazebo b/build/turtlebot3_gazebo/ament_cmake_index/share/ament_index/resource_index/packages/turtlebot3_gazebo
new file mode 100644
index 0000000..e69de29
diff --git a/build/turtlebot3_gazebo/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/turtlebot3_gazebo b/build/turtlebot3_gazebo/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/turtlebot3_gazebo
new file mode 100644
index 0000000..6350bc1
--- /dev/null
+++ b/build/turtlebot3_gazebo/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/turtlebot3_gazebo
@@ -0,0 +1 @@
+/opt/ros/humble
\ No newline at end of file
diff --git a/build/turtlebot3_gazebo/ament_cmake_package_templates/templates.cmake b/build/turtlebot3_gazebo/ament_cmake_package_templates/templates.cmake
new file mode 100644
index 0000000..42a5a03
--- /dev/null
+++ b/build/turtlebot3_gazebo/ament_cmake_package_templates/templates.cmake
@@ -0,0 +1,14 @@
+set(ament_cmake_package_templates_ENVIRONMENT_HOOK_LIBRARY_PATH "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/environment_hook/library_path.sh")
+set(ament_cmake_package_templates_ENVIRONMENT_HOOK_PYTHONPATH "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/environment_hook/pythonpath.sh.in")
+set(ament_cmake_package_templates_PACKAGE_LEVEL "")
+list(APPEND ament_cmake_package_templates_PACKAGE_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/package_level/local_setup.bash.in")
+list(APPEND ament_cmake_package_templates_PACKAGE_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/package_level/local_setup.sh.in")
+list(APPEND ament_cmake_package_templates_PACKAGE_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/package_level/local_setup.zsh.in")
+set(ament_cmake_package_templates_PREFIX_LEVEL "")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/prefix_level/local_setup.bash")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/prefix_level/local_setup.sh.in")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/prefix_level/local_setup.zsh")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/prefix_level/setup.bash")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/prefix_level/setup.sh.in")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/prefix_level/setup.zsh")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/prefix_level/_local_setup_util.py")
diff --git a/build/turtlebot3_gazebo/ament_cmake_symlink_install/ament_cmake_symlink_install.cmake b/build/turtlebot3_gazebo/ament_cmake_symlink_install/ament_cmake_symlink_install.cmake
new file mode 100644
index 0000000..470c7db
--- /dev/null
+++ b/build/turtlebot3_gazebo/ament_cmake_symlink_install/ament_cmake_symlink_install.cmake
@@ -0,0 +1,376 @@
+# generated from
+# ament_cmake_core/cmake/symlink_install/ament_cmake_symlink_install.cmake.in
+
+# create empty symlink install manifest before starting install step
+file(WRITE "${CMAKE_CURRENT_BINARY_DIR}/symlink_install_manifest.txt")
+
+#
+# Reimplement CMake install(DIRECTORY) command to use symlinks instead of
+# copying resources.
+#
+# :param cmake_current_source_dir: The CMAKE_CURRENT_SOURCE_DIR when install
+#   was invoked
+# :type cmake_current_source_dir: string
+# :param ARGN: the same arguments as the CMake install command.
+# :type ARGN: various
+#
+function(ament_cmake_symlink_install_directory cmake_current_source_dir)
+  cmake_parse_arguments(ARG "OPTIONAL" "DESTINATION" "DIRECTORY;PATTERN;PATTERN_EXCLUDE" ${ARGN})
+  if(ARG_UNPARSED_ARGUMENTS)
+    message(FATAL_ERROR "ament_cmake_symlink_install_directory() called with "
+      "unused/unsupported arguments: ${ARG_UNPARSED_ARGUMENTS}")
+  endif()
+
+  # make destination absolute path and ensure that it exists
+  if(NOT IS_ABSOLUTE "${ARG_DESTINATION}")
+    set(ARG_DESTINATION "/workspace/install/turtlebot3_gazebo/${ARG_DESTINATION}")
+  endif()
+  if(NOT EXISTS "${ARG_DESTINATION}")
+    file(MAKE_DIRECTORY "${ARG_DESTINATION}")
+  endif()
+
+  # default pattern to include
+  if(NOT ARG_PATTERN)
+    set(ARG_PATTERN "*")
+  endif()
+
+  # iterate over directories
+  foreach(dir ${ARG_DIRECTORY})
+    # make dir an absolute path
+    if(NOT IS_ABSOLUTE "${dir}")
+      set(dir "${cmake_current_source_dir}/${dir}")
+    endif()
+
+    if(EXISTS "${dir}")
+      # if directory has no trailing slash
+      # append folder name to destination
+      set(destination "${ARG_DESTINATION}")
+      string(LENGTH "${dir}" length)
+      math(EXPR offset "${length} - 1")
+      string(SUBSTRING "${dir}" ${offset} 1 dir_last_char)
+      if(NOT dir_last_char STREQUAL "/")
+        get_filename_component(destination_name "${dir}" NAME)
+        set(destination "${destination}/${destination_name}")
+      else()
+        # remove trailing slash
+        string(SUBSTRING "${dir}" 0 ${offset} dir)
+      endif()
+      
+      # Create destination directory.
+      # This does *not* solve the problem of empty directories WITHIN the install tree,
+      # but does make sure that the top-level directory specified by the caller gets created.
+      file(MAKE_DIRECTORY "${destination}")
+
+      # glob recursive files
+      set(relative_files "")
+      foreach(pattern ${ARG_PATTERN})
+        file(
+          GLOB_RECURSE
+          include_files
+          RELATIVE "${dir}"
+          "${dir}/${pattern}"
+        )
+        if(NOT include_files STREQUAL "")
+          list(APPEND relative_files ${include_files})
+        endif()
+      endforeach()
+      foreach(pattern ${ARG_PATTERN_EXCLUDE})
+        file(
+          GLOB_RECURSE
+          exclude_files
+          RELATIVE "${dir}"
+          "${dir}/${pattern}"
+        )
+        if(NOT exclude_files STREQUAL "")
+          list(REMOVE_ITEM relative_files ${exclude_files})
+        endif()
+      endforeach()
+      list(SORT relative_files)
+
+      foreach(relative_file ${relative_files})
+        set(absolute_file "${dir}/${relative_file}")
+        # determine link name for file including destination path
+        set(symlink "${destination}/${relative_file}")
+
+        # ensure that destination exists
+        get_filename_component(symlink_dir "${symlink}" PATH)
+        if(NOT EXISTS "${symlink_dir}")
+          file(MAKE_DIRECTORY "${symlink_dir}")
+        endif()
+
+        _ament_cmake_symlink_install_create_symlink("${absolute_file}" "${symlink}")
+      endforeach()
+    else()
+      if(NOT ARG_OPTIONAL)
+        message(FATAL_ERROR
+          "ament_cmake_symlink_install_directory() can't find '${dir}'")
+      endif()
+    endif()
+  endforeach()
+endfunction()
+
+#
+# Reimplement CMake install(FILES) command to use symlinks instead of copying
+# resources.
+#
+# :param cmake_current_source_dir: The CMAKE_CURRENT_SOURCE_DIR when install
+#   was invoked
+# :type cmake_current_source_dir: string
+# :param ARGN: the same arguments as the CMake install command.
+# :type ARGN: various
+#
+function(ament_cmake_symlink_install_files cmake_current_source_dir)
+  cmake_parse_arguments(ARG "OPTIONAL" "DESTINATION;RENAME" "FILES" ${ARGN})
+  if(ARG_UNPARSED_ARGUMENTS)
+    message(FATAL_ERROR "ament_cmake_symlink_install_files() called with "
+      "unused/unsupported arguments: ${ARG_UNPARSED_ARGUMENTS}")
+  endif()
+
+  # make destination an absolute path and ensure that it exists
+  if(NOT IS_ABSOLUTE "${ARG_DESTINATION}")
+    set(ARG_DESTINATION "/workspace/install/turtlebot3_gazebo/${ARG_DESTINATION}")
+  endif()
+  if(NOT EXISTS "${ARG_DESTINATION}")
+    file(MAKE_DIRECTORY "${ARG_DESTINATION}")
+  endif()
+
+  if(ARG_RENAME)
+    list(LENGTH ARG_FILES file_count)
+    if(NOT file_count EQUAL 1)
+    message(FATAL_ERROR "ament_cmake_symlink_install_files() called with "
+      "RENAME argument but not with a single file")
+    endif()
+  endif()
+
+  # iterate over files
+  foreach(file ${ARG_FILES})
+    # make file an absolute path
+    if(NOT IS_ABSOLUTE "${file}")
+      set(file "${cmake_current_source_dir}/${file}")
+    endif()
+
+    if(EXISTS "${file}")
+      # determine link name for file including destination path
+      get_filename_component(filename "${file}" NAME)
+      if(NOT ARG_RENAME)
+        set(symlink "${ARG_DESTINATION}/${filename}")
+      else()
+        set(symlink "${ARG_DESTINATION}/${ARG_RENAME}")
+      endif()
+      _ament_cmake_symlink_install_create_symlink("${file}" "${symlink}")
+    else()
+      if(NOT ARG_OPTIONAL)
+        message(FATAL_ERROR
+          "ament_cmake_symlink_install_files() can't find '${file}'")
+      endif()
+    endif()
+  endforeach()
+endfunction()
+
+#
+# Reimplement CMake install(PROGRAMS) command to use symlinks instead of copying
+# resources.
+#
+# :param cmake_current_source_dir: The CMAKE_CURRENT_SOURCE_DIR when install
+#   was invoked
+# :type cmake_current_source_dir: string
+# :param ARGN: the same arguments as the CMake install command.
+# :type ARGN: various
+#
+function(ament_cmake_symlink_install_programs cmake_current_source_dir)
+  cmake_parse_arguments(ARG "OPTIONAL" "DESTINATION" "PROGRAMS" ${ARGN})
+  if(ARG_UNPARSED_ARGUMENTS)
+    message(FATAL_ERROR "ament_cmake_symlink_install_programs() called with "
+      "unused/unsupported arguments: ${ARG_UNPARSED_ARGUMENTS}")
+  endif()
+
+  # make destination an absolute path and ensure that it exists
+  if(NOT IS_ABSOLUTE "${ARG_DESTINATION}")
+    set(ARG_DESTINATION "/workspace/install/turtlebot3_gazebo/${ARG_DESTINATION}")
+  endif()
+  if(NOT EXISTS "${ARG_DESTINATION}")
+    file(MAKE_DIRECTORY "${ARG_DESTINATION}")
+  endif()
+
+  # iterate over programs
+  foreach(file ${ARG_PROGRAMS})
+    # make file an absolute path
+    if(NOT IS_ABSOLUTE "${file}")
+      set(file "${cmake_current_source_dir}/${file}")
+    endif()
+
+    if(EXISTS "${file}")
+      # determine link name for file including destination path
+      get_filename_component(filename "${file}" NAME)
+      set(symlink "${ARG_DESTINATION}/${filename}")
+      _ament_cmake_symlink_install_create_symlink("${file}" "${symlink}")
+    else()
+      if(NOT ARG_OPTIONAL)
+        message(FATAL_ERROR
+          "ament_cmake_symlink_install_programs() can't find '${file}'")
+      endif()
+    endif()
+  endforeach()
+endfunction()
+
+#
+# Reimplement CMake install(TARGETS) command to use symlinks instead of copying
+# resources.
+#
+# :param TARGET_FILES: the absolute files, replacing the name of targets passed
+#   in as TARGETS
+# :type TARGET_FILES: list of files
+# :param ARGN: the same arguments as the CMake install command except that
+#   keywords identifying the kind of type and the DESTINATION keyword must be
+#   joined with an underscore, e.g. ARCHIVE_DESTINATION.
+# :type ARGN: various
+#
+function(ament_cmake_symlink_install_targets)
+  cmake_parse_arguments(ARG "OPTIONAL" "ARCHIVE_DESTINATION;DESTINATION;LIBRARY_DESTINATION;RUNTIME_DESTINATION"
+    "TARGETS;TARGET_FILES" ${ARGN})
+  if(ARG_UNPARSED_ARGUMENTS)
+    message(FATAL_ERROR "ament_cmake_symlink_install_targets() called with "
+      "unused/unsupported arguments: ${ARG_UNPARSED_ARGUMENTS}")
+  endif()
+
+  # iterate over target files
+  foreach(file ${ARG_TARGET_FILES})
+    if(NOT IS_ABSOLUTE "${file}")
+      message(FATAL_ERROR "ament_cmake_symlink_install_targets() target file "
+        "'${file}' must be an absolute path")
+    endif()
+
+    # determine destination of file based on extension
+    set(destination "")
+    get_filename_component(fileext "${file}" EXT)
+    if(fileext STREQUAL ".a" OR fileext STREQUAL ".lib")
+      set(destination "${ARG_ARCHIVE_DESTINATION}")
+    elseif(fileext STREQUAL ".dylib" OR fileext MATCHES "\\.so(\\.[0-9]+)?(\\.[0-9]+)?(\\.[0-9]+)?$")
+      set(destination "${ARG_LIBRARY_DESTINATION}")
+    elseif(fileext STREQUAL "" OR fileext STREQUAL ".dll" OR fileext STREQUAL ".exe")
+      set(destination "${ARG_RUNTIME_DESTINATION}")
+    endif()
+    if(destination STREQUAL "")
+      set(destination "${ARG_DESTINATION}")
+    endif()
+
+    # make destination an absolute path and ensure that it exists
+    if(NOT IS_ABSOLUTE "${destination}")
+      set(destination "/workspace/install/turtlebot3_gazebo/${destination}")
+    endif()
+    if(NOT EXISTS "${destination}")
+      file(MAKE_DIRECTORY "${destination}")
+    endif()
+
+    if(EXISTS "${file}")
+      # determine link name for file including destination path
+      get_filename_component(filename "${file}" NAME)
+      set(symlink "${destination}/${filename}")
+      _ament_cmake_symlink_install_create_symlink("${file}" "${symlink}")
+    else()
+      if(NOT ARG_OPTIONAL)
+        message(FATAL_ERROR
+          "ament_cmake_symlink_install_targets() can't find '${file}'")
+      endif()
+    endif()
+  endforeach()
+endfunction()
+
+function(_ament_cmake_symlink_install_create_symlink absolute_file symlink)
+  # register symlink for being removed during install step
+  file(APPEND "${CMAKE_CURRENT_BINARY_DIR}/symlink_install_manifest.txt"
+    "${symlink}\n")
+
+  # avoid any work if correct symlink is already in place
+  if(EXISTS "${symlink}" AND IS_SYMLINK "${symlink}")
+    get_filename_component(destination "${symlink}" REALPATH)
+    get_filename_component(real_absolute_file "${absolute_file}" REALPATH)
+    if(destination STREQUAL real_absolute_file)
+      message(STATUS "Up-to-date symlink: ${symlink}")
+      return()
+    endif()
+  endif()
+
+  message(STATUS "Symlinking: ${symlink}")
+  if(EXISTS "${symlink}" OR IS_SYMLINK "${symlink}")
+    file(REMOVE "${symlink}")
+  endif()
+
+  execute_process(
+    COMMAND "/usr/bin/cmake" "-E" "create_symlink"
+      "${absolute_file}"
+      "${symlink}"
+  )
+  # the CMake command does not provide a return code so check manually
+  if(NOT EXISTS "${symlink}" OR NOT IS_SYMLINK "${symlink}")
+    get_filename_component(destination "${symlink}" REALPATH)
+    message(FATAL_ERROR
+      "Could not create symlink '${symlink}' pointing to '${absolute_file}'")
+  endif()
+endfunction()
+
+# end of template
+
+message(STATUS "Execute custom install script")
+
+# begin of custom install code
+
+# install("TARGETS" "turtlebot3_drive" "DESTINATION" "lib/turtlebot3_gazebo")
+include("/workspace/build/turtlebot3_gazebo/ament_cmake_symlink_install_targets_0_${CMAKE_INSTALL_CONFIG_NAME}.cmake")
+
+# install(DIRECTORY "launch" "config" "models" "rviz" "urdf" "worlds" "scripts" "gui" "DESTINATION" "share/turtlebot3_gazebo/")
+ament_cmake_symlink_install_directory("/workspace/src/turtlebot3_simulations/turtlebot3_gazebo" DIRECTORY "launch" "config" "models" "rviz" "urdf" "worlds" "scripts" "gui" "DESTINATION" "share/turtlebot3_gazebo/")
+
+# install(PROGRAMS "scripts/scan_frame_fix.py" "scripts/camera_topic_remap.py" "DESTINATION" "lib/turtlebot3_gazebo")
+ament_cmake_symlink_install_programs("/workspace/src/turtlebot3_simulations/turtlebot3_gazebo" PROGRAMS "scripts/scan_frame_fix.py" "scripts/camera_topic_remap.py" "DESTINATION" "lib/turtlebot3_gazebo")
+
+# install(DIRECTORY "include/" "DESTINATION" "include/")
+ament_cmake_symlink_install_directory("/workspace/src/turtlebot3_simulations/turtlebot3_gazebo" DIRECTORY "include/" "DESTINATION" "include/")
+
+# install(FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/turtlebot3_gazebo" "DESTINATION" "share/ament_index/resource_index/package_run_dependencies")
+ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_gazebo" FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/turtlebot3_gazebo" "DESTINATION" "share/ament_index/resource_index/package_run_dependencies")
+
+# install(FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/turtlebot3_gazebo" "DESTINATION" "share/ament_index/resource_index/parent_prefix_path")
+ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_gazebo" FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/turtlebot3_gazebo" "DESTINATION" "share/ament_index/resource_index/parent_prefix_path")
+
+# install(FILES "/opt/ros/humble/share/ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh" "DESTINATION" "share/turtlebot3_gazebo/environment")
+ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_gazebo" FILES "/opt/ros/humble/share/ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh" "DESTINATION" "share/turtlebot3_gazebo/environment")
+
+# install(FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_environment_hooks/ament_prefix_path.dsv" "DESTINATION" "share/turtlebot3_gazebo/environment")
+ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_gazebo" FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_environment_hooks/ament_prefix_path.dsv" "DESTINATION" "share/turtlebot3_gazebo/environment")
+
+# install(FILES "/opt/ros/humble/share/ament_cmake_core/cmake/environment_hooks/environment/path.sh" "DESTINATION" "share/turtlebot3_gazebo/environment")
+ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_gazebo" FILES "/opt/ros/humble/share/ament_cmake_core/cmake/environment_hooks/environment/path.sh" "DESTINATION" "share/turtlebot3_gazebo/environment")
+
+# install(FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_environment_hooks/path.dsv" "DESTINATION" "share/turtlebot3_gazebo/environment")
+ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_gazebo" FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_environment_hooks/path.dsv" "DESTINATION" "share/turtlebot3_gazebo/environment")
+
+# install(FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_environment_hooks/local_setup.bash" "DESTINATION" "share/turtlebot3_gazebo")
+ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_gazebo" FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_environment_hooks/local_setup.bash" "DESTINATION" "share/turtlebot3_gazebo")
+
+# install(FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_environment_hooks/local_setup.sh" "DESTINATION" "share/turtlebot3_gazebo")
+ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_gazebo" FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_environment_hooks/local_setup.sh" "DESTINATION" "share/turtlebot3_gazebo")
+
+# install(FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_environment_hooks/local_setup.zsh" "DESTINATION" "share/turtlebot3_gazebo")
+ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_gazebo" FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_environment_hooks/local_setup.zsh" "DESTINATION" "share/turtlebot3_gazebo")
+
+# install(FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_environment_hooks/local_setup.dsv" "DESTINATION" "share/turtlebot3_gazebo")
+ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_gazebo" FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_environment_hooks/local_setup.dsv" "DESTINATION" "share/turtlebot3_gazebo")
+
+# install(FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_environment_hooks/package.dsv" "DESTINATION" "share/turtlebot3_gazebo")
+ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_gazebo" FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_environment_hooks/package.dsv" "DESTINATION" "share/turtlebot3_gazebo")
+
+# install(FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_index/share/ament_index/resource_index/packages/turtlebot3_gazebo" "DESTINATION" "share/ament_index/resource_index/packages")
+ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_gazebo" FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_index/share/ament_index/resource_index/packages/turtlebot3_gazebo" "DESTINATION" "share/ament_index/resource_index/packages")
+
+# install(FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_export_include_directories/ament_cmake_export_include_directories-extras.cmake" "DESTINATION" "share/turtlebot3_gazebo/cmake")
+ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_gazebo" FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_export_include_directories/ament_cmake_export_include_directories-extras.cmake" "DESTINATION" "share/turtlebot3_gazebo/cmake")
+
+# install(FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_export_dependencies/ament_cmake_export_dependencies-extras.cmake" "DESTINATION" "share/turtlebot3_gazebo/cmake")
+ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_gazebo" FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_export_dependencies/ament_cmake_export_dependencies-extras.cmake" "DESTINATION" "share/turtlebot3_gazebo/cmake")
+
+# install(FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_core/turtlebot3_gazeboConfig.cmake" "/workspace/build/turtlebot3_gazebo/ament_cmake_core/turtlebot3_gazeboConfig-version.cmake" "DESTINATION" "share/turtlebot3_gazebo/cmake")
+ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_gazebo" FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_core/turtlebot3_gazeboConfig.cmake" "/workspace/build/turtlebot3_gazebo/ament_cmake_core/turtlebot3_gazeboConfig-version.cmake" "DESTINATION" "share/turtlebot3_gazebo/cmake")
+
+# install(FILES "/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/package.xml" "DESTINATION" "share/turtlebot3_gazebo")
+ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_gazebo" FILES "/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/package.xml" "DESTINATION" "share/turtlebot3_gazebo")
diff --git a/build/turtlebot3_gazebo/ament_cmake_symlink_install/ament_cmake_symlink_install_uninstall_script.cmake b/build/turtlebot3_gazebo/ament_cmake_symlink_install/ament_cmake_symlink_install_uninstall_script.cmake
new file mode 100644
index 0000000..8788b0d
--- /dev/null
+++ b/build/turtlebot3_gazebo/ament_cmake_symlink_install/ament_cmake_symlink_install_uninstall_script.cmake
@@ -0,0 +1,23 @@
+# generated from
+# ament_cmake_core/cmake/symlink_install/ament_cmake_symlink_install_uninstall_script.cmake.in
+
+set(install_manifest "/workspace/build/turtlebot3_gazebo/symlink_install_manifest.txt")
+if(NOT EXISTS "${install_manifest}")
+  message(FATAL_ERROR "Cannot find symlink install manifest: ${install_manifest}")
+endif()
+
+file(READ "${install_manifest}" installed_files)
+string(REGEX REPLACE "\n" ";" installed_files "${installed_files}")
+foreach(installed_file ${installed_files})
+  if(EXISTS "${installed_file}" OR IS_SYMLINK "${installed_file}")
+    message(STATUS "Uninstalling: ${installed_file}")
+    file(REMOVE "${installed_file}")
+    if(EXISTS "${installed_file}" OR IS_SYMLINK "${installed_file}")
+      message(FATAL_ERROR "Failed to remove '${installed_file}'")
+    endif()
+
+    # remove empty parent folders
+    get_filename_component(parent_path "${installed_file}" PATH)
+    ament_cmake_uninstall_target_remove_empty_directories("${parent_path}")
+  endif()
+endforeach()
diff --git a/build/turtlebot3_gazebo/ament_cmake_symlink_install_targets_0_.cmake b/build/turtlebot3_gazebo/ament_cmake_symlink_install_targets_0_.cmake
new file mode 100644
index 0000000..ba3975b
--- /dev/null
+++ b/build/turtlebot3_gazebo/ament_cmake_symlink_install_targets_0_.cmake
@@ -0,0 +1 @@
+ament_cmake_symlink_install_targets("TARGET_FILES" "/workspace/build/turtlebot3_gazebo/turtlebot3_drive" "TARGETS" "turtlebot3_drive" "DESTINATION" "lib/turtlebot3_gazebo")
diff --git a/build/turtlebot3_gazebo/ament_cmake_uninstall_target/ament_cmake_uninstall_target.cmake b/build/turtlebot3_gazebo/ament_cmake_uninstall_target/ament_cmake_uninstall_target.cmake
new file mode 100644
index 0000000..15c8d43
--- /dev/null
+++ b/build/turtlebot3_gazebo/ament_cmake_uninstall_target/ament_cmake_uninstall_target.cmake
@@ -0,0 +1,60 @@
+# generated from
+# ament_cmake_core/cmake/uninstall_target/ament_cmake_uninstall_target.cmake.in
+
+function(ament_cmake_uninstall_target_remove_empty_directories path)
+  set(install_space "/workspace/install/turtlebot3_gazebo")
+  if(install_space STREQUAL "")
+    message(FATAL_ERROR "The CMAKE_INSTALL_PREFIX variable must not be empty")
+  endif()
+
+  string(LENGTH "${install_space}" length)
+  string(SUBSTRING "${path}" 0 ${length} path_prefix)
+  if(NOT path_prefix STREQUAL install_space)
+    message(FATAL_ERROR "The path '${path}' must be within the install space '${install_space}'")
+  endif()
+  if(path STREQUAL install_space)
+    return()
+  endif()
+
+  # check if directory is empty
+  file(GLOB files "${path}/*")
+  list(LENGTH files length)
+  if(length EQUAL 0)
+    message(STATUS "Uninstalling: ${path}/")
+    execute_process(COMMAND "/usr/bin/cmake" "-E" "remove_directory" "${path}")
+    # recursively try to remove parent directories
+    get_filename_component(parent_path "${path}" PATH)
+    ament_cmake_uninstall_target_remove_empty_directories("${parent_path}")
+  endif()
+endfunction()
+
+# uninstall files installed using the standard install() function
+set(install_manifest "/workspace/build/turtlebot3_gazebo/install_manifest.txt")
+if(NOT EXISTS "${install_manifest}")
+  message(FATAL_ERROR "Cannot find install manifest: ${install_manifest}")
+endif()
+
+file(READ "${install_manifest}" installed_files)
+string(REGEX REPLACE "\n" ";" installed_files "${installed_files}")
+foreach(installed_file ${installed_files})
+  if(EXISTS "${installed_file}" OR IS_SYMLINK "${installed_file}")
+    message(STATUS "Uninstalling: ${installed_file}")
+    file(REMOVE "${installed_file}")
+    if(EXISTS "${installed_file}" OR IS_SYMLINK "${installed_file}")
+      message(FATAL_ERROR "Failed to remove '${installed_file}'")
+    endif()
+
+    # remove empty parent folders
+    get_filename_component(parent_path "${installed_file}" PATH)
+    ament_cmake_uninstall_target_remove_empty_directories("${parent_path}")
+  endif()
+endforeach()
+
+# end of template
+
+message(STATUS "Execute custom uninstall script")
+
+# begin of custom uninstall code
+
+# uninstall files installed using the symlink install functions
+include("/workspace/build/turtlebot3_gazebo/ament_cmake_symlink_install/ament_cmake_symlink_install_uninstall_script.cmake")
diff --git a/build/turtlebot3_gazebo/cmake_args.last b/build/turtlebot3_gazebo/cmake_args.last
new file mode 100644
index 0000000..7aacf90
--- /dev/null
+++ b/build/turtlebot3_gazebo/cmake_args.last
@@ -0,0 +1 @@
+['-DAMENT_CMAKE_SYMLINK_INSTALL=1']
\ No newline at end of file
diff --git a/build/turtlebot3_gazebo/cmake_install.cmake b/build/turtlebot3_gazebo/cmake_install.cmake
new file mode 100644
index 0000000..8c8817d
--- /dev/null
+++ b/build/turtlebot3_gazebo/cmake_install.cmake
@@ -0,0 +1,58 @@
+# Install script for directory: /workspace/src/turtlebot3_simulations/turtlebot3_gazebo
+
+# Set the install prefix
+if(NOT DEFINED CMAKE_INSTALL_PREFIX)
+  set(CMAKE_INSTALL_PREFIX "/workspace/install/turtlebot3_gazebo")
+endif()
+string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
+
+# Set the install configuration name.
+if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+  if(BUILD_TYPE)
+    string(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
+           CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
+  else()
+    set(CMAKE_INSTALL_CONFIG_NAME "")
+  endif()
+  message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
+endif()
+
+# Set the component getting installed.
+if(NOT CMAKE_INSTALL_COMPONENT)
+  if(COMPONENT)
+    message(STATUS "Install component: \"${COMPONENT}\"")
+    set(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
+  else()
+    set(CMAKE_INSTALL_COMPONENT)
+  endif()
+endif()
+
+# Install shared libraries without execute permission?
+if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+  set(CMAKE_INSTALL_SO_NO_EXE "1")
+endif()
+
+# Is this installation the result of a crosscompile?
+if(NOT DEFINED CMAKE_CROSSCOMPILING)
+  set(CMAKE_CROSSCOMPILING "FALSE")
+endif()
+
+# Set default install directory permissions.
+if(NOT DEFINED CMAKE_OBJDUMP)
+  set(CMAKE_OBJDUMP "/usr/bin/objdump")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  include("/workspace/build/turtlebot3_gazebo/ament_cmake_symlink_install/ament_cmake_symlink_install.cmake")
+endif()
+
+if(CMAKE_INSTALL_COMPONENT)
+  set(CMAKE_INSTALL_MANIFEST "install_manifest_${CMAKE_INSTALL_COMPONENT}.txt")
+else()
+  set(CMAKE_INSTALL_MANIFEST "install_manifest.txt")
+endif()
+
+string(REPLACE ";" "\n" CMAKE_INSTALL_MANIFEST_CONTENT
+       "${CMAKE_INSTALL_MANIFEST_FILES}")
+file(WRITE "/workspace/build/turtlebot3_gazebo/${CMAKE_INSTALL_MANIFEST}"
+     "${CMAKE_INSTALL_MANIFEST_CONTENT}")
diff --git a/build/turtlebot3_gazebo/colcon_build.rc b/build/turtlebot3_gazebo/colcon_build.rc
new file mode 100644
index 0000000..573541a
--- /dev/null
+++ b/build/turtlebot3_gazebo/colcon_build.rc
@@ -0,0 +1 @@
+0
diff --git a/build/turtlebot3_gazebo/colcon_command_prefix_build.sh b/build/turtlebot3_gazebo/colcon_command_prefix_build.sh
new file mode 100644
index 0000000..f9867d5
--- /dev/null
+++ b/build/turtlebot3_gazebo/colcon_command_prefix_build.sh
@@ -0,0 +1 @@
+# generated from colcon_core/shell/template/command_prefix.sh.em
diff --git a/build/turtlebot3_gazebo/colcon_command_prefix_build.sh.env b/build/turtlebot3_gazebo/colcon_command_prefix_build.sh.env
new file mode 100644
index 0000000..178b205
--- /dev/null
+++ b/build/turtlebot3_gazebo/colcon_command_prefix_build.sh.env
@@ -0,0 +1,54 @@
+AMENT_PREFIX_PATH=/opt/ros/humble
+CODE_NO_PASSWORD=true
+COLCON=1
+DATA_PATH=/home/user/data
+DATA_PATH_V2=/data
+DESKTOP_MODE=auto
+DISPLAY=:1
+DISPLAY_BACKEND=auto
+ENABLE_CODE_SERVER=true
+ENABLE_FILEBROWSER=false
+ENABLE_FOXGLOVE=true
+ENABLE_GZWEB=true
+ENABLE_ROSBRIDGE=true
+ENABLE_TERMINAL=true
+ENABLE_VNC=true
+FILEBROWSER_BASEURL=/file
+GZWEB_APP_DIR=/opt/gzweb
+GZWEB_PORT=8000
+GZ_SIM_CACHE_PATH=/opt/gzsim/cache
+GZ_SIM_RESOURCE_PATH=/workspace/models:/opt/gzsim/models:/workspace/models:/opt/gzsim/models:/workspace/models:/opt/gzsim/models:/usr/share/gz/gz-sim7/models
+HOME=/home/devuser
+INIT_SCRIPT=sed -i "/# pms-vendor-pythonpath/d;/export PYTHONPATH=\"/opt\/vendor\/python/d" /home/${USER:-devuser}/.bashrc 2>/dev/null || true
+
+/workspace/autorun.sh
+INIT_WORKSPACE=/workspace
+LAUNCH_TYPE=EC2
+LC_CTYPE=C.UTF-8
+LD_LIBRARY_PATH=/usr/local/cuda/lib64:/usr/local/cuda/lib64:/usr/local/cuda/lib64:/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib
+LOGNAME=devuser
+MAIL=/var/mail/devuser
+OLDPWD=/workspace
+PATH=/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/opt/ros/humble/bin:/usr/local/cuda/bin:/opt/TurboVNC/bin:/opt/node/bin:/opt/foundation/bin:/home/devuser/miniconda3/bin:/home/devuser/.local/bin
+PMS_FOUNDATION_VARIANT=gpu
+PMS_VNC_MODE=turbovnc
+PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$
+PWD=/workspace/build/turtlebot3_gazebo
+PYTHONPATH=/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages
+ROS_DISTRO=humble
+ROS_DOMAIN_ID=42
+ROS_LOCALHOST_ONLY=0
+ROS_PYTHON_VERSION=3
+ROS_VERSION=2
+SHELL=/bin/bash
+SHLVL=1
+SINGLE_DESKTOP_APP=
+SINGLE_DESKTOP_PRESET=
+SPACE_DIR=/home/user/data/309844d858e5487f9c582ea361481b3d
+SPACE_DIR_V2=/data/309844d858e5487f9c582ea361481b3d
+SPACE_ID=309844d858e5487f9c582ea361481b3d
+USER=devuser
+USER_ID=6950f1ca-1599-42c5-a926-29eb731cb95c
+VNC_NO_PASSWORD=true
+WORKSPACE=/workspace
+_=/usr/bin/colcon
diff --git a/build/turtlebot3_gazebo/install_manifest.txt b/build/turtlebot3_gazebo/install_manifest.txt
new file mode 100644
index 0000000..e69de29
diff --git a/build/turtlebot3_gazebo/symlink_install_manifest.txt b/build/turtlebot3_gazebo/symlink_install_manifest.txt
new file mode 100644
index 0000000..2b9db2c
--- /dev/null
+++ b/build/turtlebot3_gazebo/symlink_install_manifest.txt
@@ -0,0 +1,275 @@
+/workspace/install/turtlebot3_gazebo/lib/turtlebot3_gazebo/turtlebot3_drive
+/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//launch/empty_world.launch.py
+/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//launch/multi_robot.launch.py
+/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//launch/multi_spawn_turtlebot3.launch.py
+/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//launch/robot_state_publisher.launch.py
+/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//launch/spawn_turtlebot3.launch.py
+/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//launch/turtlebot3_autorace_2020.launch.py
+/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//launch/turtlebot3_dqn_stage1.launch.py
+/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//launch/turtlebot3_dqn_stage2.launch.py
+/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//launch/turtlebot3_dqn_stage3.launch.py
+/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//launch/turtlebot3_dqn_stage4.launch.py
+/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//launch/turtlebot3_house.launch.py
+/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//launch/turtlebot3_office.launch.py
+/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//launch/turtlebot3_world.launch.py
+/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//config/turtlebot3_gz_bridge.yaml
+/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/checker/materials/checker.png
+/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/checker/materials/scripts/checker.material
+/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/checker/materials/textures/checker.png
+/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/checker/model.config
+/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/checker/model.sdf
+/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/course/materials/scripts/course.material
+/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/course/materials/textures/course.png
+/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/course/model.config
+/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/course/model.sdf
+/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_bar/materials/scripts/traffic_bar.material
+/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_bar/materials/textures/traffic_bar.png
+/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_bar/model.config
+/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_bar/model.sdf
+/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_construction/materials/scripts/traffic_construction.material
+/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_construction/materials/textures/traffic_construction.png
+/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_construction/model.config
+/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_construction/model.sdf
+/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_intersection/materials/scripts/traffic_intersection.material
+/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_intersection/materials/textures/traffic_intersection.png
+/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_intersection/model.config
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new file mode 100755
index 0000000..452b887
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index 0000000..e69de29
diff --git a/build/turtlebot3_simulations/.cmake/api/v1/reply/codemodel-v2-624e278d8a664d52dcd0.json b/build/turtlebot3_simulations/.cmake/api/v1/reply/codemodel-v2-624e278d8a664d52dcd0.json
new file mode 100644
index 0000000..822bf04
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+++ b/build/turtlebot3_simulations/.cmake/api/v1/reply/codemodel-v2-624e278d8a664d52dcd0.json
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index 0000000..b9c0603
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diff --git a/build/turtlebot3_simulations/.cmake/api/v1/reply/index-2026-06-29T09-10-56-0497.json b/build/turtlebot3_simulations/.cmake/api/v1/reply/index-2026-06-29T09-10-56-0497.json
new file mode 100644
index 0000000..4a07ff3
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+++ b/build/turtlebot3_simulations/.cmake/api/v1/reply/index-2026-06-29T09-10-56-0497.json
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new file mode 100644
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new file mode 100644
index 0000000..8cbcebc
--- /dev/null
+++ b/build/turtlebot3_simulations/.cmake/api/v1/reply/target-uninstall-e38053694c1876419167.json
@@ -0,0 +1,95 @@
+{
+	"backtrace" : 9,
+	"backtraceGraph" : 
+	{
+		"commands" : 
+		[
+			"add_custom_target",
+			"include",
+			"find_package",
+			"add_dependencies"
+		],
+		"files" : 
+		[
+			"/opt/ros/humble/share/ament_cmake_core/cmake/ament_cmake_uninstall_target-extras.cmake",
+			"/opt/ros/humble/share/ament_cmake_core/cmake/ament_cmake_coreConfig.cmake",
+			"/opt/ros/humble/share/ament_cmake/cmake/ament_cmake_export_dependencies-extras.cmake",
+			"/opt/ros/humble/share/ament_cmake/cmake/ament_cmakeConfig.cmake",
+			"CMakeLists.txt"
+		],
+		"nodes" : 
+		[
+			{
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+			},
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+				"file" : 4,
+				"line" : 8,
+				"parent" : 0
+			},
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+				"parent" : 1
+			},
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+				"parent" : 2
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+			},
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+				"parent" : 4
+			},
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+			},
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+			},
+			{
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+			},
+			{
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+				"file" : 0,
+				"line" : 42,
+				"parent" : 8
+			}
+		]
+	},
+	"dependencies" : 
+	[
+		{
+			"backtrace" : 10,
+			"id" : "turtlebot3_simulations_uninstall::@6890427a1f51a3e7e1df"
+		}
+	],
+	"id" : "uninstall::@6890427a1f51a3e7e1df",
+	"name" : "uninstall",
+	"paths" : 
+	{
+		"build" : ".",
+		"source" : "."
+	},
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+	"type" : "UTILITY"
+}
diff --git a/build/turtlebot3_simulations/CMakeCache.txt b/build/turtlebot3_simulations/CMakeCache.txt
new file mode 100644
index 0000000..be23c3e
--- /dev/null
+++ b/build/turtlebot3_simulations/CMakeCache.txt
@@ -0,0 +1,454 @@
+# This is the CMakeCache file.
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+# define COMPILER_VERSION_MAJOR DEC(__NVCOMPILER_MAJOR__)
+# define COMPILER_VERSION_MINOR DEC(__NVCOMPILER_MINOR__)
+# if defined(__NVCOMPILER_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__NVCOMPILER_PATCHLEVEL__)
+# endif
+
+#elif defined(__PGI)
+# define COMPILER_ID "PGI"
+# define COMPILER_VERSION_MAJOR DEC(__PGIC__)
+# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__)
+# if defined(__PGIC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__)
+# endif
+
+#elif defined(_CRAYC)
+# define COMPILER_ID "Cray"
+# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR)
+# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR)
+
+#elif defined(__TI_COMPILER_VERSION__)
+# define COMPILER_ID "TI"
+  /* __TI_COMPILER_VERSION__ = VVVRRRPPP */
+# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000)
+# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000   % 1000)
+# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__        % 1000)
+
+#elif defined(__CLANG_FUJITSU)
+# define COMPILER_ID "FujitsuClang"
+# define COMPILER_VERSION_MAJOR DEC(__FCC_major__)
+# define COMPILER_VERSION_MINOR DEC(__FCC_minor__)
+# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__)
+# define COMPILER_VERSION_INTERNAL_STR __clang_version__
+
+
+#elif defined(__FUJITSU)
+# define COMPILER_ID "Fujitsu"
+# if defined(__FCC_version__)
+#   define COMPILER_VERSION __FCC_version__
+# elif defined(__FCC_major__)
+#   define COMPILER_VERSION_MAJOR DEC(__FCC_major__)
+#   define COMPILER_VERSION_MINOR DEC(__FCC_minor__)
+#   define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__)
+# endif
+# if defined(__fcc_version)
+#   define COMPILER_VERSION_INTERNAL DEC(__fcc_version)
+# elif defined(__FCC_VERSION)
+#   define COMPILER_VERSION_INTERNAL DEC(__FCC_VERSION)
+# endif
+
+
+#elif defined(__ghs__)
+# define COMPILER_ID "GHS"
+/* __GHS_VERSION_NUMBER = VVVVRP */
+# ifdef __GHS_VERSION_NUMBER
+# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100)
+# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER      % 10)
+# endif
+
+#elif defined(__TINYC__)
+# define COMPILER_ID "TinyCC"
+
+#elif defined(__BCC__)
+# define COMPILER_ID "Bruce"
+
+#elif defined(__SCO_VERSION__)
+# define COMPILER_ID "SCO"
+
+#elif defined(__ARMCC_VERSION) && !defined(__clang__)
+# define COMPILER_ID "ARMCC"
+#if __ARMCC_VERSION >= 1000000
+  /* __ARMCC_VERSION = VRRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION     % 10000)
+#else
+  /* __ARMCC_VERSION = VRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION    % 10000)
+#endif
+
+
+#elif defined(__clang__) && defined(__apple_build_version__)
+# define COMPILER_ID "AppleClang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__)
+
+#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION)
+# define COMPILER_ID "ARMClang"
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION     % 10000)
+# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION)
+
+#elif defined(__clang__)
+# define COMPILER_ID "Clang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+
+#elif defined(__GNUC__)
+# define COMPILER_ID "GNU"
+# define COMPILER_VERSION_MAJOR DEC(__GNUC__)
+# if defined(__GNUC_MINOR__)
+#  define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(_MSC_VER)
+# define COMPILER_ID "MSVC"
+  /* _MSC_VER = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
+# if defined(_MSC_FULL_VER)
+#  if _MSC_VER >= 1400
+    /* _MSC_FULL_VER = VVRRPPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
+#  else
+    /* _MSC_FULL_VER = VVRRPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
+#  endif
+# endif
+# if defined(_MSC_BUILD)
+#  define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
+# endif
+
+#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__)
+# define COMPILER_ID "ADSP"
+#if defined(__VISUALDSPVERSION__)
+  /* __VISUALDSPVERSION__ = 0xVVRRPP00 */
+# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24)
+# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF)
+# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8  & 0xFF)
+#endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# define COMPILER_ID "IAR"
+# if defined(__VER__) && defined(__ICCARM__)
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000)
+#  define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000)
+#  define COMPILER_VERSION_PATCH DEC((__VER__) % 1000)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__) || defined(__ICCSTM8__))
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 100)
+#  define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100))
+#  define COMPILER_VERSION_PATCH DEC(__SUBVERSION__)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# endif
+
+#elif defined(__SDCC_VERSION_MAJOR) || defined(SDCC)
+# define COMPILER_ID "SDCC"
+# if defined(__SDCC_VERSION_MAJOR)
+#  define COMPILER_VERSION_MAJOR DEC(__SDCC_VERSION_MAJOR)
+#  define COMPILER_VERSION_MINOR DEC(__SDCC_VERSION_MINOR)
+#  define COMPILER_VERSION_PATCH DEC(__SDCC_VERSION_PATCH)
+# else
+  /* SDCC = VRP */
+#  define COMPILER_VERSION_MAJOR DEC(SDCC/100)
+#  define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10)
+#  define COMPILER_VERSION_PATCH DEC(SDCC    % 10)
+# endif
+
+
+/* These compilers are either not known or too old to define an
+  identification macro.  Try to identify the platform and guess that
+  it is the native compiler.  */
+#elif defined(__hpux) || defined(__hpua)
+# define COMPILER_ID "HP"
+
+#else /* unknown compiler */
+# define COMPILER_ID ""
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]";
+#ifdef SIMULATE_ID
+char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]";
+#endif
+
+#ifdef __QNXNTO__
+char const* qnxnto = "INFO" ":" "qnxnto[]";
+#endif
+
+#if defined(__CRAYXT_COMPUTE_LINUX_TARGET)
+char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]";
+#endif
+
+#define STRINGIFY_HELPER(X) #X
+#define STRINGIFY(X) STRINGIFY_HELPER(X)
+
+/* Identify known platforms by name.  */
+#if defined(__linux) || defined(__linux__) || defined(linux)
+# define PLATFORM_ID "Linux"
+
+#elif defined(__MSYS__)
+# define PLATFORM_ID "MSYS"
+
+#elif defined(__CYGWIN__)
+# define PLATFORM_ID "Cygwin"
+
+#elif defined(__MINGW32__)
+# define PLATFORM_ID "MinGW"
+
+#elif defined(__APPLE__)
+# define PLATFORM_ID "Darwin"
+
+#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
+# define PLATFORM_ID "Windows"
+
+#elif defined(__FreeBSD__) || defined(__FreeBSD)
+# define PLATFORM_ID "FreeBSD"
+
+#elif defined(__NetBSD__) || defined(__NetBSD)
+# define PLATFORM_ID "NetBSD"
+
+#elif defined(__OpenBSD__) || defined(__OPENBSD)
+# define PLATFORM_ID "OpenBSD"
+
+#elif defined(__sun) || defined(sun)
+# define PLATFORM_ID "SunOS"
+
+#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
+# define PLATFORM_ID "AIX"
+
+#elif defined(__hpux) || defined(__hpux__)
+# define PLATFORM_ID "HP-UX"
+
+#elif defined(__HAIKU__)
+# define PLATFORM_ID "Haiku"
+
+#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
+# define PLATFORM_ID "BeOS"
+
+#elif defined(__QNX__) || defined(__QNXNTO__)
+# define PLATFORM_ID "QNX"
+
+#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__)
+# define PLATFORM_ID "Tru64"
+
+#elif defined(__riscos) || defined(__riscos__)
+# define PLATFORM_ID "RISCos"
+
+#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
+# define PLATFORM_ID "SINIX"
+
+#elif defined(__UNIX_SV__)
+# define PLATFORM_ID "UNIX_SV"
+
+#elif defined(__bsdos__)
+# define PLATFORM_ID "BSDOS"
+
+#elif defined(_MPRAS) || defined(MPRAS)
+# define PLATFORM_ID "MP-RAS"
+
+#elif defined(__osf) || defined(__osf__)
+# define PLATFORM_ID "OSF1"
+
+#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
+# define PLATFORM_ID "SCO_SV"
+
+#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
+# define PLATFORM_ID "ULTRIX"
+
+#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
+# define PLATFORM_ID "Xenix"
+
+#elif defined(__WATCOMC__)
+# if defined(__LINUX__)
+#  define PLATFORM_ID "Linux"
+
+# elif defined(__DOS__)
+#  define PLATFORM_ID "DOS"
+
+# elif defined(__OS2__)
+#  define PLATFORM_ID "OS2"
+
+# elif defined(__WINDOWS__)
+#  define PLATFORM_ID "Windows3x"
+
+# elif defined(__VXWORKS__)
+#  define PLATFORM_ID "VxWorks"
+
+# else /* unknown platform */
+#  define PLATFORM_ID
+# endif
+
+#elif defined(__INTEGRITY)
+# if defined(INT_178B)
+#  define PLATFORM_ID "Integrity178"
+
+# else /* regular Integrity */
+#  define PLATFORM_ID "Integrity"
+# endif
+
+#else /* unknown platform */
+# define PLATFORM_ID
+
+#endif
+
+/* For windows compilers MSVC and Intel we can determine
+   the architecture of the compiler being used.  This is because
+   the compilers do not have flags that can change the architecture,
+   but rather depend on which compiler is being used
+*/
+#if defined(_WIN32) && defined(_MSC_VER)
+# if defined(_M_IA64)
+#  define ARCHITECTURE_ID "IA64"
+
+# elif defined(_M_ARM64EC)
+#  define ARCHITECTURE_ID "ARM64EC"
+
+# elif defined(_M_X64) || defined(_M_AMD64)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# elif defined(_M_ARM64)
+#  define ARCHITECTURE_ID "ARM64"
+
+# elif defined(_M_ARM)
+#  if _M_ARM == 4
+#   define ARCHITECTURE_ID "ARMV4I"
+#  elif _M_ARM == 5
+#   define ARCHITECTURE_ID "ARMV5I"
+#  else
+#   define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM)
+#  endif
+
+# elif defined(_M_MIPS)
+#  define ARCHITECTURE_ID "MIPS"
+
+# elif defined(_M_SH)
+#  define ARCHITECTURE_ID "SHx"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__WATCOMC__)
+# if defined(_M_I86)
+#  define ARCHITECTURE_ID "I86"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# if defined(__ICCARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__ICCRX__)
+#  define ARCHITECTURE_ID "RX"
+
+# elif defined(__ICCRH850__)
+#  define ARCHITECTURE_ID "RH850"
+
+# elif defined(__ICCRL78__)
+#  define ARCHITECTURE_ID "RL78"
+
+# elif defined(__ICCRISCV__)
+#  define ARCHITECTURE_ID "RISCV"
+
+# elif defined(__ICCAVR__)
+#  define ARCHITECTURE_ID "AVR"
+
+# elif defined(__ICC430__)
+#  define ARCHITECTURE_ID "MSP430"
+
+# elif defined(__ICCV850__)
+#  define ARCHITECTURE_ID "V850"
+
+# elif defined(__ICC8051__)
+#  define ARCHITECTURE_ID "8051"
+
+# elif defined(__ICCSTM8__)
+#  define ARCHITECTURE_ID "STM8"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__ghs__)
+# if defined(__PPC64__)
+#  define ARCHITECTURE_ID "PPC64"
+
+# elif defined(__ppc__)
+#  define ARCHITECTURE_ID "PPC"
+
+# elif defined(__ARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__x86_64__)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(__i386__)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__TI_COMPILER_VERSION__)
+# if defined(__TI_ARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__MSP430__)
+#  define ARCHITECTURE_ID "MSP430"
+
+# elif defined(__TMS320C28XX__)
+#  define ARCHITECTURE_ID "TMS320C28x"
+
+# elif defined(__TMS320C6X__) || defined(_TMS320C6X)
+#  define ARCHITECTURE_ID "TMS320C6x"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#else
+#  define ARCHITECTURE_ID
+#endif
+
+/* Convert integer to decimal digit literals.  */
+#define DEC(n)                   \
+  ('0' + (((n) / 10000000)%10)), \
+  ('0' + (((n) / 1000000)%10)),  \
+  ('0' + (((n) / 100000)%10)),   \
+  ('0' + (((n) / 10000)%10)),    \
+  ('0' + (((n) / 1000)%10)),     \
+  ('0' + (((n) / 100)%10)),      \
+  ('0' + (((n) / 10)%10)),       \
+  ('0' +  ((n) % 10))
+
+/* Convert integer to hex digit literals.  */
+#define HEX(n)             \
+  ('0' + ((n)>>28 & 0xF)), \
+  ('0' + ((n)>>24 & 0xF)), \
+  ('0' + ((n)>>20 & 0xF)), \
+  ('0' + ((n)>>16 & 0xF)), \
+  ('0' + ((n)>>12 & 0xF)), \
+  ('0' + ((n)>>8  & 0xF)), \
+  ('0' + ((n)>>4  & 0xF)), \
+  ('0' + ((n)     & 0xF))
+
+/* Construct a string literal encoding the version number. */
+#ifdef COMPILER_VERSION
+char const* info_version = "INFO" ":" "compiler_version[" COMPILER_VERSION "]";
+
+/* Construct a string literal encoding the version number components. */
+#elif defined(COMPILER_VERSION_MAJOR)
+char const info_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[',
+  COMPILER_VERSION_MAJOR,
+# ifdef COMPILER_VERSION_MINOR
+  '.', COMPILER_VERSION_MINOR,
+#  ifdef COMPILER_VERSION_PATCH
+   '.', COMPILER_VERSION_PATCH,
+#   ifdef COMPILER_VERSION_TWEAK
+    '.', COMPILER_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct a string literal encoding the internal version number. */
+#ifdef COMPILER_VERSION_INTERNAL
+char const info_version_internal[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_',
+  'i','n','t','e','r','n','a','l','[',
+  COMPILER_VERSION_INTERNAL,']','\0'};
+#elif defined(COMPILER_VERSION_INTERNAL_STR)
+char const* info_version_internal = "INFO" ":" "compiler_version_internal[" COMPILER_VERSION_INTERNAL_STR "]";
+#endif
+
+/* Construct a string literal encoding the version number components. */
+#ifdef SIMULATE_VERSION_MAJOR
+char const info_simulate_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[',
+  SIMULATE_VERSION_MAJOR,
+# ifdef SIMULATE_VERSION_MINOR
+  '.', SIMULATE_VERSION_MINOR,
+#  ifdef SIMULATE_VERSION_PATCH
+   '.', SIMULATE_VERSION_PATCH,
+#   ifdef SIMULATE_VERSION_TWEAK
+    '.', SIMULATE_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]";
+char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
+
+
+
+#if !defined(__STDC__) && !defined(__clang__)
+# if defined(_MSC_VER) || defined(__ibmxl__) || defined(__IBMC__)
+#  define C_VERSION "90"
+# else
+#  define C_VERSION
+# endif
+#elif __STDC_VERSION__ > 201710L
+# define C_VERSION "23"
+#elif __STDC_VERSION__ >= 201710L
+# define C_VERSION "17"
+#elif __STDC_VERSION__ >= 201000L
+# define C_VERSION "11"
+#elif __STDC_VERSION__ >= 199901L
+# define C_VERSION "99"
+#else
+# define C_VERSION "90"
+#endif
+const char* info_language_standard_default =
+  "INFO" ":" "standard_default[" C_VERSION "]";
+
+const char* info_language_extensions_default = "INFO" ":" "extensions_default["
+/* !defined(_MSC_VER) to exclude Clang's MSVC compatibility mode. */
+#if (defined(__clang__) || defined(__GNUC__) ||                               \
+     defined(__TI_COMPILER_VERSION__)) &&                                     \
+  !defined(__STRICT_ANSI__) && !defined(_MSC_VER)
+  "ON"
+#else
+  "OFF"
+#endif
+"]";
+
+/*--------------------------------------------------------------------------*/
+
+#ifdef ID_VOID_MAIN
+void main() {}
+#else
+# if defined(__CLASSIC_C__)
+int main(argc, argv) int argc; char *argv[];
+# else
+int main(int argc, char* argv[])
+# endif
+{
+  int require = 0;
+  require += info_compiler[argc];
+  require += info_platform[argc];
+  require += info_arch[argc];
+#ifdef COMPILER_VERSION_MAJOR
+  require += info_version[argc];
+#endif
+#ifdef COMPILER_VERSION_INTERNAL
+  require += info_version_internal[argc];
+#endif
+#ifdef SIMULATE_ID
+  require += info_simulate[argc];
+#endif
+#ifdef SIMULATE_VERSION_MAJOR
+  require += info_simulate_version[argc];
+#endif
+#if defined(__CRAYXT_COMPUTE_LINUX_TARGET)
+  require += info_cray[argc];
+#endif
+  require += info_language_standard_default[argc];
+  require += info_language_extensions_default[argc];
+  (void)argv;
+  return require;
+}
+#endif
diff --git a/build/turtlebot3_simulations/CMakeFiles/3.22.1/CompilerIdC/a.out b/build/turtlebot3_simulations/CMakeFiles/3.22.1/CompilerIdC/a.out
new file mode 100755
index 0000000..7873b2c
Binary files /dev/null and b/build/turtlebot3_simulations/CMakeFiles/3.22.1/CompilerIdC/a.out differ
diff --git a/build/turtlebot3_simulations/CMakeFiles/3.22.1/CompilerIdCXX/CMakeCXXCompilerId.cpp b/build/turtlebot3_simulations/CMakeFiles/3.22.1/CompilerIdCXX/CMakeCXXCompilerId.cpp
new file mode 100644
index 0000000..25c62a8
--- /dev/null
+++ b/build/turtlebot3_simulations/CMakeFiles/3.22.1/CompilerIdCXX/CMakeCXXCompilerId.cpp
@@ -0,0 +1,791 @@
+/* This source file must have a .cpp extension so that all C++ compilers
+   recognize the extension without flags.  Borland does not know .cxx for
+   example.  */
+#ifndef __cplusplus
+# error "A C compiler has been selected for C++."
+#endif
+
+#if !defined(__has_include)
+/* If the compiler does not have __has_include, pretend the answer is
+   always no.  */
+#  define __has_include(x) 0
+#endif
+
+
+/* Version number components: V=Version, R=Revision, P=Patch
+   Version date components:   YYYY=Year, MM=Month,   DD=Day  */
+
+#if defined(__COMO__)
+# define COMPILER_ID "Comeau"
+  /* __COMO_VERSION__ = VRR */
+# define COMPILER_VERSION_MAJOR DEC(__COMO_VERSION__ / 100)
+# define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100)
+
+#elif defined(__INTEL_COMPILER) || defined(__ICC)
+# define COMPILER_ID "Intel"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# if defined(__GNUC__)
+#  define SIMULATE_ID "GNU"
+# endif
+  /* __INTEL_COMPILER = VRP prior to 2021, and then VVVV for 2021 and later,
+     except that a few beta releases use the old format with V=2021.  */
+# if __INTEL_COMPILER < 2021 || __INTEL_COMPILER == 202110 || __INTEL_COMPILER == 202111
+#  define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100)
+#  define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10)
+#  if defined(__INTEL_COMPILER_UPDATE)
+#   define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE)
+#  else
+#   define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER   % 10)
+#  endif
+# else
+#  define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER)
+#  define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER_UPDATE)
+   /* The third version component from --version is an update index,
+      but no macro is provided for it.  */
+#  define COMPILER_VERSION_PATCH DEC(0)
+# endif
+# if defined(__INTEL_COMPILER_BUILD_DATE)
+   /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */
+#  define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE)
+# endif
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# if defined(__GNUC__)
+#  define SIMULATE_VERSION_MAJOR DEC(__GNUC__)
+# elif defined(__GNUG__)
+#  define SIMULATE_VERSION_MAJOR DEC(__GNUG__)
+# endif
+# if defined(__GNUC_MINOR__)
+#  define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+#  define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif (defined(__clang__) && defined(__INTEL_CLANG_COMPILER)) || defined(__INTEL_LLVM_COMPILER)
+# define COMPILER_ID "IntelLLVM"
+#if defined(_MSC_VER)
+# define SIMULATE_ID "MSVC"
+#endif
+#if defined(__GNUC__)
+# define SIMULATE_ID "GNU"
+#endif
+/* __INTEL_LLVM_COMPILER = VVVVRP prior to 2021.2.0, VVVVRRPP for 2021.2.0 and
+ * later.  Look for 6 digit vs. 8 digit version number to decide encoding.
+ * VVVV is no smaller than the current year when a version is released.
+ */
+#if __INTEL_LLVM_COMPILER < 1000000L
+# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/100)
+# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER    % 10)
+#else
+# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/10000)
+# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/100 % 100)
+# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER     % 100)
+#endif
+#if defined(_MSC_VER)
+  /* _MSC_VER = VVRR */
+# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+#endif
+#if defined(__GNUC__)
+# define SIMULATE_VERSION_MAJOR DEC(__GNUC__)
+#elif defined(__GNUG__)
+# define SIMULATE_VERSION_MAJOR DEC(__GNUG__)
+#endif
+#if defined(__GNUC_MINOR__)
+# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
+#endif
+#if defined(__GNUC_PATCHLEVEL__)
+# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+#endif
+
+#elif defined(__PATHCC__)
+# define COMPILER_ID "PathScale"
+# define COMPILER_VERSION_MAJOR DEC(__PATHCC__)
+# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__)
+# if defined(__PATHCC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__)
+# endif
+
+#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__)
+# define COMPILER_ID "Embarcadero"
+# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF)
+# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF)
+# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__     & 0xFFFF)
+
+#elif defined(__BORLANDC__)
+# define COMPILER_ID "Borland"
+  /* __BORLANDC__ = 0xVRR */
+# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8)
+# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF)
+
+#elif defined(__WATCOMC__) && __WATCOMC__ < 1200
+# define COMPILER_ID "Watcom"
+   /* __WATCOMC__ = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+#  define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__WATCOMC__)
+# define COMPILER_ID "OpenWatcom"
+   /* __WATCOMC__ = VVRP + 1100 */
+# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+#  define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__SUNPRO_CC)
+# define COMPILER_ID "SunPro"
+# if __SUNPRO_CC >= 0x5100
+   /* __SUNPRO_CC = 0xVRRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC    & 0xF)
+# else
+   /* __SUNPRO_CC = 0xVRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC    & 0xF)
+# endif
+
+#elif defined(__HP_aCC)
+# define COMPILER_ID "HP"
+  /* __HP_aCC = VVRRPP */
+# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000)
+# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100)
+# define COMPILER_VERSION_PATCH DEC(__HP_aCC     % 100)
+
+#elif defined(__DECCXX)
+# define COMPILER_ID "Compaq"
+  /* __DECCXX_VER = VVRRTPPPP */
+# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000)
+# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000  % 100)
+# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER         % 10000)
+
+#elif defined(__IBMCPP__) && defined(__COMPILER_VER__)
+# define COMPILER_ID "zOS"
+  /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+
+#elif defined(__ibmxl__) && defined(__clang__)
+# define COMPILER_ID "XLClang"
+# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__)
+# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__)
+# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__)
+# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__)
+
+
+#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ >= 800
+# define COMPILER_ID "XL"
+  /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+
+#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ < 800
+# define COMPILER_ID "VisualAge"
+  /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+
+#elif defined(__NVCOMPILER)
+# define COMPILER_ID "NVHPC"
+# define COMPILER_VERSION_MAJOR DEC(__NVCOMPILER_MAJOR__)
+# define COMPILER_VERSION_MINOR DEC(__NVCOMPILER_MINOR__)
+# if defined(__NVCOMPILER_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__NVCOMPILER_PATCHLEVEL__)
+# endif
+
+#elif defined(__PGI)
+# define COMPILER_ID "PGI"
+# define COMPILER_VERSION_MAJOR DEC(__PGIC__)
+# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__)
+# if defined(__PGIC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__)
+# endif
+
+#elif defined(_CRAYC)
+# define COMPILER_ID "Cray"
+# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR)
+# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR)
+
+#elif defined(__TI_COMPILER_VERSION__)
+# define COMPILER_ID "TI"
+  /* __TI_COMPILER_VERSION__ = VVVRRRPPP */
+# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000)
+# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000   % 1000)
+# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__        % 1000)
+
+#elif defined(__CLANG_FUJITSU)
+# define COMPILER_ID "FujitsuClang"
+# define COMPILER_VERSION_MAJOR DEC(__FCC_major__)
+# define COMPILER_VERSION_MINOR DEC(__FCC_minor__)
+# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__)
+# define COMPILER_VERSION_INTERNAL_STR __clang_version__
+
+
+#elif defined(__FUJITSU)
+# define COMPILER_ID "Fujitsu"
+# if defined(__FCC_version__)
+#   define COMPILER_VERSION __FCC_version__
+# elif defined(__FCC_major__)
+#   define COMPILER_VERSION_MAJOR DEC(__FCC_major__)
+#   define COMPILER_VERSION_MINOR DEC(__FCC_minor__)
+#   define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__)
+# endif
+# if defined(__fcc_version)
+#   define COMPILER_VERSION_INTERNAL DEC(__fcc_version)
+# elif defined(__FCC_VERSION)
+#   define COMPILER_VERSION_INTERNAL DEC(__FCC_VERSION)
+# endif
+
+
+#elif defined(__ghs__)
+# define COMPILER_ID "GHS"
+/* __GHS_VERSION_NUMBER = VVVVRP */
+# ifdef __GHS_VERSION_NUMBER
+# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100)
+# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER      % 10)
+# endif
+
+#elif defined(__SCO_VERSION__)
+# define COMPILER_ID "SCO"
+
+#elif defined(__ARMCC_VERSION) && !defined(__clang__)
+# define COMPILER_ID "ARMCC"
+#if __ARMCC_VERSION >= 1000000
+  /* __ARMCC_VERSION = VRRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION     % 10000)
+#else
+  /* __ARMCC_VERSION = VRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION    % 10000)
+#endif
+
+
+#elif defined(__clang__) && defined(__apple_build_version__)
+# define COMPILER_ID "AppleClang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__)
+
+#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION)
+# define COMPILER_ID "ARMClang"
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION     % 10000)
+# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION)
+
+#elif defined(__clang__)
+# define COMPILER_ID "Clang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+
+#elif defined(__GNUC__) || defined(__GNUG__)
+# define COMPILER_ID "GNU"
+# if defined(__GNUC__)
+#  define COMPILER_VERSION_MAJOR DEC(__GNUC__)
+# else
+#  define COMPILER_VERSION_MAJOR DEC(__GNUG__)
+# endif
+# if defined(__GNUC_MINOR__)
+#  define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(_MSC_VER)
+# define COMPILER_ID "MSVC"
+  /* _MSC_VER = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
+# if defined(_MSC_FULL_VER)
+#  if _MSC_VER >= 1400
+    /* _MSC_FULL_VER = VVRRPPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
+#  else
+    /* _MSC_FULL_VER = VVRRPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
+#  endif
+# endif
+# if defined(_MSC_BUILD)
+#  define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
+# endif
+
+#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__)
+# define COMPILER_ID "ADSP"
+#if defined(__VISUALDSPVERSION__)
+  /* __VISUALDSPVERSION__ = 0xVVRRPP00 */
+# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24)
+# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF)
+# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8  & 0xFF)
+#endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# define COMPILER_ID "IAR"
+# if defined(__VER__) && defined(__ICCARM__)
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000)
+#  define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000)
+#  define COMPILER_VERSION_PATCH DEC((__VER__) % 1000)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__) || defined(__ICCSTM8__))
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 100)
+#  define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100))
+#  define COMPILER_VERSION_PATCH DEC(__SUBVERSION__)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# endif
+
+
+/* These compilers are either not known or too old to define an
+  identification macro.  Try to identify the platform and guess that
+  it is the native compiler.  */
+#elif defined(__hpux) || defined(__hpua)
+# define COMPILER_ID "HP"
+
+#else /* unknown compiler */
+# define COMPILER_ID ""
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]";
+#ifdef SIMULATE_ID
+char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]";
+#endif
+
+#ifdef __QNXNTO__
+char const* qnxnto = "INFO" ":" "qnxnto[]";
+#endif
+
+#if defined(__CRAYXT_COMPUTE_LINUX_TARGET)
+char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]";
+#endif
+
+#define STRINGIFY_HELPER(X) #X
+#define STRINGIFY(X) STRINGIFY_HELPER(X)
+
+/* Identify known platforms by name.  */
+#if defined(__linux) || defined(__linux__) || defined(linux)
+# define PLATFORM_ID "Linux"
+
+#elif defined(__MSYS__)
+# define PLATFORM_ID "MSYS"
+
+#elif defined(__CYGWIN__)
+# define PLATFORM_ID "Cygwin"
+
+#elif defined(__MINGW32__)
+# define PLATFORM_ID "MinGW"
+
+#elif defined(__APPLE__)
+# define PLATFORM_ID "Darwin"
+
+#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
+# define PLATFORM_ID "Windows"
+
+#elif defined(__FreeBSD__) || defined(__FreeBSD)
+# define PLATFORM_ID "FreeBSD"
+
+#elif defined(__NetBSD__) || defined(__NetBSD)
+# define PLATFORM_ID "NetBSD"
+
+#elif defined(__OpenBSD__) || defined(__OPENBSD)
+# define PLATFORM_ID "OpenBSD"
+
+#elif defined(__sun) || defined(sun)
+# define PLATFORM_ID "SunOS"
+
+#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
+# define PLATFORM_ID "AIX"
+
+#elif defined(__hpux) || defined(__hpux__)
+# define PLATFORM_ID "HP-UX"
+
+#elif defined(__HAIKU__)
+# define PLATFORM_ID "Haiku"
+
+#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
+# define PLATFORM_ID "BeOS"
+
+#elif defined(__QNX__) || defined(__QNXNTO__)
+# define PLATFORM_ID "QNX"
+
+#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__)
+# define PLATFORM_ID "Tru64"
+
+#elif defined(__riscos) || defined(__riscos__)
+# define PLATFORM_ID "RISCos"
+
+#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
+# define PLATFORM_ID "SINIX"
+
+#elif defined(__UNIX_SV__)
+# define PLATFORM_ID "UNIX_SV"
+
+#elif defined(__bsdos__)
+# define PLATFORM_ID "BSDOS"
+
+#elif defined(_MPRAS) || defined(MPRAS)
+# define PLATFORM_ID "MP-RAS"
+
+#elif defined(__osf) || defined(__osf__)
+# define PLATFORM_ID "OSF1"
+
+#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
+# define PLATFORM_ID "SCO_SV"
+
+#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
+# define PLATFORM_ID "ULTRIX"
+
+#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
+# define PLATFORM_ID "Xenix"
+
+#elif defined(__WATCOMC__)
+# if defined(__LINUX__)
+#  define PLATFORM_ID "Linux"
+
+# elif defined(__DOS__)
+#  define PLATFORM_ID "DOS"
+
+# elif defined(__OS2__)
+#  define PLATFORM_ID "OS2"
+
+# elif defined(__WINDOWS__)
+#  define PLATFORM_ID "Windows3x"
+
+# elif defined(__VXWORKS__)
+#  define PLATFORM_ID "VxWorks"
+
+# else /* unknown platform */
+#  define PLATFORM_ID
+# endif
+
+#elif defined(__INTEGRITY)
+# if defined(INT_178B)
+#  define PLATFORM_ID "Integrity178"
+
+# else /* regular Integrity */
+#  define PLATFORM_ID "Integrity"
+# endif
+
+#else /* unknown platform */
+# define PLATFORM_ID
+
+#endif
+
+/* For windows compilers MSVC and Intel we can determine
+   the architecture of the compiler being used.  This is because
+   the compilers do not have flags that can change the architecture,
+   but rather depend on which compiler is being used
+*/
+#if defined(_WIN32) && defined(_MSC_VER)
+# if defined(_M_IA64)
+#  define ARCHITECTURE_ID "IA64"
+
+# elif defined(_M_ARM64EC)
+#  define ARCHITECTURE_ID "ARM64EC"
+
+# elif defined(_M_X64) || defined(_M_AMD64)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# elif defined(_M_ARM64)
+#  define ARCHITECTURE_ID "ARM64"
+
+# elif defined(_M_ARM)
+#  if _M_ARM == 4
+#   define ARCHITECTURE_ID "ARMV4I"
+#  elif _M_ARM == 5
+#   define ARCHITECTURE_ID "ARMV5I"
+#  else
+#   define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM)
+#  endif
+
+# elif defined(_M_MIPS)
+#  define ARCHITECTURE_ID "MIPS"
+
+# elif defined(_M_SH)
+#  define ARCHITECTURE_ID "SHx"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__WATCOMC__)
+# if defined(_M_I86)
+#  define ARCHITECTURE_ID "I86"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# if defined(__ICCARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__ICCRX__)
+#  define ARCHITECTURE_ID "RX"
+
+# elif defined(__ICCRH850__)
+#  define ARCHITECTURE_ID "RH850"
+
+# elif defined(__ICCRL78__)
+#  define ARCHITECTURE_ID "RL78"
+
+# elif defined(__ICCRISCV__)
+#  define ARCHITECTURE_ID "RISCV"
+
+# elif defined(__ICCAVR__)
+#  define ARCHITECTURE_ID "AVR"
+
+# elif defined(__ICC430__)
+#  define ARCHITECTURE_ID "MSP430"
+
+# elif defined(__ICCV850__)
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+
+# Generic update command
+UpdateCommand: 
+UpdateOptions: 
+UpdateType: 
+
+# Compiler info
+Compiler: /usr/bin/c++
+CompilerVersion: 11.4.0
+
+# Dynamic analysis (MemCheck)
+PurifyCommand: 
+ValgrindCommand: 
+ValgrindCommandOptions: 
+DrMemoryCommand: 
+DrMemoryCommandOptions: 
+CudaSanitizerCommand: 
+CudaSanitizerCommandOptions: 
+MemoryCheckType: 
+MemoryCheckSanitizerOptions: 
+MemoryCheckCommand: 
+MemoryCheckCommandOptions: 
+MemoryCheckSuppressionFile: 
+
+# Coverage
+CoverageCommand: 
+CoverageExtraFlags: 
+
+# Testing options
+# TimeOut is the amount of time in seconds to wait for processes
+# to complete during testing.  After TimeOut seconds, the
+# process will be summarily terminated.
+# Currently set to 25 minutes
+TimeOut: 
+
+# During parallel testing CTest will not start a new test if doing
+# so would cause the system load to exceed this value.
+TestLoad: 
+
+UseLaunchers: 
+CurlOptions: 
+# warning, if you add new options here that have to do with submit,
+# you have to update cmCTestSubmitCommand.cxx
+
+# For CTest submissions that timeout, these options
+# specify behavior for retrying the submission
+CTestSubmitRetryDelay: 
+CTestSubmitRetryCount: 
diff --git a/build/turtlebot3_simulations/CTestCustom.cmake b/build/turtlebot3_simulations/CTestCustom.cmake
new file mode 100644
index 0000000..14956f3
--- /dev/null
+++ b/build/turtlebot3_simulations/CTestCustom.cmake
@@ -0,0 +1,2 @@
+set(CTEST_CUSTOM_MAXIMUM_PASSED_TEST_OUTPUT_SIZE 0)
+set(CTEST_CUSTOM_MAXIMUM_FAILED_TEST_OUTPUT_SIZE 0)
diff --git a/build/turtlebot3_simulations/CTestTestfile.cmake b/build/turtlebot3_simulations/CTestTestfile.cmake
new file mode 100644
index 0000000..2be49c6
--- /dev/null
+++ b/build/turtlebot3_simulations/CTestTestfile.cmake
@@ -0,0 +1,6 @@
+# CMake generated Testfile for 
+# Source directory: /workspace/src/turtlebot3_simulations/turtlebot3_simulations
+# Build directory: /workspace/build/turtlebot3_simulations
+# 
+# This file includes the relevant testing commands required for 
+# testing this directory and lists subdirectories to be tested as well.
diff --git a/build/turtlebot3_simulations/Makefile b/build/turtlebot3_simulations/Makefile
new file mode 100644
index 0000000..2f0181c
--- /dev/null
+++ b/build/turtlebot3_simulations/Makefile
@@ -0,0 +1,228 @@
+# CMAKE generated file: DO NOT EDIT!
+# Generated by "Unix Makefiles" Generator, CMake Version 3.22
+
+# Default target executed when no arguments are given to make.
+default_target: all
+.PHONY : default_target
+
+# Allow only one "make -f Makefile2" at a time, but pass parallelism.
+.NOTPARALLEL:
+
+#=============================================================================
+# Special targets provided by cmake.
+
+# Disable implicit rules so canonical targets will work.
+.SUFFIXES:
+
+# Disable VCS-based implicit rules.
+% : %,v
+
+# Disable VCS-based implicit rules.
+% : RCS/%
+
+# Disable VCS-based implicit rules.
+% : RCS/%,v
+
+# Disable VCS-based implicit rules.
+% : SCCS/s.%
+
+# Disable VCS-based implicit rules.
+% : s.%
+
+.SUFFIXES: .hpux_make_needs_suffix_list
+
+# Command-line flag to silence nested $(MAKE).
+$(VERBOSE)MAKESILENT = -s
+
+#Suppress display of executed commands.
+$(VERBOSE).SILENT:
+
+# A target that is always out of date.
+cmake_force:
+.PHONY : cmake_force
+
+#=============================================================================
+# Set environment variables for the build.
+
+# The shell in which to execute make rules.
+SHELL = /bin/sh
+
+# The CMake executable.
+CMAKE_COMMAND = /usr/bin/cmake
+
+# The command to remove a file.
+RM = /usr/bin/cmake -E rm -f
+
+# Escaping for special characters.
+EQUALS = =
+
+# The top-level source directory on which CMake was run.
+CMAKE_SOURCE_DIR = /workspace/src/turtlebot3_simulations/turtlebot3_simulations
+
+# The top-level build directory on which CMake was run.
+CMAKE_BINARY_DIR = /workspace/build/turtlebot3_simulations
+
+#=============================================================================
+# Targets provided globally by CMake.
+
+# Special rule for the target test
+test:
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Running tests..."
+	/usr/bin/ctest --force-new-ctest-process $(ARGS)
+.PHONY : test
+
+# Special rule for the target test
+test/fast: test
+.PHONY : test/fast
+
+# Special rule for the target edit_cache
+edit_cache:
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "No interactive CMake dialog available..."
+	/usr/bin/cmake -E echo No\ interactive\ CMake\ dialog\ available.
+.PHONY : edit_cache
+
+# Special rule for the target edit_cache
+edit_cache/fast: edit_cache
+.PHONY : edit_cache/fast
+
+# Special rule for the target rebuild_cache
+rebuild_cache:
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Running CMake to regenerate build system..."
+	/usr/bin/cmake --regenerate-during-build -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR)
+.PHONY : rebuild_cache
+
+# Special rule for the target rebuild_cache
+rebuild_cache/fast: rebuild_cache
+.PHONY : rebuild_cache/fast
+
+# Special rule for the target list_install_components
+list_install_components:
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Available install components are: \"Unspecified\""
+.PHONY : list_install_components
+
+# Special rule for the target list_install_components
+list_install_components/fast: list_install_components
+.PHONY : list_install_components/fast
+
+# Special rule for the target install
+install: preinstall
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Install the project..."
+	/usr/bin/cmake -P cmake_install.cmake
+.PHONY : install
+
+# Special rule for the target install
+install/fast: preinstall/fast
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Install the project..."
+	/usr/bin/cmake -P cmake_install.cmake
+.PHONY : install/fast
+
+# Special rule for the target install/local
+install/local: preinstall
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing only the local directory..."
+	/usr/bin/cmake -DCMAKE_INSTALL_LOCAL_ONLY=1 -P cmake_install.cmake
+.PHONY : install/local
+
+# Special rule for the target install/local
+install/local/fast: preinstall/fast
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing only the local directory..."
+	/usr/bin/cmake -DCMAKE_INSTALL_LOCAL_ONLY=1 -P cmake_install.cmake
+.PHONY : install/local/fast
+
+# Special rule for the target install/strip
+install/strip: preinstall
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing the project stripped..."
+	/usr/bin/cmake -DCMAKE_INSTALL_DO_STRIP=1 -P cmake_install.cmake
+.PHONY : install/strip
+
+# Special rule for the target install/strip
+install/strip/fast: preinstall/fast
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing the project stripped..."
+	/usr/bin/cmake -DCMAKE_INSTALL_DO_STRIP=1 -P cmake_install.cmake
+.PHONY : install/strip/fast
+
+# The main all target
+all: cmake_check_build_system
+	$(CMAKE_COMMAND) -E cmake_progress_start /workspace/build/turtlebot3_simulations/CMakeFiles /workspace/build/turtlebot3_simulations//CMakeFiles/progress.marks
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/Makefile2 all
+	$(CMAKE_COMMAND) -E cmake_progress_start /workspace/build/turtlebot3_simulations/CMakeFiles 0
+.PHONY : all
+
+# The main clean target
+clean:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/Makefile2 clean
+.PHONY : clean
+
+# The main clean target
+clean/fast: clean
+.PHONY : clean/fast
+
+# Prepare targets for installation.
+preinstall: all
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/Makefile2 preinstall
+.PHONY : preinstall
+
+# Prepare targets for installation.
+preinstall/fast:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/Makefile2 preinstall
+.PHONY : preinstall/fast
+
+# clear depends
+depend:
+	$(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 1
+.PHONY : depend
+
+#=============================================================================
+# Target rules for targets named uninstall
+
+# Build rule for target.
+uninstall: cmake_check_build_system
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/Makefile2 uninstall
+.PHONY : uninstall
+
+# fast build rule for target.
+uninstall/fast:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/uninstall.dir/build.make CMakeFiles/uninstall.dir/build
+.PHONY : uninstall/fast
+
+#=============================================================================
+# Target rules for targets named turtlebot3_simulations_uninstall
+
+# Build rule for target.
+turtlebot3_simulations_uninstall: cmake_check_build_system
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/Makefile2 turtlebot3_simulations_uninstall
+.PHONY : turtlebot3_simulations_uninstall
+
+# fast build rule for target.
+turtlebot3_simulations_uninstall/fast:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/turtlebot3_simulations_uninstall.dir/build.make CMakeFiles/turtlebot3_simulations_uninstall.dir/build
+.PHONY : turtlebot3_simulations_uninstall/fast
+
+# Help Target
+help:
+	@echo "The following are some of the valid targets for this Makefile:"
+	@echo "... all (the default if no target is provided)"
+	@echo "... clean"
+	@echo "... depend"
+	@echo "... edit_cache"
+	@echo "... install"
+	@echo "... install/local"
+	@echo "... install/strip"
+	@echo "... list_install_components"
+	@echo "... rebuild_cache"
+	@echo "... test"
+	@echo "... turtlebot3_simulations_uninstall"
+	@echo "... uninstall"
+.PHONY : help
+
+
+
+#=============================================================================
+# Special targets to cleanup operation of make.
+
+# Special rule to run CMake to check the build system integrity.
+# No rule that depends on this can have commands that come from listfiles
+# because they might be regenerated.
+cmake_check_build_system:
+	$(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
+.PHONY : cmake_check_build_system
+
diff --git a/build/turtlebot3_simulations/ament_cmake_core/package.cmake b/build/turtlebot3_simulations/ament_cmake_core/package.cmake
new file mode 100644
index 0000000..e21fc74
--- /dev/null
+++ b/build/turtlebot3_simulations/ament_cmake_core/package.cmake
@@ -0,0 +1,14 @@
+set(_AMENT_PACKAGE_NAME "turtlebot3_simulations")
+set(turtlebot3_simulations_VERSION "2.4.0")
+set(turtlebot3_simulations_MAINTAINER "Pyo <pyo@robotis.com>")
+set(turtlebot3_simulations_BUILD_DEPENDS )
+set(turtlebot3_simulations_BUILDTOOL_DEPENDS "ament_cmake")
+set(turtlebot3_simulations_BUILD_EXPORT_DEPENDS )
+set(turtlebot3_simulations_BUILDTOOL_EXPORT_DEPENDS )
+set(turtlebot3_simulations_EXEC_DEPENDS "turtlebot3_fake_node" "turtlebot3_gazebo" "turtlebot3_manipulation_gazebo" "ros_gz_bridge" "ros_gz_sim")
+set(turtlebot3_simulations_TEST_DEPENDS )
+set(turtlebot3_simulations_GROUP_DEPENDS )
+set(turtlebot3_simulations_MEMBER_OF_GROUPS )
+set(turtlebot3_simulations_DEPRECATED "")
+set(turtlebot3_simulations_EXPORT_TAGS)
+list(APPEND turtlebot3_simulations_EXPORT_TAGS "<build_type>ament_cmake</build_type>")
diff --git a/build/turtlebot3_simulations/ament_cmake_core/stamps/ament_prefix_path.sh.stamp b/build/turtlebot3_simulations/ament_cmake_core/stamps/ament_prefix_path.sh.stamp
new file mode 100644
index 0000000..02e441b
--- /dev/null
+++ b/build/turtlebot3_simulations/ament_cmake_core/stamps/ament_prefix_path.sh.stamp
@@ -0,0 +1,4 @@
+# copied from
+# ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh
+
+ament_prepend_unique_value AMENT_PREFIX_PATH "$AMENT_CURRENT_PREFIX"
diff --git a/build/turtlebot3_simulations/ament_cmake_core/stamps/nameConfig-version.cmake.in.stamp b/build/turtlebot3_simulations/ament_cmake_core/stamps/nameConfig-version.cmake.in.stamp
new file mode 100644
index 0000000..ee49c9f
--- /dev/null
+++ b/build/turtlebot3_simulations/ament_cmake_core/stamps/nameConfig-version.cmake.in.stamp
@@ -0,0 +1,14 @@
+# generated from ament/cmake/core/templates/nameConfig-version.cmake.in
+set(PACKAGE_VERSION "@PACKAGE_VERSION@")
+
+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()
diff --git a/build/turtlebot3_simulations/ament_cmake_core/stamps/nameConfig.cmake.in.stamp b/build/turtlebot3_simulations/ament_cmake_core/stamps/nameConfig.cmake.in.stamp
new file mode 100644
index 0000000..6fb3fe7
--- /dev/null
+++ b/build/turtlebot3_simulations/ament_cmake_core/stamps/nameConfig.cmake.in.stamp
@@ -0,0 +1,42 @@
+# generated from ament/cmake/core/templates/nameConfig.cmake.in
+
+# prevent multiple inclusion
+if(_@PROJECT_NAME@_CONFIG_INCLUDED)
+  # ensure to keep the found flag the same
+  if(NOT DEFINED @PROJECT_NAME@_FOUND)
+    # explicitly set it to FALSE, otherwise CMake will set it to TRUE
+    set(@PROJECT_NAME@_FOUND FALSE)
+  elseif(NOT @PROJECT_NAME@_FOUND)
+    # use separate condition to avoid uninitialized variable warning
+    set(@PROJECT_NAME@_FOUND FALSE)
+  endif()
+  return()
+endif()
+set(_@PROJECT_NAME@_CONFIG_INCLUDED TRUE)
+
+# output package information
+if(NOT @PROJECT_NAME@_FIND_QUIETLY)
+  message(STATUS "Found @PROJECT_NAME@: @PACKAGE_VERSION@ (${@PROJECT_NAME@_DIR})")
+endif()
+
+# warn when using a deprecated package
+if(NOT "@PACKAGE_DEPRECATED@" STREQUAL "")
+  set(_msg "Package '@PROJECT_NAME@' is deprecated")
+  # append custom deprecation text if available
+  if(NOT "@PACKAGE_DEPRECATED@" STREQUAL "TRUE")
+    set(_msg "${_msg} (@PACKAGE_DEPRECATED@)")
+  endif()
+  # optionally quiet the deprecation message
+  if(NOT ${@PROJECT_NAME@_DEPRECATED_QUIET})
+    message(DEPRECATION "${_msg}")
+  endif()
+endif()
+
+# flag package as ament-based to distinguish it after being find_package()-ed
+set(@PROJECT_NAME@_FOUND_AMENT_PACKAGE TRUE)
+
+# include all config extra files
+set(_extras "@PACKAGE_CONFIG_EXTRA_FILES@")
+foreach(_extra ${_extras})
+  include("${@PROJECT_NAME@_DIR}/${_extra}")
+endforeach()
diff --git a/build/turtlebot3_simulations/ament_cmake_core/stamps/package.xml.stamp b/build/turtlebot3_simulations/ament_cmake_core/stamps/package.xml.stamp
new file mode 100755
index 0000000..9a30ac6
--- /dev/null
+++ b/build/turtlebot3_simulations/ament_cmake_core/stamps/package.xml.stamp
@@ -0,0 +1,27 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>turtlebot3_simulations</name>
+  <version>2.4.0</version>
+  <description>
+    ROS 2 packages for TurtleBot3 simulations (migrated to Gazebo Sim / Harmonic)
+  </description>
+  <maintainer email="pyo@robotis.com">Pyo</maintainer>
+  <license>Apache 2.0</license>
+  <url type="website">http://turtlebot3.robotis.com</url>
+  <url type="repository">https://github.com/ROBOTIS-GIT/turtlebot3_simulations</url>
+  <url type="bugtracker">https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues</url>
+  <author email="thlim@robotis.com">Darby Lim</author>
+  <author email="pyo@robotis.com">Pyo</author>
+  <author>Ryan Shim</author>
+  <author email="willson@robotis.com">Will Son</author>
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <exec_depend>turtlebot3_fake_node</exec_depend>
+  <exec_depend>turtlebot3_gazebo</exec_depend>
+  <exec_depend>turtlebot3_manipulation_gazebo</exec_depend>
+  <exec_depend>ros_gz_bridge</exec_depend>
+  <exec_depend>ros_gz_sim</exec_depend>
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/build/turtlebot3_simulations/ament_cmake_core/stamps/package_xml_2_cmake.py.stamp b/build/turtlebot3_simulations/ament_cmake_core/stamps/package_xml_2_cmake.py.stamp
new file mode 100644
index 0000000..8be9894
--- /dev/null
+++ b/build/turtlebot3_simulations/ament_cmake_core/stamps/package_xml_2_cmake.py.stamp
@@ -0,0 +1,150 @@
+#!/usr/bin/env python3
+
+# Copyright 2014-2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import argparse
+from collections import OrderedDict
+import os
+import sys
+
+from catkin_pkg.package import parse_package_string
+
+
+def main(argv=sys.argv[1:]):
+    """
+    Extract the information from package.xml and make them accessible to CMake.
+
+    Parse the given package.xml file and
+    print CMake code defining several variables containing the content.
+    """
+    parser = argparse.ArgumentParser(
+        description='Parse package.xml file and print CMake code defining '
+                    'several variables',
+    )
+    parser.add_argument(
+        'package_xml',
+        type=argparse.FileType('r', encoding='utf-8'),
+        help='The path to a package.xml file',
+    )
+    parser.add_argument(
+        'outfile',
+        nargs='?',
+        help='The filename where the output should be written to',
+    )
+    args = parser.parse_args(argv)
+
+    try:
+        package = parse_package_string(
+            args.package_xml.read(), filename=args.package_xml.name)
+    except Exception as e:
+        print("Error parsing '%s':" % args.package_xml.name, file=sys.stderr)
+        raise e
+    finally:
+        args.package_xml.close()
+
+    lines = generate_cmake_code(package)
+    if args.outfile:
+        with open(args.outfile, 'w', encoding='utf-8') as f:
+            for line in lines:
+                f.write('%s\n' % line)
+    else:
+        for line in lines:
+            print(line)
+
+
+def get_dependency_values(key, depends):
+    dependencies = []
+
+    # Filter the dependencies, checking for any condition attributes
+    dependencies.append((key, ' '.join([
+        '"%s"' % str(d) for d in depends
+        if d.condition is None or d.evaluate_condition(os.environ)
+    ])))
+
+    for d in depends:
+        comparisons = [
+            'version_lt',
+            'version_lte',
+            'version_eq',
+            'version_gte',
+            'version_gt']
+        for comp in comparisons:
+            value = getattr(d, comp, None)
+            if value is not None:
+                dependencies.append(('%s_%s_%s' % (key, str(d), comp.upper()),
+                                     '"%s"' % value))
+    return dependencies
+
+
+def generate_cmake_code(package):
+    """
+    Return a list of CMake set() commands containing the manifest information.
+
+    :param package: catkin_pkg.package.Package
+    :returns: list of str
+    """
+    variables = []
+    variables.append(('VERSION', '"%s"' % package.version))
+
+    variables.append((
+        'MAINTAINER',
+        '"%s"' % (', '.join([str(m) for m in package.maintainers]))))
+
+    variables.extend(get_dependency_values('BUILD_DEPENDS',
+                                           package.build_depends))
+    variables.extend(get_dependency_values('BUILDTOOL_DEPENDS',
+                                           package.buildtool_depends))
+    variables.extend(get_dependency_values('BUILD_EXPORT_DEPENDS',
+                                           package.build_export_depends))
+    variables.extend(get_dependency_values('BUILDTOOL_EXPORT_DEPENDS',
+                                           package.buildtool_export_depends))
+    variables.extend(get_dependency_values('EXEC_DEPENDS',
+                                           package.exec_depends))
+    variables.extend(get_dependency_values('TEST_DEPENDS',
+                                           package.test_depends))
+    variables.extend(get_dependency_values('GROUP_DEPENDS',
+                                           package.group_depends))
+    variables.extend(get_dependency_values('MEMBER_OF_GROUPS',
+                                           package.member_of_groups))
+
+    deprecated = [e.content for e in package.exports
+                  if e.tagname == 'deprecated']
+    variables.append(('DEPRECATED',
+                      '"%s"' % ((deprecated[0] if deprecated[0] else 'TRUE')
+                                if deprecated
+                                else '')))
+
+    lines = []
+    lines.append('set(_AMENT_PACKAGE_NAME "%s")' % package.name)
+    for (k, v) in variables:
+        lines.append('set(%s_%s %s)' % (package.name, k, v))
+
+    lines.append('set(%s_EXPORT_TAGS)' % package.name)
+    replaces = OrderedDict()
+    replaces['${prefix}/'] = ''
+    replaces['\\'] = '\\\\'  # escape backslashes
+    replaces['"'] = '\\"'  # prevent double quotes to end the CMake string
+    replaces[';'] = '\\;'  # prevent semicolons to be interpreted as list separators
+    for export in package.exports:
+        export = str(export)
+        for k, v in replaces.items():
+            export = export.replace(k, v)
+        lines.append('list(APPEND %s_EXPORT_TAGS "%s")' % (package.name, export))
+
+    return lines
+
+
+if __name__ == '__main__':
+    main()
diff --git a/build/turtlebot3_simulations/ament_cmake_core/stamps/path.sh.stamp b/build/turtlebot3_simulations/ament_cmake_core/stamps/path.sh.stamp
new file mode 100644
index 0000000..e59b749
--- /dev/null
+++ b/build/turtlebot3_simulations/ament_cmake_core/stamps/path.sh.stamp
@@ -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
diff --git a/build/turtlebot3_simulations/ament_cmake_core/stamps/templates_2_cmake.py.stamp b/build/turtlebot3_simulations/ament_cmake_core/stamps/templates_2_cmake.py.stamp
new file mode 100644
index 0000000..fb2fb47
--- /dev/null
+++ b/build/turtlebot3_simulations/ament_cmake_core/stamps/templates_2_cmake.py.stamp
@@ -0,0 +1,112 @@
+#!/usr/bin/env python3
+
+# Copyright 2014-2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import argparse
+import os
+import sys
+
+from ament_package.templates import get_environment_hook_template_path
+from ament_package.templates import get_package_level_template_names
+from ament_package.templates import get_package_level_template_path
+from ament_package.templates import get_prefix_level_template_names
+from ament_package.templates import get_prefix_level_template_path
+
+IS_WINDOWS = os.name == 'nt'
+
+
+def main(argv=sys.argv[1:]):
+    """
+    Extract the information about templates provided by ament_package.
+
+    Call the API provided by ament_package and
+    print CMake code defining several variables containing information about
+    the available templates.
+    """
+    parser = argparse.ArgumentParser(
+        description='Extract information about templates provided by '
+                    'ament_package and print CMake code defining several '
+                    'variables',
+    )
+    parser.add_argument(
+        'outfile',
+        nargs='?',
+        help='The filename where the output should be written to',
+    )
+    args = parser.parse_args(argv)
+
+    lines = generate_cmake_code()
+    if args.outfile:
+        basepath = os.path.dirname(args.outfile)
+        if not os.path.exists(basepath):
+            os.makedirs(basepath)
+        with open(args.outfile, 'w') as f:
+            for line in lines:
+                f.write('%s\n' % line)
+    else:
+        for line in lines:
+            print(line)
+
+
+def generate_cmake_code():
+    """
+    Return a list of CMake set() commands containing the template information.
+
+    :returns: list of str
+    """
+    variables = []
+
+    if not IS_WINDOWS:
+        variables.append((
+            'ENVIRONMENT_HOOK_LIBRARY_PATH',
+            '"%s"' % get_environment_hook_template_path('library_path.sh')))
+    else:
+        variables.append(('ENVIRONMENT_HOOK_LIBRARY_PATH', ''))
+
+    ext = '.bat.in' if IS_WINDOWS else '.sh.in'
+    variables.append((
+        'ENVIRONMENT_HOOK_PYTHONPATH',
+        '"%s"' % get_environment_hook_template_path('pythonpath' + ext)))
+
+    templates = []
+    for name in get_package_level_template_names():
+        templates.append('"%s"' % get_package_level_template_path(name))
+    variables.append((
+        'PACKAGE_LEVEL',
+        templates))
+
+    templates = []
+    for name in get_prefix_level_template_names():
+        templates.append('"%s"' % get_prefix_level_template_path(name))
+    variables.append((
+        'PREFIX_LEVEL',
+        templates))
+
+    lines = []
+    for (k, v) in variables:
+        if isinstance(v, list):
+            lines.append('set(ament_cmake_package_templates_%s "")' % k)
+            for vv in v:
+                lines.append('list(APPEND ament_cmake_package_templates_%s %s)'
+                             % (k, vv))
+        else:
+            lines.append('set(ament_cmake_package_templates_%s %s)' % (k, v))
+    # Ensure backslashes are replaced with forward slashes because CMake cannot
+    # parse files with backslashes in it.
+    return [line.replace('\\', '/') for line in lines]
+
+
+if __name__ == '__main__':
+    main()
diff --git a/build/turtlebot3_simulations/ament_cmake_core/turtlebot3_simulationsConfig-version.cmake b/build/turtlebot3_simulations/ament_cmake_core/turtlebot3_simulationsConfig-version.cmake
new file mode 100644
index 0000000..989b461
--- /dev/null
+++ b/build/turtlebot3_simulations/ament_cmake_core/turtlebot3_simulationsConfig-version.cmake
@@ -0,0 +1,14 @@
+# generated from ament/cmake/core/templates/nameConfig-version.cmake.in
+set(PACKAGE_VERSION "2.4.0")
+
+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()
diff --git a/build/turtlebot3_simulations/ament_cmake_core/turtlebot3_simulationsConfig.cmake b/build/turtlebot3_simulations/ament_cmake_core/turtlebot3_simulationsConfig.cmake
new file mode 100644
index 0000000..22a2b4e
--- /dev/null
+++ b/build/turtlebot3_simulations/ament_cmake_core/turtlebot3_simulationsConfig.cmake
@@ -0,0 +1,42 @@
+# generated from ament/cmake/core/templates/nameConfig.cmake.in
+
+# prevent multiple inclusion
+if(_turtlebot3_simulations_CONFIG_INCLUDED)
+  # ensure to keep the found flag the same
+  if(NOT DEFINED turtlebot3_simulations_FOUND)
+    # explicitly set it to FALSE, otherwise CMake will set it to TRUE
+    set(turtlebot3_simulations_FOUND FALSE)
+  elseif(NOT turtlebot3_simulations_FOUND)
+    # use separate condition to avoid uninitialized variable warning
+    set(turtlebot3_simulations_FOUND FALSE)
+  endif()
+  return()
+endif()
+set(_turtlebot3_simulations_CONFIG_INCLUDED TRUE)
+
+# output package information
+if(NOT turtlebot3_simulations_FIND_QUIETLY)
+  message(STATUS "Found turtlebot3_simulations: 2.4.0 (${turtlebot3_simulations_DIR})")
+endif()
+
+# warn when using a deprecated package
+if(NOT "" STREQUAL "")
+  set(_msg "Package 'turtlebot3_simulations' is deprecated")
+  # append custom deprecation text if available
+  if(NOT "" STREQUAL "TRUE")
+    set(_msg "${_msg} ()")
+  endif()
+  # optionally quiet the deprecation message
+  if(NOT ${turtlebot3_simulations_DEPRECATED_QUIET})
+    message(DEPRECATION "${_msg}")
+  endif()
+endif()
+
+# flag package as ament-based to distinguish it after being find_package()-ed
+set(turtlebot3_simulations_FOUND_AMENT_PACKAGE TRUE)
+
+# include all config extra files
+set(_extras "")
+foreach(_extra ${_extras})
+  include("${turtlebot3_simulations_DIR}/${_extra}")
+endforeach()
diff --git a/build/turtlebot3_simulations/ament_cmake_environment_hooks/ament_prefix_path.dsv b/build/turtlebot3_simulations/ament_cmake_environment_hooks/ament_prefix_path.dsv
new file mode 100644
index 0000000..79d4c95
--- /dev/null
+++ b/build/turtlebot3_simulations/ament_cmake_environment_hooks/ament_prefix_path.dsv
@@ -0,0 +1 @@
+prepend-non-duplicate;AMENT_PREFIX_PATH;
diff --git a/build/turtlebot3_simulations/ament_cmake_environment_hooks/local_setup.bash b/build/turtlebot3_simulations/ament_cmake_environment_hooks/local_setup.bash
new file mode 100644
index 0000000..49782f2
--- /dev/null
+++ b/build/turtlebot3_simulations/ament_cmake_environment_hooks/local_setup.bash
@@ -0,0 +1,46 @@
+# generated from ament_package/template/package_level/local_setup.bash.in
+
+# source local_setup.sh from same directory as this file
+_this_path=$(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
diff --git a/build/turtlebot3_simulations/ament_cmake_environment_hooks/local_setup.dsv b/build/turtlebot3_simulations/ament_cmake_environment_hooks/local_setup.dsv
new file mode 100644
index 0000000..6b93ddb
--- /dev/null
+++ b/build/turtlebot3_simulations/ament_cmake_environment_hooks/local_setup.dsv
@@ -0,0 +1,2 @@
+source;share/turtlebot3_simulations/environment/ament_prefix_path.sh
+source;share/turtlebot3_simulations/environment/path.sh
diff --git a/build/turtlebot3_simulations/ament_cmake_environment_hooks/local_setup.sh b/build/turtlebot3_simulations/ament_cmake_environment_hooks/local_setup.sh
new file mode 100644
index 0000000..5f52e68
--- /dev/null
+++ b/build/turtlebot3_simulations/ament_cmake_environment_hooks/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
+: ${AMENT_CURRENT_PREFIX:="/workspace/install/turtlebot3_simulations"}
+if [ ! -d "$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 "$AMENT_CURRENT_PREFIX/share/turtlebot3_simulations/environment/ament_prefix_path.sh"
+ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/turtlebot3_simulations/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=$_package_local_setup_IFS
+  unset _package_local_setup_IFS
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+# reset AMENT_CURRENT_PREFIX after each package
+# allowing to source multiple package-level setup files
+unset AMENT_CURRENT_PREFIX
diff --git a/build/turtlebot3_simulations/ament_cmake_environment_hooks/local_setup.zsh b/build/turtlebot3_simulations/ament_cmake_environment_hooks/local_setup.zsh
new file mode 100644
index 0000000..fe161be
--- /dev/null
+++ b/build/turtlebot3_simulations/ament_cmake_environment_hooks/local_setup.zsh
@@ -0,0 +1,59 @@
+# generated from ament_package/template/package_level/local_setup.zsh.in
+
+AMENT_SHELL=zsh
+
+# source local_setup.sh from same directory as this file
+_this_path=$(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
diff --git a/build/turtlebot3_simulations/ament_cmake_environment_hooks/package.dsv b/build/turtlebot3_simulations/ament_cmake_environment_hooks/package.dsv
new file mode 100644
index 0000000..a4cb7af
--- /dev/null
+++ b/build/turtlebot3_simulations/ament_cmake_environment_hooks/package.dsv
@@ -0,0 +1,4 @@
+source;share/turtlebot3_simulations/local_setup.bash
+source;share/turtlebot3_simulations/local_setup.dsv
+source;share/turtlebot3_simulations/local_setup.sh
+source;share/turtlebot3_simulations/local_setup.zsh
diff --git a/build/turtlebot3_simulations/ament_cmake_environment_hooks/path.dsv b/build/turtlebot3_simulations/ament_cmake_environment_hooks/path.dsv
new file mode 100644
index 0000000..b94426a
--- /dev/null
+++ b/build/turtlebot3_simulations/ament_cmake_environment_hooks/path.dsv
@@ -0,0 +1 @@
+prepend-non-duplicate-if-exists;PATH;bin
diff --git a/build/turtlebot3_simulations/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/turtlebot3_simulations b/build/turtlebot3_simulations/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/turtlebot3_simulations
new file mode 100644
index 0000000..5b469ed
--- /dev/null
+++ b/build/turtlebot3_simulations/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/turtlebot3_simulations
@@ -0,0 +1 @@
+turtlebot3_fake_node;turtlebot3_gazebo;turtlebot3_manipulation_gazebo;ros_gz_bridge;ros_gz_sim
\ No newline at end of file
diff --git a/build/turtlebot3_simulations/ament_cmake_index/share/ament_index/resource_index/packages/turtlebot3_simulations b/build/turtlebot3_simulations/ament_cmake_index/share/ament_index/resource_index/packages/turtlebot3_simulations
new file mode 100644
index 0000000..e69de29
diff --git a/build/turtlebot3_simulations/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/turtlebot3_simulations b/build/turtlebot3_simulations/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/turtlebot3_simulations
new file mode 100644
index 0000000..57b69b8
--- /dev/null
+++ b/build/turtlebot3_simulations/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/turtlebot3_simulations
@@ -0,0 +1 @@
+/workspace/install/turtlebot3_gazebo:/opt/ros/humble
\ No newline at end of file
diff --git a/build/turtlebot3_simulations/ament_cmake_package_templates/templates.cmake b/build/turtlebot3_simulations/ament_cmake_package_templates/templates.cmake
new file mode 100644
index 0000000..42a5a03
--- /dev/null
+++ b/build/turtlebot3_simulations/ament_cmake_package_templates/templates.cmake
@@ -0,0 +1,14 @@
+set(ament_cmake_package_templates_ENVIRONMENT_HOOK_LIBRARY_PATH "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/environment_hook/library_path.sh")
+set(ament_cmake_package_templates_ENVIRONMENT_HOOK_PYTHONPATH "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/environment_hook/pythonpath.sh.in")
+set(ament_cmake_package_templates_PACKAGE_LEVEL "")
+list(APPEND ament_cmake_package_templates_PACKAGE_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/package_level/local_setup.bash.in")
+list(APPEND ament_cmake_package_templates_PACKAGE_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/package_level/local_setup.sh.in")
+list(APPEND ament_cmake_package_templates_PACKAGE_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/package_level/local_setup.zsh.in")
+set(ament_cmake_package_templates_PREFIX_LEVEL "")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/prefix_level/local_setup.bash")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/prefix_level/local_setup.sh.in")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/prefix_level/local_setup.zsh")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/prefix_level/setup.bash")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/prefix_level/setup.sh.in")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/prefix_level/setup.zsh")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/prefix_level/_local_setup_util.py")
diff --git a/build/turtlebot3_simulations/ament_cmake_symlink_install/ament_cmake_symlink_install.cmake b/build/turtlebot3_simulations/ament_cmake_symlink_install/ament_cmake_symlink_install.cmake
new file mode 100644
index 0000000..78b3deb
--- /dev/null
+++ b/build/turtlebot3_simulations/ament_cmake_symlink_install/ament_cmake_symlink_install.cmake
@@ -0,0 +1,358 @@
+# generated from
+# ament_cmake_core/cmake/symlink_install/ament_cmake_symlink_install.cmake.in
+
+# create empty symlink install manifest before starting install step
+file(WRITE "${CMAKE_CURRENT_BINARY_DIR}/symlink_install_manifest.txt")
+
+#
+# Reimplement CMake install(DIRECTORY) command to use symlinks instead of
+# copying resources.
+#
+# :param cmake_current_source_dir: The CMAKE_CURRENT_SOURCE_DIR when install
+#   was invoked
+# :type cmake_current_source_dir: string
+# :param ARGN: the same arguments as the CMake install command.
+# :type ARGN: various
+#
+function(ament_cmake_symlink_install_directory cmake_current_source_dir)
+  cmake_parse_arguments(ARG "OPTIONAL" "DESTINATION" "DIRECTORY;PATTERN;PATTERN_EXCLUDE" ${ARGN})
+  if(ARG_UNPARSED_ARGUMENTS)
+    message(FATAL_ERROR "ament_cmake_symlink_install_directory() called with "
+      "unused/unsupported arguments: ${ARG_UNPARSED_ARGUMENTS}")
+  endif()
+
+  # make destination absolute path and ensure that it exists
+  if(NOT IS_ABSOLUTE "${ARG_DESTINATION}")
+    set(ARG_DESTINATION "/workspace/install/turtlebot3_simulations/${ARG_DESTINATION}")
+  endif()
+  if(NOT EXISTS "${ARG_DESTINATION}")
+    file(MAKE_DIRECTORY "${ARG_DESTINATION}")
+  endif()
+
+  # default pattern to include
+  if(NOT ARG_PATTERN)
+    set(ARG_PATTERN "*")
+  endif()
+
+  # iterate over directories
+  foreach(dir ${ARG_DIRECTORY})
+    # make dir an absolute path
+    if(NOT IS_ABSOLUTE "${dir}")
+      set(dir "${cmake_current_source_dir}/${dir}")
+    endif()
+
+    if(EXISTS "${dir}")
+      # if directory has no trailing slash
+      # append folder name to destination
+      set(destination "${ARG_DESTINATION}")
+      string(LENGTH "${dir}" length)
+      math(EXPR offset "${length} - 1")
+      string(SUBSTRING "${dir}" ${offset} 1 dir_last_char)
+      if(NOT dir_last_char STREQUAL "/")
+        get_filename_component(destination_name "${dir}" NAME)
+        set(destination "${destination}/${destination_name}")
+      else()
+        # remove trailing slash
+        string(SUBSTRING "${dir}" 0 ${offset} dir)
+      endif()
+      
+      # Create destination directory.
+      # This does *not* solve the problem of empty directories WITHIN the install tree,
+      # but does make sure that the top-level directory specified by the caller gets created.
+      file(MAKE_DIRECTORY "${destination}")
+
+      # glob recursive files
+      set(relative_files "")
+      foreach(pattern ${ARG_PATTERN})
+        file(
+          GLOB_RECURSE
+          include_files
+          RELATIVE "${dir}"
+          "${dir}/${pattern}"
+        )
+        if(NOT include_files STREQUAL "")
+          list(APPEND relative_files ${include_files})
+        endif()
+      endforeach()
+      foreach(pattern ${ARG_PATTERN_EXCLUDE})
+        file(
+          GLOB_RECURSE
+          exclude_files
+          RELATIVE "${dir}"
+          "${dir}/${pattern}"
+        )
+        if(NOT exclude_files STREQUAL "")
+          list(REMOVE_ITEM relative_files ${exclude_files})
+        endif()
+      endforeach()
+      list(SORT relative_files)
+
+      foreach(relative_file ${relative_files})
+        set(absolute_file "${dir}/${relative_file}")
+        # determine link name for file including destination path
+        set(symlink "${destination}/${relative_file}")
+
+        # ensure that destination exists
+        get_filename_component(symlink_dir "${symlink}" PATH)
+        if(NOT EXISTS "${symlink_dir}")
+          file(MAKE_DIRECTORY "${symlink_dir}")
+        endif()
+
+        _ament_cmake_symlink_install_create_symlink("${absolute_file}" "${symlink}")
+      endforeach()
+    else()
+      if(NOT ARG_OPTIONAL)
+        message(FATAL_ERROR
+          "ament_cmake_symlink_install_directory() can't find '${dir}'")
+      endif()
+    endif()
+  endforeach()
+endfunction()
+
+#
+# Reimplement CMake install(FILES) command to use symlinks instead of copying
+# resources.
+#
+# :param cmake_current_source_dir: The CMAKE_CURRENT_SOURCE_DIR when install
+#   was invoked
+# :type cmake_current_source_dir: string
+# :param ARGN: the same arguments as the CMake install command.
+# :type ARGN: various
+#
+function(ament_cmake_symlink_install_files cmake_current_source_dir)
+  cmake_parse_arguments(ARG "OPTIONAL" "DESTINATION;RENAME" "FILES" ${ARGN})
+  if(ARG_UNPARSED_ARGUMENTS)
+    message(FATAL_ERROR "ament_cmake_symlink_install_files() called with "
+      "unused/unsupported arguments: ${ARG_UNPARSED_ARGUMENTS}")
+  endif()
+
+  # make destination an absolute path and ensure that it exists
+  if(NOT IS_ABSOLUTE "${ARG_DESTINATION}")
+    set(ARG_DESTINATION "/workspace/install/turtlebot3_simulations/${ARG_DESTINATION}")
+  endif()
+  if(NOT EXISTS "${ARG_DESTINATION}")
+    file(MAKE_DIRECTORY "${ARG_DESTINATION}")
+  endif()
+
+  if(ARG_RENAME)
+    list(LENGTH ARG_FILES file_count)
+    if(NOT file_count EQUAL 1)
+    message(FATAL_ERROR "ament_cmake_symlink_install_files() called with "
+      "RENAME argument but not with a single file")
+    endif()
+  endif()
+
+  # iterate over files
+  foreach(file ${ARG_FILES})
+    # make file an absolute path
+    if(NOT IS_ABSOLUTE "${file}")
+      set(file "${cmake_current_source_dir}/${file}")
+    endif()
+
+    if(EXISTS "${file}")
+      # determine link name for file including destination path
+      get_filename_component(filename "${file}" NAME)
+      if(NOT ARG_RENAME)
+        set(symlink "${ARG_DESTINATION}/${filename}")
+      else()
+        set(symlink "${ARG_DESTINATION}/${ARG_RENAME}")
+      endif()
+      _ament_cmake_symlink_install_create_symlink("${file}" "${symlink}")
+    else()
+      if(NOT ARG_OPTIONAL)
+        message(FATAL_ERROR
+          "ament_cmake_symlink_install_files() can't find '${file}'")
+      endif()
+    endif()
+  endforeach()
+endfunction()
+
+#
+# Reimplement CMake install(PROGRAMS) command to use symlinks instead of copying
+# resources.
+#
+# :param cmake_current_source_dir: The CMAKE_CURRENT_SOURCE_DIR when install
+#   was invoked
+# :type cmake_current_source_dir: string
+# :param ARGN: the same arguments as the CMake install command.
+# :type ARGN: various
+#
+function(ament_cmake_symlink_install_programs cmake_current_source_dir)
+  cmake_parse_arguments(ARG "OPTIONAL" "DESTINATION" "PROGRAMS" ${ARGN})
+  if(ARG_UNPARSED_ARGUMENTS)
+    message(FATAL_ERROR "ament_cmake_symlink_install_programs() called with "
+      "unused/unsupported arguments: ${ARG_UNPARSED_ARGUMENTS}")
+  endif()
+
+  # make destination an absolute path and ensure that it exists
+  if(NOT IS_ABSOLUTE "${ARG_DESTINATION}")
+    set(ARG_DESTINATION "/workspace/install/turtlebot3_simulations/${ARG_DESTINATION}")
+  endif()
+  if(NOT EXISTS "${ARG_DESTINATION}")
+    file(MAKE_DIRECTORY "${ARG_DESTINATION}")
+  endif()
+
+  # iterate over programs
+  foreach(file ${ARG_PROGRAMS})
+    # make file an absolute path
+    if(NOT IS_ABSOLUTE "${file}")
+      set(file "${cmake_current_source_dir}/${file}")
+    endif()
+
+    if(EXISTS "${file}")
+      # determine link name for file including destination path
+      get_filename_component(filename "${file}" NAME)
+      set(symlink "${ARG_DESTINATION}/${filename}")
+      _ament_cmake_symlink_install_create_symlink("${file}" "${symlink}")
+    else()
+      if(NOT ARG_OPTIONAL)
+        message(FATAL_ERROR
+          "ament_cmake_symlink_install_programs() can't find '${file}'")
+      endif()
+    endif()
+  endforeach()
+endfunction()
+
+#
+# Reimplement CMake install(TARGETS) command to use symlinks instead of copying
+# resources.
+#
+# :param TARGET_FILES: the absolute files, replacing the name of targets passed
+#   in as TARGETS
+# :type TARGET_FILES: list of files
+# :param ARGN: the same arguments as the CMake install command except that
+#   keywords identifying the kind of type and the DESTINATION keyword must be
+#   joined with an underscore, e.g. ARCHIVE_DESTINATION.
+# :type ARGN: various
+#
+function(ament_cmake_symlink_install_targets)
+  cmake_parse_arguments(ARG "OPTIONAL" "ARCHIVE_DESTINATION;DESTINATION;LIBRARY_DESTINATION;RUNTIME_DESTINATION"
+    "TARGETS;TARGET_FILES" ${ARGN})
+  if(ARG_UNPARSED_ARGUMENTS)
+    message(FATAL_ERROR "ament_cmake_symlink_install_targets() called with "
+      "unused/unsupported arguments: ${ARG_UNPARSED_ARGUMENTS}")
+  endif()
+
+  # iterate over target files
+  foreach(file ${ARG_TARGET_FILES})
+    if(NOT IS_ABSOLUTE "${file}")
+      message(FATAL_ERROR "ament_cmake_symlink_install_targets() target file "
+        "'${file}' must be an absolute path")
+    endif()
+
+    # determine destination of file based on extension
+    set(destination "")
+    get_filename_component(fileext "${file}" EXT)
+    if(fileext STREQUAL ".a" OR fileext STREQUAL ".lib")
+      set(destination "${ARG_ARCHIVE_DESTINATION}")
+    elseif(fileext STREQUAL ".dylib" OR fileext MATCHES "\\.so(\\.[0-9]+)?(\\.[0-9]+)?(\\.[0-9]+)?$")
+      set(destination "${ARG_LIBRARY_DESTINATION}")
+    elseif(fileext STREQUAL "" OR fileext STREQUAL ".dll" OR fileext STREQUAL ".exe")
+      set(destination "${ARG_RUNTIME_DESTINATION}")
+    endif()
+    if(destination STREQUAL "")
+      set(destination "${ARG_DESTINATION}")
+    endif()
+
+    # make destination an absolute path and ensure that it exists
+    if(NOT IS_ABSOLUTE "${destination}")
+      set(destination "/workspace/install/turtlebot3_simulations/${destination}")
+    endif()
+    if(NOT EXISTS "${destination}")
+      file(MAKE_DIRECTORY "${destination}")
+    endif()
+
+    if(EXISTS "${file}")
+      # determine link name for file including destination path
+      get_filename_component(filename "${file}" NAME)
+      set(symlink "${destination}/${filename}")
+      _ament_cmake_symlink_install_create_symlink("${file}" "${symlink}")
+    else()
+      if(NOT ARG_OPTIONAL)
+        message(FATAL_ERROR
+          "ament_cmake_symlink_install_targets() can't find '${file}'")
+      endif()
+    endif()
+  endforeach()
+endfunction()
+
+function(_ament_cmake_symlink_install_create_symlink absolute_file symlink)
+  # register symlink for being removed during install step
+  file(APPEND "${CMAKE_CURRENT_BINARY_DIR}/symlink_install_manifest.txt"
+    "${symlink}\n")
+
+  # avoid any work if correct symlink is already in place
+  if(EXISTS "${symlink}" AND IS_SYMLINK "${symlink}")
+    get_filename_component(destination "${symlink}" REALPATH)
+    get_filename_component(real_absolute_file "${absolute_file}" REALPATH)
+    if(destination STREQUAL real_absolute_file)
+      message(STATUS "Up-to-date symlink: ${symlink}")
+      return()
+    endif()
+  endif()
+
+  message(STATUS "Symlinking: ${symlink}")
+  if(EXISTS "${symlink}" OR IS_SYMLINK "${symlink}")
+    file(REMOVE "${symlink}")
+  endif()
+
+  execute_process(
+    COMMAND "/usr/bin/cmake" "-E" "create_symlink"
+      "${absolute_file}"
+      "${symlink}"
+  )
+  # the CMake command does not provide a return code so check manually
+  if(NOT EXISTS "${symlink}" OR NOT IS_SYMLINK "${symlink}")
+    get_filename_component(destination "${symlink}" REALPATH)
+    message(FATAL_ERROR
+      "Could not create symlink '${symlink}' pointing to '${absolute_file}'")
+  endif()
+endfunction()
+
+# end of template
+
+message(STATUS "Execute custom install script")
+
+# begin of custom install code
+
+# install(FILES "/workspace/build/turtlebot3_simulations/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/turtlebot3_simulations" "DESTINATION" "share/ament_index/resource_index/package_run_dependencies")
+ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_simulations" FILES "/workspace/build/turtlebot3_simulations/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/turtlebot3_simulations" "DESTINATION" "share/ament_index/resource_index/package_run_dependencies")
+
+# install(FILES "/workspace/build/turtlebot3_simulations/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/turtlebot3_simulations" "DESTINATION" "share/ament_index/resource_index/parent_prefix_path")
+ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_simulations" FILES "/workspace/build/turtlebot3_simulations/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/turtlebot3_simulations" "DESTINATION" "share/ament_index/resource_index/parent_prefix_path")
+
+# install(FILES "/opt/ros/humble/share/ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh" "DESTINATION" "share/turtlebot3_simulations/environment")
+ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_simulations" FILES "/opt/ros/humble/share/ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh" "DESTINATION" "share/turtlebot3_simulations/environment")
+
+# install(FILES "/workspace/build/turtlebot3_simulations/ament_cmake_environment_hooks/ament_prefix_path.dsv" "DESTINATION" "share/turtlebot3_simulations/environment")
+ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_simulations" FILES "/workspace/build/turtlebot3_simulations/ament_cmake_environment_hooks/ament_prefix_path.dsv" "DESTINATION" "share/turtlebot3_simulations/environment")
+
+# install(FILES "/opt/ros/humble/share/ament_cmake_core/cmake/environment_hooks/environment/path.sh" "DESTINATION" "share/turtlebot3_simulations/environment")
+ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_simulations" FILES "/opt/ros/humble/share/ament_cmake_core/cmake/environment_hooks/environment/path.sh" "DESTINATION" "share/turtlebot3_simulations/environment")
+
+# install(FILES "/workspace/build/turtlebot3_simulations/ament_cmake_environment_hooks/path.dsv" "DESTINATION" "share/turtlebot3_simulations/environment")
+ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_simulations" FILES "/workspace/build/turtlebot3_simulations/ament_cmake_environment_hooks/path.dsv" "DESTINATION" "share/turtlebot3_simulations/environment")
+
+# install(FILES "/workspace/build/turtlebot3_simulations/ament_cmake_environment_hooks/local_setup.bash" "DESTINATION" "share/turtlebot3_simulations")
+ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_simulations" FILES "/workspace/build/turtlebot3_simulations/ament_cmake_environment_hooks/local_setup.bash" "DESTINATION" "share/turtlebot3_simulations")
+
+# install(FILES "/workspace/build/turtlebot3_simulations/ament_cmake_environment_hooks/local_setup.sh" "DESTINATION" "share/turtlebot3_simulations")
+ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_simulations" FILES "/workspace/build/turtlebot3_simulations/ament_cmake_environment_hooks/local_setup.sh" "DESTINATION" "share/turtlebot3_simulations")
+
+# install(FILES "/workspace/build/turtlebot3_simulations/ament_cmake_environment_hooks/local_setup.zsh" "DESTINATION" "share/turtlebot3_simulations")
+ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_simulations" FILES "/workspace/build/turtlebot3_simulations/ament_cmake_environment_hooks/local_setup.zsh" "DESTINATION" "share/turtlebot3_simulations")
+
+# install(FILES "/workspace/build/turtlebot3_simulations/ament_cmake_environment_hooks/local_setup.dsv" "DESTINATION" "share/turtlebot3_simulations")
+ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_simulations" FILES "/workspace/build/turtlebot3_simulations/ament_cmake_environment_hooks/local_setup.dsv" "DESTINATION" "share/turtlebot3_simulations")
+
+# install(FILES "/workspace/build/turtlebot3_simulations/ament_cmake_environment_hooks/package.dsv" "DESTINATION" "share/turtlebot3_simulations")
+ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_simulations" FILES "/workspace/build/turtlebot3_simulations/ament_cmake_environment_hooks/package.dsv" "DESTINATION" "share/turtlebot3_simulations")
+
+# install(FILES "/workspace/build/turtlebot3_simulations/ament_cmake_index/share/ament_index/resource_index/packages/turtlebot3_simulations" "DESTINATION" "share/ament_index/resource_index/packages")
+ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_simulations" FILES "/workspace/build/turtlebot3_simulations/ament_cmake_index/share/ament_index/resource_index/packages/turtlebot3_simulations" "DESTINATION" "share/ament_index/resource_index/packages")
+
+# install(FILES "/workspace/build/turtlebot3_simulations/ament_cmake_core/turtlebot3_simulationsConfig.cmake" "/workspace/build/turtlebot3_simulations/ament_cmake_core/turtlebot3_simulationsConfig-version.cmake" "DESTINATION" "share/turtlebot3_simulations/cmake")
+ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_simulations" FILES "/workspace/build/turtlebot3_simulations/ament_cmake_core/turtlebot3_simulationsConfig.cmake" "/workspace/build/turtlebot3_simulations/ament_cmake_core/turtlebot3_simulationsConfig-version.cmake" "DESTINATION" "share/turtlebot3_simulations/cmake")
+
+# install(FILES "/workspace/src/turtlebot3_simulations/turtlebot3_simulations/package.xml" "DESTINATION" "share/turtlebot3_simulations")
+ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_simulations" FILES "/workspace/src/turtlebot3_simulations/turtlebot3_simulations/package.xml" "DESTINATION" "share/turtlebot3_simulations")
diff --git a/build/turtlebot3_simulations/ament_cmake_symlink_install/ament_cmake_symlink_install_uninstall_script.cmake b/build/turtlebot3_simulations/ament_cmake_symlink_install/ament_cmake_symlink_install_uninstall_script.cmake
new file mode 100644
index 0000000..c5c8aef
--- /dev/null
+++ b/build/turtlebot3_simulations/ament_cmake_symlink_install/ament_cmake_symlink_install_uninstall_script.cmake
@@ -0,0 +1,23 @@
+# generated from
+# ament_cmake_core/cmake/symlink_install/ament_cmake_symlink_install_uninstall_script.cmake.in
+
+set(install_manifest "/workspace/build/turtlebot3_simulations/symlink_install_manifest.txt")
+if(NOT EXISTS "${install_manifest}")
+  message(FATAL_ERROR "Cannot find symlink install manifest: ${install_manifest}")
+endif()
+
+file(READ "${install_manifest}" installed_files)
+string(REGEX REPLACE "\n" ";" installed_files "${installed_files}")
+foreach(installed_file ${installed_files})
+  if(EXISTS "${installed_file}" OR IS_SYMLINK "${installed_file}")
+    message(STATUS "Uninstalling: ${installed_file}")
+    file(REMOVE "${installed_file}")
+    if(EXISTS "${installed_file}" OR IS_SYMLINK "${installed_file}")
+      message(FATAL_ERROR "Failed to remove '${installed_file}'")
+    endif()
+
+    # remove empty parent folders
+    get_filename_component(parent_path "${installed_file}" PATH)
+    ament_cmake_uninstall_target_remove_empty_directories("${parent_path}")
+  endif()
+endforeach()
diff --git a/build/turtlebot3_simulations/ament_cmake_uninstall_target/ament_cmake_uninstall_target.cmake b/build/turtlebot3_simulations/ament_cmake_uninstall_target/ament_cmake_uninstall_target.cmake
new file mode 100644
index 0000000..71a6779
--- /dev/null
+++ b/build/turtlebot3_simulations/ament_cmake_uninstall_target/ament_cmake_uninstall_target.cmake
@@ -0,0 +1,60 @@
+# generated from
+# ament_cmake_core/cmake/uninstall_target/ament_cmake_uninstall_target.cmake.in
+
+function(ament_cmake_uninstall_target_remove_empty_directories path)
+  set(install_space "/workspace/install/turtlebot3_simulations")
+  if(install_space STREQUAL "")
+    message(FATAL_ERROR "The CMAKE_INSTALL_PREFIX variable must not be empty")
+  endif()
+
+  string(LENGTH "${install_space}" length)
+  string(SUBSTRING "${path}" 0 ${length} path_prefix)
+  if(NOT path_prefix STREQUAL install_space)
+    message(FATAL_ERROR "The path '${path}' must be within the install space '${install_space}'")
+  endif()
+  if(path STREQUAL install_space)
+    return()
+  endif()
+
+  # check if directory is empty
+  file(GLOB files "${path}/*")
+  list(LENGTH files length)
+  if(length EQUAL 0)
+    message(STATUS "Uninstalling: ${path}/")
+    execute_process(COMMAND "/usr/bin/cmake" "-E" "remove_directory" "${path}")
+    # recursively try to remove parent directories
+    get_filename_component(parent_path "${path}" PATH)
+    ament_cmake_uninstall_target_remove_empty_directories("${parent_path}")
+  endif()
+endfunction()
+
+# uninstall files installed using the standard install() function
+set(install_manifest "/workspace/build/turtlebot3_simulations/install_manifest.txt")
+if(NOT EXISTS "${install_manifest}")
+  message(FATAL_ERROR "Cannot find install manifest: ${install_manifest}")
+endif()
+
+file(READ "${install_manifest}" installed_files)
+string(REGEX REPLACE "\n" ";" installed_files "${installed_files}")
+foreach(installed_file ${installed_files})
+  if(EXISTS "${installed_file}" OR IS_SYMLINK "${installed_file}")
+    message(STATUS "Uninstalling: ${installed_file}")
+    file(REMOVE "${installed_file}")
+    if(EXISTS "${installed_file}" OR IS_SYMLINK "${installed_file}")
+      message(FATAL_ERROR "Failed to remove '${installed_file}'")
+    endif()
+
+    # remove empty parent folders
+    get_filename_component(parent_path "${installed_file}" PATH)
+    ament_cmake_uninstall_target_remove_empty_directories("${parent_path}")
+  endif()
+endforeach()
+
+# end of template
+
+message(STATUS "Execute custom uninstall script")
+
+# begin of custom uninstall code
+
+# uninstall files installed using the symlink install functions
+include("/workspace/build/turtlebot3_simulations/ament_cmake_symlink_install/ament_cmake_symlink_install_uninstall_script.cmake")
diff --git a/build/turtlebot3_simulations/cmake_args.last b/build/turtlebot3_simulations/cmake_args.last
new file mode 100644
index 0000000..7aacf90
--- /dev/null
+++ b/build/turtlebot3_simulations/cmake_args.last
@@ -0,0 +1 @@
+['-DAMENT_CMAKE_SYMLINK_INSTALL=1']
\ No newline at end of file
diff --git a/build/turtlebot3_simulations/cmake_install.cmake b/build/turtlebot3_simulations/cmake_install.cmake
new file mode 100644
index 0000000..9c0cff4
--- /dev/null
+++ b/build/turtlebot3_simulations/cmake_install.cmake
@@ -0,0 +1,58 @@
+# Install script for directory: /workspace/src/turtlebot3_simulations/turtlebot3_simulations
+
+# Set the install prefix
+if(NOT DEFINED CMAKE_INSTALL_PREFIX)
+  set(CMAKE_INSTALL_PREFIX "/workspace/install/turtlebot3_simulations")
+endif()
+string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
+
+# Set the install configuration name.
+if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+  if(BUILD_TYPE)
+    string(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
+           CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
+  else()
+    set(CMAKE_INSTALL_CONFIG_NAME "")
+  endif()
+  message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
+endif()
+
+# Set the component getting installed.
+if(NOT CMAKE_INSTALL_COMPONENT)
+  if(COMPONENT)
+    message(STATUS "Install component: \"${COMPONENT}\"")
+    set(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
+  else()
+    set(CMAKE_INSTALL_COMPONENT)
+  endif()
+endif()
+
+# Install shared libraries without execute permission?
+if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+  set(CMAKE_INSTALL_SO_NO_EXE "1")
+endif()
+
+# Is this installation the result of a crosscompile?
+if(NOT DEFINED CMAKE_CROSSCOMPILING)
+  set(CMAKE_CROSSCOMPILING "FALSE")
+endif()
+
+# Set default install directory permissions.
+if(NOT DEFINED CMAKE_OBJDUMP)
+  set(CMAKE_OBJDUMP "/usr/bin/objdump")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  include("/workspace/build/turtlebot3_simulations/ament_cmake_symlink_install/ament_cmake_symlink_install.cmake")
+endif()
+
+if(CMAKE_INSTALL_COMPONENT)
+  set(CMAKE_INSTALL_MANIFEST "install_manifest_${CMAKE_INSTALL_COMPONENT}.txt")
+else()
+  set(CMAKE_INSTALL_MANIFEST "install_manifest.txt")
+endif()
+
+string(REPLACE ";" "\n" CMAKE_INSTALL_MANIFEST_CONTENT
+       "${CMAKE_INSTALL_MANIFEST_FILES}")
+file(WRITE "/workspace/build/turtlebot3_simulations/${CMAKE_INSTALL_MANIFEST}"
+     "${CMAKE_INSTALL_MANIFEST_CONTENT}")
diff --git a/build/turtlebot3_simulations/colcon_build.rc b/build/turtlebot3_simulations/colcon_build.rc
new file mode 100644
index 0000000..573541a
--- /dev/null
+++ b/build/turtlebot3_simulations/colcon_build.rc
@@ -0,0 +1 @@
+0
diff --git a/build/turtlebot3_simulations/colcon_command_prefix_build.sh b/build/turtlebot3_simulations/colcon_command_prefix_build.sh
new file mode 100644
index 0000000..98d2e8a
--- /dev/null
+++ b/build/turtlebot3_simulations/colcon_command_prefix_build.sh
@@ -0,0 +1,2 @@
+# generated from colcon_core/shell/template/command_prefix.sh.em
+. "/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo/package.sh"
diff --git a/build/turtlebot3_simulations/colcon_command_prefix_build.sh.env b/build/turtlebot3_simulations/colcon_command_prefix_build.sh.env
new file mode 100644
index 0000000..b79da73
--- /dev/null
+++ b/build/turtlebot3_simulations/colcon_command_prefix_build.sh.env
@@ -0,0 +1,55 @@
+AMENT_PREFIX_PATH=/workspace/install/turtlebot3_gazebo:/opt/ros/humble
+CMAKE_PREFIX_PATH=/workspace/install/turtlebot3_gazebo
+CODE_NO_PASSWORD=true
+COLCON=1
+DATA_PATH=/home/user/data
+DATA_PATH_V2=/data
+DESKTOP_MODE=auto
+DISPLAY=:1
+DISPLAY_BACKEND=auto
+ENABLE_CODE_SERVER=true
+ENABLE_FILEBROWSER=false
+ENABLE_FOXGLOVE=true
+ENABLE_GZWEB=true
+ENABLE_ROSBRIDGE=true
+ENABLE_TERMINAL=true
+ENABLE_VNC=true
+FILEBROWSER_BASEURL=/file
+GZWEB_APP_DIR=/opt/gzweb
+GZWEB_PORT=8000
+GZ_SIM_CACHE_PATH=/opt/gzsim/cache
+GZ_SIM_RESOURCE_PATH=/workspace/models:/opt/gzsim/models:/workspace/models:/opt/gzsim/models:/workspace/models:/opt/gzsim/models:/usr/share/gz/gz-sim7/models
+HOME=/home/devuser
+INIT_SCRIPT=sed -i "/# pms-vendor-pythonpath/d;/export PYTHONPATH=\"/opt\/vendor\/python/d" /home/${USER:-devuser}/.bashrc 2>/dev/null || true
+
+/workspace/autorun.sh
+INIT_WORKSPACE=/workspace
+LAUNCH_TYPE=EC2
+LC_CTYPE=C.UTF-8
+LD_LIBRARY_PATH=/usr/local/cuda/lib64:/usr/local/cuda/lib64:/usr/local/cuda/lib64:/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib
+LOGNAME=devuser
+MAIL=/var/mail/devuser
+OLDPWD=/workspace
+PATH=/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/opt/ros/humble/bin:/usr/local/cuda/bin:/opt/TurboVNC/bin:/opt/node/bin:/opt/foundation/bin:/home/devuser/miniconda3/bin:/home/devuser/.local/bin
+PMS_FOUNDATION_VARIANT=gpu
+PMS_VNC_MODE=turbovnc
+PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$
+PWD=/workspace/build/turtlebot3_simulations
+PYTHONPATH=/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages
+ROS_DISTRO=humble
+ROS_DOMAIN_ID=42
+ROS_LOCALHOST_ONLY=0
+ROS_PYTHON_VERSION=3
+ROS_VERSION=2
+SHELL=/bin/bash
+SHLVL=1
+SINGLE_DESKTOP_APP=
+SINGLE_DESKTOP_PRESET=
+SPACE_DIR=/home/user/data/309844d858e5487f9c582ea361481b3d
+SPACE_DIR_V2=/data/309844d858e5487f9c582ea361481b3d
+SPACE_ID=309844d858e5487f9c582ea361481b3d
+USER=devuser
+USER_ID=6950f1ca-1599-42c5-a926-29eb731cb95c
+VNC_NO_PASSWORD=true
+WORKSPACE=/workspace
+_=/usr/bin/colcon
diff --git a/build/turtlebot3_simulations/install_manifest.txt b/build/turtlebot3_simulations/install_manifest.txt
new file mode 100644
index 0000000..e69de29
diff --git a/build/turtlebot3_simulations/symlink_install_manifest.txt b/build/turtlebot3_simulations/symlink_install_manifest.txt
new file mode 100644
index 0000000..3f9164f
--- /dev/null
+++ b/build/turtlebot3_simulations/symlink_install_manifest.txt
@@ -0,0 +1,15 @@
+/workspace/install/turtlebot3_simulations/share/ament_index/resource_index/package_run_dependencies/turtlebot3_simulations
+/workspace/install/turtlebot3_simulations/share/ament_index/resource_index/parent_prefix_path/turtlebot3_simulations
+/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/environment/ament_prefix_path.sh
+/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/environment/ament_prefix_path.dsv
+/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/environment/path.sh
+/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/environment/path.dsv
+/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/local_setup.bash
+/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/local_setup.sh
+/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/local_setup.zsh
+/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/local_setup.dsv
+/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/package.dsv
+/workspace/install/turtlebot3_simulations/share/ament_index/resource_index/packages/turtlebot3_simulations
+/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/cmake/turtlebot3_simulationsConfig.cmake
+/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/cmake/turtlebot3_simulationsConfig-version.cmake
+/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/package.xml
diff --git a/build/vlm_nav_pkg/colcon_build.rc b/build/vlm_nav_pkg/colcon_build.rc
new file mode 100644
index 0000000..573541a
--- /dev/null
+++ b/build/vlm_nav_pkg/colcon_build.rc
@@ -0,0 +1 @@
+0
diff --git a/build/vlm_nav_pkg/colcon_command_prefix_setup_py.sh b/build/vlm_nav_pkg/colcon_command_prefix_setup_py.sh
new file mode 100644
index 0000000..f9867d5
--- /dev/null
+++ b/build/vlm_nav_pkg/colcon_command_prefix_setup_py.sh
@@ -0,0 +1 @@
+# generated from colcon_core/shell/template/command_prefix.sh.em
diff --git a/build/vlm_nav_pkg/colcon_command_prefix_setup_py.sh.env b/build/vlm_nav_pkg/colcon_command_prefix_setup_py.sh.env
new file mode 100644
index 0000000..28e38e3
--- /dev/null
+++ b/build/vlm_nav_pkg/colcon_command_prefix_setup_py.sh.env
@@ -0,0 +1,54 @@
+AMENT_PREFIX_PATH=/opt/ros/humble
+CODE_NO_PASSWORD=true
+COLCON=1
+DATA_PATH=/home/user/data
+DATA_PATH_V2=/data
+DESKTOP_MODE=auto
+DISPLAY=:1
+DISPLAY_BACKEND=auto
+ENABLE_CODE_SERVER=true
+ENABLE_FILEBROWSER=false
+ENABLE_FOXGLOVE=true
+ENABLE_GZWEB=true
+ENABLE_ROSBRIDGE=true
+ENABLE_TERMINAL=true
+ENABLE_VNC=true
+FILEBROWSER_BASEURL=/file
+GZWEB_APP_DIR=/opt/gzweb
+GZWEB_PORT=8000
+GZ_SIM_CACHE_PATH=/opt/gzsim/cache
+GZ_SIM_RESOURCE_PATH=/workspace/models:/opt/gzsim/models:/workspace/models:/opt/gzsim/models:/workspace/models:/opt/gzsim/models:/usr/share/gz/gz-sim7/models
+HOME=/home/devuser
+INIT_SCRIPT=sed -i "/# pms-vendor-pythonpath/d;/export PYTHONPATH=\"/opt\/vendor\/python/d" /home/${USER:-devuser}/.bashrc 2>/dev/null || true
+
+/workspace/autorun.sh
+INIT_WORKSPACE=/workspace
+LAUNCH_TYPE=EC2
+LC_CTYPE=C.UTF-8
+LD_LIBRARY_PATH=/usr/local/cuda/lib64:/usr/local/cuda/lib64:/usr/local/cuda/lib64:/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib
+LOGNAME=devuser
+MAIL=/var/mail/devuser
+OLDPWD=/workspace
+PATH=/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/opt/ros/humble/bin:/usr/local/cuda/bin:/opt/TurboVNC/bin:/opt/node/bin:/opt/foundation/bin:/home/devuser/miniconda3/bin:/home/devuser/.local/bin
+PMS_FOUNDATION_VARIANT=gpu
+PMS_VNC_MODE=turbovnc
+PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$
+PWD=/workspace/build/vlm_nav_pkg
+PYTHONPATH=/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages
+ROS_DISTRO=humble
+ROS_DOMAIN_ID=42
+ROS_LOCALHOST_ONLY=0
+ROS_PYTHON_VERSION=3
+ROS_VERSION=2
+SHELL=/bin/bash
+SHLVL=1
+SINGLE_DESKTOP_APP=
+SINGLE_DESKTOP_PRESET=
+SPACE_DIR=/home/user/data/309844d858e5487f9c582ea361481b3d
+SPACE_DIR_V2=/data/309844d858e5487f9c582ea361481b3d
+SPACE_ID=309844d858e5487f9c582ea361481b3d
+USER=devuser
+USER_ID=6950f1ca-1599-42c5-a926-29eb731cb95c
+VNC_NO_PASSWORD=true
+WORKSPACE=/workspace
+_=/usr/bin/colcon
diff --git a/build/vlm_nav_pkg/config/example_object_detection_vlm.json b/build/vlm_nav_pkg/config/example_object_detection_vlm.json
new file mode 120000
index 0000000..7a829a4
--- /dev/null
+++ b/build/vlm_nav_pkg/config/example_object_detection_vlm.json
@@ -0,0 +1 @@
+/workspace/src/vlm_nav_pkg/config/example_object_detection_vlm.json
\ No newline at end of file
diff --git a/build/vlm_nav_pkg/config/test_vlm.json b/build/vlm_nav_pkg/config/test_vlm.json
new file mode 120000
index 0000000..44e541a
--- /dev/null
+++ b/build/vlm_nav_pkg/config/test_vlm.json
@@ -0,0 +1 @@
+/workspace/src/vlm_nav_pkg/config/test_vlm.json
\ No newline at end of file
diff --git a/build/vlm_nav_pkg/package.xml b/build/vlm_nav_pkg/package.xml
new file mode 120000
index 0000000..103383a
--- /dev/null
+++ b/build/vlm_nav_pkg/package.xml
@@ -0,0 +1 @@
+/workspace/src/vlm_nav_pkg/package.xml
\ No newline at end of file
diff --git a/build/vlm_nav_pkg/prefix_override/__pycache__/sitecustomize.cpython-310.pyc b/build/vlm_nav_pkg/prefix_override/__pycache__/sitecustomize.cpython-310.pyc
new file mode 100644
index 0000000..1291d14
Binary files /dev/null and b/build/vlm_nav_pkg/prefix_override/__pycache__/sitecustomize.cpython-310.pyc differ
diff --git a/build/vlm_nav_pkg/prefix_override/sitecustomize.py b/build/vlm_nav_pkg/prefix_override/sitecustomize.py
new file mode 100644
index 0000000..60240d8
--- /dev/null
+++ b/build/vlm_nav_pkg/prefix_override/sitecustomize.py
@@ -0,0 +1,4 @@
+import sys
+if sys.prefix == '/usr':
+    sys.real_prefix = sys.prefix
+    sys.prefix = sys.exec_prefix = '/workspace/install/vlm_nav_pkg'
diff --git a/build/vlm_nav_pkg/resource/vlm_nav_pkg b/build/vlm_nav_pkg/resource/vlm_nav_pkg
new file mode 120000
index 0000000..5381af7
--- /dev/null
+++ b/build/vlm_nav_pkg/resource/vlm_nav_pkg
@@ -0,0 +1 @@
+/workspace/src/vlm_nav_pkg/resource/vlm_nav_pkg
\ No newline at end of file
diff --git a/build/vlm_nav_pkg/setup.cfg b/build/vlm_nav_pkg/setup.cfg
new file mode 120000
index 0000000..a24b7a0
--- /dev/null
+++ b/build/vlm_nav_pkg/setup.cfg
@@ -0,0 +1 @@
+/workspace/src/vlm_nav_pkg/setup.cfg
\ No newline at end of file
diff --git a/build/vlm_nav_pkg/setup.py b/build/vlm_nav_pkg/setup.py
new file mode 120000
index 0000000..f674faa
--- /dev/null
+++ b/build/vlm_nav_pkg/setup.py
@@ -0,0 +1 @@
+/workspace/src/vlm_nav_pkg/setup.py
\ No newline at end of file
diff --git a/build/vlm_nav_pkg/share/vlm_nav_pkg/hook/pythonpath_develop.dsv b/build/vlm_nav_pkg/share/vlm_nav_pkg/hook/pythonpath_develop.dsv
new file mode 100644
index 0000000..6282a11
--- /dev/null
+++ b/build/vlm_nav_pkg/share/vlm_nav_pkg/hook/pythonpath_develop.dsv
@@ -0,0 +1 @@
+prepend-non-duplicate;PYTHONPATH;/workspace/build/vlm_nav_pkg
diff --git a/build/vlm_nav_pkg/share/vlm_nav_pkg/hook/pythonpath_develop.ps1 b/build/vlm_nav_pkg/share/vlm_nav_pkg/hook/pythonpath_develop.ps1
new file mode 100644
index 0000000..ea486a8
--- /dev/null
+++ b/build/vlm_nav_pkg/share/vlm_nav_pkg/hook/pythonpath_develop.ps1
@@ -0,0 +1,3 @@
+# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
+
+colcon_prepend_unique_value PYTHONPATH "$env:COLCON_CURRENT_PREFIX//workspace/build/vlm_nav_pkg"
diff --git a/build/vlm_nav_pkg/share/vlm_nav_pkg/hook/pythonpath_develop.sh b/build/vlm_nav_pkg/share/vlm_nav_pkg/hook/pythonpath_develop.sh
new file mode 100644
index 0000000..427a503
--- /dev/null
+++ b/build/vlm_nav_pkg/share/vlm_nav_pkg/hook/pythonpath_develop.sh
@@ -0,0 +1,3 @@
+# generated from colcon_core/shell/template/hook_prepend_value.sh.em
+
+_colcon_prepend_unique_value PYTHONPATH "/workspace/build/vlm_nav_pkg"
diff --git a/build/vlm_nav_pkg/vlm_nav_pkg b/build/vlm_nav_pkg/vlm_nav_pkg
new file mode 120000
index 0000000..fb87078
--- /dev/null
+++ b/build/vlm_nav_pkg/vlm_nav_pkg
@@ -0,0 +1 @@
+/workspace/src/vlm_nav_pkg/vlm_nav_pkg
\ No newline at end of file
diff --git a/build/vlm_nav_pkg/vlm_nav_pkg.egg-info/PKG-INFO b/build/vlm_nav_pkg/vlm_nav_pkg.egg-info/PKG-INFO
new file mode 100644
index 0000000..17c9db0
--- /dev/null
+++ b/build/vlm_nav_pkg/vlm_nav_pkg.egg-info/PKG-INFO
@@ -0,0 +1,12 @@
+Metadata-Version: 2.1
+Name: vlm-nav-pkg
+Version: 0.0.0
+Summary: TODO: Package description
+Home-page: UNKNOWN
+Maintainer: ariel
+Maintainer-email: bhu16300@gmail.com
+License: Apache-2.0
+Platform: UNKNOWN
+
+UNKNOWN
+
diff --git a/build/vlm_nav_pkg/vlm_nav_pkg.egg-info/SOURCES.txt b/build/vlm_nav_pkg/vlm_nav_pkg.egg-info/SOURCES.txt
new file mode 100644
index 0000000..acaeeb1
--- /dev/null
+++ b/build/vlm_nav_pkg/vlm_nav_pkg.egg-info/SOURCES.txt
@@ -0,0 +1,16 @@
+package.xml
+setup.cfg
+setup.py
+config/example_object_detection_vlm.json
+config/test_vlm.json
+resource/vlm_nav_pkg
+vlm_nav_pkg/__init__.py
+vlm_nav_pkg/point_nav.py
+vlm_nav_pkg/semantic_nav.py
+vlm_nav_pkg.egg-info/PKG-INFO
+vlm_nav_pkg.egg-info/SOURCES.txt
+vlm_nav_pkg.egg-info/dependency_links.txt
+vlm_nav_pkg.egg-info/entry_points.txt
+vlm_nav_pkg.egg-info/requires.txt
+vlm_nav_pkg.egg-info/top_level.txt
+vlm_nav_pkg.egg-info/zip-safe
\ No newline at end of file
diff --git a/build/vlm_nav_pkg/vlm_nav_pkg.egg-info/dependency_links.txt b/build/vlm_nav_pkg/vlm_nav_pkg.egg-info/dependency_links.txt
new file mode 100644
index 0000000..8b13789
--- /dev/null
+++ b/build/vlm_nav_pkg/vlm_nav_pkg.egg-info/dependency_links.txt
@@ -0,0 +1 @@
+
diff --git a/build/vlm_nav_pkg/vlm_nav_pkg.egg-info/entry_points.txt b/build/vlm_nav_pkg/vlm_nav_pkg.egg-info/entry_points.txt
new file mode 100644
index 0000000..a563489
--- /dev/null
+++ b/build/vlm_nav_pkg/vlm_nav_pkg.egg-info/entry_points.txt
@@ -0,0 +1,4 @@
+[console_scripts]
+point_nav = vlm_nav_pkg.point_nav:main
+semantic_nav = vlm_nav_pkg.semantic_nav:main
+
diff --git a/build/vlm_nav_pkg/vlm_nav_pkg.egg-info/requires.txt b/build/vlm_nav_pkg/vlm_nav_pkg.egg-info/requires.txt
new file mode 100644
index 0000000..49fe098
--- /dev/null
+++ b/build/vlm_nav_pkg/vlm_nav_pkg.egg-info/requires.txt
@@ -0,0 +1 @@
+setuptools
diff --git a/build/vlm_nav_pkg/vlm_nav_pkg.egg-info/top_level.txt b/build/vlm_nav_pkg/vlm_nav_pkg.egg-info/top_level.txt
new file mode 100644
index 0000000..1361ffd
--- /dev/null
+++ b/build/vlm_nav_pkg/vlm_nav_pkg.egg-info/top_level.txt
@@ -0,0 +1 @@
+vlm_nav_pkg
diff --git a/build/vlm_nav_pkg/vlm_nav_pkg.egg-info/zip-safe b/build/vlm_nav_pkg/vlm_nav_pkg.egg-info/zip-safe
new file mode 100644
index 0000000..8b13789
--- /dev/null
+++ b/build/vlm_nav_pkg/vlm_nav_pkg.egg-info/zip-safe
@@ -0,0 +1 @@
+
diff --git a/build/vlm_perception_pkg/colcon_build.rc b/build/vlm_perception_pkg/colcon_build.rc
new file mode 100644
index 0000000..573541a
--- /dev/null
+++ b/build/vlm_perception_pkg/colcon_build.rc
@@ -0,0 +1 @@
+0
diff --git a/build/vlm_perception_pkg/colcon_command_prefix_setup_py.sh b/build/vlm_perception_pkg/colcon_command_prefix_setup_py.sh
new file mode 100644
index 0000000..f9867d5
--- /dev/null
+++ b/build/vlm_perception_pkg/colcon_command_prefix_setup_py.sh
@@ -0,0 +1 @@
+# generated from colcon_core/shell/template/command_prefix.sh.em
diff --git a/build/vlm_perception_pkg/colcon_command_prefix_setup_py.sh.env b/build/vlm_perception_pkg/colcon_command_prefix_setup_py.sh.env
new file mode 100644
index 0000000..ba55dd2
--- /dev/null
+++ b/build/vlm_perception_pkg/colcon_command_prefix_setup_py.sh.env
@@ -0,0 +1,54 @@
+AMENT_PREFIX_PATH=/opt/ros/humble
+CODE_NO_PASSWORD=true
+COLCON=1
+DATA_PATH=/home/user/data
+DATA_PATH_V2=/data
+DESKTOP_MODE=auto
+DISPLAY=:1
+DISPLAY_BACKEND=auto
+ENABLE_CODE_SERVER=true
+ENABLE_FILEBROWSER=false
+ENABLE_FOXGLOVE=true
+ENABLE_GZWEB=true
+ENABLE_ROSBRIDGE=true
+ENABLE_TERMINAL=true
+ENABLE_VNC=true
+FILEBROWSER_BASEURL=/file
+GZWEB_APP_DIR=/opt/gzweb
+GZWEB_PORT=8000
+GZ_SIM_CACHE_PATH=/opt/gzsim/cache
+GZ_SIM_RESOURCE_PATH=/workspace/models:/opt/gzsim/models:/workspace/models:/opt/gzsim/models:/workspace/models:/opt/gzsim/models:/usr/share/gz/gz-sim7/models
+HOME=/home/devuser
+INIT_SCRIPT=sed -i "/# pms-vendor-pythonpath/d;/export PYTHONPATH=\"/opt\/vendor\/python/d" /home/${USER:-devuser}/.bashrc 2>/dev/null || true
+
+/workspace/autorun.sh
+INIT_WORKSPACE=/workspace
+LAUNCH_TYPE=EC2
+LC_CTYPE=C.UTF-8
+LD_LIBRARY_PATH=/usr/local/cuda/lib64:/usr/local/cuda/lib64:/usr/local/cuda/lib64:/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib
+LOGNAME=devuser
+MAIL=/var/mail/devuser
+OLDPWD=/workspace
+PATH=/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/opt/ros/humble/bin:/usr/local/cuda/bin:/opt/TurboVNC/bin:/opt/node/bin:/opt/foundation/bin:/home/devuser/miniconda3/bin:/home/devuser/.local/bin
+PMS_FOUNDATION_VARIANT=gpu
+PMS_VNC_MODE=turbovnc
+PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$
+PWD=/workspace/build/vlm_perception_pkg
+PYTHONPATH=/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages
+ROS_DISTRO=humble
+ROS_DOMAIN_ID=42
+ROS_LOCALHOST_ONLY=0
+ROS_PYTHON_VERSION=3
+ROS_VERSION=2
+SHELL=/bin/bash
+SHLVL=1
+SINGLE_DESKTOP_APP=
+SINGLE_DESKTOP_PRESET=
+SPACE_DIR=/home/user/data/309844d858e5487f9c582ea361481b3d
+SPACE_DIR_V2=/data/309844d858e5487f9c582ea361481b3d
+SPACE_ID=309844d858e5487f9c582ea361481b3d
+USER=devuser
+USER_ID=6950f1ca-1599-42c5-a926-29eb731cb95c
+VNC_NO_PASSWORD=true
+WORKSPACE=/workspace
+_=/usr/bin/colcon
diff --git a/build/vlm_perception_pkg/package.xml b/build/vlm_perception_pkg/package.xml
new file mode 120000
index 0000000..30957a6
--- /dev/null
+++ b/build/vlm_perception_pkg/package.xml
@@ -0,0 +1 @@
+/workspace/src/vlm_perception_pkg/package.xml
\ No newline at end of file
diff --git a/build/vlm_perception_pkg/prefix_override/__pycache__/sitecustomize.cpython-310.pyc b/build/vlm_perception_pkg/prefix_override/__pycache__/sitecustomize.cpython-310.pyc
new file mode 100644
index 0000000..bc3920f
Binary files /dev/null and b/build/vlm_perception_pkg/prefix_override/__pycache__/sitecustomize.cpython-310.pyc differ
diff --git a/build/vlm_perception_pkg/prefix_override/sitecustomize.py b/build/vlm_perception_pkg/prefix_override/sitecustomize.py
new file mode 100644
index 0000000..d875748
--- /dev/null
+++ b/build/vlm_perception_pkg/prefix_override/sitecustomize.py
@@ -0,0 +1,4 @@
+import sys
+if sys.prefix == '/usr':
+    sys.real_prefix = sys.prefix
+    sys.prefix = sys.exec_prefix = '/workspace/install/vlm_perception_pkg'
diff --git a/build/vlm_perception_pkg/resource/vlm_perception_pkg b/build/vlm_perception_pkg/resource/vlm_perception_pkg
new file mode 120000
index 0000000..ad47320
--- /dev/null
+++ b/build/vlm_perception_pkg/resource/vlm_perception_pkg
@@ -0,0 +1 @@
+/workspace/src/vlm_perception_pkg/resource/vlm_perception_pkg
\ No newline at end of file
diff --git a/build/vlm_perception_pkg/setup.cfg b/build/vlm_perception_pkg/setup.cfg
new file mode 120000
index 0000000..21bcf9c
--- /dev/null
+++ b/build/vlm_perception_pkg/setup.cfg
@@ -0,0 +1 @@
+/workspace/src/vlm_perception_pkg/setup.cfg
\ No newline at end of file
diff --git a/build/vlm_perception_pkg/setup.py b/build/vlm_perception_pkg/setup.py
new file mode 120000
index 0000000..cdc60fd
--- /dev/null
+++ b/build/vlm_perception_pkg/setup.py
@@ -0,0 +1 @@
+/workspace/src/vlm_perception_pkg/setup.py
\ No newline at end of file
diff --git a/build/vlm_perception_pkg/share/vlm_perception_pkg/hook/pythonpath_develop.dsv b/build/vlm_perception_pkg/share/vlm_perception_pkg/hook/pythonpath_develop.dsv
new file mode 100644
index 0000000..bfc3ded
--- /dev/null
+++ b/build/vlm_perception_pkg/share/vlm_perception_pkg/hook/pythonpath_develop.dsv
@@ -0,0 +1 @@
+prepend-non-duplicate;PYTHONPATH;/workspace/build/vlm_perception_pkg
diff --git a/build/vlm_perception_pkg/share/vlm_perception_pkg/hook/pythonpath_develop.ps1 b/build/vlm_perception_pkg/share/vlm_perception_pkg/hook/pythonpath_develop.ps1
new file mode 100644
index 0000000..5782506
--- /dev/null
+++ b/build/vlm_perception_pkg/share/vlm_perception_pkg/hook/pythonpath_develop.ps1
@@ -0,0 +1,3 @@
+# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
+
+colcon_prepend_unique_value PYTHONPATH "$env:COLCON_CURRENT_PREFIX//workspace/build/vlm_perception_pkg"
diff --git a/build/vlm_perception_pkg/share/vlm_perception_pkg/hook/pythonpath_develop.sh b/build/vlm_perception_pkg/share/vlm_perception_pkg/hook/pythonpath_develop.sh
new file mode 100644
index 0000000..9fb273a
--- /dev/null
+++ b/build/vlm_perception_pkg/share/vlm_perception_pkg/hook/pythonpath_develop.sh
@@ -0,0 +1,3 @@
+# generated from colcon_core/shell/template/hook_prepend_value.sh.em
+
+_colcon_prepend_unique_value PYTHONPATH "/workspace/build/vlm_perception_pkg"
diff --git a/build/vlm_perception_pkg/vlm_perception_pkg b/build/vlm_perception_pkg/vlm_perception_pkg
new file mode 120000
index 0000000..8630250
--- /dev/null
+++ b/build/vlm_perception_pkg/vlm_perception_pkg
@@ -0,0 +1 @@
+/workspace/src/vlm_perception_pkg/vlm_perception_pkg
\ No newline at end of file
diff --git a/build/vlm_perception_pkg/vlm_perception_pkg.egg-info/PKG-INFO b/build/vlm_perception_pkg/vlm_perception_pkg.egg-info/PKG-INFO
new file mode 100644
index 0000000..d023459
--- /dev/null
+++ b/build/vlm_perception_pkg/vlm_perception_pkg.egg-info/PKG-INFO
@@ -0,0 +1,12 @@
+Metadata-Version: 2.1
+Name: vlm-perception-pkg
+Version: 0.0.0
+Summary: TODO: Package description
+Home-page: UNKNOWN
+Maintainer: ariel
+Maintainer-email: bhu16300@gmail.com
+License: Apache-2.0
+Platform: UNKNOWN
+
+UNKNOWN
+
diff --git a/build/vlm_perception_pkg/vlm_perception_pkg.egg-info/SOURCES.txt b/build/vlm_perception_pkg/vlm_perception_pkg.egg-info/SOURCES.txt
new file mode 100644
index 0000000..f462c40
--- /dev/null
+++ b/build/vlm_perception_pkg/vlm_perception_pkg.egg-info/SOURCES.txt
@@ -0,0 +1,16 @@
+package.xml
+setup.cfg
+setup.py
+resource/vlm_perception_pkg
+vlm_perception_pkg/__init__.py
+vlm_perception_pkg/device_utils.py
+vlm_perception_pkg/multi_waypoint_navigation.py
+vlm_perception_pkg/simple_detection.py
+vlm_perception_pkg/vlm_detection.py
+vlm_perception_pkg.egg-info/PKG-INFO
+vlm_perception_pkg.egg-info/SOURCES.txt
+vlm_perception_pkg.egg-info/dependency_links.txt
+vlm_perception_pkg.egg-info/entry_points.txt
+vlm_perception_pkg.egg-info/requires.txt
+vlm_perception_pkg.egg-info/top_level.txt
+vlm_perception_pkg.egg-info/zip-safe
\ No newline at end of file
diff --git a/build/vlm_perception_pkg/vlm_perception_pkg.egg-info/dependency_links.txt b/build/vlm_perception_pkg/vlm_perception_pkg.egg-info/dependency_links.txt
new file mode 100644
index 0000000..8b13789
--- /dev/null
+++ b/build/vlm_perception_pkg/vlm_perception_pkg.egg-info/dependency_links.txt
@@ -0,0 +1 @@
+
diff --git a/build/vlm_perception_pkg/vlm_perception_pkg.egg-info/entry_points.txt b/build/vlm_perception_pkg/vlm_perception_pkg.egg-info/entry_points.txt
new file mode 100644
index 0000000..5f76e69
--- /dev/null
+++ b/build/vlm_perception_pkg/vlm_perception_pkg.egg-info/entry_points.txt
@@ -0,0 +1,5 @@
+[console_scripts]
+multi_waypoint_navigation = vlm_perception_pkg.simple_detection:main
+simple_detection = vlm_perception_pkg.simple_detection:run
+vlm_detection = vlm_perception_pkg.vlm_detection:main
+
diff --git a/build/vlm_perception_pkg/vlm_perception_pkg.egg-info/requires.txt b/build/vlm_perception_pkg/vlm_perception_pkg.egg-info/requires.txt
new file mode 100644
index 0000000..49fe098
--- /dev/null
+++ b/build/vlm_perception_pkg/vlm_perception_pkg.egg-info/requires.txt
@@ -0,0 +1 @@
+setuptools
diff --git a/build/vlm_perception_pkg/vlm_perception_pkg.egg-info/top_level.txt b/build/vlm_perception_pkg/vlm_perception_pkg.egg-info/top_level.txt
new file mode 100644
index 0000000..89228a2
--- /dev/null
+++ b/build/vlm_perception_pkg/vlm_perception_pkg.egg-info/top_level.txt
@@ -0,0 +1 @@
+vlm_perception_pkg
diff --git a/build/vlm_perception_pkg/vlm_perception_pkg.egg-info/zip-safe b/build/vlm_perception_pkg/vlm_perception_pkg.egg-info/zip-safe
new file mode 100644
index 0000000..8b13789
--- /dev/null
+++ b/build/vlm_perception_pkg/vlm_perception_pkg.egg-info/zip-safe
@@ -0,0 +1 @@
+
diff --git a/doc.md b/doc.md
new file mode 100755
index 0000000..8b7cb93
--- /dev/null
+++ b/doc.md
@@ -0,0 +1,165 @@
+# 语义推理与导航
+
+智能语义推理框架包含两个核心模块：  
+语义目标标注：利用 VLM识别物体  
+语义导航：机器人借助已保存的物体记忆，通过语义路标完成导航。  
+
+语义标注模块将 Faster R-CNN 与 CLIP 结合，实现零样本目标检测。  
+
+给定一个物体列表（例如：["Refrigerator", "water dispenser", "sofa", "white toilet", "office chair with wheels"]），由 Faster R-CNN 从 RGB 图像帧中生成候选区域。
+
+随后，使用 CLIP 将每个候选区域进行特征编码，并与文本标签做余弦相似度对比，为区域分配最可能的类别标签。
+
+点击 RViz2 中Nav2 Goal，在地图上选择目标位置，调整箭头设置机器人到达后的朝向，确认后机器人将自主导航，在探索过程中，系统会结合 RGB-D 数据 记录物体的中心坐标，并将置信度分数与位置信息存入 JSON 文件。
+只有当检测到更高置信度的结果时，才会更新原有记录。
+
+## 1. 环境准备与编译
+先点击平台左下角的“终端”，再点击“+”新建终端。在终端1执行下面的命令（使用 conda `ros2` 环境，**不要** `pip install --user` 到系统 Python）：
+
+```bash
+conda activate ros2
+bash /workspace/bootstrap_ros2_conda_workspace.sh
+```
+
+该脚本会：在 conda `ros2` 中安装 PyTorch / OpenAI CLIP 等依赖、用 conda Python 编译工作区，并修正 `ros2 run` 入口脚本的 shebang。首次运行约需数分钟。
+
+预计打印结果：
+![图1](assets/picture01.png)
+
+### 注意事项
+之后每打开一个新终端，都建议先执行：
+
+```bash
+conda activate ros2
+export PYTHONNOUSERSITE=1
+source /opt/ros/humble/setup.bash
+source /workspace/install/setup.bash
+```
+
+## 2. 启动仿真
+
+终端1下继续执行启动命令：
+
+```bash
+./gzsim_run.sh
+```
+该脚本会启动仿真和websocket服务，并生成带时间记录的日志文件，预计打印结果：
+
+![图2](assets/picture02.png)
+
+脚本启动成功后，可以在右上角点击添加gazebo界面。等待刷新后，即可查看仿真画面：
+
+![图3](assets/picture03.png)
+
+![图4](assets/picture04.png)
+
+同时可以在左侧点击“数据流”，并点击“refresh”查看当前的ros2话题：
+
+![图5](assets/picture05.png)
+
+## 3. 启动 AMCL节点（负责 “map_server + amcl”）
+在终端中点击“+”，新建终端，并执行下面的命令：
+
+![图6](assets/picture06.png)
+
+```bash
+conda activate ros2
+export PYTHONNOUSERSITE=1
+source /opt/ros/humble/setup.bash
+source /workspace/install/setup.bash
+export NAV2_MAP_PATH=/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/map/office_map.yaml
+ros2 launch nav2_rrtstar_planner bringup_localization_with_initial_pose.launch.py \
+    use_sim_time:=true \
+    map:=$NAV2_MAP_PATH \
+    params_file:=/workspace/src/TurtleBot-RRT-Star/nav2_params.yaml
+```
+预计打印结果：
+
+![图7](assets/picture07.png)
+
+## 4. 启动 Nav2导航栈（负责 “RRT* 规划器 + controller + bt_navigator）
+在终端中点击“+”，新建终端，并执行下面的命令：
+
+![图8](assets/picture08.png)
+
+```bash
+conda activate ros2
+export PYTHONNOUSERSITE=1
+source /opt/ros/humble/setup.bash
+source /workspace/install/setup.bash
+ros2 launch nav2_bringup navigation_launch.py \
+    use_sim_time:=True \
+    params_file:=/workspace/src/TurtleBot-RRT-Star/nav2_params.yaml
+```
+预计打印结果：
+
+![图9](assets/picture09.png)
+
+## 5. 打开rviz
+在“仿真器”界面下添加“远程桌面”界面：
+
+![图10](assets/picture10.png)
+
+“远程桌面”界面：
+
+![图11](assets/picture11.png)
+
+在终端中点击“+”，新建终端，并执行下面的命令：
+
+![图12](assets/picture12.png)
+
+```bash
+ros2 run rviz2 rviz2 -d /opt/ros/humble/share/nav2_bringup/rviz/nav2_default_view.rviz --ros-args -p use_sim_time:=true
+```
+执行完后可以在“远程桌面”界面看到代价地图和路径规划等信息：
+
+![图13](assets/picture13.png)
+
+## 6. 启动目标检测节点
+新开终端，执行环境生效后启动vlm_perception_pkg的语义检测节点，开始目标语义标注并构建语义记忆库，在机器人导航过程中，节点实时检测环境中的目标并生成语义标注结果，保存JSON 格式的语义记忆库到指定路径。
+
+![图14](assets/picture14.png)
+
+```bash
+conda activate ros2
+export PYTHONNOUSERSITE=1
+source /opt/ros/humble/setup.bash
+source /workspace/install/setup.bash
+# 该命令启动时重置上次记录的语义记忆库
+ros2 run vlm_perception_pkg vlm_detection --ros-args -p use_sim_time:=true -p reset_records_on_startup:=true
+# ros2 run vlm_perception_pkg vlm_detection
+# 不带参数的启动命令：启动时加载历史 JSON（同一个语义记忆库文件），分数高的记录会覆盖低分记录，适合连续测试时使用
+```
+启动后，在终端中可以看到小车相机拍摄的图像的检测结果：
+
+![图15](assets/picture15.png)
+
+开始检测后，可以在rviz中使用“Nav2 Goal”设置目标点，让小车在地图内跑动，小车会拍摄实时图像，并实时检测目标，并将检测结果保存到JSON文件中。
+
+![图16](assets/picture16.png)
+
+检测完成后可查看目标标注结果（in /workspace/src/vlm_nav_pkg/config/example_object_detection_vlm.json，带时间戳,可参考测试效果较好的test_vlm.json），后续语义导航功能会加载生成的语义记忆库文件，通过 CLIP 将语义标签编码为shared embedding space，当用户输入自然语言查询时，系统匹配最接近的已知目标，提取其坐标并发送至 Nav2，实现基于自然语言的语义导航。
+
+![图17](assets/picture17.png)
+
+### 导航建议
+- TurtleBot3 机身较矮，相机视角较低，高目标物体适合较远距离观测。
+- 建议在机器人低速或短暂停止时运行检测，以提高 RGB-D 与 TF 的稳定性。
+- 建议目标距离相机约 1~3 米，可以多角度对目标进行观察。
+- 本项目保存的是“最高分对应的目标坐标”，适合用于导航到目标附近，不保证是物体几何中心。
+
+## 7. 启动语义导航节点
+在终端5关闭检测节点，在终端中点击“+”，新建终端，并执行下面的命令：
+```bash
+# 关闭检测节点后
+conda activate ros2
+export PYTHONNOUSERSITE=1
+source /opt/ros/humble/setup.bash
+source /workspace/install/setup.bash
+ros2 run vlm_nav_pkg semantic_nav
+```
+
+![图18](assets/picture18.png)
+
+节点启动后，在终端输入自然语言语义目标（如 “water dispenser”,“sofa”,“refrigerator”,“white toilet”，“office chair with wheels”），系统将自动完成：语义查询与shared embedding space匹配，提取目标对应的地图坐标（检测节点保存的json文件）并向 Nav2 发送导航目标位姿，然后机器人自主规划路径并导航至语义目标位置，RViz2 中实时可视化规划路径与导航过程。当前导航会默认在目标周围生成多个候选接近点，并优先选择距离当前机器人最近的可行点，避免直接撞向物体中心点。候选点会先经过 `/map` 自由空间筛选，再逐个试算全局路径，只在“有路径”的候选点里选最优目标。
+![图19](assets/picture19.png)
\ No newline at end of file
diff --git a/gzsim_run.sh b/gzsim_run.sh
new file mode 100755
index 0000000..8ed346d
--- /dev/null
+++ b/gzsim_run.sh
@@ -0,0 +1,75 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+
+ROOT="/workspace"
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+
+# Shared vendor weights -> ~/.cache (idempotent; no-op if vendor not seeded yet)
+# shellcheck source=/dev/null
+source "${SCRIPT_DIR}/setup_model_cache.sh"
+
+sleep 5
+
+set +u
+source /opt/ros/humble/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"
+
+kill_port_listeners() {
+  local port="$1"
+  local pids
+  pids="$(ss -ltnp 2>/dev/null | grep ":${port} " | sed -E 's/.*pid=([0-9]+).*/\1/' | sort -u || true)"
+  if [[ -n "${pids}" ]]; then
+    echo "[run_all] port ${port} already in use, killing: ${pids}"
+    kill ${pids} 2>/dev/null || true
+    sleep 1
+  fi
+}
+
+kill_port_listeners 9002
+
+export __NV_PRIME_RENDER_OFFLOAD=1
+export __GLX_VENDOR_LIBRARY_NAME=nvidia
+export TURTLEBOT3_MODEL=burger
+ros2 launch turtlebot3_gazebo turtlebot3_office.launch.py > "${LOG_DIR}/tb3_gzsim.log" 2>&1 &
+GZSIM_PID=$!
+# gz sim -v 4 -s -r empty.sdf > "${LOG_DIR}/empty_gzsim.log" 2>&1 &
+# GZSIM_PID=$!
+
+echo "[autorun] tb3_gzsim pid=${GZSIM_PID}, log=${LOG_DIR}/tb3_gzsim.log"
+
+sleep 8
+
+if ps -p "$GZSIM_PID" > /dev/null; then
+  echo "[autorun] tb3_gzsim is still running"
+else
+  echo "[autorun] tb3_gzsim exited early. Log:"
+  cat "${LOG_DIR}/tb3_gzsim.log"
+fi
+
+echo "[autorun] starting websocket ..."
+
+gz launch "${ROOT}/src/websocket.gzlaunch" > "${LOG_DIR}/websocket.log" 2>&1 &
+WEBSOCKET_PID=$!
+
+echo "[autorun] websocket pid=${WEBSOCKET_PID}, log=${LOG_DIR}/websocket.log"
+
+sleep 10
+
+if ps -p "$WEBSOCKET_PID" > /dev/null; then
+  echo "[autorun] websocket is still running"
+else
+  echo "[autorun] websocket exited early. Log:"
+  cat "${LOG_DIR}/websocket.log"
+  exit 1
+fi
+
+echo "[autorun] all services started."
+echo "[autorun] tb3_gzsim pid=${GZSIM_PID}"
+echo "[autorun] websocket pid=${WEBSOCKET_PID}"
+
+wait
diff --git a/install/.colcon_install_layout b/install/.colcon_install_layout
new file mode 100644
index 0000000..3aad533
--- /dev/null
+++ b/install/.colcon_install_layout
@@ -0,0 +1 @@
+isolated
diff --git a/install/COLCON_IGNORE b/install/COLCON_IGNORE
new file mode 100644
index 0000000..e69de29
diff --git a/install/_local_setup_util_ps1.py b/install/_local_setup_util_ps1.py
new file mode 100644
index 0000000..3c6d9e8
--- /dev/null
+++ b/install/_local_setup_util_ps1.py
@@ -0,0 +1,407 @@
+# 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()
+
+    basenames = 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 basenames:
+                basenames[path_without_ext] = set()
+            assert ext.startswith('.')
+            ext = ext[1:]
+            if ext in (primary_extension, additional_extension):
+                basenames[path_without_ext].add(ext)
+
+    # add the dsv extension to each basename if the file exists
+    for basename, extensions in basenames.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 basenames.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):
+    global env_state
+    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):
+    global env_state
+    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 []
+
+    global env_state
+    commands = []
+    for name in env_state:
+        # skip variables that already had values before this script started 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):
+    global env_state
+    env_state[name] = value
+    line = FORMAT_STR_SET_ENV_VAR.format_map(
+        {'name': name, 'value': value})
+    return [line]
+
+
+def _set_if_unset(name, value):
+    global env_state
+    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)
diff --git a/install/_local_setup_util_sh.py b/install/_local_setup_util_sh.py
new file mode 100644
index 0000000..f67eaa9
--- /dev/null
+++ b/install/_local_setup_util_sh.py
@@ -0,0 +1,407 @@
+# 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 = 'if [ "$(echo -n ${name} | head -c 1)" = ":" ]; then export {name}=${{{name}#?}} ; fi'  # noqa: E501
+FORMAT_STR_REMOVE_TRAILING_SEPARATOR = 'if [ "$(echo -n ${name} | tail -c 1)" = ":" ]; then export {name}=${{{name}%?}} ; fi'  # 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()
+
+    basenames = 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 basenames:
+                basenames[path_without_ext] = set()
+            assert ext.startswith('.')
+            ext = ext[1:]
+            if ext in (primary_extension, additional_extension):
+                basenames[path_without_ext].add(ext)
+
+    # add the dsv extension to each basename if the file exists
+    for basename, extensions in basenames.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 basenames.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):
+    global env_state
+    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):
+    global env_state
+    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 []
+
+    global env_state
+    commands = []
+    for name in env_state:
+        # skip variables that already had values before this script started 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):
+    global env_state
+    env_state[name] = value
+    line = FORMAT_STR_SET_ENV_VAR.format_map(
+        {'name': name, 'value': value})
+    return [line]
+
+
+def _set_if_unset(name, value):
+    global env_state
+    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)
diff --git a/install/local_setup.bash b/install/local_setup.bash
new file mode 100644
index 0000000..03f0025
--- /dev/null
+++ b/install/local_setup.bash
@@ -0,0 +1,121 @@
+# generated from colcon_bash/shell/template/prefix.bash.em
+
+# This script extends the environment with all packages contained in this
+# prefix path.
+
+# a bash script is able to determine its own path if necessary
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+  _colcon_prefix_bash_COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)"
+else
+  _colcon_prefix_bash_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+fi
+
+# function to prepend a value to a variable
+# which uses colons as separators
+# duplicates as well as trailing separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+_colcon_prefix_bash_prepend_unique_value() {
+  # arguments
+  _listname="$1"
+  _value="$2"
+
+  # get values from variable
+  eval _values=\"\$$_listname\"
+  # backup the field separator
+  _colcon_prefix_bash_prepend_unique_value_IFS="$IFS"
+  IFS=":"
+  # start with the new value
+  _all_values="$_value"
+  _contained_value=""
+  # iterate over existing values in the variable
+  for _item in $_values; do
+    # ignore empty strings
+    if [ -z "$_item" ]; then
+      continue
+    fi
+    # ignore duplicates of _value
+    if [ "$_item" = "$_value" ]; then
+      _contained_value=1
+      continue
+    fi
+    # keep non-duplicate values
+    _all_values="$_all_values:$_item"
+  done
+  unset _item
+  if [ -z "$_contained_value" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      if [ "$_all_values" = "$_value" ]; then
+        echo "export $_listname=$_value"
+      else
+        echo "export $_listname=$_value:\$$_listname"
+      fi
+    fi
+  fi
+  unset _contained_value
+  # restore the field separator
+  IFS="$_colcon_prefix_bash_prepend_unique_value_IFS"
+  unset _colcon_prefix_bash_prepend_unique_value_IFS
+  # export the updated variable
+  eval export $_listname=\"$_all_values\"
+  unset _all_values
+  unset _values
+
+  unset _value
+  unset _listname
+}
+
+# add this prefix to the COLCON_PREFIX_PATH
+_colcon_prefix_bash_prepend_unique_value COLCON_PREFIX_PATH "$_colcon_prefix_bash_COLCON_CURRENT_PREFIX"
+unset _colcon_prefix_bash_prepend_unique_value
+
+# check environment variable for custom Python executable
+if [ -n "$COLCON_PYTHON_EXECUTABLE" ]; then
+  if [ ! -f "$COLCON_PYTHON_EXECUTABLE" ]; then
+    echo "error: COLCON_PYTHON_EXECUTABLE '$COLCON_PYTHON_EXECUTABLE' doesn't exist"
+    return 1
+  fi
+  _colcon_python_executable="$COLCON_PYTHON_EXECUTABLE"
+else
+  # try the Python executable known at configure time
+  _colcon_python_executable="/usr/bin/python3"
+  # if it doesn't exist try a fall back
+  if [ ! -f "$_colcon_python_executable" ]; then
+    if ! /usr/bin/env python3 --version > /dev/null 2> /dev/null; then
+      echo "error: unable to find python3 executable"
+      return 1
+    fi
+    _colcon_python_executable=`/usr/bin/env python3 -c "import sys; print(sys.executable)"`
+  fi
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+_colcon_prefix_sh_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$1"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# get all commands in topological order
+_colcon_ordered_commands="$($_colcon_python_executable "$_colcon_prefix_bash_COLCON_CURRENT_PREFIX/_local_setup_util_sh.py" sh bash)"
+unset _colcon_python_executable
+if [ -n "$COLCON_TRACE" ]; then
+  echo "$(declare -f _colcon_prefix_sh_source_script)"
+  echo "# Execute generated script:"
+  echo "# <<<"
+  echo "${_colcon_ordered_commands}"
+  echo "# >>>"
+  echo "unset _colcon_prefix_sh_source_script"
+fi
+eval "${_colcon_ordered_commands}"
+unset _colcon_ordered_commands
+
+unset _colcon_prefix_sh_source_script
+
+unset _colcon_prefix_bash_COLCON_CURRENT_PREFIX
diff --git a/install/local_setup.ps1 b/install/local_setup.ps1
new file mode 100644
index 0000000..6f68c8d
--- /dev/null
+++ b/install/local_setup.ps1
@@ -0,0 +1,55 @@
+# generated from colcon_powershell/shell/template/prefix.ps1.em
+
+# This script extends the environment with all packages contained in this
+# prefix path.
+
+# check environment variable for custom Python executable
+if ($env:COLCON_PYTHON_EXECUTABLE) {
+  if (!(Test-Path "$env:COLCON_PYTHON_EXECUTABLE" -PathType Leaf)) {
+    echo "error: COLCON_PYTHON_EXECUTABLE '$env:COLCON_PYTHON_EXECUTABLE' doesn't exist"
+    exit 1
+  }
+  $_colcon_python_executable="$env:COLCON_PYTHON_EXECUTABLE"
+} else {
+  # use the Python executable known at configure time
+  $_colcon_python_executable="/usr/bin/python3"
+  # if it doesn't exist try a fall back
+  if (!(Test-Path "$_colcon_python_executable" -PathType Leaf)) {
+    if (!(Get-Command "python3" -ErrorAction SilentlyContinue)) {
+      echo "error: unable to find python3 executable"
+      exit 1
+    }
+    $_colcon_python_executable="python3"
+  }
+}
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+function _colcon_prefix_powershell_source_script {
+  param (
+    $_colcon_prefix_powershell_source_script_param
+  )
+  # source script with conditional trace output
+  if (Test-Path $_colcon_prefix_powershell_source_script_param) {
+    if ($env:COLCON_TRACE) {
+      echo ". '$_colcon_prefix_powershell_source_script_param'"
+    }
+    . "$_colcon_prefix_powershell_source_script_param"
+  } else {
+    Write-Error "not found: '$_colcon_prefix_powershell_source_script_param'"
+  }
+}
+
+# get all commands in topological order
+$_colcon_ordered_commands = & "$_colcon_python_executable" "$(Split-Path $PSCommandPath -Parent)/_local_setup_util_ps1.py" ps1
+
+# execute all commands in topological order
+if ($env:COLCON_TRACE) {
+  echo "Execute generated script:"
+  echo "<<<"
+  $_colcon_ordered_commands.Split([Environment]::NewLine, [StringSplitOptions]::RemoveEmptyEntries) | Write-Output
+  echo ">>>"
+}
+if ($_colcon_ordered_commands) {
+  $_colcon_ordered_commands.Split([Environment]::NewLine, [StringSplitOptions]::RemoveEmptyEntries) | Invoke-Expression
+}
diff --git a/install/local_setup.sh b/install/local_setup.sh
new file mode 100644
index 0000000..24bb54f
--- /dev/null
+++ b/install/local_setup.sh
@@ -0,0 +1,137 @@
+# generated from colcon_core/shell/template/prefix.sh.em
+
+# This script extends the environment with all packages contained in this
+# prefix path.
+
+# since a plain shell script can't determine its own path when being sourced
+# either use the provided COLCON_CURRENT_PREFIX
+# or fall back to the build time prefix (if it exists)
+_colcon_prefix_sh_COLCON_CURRENT_PREFIX="/workspace/install"
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+  if [ ! -d "$_colcon_prefix_sh_COLCON_CURRENT_PREFIX" ]; then
+    echo "The build time path \"$_colcon_prefix_sh_COLCON_CURRENT_PREFIX\" doesn't exist. Either source a script for a different shell or set the environment variable \"COLCON_CURRENT_PREFIX\" explicitly." 1>&2
+    unset _colcon_prefix_sh_COLCON_CURRENT_PREFIX
+    return 1
+  fi
+else
+  _colcon_prefix_sh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+fi
+
+# function to prepend a value to a variable
+# which uses colons as separators
+# duplicates as well as trailing separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+_colcon_prefix_sh_prepend_unique_value() {
+  # arguments
+  _listname="$1"
+  _value="$2"
+
+  # get values from variable
+  eval _values=\"\$$_listname\"
+  # backup the field separator
+  _colcon_prefix_sh_prepend_unique_value_IFS="$IFS"
+  IFS=":"
+  # start with the new value
+  _all_values="$_value"
+  _contained_value=""
+  # iterate over existing values in the variable
+  for _item in $_values; do
+    # ignore empty strings
+    if [ -z "$_item" ]; then
+      continue
+    fi
+    # ignore duplicates of _value
+    if [ "$_item" = "$_value" ]; then
+      _contained_value=1
+      continue
+    fi
+    # keep non-duplicate values
+    _all_values="$_all_values:$_item"
+  done
+  unset _item
+  if [ -z "$_contained_value" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      if [ "$_all_values" = "$_value" ]; then
+        echo "export $_listname=$_value"
+      else
+        echo "export $_listname=$_value:\$$_listname"
+      fi
+    fi
+  fi
+  unset _contained_value
+  # restore the field separator
+  IFS="$_colcon_prefix_sh_prepend_unique_value_IFS"
+  unset _colcon_prefix_sh_prepend_unique_value_IFS
+  # export the updated variable
+  eval export $_listname=\"$_all_values\"
+  unset _all_values
+  unset _values
+
+  unset _value
+  unset _listname
+}
+
+# add this prefix to the COLCON_PREFIX_PATH
+_colcon_prefix_sh_prepend_unique_value COLCON_PREFIX_PATH "$_colcon_prefix_sh_COLCON_CURRENT_PREFIX"
+unset _colcon_prefix_sh_prepend_unique_value
+
+# check environment variable for custom Python executable
+if [ -n "$COLCON_PYTHON_EXECUTABLE" ]; then
+  if [ ! -f "$COLCON_PYTHON_EXECUTABLE" ]; then
+    echo "error: COLCON_PYTHON_EXECUTABLE '$COLCON_PYTHON_EXECUTABLE' doesn't exist"
+    return 1
+  fi
+  _colcon_python_executable="$COLCON_PYTHON_EXECUTABLE"
+else
+  # try the Python executable known at configure time
+  _colcon_python_executable="/usr/bin/python3"
+  # if it doesn't exist try a fall back
+  if [ ! -f "$_colcon_python_executable" ]; then
+    if ! /usr/bin/env python3 --version > /dev/null 2> /dev/null; then
+      echo "error: unable to find python3 executable"
+      return 1
+    fi
+    _colcon_python_executable=`/usr/bin/env python3 -c "import sys; print(sys.executable)"`
+  fi
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+_colcon_prefix_sh_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$1"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# get all commands in topological order
+_colcon_ordered_commands="$($_colcon_python_executable "$_colcon_prefix_sh_COLCON_CURRENT_PREFIX/_local_setup_util_sh.py" sh)"
+unset _colcon_python_executable
+if [ -n "$COLCON_TRACE" ]; then
+  echo "_colcon_prefix_sh_source_script() {
+    if [ -f \"\$1\" ]; then
+      if [ -n \"\$COLCON_TRACE\" ]; then
+        echo \"# . \\\"\$1\\\"\"
+      fi
+      . \"\$1\"
+    else
+      echo \"not found: \\\"\$1\\\"\" 1>&2
+    fi
+  }"
+  echo "# Execute generated script:"
+  echo "# <<<"
+  echo "${_colcon_ordered_commands}"
+  echo "# >>>"
+  echo "unset _colcon_prefix_sh_source_script"
+fi
+eval "${_colcon_ordered_commands}"
+unset _colcon_ordered_commands
+
+unset _colcon_prefix_sh_source_script
+
+unset _colcon_prefix_sh_COLCON_CURRENT_PREFIX
diff --git a/install/local_setup.zsh b/install/local_setup.zsh
new file mode 100644
index 0000000..b648710
--- /dev/null
+++ b/install/local_setup.zsh
@@ -0,0 +1,134 @@
+# generated from colcon_zsh/shell/template/prefix.zsh.em
+
+# This script extends the environment with all packages contained in this
+# prefix path.
+
+# a zsh script is able to determine its own path if necessary
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+  _colcon_prefix_zsh_COLCON_CURRENT_PREFIX="$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd)"
+else
+  _colcon_prefix_zsh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+fi
+
+# function to convert array-like strings into arrays
+# to workaround SH_WORD_SPLIT not being set
+_colcon_prefix_zsh_convert_to_array() {
+  local _listname=$1
+  local _dollar="$"
+  local _split="{="
+  local _to_array="(\"$_dollar$_split$_listname}\")"
+  eval $_listname=$_to_array
+}
+
+# function to prepend a value to a variable
+# which uses colons as separators
+# duplicates as well as trailing separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+_colcon_prefix_zsh_prepend_unique_value() {
+  # arguments
+  _listname="$1"
+  _value="$2"
+
+  # get values from variable
+  eval _values=\"\$$_listname\"
+  # backup the field separator
+  _colcon_prefix_zsh_prepend_unique_value_IFS="$IFS"
+  IFS=":"
+  # start with the new value
+  _all_values="$_value"
+  _contained_value=""
+  # workaround SH_WORD_SPLIT not being set
+  _colcon_prefix_zsh_convert_to_array _values
+  # iterate over existing values in the variable
+  for _item in $_values; do
+    # ignore empty strings
+    if [ -z "$_item" ]; then
+      continue
+    fi
+    # ignore duplicates of _value
+    if [ "$_item" = "$_value" ]; then
+      _contained_value=1
+      continue
+    fi
+    # keep non-duplicate values
+    _all_values="$_all_values:$_item"
+  done
+  unset _item
+  if [ -z "$_contained_value" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      if [ "$_all_values" = "$_value" ]; then
+        echo "export $_listname=$_value"
+      else
+        echo "export $_listname=$_value:\$$_listname"
+      fi
+    fi
+  fi
+  unset _contained_value
+  # restore the field separator
+  IFS="$_colcon_prefix_zsh_prepend_unique_value_IFS"
+  unset _colcon_prefix_zsh_prepend_unique_value_IFS
+  # export the updated variable
+  eval export $_listname=\"$_all_values\"
+  unset _all_values
+  unset _values
+
+  unset _value
+  unset _listname
+}
+
+# add this prefix to the COLCON_PREFIX_PATH
+_colcon_prefix_zsh_prepend_unique_value COLCON_PREFIX_PATH "$_colcon_prefix_zsh_COLCON_CURRENT_PREFIX"
+unset _colcon_prefix_zsh_prepend_unique_value
+unset _colcon_prefix_zsh_convert_to_array
+
+# check environment variable for custom Python executable
+if [ -n "$COLCON_PYTHON_EXECUTABLE" ]; then
+  if [ ! -f "$COLCON_PYTHON_EXECUTABLE" ]; then
+    echo "error: COLCON_PYTHON_EXECUTABLE '$COLCON_PYTHON_EXECUTABLE' doesn't exist"
+    return 1
+  fi
+  _colcon_python_executable="$COLCON_PYTHON_EXECUTABLE"
+else
+  # try the Python executable known at configure time
+  _colcon_python_executable="/usr/bin/python3"
+  # if it doesn't exist try a fall back
+  if [ ! -f "$_colcon_python_executable" ]; then
+    if ! /usr/bin/env python3 --version > /dev/null 2> /dev/null; then
+      echo "error: unable to find python3 executable"
+      return 1
+    fi
+    _colcon_python_executable=`/usr/bin/env python3 -c "import sys; print(sys.executable)"`
+  fi
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+_colcon_prefix_sh_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$1"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# get all commands in topological order
+_colcon_ordered_commands="$($_colcon_python_executable "$_colcon_prefix_zsh_COLCON_CURRENT_PREFIX/_local_setup_util_sh.py" sh zsh)"
+unset _colcon_python_executable
+if [ -n "$COLCON_TRACE" ]; then
+  echo "$(declare -f _colcon_prefix_sh_source_script)"
+  echo "# Execute generated script:"
+  echo "# <<<"
+  echo "${_colcon_ordered_commands}"
+  echo "# >>>"
+  echo "unset _colcon_prefix_sh_source_script"
+fi
+eval "${_colcon_ordered_commands}"
+unset _colcon_ordered_commands
+
+unset _colcon_prefix_sh_source_script
+
+unset _colcon_prefix_zsh_COLCON_CURRENT_PREFIX
diff --git a/install/nav2_rrtstar_planner/include/nav2_rrtstar_planner/rrtstar_planner.hpp b/install/nav2_rrtstar_planner/include/nav2_rrtstar_planner/rrtstar_planner.hpp
new file mode 120000
index 0000000..5df0002
--- /dev/null
+++ b/install/nav2_rrtstar_planner/include/nav2_rrtstar_planner/rrtstar_planner.hpp
@@ -0,0 +1 @@
+/workspace/src/TurtleBot-RRT-Star/include/nav2_rrtstar_planner/rrtstar_planner.hpp
\ No newline at end of file
diff --git a/install/nav2_rrtstar_planner/lib/libnav2_rrtstar_planner_plugin.so b/install/nav2_rrtstar_planner/lib/libnav2_rrtstar_planner_plugin.so
new file mode 120000
index 0000000..c35c6e0
--- /dev/null
+++ b/install/nav2_rrtstar_planner/lib/libnav2_rrtstar_planner_plugin.so
@@ -0,0 +1 @@
+/workspace/build/nav2_rrtstar_planner/libnav2_rrtstar_planner_plugin.so
\ No newline at end of file
diff --git a/install/nav2_rrtstar_planner/share/ament_index/resource_index/nav2_core__pluginlib__plugin/nav2_rrtstar_planner b/install/nav2_rrtstar_planner/share/ament_index/resource_index/nav2_core__pluginlib__plugin/nav2_rrtstar_planner
new file mode 120000
index 0000000..47e8858
--- /dev/null
+++ b/install/nav2_rrtstar_planner/share/ament_index/resource_index/nav2_core__pluginlib__plugin/nav2_rrtstar_planner
@@ -0,0 +1 @@
+/workspace/build/nav2_rrtstar_planner/ament_cmake_index/share/ament_index/resource_index/nav2_core__pluginlib__plugin/nav2_rrtstar_planner
\ No newline at end of file
diff --git a/install/nav2_rrtstar_planner/share/ament_index/resource_index/package_run_dependencies/nav2_rrtstar_planner b/install/nav2_rrtstar_planner/share/ament_index/resource_index/package_run_dependencies/nav2_rrtstar_planner
new file mode 120000
index 0000000..2287890
--- /dev/null
+++ b/install/nav2_rrtstar_planner/share/ament_index/resource_index/package_run_dependencies/nav2_rrtstar_planner
@@ -0,0 +1 @@
+/workspace/build/nav2_rrtstar_planner/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/nav2_rrtstar_planner
\ No newline at end of file
diff --git a/install/nav2_rrtstar_planner/share/ament_index/resource_index/packages/nav2_rrtstar_planner b/install/nav2_rrtstar_planner/share/ament_index/resource_index/packages/nav2_rrtstar_planner
new file mode 120000
index 0000000..50d3f83
--- /dev/null
+++ b/install/nav2_rrtstar_planner/share/ament_index/resource_index/packages/nav2_rrtstar_planner
@@ -0,0 +1 @@
+/workspace/build/nav2_rrtstar_planner/ament_cmake_index/share/ament_index/resource_index/packages/nav2_rrtstar_planner
\ No newline at end of file
diff --git a/install/nav2_rrtstar_planner/share/ament_index/resource_index/parent_prefix_path/nav2_rrtstar_planner b/install/nav2_rrtstar_planner/share/ament_index/resource_index/parent_prefix_path/nav2_rrtstar_planner
new file mode 120000
index 0000000..0fd2428
--- /dev/null
+++ b/install/nav2_rrtstar_planner/share/ament_index/resource_index/parent_prefix_path/nav2_rrtstar_planner
@@ -0,0 +1 @@
+/workspace/build/nav2_rrtstar_planner/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/nav2_rrtstar_planner
\ No newline at end of file
diff --git a/install/nav2_rrtstar_planner/share/colcon-core/packages/nav2_rrtstar_planner b/install/nav2_rrtstar_planner/share/colcon-core/packages/nav2_rrtstar_planner
new file mode 100644
index 0000000..dcf426c
--- /dev/null
+++ b/install/nav2_rrtstar_planner/share/colcon-core/packages/nav2_rrtstar_planner
@@ -0,0 +1 @@
+builtin_interfaces:geometry_msgs:limits:nav2_bringup:nav2_core:nav2_costmap_2d:nav2_msgs:nav2_util:nav_msgs:pluginlib:random:rclcpp:rclcpp_action:rclcpp_lifecycle:std_msgs:tf2_ros:vector:visualization_msgs
\ No newline at end of file
diff --git a/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/cmake/ament_cmake_export_dependencies-extras.cmake b/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/cmake/ament_cmake_export_dependencies-extras.cmake
new file mode 120000
index 0000000..386c96b
--- /dev/null
+++ b/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/cmake/ament_cmake_export_dependencies-extras.cmake
@@ -0,0 +1 @@
+/workspace/build/nav2_rrtstar_planner/ament_cmake_export_dependencies/ament_cmake_export_dependencies-extras.cmake
\ No newline at end of file
diff --git a/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/cmake/ament_cmake_export_include_directories-extras.cmake b/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/cmake/ament_cmake_export_include_directories-extras.cmake
new file mode 120000
index 0000000..74dfcdb
--- /dev/null
+++ b/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/cmake/ament_cmake_export_include_directories-extras.cmake
@@ -0,0 +1 @@
+/workspace/build/nav2_rrtstar_planner/ament_cmake_export_include_directories/ament_cmake_export_include_directories-extras.cmake
\ No newline at end of file
diff --git a/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/cmake/ament_cmake_export_libraries-extras.cmake b/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/cmake/ament_cmake_export_libraries-extras.cmake
new file mode 120000
index 0000000..feb63fe
--- /dev/null
+++ b/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/cmake/ament_cmake_export_libraries-extras.cmake
@@ -0,0 +1 @@
+/workspace/build/nav2_rrtstar_planner/ament_cmake_export_libraries/ament_cmake_export_libraries-extras.cmake
\ No newline at end of file
diff --git a/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/cmake/nav2_rrtstar_plannerConfig-version.cmake b/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/cmake/nav2_rrtstar_plannerConfig-version.cmake
new file mode 120000
index 0000000..5d4dcb3
--- /dev/null
+++ b/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/cmake/nav2_rrtstar_plannerConfig-version.cmake
@@ -0,0 +1 @@
+/workspace/build/nav2_rrtstar_planner/ament_cmake_core/nav2_rrtstar_plannerConfig-version.cmake
\ No newline at end of file
diff --git a/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/cmake/nav2_rrtstar_plannerConfig.cmake b/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/cmake/nav2_rrtstar_plannerConfig.cmake
new file mode 120000
index 0000000..ff111ae
--- /dev/null
+++ b/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/cmake/nav2_rrtstar_plannerConfig.cmake
@@ -0,0 +1 @@
+/workspace/build/nav2_rrtstar_planner/ament_cmake_core/nav2_rrtstar_plannerConfig.cmake
\ No newline at end of file
diff --git a/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/environment/ament_prefix_path.dsv b/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/environment/ament_prefix_path.dsv
new file mode 120000
index 0000000..12acbf7
--- /dev/null
+++ b/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/environment/ament_prefix_path.dsv
@@ -0,0 +1 @@
+/workspace/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/ament_prefix_path.dsv
\ No newline at end of file
diff --git a/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/environment/ament_prefix_path.sh b/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/environment/ament_prefix_path.sh
new file mode 120000
index 0000000..403e838
--- /dev/null
+++ b/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/environment/ament_prefix_path.sh
@@ -0,0 +1 @@
+/opt/ros/humble/share/ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh
\ No newline at end of file
diff --git a/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/environment/library_path.dsv b/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/environment/library_path.dsv
new file mode 120000
index 0000000..576138e
--- /dev/null
+++ b/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/environment/library_path.dsv
@@ -0,0 +1 @@
+/workspace/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/library_path.dsv
\ No newline at end of file
diff --git a/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/environment/library_path.sh b/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/environment/library_path.sh
new file mode 120000
index 0000000..7edf044
--- /dev/null
+++ b/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/environment/library_path.sh
@@ -0,0 +1 @@
+/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/environment_hook/library_path.sh
\ No newline at end of file
diff --git a/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/environment/path.dsv b/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/environment/path.dsv
new file mode 120000
index 0000000..769cd2c
--- /dev/null
+++ b/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/environment/path.dsv
@@ -0,0 +1 @@
+/workspace/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/path.dsv
\ No newline at end of file
diff --git a/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/environment/path.sh b/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/environment/path.sh
new file mode 120000
index 0000000..8667351
--- /dev/null
+++ b/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/environment/path.sh
@@ -0,0 +1 @@
+/opt/ros/humble/share/ament_cmake_core/cmake/environment_hooks/environment/path.sh
\ No newline at end of file
diff --git a/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/global_planner_plugin.xml b/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/global_planner_plugin.xml
new file mode 120000
index 0000000..4a92810
--- /dev/null
+++ b/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/global_planner_plugin.xml
@@ -0,0 +1 @@
+/workspace/src/TurtleBot-RRT-Star/global_planner_plugin.xml
\ No newline at end of file
diff --git a/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/hook/cmake_prefix_path.dsv b/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/hook/cmake_prefix_path.dsv
new file mode 100644
index 0000000..e119f32
--- /dev/null
+++ b/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/hook/cmake_prefix_path.dsv
@@ -0,0 +1 @@
+prepend-non-duplicate;CMAKE_PREFIX_PATH;
diff --git a/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/hook/cmake_prefix_path.ps1 b/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/hook/cmake_prefix_path.ps1
new file mode 100644
index 0000000..d03facc
--- /dev/null
+++ b/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/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 "$env:COLCON_CURRENT_PREFIX"
diff --git a/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/hook/cmake_prefix_path.sh b/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/hook/cmake_prefix_path.sh
new file mode 100644
index 0000000..a948e68
--- /dev/null
+++ b/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/hook/cmake_prefix_path.sh
@@ -0,0 +1,3 @@
+# generated from colcon_core/shell/template/hook_prepend_value.sh.em
+
+_colcon_prepend_unique_value CMAKE_PREFIX_PATH "$COLCON_CURRENT_PREFIX"
diff --git a/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/hook/ld_library_path_lib.dsv b/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/hook/ld_library_path_lib.dsv
new file mode 100644
index 0000000..89bec93
--- /dev/null
+++ b/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/hook/ld_library_path_lib.dsv
@@ -0,0 +1 @@
+prepend-non-duplicate;LD_LIBRARY_PATH;lib
diff --git a/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/hook/ld_library_path_lib.ps1 b/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/hook/ld_library_path_lib.ps1
new file mode 100644
index 0000000..86de1ee
--- /dev/null
+++ b/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/hook/ld_library_path_lib.ps1
@@ -0,0 +1,3 @@
+# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
+
+colcon_prepend_unique_value LD_LIBRARY_PATH "$env:COLCON_CURRENT_PREFIX/lib"
diff --git a/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/hook/ld_library_path_lib.sh b/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/hook/ld_library_path_lib.sh
new file mode 100644
index 0000000..ca3c102
--- /dev/null
+++ b/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/hook/ld_library_path_lib.sh
@@ -0,0 +1,3 @@
+# generated from colcon_core/shell/template/hook_prepend_value.sh.em
+
+_colcon_prepend_unique_value LD_LIBRARY_PATH "$COLCON_CURRENT_PREFIX/lib"
diff --git a/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/launch/__pycache__/bringup_localization_with_initial_pose.launch.cpython-310.pyc b/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/launch/__pycache__/bringup_localization_with_initial_pose.launch.cpython-310.pyc
new file mode 100644
index 0000000..36205d3
Binary files /dev/null and b/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/launch/__pycache__/bringup_localization_with_initial_pose.launch.cpython-310.pyc differ
diff --git a/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/launch/bringup_localization_with_initial_pose.launch.py b/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/launch/bringup_localization_with_initial_pose.launch.py
new file mode 120000
index 0000000..937938f
--- /dev/null
+++ b/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/launch/bringup_localization_with_initial_pose.launch.py
@@ -0,0 +1 @@
+/workspace/src/TurtleBot-RRT-Star/launch/bringup_localization_with_initial_pose.launch.py
\ No newline at end of file
diff --git a/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/local_setup.bash b/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/local_setup.bash
new file mode 120000
index 0000000..609789c
--- /dev/null
+++ b/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/local_setup.bash
@@ -0,0 +1 @@
+/workspace/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/local_setup.bash
\ No newline at end of file
diff --git a/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/local_setup.dsv b/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/local_setup.dsv
new file mode 120000
index 0000000..7d278e3
--- /dev/null
+++ b/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/local_setup.dsv
@@ -0,0 +1 @@
+/workspace/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/local_setup.dsv
\ No newline at end of file
diff --git a/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/local_setup.sh b/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/local_setup.sh
new file mode 120000
index 0000000..84a9f5b
--- /dev/null
+++ b/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/local_setup.sh
@@ -0,0 +1 @@
+/workspace/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/local_setup.sh
\ No newline at end of file
diff --git a/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/local_setup.zsh b/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/local_setup.zsh
new file mode 120000
index 0000000..a7ae335
--- /dev/null
+++ b/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/local_setup.zsh
@@ -0,0 +1 @@
+/workspace/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/local_setup.zsh
\ No newline at end of file
diff --git a/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/package.bash b/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/package.bash
new file mode 100644
index 0000000..32f129d
--- /dev/null
+++ b/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/package.bash
@@ -0,0 +1,39 @@
+# generated from colcon_bash/shell/template/package.bash.em
+
+# This script extends the environment for this package.
+
+# a bash script is able to determine its own path if necessary
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+  # the prefix is two levels up from the package specific share directory
+  _colcon_package_bash_COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." > /dev/null && pwd)"
+else
+  _colcon_package_bash_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+_colcon_package_bash_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$@"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# source sh script of this package
+_colcon_package_bash_source_script "$_colcon_package_bash_COLCON_CURRENT_PREFIX/share/nav2_rrtstar_planner/package.sh"
+
+# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced scripts
+COLCON_CURRENT_PREFIX="$_colcon_package_bash_COLCON_CURRENT_PREFIX"
+
+# source bash hooks
+_colcon_package_bash_source_script "$COLCON_CURRENT_PREFIX/share/nav2_rrtstar_planner/local_setup.bash"
+
+unset COLCON_CURRENT_PREFIX
+
+unset _colcon_package_bash_source_script
+unset _colcon_package_bash_COLCON_CURRENT_PREFIX
diff --git a/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/package.dsv b/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/package.dsv
new file mode 100644
index 0000000..572f754
--- /dev/null
+++ b/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/package.dsv
@@ -0,0 +1,11 @@
+source;share/nav2_rrtstar_planner/hook/cmake_prefix_path.ps1
+source;share/nav2_rrtstar_planner/hook/cmake_prefix_path.dsv
+source;share/nav2_rrtstar_planner/hook/cmake_prefix_path.sh
+source;share/nav2_rrtstar_planner/hook/ld_library_path_lib.ps1
+source;share/nav2_rrtstar_planner/hook/ld_library_path_lib.dsv
+source;share/nav2_rrtstar_planner/hook/ld_library_path_lib.sh
+source;share/nav2_rrtstar_planner/local_setup.bash
+source;share/nav2_rrtstar_planner/local_setup.dsv
+source;share/nav2_rrtstar_planner/local_setup.ps1
+source;share/nav2_rrtstar_planner/local_setup.sh
+source;share/nav2_rrtstar_planner/local_setup.zsh
diff --git a/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/package.ps1 b/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/package.ps1
new file mode 100644
index 0000000..624c147
--- /dev/null
+++ b/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/package.ps1
@@ -0,0 +1,117 @@
+# generated from colcon_powershell/shell/template/package.ps1.em
+
+# function to append a value to a variable
+# which uses colons as separators
+# duplicates as well as leading separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+function colcon_append_unique_value {
+  param (
+    $_listname,
+    $_value
+  )
+
+  # get values from variable
+  if (Test-Path Env:$_listname) {
+    $_values=(Get-Item env:$_listname).Value
+  } else {
+    $_values=""
+  }
+  $_duplicate=""
+  # start with no values
+  $_all_values=""
+  # iterate over existing values in the variable
+  if ($_values) {
+    $_values.Split(":") | ForEach {
+      # not an empty string
+      if ($_) {
+        # not a duplicate of _value
+        if ($_ -eq $_value) {
+          $_duplicate="1"
+        }
+        if ($_all_values) {
+          $_all_values="${_all_values}:$_"
+        } else {
+          $_all_values="$_"
+        }
+      }
+    }
+  }
+  # append only non-duplicates
+  if (!$_duplicate) {
+    # avoid leading separator
+    if ($_all_values) {
+      $_all_values="${_all_values}:${_value}"
+    } else {
+      $_all_values="${_value}"
+    }
+  }
+
+  # export the updated variable
+  Set-Item env:\$_listname -Value "$_all_values"
+}
+
+# function to prepend a value to a variable
+# which uses colons as separators
+# duplicates as well as trailing separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+function colcon_prepend_unique_value {
+  param (
+    $_listname,
+    $_value
+  )
+
+  # get values from variable
+  if (Test-Path Env:$_listname) {
+    $_values=(Get-Item env:$_listname).Value
+  } else {
+    $_values=""
+  }
+  # start with the new value
+  $_all_values="$_value"
+  # iterate over existing values in the variable
+  if ($_values) {
+    $_values.Split(":") | ForEach {
+      # not an empty string
+      if ($_) {
+        # not a duplicate of _value
+        if ($_ -ne $_value) {
+          # keep non-duplicate values
+          $_all_values="${_all_values}:$_"
+        }
+      }
+    }
+  }
+  # export the updated variable
+  Set-Item env:\$_listname -Value "$_all_values"
+}
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+function colcon_package_source_powershell_script {
+  param (
+    $_colcon_package_source_powershell_script
+  )
+  # source script with conditional trace output
+  if (Test-Path $_colcon_package_source_powershell_script) {
+    if ($env:COLCON_TRACE) {
+      echo ". '$_colcon_package_source_powershell_script'"
+    }
+    . "$_colcon_package_source_powershell_script"
+  } else {
+    Write-Error "not found: '$_colcon_package_source_powershell_script'"
+  }
+}
+
+
+# a powershell script is able to determine its own path
+# the prefix is two levels up from the package specific share directory
+$env:COLCON_CURRENT_PREFIX=(Get-Item $PSCommandPath).Directory.Parent.Parent.FullName
+
+colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX/share/nav2_rrtstar_planner/hook/cmake_prefix_path.ps1"
+colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX/share/nav2_rrtstar_planner/hook/ld_library_path_lib.ps1"
+colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX/share/nav2_rrtstar_planner/local_setup.ps1"
+
+Remove-Item Env:\COLCON_CURRENT_PREFIX
diff --git a/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/package.sh b/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/package.sh
new file mode 100644
index 0000000..7e6953f
--- /dev/null
+++ b/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/package.sh
@@ -0,0 +1,88 @@
+# generated from colcon_core/shell/template/package.sh.em
+
+# This script extends the environment for this package.
+
+# function to prepend a value to a variable
+# which uses colons as separators
+# duplicates as well as trailing separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+_colcon_prepend_unique_value() {
+  # arguments
+  _listname="$1"
+  _value="$2"
+
+  # get values from variable
+  eval _values=\"\$$_listname\"
+  # backup the field separator
+  _colcon_prepend_unique_value_IFS=$IFS
+  IFS=":"
+  # start with the new value
+  _all_values="$_value"
+  # workaround SH_WORD_SPLIT not being set in zsh
+  if [ "$(command -v colcon_zsh_convert_to_array)" ]; then
+    colcon_zsh_convert_to_array _values
+  fi
+  # iterate over existing values in the variable
+  for _item in $_values; do
+    # ignore empty strings
+    if [ -z "$_item" ]; then
+      continue
+    fi
+    # ignore duplicates of _value
+    if [ "$_item" = "$_value" ]; then
+      continue
+    fi
+    # keep non-duplicate values
+    _all_values="$_all_values:$_item"
+  done
+  unset _item
+  # restore the field separator
+  IFS=$_colcon_prepend_unique_value_IFS
+  unset _colcon_prepend_unique_value_IFS
+  # export the updated variable
+  eval export $_listname=\"$_all_values\"
+  unset _all_values
+  unset _values
+
+  unset _value
+  unset _listname
+}
+
+# since a plain shell script can't determine its own path when being sourced
+# either use the provided COLCON_CURRENT_PREFIX
+# or fall back to the build time prefix (if it exists)
+_colcon_package_sh_COLCON_CURRENT_PREFIX="/workspace/install/nav2_rrtstar_planner"
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+  if [ ! -d "$_colcon_package_sh_COLCON_CURRENT_PREFIX" ]; then
+    echo "The build time path \"$_colcon_package_sh_COLCON_CURRENT_PREFIX\" doesn't exist. Either source a script for a different shell or set the environment variable \"COLCON_CURRENT_PREFIX\" explicitly." 1>&2
+    unset _colcon_package_sh_COLCON_CURRENT_PREFIX
+    return 1
+  fi
+  COLCON_CURRENT_PREFIX="$_colcon_package_sh_COLCON_CURRENT_PREFIX"
+fi
+unset _colcon_package_sh_COLCON_CURRENT_PREFIX
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+_colcon_package_sh_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$@"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# source sh hooks
+_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/nav2_rrtstar_planner/hook/cmake_prefix_path.sh"
+_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/nav2_rrtstar_planner/hook/ld_library_path_lib.sh"
+_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/nav2_rrtstar_planner/local_setup.sh"
+
+unset _colcon_package_sh_source_script
+unset COLCON_CURRENT_PREFIX
+
+# do not unset _colcon_prepend_unique_value since it might be used by non-primary shell hooks
diff --git a/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/package.xml b/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/package.xml
new file mode 120000
index 0000000..c034201
--- /dev/null
+++ b/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/package.xml
@@ -0,0 +1 @@
+/workspace/src/TurtleBot-RRT-Star/package.xml
\ No newline at end of file
diff --git a/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/package.zsh b/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/package.zsh
new file mode 100644
index 0000000..04f2927
--- /dev/null
+++ b/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/package.zsh
@@ -0,0 +1,50 @@
+# generated from colcon_zsh/shell/template/package.zsh.em
+
+# This script extends the environment for this package.
+
+# a zsh script is able to determine its own path if necessary
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+  # the prefix is two levels up from the package specific share directory
+  _colcon_package_zsh_COLCON_CURRENT_PREFIX="$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd)"
+else
+  _colcon_package_zsh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+_colcon_package_zsh_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$@"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# function to convert array-like strings into arrays
+# to workaround SH_WORD_SPLIT not being set
+colcon_zsh_convert_to_array() {
+  local _listname=$1
+  local _dollar="$"
+  local _split="{="
+  local _to_array="(\"$_dollar$_split$_listname}\")"
+  eval $_listname=$_to_array
+}
+
+# source sh script of this package
+_colcon_package_zsh_source_script "$_colcon_package_zsh_COLCON_CURRENT_PREFIX/share/nav2_rrtstar_planner/package.sh"
+unset convert_zsh_to_array
+
+# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced scripts
+COLCON_CURRENT_PREFIX="$_colcon_package_zsh_COLCON_CURRENT_PREFIX"
+
+# source zsh hooks
+_colcon_package_zsh_source_script "$COLCON_CURRENT_PREFIX/share/nav2_rrtstar_planner/local_setup.zsh"
+
+unset COLCON_CURRENT_PREFIX
+
+unset _colcon_package_zsh_source_script
+unset _colcon_package_zsh_COLCON_CURRENT_PREFIX
diff --git a/install/setup.bash b/install/setup.bash
new file mode 100644
index 0000000..10ea0f7
--- /dev/null
+++ b/install/setup.bash
@@ -0,0 +1,31 @@
+# generated from colcon_bash/shell/template/prefix_chain.bash.em
+
+# This script extends the environment with the environment of other prefix
+# paths which were sourced when this file was generated as well as all packages
+# contained in this prefix path.
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+_colcon_prefix_chain_bash_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$1"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# source chained prefixes
+# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
+COLCON_CURRENT_PREFIX="/opt/ros/humble"
+_colcon_prefix_chain_bash_source_script "$COLCON_CURRENT_PREFIX/local_setup.bash"
+
+# source this prefix
+# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
+COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)"
+_colcon_prefix_chain_bash_source_script "$COLCON_CURRENT_PREFIX/local_setup.bash"
+
+unset COLCON_CURRENT_PREFIX
+unset _colcon_prefix_chain_bash_source_script
diff --git a/install/setup.ps1 b/install/setup.ps1
new file mode 100644
index 0000000..e9ff565
--- /dev/null
+++ b/install/setup.ps1
@@ -0,0 +1,30 @@
+
+# generated from colcon_powershell/shell/template/prefix_chain.ps1.em
+
+# This script extends the environment with the environment of other prefix
+# paths which were sourced when this file was generated as well as all packages
+# contained in this prefix path.
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+function _colcon_prefix_chain_powershell_source_script {
+  param (
+    $_colcon_prefix_chain_powershell_source_script_param
+  )
+  # source script with conditional trace output
+  if (Test-Path $_colcon_prefix_chain_powershell_source_script_param) {
+    if ($env:COLCON_TRACE) {
+      echo ". '$_colcon_prefix_chain_powershell_source_script_param'"
+    }
+    . "$_colcon_prefix_chain_powershell_source_script_param"
+  } else {
+    Write-Error "not found: '$_colcon_prefix_chain_powershell_source_script_param'"
+  }
+}
+
+# source chained prefixes
+_colcon_prefix_chain_powershell_source_script "/opt/ros/humble/local_setup.ps1"
+
+# source this prefix
+$env:COLCON_CURRENT_PREFIX=(Split-Path $PSCommandPath -Parent)
+_colcon_prefix_chain_powershell_source_script "$env:COLCON_CURRENT_PREFIX/local_setup.ps1"
diff --git a/install/setup.sh b/install/setup.sh
new file mode 100644
index 0000000..70a84aa
--- /dev/null
+++ b/install/setup.sh
@@ -0,0 +1,45 @@
+# generated from colcon_core/shell/template/prefix_chain.sh.em
+
+# This script extends the environment with the environment of other prefix
+# paths which were sourced when this file was generated as well as all packages
+# contained in this prefix path.
+
+# since a plain shell script can't determine its own path when being sourced
+# either use the provided COLCON_CURRENT_PREFIX
+# or fall back to the build time prefix (if it exists)
+_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX=/workspace/install
+if [ ! -z "$COLCON_CURRENT_PREFIX" ]; then
+  _colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+elif [ ! -d "$_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX" ]; then
+  echo "The build time path \"$_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX\" doesn't exist. Either source a script for a different shell or set the environment variable \"COLCON_CURRENT_PREFIX\" explicitly." 1>&2
+  unset _colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX
+  return 1
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+_colcon_prefix_chain_sh_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$1"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# source chained prefixes
+# setting COLCON_CURRENT_PREFIX avoids relying on the build time prefix of the sourced script
+COLCON_CURRENT_PREFIX="/opt/ros/humble"
+_colcon_prefix_chain_sh_source_script "$COLCON_CURRENT_PREFIX/local_setup.sh"
+
+
+# source this prefix
+# setting COLCON_CURRENT_PREFIX avoids relying on the build time prefix of the sourced script
+COLCON_CURRENT_PREFIX="$_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX"
+_colcon_prefix_chain_sh_source_script "$COLCON_CURRENT_PREFIX/local_setup.sh"
+
+unset _colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX
+unset _colcon_prefix_chain_sh_source_script
+unset COLCON_CURRENT_PREFIX
diff --git a/install/setup.zsh b/install/setup.zsh
new file mode 100644
index 0000000..54799fd
--- /dev/null
+++ b/install/setup.zsh
@@ -0,0 +1,31 @@
+# generated from colcon_zsh/shell/template/prefix_chain.zsh.em
+
+# This script extends the environment with the environment of other prefix
+# paths which were sourced when this file was generated as well as all packages
+# contained in this prefix path.
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+_colcon_prefix_chain_zsh_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$1"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# source chained prefixes
+# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
+COLCON_CURRENT_PREFIX="/opt/ros/humble"
+_colcon_prefix_chain_zsh_source_script "$COLCON_CURRENT_PREFIX/local_setup.zsh"
+
+# source this prefix
+# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
+COLCON_CURRENT_PREFIX="$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd)"
+_colcon_prefix_chain_zsh_source_script "$COLCON_CURRENT_PREFIX/local_setup.zsh"
+
+unset COLCON_CURRENT_PREFIX
+unset _colcon_prefix_chain_zsh_source_script
diff --git a/install/turtlebot3_gazebo/include/turtlebot3_gazebo/obstacle1.hpp b/install/turtlebot3_gazebo/include/turtlebot3_gazebo/obstacle1.hpp
new file mode 120000
index 0000000..94d17fa
--- /dev/null
+++ b/install/turtlebot3_gazebo/include/turtlebot3_gazebo/obstacle1.hpp
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/include/turtlebot3_gazebo/obstacle1.hpp
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/include/turtlebot3_gazebo/obstacle2.hpp b/install/turtlebot3_gazebo/include/turtlebot3_gazebo/obstacle2.hpp
new file mode 120000
index 0000000..b391c3f
--- /dev/null
+++ b/install/turtlebot3_gazebo/include/turtlebot3_gazebo/obstacle2.hpp
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/include/turtlebot3_gazebo/obstacle2.hpp
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/include/turtlebot3_gazebo/obstacles.hpp b/install/turtlebot3_gazebo/include/turtlebot3_gazebo/obstacles.hpp
new file mode 120000
index 0000000..e3d5fb9
--- /dev/null
+++ b/install/turtlebot3_gazebo/include/turtlebot3_gazebo/obstacles.hpp
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/include/turtlebot3_gazebo/obstacles.hpp
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/include/turtlebot3_gazebo/traffic_bar_plugin.hpp b/install/turtlebot3_gazebo/include/turtlebot3_gazebo/traffic_bar_plugin.hpp
new file mode 120000
index 0000000..3085d12
--- /dev/null
+++ b/install/turtlebot3_gazebo/include/turtlebot3_gazebo/traffic_bar_plugin.hpp
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/include/turtlebot3_gazebo/traffic_bar_plugin.hpp
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/include/turtlebot3_gazebo/traffic_light_plugin.hpp b/install/turtlebot3_gazebo/include/turtlebot3_gazebo/traffic_light_plugin.hpp
new file mode 120000
index 0000000..41400aa
--- /dev/null
+++ b/install/turtlebot3_gazebo/include/turtlebot3_gazebo/traffic_light_plugin.hpp
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/include/turtlebot3_gazebo/traffic_light_plugin.hpp
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/include/turtlebot3_gazebo/turtlebot3_drive.hpp b/install/turtlebot3_gazebo/include/turtlebot3_gazebo/turtlebot3_drive.hpp
new file mode 120000
index 0000000..0c6e0db
--- /dev/null
+++ b/install/turtlebot3_gazebo/include/turtlebot3_gazebo/turtlebot3_drive.hpp
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/include/turtlebot3_gazebo/turtlebot3_drive.hpp
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/lib/turtlebot3_gazebo/camera_topic_remap.py b/install/turtlebot3_gazebo/lib/turtlebot3_gazebo/camera_topic_remap.py
new file mode 120000
index 0000000..5146764
--- /dev/null
+++ b/install/turtlebot3_gazebo/lib/turtlebot3_gazebo/camera_topic_remap.py
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/scripts/camera_topic_remap.py
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/lib/turtlebot3_gazebo/scan_frame_fix.py b/install/turtlebot3_gazebo/lib/turtlebot3_gazebo/scan_frame_fix.py
new file mode 120000
index 0000000..8ee6b5f
--- /dev/null
+++ b/install/turtlebot3_gazebo/lib/turtlebot3_gazebo/scan_frame_fix.py
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/scripts/scan_frame_fix.py
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/lib/turtlebot3_gazebo/turtlebot3_drive b/install/turtlebot3_gazebo/lib/turtlebot3_gazebo/turtlebot3_drive
new file mode 120000
index 0000000..7acf2fa
--- /dev/null
+++ b/install/turtlebot3_gazebo/lib/turtlebot3_gazebo/turtlebot3_drive
@@ -0,0 +1 @@
+/workspace/build/turtlebot3_gazebo/turtlebot3_drive
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/ament_index/resource_index/package_run_dependencies/turtlebot3_gazebo b/install/turtlebot3_gazebo/share/ament_index/resource_index/package_run_dependencies/turtlebot3_gazebo
new file mode 120000
index 0000000..77d35e0
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/ament_index/resource_index/package_run_dependencies/turtlebot3_gazebo
@@ -0,0 +1 @@
+/workspace/build/turtlebot3_gazebo/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/turtlebot3_gazebo
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/ament_index/resource_index/packages/turtlebot3_gazebo b/install/turtlebot3_gazebo/share/ament_index/resource_index/packages/turtlebot3_gazebo
new file mode 120000
index 0000000..e050855
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/ament_index/resource_index/packages/turtlebot3_gazebo
@@ -0,0 +1 @@
+/workspace/build/turtlebot3_gazebo/ament_cmake_index/share/ament_index/resource_index/packages/turtlebot3_gazebo
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/ament_index/resource_index/parent_prefix_path/turtlebot3_gazebo b/install/turtlebot3_gazebo/share/ament_index/resource_index/parent_prefix_path/turtlebot3_gazebo
new file mode 120000
index 0000000..10dcbea
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/ament_index/resource_index/parent_prefix_path/turtlebot3_gazebo
@@ -0,0 +1 @@
+/workspace/build/turtlebot3_gazebo/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/turtlebot3_gazebo
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/colcon-core/packages/turtlebot3_gazebo b/install/turtlebot3_gazebo/share/colcon-core/packages/turtlebot3_gazebo
new file mode 100644
index 0000000..4a19cf3
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/colcon-core/packages/turtlebot3_gazebo
@@ -0,0 +1 @@
+controller_manager:diff_drive_controller:geometry_msgs:gz-common5:gz-math7:gz-msgs10:gz-physics7:gz-plugin2:gz-sim8:gz-transport13:gz_ros2_control:joint_state_broadcaster:nav_msgs:rclcpp:robot_state_publisher:ros_gz_bridge:ros_gz_interfaces:ros_gz_sim:sdformat14:sensor_msgs:tf2
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/cmake/ament_cmake_export_dependencies-extras.cmake b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/cmake/ament_cmake_export_dependencies-extras.cmake
new file mode 120000
index 0000000..abc15ca
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/cmake/ament_cmake_export_dependencies-extras.cmake
@@ -0,0 +1 @@
+/workspace/build/turtlebot3_gazebo/ament_cmake_export_dependencies/ament_cmake_export_dependencies-extras.cmake
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/cmake/ament_cmake_export_include_directories-extras.cmake b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/cmake/ament_cmake_export_include_directories-extras.cmake
new file mode 120000
index 0000000..fad89f7
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/cmake/ament_cmake_export_include_directories-extras.cmake
@@ -0,0 +1 @@
+/workspace/build/turtlebot3_gazebo/ament_cmake_export_include_directories/ament_cmake_export_include_directories-extras.cmake
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/cmake/turtlebot3_gazeboConfig-version.cmake b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/cmake/turtlebot3_gazeboConfig-version.cmake
new file mode 120000
index 0000000..95ec095
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/cmake/turtlebot3_gazeboConfig-version.cmake
@@ -0,0 +1 @@
+/workspace/build/turtlebot3_gazebo/ament_cmake_core/turtlebot3_gazeboConfig-version.cmake
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/cmake/turtlebot3_gazeboConfig.cmake b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/cmake/turtlebot3_gazeboConfig.cmake
new file mode 120000
index 0000000..9c25e4f
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/cmake/turtlebot3_gazeboConfig.cmake
@@ -0,0 +1 @@
+/workspace/build/turtlebot3_gazebo/ament_cmake_core/turtlebot3_gazeboConfig.cmake
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/config/turtlebot3_gz_bridge.yaml b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/config/turtlebot3_gz_bridge.yaml
new file mode 120000
index 0000000..979b107
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/config/turtlebot3_gz_bridge.yaml
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/config/turtlebot3_gz_bridge.yaml
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/environment/ament_prefix_path.dsv b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/environment/ament_prefix_path.dsv
new file mode 120000
index 0000000..e4f8dba
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/environment/ament_prefix_path.dsv
@@ -0,0 +1 @@
+/workspace/build/turtlebot3_gazebo/ament_cmake_environment_hooks/ament_prefix_path.dsv
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/environment/ament_prefix_path.sh b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/environment/ament_prefix_path.sh
new file mode 120000
index 0000000..403e838
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/environment/ament_prefix_path.sh
@@ -0,0 +1 @@
+/opt/ros/humble/share/ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/environment/path.dsv b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/environment/path.dsv
new file mode 120000
index 0000000..e1f640c
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/environment/path.dsv
@@ -0,0 +1 @@
+/workspace/build/turtlebot3_gazebo/ament_cmake_environment_hooks/path.dsv
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/environment/path.sh b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/environment/path.sh
new file mode 120000
index 0000000..8667351
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/environment/path.sh
@@ -0,0 +1 @@
+/opt/ros/humble/share/ament_cmake_core/cmake/environment_hooks/environment/path.sh
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/gui/office_gui.config b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/gui/office_gui.config
new file mode 120000
index 0000000..93fa4f6
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/gui/office_gui.config
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/gui/office_gui.config
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/hook/cmake_prefix_path.dsv b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/hook/cmake_prefix_path.dsv
new file mode 100644
index 0000000..e119f32
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/hook/cmake_prefix_path.dsv
@@ -0,0 +1 @@
+prepend-non-duplicate;CMAKE_PREFIX_PATH;
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/hook/cmake_prefix_path.ps1 b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/hook/cmake_prefix_path.ps1
new file mode 100644
index 0000000..d03facc
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/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"
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/hook/cmake_prefix_path.sh b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/hook/cmake_prefix_path.sh
new file mode 100644
index 0000000..a948e68
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/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"
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/launch/__pycache__/robot_state_publisher.launch.cpython-310.pyc b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/launch/__pycache__/robot_state_publisher.launch.cpython-310.pyc
new file mode 100644
index 0000000..3bdbf86
Binary files /dev/null and b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/launch/__pycache__/robot_state_publisher.launch.cpython-310.pyc differ
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/launch/__pycache__/spawn_turtlebot3.launch.cpython-310.pyc b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/launch/__pycache__/spawn_turtlebot3.launch.cpython-310.pyc
new file mode 100644
index 0000000..406497d
Binary files /dev/null and b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/launch/__pycache__/spawn_turtlebot3.launch.cpython-310.pyc differ
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/launch/__pycache__/turtlebot3_office.launch.cpython-310.pyc b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/launch/__pycache__/turtlebot3_office.launch.cpython-310.pyc
new file mode 100644
index 0000000..4fb0406
Binary files /dev/null and b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/launch/__pycache__/turtlebot3_office.launch.cpython-310.pyc differ
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/launch/empty_world.launch.py b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/launch/empty_world.launch.py
new file mode 120000
index 0000000..80c6b4c
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/launch/empty_world.launch.py
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/launch/empty_world.launch.py
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/launch/multi_robot.launch.py b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/launch/multi_robot.launch.py
new file mode 120000
index 0000000..683953f
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/launch/multi_robot.launch.py
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/launch/multi_robot.launch.py
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/launch/multi_spawn_turtlebot3.launch.py b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/launch/multi_spawn_turtlebot3.launch.py
new file mode 120000
index 0000000..8c61ddc
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/launch/multi_spawn_turtlebot3.launch.py
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/launch/multi_spawn_turtlebot3.launch.py
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/launch/robot_state_publisher.launch.py b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/launch/robot_state_publisher.launch.py
new file mode 120000
index 0000000..7bd0b3c
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/launch/robot_state_publisher.launch.py
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/launch/robot_state_publisher.launch.py
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/launch/spawn_turtlebot3.launch.py b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/launch/spawn_turtlebot3.launch.py
new file mode 120000
index 0000000..0e174b4
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/launch/spawn_turtlebot3.launch.py
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/launch/spawn_turtlebot3.launch.py
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/launch/turtlebot3_autorace_2020.launch.py b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/launch/turtlebot3_autorace_2020.launch.py
new file mode 120000
index 0000000..77bc166
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/launch/turtlebot3_autorace_2020.launch.py
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/launch/turtlebot3_autorace_2020.launch.py
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/launch/turtlebot3_dqn_stage1.launch.py b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/launch/turtlebot3_dqn_stage1.launch.py
new file mode 120000
index 0000000..f501664
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/launch/turtlebot3_dqn_stage1.launch.py
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/launch/turtlebot3_dqn_stage1.launch.py
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/launch/turtlebot3_dqn_stage2.launch.py b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/launch/turtlebot3_dqn_stage2.launch.py
new file mode 120000
index 0000000..73f7869
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/launch/turtlebot3_dqn_stage2.launch.py
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/launch/turtlebot3_dqn_stage2.launch.py
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/launch/turtlebot3_dqn_stage3.launch.py b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/launch/turtlebot3_dqn_stage3.launch.py
new file mode 120000
index 0000000..1457213
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/launch/turtlebot3_dqn_stage3.launch.py
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/launch/turtlebot3_dqn_stage3.launch.py
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/launch/turtlebot3_dqn_stage4.launch.py b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/launch/turtlebot3_dqn_stage4.launch.py
new file mode 120000
index 0000000..d1d56c4
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/launch/turtlebot3_dqn_stage4.launch.py
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/launch/turtlebot3_dqn_stage4.launch.py
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/launch/turtlebot3_house.launch.py b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/launch/turtlebot3_house.launch.py
new file mode 120000
index 0000000..46f0436
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/launch/turtlebot3_house.launch.py
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/launch/turtlebot3_house.launch.py
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/launch/turtlebot3_office.launch.py b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/launch/turtlebot3_office.launch.py
new file mode 120000
index 0000000..ddda3a9
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/launch/turtlebot3_office.launch.py
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/launch/turtlebot3_office.launch.py
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/launch/turtlebot3_world.launch.py b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/launch/turtlebot3_world.launch.py
new file mode 120000
index 0000000..dc00ffc
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/launch/turtlebot3_world.launch.py
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/launch/turtlebot3_world.launch.py
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/local_setup.bash b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/local_setup.bash
new file mode 120000
index 0000000..f34fa88
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/local_setup.bash
@@ -0,0 +1 @@
+/workspace/build/turtlebot3_gazebo/ament_cmake_environment_hooks/local_setup.bash
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/local_setup.dsv b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/local_setup.dsv
new file mode 120000
index 0000000..28e4cc6
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/local_setup.dsv
@@ -0,0 +1 @@
+/workspace/build/turtlebot3_gazebo/ament_cmake_environment_hooks/local_setup.dsv
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/local_setup.sh b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/local_setup.sh
new file mode 120000
index 0000000..eb5462c
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/local_setup.sh
@@ -0,0 +1 @@
+/workspace/build/turtlebot3_gazebo/ament_cmake_environment_hooks/local_setup.sh
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/local_setup.zsh b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/local_setup.zsh
new file mode 120000
index 0000000..bd26c47
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/local_setup.zsh
@@ -0,0 +1 @@
+/workspace/build/turtlebot3_gazebo/ament_cmake_environment_hooks/local_setup.zsh
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/checker/materials/checker.png b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/checker/materials/checker.png
new file mode 120000
index 0000000..5810100
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/checker/materials/checker.png
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/checker/materials/checker.png
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/checker/materials/scripts/checker.material b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/checker/materials/scripts/checker.material
new file mode 120000
index 0000000..133ee87
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/checker/materials/scripts/checker.material
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/checker/materials/scripts/checker.material
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/checker/materials/textures/checker.png b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/checker/materials/textures/checker.png
new file mode 120000
index 0000000..7104317
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/checker/materials/textures/checker.png
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/checker/materials/textures/checker.png
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/checker/model.config b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/checker/model.config
new file mode 120000
index 0000000..fd6cefe
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/checker/model.config
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/checker/model.config
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/checker/model.sdf b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/checker/model.sdf
new file mode 120000
index 0000000..6549d3e
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/checker/model.sdf
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/checker/model.sdf
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/course/materials/scripts/course.material b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/course/materials/scripts/course.material
new file mode 120000
index 0000000..5728be8
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/course/materials/scripts/course.material
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/course/materials/scripts/course.material
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/course/materials/textures/course.png b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/course/materials/textures/course.png
new file mode 120000
index 0000000..b893d31
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/course/materials/textures/course.png
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/course/materials/textures/course.png
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/course/model.config b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/course/model.config
new file mode 120000
index 0000000..b31f72c
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/course/model.config
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/course/model.config
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/course/model.sdf b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/course/model.sdf
new file mode 120000
index 0000000..04f76c5
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/course/model.sdf
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/course/model.sdf
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_bar/materials/scripts/traffic_bar.material b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_bar/materials/scripts/traffic_bar.material
new file mode 120000
index 0000000..2aa0f89
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_bar/materials/scripts/traffic_bar.material
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_bar/materials/scripts/traffic_bar.material
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_bar/materials/textures/traffic_bar.png b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_bar/materials/textures/traffic_bar.png
new file mode 120000
index 0000000..ea40d5b
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_bar/materials/textures/traffic_bar.png
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_bar/materials/textures/traffic_bar.png
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_bar/model.config b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_bar/model.config
new file mode 120000
index 0000000..f843c55
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_bar/model.config
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_bar/model.config
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_bar/model.sdf b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_bar/model.sdf
new file mode 120000
index 0000000..0df2199
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_bar/model.sdf
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_bar/model.sdf
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_construction/materials/scripts/traffic_construction.material b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_construction/materials/scripts/traffic_construction.material
new file mode 120000
index 0000000..172c3be
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_construction/materials/scripts/traffic_construction.material
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_construction/materials/scripts/traffic_construction.material
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_construction/materials/textures/traffic_construction.png b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_construction/materials/textures/traffic_construction.png
new file mode 120000
index 0000000..e1a88ce
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_construction/materials/textures/traffic_construction.png
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_construction/materials/textures/traffic_construction.png
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_construction/model.config b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_construction/model.config
new file mode 120000
index 0000000..de7e17a
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_construction/model.config
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_construction/model.config
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_construction/model.sdf b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_construction/model.sdf
new file mode 120000
index 0000000..57030de
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_construction/model.sdf
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_construction/model.sdf
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_intersection/materials/scripts/traffic_intersection.material b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_intersection/materials/scripts/traffic_intersection.material
new file mode 120000
index 0000000..4d5ab95
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_intersection/materials/scripts/traffic_intersection.material
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_intersection/materials/scripts/traffic_intersection.material
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_intersection/materials/textures/traffic_intersection.png b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_intersection/materials/textures/traffic_intersection.png
new file mode 120000
index 0000000..569a9cb
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_intersection/materials/textures/traffic_intersection.png
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_intersection/materials/textures/traffic_intersection.png
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_intersection/model.config b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_intersection/model.config
new file mode 120000
index 0000000..6623a1a
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_intersection/model.config
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_intersection/model.config
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_intersection/model.sdf b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_intersection/model.sdf
new file mode 120000
index 0000000..c65a912
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_intersection/model.sdf
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_intersection/model.sdf
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_left/materials/scripts/traffic_is_left.material b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_left/materials/scripts/traffic_is_left.material
new file mode 120000
index 0000000..cdd0478
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_left/materials/scripts/traffic_is_left.material
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_left/materials/scripts/traffic_is_left.material
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_left/materials/textures/traffic_left.png b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_left/materials/textures/traffic_left.png
new file mode 120000
index 0000000..eb78857
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_left/materials/textures/traffic_left.png
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_left/model.config b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_left/model.config
new file mode 120000
index 0000000..ccfa969
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_left/model.config
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_left/model.config
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_left/model.sdf b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_left/model.sdf
new file mode 120000
index 0000000..4d3b207
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_left/model.sdf
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_left/model.sdf
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_light/materials/scripts/traffic_light.material b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_light/materials/scripts/traffic_light.material
new file mode 120000
index 0000000..eeff250
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_light/materials/scripts/traffic_light.material
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_light/materials/scripts/traffic_light.material
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_light/materials/textures/traffic_light.png b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_light/materials/textures/traffic_light.png
new file mode 120000
index 0000000..f3f7a82
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_light/materials/textures/traffic_light.png
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_light/materials/textures/traffic_light.png
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_light/materials/textures/traffic_light_green.png b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_light/materials/textures/traffic_light_green.png
new file mode 120000
index 0000000..7d4b051
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_light/materials/textures/traffic_light_green.png
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_light/materials/textures/traffic_light_green.png
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_light/materials/textures/traffic_light_red.png b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_light/materials/textures/traffic_light_red.png
new file mode 120000
index 0000000..142466f
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_light/materials/textures/traffic_light_red.png
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_light/materials/textures/traffic_light_red.png
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_light/materials/textures/traffic_light_yellow.png b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_light/materials/textures/traffic_light_yellow.png
new file mode 120000
index 0000000..c403eb8
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_light/materials/textures/traffic_light_yellow.png
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_light/materials/textures/traffic_light_yellow.png
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_light/model.config b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_light/model.config
new file mode 120000
index 0000000..a9637f2
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_light/model.config
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_light/model.config
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_light/model.sdf b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_light/model.sdf
new file mode 120000
index 0000000..3a9ede3
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_light/model.sdf
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_light/model.sdf
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_noentry/materials/scripts/traffic_noentry.material b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_noentry/materials/scripts/traffic_noentry.material
new file mode 120000
index 0000000..9f78b30
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_noentry/materials/scripts/traffic_noentry.material
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_noentry/materials/scripts/traffic_noentry.material
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_noentry/materials/textures/traffic_noentry.png b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_noentry/materials/textures/traffic_noentry.png
new file mode 120000
index 0000000..e5b41bc
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_noentry/materials/textures/traffic_noentry.png
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_noentry/materials/textures/traffic_noentry.png
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_noentry/model.config b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_noentry/model.config
new file mode 120000
index 0000000..7efa3b1
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_noentry/model.config
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_noentry/model.config
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_noentry/model.sdf b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_noentry/model.sdf
new file mode 120000
index 0000000..9b5aabc
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_noentry/model.sdf
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_noentry/model.sdf
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_parking/materials/scripts/traffic_parking.material b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_parking/materials/scripts/traffic_parking.material
new file mode 120000
index 0000000..5c6f779
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_parking/materials/scripts/traffic_parking.material
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_parking/materials/scripts/traffic_parking.material
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_parking/materials/textures/traffic_parking.png b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_parking/materials/textures/traffic_parking.png
new file mode 120000
index 0000000..ac96663
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_parking/materials/textures/traffic_parking.png
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_parking/materials/textures/traffic_parking.png
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_parking/model.config b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_parking/model.config
new file mode 120000
index 0000000..637dd5d
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_parking/model.config
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_parking/model.config
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_parking/model.sdf b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_parking/model.sdf
new file mode 120000
index 0000000..6ef52ce
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_parking/model.sdf
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_parking/model.sdf
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_pl_left/materials/scripts/traffic_pl_left.material b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_pl_left/materials/scripts/traffic_pl_left.material
new file mode 120000
index 0000000..0a10aa9
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_pl_left/materials/scripts/traffic_pl_left.material
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_pl_left/materials/scripts/traffic_pl_left.material
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_pl_left/materials/textures/traffic_pl_left.png b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_pl_left/materials/textures/traffic_pl_left.png
new file mode 120000
index 0000000..b09c9e2
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_pl_left/materials/textures/traffic_pl_left.png
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_pl_left/materials/textures/traffic_pl_left.png
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_pl_left/model.config b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_pl_left/model.config
new file mode 120000
index 0000000..a39bf2b
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_pl_left/model.config
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_pl_left/model.config
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_pl_left/model.sdf b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_pl_left/model.sdf
new file mode 120000
index 0000000..ae627b7
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_pl_left/model.sdf
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_pl_left/model.sdf
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_right/materials/scripts/traffic_right.material b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_right/materials/scripts/traffic_right.material
new file mode 120000
index 0000000..413951c
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_right/materials/scripts/traffic_right.material
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_right/materials/scripts/traffic_right.material
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_right/materials/textures/traffic_right.png b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_right/materials/textures/traffic_right.png
new file mode 120000
index 0000000..c3a173d
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_right/materials/textures/traffic_right.png
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_right/materials/textures/traffic_right.png
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_right/model.config b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_right/model.config
new file mode 120000
index 0000000..2adab2e
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_right/model.config
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_right/model.config
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_right/model.sdf b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_right/model.sdf
new file mode 120000
index 0000000..2e46d2f
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_right/model.sdf
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_right/model.sdf
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_stop/materials/scripts/traffic_stop.material b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_stop/materials/scripts/traffic_stop.material
new file mode 120000
index 0000000..0a9753a
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_stop/materials/scripts/traffic_stop.material
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_stop/materials/scripts/traffic_stop.material
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_stop/materials/textures/traffic_stop.png b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_stop/materials/textures/traffic_stop.png
new file mode 120000
index 0000000..ab7b692
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_stop/materials/textures/traffic_stop.png
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_stop/materials/textures/traffic_stop.png
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_stop/model.config b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_stop/model.config
new file mode 120000
index 0000000..e03a2b4
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_stop/model.config
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_stop/model.config
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_stop/model.sdf b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_stop/model.sdf
new file mode 120000
index 0000000..659f858
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_stop/model.sdf
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_stop/model.sdf
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_tunnel/materials/scripts/tunnel.material b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_tunnel/materials/scripts/tunnel.material
new file mode 120000
index 0000000..0f91c19
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_tunnel/materials/scripts/tunnel.material
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_tunnel/materials/scripts/tunnel.material
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_tunnel/materials/textures/tunnel.png b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_tunnel/materials/textures/tunnel.png
new file mode 120000
index 0000000..38b954f
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_tunnel/materials/textures/tunnel.png
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_tunnel/materials/textures/tunnel.png
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_tunnel/model.config b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_tunnel/model.config
new file mode 120000
index 0000000..256f17d
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_tunnel/model.config
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_tunnel/model.config
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_tunnel/model.sdf b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_tunnel/model.sdf
new file mode 120000
index 0000000..e2836e1
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_tunnel/model.sdf
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_tunnel/model.sdf
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_burger/model (copy).sdf b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_burger/model (copy).sdf
new file mode 120000
index 0000000..4f016bd
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_burger/model (copy).sdf	
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_burger/model (copy).sdf
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_burger/model-1_4.sdf b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_burger/model-1_4.sdf
new file mode 120000
index 0000000..ae54ce6
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_burger/model-1_4.sdf
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_burger/model-1_4.sdf
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_burger/model.config b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_burger/model.config
new file mode 120000
index 0000000..3771bd8
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_burger/model.config
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_burger/model.config
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_burger/model.sdf b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_burger/model.sdf
new file mode 120000
index 0000000..57d643c
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_burger/model.sdf
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_burger/model.sdf
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_burger/model_gz.sdf b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_burger/model_gz.sdf
new file mode 120000
index 0000000..d1b258a
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_burger/model_gz.sdf
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_burger/model_gz.sdf
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_burger_cam/model-1_4.sdf b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_burger_cam/model-1_4.sdf
new file mode 120000
index 0000000..27a1705
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_burger_cam/model-1_4.sdf
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_burger_cam/model-1_4.sdf
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_burger_cam/model.config b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_burger_cam/model.config
new file mode 120000
index 0000000..457b733
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_burger_cam/model.config
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_burger_cam/model.config
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_burger_cam/model.sdf b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_burger_cam/model.sdf
new file mode 120000
index 0000000..b72f53e
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_burger_cam/model.sdf
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_burger_cam/model.sdf
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_common/meshes/bases/burger_base.stl b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_common/meshes/bases/burger_base.stl
new file mode 120000
index 0000000..beb20b3
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_common/meshes/bases/burger_base.stl
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_common/meshes/bases/burger_base.stl
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_common/meshes/bases/waffle_base.stl b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_common/meshes/bases/waffle_base.stl
new file mode 120000
index 0000000..3416b57
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_common/meshes/bases/waffle_base.stl
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_common/meshes/bases/waffle_base.stl
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_common/meshes/bases/waffle_pi_base.stl b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_common/meshes/bases/waffle_pi_base.stl
new file mode 120000
index 0000000..b74689a
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_common/meshes/bases/waffle_pi_base.stl
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_common/meshes/bases/waffle_pi_base.stl
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_common/meshes/burger_base.dae b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_common/meshes/burger_base.dae
new file mode 120000
index 0000000..a82a6d5
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_common/meshes/burger_base.dae
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_common/meshes/burger_base.dae
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_common/meshes/lds.dae b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_common/meshes/lds.dae
new file mode 120000
index 0000000..92ccea5
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_common/meshes/lds.dae
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_common/meshes/lds.dae
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_common/meshes/r200.dae b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_common/meshes/r200.dae
new file mode 120000
index 0000000..7588fb0
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_common/meshes/r200.dae
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_common/meshes/r200.dae
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_common/meshes/sensors/astra.dae b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_common/meshes/sensors/astra.dae
new file mode 120000
index 0000000..03d0f8a
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_common/meshes/sensors/astra.dae
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_common/meshes/sensors/astra.dae
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_common/meshes/sensors/astra.jpg b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_common/meshes/sensors/astra.jpg
new file mode 120000
index 0000000..a52fd1e
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_common/meshes/sensors/astra.jpg
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_common/meshes/sensors/astra.jpg
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_common/meshes/sensors/lds.stl b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_common/meshes/sensors/lds.stl
new file mode 120000
index 0000000..d3026d6
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_common/meshes/sensors/lds.stl
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_common/meshes/sensors/lds.stl
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_common/meshes/sensors/r200.dae b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_common/meshes/sensors/r200.dae
new file mode 120000
index 0000000..7af4280
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_common/meshes/sensors/r200.dae
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_common/meshes/sensors/r200.dae
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_common/meshes/sensors/r200.jpg b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_common/meshes/sensors/r200.jpg
new file mode 120000
index 0000000..c49c757
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_common/meshes/sensors/r200.jpg
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_common/meshes/sensors/r200.jpg
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_common/meshes/tire.dae b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_common/meshes/tire.dae
new file mode 120000
index 0000000..8ce61df
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_common/meshes/tire.dae
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_common/meshes/tire.dae
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_common/meshes/waffle_base.dae b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_common/meshes/waffle_base.dae
new file mode 120000
index 0000000..1f07ab4
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_common/meshes/waffle_base.dae
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_common/meshes/waffle_base.dae
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_common/meshes/waffle_pi_base.dae b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_common/meshes/waffle_pi_base.dae
new file mode 120000
index 0000000..ffad6e1
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_common/meshes/waffle_pi_base.dae
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_common/meshes/waffle_pi_base.dae
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_common/meshes/wheels/left_tire.stl b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_common/meshes/wheels/left_tire.stl
new file mode 120000
index 0000000..0c9a35b
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_common/meshes/wheels/left_tire.stl
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_common/meshes/wheels/left_tire.stl
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_common/meshes/wheels/right_tire.stl b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_common/meshes/wheels/right_tire.stl
new file mode 120000
index 0000000..52e3523
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_common/meshes/wheels/right_tire.stl
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_common/meshes/wheels/right_tire.stl
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_common/model.config b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_common/model.config
new file mode 120000
index 0000000..ebdf5e7
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_common/model.config
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_common/model.config
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_dqn_world/goal_box/model.config b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_dqn_world/goal_box/model.config
new file mode 120000
index 0000000..748378b
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_dqn_world/goal_box/model.config
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_dqn_world/goal_box/model.config
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_dqn_world/goal_box/model.sdf b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_dqn_world/goal_box/model.sdf
new file mode 120000
index 0000000..231f54b
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_dqn_world/goal_box/model.sdf
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_dqn_world/goal_box/model.sdf
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_dqn_world/inner_walls/model.config b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_dqn_world/inner_walls/model.config
new file mode 120000
index 0000000..6f0fc8d
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_dqn_world/inner_walls/model.config
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_dqn_world/inner_walls/model.config
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_dqn_world/inner_walls/model.sdf b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_dqn_world/inner_walls/model.sdf
new file mode 120000
index 0000000..8fe6af1
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_dqn_world/inner_walls/model.sdf
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_dqn_world/inner_walls/model.sdf
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_dqn_world/model.config b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_dqn_world/model.config
new file mode 120000
index 0000000..5f1432c
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_dqn_world/model.config
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_dqn_world/model.config
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_dqn_world/model.sdf b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_dqn_world/model.sdf
new file mode 120000
index 0000000..b03d6a1
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_dqn_world/model.sdf
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_dqn_world/model.sdf
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle1/model.config b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle1/model.config
new file mode 120000
index 0000000..3481b82
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle1/model.config
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle1/model.config
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle1/model.sdf b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle1/model.sdf
new file mode 120000
index 0000000..53e5b65
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle1/model.sdf
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle1/model.sdf
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle2/model.config b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle2/model.config
new file mode 120000
index 0000000..eef4b52
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle2/model.config
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle2/model.config
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle2/model.sdf b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle2/model.sdf
new file mode 120000
index 0000000..12dab2f
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle2/model.sdf
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle2/model.sdf
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacles/model.config b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacles/model.config
new file mode 120000
index 0000000..b88257c
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacles/model.config
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacles/model.config
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacles/model.sdf b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacles/model.sdf
new file mode 120000
index 0000000..b35a747
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacles/model.sdf
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacles/model.sdf
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_house/model.config b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_house/model.config
new file mode 120000
index 0000000..3003fe6
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_house/model.config
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_house/model.config
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_house/model.sdf b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_house/model.sdf
new file mode 120000
index 0000000..5d93c7d
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_house/model.sdf
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_house/model.sdf
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/WaterDispenser/meshes/water_dispenser.dae b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/WaterDispenser/meshes/water_dispenser.dae
new file mode 120000
index 0000000..e90b1fc
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/WaterDispenser/meshes/water_dispenser.dae
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/WaterDispenser/meshes/water_dispenser.dae
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/WaterDispenser/model.config b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/WaterDispenser/model.config
new file mode 120000
index 0000000..2adeb3b
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/WaterDispenser/model.config
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/WaterDispenser/model.config
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/WaterDispenser/model.sdf b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/WaterDispenser/model.sdf
new file mode 120000
index 0000000..c244651
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/WaterDispenser/model.sdf
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/WaterDispenser/model.sdf
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/book_10/materials/scripts/book_10.material b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/book_10/materials/scripts/book_10.material
new file mode 120000
index 0000000..71aafe8
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/book_10/materials/scripts/book_10.material
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/book_10/materials/scripts/book_10.material
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/book_10/materials/textures/cover10.jpg b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/book_10/materials/textures/cover10.jpg
new file mode 120000
index 0000000..f2abb06
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/book_10/materials/textures/cover10.jpg
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/book_10/materials/textures/cover10.jpg
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/book_10/model.config b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/book_10/model.config
new file mode 120000
index 0000000..194175f
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/book_10/model.config
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/book_10/model.config
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/book_10/model.sdf b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/book_10/model.sdf
new file mode 120000
index 0000000..ba9d81e
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/book_10/model.sdf
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/book_10/model.sdf
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/book_2/materials/scripts/book_2.material b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/book_2/materials/scripts/book_2.material
new file mode 120000
index 0000000..0bc6794
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/book_2/materials/scripts/book_2.material
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/book_2/materials/scripts/book_2.material
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/book_2/materials/textures/cover2.jpg b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/book_2/materials/textures/cover2.jpg
new file mode 120000
index 0000000..5caa4ba
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/book_2/materials/textures/cover2.jpg
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/book_2/materials/textures/cover2.jpg
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/book_2/model.config b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/book_2/model.config
new file mode 120000
index 0000000..b5e8559
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/book_2/model.config
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/book_2/model.config
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/book_2/model.sdf b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/book_2/model.sdf
new file mode 120000
index 0000000..d61df08
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/book_2/model.sdf
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/book_2/model.sdf
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/bookshelf_large/materials/scripts/bookshelf.material b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/bookshelf_large/materials/scripts/bookshelf.material
new file mode 120000
index 0000000..bd70592
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/bookshelf_large/materials/scripts/bookshelf.material
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/bookshelf_large/materials/scripts/bookshelf.material
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/bookshelf_large/materials/textures/wood_dark_4.jpg b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/bookshelf_large/materials/textures/wood_dark_4.jpg
new file mode 120000
index 0000000..9fa46a6
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/bookshelf_large/materials/textures/wood_dark_4.jpg
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/bookshelf_large/materials/textures/wood_dark_4.jpg
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/bookshelf_large/meshes/frame.dae b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/bookshelf_large/meshes/frame.dae
new file mode 120000
index 0000000..6b93f3f
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/bookshelf_large/meshes/frame.dae
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/bookshelf_large/meshes/frame.dae
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/bookshelf_large/meshes/glass.dae b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/bookshelf_large/meshes/glass.dae
new file mode 120000
index 0000000..a4e7596
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/bookshelf_large/meshes/glass.dae
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/bookshelf_large/meshes/glass.dae
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/bookshelf_large/meshes/model.dae b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/bookshelf_large/meshes/model.dae
new file mode 120000
index 0000000..c2d9b4d
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/bookshelf_large/meshes/model.dae
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/bookshelf_large/meshes/model.dae
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/bookshelf_large/model.config b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/bookshelf_large/model.config
new file mode 120000
index 0000000..1e4dc7a
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/bookshelf_large/model.config
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/bookshelf_large/model.config
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/bookshelf_large/model.sdf b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/bookshelf_large/model.sdf
new file mode 120000
index 0000000..597f1c5
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/bookshelf_large/model.sdf
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/bookshelf_large/model.sdf
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/bowl/meshes/bowl.dae b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/bowl/meshes/bowl.dae
new file mode 120000
index 0000000..738b432
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/bowl/meshes/bowl.dae
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/bowl/meshes/bowl.dae
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/bowl/model-1_2.sdf b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/bowl/model-1_2.sdf
new file mode 120000
index 0000000..e05f97e
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/bowl/model-1_2.sdf
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/bowl/model-1_2.sdf
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/bowl/model-1_3.sdf b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/bowl/model-1_3.sdf
new file mode 120000
index 0000000..634a715
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/bowl/model-1_3.sdf
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/bowl/model-1_3.sdf
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/bowl/model-1_4.sdf b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/bowl/model-1_4.sdf
new file mode 120000
index 0000000..ab781e1
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/bowl/model-1_4.sdf
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/bowl/model-1_4.sdf
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/bowl/model.config b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/bowl/model.config
new file mode 120000
index 0000000..7bdc24a
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/bowl/model.config
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/bowl/model.config
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/bowl/model.sdf b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/bowl/model.sdf
new file mode 120000
index 0000000..b237bc4
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/bowl/model.sdf
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/bowl/model.sdf
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/coca_cola/materials/scripts/coke.material b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/coca_cola/materials/scripts/coke.material
new file mode 120000
index 0000000..c1c6aa6
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/coca_cola/materials/scripts/coke.material
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/coca_cola/materials/scripts/coke.material
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/coca_cola/materials/textures/cokecan.jpg b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/coca_cola/materials/textures/cokecan.jpg
new file mode 120000
index 0000000..7654665
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/coca_cola/materials/textures/cokecan.jpg
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/coca_cola/materials/textures/cokecan.jpg
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/coca_cola/meshes/aluminum.jpg b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/coca_cola/meshes/aluminum.jpg
new file mode 120000
index 0000000..670c865
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/coca_cola/meshes/aluminum.jpg
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/coca_cola/meshes/aluminum.jpg
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/coca_cola/meshes/can_ring_pull_end_centre.png b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/coca_cola/meshes/can_ring_pull_end_centre.png
new file mode 120000
index 0000000..e245d80
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/coca_cola/meshes/can_ring_pull_end_centre.png
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/coca_cola/meshes/can_ring_pull_end_centre.png
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/coca_cola/meshes/coke.dae b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/coca_cola/meshes/coke.dae
new file mode 120000
index 0000000..cf33a39
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/coca_cola/meshes/coke.dae
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/coca_cola/meshes/coke.dae
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/coca_cola/meshes/coke_uv_map.jpg b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/coca_cola/meshes/coke_uv_map.jpg
new file mode 120000
index 0000000..87f7b0d
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/coca_cola/meshes/coke_uv_map.jpg
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/coca_cola/meshes/coke_uv_map.jpg
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/coca_cola/model.config b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/coca_cola/model.config
new file mode 120000
index 0000000..310d310
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/coca_cola/model.config
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/coca_cola/model.config
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/coca_cola/model.sdf b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/coca_cola/model.sdf
new file mode 120000
index 0000000..001686a
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/coca_cola/model.sdf
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/coca_cola/model.sdf
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/donut_frost_1/meshes/donut2.dae b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/donut_frost_1/meshes/donut2.dae
new file mode 120000
index 0000000..ff96710
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/donut_frost_1/meshes/donut2.dae
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/donut_frost_1/meshes/donut2.dae
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/donut_frost_1/meshes/donut2_bread.dae b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/donut_frost_1/meshes/donut2_bread.dae
new file mode 120000
index 0000000..7964f5a
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/donut_frost_1/meshes/donut2_bread.dae
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/donut_frost_1/meshes/donut2_bread.dae
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/donut_frost_1/meshes/donut2_dust.dae b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/donut_frost_1/meshes/donut2_dust.dae
new file mode 120000
index 0000000..4c840ba
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/donut_frost_1/meshes/donut2_dust.dae
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/donut_frost_1/meshes/donut2_dust.dae
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/donut_frost_1/meshes/donut2_frost.dae b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/donut_frost_1/meshes/donut2_frost.dae
new file mode 120000
index 0000000..919c51b
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/donut_frost_1/meshes/donut2_frost.dae
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/donut_frost_1/meshes/donut2_frost.dae
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/donut_frost_1/model.config b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/donut_frost_1/model.config
new file mode 120000
index 0000000..abf4025
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/donut_frost_1/model.config
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/donut_frost_1/model.config
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/donut_frost_1/model.sdf b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/donut_frost_1/model.sdf
new file mode 120000
index 0000000..8a7d5e2
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/donut_frost_1/model.sdf
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/donut_frost_1/model.sdf
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/elegant_female/materials/textures/brown_eye.png b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/elegant_female/materials/textures/brown_eye.png
new file mode 120000
index 0000000..8536812
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/elegant_female/materials/textures/brown_eye.png
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/elegant_female/materials/textures/brown_eye.png
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/elegant_female/materials/textures/eyebrow002.png b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/elegant_female/materials/textures/eyebrow002.png
new file mode 120000
index 0000000..dfb7d93
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/elegant_female/materials/textures/eyebrow002.png
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/elegant_female/materials/textures/eyebrow002.png
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/elegant_female/materials/textures/eyelashes01.png b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/elegant_female/materials/textures/eyelashes01.png
new file mode 120000
index 0000000..8a014a6
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/elegant_female/materials/textures/eyelashes01.png
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/elegant_female/materials/textures/eyelashes01.png
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/elegant_female/materials/textures/male_elegantsuit01_diffuse.png b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/elegant_female/materials/textures/male_elegantsuit01_diffuse.png
new file mode 120000
index 0000000..c56fcda
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/elegant_female/materials/textures/male_elegantsuit01_diffuse.png
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/elegant_female/materials/textures/male_elegantsuit01_diffuse.png
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/elegant_female/materials/textures/ponytail01_diffuse.png b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/elegant_female/materials/textures/ponytail01_diffuse.png
new file mode 120000
index 0000000..6e1be81
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/elegant_female/materials/textures/ponytail01_diffuse.png
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/elegant_female/materials/textures/ponytail01_diffuse.png
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/elegant_female/materials/textures/shoes03_diffuse.png b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/elegant_female/materials/textures/shoes03_diffuse.png
new file mode 120000
index 0000000..485e89d
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/elegant_female/materials/textures/shoes03_diffuse.png
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/elegant_female/materials/textures/shoes03_diffuse.png
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/elegant_female/materials/textures/young_lightskinned_female_diffuse2.png b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/elegant_female/materials/textures/young_lightskinned_female_diffuse2.png
new file mode 120000
index 0000000..bf688f9
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/elegant_female/materials/textures/young_lightskinned_female_diffuse2.png
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/elegant_female/materials/textures/young_lightskinned_female_diffuse2.png
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/elegant_female/meshes/elegant_female.dae b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/elegant_female/meshes/elegant_female.dae
new file mode 120000
index 0000000..dcdc1e5
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/elegant_female/meshes/elegant_female.dae
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/elegant_female/meshes/elegant_female.dae
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/elegant_female/meshes/elegant_female.png b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/elegant_female/meshes/elegant_female.png
new file mode 120000
index 0000000..4ef8fb7
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/elegant_female/meshes/elegant_female.png
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/elegant_female/meshes/elegant_female.png
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/elegant_female/model.config b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/elegant_female/model.config
new file mode 120000
index 0000000..a7df5c0
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/elegant_female/model.config
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/elegant_female/model.config
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/elegant_female/model.sdf b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/elegant_female/model.sdf
new file mode 120000
index 0000000..96e4ee2
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/elegant_female/model.sdf
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/elegant_female/model.sdf
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/file_1/meshes/body.dae b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/file_1/meshes/body.dae
new file mode 120000
index 0000000..3ac75b6
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/file_1/meshes/body.dae
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/file_1/meshes/body.dae
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/file_1/meshes/model.dae b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/file_1/meshes/model.dae
new file mode 120000
index 0000000..5bc5c98
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/file_1/meshes/model.dae
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/file_1/meshes/model.dae
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/file_1/meshes/ring.dae b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/file_1/meshes/ring.dae
new file mode 120000
index 0000000..1be0a97
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/file_1/meshes/ring.dae
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/file_1/meshes/ring.dae
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/file_1/meshes/tag.dae b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/file_1/meshes/tag.dae
new file mode 120000
index 0000000..95edb43
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/file_1/meshes/tag.dae
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/file_1/meshes/tag.dae
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/file_1/model.config b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/file_1/model.config
new file mode 120000
index 0000000..9bfe268
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/file_1/model.config
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/file_1/model.config
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/file_1/model.sdf b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/file_1/model.sdf
new file mode 120000
index 0000000..97ffa11
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/file_1/model.sdf
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/file_1/model.sdf
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/ground_plane/model-1_2.sdf b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/ground_plane/model-1_2.sdf
new file mode 120000
index 0000000..e9ddecf
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/ground_plane/model-1_2.sdf
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/ground_plane/model-1_2.sdf
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/ground_plane/model-1_3.sdf b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/ground_plane/model-1_3.sdf
new file mode 120000
index 0000000..0da60c5
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/ground_plane/model-1_3.sdf
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/ground_plane/model-1_3.sdf
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/ground_plane/model-1_4.sdf b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/ground_plane/model-1_4.sdf
new file mode 120000
index 0000000..5092d94
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/ground_plane/model-1_4.sdf
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/ground_plane/model-1_4.sdf
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/ground_plane/model.config b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/ground_plane/model.config
new file mode 120000
index 0000000..9feb5f7
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/ground_plane/model.config
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/ground_plane/model.config
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/ground_plane/model.sdf b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/ground_plane/model.sdf
new file mode 120000
index 0000000..c7eac8a
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/ground_plane/model.sdf
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/ground_plane/model.sdf
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/labtop_mac_2/materials/scripts/labtop_screen_2.material b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/labtop_mac_2/materials/scripts/labtop_screen_2.material
new file mode 120000
index 0000000..c8c2df0
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/labtop_mac_2/materials/scripts/labtop_screen_2.material
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/labtop_mac_2/materials/scripts/labtop_screen_2.material
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/labtop_mac_2/materials/textures/labtop_screen2.jpg b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/labtop_mac_2/materials/textures/labtop_screen2.jpg
new file mode 120000
index 0000000..83ca8bc
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/labtop_mac_2/materials/textures/labtop_screen2.jpg
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/labtop_mac_2/materials/textures/labtop_screen2.jpg
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/labtop_mac_2/meshes/body.dae b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/labtop_mac_2/meshes/body.dae
new file mode 120000
index 0000000..bd72a4a
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/labtop_mac_2/meshes/body.dae
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/labtop_mac_2/meshes/body.dae
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/labtop_mac_2/meshes/keys.dae b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/labtop_mac_2/meshes/keys.dae
new file mode 120000
index 0000000..de37d4b
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/labtop_mac_2/meshes/keys.dae
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/labtop_mac_2/meshes/keys.dae
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/labtop_mac_2/meshes/labtop.dae b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/labtop_mac_2/meshes/labtop.dae
new file mode 120000
index 0000000..a7e98ea
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/labtop_mac_2/meshes/labtop.dae
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/labtop_mac_2/meshes/labtop.dae
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/labtop_mac_2/meshes/screen.dae b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/labtop_mac_2/meshes/screen.dae
new file mode 120000
index 0000000..2eef530
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/labtop_mac_2/meshes/screen.dae
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/labtop_mac_2/meshes/screen.dae
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/labtop_mac_2/model.config b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/labtop_mac_2/model.config
new file mode 120000
index 0000000..5d0aae4
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/labtop_mac_2/model.config
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/labtop_mac_2/model.config
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/labtop_mac_2/model.sdf b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/labtop_mac_2/model.sdf
new file mode 120000
index 0000000..1aaa6ba
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/labtop_mac_2/model.sdf
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/labtop_mac_2/model.sdf
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/office_chair/materials/textures/office_chair_diffuse.png b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/office_chair/materials/textures/office_chair_diffuse.png
new file mode 120000
index 0000000..3d935b5
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/office_chair/materials/textures/office_chair_diffuse.png
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_chair/materials/textures/office_chair_diffuse.png
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/office_chair/materials/textures/office_chair_specular.png b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/office_chair/materials/textures/office_chair_specular.png
new file mode 120000
index 0000000..85e9ec9
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/office_chair/materials/textures/office_chair_specular.png
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_chair/materials/textures/office_chair_specular.png
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/office_chair/meshes/chair_base.dae b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/office_chair/meshes/chair_base.dae
new file mode 120000
index 0000000..52eea39
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/office_chair/meshes/chair_base.dae
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_chair/meshes/chair_base.dae
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/office_chair/meshes/chair_cushion.dae b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/office_chair/meshes/chair_cushion.dae
new file mode 120000
index 0000000..62a10bf
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/office_chair/meshes/chair_cushion.dae
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_chair/meshes/chair_cushion.dae
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/office_chair/meshes/chair_wheels.dae b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/office_chair/meshes/chair_wheels.dae
new file mode 120000
index 0000000..36f4e56
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/office_chair/meshes/chair_wheels.dae
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_chair/meshes/chair_wheels.dae
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/office_chair/meshes/office_chair.dae b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/office_chair/meshes/office_chair.dae
new file mode 120000
index 0000000..1349cc6
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/office_chair/meshes/office_chair.dae
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_chair/meshes/office_chair.dae
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/office_chair/model.config b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/office_chair/model.config
new file mode 120000
index 0000000..88eaf67
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/office_chair/model.config
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_chair/model.config
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/office_chair/model.sdf b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/office_chair/model.sdf
new file mode 120000
index 0000000..52b0e69
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/office_chair/model.sdf
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_chair/model.sdf
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/office_couch/materials/textures/office_couch_diffuse.png b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/office_couch/materials/textures/office_couch_diffuse.png
new file mode 120000
index 0000000..2f4946a
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/office_couch/materials/textures/office_couch_diffuse.png
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_couch/materials/textures/office_couch_diffuse.png
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/office_couch/materials/textures/office_couch_specular.png b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/office_couch/materials/textures/office_couch_specular.png
new file mode 120000
index 0000000..92d42ea
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/office_couch/materials/textures/office_couch_specular.png
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_couch/materials/textures/office_couch_specular.png
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/office_couch/meshes/office_couch.dae b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/office_couch/meshes/office_couch.dae
new file mode 120000
index 0000000..55d77f5
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/office_couch/meshes/office_couch.dae
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_couch/meshes/office_couch.dae
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/office_couch/model.config b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/office_couch/model.config
new file mode 120000
index 0000000..6ba5a79
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/office_couch/model.config
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_couch/model.config
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/office_couch/model.sdf b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/office_couch/model.sdf
new file mode 120000
index 0000000..b5ef07d
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/office_couch/model.sdf
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_couch/model.sdf
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/office_desk/materials/textures/office_desk_diffuse.png b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/office_desk/materials/textures/office_desk_diffuse.png
new file mode 120000
index 0000000..26307bc
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/office_desk/materials/textures/office_desk_diffuse.png
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_desk/materials/textures/office_desk_diffuse.png
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/office_desk/materials/textures/office_desk_specular.png b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/office_desk/materials/textures/office_desk_specular.png
new file mode 120000
index 0000000..1634a11
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/office_desk/materials/textures/office_desk_specular.png
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_desk/materials/textures/office_desk_specular.png
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/office_desk/meshes/office_desk.dae b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/office_desk/meshes/office_desk.dae
new file mode 120000
index 0000000..32672d3
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/office_desk/meshes/office_desk.dae
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_desk/meshes/office_desk.dae
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/office_desk/model.config b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/office_desk/model.config
new file mode 120000
index 0000000..2b8f494
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/office_desk/model.config
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_desk/model.config
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/office_desk/model.sdf b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/office_desk/model.sdf
new file mode 120000
index 0000000..47017e8
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/office_desk/model.sdf
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_desk/model.sdf
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/office_lamp/materials/textures/office_lamp_diffuse.png b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/office_lamp/materials/textures/office_lamp_diffuse.png
new file mode 120000
index 0000000..d3882c8
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/office_lamp/materials/textures/office_lamp_diffuse.png
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_lamp/materials/textures/office_lamp_diffuse.png
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/office_lamp/materials/textures/office_lamp_illumination.png b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/office_lamp/materials/textures/office_lamp_illumination.png
new file mode 120000
index 0000000..46a203d
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/office_lamp/materials/textures/office_lamp_illumination.png
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_lamp/materials/textures/office_lamp_illumination.png
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/office_lamp/materials/textures/office_lamp_specular.png b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/office_lamp/materials/textures/office_lamp_specular.png
new file mode 120000
index 0000000..e6b72c0
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/office_lamp/materials/textures/office_lamp_specular.png
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_lamp/materials/textures/office_lamp_specular.png
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/office_lamp/meshes/office_lamp.dae b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/office_lamp/meshes/office_lamp.dae
new file mode 120000
index 0000000..5f8bf5f
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/office_lamp/meshes/office_lamp.dae
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_lamp/meshes/office_lamp.dae
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/office_lamp/model.config b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/office_lamp/model.config
new file mode 120000
index 0000000..57a562c
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/office_lamp/model.config
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_lamp/model.config
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/office_lamp/model.sdf b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/office_lamp/model.sdf
new file mode 120000
index 0000000..9fa01d6
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/office_lamp/model.sdf
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_lamp/model.sdf
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/refrigerator/materials/textures/refrigerator.png b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/refrigerator/materials/textures/refrigerator.png
new file mode 120000
index 0000000..e2acf28
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/refrigerator/materials/textures/refrigerator.png
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/refrigerator/materials/textures/refrigerator.png
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/refrigerator/meshes/refrigerator.mtl b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/refrigerator/meshes/refrigerator.mtl
new file mode 120000
index 0000000..fb7fb59
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/refrigerator/meshes/refrigerator.mtl
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/refrigerator/meshes/refrigerator.mtl
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/refrigerator/meshes/refrigerator.obj b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/refrigerator/meshes/refrigerator.obj
new file mode 120000
index 0000000..1b1a3d3
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/refrigerator/meshes/refrigerator.obj
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/refrigerator/meshes/refrigerator.obj
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/refrigerator/model.config b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/refrigerator/model.config
new file mode 120000
index 0000000..c32b480
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/refrigerator/model.config
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/refrigerator/model.config
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/refrigerator/model.sdf b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/refrigerator/model.sdf
new file mode 120000
index 0000000..20ce9e5
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/refrigerator/model.sdf
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/refrigerator/model.sdf
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/side_table_1/materials/scripts/side_table_1.material b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/side_table_1/materials/scripts/side_table_1.material
new file mode 120000
index 0000000..efc849a
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/side_table_1/materials/scripts/side_table_1.material
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/side_table_1/materials/scripts/side_table_1.material
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/side_table_1/materials/textures/brown_light.jpg b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/side_table_1/materials/textures/brown_light.jpg
new file mode 120000
index 0000000..67c46c9
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/side_table_1/materials/textures/brown_light.jpg
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/side_table_1/materials/textures/brown_light.jpg
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/side_table_1/meshes/leg.dae b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/side_table_1/meshes/leg.dae
new file mode 120000
index 0000000..6d6aa5e
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/side_table_1/meshes/leg.dae
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/side_table_1/meshes/leg.dae
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/side_table_1/meshes/legs.dae b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/side_table_1/meshes/legs.dae
new file mode 120000
index 0000000..6cc4bc1
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/side_table_1/meshes/legs.dae
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/side_table_1/meshes/legs.dae
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/side_table_1/meshes/middle.dae b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/side_table_1/meshes/middle.dae
new file mode 120000
index 0000000..e47f397
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/side_table_1/meshes/middle.dae
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/side_table_1/meshes/middle.dae
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/side_table_1/meshes/side_table_1.dae b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/side_table_1/meshes/side_table_1.dae
new file mode 120000
index 0000000..feec30e
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/side_table_1/meshes/side_table_1.dae
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/side_table_1/meshes/side_table_1.dae
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/side_table_1/model.config b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/side_table_1/model.config
new file mode 120000
index 0000000..c03e093
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/side_table_1/model.config
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/side_table_1/model.config
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/side_table_1/model.sdf b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/side_table_1/model.sdf
new file mode 120000
index 0000000..ccf272e
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/side_table_1/model.sdf
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/side_table_1/model.sdf
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/toilet/materials/textures/toilet_diffuse_specular.png b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/toilet/materials/textures/toilet_diffuse_specular.png
new file mode 120000
index 0000000..3d8ab10
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/toilet/materials/textures/toilet_diffuse_specular.png
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/toilet/materials/textures/toilet_diffuse_specular.png
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/toilet/meshes/toilet.dae b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/toilet/meshes/toilet.dae
new file mode 120000
index 0000000..05cb624
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/toilet/meshes/toilet.dae
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/toilet/meshes/toilet.dae
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/toilet/model.config b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/toilet/model.config
new file mode 120000
index 0000000..8b9a522
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/toilet/model.config
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/toilet/model.config
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/toilet/model.sdf b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/toilet/model.sdf
new file mode 120000
index 0000000..44c0ca3
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_office/toilet/model.sdf
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/toilet/model.sdf
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_waffle/model-1_4.sdf b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_waffle/model-1_4.sdf
new file mode 120000
index 0000000..95ed1a2
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_waffle/model-1_4.sdf
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_waffle/model-1_4.sdf
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_waffle/model.config b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_waffle/model.config
new file mode 120000
index 0000000..7e1e433
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_waffle/model.config
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_waffle/model.config
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_waffle/model.sdf b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_waffle/model.sdf
new file mode 120000
index 0000000..bf72f66
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_waffle/model.sdf
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_waffle/model.sdf
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_waffle_pi/model-1_4_.sdf b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_waffle_pi/model-1_4_.sdf
new file mode 120000
index 0000000..c861e64
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_waffle_pi/model-1_4_.sdf
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_waffle_pi/model-1_4_.sdf
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_waffle_pi/model.config b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_waffle_pi/model.config
new file mode 120000
index 0000000..59d23cc
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_waffle_pi/model.config
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_waffle_pi/model.config
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_waffle_pi/model.sdf b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_waffle_pi/model.sdf
new file mode 120000
index 0000000..03e8db6
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_waffle_pi/model.sdf
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_waffle_pi/model.sdf
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_world/meshes/hexagon.dae b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_world/meshes/hexagon.dae
new file mode 120000
index 0000000..fbf32e2
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_world/meshes/hexagon.dae
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_world/meshes/hexagon.dae
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_world/meshes/wall.dae b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_world/meshes/wall.dae
new file mode 120000
index 0000000..a57875d
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_world/meshes/wall.dae
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_world/meshes/wall.dae
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_world/model-1_4.sdf b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_world/model-1_4.sdf
new file mode 120000
index 0000000..99f4858
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_world/model-1_4.sdf
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_world/model-1_4.sdf
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_world/model.config b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_world/model.config
new file mode 120000
index 0000000..610dc0a
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_world/model.config
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_world/model.config
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_world/model.sdf b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_world/model.sdf
new file mode 120000
index 0000000..2959a93
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_world/model.sdf
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_world/model.sdf
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/package.bash b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/package.bash
new file mode 100644
index 0000000..4f89a5a
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/package.bash
@@ -0,0 +1,39 @@
+# generated from colcon_bash/shell/template/package.bash.em
+
+# This script extends the environment for this package.
+
+# a bash script is able to determine its own path if necessary
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+  # the prefix is two levels up from the package specific share directory
+  _colcon_package_bash_COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." > /dev/null && pwd)"
+else
+  _colcon_package_bash_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+_colcon_package_bash_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$@"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# source sh script of this package
+_colcon_package_bash_source_script "$_colcon_package_bash_COLCON_CURRENT_PREFIX/share/turtlebot3_gazebo/package.sh"
+
+# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced scripts
+COLCON_CURRENT_PREFIX="$_colcon_package_bash_COLCON_CURRENT_PREFIX"
+
+# source bash hooks
+_colcon_package_bash_source_script "$COLCON_CURRENT_PREFIX/share/turtlebot3_gazebo/local_setup.bash"
+
+unset COLCON_CURRENT_PREFIX
+
+unset _colcon_package_bash_source_script
+unset _colcon_package_bash_COLCON_CURRENT_PREFIX
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/package.dsv b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/package.dsv
new file mode 100644
index 0000000..c020379
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/package.dsv
@@ -0,0 +1,8 @@
+source;share/turtlebot3_gazebo/hook/cmake_prefix_path.ps1
+source;share/turtlebot3_gazebo/hook/cmake_prefix_path.dsv
+source;share/turtlebot3_gazebo/hook/cmake_prefix_path.sh
+source;share/turtlebot3_gazebo/local_setup.bash
+source;share/turtlebot3_gazebo/local_setup.dsv
+source;share/turtlebot3_gazebo/local_setup.ps1
+source;share/turtlebot3_gazebo/local_setup.sh
+source;share/turtlebot3_gazebo/local_setup.zsh
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/package.ps1 b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/package.ps1
new file mode 100644
index 0000000..ed5d318
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/package.ps1
@@ -0,0 +1,116 @@
+# generated from colcon_powershell/shell/template/package.ps1.em
+
+# function to append a value to a variable
+# which uses colons as separators
+# duplicates as well as leading separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+function colcon_append_unique_value {
+  param (
+    $_listname,
+    $_value
+  )
+
+  # get values from variable
+  if (Test-Path Env:$_listname) {
+    $_values=(Get-Item env:$_listname).Value
+  } else {
+    $_values=""
+  }
+  $_duplicate=""
+  # start with no values
+  $_all_values=""
+  # iterate over existing values in the variable
+  if ($_values) {
+    $_values.Split(":") | ForEach {
+      # not an empty string
+      if ($_) {
+        # not a duplicate of _value
+        if ($_ -eq $_value) {
+          $_duplicate="1"
+        }
+        if ($_all_values) {
+          $_all_values="${_all_values}:$_"
+        } else {
+          $_all_values="$_"
+        }
+      }
+    }
+  }
+  # append only non-duplicates
+  if (!$_duplicate) {
+    # avoid leading separator
+    if ($_all_values) {
+      $_all_values="${_all_values}:${_value}"
+    } else {
+      $_all_values="${_value}"
+    }
+  }
+
+  # export the updated variable
+  Set-Item env:\$_listname -Value "$_all_values"
+}
+
+# function to prepend a value to a variable
+# which uses colons as separators
+# duplicates as well as trailing separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+function colcon_prepend_unique_value {
+  param (
+    $_listname,
+    $_value
+  )
+
+  # get values from variable
+  if (Test-Path Env:$_listname) {
+    $_values=(Get-Item env:$_listname).Value
+  } else {
+    $_values=""
+  }
+  # start with the new value
+  $_all_values="$_value"
+  # iterate over existing values in the variable
+  if ($_values) {
+    $_values.Split(":") | ForEach {
+      # not an empty string
+      if ($_) {
+        # not a duplicate of _value
+        if ($_ -ne $_value) {
+          # keep non-duplicate values
+          $_all_values="${_all_values}:$_"
+        }
+      }
+    }
+  }
+  # export the updated variable
+  Set-Item env:\$_listname -Value "$_all_values"
+}
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+function colcon_package_source_powershell_script {
+  param (
+    $_colcon_package_source_powershell_script
+  )
+  # source script with conditional trace output
+  if (Test-Path $_colcon_package_source_powershell_script) {
+    if ($env:COLCON_TRACE) {
+      echo ". '$_colcon_package_source_powershell_script'"
+    }
+    . "$_colcon_package_source_powershell_script"
+  } else {
+    Write-Error "not found: '$_colcon_package_source_powershell_script'"
+  }
+}
+
+
+# a powershell script is able to determine its own path
+# the prefix is two levels up from the package specific share directory
+$env:COLCON_CURRENT_PREFIX=(Get-Item $PSCommandPath).Directory.Parent.Parent.FullName
+
+colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX/share/turtlebot3_gazebo/hook/cmake_prefix_path.ps1"
+colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX/share/turtlebot3_gazebo/local_setup.ps1"
+
+Remove-Item Env:\COLCON_CURRENT_PREFIX
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/package.sh b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/package.sh
new file mode 100644
index 0000000..5867207
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/package.sh
@@ -0,0 +1,87 @@
+# generated from colcon_core/shell/template/package.sh.em
+
+# This script extends the environment for this package.
+
+# function to prepend a value to a variable
+# which uses colons as separators
+# duplicates as well as trailing separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+_colcon_prepend_unique_value() {
+  # arguments
+  _listname="$1"
+  _value="$2"
+
+  # get values from variable
+  eval _values=\"\$$_listname\"
+  # backup the field separator
+  _colcon_prepend_unique_value_IFS=$IFS
+  IFS=":"
+  # start with the new value
+  _all_values="$_value"
+  # workaround SH_WORD_SPLIT not being set in zsh
+  if [ "$(command -v colcon_zsh_convert_to_array)" ]; then
+    colcon_zsh_convert_to_array _values
+  fi
+  # iterate over existing values in the variable
+  for _item in $_values; do
+    # ignore empty strings
+    if [ -z "$_item" ]; then
+      continue
+    fi
+    # ignore duplicates of _value
+    if [ "$_item" = "$_value" ]; then
+      continue
+    fi
+    # keep non-duplicate values
+    _all_values="$_all_values:$_item"
+  done
+  unset _item
+  # restore the field separator
+  IFS=$_colcon_prepend_unique_value_IFS
+  unset _colcon_prepend_unique_value_IFS
+  # export the updated variable
+  eval export $_listname=\"$_all_values\"
+  unset _all_values
+  unset _values
+
+  unset _value
+  unset _listname
+}
+
+# since a plain shell script can't determine its own path when being sourced
+# either use the provided COLCON_CURRENT_PREFIX
+# or fall back to the build time prefix (if it exists)
+_colcon_package_sh_COLCON_CURRENT_PREFIX="/workspace/install/turtlebot3_gazebo"
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+  if [ ! -d "$_colcon_package_sh_COLCON_CURRENT_PREFIX" ]; then
+    echo "The build time path \"$_colcon_package_sh_COLCON_CURRENT_PREFIX\" doesn't exist. Either source a script for a different shell or set the environment variable \"COLCON_CURRENT_PREFIX\" explicitly." 1>&2
+    unset _colcon_package_sh_COLCON_CURRENT_PREFIX
+    return 1
+  fi
+  COLCON_CURRENT_PREFIX="$_colcon_package_sh_COLCON_CURRENT_PREFIX"
+fi
+unset _colcon_package_sh_COLCON_CURRENT_PREFIX
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+_colcon_package_sh_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$@"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# source sh hooks
+_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/turtlebot3_gazebo/hook/cmake_prefix_path.sh"
+_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/turtlebot3_gazebo/local_setup.sh"
+
+unset _colcon_package_sh_source_script
+unset COLCON_CURRENT_PREFIX
+
+# do not unset _colcon_prepend_unique_value since it might be used by non-primary shell hooks
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/package.xml b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/package.xml
new file mode 120000
index 0000000..926f525
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/package.xml
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/package.xml
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/package.zsh b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/package.zsh
new file mode 100644
index 0000000..ca6c045
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/package.zsh
@@ -0,0 +1,50 @@
+# generated from colcon_zsh/shell/template/package.zsh.em
+
+# This script extends the environment for this package.
+
+# a zsh script is able to determine its own path if necessary
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+  # the prefix is two levels up from the package specific share directory
+  _colcon_package_zsh_COLCON_CURRENT_PREFIX="$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd)"
+else
+  _colcon_package_zsh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+_colcon_package_zsh_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$@"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# function to convert array-like strings into arrays
+# to workaround SH_WORD_SPLIT not being set
+colcon_zsh_convert_to_array() {
+  local _listname=$1
+  local _dollar="$"
+  local _split="{="
+  local _to_array="(\"$_dollar$_split$_listname}\")"
+  eval $_listname=$_to_array
+}
+
+# source sh script of this package
+_colcon_package_zsh_source_script "$_colcon_package_zsh_COLCON_CURRENT_PREFIX/share/turtlebot3_gazebo/package.sh"
+unset convert_zsh_to_array
+
+# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced scripts
+COLCON_CURRENT_PREFIX="$_colcon_package_zsh_COLCON_CURRENT_PREFIX"
+
+# source zsh hooks
+_colcon_package_zsh_source_script "$COLCON_CURRENT_PREFIX/share/turtlebot3_gazebo/local_setup.zsh"
+
+unset COLCON_CURRENT_PREFIX
+
+unset _colcon_package_zsh_source_script
+unset _colcon_package_zsh_COLCON_CURRENT_PREFIX
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/rviz/tb3_gazebo.rviz b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/rviz/tb3_gazebo.rviz
new file mode 120000
index 0000000..2094b91
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/rviz/tb3_gazebo.rviz
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/rviz/tb3_gazebo.rviz
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/scripts/camera_topic_remap.py b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/scripts/camera_topic_remap.py
new file mode 120000
index 0000000..5146764
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/scripts/camera_topic_remap.py
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/scripts/camera_topic_remap.py
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/scripts/scan_frame_fix.py b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/scripts/scan_frame_fix.py
new file mode 120000
index 0000000..8ee6b5f
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/scripts/scan_frame_fix.py
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/scripts/scan_frame_fix.py
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/urdf/common_properties.urdf b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/urdf/common_properties.urdf
new file mode 120000
index 0000000..ed1cce2
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/urdf/common_properties.urdf
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/urdf/common_properties.urdf
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/urdf/turtlebot3_burger.urdf b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/urdf/turtlebot3_burger.urdf
new file mode 120000
index 0000000..c0c95da
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/urdf/turtlebot3_burger.urdf
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/urdf/turtlebot3_burger.urdf
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/urdf/turtlebot3_burger_cam.urdf b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/urdf/turtlebot3_burger_cam.urdf
new file mode 120000
index 0000000..5b9b50c
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/urdf/turtlebot3_burger_cam.urdf
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/urdf/turtlebot3_burger_cam.urdf
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/urdf/turtlebot3_waffle.urdf b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/urdf/turtlebot3_waffle.urdf
new file mode 120000
index 0000000..d79251e
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/urdf/turtlebot3_waffle.urdf
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/urdf/turtlebot3_waffle.urdf
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/urdf/turtlebot3_waffle_pi.urdf b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/urdf/turtlebot3_waffle_pi.urdf
new file mode 120000
index 0000000..0b654fd
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/urdf/turtlebot3_waffle_pi.urdf
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/urdf/turtlebot3_waffle_pi.urdf
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/worlds/empty_world.world b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/worlds/empty_world.world
new file mode 120000
index 0000000..3f162f7
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/worlds/empty_world.world
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/worlds/empty_world.world
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/worlds/office.world b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/worlds/office.world
new file mode 120000
index 0000000..c671d58
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/worlds/office.world
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/worlds/office.world
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/worlds/office_gz_dartsim.sdf b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/worlds/office_gz_dartsim.sdf
new file mode 120000
index 0000000..8390dc3
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/worlds/office_gz_dartsim.sdf
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/worlds/office_gz_dartsim.sdf
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/worlds/turtlebot3_autorace_2020.world b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/worlds/turtlebot3_autorace_2020.world
new file mode 120000
index 0000000..aaf6616
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/worlds/turtlebot3_autorace_2020.world
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/worlds/turtlebot3_autorace_2020.world
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage1.world b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage1.world
new file mode 120000
index 0000000..b708054
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage1.world
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage1.world
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage2.world b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage2.world
new file mode 120000
index 0000000..1240b7f
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage2.world
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage2.world
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage3.world b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage3.world
new file mode 120000
index 0000000..b669218
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage3.world
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage3.world
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage4.world b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage4.world
new file mode 120000
index 0000000..a2c9484
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage4.world
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage4.world
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/worlds/turtlebot3_house.world b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/worlds/turtlebot3_house.world
new file mode 120000
index 0000000..9d06b9d
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/worlds/turtlebot3_house.world
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/worlds/turtlebot3_house.world
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/worlds/turtlebot3_world.world b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/worlds/turtlebot3_world.world
new file mode 120000
index 0000000..50b6ce5
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/worlds/turtlebot3_world.world
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/worlds/turtlebot3_world.world
\ No newline at end of file
diff --git a/install/turtlebot3_gazebo/share/turtlebot3_gazebo/worlds/warehouse.world b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/worlds/warehouse.world
new file mode 120000
index 0000000..9323f8e
--- /dev/null
+++ b/install/turtlebot3_gazebo/share/turtlebot3_gazebo/worlds/warehouse.world
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/worlds/warehouse.world
\ No newline at end of file
diff --git a/install/turtlebot3_simulations/share/ament_index/resource_index/package_run_dependencies/turtlebot3_simulations b/install/turtlebot3_simulations/share/ament_index/resource_index/package_run_dependencies/turtlebot3_simulations
new file mode 120000
index 0000000..a12dabc
--- /dev/null
+++ b/install/turtlebot3_simulations/share/ament_index/resource_index/package_run_dependencies/turtlebot3_simulations
@@ -0,0 +1 @@
+/workspace/build/turtlebot3_simulations/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/turtlebot3_simulations
\ No newline at end of file
diff --git a/install/turtlebot3_simulations/share/ament_index/resource_index/packages/turtlebot3_simulations b/install/turtlebot3_simulations/share/ament_index/resource_index/packages/turtlebot3_simulations
new file mode 120000
index 0000000..d4926a3
--- /dev/null
+++ b/install/turtlebot3_simulations/share/ament_index/resource_index/packages/turtlebot3_simulations
@@ -0,0 +1 @@
+/workspace/build/turtlebot3_simulations/ament_cmake_index/share/ament_index/resource_index/packages/turtlebot3_simulations
\ No newline at end of file
diff --git a/install/turtlebot3_simulations/share/ament_index/resource_index/parent_prefix_path/turtlebot3_simulations b/install/turtlebot3_simulations/share/ament_index/resource_index/parent_prefix_path/turtlebot3_simulations
new file mode 120000
index 0000000..d57e42e
--- /dev/null
+++ b/install/turtlebot3_simulations/share/ament_index/resource_index/parent_prefix_path/turtlebot3_simulations
@@ -0,0 +1 @@
+/workspace/build/turtlebot3_simulations/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/turtlebot3_simulations
\ No newline at end of file
diff --git a/install/turtlebot3_simulations/share/colcon-core/packages/turtlebot3_simulations b/install/turtlebot3_simulations/share/colcon-core/packages/turtlebot3_simulations
new file mode 100644
index 0000000..c560214
--- /dev/null
+++ b/install/turtlebot3_simulations/share/colcon-core/packages/turtlebot3_simulations
@@ -0,0 +1 @@
+ros_gz_bridge:ros_gz_sim:turtlebot3_fake_node:turtlebot3_gazebo:turtlebot3_manipulation_gazebo
\ No newline at end of file
diff --git a/install/turtlebot3_simulations/share/turtlebot3_simulations/cmake/turtlebot3_simulationsConfig-version.cmake b/install/turtlebot3_simulations/share/turtlebot3_simulations/cmake/turtlebot3_simulationsConfig-version.cmake
new file mode 120000
index 0000000..6a5ec11
--- /dev/null
+++ b/install/turtlebot3_simulations/share/turtlebot3_simulations/cmake/turtlebot3_simulationsConfig-version.cmake
@@ -0,0 +1 @@
+/workspace/build/turtlebot3_simulations/ament_cmake_core/turtlebot3_simulationsConfig-version.cmake
\ No newline at end of file
diff --git a/install/turtlebot3_simulations/share/turtlebot3_simulations/cmake/turtlebot3_simulationsConfig.cmake b/install/turtlebot3_simulations/share/turtlebot3_simulations/cmake/turtlebot3_simulationsConfig.cmake
new file mode 120000
index 0000000..1e5cd34
--- /dev/null
+++ b/install/turtlebot3_simulations/share/turtlebot3_simulations/cmake/turtlebot3_simulationsConfig.cmake
@@ -0,0 +1 @@
+/workspace/build/turtlebot3_simulations/ament_cmake_core/turtlebot3_simulationsConfig.cmake
\ No newline at end of file
diff --git a/install/turtlebot3_simulations/share/turtlebot3_simulations/environment/ament_prefix_path.dsv b/install/turtlebot3_simulations/share/turtlebot3_simulations/environment/ament_prefix_path.dsv
new file mode 120000
index 0000000..8171fbc
--- /dev/null
+++ b/install/turtlebot3_simulations/share/turtlebot3_simulations/environment/ament_prefix_path.dsv
@@ -0,0 +1 @@
+/workspace/build/turtlebot3_simulations/ament_cmake_environment_hooks/ament_prefix_path.dsv
\ No newline at end of file
diff --git a/install/turtlebot3_simulations/share/turtlebot3_simulations/environment/ament_prefix_path.sh b/install/turtlebot3_simulations/share/turtlebot3_simulations/environment/ament_prefix_path.sh
new file mode 120000
index 0000000..403e838
--- /dev/null
+++ b/install/turtlebot3_simulations/share/turtlebot3_simulations/environment/ament_prefix_path.sh
@@ -0,0 +1 @@
+/opt/ros/humble/share/ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh
\ No newline at end of file
diff --git a/install/turtlebot3_simulations/share/turtlebot3_simulations/environment/path.dsv b/install/turtlebot3_simulations/share/turtlebot3_simulations/environment/path.dsv
new file mode 120000
index 0000000..dbad980
--- /dev/null
+++ b/install/turtlebot3_simulations/share/turtlebot3_simulations/environment/path.dsv
@@ -0,0 +1 @@
+/workspace/build/turtlebot3_simulations/ament_cmake_environment_hooks/path.dsv
\ No newline at end of file
diff --git a/install/turtlebot3_simulations/share/turtlebot3_simulations/environment/path.sh b/install/turtlebot3_simulations/share/turtlebot3_simulations/environment/path.sh
new file mode 120000
index 0000000..8667351
--- /dev/null
+++ b/install/turtlebot3_simulations/share/turtlebot3_simulations/environment/path.sh
@@ -0,0 +1 @@
+/opt/ros/humble/share/ament_cmake_core/cmake/environment_hooks/environment/path.sh
\ No newline at end of file
diff --git a/install/turtlebot3_simulations/share/turtlebot3_simulations/hook/cmake_prefix_path.dsv b/install/turtlebot3_simulations/share/turtlebot3_simulations/hook/cmake_prefix_path.dsv
new file mode 100644
index 0000000..e119f32
--- /dev/null
+++ b/install/turtlebot3_simulations/share/turtlebot3_simulations/hook/cmake_prefix_path.dsv
@@ -0,0 +1 @@
+prepend-non-duplicate;CMAKE_PREFIX_PATH;
diff --git a/install/turtlebot3_simulations/share/turtlebot3_simulations/hook/cmake_prefix_path.ps1 b/install/turtlebot3_simulations/share/turtlebot3_simulations/hook/cmake_prefix_path.ps1
new file mode 100644
index 0000000..d03facc
--- /dev/null
+++ b/install/turtlebot3_simulations/share/turtlebot3_simulations/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"
diff --git a/install/turtlebot3_simulations/share/turtlebot3_simulations/hook/cmake_prefix_path.sh b/install/turtlebot3_simulations/share/turtlebot3_simulations/hook/cmake_prefix_path.sh
new file mode 100644
index 0000000..a948e68
--- /dev/null
+++ b/install/turtlebot3_simulations/share/turtlebot3_simulations/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"
diff --git a/install/turtlebot3_simulations/share/turtlebot3_simulations/local_setup.bash b/install/turtlebot3_simulations/share/turtlebot3_simulations/local_setup.bash
new file mode 120000
index 0000000..991162e
--- /dev/null
+++ b/install/turtlebot3_simulations/share/turtlebot3_simulations/local_setup.bash
@@ -0,0 +1 @@
+/workspace/build/turtlebot3_simulations/ament_cmake_environment_hooks/local_setup.bash
\ No newline at end of file
diff --git a/install/turtlebot3_simulations/share/turtlebot3_simulations/local_setup.dsv b/install/turtlebot3_simulations/share/turtlebot3_simulations/local_setup.dsv
new file mode 120000
index 0000000..9b4f42f
--- /dev/null
+++ b/install/turtlebot3_simulations/share/turtlebot3_simulations/local_setup.dsv
@@ -0,0 +1 @@
+/workspace/build/turtlebot3_simulations/ament_cmake_environment_hooks/local_setup.dsv
\ No newline at end of file
diff --git a/install/turtlebot3_simulations/share/turtlebot3_simulations/local_setup.sh b/install/turtlebot3_simulations/share/turtlebot3_simulations/local_setup.sh
new file mode 120000
index 0000000..0eae7e4
--- /dev/null
+++ b/install/turtlebot3_simulations/share/turtlebot3_simulations/local_setup.sh
@@ -0,0 +1 @@
+/workspace/build/turtlebot3_simulations/ament_cmake_environment_hooks/local_setup.sh
\ No newline at end of file
diff --git a/install/turtlebot3_simulations/share/turtlebot3_simulations/local_setup.zsh b/install/turtlebot3_simulations/share/turtlebot3_simulations/local_setup.zsh
new file mode 120000
index 0000000..3f070d9
--- /dev/null
+++ b/install/turtlebot3_simulations/share/turtlebot3_simulations/local_setup.zsh
@@ -0,0 +1 @@
+/workspace/build/turtlebot3_simulations/ament_cmake_environment_hooks/local_setup.zsh
\ No newline at end of file
diff --git a/install/turtlebot3_simulations/share/turtlebot3_simulations/package.bash b/install/turtlebot3_simulations/share/turtlebot3_simulations/package.bash
new file mode 100644
index 0000000..d83803e
--- /dev/null
+++ b/install/turtlebot3_simulations/share/turtlebot3_simulations/package.bash
@@ -0,0 +1,39 @@
+# generated from colcon_bash/shell/template/package.bash.em
+
+# This script extends the environment for this package.
+
+# a bash script is able to determine its own path if necessary
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+  # the prefix is two levels up from the package specific share directory
+  _colcon_package_bash_COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." > /dev/null && pwd)"
+else
+  _colcon_package_bash_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+_colcon_package_bash_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$@"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# source sh script of this package
+_colcon_package_bash_source_script "$_colcon_package_bash_COLCON_CURRENT_PREFIX/share/turtlebot3_simulations/package.sh"
+
+# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced scripts
+COLCON_CURRENT_PREFIX="$_colcon_package_bash_COLCON_CURRENT_PREFIX"
+
+# source bash hooks
+_colcon_package_bash_source_script "$COLCON_CURRENT_PREFIX/share/turtlebot3_simulations/local_setup.bash"
+
+unset COLCON_CURRENT_PREFIX
+
+unset _colcon_package_bash_source_script
+unset _colcon_package_bash_COLCON_CURRENT_PREFIX
diff --git a/install/turtlebot3_simulations/share/turtlebot3_simulations/package.dsv b/install/turtlebot3_simulations/share/turtlebot3_simulations/package.dsv
new file mode 100644
index 0000000..e4e2df6
--- /dev/null
+++ b/install/turtlebot3_simulations/share/turtlebot3_simulations/package.dsv
@@ -0,0 +1,8 @@
+source;share/turtlebot3_simulations/hook/cmake_prefix_path.ps1
+source;share/turtlebot3_simulations/hook/cmake_prefix_path.dsv
+source;share/turtlebot3_simulations/hook/cmake_prefix_path.sh
+source;share/turtlebot3_simulations/local_setup.bash
+source;share/turtlebot3_simulations/local_setup.dsv
+source;share/turtlebot3_simulations/local_setup.ps1
+source;share/turtlebot3_simulations/local_setup.sh
+source;share/turtlebot3_simulations/local_setup.zsh
diff --git a/install/turtlebot3_simulations/share/turtlebot3_simulations/package.ps1 b/install/turtlebot3_simulations/share/turtlebot3_simulations/package.ps1
new file mode 100644
index 0000000..18456a8
--- /dev/null
+++ b/install/turtlebot3_simulations/share/turtlebot3_simulations/package.ps1
@@ -0,0 +1,116 @@
+# generated from colcon_powershell/shell/template/package.ps1.em
+
+# function to append a value to a variable
+# which uses colons as separators
+# duplicates as well as leading separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+function colcon_append_unique_value {
+  param (
+    $_listname,
+    $_value
+  )
+
+  # get values from variable
+  if (Test-Path Env:$_listname) {
+    $_values=(Get-Item env:$_listname).Value
+  } else {
+    $_values=""
+  }
+  $_duplicate=""
+  # start with no values
+  $_all_values=""
+  # iterate over existing values in the variable
+  if ($_values) {
+    $_values.Split(":") | ForEach {
+      # not an empty string
+      if ($_) {
+        # not a duplicate of _value
+        if ($_ -eq $_value) {
+          $_duplicate="1"
+        }
+        if ($_all_values) {
+          $_all_values="${_all_values}:$_"
+        } else {
+          $_all_values="$_"
+        }
+      }
+    }
+  }
+  # append only non-duplicates
+  if (!$_duplicate) {
+    # avoid leading separator
+    if ($_all_values) {
+      $_all_values="${_all_values}:${_value}"
+    } else {
+      $_all_values="${_value}"
+    }
+  }
+
+  # export the updated variable
+  Set-Item env:\$_listname -Value "$_all_values"
+}
+
+# function to prepend a value to a variable
+# which uses colons as separators
+# duplicates as well as trailing separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+function colcon_prepend_unique_value {
+  param (
+    $_listname,
+    $_value
+  )
+
+  # get values from variable
+  if (Test-Path Env:$_listname) {
+    $_values=(Get-Item env:$_listname).Value
+  } else {
+    $_values=""
+  }
+  # start with the new value
+  $_all_values="$_value"
+  # iterate over existing values in the variable
+  if ($_values) {
+    $_values.Split(":") | ForEach {
+      # not an empty string
+      if ($_) {
+        # not a duplicate of _value
+        if ($_ -ne $_value) {
+          # keep non-duplicate values
+          $_all_values="${_all_values}:$_"
+        }
+      }
+    }
+  }
+  # export the updated variable
+  Set-Item env:\$_listname -Value "$_all_values"
+}
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+function colcon_package_source_powershell_script {
+  param (
+    $_colcon_package_source_powershell_script
+  )
+  # source script with conditional trace output
+  if (Test-Path $_colcon_package_source_powershell_script) {
+    if ($env:COLCON_TRACE) {
+      echo ". '$_colcon_package_source_powershell_script'"
+    }
+    . "$_colcon_package_source_powershell_script"
+  } else {
+    Write-Error "not found: '$_colcon_package_source_powershell_script'"
+  }
+}
+
+
+# a powershell script is able to determine its own path
+# the prefix is two levels up from the package specific share directory
+$env:COLCON_CURRENT_PREFIX=(Get-Item $PSCommandPath).Directory.Parent.Parent.FullName
+
+colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX/share/turtlebot3_simulations/hook/cmake_prefix_path.ps1"
+colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX/share/turtlebot3_simulations/local_setup.ps1"
+
+Remove-Item Env:\COLCON_CURRENT_PREFIX
diff --git a/install/turtlebot3_simulations/share/turtlebot3_simulations/package.sh b/install/turtlebot3_simulations/share/turtlebot3_simulations/package.sh
new file mode 100644
index 0000000..db16be3
--- /dev/null
+++ b/install/turtlebot3_simulations/share/turtlebot3_simulations/package.sh
@@ -0,0 +1,87 @@
+# generated from colcon_core/shell/template/package.sh.em
+
+# This script extends the environment for this package.
+
+# function to prepend a value to a variable
+# which uses colons as separators
+# duplicates as well as trailing separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+_colcon_prepend_unique_value() {
+  # arguments
+  _listname="$1"
+  _value="$2"
+
+  # get values from variable
+  eval _values=\"\$$_listname\"
+  # backup the field separator
+  _colcon_prepend_unique_value_IFS=$IFS
+  IFS=":"
+  # start with the new value
+  _all_values="$_value"
+  # workaround SH_WORD_SPLIT not being set in zsh
+  if [ "$(command -v colcon_zsh_convert_to_array)" ]; then
+    colcon_zsh_convert_to_array _values
+  fi
+  # iterate over existing values in the variable
+  for _item in $_values; do
+    # ignore empty strings
+    if [ -z "$_item" ]; then
+      continue
+    fi
+    # ignore duplicates of _value
+    if [ "$_item" = "$_value" ]; then
+      continue
+    fi
+    # keep non-duplicate values
+    _all_values="$_all_values:$_item"
+  done
+  unset _item
+  # restore the field separator
+  IFS=$_colcon_prepend_unique_value_IFS
+  unset _colcon_prepend_unique_value_IFS
+  # export the updated variable
+  eval export $_listname=\"$_all_values\"
+  unset _all_values
+  unset _values
+
+  unset _value
+  unset _listname
+}
+
+# since a plain shell script can't determine its own path when being sourced
+# either use the provided COLCON_CURRENT_PREFIX
+# or fall back to the build time prefix (if it exists)
+_colcon_package_sh_COLCON_CURRENT_PREFIX="/workspace/install/turtlebot3_simulations"
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+  if [ ! -d "$_colcon_package_sh_COLCON_CURRENT_PREFIX" ]; then
+    echo "The build time path \"$_colcon_package_sh_COLCON_CURRENT_PREFIX\" doesn't exist. Either source a script for a different shell or set the environment variable \"COLCON_CURRENT_PREFIX\" explicitly." 1>&2
+    unset _colcon_package_sh_COLCON_CURRENT_PREFIX
+    return 1
+  fi
+  COLCON_CURRENT_PREFIX="$_colcon_package_sh_COLCON_CURRENT_PREFIX"
+fi
+unset _colcon_package_sh_COLCON_CURRENT_PREFIX
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+_colcon_package_sh_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$@"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# source sh hooks
+_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/turtlebot3_simulations/hook/cmake_prefix_path.sh"
+_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/turtlebot3_simulations/local_setup.sh"
+
+unset _colcon_package_sh_source_script
+unset COLCON_CURRENT_PREFIX
+
+# do not unset _colcon_prepend_unique_value since it might be used by non-primary shell hooks
diff --git a/install/turtlebot3_simulations/share/turtlebot3_simulations/package.xml b/install/turtlebot3_simulations/share/turtlebot3_simulations/package.xml
new file mode 120000
index 0000000..c2bfb1e
--- /dev/null
+++ b/install/turtlebot3_simulations/share/turtlebot3_simulations/package.xml
@@ -0,0 +1 @@
+/workspace/src/turtlebot3_simulations/turtlebot3_simulations/package.xml
\ No newline at end of file
diff --git a/install/turtlebot3_simulations/share/turtlebot3_simulations/package.zsh b/install/turtlebot3_simulations/share/turtlebot3_simulations/package.zsh
new file mode 100644
index 0000000..76a73a2
--- /dev/null
+++ b/install/turtlebot3_simulations/share/turtlebot3_simulations/package.zsh
@@ -0,0 +1,50 @@
+# generated from colcon_zsh/shell/template/package.zsh.em
+
+# This script extends the environment for this package.
+
+# a zsh script is able to determine its own path if necessary
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+  # the prefix is two levels up from the package specific share directory
+  _colcon_package_zsh_COLCON_CURRENT_PREFIX="$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd)"
+else
+  _colcon_package_zsh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+_colcon_package_zsh_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$@"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# function to convert array-like strings into arrays
+# to workaround SH_WORD_SPLIT not being set
+colcon_zsh_convert_to_array() {
+  local _listname=$1
+  local _dollar="$"
+  local _split="{="
+  local _to_array="(\"$_dollar$_split$_listname}\")"
+  eval $_listname=$_to_array
+}
+
+# source sh script of this package
+_colcon_package_zsh_source_script "$_colcon_package_zsh_COLCON_CURRENT_PREFIX/share/turtlebot3_simulations/package.sh"
+unset convert_zsh_to_array
+
+# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced scripts
+COLCON_CURRENT_PREFIX="$_colcon_package_zsh_COLCON_CURRENT_PREFIX"
+
+# source zsh hooks
+_colcon_package_zsh_source_script "$COLCON_CURRENT_PREFIX/share/turtlebot3_simulations/local_setup.zsh"
+
+unset COLCON_CURRENT_PREFIX
+
+unset _colcon_package_zsh_source_script
+unset _colcon_package_zsh_COLCON_CURRENT_PREFIX
diff --git a/install/vlm_nav_pkg/lib/python3.10/site-packages/vlm-nav-pkg.egg-link b/install/vlm_nav_pkg/lib/python3.10/site-packages/vlm-nav-pkg.egg-link
new file mode 100644
index 0000000..a088c64
--- /dev/null
+++ b/install/vlm_nav_pkg/lib/python3.10/site-packages/vlm-nav-pkg.egg-link
@@ -0,0 +1,2 @@
+/workspace/build/vlm_nav_pkg
+.
\ No newline at end of file
diff --git a/install/vlm_nav_pkg/lib/vlm_nav_pkg/point_nav b/install/vlm_nav_pkg/lib/vlm_nav_pkg/point_nav
new file mode 100755
index 0000000..04799d3
--- /dev/null
+++ b/install/vlm_nav_pkg/lib/vlm_nav_pkg/point_nav
@@ -0,0 +1,33 @@
+#!/usr/bin/python3
+# EASY-INSTALL-ENTRY-SCRIPT: 'vlm-nav-pkg','console_scripts','point_nav'
+import re
+import sys
+
+# for compatibility with easy_install; see #2198
+__requires__ = 'vlm-nav-pkg'
+
+try:
+    from importlib.metadata import distribution
+except ImportError:
+    try:
+        from importlib_metadata import distribution
+    except ImportError:
+        from pkg_resources import load_entry_point
+
+
+def importlib_load_entry_point(spec, group, name):
+    dist_name, _, _ = spec.partition('==')
+    matches = (
+        entry_point
+        for entry_point in distribution(dist_name).entry_points
+        if entry_point.group == group and entry_point.name == name
+    )
+    return next(matches).load()
+
+
+globals().setdefault('load_entry_point', importlib_load_entry_point)
+
+
+if __name__ == '__main__':
+    sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
+    sys.exit(load_entry_point('vlm-nav-pkg', 'console_scripts', 'point_nav')())
diff --git a/install/vlm_nav_pkg/lib/vlm_nav_pkg/semantic_nav b/install/vlm_nav_pkg/lib/vlm_nav_pkg/semantic_nav
new file mode 100755
index 0000000..fed3062
--- /dev/null
+++ b/install/vlm_nav_pkg/lib/vlm_nav_pkg/semantic_nav
@@ -0,0 +1,33 @@
+#!/usr/bin/python3
+# EASY-INSTALL-ENTRY-SCRIPT: 'vlm-nav-pkg','console_scripts','semantic_nav'
+import re
+import sys
+
+# for compatibility with easy_install; see #2198
+__requires__ = 'vlm-nav-pkg'
+
+try:
+    from importlib.metadata import distribution
+except ImportError:
+    try:
+        from importlib_metadata import distribution
+    except ImportError:
+        from pkg_resources import load_entry_point
+
+
+def importlib_load_entry_point(spec, group, name):
+    dist_name, _, _ = spec.partition('==')
+    matches = (
+        entry_point
+        for entry_point in distribution(dist_name).entry_points
+        if entry_point.group == group and entry_point.name == name
+    )
+    return next(matches).load()
+
+
+globals().setdefault('load_entry_point', importlib_load_entry_point)
+
+
+if __name__ == '__main__':
+    sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
+    sys.exit(load_entry_point('vlm-nav-pkg', 'console_scripts', 'semantic_nav')())
diff --git a/install/vlm_nav_pkg/share/ament_index/resource_index/packages/vlm_nav_pkg b/install/vlm_nav_pkg/share/ament_index/resource_index/packages/vlm_nav_pkg
new file mode 120000
index 0000000..47e8511
--- /dev/null
+++ b/install/vlm_nav_pkg/share/ament_index/resource_index/packages/vlm_nav_pkg
@@ -0,0 +1 @@
+/workspace/build/vlm_nav_pkg/resource/vlm_nav_pkg
\ No newline at end of file
diff --git a/install/vlm_nav_pkg/share/colcon-core/packages/vlm_nav_pkg b/install/vlm_nav_pkg/share/colcon-core/packages/vlm_nav_pkg
new file mode 100644
index 0000000..5454ca9
--- /dev/null
+++ b/install/vlm_nav_pkg/share/colcon-core/packages/vlm_nav_pkg
@@ -0,0 +1 @@
+geometry_msgs:nav2_bringup:nav2_simple_commander:python3-clip:python3-pytorch:python3-torchvision:rclpy
\ No newline at end of file
diff --git a/install/vlm_nav_pkg/share/vlm_nav_pkg/config/example_object_detection_vlm.json b/install/vlm_nav_pkg/share/vlm_nav_pkg/config/example_object_detection_vlm.json
new file mode 120000
index 0000000..ecc5a5f
--- /dev/null
+++ b/install/vlm_nav_pkg/share/vlm_nav_pkg/config/example_object_detection_vlm.json
@@ -0,0 +1 @@
+/workspace/build/vlm_nav_pkg/config/example_object_detection_vlm.json
\ No newline at end of file
diff --git a/install/vlm_nav_pkg/share/vlm_nav_pkg/config/test_vlm.json b/install/vlm_nav_pkg/share/vlm_nav_pkg/config/test_vlm.json
new file mode 120000
index 0000000..3dc1db2
--- /dev/null
+++ b/install/vlm_nav_pkg/share/vlm_nav_pkg/config/test_vlm.json
@@ -0,0 +1 @@
+/workspace/build/vlm_nav_pkg/config/test_vlm.json
\ No newline at end of file
diff --git a/install/vlm_nav_pkg/share/vlm_nav_pkg/hook/ament_prefix_path.dsv b/install/vlm_nav_pkg/share/vlm_nav_pkg/hook/ament_prefix_path.dsv
new file mode 100644
index 0000000..79d4c95
--- /dev/null
+++ b/install/vlm_nav_pkg/share/vlm_nav_pkg/hook/ament_prefix_path.dsv
@@ -0,0 +1 @@
+prepend-non-duplicate;AMENT_PREFIX_PATH;
diff --git a/install/vlm_nav_pkg/share/vlm_nav_pkg/hook/ament_prefix_path.ps1 b/install/vlm_nav_pkg/share/vlm_nav_pkg/hook/ament_prefix_path.ps1
new file mode 100644
index 0000000..26b9997
--- /dev/null
+++ b/install/vlm_nav_pkg/share/vlm_nav_pkg/hook/ament_prefix_path.ps1
@@ -0,0 +1,3 @@
+# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
+
+colcon_prepend_unique_value AMENT_PREFIX_PATH "$env:COLCON_CURRENT_PREFIX"
diff --git a/install/vlm_nav_pkg/share/vlm_nav_pkg/hook/ament_prefix_path.sh b/install/vlm_nav_pkg/share/vlm_nav_pkg/hook/ament_prefix_path.sh
new file mode 100644
index 0000000..f3041f6
--- /dev/null
+++ b/install/vlm_nav_pkg/share/vlm_nav_pkg/hook/ament_prefix_path.sh
@@ -0,0 +1,3 @@
+# generated from colcon_core/shell/template/hook_prepend_value.sh.em
+
+_colcon_prepend_unique_value AMENT_PREFIX_PATH "$COLCON_CURRENT_PREFIX"
diff --git a/install/vlm_nav_pkg/share/vlm_nav_pkg/hook/pythonpath.dsv b/install/vlm_nav_pkg/share/vlm_nav_pkg/hook/pythonpath.dsv
new file mode 100644
index 0000000..257067d
--- /dev/null
+++ b/install/vlm_nav_pkg/share/vlm_nav_pkg/hook/pythonpath.dsv
@@ -0,0 +1 @@
+prepend-non-duplicate;PYTHONPATH;lib/python3.10/site-packages
diff --git a/install/vlm_nav_pkg/share/vlm_nav_pkg/hook/pythonpath.ps1 b/install/vlm_nav_pkg/share/vlm_nav_pkg/hook/pythonpath.ps1
new file mode 100644
index 0000000..18b838e
--- /dev/null
+++ b/install/vlm_nav_pkg/share/vlm_nav_pkg/hook/pythonpath.ps1
@@ -0,0 +1,3 @@
+# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
+
+colcon_prepend_unique_value PYTHONPATH "$env:COLCON_CURRENT_PREFIX/lib/python3.10/site-packages"
diff --git a/install/vlm_nav_pkg/share/vlm_nav_pkg/hook/pythonpath.sh b/install/vlm_nav_pkg/share/vlm_nav_pkg/hook/pythonpath.sh
new file mode 100644
index 0000000..660c348
--- /dev/null
+++ b/install/vlm_nav_pkg/share/vlm_nav_pkg/hook/pythonpath.sh
@@ -0,0 +1,3 @@
+# generated from colcon_core/shell/template/hook_prepend_value.sh.em
+
+_colcon_prepend_unique_value PYTHONPATH "$COLCON_CURRENT_PREFIX/lib/python3.10/site-packages"
diff --git a/install/vlm_nav_pkg/share/vlm_nav_pkg/package.bash b/install/vlm_nav_pkg/share/vlm_nav_pkg/package.bash
new file mode 100644
index 0000000..264b83e
--- /dev/null
+++ b/install/vlm_nav_pkg/share/vlm_nav_pkg/package.bash
@@ -0,0 +1,31 @@
+# generated from colcon_bash/shell/template/package.bash.em
+
+# This script extends the environment for this package.
+
+# a bash script is able to determine its own path if necessary
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+  # the prefix is two levels up from the package specific share directory
+  _colcon_package_bash_COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." > /dev/null && pwd)"
+else
+  _colcon_package_bash_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+_colcon_package_bash_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$@"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# source sh script of this package
+_colcon_package_bash_source_script "$_colcon_package_bash_COLCON_CURRENT_PREFIX/share/vlm_nav_pkg/package.sh"
+
+unset _colcon_package_bash_source_script
+unset _colcon_package_bash_COLCON_CURRENT_PREFIX
diff --git a/install/vlm_nav_pkg/share/vlm_nav_pkg/package.dsv b/install/vlm_nav_pkg/share/vlm_nav_pkg/package.dsv
new file mode 100644
index 0000000..a3b4a7f
--- /dev/null
+++ b/install/vlm_nav_pkg/share/vlm_nav_pkg/package.dsv
@@ -0,0 +1,9 @@
+source;share/vlm_nav_pkg/hook/pythonpath.ps1
+source;share/vlm_nav_pkg/hook/pythonpath.dsv
+source;share/vlm_nav_pkg/hook/pythonpath.sh
+source;share/vlm_nav_pkg/hook/ament_prefix_path.ps1
+source;share/vlm_nav_pkg/hook/ament_prefix_path.dsv
+source;share/vlm_nav_pkg/hook/ament_prefix_path.sh
+source;../../build/vlm_nav_pkg/share/vlm_nav_pkg/hook/pythonpath_develop.ps1
+source;../../build/vlm_nav_pkg/share/vlm_nav_pkg/hook/pythonpath_develop.dsv
+source;../../build/vlm_nav_pkg/share/vlm_nav_pkg/hook/pythonpath_develop.sh
diff --git a/install/vlm_nav_pkg/share/vlm_nav_pkg/package.ps1 b/install/vlm_nav_pkg/share/vlm_nav_pkg/package.ps1
new file mode 100644
index 0000000..8d2d0e7
--- /dev/null
+++ b/install/vlm_nav_pkg/share/vlm_nav_pkg/package.ps1
@@ -0,0 +1,117 @@
+# generated from colcon_powershell/shell/template/package.ps1.em
+
+# function to append a value to a variable
+# which uses colons as separators
+# duplicates as well as leading separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+function colcon_append_unique_value {
+  param (
+    $_listname,
+    $_value
+  )
+
+  # get values from variable
+  if (Test-Path Env:$_listname) {
+    $_values=(Get-Item env:$_listname).Value
+  } else {
+    $_values=""
+  }
+  $_duplicate=""
+  # start with no values
+  $_all_values=""
+  # iterate over existing values in the variable
+  if ($_values) {
+    $_values.Split(":") | ForEach {
+      # not an empty string
+      if ($_) {
+        # not a duplicate of _value
+        if ($_ -eq $_value) {
+          $_duplicate="1"
+        }
+        if ($_all_values) {
+          $_all_values="${_all_values}:$_"
+        } else {
+          $_all_values="$_"
+        }
+      }
+    }
+  }
+  # append only non-duplicates
+  if (!$_duplicate) {
+    # avoid leading separator
+    if ($_all_values) {
+      $_all_values="${_all_values}:${_value}"
+    } else {
+      $_all_values="${_value}"
+    }
+  }
+
+  # export the updated variable
+  Set-Item env:\$_listname -Value "$_all_values"
+}
+
+# function to prepend a value to a variable
+# which uses colons as separators
+# duplicates as well as trailing separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+function colcon_prepend_unique_value {
+  param (
+    $_listname,
+    $_value
+  )
+
+  # get values from variable
+  if (Test-Path Env:$_listname) {
+    $_values=(Get-Item env:$_listname).Value
+  } else {
+    $_values=""
+  }
+  # start with the new value
+  $_all_values="$_value"
+  # iterate over existing values in the variable
+  if ($_values) {
+    $_values.Split(":") | ForEach {
+      # not an empty string
+      if ($_) {
+        # not a duplicate of _value
+        if ($_ -ne $_value) {
+          # keep non-duplicate values
+          $_all_values="${_all_values}:$_"
+        }
+      }
+    }
+  }
+  # export the updated variable
+  Set-Item env:\$_listname -Value "$_all_values"
+}
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+function colcon_package_source_powershell_script {
+  param (
+    $_colcon_package_source_powershell_script
+  )
+  # source script with conditional trace output
+  if (Test-Path $_colcon_package_source_powershell_script) {
+    if ($env:COLCON_TRACE) {
+      echo ". '$_colcon_package_source_powershell_script'"
+    }
+    . "$_colcon_package_source_powershell_script"
+  } else {
+    Write-Error "not found: '$_colcon_package_source_powershell_script'"
+  }
+}
+
+
+# a powershell script is able to determine its own path
+# the prefix is two levels up from the package specific share directory
+$env:COLCON_CURRENT_PREFIX=(Get-Item $PSCommandPath).Directory.Parent.Parent.FullName
+
+colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX/share/vlm_nav_pkg/hook/pythonpath.ps1"
+colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX/share/vlm_nav_pkg/hook/ament_prefix_path.ps1"
+colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX/../../build/vlm_nav_pkg/share/vlm_nav_pkg/hook/pythonpath_develop.ps1"
+
+Remove-Item Env:\COLCON_CURRENT_PREFIX
diff --git a/install/vlm_nav_pkg/share/vlm_nav_pkg/package.sh b/install/vlm_nav_pkg/share/vlm_nav_pkg/package.sh
new file mode 100644
index 0000000..3d55c6f
--- /dev/null
+++ b/install/vlm_nav_pkg/share/vlm_nav_pkg/package.sh
@@ -0,0 +1,88 @@
+# generated from colcon_core/shell/template/package.sh.em
+
+# This script extends the environment for this package.
+
+# function to prepend a value to a variable
+# which uses colons as separators
+# duplicates as well as trailing separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+_colcon_prepend_unique_value() {
+  # arguments
+  _listname="$1"
+  _value="$2"
+
+  # get values from variable
+  eval _values=\"\$$_listname\"
+  # backup the field separator
+  _colcon_prepend_unique_value_IFS=$IFS
+  IFS=":"
+  # start with the new value
+  _all_values="$_value"
+  # workaround SH_WORD_SPLIT not being set in zsh
+  if [ "$(command -v colcon_zsh_convert_to_array)" ]; then
+    colcon_zsh_convert_to_array _values
+  fi
+  # iterate over existing values in the variable
+  for _item in $_values; do
+    # ignore empty strings
+    if [ -z "$_item" ]; then
+      continue
+    fi
+    # ignore duplicates of _value
+    if [ "$_item" = "$_value" ]; then
+      continue
+    fi
+    # keep non-duplicate values
+    _all_values="$_all_values:$_item"
+  done
+  unset _item
+  # restore the field separator
+  IFS=$_colcon_prepend_unique_value_IFS
+  unset _colcon_prepend_unique_value_IFS
+  # export the updated variable
+  eval export $_listname=\"$_all_values\"
+  unset _all_values
+  unset _values
+
+  unset _value
+  unset _listname
+}
+
+# since a plain shell script can't determine its own path when being sourced
+# either use the provided COLCON_CURRENT_PREFIX
+# or fall back to the build time prefix (if it exists)
+_colcon_package_sh_COLCON_CURRENT_PREFIX="/workspace/install/vlm_nav_pkg"
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+  if [ ! -d "$_colcon_package_sh_COLCON_CURRENT_PREFIX" ]; then
+    echo "The build time path \"$_colcon_package_sh_COLCON_CURRENT_PREFIX\" doesn't exist. Either source a script for a different shell or set the environment variable \"COLCON_CURRENT_PREFIX\" explicitly." 1>&2
+    unset _colcon_package_sh_COLCON_CURRENT_PREFIX
+    return 1
+  fi
+  COLCON_CURRENT_PREFIX="$_colcon_package_sh_COLCON_CURRENT_PREFIX"
+fi
+unset _colcon_package_sh_COLCON_CURRENT_PREFIX
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+_colcon_package_sh_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$@"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# source sh hooks
+_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/vlm_nav_pkg/hook/pythonpath.sh"
+_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/vlm_nav_pkg/hook/ament_prefix_path.sh"
+_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/../../build/vlm_nav_pkg/share/vlm_nav_pkg/hook/pythonpath_develop.sh"
+
+unset _colcon_package_sh_source_script
+unset COLCON_CURRENT_PREFIX
+
+# do not unset _colcon_prepend_unique_value since it might be used by non-primary shell hooks
diff --git a/install/vlm_nav_pkg/share/vlm_nav_pkg/package.xml b/install/vlm_nav_pkg/share/vlm_nav_pkg/package.xml
new file mode 120000
index 0000000..c2e996f
--- /dev/null
+++ b/install/vlm_nav_pkg/share/vlm_nav_pkg/package.xml
@@ -0,0 +1 @@
+/workspace/build/vlm_nav_pkg/package.xml
\ No newline at end of file
diff --git a/install/vlm_nav_pkg/share/vlm_nav_pkg/package.zsh b/install/vlm_nav_pkg/share/vlm_nav_pkg/package.zsh
new file mode 100644
index 0000000..ee8c13b
--- /dev/null
+++ b/install/vlm_nav_pkg/share/vlm_nav_pkg/package.zsh
@@ -0,0 +1,42 @@
+# generated from colcon_zsh/shell/template/package.zsh.em
+
+# This script extends the environment for this package.
+
+# a zsh script is able to determine its own path if necessary
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+  # the prefix is two levels up from the package specific share directory
+  _colcon_package_zsh_COLCON_CURRENT_PREFIX="$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd)"
+else
+  _colcon_package_zsh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+_colcon_package_zsh_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$@"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# function to convert array-like strings into arrays
+# to workaround SH_WORD_SPLIT not being set
+colcon_zsh_convert_to_array() {
+  local _listname=$1
+  local _dollar="$"
+  local _split="{="
+  local _to_array="(\"$_dollar$_split$_listname}\")"
+  eval $_listname=$_to_array
+}
+
+# source sh script of this package
+_colcon_package_zsh_source_script "$_colcon_package_zsh_COLCON_CURRENT_PREFIX/share/vlm_nav_pkg/package.sh"
+unset convert_zsh_to_array
+
+unset _colcon_package_zsh_source_script
+unset _colcon_package_zsh_COLCON_CURRENT_PREFIX
diff --git a/install/vlm_perception_pkg/lib/python3.10/site-packages/vlm-perception-pkg.egg-link b/install/vlm_perception_pkg/lib/python3.10/site-packages/vlm-perception-pkg.egg-link
new file mode 100644
index 0000000..740ddef
--- /dev/null
+++ b/install/vlm_perception_pkg/lib/python3.10/site-packages/vlm-perception-pkg.egg-link
@@ -0,0 +1,2 @@
+/workspace/build/vlm_perception_pkg
+.
\ No newline at end of file
diff --git a/install/vlm_perception_pkg/lib/vlm_perception_pkg/multi_waypoint_navigation b/install/vlm_perception_pkg/lib/vlm_perception_pkg/multi_waypoint_navigation
new file mode 100755
index 0000000..e212c8d
--- /dev/null
+++ b/install/vlm_perception_pkg/lib/vlm_perception_pkg/multi_waypoint_navigation
@@ -0,0 +1,33 @@
+#!/usr/bin/python3
+# EASY-INSTALL-ENTRY-SCRIPT: 'vlm-perception-pkg','console_scripts','multi_waypoint_navigation'
+import re
+import sys
+
+# for compatibility with easy_install; see #2198
+__requires__ = 'vlm-perception-pkg'
+
+try:
+    from importlib.metadata import distribution
+except ImportError:
+    try:
+        from importlib_metadata import distribution
+    except ImportError:
+        from pkg_resources import load_entry_point
+
+
+def importlib_load_entry_point(spec, group, name):
+    dist_name, _, _ = spec.partition('==')
+    matches = (
+        entry_point
+        for entry_point in distribution(dist_name).entry_points
+        if entry_point.group == group and entry_point.name == name
+    )
+    return next(matches).load()
+
+
+globals().setdefault('load_entry_point', importlib_load_entry_point)
+
+
+if __name__ == '__main__':
+    sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
+    sys.exit(load_entry_point('vlm-perception-pkg', 'console_scripts', 'multi_waypoint_navigation')())
diff --git a/install/vlm_perception_pkg/lib/vlm_perception_pkg/simple_detection b/install/vlm_perception_pkg/lib/vlm_perception_pkg/simple_detection
new file mode 100755
index 0000000..430b01f
--- /dev/null
+++ b/install/vlm_perception_pkg/lib/vlm_perception_pkg/simple_detection
@@ -0,0 +1,33 @@
+#!/usr/bin/python3
+# EASY-INSTALL-ENTRY-SCRIPT: 'vlm-perception-pkg','console_scripts','simple_detection'
+import re
+import sys
+
+# for compatibility with easy_install; see #2198
+__requires__ = 'vlm-perception-pkg'
+
+try:
+    from importlib.metadata import distribution
+except ImportError:
+    try:
+        from importlib_metadata import distribution
+    except ImportError:
+        from pkg_resources import load_entry_point
+
+
+def importlib_load_entry_point(spec, group, name):
+    dist_name, _, _ = spec.partition('==')
+    matches = (
+        entry_point
+        for entry_point in distribution(dist_name).entry_points
+        if entry_point.group == group and entry_point.name == name
+    )
+    return next(matches).load()
+
+
+globals().setdefault('load_entry_point', importlib_load_entry_point)
+
+
+if __name__ == '__main__':
+    sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
+    sys.exit(load_entry_point('vlm-perception-pkg', 'console_scripts', 'simple_detection')())
diff --git a/install/vlm_perception_pkg/lib/vlm_perception_pkg/vlm_detection b/install/vlm_perception_pkg/lib/vlm_perception_pkg/vlm_detection
new file mode 100755
index 0000000..330d306
--- /dev/null
+++ b/install/vlm_perception_pkg/lib/vlm_perception_pkg/vlm_detection
@@ -0,0 +1,33 @@
+#!/usr/bin/python3
+# EASY-INSTALL-ENTRY-SCRIPT: 'vlm-perception-pkg','console_scripts','vlm_detection'
+import re
+import sys
+
+# for compatibility with easy_install; see #2198
+__requires__ = 'vlm-perception-pkg'
+
+try:
+    from importlib.metadata import distribution
+except ImportError:
+    try:
+        from importlib_metadata import distribution
+    except ImportError:
+        from pkg_resources import load_entry_point
+
+
+def importlib_load_entry_point(spec, group, name):
+    dist_name, _, _ = spec.partition('==')
+    matches = (
+        entry_point
+        for entry_point in distribution(dist_name).entry_points
+        if entry_point.group == group and entry_point.name == name
+    )
+    return next(matches).load()
+
+
+globals().setdefault('load_entry_point', importlib_load_entry_point)
+
+
+if __name__ == '__main__':
+    sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
+    sys.exit(load_entry_point('vlm-perception-pkg', 'console_scripts', 'vlm_detection')())
diff --git a/install/vlm_perception_pkg/share/ament_index/resource_index/packages/vlm_perception_pkg b/install/vlm_perception_pkg/share/ament_index/resource_index/packages/vlm_perception_pkg
new file mode 120000
index 0000000..2a46d87
--- /dev/null
+++ b/install/vlm_perception_pkg/share/ament_index/resource_index/packages/vlm_perception_pkg
@@ -0,0 +1 @@
+/workspace/build/vlm_perception_pkg/resource/vlm_perception_pkg
\ No newline at end of file
diff --git a/install/vlm_perception_pkg/share/colcon-core/packages/vlm_perception_pkg b/install/vlm_perception_pkg/share/colcon-core/packages/vlm_perception_pkg
new file mode 100644
index 0000000..e69de29
diff --git a/install/vlm_perception_pkg/share/vlm_perception_pkg/hook/ament_prefix_path.dsv b/install/vlm_perception_pkg/share/vlm_perception_pkg/hook/ament_prefix_path.dsv
new file mode 100644
index 0000000..79d4c95
--- /dev/null
+++ b/install/vlm_perception_pkg/share/vlm_perception_pkg/hook/ament_prefix_path.dsv
@@ -0,0 +1 @@
+prepend-non-duplicate;AMENT_PREFIX_PATH;
diff --git a/install/vlm_perception_pkg/share/vlm_perception_pkg/hook/ament_prefix_path.ps1 b/install/vlm_perception_pkg/share/vlm_perception_pkg/hook/ament_prefix_path.ps1
new file mode 100644
index 0000000..26b9997
--- /dev/null
+++ b/install/vlm_perception_pkg/share/vlm_perception_pkg/hook/ament_prefix_path.ps1
@@ -0,0 +1,3 @@
+# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
+
+colcon_prepend_unique_value AMENT_PREFIX_PATH "$env:COLCON_CURRENT_PREFIX"
diff --git a/install/vlm_perception_pkg/share/vlm_perception_pkg/hook/ament_prefix_path.sh b/install/vlm_perception_pkg/share/vlm_perception_pkg/hook/ament_prefix_path.sh
new file mode 100644
index 0000000..f3041f6
--- /dev/null
+++ b/install/vlm_perception_pkg/share/vlm_perception_pkg/hook/ament_prefix_path.sh
@@ -0,0 +1,3 @@
+# generated from colcon_core/shell/template/hook_prepend_value.sh.em
+
+_colcon_prepend_unique_value AMENT_PREFIX_PATH "$COLCON_CURRENT_PREFIX"
diff --git a/install/vlm_perception_pkg/share/vlm_perception_pkg/hook/pythonpath.dsv b/install/vlm_perception_pkg/share/vlm_perception_pkg/hook/pythonpath.dsv
new file mode 100644
index 0000000..257067d
--- /dev/null
+++ b/install/vlm_perception_pkg/share/vlm_perception_pkg/hook/pythonpath.dsv
@@ -0,0 +1 @@
+prepend-non-duplicate;PYTHONPATH;lib/python3.10/site-packages
diff --git a/install/vlm_perception_pkg/share/vlm_perception_pkg/hook/pythonpath.ps1 b/install/vlm_perception_pkg/share/vlm_perception_pkg/hook/pythonpath.ps1
new file mode 100644
index 0000000..18b838e
--- /dev/null
+++ b/install/vlm_perception_pkg/share/vlm_perception_pkg/hook/pythonpath.ps1
@@ -0,0 +1,3 @@
+# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
+
+colcon_prepend_unique_value PYTHONPATH "$env:COLCON_CURRENT_PREFIX/lib/python3.10/site-packages"
diff --git a/install/vlm_perception_pkg/share/vlm_perception_pkg/hook/pythonpath.sh b/install/vlm_perception_pkg/share/vlm_perception_pkg/hook/pythonpath.sh
new file mode 100644
index 0000000..660c348
--- /dev/null
+++ b/install/vlm_perception_pkg/share/vlm_perception_pkg/hook/pythonpath.sh
@@ -0,0 +1,3 @@
+# generated from colcon_core/shell/template/hook_prepend_value.sh.em
+
+_colcon_prepend_unique_value PYTHONPATH "$COLCON_CURRENT_PREFIX/lib/python3.10/site-packages"
diff --git a/install/vlm_perception_pkg/share/vlm_perception_pkg/package.bash b/install/vlm_perception_pkg/share/vlm_perception_pkg/package.bash
new file mode 100644
index 0000000..23f0918
--- /dev/null
+++ b/install/vlm_perception_pkg/share/vlm_perception_pkg/package.bash
@@ -0,0 +1,31 @@
+# generated from colcon_bash/shell/template/package.bash.em
+
+# This script extends the environment for this package.
+
+# a bash script is able to determine its own path if necessary
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+  # the prefix is two levels up from the package specific share directory
+  _colcon_package_bash_COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." > /dev/null && pwd)"
+else
+  _colcon_package_bash_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+_colcon_package_bash_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$@"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# source sh script of this package
+_colcon_package_bash_source_script "$_colcon_package_bash_COLCON_CURRENT_PREFIX/share/vlm_perception_pkg/package.sh"
+
+unset _colcon_package_bash_source_script
+unset _colcon_package_bash_COLCON_CURRENT_PREFIX
diff --git a/install/vlm_perception_pkg/share/vlm_perception_pkg/package.dsv b/install/vlm_perception_pkg/share/vlm_perception_pkg/package.dsv
new file mode 100644
index 0000000..28363e7
--- /dev/null
+++ b/install/vlm_perception_pkg/share/vlm_perception_pkg/package.dsv
@@ -0,0 +1,9 @@
+source;share/vlm_perception_pkg/hook/pythonpath.ps1
+source;share/vlm_perception_pkg/hook/pythonpath.dsv
+source;share/vlm_perception_pkg/hook/pythonpath.sh
+source;share/vlm_perception_pkg/hook/ament_prefix_path.ps1
+source;share/vlm_perception_pkg/hook/ament_prefix_path.dsv
+source;share/vlm_perception_pkg/hook/ament_prefix_path.sh
+source;../../build/vlm_perception_pkg/share/vlm_perception_pkg/hook/pythonpath_develop.ps1
+source;../../build/vlm_perception_pkg/share/vlm_perception_pkg/hook/pythonpath_develop.dsv
+source;../../build/vlm_perception_pkg/share/vlm_perception_pkg/hook/pythonpath_develop.sh
diff --git a/install/vlm_perception_pkg/share/vlm_perception_pkg/package.ps1 b/install/vlm_perception_pkg/share/vlm_perception_pkg/package.ps1
new file mode 100644
index 0000000..b95d9ba
--- /dev/null
+++ b/install/vlm_perception_pkg/share/vlm_perception_pkg/package.ps1
@@ -0,0 +1,117 @@
+# generated from colcon_powershell/shell/template/package.ps1.em
+
+# function to append a value to a variable
+# which uses colons as separators
+# duplicates as well as leading separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+function colcon_append_unique_value {
+  param (
+    $_listname,
+    $_value
+  )
+
+  # get values from variable
+  if (Test-Path Env:$_listname) {
+    $_values=(Get-Item env:$_listname).Value
+  } else {
+    $_values=""
+  }
+  $_duplicate=""
+  # start with no values
+  $_all_values=""
+  # iterate over existing values in the variable
+  if ($_values) {
+    $_values.Split(":") | ForEach {
+      # not an empty string
+      if ($_) {
+        # not a duplicate of _value
+        if ($_ -eq $_value) {
+          $_duplicate="1"
+        }
+        if ($_all_values) {
+          $_all_values="${_all_values}:$_"
+        } else {
+          $_all_values="$_"
+        }
+      }
+    }
+  }
+  # append only non-duplicates
+  if (!$_duplicate) {
+    # avoid leading separator
+    if ($_all_values) {
+      $_all_values="${_all_values}:${_value}"
+    } else {
+      $_all_values="${_value}"
+    }
+  }
+
+  # export the updated variable
+  Set-Item env:\$_listname -Value "$_all_values"
+}
+
+# function to prepend a value to a variable
+# which uses colons as separators
+# duplicates as well as trailing separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+function colcon_prepend_unique_value {
+  param (
+    $_listname,
+    $_value
+  )
+
+  # get values from variable
+  if (Test-Path Env:$_listname) {
+    $_values=(Get-Item env:$_listname).Value
+  } else {
+    $_values=""
+  }
+  # start with the new value
+  $_all_values="$_value"
+  # iterate over existing values in the variable
+  if ($_values) {
+    $_values.Split(":") | ForEach {
+      # not an empty string
+      if ($_) {
+        # not a duplicate of _value
+        if ($_ -ne $_value) {
+          # keep non-duplicate values
+          $_all_values="${_all_values}:$_"
+        }
+      }
+    }
+  }
+  # export the updated variable
+  Set-Item env:\$_listname -Value "$_all_values"
+}
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+function colcon_package_source_powershell_script {
+  param (
+    $_colcon_package_source_powershell_script
+  )
+  # source script with conditional trace output
+  if (Test-Path $_colcon_package_source_powershell_script) {
+    if ($env:COLCON_TRACE) {
+      echo ". '$_colcon_package_source_powershell_script'"
+    }
+    . "$_colcon_package_source_powershell_script"
+  } else {
+    Write-Error "not found: '$_colcon_package_source_powershell_script'"
+  }
+}
+
+
+# a powershell script is able to determine its own path
+# the prefix is two levels up from the package specific share directory
+$env:COLCON_CURRENT_PREFIX=(Get-Item $PSCommandPath).Directory.Parent.Parent.FullName
+
+colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX/share/vlm_perception_pkg/hook/pythonpath.ps1"
+colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX/share/vlm_perception_pkg/hook/ament_prefix_path.ps1"
+colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX/../../build/vlm_perception_pkg/share/vlm_perception_pkg/hook/pythonpath_develop.ps1"
+
+Remove-Item Env:\COLCON_CURRENT_PREFIX
diff --git a/install/vlm_perception_pkg/share/vlm_perception_pkg/package.sh b/install/vlm_perception_pkg/share/vlm_perception_pkg/package.sh
new file mode 100644
index 0000000..09b6645
--- /dev/null
+++ b/install/vlm_perception_pkg/share/vlm_perception_pkg/package.sh
@@ -0,0 +1,88 @@
+# generated from colcon_core/shell/template/package.sh.em
+
+# This script extends the environment for this package.
+
+# function to prepend a value to a variable
+# which uses colons as separators
+# duplicates as well as trailing separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+_colcon_prepend_unique_value() {
+  # arguments
+  _listname="$1"
+  _value="$2"
+
+  # get values from variable
+  eval _values=\"\$$_listname\"
+  # backup the field separator
+  _colcon_prepend_unique_value_IFS=$IFS
+  IFS=":"
+  # start with the new value
+  _all_values="$_value"
+  # workaround SH_WORD_SPLIT not being set in zsh
+  if [ "$(command -v colcon_zsh_convert_to_array)" ]; then
+    colcon_zsh_convert_to_array _values
+  fi
+  # iterate over existing values in the variable
+  for _item in $_values; do
+    # ignore empty strings
+    if [ -z "$_item" ]; then
+      continue
+    fi
+    # ignore duplicates of _value
+    if [ "$_item" = "$_value" ]; then
+      continue
+    fi
+    # keep non-duplicate values
+    _all_values="$_all_values:$_item"
+  done
+  unset _item
+  # restore the field separator
+  IFS=$_colcon_prepend_unique_value_IFS
+  unset _colcon_prepend_unique_value_IFS
+  # export the updated variable
+  eval export $_listname=\"$_all_values\"
+  unset _all_values
+  unset _values
+
+  unset _value
+  unset _listname
+}
+
+# since a plain shell script can't determine its own path when being sourced
+# either use the provided COLCON_CURRENT_PREFIX
+# or fall back to the build time prefix (if it exists)
+_colcon_package_sh_COLCON_CURRENT_PREFIX="/workspace/install/vlm_perception_pkg"
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+  if [ ! -d "$_colcon_package_sh_COLCON_CURRENT_PREFIX" ]; then
+    echo "The build time path \"$_colcon_package_sh_COLCON_CURRENT_PREFIX\" doesn't exist. Either source a script for a different shell or set the environment variable \"COLCON_CURRENT_PREFIX\" explicitly." 1>&2
+    unset _colcon_package_sh_COLCON_CURRENT_PREFIX
+    return 1
+  fi
+  COLCON_CURRENT_PREFIX="$_colcon_package_sh_COLCON_CURRENT_PREFIX"
+fi
+unset _colcon_package_sh_COLCON_CURRENT_PREFIX
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+_colcon_package_sh_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$@"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# source sh hooks
+_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/vlm_perception_pkg/hook/pythonpath.sh"
+_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/vlm_perception_pkg/hook/ament_prefix_path.sh"
+_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/../../build/vlm_perception_pkg/share/vlm_perception_pkg/hook/pythonpath_develop.sh"
+
+unset _colcon_package_sh_source_script
+unset COLCON_CURRENT_PREFIX
+
+# do not unset _colcon_prepend_unique_value since it might be used by non-primary shell hooks
diff --git a/install/vlm_perception_pkg/share/vlm_perception_pkg/package.xml b/install/vlm_perception_pkg/share/vlm_perception_pkg/package.xml
new file mode 120000
index 0000000..9494999
--- /dev/null
+++ b/install/vlm_perception_pkg/share/vlm_perception_pkg/package.xml
@@ -0,0 +1 @@
+/workspace/build/vlm_perception_pkg/package.xml
\ No newline at end of file
diff --git a/install/vlm_perception_pkg/share/vlm_perception_pkg/package.zsh b/install/vlm_perception_pkg/share/vlm_perception_pkg/package.zsh
new file mode 100644
index 0000000..a57a0ae
--- /dev/null
+++ b/install/vlm_perception_pkg/share/vlm_perception_pkg/package.zsh
@@ -0,0 +1,42 @@
+# generated from colcon_zsh/shell/template/package.zsh.em
+
+# This script extends the environment for this package.
+
+# a zsh script is able to determine its own path if necessary
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+  # the prefix is two levels up from the package specific share directory
+  _colcon_package_zsh_COLCON_CURRENT_PREFIX="$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd)"
+else
+  _colcon_package_zsh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+_colcon_package_zsh_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$@"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# function to convert array-like strings into arrays
+# to workaround SH_WORD_SPLIT not being set
+colcon_zsh_convert_to_array() {
+  local _listname=$1
+  local _dollar="$"
+  local _split="{="
+  local _to_array="(\"$_dollar$_split$_listname}\")"
+  eval $_listname=$_to_array
+}
+
+# source sh script of this package
+_colcon_package_zsh_source_script "$_colcon_package_zsh_COLCON_CURRENT_PREFIX/share/vlm_perception_pkg/package.sh"
+unset convert_zsh_to_array
+
+unset _colcon_package_zsh_source_script
+unset _colcon_package_zsh_COLCON_CURRENT_PREFIX
diff --git a/log/COLCON_IGNORE b/log/COLCON_IGNORE
new file mode 100644
index 0000000..e69de29
diff --git a/log/build_2026-06-29_09-02-16/events.log b/log/build_2026-06-29_09-02-16/events.log
new file mode 100644
index 0000000..71450b7
--- /dev/null
+++ b/log/build_2026-06-29_09-02-16/events.log
@@ -0,0 +1,5960 @@
+[0.000000] (-) TimerEvent: {}
+[0.000270] (nav2_rrtstar_planner) JobQueued: {'identifier': 'nav2_rrtstar_planner', 'dependencies': OrderedDict()}
+[0.000341] (turtlebot3_gazebo) JobQueued: {'identifier': 'turtlebot3_gazebo', 'dependencies': OrderedDict()}
+[0.000401] (vlm_nav_pkg) JobQueued: {'identifier': 'vlm_nav_pkg', 'dependencies': OrderedDict()}
+[0.000450] (vlm_perception_pkg) JobQueued: {'identifier': 'vlm_perception_pkg', 'dependencies': OrderedDict()}
+[0.000491] (turtlebot3_simulations) JobQueued: {'identifier': 'turtlebot3_simulations', 'dependencies': OrderedDict([('turtlebot3_gazebo', '/workspace/install/turtlebot3_gazebo')])}
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+[0.117543] (nav2_rrtstar_planner) JobStarted: {'identifier': 'nav2_rrtstar_planner'}
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+[0.331086] (-) TimerEvent: {}
+[0.431474] (-) TimerEvent: {}
+[0.531791] (-) TimerEvent: {}
+[0.621083] (vlm_perception_pkg) JobStarted: {'identifier': 'vlm_perception_pkg'}
+[0.631873] (-) TimerEvent: {}
+[0.732195] (-) TimerEvent: {}
+[0.832565] (-) TimerEvent: {}
+[1.004505] (-) TimerEvent: {}
+[1.054126] (turtlebot3_gazebo) JobProgress: {'identifier': 'turtlebot3_gazebo', 'progress': 'cmake'}
+[1.104606] (-) TimerEvent: {}
+[1.204964] (-) TimerEvent: {}
+[1.214256] (turtlebot3_gazebo) Command: {'cmd': ['/usr/bin/cmake', '/workspace/src/turtlebot3_simulations/turtlebot3_gazebo', '-DAMENT_CMAKE_SYMLINK_INSTALL=1', '-DCMAKE_INSTALL_PREFIX=/workspace/install/turtlebot3_gazebo'], 'cwd': '/workspace/build/turtlebot3_gazebo', 'env': OrderedDict([('ENABLE_FILEBROWSER', 'false'), ('SINGLE_DESKTOP_APP', ''), ('MAIL', '/var/mail/devuser'), ('GZ_SIM_RESOURCE_PATH', '/workspace/models:/opt/gzsim/models:/workspace/models:/opt/gzsim/models:/workspace/models:/opt/gzsim/models:/usr/share/gz/gz-sim7/models'), ('USER', 'devuser'), ('FILEBROWSER_BASEURL', '/file'), ('ENABLE_TERMINAL', 'true'), ('USER_ID', '6950f1ca-1599-42c5-a926-29eb731cb95c'), ('SHLVL', '1'), ('LD_LIBRARY_PATH', '/usr/local/cuda/lib64:/usr/local/cuda/lib64:/usr/local/cuda/lib64:/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib'), ('HOME', '/home/devuser'), ('OLDPWD', '/workspace'), ('VNC_NO_PASSWORD', 'true'), ('DATA_PATH_V2', '/data'), ('ROS_PYTHON_VERSION', '3'), ('SINGLE_DESKTOP_PRESET', ''), ('LAUNCH_TYPE', 'EC2'), ('PS1', '\\[\\e[32m\\]\\u@foundation\\[\\e[0m\\]:\\[\\e[34m\\]\\w\\[\\e[0m\\]$'), ('LC_CTYPE', 'C.UTF-8'), ('PMS_VNC_MODE', 'turbovnc'), ('DATA_PATH', '/home/user/data'), ('WORKSPACE', '/workspace'), ('GZWEB_APP_DIR', '/opt/gzweb'), ('INIT_SCRIPT', 'sed -i "/# pms-vendor-pythonpath/d;/export PYTHONPATH=\\"/opt\\/vendor\\/python/d" /home/${USER:-devuser}/.bashrc 2>/dev/null || true\n\n/workspace/autorun.sh'), ('ENABLE_CODE_SERVER', 'true'), ('ROS_DISTRO', 'humble'), ('LOGNAME', 'devuser'), ('ENABLE_GZWEB', 'true'), ('_', '/usr/bin/colcon'), ('ROS_VERSION', '2'), ('ENABLE_FOXGLOVE', 'true'), ('SPACE_ID', '309844d858e5487f9c582ea361481b3d'), ('SPACE_DIR_V2', '/data/309844d858e5487f9c582ea361481b3d'), ('ROS_LOCALHOST_ONLY', '0'), ('ENABLE_VNC', 'true'), ('PATH', '/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/opt/ros/humble/bin:/usr/local/cuda/bin:/opt/TurboVNC/bin:/opt/node/bin:/opt/foundation/bin:/home/devuser/miniconda3/bin:/home/devuser/.local/bin'), ('DISPLAY_BACKEND', 'auto'), ('SPACE_DIR', '/home/user/data/309844d858e5487f9c582ea361481b3d'), ('DISPLAY', ':1'), ('DESKTOP_MODE', 'auto'), ('ROS_DOMAIN_ID', '42'), ('AMENT_PREFIX_PATH', '/opt/ros/humble'), ('SHELL', '/bin/bash'), ('CODE_NO_PASSWORD', 'true'), ('GZWEB_PORT', '8000'), ('PWD', '/workspace/build/turtlebot3_gazebo'), ('ENABLE_ROSBRIDGE', 'true'), ('INIT_WORKSPACE', '/workspace'), ('PYTHONPATH', '/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages'), ('COLCON', '1'), ('PMS_FOUNDATION_VARIANT', 'gpu'), ('GZ_SIM_CACHE_PATH', '/opt/gzsim/cache'), ('CMAKE_PREFIX_PATH', '/opt/ros/humble')]), 'shell': False}
+[1.333380] (-) TimerEvent: {}
+[1.333559] (nav2_rrtstar_planner) JobProgress: {'identifier': 'nav2_rrtstar_planner', 'progress': 'cmake'}
+[1.433487] (-) TimerEvent: {}
+[1.486885] (nav2_rrtstar_planner) Command: {'cmd': ['/usr/bin/cmake', '/workspace/src/TurtleBot-RRT-Star', '-DAMENT_CMAKE_SYMLINK_INSTALL=1', '-DCMAKE_INSTALL_PREFIX=/workspace/install/nav2_rrtstar_planner'], 'cwd': '/workspace/build/nav2_rrtstar_planner', 'env': OrderedDict([('ENABLE_FILEBROWSER', 'false'), ('SINGLE_DESKTOP_APP', ''), ('MAIL', '/var/mail/devuser'), ('GZ_SIM_RESOURCE_PATH', '/workspace/models:/opt/gzsim/models:/workspace/models:/opt/gzsim/models:/workspace/models:/opt/gzsim/models:/usr/share/gz/gz-sim7/models'), ('USER', 'devuser'), ('FILEBROWSER_BASEURL', '/file'), ('ENABLE_TERMINAL', 'true'), ('USER_ID', '6950f1ca-1599-42c5-a926-29eb731cb95c'), ('SHLVL', '1'), ('LD_LIBRARY_PATH', '/usr/local/cuda/lib64:/usr/local/cuda/lib64:/usr/local/cuda/lib64:/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib'), ('HOME', '/home/devuser'), ('OLDPWD', '/workspace'), ('VNC_NO_PASSWORD', 'true'), ('DATA_PATH_V2', '/data'), ('ROS_PYTHON_VERSION', '3'), ('SINGLE_DESKTOP_PRESET', ''), ('LAUNCH_TYPE', 'EC2'), ('PS1', '\\[\\e[32m\\]\\u@foundation\\[\\e[0m\\]:\\[\\e[34m\\]\\w\\[\\e[0m\\]$'), ('LC_CTYPE', 'C.UTF-8'), ('PMS_VNC_MODE', 'turbovnc'), ('DATA_PATH', '/home/user/data'), ('WORKSPACE', '/workspace'), ('GZWEB_APP_DIR', '/opt/gzweb'), ('INIT_SCRIPT', 'sed -i "/# pms-vendor-pythonpath/d;/export PYTHONPATH=\\"/opt\\/vendor\\/python/d" /home/${USER:-devuser}/.bashrc 2>/dev/null || true\n\n/workspace/autorun.sh'), ('ENABLE_CODE_SERVER', 'true'), ('ROS_DISTRO', 'humble'), ('LOGNAME', 'devuser'), ('ENABLE_GZWEB', 'true'), ('_', '/usr/bin/colcon'), ('ROS_VERSION', '2'), ('ENABLE_FOXGLOVE', 'true'), ('SPACE_ID', '309844d858e5487f9c582ea361481b3d'), ('SPACE_DIR_V2', '/data/309844d858e5487f9c582ea361481b3d'), ('ROS_LOCALHOST_ONLY', '0'), ('ENABLE_VNC', 'true'), ('PATH', '/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/opt/ros/humble/bin:/usr/local/cuda/bin:/opt/TurboVNC/bin:/opt/node/bin:/opt/foundation/bin:/home/devuser/miniconda3/bin:/home/devuser/.local/bin'), ('DISPLAY_BACKEND', 'auto'), ('SPACE_DIR', '/home/user/data/309844d858e5487f9c582ea361481b3d'), ('DISPLAY', ':1'), ('DESKTOP_MODE', 'auto'), ('ROS_DOMAIN_ID', '42'), ('AMENT_PREFIX_PATH', '/opt/ros/humble'), ('SHELL', '/bin/bash'), ('CODE_NO_PASSWORD', 'true'), ('GZWEB_PORT', '8000'), ('PWD', '/workspace/build/nav2_rrtstar_planner'), ('ENABLE_ROSBRIDGE', 'true'), ('INIT_WORKSPACE', '/workspace'), ('PYTHONPATH', '/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages'), ('COLCON', '1'), ('PMS_FOUNDATION_VARIANT', 'gpu'), ('GZ_SIM_CACHE_PATH', '/opt/gzsim/cache'), ('CMAKE_PREFIX_PATH', '/opt/ros/humble')]), 'shell': False}
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+[3.959640] (-) TimerEvent: {}
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+[4.360769] (-) TimerEvent: {}
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+[5.975934] (-) TimerEvent: {}
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+[6.176379] (-) TimerEvent: {}
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+[6.276484] (-) TimerEvent: {}
+[6.376855] (-) TimerEvent: {}
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+[6.494666] (nav2_rrtstar_planner) StdoutLine: {'line': b'-- Detecting C compiler ABI info\n'}
+[6.577392] (-) TimerEvent: {}
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+[6.778186] (-) TimerEvent: {}
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+[7.179723] (-) TimerEvent: {}
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+[7.380449] (-) TimerEvent: {}
+[7.426409] (vlm_nav_pkg) Command: {'cmd': ['/usr/bin/python3', '-W', 'ignore:setup.py install is deprecated', '-W', 'ignore:easy_install command is deprecated', 'setup.py', 'develop', '--editable', '--build-directory', '/workspace/build/vlm_nav_pkg/build', '--no-deps', 'symlink_data'], 'cwd': '/workspace/build/vlm_nav_pkg', 'env': {'ENABLE_FILEBROWSER': 'false', 'SINGLE_DESKTOP_APP': '', 'MAIL': '/var/mail/devuser', 'GZ_SIM_RESOURCE_PATH': '/workspace/models:/opt/gzsim/models:/workspace/models:/opt/gzsim/models:/workspace/models:/opt/gzsim/models:/usr/share/gz/gz-sim7/models', 'USER': 'devuser', 'FILEBROWSER_BASEURL': '/file', 'ENABLE_TERMINAL': 'true', 'USER_ID': '6950f1ca-1599-42c5-a926-29eb731cb95c', 'SHLVL': '1', 'LD_LIBRARY_PATH': '/usr/local/cuda/lib64:/usr/local/cuda/lib64:/usr/local/cuda/lib64:/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib', 'HOME': '/home/devuser', 'OLDPWD': '/workspace', 'VNC_NO_PASSWORD': 'true', 'DATA_PATH_V2': '/data', 'ROS_PYTHON_VERSION': '3', 'SINGLE_DESKTOP_PRESET': '', 'LAUNCH_TYPE': 'EC2', 'PS1': '\\[\\e[32m\\]\\u@foundation\\[\\e[0m\\]:\\[\\e[34m\\]\\w\\[\\e[0m\\]$', 'LC_CTYPE': 'C.UTF-8', 'PMS_VNC_MODE': 'turbovnc', 'DATA_PATH': '/home/user/data', 'WORKSPACE': '/workspace', 'GZWEB_APP_DIR': '/opt/gzweb', 'INIT_SCRIPT': 'sed -i "/# pms-vendor-pythonpath/d;/export PYTHONPATH=\\"/opt\\/vendor\\/python/d" /home/${USER:-devuser}/.bashrc 2>/dev/null || true\n\n/workspace/autorun.sh', 'ENABLE_CODE_SERVER': 'true', 'ROS_DISTRO': 'humble', 'LOGNAME': 'devuser', 'ENABLE_GZWEB': 'true', '_': '/usr/bin/colcon', 'ROS_VERSION': '2', 'ENABLE_FOXGLOVE': 'true', 'SPACE_ID': '309844d858e5487f9c582ea361481b3d', 'SPACE_DIR_V2': '/data/309844d858e5487f9c582ea361481b3d', 'ROS_LOCALHOST_ONLY': '0', 'ENABLE_VNC': 'true', 'PATH': '/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/opt/ros/humble/bin:/usr/local/cuda/bin:/opt/TurboVNC/bin:/opt/node/bin:/opt/foundation/bin:/home/devuser/miniconda3/bin:/home/devuser/.local/bin', 'DISPLAY_BACKEND': 'auto', 'SPACE_DIR': '/home/user/data/309844d858e5487f9c582ea361481b3d', 'DISPLAY': ':1', 'DESKTOP_MODE': 'auto', 'ROS_DOMAIN_ID': '42', 'AMENT_PREFIX_PATH': '/opt/ros/humble', 'SHELL': '/bin/bash', 'CODE_NO_PASSWORD': 'true', 'GZWEB_PORT': '8000', 'PWD': '/workspace/build/vlm_nav_pkg', 'ENABLE_ROSBRIDGE': 'true', 'INIT_WORKSPACE': '/workspace', 'PYTHONPATH': '/workspace/build/vlm_nav_pkg/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/workspace/install/vlm_nav_pkg/lib/python3.10/site-packages:/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages', 'COLCON': '1', 'PMS_FOUNDATION_VARIANT': 'gpu', 'GZ_SIM_CACHE_PATH': '/opt/gzsim/cache'}, 'shell': False}
+[7.679904] (-) TimerEvent: {}
+[7.735350] (vlm_perception_pkg) Command: {'cmd': ['/usr/bin/python3', '-W', 'ignore:setup.py install is deprecated', '-W', 'ignore:easy_install command is deprecated', 'setup.py', 'develop', '--editable', '--build-directory', '/workspace/build/vlm_perception_pkg/build', '--no-deps', 'symlink_data'], 'cwd': '/workspace/build/vlm_perception_pkg', 'env': {'ENABLE_FILEBROWSER': 'false', 'SINGLE_DESKTOP_APP': '', 'MAIL': '/var/mail/devuser', 'GZ_SIM_RESOURCE_PATH': '/workspace/models:/opt/gzsim/models:/workspace/models:/opt/gzsim/models:/workspace/models:/opt/gzsim/models:/usr/share/gz/gz-sim7/models', 'USER': 'devuser', 'FILEBROWSER_BASEURL': '/file', 'ENABLE_TERMINAL': 'true', 'USER_ID': '6950f1ca-1599-42c5-a926-29eb731cb95c', 'SHLVL': '1', 'LD_LIBRARY_PATH': '/usr/local/cuda/lib64:/usr/local/cuda/lib64:/usr/local/cuda/lib64:/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib', 'HOME': '/home/devuser', 'OLDPWD': '/workspace', 'VNC_NO_PASSWORD': 'true', 'DATA_PATH_V2': '/data', 'ROS_PYTHON_VERSION': '3', 'SINGLE_DESKTOP_PRESET': '', 'LAUNCH_TYPE': 'EC2', 'PS1': '\\[\\e[32m\\]\\u@foundation\\[\\e[0m\\]:\\[\\e[34m\\]\\w\\[\\e[0m\\]$', 'LC_CTYPE': 'C.UTF-8', 'PMS_VNC_MODE': 'turbovnc', 'DATA_PATH': '/home/user/data', 'WORKSPACE': '/workspace', 'GZWEB_APP_DIR': '/opt/gzweb', 'INIT_SCRIPT': 'sed -i "/# pms-vendor-pythonpath/d;/export PYTHONPATH=\\"/opt\\/vendor\\/python/d" /home/${USER:-devuser}/.bashrc 2>/dev/null || true\n\n/workspace/autorun.sh', 'ENABLE_CODE_SERVER': 'true', 'ROS_DISTRO': 'humble', 'LOGNAME': 'devuser', 'ENABLE_GZWEB': 'true', '_': '/usr/bin/colcon', 'ROS_VERSION': '2', 'ENABLE_FOXGLOVE': 'true', 'SPACE_ID': '309844d858e5487f9c582ea361481b3d', 'SPACE_DIR_V2': '/data/309844d858e5487f9c582ea361481b3d', 'ROS_LOCALHOST_ONLY': '0', 'ENABLE_VNC': 'true', 'PATH': '/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/opt/ros/humble/bin:/usr/local/cuda/bin:/opt/TurboVNC/bin:/opt/node/bin:/opt/foundation/bin:/home/devuser/miniconda3/bin:/home/devuser/.local/bin', 'DISPLAY_BACKEND': 'auto', 'SPACE_DIR': '/home/user/data/309844d858e5487f9c582ea361481b3d', 'DISPLAY': ':1', 'DESKTOP_MODE': 'auto', 'ROS_DOMAIN_ID': '42', 'AMENT_PREFIX_PATH': '/opt/ros/humble', 'SHELL': '/bin/bash', 'CODE_NO_PASSWORD': 'true', 'GZWEB_PORT': '8000', 'PWD': '/workspace/build/vlm_perception_pkg', 'ENABLE_ROSBRIDGE': 'true', 'INIT_WORKSPACE': '/workspace', 'PYTHONPATH': '/workspace/build/vlm_perception_pkg/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/workspace/install/vlm_perception_pkg/lib/python3.10/site-packages:/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages', 'COLCON': '1', 'PMS_FOUNDATION_VARIANT': 'gpu', 'GZ_SIM_CACHE_PATH': '/opt/gzsim/cache'}, 'shell': False}
+[7.998223] (-) TimerEvent: {}
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+[9.102294] (-) TimerEvent: {}
+[9.202618] (-) TimerEvent: {}
+[9.221760] (vlm_nav_pkg) StdoutLine: {'line': b'running develop\n'}
+[9.302719] (-) TimerEvent: {}
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+[9.503418] (-) TimerEvent: {}
+[9.505378] (vlm_perception_pkg) StdoutLine: {'line': b'running develop\n'}
+[9.603517] (-) TimerEvent: {}
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+[10.375139] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Detecting C compiler ABI info - done\n'}
+[10.406159] (-) TimerEvent: {}
+[10.506525] (-) TimerEvent: {}
+[10.529811] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Check for working C compiler: /usr/bin/cc - skipped\n'}
+[10.530223] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Detecting C compile features\n'}
+[10.530710] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Detecting C compile features - done\n'}
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+[10.606626] (-) TimerEvent: {}
+[10.678300] (nav2_rrtstar_planner) StdoutLine: {'line': b'-- Check for working C compiler: /usr/bin/cc - skipped\n'}
+[10.678754] (nav2_rrtstar_planner) StdoutLine: {'line': b'-- Detecting C compile features\n'}
+[10.679206] (nav2_rrtstar_planner) StdoutLine: {'line': b'-- Detecting C compile features - done\n'}
+[10.706722] (-) TimerEvent: {}
+[10.731549] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Detecting CXX compiler ABI info\n'}
+[10.806829] (-) TimerEvent: {}
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+[10.916403] (nav2_rrtstar_planner) StdoutLine: {'line': b'-- Detecting CXX compiler ABI info\n'}
+[10.946333] (vlm_nav_pkg) StdoutLine: {'line': b'running egg_info\n'}
+[10.947569] (vlm_nav_pkg) StdoutLine: {'line': b'creating vlm_nav_pkg.egg-info\n'}
+[10.975991] (vlm_nav_pkg) StdoutLine: {'line': b'writing vlm_nav_pkg.egg-info/PKG-INFO\n'}
+[11.007309] (-) TimerEvent: {}
+[11.107642] (-) TimerEvent: {}
+[11.118610] (vlm_nav_pkg) StdoutLine: {'line': b'writing dependency_links to vlm_nav_pkg.egg-info/dependency_links.txt\n'}
+[11.197505] (vlm_nav_pkg) StdoutLine: {'line': b'writing entry points to vlm_nav_pkg.egg-info/entry_points.txt\n'}
+[11.207733] (-) TimerEvent: {}
+[11.238691] (vlm_nav_pkg) StdoutLine: {'line': b'writing requirements to vlm_nav_pkg.egg-info/requires.txt\n'}
+[11.300525] (vlm_nav_pkg) StdoutLine: {'line': b'writing top-level names to vlm_nav_pkg.egg-info/top_level.txt\n'}
+[11.307826] (-) TimerEvent: {}
+[11.382997] (vlm_perception_pkg) StdoutLine: {'line': b'running egg_info\n'}
+[11.383988] (vlm_perception_pkg) StdoutLine: {'line': b'creating vlm_perception_pkg.egg-info\n'}
+[11.385557] (vlm_nav_pkg) StdoutLine: {'line': b"writing manifest file 'vlm_nav_pkg.egg-info/SOURCES.txt'\n"}
+[11.403083] (vlm_perception_pkg) StdoutLine: {'line': b'writing vlm_perception_pkg.egg-info/PKG-INFO\n'}
+[11.407914] (-) TimerEvent: {}
+[11.508222] (-) TimerEvent: {}
+[11.509245] (vlm_nav_pkg) StdoutLine: {'line': b"reading manifest file 'vlm_nav_pkg.egg-info/SOURCES.txt'\n"}
+[11.515965] (vlm_perception_pkg) StdoutLine: {'line': b'writing dependency_links to vlm_perception_pkg.egg-info/dependency_links.txt\n'}
+[11.520821] (vlm_nav_pkg) StdoutLine: {'line': b"writing manifest file 'vlm_nav_pkg.egg-info/SOURCES.txt'\n"}
+[11.566328] (vlm_perception_pkg) StdoutLine: {'line': b'writing entry points to vlm_perception_pkg.egg-info/entry_points.txt\n'}
+[11.577613] (vlm_nav_pkg) StdoutLine: {'line': b'running build_ext\n'}
+[11.578006] (vlm_nav_pkg) StdoutLine: {'line': b'Creating /workspace/install/vlm_nav_pkg/lib/python3.10/site-packages/vlm-nav-pkg.egg-link (link to .)\n'}
+[11.608321] (-) TimerEvent: {}
+[11.628132] (vlm_perception_pkg) StdoutLine: {'line': b'writing requirements to vlm_perception_pkg.egg-info/requires.txt\n'}
+[11.682768] (vlm_nav_pkg) StdoutLine: {'line': b'Installing point_nav script to /workspace/install/vlm_nav_pkg/lib/vlm_nav_pkg\n'}
+[11.705934] (vlm_perception_pkg) StdoutLine: {'line': b'writing top-level names to vlm_perception_pkg.egg-info/top_level.txt\n'}
+[11.708403] (-) TimerEvent: {}
+[11.743068] (vlm_perception_pkg) StdoutLine: {'line': b"writing manifest file 'vlm_perception_pkg.egg-info/SOURCES.txt'\n"}
+[11.783338] (vlm_nav_pkg) StdoutLine: {'line': b'Installing semantic_nav script to /workspace/install/vlm_nav_pkg/lib/vlm_nav_pkg\n'}
+[11.808526] (-) TimerEvent: {}
+[11.827212] (vlm_perception_pkg) StdoutLine: {'line': b"reading manifest file 'vlm_perception_pkg.egg-info/SOURCES.txt'\n"}
+[11.847046] (vlm_perception_pkg) StdoutLine: {'line': b"writing manifest file 'vlm_perception_pkg.egg-info/SOURCES.txt'\n"}
+[11.847729] (vlm_nav_pkg) StdoutLine: {'line': b'\n'}
+[11.848070] (vlm_nav_pkg) StdoutLine: {'line': b'Installed /workspace/build/vlm_nav_pkg\n'}
+[11.850959] (vlm_nav_pkg) StdoutLine: {'line': b'running symlink_data\n'}
+[11.855415] (vlm_nav_pkg) StdoutLine: {'line': b'creating /workspace/install/vlm_nav_pkg/share/ament_index\n'}
+[11.872604] (vlm_nav_pkg) StdoutLine: {'line': b'creating /workspace/install/vlm_nav_pkg/share/ament_index/resource_index\n'}
+[11.892578] (vlm_nav_pkg) StdoutLine: {'line': b'creating /workspace/install/vlm_nav_pkg/share/ament_index/resource_index/packages\n'}
+[11.908619] (-) TimerEvent: {}
+[11.916788] (vlm_perception_pkg) StdoutLine: {'line': b'running build_ext\n'}
+[11.917256] (vlm_perception_pkg) StdoutLine: {'line': b'Creating /workspace/install/vlm_perception_pkg/lib/python3.10/site-packages/vlm-perception-pkg.egg-link (link to .)\n'}
+[11.917549] (vlm_nav_pkg) StdoutLine: {'line': b'symbolically linking /workspace/build/vlm_nav_pkg/resource/vlm_nav_pkg -> /workspace/install/vlm_nav_pkg/share/ament_index/resource_index/packages\n'}
+[11.931086] (vlm_nav_pkg) StdoutLine: {'line': b'symbolically linking /workspace/build/vlm_nav_pkg/package.xml -> /workspace/install/vlm_nav_pkg/share/vlm_nav_pkg\n'}
+[11.957488] (vlm_nav_pkg) StdoutLine: {'line': b'creating /workspace/install/vlm_nav_pkg/share/vlm_nav_pkg/config\n'}
+[11.999469] (vlm_nav_pkg) StdoutLine: {'line': b'symbolically linking /workspace/build/vlm_nav_pkg/config/example_object_detection_vlm.json -> /workspace/install/vlm_nav_pkg/share/vlm_nav_pkg/config\n'}
+[12.008713] (-) TimerEvent: {}
+[12.009729] (vlm_perception_pkg) StdoutLine: {'line': b'Installing multi_waypoint_navigation script to /workspace/install/vlm_perception_pkg/lib/vlm_perception_pkg\n'}
+[12.016011] (vlm_nav_pkg) StdoutLine: {'line': b'symbolically linking /workspace/build/vlm_nav_pkg/config/test_vlm.json -> /workspace/install/vlm_nav_pkg/share/vlm_nav_pkg/config\n'}
+[12.058106] (vlm_nav_pkg) CommandEnded: {'returncode': 0}
+[12.108818] (-) TimerEvent: {}
+[12.175562] (vlm_perception_pkg) StdoutLine: {'line': b'Installing simple_detection script to /workspace/install/vlm_perception_pkg/lib/vlm_perception_pkg\n'}
+[12.208923] (-) TimerEvent: {}
+[12.263368] (vlm_perception_pkg) StdoutLine: {'line': b'Installing vlm_detection script to /workspace/install/vlm_perception_pkg/lib/vlm_perception_pkg\n'}
+[12.309022] (-) TimerEvent: {}
+[12.346776] (vlm_perception_pkg) StdoutLine: {'line': b'\n'}
+[12.347098] (vlm_perception_pkg) StdoutLine: {'line': b'Installed /workspace/build/vlm_perception_pkg\n'}
+[12.363626] (vlm_perception_pkg) StdoutLine: {'line': b'running symlink_data\n'}
+[12.367987] (vlm_perception_pkg) StdoutLine: {'line': b'creating /workspace/install/vlm_perception_pkg/share/ament_index\n'}
+[12.378090] (vlm_perception_pkg) StdoutLine: {'line': b'creating /workspace/install/vlm_perception_pkg/share/ament_index/resource_index\n'}
+[12.402245] (vlm_perception_pkg) StdoutLine: {'line': b'creating /workspace/install/vlm_perception_pkg/share/ament_index/resource_index/packages\n'}
+[12.409099] (-) TimerEvent: {}
+[12.414971] (vlm_perception_pkg) StdoutLine: {'line': b'symbolically linking /workspace/build/vlm_perception_pkg/resource/vlm_perception_pkg -> /workspace/install/vlm_perception_pkg/share/ament_index/resource_index/packages\n'}
+[12.436948] (vlm_perception_pkg) StdoutLine: {'line': b'symbolically linking /workspace/build/vlm_perception_pkg/package.xml -> /workspace/install/vlm_perception_pkg/share/vlm_perception_pkg\n'}
+[12.509212] (-) TimerEvent: {}
+[12.609648] (-) TimerEvent: {}
+[12.709999] (-) TimerEvent: {}
+[12.810412] (-) TimerEvent: {}
+[12.910783] (-) TimerEvent: {}
+[13.011422] (-) TimerEvent: {}
+[13.111824] (-) TimerEvent: {}
+[13.212177] (-) TimerEvent: {}
+[13.229256] (vlm_nav_pkg) JobEnded: {'identifier': 'vlm_nav_pkg', 'rc': 0}
+[13.313206] (-) TimerEvent: {}
+[13.313432] (vlm_perception_pkg) CommandEnded: {'returncode': 0}
+[13.413307] (-) TimerEvent: {}
+[13.513634] (-) TimerEvent: {}
+[13.613987] (-) TimerEvent: {}
+[13.714350] (-) TimerEvent: {}
+[13.814667] (-) TimerEvent: {}
+[13.914997] (-) TimerEvent: {}
+[14.015384] (-) TimerEvent: {}
+[14.115800] (-) TimerEvent: {}
+[14.216141] (-) TimerEvent: {}
+[14.254022] (vlm_perception_pkg) JobEnded: {'identifier': 'vlm_perception_pkg', 'rc': 0}
+[14.384990] (-) TimerEvent: {}
+[14.485331] (-) TimerEvent: {}
+[14.585695] (-) TimerEvent: {}
+[14.686073] (-) TimerEvent: {}
+[14.786455] (-) TimerEvent: {}
+[14.886822] (-) TimerEvent: {}
+[14.987174] (-) TimerEvent: {}
+[15.087620] (-) TimerEvent: {}
+[15.187959] (-) TimerEvent: {}
+[15.288333] (-) TimerEvent: {}
+[15.388696] (-) TimerEvent: {}
+[15.412959] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Detecting CXX compiler ABI info - done\n'}
+[15.488805] (-) TimerEvent: {}
+[15.532116] (nav2_rrtstar_planner) StdoutLine: {'line': b'-- Detecting CXX compiler ABI info - done\n'}
+[15.553704] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Check for working CXX compiler: /usr/bin/c++ - skipped\n'}
+[15.554071] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Detecting CXX compile features\n'}
+[15.554601] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Detecting CXX compile features - done\n'}
+[15.588907] (-) TimerEvent: {}
+[15.689221] (-) TimerEvent: {}
+[15.697647] (nav2_rrtstar_planner) StdoutLine: {'line': b'-- Check for working CXX compiler: /usr/bin/c++ - skipped\n'}
+[15.697989] (nav2_rrtstar_planner) StdoutLine: {'line': b'-- Detecting CXX compile features\n'}
+[15.698516] (nav2_rrtstar_planner) StdoutLine: {'line': b'-- Detecting CXX compile features - done\n'}
+[15.778899] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Found ament_cmake: 1.3.14 (/opt/ros/humble/share/ament_cmake/cmake)\n'}
+[15.789302] (-) TimerEvent: {}
+[15.889589] (-) TimerEvent: {}
+[15.909379] (nav2_rrtstar_planner) StdoutLine: {'line': b'-- Found ament_cmake: 1.3.14 (/opt/ros/humble/share/ament_cmake/cmake)\n'}
+[15.989695] (-) TimerEvent: {}
+[16.090093] (-) TimerEvent: {}
+[16.190445] (-) TimerEvent: {}
+[16.193309] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Found Python3: /usr/bin/python3 (found version "3.10.12") found components: Interpreter \n'}
+[16.290549] (-) TimerEvent: {}
+[16.306514] (nav2_rrtstar_planner) StdoutLine: {'line': b'-- Found Python3: /usr/bin/python3 (found version "3.10.12") found components: Interpreter \n'}
+[16.390655] (-) TimerEvent: {}
+[16.491003] (-) TimerEvent: {}
+[16.591350] (-) TimerEvent: {}
+[16.691685] (-) TimerEvent: {}
+[16.693494] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Override CMake install command with custom implementation using symlinks instead of copying resources\n'}
+[16.791793] (-) TimerEvent: {}
+[16.820368] (nav2_rrtstar_planner) StdoutLine: {'line': b'-- Override CMake install command with custom implementation using symlinks instead of copying resources\n'}
+[16.891912] (-) TimerEvent: {}
+[16.992331] (-) TimerEvent: {}
+[17.092673] (-) TimerEvent: {}
+[17.193041] (-) TimerEvent: {}
+[17.293422] (-) TimerEvent: {}
+[17.393767] (-) TimerEvent: {}
+[17.420468] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Found geometry_msgs: 4.9.1 (/opt/ros/humble/share/geometry_msgs/cmake)\n'}
+[17.493866] (-) TimerEvent: {}
+[17.508795] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Found rosidl_generator_c: 3.1.8 (/opt/ros/humble/share/rosidl_generator_c/cmake)\n'}
+[17.517880] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Found rosidl_adapter: 3.1.8 (/opt/ros/humble/share/rosidl_adapter/cmake)\n'}
+[17.530696] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Found rosidl_generator_cpp: 3.1.8 (/opt/ros/humble/share/rosidl_generator_cpp/cmake)\n'}
+[17.569248] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c\n'}
+[17.593981] (-) TimerEvent: {}
+[17.609406] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp\n'}
+[17.647462] (nav2_rrtstar_planner) StdoutLine: {'line': b'-- Found rclcpp: 16.0.19 (/opt/ros/humble/share/rclcpp/cmake)\n'}
+[17.675395] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Found nav_msgs: 4.9.1 (/opt/ros/humble/share/nav_msgs/cmake)\n'}
+[17.694087] (-) TimerEvent: {}
+[17.708478] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Found rclcpp: 16.0.19 (/opt/ros/humble/share/rclcpp/cmake)\n'}
+[17.777250] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Found rmw_implementation_cmake: 6.1.2 (/opt/ros/humble/share/rmw_implementation_cmake/cmake)\n'}
+[17.794198] (-) TimerEvent: {}
+[17.795285] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Found rmw_fastrtps_cpp: 6.2.10 (/opt/ros/humble/share/rmw_fastrtps_cpp/cmake)\n'}
+[17.796324] (nav2_rrtstar_planner) StdoutLine: {'line': b'-- Found rosidl_generator_c: 3.1.8 (/opt/ros/humble/share/rosidl_generator_c/cmake)\n'}
+[17.806015] (nav2_rrtstar_planner) StdoutLine: {'line': b'-- Found rosidl_adapter: 3.1.8 (/opt/ros/humble/share/rosidl_adapter/cmake)\n'}
+[17.834276] (nav2_rrtstar_planner) StdoutLine: {'line': b'-- Found rosidl_generator_cpp: 3.1.8 (/opt/ros/humble/share/rosidl_generator_cpp/cmake)\n'}
+[17.855834] (nav2_rrtstar_planner) StdoutLine: {'line': b'-- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c\n'}
+[17.882419] (nav2_rrtstar_planner) StdoutLine: {'line': b'-- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp\n'}
+[17.894280] (-) TimerEvent: {}
+[17.954032] (nav2_rrtstar_planner) StdoutLine: {'line': b'-- Found rmw_implementation_cmake: 6.1.2 (/opt/ros/humble/share/rmw_implementation_cmake/cmake)\n'}
+[17.962007] (nav2_rrtstar_planner) StdoutLine: {'line': b'-- Found rmw_fastrtps_cpp: 6.2.10 (/opt/ros/humble/share/rmw_fastrtps_cpp/cmake)\n'}
+[17.994387] (-) TimerEvent: {}
+[18.094741] (-) TimerEvent: {}
+[18.195117] (-) TimerEvent: {}
+[18.255816] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Found OpenSSL: /usr/lib/x86_64-linux-gnu/libcrypto.so (found version "3.0.2")  \n'}
+[18.295217] (-) TimerEvent: {}
+[18.395585] (-) TimerEvent: {}
+[18.404202] (nav2_rrtstar_planner) StdoutLine: {'line': b'-- Found OpenSSL: /usr/lib/x86_64-linux-gnu/libcrypto.so (found version "3.0.2")  \n'}
+[18.495683] (-) TimerEvent: {}
+[18.596051] (-) TimerEvent: {}
+[18.643400] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Found FastRTPS: /opt/ros/humble/include  \n'}
+[18.696178] (-) TimerEvent: {}
+[18.741979] (nav2_rrtstar_planner) StdoutLine: {'line': b'-- Found FastRTPS: /opt/ros/humble/include  \n'}
+[18.796281] (-) TimerEvent: {}
+[18.896714] (-) TimerEvent: {}
+[18.997042] (-) TimerEvent: {}
+[19.097470] (-) TimerEvent: {}
+[19.197794] (-) TimerEvent: {}
+[19.264033] (turtlebot3_gazebo) StdoutLine: {'line': b"-- Using RMW implementation 'rmw_fastrtps_cpp' as default\n"}
+[19.297900] (-) TimerEvent: {}
+[19.344025] (nav2_rrtstar_planner) StdoutLine: {'line': b"-- Using RMW implementation 'rmw_fastrtps_cpp' as default\n"}
+[19.398007] (-) TimerEvent: {}
+[19.474097] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for pthread.h\n'}
+[19.498107] (-) TimerEvent: {}
+[19.516097] (nav2_rrtstar_planner) StdoutLine: {'line': b'-- Looking for pthread.h\n'}
+[19.598213] (-) TimerEvent: {}
+[19.698564] (-) TimerEvent: {}
+[19.798926] (-) TimerEvent: {}
+[19.899296] (-) TimerEvent: {}
+[19.999637] (-) TimerEvent: {}
+[20.099964] (-) TimerEvent: {}
+[20.200321] (-) TimerEvent: {}
+[20.300720] (-) TimerEvent: {}
+[20.401045] (-) TimerEvent: {}
+[20.501408] (-) TimerEvent: {}
+[20.601781] (-) TimerEvent: {}
+[20.702180] (-) TimerEvent: {}
+[20.802515] (-) TimerEvent: {}
+[20.902852] (-) TimerEvent: {}
+[21.003219] (-) TimerEvent: {}
+[21.103609] (-) TimerEvent: {}
+[21.203945] (-) TimerEvent: {}
+[21.304306] (-) TimerEvent: {}
+[21.404663] (-) TimerEvent: {}
+[21.505029] (-) TimerEvent: {}
+[21.605391] (-) TimerEvent: {}
+[21.705757] (-) TimerEvent: {}
+[21.806103] (-) TimerEvent: {}
+[21.906491] (-) TimerEvent: {}
+[22.006845] (-) TimerEvent: {}
+[22.107208] (-) TimerEvent: {}
+[22.207554] (-) TimerEvent: {}
+[22.307925] (-) TimerEvent: {}
+[22.408294] (-) TimerEvent: {}
+[22.508643] (-) TimerEvent: {}
+[22.608991] (-) TimerEvent: {}
+[22.709337] (-) TimerEvent: {}
+[22.809692] (-) TimerEvent: {}
+[22.910048] (-) TimerEvent: {}
+[23.010406] (-) TimerEvent: {}
+[23.110766] (-) TimerEvent: {}
+[23.211132] (-) TimerEvent: {}
+[23.277083] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for pthread.h - found\n'}
+[23.311227] (-) TimerEvent: {}
+[23.371500] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Performing Test CMAKE_HAVE_LIBC_PTHREAD\n'}
+[23.411325] (-) TimerEvent: {}
+[23.426244] (nav2_rrtstar_planner) StdoutLine: {'line': b'-- Looking for pthread.h - found\n'}
+[23.511432] (-) TimerEvent: {}
+[23.511769] (nav2_rrtstar_planner) StdoutLine: {'line': b'-- Performing Test CMAKE_HAVE_LIBC_PTHREAD\n'}
+[23.611537] (-) TimerEvent: {}
+[23.711867] (-) TimerEvent: {}
+[23.812220] (-) TimerEvent: {}
+[23.912579] (-) TimerEvent: {}
+[24.012928] (-) TimerEvent: {}
+[24.113283] (-) TimerEvent: {}
+[24.213630] (-) TimerEvent: {}
+[24.313959] (-) TimerEvent: {}
+[24.414312] (-) TimerEvent: {}
+[24.514641] (-) TimerEvent: {}
+[24.614983] (-) TimerEvent: {}
+[24.715373] (-) TimerEvent: {}
+[24.815705] (-) TimerEvent: {}
+[24.916048] (-) TimerEvent: {}
+[25.016433] (-) TimerEvent: {}
+[25.116783] (-) TimerEvent: {}
+[25.217129] (-) TimerEvent: {}
+[25.317488] (-) TimerEvent: {}
+[25.417837] (-) TimerEvent: {}
+[25.518200] (-) TimerEvent: {}
+[25.618585] (-) TimerEvent: {}
+[25.718938] (-) TimerEvent: {}
+[25.819294] (-) TimerEvent: {}
+[25.919627] (-) TimerEvent: {}
+[26.019972] (-) TimerEvent: {}
+[26.120318] (-) TimerEvent: {}
+[26.220657] (-) TimerEvent: {}
+[26.320992] (-) TimerEvent: {}
+[26.421381] (-) TimerEvent: {}
+[26.521724] (-) TimerEvent: {}
+[26.622070] (-) TimerEvent: {}
+[26.722453] (-) TimerEvent: {}
+[26.822812] (-) TimerEvent: {}
+[26.923164] (-) TimerEvent: {}
+[27.023483] (-) TimerEvent: {}
+[27.123860] (-) TimerEvent: {}
+[27.214101] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Success\n'}
+[27.223945] (-) TimerEvent: {}
+[27.253564] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Found Threads: TRUE  \n'}
+[27.309531] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Found sensor_msgs: 4.9.1 (/opt/ros/humble/share/sensor_msgs/cmake)\n'}
+[27.324045] (-) TimerEvent: {}
+[27.333917] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Found tf2: 0.25.20 (/opt/ros/humble/share/tf2/cmake)\n'}
+[27.355170] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-sim8 -- found version 8.11.0\n'}
+[27.365693] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for dependencies of gz-sim8\n'}
+[27.370184] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for sdformat14 -- found version 14.9.0\n'}
+[27.370681] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for dependencies of sdformat14\n'}
+[27.376883] (turtlebot3_gazebo) StdoutLine: {'line': b"-- Checking for module 'tinyxml2'\n"}
+[27.392117] (turtlebot3_gazebo) StdoutLine: {'line': b'--   Found tinyxml2, version 9.0.0\n'}
+[27.419298] (nav2_rrtstar_planner) StdoutLine: {'line': b'-- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Success\n'}
+[27.424164] (-) TimerEvent: {}
+[27.434679] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-math7 -- found version 7.6.0\n'}
+[27.435350] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for dependencies of gz-math7\n'}
+[27.439743] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-utils2 -- found version 2.2.1\n'}
+[27.440303] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for dependencies of gz-utils2\n'}
+[27.441967] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-utils2 -- found version 2.2.1\n'}
+[27.442526] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for dependencies of gz-utils2\n'}
+[27.442719] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for <gz-utils2> component [cli]\n'}
+[27.447126] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-utils2-cli -- found version 2.2.1\n'}
+[27.447702] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for dependencies of gz-utils2-cli\n'}
+[27.453357] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-plugin2 -- found version 2.0.4\n'}
+[27.453860] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for dependencies of gz-plugin2\n'}
+[27.454263] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-utils2 -- found version 2.2.1\n'}
+[27.454825] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for <gz-plugin2> component [loader]\n'}
+[27.459128] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-plugin2-loader -- found version 2.0.4\n'}
+[27.459712] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for dependencies of gz-plugin2-loader\n'}
+[27.460287] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for <gz-plugin2> component [register]\n'}
+[27.464096] (nav2_rrtstar_planner) StdoutLine: {'line': b'-- Found Threads: TRUE  \n'}
+[27.464913] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-plugin2-register -- found version 2.0.4\n'}
+[27.467258] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for dependencies of gz-plugin2-register\n'}
+[27.473411] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-transport13 -- found version 13.5.0\n'}
+[27.473886] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for dependencies of gz-transport13\n'}
+[27.524244] (-) TimerEvent: {}
+[27.534767] (nav2_rrtstar_planner) StdoutLine: {'line': b'-- Found rclcpp_action: 16.0.19 (/opt/ros/humble/share/rclcpp_action/cmake)\n'}
+[27.581394] (nav2_rrtstar_planner) StdoutLine: {'line': b'-- Found rclcpp_lifecycle: 16.0.19 (/opt/ros/humble/share/rclcpp_lifecycle/cmake)\n'}
+[27.609434] (nav2_rrtstar_planner) StdoutLine: {'line': b'-- Found visualization_msgs: 4.9.1 (/opt/ros/humble/share/visualization_msgs/cmake)\n'}
+[27.624341] (-) TimerEvent: {}
+[27.675268] (nav2_rrtstar_planner) StdoutLine: {'line': b'-- Found nav2_util: 1.1.20 (/opt/ros/humble/share/nav2_util/cmake)\n'}
+[27.724450] (-) TimerEvent: {}
+[27.824790] (-) TimerEvent: {}
+[27.838955] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Found Protobuf: /usr/lib/x86_64-linux-gnu/libprotobuf.so (found version "3.12.4") \n'}
+[27.862092] (nav2_rrtstar_planner) StdoutLine: {'line': b'-- Found eigen3_cmake_module: 0.1.1 (/opt/ros/humble/share/eigen3_cmake_module/cmake)\n'}
+[27.863735] (nav2_rrtstar_planner) StdoutLine: {'line': b'-- Found Eigen3: TRUE (found version "3.4.0") \n'}
+[27.864105] (nav2_rrtstar_planner) StdoutLine: {'line': b'-- Ensuring Eigen3 include directory is part of orocos-kdl CMake target\n'}
+[27.911088] (nav2_rrtstar_planner) StdoutLine: {'line': b'-- Found nav2_costmap_2d: 1.1.20 (/opt/ros/humble/share/nav2_costmap_2d/cmake)\n'}
+[27.924892] (-) TimerEvent: {}
+[28.025251] (-) TimerEvent: {}
+[28.121272] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Config-file not installed for ZeroMQ -- checking for pkg-config\n'}
+[28.125355] (-) TimerEvent: {}
+[28.127582] (turtlebot3_gazebo) StdoutLine: {'line': b"-- Checking for module 'libzmq >= 4'\n"}
+[28.143261] (turtlebot3_gazebo) StdoutLine: {'line': b'--   Found libzmq , version 4.3.4\n'}
+[28.186517] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Found ZeroMQ: TRUE (Required is at least version "4") \n'}
+[28.195159] (turtlebot3_gazebo) StdoutLine: {'line': b"-- Checking for module 'uuid'\n"}
+[28.209575] (turtlebot3_gazebo) StdoutLine: {'line': b'--   Found uuid, version 2.37.2\n'}
+[28.225452] (-) TimerEvent: {}
+[28.250407] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Found UUID: TRUE  \n'}
+[28.250979] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-utils2 -- found version 2.2.1\n'}
+[28.255724] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-msgs10 -- found version 10.3.2\n'}
+[28.256280] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for dependencies of gz-msgs10\n'}
+[28.285253] (nav2_rrtstar_planner) StdoutLine: {'line': b'-- Found nav2_core: 1.1.20 (/opt/ros/humble/share/nav2_core/cmake)\n'}
+[28.325549] (-) TimerEvent: {}
+[28.425889] (-) TimerEvent: {}
+[28.526260] (-) TimerEvent: {}
+[28.603422] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-utils2 -- found version 2.2.1\n'}
+[28.603890] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-math7 -- found version 7.6.0\n'}
+[28.612671] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for <gz-transport13> component [log]\n'}
+[28.617088] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-transport13-log -- found version 13.5.0\n'}
+[28.617644] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for dependencies of gz-transport13-log\n'}
+[28.618162] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for <gz-transport13> component [parameters]\n'}
+[28.622676] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-transport13-parameters -- found version 13.5.0\n'}
+[28.623235] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for dependencies of gz-transport13-parameters\n'}
+[28.624393] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-msgs10 -- found version 10.3.2\n'}
+[28.626313] (-) TimerEvent: {}
+[28.628847] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-common5 -- found version 5.8.0\n'}
+[28.629328] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for dependencies of gz-common5\n'}
+[28.629695] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-utils2 -- found version 2.2.1\n'}
+[28.634167] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for dlfcn.h - found\n'}
+[28.635302] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for libdl - found\n'}
+[28.636764] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Found DL: TRUE  \n'}
+[28.644802] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for <gz-common5> component [av]\n'}
+[28.649891] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-common5-av -- found version 5.8.0\n'}
+[28.650495] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for dependencies of gz-common5-av\n'}
+[28.656524] (turtlebot3_gazebo) StdoutLine: {'line': b"-- Checking for module 'libswscale'\n"}
+[28.671711] (turtlebot3_gazebo) StdoutLine: {'line': b'--   Found libswscale, version 5.9.100\n'}
+[28.712316] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Found SWSCALE: TRUE  \n'}
+[28.718451] (turtlebot3_gazebo) StdoutLine: {'line': b"-- Checking for module 'libavdevice >= 56.4.100'\n"}
+[28.726404] (-) TimerEvent: {}
+[28.733311] (turtlebot3_gazebo) StdoutLine: {'line': b'--   Found libavdevice , version 58.13.100\n'}
+[28.777265] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Found AVDEVICE: TRUE (Required is at least version "56.4.100") \n'}
+[28.783257] (turtlebot3_gazebo) StdoutLine: {'line': b"-- Checking for module 'libavformat'\n"}
+[28.797938] (turtlebot3_gazebo) StdoutLine: {'line': b'--   Found libavformat, version 58.76.100\n'}
+[28.805921] (nav2_rrtstar_planner) StdoutLine: {'line': b'-- Found ament_lint_auto: 0.12.15 (/opt/ros/humble/share/ament_lint_auto/cmake)\n'}
+[28.826467] (-) TimerEvent: {}
+[28.840015] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Found AVFORMAT: TRUE  \n'}
+[28.846185] (turtlebot3_gazebo) StdoutLine: {'line': b"-- Checking for module 'libavcodec'\n"}
+[28.861115] (turtlebot3_gazebo) StdoutLine: {'line': b'--   Found libavcodec, version 58.134.100\n'}
+[28.902427] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Found AVCODEC: TRUE  \n'}
+[28.908475] (turtlebot3_gazebo) StdoutLine: {'line': b"-- Checking for module 'libavutil'\n"}
+[28.923076] (turtlebot3_gazebo) StdoutLine: {'line': b'--   Found libavutil, version 56.70.100\n'}
+[28.926550] (-) TimerEvent: {}
+[28.962634] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Found AVUTIL: TRUE  \n'}
+[28.963393] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for <gz-common5> component [events]\n'}
+[28.968000] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-common5-events -- found version 5.8.0\n'}
+[28.968588] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for dependencies of gz-common5-events\n'}
+[28.969002] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-math7 -- found version 7.6.0\n'}
+[28.969628] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for <gz-common5> component [graphics]\n'}
+[28.974046] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-common5-graphics -- found version 5.8.0\n'}
+[28.974589] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for dependencies of gz-common5-graphics\n'}
+[28.974972] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-math7 -- found version 7.6.0\n'}
+[28.997691] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Found GzAssimp: TRUE (found version "5.2.0") \n'}
+[28.998290] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for <gz-common5> component [io]\n'}
+[29.002747] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-common5-io -- found version 5.8.0\n'}
+[29.003291] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for dependencies of gz-common5-io\n'}
+[29.003823] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for <gz-common5> component [profiler]\n'}
+[29.008766] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-common5-profiler -- found version 5.8.0\n'}
+[29.009286] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for dependencies of gz-common5-profiler\n'}
+[29.014610] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-fuel_tools9 -- found version 9.1.1\n'}
+[29.015106] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for dependencies of gz-fuel_tools9\n'}
+[29.026628] (-) TimerEvent: {}
+[29.126911] (-) TimerEvent: {}
+[29.227325] (-) TimerEvent: {}
+[29.327720] (-) TimerEvent: {}
+[29.387023] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Found CURL: /usr/lib/x86_64-linux-gnu/libcurl.so (found version "7.81.0")  \n'}
+[29.399137] (turtlebot3_gazebo) StdoutLine: {'line': b"-- Checking for module 'jsoncpp'\n"}
+[29.414178] (turtlebot3_gazebo) StdoutLine: {'line': b'--   Found jsoncpp, version 1.9.5\n'}
+[29.427817] (-) TimerEvent: {}
+[29.453924] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Found JSONCPP: TRUE  \n'}
+[29.460554] (turtlebot3_gazebo) StdoutLine: {'line': b"-- Checking for module 'libzip'\n"}
+[29.475492] (turtlebot3_gazebo) StdoutLine: {'line': b'--   Found libzip, version 1.7.3\n'}
+[29.515363] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Found ZIP: TRUE  \n'}
+[29.515830] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-utils2 -- found version 2.2.1\n'}
+[29.516284] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-common5 -- found version 5.8.0\n'}
+[29.516845] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for dependencies of gz-common5\n'}
+[29.517251] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-utils2 -- found version 2.2.1\n'}
+[29.517455] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for dlfcn.h - found\n'}
+[29.517627] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for libdl - found\n'}
+[29.526095] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for <gz-common5> component [testing]\n'}
+[29.527880] (-) TimerEvent: {}
+[29.530731] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-common5-testing -- found version 5.8.0\n'}
+[29.531326] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for dependencies of gz-common5-testing\n'}
+[29.532389] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-math7 -- found version 7.6.0\n'}
+[29.532851] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-msgs10 -- found version 10.3.2\n'}
+[29.537980] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-gui8 -- found version 8.4.0\n'}
+[29.538498] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for dependencies of gz-gui8\n'}
+[29.627990] (-) TimerEvent: {}
+[29.728330] (-) TimerEvent: {}
+[29.828664] (-) TimerEvent: {}
+[29.901257] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-utils2 -- found version 2.2.1\n'}
+[29.901809] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-math7 -- found version 7.6.0\n'}
+[29.902335] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-common5 -- found version 5.8.0\n'}
+[29.902895] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-plugin2 -- found version 2.0.4\n'}
+[29.903454] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-transport13 -- found version 13.5.0\n'}
+[29.908046] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-rendering8 -- found version 8.2.3\n'}
+[29.908658] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for dependencies of gz-rendering8\n'}
+[29.909111] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-math7 -- found version 7.6.0\n'}
+[29.909696] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for dependencies of gz-math7\n'}
+[29.910135] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-utils2 -- found version 2.2.1\n'}
+[29.910379] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for <gz-math7> component [eigen3]\n'}
+[29.914773] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-math7-eigen3 -- found version 7.6.0\n'}
+[29.915390] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for dependencies of gz-math7-eigen3\n'}
+[29.928736] (-) TimerEvent: {}
+[29.929917] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-common5 -- found version 5.8.0\n'}
+[29.930538] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for dependencies of gz-common5\n'}
+[29.930959] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-utils2 -- found version 2.2.1\n'}
+[29.931259] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for dlfcn.h - found\n'}
+[29.931577] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for libdl - found\n'}
+[29.940709] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for <gz-common5> component [graphics]\n'}
+[29.941302] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for <gz-common5> component [events]\n'}
+[29.941806] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for <gz-common5> component [geospatial]\n'}
+[29.946746] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-common5-geospatial -- found version 5.8.0\n'}
+[29.947369] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for dependencies of gz-common5-geospatial\n'}
+[29.947817] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-math7 -- found version 7.6.0\n'}
+[29.948364] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-common5 -- found version 5.8.0\n'}
+[29.949582] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-plugin2 -- found version 2.0.4\n'}
+[29.950203] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for dependencies of gz-plugin2\n'}
+[29.950653] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-utils2 -- found version 2.2.1\n'}
+[29.950881] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for <gz-plugin2> component [all]\n'}
+[29.955171] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for all libraries of gz-plugin2 -- found version 2.0.4\n'}
+[29.955797] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-plugin2 -- found version 2.0.4\n'}
+[29.957653] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-utils2 -- found version 2.2.1\n'}
+[29.992139] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Found OpenGL: /usr/lib/x86_64-linux-gnu/libOpenGL.so  found components: OpenGL \n'}
+[29.993557] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-msgs10 -- found version 10.3.2\n'}
+[30.028844] (-) TimerEvent: {}
+[30.038066] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-physics7 -- found version 7.6.0\n'}
+[30.038624] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for dependencies of gz-physics7\n'}
+[30.039018] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-common5 -- found version 5.8.0\n'}
+[30.039507] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-math7 -- found version 7.6.0\n'}
+[30.039973] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-plugin2 -- found version 2.0.4\n'}
+[30.040463] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-utils2 -- found version 2.2.1\n'}
+[30.041780] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for <gz-physics7> component [heightmap]\n'}
+[30.046890] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-physics7-heightmap -- found version 7.6.0\n'}
+[30.047458] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for dependencies of gz-physics7-heightmap\n'}
+[30.047863] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-common5 -- found version 5.8.0\n'}
+[30.048390] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for <gz-physics7> component [mesh]\n'}
+[30.052952] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-physics7-mesh -- found version 7.6.0\n'}
+[30.053502] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for dependencies of gz-physics7-mesh\n'}
+[30.053906] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-common5 -- found version 5.8.0\n'}
+[30.054449] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for <gz-physics7> component [sdf]\n'}
+[30.059413] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-physics7-sdf -- found version 7.6.0\n'}
+[30.059970] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for dependencies of gz-physics7-sdf\n'}
+[30.060423] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for sdformat14 -- found version 14.9.0\n'}
+[30.066969] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-sensors8 -- found version 8.2.2\n'}
+[30.067614] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for dependencies of gz-sensors8\n'}
+[30.128945] (-) TimerEvent: {}
+[30.229301] (-) TimerEvent: {}
+[30.329629] (-) TimerEvent: {}
+[30.389940] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-math7 -- found version 7.6.0\n'}
+[30.390452] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-common5 -- found version 5.8.0\n'}
+[30.390946] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-transport13 -- found version 13.5.0\n'}
+[30.391476] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-rendering8 -- found version 8.2.3\n'}
+[30.391954] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-msgs10 -- found version 10.3.2\n'}
+[30.392561] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for sdformat14 -- found version 14.9.0\n'}
+[30.393286] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for <gz-sensors8> component [air_pressure]\n'}
+[30.398060] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-sensors8-air_pressure -- found version 8.2.2\n'}
+[30.398689] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for dependencies of gz-sensors8-air_pressure\n'}
+[30.399586] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for <gz-sensors8> component [air_speed]\n'}
+[30.404493] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-sensors8-air_speed -- found version 8.2.2\n'}
+[30.405177] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for dependencies of gz-sensors8-air_speed\n'}
+[30.405747] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for <gz-sensors8> component [altimeter]\n'}
+[30.410278] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-sensors8-altimeter -- found version 8.2.2\n'}
+[30.410829] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for dependencies of gz-sensors8-altimeter\n'}
+[30.411377] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for <gz-sensors8> component [imu]\n'}
+[30.415987] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-sensors8-imu -- found version 8.2.2\n'}
+[30.416621] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for dependencies of gz-sensors8-imu\n'}
+[30.417195] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for <gz-sensors8> component [force_torque]\n'}
+[30.421450] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-sensors8-force_torque -- found version 8.2.2\n'}
+[30.421982] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for dependencies of gz-sensors8-force_torque\n'}
+[30.422556] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for <gz-sensors8> component [logical_camera]\n'}
+[30.426884] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-sensors8-logical_camera -- found version 8.2.2\n'}
+[30.427450] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for dependencies of gz-sensors8-logical_camera\n'}
+[30.427976] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for <gz-sensors8> component [magnetometer]\n'}
+[30.429692] (-) TimerEvent: {}
+[30.432278] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-sensors8-magnetometer -- found version 8.2.2\n'}
+[30.432816] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for dependencies of gz-sensors8-magnetometer\n'}
+[30.433369] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for <gz-sensors8> component [navsat]\n'}
+[30.437877] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-sensors8-navsat -- found version 8.2.2\n'}
+[30.438416] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for dependencies of gz-sensors8-navsat\n'}
+[30.439030] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for <gz-sensors8> component [dvl]\n'}
+[30.444383] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-sensors8-dvl -- found version 8.2.2\n'}
+[30.444919] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for dependencies of gz-sensors8-dvl\n'}
+[30.445367] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-sensors8 -- found version 8.2.2\n'}
+[30.445876] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for dependencies of gz-sensors8\n'}
+[30.529805] (-) TimerEvent: {}
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+[30.730542] (-) TimerEvent: {}
+[30.766445] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-math7 -- found version 7.6.0\n'}
+[30.766850] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-common5 -- found version 5.8.0\n'}
+[30.767309] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-transport13 -- found version 13.5.0\n'}
+[30.767793] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-rendering8 -- found version 8.2.3\n'}
+[30.768222] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-msgs10 -- found version 10.3.2\n'}
+[30.768692] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for sdformat14 -- found version 14.9.0\n'}
+[30.768941] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for <gz-sensors8> component [rendering]\n'}
+[30.773775] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-sensors8-rendering -- found version 8.2.2\n'}
+[30.774401] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for dependencies of gz-sensors8-rendering\n'}
+[30.775754] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for <gz-sensors8> component [rendering]\n'}
+[30.776268] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for <gz-sensors8> component [lidar]\n'}
+[30.780829] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-sensors8-lidar -- found version 8.2.2\n'}
+[30.781374] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for dependencies of gz-sensors8-lidar\n'}
+[30.781792] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-sensors8 -- found version 8.2.2\n'}
+[30.782435] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for <gz-sensors8> component [gpu_lidar]\n'}
+[30.786717] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-sensors8-gpu_lidar -- found version 8.2.2\n'}
+[30.787360] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for dependencies of gz-sensors8-gpu_lidar\n'}
+[30.787757] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-sensors8 -- found version 8.2.2\n'}
+[30.788370] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for <gz-sensors8> component [camera]\n'}
+[30.792745] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-sensors8-camera -- found version 8.2.2\n'}
+[30.793278] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for dependencies of gz-sensors8-camera\n'}
+[30.793753] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-sensors8 -- found version 8.2.2\n'}
+[30.794408] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for <gz-sensors8> component [boundingbox_camera]\n'}
+[30.798765] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-sensors8-boundingbox_camera -- found version 8.2.2\n'}
+[30.799294] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for dependencies of gz-sensors8-boundingbox_camera\n'}
+[30.799845] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for <gz-sensors8> component [segmentation_camera]\n'}
+[30.804241] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-sensors8-segmentation_camera -- found version 8.2.2\n'}
+[30.804766] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for dependencies of gz-sensors8-segmentation_camera\n'}
+[30.805324] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for <gz-sensors8> component [depth_camera]\n'}
+[30.809722] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-sensors8-depth_camera -- found version 8.2.2\n'}
+[30.810243] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for dependencies of gz-sensors8-depth_camera\n'}
+[30.810645] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-sensors8 -- found version 8.2.2\n'}
+[30.811262] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for <gz-sensors8> component [rgbd_camera]\n'}
+[30.815542] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-sensors8-rgbd_camera -- found version 8.2.2\n'}
+[30.816072] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for dependencies of gz-sensors8-rgbd_camera\n'}
+[30.816491] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-sensors8 -- found version 8.2.2\n'}
+[30.817116] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for <gz-sensors8> component [thermal_camera]\n'}
+[30.821644] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-sensors8-thermal_camera -- found version 8.2.2\n'}
+[30.822170] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for dependencies of gz-sensors8-thermal_camera\n'}
+[30.822572] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-sensors8 -- found version 8.2.2\n'}
+[30.823195] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for <gz-sensors8> component [wide_angle_camera]\n'}
+[30.827462] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-sensors8-wide_angle_camera -- found version 8.2.2\n'}
+[30.828001] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Searching for dependencies of gz-sensors8-wide_angle_camera\n'}
+[30.829180] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-rendering8 -- found version 8.2.3\n'}
+[30.829674] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-math7 -- found version 7.6.0\n'}
+[30.830170] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-utils2 -- found version 2.2.1\n'}
+[30.830593] (-) TimerEvent: {}
+[30.930848] (-) TimerEvent: {}
+[31.031192] (-) TimerEvent: {}
+[31.113011] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-msgs10 -- found version 10.3.2\n'}
+[31.113527] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-transport13 -- found version 13.5.0\n'}
+[31.113979] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-physics7 -- found version 7.6.0\n'}
+[31.114477] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-math7 -- found version 7.6.0\n'}
+[31.114938] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-common5 -- found version 5.8.0\n'}
+[31.115551] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for gz-plugin2 -- found version 2.0.4\n'}
+[31.116047] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Looking for sdformat14 -- found version 14.9.0\n'}
+[31.131257] (-) TimerEvent: {}
+[31.231532] (-) TimerEvent: {}
+[31.331894] (-) TimerEvent: {}
+[31.432214] (-) TimerEvent: {}
+[31.532543] (-) TimerEvent: {}
+[31.632870] (-) TimerEvent: {}
+[31.650689] (nav2_rrtstar_planner) StdoutLine: {'line': b"-- Added test 'copyright' to check source files copyright and LICENSE\n"}
+[31.732986] (-) TimerEvent: {}
+[31.833344] (-) TimerEvent: {}
+[31.933642] (-) TimerEvent: {}
+[32.015341] (nav2_rrtstar_planner) StdoutLine: {'line': b"-- Added test 'cppcheck' to perform static code analysis on C / C++ code\n"}
+[32.015896] (nav2_rrtstar_planner) StdoutLine: {'line': b'-- Configured cppcheck include dirs: /workspace/src/TurtleBot-RRT-Star/include\n'}
+[32.016127] (nav2_rrtstar_planner) StdoutLine: {'line': b'-- Configured cppcheck exclude dirs and/or files: \n'}
+[32.033731] (-) TimerEvent: {}
+[32.134054] (-) TimerEvent: {}
+[32.234402] (-) TimerEvent: {}
+[32.334723] (-) TimerEvent: {}
+[32.435053] (-) TimerEvent: {}
+[32.486283] (nav2_rrtstar_planner) StdoutLine: {'line': b"-- Added test 'cpplint' to check C / C++ code against the Google style\n"}
+[32.486636] (nav2_rrtstar_planner) StdoutLine: {'line': b'-- Configured cpplint exclude dirs and/or files: \n'}
+[32.535172] (-) TimerEvent: {}
+[32.571839] (nav2_rrtstar_planner) StdoutLine: {'line': b"-- Added test 'flake8' to check Python code syntax and style conventions\n"}
+[32.635272] (-) TimerEvent: {}
+[32.735718] (-) TimerEvent: {}
+[32.743908] (nav2_rrtstar_planner) StdoutLine: {'line': b"-- Added test 'lint_cmake' to check CMake code style\n"}
+[32.810401] (nav2_rrtstar_planner) StdoutLine: {'line': b"-- Added test 'pep257' to check Python code against some of the docstring style conventions in PEP 257\n"}
+[32.835814] (-) TimerEvent: {}
+[32.936173] (-) TimerEvent: {}
+[33.036504] (-) TimerEvent: {}
+[33.136891] (-) TimerEvent: {}
+[33.230772] (nav2_rrtstar_planner) StdoutLine: {'line': b"-- Added test 'uncrustify' to check C / C++ code style\n"}
+[33.231186] (nav2_rrtstar_planner) StdoutLine: {'line': b'-- Configured uncrustify additional arguments: \n'}
+[33.236966] (-) TimerEvent: {}
+[33.311315] (nav2_rrtstar_planner) StdoutLine: {'line': b"-- Added test 'xmllint' to check XML markup files\n"}
+[33.337078] (-) TimerEvent: {}
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+[33.537836] (-) TimerEvent: {}
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+[35.143413] (-) TimerEvent: {}
+[35.243762] (-) TimerEvent: {}
+[35.344061] (-) TimerEvent: {}
+[35.402646] (nav2_rrtstar_planner) StdoutLine: {'line': b'-- Configuring done\n'}
+[35.444180] (-) TimerEvent: {}
+[35.544529] (-) TimerEvent: {}
+[35.644887] (-) TimerEvent: {}
+[35.660810] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Configuring done\n'}
+[35.744986] (-) TimerEvent: {}
+[35.845323] (-) TimerEvent: {}
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+[38.053121] (-) TimerEvent: {}
+[38.153483] (-) TimerEvent: {}
+[38.253829] (-) TimerEvent: {}
+[38.343055] (nav2_rrtstar_planner) StdoutLine: {'line': b'-- Generating done\n'}
+[38.353919] (-) TimerEvent: {}
+[38.454247] (-) TimerEvent: {}
+[38.475119] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Generating done\n'}
+[38.554361] (-) TimerEvent: {}
+[38.654712] (-) TimerEvent: {}
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+[39.357197] (-) TimerEvent: {}
+[39.457521] (-) TimerEvent: {}
+[39.470403] (nav2_rrtstar_planner) StdoutLine: {'line': b'-- Build files have been written to: /workspace/build/nav2_rrtstar_planner\n'}
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+[475.552846] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_stop/materials/textures/traffic_stop.png\n'}
+[475.593983] (-) TimerEvent: {}
+[475.624674] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_stop/model.config\n'}
+[475.688304] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_stop/model.sdf\n'}
+[475.694071] (-) TimerEvent: {}
+[475.794404] (-) TimerEvent: {}
+[475.826518] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_tunnel/materials/scripts/tunnel.material\n'}
+[475.894504] (-) TimerEvent: {}
+[475.942464] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_tunnel/materials/textures/tunnel.png\n'}
+[475.994609] (-) TimerEvent: {}
+[476.003256] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_tunnel/model.config\n'}
+[476.084875] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_tunnel/model.sdf\n'}
+[476.094695] (-) TimerEvent: {}
+[476.179785] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_burger/model (copy).sdf\n'}
+[476.194792] (-) TimerEvent: {}
+[476.237036] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_burger/model-1_4.sdf\n'}
+[476.294897] (-) TimerEvent: {}
+[476.320492] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_burger/model.config\n'}
+[476.386315] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_burger/model.sdf\n'}
+[476.394985] (-) TimerEvent: {}
+[476.460454] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_burger/model_gz.sdf\n'}
+[476.495092] (-) TimerEvent: {}
+[476.573573] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_burger_cam/model-1_4.sdf\n'}
+[476.595214] (-) TimerEvent: {}
+[476.643677] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_burger_cam/model.config\n'}
+[476.695305] (-) TimerEvent: {}
+[476.721469] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_burger_cam/model.sdf\n'}
+[476.795409] (-) TimerEvent: {}
+[476.875953] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_common/meshes/bases/burger_base.stl\n'}
+[476.895510] (-) TimerEvent: {}
+[476.958863] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_common/meshes/bases/waffle_base.stl\n'}
+[476.995613] (-) TimerEvent: {}
+[477.051963] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_common/meshes/bases/waffle_pi_base.stl\n'}
+[477.095728] (-) TimerEvent: {}
+[477.118752] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_common/meshes/burger_base.dae\n'}
+[477.194019] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_common/meshes/lds.dae\n'}
+[477.195808] (-) TimerEvent: {}
+[477.267005] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_common/meshes/r200.dae\n'}
+[477.295920] (-) TimerEvent: {}
+[477.360245] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_common/meshes/sensors/astra.dae\n'}
+[477.396032] (-) TimerEvent: {}
+[477.455186] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_common/meshes/sensors/astra.jpg\n'}
+[477.496138] (-) TimerEvent: {}
+[477.527683] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_common/meshes/sensors/lds.stl\n'}
+[477.596241] (-) TimerEvent: {}
+[477.621376] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_common/meshes/sensors/r200.dae\n'}
+[477.696341] (-) TimerEvent: {}
+[477.717863] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_common/meshes/sensors/r200.jpg\n'}
+[477.793035] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_common/meshes/tire.dae\n'}
+[477.796415] (-) TimerEvent: {}
+[477.885413] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_common/meshes/waffle_base.dae\n'}
+[477.896502] (-) TimerEvent: {}
+[477.996808] (-) TimerEvent: {}
+[478.015603] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_common/meshes/waffle_pi_base.dae\n'}
+[478.096915] (-) TimerEvent: {}
+[478.134373] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_common/meshes/wheels/left_tire.stl\n'}
+[478.197018] (-) TimerEvent: {}
+[478.208448] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_common/meshes/wheels/right_tire.stl\n'}
+[478.267464] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_common/model.config\n'}
+[478.297118] (-) TimerEvent: {}
+[478.397483] (-) TimerEvent: {}
+[478.412489] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_dqn_world/goal_box/model.config\n'}
+[478.497592] (-) TimerEvent: {}
+[478.531509] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_dqn_world/goal_box/model.sdf\n'}
+[478.597698] (-) TimerEvent: {}
+[478.632438] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_dqn_world/inner_walls/model.config\n'}
+[478.697801] (-) TimerEvent: {}
+[478.719581] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_dqn_world/inner_walls/model.sdf\n'}
+[478.793451] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_dqn_world/model.config\n'}
+[478.797904] (-) TimerEvent: {}
+[478.871795] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_dqn_world/model.sdf\n'}
+[478.898008] (-) TimerEvent: {}
+[478.995396] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_dqn_world/obstacle1/model.config\n'}
+[478.998105] (-) TimerEvent: {}
+[479.070050] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_dqn_world/obstacle1/model.sdf\n'}
+[479.098203] (-) TimerEvent: {}
+[479.166498] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_dqn_world/obstacle2/model.config\n'}
+[479.198303] (-) TimerEvent: {}
+[479.237037] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_dqn_world/obstacle2/model.sdf\n'}
+[479.298414] (-) TimerEvent: {}
+[479.347796] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_dqn_world/obstacles/model.config\n'}
+[479.398533] (-) TimerEvent: {}
+[479.432861] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_dqn_world/obstacles/model.sdf\n'}
+[479.498632] (-) TimerEvent: {}
+[479.525723] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_house/model.config\n'}
+[479.598740] (-) TimerEvent: {}
+[479.599043] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_house/model.sdf\n'}
+[479.698841] (-) TimerEvent: {}
+[479.742617] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/WaterDispenser/meshes/water_dispenser.dae\n'}
+[479.798953] (-) TimerEvent: {}
+[479.819330] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/WaterDispenser/model.config\n'}
+[479.893565] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/WaterDispenser/model.sdf\n'}
+[479.898994] (-) TimerEvent: {}
+[479.999322] (-) TimerEvent: {}
+[480.015318] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/book_10/materials/scripts/book_10.material\n'}
+[480.099399] (-) TimerEvent: {}
+[480.123711] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/book_10/materials/textures/cover10.jpg\n'}
+[480.197851] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/book_10/model.config\n'}
+[480.199430] (-) TimerEvent: {}
+[480.267920] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/book_10/model.sdf\n'}
+[480.299538] (-) TimerEvent: {}
+[480.399856] (-) TimerEvent: {}
+[480.421817] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/book_2/materials/scripts/book_2.material\n'}
+[480.499956] (-) TimerEvent: {}
+[480.527660] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/book_2/materials/textures/cover2.jpg\n'}
+[480.600058] (-) TimerEvent: {}
+[480.606778] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/book_2/model.config\n'}
+[480.678842] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/book_2/model.sdf\n'}
+[480.700170] (-) TimerEvent: {}
+[480.800501] (-) TimerEvent: {}
+[480.801234] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/bookshelf_large/materials/scripts/bookshelf.material\n'}
+[480.900605] (-) TimerEvent: {}
+[480.906387] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/bookshelf_large/materials/textures/wood_dark_4.jpg\n'}
+[480.998894] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/bookshelf_large/meshes/frame.dae\n'}
+[481.000688] (-) TimerEvent: {}
+[481.069767] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/bookshelf_large/meshes/glass.dae\n'}
+[481.100798] (-) TimerEvent: {}
+[481.150917] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/bookshelf_large/meshes/model.dae\n'}
+[481.200997] (-) TimerEvent: {}
+[481.231515] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/bookshelf_large/model.config\n'}
+[481.300071] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/bookshelf_large/model.sdf\n'}
+[481.301049] (-) TimerEvent: {}
+[481.401362] (-) TimerEvent: {}
+[481.429781] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/bowl/meshes/bowl.dae\n'}
+[481.490858] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/bowl/model-1_2.sdf\n'}
+[481.501461] (-) TimerEvent: {}
+[481.574670] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/bowl/model-1_3.sdf\n'}
+[481.601557] (-) TimerEvent: {}
+[481.644642] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/bowl/model-1_4.sdf\n'}
+[481.701630] (-) TimerEvent: {}
+[481.745252] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/bowl/model.config\n'}
+[481.801737] (-) TimerEvent: {}
+[481.827672] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/bowl/model.sdf\n'}
+[481.901836] (-) TimerEvent: {}
+[481.983822] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/coca_cola/materials/scripts/coke.material\n'}
+[482.001931] (-) TimerEvent: {}
+[482.082374] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/coca_cola/materials/textures/cokecan.jpg\n'}
+[482.102032] (-) TimerEvent: {}
+[482.191662] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/coca_cola/meshes/aluminum.jpg\n'}
+[482.202136] (-) TimerEvent: {}
+[482.262936] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/coca_cola/meshes/can_ring_pull_end_centre.png\n'}
+[482.302217] (-) TimerEvent: {}
+[482.354442] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/coca_cola/meshes/coke.dae\n'}
+[482.402315] (-) TimerEvent: {}
+[482.422830] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/coca_cola/meshes/coke_uv_map.jpg\n'}
+[482.499720] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/coca_cola/model.config\n'}
+[482.502404] (-) TimerEvent: {}
+[482.578374] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/coca_cola/model.sdf\n'}
+[482.602510] (-) TimerEvent: {}
+[482.696594] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/donut_frost_1/meshes/donut2.dae\n'}
+[482.702617] (-) TimerEvent: {}
+[482.782549] (turtlebot3_gazebo) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/donut_frost_1/meshes/donut2_bread.dae\n'}
+[482.802671] (-) TimerEvent: {}
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+[489.711205] (-) TimerEvent: {}
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+[508.631089] (-) TimerEvent: {}
+[508.731418] (-) TimerEvent: {}
+[508.831754] (-) TimerEvent: {}
+[508.894913] (turtlebot3_simulations) StdoutLine: {'line': b'-- Detecting CXX compiler ABI info - done\n'}
+[508.931881] (-) TimerEvent: {}
+[509.032279] (-) TimerEvent: {}
+[509.047812] (turtlebot3_simulations) StdoutLine: {'line': b'-- Check for working CXX compiler: /usr/bin/c++ - skipped\n'}
+[509.048197] (turtlebot3_simulations) StdoutLine: {'line': b'-- Detecting CXX compile features\n'}
+[509.048698] (turtlebot3_simulations) StdoutLine: {'line': b'-- Detecting CXX compile features - done\n'}
+[509.132371] (-) TimerEvent: {}
+[509.232695] (-) TimerEvent: {}
+[509.304954] (turtlebot3_simulations) StdoutLine: {'line': b'-- Found ament_cmake: 1.3.14 (/opt/ros/humble/share/ament_cmake/cmake)\n'}
+[509.332790] (-) TimerEvent: {}
+[509.433119] (-) TimerEvent: {}
+[509.533476] (-) TimerEvent: {}
+[509.633848] (-) TimerEvent: {}
+[509.734235] (-) TimerEvent: {}
+[509.834560] (-) TimerEvent: {}
+[509.882839] (turtlebot3_simulations) StdoutLine: {'line': b'-- Found Python3: /usr/bin/python3 (found version "3.10.12") found components: Interpreter \n'}
+[509.934667] (-) TimerEvent: {}
+[510.035036] (-) TimerEvent: {}
+[510.135445] (-) TimerEvent: {}
+[510.235768] (-) TimerEvent: {}
+[510.336103] (-) TimerEvent: {}
+[510.365998] (turtlebot3_simulations) StdoutLine: {'line': b'-- Override CMake install command with custom implementation using symlinks instead of copying resources\n'}
+[510.436204] (-) TimerEvent: {}
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+[514.750508] (-) TimerEvent: {}
+[514.850837] (-) TimerEvent: {}
+[514.951168] (-) TimerEvent: {}
+[515.011470] (turtlebot3_simulations) StdoutLine: {'line': b'-- Configuring done\n'}
+[515.051246] (-) TimerEvent: {}
+[515.151577] (-) TimerEvent: {}
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+[516.693512] (turtlebot3_simulations) StdoutLine: {'line': b'-- Generating done\n'}
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+[517.581086] (turtlebot3_simulations) StdoutLine: {'line': b'-- Build files have been written to: /workspace/build/turtlebot3_simulations\n'}
+[517.586310] (turtlebot3_simulations) CommandEnded: {'returncode': 0}
+[517.588653] (turtlebot3_simulations) JobProgress: {'identifier': 'turtlebot3_simulations', 'progress': 'build'}
+[517.589999] (turtlebot3_simulations) Command: {'cmd': ['/usr/bin/cmake', '--build', '/workspace/build/turtlebot3_simulations', '--', '-j8', '-l8'], 'cwd': '/workspace/build/turtlebot3_simulations', 'env': OrderedDict([('ENABLE_FILEBROWSER', 'false'), ('SINGLE_DESKTOP_APP', ''), ('MAIL', '/var/mail/devuser'), ('GZ_SIM_RESOURCE_PATH', '/workspace/models:/opt/gzsim/models:/workspace/models:/opt/gzsim/models:/workspace/models:/opt/gzsim/models:/usr/share/gz/gz-sim7/models'), ('USER', 'devuser'), ('FILEBROWSER_BASEURL', '/file'), ('ENABLE_TERMINAL', 'true'), ('USER_ID', '6950f1ca-1599-42c5-a926-29eb731cb95c'), ('SHLVL', '1'), ('LD_LIBRARY_PATH', '/usr/local/cuda/lib64:/usr/local/cuda/lib64:/usr/local/cuda/lib64:/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib'), ('HOME', '/home/devuser'), ('OLDPWD', '/workspace'), ('VNC_NO_PASSWORD', 'true'), ('DATA_PATH_V2', '/data'), ('ROS_PYTHON_VERSION', '3'), ('SINGLE_DESKTOP_PRESET', ''), ('LAUNCH_TYPE', 'EC2'), ('PS1', '\\[\\e[32m\\]\\u@foundation\\[\\e[0m\\]:\\[\\e[34m\\]\\w\\[\\e[0m\\]$'), ('LC_CTYPE', 'C.UTF-8'), ('PMS_VNC_MODE', 'turbovnc'), ('DATA_PATH', '/home/user/data'), ('WORKSPACE', '/workspace'), ('GZWEB_APP_DIR', '/opt/gzweb'), ('INIT_SCRIPT', 'sed -i "/# pms-vendor-pythonpath/d;/export PYTHONPATH=\\"/opt\\/vendor\\/python/d" /home/${USER:-devuser}/.bashrc 2>/dev/null || true\n\n/workspace/autorun.sh'), ('ENABLE_CODE_SERVER', 'true'), ('ROS_DISTRO', 'humble'), ('LOGNAME', 'devuser'), ('ENABLE_GZWEB', 'true'), ('_', '/usr/bin/colcon'), ('ROS_VERSION', '2'), ('ENABLE_FOXGLOVE', 'true'), ('SPACE_ID', '309844d858e5487f9c582ea361481b3d'), ('SPACE_DIR_V2', '/data/309844d858e5487f9c582ea361481b3d'), ('ROS_LOCALHOST_ONLY', '0'), ('ENABLE_VNC', 'true'), ('PATH', '/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/opt/ros/humble/bin:/usr/local/cuda/bin:/opt/TurboVNC/bin:/opt/node/bin:/opt/foundation/bin:/home/devuser/miniconda3/bin:/home/devuser/.local/bin'), ('DISPLAY_BACKEND', 'auto'), ('SPACE_DIR', '/home/user/data/309844d858e5487f9c582ea361481b3d'), ('DISPLAY', ':1'), ('DESKTOP_MODE', 'auto'), ('ROS_DOMAIN_ID', '42'), ('AMENT_PREFIX_PATH', '/workspace/install/turtlebot3_gazebo:/opt/ros/humble'), ('SHELL', '/bin/bash'), ('CODE_NO_PASSWORD', 'true'), ('GZWEB_PORT', '8000'), ('PWD', '/workspace/build/turtlebot3_simulations'), ('ENABLE_ROSBRIDGE', 'true'), ('INIT_WORKSPACE', '/workspace'), ('PYTHONPATH', '/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages'), ('COLCON', '1'), ('PMS_FOUNDATION_VARIANT', 'gpu'), ('GZ_SIM_CACHE_PATH', '/opt/gzsim/cache'), ('CMAKE_PREFIX_PATH', '/workspace/install/turtlebot3_gazebo:/opt/ros/humble')]), 'shell': False}
+[517.773613] (-) TimerEvent: {}
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+[517.908488] (turtlebot3_simulations) CommandEnded: {'returncode': 0}
+[517.935840] (turtlebot3_simulations) JobProgress: {'identifier': 'turtlebot3_simulations', 'progress': 'install'}
+[517.937233] (turtlebot3_simulations) Command: {'cmd': ['/usr/bin/cmake', '--install', '/workspace/build/turtlebot3_simulations'], 'cwd': '/workspace/build/turtlebot3_simulations', 'env': OrderedDict([('ENABLE_FILEBROWSER', 'false'), ('SINGLE_DESKTOP_APP', ''), ('MAIL', '/var/mail/devuser'), ('GZ_SIM_RESOURCE_PATH', '/workspace/models:/opt/gzsim/models:/workspace/models:/opt/gzsim/models:/workspace/models:/opt/gzsim/models:/usr/share/gz/gz-sim7/models'), ('USER', 'devuser'), ('FILEBROWSER_BASEURL', '/file'), ('ENABLE_TERMINAL', 'true'), ('USER_ID', '6950f1ca-1599-42c5-a926-29eb731cb95c'), ('SHLVL', '1'), ('LD_LIBRARY_PATH', '/usr/local/cuda/lib64:/usr/local/cuda/lib64:/usr/local/cuda/lib64:/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib'), ('HOME', '/home/devuser'), ('OLDPWD', '/workspace'), ('VNC_NO_PASSWORD', 'true'), ('DATA_PATH_V2', '/data'), ('ROS_PYTHON_VERSION', '3'), ('SINGLE_DESKTOP_PRESET', ''), ('LAUNCH_TYPE', 'EC2'), ('PS1', '\\[\\e[32m\\]\\u@foundation\\[\\e[0m\\]:\\[\\e[34m\\]\\w\\[\\e[0m\\]$'), ('LC_CTYPE', 'C.UTF-8'), ('PMS_VNC_MODE', 'turbovnc'), ('DATA_PATH', '/home/user/data'), ('WORKSPACE', '/workspace'), ('GZWEB_APP_DIR', '/opt/gzweb'), ('INIT_SCRIPT', 'sed -i "/# pms-vendor-pythonpath/d;/export PYTHONPATH=\\"/opt\\/vendor\\/python/d" /home/${USER:-devuser}/.bashrc 2>/dev/null || true\n\n/workspace/autorun.sh'), ('ENABLE_CODE_SERVER', 'true'), ('ROS_DISTRO', 'humble'), ('LOGNAME', 'devuser'), ('ENABLE_GZWEB', 'true'), ('_', '/usr/bin/colcon'), ('ROS_VERSION', '2'), ('ENABLE_FOXGLOVE', 'true'), ('SPACE_ID', '309844d858e5487f9c582ea361481b3d'), ('SPACE_DIR_V2', '/data/309844d858e5487f9c582ea361481b3d'), ('ROS_LOCALHOST_ONLY', '0'), ('ENABLE_VNC', 'true'), ('PATH', '/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/opt/ros/humble/bin:/usr/local/cuda/bin:/opt/TurboVNC/bin:/opt/node/bin:/opt/foundation/bin:/home/devuser/miniconda3/bin:/home/devuser/.local/bin'), ('DISPLAY_BACKEND', 'auto'), ('SPACE_DIR', '/home/user/data/309844d858e5487f9c582ea361481b3d'), ('DISPLAY', ':1'), ('DESKTOP_MODE', 'auto'), ('ROS_DOMAIN_ID', '42'), ('AMENT_PREFIX_PATH', '/workspace/install/turtlebot3_gazebo:/opt/ros/humble'), ('SHELL', '/bin/bash'), ('CODE_NO_PASSWORD', 'true'), ('GZWEB_PORT', '8000'), ('PWD', '/workspace/build/turtlebot3_simulations'), ('ENABLE_ROSBRIDGE', 'true'), ('INIT_WORKSPACE', '/workspace'), ('PYTHONPATH', '/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages'), ('COLCON', '1'), ('PMS_FOUNDATION_VARIANT', 'gpu'), ('GZ_SIM_CACHE_PATH', '/opt/gzsim/cache'), ('CMAKE_PREFIX_PATH', '/workspace/install/turtlebot3_gazebo:/opt/ros/humble')]), 'shell': False}
+[518.073662] (-) TimerEvent: {}
+[518.086340] (turtlebot3_simulations) StdoutLine: {'line': b'-- Install configuration: ""\n'}
+[518.100843] (turtlebot3_simulations) StdoutLine: {'line': b'-- Execute custom install script\n'}
+[518.173768] (-) TimerEvent: {}
+[518.231981] (turtlebot3_simulations) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_simulations/share/ament_index/resource_index/package_run_dependencies/turtlebot3_simulations\n'}
+[518.273870] (-) TimerEvent: {}
+[518.327431] (turtlebot3_simulations) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_simulations/share/ament_index/resource_index/parent_prefix_path/turtlebot3_simulations\n'}
+[518.373969] (-) TimerEvent: {}
+[518.456026] (turtlebot3_simulations) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/environment/ament_prefix_path.sh\n'}
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+[518.574171] (-) TimerEvent: {}
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+[518.708338] (turtlebot3_simulations) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/environment/path.dsv\n'}
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+[518.775076] (turtlebot3_simulations) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/local_setup.bash\n'}
+[518.859504] (turtlebot3_simulations) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/local_setup.sh\n'}
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+[519.219484] (turtlebot3_simulations) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_simulations/share/ament_index/resource_index/packages/turtlebot3_simulations\n'}
+[519.274858] (-) TimerEvent: {}
+[519.327044] (turtlebot3_simulations) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/cmake/turtlebot3_simulationsConfig.cmake\n'}
+[519.374960] (-) TimerEvent: {}
+[519.411230] (turtlebot3_simulations) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/cmake/turtlebot3_simulationsConfig-version.cmake\n'}
+[519.475058] (-) TimerEvent: {}
+[519.480185] (turtlebot3_simulations) StdoutLine: {'line': b'-- Symlinking: /workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/package.xml\n'}
+[519.541844] (turtlebot3_simulations) CommandEnded: {'returncode': 0}
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+[520.679077] (-) TimerEvent: {}
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+[520.858411] (turtlebot3_simulations) JobEnded: {'identifier': 'turtlebot3_simulations', 'rc': 0}
+[520.900907] (-) TimerEvent: {}
+[520.901074] (-) EventReactorShutdown: {}
diff --git a/log/build_2026-06-29_09-02-16/logger_all.log b/log/build_2026-06-29_09-02-16/logger_all.log
new file mode 100644
index 0000000..4e47d10
--- /dev/null
+++ b/log/build_2026-06-29_09-02-16/logger_all.log
@@ -0,0 +1,413 @@
+[0.293s] DEBUG:colcon:Command line arguments: ['/usr/bin/colcon', 'build', '--symlink-install']
+[0.294s] DEBUG:colcon:Parsed command line arguments: Namespace(log_base=None, log_level=None, verb_name='build', build_base='build', install_base='install', merge_install=False, symlink_install=True, test_result_base=None, continue_on_error=False, executor='parallel', parallel_workers=8, event_handlers=None, ignore_user_meta=False, metas=['./colcon.meta'], base_paths=['.'], packages_ignore=None, packages_ignore_regex=None, paths=None, packages_up_to=None, packages_up_to_regex=None, packages_above=None, packages_above_and_dependencies=None, packages_above_depth=None, packages_select_by_dep=None, packages_skip_by_dep=None, packages_skip_up_to=None, packages_select_build_failed=False, packages_skip_build_finished=False, packages_select_test_failures=False, packages_skip_test_passed=False, packages_select=None, packages_skip=None, packages_select_regex=None, packages_skip_regex=None, packages_start=None, packages_end=None, cmake_args=None, cmake_target=None, cmake_target_skip_unavailable=False, cmake_clean_cache=False, cmake_clean_first=False, cmake_force_configure=False, ament_cmake_args=None, catkin_cmake_args=None, catkin_skip_building_tests=False, verb_parser=<colcon_defaults.argument_parser.defaults.DefaultArgumentsDecorator object at 0x763019363220>, verb_extension=<colcon_core.verb.build.BuildVerb object at 0x763019362d10>, main=<bound method BuildVerb.main of <colcon_core.verb.build.BuildVerb object at 0x763019362d10>>)
+[1.450s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) check parameters
+[1.453s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) check parameters
+[1.453s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) check parameters
+[1.453s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) check parameters
+[1.453s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) discover
+[1.453s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) discover
+[1.453s] INFO:colcon.colcon_core.package_discovery:Crawling recursively for packages in '/workspace'
+[1.481s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ignore', 'ignore_ament_install']
+[1.481s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore'
+[1.483s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore_ament_install'
+[1.495s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_pkg']
+[1.495s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_pkg'
+[1.497s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_meta']
+[1.497s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_meta'
+[1.497s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ros']
+[1.497s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ros'
+[1.516s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['cmake', 'python']
+[1.517s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'cmake'
+[1.530s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python'
+[1.545s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['python_setup_py']
+[1.545s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python_setup_py'
+[1.570s] Level 1:colcon.colcon_core.package_identification:_identify(assets) by extensions ['ignore', 'ignore_ament_install']
+[1.570s] Level 1:colcon.colcon_core.package_identification:_identify(assets) by extension 'ignore'
+[1.571s] Level 1:colcon.colcon_core.package_identification:_identify(assets) by extension 'ignore_ament_install'
+[1.574s] Level 1:colcon.colcon_core.package_identification:_identify(assets) by extensions ['colcon_pkg']
+[1.574s] Level 1:colcon.colcon_core.package_identification:_identify(assets) by extension 'colcon_pkg'
+[1.575s] Level 1:colcon.colcon_core.package_identification:_identify(assets) by extensions ['colcon_meta']
+[1.575s] Level 1:colcon.colcon_core.package_identification:_identify(assets) by extension 'colcon_meta'
+[1.575s] Level 1:colcon.colcon_core.package_identification:_identify(assets) by extensions ['ros']
+[1.575s] Level 1:colcon.colcon_core.package_identification:_identify(assets) by extension 'ros'
+[1.591s] Level 1:colcon.colcon_core.package_identification:_identify(assets) by extensions ['cmake', 'python']
+[1.591s] Level 1:colcon.colcon_core.package_identification:_identify(assets) by extension 'cmake'
+[1.604s] Level 1:colcon.colcon_core.package_identification:_identify(assets) by extension 'python'
+[1.605s] Level 1:colcon.colcon_core.package_identification:_identify(assets) by extensions ['python_setup_py']
+[1.605s] Level 1:colcon.colcon_core.package_identification:_identify(assets) by extension 'python_setup_py'
+[1.627s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extensions ['ignore', 'ignore_ament_install']
+[1.627s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extension 'ignore'
+[1.627s] Level 1:colcon.colcon_core.package_identification:_identify(build) ignored
+[1.663s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extensions ['ignore', 'ignore_ament_install']
+[1.664s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extension 'ignore'
+[1.664s] Level 1:colcon.colcon_core.package_identification:_identify(install) ignored
+[1.685s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extensions ['ignore', 'ignore_ament_install']
+[1.685s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extension 'ignore'
+[1.685s] Level 1:colcon.colcon_core.package_identification:_identify(log) ignored
+[1.702s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['ignore', 'ignore_ament_install']
+[1.703s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ignore'
+[1.704s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ignore_ament_install'
+[1.716s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['colcon_pkg']
+[1.716s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'colcon_pkg'
+[1.717s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['colcon_meta']
+[1.717s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'colcon_meta'
+[1.717s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['ros']
+[1.717s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ros'
+[1.733s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['cmake', 'python']
+[1.733s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'cmake'
+[1.734s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'python'
+[1.735s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['python_setup_py']
+[1.736s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'python_setup_py'
+[1.759s] Level 1:colcon.colcon_core.package_identification:_identify(src/TurtleBot-RRT-Star) by extensions ['ignore', 'ignore_ament_install']
+[1.759s] Level 1:colcon.colcon_core.package_identification:_identify(src/TurtleBot-RRT-Star) by extension 'ignore'
+[1.760s] Level 1:colcon.colcon_core.package_identification:_identify(src/TurtleBot-RRT-Star) by extension 'ignore_ament_install'
+[1.772s] Level 1:colcon.colcon_core.package_identification:_identify(src/TurtleBot-RRT-Star) by extensions ['colcon_pkg']
+[1.772s] Level 1:colcon.colcon_core.package_identification:_identify(src/TurtleBot-RRT-Star) by extension 'colcon_pkg'
+[1.774s] Level 1:colcon.colcon_core.package_identification:_identify(src/TurtleBot-RRT-Star) by extensions ['colcon_meta']
+[1.774s] Level 1:colcon.colcon_core.package_identification:_identify(src/TurtleBot-RRT-Star) by extension 'colcon_meta'
+[1.774s] Level 1:colcon.colcon_core.package_identification:_identify(src/TurtleBot-RRT-Star) by extensions ['ros']
+[1.774s] Level 1:colcon.colcon_core.package_identification:_identify(src/TurtleBot-RRT-Star) by extension 'ros'
+[1.793s] DEBUG:colcon.colcon_core.package_identification:Package 'src/TurtleBot-RRT-Star' with type 'ros.ament_cmake' and name 'nav2_rrtstar_planner'
+[1.802s] Level 1:colcon.colcon_core.package_identification:_identify(src/turtlebot3_simulations) by extensions ['ignore', 'ignore_ament_install']
+[1.803s] Level 1:colcon.colcon_core.package_identification:_identify(src/turtlebot3_simulations) by extension 'ignore'
+[1.804s] Level 1:colcon.colcon_core.package_identification:_identify(src/turtlebot3_simulations) by extension 'ignore_ament_install'
+[1.819s] Level 1:colcon.colcon_core.package_identification:_identify(src/turtlebot3_simulations) by extensions ['colcon_pkg']
+[1.819s] Level 1:colcon.colcon_core.package_identification:_identify(src/turtlebot3_simulations) by extension 'colcon_pkg'
+[1.820s] Level 1:colcon.colcon_core.package_identification:_identify(src/turtlebot3_simulations) by extensions ['colcon_meta']
+[1.821s] Level 1:colcon.colcon_core.package_identification:_identify(src/turtlebot3_simulations) by extension 'colcon_meta'
+[1.821s] Level 1:colcon.colcon_core.package_identification:_identify(src/turtlebot3_simulations) by extensions ['ros']
+[1.821s] Level 1:colcon.colcon_core.package_identification:_identify(src/turtlebot3_simulations) by extension 'ros'
+[1.832s] Level 1:colcon.colcon_core.package_identification:_identify(src/turtlebot3_simulations) by extensions ['cmake', 'python']
+[1.832s] Level 1:colcon.colcon_core.package_identification:_identify(src/turtlebot3_simulations) by extension 'cmake'
+[1.833s] Level 1:colcon.colcon_core.package_identification:_identify(src/turtlebot3_simulations) by extension 'python'
+[1.834s] Level 1:colcon.colcon_core.package_identification:_identify(src/turtlebot3_simulations) by extensions ['python_setup_py']
+[1.834s] Level 1:colcon.colcon_core.package_identification:_identify(src/turtlebot3_simulations) by extension 'python_setup_py'
+[1.856s] Level 1:colcon.colcon_core.package_identification:_identify(src/turtlebot3_simulations/turtlebot3_gazebo) by extensions ['ignore', 'ignore_ament_install']
+[1.856s] Level 1:colcon.colcon_core.package_identification:_identify(src/turtlebot3_simulations/turtlebot3_gazebo) by extension 'ignore'
+[1.857s] Level 1:colcon.colcon_core.package_identification:_identify(src/turtlebot3_simulations/turtlebot3_gazebo) by extension 'ignore_ament_install'
+[1.860s] Level 1:colcon.colcon_core.package_identification:_identify(src/turtlebot3_simulations/turtlebot3_gazebo) by extensions ['colcon_pkg']
+[1.860s] Level 1:colcon.colcon_core.package_identification:_identify(src/turtlebot3_simulations/turtlebot3_gazebo) by extension 'colcon_pkg'
+[1.879s] Level 1:colcon.colcon_core.package_identification:_identify(src/turtlebot3_simulations/turtlebot3_gazebo) by extensions ['colcon_meta']
+[1.879s] Level 1:colcon.colcon_core.package_identification:_identify(src/turtlebot3_simulations/turtlebot3_gazebo) by extension 'colcon_meta'
+[1.879s] Level 1:colcon.colcon_core.package_identification:_identify(src/turtlebot3_simulations/turtlebot3_gazebo) by extensions ['ros']
+[1.879s] Level 1:colcon.colcon_core.package_identification:_identify(src/turtlebot3_simulations/turtlebot3_gazebo) by extension 'ros'
+[1.924s] DEBUG:colcon.colcon_core.package_identification:Package 'src/turtlebot3_simulations/turtlebot3_gazebo' with type 'ros.ament_cmake' and name 'turtlebot3_gazebo'
+[1.931s] Level 1:colcon.colcon_core.package_identification:_identify(src/turtlebot3_simulations/turtlebot3_simulations) by extensions ['ignore', 'ignore_ament_install']
+[1.932s] Level 1:colcon.colcon_core.package_identification:_identify(src/turtlebot3_simulations/turtlebot3_simulations) by extension 'ignore'
+[1.933s] Level 1:colcon.colcon_core.package_identification:_identify(src/turtlebot3_simulations/turtlebot3_simulations) by extension 'ignore_ament_install'
+[1.946s] Level 1:colcon.colcon_core.package_identification:_identify(src/turtlebot3_simulations/turtlebot3_simulations) by extensions ['colcon_pkg']
+[1.946s] Level 1:colcon.colcon_core.package_identification:_identify(src/turtlebot3_simulations/turtlebot3_simulations) by extension 'colcon_pkg'
+[1.947s] Level 1:colcon.colcon_core.package_identification:_identify(src/turtlebot3_simulations/turtlebot3_simulations) by extensions ['colcon_meta']
+[1.947s] Level 1:colcon.colcon_core.package_identification:_identify(src/turtlebot3_simulations/turtlebot3_simulations) by extension 'colcon_meta'
+[1.947s] Level 1:colcon.colcon_core.package_identification:_identify(src/turtlebot3_simulations/turtlebot3_simulations) by extensions ['ros']
+[1.947s] Level 1:colcon.colcon_core.package_identification:_identify(src/turtlebot3_simulations/turtlebot3_simulations) by extension 'ros'
+[1.984s] DEBUG:colcon.colcon_core.package_identification:Package 'src/turtlebot3_simulations/turtlebot3_simulations' with type 'ros.ament_cmake' and name 'turtlebot3_simulations'
+[1.993s] Level 1:colcon.colcon_core.package_identification:_identify(src/vlm_nav_pkg) by extensions ['ignore', 'ignore_ament_install']
+[1.993s] Level 1:colcon.colcon_core.package_identification:_identify(src/vlm_nav_pkg) by extension 'ignore'
+[1.995s] Level 1:colcon.colcon_core.package_identification:_identify(src/vlm_nav_pkg) by extension 'ignore_ament_install'
+[2.009s] Level 1:colcon.colcon_core.package_identification:_identify(src/vlm_nav_pkg) by extensions ['colcon_pkg']
+[2.009s] Level 1:colcon.colcon_core.package_identification:_identify(src/vlm_nav_pkg) by extension 'colcon_pkg'
+[2.023s] Level 1:colcon.colcon_core.package_identification:_identify(src/vlm_nav_pkg) by extensions ['colcon_meta']
+[2.024s] Level 1:colcon.colcon_core.package_identification:_identify(src/vlm_nav_pkg) by extension 'colcon_meta'
+[2.024s] Level 1:colcon.colcon_core.package_identification:_identify(src/vlm_nav_pkg) by extensions ['ros']
+[2.024s] Level 1:colcon.colcon_core.package_identification:_identify(src/vlm_nav_pkg) by extension 'ros'
+[2.064s] DEBUG:colcon.colcon_core.package_identification:Package 'src/vlm_nav_pkg' with type 'ros.ament_python' and name 'vlm_nav_pkg'
+[2.071s] Level 1:colcon.colcon_core.package_identification:_identify(src/vlm_perception_pkg) by extensions ['ignore', 'ignore_ament_install']
+[2.072s] Level 1:colcon.colcon_core.package_identification:_identify(src/vlm_perception_pkg) by extension 'ignore'
+[2.073s] Level 1:colcon.colcon_core.package_identification:_identify(src/vlm_perception_pkg) by extension 'ignore_ament_install'
+[2.089s] Level 1:colcon.colcon_core.package_identification:_identify(src/vlm_perception_pkg) by extensions ['colcon_pkg']
+[2.089s] Level 1:colcon.colcon_core.package_identification:_identify(src/vlm_perception_pkg) by extension 'colcon_pkg'
+[2.090s] Level 1:colcon.colcon_core.package_identification:_identify(src/vlm_perception_pkg) by extensions ['colcon_meta']
+[2.090s] Level 1:colcon.colcon_core.package_identification:_identify(src/vlm_perception_pkg) by extension 'colcon_meta'
+[2.091s] Level 1:colcon.colcon_core.package_identification:_identify(src/vlm_perception_pkg) by extensions ['ros']
+[2.091s] Level 1:colcon.colcon_core.package_identification:_identify(src/vlm_perception_pkg) by extension 'ros'
+[2.151s] DEBUG:colcon.colcon_core.package_identification:Package 'src/vlm_perception_pkg' with type 'ros.ament_python' and name 'vlm_perception_pkg'
+[2.151s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) using defaults
+[2.151s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) discover
+[2.151s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) using defaults
+[2.151s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) discover
+[2.152s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) using defaults
+[2.236s] Level 5:colcon.colcon_core.verb:set package 'nav2_rrtstar_planner' build argument 'cmake_args' from command line to 'None'
+[2.236s] Level 5:colcon.colcon_core.verb:set package 'nav2_rrtstar_planner' build argument 'cmake_target' from command line to 'None'
+[2.236s] Level 5:colcon.colcon_core.verb:set package 'nav2_rrtstar_planner' build argument 'cmake_target_skip_unavailable' from command line to 'False'
+[2.236s] Level 5:colcon.colcon_core.verb:set package 'nav2_rrtstar_planner' build argument 'cmake_clean_cache' from command line to 'False'
+[2.236s] Level 5:colcon.colcon_core.verb:set package 'nav2_rrtstar_planner' build argument 'cmake_clean_first' from command line to 'False'
+[2.236s] Level 5:colcon.colcon_core.verb:set package 'nav2_rrtstar_planner' build argument 'cmake_force_configure' from command line to 'False'
+[2.236s] Level 5:colcon.colcon_core.verb:set package 'nav2_rrtstar_planner' build argument 'ament_cmake_args' from command line to 'None'
+[2.236s] Level 5:colcon.colcon_core.verb:set package 'nav2_rrtstar_planner' build argument 'catkin_cmake_args' from command line to 'None'
+[2.236s] Level 5:colcon.colcon_core.verb:set package 'nav2_rrtstar_planner' build argument 'catkin_skip_building_tests' from command line to 'False'
+[2.236s] DEBUG:colcon.colcon_core.verb:Building package 'nav2_rrtstar_planner' with the following arguments: {'ament_cmake_args': None, 'build_base': '/workspace/build/nav2_rrtstar_planner', 'catkin_cmake_args': None, 'catkin_skip_building_tests': False, 'cmake_args': None, 'cmake_clean_cache': False, 'cmake_clean_first': False, 'cmake_force_configure': False, 'cmake_target': None, 'cmake_target_skip_unavailable': False, 'install_base': '/workspace/install/nav2_rrtstar_planner', 'merge_install': False, 'path': '/workspace/src/TurtleBot-RRT-Star', 'symlink_install': True, 'test_result_base': None}
+[2.237s] Level 5:colcon.colcon_core.verb:set package 'turtlebot3_gazebo' build argument 'cmake_args' from command line to 'None'
+[2.237s] Level 5:colcon.colcon_core.verb:set package 'turtlebot3_gazebo' build argument 'cmake_target' from command line to 'None'
+[2.237s] Level 5:colcon.colcon_core.verb:set package 'turtlebot3_gazebo' build argument 'cmake_target_skip_unavailable' from command line to 'False'
+[2.237s] Level 5:colcon.colcon_core.verb:set package 'turtlebot3_gazebo' build argument 'cmake_clean_cache' from command line to 'False'
+[2.237s] Level 5:colcon.colcon_core.verb:set package 'turtlebot3_gazebo' build argument 'cmake_clean_first' from command line to 'False'
+[2.237s] Level 5:colcon.colcon_core.verb:set package 'turtlebot3_gazebo' build argument 'cmake_force_configure' from command line to 'False'
+[2.237s] Level 5:colcon.colcon_core.verb:set package 'turtlebot3_gazebo' build argument 'ament_cmake_args' from command line to 'None'
+[2.237s] Level 5:colcon.colcon_core.verb:set package 'turtlebot3_gazebo' build argument 'catkin_cmake_args' from command line to 'None'
+[2.237s] Level 5:colcon.colcon_core.verb:set package 'turtlebot3_gazebo' build argument 'catkin_skip_building_tests' from command line to 'False'
+[2.237s] DEBUG:colcon.colcon_core.verb:Building package 'turtlebot3_gazebo' with the following arguments: {'ament_cmake_args': None, 'build_base': '/workspace/build/turtlebot3_gazebo', 'catkin_cmake_args': None, 'catkin_skip_building_tests': False, 'cmake_args': None, 'cmake_clean_cache': False, 'cmake_clean_first': False, 'cmake_force_configure': False, 'cmake_target': None, 'cmake_target_skip_unavailable': False, 'install_base': '/workspace/install/turtlebot3_gazebo', 'merge_install': False, 'path': '/workspace/src/turtlebot3_simulations/turtlebot3_gazebo', 'symlink_install': True, 'test_result_base': None}
+[2.238s] Level 5:colcon.colcon_core.verb:set package 'vlm_nav_pkg' build argument 'cmake_args' from command line to 'None'
+[2.238s] Level 5:colcon.colcon_core.verb:set package 'vlm_nav_pkg' build argument 'cmake_target' from command line to 'None'
+[2.238s] Level 5:colcon.colcon_core.verb:set package 'vlm_nav_pkg' build argument 'cmake_target_skip_unavailable' from command line to 'False'
+[2.238s] Level 5:colcon.colcon_core.verb:set package 'vlm_nav_pkg' build argument 'cmake_clean_cache' from command line to 'False'
+[2.238s] Level 5:colcon.colcon_core.verb:set package 'vlm_nav_pkg' build argument 'cmake_clean_first' from command line to 'False'
+[2.238s] Level 5:colcon.colcon_core.verb:set package 'vlm_nav_pkg' build argument 'cmake_force_configure' from command line to 'False'
+[2.238s] Level 5:colcon.colcon_core.verb:set package 'vlm_nav_pkg' build argument 'ament_cmake_args' from command line to 'None'
+[2.238s] Level 5:colcon.colcon_core.verb:set package 'vlm_nav_pkg' build argument 'catkin_cmake_args' from command line to 'None'
+[2.238s] Level 5:colcon.colcon_core.verb:set package 'vlm_nav_pkg' build argument 'catkin_skip_building_tests' from command line to 'False'
+[2.238s] DEBUG:colcon.colcon_core.verb:Building package 'vlm_nav_pkg' with the following arguments: {'ament_cmake_args': None, 'build_base': '/workspace/build/vlm_nav_pkg', 'catkin_cmake_args': None, 'catkin_skip_building_tests': False, 'cmake_args': None, 'cmake_clean_cache': False, 'cmake_clean_first': False, 'cmake_force_configure': False, 'cmake_target': None, 'cmake_target_skip_unavailable': False, 'install_base': '/workspace/install/vlm_nav_pkg', 'merge_install': False, 'path': '/workspace/src/vlm_nav_pkg', 'symlink_install': True, 'test_result_base': None}
+[2.239s] Level 5:colcon.colcon_core.verb:set package 'vlm_perception_pkg' build argument 'cmake_args' from command line to 'None'
+[2.239s] Level 5:colcon.colcon_core.verb:set package 'vlm_perception_pkg' build argument 'cmake_target' from command line to 'None'
+[2.239s] Level 5:colcon.colcon_core.verb:set package 'vlm_perception_pkg' build argument 'cmake_target_skip_unavailable' from command line to 'False'
+[2.239s] Level 5:colcon.colcon_core.verb:set package 'vlm_perception_pkg' build argument 'cmake_clean_cache' from command line to 'False'
+[2.239s] Level 5:colcon.colcon_core.verb:set package 'vlm_perception_pkg' build argument 'cmake_clean_first' from command line to 'False'
+[2.239s] Level 5:colcon.colcon_core.verb:set package 'vlm_perception_pkg' build argument 'cmake_force_configure' from command line to 'False'
+[2.239s] Level 5:colcon.colcon_core.verb:set package 'vlm_perception_pkg' build argument 'ament_cmake_args' from command line to 'None'
+[2.239s] Level 5:colcon.colcon_core.verb:set package 'vlm_perception_pkg' build argument 'catkin_cmake_args' from command line to 'None'
+[2.239s] Level 5:colcon.colcon_core.verb:set package 'vlm_perception_pkg' build argument 'catkin_skip_building_tests' from command line to 'False'
+[2.239s] DEBUG:colcon.colcon_core.verb:Building package 'vlm_perception_pkg' with the following arguments: {'ament_cmake_args': None, 'build_base': '/workspace/build/vlm_perception_pkg', 'catkin_cmake_args': None, 'catkin_skip_building_tests': False, 'cmake_args': None, 'cmake_clean_cache': False, 'cmake_clean_first': False, 'cmake_force_configure': False, 'cmake_target': None, 'cmake_target_skip_unavailable': False, 'install_base': '/workspace/install/vlm_perception_pkg', 'merge_install': False, 'path': '/workspace/src/vlm_perception_pkg', 'symlink_install': True, 'test_result_base': None}
+[2.240s] Level 5:colcon.colcon_core.verb:set package 'turtlebot3_simulations' build argument 'cmake_args' from command line to 'None'
+[2.240s] Level 5:colcon.colcon_core.verb:set package 'turtlebot3_simulations' build argument 'cmake_target' from command line to 'None'
+[2.240s] Level 5:colcon.colcon_core.verb:set package 'turtlebot3_simulations' build argument 'cmake_target_skip_unavailable' from command line to 'False'
+[2.240s] Level 5:colcon.colcon_core.verb:set package 'turtlebot3_simulations' build argument 'cmake_clean_cache' from command line to 'False'
+[2.240s] Level 5:colcon.colcon_core.verb:set package 'turtlebot3_simulations' build argument 'cmake_clean_first' from command line to 'False'
+[2.240s] Level 5:colcon.colcon_core.verb:set package 'turtlebot3_simulations' build argument 'cmake_force_configure' from command line to 'False'
+[2.240s] Level 5:colcon.colcon_core.verb:set package 'turtlebot3_simulations' build argument 'ament_cmake_args' from command line to 'None'
+[2.240s] Level 5:colcon.colcon_core.verb:set package 'turtlebot3_simulations' build argument 'catkin_cmake_args' from command line to 'None'
+[2.240s] Level 5:colcon.colcon_core.verb:set package 'turtlebot3_simulations' build argument 'catkin_skip_building_tests' from command line to 'False'
+[2.240s] DEBUG:colcon.colcon_core.verb:Building package 'turtlebot3_simulations' with the following arguments: {'ament_cmake_args': None, 'build_base': '/workspace/build/turtlebot3_simulations', 'catkin_cmake_args': None, 'catkin_skip_building_tests': False, 'cmake_args': None, 'cmake_clean_cache': False, 'cmake_clean_first': False, 'cmake_force_configure': False, 'cmake_target': None, 'cmake_target_skip_unavailable': False, 'install_base': '/workspace/install/turtlebot3_simulations', 'merge_install': False, 'path': '/workspace/src/turtlebot3_simulations/turtlebot3_simulations', 'symlink_install': True, 'test_result_base': None}
+[2.240s] INFO:colcon.colcon_core.executor:Executing jobs using 'parallel' executor
+[2.241s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete
+[2.242s] INFO:colcon.colcon_ros.task.ament_cmake.build:Building ROS package in '/workspace/src/turtlebot3_simulations/turtlebot3_gazebo' with build type 'ament_cmake'
+[2.242s] INFO:colcon.colcon_cmake.task.cmake.build:Building CMake package in '/workspace/src/turtlebot3_simulations/turtlebot3_gazebo'
+[2.244s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_core.shell.bat': Not used on non-Windows systems
+[2.244s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
+[2.244s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
+[2.376s] INFO:colcon.colcon_ros.task.ament_cmake.build:Building ROS package in '/workspace/src/TurtleBot-RRT-Star' with build type 'ament_cmake'
+[2.376s] INFO:colcon.colcon_cmake.task.cmake.build:Building CMake package in '/workspace/src/TurtleBot-RRT-Star'
+[2.376s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
+[2.376s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
+[2.490s] INFO:colcon.colcon_ros.task.ament_python.build:Building ROS package in '/workspace/src/vlm_nav_pkg' with build type 'ament_python'
+[2.490s] Level 1:colcon.colcon_core.shell:create_environment_hook('vlm_nav_pkg', 'ament_prefix_path')
+[2.490s] INFO:colcon.colcon_core.shell:Creating environment hook '/workspace/install/vlm_nav_pkg/share/vlm_nav_pkg/hook/ament_prefix_path.ps1'
+[2.626s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/workspace/install/vlm_nav_pkg/share/vlm_nav_pkg/hook/ament_prefix_path.dsv'
+[2.682s] INFO:colcon.colcon_core.shell:Creating environment hook '/workspace/install/vlm_nav_pkg/share/vlm_nav_pkg/hook/ament_prefix_path.sh'
+[2.728s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
+[2.728s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
+[2.879s] INFO:colcon.colcon_ros.task.ament_python.build:Building ROS package in '/workspace/src/vlm_perception_pkg' with build type 'ament_python'
+[2.879s] Level 1:colcon.colcon_core.shell:create_environment_hook('vlm_perception_pkg', 'ament_prefix_path')
+[2.880s] INFO:colcon.colcon_core.shell:Creating environment hook '/workspace/install/vlm_perception_pkg/share/vlm_perception_pkg/hook/ament_prefix_path.ps1'
+[3.005s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/workspace/install/vlm_perception_pkg/share/vlm_perception_pkg/hook/ament_prefix_path.dsv'
+[3.055s] INFO:colcon.colcon_core.shell:Creating environment hook '/workspace/install/vlm_perception_pkg/share/vlm_perception_pkg/hook/ament_prefix_path.sh'
+[3.123s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
+[3.123s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
+[3.591s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/workspace/build/turtlebot3_gazebo': CMAKE_PREFIX_PATH=/opt/ros/humble PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$ /usr/bin/cmake /workspace/src/turtlebot3_simulations/turtlebot3_gazebo -DAMENT_CMAKE_SYMLINK_INSTALL=1 -DCMAKE_INSTALL_PREFIX=/workspace/install/turtlebot3_gazebo
+[4.004s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/workspace/build/nav2_rrtstar_planner': CMAKE_PREFIX_PATH=/opt/ros/humble PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$ /usr/bin/cmake /workspace/src/TurtleBot-RRT-Star -DAMENT_CMAKE_SYMLINK_INSTALL=1 -DCMAKE_INSTALL_PREFIX=/workspace/install/nav2_rrtstar_planner
+[5.480s] INFO:colcon.colcon_core.task.python.build:Building Python package in '/workspace/src/vlm_nav_pkg'
+[5.481s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
+[5.481s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
+[7.299s] INFO:colcon.colcon_core.task.python.build:Building Python package in '/workspace/src/vlm_perception_pkg'
+[7.299s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
+[7.300s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
+[9.938s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/workspace/build/vlm_nav_pkg': PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$ PYTHONPATH=/workspace/build/vlm_nav_pkg/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/workspace/install/vlm_nav_pkg/lib/python3.10/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py develop --editable --build-directory /workspace/build/vlm_nav_pkg/build --no-deps symlink_data
+[10.256s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/workspace/build/vlm_perception_pkg': PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$ PYTHONPATH=/workspace/build/vlm_perception_pkg/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/workspace/install/vlm_perception_pkg/lib/python3.10/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py develop --editable --build-directory /workspace/build/vlm_perception_pkg/build --no-deps symlink_data
+[14.316s] Level 1:colcon.colcon_core.shell:create_environment_hook('vlm_nav_pkg', 'pythonpath_develop')
+[14.317s] INFO:colcon.colcon_core.shell:Creating environment hook '/workspace/build/vlm_nav_pkg/share/vlm_nav_pkg/hook/pythonpath_develop.ps1'
+[14.317s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/workspace/build/vlm_nav_pkg' returned '0': PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$ PYTHONPATH=/workspace/build/vlm_nav_pkg/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/workspace/install/vlm_nav_pkg/lib/python3.10/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py develop --editable --build-directory /workspace/build/vlm_nav_pkg/build --no-deps symlink_data
+[14.467s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/workspace/build/vlm_nav_pkg/share/vlm_nav_pkg/hook/pythonpath_develop.dsv'
+[14.557s] INFO:colcon.colcon_core.shell:Creating environment hook '/workspace/build/vlm_nav_pkg/share/vlm_nav_pkg/hook/pythonpath_develop.sh'
+[14.632s] Level 1:colcon.colcon_core.environment:checking '/workspace/install/vlm_nav_pkg' for CMake module files
+[14.681s] Level 1:colcon.colcon_core.environment:checking '/workspace/install/vlm_nav_pkg' for CMake config files
+[14.841s] Level 1:colcon.colcon_core.environment:checking '/workspace/install/vlm_nav_pkg/lib'
+[14.859s] Level 1:colcon.colcon_core.environment:checking '/workspace/install/vlm_nav_pkg/bin'
+[14.866s] Level 1:colcon.colcon_core.environment:checking '/workspace/install/vlm_nav_pkg/lib/pkgconfig/vlm_nav_pkg.pc'
+[14.868s] Level 1:colcon.colcon_core.environment:checking '/workspace/install/vlm_nav_pkg/lib/python3.10/site-packages'
+[14.869s] Level 1:colcon.colcon_core.shell:create_environment_hook('vlm_nav_pkg', 'pythonpath')
+[14.869s] INFO:colcon.colcon_core.shell:Creating environment hook '/workspace/install/vlm_nav_pkg/share/vlm_nav_pkg/hook/pythonpath.ps1'
+[14.942s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/workspace/install/vlm_nav_pkg/share/vlm_nav_pkg/hook/pythonpath.dsv'
+[14.977s] INFO:colcon.colcon_core.shell:Creating environment hook '/workspace/install/vlm_nav_pkg/share/vlm_nav_pkg/hook/pythonpath.sh'
+[15.048s] Level 1:colcon.colcon_core.environment:checking '/workspace/install/vlm_nav_pkg/bin'
+[15.049s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(vlm_nav_pkg)
+[15.050s] INFO:colcon.colcon_core.shell:Creating package script '/workspace/install/vlm_nav_pkg/share/vlm_nav_pkg/package.ps1'
+[15.120s] INFO:colcon.colcon_core.shell:Creating package descriptor '/workspace/install/vlm_nav_pkg/share/vlm_nav_pkg/package.dsv'
+[15.193s] INFO:colcon.colcon_core.shell:Creating package script '/workspace/install/vlm_nav_pkg/share/vlm_nav_pkg/package.sh'
+[15.268s] INFO:colcon.colcon_core.shell:Creating package script '/workspace/install/vlm_nav_pkg/share/vlm_nav_pkg/package.bash'
+[15.329s] INFO:colcon.colcon_core.shell:Creating package script '/workspace/install/vlm_nav_pkg/share/vlm_nav_pkg/package.zsh'
+[15.408s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/workspace/install/vlm_nav_pkg/share/colcon-core/packages/vlm_nav_pkg)
+[15.488s] Level 1:colcon.colcon_core.shell:create_environment_hook('vlm_perception_pkg', 'pythonpath_develop')
+[15.489s] INFO:colcon.colcon_core.shell:Creating environment hook '/workspace/build/vlm_perception_pkg/share/vlm_perception_pkg/hook/pythonpath_develop.ps1'
+[15.572s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/workspace/build/vlm_perception_pkg' returned '0': PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$ PYTHONPATH=/workspace/build/vlm_perception_pkg/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/workspace/install/vlm_perception_pkg/lib/python3.10/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py develop --editable --build-directory /workspace/build/vlm_perception_pkg/build --no-deps symlink_data
+[15.653s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/workspace/build/vlm_perception_pkg/share/vlm_perception_pkg/hook/pythonpath_develop.dsv'
+[15.711s] INFO:colcon.colcon_core.shell:Creating environment hook '/workspace/build/vlm_perception_pkg/share/vlm_perception_pkg/hook/pythonpath_develop.sh'
+[15.752s] Level 1:colcon.colcon_core.environment:checking '/workspace/install/vlm_perception_pkg' for CMake module files
+[15.828s] Level 1:colcon.colcon_core.environment:checking '/workspace/install/vlm_perception_pkg' for CMake config files
+[15.967s] Level 1:colcon.colcon_core.environment:checking '/workspace/install/vlm_perception_pkg/lib'
+[15.974s] Level 1:colcon.colcon_core.environment:checking '/workspace/install/vlm_perception_pkg/bin'
+[15.975s] Level 1:colcon.colcon_core.environment:checking '/workspace/install/vlm_perception_pkg/lib/pkgconfig/vlm_perception_pkg.pc'
+[15.977s] Level 1:colcon.colcon_core.environment:checking '/workspace/install/vlm_perception_pkg/lib/python3.10/site-packages'
+[15.978s] Level 1:colcon.colcon_core.shell:create_environment_hook('vlm_perception_pkg', 'pythonpath')
+[15.978s] INFO:colcon.colcon_core.shell:Creating environment hook '/workspace/install/vlm_perception_pkg/share/vlm_perception_pkg/hook/pythonpath.ps1'
+[16.035s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/workspace/install/vlm_perception_pkg/share/vlm_perception_pkg/hook/pythonpath.dsv'
+[16.106s] INFO:colcon.colcon_core.shell:Creating environment hook '/workspace/install/vlm_perception_pkg/share/vlm_perception_pkg/hook/pythonpath.sh'
+[16.165s] Level 1:colcon.colcon_core.environment:checking '/workspace/install/vlm_perception_pkg/bin'
+[16.166s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(vlm_perception_pkg)
+[16.167s] INFO:colcon.colcon_core.shell:Creating package script '/workspace/install/vlm_perception_pkg/share/vlm_perception_pkg/package.ps1'
+[16.215s] INFO:colcon.colcon_core.shell:Creating package descriptor '/workspace/install/vlm_perception_pkg/share/vlm_perception_pkg/package.dsv'
+[16.273s] INFO:colcon.colcon_core.shell:Creating package script '/workspace/install/vlm_perception_pkg/share/vlm_perception_pkg/package.sh'
+[16.346s] INFO:colcon.colcon_core.shell:Creating package script '/workspace/install/vlm_perception_pkg/share/vlm_perception_pkg/package.bash'
+[16.412s] INFO:colcon.colcon_core.shell:Creating package script '/workspace/install/vlm_perception_pkg/share/vlm_perception_pkg/package.zsh'
+[16.457s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/workspace/install/vlm_perception_pkg/share/colcon-core/packages/vlm_perception_pkg)
+[41.745s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/workspace/build/nav2_rrtstar_planner' returned '0': CMAKE_PREFIX_PATH=/opt/ros/humble PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$ /usr/bin/cmake /workspace/src/TurtleBot-RRT-Star -DAMENT_CMAKE_SYMLINK_INSTALL=1 -DCMAKE_INSTALL_PREFIX=/workspace/install/nav2_rrtstar_planner
+[42.030s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/workspace/build/nav2_rrtstar_planner': CMAKE_PREFIX_PATH=/opt/ros/humble PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$ /usr/bin/cmake --build /workspace/build/nav2_rrtstar_planner -- -j8 -l8
+[42.032s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/workspace/build/turtlebot3_gazebo' returned '0': CMAKE_PREFIX_PATH=/opt/ros/humble PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$ /usr/bin/cmake /workspace/src/turtlebot3_simulations/turtlebot3_gazebo -DAMENT_CMAKE_SYMLINK_INSTALL=1 -DCMAKE_INSTALL_PREFIX=/workspace/install/turtlebot3_gazebo
+[42.295s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/workspace/build/turtlebot3_gazebo': CMAKE_PREFIX_PATH=/opt/ros/humble PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$ /usr/bin/cmake --build /workspace/build/turtlebot3_gazebo -- -j8 -l8
+[78.081s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/workspace/build/nav2_rrtstar_planner' returned '0': CMAKE_PREFIX_PATH=/opt/ros/humble PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$ /usr/bin/cmake --build /workspace/build/nav2_rrtstar_planner -- -j8 -l8
+[78.383s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/workspace/build/nav2_rrtstar_planner': CMAKE_PREFIX_PATH=/opt/ros/humble PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$ /usr/bin/cmake --install /workspace/build/nav2_rrtstar_planner
+[80.792s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(nav2_rrtstar_planner)
+[80.792s] Level 1:colcon.colcon_core.environment:checking '/workspace/install/nav2_rrtstar_planner' for CMake module files
+[80.793s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/workspace/build/nav2_rrtstar_planner' returned '0': CMAKE_PREFIX_PATH=/opt/ros/humble PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$ /usr/bin/cmake --install /workspace/build/nav2_rrtstar_planner
+[80.839s] Level 1:colcon.colcon_core.environment:checking '/workspace/install/nav2_rrtstar_planner' for CMake config files
+[80.972s] Level 1:colcon.colcon_core.shell:create_environment_hook('nav2_rrtstar_planner', 'cmake_prefix_path')
+[80.972s] INFO:colcon.colcon_core.shell:Creating environment hook '/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/hook/cmake_prefix_path.ps1'
+[81.067s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/hook/cmake_prefix_path.dsv'
+[81.115s] INFO:colcon.colcon_core.shell:Creating environment hook '/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/hook/cmake_prefix_path.sh'
+[81.172s] Level 1:colcon.colcon_core.environment:checking '/workspace/install/nav2_rrtstar_planner/lib'
+[81.189s] Level 1:colcon.colcon_core.shell:create_environment_hook('nav2_rrtstar_planner', 'ld_library_path_lib')
+[81.190s] INFO:colcon.colcon_core.shell:Creating environment hook '/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/hook/ld_library_path_lib.ps1'
+[81.253s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/hook/ld_library_path_lib.dsv'
+[81.294s] INFO:colcon.colcon_core.shell:Creating environment hook '/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/hook/ld_library_path_lib.sh'
+[81.356s] Level 1:colcon.colcon_core.environment:checking '/workspace/install/nav2_rrtstar_planner/bin'
+[81.373s] Level 1:colcon.colcon_core.environment:checking '/workspace/install/nav2_rrtstar_planner/lib/pkgconfig/nav2_rrtstar_planner.pc'
+[81.375s] Level 1:colcon.colcon_core.environment:checking '/workspace/install/nav2_rrtstar_planner/lib/python3.10/site-packages'
+[81.377s] Level 1:colcon.colcon_core.environment:checking '/workspace/install/nav2_rrtstar_planner/bin'
+[81.379s] INFO:colcon.colcon_core.shell:Creating package script '/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/package.ps1'
+[81.448s] INFO:colcon.colcon_core.shell:Creating package descriptor '/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/package.dsv'
+[81.519s] INFO:colcon.colcon_core.shell:Creating package script '/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/package.sh'
+[81.572s] INFO:colcon.colcon_core.shell:Creating package script '/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/package.bash'
+[81.613s] INFO:colcon.colcon_core.shell:Creating package script '/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/package.zsh'
+[81.666s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/workspace/install/nav2_rrtstar_planner/share/colcon-core/packages/nav2_rrtstar_planner)
+[81.761s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(nav2_rrtstar_planner)
+[81.761s] Level 1:colcon.colcon_core.environment:checking '/workspace/install/nav2_rrtstar_planner' for CMake module files
+[81.825s] Level 1:colcon.colcon_core.environment:checking '/workspace/install/nav2_rrtstar_planner' for CMake config files
+[81.997s] Level 1:colcon.colcon_core.shell:create_environment_hook('nav2_rrtstar_planner', 'cmake_prefix_path')
+[81.998s] INFO:colcon.colcon_core.shell:Creating environment hook '/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/hook/cmake_prefix_path.ps1'
+[82.056s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/hook/cmake_prefix_path.dsv'
+[82.097s] INFO:colcon.colcon_core.shell:Creating environment hook '/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/hook/cmake_prefix_path.sh'
+[82.144s] Level 1:colcon.colcon_core.environment:checking '/workspace/install/nav2_rrtstar_planner/lib'
+[82.164s] Level 1:colcon.colcon_core.shell:create_environment_hook('nav2_rrtstar_planner', 'ld_library_path_lib')
+[82.164s] INFO:colcon.colcon_core.shell:Creating environment hook '/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/hook/ld_library_path_lib.ps1'
+[82.209s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/hook/ld_library_path_lib.dsv'
+[82.259s] INFO:colcon.colcon_core.shell:Creating environment hook '/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/hook/ld_library_path_lib.sh'
+[82.309s] Level 1:colcon.colcon_core.environment:checking '/workspace/install/nav2_rrtstar_planner/bin'
+[82.310s] Level 1:colcon.colcon_core.environment:checking '/workspace/install/nav2_rrtstar_planner/lib/pkgconfig/nav2_rrtstar_planner.pc'
+[82.311s] Level 1:colcon.colcon_core.environment:checking '/workspace/install/nav2_rrtstar_planner/lib/python3.10/site-packages'
+[82.324s] Level 1:colcon.colcon_core.environment:checking '/workspace/install/nav2_rrtstar_planner/bin'
+[82.326s] INFO:colcon.colcon_core.shell:Creating package script '/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/package.ps1'
+[82.391s] INFO:colcon.colcon_core.shell:Creating package descriptor '/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/package.dsv'
+[82.438s] INFO:colcon.colcon_core.shell:Creating package script '/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/package.sh'
+[82.490s] INFO:colcon.colcon_core.shell:Creating package script '/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/package.bash'
+[82.545s] INFO:colcon.colcon_core.shell:Creating package script '/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/package.zsh'
+[82.606s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/workspace/install/nav2_rrtstar_planner/share/colcon-core/packages/nav2_rrtstar_planner)
+[469.409s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/workspace/build/turtlebot3_gazebo' returned '0': CMAKE_PREFIX_PATH=/opt/ros/humble PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$ /usr/bin/cmake --build /workspace/build/turtlebot3_gazebo -- -j8 -l8
+[469.738s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/workspace/build/turtlebot3_gazebo': CMAKE_PREFIX_PATH=/opt/ros/humble PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$ /usr/bin/cmake --install /workspace/build/turtlebot3_gazebo
+[496.829s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(turtlebot3_gazebo)
+[496.829s] Level 1:colcon.colcon_core.environment:checking '/workspace/install/turtlebot3_gazebo' for CMake module files
+[496.830s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/workspace/build/turtlebot3_gazebo' returned '0': CMAKE_PREFIX_PATH=/opt/ros/humble PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$ /usr/bin/cmake --install /workspace/build/turtlebot3_gazebo
+[496.898s] Level 1:colcon.colcon_core.environment:checking '/workspace/install/turtlebot3_gazebo' for CMake config files
+[497.026s] Level 1:colcon.colcon_core.shell:create_environment_hook('turtlebot3_gazebo', 'cmake_prefix_path')
+[497.026s] INFO:colcon.colcon_core.shell:Creating environment hook '/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo/hook/cmake_prefix_path.ps1'
+[497.096s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo/hook/cmake_prefix_path.dsv'
+[497.152s] INFO:colcon.colcon_core.shell:Creating environment hook '/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo/hook/cmake_prefix_path.sh'
+[497.229s] Level 1:colcon.colcon_core.environment:checking '/workspace/install/turtlebot3_gazebo/lib'
+[497.255s] Level 1:colcon.colcon_core.environment:checking '/workspace/install/turtlebot3_gazebo/bin'
+[497.257s] Level 1:colcon.colcon_core.environment:checking '/workspace/install/turtlebot3_gazebo/lib/pkgconfig/turtlebot3_gazebo.pc'
+[497.259s] Level 1:colcon.colcon_core.environment:checking '/workspace/install/turtlebot3_gazebo/lib/python3.10/site-packages'
+[497.260s] Level 1:colcon.colcon_core.environment:checking '/workspace/install/turtlebot3_gazebo/bin'
+[497.262s] INFO:colcon.colcon_core.shell:Creating package script '/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo/package.ps1'
+[497.332s] INFO:colcon.colcon_core.shell:Creating package descriptor '/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo/package.dsv'
+[497.406s] INFO:colcon.colcon_core.shell:Creating package script '/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo/package.sh'
+[497.479s] INFO:colcon.colcon_core.shell:Creating package script '/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo/package.bash'
+[497.544s] INFO:colcon.colcon_core.shell:Creating package script '/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo/package.zsh'
+[497.603s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/workspace/install/turtlebot3_gazebo/share/colcon-core/packages/turtlebot3_gazebo)
+[497.726s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(turtlebot3_gazebo)
+[497.726s] Level 1:colcon.colcon_core.environment:checking '/workspace/install/turtlebot3_gazebo' for CMake module files
+[497.795s] Level 1:colcon.colcon_core.environment:checking '/workspace/install/turtlebot3_gazebo' for CMake config files
+[497.892s] Level 1:colcon.colcon_core.shell:create_environment_hook('turtlebot3_gazebo', 'cmake_prefix_path')
+[497.892s] INFO:colcon.colcon_core.shell:Creating environment hook '/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo/hook/cmake_prefix_path.ps1'
+[497.947s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo/hook/cmake_prefix_path.dsv'
+[498.005s] INFO:colcon.colcon_core.shell:Creating environment hook '/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo/hook/cmake_prefix_path.sh'
+[498.071s] Level 1:colcon.colcon_core.environment:checking '/workspace/install/turtlebot3_gazebo/lib'
+[498.077s] Level 1:colcon.colcon_core.environment:checking '/workspace/install/turtlebot3_gazebo/bin'
+[498.078s] Level 1:colcon.colcon_core.environment:checking '/workspace/install/turtlebot3_gazebo/lib/pkgconfig/turtlebot3_gazebo.pc'
+[498.080s] Level 1:colcon.colcon_core.environment:checking '/workspace/install/turtlebot3_gazebo/lib/python3.10/site-packages'
+[498.081s] Level 1:colcon.colcon_core.environment:checking '/workspace/install/turtlebot3_gazebo/bin'
+[498.082s] INFO:colcon.colcon_core.shell:Creating package script '/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo/package.ps1'
+[498.142s] INFO:colcon.colcon_core.shell:Creating package descriptor '/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo/package.dsv'
+[498.215s] INFO:colcon.colcon_core.shell:Creating package script '/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo/package.sh'
+[498.278s] INFO:colcon.colcon_core.shell:Creating package script '/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo/package.bash'
+[498.346s] INFO:colcon.colcon_core.shell:Creating package script '/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo/package.zsh'
+[498.407s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/workspace/install/turtlebot3_gazebo/share/colcon-core/packages/turtlebot3_gazebo)
+[498.464s] INFO:colcon.colcon_ros.task.ament_cmake.build:Building ROS package in '/workspace/src/turtlebot3_simulations/turtlebot3_simulations' with build type 'ament_cmake'
+[498.464s] INFO:colcon.colcon_cmake.task.cmake.build:Building CMake package in '/workspace/src/turtlebot3_simulations/turtlebot3_simulations'
+[498.465s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
+[498.465s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
+[499.051s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/workspace/build/turtlebot3_simulations': AMENT_PREFIX_PATH=/workspace/install/turtlebot3_gazebo:${AMENT_PREFIX_PATH} CMAKE_PREFIX_PATH=/workspace/install/turtlebot3_gazebo:/opt/ros/humble PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$ /usr/bin/cmake /workspace/src/turtlebot3_simulations/turtlebot3_simulations -DAMENT_CMAKE_SYMLINK_INSTALL=1 -DCMAKE_INSTALL_PREFIX=/workspace/install/turtlebot3_simulations
+[519.845s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/workspace/build/turtlebot3_simulations' returned '0': AMENT_PREFIX_PATH=/workspace/install/turtlebot3_gazebo:${AMENT_PREFIX_PATH} CMAKE_PREFIX_PATH=/workspace/install/turtlebot3_gazebo:/opt/ros/humble PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$ /usr/bin/cmake /workspace/src/turtlebot3_simulations/turtlebot3_simulations -DAMENT_CMAKE_SYMLINK_INSTALL=1 -DCMAKE_INSTALL_PREFIX=/workspace/install/turtlebot3_simulations
+[520.031s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/workspace/build/turtlebot3_simulations': AMENT_PREFIX_PATH=/workspace/install/turtlebot3_gazebo:${AMENT_PREFIX_PATH} CMAKE_PREFIX_PATH=/workspace/install/turtlebot3_gazebo:/opt/ros/humble PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$ /usr/bin/cmake --build /workspace/build/turtlebot3_simulations -- -j8 -l8
+[520.167s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/workspace/build/turtlebot3_simulations' returned '0': AMENT_PREFIX_PATH=/workspace/install/turtlebot3_gazebo:${AMENT_PREFIX_PATH} CMAKE_PREFIX_PATH=/workspace/install/turtlebot3_gazebo:/opt/ros/humble PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$ /usr/bin/cmake --build /workspace/build/turtlebot3_simulations -- -j8 -l8
+[520.331s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/workspace/build/turtlebot3_simulations': AMENT_PREFIX_PATH=/workspace/install/turtlebot3_gazebo:${AMENT_PREFIX_PATH} CMAKE_PREFIX_PATH=/workspace/install/turtlebot3_gazebo:/opt/ros/humble PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$ /usr/bin/cmake --install /workspace/build/turtlebot3_simulations
+[521.800s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(turtlebot3_simulations)
+[521.800s] Level 1:colcon.colcon_core.environment:checking '/workspace/install/turtlebot3_simulations' for CMake module files
+[521.801s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/workspace/build/turtlebot3_simulations' returned '0': AMENT_PREFIX_PATH=/workspace/install/turtlebot3_gazebo:${AMENT_PREFIX_PATH} CMAKE_PREFIX_PATH=/workspace/install/turtlebot3_gazebo:/opt/ros/humble PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$ /usr/bin/cmake --install /workspace/build/turtlebot3_simulations
+[521.865s] Level 1:colcon.colcon_core.environment:checking '/workspace/install/turtlebot3_simulations' for CMake config files
+[521.922s] Level 1:colcon.colcon_core.shell:create_environment_hook('turtlebot3_simulations', 'cmake_prefix_path')
+[521.923s] INFO:colcon.colcon_core.shell:Creating environment hook '/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/hook/cmake_prefix_path.ps1'
+[521.977s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/hook/cmake_prefix_path.dsv'
+[522.033s] INFO:colcon.colcon_core.shell:Creating environment hook '/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/hook/cmake_prefix_path.sh'
+[522.091s] Level 1:colcon.colcon_core.environment:checking '/workspace/install/turtlebot3_simulations/bin'
+[522.092s] Level 1:colcon.colcon_core.environment:checking '/workspace/install/turtlebot3_simulations/lib/pkgconfig/turtlebot3_simulations.pc'
+[522.094s] Level 1:colcon.colcon_core.environment:checking '/workspace/install/turtlebot3_simulations/lib/python3.10/site-packages'
+[522.095s] Level 1:colcon.colcon_core.environment:checking '/workspace/install/turtlebot3_simulations/bin'
+[522.097s] INFO:colcon.colcon_core.shell:Creating package script '/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/package.ps1'
+[522.158s] INFO:colcon.colcon_core.shell:Creating package descriptor '/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/package.dsv'
+[522.235s] INFO:colcon.colcon_core.shell:Creating package script '/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/package.sh'
+[522.291s] INFO:colcon.colcon_core.shell:Creating package script '/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/package.bash'
+[522.349s] INFO:colcon.colcon_core.shell:Creating package script '/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/package.zsh'
+[522.397s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/workspace/install/turtlebot3_simulations/share/colcon-core/packages/turtlebot3_simulations)
+[522.484s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(turtlebot3_simulations)
+[522.484s] Level 1:colcon.colcon_core.environment:checking '/workspace/install/turtlebot3_simulations' for CMake module files
+[522.548s] Level 1:colcon.colcon_core.environment:checking '/workspace/install/turtlebot3_simulations' for CMake config files
+[522.636s] Level 1:colcon.colcon_core.shell:create_environment_hook('turtlebot3_simulations', 'cmake_prefix_path')
+[522.636s] INFO:colcon.colcon_core.shell:Creating environment hook '/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/hook/cmake_prefix_path.ps1'
+[522.680s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/hook/cmake_prefix_path.dsv'
+[522.734s] INFO:colcon.colcon_core.shell:Creating environment hook '/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/hook/cmake_prefix_path.sh'
+[522.800s] Level 1:colcon.colcon_core.environment:checking '/workspace/install/turtlebot3_simulations/bin'
+[522.802s] Level 1:colcon.colcon_core.environment:checking '/workspace/install/turtlebot3_simulations/lib/pkgconfig/turtlebot3_simulations.pc'
+[522.803s] Level 1:colcon.colcon_core.environment:checking '/workspace/install/turtlebot3_simulations/lib/python3.10/site-packages'
+[522.804s] Level 1:colcon.colcon_core.environment:checking '/workspace/install/turtlebot3_simulations/bin'
+[522.806s] INFO:colcon.colcon_core.shell:Creating package script '/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/package.ps1'
+[522.862s] INFO:colcon.colcon_core.shell:Creating package descriptor '/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/package.dsv'
+[522.913s] INFO:colcon.colcon_core.shell:Creating package script '/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/package.sh'
+[522.967s] INFO:colcon.colcon_core.shell:Creating package script '/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/package.bash'
+[523.022s] INFO:colcon.colcon_core.shell:Creating package script '/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/package.zsh'
+[523.063s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/workspace/install/turtlebot3_simulations/share/colcon-core/packages/turtlebot3_simulations)
+[523.116s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:closing loop
+[523.117s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:loop closed
+[523.117s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete finished with '0'
+[523.117s] DEBUG:colcon.colcon_core.event_reactor:joining thread
+[523.248s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.notify_send': Could not find 'notify-send'
+[523.248s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.terminal_notifier': Not used on non-Darwin systems
+[523.248s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.win32': Not used on non-Windows systems
+[523.248s] INFO:colcon.colcon_notification.desktop_notification:Sending desktop notification using 'notify2'
+[523.375s] DEBUG:colcon.colcon_core.event_reactor:joined thread
+[523.376s] INFO:colcon.colcon_core.shell:Creating prefix script '/workspace/install/local_setup.ps1'
+[523.439s] INFO:colcon.colcon_core.shell:Creating prefix util module '/workspace/install/_local_setup_util_ps1.py'
+[523.497s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/workspace/install/setup.ps1'
+[523.560s] INFO:colcon.colcon_core.shell:Creating prefix script '/workspace/install/local_setup.sh'
+[523.599s] INFO:colcon.colcon_core.shell:Creating prefix util module '/workspace/install/_local_setup_util_sh.py'
+[523.639s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/workspace/install/setup.sh'
+[523.701s] INFO:colcon.colcon_core.shell:Creating prefix script '/workspace/install/local_setup.bash'
+[523.774s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/workspace/install/setup.bash'
+[523.822s] INFO:colcon.colcon_core.shell:Creating prefix script '/workspace/install/local_setup.zsh'
+[523.869s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/workspace/install/setup.zsh'
diff --git a/log/build_2026-06-29_09-02-16/nav2_rrtstar_planner/command.log b/log/build_2026-06-29_09-02-16/nav2_rrtstar_planner/command.log
new file mode 100644
index 0000000..55fa144
--- /dev/null
+++ b/log/build_2026-06-29_09-02-16/nav2_rrtstar_planner/command.log
@@ -0,0 +1,6 @@
+Invoking command in '/workspace/build/nav2_rrtstar_planner': CMAKE_PREFIX_PATH=/opt/ros/humble PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$ /usr/bin/cmake /workspace/src/TurtleBot-RRT-Star -DAMENT_CMAKE_SYMLINK_INSTALL=1 -DCMAKE_INSTALL_PREFIX=/workspace/install/nav2_rrtstar_planner
+Invoked command in '/workspace/build/nav2_rrtstar_planner' returned '0': CMAKE_PREFIX_PATH=/opt/ros/humble PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$ /usr/bin/cmake /workspace/src/TurtleBot-RRT-Star -DAMENT_CMAKE_SYMLINK_INSTALL=1 -DCMAKE_INSTALL_PREFIX=/workspace/install/nav2_rrtstar_planner
+Invoking command in '/workspace/build/nav2_rrtstar_planner': CMAKE_PREFIX_PATH=/opt/ros/humble PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$ /usr/bin/cmake --build /workspace/build/nav2_rrtstar_planner -- -j8 -l8
+Invoked command in '/workspace/build/nav2_rrtstar_planner' returned '0': CMAKE_PREFIX_PATH=/opt/ros/humble PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$ /usr/bin/cmake --build /workspace/build/nav2_rrtstar_planner -- -j8 -l8
+Invoking command in '/workspace/build/nav2_rrtstar_planner': CMAKE_PREFIX_PATH=/opt/ros/humble PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$ /usr/bin/cmake --install /workspace/build/nav2_rrtstar_planner
+Invoked command in '/workspace/build/nav2_rrtstar_planner' returned '0': CMAKE_PREFIX_PATH=/opt/ros/humble PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$ /usr/bin/cmake --install /workspace/build/nav2_rrtstar_planner
diff --git a/log/build_2026-06-29_09-02-16/nav2_rrtstar_planner/stderr.log b/log/build_2026-06-29_09-02-16/nav2_rrtstar_planner/stderr.log
new file mode 100644
index 0000000..e69de29
diff --git a/log/build_2026-06-29_09-02-16/nav2_rrtstar_planner/stdout.log b/log/build_2026-06-29_09-02-16/nav2_rrtstar_planner/stdout.log
new file mode 100644
index 0000000..2817d41
--- /dev/null
+++ b/log/build_2026-06-29_09-02-16/nav2_rrtstar_planner/stdout.log
@@ -0,0 +1,87 @@
+-- The C compiler identification is GNU 11.4.0
+-- The CXX compiler identification is GNU 11.4.0
+-- Detecting C compiler ABI info
+-- Detecting C compiler ABI info - done
+-- Check for working C compiler: /usr/bin/cc - skipped
+-- Detecting C compile features
+-- Detecting C compile features - done
+-- Detecting CXX compiler ABI info
+-- Detecting CXX compiler ABI info - done
+-- Check for working CXX compiler: /usr/bin/c++ - skipped
+-- Detecting CXX compile features
+-- Detecting CXX compile features - done
+-- Found ament_cmake: 1.3.14 (/opt/ros/humble/share/ament_cmake/cmake)
+-- Found Python3: /usr/bin/python3 (found version "3.10.12") found components: Interpreter 
+-- Override CMake install command with custom implementation using symlinks instead of copying resources
+-- Found rclcpp: 16.0.19 (/opt/ros/humble/share/rclcpp/cmake)
+-- Found rosidl_generator_c: 3.1.8 (/opt/ros/humble/share/rosidl_generator_c/cmake)
+-- Found rosidl_adapter: 3.1.8 (/opt/ros/humble/share/rosidl_adapter/cmake)
+-- Found rosidl_generator_cpp: 3.1.8 (/opt/ros/humble/share/rosidl_generator_cpp/cmake)
+-- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
+-- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
+-- Found rmw_implementation_cmake: 6.1.2 (/opt/ros/humble/share/rmw_implementation_cmake/cmake)
+-- Found rmw_fastrtps_cpp: 6.2.10 (/opt/ros/humble/share/rmw_fastrtps_cpp/cmake)
+-- Found OpenSSL: /usr/lib/x86_64-linux-gnu/libcrypto.so (found version "3.0.2")  
+-- Found FastRTPS: /opt/ros/humble/include  
+-- Using RMW implementation 'rmw_fastrtps_cpp' as default
+-- Looking for pthread.h
+-- Looking for pthread.h - found
+-- Performing Test CMAKE_HAVE_LIBC_PTHREAD
+-- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Success
+-- Found Threads: TRUE  
+-- Found rclcpp_action: 16.0.19 (/opt/ros/humble/share/rclcpp_action/cmake)
+-- Found rclcpp_lifecycle: 16.0.19 (/opt/ros/humble/share/rclcpp_lifecycle/cmake)
+-- Found visualization_msgs: 4.9.1 (/opt/ros/humble/share/visualization_msgs/cmake)
+-- Found nav2_util: 1.1.20 (/opt/ros/humble/share/nav2_util/cmake)
+-- Found eigen3_cmake_module: 0.1.1 (/opt/ros/humble/share/eigen3_cmake_module/cmake)
+-- Found Eigen3: TRUE (found version "3.4.0") 
+-- Ensuring Eigen3 include directory is part of orocos-kdl CMake target
+-- Found nav2_costmap_2d: 1.1.20 (/opt/ros/humble/share/nav2_costmap_2d/cmake)
+-- Found nav2_core: 1.1.20 (/opt/ros/humble/share/nav2_core/cmake)
+-- Found ament_lint_auto: 0.12.15 (/opt/ros/humble/share/ament_lint_auto/cmake)
+-- Added test 'copyright' to check source files copyright and LICENSE
+-- Added test 'cppcheck' to perform static code analysis on C / C++ code
+-- Configured cppcheck include dirs: /workspace/src/TurtleBot-RRT-Star/include
+-- Configured cppcheck exclude dirs and/or files: 
+-- Added test 'cpplint' to check C / C++ code against the Google style
+-- Configured cpplint exclude dirs and/or files: 
+-- Added test 'flake8' to check Python code syntax and style conventions
+-- Added test 'lint_cmake' to check CMake code style
+-- Added test 'pep257' to check Python code against some of the docstring style conventions in PEP 257
+-- Added test 'uncrustify' to check C / C++ code style
+-- Configured uncrustify additional arguments: 
+-- Added test 'xmllint' to check XML markup files
+-- Configuring done
+-- Generating done
+-- Build files have been written to: /workspace/build/nav2_rrtstar_planner
+[ 50%] Building CXX object CMakeFiles/nav2_rrtstar_planner_plugin.dir/src/rrtstar_planner.cpp.o
+[100%] Linking CXX shared library libnav2_rrtstar_planner_plugin.so
+[100%] Built target nav2_rrtstar_planner_plugin
+-- Install configuration: ""
+-- Execute custom install script
+-- Symlinking: /workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner//global_planner_plugin.xml
+-- Symlinking: /workspace/install/nav2_rrtstar_planner/lib/libnav2_rrtstar_planner_plugin.so
+-- Symlinking: /workspace/install/nav2_rrtstar_planner/include//nav2_rrtstar_planner/rrtstar_planner.hpp
+-- Up-to-date symlink: /workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/global_planner_plugin.xml
+-- Symlinking: /workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/launch/bringup_localization_with_initial_pose.launch.py
+-- Symlinking: /workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/environment/library_path.sh
+-- Symlinking: /workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/environment/library_path.dsv
+-- Symlinking: /workspace/install/nav2_rrtstar_planner/share/ament_index/resource_index/package_run_dependencies/nav2_rrtstar_planner
+-- Symlinking: /workspace/install/nav2_rrtstar_planner/share/ament_index/resource_index/parent_prefix_path/nav2_rrtstar_planner
+-- Symlinking: /workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/environment/ament_prefix_path.sh
+-- Symlinking: /workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/environment/ament_prefix_path.dsv
+-- Symlinking: /workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/environment/path.sh
+-- Symlinking: /workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/environment/path.dsv
+-- Symlinking: /workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/local_setup.bash
+-- Symlinking: /workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/local_setup.sh
+-- Symlinking: /workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/local_setup.zsh
+-- Symlinking: /workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/local_setup.dsv
+-- Symlinking: /workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/package.dsv
+-- Symlinking: /workspace/install/nav2_rrtstar_planner/share/ament_index/resource_index/packages/nav2_rrtstar_planner
+-- Symlinking: /workspace/install/nav2_rrtstar_planner/share/ament_index/resource_index/nav2_core__pluginlib__plugin/nav2_rrtstar_planner
+-- Symlinking: /workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/cmake/ament_cmake_export_include_directories-extras.cmake
+-- Symlinking: /workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/cmake/ament_cmake_export_libraries-extras.cmake
+-- Symlinking: /workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/cmake/ament_cmake_export_dependencies-extras.cmake
+-- Symlinking: /workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/cmake/nav2_rrtstar_plannerConfig.cmake
+-- Symlinking: /workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/cmake/nav2_rrtstar_plannerConfig-version.cmake
+-- Symlinking: /workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/package.xml
diff --git a/log/build_2026-06-29_09-02-16/nav2_rrtstar_planner/stdout_stderr.log b/log/build_2026-06-29_09-02-16/nav2_rrtstar_planner/stdout_stderr.log
new file mode 100644
index 0000000..2817d41
--- /dev/null
+++ b/log/build_2026-06-29_09-02-16/nav2_rrtstar_planner/stdout_stderr.log
@@ -0,0 +1,87 @@
+-- The C compiler identification is GNU 11.4.0
+-- The CXX compiler identification is GNU 11.4.0
+-- Detecting C compiler ABI info
+-- Detecting C compiler ABI info - done
+-- Check for working C compiler: /usr/bin/cc - skipped
+-- Detecting C compile features
+-- Detecting C compile features - done
+-- Detecting CXX compiler ABI info
+-- Detecting CXX compiler ABI info - done
+-- Check for working CXX compiler: /usr/bin/c++ - skipped
+-- Detecting CXX compile features
+-- Detecting CXX compile features - done
+-- Found ament_cmake: 1.3.14 (/opt/ros/humble/share/ament_cmake/cmake)
+-- Found Python3: /usr/bin/python3 (found version "3.10.12") found components: Interpreter 
+-- Override CMake install command with custom implementation using symlinks instead of copying resources
+-- Found rclcpp: 16.0.19 (/opt/ros/humble/share/rclcpp/cmake)
+-- Found rosidl_generator_c: 3.1.8 (/opt/ros/humble/share/rosidl_generator_c/cmake)
+-- Found rosidl_adapter: 3.1.8 (/opt/ros/humble/share/rosidl_adapter/cmake)
+-- Found rosidl_generator_cpp: 3.1.8 (/opt/ros/humble/share/rosidl_generator_cpp/cmake)
+-- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
+-- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
+-- Found rmw_implementation_cmake: 6.1.2 (/opt/ros/humble/share/rmw_implementation_cmake/cmake)
+-- Found rmw_fastrtps_cpp: 6.2.10 (/opt/ros/humble/share/rmw_fastrtps_cpp/cmake)
+-- Found OpenSSL: /usr/lib/x86_64-linux-gnu/libcrypto.so (found version "3.0.2")  
+-- Found FastRTPS: /opt/ros/humble/include  
+-- Using RMW implementation 'rmw_fastrtps_cpp' as default
+-- Looking for pthread.h
+-- Looking for pthread.h - found
+-- Performing Test CMAKE_HAVE_LIBC_PTHREAD
+-- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Success
+-- Found Threads: TRUE  
+-- Found rclcpp_action: 16.0.19 (/opt/ros/humble/share/rclcpp_action/cmake)
+-- Found rclcpp_lifecycle: 16.0.19 (/opt/ros/humble/share/rclcpp_lifecycle/cmake)
+-- Found visualization_msgs: 4.9.1 (/opt/ros/humble/share/visualization_msgs/cmake)
+-- Found nav2_util: 1.1.20 (/opt/ros/humble/share/nav2_util/cmake)
+-- Found eigen3_cmake_module: 0.1.1 (/opt/ros/humble/share/eigen3_cmake_module/cmake)
+-- Found Eigen3: TRUE (found version "3.4.0") 
+-- Ensuring Eigen3 include directory is part of orocos-kdl CMake target
+-- Found nav2_costmap_2d: 1.1.20 (/opt/ros/humble/share/nav2_costmap_2d/cmake)
+-- Found nav2_core: 1.1.20 (/opt/ros/humble/share/nav2_core/cmake)
+-- Found ament_lint_auto: 0.12.15 (/opt/ros/humble/share/ament_lint_auto/cmake)
+-- Added test 'copyright' to check source files copyright and LICENSE
+-- Added test 'cppcheck' to perform static code analysis on C / C++ code
+-- Configured cppcheck include dirs: /workspace/src/TurtleBot-RRT-Star/include
+-- Configured cppcheck exclude dirs and/or files: 
+-- Added test 'cpplint' to check C / C++ code against the Google style
+-- Configured cpplint exclude dirs and/or files: 
+-- Added test 'flake8' to check Python code syntax and style conventions
+-- Added test 'lint_cmake' to check CMake code style
+-- Added test 'pep257' to check Python code against some of the docstring style conventions in PEP 257
+-- Added test 'uncrustify' to check C / C++ code style
+-- Configured uncrustify additional arguments: 
+-- Added test 'xmllint' to check XML markup files
+-- Configuring done
+-- Generating done
+-- Build files have been written to: /workspace/build/nav2_rrtstar_planner
+[ 50%] Building CXX object CMakeFiles/nav2_rrtstar_planner_plugin.dir/src/rrtstar_planner.cpp.o
+[100%] Linking CXX shared library libnav2_rrtstar_planner_plugin.so
+[100%] Built target nav2_rrtstar_planner_plugin
+-- Install configuration: ""
+-- Execute custom install script
+-- Symlinking: /workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner//global_planner_plugin.xml
+-- Symlinking: /workspace/install/nav2_rrtstar_planner/lib/libnav2_rrtstar_planner_plugin.so
+-- Symlinking: /workspace/install/nav2_rrtstar_planner/include//nav2_rrtstar_planner/rrtstar_planner.hpp
+-- Up-to-date symlink: /workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/global_planner_plugin.xml
+-- Symlinking: /workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/launch/bringup_localization_with_initial_pose.launch.py
+-- Symlinking: /workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/environment/library_path.sh
+-- Symlinking: /workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/environment/library_path.dsv
+-- Symlinking: /workspace/install/nav2_rrtstar_planner/share/ament_index/resource_index/package_run_dependencies/nav2_rrtstar_planner
+-- Symlinking: /workspace/install/nav2_rrtstar_planner/share/ament_index/resource_index/parent_prefix_path/nav2_rrtstar_planner
+-- Symlinking: /workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/environment/ament_prefix_path.sh
+-- Symlinking: /workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/environment/ament_prefix_path.dsv
+-- Symlinking: /workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/environment/path.sh
+-- Symlinking: /workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/environment/path.dsv
+-- Symlinking: /workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/local_setup.bash
+-- Symlinking: /workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/local_setup.sh
+-- Symlinking: /workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/local_setup.zsh
+-- Symlinking: /workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/local_setup.dsv
+-- Symlinking: /workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/package.dsv
+-- Symlinking: /workspace/install/nav2_rrtstar_planner/share/ament_index/resource_index/packages/nav2_rrtstar_planner
+-- Symlinking: /workspace/install/nav2_rrtstar_planner/share/ament_index/resource_index/nav2_core__pluginlib__plugin/nav2_rrtstar_planner
+-- Symlinking: /workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/cmake/ament_cmake_export_include_directories-extras.cmake
+-- Symlinking: /workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/cmake/ament_cmake_export_libraries-extras.cmake
+-- Symlinking: /workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/cmake/ament_cmake_export_dependencies-extras.cmake
+-- Symlinking: /workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/cmake/nav2_rrtstar_plannerConfig.cmake
+-- Symlinking: /workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/cmake/nav2_rrtstar_plannerConfig-version.cmake
+-- Symlinking: /workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/package.xml
diff --git a/log/build_2026-06-29_09-02-16/nav2_rrtstar_planner/streams.log b/log/build_2026-06-29_09-02-16/nav2_rrtstar_planner/streams.log
new file mode 100644
index 0000000..4ee1213
--- /dev/null
+++ b/log/build_2026-06-29_09-02-16/nav2_rrtstar_planner/streams.log
@@ -0,0 +1,93 @@
+[1.628s] Invoking command in '/workspace/build/nav2_rrtstar_planner': CMAKE_PREFIX_PATH=/opt/ros/humble PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$ /usr/bin/cmake /workspace/src/TurtleBot-RRT-Star -DAMENT_CMAKE_SYMLINK_INSTALL=1 -DCMAKE_INSTALL_PREFIX=/workspace/install/nav2_rrtstar_planner
+[3.945s] -- The C compiler identification is GNU 11.4.0
+[6.083s] -- The CXX compiler identification is GNU 11.4.0
+[6.377s] -- Detecting C compiler ABI info
+[10.421s] -- Detecting C compiler ABI info - done
+[10.561s] -- Check for working C compiler: /usr/bin/cc - skipped
+[10.561s] -- Detecting C compile features
+[10.562s] -- Detecting C compile features - done
+[10.799s] -- Detecting CXX compiler ABI info
+[15.415s] -- Detecting CXX compiler ABI info - done
+[15.580s] -- Check for working CXX compiler: /usr/bin/c++ - skipped
+[15.580s] -- Detecting CXX compile features
+[15.581s] -- Detecting CXX compile features - done
+[15.792s] -- Found ament_cmake: 1.3.14 (/opt/ros/humble/share/ament_cmake/cmake)
+[16.189s] -- Found Python3: /usr/bin/python3 (found version "3.10.12") found components: Interpreter 
+[16.703s] -- Override CMake install command with custom implementation using symlinks instead of copying resources
+[17.530s] -- Found rclcpp: 16.0.19 (/opt/ros/humble/share/rclcpp/cmake)
+[17.679s] -- Found rosidl_generator_c: 3.1.8 (/opt/ros/humble/share/rosidl_generator_c/cmake)
+[17.689s] -- Found rosidl_adapter: 3.1.8 (/opt/ros/humble/share/rosidl_adapter/cmake)
+[17.717s] -- Found rosidl_generator_cpp: 3.1.8 (/opt/ros/humble/share/rosidl_generator_cpp/cmake)
+[17.738s] -- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
+[17.765s] -- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
+[17.837s] -- Found rmw_implementation_cmake: 6.1.2 (/opt/ros/humble/share/rmw_implementation_cmake/cmake)
+[17.845s] -- Found rmw_fastrtps_cpp: 6.2.10 (/opt/ros/humble/share/rmw_fastrtps_cpp/cmake)
+[18.287s] -- Found OpenSSL: /usr/lib/x86_64-linux-gnu/libcrypto.so (found version "3.0.2")  
+[18.625s] -- Found FastRTPS: /opt/ros/humble/include  
+[19.227s] -- Using RMW implementation 'rmw_fastrtps_cpp' as default
+[19.399s] -- Looking for pthread.h
+[23.309s] -- Looking for pthread.h - found
+[23.394s] -- Performing Test CMAKE_HAVE_LIBC_PTHREAD
+[27.302s] -- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Success
+[27.347s] -- Found Threads: TRUE  
+[27.417s] -- Found rclcpp_action: 16.0.19 (/opt/ros/humble/share/rclcpp_action/cmake)
+[27.464s] -- Found rclcpp_lifecycle: 16.0.19 (/opt/ros/humble/share/rclcpp_lifecycle/cmake)
+[27.492s] -- Found visualization_msgs: 4.9.1 (/opt/ros/humble/share/visualization_msgs/cmake)
+[27.558s] -- Found nav2_util: 1.1.20 (/opt/ros/humble/share/nav2_util/cmake)
+[27.745s] -- Found eigen3_cmake_module: 0.1.1 (/opt/ros/humble/share/eigen3_cmake_module/cmake)
+[27.746s] -- Found Eigen3: TRUE (found version "3.4.0") 
+[27.747s] -- Ensuring Eigen3 include directory is part of orocos-kdl CMake target
+[27.794s] -- Found nav2_costmap_2d: 1.1.20 (/opt/ros/humble/share/nav2_costmap_2d/cmake)
+[28.168s] -- Found nav2_core: 1.1.20 (/opt/ros/humble/share/nav2_core/cmake)
+[28.688s] -- Found ament_lint_auto: 0.12.15 (/opt/ros/humble/share/ament_lint_auto/cmake)
+[31.533s] -- Added test 'copyright' to check source files copyright and LICENSE
+[31.898s] -- Added test 'cppcheck' to perform static code analysis on C / C++ code
+[31.898s] -- Configured cppcheck include dirs: /workspace/src/TurtleBot-RRT-Star/include
+[31.899s] -- Configured cppcheck exclude dirs and/or files: 
+[32.369s] -- Added test 'cpplint' to check C / C++ code against the Google style
+[32.369s] -- Configured cpplint exclude dirs and/or files: 
+[32.454s] -- Added test 'flake8' to check Python code syntax and style conventions
+[32.626s] -- Added test 'lint_cmake' to check CMake code style
+[32.693s] -- Added test 'pep257' to check Python code against some of the docstring style conventions in PEP 257
+[33.113s] -- Added test 'uncrustify' to check C / C++ code style
+[33.114s] -- Configured uncrustify additional arguments: 
+[33.194s] -- Added test 'xmllint' to check XML markup files
+[35.285s] -- Configuring done
+[38.226s] -- Generating done
+[39.353s] -- Build files have been written to: /workspace/build/nav2_rrtstar_planner
+[39.369s] Invoked command in '/workspace/build/nav2_rrtstar_planner' returned '0': CMAKE_PREFIX_PATH=/opt/ros/humble PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$ /usr/bin/cmake /workspace/src/TurtleBot-RRT-Star -DAMENT_CMAKE_SYMLINK_INSTALL=1 -DCMAKE_INSTALL_PREFIX=/workspace/install/nav2_rrtstar_planner
+[39.654s] Invoking command in '/workspace/build/nav2_rrtstar_planner': CMAKE_PREFIX_PATH=/opt/ros/humble PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$ /usr/bin/cmake --build /workspace/build/nav2_rrtstar_planner -- -j8 -l8
+[40.012s] [ 50%] Building CXX object CMakeFiles/nav2_rrtstar_planner_plugin.dir/src/rrtstar_planner.cpp.o
+[56.271s] [100%] Linking CXX shared library libnav2_rrtstar_planner_plugin.so
+[75.601s] [100%] Built target nav2_rrtstar_planner_plugin
+[75.705s] Invoked command in '/workspace/build/nav2_rrtstar_planner' returned '0': CMAKE_PREFIX_PATH=/opt/ros/humble PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$ /usr/bin/cmake --build /workspace/build/nav2_rrtstar_planner -- -j8 -l8
+[76.007s] Invoking command in '/workspace/build/nav2_rrtstar_planner': CMAKE_PREFIX_PATH=/opt/ros/humble PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$ /usr/bin/cmake --install /workspace/build/nav2_rrtstar_planner
+[76.022s] -- Install configuration: ""
+[76.091s] -- Execute custom install script
+[76.198s] -- Symlinking: /workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner//global_planner_plugin.xml
+[76.305s] -- Symlinking: /workspace/install/nav2_rrtstar_planner/lib/libnav2_rrtstar_planner_plugin.so
+[76.444s] -- Symlinking: /workspace/install/nav2_rrtstar_planner/include//nav2_rrtstar_planner/rrtstar_planner.hpp
+[76.515s] -- Up-to-date symlink: /workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/global_planner_plugin.xml
+[76.605s] -- Symlinking: /workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/launch/bringup_localization_with_initial_pose.launch.py
+[76.712s] -- Symlinking: /workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/environment/library_path.sh
+[76.784s] -- Symlinking: /workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/environment/library_path.dsv
+[76.894s] -- Symlinking: /workspace/install/nav2_rrtstar_planner/share/ament_index/resource_index/package_run_dependencies/nav2_rrtstar_planner
+[76.985s] -- Symlinking: /workspace/install/nav2_rrtstar_planner/share/ament_index/resource_index/parent_prefix_path/nav2_rrtstar_planner
+[77.043s] -- Symlinking: /workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/environment/ament_prefix_path.sh
+[77.100s] -- Symlinking: /workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/environment/ament_prefix_path.dsv
+[77.176s] -- Symlinking: /workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/environment/path.sh
+[77.263s] -- Symlinking: /workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/environment/path.dsv
+[77.391s] -- Symlinking: /workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/local_setup.bash
+[77.475s] -- Symlinking: /workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/local_setup.sh
+[77.537s] -- Symlinking: /workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/local_setup.zsh
+[77.601s] -- Symlinking: /workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/local_setup.dsv
+[77.674s] -- Symlinking: /workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/package.dsv
+[77.792s] -- Symlinking: /workspace/install/nav2_rrtstar_planner/share/ament_index/resource_index/packages/nav2_rrtstar_planner
+[77.915s] -- Symlinking: /workspace/install/nav2_rrtstar_planner/share/ament_index/resource_index/nav2_core__pluginlib__plugin/nav2_rrtstar_planner
+[78.033s] -- Symlinking: /workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/cmake/ament_cmake_export_include_directories-extras.cmake
+[78.095s] -- Symlinking: /workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/cmake/ament_cmake_export_libraries-extras.cmake
+[78.159s] -- Symlinking: /workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/cmake/ament_cmake_export_dependencies-extras.cmake
+[78.238s] -- Symlinking: /workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/cmake/nav2_rrtstar_plannerConfig.cmake
+[78.307s] -- Symlinking: /workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/cmake/nav2_rrtstar_plannerConfig-version.cmake
+[78.372s] -- Symlinking: /workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/package.xml
+[78.417s] Invoked command in '/workspace/build/nav2_rrtstar_planner' returned '0': CMAKE_PREFIX_PATH=/opt/ros/humble PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$ /usr/bin/cmake --install /workspace/build/nav2_rrtstar_planner
diff --git a/log/build_2026-06-29_09-02-16/turtlebot3_gazebo/command.log b/log/build_2026-06-29_09-02-16/turtlebot3_gazebo/command.log
new file mode 100644
index 0000000..3c5640d
--- /dev/null
+++ b/log/build_2026-06-29_09-02-16/turtlebot3_gazebo/command.log
@@ -0,0 +1,6 @@
+Invoking command in '/workspace/build/turtlebot3_gazebo': CMAKE_PREFIX_PATH=/opt/ros/humble PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$ /usr/bin/cmake /workspace/src/turtlebot3_simulations/turtlebot3_gazebo -DAMENT_CMAKE_SYMLINK_INSTALL=1 -DCMAKE_INSTALL_PREFIX=/workspace/install/turtlebot3_gazebo
+Invoked command in '/workspace/build/turtlebot3_gazebo' returned '0': CMAKE_PREFIX_PATH=/opt/ros/humble PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$ /usr/bin/cmake /workspace/src/turtlebot3_simulations/turtlebot3_gazebo -DAMENT_CMAKE_SYMLINK_INSTALL=1 -DCMAKE_INSTALL_PREFIX=/workspace/install/turtlebot3_gazebo
+Invoking command in '/workspace/build/turtlebot3_gazebo': CMAKE_PREFIX_PATH=/opt/ros/humble PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$ /usr/bin/cmake --build /workspace/build/turtlebot3_gazebo -- -j8 -l8
+Invoked command in '/workspace/build/turtlebot3_gazebo' returned '0': CMAKE_PREFIX_PATH=/opt/ros/humble PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$ /usr/bin/cmake --build /workspace/build/turtlebot3_gazebo -- -j8 -l8
+Invoking command in '/workspace/build/turtlebot3_gazebo': CMAKE_PREFIX_PATH=/opt/ros/humble PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$ /usr/bin/cmake --install /workspace/build/turtlebot3_gazebo
+Invoked command in '/workspace/build/turtlebot3_gazebo' returned '0': CMAKE_PREFIX_PATH=/opt/ros/humble PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$ /usr/bin/cmake --install /workspace/build/turtlebot3_gazebo
diff --git a/log/build_2026-06-29_09-02-16/turtlebot3_gazebo/stderr.log b/log/build_2026-06-29_09-02-16/turtlebot3_gazebo/stderr.log
new file mode 100644
index 0000000..e69de29
diff --git a/log/build_2026-06-29_09-02-16/turtlebot3_gazebo/stdout.log b/log/build_2026-06-29_09-02-16/turtlebot3_gazebo/stdout.log
new file mode 100644
index 0000000..ced1d3e
--- /dev/null
+++ b/log/build_2026-06-29_09-02-16/turtlebot3_gazebo/stdout.log
@@ -0,0 +1,567 @@
+-- The C compiler identification is GNU 11.4.0
+-- The CXX compiler identification is GNU 11.4.0
+-- Detecting C compiler ABI info
+-- Detecting C compiler ABI info - done
+-- Check for working C compiler: /usr/bin/cc - skipped
+-- Detecting C compile features
+-- Detecting C compile features - done
+-- Detecting CXX compiler ABI info
+-- Detecting CXX compiler ABI info - done
+-- Check for working CXX compiler: /usr/bin/c++ - skipped
+-- Detecting CXX compile features
+-- Detecting CXX compile features - done
+-- Found ament_cmake: 1.3.14 (/opt/ros/humble/share/ament_cmake/cmake)
+-- Found Python3: /usr/bin/python3 (found version "3.10.12") found components: Interpreter 
+-- Override CMake install command with custom implementation using symlinks instead of copying resources
+-- Found geometry_msgs: 4.9.1 (/opt/ros/humble/share/geometry_msgs/cmake)
+-- Found rosidl_generator_c: 3.1.8 (/opt/ros/humble/share/rosidl_generator_c/cmake)
+-- Found rosidl_adapter: 3.1.8 (/opt/ros/humble/share/rosidl_adapter/cmake)
+-- Found rosidl_generator_cpp: 3.1.8 (/opt/ros/humble/share/rosidl_generator_cpp/cmake)
+-- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
+-- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
+-- Found nav_msgs: 4.9.1 (/opt/ros/humble/share/nav_msgs/cmake)
+-- Found rclcpp: 16.0.19 (/opt/ros/humble/share/rclcpp/cmake)
+-- Found rmw_implementation_cmake: 6.1.2 (/opt/ros/humble/share/rmw_implementation_cmake/cmake)
+-- Found rmw_fastrtps_cpp: 6.2.10 (/opt/ros/humble/share/rmw_fastrtps_cpp/cmake)
+-- Found OpenSSL: /usr/lib/x86_64-linux-gnu/libcrypto.so (found version "3.0.2")  
+-- Found FastRTPS: /opt/ros/humble/include  
+-- Using RMW implementation 'rmw_fastrtps_cpp' as default
+-- Looking for pthread.h
+-- Looking for pthread.h - found
+-- Performing Test CMAKE_HAVE_LIBC_PTHREAD
+-- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Success
+-- Found Threads: TRUE  
+-- Found sensor_msgs: 4.9.1 (/opt/ros/humble/share/sensor_msgs/cmake)
+-- Found tf2: 0.25.20 (/opt/ros/humble/share/tf2/cmake)
+-- Looking for gz-sim8 -- found version 8.11.0
+-- Searching for dependencies of gz-sim8
+-- Looking for sdformat14 -- found version 14.9.0
+-- Searching for dependencies of sdformat14
+-- Checking for module 'tinyxml2'
+--   Found tinyxml2, version 9.0.0
+-- Looking for gz-math7 -- found version 7.6.0
+-- Searching for dependencies of gz-math7
+-- Looking for gz-utils2 -- found version 2.2.1
+-- Searching for dependencies of gz-utils2
+-- Looking for gz-utils2 -- found version 2.2.1
+-- Searching for dependencies of gz-utils2
+-- Searching for <gz-utils2> component [cli]
+-- Looking for gz-utils2-cli -- found version 2.2.1
+-- Searching for dependencies of gz-utils2-cli
+-- Looking for gz-plugin2 -- found version 2.0.4
+-- Searching for dependencies of gz-plugin2
+-- Looking for gz-utils2 -- found version 2.2.1
+-- Searching for <gz-plugin2> component [loader]
+-- Looking for gz-plugin2-loader -- found version 2.0.4
+-- Searching for dependencies of gz-plugin2-loader
+-- Searching for <gz-plugin2> component [register]
+-- Looking for gz-plugin2-register -- found version 2.0.4
+-- Searching for dependencies of gz-plugin2-register
+-- Looking for gz-transport13 -- found version 13.5.0
+-- Searching for dependencies of gz-transport13
+-- Found Protobuf: /usr/lib/x86_64-linux-gnu/libprotobuf.so (found version "3.12.4") 
+-- Config-file not installed for ZeroMQ -- checking for pkg-config
+-- Checking for module 'libzmq >= 4'
+--   Found libzmq , version 4.3.4
+-- Found ZeroMQ: TRUE (Required is at least version "4") 
+-- Checking for module 'uuid'
+--   Found uuid, version 2.37.2
+-- Found UUID: TRUE  
+-- Looking for gz-utils2 -- found version 2.2.1
+-- Looking for gz-msgs10 -- found version 10.3.2
+-- Searching for dependencies of gz-msgs10
+-- Looking for gz-utils2 -- found version 2.2.1
+-- Looking for gz-math7 -- found version 7.6.0
+-- Searching for <gz-transport13> component [log]
+-- Looking for gz-transport13-log -- found version 13.5.0
+-- Searching for dependencies of gz-transport13-log
+-- Searching for <gz-transport13> component [parameters]
+-- Looking for gz-transport13-parameters -- found version 13.5.0
+-- Searching for dependencies of gz-transport13-parameters
+-- Looking for gz-msgs10 -- found version 10.3.2
+-- Looking for gz-common5 -- found version 5.8.0
+-- Searching for dependencies of gz-common5
+-- Looking for gz-utils2 -- found version 2.2.1
+-- Looking for dlfcn.h - found
+-- Looking for libdl - found
+-- Found DL: TRUE  
+-- Searching for <gz-common5> component [av]
+-- Looking for gz-common5-av -- found version 5.8.0
+-- Searching for dependencies of gz-common5-av
+-- Checking for module 'libswscale'
+--   Found libswscale, version 5.9.100
+-- Found SWSCALE: TRUE  
+-- Checking for module 'libavdevice >= 56.4.100'
+--   Found libavdevice , version 58.13.100
+-- Found AVDEVICE: TRUE (Required is at least version "56.4.100") 
+-- Checking for module 'libavformat'
+--   Found libavformat, version 58.76.100
+-- Found AVFORMAT: TRUE  
+-- Checking for module 'libavcodec'
+--   Found libavcodec, version 58.134.100
+-- Found AVCODEC: TRUE  
+-- Checking for module 'libavutil'
+--   Found libavutil, version 56.70.100
+-- Found AVUTIL: TRUE  
+-- Searching for <gz-common5> component [events]
+-- Looking for gz-common5-events -- found version 5.8.0
+-- Searching for dependencies of gz-common5-events
+-- Looking for gz-math7 -- found version 7.6.0
+-- Searching for <gz-common5> component [graphics]
+-- Looking for gz-common5-graphics -- found version 5.8.0
+-- Searching for dependencies of gz-common5-graphics
+-- Looking for gz-math7 -- found version 7.6.0
+-- Found GzAssimp: TRUE (found version "5.2.0") 
+-- Searching for <gz-common5> component [io]
+-- Looking for gz-common5-io -- found version 5.8.0
+-- Searching for dependencies of gz-common5-io
+-- Searching for <gz-common5> component [profiler]
+-- Looking for gz-common5-profiler -- found version 5.8.0
+-- Searching for dependencies of gz-common5-profiler
+-- Looking for gz-fuel_tools9 -- found version 9.1.1
+-- Searching for dependencies of gz-fuel_tools9
+-- Found CURL: /usr/lib/x86_64-linux-gnu/libcurl.so (found version "7.81.0")  
+-- Checking for module 'jsoncpp'
+--   Found jsoncpp, version 1.9.5
+-- Found JSONCPP: TRUE  
+-- Checking for module 'libzip'
+--   Found libzip, version 1.7.3
+-- Found ZIP: TRUE  
+-- Looking for gz-utils2 -- found version 2.2.1
+-- Looking for gz-common5 -- found version 5.8.0
+-- Searching for dependencies of gz-common5
+-- Looking for gz-utils2 -- found version 2.2.1
+-- Looking for dlfcn.h - found
+-- Looking for libdl - found
+-- Searching for <gz-common5> component [testing]
+-- Looking for gz-common5-testing -- found version 5.8.0
+-- Searching for dependencies of gz-common5-testing
+-- Looking for gz-math7 -- found version 7.6.0
+-- Looking for gz-msgs10 -- found version 10.3.2
+-- Looking for gz-gui8 -- found version 8.4.0
+-- Searching for dependencies of gz-gui8
+-- Looking for gz-utils2 -- found version 2.2.1
+-- Looking for gz-math7 -- found version 7.6.0
+-- Looking for gz-common5 -- found version 5.8.0
+-- Looking for gz-plugin2 -- found version 2.0.4
+-- Looking for gz-transport13 -- found version 13.5.0
+-- Looking for gz-rendering8 -- found version 8.2.3
+-- Searching for dependencies of gz-rendering8
+-- Looking for gz-math7 -- found version 7.6.0
+-- Searching for dependencies of gz-math7
+-- Looking for gz-utils2 -- found version 2.2.1
+-- Searching for <gz-math7> component [eigen3]
+-- Looking for gz-math7-eigen3 -- found version 7.6.0
+-- Searching for dependencies of gz-math7-eigen3
+-- Looking for gz-common5 -- found version 5.8.0
+-- Searching for dependencies of gz-common5
+-- Looking for gz-utils2 -- found version 2.2.1
+-- Looking for dlfcn.h - found
+-- Looking for libdl - found
+-- Searching for <gz-common5> component [graphics]
+-- Searching for <gz-common5> component [events]
+-- Searching for <gz-common5> component [geospatial]
+-- Looking for gz-common5-geospatial -- found version 5.8.0
+-- Searching for dependencies of gz-common5-geospatial
+-- Looking for gz-math7 -- found version 7.6.0
+-- Looking for gz-common5 -- found version 5.8.0
+-- Looking for gz-plugin2 -- found version 2.0.4
+-- Searching for dependencies of gz-plugin2
+-- Looking for gz-utils2 -- found version 2.2.1
+-- Searching for <gz-plugin2> component [all]
+-- Looking for all libraries of gz-plugin2 -- found version 2.0.4
+-- Looking for gz-plugin2 -- found version 2.0.4
+-- Looking for gz-utils2 -- found version 2.2.1
+-- Found OpenGL: /usr/lib/x86_64-linux-gnu/libOpenGL.so  found components: OpenGL 
+-- Looking for gz-msgs10 -- found version 10.3.2
+-- Looking for gz-physics7 -- found version 7.6.0
+-- Searching for dependencies of gz-physics7
+-- Looking for gz-common5 -- found version 5.8.0
+-- Looking for gz-math7 -- found version 7.6.0
+-- Looking for gz-plugin2 -- found version 2.0.4
+-- Looking for gz-utils2 -- found version 2.2.1
+-- Searching for <gz-physics7> component [heightmap]
+-- Looking for gz-physics7-heightmap -- found version 7.6.0
+-- Searching for dependencies of gz-physics7-heightmap
+-- Looking for gz-common5 -- found version 5.8.0
+-- Searching for <gz-physics7> component [mesh]
+-- Looking for gz-physics7-mesh -- found version 7.6.0
+-- Searching for dependencies of gz-physics7-mesh
+-- Looking for gz-common5 -- found version 5.8.0
+-- Searching for <gz-physics7> component [sdf]
+-- Looking for gz-physics7-sdf -- found version 7.6.0
+-- Searching for dependencies of gz-physics7-sdf
+-- Looking for sdformat14 -- found version 14.9.0
+-- Looking for gz-sensors8 -- found version 8.2.2
+-- Searching for dependencies of gz-sensors8
+-- Looking for gz-math7 -- found version 7.6.0
+-- Looking for gz-common5 -- found version 5.8.0
+-- Looking for gz-transport13 -- found version 13.5.0
+-- Looking for gz-rendering8 -- found version 8.2.3
+-- Looking for gz-msgs10 -- found version 10.3.2
+-- Looking for sdformat14 -- found version 14.9.0
+-- Searching for <gz-sensors8> component [air_pressure]
+-- Looking for gz-sensors8-air_pressure -- found version 8.2.2
+-- Searching for dependencies of gz-sensors8-air_pressure
+-- Searching for <gz-sensors8> component [air_speed]
+-- Looking for gz-sensors8-air_speed -- found version 8.2.2
+-- Searching for dependencies of gz-sensors8-air_speed
+-- Searching for <gz-sensors8> component [altimeter]
+-- Looking for gz-sensors8-altimeter -- found version 8.2.2
+-- Searching for dependencies of gz-sensors8-altimeter
+-- Searching for <gz-sensors8> component [imu]
+-- Looking for gz-sensors8-imu -- found version 8.2.2
+-- Searching for dependencies of gz-sensors8-imu
+-- Searching for <gz-sensors8> component [force_torque]
+-- Looking for gz-sensors8-force_torque -- found version 8.2.2
+-- Searching for dependencies of gz-sensors8-force_torque
+-- Searching for <gz-sensors8> component [logical_camera]
+-- Looking for gz-sensors8-logical_camera -- found version 8.2.2
+-- Searching for dependencies of gz-sensors8-logical_camera
+-- Searching for <gz-sensors8> component [magnetometer]
+-- Looking for gz-sensors8-magnetometer -- found version 8.2.2
+-- Searching for dependencies of gz-sensors8-magnetometer
+-- Searching for <gz-sensors8> component [navsat]
+-- Looking for gz-sensors8-navsat -- found version 8.2.2
+-- Searching for dependencies of gz-sensors8-navsat
+-- Searching for <gz-sensors8> component [dvl]
+-- Looking for gz-sensors8-dvl -- found version 8.2.2
+-- Searching for dependencies of gz-sensors8-dvl
+-- Looking for gz-sensors8 -- found version 8.2.2
+-- Searching for dependencies of gz-sensors8
+-- Looking for gz-math7 -- found version 7.6.0
+-- Looking for gz-common5 -- found version 5.8.0
+-- Looking for gz-transport13 -- found version 13.5.0
+-- Looking for gz-rendering8 -- found version 8.2.3
+-- Looking for gz-msgs10 -- found version 10.3.2
+-- Looking for sdformat14 -- found version 14.9.0
+-- Searching for <gz-sensors8> component [rendering]
+-- Looking for gz-sensors8-rendering -- found version 8.2.2
+-- Searching for dependencies of gz-sensors8-rendering
+-- Searching for <gz-sensors8> component [rendering]
+-- Searching for <gz-sensors8> component [lidar]
+-- Looking for gz-sensors8-lidar -- found version 8.2.2
+-- Searching for dependencies of gz-sensors8-lidar
+-- Looking for gz-sensors8 -- found version 8.2.2
+-- Searching for <gz-sensors8> component [gpu_lidar]
+-- Looking for gz-sensors8-gpu_lidar -- found version 8.2.2
+-- Searching for dependencies of gz-sensors8-gpu_lidar
+-- Looking for gz-sensors8 -- found version 8.2.2
+-- Searching for <gz-sensors8> component [camera]
+-- Looking for gz-sensors8-camera -- found version 8.2.2
+-- Searching for dependencies of gz-sensors8-camera
+-- Looking for gz-sensors8 -- found version 8.2.2
+-- Searching for <gz-sensors8> component [boundingbox_camera]
+-- Looking for gz-sensors8-boundingbox_camera -- found version 8.2.2
+-- Searching for dependencies of gz-sensors8-boundingbox_camera
+-- Searching for <gz-sensors8> component [segmentation_camera]
+-- Looking for gz-sensors8-segmentation_camera -- found version 8.2.2
+-- Searching for dependencies of gz-sensors8-segmentation_camera
+-- Searching for <gz-sensors8> component [depth_camera]
+-- Looking for gz-sensors8-depth_camera -- found version 8.2.2
+-- Searching for dependencies of gz-sensors8-depth_camera
+-- Looking for gz-sensors8 -- found version 8.2.2
+-- Searching for <gz-sensors8> component [rgbd_camera]
+-- Looking for gz-sensors8-rgbd_camera -- found version 8.2.2
+-- Searching for dependencies of gz-sensors8-rgbd_camera
+-- Looking for gz-sensors8 -- found version 8.2.2
+-- Searching for <gz-sensors8> component [thermal_camera]
+-- Looking for gz-sensors8-thermal_camera -- found version 8.2.2
+-- Searching for dependencies of gz-sensors8-thermal_camera
+-- Looking for gz-sensors8 -- found version 8.2.2
+-- Searching for <gz-sensors8> component [wide_angle_camera]
+-- Looking for gz-sensors8-wide_angle_camera -- found version 8.2.2
+-- Searching for dependencies of gz-sensors8-wide_angle_camera
+-- Looking for gz-rendering8 -- found version 8.2.3
+-- Looking for gz-math7 -- found version 7.6.0
+-- Looking for gz-utils2 -- found version 2.2.1
+-- Looking for gz-msgs10 -- found version 10.3.2
+-- Looking for gz-transport13 -- found version 13.5.0
+-- Looking for gz-physics7 -- found version 7.6.0
+-- Looking for gz-math7 -- found version 7.6.0
+-- Looking for gz-common5 -- found version 5.8.0
+-- Looking for gz-plugin2 -- found version 2.0.4
+-- Looking for sdformat14 -- found version 14.9.0
+-- Configuring done
+-- Generating done
+-- Build files have been written to: /workspace/build/turtlebot3_gazebo
+[ 50%] Building CXX object CMakeFiles/turtlebot3_drive.dir/src/turtlebot3_drive.cpp.o
+[100%] Linking CXX executable turtlebot3_drive
+[100%] Built target turtlebot3_drive
+-- Install configuration: ""
+-- Execute custom install script
+-- Symlinking: /workspace/install/turtlebot3_gazebo/lib/turtlebot3_gazebo/turtlebot3_drive
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//launch/empty_world.launch.py
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//launch/multi_robot.launch.py
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//launch/multi_spawn_turtlebot3.launch.py
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//launch/robot_state_publisher.launch.py
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//launch/spawn_turtlebot3.launch.py
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//launch/turtlebot3_autorace_2020.launch.py
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//launch/turtlebot3_dqn_stage1.launch.py
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//launch/turtlebot3_dqn_stage2.launch.py
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//launch/turtlebot3_dqn_stage3.launch.py
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//launch/turtlebot3_dqn_stage4.launch.py
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//launch/turtlebot3_house.launch.py
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//launch/turtlebot3_office.launch.py
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//launch/turtlebot3_world.launch.py
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//config/turtlebot3_gz_bridge.yaml
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/checker/materials/checker.png
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/checker/materials/scripts/checker.material
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/checker/materials/textures/checker.png
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/checker/model.config
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/checker/model.sdf
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/course/materials/scripts/course.material
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/course/materials/textures/course.png
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/course/model.config
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/course/model.sdf
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_bar/materials/scripts/traffic_bar.material
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_bar/materials/textures/traffic_bar.png
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_bar/model.config
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_bar/model.sdf
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_construction/materials/scripts/traffic_construction.material
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_construction/materials/textures/traffic_construction.png
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_construction/model.config
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_construction/model.sdf
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+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/labtop_mac_2/materials/textures/labtop_screen2.jpg
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/labtop_mac_2/meshes/body.dae
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/labtop_mac_2/meshes/keys.dae
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/labtop_mac_2/meshes/labtop.dae
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/labtop_mac_2/meshes/screen.dae
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/labtop_mac_2/model.config
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/labtop_mac_2/model.sdf
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/office_chair/materials/textures/office_chair_diffuse.png
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/office_chair/materials/textures/office_chair_specular.png
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/office_chair/meshes/chair_base.dae
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/office_chair/meshes/chair_cushion.dae
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/office_chair/meshes/chair_wheels.dae
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/office_chair/meshes/office_chair.dae
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/office_chair/model.config
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/office_chair/model.sdf
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/office_couch/materials/textures/office_couch_diffuse.png
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/office_couch/materials/textures/office_couch_specular.png
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/office_couch/meshes/office_couch.dae
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/office_couch/model.config
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/office_couch/model.sdf
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/office_desk/materials/textures/office_desk_diffuse.png
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/office_desk/materials/textures/office_desk_specular.png
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/office_desk/meshes/office_desk.dae
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/office_desk/model.config
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/office_desk/model.sdf
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/office_lamp/materials/textures/office_lamp_diffuse.png
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/office_lamp/materials/textures/office_lamp_illumination.png
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/office_lamp/materials/textures/office_lamp_specular.png
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/office_lamp/meshes/office_lamp.dae
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/office_lamp/model.config
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/office_lamp/model.sdf
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/refrigerator/materials/textures/refrigerator.png
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/refrigerator/meshes/refrigerator.mtl
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/refrigerator/meshes/refrigerator.obj
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/refrigerator/model.config
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/refrigerator/model.sdf
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/side_table_1/materials/scripts/side_table_1.material
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/side_table_1/materials/textures/brown_light.jpg
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/side_table_1/meshes/leg.dae
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/side_table_1/meshes/legs.dae
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/side_table_1/meshes/middle.dae
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/side_table_1/meshes/side_table_1.dae
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/side_table_1/model.config
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/side_table_1/model.sdf
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/toilet/materials/textures/toilet_diffuse_specular.png
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/toilet/meshes/toilet.dae
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/toilet/model.config
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/toilet/model.sdf
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_waffle/model-1_4.sdf
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_waffle/model.config
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_waffle/model.sdf
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_waffle_pi/model-1_4_.sdf
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_waffle_pi/model.config
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_waffle_pi/model.sdf
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_world/meshes/hexagon.dae
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_world/meshes/wall.dae
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_world/model-1_4.sdf
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_world/model.config
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_world/model.sdf
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//rviz/tb3_gazebo.rviz
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//urdf/common_properties.urdf
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//urdf/turtlebot3_burger.urdf
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//urdf/turtlebot3_burger_cam.urdf
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//urdf/turtlebot3_waffle.urdf
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//urdf/turtlebot3_waffle_pi.urdf
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//worlds/empty_world.world
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//worlds/office.world
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//worlds/office_gz_dartsim.sdf
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//worlds/turtlebot3_autorace_2020.world
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//worlds/turtlebot3_dqn_stage1.world
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//worlds/turtlebot3_dqn_stage2.world
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//worlds/turtlebot3_dqn_stage3.world
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//worlds/turtlebot3_dqn_stage4.world
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//worlds/turtlebot3_house.world
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//worlds/turtlebot3_world.world
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//worlds/warehouse.world
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//scripts/camera_topic_remap.py
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//scripts/scan_frame_fix.py
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//gui/office_gui.config
+-- Symlinking: /workspace/install/turtlebot3_gazebo/lib/turtlebot3_gazebo/scan_frame_fix.py
+-- Symlinking: /workspace/install/turtlebot3_gazebo/lib/turtlebot3_gazebo/camera_topic_remap.py
+-- Symlinking: /workspace/install/turtlebot3_gazebo/include//turtlebot3_gazebo/obstacle1.hpp
+-- Symlinking: /workspace/install/turtlebot3_gazebo/include//turtlebot3_gazebo/obstacle2.hpp
+-- Symlinking: /workspace/install/turtlebot3_gazebo/include//turtlebot3_gazebo/obstacles.hpp
+-- Symlinking: /workspace/install/turtlebot3_gazebo/include//turtlebot3_gazebo/traffic_bar_plugin.hpp
+-- Symlinking: /workspace/install/turtlebot3_gazebo/include//turtlebot3_gazebo/traffic_light_plugin.hpp
+-- Symlinking: /workspace/install/turtlebot3_gazebo/include//turtlebot3_gazebo/turtlebot3_drive.hpp
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/ament_index/resource_index/package_run_dependencies/turtlebot3_gazebo
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/ament_index/resource_index/parent_prefix_path/turtlebot3_gazebo
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo/environment/ament_prefix_path.sh
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo/environment/ament_prefix_path.dsv
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo/environment/path.sh
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo/environment/path.dsv
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo/local_setup.bash
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo/local_setup.sh
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo/local_setup.zsh
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo/local_setup.dsv
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo/package.dsv
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/ament_index/resource_index/packages/turtlebot3_gazebo
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo/cmake/ament_cmake_export_include_directories-extras.cmake
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo/cmake/ament_cmake_export_dependencies-extras.cmake
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo/cmake/turtlebot3_gazeboConfig.cmake
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo/cmake/turtlebot3_gazeboConfig-version.cmake
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo/package.xml
diff --git a/log/build_2026-06-29_09-02-16/turtlebot3_gazebo/stdout_stderr.log b/log/build_2026-06-29_09-02-16/turtlebot3_gazebo/stdout_stderr.log
new file mode 100644
index 0000000..ced1d3e
--- /dev/null
+++ b/log/build_2026-06-29_09-02-16/turtlebot3_gazebo/stdout_stderr.log
@@ -0,0 +1,567 @@
+-- The C compiler identification is GNU 11.4.0
+-- The CXX compiler identification is GNU 11.4.0
+-- Detecting C compiler ABI info
+-- Detecting C compiler ABI info - done
+-- Check for working C compiler: /usr/bin/cc - skipped
+-- Detecting C compile features
+-- Detecting C compile features - done
+-- Detecting CXX compiler ABI info
+-- Detecting CXX compiler ABI info - done
+-- Check for working CXX compiler: /usr/bin/c++ - skipped
+-- Detecting CXX compile features
+-- Detecting CXX compile features - done
+-- Found ament_cmake: 1.3.14 (/opt/ros/humble/share/ament_cmake/cmake)
+-- Found Python3: /usr/bin/python3 (found version "3.10.12") found components: Interpreter 
+-- Override CMake install command with custom implementation using symlinks instead of copying resources
+-- Found geometry_msgs: 4.9.1 (/opt/ros/humble/share/geometry_msgs/cmake)
+-- Found rosidl_generator_c: 3.1.8 (/opt/ros/humble/share/rosidl_generator_c/cmake)
+-- Found rosidl_adapter: 3.1.8 (/opt/ros/humble/share/rosidl_adapter/cmake)
+-- Found rosidl_generator_cpp: 3.1.8 (/opt/ros/humble/share/rosidl_generator_cpp/cmake)
+-- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
+-- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
+-- Found nav_msgs: 4.9.1 (/opt/ros/humble/share/nav_msgs/cmake)
+-- Found rclcpp: 16.0.19 (/opt/ros/humble/share/rclcpp/cmake)
+-- Found rmw_implementation_cmake: 6.1.2 (/opt/ros/humble/share/rmw_implementation_cmake/cmake)
+-- Found rmw_fastrtps_cpp: 6.2.10 (/opt/ros/humble/share/rmw_fastrtps_cpp/cmake)
+-- Found OpenSSL: /usr/lib/x86_64-linux-gnu/libcrypto.so (found version "3.0.2")  
+-- Found FastRTPS: /opt/ros/humble/include  
+-- Using RMW implementation 'rmw_fastrtps_cpp' as default
+-- Looking for pthread.h
+-- Looking for pthread.h - found
+-- Performing Test CMAKE_HAVE_LIBC_PTHREAD
+-- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Success
+-- Found Threads: TRUE  
+-- Found sensor_msgs: 4.9.1 (/opt/ros/humble/share/sensor_msgs/cmake)
+-- Found tf2: 0.25.20 (/opt/ros/humble/share/tf2/cmake)
+-- Looking for gz-sim8 -- found version 8.11.0
+-- Searching for dependencies of gz-sim8
+-- Looking for sdformat14 -- found version 14.9.0
+-- Searching for dependencies of sdformat14
+-- Checking for module 'tinyxml2'
+--   Found tinyxml2, version 9.0.0
+-- Looking for gz-math7 -- found version 7.6.0
+-- Searching for dependencies of gz-math7
+-- Looking for gz-utils2 -- found version 2.2.1
+-- Searching for dependencies of gz-utils2
+-- Looking for gz-utils2 -- found version 2.2.1
+-- Searching for dependencies of gz-utils2
+-- Searching for <gz-utils2> component [cli]
+-- Looking for gz-utils2-cli -- found version 2.2.1
+-- Searching for dependencies of gz-utils2-cli
+-- Looking for gz-plugin2 -- found version 2.0.4
+-- Searching for dependencies of gz-plugin2
+-- Looking for gz-utils2 -- found version 2.2.1
+-- Searching for <gz-plugin2> component [loader]
+-- Looking for gz-plugin2-loader -- found version 2.0.4
+-- Searching for dependencies of gz-plugin2-loader
+-- Searching for <gz-plugin2> component [register]
+-- Looking for gz-plugin2-register -- found version 2.0.4
+-- Searching for dependencies of gz-plugin2-register
+-- Looking for gz-transport13 -- found version 13.5.0
+-- Searching for dependencies of gz-transport13
+-- Found Protobuf: /usr/lib/x86_64-linux-gnu/libprotobuf.so (found version "3.12.4") 
+-- Config-file not installed for ZeroMQ -- checking for pkg-config
+-- Checking for module 'libzmq >= 4'
+--   Found libzmq , version 4.3.4
+-- Found ZeroMQ: TRUE (Required is at least version "4") 
+-- Checking for module 'uuid'
+--   Found uuid, version 2.37.2
+-- Found UUID: TRUE  
+-- Looking for gz-utils2 -- found version 2.2.1
+-- Looking for gz-msgs10 -- found version 10.3.2
+-- Searching for dependencies of gz-msgs10
+-- Looking for gz-utils2 -- found version 2.2.1
+-- Looking for gz-math7 -- found version 7.6.0
+-- Searching for <gz-transport13> component [log]
+-- Looking for gz-transport13-log -- found version 13.5.0
+-- Searching for dependencies of gz-transport13-log
+-- Searching for <gz-transport13> component [parameters]
+-- Looking for gz-transport13-parameters -- found version 13.5.0
+-- Searching for dependencies of gz-transport13-parameters
+-- Looking for gz-msgs10 -- found version 10.3.2
+-- Looking for gz-common5 -- found version 5.8.0
+-- Searching for dependencies of gz-common5
+-- Looking for gz-utils2 -- found version 2.2.1
+-- Looking for dlfcn.h - found
+-- Looking for libdl - found
+-- Found DL: TRUE  
+-- Searching for <gz-common5> component [av]
+-- Looking for gz-common5-av -- found version 5.8.0
+-- Searching for dependencies of gz-common5-av
+-- Checking for module 'libswscale'
+--   Found libswscale, version 5.9.100
+-- Found SWSCALE: TRUE  
+-- Checking for module 'libavdevice >= 56.4.100'
+--   Found libavdevice , version 58.13.100
+-- Found AVDEVICE: TRUE (Required is at least version "56.4.100") 
+-- Checking for module 'libavformat'
+--   Found libavformat, version 58.76.100
+-- Found AVFORMAT: TRUE  
+-- Checking for module 'libavcodec'
+--   Found libavcodec, version 58.134.100
+-- Found AVCODEC: TRUE  
+-- Checking for module 'libavutil'
+--   Found libavutil, version 56.70.100
+-- Found AVUTIL: TRUE  
+-- Searching for <gz-common5> component [events]
+-- Looking for gz-common5-events -- found version 5.8.0
+-- Searching for dependencies of gz-common5-events
+-- Looking for gz-math7 -- found version 7.6.0
+-- Searching for <gz-common5> component [graphics]
+-- Looking for gz-common5-graphics -- found version 5.8.0
+-- Searching for dependencies of gz-common5-graphics
+-- Looking for gz-math7 -- found version 7.6.0
+-- Found GzAssimp: TRUE (found version "5.2.0") 
+-- Searching for <gz-common5> component [io]
+-- Looking for gz-common5-io -- found version 5.8.0
+-- Searching for dependencies of gz-common5-io
+-- Searching for <gz-common5> component [profiler]
+-- Looking for gz-common5-profiler -- found version 5.8.0
+-- Searching for dependencies of gz-common5-profiler
+-- Looking for gz-fuel_tools9 -- found version 9.1.1
+-- Searching for dependencies of gz-fuel_tools9
+-- Found CURL: /usr/lib/x86_64-linux-gnu/libcurl.so (found version "7.81.0")  
+-- Checking for module 'jsoncpp'
+--   Found jsoncpp, version 1.9.5
+-- Found JSONCPP: TRUE  
+-- Checking for module 'libzip'
+--   Found libzip, version 1.7.3
+-- Found ZIP: TRUE  
+-- Looking for gz-utils2 -- found version 2.2.1
+-- Looking for gz-common5 -- found version 5.8.0
+-- Searching for dependencies of gz-common5
+-- Looking for gz-utils2 -- found version 2.2.1
+-- Looking for dlfcn.h - found
+-- Looking for libdl - found
+-- Searching for <gz-common5> component [testing]
+-- Looking for gz-common5-testing -- found version 5.8.0
+-- Searching for dependencies of gz-common5-testing
+-- Looking for gz-math7 -- found version 7.6.0
+-- Looking for gz-msgs10 -- found version 10.3.2
+-- Looking for gz-gui8 -- found version 8.4.0
+-- Searching for dependencies of gz-gui8
+-- Looking for gz-utils2 -- found version 2.2.1
+-- Looking for gz-math7 -- found version 7.6.0
+-- Looking for gz-common5 -- found version 5.8.0
+-- Looking for gz-plugin2 -- found version 2.0.4
+-- Looking for gz-transport13 -- found version 13.5.0
+-- Looking for gz-rendering8 -- found version 8.2.3
+-- Searching for dependencies of gz-rendering8
+-- Looking for gz-math7 -- found version 7.6.0
+-- Searching for dependencies of gz-math7
+-- Looking for gz-utils2 -- found version 2.2.1
+-- Searching for <gz-math7> component [eigen3]
+-- Looking for gz-math7-eigen3 -- found version 7.6.0
+-- Searching for dependencies of gz-math7-eigen3
+-- Looking for gz-common5 -- found version 5.8.0
+-- Searching for dependencies of gz-common5
+-- Looking for gz-utils2 -- found version 2.2.1
+-- Looking for dlfcn.h - found
+-- Looking for libdl - found
+-- Searching for <gz-common5> component [graphics]
+-- Searching for <gz-common5> component [events]
+-- Searching for <gz-common5> component [geospatial]
+-- Looking for gz-common5-geospatial -- found version 5.8.0
+-- Searching for dependencies of gz-common5-geospatial
+-- Looking for gz-math7 -- found version 7.6.0
+-- Looking for gz-common5 -- found version 5.8.0
+-- Looking for gz-plugin2 -- found version 2.0.4
+-- Searching for dependencies of gz-plugin2
+-- Looking for gz-utils2 -- found version 2.2.1
+-- Searching for <gz-plugin2> component [all]
+-- Looking for all libraries of gz-plugin2 -- found version 2.0.4
+-- Looking for gz-plugin2 -- found version 2.0.4
+-- Looking for gz-utils2 -- found version 2.2.1
+-- Found OpenGL: /usr/lib/x86_64-linux-gnu/libOpenGL.so  found components: OpenGL 
+-- Looking for gz-msgs10 -- found version 10.3.2
+-- Looking for gz-physics7 -- found version 7.6.0
+-- Searching for dependencies of gz-physics7
+-- Looking for gz-common5 -- found version 5.8.0
+-- Looking for gz-math7 -- found version 7.6.0
+-- Looking for gz-plugin2 -- found version 2.0.4
+-- Looking for gz-utils2 -- found version 2.2.1
+-- Searching for <gz-physics7> component [heightmap]
+-- Looking for gz-physics7-heightmap -- found version 7.6.0
+-- Searching for dependencies of gz-physics7-heightmap
+-- Looking for gz-common5 -- found version 5.8.0
+-- Searching for <gz-physics7> component [mesh]
+-- Looking for gz-physics7-mesh -- found version 7.6.0
+-- Searching for dependencies of gz-physics7-mesh
+-- Looking for gz-common5 -- found version 5.8.0
+-- Searching for <gz-physics7> component [sdf]
+-- Looking for gz-physics7-sdf -- found version 7.6.0
+-- Searching for dependencies of gz-physics7-sdf
+-- Looking for sdformat14 -- found version 14.9.0
+-- Looking for gz-sensors8 -- found version 8.2.2
+-- Searching for dependencies of gz-sensors8
+-- Looking for gz-math7 -- found version 7.6.0
+-- Looking for gz-common5 -- found version 5.8.0
+-- Looking for gz-transport13 -- found version 13.5.0
+-- Looking for gz-rendering8 -- found version 8.2.3
+-- Looking for gz-msgs10 -- found version 10.3.2
+-- Looking for sdformat14 -- found version 14.9.0
+-- Searching for <gz-sensors8> component [air_pressure]
+-- Looking for gz-sensors8-air_pressure -- found version 8.2.2
+-- Searching for dependencies of gz-sensors8-air_pressure
+-- Searching for <gz-sensors8> component [air_speed]
+-- Looking for gz-sensors8-air_speed -- found version 8.2.2
+-- Searching for dependencies of gz-sensors8-air_speed
+-- Searching for <gz-sensors8> component [altimeter]
+-- Looking for gz-sensors8-altimeter -- found version 8.2.2
+-- Searching for dependencies of gz-sensors8-altimeter
+-- Searching for <gz-sensors8> component [imu]
+-- Looking for gz-sensors8-imu -- found version 8.2.2
+-- Searching for dependencies of gz-sensors8-imu
+-- Searching for <gz-sensors8> component [force_torque]
+-- Looking for gz-sensors8-force_torque -- found version 8.2.2
+-- Searching for dependencies of gz-sensors8-force_torque
+-- Searching for <gz-sensors8> component [logical_camera]
+-- Looking for gz-sensors8-logical_camera -- found version 8.2.2
+-- Searching for dependencies of gz-sensors8-logical_camera
+-- Searching for <gz-sensors8> component [magnetometer]
+-- Looking for gz-sensors8-magnetometer -- found version 8.2.2
+-- Searching for dependencies of gz-sensors8-magnetometer
+-- Searching for <gz-sensors8> component [navsat]
+-- Looking for gz-sensors8-navsat -- found version 8.2.2
+-- Searching for dependencies of gz-sensors8-navsat
+-- Searching for <gz-sensors8> component [dvl]
+-- Looking for gz-sensors8-dvl -- found version 8.2.2
+-- Searching for dependencies of gz-sensors8-dvl
+-- Looking for gz-sensors8 -- found version 8.2.2
+-- Searching for dependencies of gz-sensors8
+-- Looking for gz-math7 -- found version 7.6.0
+-- Looking for gz-common5 -- found version 5.8.0
+-- Looking for gz-transport13 -- found version 13.5.0
+-- Looking for gz-rendering8 -- found version 8.2.3
+-- Looking for gz-msgs10 -- found version 10.3.2
+-- Looking for sdformat14 -- found version 14.9.0
+-- Searching for <gz-sensors8> component [rendering]
+-- Looking for gz-sensors8-rendering -- found version 8.2.2
+-- Searching for dependencies of gz-sensors8-rendering
+-- Searching for <gz-sensors8> component [rendering]
+-- Searching for <gz-sensors8> component [lidar]
+-- Looking for gz-sensors8-lidar -- found version 8.2.2
+-- Searching for dependencies of gz-sensors8-lidar
+-- Looking for gz-sensors8 -- found version 8.2.2
+-- Searching for <gz-sensors8> component [gpu_lidar]
+-- Looking for gz-sensors8-gpu_lidar -- found version 8.2.2
+-- Searching for dependencies of gz-sensors8-gpu_lidar
+-- Looking for gz-sensors8 -- found version 8.2.2
+-- Searching for <gz-sensors8> component [camera]
+-- Looking for gz-sensors8-camera -- found version 8.2.2
+-- Searching for dependencies of gz-sensors8-camera
+-- Looking for gz-sensors8 -- found version 8.2.2
+-- Searching for <gz-sensors8> component [boundingbox_camera]
+-- Looking for gz-sensors8-boundingbox_camera -- found version 8.2.2
+-- Searching for dependencies of gz-sensors8-boundingbox_camera
+-- Searching for <gz-sensors8> component [segmentation_camera]
+-- Looking for gz-sensors8-segmentation_camera -- found version 8.2.2
+-- Searching for dependencies of gz-sensors8-segmentation_camera
+-- Searching for <gz-sensors8> component [depth_camera]
+-- Looking for gz-sensors8-depth_camera -- found version 8.2.2
+-- Searching for dependencies of gz-sensors8-depth_camera
+-- Looking for gz-sensors8 -- found version 8.2.2
+-- Searching for <gz-sensors8> component [rgbd_camera]
+-- Looking for gz-sensors8-rgbd_camera -- found version 8.2.2
+-- Searching for dependencies of gz-sensors8-rgbd_camera
+-- Looking for gz-sensors8 -- found version 8.2.2
+-- Searching for <gz-sensors8> component [thermal_camera]
+-- Looking for gz-sensors8-thermal_camera -- found version 8.2.2
+-- Searching for dependencies of gz-sensors8-thermal_camera
+-- Looking for gz-sensors8 -- found version 8.2.2
+-- Searching for <gz-sensors8> component [wide_angle_camera]
+-- Looking for gz-sensors8-wide_angle_camera -- found version 8.2.2
+-- Searching for dependencies of gz-sensors8-wide_angle_camera
+-- Looking for gz-rendering8 -- found version 8.2.3
+-- Looking for gz-math7 -- found version 7.6.0
+-- Looking for gz-utils2 -- found version 2.2.1
+-- Looking for gz-msgs10 -- found version 10.3.2
+-- Looking for gz-transport13 -- found version 13.5.0
+-- Looking for gz-physics7 -- found version 7.6.0
+-- Looking for gz-math7 -- found version 7.6.0
+-- Looking for gz-common5 -- found version 5.8.0
+-- Looking for gz-plugin2 -- found version 2.0.4
+-- Looking for sdformat14 -- found version 14.9.0
+-- Configuring done
+-- Generating done
+-- Build files have been written to: /workspace/build/turtlebot3_gazebo
+[ 50%] Building CXX object CMakeFiles/turtlebot3_drive.dir/src/turtlebot3_drive.cpp.o
+[100%] Linking CXX executable turtlebot3_drive
+[100%] Built target turtlebot3_drive
+-- Install configuration: ""
+-- Execute custom install script
+-- Symlinking: /workspace/install/turtlebot3_gazebo/lib/turtlebot3_gazebo/turtlebot3_drive
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//launch/empty_world.launch.py
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//launch/multi_robot.launch.py
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//launch/multi_spawn_turtlebot3.launch.py
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//launch/robot_state_publisher.launch.py
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//launch/spawn_turtlebot3.launch.py
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//launch/turtlebot3_autorace_2020.launch.py
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//launch/turtlebot3_dqn_stage1.launch.py
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//launch/turtlebot3_dqn_stage2.launch.py
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//launch/turtlebot3_dqn_stage3.launch.py
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//launch/turtlebot3_dqn_stage4.launch.py
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//launch/turtlebot3_house.launch.py
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//launch/turtlebot3_office.launch.py
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//launch/turtlebot3_world.launch.py
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//config/turtlebot3_gz_bridge.yaml
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/checker/materials/checker.png
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/checker/materials/scripts/checker.material
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/checker/materials/textures/checker.png
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/checker/model.config
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/checker/model.sdf
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/course/materials/scripts/course.material
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/course/materials/textures/course.png
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/course/model.config
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/course/model.sdf
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_bar/materials/scripts/traffic_bar.material
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_bar/materials/textures/traffic_bar.png
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_bar/model.config
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_bar/model.sdf
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_construction/materials/scripts/traffic_construction.material
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_construction/materials/textures/traffic_construction.png
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_construction/model.config
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_construction/model.sdf
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_intersection/materials/scripts/traffic_intersection.material
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_intersection/materials/textures/traffic_intersection.png
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_intersection/model.config
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_intersection/model.sdf
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_left/materials/scripts/traffic_is_left.material
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_left/materials/textures/traffic_left.png
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_left/model.config
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_left/model.sdf
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_light/materials/scripts/traffic_light.material
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_light/materials/textures/traffic_light.png
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_light/materials/textures/traffic_light_green.png
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_light/materials/textures/traffic_light_red.png
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_light/materials/textures/traffic_light_yellow.png
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_light/model.config
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_light/model.sdf
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_noentry/materials/scripts/traffic_noentry.material
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_noentry/materials/textures/traffic_noentry.png
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_noentry/model.config
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_noentry/model.sdf
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_parking/materials/scripts/traffic_parking.material
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_parking/materials/textures/traffic_parking.png
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_parking/model.config
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_parking/model.sdf
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_pl_left/materials/scripts/traffic_pl_left.material
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_pl_left/materials/textures/traffic_pl_left.png
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_pl_left/model.config
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_pl_left/model.sdf
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_right/materials/scripts/traffic_right.material
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_right/materials/textures/traffic_right.png
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_right/model.config
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_right/model.sdf
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_stop/materials/scripts/traffic_stop.material
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_stop/materials/textures/traffic_stop.png
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_stop/model.config
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_stop/model.sdf
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_tunnel/materials/scripts/tunnel.material
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_tunnel/materials/textures/tunnel.png
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_tunnel/model.config
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_tunnel/model.sdf
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_burger/model (copy).sdf
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_burger/model-1_4.sdf
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_burger/model.config
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_burger/model.sdf
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_burger/model_gz.sdf
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_burger_cam/model-1_4.sdf
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_burger_cam/model.config
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_burger_cam/model.sdf
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_common/meshes/bases/burger_base.stl
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_common/meshes/bases/waffle_base.stl
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_common/meshes/bases/waffle_pi_base.stl
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_common/meshes/burger_base.dae
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_common/meshes/lds.dae
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_common/meshes/r200.dae
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_common/meshes/sensors/astra.dae
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_common/meshes/sensors/astra.jpg
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_common/meshes/sensors/lds.stl
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_common/meshes/sensors/r200.dae
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_common/meshes/sensors/r200.jpg
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_common/meshes/tire.dae
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_common/meshes/waffle_base.dae
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_common/meshes/waffle_pi_base.dae
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_common/meshes/wheels/left_tire.stl
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+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//worlds/office.world
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//worlds/office_gz_dartsim.sdf
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//worlds/turtlebot3_autorace_2020.world
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//worlds/turtlebot3_dqn_stage1.world
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//worlds/turtlebot3_dqn_stage2.world
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//worlds/turtlebot3_dqn_stage3.world
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//worlds/turtlebot3_dqn_stage4.world
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//worlds/turtlebot3_house.world
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//worlds/turtlebot3_world.world
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//worlds/warehouse.world
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//scripts/camera_topic_remap.py
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//scripts/scan_frame_fix.py
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//gui/office_gui.config
+-- Symlinking: /workspace/install/turtlebot3_gazebo/lib/turtlebot3_gazebo/scan_frame_fix.py
+-- Symlinking: /workspace/install/turtlebot3_gazebo/lib/turtlebot3_gazebo/camera_topic_remap.py
+-- Symlinking: /workspace/install/turtlebot3_gazebo/include//turtlebot3_gazebo/obstacle1.hpp
+-- Symlinking: /workspace/install/turtlebot3_gazebo/include//turtlebot3_gazebo/obstacle2.hpp
+-- Symlinking: /workspace/install/turtlebot3_gazebo/include//turtlebot3_gazebo/obstacles.hpp
+-- Symlinking: /workspace/install/turtlebot3_gazebo/include//turtlebot3_gazebo/traffic_bar_plugin.hpp
+-- Symlinking: /workspace/install/turtlebot3_gazebo/include//turtlebot3_gazebo/traffic_light_plugin.hpp
+-- Symlinking: /workspace/install/turtlebot3_gazebo/include//turtlebot3_gazebo/turtlebot3_drive.hpp
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/ament_index/resource_index/package_run_dependencies/turtlebot3_gazebo
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/ament_index/resource_index/parent_prefix_path/turtlebot3_gazebo
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo/environment/ament_prefix_path.sh
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo/environment/ament_prefix_path.dsv
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo/environment/path.sh
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo/environment/path.dsv
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo/local_setup.bash
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo/local_setup.sh
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo/local_setup.zsh
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo/local_setup.dsv
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo/package.dsv
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/ament_index/resource_index/packages/turtlebot3_gazebo
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo/cmake/ament_cmake_export_include_directories-extras.cmake
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo/cmake/ament_cmake_export_dependencies-extras.cmake
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo/cmake/turtlebot3_gazeboConfig.cmake
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo/cmake/turtlebot3_gazeboConfig-version.cmake
+-- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo/package.xml
diff --git a/log/build_2026-06-29_09-02-16/turtlebot3_gazebo/streams.log b/log/build_2026-06-29_09-02-16/turtlebot3_gazebo/streams.log
new file mode 100644
index 0000000..0df7ee1
--- /dev/null
+++ b/log/build_2026-06-29_09-02-16/turtlebot3_gazebo/streams.log
@@ -0,0 +1,573 @@
+[1.332s] Invoking command in '/workspace/build/turtlebot3_gazebo': CMAKE_PREFIX_PATH=/opt/ros/humble PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$ /usr/bin/cmake /workspace/src/turtlebot3_simulations/turtlebot3_gazebo -DAMENT_CMAKE_SYMLINK_INSTALL=1 -DCMAKE_INSTALL_PREFIX=/workspace/install/turtlebot3_gazebo
+[3.712s] -- The C compiler identification is GNU 11.4.0
+[5.965s] -- The CXX compiler identification is GNU 11.4.0
+[6.171s] -- Detecting C compiler ABI info
+[10.375s] -- Detecting C compiler ABI info - done
+[10.530s] -- Check for working C compiler: /usr/bin/cc - skipped
+[10.530s] -- Detecting C compile features
+[10.530s] -- Detecting C compile features - done
+[10.731s] -- Detecting CXX compiler ABI info
+[15.413s] -- Detecting CXX compiler ABI info - done
+[15.553s] -- Check for working CXX compiler: /usr/bin/c++ - skipped
+[15.554s] -- Detecting CXX compile features
+[15.554s] -- Detecting CXX compile features - done
+[15.779s] -- Found ament_cmake: 1.3.14 (/opt/ros/humble/share/ament_cmake/cmake)
+[16.193s] -- Found Python3: /usr/bin/python3 (found version "3.10.12") found components: Interpreter 
+[16.693s] -- Override CMake install command with custom implementation using symlinks instead of copying resources
+[17.420s] -- Found geometry_msgs: 4.9.1 (/opt/ros/humble/share/geometry_msgs/cmake)
+[17.508s] -- Found rosidl_generator_c: 3.1.8 (/opt/ros/humble/share/rosidl_generator_c/cmake)
+[17.518s] -- Found rosidl_adapter: 3.1.8 (/opt/ros/humble/share/rosidl_adapter/cmake)
+[17.530s] -- Found rosidl_generator_cpp: 3.1.8 (/opt/ros/humble/share/rosidl_generator_cpp/cmake)
+[17.569s] -- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
+[17.609s] -- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
+[17.675s] -- Found nav_msgs: 4.9.1 (/opt/ros/humble/share/nav_msgs/cmake)
+[17.708s] -- Found rclcpp: 16.0.19 (/opt/ros/humble/share/rclcpp/cmake)
+[17.777s] -- Found rmw_implementation_cmake: 6.1.2 (/opt/ros/humble/share/rmw_implementation_cmake/cmake)
+[17.795s] -- Found rmw_fastrtps_cpp: 6.2.10 (/opt/ros/humble/share/rmw_fastrtps_cpp/cmake)
+[18.256s] -- Found OpenSSL: /usr/lib/x86_64-linux-gnu/libcrypto.so (found version "3.0.2")  
+[18.643s] -- Found FastRTPS: /opt/ros/humble/include  
+[19.264s] -- Using RMW implementation 'rmw_fastrtps_cpp' as default
+[19.474s] -- Looking for pthread.h
+[23.277s] -- Looking for pthread.h - found
+[23.371s] -- Performing Test CMAKE_HAVE_LIBC_PTHREAD
+[27.214s] -- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Success
+[27.253s] -- Found Threads: TRUE  
+[27.309s] -- Found sensor_msgs: 4.9.1 (/opt/ros/humble/share/sensor_msgs/cmake)
+[27.334s] -- Found tf2: 0.25.20 (/opt/ros/humble/share/tf2/cmake)
+[27.355s] -- Looking for gz-sim8 -- found version 8.11.0
+[27.365s] -- Searching for dependencies of gz-sim8
+[27.370s] -- Looking for sdformat14 -- found version 14.9.0
+[27.370s] -- Searching for dependencies of sdformat14
+[27.377s] -- Checking for module 'tinyxml2'
+[27.392s] --   Found tinyxml2, version 9.0.0
+[27.434s] -- Looking for gz-math7 -- found version 7.6.0
+[27.435s] -- Searching for dependencies of gz-math7
+[27.439s] -- Looking for gz-utils2 -- found version 2.2.1
+[27.440s] -- Searching for dependencies of gz-utils2
+[27.442s] -- Looking for gz-utils2 -- found version 2.2.1
+[27.442s] -- Searching for dependencies of gz-utils2
+[27.442s] -- Searching for <gz-utils2> component [cli]
+[27.447s] -- Looking for gz-utils2-cli -- found version 2.2.1
+[27.447s] -- Searching for dependencies of gz-utils2-cli
+[27.453s] -- Looking for gz-plugin2 -- found version 2.0.4
+[27.453s] -- Searching for dependencies of gz-plugin2
+[27.454s] -- Looking for gz-utils2 -- found version 2.2.1
+[27.454s] -- Searching for <gz-plugin2> component [loader]
+[27.459s] -- Looking for gz-plugin2-loader -- found version 2.0.4
+[27.459s] -- Searching for dependencies of gz-plugin2-loader
+[27.460s] -- Searching for <gz-plugin2> component [register]
+[27.464s] -- Looking for gz-plugin2-register -- found version 2.0.4
+[27.467s] -- Searching for dependencies of gz-plugin2-register
+[27.473s] -- Looking for gz-transport13 -- found version 13.5.0
+[27.473s] -- Searching for dependencies of gz-transport13
+[27.839s] -- Found Protobuf: /usr/lib/x86_64-linux-gnu/libprotobuf.so (found version "3.12.4") 
+[28.121s] -- Config-file not installed for ZeroMQ -- checking for pkg-config
+[28.127s] -- Checking for module 'libzmq >= 4'
+[28.143s] --   Found libzmq , version 4.3.4
+[28.186s] -- Found ZeroMQ: TRUE (Required is at least version "4") 
+[28.195s] -- Checking for module 'uuid'
+[28.209s] --   Found uuid, version 2.37.2
+[28.250s] -- Found UUID: TRUE  
+[28.251s] -- Looking for gz-utils2 -- found version 2.2.1
+[28.255s] -- Looking for gz-msgs10 -- found version 10.3.2
+[28.256s] -- Searching for dependencies of gz-msgs10
+[28.603s] -- Looking for gz-utils2 -- found version 2.2.1
+[28.604s] -- Looking for gz-math7 -- found version 7.6.0
+[28.612s] -- Searching for <gz-transport13> component [log]
+[28.617s] -- Looking for gz-transport13-log -- found version 13.5.0
+[28.617s] -- Searching for dependencies of gz-transport13-log
+[28.618s] -- Searching for <gz-transport13> component [parameters]
+[28.622s] -- Looking for gz-transport13-parameters -- found version 13.5.0
+[28.623s] -- Searching for dependencies of gz-transport13-parameters
+[28.624s] -- Looking for gz-msgs10 -- found version 10.3.2
+[28.628s] -- Looking for gz-common5 -- found version 5.8.0
+[28.629s] -- Searching for dependencies of gz-common5
+[28.629s] -- Looking for gz-utils2 -- found version 2.2.1
+[28.634s] -- Looking for dlfcn.h - found
+[28.635s] -- Looking for libdl - found
+[28.636s] -- Found DL: TRUE  
+[28.644s] -- Searching for <gz-common5> component [av]
+[28.649s] -- Looking for gz-common5-av -- found version 5.8.0
+[28.650s] -- Searching for dependencies of gz-common5-av
+[28.656s] -- Checking for module 'libswscale'
+[28.671s] --   Found libswscale, version 5.9.100
+[28.712s] -- Found SWSCALE: TRUE  
+[28.718s] -- Checking for module 'libavdevice >= 56.4.100'
+[28.733s] --   Found libavdevice , version 58.13.100
+[28.777s] -- Found AVDEVICE: TRUE (Required is at least version "56.4.100") 
+[28.783s] -- Checking for module 'libavformat'
+[28.798s] --   Found libavformat, version 58.76.100
+[28.840s] -- Found AVFORMAT: TRUE  
+[28.846s] -- Checking for module 'libavcodec'
+[28.861s] --   Found libavcodec, version 58.134.100
+[28.902s] -- Found AVCODEC: TRUE  
+[28.908s] -- Checking for module 'libavutil'
+[28.923s] --   Found libavutil, version 56.70.100
+[28.962s] -- Found AVUTIL: TRUE  
+[28.963s] -- Searching for <gz-common5> component [events]
+[28.968s] -- Looking for gz-common5-events -- found version 5.8.0
+[28.968s] -- Searching for dependencies of gz-common5-events
+[28.969s] -- Looking for gz-math7 -- found version 7.6.0
+[28.969s] -- Searching for <gz-common5> component [graphics]
+[28.974s] -- Looking for gz-common5-graphics -- found version 5.8.0
+[28.974s] -- Searching for dependencies of gz-common5-graphics
+[28.975s] -- Looking for gz-math7 -- found version 7.6.0
+[28.997s] -- Found GzAssimp: TRUE (found version "5.2.0") 
+[28.998s] -- Searching for <gz-common5> component [io]
+[29.002s] -- Looking for gz-common5-io -- found version 5.8.0
+[29.003s] -- Searching for dependencies of gz-common5-io
+[29.003s] -- Searching for <gz-common5> component [profiler]
+[29.008s] -- Looking for gz-common5-profiler -- found version 5.8.0
+[29.009s] -- Searching for dependencies of gz-common5-profiler
+[29.014s] -- Looking for gz-fuel_tools9 -- found version 9.1.1
+[29.015s] -- Searching for dependencies of gz-fuel_tools9
+[29.387s] -- Found CURL: /usr/lib/x86_64-linux-gnu/libcurl.so (found version "7.81.0")  
+[29.399s] -- Checking for module 'jsoncpp'
+[29.414s] --   Found jsoncpp, version 1.9.5
+[29.454s] -- Found JSONCPP: TRUE  
+[29.460s] -- Checking for module 'libzip'
+[29.475s] --   Found libzip, version 1.7.3
+[29.515s] -- Found ZIP: TRUE  
+[29.515s] -- Looking for gz-utils2 -- found version 2.2.1
+[29.516s] -- Looking for gz-common5 -- found version 5.8.0
+[29.516s] -- Searching for dependencies of gz-common5
+[29.517s] -- Looking for gz-utils2 -- found version 2.2.1
+[29.517s] -- Looking for dlfcn.h - found
+[29.517s] -- Looking for libdl - found
+[29.526s] -- Searching for <gz-common5> component [testing]
+[29.530s] -- Looking for gz-common5-testing -- found version 5.8.0
+[29.531s] -- Searching for dependencies of gz-common5-testing
+[29.532s] -- Looking for gz-math7 -- found version 7.6.0
+[29.532s] -- Looking for gz-msgs10 -- found version 10.3.2
+[29.538s] -- Looking for gz-gui8 -- found version 8.4.0
+[29.538s] -- Searching for dependencies of gz-gui8
+[29.901s] -- Looking for gz-utils2 -- found version 2.2.1
+[29.902s] -- Looking for gz-math7 -- found version 7.6.0
+[29.902s] -- Looking for gz-common5 -- found version 5.8.0
+[29.902s] -- Looking for gz-plugin2 -- found version 2.0.4
+[29.903s] -- Looking for gz-transport13 -- found version 13.5.0
+[29.908s] -- Looking for gz-rendering8 -- found version 8.2.3
+[29.908s] -- Searching for dependencies of gz-rendering8
+[29.909s] -- Looking for gz-math7 -- found version 7.6.0
+[29.909s] -- Searching for dependencies of gz-math7
+[29.910s] -- Looking for gz-utils2 -- found version 2.2.1
+[29.910s] -- Searching for <gz-math7> component [eigen3]
+[29.914s] -- Looking for gz-math7-eigen3 -- found version 7.6.0
+[29.915s] -- Searching for dependencies of gz-math7-eigen3
+[29.930s] -- Looking for gz-common5 -- found version 5.8.0
+[29.930s] -- Searching for dependencies of gz-common5
+[29.931s] -- Looking for gz-utils2 -- found version 2.2.1
+[29.931s] -- Looking for dlfcn.h - found
+[29.931s] -- Looking for libdl - found
+[29.940s] -- Searching for <gz-common5> component [graphics]
+[29.941s] -- Searching for <gz-common5> component [events]
+[29.941s] -- Searching for <gz-common5> component [geospatial]
+[29.946s] -- Looking for gz-common5-geospatial -- found version 5.8.0
+[29.947s] -- Searching for dependencies of gz-common5-geospatial
+[29.947s] -- Looking for gz-math7 -- found version 7.6.0
+[29.948s] -- Looking for gz-common5 -- found version 5.8.0
+[29.949s] -- Looking for gz-plugin2 -- found version 2.0.4
+[29.950s] -- Searching for dependencies of gz-plugin2
+[29.950s] -- Looking for gz-utils2 -- found version 2.2.1
+[29.950s] -- Searching for <gz-plugin2> component [all]
+[29.955s] -- Looking for all libraries of gz-plugin2 -- found version 2.0.4
+[29.955s] -- Looking for gz-plugin2 -- found version 2.0.4
+[29.957s] -- Looking for gz-utils2 -- found version 2.2.1
+[29.992s] -- Found OpenGL: /usr/lib/x86_64-linux-gnu/libOpenGL.so  found components: OpenGL 
+[29.993s] -- Looking for gz-msgs10 -- found version 10.3.2
+[30.038s] -- Looking for gz-physics7 -- found version 7.6.0
+[30.038s] -- Searching for dependencies of gz-physics7
+[30.039s] -- Looking for gz-common5 -- found version 5.8.0
+[30.039s] -- Looking for gz-math7 -- found version 7.6.0
+[30.040s] -- Looking for gz-plugin2 -- found version 2.0.4
+[30.040s] -- Looking for gz-utils2 -- found version 2.2.1
+[30.041s] -- Searching for <gz-physics7> component [heightmap]
+[30.047s] -- Looking for gz-physics7-heightmap -- found version 7.6.0
+[30.047s] -- Searching for dependencies of gz-physics7-heightmap
+[30.047s] -- Looking for gz-common5 -- found version 5.8.0
+[30.048s] -- Searching for <gz-physics7> component [mesh]
+[30.053s] -- Looking for gz-physics7-mesh -- found version 7.6.0
+[30.053s] -- Searching for dependencies of gz-physics7-mesh
+[30.054s] -- Looking for gz-common5 -- found version 5.8.0
+[30.054s] -- Searching for <gz-physics7> component [sdf]
+[30.059s] -- Looking for gz-physics7-sdf -- found version 7.6.0
+[30.060s] -- Searching for dependencies of gz-physics7-sdf
+[30.060s] -- Looking for sdformat14 -- found version 14.9.0
+[30.067s] -- Looking for gz-sensors8 -- found version 8.2.2
+[30.067s] -- Searching for dependencies of gz-sensors8
+[30.390s] -- Looking for gz-math7 -- found version 7.6.0
+[30.390s] -- Looking for gz-common5 -- found version 5.8.0
+[30.391s] -- Looking for gz-transport13 -- found version 13.5.0
+[30.391s] -- Looking for gz-rendering8 -- found version 8.2.3
+[30.392s] -- Looking for gz-msgs10 -- found version 10.3.2
+[30.392s] -- Looking for sdformat14 -- found version 14.9.0
+[30.393s] -- Searching for <gz-sensors8> component [air_pressure]
+[30.398s] -- Looking for gz-sensors8-air_pressure -- found version 8.2.2
+[30.398s] -- Searching for dependencies of gz-sensors8-air_pressure
+[30.399s] -- Searching for <gz-sensors8> component [air_speed]
+[30.404s] -- Looking for gz-sensors8-air_speed -- found version 8.2.2
+[30.405s] -- Searching for dependencies of gz-sensors8-air_speed
+[30.405s] -- Searching for <gz-sensors8> component [altimeter]
+[30.410s] -- Looking for gz-sensors8-altimeter -- found version 8.2.2
+[30.410s] -- Searching for dependencies of gz-sensors8-altimeter
+[30.411s] -- Searching for <gz-sensors8> component [imu]
+[30.416s] -- Looking for gz-sensors8-imu -- found version 8.2.2
+[30.416s] -- Searching for dependencies of gz-sensors8-imu
+[30.417s] -- Searching for <gz-sensors8> component [force_torque]
+[30.421s] -- Looking for gz-sensors8-force_torque -- found version 8.2.2
+[30.422s] -- Searching for dependencies of gz-sensors8-force_torque
+[30.422s] -- Searching for <gz-sensors8> component [logical_camera]
+[30.426s] -- Looking for gz-sensors8-logical_camera -- found version 8.2.2
+[30.427s] -- Searching for dependencies of gz-sensors8-logical_camera
+[30.428s] -- Searching for <gz-sensors8> component [magnetometer]
+[30.432s] -- Looking for gz-sensors8-magnetometer -- found version 8.2.2
+[30.432s] -- Searching for dependencies of gz-sensors8-magnetometer
+[30.433s] -- Searching for <gz-sensors8> component [navsat]
+[30.437s] -- Looking for gz-sensors8-navsat -- found version 8.2.2
+[30.438s] -- Searching for dependencies of gz-sensors8-navsat
+[30.439s] -- Searching for <gz-sensors8> component [dvl]
+[30.444s] -- Looking for gz-sensors8-dvl -- found version 8.2.2
+[30.444s] -- Searching for dependencies of gz-sensors8-dvl
+[30.445s] -- Looking for gz-sensors8 -- found version 8.2.2
+[30.445s] -- Searching for dependencies of gz-sensors8
+[30.766s] -- Looking for gz-math7 -- found version 7.6.0
+[30.766s] -- Looking for gz-common5 -- found version 5.8.0
+[30.767s] -- Looking for gz-transport13 -- found version 13.5.0
+[30.767s] -- Looking for gz-rendering8 -- found version 8.2.3
+[30.768s] -- Looking for gz-msgs10 -- found version 10.3.2
+[30.768s] -- Looking for sdformat14 -- found version 14.9.0
+[30.769s] -- Searching for <gz-sensors8> component [rendering]
+[30.773s] -- Looking for gz-sensors8-rendering -- found version 8.2.2
+[30.774s] -- Searching for dependencies of gz-sensors8-rendering
+[30.775s] -- Searching for <gz-sensors8> component [rendering]
+[30.776s] -- Searching for <gz-sensors8> component [lidar]
+[30.780s] -- Looking for gz-sensors8-lidar -- found version 8.2.2
+[30.781s] -- Searching for dependencies of gz-sensors8-lidar
+[30.781s] -- Looking for gz-sensors8 -- found version 8.2.2
+[30.782s] -- Searching for <gz-sensors8> component [gpu_lidar]
+[30.786s] -- Looking for gz-sensors8-gpu_lidar -- found version 8.2.2
+[30.787s] -- Searching for dependencies of gz-sensors8-gpu_lidar
+[30.787s] -- Looking for gz-sensors8 -- found version 8.2.2
+[30.788s] -- Searching for <gz-sensors8> component [camera]
+[30.792s] -- Looking for gz-sensors8-camera -- found version 8.2.2
+[30.793s] -- Searching for dependencies of gz-sensors8-camera
+[30.793s] -- Looking for gz-sensors8 -- found version 8.2.2
+[30.794s] -- Searching for <gz-sensors8> component [boundingbox_camera]
+[30.798s] -- Looking for gz-sensors8-boundingbox_camera -- found version 8.2.2
+[30.799s] -- Searching for dependencies of gz-sensors8-boundingbox_camera
+[30.799s] -- Searching for <gz-sensors8> component [segmentation_camera]
+[30.804s] -- Looking for gz-sensors8-segmentation_camera -- found version 8.2.2
+[30.804s] -- Searching for dependencies of gz-sensors8-segmentation_camera
+[30.805s] -- Searching for <gz-sensors8> component [depth_camera]
+[30.809s] -- Looking for gz-sensors8-depth_camera -- found version 8.2.2
+[30.810s] -- Searching for dependencies of gz-sensors8-depth_camera
+[30.810s] -- Looking for gz-sensors8 -- found version 8.2.2
+[30.811s] -- Searching for <gz-sensors8> component [rgbd_camera]
+[30.815s] -- Looking for gz-sensors8-rgbd_camera -- found version 8.2.2
+[30.816s] -- Searching for dependencies of gz-sensors8-rgbd_camera
+[30.816s] -- Looking for gz-sensors8 -- found version 8.2.2
+[30.817s] -- Searching for <gz-sensors8> component [thermal_camera]
+[30.821s] -- Looking for gz-sensors8-thermal_camera -- found version 8.2.2
+[30.822s] -- Searching for dependencies of gz-sensors8-thermal_camera
+[30.822s] -- Looking for gz-sensors8 -- found version 8.2.2
+[30.823s] -- Searching for <gz-sensors8> component [wide_angle_camera]
+[30.827s] -- Looking for gz-sensors8-wide_angle_camera -- found version 8.2.2
+[30.828s] -- Searching for dependencies of gz-sensors8-wide_angle_camera
+[30.829s] -- Looking for gz-rendering8 -- found version 8.2.3
+[30.829s] -- Looking for gz-math7 -- found version 7.6.0
+[30.830s] -- Looking for gz-utils2 -- found version 2.2.1
+[31.113s] -- Looking for gz-msgs10 -- found version 10.3.2
+[31.113s] -- Looking for gz-transport13 -- found version 13.5.0
+[31.114s] -- Looking for gz-physics7 -- found version 7.6.0
+[31.114s] -- Looking for gz-math7 -- found version 7.6.0
+[31.114s] -- Looking for gz-common5 -- found version 5.8.0
+[31.115s] -- Looking for gz-plugin2 -- found version 2.0.4
+[31.116s] -- Looking for sdformat14 -- found version 14.9.0
+[35.661s] -- Configuring done
+[38.475s] -- Generating done
+[39.773s] -- Build files have been written to: /workspace/build/turtlebot3_gazebo
+[39.774s] Invoked command in '/workspace/build/turtlebot3_gazebo' returned '0': CMAKE_PREFIX_PATH=/opt/ros/humble PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$ /usr/bin/cmake /workspace/src/turtlebot3_simulations/turtlebot3_gazebo -DAMENT_CMAKE_SYMLINK_INSTALL=1 -DCMAKE_INSTALL_PREFIX=/workspace/install/turtlebot3_gazebo
+[40.036s] Invoking command in '/workspace/build/turtlebot3_gazebo': CMAKE_PREFIX_PATH=/opt/ros/humble PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$ /usr/bin/cmake --build /workspace/build/turtlebot3_gazebo -- -j8 -l8
+[40.463s] [ 50%] Building CXX object CMakeFiles/turtlebot3_drive.dir/src/turtlebot3_drive.cpp.o
+[215.335s] [100%] Linking CXX executable turtlebot3_drive
+[467.049s] [100%] Built target turtlebot3_drive
+[467.150s] Invoked command in '/workspace/build/turtlebot3_gazebo' returned '0': CMAKE_PREFIX_PATH=/opt/ros/humble PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$ /usr/bin/cmake --build /workspace/build/turtlebot3_gazebo -- -j8 -l8
+[467.479s] Invoking command in '/workspace/build/turtlebot3_gazebo': CMAKE_PREFIX_PATH=/opt/ros/humble PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$ /usr/bin/cmake --install /workspace/build/turtlebot3_gazebo
+[467.530s] -- Install configuration: ""
+[467.661s] -- Execute custom install script
+[467.816s] -- Symlinking: /workspace/install/turtlebot3_gazebo/lib/turtlebot3_gazebo/turtlebot3_drive
+[468.004s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//launch/empty_world.launch.py
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+[468.160s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//launch/multi_spawn_turtlebot3.launch.py
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+[470.659s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/checker/materials/textures/checker.png
+[470.745s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/checker/model.config
+[470.814s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/checker/model.sdf
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+[471.190s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/course/model.sdf
+[471.317s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_bar/materials/scripts/traffic_bar.material
+[471.430s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_bar/materials/textures/traffic_bar.png
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+[473.157s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_light/materials/textures/traffic_light.png
+[473.231s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_light/materials/textures/traffic_light_green.png
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+[474.623s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_pl_left/materials/scripts/traffic_pl_left.material
+[474.754s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_pl_left/materials/textures/traffic_pl_left.png
+[474.831s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_pl_left/model.config
+[474.888s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_pl_left/model.sdf
+[475.025s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_right/materials/scripts/traffic_right.material
+[475.127s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_right/materials/textures/traffic_right.png
+[475.201s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_right/model.config
+[475.310s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_right/model.sdf
+[475.436s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_stop/materials/scripts/traffic_stop.material
+[475.553s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_stop/materials/textures/traffic_stop.png
+[475.624s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_stop/model.config
+[475.688s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_stop/model.sdf
+[475.826s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_tunnel/materials/scripts/tunnel.material
+[475.942s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_tunnel/materials/textures/tunnel.png
+[476.003s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_tunnel/model.config
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+[478.134s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_common/meshes/wheels/left_tire.stl
+[478.208s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_common/meshes/wheels/right_tire.stl
+[478.267s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_common/model.config
+[478.412s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_dqn_world/goal_box/model.config
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+[478.995s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_dqn_world/obstacle1/model.config
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+[479.166s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_dqn_world/obstacle2/model.config
+[479.237s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_dqn_world/obstacle2/model.sdf
+[479.347s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_dqn_world/obstacles/model.config
+[479.433s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_dqn_world/obstacles/model.sdf
+[479.525s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_house/model.config
+[479.599s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_house/model.sdf
+[479.742s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/WaterDispenser/meshes/water_dispenser.dae
+[479.819s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/WaterDispenser/model.config
+[479.893s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/WaterDispenser/model.sdf
+[480.015s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/book_10/materials/scripts/book_10.material
+[480.123s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/book_10/materials/textures/cover10.jpg
+[480.198s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/book_10/model.config
+[480.268s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/book_10/model.sdf
+[480.422s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/book_2/materials/scripts/book_2.material
+[480.527s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/book_2/materials/textures/cover2.jpg
+[480.606s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/book_2/model.config
+[480.679s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/book_2/model.sdf
+[480.801s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/bookshelf_large/materials/scripts/bookshelf.material
+[480.906s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/bookshelf_large/materials/textures/wood_dark_4.jpg
+[480.999s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/bookshelf_large/meshes/frame.dae
+[481.069s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/bookshelf_large/meshes/glass.dae
+[481.151s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/bookshelf_large/meshes/model.dae
+[481.231s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/bookshelf_large/model.config
+[481.300s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/bookshelf_large/model.sdf
+[481.429s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/bowl/meshes/bowl.dae
+[481.491s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/bowl/model-1_2.sdf
+[481.574s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/bowl/model-1_3.sdf
+[481.644s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/bowl/model-1_4.sdf
+[481.745s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/bowl/model.config
+[481.827s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/bowl/model.sdf
+[481.983s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/coca_cola/materials/scripts/coke.material
+[482.082s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/coca_cola/materials/textures/cokecan.jpg
+[482.191s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/coca_cola/meshes/aluminum.jpg
+[482.263s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/coca_cola/meshes/can_ring_pull_end_centre.png
+[482.354s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/coca_cola/meshes/coke.dae
+[482.423s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/coca_cola/meshes/coke_uv_map.jpg
+[482.499s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/coca_cola/model.config
+[482.578s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/coca_cola/model.sdf
+[482.696s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/donut_frost_1/meshes/donut2.dae
+[482.782s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/donut_frost_1/meshes/donut2_bread.dae
+[482.859s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/donut_frost_1/meshes/donut2_dust.dae
+[482.948s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/donut_frost_1/meshes/donut2_frost.dae
+[483.018s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/donut_frost_1/model.config
+[483.088s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/donut_frost_1/model.sdf
+[483.233s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/elegant_female/materials/textures/brown_eye.png
+[483.307s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/elegant_female/materials/textures/eyebrow002.png
+[483.377s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/elegant_female/materials/textures/eyelashes01.png
+[483.448s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/elegant_female/materials/textures/male_elegantsuit01_diffuse.png
+[483.538s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/elegant_female/materials/textures/ponytail01_diffuse.png
+[483.633s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/elegant_female/materials/textures/shoes03_diffuse.png
+[483.719s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/elegant_female/materials/textures/young_lightskinned_female_diffuse2.png
+[483.823s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/elegant_female/meshes/elegant_female.dae
+[483.897s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/elegant_female/meshes/elegant_female.png
+[483.970s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/elegant_female/model.config
+[484.054s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/elegant_female/model.sdf
+[484.180s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/file_1/meshes/body.dae
+[484.288s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/file_1/meshes/model.dae
+[484.360s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/file_1/meshes/ring.dae
+[484.436s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/file_1/meshes/tag.dae
+[484.525s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/file_1/model.config
+[484.595s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/file_1/model.sdf
+[484.684s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/ground_plane/model-1_2.sdf
+[484.750s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/ground_plane/model-1_3.sdf
+[484.823s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/ground_plane/model-1_4.sdf
+[484.910s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/ground_plane/model.config
+[484.983s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/ground_plane/model.sdf
+[485.131s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/labtop_mac_2/materials/scripts/labtop_screen_2.material
+[485.229s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/labtop_mac_2/materials/textures/labtop_screen2.jpg
+[485.326s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/labtop_mac_2/meshes/body.dae
+[485.404s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/labtop_mac_2/meshes/keys.dae
+[485.473s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/labtop_mac_2/meshes/labtop.dae
+[485.543s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/labtop_mac_2/meshes/screen.dae
+[485.624s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/labtop_mac_2/model.config
+[485.722s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/labtop_mac_2/model.sdf
+[485.869s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/office_chair/materials/textures/office_chair_diffuse.png
+[485.954s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/office_chair/materials/textures/office_chair_specular.png
+[486.077s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/office_chair/meshes/chair_base.dae
+[486.165s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/office_chair/meshes/chair_cushion.dae
+[486.229s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/office_chair/meshes/chair_wheels.dae
+[486.303s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/office_chair/meshes/office_chair.dae
+[486.392s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/office_chair/model.config
+[486.480s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/office_chair/model.sdf
+[486.613s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/office_couch/materials/textures/office_couch_diffuse.png
+[486.692s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/office_couch/materials/textures/office_couch_specular.png
+[486.806s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/office_couch/meshes/office_couch.dae
+[486.879s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/office_couch/model.config
+[486.974s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/office_couch/model.sdf
+[487.141s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/office_desk/materials/textures/office_desk_diffuse.png
+[487.230s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/office_desk/materials/textures/office_desk_specular.png
+[487.326s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/office_desk/meshes/office_desk.dae
+[487.399s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/office_desk/model.config
+[487.476s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/office_desk/model.sdf
+[487.656s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/office_lamp/materials/textures/office_lamp_diffuse.png
+[487.747s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/office_lamp/materials/textures/office_lamp_illumination.png
+[487.823s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/office_lamp/materials/textures/office_lamp_specular.png
+[487.946s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/office_lamp/meshes/office_lamp.dae
+[488.028s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/office_lamp/model.config
+[488.106s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/office_lamp/model.sdf
+[488.267s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/refrigerator/materials/textures/refrigerator.png
+[488.363s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/refrigerator/meshes/refrigerator.mtl
+[488.436s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/refrigerator/meshes/refrigerator.obj
+[488.510s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/refrigerator/model.config
+[488.573s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/refrigerator/model.sdf
+[488.726s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/side_table_1/materials/scripts/side_table_1.material
+[488.844s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/side_table_1/materials/textures/brown_light.jpg
+[488.946s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/side_table_1/meshes/leg.dae
+[489.030s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/side_table_1/meshes/legs.dae
+[489.120s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/side_table_1/meshes/middle.dae
+[489.200s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/side_table_1/meshes/side_table_1.dae
+[489.257s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/side_table_1/model.config
+[489.330s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/side_table_1/model.sdf
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+[489.605s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/toilet/meshes/toilet.dae
+[489.669s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/toilet/model.config
+[489.736s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_office/toilet/model.sdf
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+[489.909s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_waffle/model.config
+[489.999s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_waffle/model.sdf
+[490.085s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_waffle_pi/model-1_4_.sdf
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+[490.243s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_waffle_pi/model.sdf
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+[490.515s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_world/meshes/wall.dae
+[490.576s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_world/model-1_4.sdf
+[490.666s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_world/model.config
+[490.743s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_world/model.sdf
+[490.843s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//rviz/tb3_gazebo.rviz
+[490.951s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//urdf/common_properties.urdf
+[491.011s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//urdf/turtlebot3_burger.urdf
+[491.082s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//urdf/turtlebot3_burger_cam.urdf
+[491.153s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//urdf/turtlebot3_waffle.urdf
+[491.221s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//urdf/turtlebot3_waffle_pi.urdf
+[491.320s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//worlds/empty_world.world
+[491.386s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//worlds/office.world
+[491.462s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//worlds/office_gz_dartsim.sdf
+[491.563s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//worlds/turtlebot3_autorace_2020.world
+[491.640s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//worlds/turtlebot3_dqn_stage1.world
+[491.703s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//worlds/turtlebot3_dqn_stage2.world
+[491.767s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//worlds/turtlebot3_dqn_stage3.world
+[491.866s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//worlds/turtlebot3_dqn_stage4.world
+[491.936s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//worlds/turtlebot3_house.world
+[492.033s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//worlds/turtlebot3_world.world
+[492.108s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//worlds/warehouse.world
+[492.209s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//scripts/camera_topic_remap.py
+[492.292s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//scripts/scan_frame_fix.py
+[492.391s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//gui/office_gui.config
+[492.459s] -- Symlinking: /workspace/install/turtlebot3_gazebo/lib/turtlebot3_gazebo/scan_frame_fix.py
+[492.534s] -- Symlinking: /workspace/install/turtlebot3_gazebo/lib/turtlebot3_gazebo/camera_topic_remap.py
+[492.681s] -- Symlinking: /workspace/install/turtlebot3_gazebo/include//turtlebot3_gazebo/obstacle1.hpp
+[492.747s] -- Symlinking: /workspace/install/turtlebot3_gazebo/include//turtlebot3_gazebo/obstacle2.hpp
+[492.825s] -- Symlinking: /workspace/install/turtlebot3_gazebo/include//turtlebot3_gazebo/obstacles.hpp
+[492.911s] -- Symlinking: /workspace/install/turtlebot3_gazebo/include//turtlebot3_gazebo/traffic_bar_plugin.hpp
+[492.993s] -- Symlinking: /workspace/install/turtlebot3_gazebo/include//turtlebot3_gazebo/traffic_light_plugin.hpp
+[493.067s] -- Symlinking: /workspace/install/turtlebot3_gazebo/include//turtlebot3_gazebo/turtlebot3_drive.hpp
+[493.189s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/ament_index/resource_index/package_run_dependencies/turtlebot3_gazebo
+[493.305s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/ament_index/resource_index/parent_prefix_path/turtlebot3_gazebo
+[493.393s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo/environment/ament_prefix_path.sh
+[493.469s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo/environment/ament_prefix_path.dsv
+[493.537s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo/environment/path.sh
+[493.629s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo/environment/path.dsv
+[493.700s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo/local_setup.bash
+[493.765s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo/local_setup.sh
+[493.858s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo/local_setup.zsh
+[493.929s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo/local_setup.dsv
+[494.000s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo/package.dsv
+[494.090s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/ament_index/resource_index/packages/turtlebot3_gazebo
+[494.207s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo/cmake/ament_cmake_export_include_directories-extras.cmake
+[494.276s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo/cmake/ament_cmake_export_dependencies-extras.cmake
+[494.359s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo/cmake/turtlebot3_gazeboConfig.cmake
+[494.438s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo/cmake/turtlebot3_gazeboConfig-version.cmake
+[494.516s] -- Symlinking: /workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo/package.xml
+[494.571s] Invoked command in '/workspace/build/turtlebot3_gazebo' returned '0': CMAKE_PREFIX_PATH=/opt/ros/humble PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$ /usr/bin/cmake --install /workspace/build/turtlebot3_gazebo
diff --git a/log/build_2026-06-29_09-02-16/turtlebot3_simulations/command.log b/log/build_2026-06-29_09-02-16/turtlebot3_simulations/command.log
new file mode 100644
index 0000000..f147b06
--- /dev/null
+++ b/log/build_2026-06-29_09-02-16/turtlebot3_simulations/command.log
@@ -0,0 +1,6 @@
+Invoking command in '/workspace/build/turtlebot3_simulations': AMENT_PREFIX_PATH=/workspace/install/turtlebot3_gazebo:${AMENT_PREFIX_PATH} CMAKE_PREFIX_PATH=/workspace/install/turtlebot3_gazebo:/opt/ros/humble PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$ /usr/bin/cmake /workspace/src/turtlebot3_simulations/turtlebot3_simulations -DAMENT_CMAKE_SYMLINK_INSTALL=1 -DCMAKE_INSTALL_PREFIX=/workspace/install/turtlebot3_simulations
+Invoked command in '/workspace/build/turtlebot3_simulations' returned '0': AMENT_PREFIX_PATH=/workspace/install/turtlebot3_gazebo:${AMENT_PREFIX_PATH} CMAKE_PREFIX_PATH=/workspace/install/turtlebot3_gazebo:/opt/ros/humble PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$ /usr/bin/cmake /workspace/src/turtlebot3_simulations/turtlebot3_simulations -DAMENT_CMAKE_SYMLINK_INSTALL=1 -DCMAKE_INSTALL_PREFIX=/workspace/install/turtlebot3_simulations
+Invoking command in '/workspace/build/turtlebot3_simulations': AMENT_PREFIX_PATH=/workspace/install/turtlebot3_gazebo:${AMENT_PREFIX_PATH} CMAKE_PREFIX_PATH=/workspace/install/turtlebot3_gazebo:/opt/ros/humble PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$ /usr/bin/cmake --build /workspace/build/turtlebot3_simulations -- -j8 -l8
+Invoked command in '/workspace/build/turtlebot3_simulations' returned '0': AMENT_PREFIX_PATH=/workspace/install/turtlebot3_gazebo:${AMENT_PREFIX_PATH} CMAKE_PREFIX_PATH=/workspace/install/turtlebot3_gazebo:/opt/ros/humble PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$ /usr/bin/cmake --build /workspace/build/turtlebot3_simulations -- -j8 -l8
+Invoking command in '/workspace/build/turtlebot3_simulations': AMENT_PREFIX_PATH=/workspace/install/turtlebot3_gazebo:${AMENT_PREFIX_PATH} CMAKE_PREFIX_PATH=/workspace/install/turtlebot3_gazebo:/opt/ros/humble PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$ /usr/bin/cmake --install /workspace/build/turtlebot3_simulations
+Invoked command in '/workspace/build/turtlebot3_simulations' returned '0': AMENT_PREFIX_PATH=/workspace/install/turtlebot3_gazebo:${AMENT_PREFIX_PATH} CMAKE_PREFIX_PATH=/workspace/install/turtlebot3_gazebo:/opt/ros/humble PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$ /usr/bin/cmake --install /workspace/build/turtlebot3_simulations
diff --git a/log/build_2026-06-29_09-02-16/turtlebot3_simulations/stderr.log b/log/build_2026-06-29_09-02-16/turtlebot3_simulations/stderr.log
new file mode 100644
index 0000000..e69de29
diff --git a/log/build_2026-06-29_09-02-16/turtlebot3_simulations/stdout.log b/log/build_2026-06-29_09-02-16/turtlebot3_simulations/stdout.log
new file mode 100644
index 0000000..876be4a
--- /dev/null
+++ b/log/build_2026-06-29_09-02-16/turtlebot3_simulations/stdout.log
@@ -0,0 +1,35 @@
+-- The C compiler identification is GNU 11.4.0
+-- The CXX compiler identification is GNU 11.4.0
+-- Detecting C compiler ABI info
+-- Detecting C compiler ABI info - done
+-- Check for working C compiler: /usr/bin/cc - skipped
+-- Detecting C compile features
+-- Detecting C compile features - done
+-- Detecting CXX compiler ABI info
+-- Detecting CXX compiler ABI info - done
+-- Check for working CXX compiler: /usr/bin/c++ - skipped
+-- Detecting CXX compile features
+-- Detecting CXX compile features - done
+-- Found ament_cmake: 1.3.14 (/opt/ros/humble/share/ament_cmake/cmake)
+-- Found Python3: /usr/bin/python3 (found version "3.10.12") found components: Interpreter 
+-- Override CMake install command with custom implementation using symlinks instead of copying resources
+-- Configuring done
+-- Generating done
+-- Build files have been written to: /workspace/build/turtlebot3_simulations
+-- Install configuration: ""
+-- Execute custom install script
+-- Symlinking: /workspace/install/turtlebot3_simulations/share/ament_index/resource_index/package_run_dependencies/turtlebot3_simulations
+-- Symlinking: /workspace/install/turtlebot3_simulations/share/ament_index/resource_index/parent_prefix_path/turtlebot3_simulations
+-- Symlinking: /workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/environment/ament_prefix_path.sh
+-- Symlinking: /workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/environment/ament_prefix_path.dsv
+-- Symlinking: /workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/environment/path.sh
+-- Symlinking: /workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/environment/path.dsv
+-- Symlinking: /workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/local_setup.bash
+-- Symlinking: /workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/local_setup.sh
+-- Symlinking: /workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/local_setup.zsh
+-- Symlinking: /workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/local_setup.dsv
+-- Symlinking: /workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/package.dsv
+-- Symlinking: /workspace/install/turtlebot3_simulations/share/ament_index/resource_index/packages/turtlebot3_simulations
+-- Symlinking: /workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/cmake/turtlebot3_simulationsConfig.cmake
+-- Symlinking: /workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/cmake/turtlebot3_simulationsConfig-version.cmake
+-- Symlinking: /workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/package.xml
diff --git a/log/build_2026-06-29_09-02-16/turtlebot3_simulations/stdout_stderr.log b/log/build_2026-06-29_09-02-16/turtlebot3_simulations/stdout_stderr.log
new file mode 100644
index 0000000..876be4a
--- /dev/null
+++ b/log/build_2026-06-29_09-02-16/turtlebot3_simulations/stdout_stderr.log
@@ -0,0 +1,35 @@
+-- The C compiler identification is GNU 11.4.0
+-- The CXX compiler identification is GNU 11.4.0
+-- Detecting C compiler ABI info
+-- Detecting C compiler ABI info - done
+-- Check for working C compiler: /usr/bin/cc - skipped
+-- Detecting C compile features
+-- Detecting C compile features - done
+-- Detecting CXX compiler ABI info
+-- Detecting CXX compiler ABI info - done
+-- Check for working CXX compiler: /usr/bin/c++ - skipped
+-- Detecting CXX compile features
+-- Detecting CXX compile features - done
+-- Found ament_cmake: 1.3.14 (/opt/ros/humble/share/ament_cmake/cmake)
+-- Found Python3: /usr/bin/python3 (found version "3.10.12") found components: Interpreter 
+-- Override CMake install command with custom implementation using symlinks instead of copying resources
+-- Configuring done
+-- Generating done
+-- Build files have been written to: /workspace/build/turtlebot3_simulations
+-- Install configuration: ""
+-- Execute custom install script
+-- Symlinking: /workspace/install/turtlebot3_simulations/share/ament_index/resource_index/package_run_dependencies/turtlebot3_simulations
+-- Symlinking: /workspace/install/turtlebot3_simulations/share/ament_index/resource_index/parent_prefix_path/turtlebot3_simulations
+-- Symlinking: /workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/environment/ament_prefix_path.sh
+-- Symlinking: /workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/environment/ament_prefix_path.dsv
+-- Symlinking: /workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/environment/path.sh
+-- Symlinking: /workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/environment/path.dsv
+-- Symlinking: /workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/local_setup.bash
+-- Symlinking: /workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/local_setup.sh
+-- Symlinking: /workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/local_setup.zsh
+-- Symlinking: /workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/local_setup.dsv
+-- Symlinking: /workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/package.dsv
+-- Symlinking: /workspace/install/turtlebot3_simulations/share/ament_index/resource_index/packages/turtlebot3_simulations
+-- Symlinking: /workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/cmake/turtlebot3_simulationsConfig.cmake
+-- Symlinking: /workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/cmake/turtlebot3_simulationsConfig-version.cmake
+-- Symlinking: /workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/package.xml
diff --git a/log/build_2026-06-29_09-02-16/turtlebot3_simulations/streams.log b/log/build_2026-06-29_09-02-16/turtlebot3_simulations/streams.log
new file mode 100644
index 0000000..4a358f9
--- /dev/null
+++ b/log/build_2026-06-29_09-02-16/turtlebot3_simulations/streams.log
@@ -0,0 +1,41 @@
+[0.531s] Invoking command in '/workspace/build/turtlebot3_simulations': AMENT_PREFIX_PATH=/workspace/install/turtlebot3_gazebo:${AMENT_PREFIX_PATH} CMAKE_PREFIX_PATH=/workspace/install/turtlebot3_gazebo:/opt/ros/humble PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$ /usr/bin/cmake /workspace/src/turtlebot3_simulations/turtlebot3_simulations -DAMENT_CMAKE_SYMLINK_INSTALL=1 -DCMAKE_INSTALL_PREFIX=/workspace/install/turtlebot3_simulations
+[2.565s] -- The C compiler identification is GNU 11.4.0
+[4.470s] -- The CXX compiler identification is GNU 11.4.0
+[4.657s] -- Detecting C compiler ABI info
+[8.456s] -- Detecting C compiler ABI info - done
+[8.581s] -- Check for working C compiler: /usr/bin/cc - skipped
+[8.581s] -- Detecting C compile features
+[8.581s] -- Detecting C compile features - done
+[8.773s] -- Detecting CXX compiler ABI info
+[12.634s] -- Detecting CXX compiler ABI info - done
+[12.787s] -- Check for working CXX compiler: /usr/bin/c++ - skipped
+[12.787s] -- Detecting CXX compile features
+[12.788s] -- Detecting CXX compile features - done
+[13.044s] -- Found ament_cmake: 1.3.14 (/opt/ros/humble/share/ament_cmake/cmake)
+[13.622s] -- Found Python3: /usr/bin/python3 (found version "3.10.12") found components: Interpreter 
+[14.105s] -- Override CMake install command with custom implementation using symlinks instead of copying resources
+[18.751s] -- Configuring done
+[20.433s] -- Generating done
+[21.320s] -- Build files have been written to: /workspace/build/turtlebot3_simulations
+[21.326s] Invoked command in '/workspace/build/turtlebot3_simulations' returned '0': AMENT_PREFIX_PATH=/workspace/install/turtlebot3_gazebo:${AMENT_PREFIX_PATH} CMAKE_PREFIX_PATH=/workspace/install/turtlebot3_gazebo:/opt/ros/humble PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$ /usr/bin/cmake /workspace/src/turtlebot3_simulations/turtlebot3_simulations -DAMENT_CMAKE_SYMLINK_INSTALL=1 -DCMAKE_INSTALL_PREFIX=/workspace/install/turtlebot3_simulations
+[21.512s] Invoking command in '/workspace/build/turtlebot3_simulations': AMENT_PREFIX_PATH=/workspace/install/turtlebot3_gazebo:${AMENT_PREFIX_PATH} CMAKE_PREFIX_PATH=/workspace/install/turtlebot3_gazebo:/opt/ros/humble PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$ /usr/bin/cmake --build /workspace/build/turtlebot3_simulations -- -j8 -l8
+[21.648s] Invoked command in '/workspace/build/turtlebot3_simulations' returned '0': AMENT_PREFIX_PATH=/workspace/install/turtlebot3_gazebo:${AMENT_PREFIX_PATH} CMAKE_PREFIX_PATH=/workspace/install/turtlebot3_gazebo:/opt/ros/humble PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$ /usr/bin/cmake --build /workspace/build/turtlebot3_simulations -- -j8 -l8
+[21.812s] Invoking command in '/workspace/build/turtlebot3_simulations': AMENT_PREFIX_PATH=/workspace/install/turtlebot3_gazebo:${AMENT_PREFIX_PATH} CMAKE_PREFIX_PATH=/workspace/install/turtlebot3_gazebo:/opt/ros/humble PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$ /usr/bin/cmake --install /workspace/build/turtlebot3_simulations
+[21.826s] -- Install configuration: ""
+[21.840s] -- Execute custom install script
+[21.971s] -- Symlinking: /workspace/install/turtlebot3_simulations/share/ament_index/resource_index/package_run_dependencies/turtlebot3_simulations
+[22.067s] -- Symlinking: /workspace/install/turtlebot3_simulations/share/ament_index/resource_index/parent_prefix_path/turtlebot3_simulations
+[22.195s] -- Symlinking: /workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/environment/ament_prefix_path.sh
+[22.279s] -- Symlinking: /workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/environment/ament_prefix_path.dsv
+[22.366s] -- Symlinking: /workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/environment/path.sh
+[22.448s] -- Symlinking: /workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/environment/path.dsv
+[22.514s] -- Symlinking: /workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/local_setup.bash
+[22.599s] -- Symlinking: /workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/local_setup.sh
+[22.684s] -- Symlinking: /workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/local_setup.zsh
+[22.758s] -- Symlinking: /workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/local_setup.dsv
+[22.845s] -- Symlinking: /workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/package.dsv
+[22.959s] -- Symlinking: /workspace/install/turtlebot3_simulations/share/ament_index/resource_index/packages/turtlebot3_simulations
+[23.066s] -- Symlinking: /workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/cmake/turtlebot3_simulationsConfig.cmake
+[23.151s] -- Symlinking: /workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/cmake/turtlebot3_simulationsConfig-version.cmake
+[23.220s] -- Symlinking: /workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/package.xml
+[23.282s] Invoked command in '/workspace/build/turtlebot3_simulations' returned '0': AMENT_PREFIX_PATH=/workspace/install/turtlebot3_gazebo:${AMENT_PREFIX_PATH} CMAKE_PREFIX_PATH=/workspace/install/turtlebot3_gazebo:/opt/ros/humble PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$ /usr/bin/cmake --install /workspace/build/turtlebot3_simulations
diff --git a/log/build_2026-06-29_09-02-16/vlm_nav_pkg/command.log b/log/build_2026-06-29_09-02-16/vlm_nav_pkg/command.log
new file mode 100644
index 0000000..7b421fe
--- /dev/null
+++ b/log/build_2026-06-29_09-02-16/vlm_nav_pkg/command.log
@@ -0,0 +1,2 @@
+Invoking command in '/workspace/build/vlm_nav_pkg': PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$ PYTHONPATH=/workspace/build/vlm_nav_pkg/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/workspace/install/vlm_nav_pkg/lib/python3.10/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py develop --editable --build-directory /workspace/build/vlm_nav_pkg/build --no-deps symlink_data
+Invoked command in '/workspace/build/vlm_nav_pkg' returned '0': PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$ PYTHONPATH=/workspace/build/vlm_nav_pkg/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/workspace/install/vlm_nav_pkg/lib/python3.10/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py develop --editable --build-directory /workspace/build/vlm_nav_pkg/build --no-deps symlink_data
diff --git a/log/build_2026-06-29_09-02-16/vlm_nav_pkg/stderr.log b/log/build_2026-06-29_09-02-16/vlm_nav_pkg/stderr.log
new file mode 100644
index 0000000..e69de29
diff --git a/log/build_2026-06-29_09-02-16/vlm_nav_pkg/stdout.log b/log/build_2026-06-29_09-02-16/vlm_nav_pkg/stdout.log
new file mode 100644
index 0000000..b3d45e6
--- /dev/null
+++ b/log/build_2026-06-29_09-02-16/vlm_nav_pkg/stdout.log
@@ -0,0 +1,26 @@
+running develop
+running egg_info
+creating vlm_nav_pkg.egg-info
+writing vlm_nav_pkg.egg-info/PKG-INFO
+writing dependency_links to vlm_nav_pkg.egg-info/dependency_links.txt
+writing entry points to vlm_nav_pkg.egg-info/entry_points.txt
+writing requirements to vlm_nav_pkg.egg-info/requires.txt
+writing top-level names to vlm_nav_pkg.egg-info/top_level.txt
+writing manifest file 'vlm_nav_pkg.egg-info/SOURCES.txt'
+reading manifest file 'vlm_nav_pkg.egg-info/SOURCES.txt'
+writing manifest file 'vlm_nav_pkg.egg-info/SOURCES.txt'
+running build_ext
+Creating /workspace/install/vlm_nav_pkg/lib/python3.10/site-packages/vlm-nav-pkg.egg-link (link to .)
+Installing point_nav script to /workspace/install/vlm_nav_pkg/lib/vlm_nav_pkg
+Installing semantic_nav script to /workspace/install/vlm_nav_pkg/lib/vlm_nav_pkg
+
+Installed /workspace/build/vlm_nav_pkg
+running symlink_data
+creating /workspace/install/vlm_nav_pkg/share/ament_index
+creating /workspace/install/vlm_nav_pkg/share/ament_index/resource_index
+creating /workspace/install/vlm_nav_pkg/share/ament_index/resource_index/packages
+symbolically linking /workspace/build/vlm_nav_pkg/resource/vlm_nav_pkg -> /workspace/install/vlm_nav_pkg/share/ament_index/resource_index/packages
+symbolically linking /workspace/build/vlm_nav_pkg/package.xml -> /workspace/install/vlm_nav_pkg/share/vlm_nav_pkg
+creating /workspace/install/vlm_nav_pkg/share/vlm_nav_pkg/config
+symbolically linking /workspace/build/vlm_nav_pkg/config/example_object_detection_vlm.json -> /workspace/install/vlm_nav_pkg/share/vlm_nav_pkg/config
+symbolically linking /workspace/build/vlm_nav_pkg/config/test_vlm.json -> /workspace/install/vlm_nav_pkg/share/vlm_nav_pkg/config
diff --git a/log/build_2026-06-29_09-02-16/vlm_nav_pkg/stdout_stderr.log b/log/build_2026-06-29_09-02-16/vlm_nav_pkg/stdout_stderr.log
new file mode 100644
index 0000000..b3d45e6
--- /dev/null
+++ b/log/build_2026-06-29_09-02-16/vlm_nav_pkg/stdout_stderr.log
@@ -0,0 +1,26 @@
+running develop
+running egg_info
+creating vlm_nav_pkg.egg-info
+writing vlm_nav_pkg.egg-info/PKG-INFO
+writing dependency_links to vlm_nav_pkg.egg-info/dependency_links.txt
+writing entry points to vlm_nav_pkg.egg-info/entry_points.txt
+writing requirements to vlm_nav_pkg.egg-info/requires.txt
+writing top-level names to vlm_nav_pkg.egg-info/top_level.txt
+writing manifest file 'vlm_nav_pkg.egg-info/SOURCES.txt'
+reading manifest file 'vlm_nav_pkg.egg-info/SOURCES.txt'
+writing manifest file 'vlm_nav_pkg.egg-info/SOURCES.txt'
+running build_ext
+Creating /workspace/install/vlm_nav_pkg/lib/python3.10/site-packages/vlm-nav-pkg.egg-link (link to .)
+Installing point_nav script to /workspace/install/vlm_nav_pkg/lib/vlm_nav_pkg
+Installing semantic_nav script to /workspace/install/vlm_nav_pkg/lib/vlm_nav_pkg
+
+Installed /workspace/build/vlm_nav_pkg
+running symlink_data
+creating /workspace/install/vlm_nav_pkg/share/ament_index
+creating /workspace/install/vlm_nav_pkg/share/ament_index/resource_index
+creating /workspace/install/vlm_nav_pkg/share/ament_index/resource_index/packages
+symbolically linking /workspace/build/vlm_nav_pkg/resource/vlm_nav_pkg -> /workspace/install/vlm_nav_pkg/share/ament_index/resource_index/packages
+symbolically linking /workspace/build/vlm_nav_pkg/package.xml -> /workspace/install/vlm_nav_pkg/share/vlm_nav_pkg
+creating /workspace/install/vlm_nav_pkg/share/vlm_nav_pkg/config
+symbolically linking /workspace/build/vlm_nav_pkg/config/example_object_detection_vlm.json -> /workspace/install/vlm_nav_pkg/share/vlm_nav_pkg/config
+symbolically linking /workspace/build/vlm_nav_pkg/config/test_vlm.json -> /workspace/install/vlm_nav_pkg/share/vlm_nav_pkg/config
diff --git a/log/build_2026-06-29_09-02-16/vlm_nav_pkg/streams.log b/log/build_2026-06-29_09-02-16/vlm_nav_pkg/streams.log
new file mode 100644
index 0000000..f8db246
--- /dev/null
+++ b/log/build_2026-06-29_09-02-16/vlm_nav_pkg/streams.log
@@ -0,0 +1,28 @@
+[7.448s] Invoking command in '/workspace/build/vlm_nav_pkg': PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$ PYTHONPATH=/workspace/build/vlm_nav_pkg/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/workspace/install/vlm_nav_pkg/lib/python3.10/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py develop --editable --build-directory /workspace/build/vlm_nav_pkg/build --no-deps symlink_data
+[8.990s] running develop
+[10.715s] running egg_info
+[10.716s] creating vlm_nav_pkg.egg-info
+[10.744s] writing vlm_nav_pkg.egg-info/PKG-INFO
+[10.887s] writing dependency_links to vlm_nav_pkg.egg-info/dependency_links.txt
+[10.966s] writing entry points to vlm_nav_pkg.egg-info/entry_points.txt
+[11.007s] writing requirements to vlm_nav_pkg.egg-info/requires.txt
+[11.069s] writing top-level names to vlm_nav_pkg.egg-info/top_level.txt
+[11.154s] writing manifest file 'vlm_nav_pkg.egg-info/SOURCES.txt'
+[11.278s] reading manifest file 'vlm_nav_pkg.egg-info/SOURCES.txt'
+[11.289s] writing manifest file 'vlm_nav_pkg.egg-info/SOURCES.txt'
+[11.346s] running build_ext
+[11.346s] Creating /workspace/install/vlm_nav_pkg/lib/python3.10/site-packages/vlm-nav-pkg.egg-link (link to .)
+[11.451s] Installing point_nav script to /workspace/install/vlm_nav_pkg/lib/vlm_nav_pkg
+[11.552s] Installing semantic_nav script to /workspace/install/vlm_nav_pkg/lib/vlm_nav_pkg
+[11.616s] 
+[11.616s] Installed /workspace/build/vlm_nav_pkg
+[11.619s] running symlink_data
+[11.624s] creating /workspace/install/vlm_nav_pkg/share/ament_index
+[11.641s] creating /workspace/install/vlm_nav_pkg/share/ament_index/resource_index
+[11.661s] creating /workspace/install/vlm_nav_pkg/share/ament_index/resource_index/packages
+[11.686s] symbolically linking /workspace/build/vlm_nav_pkg/resource/vlm_nav_pkg -> /workspace/install/vlm_nav_pkg/share/ament_index/resource_index/packages
+[11.699s] symbolically linking /workspace/build/vlm_nav_pkg/package.xml -> /workspace/install/vlm_nav_pkg/share/vlm_nav_pkg
+[11.726s] creating /workspace/install/vlm_nav_pkg/share/vlm_nav_pkg/config
+[11.768s] symbolically linking /workspace/build/vlm_nav_pkg/config/example_object_detection_vlm.json -> /workspace/install/vlm_nav_pkg/share/vlm_nav_pkg/config
+[11.784s] symbolically linking /workspace/build/vlm_nav_pkg/config/test_vlm.json -> /workspace/install/vlm_nav_pkg/share/vlm_nav_pkg/config
+[11.827s] Invoked command in '/workspace/build/vlm_nav_pkg' returned '0': PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$ PYTHONPATH=/workspace/build/vlm_nav_pkg/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/workspace/install/vlm_nav_pkg/lib/python3.10/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py develop --editable --build-directory /workspace/build/vlm_nav_pkg/build --no-deps symlink_data
diff --git a/log/build_2026-06-29_09-02-16/vlm_perception_pkg/command.log b/log/build_2026-06-29_09-02-16/vlm_perception_pkg/command.log
new file mode 100644
index 0000000..3a3eddb
--- /dev/null
+++ b/log/build_2026-06-29_09-02-16/vlm_perception_pkg/command.log
@@ -0,0 +1,2 @@
+Invoking command in '/workspace/build/vlm_perception_pkg': PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$ PYTHONPATH=/workspace/build/vlm_perception_pkg/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/workspace/install/vlm_perception_pkg/lib/python3.10/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py develop --editable --build-directory /workspace/build/vlm_perception_pkg/build --no-deps symlink_data
+Invoked command in '/workspace/build/vlm_perception_pkg' returned '0': PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$ PYTHONPATH=/workspace/build/vlm_perception_pkg/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/workspace/install/vlm_perception_pkg/lib/python3.10/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py develop --editable --build-directory /workspace/build/vlm_perception_pkg/build --no-deps symlink_data
diff --git a/log/build_2026-06-29_09-02-16/vlm_perception_pkg/stderr.log b/log/build_2026-06-29_09-02-16/vlm_perception_pkg/stderr.log
new file mode 100644
index 0000000..e69de29
diff --git a/log/build_2026-06-29_09-02-16/vlm_perception_pkg/stdout.log b/log/build_2026-06-29_09-02-16/vlm_perception_pkg/stdout.log
new file mode 100644
index 0000000..7df16ab
--- /dev/null
+++ b/log/build_2026-06-29_09-02-16/vlm_perception_pkg/stdout.log
@@ -0,0 +1,24 @@
+running develop
+running egg_info
+creating vlm_perception_pkg.egg-info
+writing vlm_perception_pkg.egg-info/PKG-INFO
+writing dependency_links to vlm_perception_pkg.egg-info/dependency_links.txt
+writing entry points to vlm_perception_pkg.egg-info/entry_points.txt
+writing requirements to vlm_perception_pkg.egg-info/requires.txt
+writing top-level names to vlm_perception_pkg.egg-info/top_level.txt
+writing manifest file 'vlm_perception_pkg.egg-info/SOURCES.txt'
+reading manifest file 'vlm_perception_pkg.egg-info/SOURCES.txt'
+writing manifest file 'vlm_perception_pkg.egg-info/SOURCES.txt'
+running build_ext
+Creating /workspace/install/vlm_perception_pkg/lib/python3.10/site-packages/vlm-perception-pkg.egg-link (link to .)
+Installing multi_waypoint_navigation script to /workspace/install/vlm_perception_pkg/lib/vlm_perception_pkg
+Installing simple_detection script to /workspace/install/vlm_perception_pkg/lib/vlm_perception_pkg
+Installing vlm_detection script to /workspace/install/vlm_perception_pkg/lib/vlm_perception_pkg
+
+Installed /workspace/build/vlm_perception_pkg
+running symlink_data
+creating /workspace/install/vlm_perception_pkg/share/ament_index
+creating /workspace/install/vlm_perception_pkg/share/ament_index/resource_index
+creating /workspace/install/vlm_perception_pkg/share/ament_index/resource_index/packages
+symbolically linking /workspace/build/vlm_perception_pkg/resource/vlm_perception_pkg -> /workspace/install/vlm_perception_pkg/share/ament_index/resource_index/packages
+symbolically linking /workspace/build/vlm_perception_pkg/package.xml -> /workspace/install/vlm_perception_pkg/share/vlm_perception_pkg
diff --git a/log/build_2026-06-29_09-02-16/vlm_perception_pkg/stdout_stderr.log b/log/build_2026-06-29_09-02-16/vlm_perception_pkg/stdout_stderr.log
new file mode 100644
index 0000000..7df16ab
--- /dev/null
+++ b/log/build_2026-06-29_09-02-16/vlm_perception_pkg/stdout_stderr.log
@@ -0,0 +1,24 @@
+running develop
+running egg_info
+creating vlm_perception_pkg.egg-info
+writing vlm_perception_pkg.egg-info/PKG-INFO
+writing dependency_links to vlm_perception_pkg.egg-info/dependency_links.txt
+writing entry points to vlm_perception_pkg.egg-info/entry_points.txt
+writing requirements to vlm_perception_pkg.egg-info/requires.txt
+writing top-level names to vlm_perception_pkg.egg-info/top_level.txt
+writing manifest file 'vlm_perception_pkg.egg-info/SOURCES.txt'
+reading manifest file 'vlm_perception_pkg.egg-info/SOURCES.txt'
+writing manifest file 'vlm_perception_pkg.egg-info/SOURCES.txt'
+running build_ext
+Creating /workspace/install/vlm_perception_pkg/lib/python3.10/site-packages/vlm-perception-pkg.egg-link (link to .)
+Installing multi_waypoint_navigation script to /workspace/install/vlm_perception_pkg/lib/vlm_perception_pkg
+Installing simple_detection script to /workspace/install/vlm_perception_pkg/lib/vlm_perception_pkg
+Installing vlm_detection script to /workspace/install/vlm_perception_pkg/lib/vlm_perception_pkg
+
+Installed /workspace/build/vlm_perception_pkg
+running symlink_data
+creating /workspace/install/vlm_perception_pkg/share/ament_index
+creating /workspace/install/vlm_perception_pkg/share/ament_index/resource_index
+creating /workspace/install/vlm_perception_pkg/share/ament_index/resource_index/packages
+symbolically linking /workspace/build/vlm_perception_pkg/resource/vlm_perception_pkg -> /workspace/install/vlm_perception_pkg/share/ament_index/resource_index/packages
+symbolically linking /workspace/build/vlm_perception_pkg/package.xml -> /workspace/install/vlm_perception_pkg/share/vlm_perception_pkg
diff --git a/log/build_2026-06-29_09-02-16/vlm_perception_pkg/streams.log b/log/build_2026-06-29_09-02-16/vlm_perception_pkg/streams.log
new file mode 100644
index 0000000..faa199a
--- /dev/null
+++ b/log/build_2026-06-29_09-02-16/vlm_perception_pkg/streams.log
@@ -0,0 +1,26 @@
+[7.377s] Invoking command in '/workspace/build/vlm_perception_pkg': PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$ PYTHONPATH=/workspace/build/vlm_perception_pkg/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/workspace/install/vlm_perception_pkg/lib/python3.10/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py develop --editable --build-directory /workspace/build/vlm_perception_pkg/build --no-deps symlink_data
+[8.884s] running develop
+[10.762s] running egg_info
+[10.763s] creating vlm_perception_pkg.egg-info
+[10.782s] writing vlm_perception_pkg.egg-info/PKG-INFO
+[10.895s] writing dependency_links to vlm_perception_pkg.egg-info/dependency_links.txt
+[10.945s] writing entry points to vlm_perception_pkg.egg-info/entry_points.txt
+[11.007s] writing requirements to vlm_perception_pkg.egg-info/requires.txt
+[11.085s] writing top-level names to vlm_perception_pkg.egg-info/top_level.txt
+[11.122s] writing manifest file 'vlm_perception_pkg.egg-info/SOURCES.txt'
+[11.206s] reading manifest file 'vlm_perception_pkg.egg-info/SOURCES.txt'
+[11.226s] writing manifest file 'vlm_perception_pkg.egg-info/SOURCES.txt'
+[11.296s] running build_ext
+[11.296s] Creating /workspace/install/vlm_perception_pkg/lib/python3.10/site-packages/vlm-perception-pkg.egg-link (link to .)
+[11.389s] Installing multi_waypoint_navigation script to /workspace/install/vlm_perception_pkg/lib/vlm_perception_pkg
+[11.554s] Installing simple_detection script to /workspace/install/vlm_perception_pkg/lib/vlm_perception_pkg
+[11.642s] Installing vlm_detection script to /workspace/install/vlm_perception_pkg/lib/vlm_perception_pkg
+[11.726s] 
+[11.726s] Installed /workspace/build/vlm_perception_pkg
+[11.743s] running symlink_data
+[11.747s] creating /workspace/install/vlm_perception_pkg/share/ament_index
+[11.757s] creating /workspace/install/vlm_perception_pkg/share/ament_index/resource_index
+[11.781s] creating /workspace/install/vlm_perception_pkg/share/ament_index/resource_index/packages
+[11.794s] symbolically linking /workspace/build/vlm_perception_pkg/resource/vlm_perception_pkg -> /workspace/install/vlm_perception_pkg/share/ament_index/resource_index/packages
+[11.816s] symbolically linking /workspace/build/vlm_perception_pkg/package.xml -> /workspace/install/vlm_perception_pkg/share/vlm_perception_pkg
+[12.692s] Invoked command in '/workspace/build/vlm_perception_pkg' returned '0': PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$ PYTHONPATH=/workspace/build/vlm_perception_pkg/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/workspace/install/vlm_perception_pkg/lib/python3.10/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py develop --editable --build-directory /workspace/build/vlm_perception_pkg/build --no-deps symlink_data
diff --git a/log/latest b/log/latest
new file mode 120000
index 0000000..b57d247
--- /dev/null
+++ b/log/latest
@@ -0,0 +1 @@
+latest_build
\ No newline at end of file
diff --git a/log/latest_build b/log/latest_build
new file mode 120000
index 0000000..fbac88c
--- /dev/null
+++ b/log/latest_build
@@ -0,0 +1 @@
+build_2026-06-29_09-02-16
\ No newline at end of file
diff --git a/requirements-v100.txt b/requirements-v100.txt
new file mode 100755
index 0000000..b73aeb4
--- /dev/null
+++ b/requirements-v100.txt
@@ -0,0 +1,13 @@
+# V100-friendly pinned environment (installed into conda ros2 via bootstrap_ros2_conda_workspace.sh)
+# Do NOT pip install --user to system Python.
+--extra-index-url https://download.pytorch.org/whl/cu118
+torch==2.6.0
+torchvision==0.21.0
+numpy<2
+opencv-python<4.11
+Pillow
+git+https://github.com/openai/CLIP.git@d05afc436d78f1c48dc0dbf8e5980a9d471f35f6
+ftfy
+regex
+tqdm
+matplotlib
\ No newline at end of file
diff --git a/requirements.txt b/requirements.txt
new file mode 100644
index 0000000..f1b99bb
--- /dev/null
+++ b/requirements.txt
@@ -0,0 +1,11 @@
+torch>=2.1.0
+torchvision>=0.16.0
+torchaudio>=2.1.0
+numpy<2
+opencv-python<4.11
+Pillow
+git+https://github.com/openai/CLIP.git
+ftfy
+regex
+tqdm
+matplotlib
diff --git a/setup_model_cache.sh b/setup_model_cache.sh
new file mode 100755
index 0000000..8ddba46
--- /dev/null
+++ b/setup_model_cache.sh
@@ -0,0 +1,45 @@
+#!/usr/bin/env bash
+# Idempotent symlinks: shared vendor weights -> per-user ~/.cache (torch + CLIP).
+# See VENDOR_MODELS.md for vendor layout and download URLs.
+set -euo pipefail
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+VENDOR_MODELS="${VENDOR_MODELS:-/opt/vendor/models/office_vlm}"
+TORCH_HOME="${TORCH_HOME:-${HOME}/.cache/torch}"
+CLIP_DIR="${CLIP_DIR:-${HOME}/.cache/clip}"
+
+FRCNN_NAME="fasterrcnn_resnet50_fpn_v2_coco-dd69338a.pth"
+CLIP_NAME="ViT-B-32.pt"
+
+log() { echo "[office_vlm/models] $*"; }
+
+link_if_missing() {
+  local src="$1" dst="$2"
+  if [[ ! -f "${src}" ]]; then
+    log "WARN: vendor file missing (skip): ${src}"
+    return 0
+  fi
+  if [[ -e "${dst}" ]]; then
+    return 0
+  fi
+  mkdir -p "$(dirname "${dst}")"
+  ln -sf "${src}" "${dst}"
+  log "linked ${dst} -> ${src}"
+}
+
+mkdir -p "${TORCH_HOME}/hub/checkpoints" "${CLIP_DIR}"
+
+link_if_missing \
+  "${VENDOR_MODELS}/torch/hub/checkpoints/${FRCNN_NAME}" \
+  "${TORCH_HOME}/hub/checkpoints/${FRCNN_NAME}"
+
+link_if_missing \
+  "${VENDOR_MODELS}/clip/${CLIP_NAME}" \
+  "${CLIP_DIR}/${CLIP_NAME}"
+
+if [[ -f "${VENDOR_MODELS}/torch/hub/checkpoints/${FRCNN_NAME}" ]] \
+  && [[ -f "${VENDOR_MODELS}/clip/${CLIP_NAME}" ]]; then
+  log "cache ready (vendor)"
+else
+  log "vendor incomplete — nodes will download on first clip.load / torchvision weights"
+fi
diff --git a/src/TurtleBot-RRT-Star/CMakeLists.txt b/src/TurtleBot-RRT-Star/CMakeLists.txt
new file mode 100755
index 0000000..6eb216f
--- /dev/null
+++ b/src/TurtleBot-RRT-Star/CMakeLists.txt
@@ -0,0 +1,91 @@
+cmake_minimum_required(VERSION 3.5)
+project(nav2_rrtstar_planner)
+
+# Default to C99
+set(CMAKE_C_STANDARD 99)
+
+
+# Default to C++14
+set(CMAKE_CXX_STANDARD 14)
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_action REQUIRED)
+find_package(rclcpp_lifecycle REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(visualization_msgs REQUIRED)
+find_package(nav2_util REQUIRED)
+find_package(nav2_msgs REQUIRED)
+find_package(nav_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+find_package(tf2_ros REQUIRED)
+find_package(nav2_costmap_2d REQUIRED)
+find_package(nav2_core REQUIRED)
+find_package(pluginlib REQUIRED)
+
+include_directories(
+  include
+)
+
+set(library_name ${PROJECT_NAME}_plugin)
+
+set(dependencies
+  rclcpp
+  rclcpp_action
+  rclcpp_lifecycle
+  std_msgs
+  visualization_msgs
+  nav2_util
+  nav2_msgs
+  nav_msgs
+  geometry_msgs
+  builtin_interfaces
+  tf2_ros
+  nav2_costmap_2d
+  nav2_core
+  pluginlib
+)
+
+add_library(${library_name} SHARED
+  src/rrtstar_planner.cpp
+)
+
+ament_target_dependencies(${library_name}
+  ${dependencies}
+)
+
+target_compile_definitions(${library_name} PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
+
+
+pluginlib_export_plugin_description_file(nav2_core global_planner_plugin.xml)
+
+install(TARGETS ${library_name}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION lib/${PROJECT_NAME}
+)
+
+install(DIRECTORY include/
+  DESTINATION include/
+)
+
+install(FILES global_planner_plugin.xml
+  DESTINATION share/${PROJECT_NAME}
+)
+
+install(DIRECTORY launch/
+  DESTINATION share/${PROJECT_NAME}/launch
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+
+ament_export_include_directories(include)
+ament_export_libraries(${library_name})
+ament_export_dependencies(${dependencies})
+ament_package()
diff --git a/src/TurtleBot-RRT-Star/global_planner_plugin.xml b/src/TurtleBot-RRT-Star/global_planner_plugin.xml
new file mode 100755
index 0000000..aa3959e
--- /dev/null
+++ b/src/TurtleBot-RRT-Star/global_planner_plugin.xml
@@ -0,0 +1,5 @@
+<library path="nav2_rrtstar_planner_plugin">
+	<class name="nav2_rrtstar_planner/RRTStar" type="nav2_rrtstar_planner::RRTStar" base_class_type="nav2_core::GlobalPlanner">
+	  <description>This is a plugin for RRT Star path planning.</description>
+	</class>
+</library>
diff --git a/src/TurtleBot-RRT-Star/include/nav2_rrtstar_planner/rrtstar_planner.hpp b/src/TurtleBot-RRT-Star/include/nav2_rrtstar_planner/rrtstar_planner.hpp
new file mode 100755
index 0000000..ea20f35
--- /dev/null
+++ b/src/TurtleBot-RRT-Star/include/nav2_rrtstar_planner/rrtstar_planner.hpp
@@ -0,0 +1,60 @@
+#ifndef NAV2_RRTSTAR_PLANNER__RRTSTAR_PLANNER_HPP_
+#define NAV2_RRTSTAR_PLANNER__RRTSTAR_PLANNER_HPP_
+
+#include <string>
+#include <memory>
+#include <vector>
+#include "rclcpp/rclcpp.hpp"
+#include "nav2_core/global_planner.hpp"
+#include "nav2_costmap_2d/costmap_2d_ros.hpp"
+#include "tf2_ros/buffer.h"
+#include "geometry_msgs/msg/pose_stamped.hpp"
+#include "nav_msgs/msg/path.hpp"
+
+namespace nav2_rrtstar_planner {
+
+struct Vertex {
+    double x, y, cost;
+    Vertex* parent;
+    Vertex(double x_val, double y_val, Vertex* p = nullptr, double travel_distance = 0) :
+        x(x_val), y(y_val), parent(p), cost(travel_distance) {}
+};
+
+class RRTStar : public nav2_core::GlobalPlanner {
+public:
+    RRTStar() = default;
+    ~RRTStar() override = default;
+
+    void configure(const rclcpp_lifecycle::LifecycleNode::WeakPtr& parent,
+                   std::string name, std::shared_ptr<tf2_ros::Buffer> tf,
+                   std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros) override;
+    void cleanup() override;
+    void activate() override;
+    void deactivate() override;
+
+    nav_msgs::msg::Path createPlan(const geometry_msgs::msg::PoseStamped& start,
+                                   const geometry_msgs::msg::PoseStamped& goal) override;
+
+protected:
+    std::shared_ptr<tf2_ros::Buffer> tf_;
+    nav2_util::LifecycleNode::SharedPtr node_;
+    nav2_costmap_2d::Costmap2D* costmap_;
+    std::string global_frame_;
+    std::string name_;
+    int max_iterations_;
+    double interpolation_resolution_;
+    std::vector<std::unique_ptr<Vertex>> tree_;
+    double ball_radius_constant_;
+
+    double calculate_distance(double x, double y, const Vertex& vertex);
+    Vertex* nearest_neighbor(double x, double y);
+    bool connectible(const Vertex& start, const Vertex& end);
+    void calculateBallRadiusConstant();
+    double calculateBallRadius(int tree_size, int dimensions, double max_connection_distance);
+    std::vector<int> findVerticesInsideCircle(double center_x, double center_y, double radius);
+    double calculate_cost_from_start(const Vertex& vertex);
+};
+
+}  // namespace nav2_rrtstar_planner
+
+#endif  // NAV2_RRTSTAR_PLANNER__RRTSTAR_PLANNER_HPP_
\ No newline at end of file
diff --git a/src/TurtleBot-RRT-Star/launch/bringup_localization_with_initial_pose.launch.py b/src/TurtleBot-RRT-Star/launch/bringup_localization_with_initial_pose.launch.py
new file mode 100644
index 0000000..d493aa5
--- /dev/null
+++ b/src/TurtleBot-RRT-Star/launch/bringup_localization_with_initial_pose.launch.py
@@ -0,0 +1,48 @@
+#!/usr/bin/env python3
+"""
+Launch localization with AMCL configured by the provided Nav2 params file.
+"""
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+import os
+
+from ament_index_python.packages import get_package_share_directory
+
+
+def generate_launch_description():
+    bringup_dir = get_package_share_directory('nav2_bringup')
+    default_params_file = os.path.join(
+        bringup_dir, 'params', 'nav2_params.yaml'
+    )
+
+    # Launch arguments
+    use_sim_time = LaunchConfiguration('use_sim_time', default='true')
+    map_yaml_file = LaunchConfiguration('map')
+    params_file = LaunchConfiguration('params_file')
+
+    declare_params_file = DeclareLaunchArgument(
+        'params_file',
+        default_value=default_params_file,
+        description='Full path to the ROS2 parameters file to use for localization nodes',
+    )
+
+    # Include original localization_launch.py
+    localization_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(bringup_dir, 'launch', 'localization_launch.py')
+        ),
+        launch_arguments={
+            'use_sim_time': use_sim_time,
+            'map': map_yaml_file,
+            'params_file': params_file,
+        }.items()
+    )
+
+    ld = LaunchDescription()
+    ld.add_action(declare_params_file)
+    ld.add_action(localization_launch)
+
+    return ld
diff --git a/src/TurtleBot-RRT-Star/nav2_params.yaml b/src/TurtleBot-RRT-Star/nav2_params.yaml
new file mode 100755
index 0000000..8dc3f8c
--- /dev/null
+++ b/src/TurtleBot-RRT-Star/nav2_params.yaml
@@ -0,0 +1,364 @@
+amcl:
+  ros__parameters:
+    use_sim_time: True
+    # 设置初始位姿（x, y, z, yaw）
+    set_initial_pose: True
+    initial_pose:
+      x: 0.0
+      y: 0.0
+      z: 0.0
+      yaw: 0.0
+    alpha1: 0.2
+    alpha2: 0.2
+    alpha3: 0.2
+    alpha4: 0.2
+    alpha5: 0.2
+    base_frame_id: "base_footprint"
+    beam_skip_distance: 0.5
+    beam_skip_error_threshold: 0.9
+    beam_skip_threshold: 0.3
+    do_beamskip: false
+    global_frame_id: "map"
+    lambda_short: 0.1
+    laser_likelihood_max_dist: 2.0
+    laser_max_range: 100.0
+    laser_min_range: -1.0
+    laser_model_type: "likelihood_field"
+    max_beams: 60
+    max_particles: 2000
+    min_particles: 500
+    odom_frame_id: "odom"
+    pf_err: 0.05
+    pf_z: 0.99
+    recovery_alpha_fast: 0.0
+    recovery_alpha_slow: 0.0
+    resample_interval: 1
+    robot_model_type: "nav2_amcl::DifferentialMotionModel"
+    save_pose_rate: 0.5
+    sigma_hit: 0.2
+    tf_broadcast: true
+    transform_tolerance: 1.0
+    update_min_a: 0.2
+    update_min_d: 0.25
+    z_hit: 0.5
+    z_max: 0.05
+    z_rand: 0.5
+    z_short: 0.05
+    scan_topic: scan
+
+bt_navigator:
+  ros__parameters:
+    use_sim_time: True
+    global_frame: map
+    robot_base_frame: base_link
+    odom_topic: /odom
+    bt_loop_duration: 10
+    default_server_timeout: 20
+    # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
+    # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
+    # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
+    # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
+    plugin_lib_names:
+      - nav2_compute_path_to_pose_action_bt_node
+      - nav2_compute_path_through_poses_action_bt_node
+      - nav2_smooth_path_action_bt_node
+      - nav2_follow_path_action_bt_node
+      - nav2_spin_action_bt_node
+      - nav2_wait_action_bt_node
+      - nav2_assisted_teleop_action_bt_node
+      - nav2_back_up_action_bt_node
+      - nav2_drive_on_heading_bt_node
+      - nav2_clear_costmap_service_bt_node
+      - nav2_is_stuck_condition_bt_node
+      - nav2_goal_reached_condition_bt_node
+      - nav2_goal_updated_condition_bt_node
+      - nav2_globally_updated_goal_condition_bt_node
+      - nav2_is_path_valid_condition_bt_node
+      - nav2_initial_pose_received_condition_bt_node
+      - nav2_reinitialize_global_localization_service_bt_node
+      - nav2_rate_controller_bt_node
+      - nav2_distance_controller_bt_node
+      - nav2_speed_controller_bt_node
+      - nav2_truncate_path_action_bt_node
+      - nav2_truncate_path_local_action_bt_node
+      - nav2_goal_updater_node_bt_node
+      - nav2_recovery_node_bt_node
+      - nav2_pipeline_sequence_bt_node
+      - nav2_round_robin_node_bt_node
+      - nav2_transform_available_condition_bt_node
+      - nav2_time_expired_condition_bt_node
+      - nav2_path_expiring_timer_condition
+      - nav2_distance_traveled_condition_bt_node
+      - nav2_single_trigger_bt_node
+      - nav2_goal_updated_controller_bt_node
+      - nav2_is_battery_low_condition_bt_node
+      - nav2_navigate_through_poses_action_bt_node
+      - nav2_navigate_to_pose_action_bt_node
+      - nav2_remove_passed_goals_action_bt_node
+      - nav2_planner_selector_bt_node
+      - nav2_controller_selector_bt_node
+      - nav2_goal_checker_selector_bt_node
+      - nav2_controller_cancel_bt_node
+      - nav2_path_longer_on_approach_bt_node
+      - nav2_wait_cancel_bt_node
+      - nav2_spin_cancel_bt_node
+      - nav2_back_up_cancel_bt_node
+      - nav2_assisted_teleop_cancel_bt_node
+      - nav2_drive_on_heading_cancel_bt_node
+      - nav2_is_battery_charging_condition_bt_node
+
+bt_navigator_navigate_through_poses_rclcpp_node:
+  ros__parameters:
+    use_sim_time: True
+
+bt_navigator_navigate_to_pose_rclcpp_node:
+  ros__parameters:
+    use_sim_time: True
+
+controller_server:
+  ros__parameters:
+    use_sim_time: True
+    controller_frequency: 20.0
+    min_x_velocity_threshold: 0.001
+    min_y_velocity_threshold: 0.5
+    min_theta_velocity_threshold: 0.001
+    failure_tolerance: 0.3
+    progress_checker_plugin: "progress_checker"
+    goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker"
+    controller_plugins: ["FollowPath"]
+
+    # Progress checker parameters
+    progress_checker:
+      plugin: "nav2_controller::SimpleProgressChecker"
+      required_movement_radius: 0.5
+      movement_time_allowance: 10.0
+    # Goal checker parameters
+    #precise_goal_checker:
+    #  plugin: "nav2_controller::SimpleGoalChecker"
+    #  xy_goal_tolerance: 0.25
+    #  yaw_goal_tolerance: 0.25
+    #  stateful: True
+    general_goal_checker:
+      stateful: True
+      plugin: "nav2_controller::SimpleGoalChecker"
+      xy_goal_tolerance: 0.25
+      yaw_goal_tolerance: 0.25
+    # DWB parameters
+    FollowPath:
+      plugin: "dwb_core::DWBLocalPlanner"
+      debug_trajectory_details: True
+      min_vel_x: 0.0
+      min_vel_y: 0.0
+      max_vel_x: 0.26
+      max_vel_y: 0.0
+      max_vel_theta: 1.0
+      min_speed_xy: 0.0
+      max_speed_xy: 0.26
+      min_speed_theta: 0.0
+      # Add high threshold velocity for turtlebot 3 issue.
+      # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
+      acc_lim_x: 2.5
+      acc_lim_y: 0.0
+      acc_lim_theta: 3.2
+      decel_lim_x: -2.5
+      decel_lim_y: 0.0
+      decel_lim_theta: -3.2
+      vx_samples: 20
+      vy_samples: 5
+      vtheta_samples: 20
+      sim_time: 1.7
+      linear_granularity: 0.05
+      angular_granularity: 0.025
+      transform_tolerance: 0.2
+      xy_goal_tolerance: 0.25
+      trans_stopped_velocity: 0.25
+      short_circuit_trajectory_evaluation: True
+      stateful: True
+      critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
+      BaseObstacle.scale: 0.02
+      PathAlign.scale: 32.0
+      PathAlign.forward_point_distance: 0.1
+      GoalAlign.scale: 24.0
+      GoalAlign.forward_point_distance: 0.1
+      PathDist.scale: 32.0
+      GoalDist.scale: 24.0
+      RotateToGoal.scale: 32.0
+      RotateToGoal.slowing_factor: 5.0
+      RotateToGoal.lookahead_time: -1.0
+
+local_costmap:
+  local_costmap:
+    ros__parameters:
+      update_frequency: 5.0
+      publish_frequency: 2.0
+      global_frame: odom
+      robot_base_frame: base_link
+      use_sim_time: True
+      rolling_window: true
+      width: 3
+      height: 3
+      resolution: 0.05
+      robot_radius: 0.22
+      plugins: ["voxel_layer", "inflation_layer"]
+      inflation_layer:
+        plugin: "nav2_costmap_2d::InflationLayer"
+        cost_scaling_factor: 1.0
+        inflation_radius: 0.55
+      voxel_layer:
+        plugin: "nav2_costmap_2d::VoxelLayer"
+        enabled: True
+        publish_voxel_map: True
+        origin_z: 0.0
+        z_resolution: 0.05
+        z_voxels: 16
+        max_obstacle_height: 2.0
+        mark_threshold: 0
+        observation_sources: scan
+        scan:
+          topic: /scan
+          max_obstacle_height: 2.0
+          clearing: True
+          marking: True
+          data_type: "LaserScan"
+          raytrace_max_range: 3.0
+          raytrace_min_range: 0.0
+          obstacle_max_range: 2.5
+          obstacle_min_range: 0.0
+      static_layer:
+        plugin: "nav2_costmap_2d::StaticLayer"
+        map_subscribe_transient_local: True
+      always_send_full_costmap: True
+
+global_costmap:
+  global_costmap:
+    ros__parameters:
+      update_frequency: 1.0
+      publish_frequency: 1.0
+      global_frame: map
+      robot_base_frame: base_link
+      use_sim_time: True
+      robot_radius: 0.22
+      resolution: 0.05
+      track_unknown_space: true
+      plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
+      obstacle_layer:
+        plugin: "nav2_costmap_2d::ObstacleLayer"
+        enabled: True
+        observation_sources: scan
+        scan:
+          topic: /scan
+          max_obstacle_height: 2.0
+          clearing: True
+          marking: True
+          data_type: "LaserScan"
+          raytrace_max_range: 3.0
+          raytrace_min_range: 0.0
+          obstacle_max_range: 2.5
+          obstacle_min_range: 0.0
+      static_layer:
+        plugin: "nav2_costmap_2d::StaticLayer"
+        map_subscribe_transient_local: True
+      inflation_layer:
+        plugin: "nav2_costmap_2d::InflationLayer"
+        cost_scaling_factor: 3.0
+        inflation_radius: 0.25
+      always_send_full_costmap: True
+
+map_server:
+  ros__parameters:
+    use_sim_time: True
+    # Overridden in launch by the "map" launch configuration or provided default value.
+    # To use in yaml, remove the default "map" value in the tb3_simulation_launch.py file & provide full path to map below.
+    yaml_filename: ""
+
+map_saver:
+  ros__parameters:
+    use_sim_time: True
+    save_map_timeout: 5.0
+    free_thresh_default: 0.25
+    occupied_thresh_default: 0.65
+    map_subscribe_transient_local: True
+
+planner_server:
+  ros__parameters:
+    expected_planner_frequency: 0.5
+    use_sim_time: True
+    planner_plugins: ['GridBased']
+    # GridBased:
+    #   plugin: 'nav2_navfn_planner/NavfnPlanner'
+    #   tolerance: 0.5
+    #   use_astar: false
+    #   allow_unknown: true
+
+    planner_plugin_types: ['nav2_rrtstar_planner::RRTStar'] # For Foxy and earlier
+    planner_plugin_ids: ['GridBased'] # For Foxy and earlier
+    plugins: ['GridBased'] # For Galactic and later
+    use_sim_time: True
+    GridBased:
+      plugin: nav2_rrtstar_planner/RRTStar # For Galactic and later
+      interpolation_resolution: 0.01
+
+smoother_server:
+  ros__parameters:
+    use_sim_time: True
+    smoother_plugins: ["simple_smoother"]
+    simple_smoother:
+      plugin: "nav2_smoother::SimpleSmoother"
+      tolerance: 1.0e-10
+      max_its: 1000
+      do_refinement: True
+
+behavior_server:
+  ros__parameters:
+    costmap_topic: local_costmap/costmap_raw
+    footprint_topic: local_costmap/published_footprint
+    cycle_frequency: 10.0
+    behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"]
+    spin:
+      plugin: "nav2_behaviors/Spin"
+    backup:
+      plugin: "nav2_behaviors/BackUp"
+    drive_on_heading:
+      plugin: "nav2_behaviors/DriveOnHeading"
+    wait:
+      plugin: "nav2_behaviors/Wait"
+    assisted_teleop:
+      plugin: "nav2_behaviors/AssistedTeleop"
+    global_frame: odom
+    robot_base_frame: base_link
+    transform_tolerance: 0.1
+    use_sim_time: true
+    simulate_ahead_time: 2.0
+    max_rotational_vel: 1.0
+    min_rotational_vel: 0.4
+    rotational_acc_lim: 3.2
+
+robot_state_publisher:
+  ros__parameters:
+    use_sim_time: True
+
+waypoint_follower:
+  ros__parameters:
+    use_sim_time: True
+    loop_rate: 20
+    stop_on_failure: false
+    waypoint_task_executor_plugin: "wait_at_waypoint"
+    wait_at_waypoint:
+      plugin: "nav2_waypoint_follower::WaitAtWaypoint"
+      enabled: True
+      waypoint_pause_duration: 200
+
+velocity_smoother:
+  ros__parameters:
+    use_sim_time: True
+    smoothing_frequency: 20.0
+    scale_velocities: False
+    feedback: "OPEN_LOOP"
+    max_velocity: [0.26, 0.0, 1.0]
+    min_velocity: [-0.26, 0.0, -1.0]
+    max_accel: [2.5, 0.0, 3.2]
+    max_decel: [-2.5, 0.0, -3.2]
+    odom_topic: "odom"
+    odom_duration: 0.1
+    deadband_velocity: [0.0, 0.0, 0.0]
+    velocity_timeout: 1.0
diff --git a/src/TurtleBot-RRT-Star/package.xml b/src/TurtleBot-RRT-Star/package.xml
new file mode 100755
index 0000000..118575b
--- /dev/null
+++ b/src/TurtleBot-RRT-Star/package.xml
@@ -0,0 +1,38 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>nav2_rrtstar_planner</name>
+  <version>1.0.0</version>
+  <description>RRT Star path planner.</description>
+  <maintainer email="echo@126.com">echo</maintainer>
+  <license>BSD-3-Clause</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>rclcpp</depend>
+  <depend>rclcpp_action</depend>
+  <depend>rclcpp_lifecycle</depend>  
+  <depend>std_msgs</depend>
+  <depend>visualization_msgs</depend>
+  <depend>nav2_util</depend>
+  <depend>nav2_msgs</depend>
+  <depend>nav_msgs</depend>
+  <depend>geometry_msgs</depend>
+  <depend>builtin_interfaces</depend>
+  <depend>tf2_ros</depend>
+  <depend>nav2_costmap_2d</depend>
+  <depend>nav2_core</depend>
+  <depend>pluginlib</depend>
+  <depend>nav2_bringup</depend>
+  <depend>random</depend>
+  <depend>vector</depend>
+  <depend>limits</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+    <nav2_core plugin="${prefix}/global_planner_plugin.xml" />
+  </export>
+</package>
diff --git a/src/TurtleBot-RRT-Star/src/rrtstar_planner.cpp b/src/TurtleBot-RRT-Star/src/rrtstar_planner.cpp
new file mode 100755
index 0000000..d7dc836
--- /dev/null
+++ b/src/TurtleBot-RRT-Star/src/rrtstar_planner.cpp
@@ -0,0 +1,321 @@
+#include <cmath>
+#include <string>
+#include <memory>
+#include "nav2_util/node_utils.hpp"
+#include <random>
+#include <vector>
+#include <limits>
+
+#include "nav2_rrtstar_planner/rrtstar_planner.hpp"
+
+namespace nav2_rrtstar_planner
+{
+
+void RRTStar::configure(
+  const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent,
+  std::string name, std::shared_ptr<tf2_ros::Buffer> tf,
+  std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros)
+{
+  node_ = parent.lock();
+  if (!node_) {
+    RCLCPP_ERROR(rclcpp::get_logger("RRTStar"), "Failed to lock parent node in configure; parent is expired.");
+    return; 
+  }
+  name_ = name;
+  tf_ = tf;
+  costmap_ = costmap_ros->getCostmap();
+  global_frame_ = costmap_ros->getGlobalFrameID();
+  max_iterations_ = 1000;
+
+  // Parameter initialization
+  nav2_util::declare_parameter_if_not_declared(
+    node_, name_ + ".interpolation_resolution", rclcpp::ParameterValue(0.01));
+  node_->get_parameter(name_ + ".interpolation_resolution", interpolation_resolution_);
+}
+
+void RRTStar::cleanup()
+{
+  RCLCPP_INFO(
+    node_->get_logger(), "CleaningUp plugin %s of type NavfnPlanner",
+    name_.c_str());
+}
+
+void RRTStar::activate()
+{
+  RCLCPP_INFO(
+    node_->get_logger(), "Activating plugin %s of type NavfnPlanner",
+    name_.c_str());
+}
+
+void RRTStar::deactivate()
+{
+  RCLCPP_INFO(
+    node_->get_logger(), "Deactivating plugin %s of type NavfnPlanner",
+    name_.c_str());
+}
+
+void RRTStar::calculateBallRadiusConstant() {
+    double resolution = costmap_->getResolution();
+    double cellArea = resolution * resolution;
+    unsigned int numFreeCells = 0;
+
+    for (unsigned int x = 0; x < costmap_->getSizeInCellsX(); x++) {
+        for (unsigned int y = 0; y < costmap_->getSizeInCellsY(); y++) {
+            if (costmap_->getCost(x, y) == nav2_costmap_2d::FREE_SPACE) {
+                numFreeCells++;
+            }
+        }
+    }
+
+    double freeVolume = cellArea * numFreeCells; 
+    int dimensions = 2;  
+    double vUnitBall = M_PI;  
+    ball_radius_constant_ = 2.0 * (1 + 1.0 / dimensions) * std::pow((freeVolume / vUnitBall), (1.0 / dimensions));
+}
+
+double RRTStar::calculateBallRadius(int tree_size, int dimensions, double max_connection_distance) {
+    double term1 = (ball_radius_constant_ * std::log(tree_size)) / tree_size;
+    double term2 = std::pow(term1, 1.0 / dimensions);
+    return std::min(term2, max_connection_distance);
+}
+
+std::vector<int> RRTStar::findVerticesInsideCircle(double center_x, double center_y, double radius) {
+    std::vector<int> vertices_inside_circle;
+    double radius_squared = radius * radius;
+
+    for (int i = 0; i < tree_.size(); ++i) {
+        // Dereference unique_ptr to access x and y
+        double distance_squared = std::pow((*tree_[i]).x - center_x, 2) + std::pow((*tree_[i]).y - center_y, 2);
+        if (distance_squared <= radius_squared) {
+            vertices_inside_circle.push_back(i);
+        }
+    }
+    return vertices_inside_circle;
+}
+
+
+double RRTStar::calculate_distance(double x, double y, const Vertex& vertex) {
+    return std::sqrt(std::pow(vertex.x - x, 2) + std::pow(vertex.y - y, 2));
+}
+
+Vertex* RRTStar::nearest_neighbor(double x, double y) {
+    Vertex* nearest_vertex = nullptr;
+    double min_dist = std::numeric_limits<double>::infinity();
+
+    for (const auto& vertex : tree_) {
+        // Dereference unique_ptr to pass Vertex reference to calculate_distance
+        double dist = calculate_distance(x, y, *vertex);
+        if (dist < min_dist) {
+            min_dist = dist;
+            nearest_vertex = vertex.get();  // Set to raw pointer of the unique_ptr
+        }
+    }
+    return nearest_vertex;
+}
+
+
+bool RRTStar::connectible(const Vertex& start, const Vertex& end) {
+    double resolution = interpolation_resolution_;
+    double steps = std::ceil(std::hypot(end.x - start.x, end.y - start.y) / resolution);
+    if (steps > 0){
+      double x_increment = (end.x - start.x) / steps;
+      double y_increment = (end.y - start.y) / steps;
+
+      double x = start.x, y = start.y;
+      for (int i = 0; i < steps; ++i) {
+          unsigned int mx, my;
+          if (!costmap_->worldToMap(x, y, mx, my)) return false;
+          if (costmap_->getCost(mx, my) != nav2_costmap_2d::FREE_SPACE) return false;
+          x += x_increment;
+          y += y_increment;
+      }
+    }
+    return true;
+}
+
+double RRTStar::calculate_cost_from_start(const Vertex& vertex) {
+    double total_cost = 0.0;
+
+    const Vertex* cur_ver = &vertex;
+
+    while (cur_ver != nullptr) {
+        total_cost += cur_ver->cost;
+        cur_ver = cur_ver->parent;
+    }
+
+    return total_cost;
+}
+
+nav_msgs::msg::Path RRTStar::createPlan(
+  const geometry_msgs::msg::PoseStamped & start,
+  const geometry_msgs::msg::PoseStamped & goal)
+{
+  nav_msgs::msg::Path global_path;
+
+  // Checking if the goal and start state is in the global frame
+  if (start.header.frame_id != global_frame_) {
+    RCLCPP_ERROR(
+      node_->get_logger(), "Planner will only accept start position from %s frame",
+      global_frame_.c_str());
+    return global_path;
+  }
+
+  if (goal.header.frame_id != global_frame_) {
+    RCLCPP_INFO(
+      node_->get_logger(), "Planner will only accept goal position from %s frame",
+      global_frame_.c_str());
+    return global_path;
+  }
+
+  global_path.poses.clear();
+  global_path.header.stamp = node_->now();
+  global_path.header.frame_id = global_frame_;
+
+  // Set up a random position generator
+  calculateBallRadiusConstant();
+  std::random_device rd;
+  std::mt19937 gen(rd());
+  std::uniform_real_distribution<> x_dis(costmap_->getOriginX(), costmap_->getOriginX() + costmap_->getSizeInCellsX() * costmap_->getResolution());
+  std::uniform_real_distribution<> y_dis(costmap_->getOriginY(), costmap_->getOriginY() + costmap_->getSizeInCellsY() * costmap_->getResolution());
+
+  // Add start position to the tree
+  tree_.clear();
+  tree_.reserve(max_iterations_);
+  auto start_vertex = std::make_unique<Vertex>(start.pose.position.x, start.pose.position.y);
+  start_vertex->cost = 0;
+  tree_.emplace_back(std::move(start_vertex));
+
+  // Create vertex for the end point
+  Vertex end_vertex(goal.pose.position.x, goal.pose.position.y);
+
+  geometry_msgs::msg::PoseStamped pose;
+  pose.pose.position.x = goal.pose.position.x;
+  pose.pose.position.y = goal.pose.position.y;
+  pose.pose.position.z = 0.0;
+  pose.pose.orientation = goal.pose.orientation;
+  global_path.poses.insert(global_path.poses.begin(), pose);
+
+  for (int i = 1; i <= max_iterations_ - 1; ++i) {
+      // Generate a random point
+      double rand_x = x_dis(gen);
+      double rand_y = y_dis(gen);
+      auto new_position = std::make_unique<Vertex>(rand_x, rand_y);
+
+      // Find nearest neighbor and assign its parent to new_position
+      Vertex* nearest = nearest_neighbor(rand_x, rand_y);
+      new_position->parent = nearest;  // Use raw pointer to nearest vertex
+      new_position->cost = calculate_distance(nearest->x, nearest->y, *new_position);
+
+      if (connectible(*nearest, *new_position)) {
+          // Perform rewire operation
+          double ball_radius = calculateBallRadius(tree_.size(), 2, 2.0);
+
+          std::vector<int> vertices_inside_circle = findVerticesInsideCircle(new_position->x, new_position->y, ball_radius);
+          tree_.emplace_back(std::move(new_position));
+
+          RCLCPP_INFO(node_->get_logger(), "New vertex x: %.4f", tree_.back()->x);
+          RCLCPP_INFO(node_->get_logger(), "New vertex y: %.4f", tree_.back()->y);
+
+          double total_cost_for_new_position = calculate_cost_from_start(*tree_.back());
+
+          int num_of_rewiring = 0;
+
+          // Check if there is a better route from start towards the new position
+          for (size_t j = 0; j < vertices_inside_circle.size(); ++j) {
+            int index = vertices_inside_circle[j];
+            double potential_cost = calculate_cost_from_start(*tree_[index]) + calculate_distance(tree_.back()->x, tree_.back()->y, *tree_[index]);
+            if (potential_cost < total_cost_for_new_position && connectible(*tree_.back(), *tree_[index])) {
+              tree_.back()->parent = tree_[index].get();
+              tree_.back()->cost = calculate_distance(tree_.back()->x, tree_.back()->y, *tree_[index]);
+              total_cost_for_new_position = potential_cost;
+              num_of_rewiring += 1;
+            }
+          }
+
+          // Check if any existing vertex may benefit from being connected by the new position
+          for (size_t j = 0; j < vertices_inside_circle.size(); ++j) {
+            int index = vertices_inside_circle[j];
+            double current_cost = calculate_cost_from_start(*tree_[index]);
+            double potential_cost = calculate_cost_from_start(*tree_.back()) + calculate_distance(tree_.back()->x, tree_.back()->y, *tree_[index]);
+            if (potential_cost < current_cost && connectible(*tree_.back(), *tree_[index])) {
+              tree_[index]->parent = tree_.back().get();
+              tree_[index]->cost = calculate_distance(tree_.back()->x, tree_.back()->y, *tree_[index]);
+              num_of_rewiring += 1;
+            }
+          }
+      } else {
+          i -= 1;
+      }
+  }
+
+  // Find optimal way to the goal
+  double ball_radius = 2 * calculateBallRadius(tree_.size(), 2, 2.0);
+  std::vector<int> vertices_inside_circle = findVerticesInsideCircle(goal.pose.position.x, goal.pose.position.y, ball_radius);
+
+  while (true) {
+    double min_cost = std::numeric_limits<double>::infinity();
+
+    for (size_t j = 0; j < vertices_inside_circle.size(); ++j) {
+      int index = vertices_inside_circle[j];
+      double potential_cost = calculate_cost_from_start(*tree_[index]) + calculate_distance(goal.pose.position.x, goal.pose.position.y, *tree_[index]);
+      if (potential_cost < min_cost && connectible(end_vertex, *tree_[index])) {
+        end_vertex.parent = tree_[index].get();
+        end_vertex.cost = calculate_distance(goal.pose.position.x, goal.pose.position.y, *tree_[index]);
+        min_cost = potential_cost;
+      }
+    }      
+
+    if (min_cost < 10000) {
+      auto end_vertex_ptr = std::make_unique<Vertex>(end_vertex);
+      tree_.emplace_back(std::move(end_vertex_ptr));
+
+      Vertex* cur_ver = &end_vertex;
+      while (cur_ver) {
+          geometry_msgs::msg::PoseStamped pose;
+          pose.pose.position.x = cur_ver->x;
+          pose.pose.position.y = cur_ver->y;
+          pose.pose.position.z = 0.0;
+
+          global_path.poses.insert(global_path.poses.begin(), pose);
+
+          // Add waypoints between the random points
+          if (cur_ver->parent != nullptr) {
+            double steps = std::ceil(std::hypot(cur_ver->x - cur_ver->parent->x, cur_ver->y - cur_ver->parent->y) * 10);
+            double x_increment = (cur_ver->parent->x - cur_ver->x) / steps;
+            double y_increment = (cur_ver->parent->y - cur_ver->y) / steps;
+
+            double x = cur_ver->x;
+            double y = cur_ver->y;
+
+            for (int i = 0; i < steps - 1; ++i) {
+              x += x_increment;
+              y += y_increment;
+              geometry_msgs::msg::PoseStamped pose;
+              pose.pose.position.x = x;
+              pose.pose.position.y = y;
+              pose.pose.position.z = 0.0;
+
+              global_path.poses.insert(global_path.poses.begin(), pose);
+            }
+          }
+          cur_ver = cur_ver->parent;
+      }
+      break;
+    }
+    
+    if (ball_radius > 100) {
+      break;
+    }
+    
+    ball_radius += 0.5;
+    vertices_inside_circle = findVerticesInsideCircle(goal.pose.position.x, goal.pose.position.y, ball_radius);
+  }
+  
+  return global_path;
+}
+
+
+}  // namespace nav2_rrtstar_planner
+
+#include "pluginlib/class_list_macros.hpp"
+PLUGINLIB_EXPORT_CLASS(nav2_rrtstar_planner::RRTStar, nav2_core::GlobalPlanner)
diff --git a/src/turtlebot3_simulations/.DS_Store b/src/turtlebot3_simulations/.DS_Store
new file mode 100644
index 0000000..91ce61e
Binary files /dev/null and b/src/turtlebot3_simulations/.DS_Store differ
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/.DS_Store b/src/turtlebot3_simulations/turtlebot3_gazebo/.DS_Store
new file mode 100644
index 0000000..9ee7680
Binary files /dev/null and b/src/turtlebot3_simulations/turtlebot3_gazebo/.DS_Store differ
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/CHANGELOG.rst b/src/turtlebot3_simulations/turtlebot3_gazebo/CHANGELOG.rst
new file mode 100755
index 0000000..09601f1
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/CHANGELOG.rst
@@ -0,0 +1,187 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package turtlebot3_gazebo
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+2.3.8 (2025-07-10)
+------------------
+* None
+
+2.3.6 (2025-06-19)
+------------------
+* None
+
+2.3.4 (2025-05-28)
+------------------
+* None
+
+2.3.0 (2025-02-17)
+------------------
+* Added multi-robot launch functionality
+* Updated robot mesh in Gazebo and RViz
+* Added launch file for TurtleBot3 Autorace 2020
+* Added plugins to the models of Autorace 2020
+* Contributors: Hyungyu Kim
+
+2.2.6 (2022-05-26)
+------------------
+* ROS 2 Humble Hawksbill supported
+* Contributors: Will Son
+
+2.2.5 (2021-08-25)
+------------------
+* Release for ROS 2 Rolling
+* Contributors: Will Son
+
+2.2.4 (2021-06-14)
+------------------
+* Release for ROS 2 Galactic
+* Separate world and robot models(#162)
+* Clean up unncessary files
+* Use turtlebot3_common mesh modeling
+* Independent turtlebot3_simulations package
+* Contributors: Joep Tool, Will Son
+
+2.2.3 (2021-04-12)
+------------------
+* Update required keyword arguments
+* Clear up exec_depend
+* Fix Waffle Pi wheel inertia
+* Contributors: ruffsl, Will Son
+
+2.2.2 (2021-02-24)
+------------------
+* Remove shared objects built in older version
+* Contributors: Will Son
+
+2.2.1 (2021-01-13)
+------------------
+* Eloquent Elusor EOL
+* Add missing imu joint in sdf
+* Append Gazebo model path
+* Portable fix, launch description revise
+* Ament lint applied
+* Contributors: minwoominwoominwoo7, Rayman, seanyen, ashe kim, Will Son
+
+2.2.0 (2020-06-29)
+------------------
+* TurtleBot3 Drive node implementation
+* Additional Gazebo maps added
+* argument tags in the sdf file replaced with remapping tags
+* Low polygon 3D modeling applied for simulation
+* Contributors: Ryan Shim, Mikael Arguedas, Will Son
+
+2.1.0 (2019-09-10)
+------------------
+* Added turtlebot3_house and related world, model files
+* Contributors: Ryan Shim
+
+2.0.1 (2019-09-05)
+------------------
+* Modified dependency packages
+* Modified launch directory
+* Added a launch file for robot state publisher
+* Contributors: Darby Lim, Pyo
+
+2.0.0 (2019-08-20)
+------------------
+* Supported ROS 2 Dashing Diademata
+* Updated the CHANGELOG and version to release binary packages
+* Contributors: Darby Lim, Pyo
+
+1.3.0 (2020-06-29)
+------------------
+* Turtlebot3 Autorace 2020 implemented
+* Remove the plugin_path from gazebo_ros export
+* Remove *nix path separator
+* Contributors: Ashe Kim, Ben Wolsieffer, Sean Yen
+
+1.2.0 (2019-01-22)
+------------------
+* moved <scene> into <world> `#65 <https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/65>`_
+* modified ML stage
+* delete unused param
+* update algorithm and modified variable more clearly
+* Contributors: Darby Lim, Gilbert, Louise Poubel, Pyo
+
+1.1.0 (2018-07-20)
+------------------
+* modified uri path
+* modified autorace
+* delete remap
+* Contributors: Darby Lim, Gilbert, Pyo
+
+1.0.2 (2018-06-01)
+------------------
+* added mission.launch modified model.sdf
+* deleted turtlebot3's gazebo plugins
+* modified autorace gazebo
+* merged pull request `#53 <https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/53>`_ `#52 <https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/52>`_ `#51 <https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/51>`_ `#50 <https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/50>`_ `#49 <https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/49>`_
+* Contributors: Gilbert, Darby Lim, Pyo
+
+1.0.1 (2018-05-30)
+------------------
+* resolving dependency issues:
+  http://build.ros.org/job/Kbin_dj_dJ64__turtlebot3_gazebo__debian_jessie_amd64__binary/2/
+* Contributors: Pyo
+
+1.0.0 (2018-05-29)
+------------------
+* added world for turtlebot3_autorace
+* added world for turtlebot3_machine_learning
+* merged pull request `#46 <https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/46>`_ from AuTURBO/develop
+  add turtlebot3_autorace world'
+* merged pull request `#48 <https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/48>`_ `#47 <https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/47>`_ `#44 <https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/44>`_ `#42 <https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/42>`_ `#41 <https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/41>`_
+* Contributors: Darby Lim, Gilbert, hyunoklee, Pyo
+
+0.2.4 (2018-03-14)
+------------------
+* None
+
+0.2.3 (2018-03-14)
+------------------
+* solved DuplicateVersionsException error
+* Contributors: Pyo
+
+0.2.2 (2018-03-14)
+------------------
+* None
+
+0.2.1 (2018-03-14)
+------------------
+* added worlds for gazebo and turtlebot3
+* Contributors: Darby Lim
+
+0.2.0 (2018-03-13)
+------------------
+* added slam with multiple tb3
+* added multi example
+* added turtlebot3_house
+* modified cmake file
+* modified spwn model name
+* modified multi slam param
+* modified camera position
+* modified folder name
+* Contributors: Darby Lim
+
+0.1.7 (2017-08-16)
+------------------
+* renamed missed the install rule (worlds -> models)
+* Contributors: Darby Lim, Tully Foote
+
+0.1.6 (2017-08-14)
+------------------
+* modified folder name and model path
+* updated rviz and add static tf publisher for depth camera
+* Contributors: Darby Lim
+
+0.1.5 (2017-06-09)
+------------------
+* modified make files for dependencies
+* updated turtlebot3 sim
+* updated world config
+* Contributors: Darby Lim
+
+0.1.4 (2017-05-23)
+------------------
+* added as new meta-packages and version update (0.1.4)
+* Contributors: Darby Lim, Pyo
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/CMakeLists.txt b/src/turtlebot3_simulations/turtlebot3_gazebo/CMakeLists.txt
new file mode 100755
index 0000000..2a1f27b
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/CMakeLists.txt
@@ -0,0 +1,139 @@
+################################################################################
+# Set minimum required version of cmake, project name and compile options
+################################################################################
+cmake_minimum_required(VERSION 3.5)
+project(turtlebot3_gazebo)
+
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+if(MSVC)
+  add_compile_definitions(_USE_MATH_DEFINES)
+endif()
+
+################################################################################
+# Find ament packages and libraries for ament and system dependencies
+# NOTE: Migrating from Gazebo Classic to Gazebo Sim (gz-8 / Harmonic)
+################################################################################
+find_package(ament_cmake REQUIRED)
+
+# ROS 2 core packages
+find_package(geometry_msgs REQUIRED)
+find_package(nav_msgs REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(tf2 REQUIRED)
+
+# Gazebo Sim (Harmonic) libraries
+find_package(gz-sim8 REQUIRED)
+find_package(gz-msgs10 REQUIRED)
+find_package(gz-transport13 REQUIRED)
+find_package(gz-physics7 REQUIRED)
+find_package(gz-math7 REQUIRED)
+find_package(gz-common5 REQUIRED)
+find_package(gz-plugin2 REQUIRED)
+find_package(sdformat14 REQUIRED)
+
+# Optional: ros_gz bridge packages (for launch integration)
+find_package(ros_gz_bridge QUIET)
+find_package(ros_gz_sim QUIET)
+
+################################################################################
+# Build
+################################################################################
+
+include_directories(
+  include
+  ${gz-sim8_INCLUDE_DIRS}
+  ${gz-msgs10_INCLUDE_DIRS}
+  ${gz-transport13_INCLUDE_DIRS}
+  ${gz-physics7_INCLUDE_DIRS}
+  ${gz-math7_INCLUDE_DIRS}
+  ${gz-common5_INCLUDE_DIRS}
+  ${gz-plugin2_INCLUDE_DIRS}
+  ${sdformat14_INCLUDE_DIRS}
+)
+
+set(dependencies
+  "geometry_msgs"
+  "nav_msgs"
+  "rclcpp"
+  "sensor_msgs"
+  "tf2"
+)
+
+# --- Executable: turtlebot3_drive (ROS 2 navigation node, no gazebo deps) ---
+set(EXEC_NAME "turtlebot3_drive")
+add_executable(${EXEC_NAME} src/turtlebot3_drive.cpp)
+ament_target_dependencies(${EXEC_NAME} ${dependencies})
+
+# --- Shared Libraries: Custom Gazebo Sim System Plugins ---
+# NOTE: These plugins originally used the Gazebo Classic API (gazebo::ModelPlugin)
+#       with headers like <gazebo/gazebo.hh>. They must be rewritten to use the
+#       gz-sim System API (ISystemPreUpdate, EntityComponentManager, etc.)
+#       before they can compile. Default OFF until porting is done.
+option(BUILD_GAZEBO_PLUGINS "Build custom Gazebo Sim system plugins" OFF)
+
+if(BUILD_GAZEBO_PLUGINS)
+  set(GZ_PLUGIN_LIBRARIES
+    gz-sim8::gz-sim8
+    gz-msgs10::gz-msgs10
+    gz-transport13::gz-transport13
+    gz-physics7::gz-physics7
+    gz-math7::gz-math7
+    gz-common5::gz-common5
+    gz-plugin2::gz-plugin2
+    sdformat14::sdformat14
+  )
+
+  add_library(traffic_light_plugin SHARED src/traffic_light_plugin.cpp)
+  target_link_libraries(traffic_light_plugin ${GZ_PLUGIN_LIBRARIES})
+
+  add_library(traffic_bar_plugin SHARED src/traffic_bar_plugin.cpp)
+  target_link_libraries(traffic_bar_plugin ${GZ_PLUGIN_LIBRARIES})
+
+  add_library(obstacle1 SHARED src/obstacle1.cpp)
+  target_link_libraries(obstacle1 ${GZ_PLUGIN_LIBRARIES})
+
+  add_library(obstacle2 SHARED src/obstacle2.cpp)
+  target_link_libraries(obstacle2 ${GZ_PLUGIN_LIBRARIES})
+
+  add_library(obstacles SHARED src/obstacles.cpp)
+  target_link_libraries(obstacles ${GZ_PLUGIN_LIBRARIES})
+endif()
+
+################################################################################
+# Install
+################################################################################
+install(TARGETS ${EXEC_NAME}
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+install(DIRECTORY launch config models rviz urdf worlds scripts gui
+  DESTINATION share/${PROJECT_NAME}/
+)
+
+# Install Python scripts with correct permissions
+install(PROGRAMS scripts/scan_frame_fix.py scripts/camera_topic_remap.py
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+install(DIRECTORY include/
+  DESTINATION include/
+)
+
+################################################################################
+# Export & Macro for ament package
+################################################################################
+ament_export_include_directories(include)
+ament_export_dependencies(geometry_msgs)
+ament_export_dependencies(nav_msgs)
+ament_export_dependencies(rclcpp)
+ament_export_dependencies(sensor_msgs)
+ament_export_dependencies(tf2)
+ament_package()
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/config/turtlebot3_gz_bridge.yaml b/src/turtlebot3_simulations/turtlebot3_gazebo/config/turtlebot3_gz_bridge.yaml
new file mode 100644
index 0000000..7727668
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/config/turtlebot3_gz_bridge.yaml
@@ -0,0 +1,69 @@
+# TurtleBot3 Burger - Gz Sim to ROS 2 Bridge Configuration
+# For use with ros_gz_bridge bridge_node
+#
+# Key migration notes (Gazebo Classic -> Gazebo Sim):
+#   1. gz-sim-diff-drive publishes Odometry but NOT TF (unlike Classic).
+#      TF is bridged from /world/<world>/pose/info (gz.msgs.Pose_V -> TFMessage).
+#   2. Sensor frame_ids use Gazebo scoped names (e.g. burger/base_scan/...).
+#      Overridden below via 'frame_id' field to match URDF/robot_state_publisher tree.
+
+# === TF: bridge Gazebo model tf to ROS2 /tf ===
+# /model/burger/tf publishes gz.msgs.Pose_V (NOT Pose!)
+# ros_gz_bridge converts Pose_V -> TFMessage correctly.
+- ros_topic_name: /tf
+  ros_type_name: tf2_msgs/msg/TFMessage
+  gz_topic_name: /model/burger/tf
+  gz_type_name: gz.msgs.Pose_V
+  direction: GZ_TO_ROS
+
+# === Sensor bridges ===
+- ros_topic_name: /scan_raw
+  ros_type_name: sensor_msgs/msg/LaserScan
+  gz_topic_name: /world/default/model/burger/link/base_scan/sensor/hls_lfcd_lds/scan
+  gz_type_name: gz.msgs.LaserScan
+  direction: GZ_TO_ROS
+
+- ros_topic_name: /intel_realsense_r200_rgb/image_raw
+  ros_type_name: sensor_msgs/msg/Image
+  gz_topic_name: /world/default/model/burger/link/realsense_link/sensor/intel_realsense_r200_rgb/image
+  gz_type_name: gz.msgs.Image
+  direction: GZ_TO_ROS
+
+- ros_topic_name: /intel_realsense_r200_rgb/camera_info
+  ros_type_name: sensor_msgs/msg/CameraInfo
+  gz_topic_name: /world/default/model/burger/link/realsense_link/sensor/intel_realsense_r200_rgb/camera_info
+  gz_type_name: gz.msgs.CameraInfo
+  direction: GZ_TO_ROS
+
+# === Depth image (L16 workaround for Humble) ===
+# Gazebo depth camera with <format>L16</format> publishes on /depth_image topic
+# as gz.msgs.Image type (NOT /image). This bypasses unsupported gz.msgs.DepthImage.
+- ros_topic_name: /intel_realsense_r200_depth/depth/image_raw
+  ros_type_name: sensor_msgs/msg/Image
+  gz_topic_name: /world/default/model/burger/link/realsense_link/sensor/intel_realsense_r200_depth/depth_image
+  gz_type_name: gz.msgs.Image
+  direction: GZ_TO_ROS
+
+- ros_topic_name: /intel_realsense_r200_depth/camera_info
+  ros_type_name: sensor_msgs/msg/CameraInfo
+  gz_topic_name: /world/default/model/burger/link/realsense_link/sensor/intel_realsense_r200_depth/camera_info
+  gz_type_name: gz.msgs.CameraInfo
+  direction: GZ_TO_ROS
+
+- ros_topic_name: /clock
+  ros_type_name: rosgraph_msgs/msg/Clock
+  gz_topic_name: /clock
+  gz_type_name: gz.msgs.Clock
+  direction: GZ_TO_ROS
+
+- ros_topic_name: /cmd_vel
+  ros_type_name: geometry_msgs/msg/Twist
+  gz_topic_name: /model/burger/cmd_vel
+  gz_type_name: gz.msgs.Twist
+  direction: ROS_TO_GZ
+
+- ros_topic_name: /odom
+  ros_type_name: nav_msgs/msg/Odometry
+  gz_topic_name: /model/burger/odometry
+  gz_type_name: gz.msgs.Odometry
+  direction: GZ_TO_ROS
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/gui/office_gui.config b/src/turtlebot3_simulations/turtlebot3_gazebo/gui/office_gui.config
new file mode 100644
index 0000000..629f569
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/gui/office_gui.config
@@ -0,0 +1,270 @@
+<?xml version="1.0"?>
+
+<!-- Quick start dialog -->
+<dialog name="quick_start" show_again="true"/>
+
+<!-- Window -->
+<window>
+  <width>1400</width>
+  <height>900</height>
+  <style
+    material_theme="Light"
+    material_primary="DeepOrange"
+    material_accent="LightBlue"
+    toolbar_color_light="#f3f3f3"
+    toolbar_text_color_light="#111111"
+    toolbar_color_dark="#414141"
+    toolbar_text_dark="#f3f3f3"
+    plugin_toolbar_color_light="#bbdefb"
+    plugin_toolbar_text_color_light="#111111"
+    plugin_toolbar_color_dark="#607d8b"
+    plugin_toolbar_text_color_dark="#eeeeee"
+  />
+  <menus>
+    <drawer default="false">
+    </drawer>
+  </menus>
+  <dialog_on_exit>true</dialog_on_exit>
+</window>
+
+<!-- GUI plugins -->
+
+<!-- 3D scene -->
+<plugin filename="MinimalScene" name="3D View">
+  <gz-gui>
+    <title>3D View</title>
+    <property type="bool" key="showTitleBar">false</property>
+    <property type="string" key="state">docked</property>
+  </gz-gui>
+
+  <engine>ogre2</engine>
+  <scene>scene</scene>
+  <ambient_light>0.4 0.4 0.4</ambient_light>
+  <background_color>0.8 0.8 0.8</background_color>
+  <camera_pose>0 -5 12 0 1.2 1.57</camera_pose>
+</plugin>
+
+<!-- Plugins that add functionality to the scene -->
+<plugin filename="EntityContextMenuPlugin" name="Entity context menu">
+  <gz-gui>
+    <property key="state" type="string">floating</property>
+    <property key="width" type="double">5</property>
+    <property key="height" type="double">5</property>
+    <property key="showTitleBar" type="bool">false</property>
+  </gz-gui>
+</plugin>
+<plugin filename="GzSceneManager" name="Scene Manager">
+  <gz-gui>
+    <property key="resizable" type="bool">false</property>
+    <property key="width" type="double">5</property>
+    <property key="height" type="double">5</property>
+    <property key="state" type="string">floating</property>
+    <property key="showTitleBar" type="bool">false</property>
+  </gz-gui>
+</plugin>
+<plugin filename="InteractiveViewControl" name="Interactive view control">
+  <gz-gui>
+    <property key="resizable" type="bool">false</property>
+    <property key="width" type="double">5</property>
+    <property key="height" type="double">5</property>
+    <property key="state" type="string">floating</property>
+    <property key="showTitleBar" type="bool">false</property>
+  </gz-gui>
+</plugin>
+<plugin filename="CameraTracking" name="Camera Tracking">
+  <gz-gui>
+    <property key="resizable" type="bool">false</property>
+    <property key="width" type="double">5</property>
+    <property key="height" type="double">5</property>
+    <property key="state" type="string">floating</property>
+    <property key="showTitleBar" type="bool">false</property>
+  </gz-gui>
+</plugin>
+<plugin filename="MarkerManager" name="Marker manager">
+  <gz-gui>
+    <property key="resizable" type="bool">false</property>
+    <property key="width" type="double">5</property>
+    <property key="height" type="double">5</property>
+    <property key="state" type="string">floating</property>
+    <property key="showTitleBar" type="bool">false</property>
+  </gz-gui>
+</plugin>
+<plugin filename="SelectEntities" name="Select Entities">
+  <gz-gui>
+    <property key="resizable" type="bool">false</property>
+    <property key="width" type="double">5</property>
+    <property key="height" type="double">5</property>
+    <property key="state" type="string">floating</property>
+    <property key="showTitleBar" type="bool">false</property>
+  </gz-gui>
+</plugin>
+
+<plugin filename="Spawn" name="Spawn Entities">
+  <gz-gui>
+    <property key="resizable" type="bool">false</property>
+    <property key="width" type="double">5</property>
+    <property key="height" type="double">5</property>
+    <property key="state" type="string">floating</property>
+    <property key="showTitleBar" type="bool">false</property>
+  </gz-gui>
+</plugin>
+
+<plugin filename="VisualizationCapabilities" name="Visualization Capabilities">
+  <gz-gui>
+    <property key="resizable" type="bool">false</property>
+    <property key="width" type="double">5</property>
+    <property key="height" type="double">5</property>
+    <property key="state" type="string">floating</property>
+    <property key="showTitleBar" type="bool">false</property>
+  </gz-gui>
+</plugin>
+
+<!-- World control -->
+<plugin filename="WorldControl" name="World control">
+  <gz-gui>
+    <title>World control</title>
+    <property type="bool" key="showTitleBar">false</property>
+    <property type="bool" key="resizable">false</property>
+    <property type="double" key="height">72</property>
+    <property type="double" key="z">1</property>
+
+    <property type="string" key="state">floating</property>
+    <anchors target="3D View">
+      <line own="left" target="left"/>
+      <line own="bottom" target="bottom"/>
+    </anchors>
+  </gz-gui>
+
+  <play_pause>true</play_pause>
+  <step>true</step>
+  <start_paused>true</start_paused>
+  <use_event>true</use_event>
+
+</plugin>
+
+<!-- World statistics -->
+<plugin filename="WorldStats" name="World stats">
+  <gz-gui>
+    <title>World stats</title>
+    <property type="bool" key="showTitleBar">false</property>
+    <property type="bool" key="resizable">false</property>
+    <property type="double" key="height">110</property>
+    <property type="double" key="width">290</property>
+    <property type="double" key="z">1</property>
+
+    <property type="string" key="state">floating</property>
+    <anchors target="3D View">
+      <line own="right" target="right"/>
+      <line own="bottom" target="bottom"/>
+    </anchors>
+  </gz-gui>
+
+  <sim_time>true</sim_time>
+  <real_time>true</real_time>
+  <real_time_factor>true</real_time_factor>
+  <iterations>true</iterations>
+</plugin>
+
+<!-- Insert simple shapes -->
+<plugin filename="Shapes" name="Shapes">
+  <gz-gui>
+    <property key="resizable" type="bool">false</property>
+    <property key="x" type="double">0</property>
+    <property key="y" type="double">0</property>
+    <property key="width" type="double">300</property>
+    <property key="height" type="double">50</property>
+    <property key="state" type="string">floating</property>
+    <property key="showTitleBar" type="bool">false</property>
+    <property key="cardBackground" type="string">#666666</property>
+  </gz-gui>
+</plugin>
+
+<!-- Insert lights -->
+<plugin filename="Lights" name="Lights">
+  <gz-gui>
+    <property key="resizable" type="bool">false</property>
+    <property key="x" type="double">300</property>
+    <property key="y" type="double">0</property>
+    <property key="width" type="double">150</property>
+    <property key="height" type="double">50</property>
+    <property key="state" type="string">floating</property>
+    <property key="showTitleBar" type="bool">false</property>
+    <property key="cardBackground" type="string">#666666</property>
+  </gz-gui>
+</plugin>
+
+<!-- Translate / rotate -->
+<plugin filename="TransformControl" name="Transform control">
+  <gz-gui>
+    <property key="resizable" type="bool">false</property>
+    <property key="x" type="double">0</property>
+    <property key="y" type="double">50</property>
+    <property key="width" type="double">250</property>
+    <property key="height" type="double">50</property>
+    <property key="state" type="string">floating</property>
+    <property key="showTitleBar" type="bool">false</property>
+    <property key="cardBackground" type="string">#777777</property>
+  </gz-gui>
+</plugin>
+
+<!-- Screenshot -->
+<plugin filename="Screenshot" name="Screenshot">
+  <gz-gui>
+    <property key="resizable" type="bool">false</property>
+    <property key="x" type="double">250</property>
+    <property key="y" type="double">50</property>
+    <property key="width" type="double">50</property>
+    <property key="height" type="double">50</property>
+    <property key="state" type="string">floating</property>
+    <property key="showTitleBar" type="bool">false</property>
+    <property key="cardBackground" type="string">#777777</property>
+  </gz-gui>
+</plugin>
+
+<!-- Copy/Paste -->
+<plugin filename="CopyPaste" name="CopyPaste">
+  <gz-gui>
+    <property key="resizable" type="bool">false</property>
+    <property key="x" type="double">300</property>
+    <property key="y" type="double">50</property>
+    <property key="width" type="double">100</property>
+    <property key="height" type="double">50</property>
+    <property key="state" type="string">floating</property>
+    <property key="showTitleBar" type="bool">false</property>
+    <property key="cardBackground" type="string">#777777</property>
+  </gz-gui>
+</plugin>
+
+<!-- Inspector -->
+<plugin filename="ComponentInspector" name="Component inspector">
+  <gz-gui>
+    <property type="bool" key="showTitleBar">false</property>
+    <property type="string" key="state">docked</property>
+  </gz-gui>
+</plugin>
+
+<!-- Entity tree -->
+<plugin filename="EntityTree" name="Entity tree">
+  <gz-gui>
+    <property type="bool" key="showTitleBar">false</property>
+    <property type="string" key="state">docked</property>
+  </gz-gui>
+</plugin>
+
+<!-- Image Display - show camera images from GzSim sensors -->
+<plugin filename="ImageDisplay" name="Image Display">
+  <gz-gui>
+    <title>Image Display</title>
+    <property type="bool" key="showTitleBar">true</property>
+    <property type="string" key="state">docked</property>
+  </gz-gui>
+</plugin>
+
+<!-- Visualize Lidar - show lidar point cloud visualization -->
+<plugin filename="VisualizeLidar" name="Visualize Lidar">
+  <gz-gui>
+    <title>Visualize Lidar</title>
+    <property type="bool" key="showTitleBar">true</property>
+    <property type="string" key="state">docked</property>
+  </gz-gui>
+</plugin>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/include/turtlebot3_gazebo/obstacle1.hpp b/src/turtlebot3_simulations/turtlebot3_gazebo/include/turtlebot3_gazebo/obstacle1.hpp
new file mode 100755
index 0000000..5377037
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/include/turtlebot3_gazebo/obstacle1.hpp
@@ -0,0 +1,38 @@
+// Copyright 2012 Open Source Robotics Foundation
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// Author: Ryan Shim
+
+#ifndef TURTLEBOT3_GAZEBO__OBSTACLE1_HPP_
+#define TURTLEBOT3_GAZEBO__OBSTACLE1_HPP_
+
+#include <ignition/math.hh>
+#include <gazebo/common/common.hh>
+#include <gazebo/gazebo.hh>
+#include <gazebo/physics/physics.hh>
+
+namespace gazebo
+{
+class Obstacle1 : public ModelPlugin
+{
+public:
+  void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) override;
+
+private:
+  physics::ModelPtr model;
+  event::ConnectionPtr updateConnection;
+};
+GZ_REGISTER_MODEL_PLUGIN(Obstacle1);
+}  // namespace gazebo
+#endif  // TURTLEBOT3_GAZEBO__OBSTACLE1_HPP_
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/include/turtlebot3_gazebo/obstacle2.hpp b/src/turtlebot3_simulations/turtlebot3_gazebo/include/turtlebot3_gazebo/obstacle2.hpp
new file mode 100755
index 0000000..f99808d
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/include/turtlebot3_gazebo/obstacle2.hpp
@@ -0,0 +1,39 @@
+// Copyright 2012 Open Source Robotics Foundation
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// Author: Ryan Shim
+
+#ifndef TURTLEBOT3_GAZEBO__OBSTACLE2_HPP_
+#define TURTLEBOT3_GAZEBO__OBSTACLE2_HPP_
+
+#include <ignition/math.hh>
+#include <gazebo/common/common.hh>
+#include <gazebo/gazebo.hh>
+#include <gazebo/physics/physics.hh>
+
+namespace gazebo
+{
+class Obstacle2 : public ModelPlugin
+{
+public:
+  Obstacle2() = default;
+  void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) override;
+
+private:
+  physics::ModelPtr model;
+  event::ConnectionPtr updateConnection;
+};
+GZ_REGISTER_MODEL_PLUGIN(Obstacle2);
+}  // namespace gazebo
+#endif  // TURTLEBOT3_GAZEBO__OBSTACLE2_HPP_
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/include/turtlebot3_gazebo/obstacles.hpp b/src/turtlebot3_simulations/turtlebot3_gazebo/include/turtlebot3_gazebo/obstacles.hpp
new file mode 100755
index 0000000..5d88a9b
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/include/turtlebot3_gazebo/obstacles.hpp
@@ -0,0 +1,41 @@
+// Copyright 2012 Open Source Robotics Foundation
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// Author: Ryan Shim
+
+#ifndef TURTLEBOT3_GAZEBO__OBSTACLES_HPP_
+#define TURTLEBOT3_GAZEBO__OBSTACLES_HPP_
+
+#include <ignition/math.hh>
+#include <gazebo/common/common.hh>
+#include <gazebo/gazebo.hh>
+#include <gazebo/physics/physics.hh>
+
+#define PI 3.141592
+
+namespace gazebo
+{
+class Obstacles : public ModelPlugin
+{
+public:
+  Obstacles() = default;
+  void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) override;
+
+private:
+  physics::ModelPtr model;
+  event::ConnectionPtr updateConnection;
+};
+GZ_REGISTER_MODEL_PLUGIN(Obstacles);
+}  // namespace gazebo
+#endif  // TURTLEBOT3_GAZEBO__OBSTACLES_HPP_
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/include/turtlebot3_gazebo/traffic_bar_plugin.hpp b/src/turtlebot3_simulations/turtlebot3_gazebo/include/turtlebot3_gazebo/traffic_bar_plugin.hpp
new file mode 100755
index 0000000..10e7d5c
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/include/turtlebot3_gazebo/traffic_bar_plugin.hpp
@@ -0,0 +1,45 @@
+// Copyright 2025 ROBOTIS CO., LTD.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// Author: Hyungyu Kim
+
+#ifndef TURTLEBOT3_GAZEBO__TRAFFIC_BAR_PLUGIN_HPP_
+#define TURTLEBOT3_GAZEBO__TRAFFIC_BAR_PLUGIN_HPP_
+
+#include <gazebo/gazebo.hh>
+#include <gazebo/physics/physics.hh>
+
+namespace gazebo
+{
+class TrafficBar : public ModelPlugin
+{
+public:
+  TrafficBar();
+  void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) override;
+  void OnUpdate();
+
+private:
+  double traffic_cycle;
+  int status;
+
+  common::Time last_time;
+  event::ConnectionPtr update_connection;
+  ignition::math::Pose3d down_pose;
+  ignition::math::Pose3d up_pose;
+  physics::ModelPtr model;
+  physics::WorldPtr world;
+};
+GZ_REGISTER_MODEL_PLUGIN(TrafficBar);
+}  // namespace gazebo
+#endif  // TURTLEBOT3_GAZEBO__TRAFFIC_BAR_PLUGIN_HPP_
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/include/turtlebot3_gazebo/traffic_light_plugin.hpp b/src/turtlebot3_simulations/turtlebot3_gazebo/include/turtlebot3_gazebo/traffic_light_plugin.hpp
new file mode 100755
index 0000000..402a5ef
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/include/turtlebot3_gazebo/traffic_light_plugin.hpp
@@ -0,0 +1,53 @@
+// Copyright 2025 ROBOTIS CO., LTD.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// Author: Hyungyu Kim
+
+#ifndef TURTLEBOT3_GAZEBO__TRAFFIC_LIGHT_PLUGIN_HPP_
+#define TURTLEBOT3_GAZEBO__TRAFFIC_LIGHT_PLUGIN_HPP_
+
+#include <string>
+#include <vector>
+
+#include <gazebo/gazebo.hh>
+#include <gazebo/physics/physics.hh>
+
+namespace gazebo
+{
+class TrafficLight : public ModelPlugin
+{
+public:
+  TrafficLight();
+  ~TrafficLight();
+
+  void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) override;
+  void OnUpdate();
+
+private:
+  double traffic_cycle;
+  int status;
+  std::vector<std::string> textures;
+
+  common::Time last_time;
+  event::ConnectionPtr update_connection;
+  gazebo::transport::NodePtr node;
+  gazebo::msgs::Visual msg;
+  gazebo::transport::PublisherPtr visPub;
+  physics::ModelPtr model;
+  physics::WorldPtr world;
+};
+GZ_REGISTER_MODEL_PLUGIN(TrafficLight);
+}  // namespace gazebo
+
+#endif  // TURTLEBOT3_GAZEBO__TRAFFIC_LIGHT_PLUGIN_HPP_
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/include/turtlebot3_gazebo/turtlebot3_drive.hpp b/src/turtlebot3_simulations/turtlebot3_gazebo/include/turtlebot3_gazebo/turtlebot3_drive.hpp
new file mode 100755
index 0000000..abcc393
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/include/turtlebot3_gazebo/turtlebot3_drive.hpp
@@ -0,0 +1,70 @@
+// Copyright 2019 ROBOTIS CO., LTD.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// Authors: Taehun Lim (Darby), Ryan Shim
+
+#ifndef TURTLEBOT3_GAZEBO__TURTLEBOT3_DRIVE_HPP_
+#define TURTLEBOT3_GAZEBO__TURTLEBOT3_DRIVE_HPP_
+
+#include <tf2/LinearMath/Matrix3x3.h>
+#include <tf2/LinearMath/Quaternion.h>
+#include <geometry_msgs/msg/twist.hpp>
+#include <nav_msgs/msg/odometry.hpp>
+#include <rclcpp/rclcpp.hpp>
+#include <sensor_msgs/msg/laser_scan.hpp>
+
+#define DEG2RAD (M_PI / 180.0)
+#define RAD2DEG (180.0 / M_PI)
+
+#define CENTER 0
+#define LEFT   1
+#define RIGHT  2
+
+#define LINEAR_VELOCITY  0.3
+#define ANGULAR_VELOCITY 1.5
+
+#define GET_TB3_DIRECTION 0
+#define TB3_DRIVE_FORWARD 1
+#define TB3_RIGHT_TURN    2
+#define TB3_LEFT_TURN     3
+
+class Turtlebot3Drive : public rclcpp::Node
+{
+public:
+  Turtlebot3Drive();
+  ~Turtlebot3Drive();
+
+private:
+  // ROS topic publishers
+  rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr cmd_vel_pub_;
+
+  // ROS topic subscribers
+  rclcpp::Subscription<sensor_msgs::msg::LaserScan>::SharedPtr scan_sub_;
+  rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr odom_sub_;
+
+  // Variables
+  double robot_pose_;
+  double prev_robot_pose_;
+  double scan_data_[3];
+
+  // ROS timer
+  rclcpp::TimerBase::SharedPtr update_timer_;
+
+  // Function prototypes
+  void update_callback();
+  void update_cmd_vel(double linear, double angular);
+  void scan_callback(const sensor_msgs::msg::LaserScan::SharedPtr msg);
+  void odom_callback(const nav_msgs::msg::Odometry::SharedPtr msg);
+};
+#endif  // TURTLEBOT3_GAZEBO__TURTLEBOT3_DRIVE_HPP_
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/launch/empty_world.launch.py b/src/turtlebot3_simulations/turtlebot3_gazebo/launch/empty_world.launch.py
new file mode 100755
index 0000000..f4f861a
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/launch/empty_world.launch.py
@@ -0,0 +1,80 @@
+#!/usr/bin/env python3
+#
+# Copyright 2019 ROBOTIS CO., LTD.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# Authors: Joep Tool
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+
+
+def generate_launch_description():
+    launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch')
+    pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
+
+    use_sim_time = LaunchConfiguration('use_sim_time', default='true')
+    x_pose = LaunchConfiguration('x_pose', default='0.0')
+    y_pose = LaunchConfiguration('y_pose', default='0.0')
+
+    world = os.path.join(
+        get_package_share_directory('turtlebot3_gazebo'),
+        'worlds',
+        'empty_world.world'
+    )
+
+    gzserver_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')
+        ),
+        launch_arguments={'world': world}.items()
+    )
+
+    gzclient_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')
+        )
+    )
+
+    robot_state_publisher_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'robot_state_publisher.launch.py')
+        ),
+        launch_arguments={'use_sim_time': use_sim_time}.items()
+    )
+
+    spawn_turtlebot_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py')
+        ),
+        launch_arguments={
+            'x_pose': x_pose,
+            'y_pose': y_pose
+        }.items()
+    )
+
+    ld = LaunchDescription()
+
+    # Add the commands to the launch description
+    ld.add_action(gzserver_cmd)
+    ld.add_action(gzclient_cmd)
+    ld.add_action(robot_state_publisher_cmd)
+    ld.add_action(spawn_turtlebot_cmd)
+
+    return ld
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/launch/multi_robot.launch.py b/src/turtlebot3_simulations/turtlebot3_gazebo/launch/multi_robot.launch.py
new file mode 100755
index 0000000..8a4745e
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/launch/multi_robot.launch.py
@@ -0,0 +1,137 @@
+#!/usr/bin/env python3
+#
+# Copyright 2019 ROBOTIS CO., LTD.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# Authors: Joep Tool, HyunGyu Kim
+
+import os
+import xml.etree.ElementTree as ET
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import GroupAction
+from launch.actions import IncludeLaunchDescription
+from launch.actions import RegisterEventHandler
+from launch.event_handlers import OnShutdown
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import PushRosNamespace
+
+
+def generate_launch_description():
+    TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL']
+
+    number_of_robots = 4
+    namespace = 'TB3'
+    pose = [[-2, -0.5], [0.5, -2], [2, 0.5], [-0.5, 2]]
+    model_folder = 'turtlebot3_' + TURTLEBOT3_MODEL
+    urdf_path = os.path.join(
+        get_package_share_directory('turtlebot3_gazebo'),
+        'models',
+        model_folder,
+        'model.sdf'
+    )
+    save_path = os.path.join(
+        get_package_share_directory('turtlebot3_gazebo'),
+        'models',
+        model_folder,
+        'tmp'
+    )
+    launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch')
+    pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
+
+    use_sim_time = LaunchConfiguration('use_sim_time', default='false')
+
+    world = os.path.join(
+        get_package_share_directory('turtlebot3_gazebo'),
+        'worlds',
+        'turtlebot3_world.world'
+    )
+
+    gzserver_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')
+        ),
+        launch_arguments={'world': world}.items()
+    )
+
+    gzclient_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')
+        )
+    )
+
+    robot_state_publisher_cmd_list = []
+
+    for count in range(number_of_robots):
+        robot_state_publisher_cmd_list.append(
+            IncludeLaunchDescription(
+                PythonLaunchDescriptionSource(
+                    os.path.join(launch_file_dir, 'robot_state_publisher.launch.py')
+                ),
+                launch_arguments={
+                    'use_sim_time': use_sim_time,
+                    'frame_prefix': f'{namespace}_{count+1}'
+                    }.items()
+            )
+        )
+
+    spawn_turtlebot_cmd_list = []
+
+    for count in range(number_of_robots):
+        tree = ET.parse(urdf_path)
+        root = tree.getroot()
+        for odom_frame_tag in root.iter('odometry_frame'):
+            odom_frame_tag.text = f'{namespace}_{count+1}/odom'
+        for base_frame_tag in root.iter('robot_base_frame'):
+            base_frame_tag.text = f'{namespace}_{count+1}/base_footprint'
+        for scan_frame_tag in root.iter('frame_name'):
+            scan_frame_tag.text = f'{namespace}_{count+1}/base_scan'
+        urdf_modified = ET.tostring(tree.getroot(), encoding='unicode')
+        urdf_modified = '<?xml version="1.0" ?>\n'+urdf_modified
+        with open(f'{save_path}{count+1}.sdf', 'w') as file:
+            file.write(urdf_modified)
+
+        spawn_turtlebot_cmd_list.append(
+            IncludeLaunchDescription(
+                PythonLaunchDescriptionSource(
+                    os.path.join(launch_file_dir, 'multi_spawn_turtlebot3.launch.py')
+                ),
+                launch_arguments={
+                        'x_pose': str(pose[count][0]),
+                        'y_pose': str(pose[count][1]),
+                        'robot_name': f'{TURTLEBOT3_MODEL}_{count+1}',
+                        'namespace': f'{namespace}_{count+1}',
+                        'sdf_path': f'{save_path}{count+1}.sdf'
+                }.items()
+            )
+        )
+
+    ld = LaunchDescription()
+    # Add the commands to the launch description
+    ld.add_action(gzserver_cmd)
+    ld.add_action(gzclient_cmd)
+    ld.add_action(RegisterEventHandler(
+        OnShutdown(
+            on_shutdown=lambda event,
+            context: [os.remove(f'{save_path}{count+1}.sdf') for count in range(number_of_robots)]
+        )
+    ))
+    for count, spawn_turtlebot_cmd in enumerate(spawn_turtlebot_cmd_list, start=1):
+        ld.add_action(GroupAction([PushRosNamespace(f'{namespace}_{count}'),
+                                  robot_state_publisher_cmd_list[count-1],
+                                  spawn_turtlebot_cmd]))
+
+    return ld
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/launch/multi_spawn_turtlebot3.launch.py b/src/turtlebot3_simulations/turtlebot3_gazebo/launch/multi_spawn_turtlebot3.launch.py
new file mode 100755
index 0000000..2759477
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/launch/multi_spawn_turtlebot3.launch.py
@@ -0,0 +1,60 @@
+#!/usr/bin/env python3
+# Copyright 2019 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# Authors: HyunGyu Kim
+
+import os
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL']
+
+    x_pose = LaunchConfiguration('x_pose', default='0.0')
+    y_pose = LaunchConfiguration('y_pose', default='0.0')
+    robot_name = LaunchConfiguration('robot_name', default=TURTLEBOT3_MODEL)
+    namespace = LaunchConfiguration('namespace', default='')
+    sdf_path = LaunchConfiguration('sdf_path', default='')
+
+    declare_x_position_cmd = DeclareLaunchArgument(
+        'x_pose', default_value='0.0',
+        description='Specify namespace of the robot')
+
+    declare_y_position_cmd = DeclareLaunchArgument(
+        'y_pose', default_value='0.0',
+        description='Specify namespace of the robot')
+    start_gazebo_ros_spawner_cmd = Node(
+        package='gazebo_ros',
+        executable='spawn_entity.py',
+        arguments=[
+            '-entity', robot_name,
+            '-file', sdf_path,
+            '-x', x_pose,
+            '-y', y_pose,
+            '-z', '0.01',
+            '-robot_namespace', namespace
+        ],
+        output='screen',
+    )
+
+    ld = LaunchDescription()
+    ld.add_action(declare_x_position_cmd)
+    ld.add_action(declare_y_position_cmd)
+    ld.add_action(start_gazebo_ros_spawner_cmd)
+    return ld
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/launch/robot_state_publisher.launch.py b/src/turtlebot3_simulations/turtlebot3_gazebo/launch/robot_state_publisher.launch.py
new file mode 100755
index 0000000..c9003e3
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/launch/robot_state_publisher.launch.py
@@ -0,0 +1,79 @@
+#!/usr/bin/env python3
+#
+# Copyright 2019 ROBOTIS CO., LTD.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# Authors: Darby Lim
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch.conditions import IfCondition, UnlessCondition
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch.substitutions import PythonExpression
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL']
+
+    use_sim_time = LaunchConfiguration('use_sim_time', default='true')
+    urdf_file_name = 'turtlebot3_' + TURTLEBOT3_MODEL + '.urdf'
+    frame_prefix = LaunchConfiguration('frame_prefix', default='')
+
+    print('urdf_file_name : {}'.format(urdf_file_name))
+
+    urdf_path = os.path.join(
+        get_package_share_directory('turtlebot3_gazebo'),
+        'urdf',
+        urdf_file_name)
+
+    with open(urdf_path, 'r') as infp:
+        robot_desc = infp.read()
+
+    return LaunchDescription([
+        DeclareLaunchArgument(
+            'use_sim_time',
+            default_value='false',
+            description='Use simulation (Gazebo) clock if true'),
+        DeclareLaunchArgument(
+            'frame_prefix',
+            default_value='',
+            description='Optional TF frame prefix for multi-robot use'),
+        Node(
+            package='robot_state_publisher',
+            executable='robot_state_publisher',
+            name='robot_state_publisher',
+            output='screen',
+            condition=IfCondition(PythonExpression(["'", frame_prefix, "' == ''"])),
+            parameters=[{
+                'use_sim_time': use_sim_time,
+                'robot_description': robot_desc
+            }],
+        ),
+        Node(
+            package='robot_state_publisher',
+            executable='robot_state_publisher',
+            name='robot_state_publisher',
+            output='screen',
+            condition=UnlessCondition(PythonExpression(["'", frame_prefix, "' == ''"])),
+            parameters=[{
+                'use_sim_time': use_sim_time,
+                'robot_description': robot_desc,
+                'frame_prefix': PythonExpression(["'", frame_prefix, "/'"])
+            }],
+        ),
+    ])
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/launch/spawn_turtlebot3.launch.py b/src/turtlebot3_simulations/turtlebot3_gazebo/launch/spawn_turtlebot3.launch.py
new file mode 100755
index 0000000..61d99ca
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/launch/spawn_turtlebot3.launch.py
@@ -0,0 +1,87 @@
+# Copyright 2019 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# Migrated from Gazebo Classic to Gazebo Sim (gz-sim / Harmonic)
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    # Pre-resolve package paths (portable across environments)
+    turtlebot3_gazebo_share = get_package_share_directory('turtlebot3_gazebo')
+
+    # Get the SDF file
+    TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL']
+    model_folder = 'turtlebot3_' + TURTLEBOT3_MODEL
+    sdf_path = os.path.join(
+        turtlebot3_gazebo_share,
+        'models',
+        model_folder,
+        'model_gz.sdf'
+    )
+
+    # Bridge configuration YAML (avoids --ros-args -p @ parsing issue)
+    bridge_config_path = os.path.join(
+        turtlebot3_gazebo_share, 'config', 'turtlebot3_gz_bridge.yaml'
+    )
+
+    # Launch configuration variables specific to simulation
+    x_pose = LaunchConfiguration('x_pose', default='3.0')
+    y_pose = LaunchConfiguration('y_pose', default='3.0')
+
+    # Declare the launch arguments
+    declare_x_position_cmd = DeclareLaunchArgument(
+        'x_pose', default_value='3.0',
+        description='Specify namespace of the robot')
+
+    declare_y_position_cmd = DeclareLaunchArgument(
+        'y_pose', default_value='3.0',
+        description='Specify namespace of the robot')
+
+    start_gz_spawner_cmd = Node(
+        package='ros_gz_sim',
+        executable='create',
+        arguments=[
+            '-name', TURTLEBOT3_MODEL,
+            '-file', sdf_path,
+            '-x', x_pose,
+            '-y', y_pose,
+            '-z', '0.03'
+        ],
+        output='screen',
+    )
+
+    start_bridge_cmd = Node(
+        package='ros_gz_bridge',
+        executable='bridge_node',
+        parameters=[{
+            'config_file': bridge_config_path,
+            'use_sim_time': True,
+        }],
+        output='screen'
+    )
+
+    ld = LaunchDescription()
+
+    ld.add_action(declare_x_position_cmd)
+    ld.add_action(declare_y_position_cmd)
+    ld.add_action(start_gz_spawner_cmd)
+    ld.add_action(start_bridge_cmd)
+
+    return ld
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/launch/turtlebot3_autorace_2020.launch.py b/src/turtlebot3_simulations/turtlebot3_gazebo/launch/turtlebot3_autorace_2020.launch.py
new file mode 100755
index 0000000..9d7f507
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/launch/turtlebot3_autorace_2020.launch.py
@@ -0,0 +1,77 @@
+#!/usr/bin/env python3
+#
+# Copyright 2019 ROBOTIS CO., LTD.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# Authors: Joep Tool, Hyungyu Kim
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+
+
+def generate_launch_description():
+    launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch')
+    pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
+
+    use_sim_time = LaunchConfiguration('use_sim_time', default='true')
+    x_pose = LaunchConfiguration('x_pose', default='0.8')
+    y_pose = LaunchConfiguration('y_pose', default='-1.747')
+
+    world = os.path.join(
+        get_package_share_directory('turtlebot3_gazebo'),
+        'worlds',
+        'turtlebot3_autorace_2020.world'
+    )
+
+    gzserver_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')
+        ),
+        launch_arguments={'world': world}.items()
+    )
+
+    gzclient_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')
+        )
+    )
+
+    robot_state_publisher_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'robot_state_publisher.launch.py')
+        ),
+        launch_arguments={'use_sim_time': use_sim_time}.items()
+    )
+
+    spawn_turtlebot_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py')
+        ),
+        launch_arguments={
+            'x_pose': x_pose,
+            'y_pose': y_pose
+        }.items()
+    )
+
+    ld = LaunchDescription()
+    ld.add_action(gzserver_cmd)
+    ld.add_action(gzclient_cmd)
+    ld.add_action(robot_state_publisher_cmd)
+    ld.add_action(spawn_turtlebot_cmd)
+    return ld
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/launch/turtlebot3_dqn_stage1.launch.py b/src/turtlebot3_simulations/turtlebot3_gazebo/launch/turtlebot3_dqn_stage1.launch.py
new file mode 100755
index 0000000..c6dbab4
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/launch/turtlebot3_dqn_stage1.launch.py
@@ -0,0 +1,80 @@
+#!/usr/bin/env python3
+#
+# Copyright 2019 ROBOTIS CO., LTD.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# Authors: Joep Tool
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+
+
+def generate_launch_description():
+    launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch')
+    pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
+
+    use_sim_time = LaunchConfiguration('use_sim_time', default='true')
+    x_pose = LaunchConfiguration('x_pose', default='0.0')
+    y_pose = LaunchConfiguration('y_pose', default='0.0')
+
+    world = os.path.join(
+        get_package_share_directory('turtlebot3_gazebo'),
+        'worlds',
+        'turtlebot3_dqn_stage1.world'
+    )
+
+    gzserver_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')
+        ),
+        launch_arguments={'world': world}.items()
+    )
+
+    gzclient_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')
+        )
+    )
+
+    robot_state_publisher_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'robot_state_publisher.launch.py')
+        ),
+        launch_arguments={'use_sim_time': use_sim_time}.items()
+    )
+
+    spawn_turtlebot_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py')
+        ),
+        launch_arguments={
+            'x_pose': x_pose,
+            'y_pose': y_pose
+        }.items()
+    )
+
+    ld = LaunchDescription()
+
+    # Add the commands to the launch description
+    ld.add_action(gzserver_cmd)
+    ld.add_action(gzclient_cmd)
+    ld.add_action(robot_state_publisher_cmd)
+    ld.add_action(spawn_turtlebot_cmd)
+
+    return ld
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/launch/turtlebot3_dqn_stage2.launch.py b/src/turtlebot3_simulations/turtlebot3_gazebo/launch/turtlebot3_dqn_stage2.launch.py
new file mode 100755
index 0000000..2d5900f
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/launch/turtlebot3_dqn_stage2.launch.py
@@ -0,0 +1,80 @@
+#!/usr/bin/env python3
+#
+# Copyright 2019 ROBOTIS CO., LTD.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# Authors: Joep Tool
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+
+
+def generate_launch_description():
+    launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch')
+    pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
+
+    use_sim_time = LaunchConfiguration('use_sim_time', default='true')
+    x_pose = LaunchConfiguration('x_pose', default='0.0')
+    y_pose = LaunchConfiguration('y_pose', default='0.0')
+
+    world = os.path.join(
+        get_package_share_directory('turtlebot3_gazebo'),
+        'worlds',
+        'turtlebot3_dqn_stage2.world'
+    )
+
+    gzserver_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')
+        ),
+        launch_arguments={'world': world}.items()
+    )
+
+    gzclient_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')
+        )
+    )
+
+    robot_state_publisher_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'robot_state_publisher.launch.py')
+        ),
+        launch_arguments={'use_sim_time': use_sim_time}.items()
+    )
+
+    spawn_turtlebot_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py')
+        ),
+        launch_arguments={
+            'x_pose': x_pose,
+            'y_pose': y_pose
+        }.items()
+    )
+
+    ld = LaunchDescription()
+
+    # Add the commands to the launch description
+    ld.add_action(gzserver_cmd)
+    ld.add_action(gzclient_cmd)
+    ld.add_action(robot_state_publisher_cmd)
+    ld.add_action(spawn_turtlebot_cmd)
+
+    return ld
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/launch/turtlebot3_dqn_stage3.launch.py b/src/turtlebot3_simulations/turtlebot3_gazebo/launch/turtlebot3_dqn_stage3.launch.py
new file mode 100755
index 0000000..43c3baf
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/launch/turtlebot3_dqn_stage3.launch.py
@@ -0,0 +1,80 @@
+#!/usr/bin/env python3
+#
+# Copyright 2019 ROBOTIS CO., LTD.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# Authors: Joep Tool
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+
+
+def generate_launch_description():
+    launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch')
+    pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
+
+    use_sim_time = LaunchConfiguration('use_sim_time', default='true')
+    x_pose = LaunchConfiguration('x_pose', default='0.0')
+    y_pose = LaunchConfiguration('y_pose', default='0.0')
+
+    world = os.path.join(
+        get_package_share_directory('turtlebot3_gazebo'),
+        'worlds',
+        'turtlebot3_dqn_stage3.world'
+    )
+
+    gzserver_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')
+        ),
+        launch_arguments={'world': world}.items()
+    )
+
+    gzclient_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')
+        )
+    )
+
+    robot_state_publisher_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'robot_state_publisher.launch.py')
+        ),
+        launch_arguments={'use_sim_time': use_sim_time}.items()
+    )
+
+    spawn_turtlebot_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py')
+        ),
+        launch_arguments={
+            'x_pose': x_pose,
+            'y_pose': y_pose
+        }.items()
+    )
+
+    ld = LaunchDescription()
+
+    # Add the commands to the launch description
+    ld.add_action(gzserver_cmd)
+    ld.add_action(gzclient_cmd)
+    ld.add_action(robot_state_publisher_cmd)
+    ld.add_action(spawn_turtlebot_cmd)
+
+    return ld
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/launch/turtlebot3_dqn_stage4.launch.py b/src/turtlebot3_simulations/turtlebot3_gazebo/launch/turtlebot3_dqn_stage4.launch.py
new file mode 100755
index 0000000..31dca3e
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/launch/turtlebot3_dqn_stage4.launch.py
@@ -0,0 +1,80 @@
+#!/usr/bin/env python3
+#
+# Copyright 2019 ROBOTIS CO., LTD.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# Authors: Joep Tool
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+
+
+def generate_launch_description():
+    launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch')
+    pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
+
+    use_sim_time = LaunchConfiguration('use_sim_time', default='true')
+    x_pose = LaunchConfiguration('x_pose', default='0.0')
+    y_pose = LaunchConfiguration('y_pose', default='0.0')
+
+    world = os.path.join(
+        get_package_share_directory('turtlebot3_gazebo'),
+        'worlds',
+        'turtlebot3_dqn_stage4.world'
+    )
+
+    gzserver_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')
+        ),
+        launch_arguments={'world': world}.items()
+    )
+
+    gzclient_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')
+        )
+    )
+
+    robot_state_publisher_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'robot_state_publisher.launch.py')
+        ),
+        launch_arguments={'use_sim_time': use_sim_time}.items()
+    )
+
+    spawn_turtlebot_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py')
+        ),
+        launch_arguments={
+            'x_pose': x_pose,
+            'y_pose': y_pose
+        }.items()
+    )
+
+    ld = LaunchDescription()
+
+    # Add the commands to the launch description
+    ld.add_action(gzserver_cmd)
+    ld.add_action(gzclient_cmd)
+    ld.add_action(robot_state_publisher_cmd)
+    ld.add_action(spawn_turtlebot_cmd)
+
+    return ld
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/launch/turtlebot3_house.launch.py b/src/turtlebot3_simulations/turtlebot3_gazebo/launch/turtlebot3_house.launch.py
new file mode 100755
index 0000000..8c4091e
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/launch/turtlebot3_house.launch.py
@@ -0,0 +1,80 @@
+#!/usr/bin/env python3
+#
+# Copyright 2019 ROBOTIS CO., LTD.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# Authors: Joep Tool
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+
+
+def generate_launch_description():
+    launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch')
+    pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
+
+    use_sim_time = LaunchConfiguration('use_sim_time', default='true')
+    x_pose = LaunchConfiguration('x_pose', default='-2.0')
+    y_pose = LaunchConfiguration('y_pose', default='-0.5')
+
+    world = os.path.join(
+        get_package_share_directory('turtlebot3_gazebo'),
+        'worlds',
+        'turtlebot3_house.world'
+    )
+
+    gzserver_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')
+        ),
+        launch_arguments={'world': world}.items()
+    )
+
+    gzclient_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')
+        )
+    )
+
+    robot_state_publisher_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'robot_state_publisher.launch.py')
+        ),
+        launch_arguments={'use_sim_time': use_sim_time}.items()
+    )
+
+    spawn_turtlebot_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py')
+        ),
+        launch_arguments={
+            'x_pose': x_pose,
+            'y_pose': y_pose
+        }.items()
+    )
+
+    ld = LaunchDescription()
+
+    # Add the commands to the launch description
+    ld.add_action(gzserver_cmd)
+    ld.add_action(gzclient_cmd)
+    ld.add_action(robot_state_publisher_cmd)
+    ld.add_action(spawn_turtlebot_cmd)
+
+    return ld
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/launch/turtlebot3_office.launch.py b/src/turtlebot3_simulations/turtlebot3_gazebo/launch/turtlebot3_office.launch.py
new file mode 100755
index 0000000..d578ba7
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/launch/turtlebot3_office.launch.py
@@ -0,0 +1,100 @@
+#!/usr/bin/env python3
+#
+# Copyright 2019 ROBOTIS CO., LTD.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# Authors: Joep Tool
+# Migrated from Gazebo Classic to Gazebo Sim (gz-sim / Harmonic)
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription, SetEnvironmentVariable
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch')
+
+    use_sim_time = LaunchConfiguration('use_sim_time', default='true')
+    x_pose = LaunchConfiguration('x_pose', default='0.0')
+    y_pose = LaunchConfiguration('y_pose', default='0.0')
+
+    pkg_share_dir = get_package_share_directory('turtlebot3_gazebo')
+    world = os.path.join(pkg_share_dir, 'worlds', 'office_gz_dartsim.sdf')
+    models_path = os.path.join(pkg_share_dir, 'models')
+    office_models_path = os.path.join(models_path, 'turtlebot3_office')
+
+    # Headless mode: no GUI, no RVIZ
+    # gui_config = os.path.join(pkg_share_dir, 'gui', 'office_gui.config')
+    # gz_args = f'-r {world} --gui-config {gui_config}'
+    gz_args = f'-r -s {world}'
+    # gz_args = f'-r {world}'
+
+    gz_sim_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(
+                get_package_share_directory('ros_gz_sim'),
+                'launch',
+                'gz_sim.launch.py'
+            )
+        ),
+        launch_arguments={'gz_args': gz_args}.items()
+    )
+
+    robot_state_publisher_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'robot_state_publisher.launch.py')
+        ),
+        launch_arguments={'use_sim_time': use_sim_time}.items()
+    )
+
+    spawn_turtlebot_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py')
+        ),
+        launch_arguments={
+            'x_pose': x_pose,
+            'y_pose': y_pose
+        }.items()
+    )
+
+    # Fix LaserScan frame_id:
+    #   bridge publishes on /scan_raw (frame_id = 'burger/base_scan/hls_lfcd_lds')
+    #   this node republishes on /scan with corrected frame_id = 'base_scan'
+    scan_frame_fix_cmd = Node(
+        package='turtlebot3_gazebo',
+        executable='scan_frame_fix.py',
+        output='screen',
+        parameters=[{'use_sim_time': True}],
+    )
+
+    ld = LaunchDescription()
+
+    # Set GZ_SIM_RESOURCE_PATH so gz sim can resolve model:// URIs
+    ld.add_action(SetEnvironmentVariable(
+        name='GZ_SIM_RESOURCE_PATH',
+        value=office_models_path + os.pathsep + models_path
+    ))
+
+    # Add the commands to the launch description
+    ld.add_action(gz_sim_cmd)
+    ld.add_action(robot_state_publisher_cmd)
+    ld.add_action(spawn_turtlebot_cmd)
+    ld.add_action(scan_frame_fix_cmd)
+
+    return ld
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/launch/turtlebot3_world.launch.py b/src/turtlebot3_simulations/turtlebot3_gazebo/launch/turtlebot3_world.launch.py
new file mode 100755
index 0000000..3a48d64
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/launch/turtlebot3_world.launch.py
@@ -0,0 +1,80 @@
+#!/usr/bin/env python3
+#
+# Copyright 2019 ROBOTIS CO., LTD.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# Authors: Joep Tool
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+
+
+def generate_launch_description():
+    launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch')
+    pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
+
+    use_sim_time = LaunchConfiguration('use_sim_time', default='true')
+    x_pose = LaunchConfiguration('x_pose', default='-2.0')
+    y_pose = LaunchConfiguration('y_pose', default='-0.5')
+
+    world = os.path.join(
+        get_package_share_directory('turtlebot3_gazebo'),
+        'worlds',
+        'turtlebot3_world.world'
+    )
+
+    gzserver_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')
+        ),
+        launch_arguments={'world': world}.items()
+    )
+
+    gzclient_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')
+        )
+    )
+
+    robot_state_publisher_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'robot_state_publisher.launch.py')
+        ),
+        launch_arguments={'use_sim_time': use_sim_time}.items()
+    )
+
+    spawn_turtlebot_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py')
+        ),
+        launch_arguments={
+            'x_pose': x_pose,
+            'y_pose': y_pose
+        }.items()
+    )
+
+    ld = LaunchDescription()
+
+    # Add the commands to the launch description
+    ld.add_action(gzserver_cmd)
+    ld.add_action(gzclient_cmd)
+    ld.add_action(robot_state_publisher_cmd)
+    ld.add_action(spawn_turtlebot_cmd)
+
+    return ld
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/map/office_map.pgm b/src/turtlebot3_simulations/turtlebot3_gazebo/map/office_map.pgm
new file mode 100755
index 0000000..18b6a71
Binary files /dev/null and b/src/turtlebot3_simulations/turtlebot3_gazebo/map/office_map.pgm differ
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/map/office_map.yaml b/src/turtlebot3_simulations/turtlebot3_gazebo/map/office_map.yaml
new file mode 100755
index 0000000..bbd4050
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/map/office_map.yaml
@@ -0,0 +1,7 @@
+image: office_map.pgm
+mode: trinary
+resolution: 0.05
+origin: [-5.71, -2.68, 0]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.25
\ No newline at end of file
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/checker/materials/checker.png b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/checker/materials/checker.png
new file mode 100755
index 0000000..996ee2f
Binary files /dev/null and b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/checker/materials/checker.png differ
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/checker/materials/scripts/checker.material b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/checker/materials/scripts/checker.material
new file mode 100755
index 0000000..ebd4585
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/checker/materials/scripts/checker.material
@@ -0,0 +1,14 @@
+material checker
+{
+  technique
+  {
+    pass
+    {
+      texture_unit
+      {
+        texture checker.png
+      }
+    }
+  }
+}
+
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/checker/materials/textures/checker.png b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/checker/materials/textures/checker.png
new file mode 100755
index 0000000..43ea3ba
Binary files /dev/null and b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/checker/materials/textures/checker.png differ
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/checker/model.config b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/checker/model.config
new file mode 100755
index 0000000..f987bfb
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/checker/model.config
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>checker</name>
+  <version>1.0</version>
+  <sdf version='1.6'>model.sdf</sdf>
+
+  <author>
+    <name>Gilbert</name>
+    <email>kkjong@robotis.com</email>
+  </author>
+
+  <description>
+    Model with links of simple shapes and texture applied.
+  </description>
+</model>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/checker/model.sdf b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/checker/model.sdf
new file mode 100755
index 0000000..7e3442f
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/checker/model.sdf
@@ -0,0 +1,30 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <model name="checker">
+    <static>true</static>
+    <link name="box">
+      <pose>0 0 0 0 0 0</pose>
+      <collision name="collision">
+        <geometry>
+          <box>
+            <size>0.02 1 1</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="visual">
+        <geometry>
+          <box>
+            <size>0.02 1 1</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>model://turtlebot3_autorace_2020/checker/materials/scripts</uri>
+            <uri>model://turtlebot3_autorace_2020/checker/materials/textures</uri>
+            <name>checker</name>
+          </script>
+        </material>
+      </visual>
+    </link>
+  </model>
+</sdf>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/course/materials/scripts/course.material b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/course/materials/scripts/course.material
new file mode 100755
index 0000000..0859df9
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/course/materials/scripts/course.material
@@ -0,0 +1,14 @@
+material course
+{
+  technique
+  {
+    pass
+    {
+      texture_unit
+      {
+        texture course.png
+      }
+    }
+  }
+}
+
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/course/materials/textures/course.png b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/course/materials/textures/course.png
new file mode 100755
index 0000000..5633536
Binary files /dev/null and b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/course/materials/textures/course.png differ
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/course/model.config b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/course/model.config
new file mode 100755
index 0000000..e3e5055
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/course/model.config
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>course</name>
+  <version>1.0</version>
+  <sdf version="1.6">model.sdf</sdf>
+  <author>
+    <name>Gilbert</name>
+    <email>kkjong@robotis.com</email>
+  </author>
+
+  <description>
+    A simple textured ground plane
+  </description>
+</model>
+
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/course/model.sdf b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/course/model.sdf
new file mode 100755
index 0000000..d5dcc2f
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/course/model.sdf
@@ -0,0 +1,41 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <model name="course">
+    <static>true</static>
+    <link name="course_link">
+      <collision name="course_collision">
+        <geometry>
+          <plane>
+            <normal>0 0 1</normal>
+            <size>4 4</size>
+          </plane>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>100</mu>
+              <mu2>50</mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="course_visual">
+        <cast_shadows>false</cast_shadows>
+        <geometry>
+	        <plane>
+            <normal>0 0 1</normal>
+            <size>4 4</size>
+          </plane>
+        </geometry>
+	      <material>
+          <script>
+            <uri>model://turtlebot3_autorace_2020/course/materials/scripts</uri>
+            <uri>model://turtlebot3_autorace_2020/course/materials/textures</uri>
+            <name>course</name>
+          </script>
+        </material>
+      </visual>
+    </link>
+  </model>
+</sdf>
+
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_bar/materials/scripts/traffic_bar.material b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_bar/materials/scripts/traffic_bar.material
new file mode 100755
index 0000000..ddfd56f
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_bar/materials/scripts/traffic_bar.material
@@ -0,0 +1,14 @@
+material traffic_bar
+{
+  technique
+  {
+    pass
+    {
+      texture_unit
+      {
+        texture traffic_bar.png
+      }
+    }
+  }
+}
+
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_bar/materials/textures/traffic_bar.png b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_bar/materials/textures/traffic_bar.png
new file mode 100755
index 0000000..7f9a37a
Binary files /dev/null and b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_bar/materials/textures/traffic_bar.png differ
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_bar/model.config b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_bar/model.config
new file mode 100755
index 0000000..e7c7cf2
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_bar/model.config
@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>traffic_bar</name>
+  <version>1.0</version>
+  <sdf version='1.6'>model.sdf</sdf>
+
+  <author>
+    <name>Hyunok Lee</name>
+    <email>hyunokhyunok@naver.com</email>
+    <name>Hyungyu Kim</name>
+    <email>kimhg@robotis.com</email>
+  </author>
+
+  <description>
+    Model with links of simple shapes and texture applied.
+  </description>
+</model>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_bar/model.sdf b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_bar/model.sdf
new file mode 100755
index 0000000..3fccdd5
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_bar/model.sdf
@@ -0,0 +1,32 @@
+<?xml version='1.0'?>
+<sdf version="1.6">
+  <model name="traffic_bar">
+    <static>false</static>
+    <link name="traffic_bar">
+        <pose> 0 0 0 0 0 0</pose>
+        <collision name="collision">
+          <geometry>
+            <box>
+              <size>0.3 0.02 0.05</size>
+            </box>
+         </geometry>
+        </collision>
+        <visual name="visual">
+        <geometry>
+          <box>
+            <size>0.3 0.02 0.05</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>model://turtlebot3_autorace_2020/traffic_bar/materials/scripts</uri>
+            <uri>model://turtlebot3_autorace_2020/traffic_bar/materials/textures</uri>
+            <name>traffic_bar</name>
+          </script>
+        </material>
+      </visual>
+    </link>
+    <plugin name="traffic_bar_plugin" filename="libtraffic_bar_plugin.so">
+    </plugin>   
+  </model>
+</sdf>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_construction/materials/scripts/traffic_construction.material b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_construction/materials/scripts/traffic_construction.material
new file mode 100755
index 0000000..a468c2a
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_construction/materials/scripts/traffic_construction.material
@@ -0,0 +1,14 @@
+material traffic_construction
+{
+  technique
+  {
+    pass
+    {
+      texture_unit
+      {
+        texture traffic_construction.png
+      }
+    }
+  }
+}
+
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_construction/materials/textures/traffic_construction.png b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_construction/materials/textures/traffic_construction.png
new file mode 100755
index 0000000..ad472e4
Binary files /dev/null and b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_construction/materials/textures/traffic_construction.png differ
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_construction/model.config b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_construction/model.config
new file mode 100755
index 0000000..6e18cad
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_construction/model.config
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>traffic_construction</name>
+  <version>1.0</version>
+  <sdf version='1.6'>model.sdf</sdf>
+
+  <author>
+    <name>Hyunok Lee</name>
+    <email>hyunokhyunok@naver.com</email>
+  </author>
+
+  <description>
+    Model with links of simple shapes and texture applied.
+  </description>
+</model>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_construction/model.sdf b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_construction/model.sdf
new file mode 100755
index 0000000..e90a559
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_construction/model.sdf
@@ -0,0 +1,30 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <model name="traffic_construction">
+    <static>true</static>
+    <link name="box">
+      <pose>0 0 0 0 0 0</pose>
+      <collision name="collision">
+        <geometry>
+          <box>
+            <size>0.12 0.025 0.25</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="visual">
+        <geometry>
+          <box>
+            <size>0.12 0.025 0.25</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>model://turtlebot3_autorace_2020/traffic_construction/materials/scripts</uri>
+            <uri>model://turtlebot3_autorace_2020/traffic_construction/materials/textures</uri>
+            <name>traffic_construction</name>
+          </script>
+        </material>
+      </visual>
+    </link>    
+  </model>
+</sdf>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_intersection/materials/scripts/traffic_intersection.material b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_intersection/materials/scripts/traffic_intersection.material
new file mode 100755
index 0000000..a17574c
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_intersection/materials/scripts/traffic_intersection.material
@@ -0,0 +1,14 @@
+material traffic_intersection
+{
+  technique
+  {
+    pass
+    {
+      texture_unit
+      {
+        texture traffic_intersection.png
+      }
+    }
+  }
+}
+
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_intersection/materials/textures/traffic_intersection.png b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_intersection/materials/textures/traffic_intersection.png
new file mode 100755
index 0000000..e6900cb
Binary files /dev/null and b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_intersection/materials/textures/traffic_intersection.png differ
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_intersection/model.config b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_intersection/model.config
new file mode 100755
index 0000000..9bec9f4
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_intersection/model.config
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>traffic_intersection</name>
+  <version>1.0</version>
+  <sdf version='1.6'>model.sdf</sdf>
+
+  <author>
+    <name>Hyunok Lee</name>
+    <email>hyunokhyunok@naver.com</email>
+  </author>
+
+  <description>
+    Model with links of simple shapes and texture applied.
+  </description>
+</model>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_intersection/model.sdf b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_intersection/model.sdf
new file mode 100755
index 0000000..95a1b0e
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_intersection/model.sdf
@@ -0,0 +1,30 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <model name="traffic_intersection">
+    <static>true</static>
+    <link name="box">
+      <pose>0 0 0 0 0 0</pose>
+      <collision name="collision">
+        <geometry>
+          <box>
+            <size>0.12 0.025 0.25</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="visual">
+        <geometry>
+          <box>
+            <size>0.12 0.025 0.25</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>model://turtlebot3_autorace_2020/traffic_intersection/materials/scripts</uri>
+            <uri>model://turtlebot3_autorace_2020/traffic_intersection/materials/textures</uri>
+            <name>traffic_intersection</name>
+          </script>
+        </material>
+      </visual>
+    </link>    
+  </model>
+</sdf>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_left/materials/scripts/traffic_is_left.material b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_left/materials/scripts/traffic_is_left.material
new file mode 100755
index 0000000..60c7f73
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_left/materials/scripts/traffic_is_left.material
@@ -0,0 +1,14 @@
+material traffic_left
+{
+  technique
+  {
+    pass
+    {
+      texture_unit
+      {
+        texture traffic_left.png
+      }
+    }
+  }
+}
+
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_left/materials/textures/traffic_left.png b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_left/materials/textures/traffic_left.png
new file mode 100755
index 0000000..ede00a0
Binary files /dev/null and b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_left/materials/textures/traffic_left.png differ
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_left/model.config b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_left/model.config
new file mode 100755
index 0000000..97b56b6
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_left/model.config
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>traffic_left</name>
+  <version>1.0</version>
+  <sdf version='1.6'>model.sdf</sdf>
+
+  <author>
+    <name>Hyunok Lee</name>
+    <email>hyunokhyunok@naver.com</email>
+  </author>
+
+  <description>
+    Model with links of simple shapes and texture applied.
+  </description>
+</model>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_left/model.sdf b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_left/model.sdf
new file mode 100755
index 0000000..394bb46
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_left/model.sdf
@@ -0,0 +1,30 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <model name="traffic_left">
+    <static>true</static>
+    <link name="box">
+      <pose>1.08 -0.838 0.125 0 -0 -1.57</pose>
+      <collision name="collision">
+        <geometry>
+          <box>
+            <size>0.12 0.025 0.25</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="visual">
+        <geometry>
+          <box>
+            <size>0.12 0.025 0.25</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>model://turtlebot3_autorace_2020/traffic_left/materials/scripts</uri>
+            <uri>model://turtlebot3_autorace_2020/traffic_left/materials/textures</uri>
+            <name>traffic_left</name>
+          </script>
+        </material>
+      </visual>
+    </link>    
+  </model>
+</sdf>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_light/materials/scripts/traffic_light.material b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_light/materials/scripts/traffic_light.material
new file mode 100755
index 0000000..8f61a0e
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_light/materials/scripts/traffic_light.material
@@ -0,0 +1,41 @@
+material traffic_light_red
+{
+  technique
+  {
+    pass
+    {
+      texture_unit
+      {
+        texture traffic_light_red.png
+      }
+    }
+  }
+}
+
+material traffic_light_green
+{
+  technique
+  {
+    pass
+    {
+      texture_unit
+      {
+        texture traffic_light_green.png
+      }
+    }
+  }
+}
+
+material traffic_light_yellow
+{
+  technique
+  {
+    pass
+    {
+      texture_unit
+      {
+        texture traffic_light_yellow.png
+      }
+    }
+  }
+}
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_light/materials/textures/traffic_light.png b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_light/materials/textures/traffic_light.png
new file mode 100755
index 0000000..e185a0d
Binary files /dev/null and b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_light/materials/textures/traffic_light.png differ
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_light/materials/textures/traffic_light_green.png b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_light/materials/textures/traffic_light_green.png
new file mode 100755
index 0000000..8cb0e1f
Binary files /dev/null and b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_light/materials/textures/traffic_light_green.png differ
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_light/materials/textures/traffic_light_red.png b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_light/materials/textures/traffic_light_red.png
new file mode 100755
index 0000000..7bca792
Binary files /dev/null and b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_light/materials/textures/traffic_light_red.png differ
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_light/materials/textures/traffic_light_yellow.png b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_light/materials/textures/traffic_light_yellow.png
new file mode 100755
index 0000000..b1b77be
Binary files /dev/null and b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_light/materials/textures/traffic_light_yellow.png differ
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_light/model.config b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_light/model.config
new file mode 100755
index 0000000..aba5b4d
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_light/model.config
@@ -0,0 +1,13 @@
+<?xml version="1.0" ?>
+<model>
+    <name>traffic_light</name>
+    <version>1.0</version>
+    <sdf version="1.6">model.sdf</sdf>
+    <author>
+        <name>Ashekim</name>
+        <email>ashekim@robotis.com</email>
+        <name>Hyungyu Kim</name>
+        <email>kimhg@robotis.com</email>
+    </author>
+    <description>The traffic light.</description>
+</model>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_light/model.sdf b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_light/model.sdf
new file mode 100755
index 0000000..574730e
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_light/model.sdf
@@ -0,0 +1,32 @@
+<?xml version='1.0'?>
+<sdf version='1.6'>
+  <model name='traffic_light'>
+    <link name='traffic_light'>
+      <pose>0 0 0 0 0 0</pose>
+      <collision name='collision'>
+        <geometry>
+          <box>
+            <size>0.12 0.025 0.25</size>
+          </box>
+        </geometry>   
+      </collision>
+      <visual name='visual'>
+        <geometry>
+          <box>
+            <size>0.12 0.025 0.25</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>model://turtlebot3_autorace_2020/traffic_light/materials/scripts</uri>
+            <uri>model://turtlebot3_autorace_2020/traffic_light/materials/textures</uri>
+            <name>traffic_light_red</name>
+          </script>
+        </material>
+      </visual>
+    </link>
+    <plugin name="traffic_light_plugin" filename="libtraffic_light_plugin.so">
+    </plugin>
+    <static>1</static>
+  </model>
+</sdf>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_noentry/materials/scripts/traffic_noentry.material b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_noentry/materials/scripts/traffic_noentry.material
new file mode 100755
index 0000000..ac9a9da
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_noentry/materials/scripts/traffic_noentry.material
@@ -0,0 +1,14 @@
+material traffic_noentry
+{
+  technique
+  {
+    pass
+    {
+      texture_unit
+      {
+        texture traffic_noentry.png
+      }
+    }
+  }
+}
+
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_noentry/materials/textures/traffic_noentry.png b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_noentry/materials/textures/traffic_noentry.png
new file mode 100755
index 0000000..d4790c3
Binary files /dev/null and b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_noentry/materials/textures/traffic_noentry.png differ
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_noentry/model.config b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_noentry/model.config
new file mode 100755
index 0000000..9b71484
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_noentry/model.config
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>traffic_noentry</name>
+  <version>1.0</version>
+  <sdf version='1.6'>model.sdf</sdf>
+
+  <author>
+    <name>Hyunok Lee</name>
+    <email>hyunokhyunok@naver.com</email>
+  </author>
+
+  <description>
+    Model with links of simple shapes and texture applied.
+  </description>
+</model>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_noentry/model.sdf b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_noentry/model.sdf
new file mode 100755
index 0000000..b05968c
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_noentry/model.sdf
@@ -0,0 +1,30 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <model name="traffic_noentry">
+    <static>true</static>
+    <link name="box">
+      <pose>0 0 0 0 0 0</pose>
+      <collision name="collision">
+        <geometry>
+          <box>
+            <size>0.12 0.025 0.25</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="visual">
+        <geometry>
+          <box>
+            <size>0.12 0.025 0.25</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>model://turtlebot3_autorace_2020/traffic_noentry/materials/scripts</uri>
+            <uri>model://turtlebot3_autorace_2020/traffic_noentry/materials/textures</uri>
+            <name>traffic_noentry</name>
+          </script>
+        </material>
+      </visual>
+    </link>    
+  </model>
+</sdf>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_parking/materials/scripts/traffic_parking.material b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_parking/materials/scripts/traffic_parking.material
new file mode 100755
index 0000000..fe4c119
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_parking/materials/scripts/traffic_parking.material
@@ -0,0 +1,14 @@
+material traffic_parking
+{
+  technique
+  {
+    pass
+    {
+      texture_unit
+      {
+        texture traffic_parking.png
+      }
+    }
+  }
+}
+
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_parking/materials/textures/traffic_parking.png b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_parking/materials/textures/traffic_parking.png
new file mode 100755
index 0000000..296239f
Binary files /dev/null and b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_parking/materials/textures/traffic_parking.png differ
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_parking/model.config b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_parking/model.config
new file mode 100755
index 0000000..f030794
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_parking/model.config
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>traffic_parking</name>
+  <version>1.0</version>
+  <sdf version='1.6'>model.sdf</sdf>
+
+  <author>
+    <name>Hyunok Lee</name>
+    <email>hyunokhyunok@naver.com</email>
+  </author>
+
+  <description>
+    Model with links of simple shapes and texture applied.
+  </description>
+</model>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_parking/model.sdf b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_parking/model.sdf
new file mode 100755
index 0000000..6227d3a
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_parking/model.sdf
@@ -0,0 +1,30 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <model name="traffic_parking">
+    <static>true</static>
+    <link name="box">
+      <pose>0 0 0 0 0 0</pose>
+      <collision name="collision">
+        <geometry>
+          <box>
+            <size>0.12 0.025 0.25</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="visual">
+        <geometry>
+          <box>
+            <size>0.12 0.025 0.25</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>model://turtlebot3_autorace_2020/traffic_parking/materials/scripts</uri>
+            <uri>model://turtlebot3_autorace_2020/traffic_parking/materials/textures</uri>
+            <name>traffic_parking</name>
+          </script>
+        </material>
+      </visual>
+    </link>    
+  </model>
+</sdf>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_pl_left/materials/scripts/traffic_pl_left.material b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_pl_left/materials/scripts/traffic_pl_left.material
new file mode 100755
index 0000000..e8b2b07
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_pl_left/materials/scripts/traffic_pl_left.material
@@ -0,0 +1,14 @@
+material traffic_pl_left
+{
+  technique
+  {
+    pass
+    {
+      texture_unit
+      {
+        texture traffic_pl_left.png
+      }
+    }
+  }
+}
+
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_pl_left/materials/textures/traffic_pl_left.png b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_pl_left/materials/textures/traffic_pl_left.png
new file mode 100755
index 0000000..ede00a0
Binary files /dev/null and b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_pl_left/materials/textures/traffic_pl_left.png differ
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_pl_left/model.config b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_pl_left/model.config
new file mode 100755
index 0000000..d973192
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_pl_left/model.config
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>traffic_pl_left</name>
+  <version>1.0</version>
+  <sdf version='1.6'>model.sdf</sdf>
+
+  <author>
+    <name>Hyunok Lee</name>
+    <email>hyunokhyunok@naver.com</email>
+  </author>
+
+  <description>
+    Model with links of simple shapes and texture applied.
+  </description>
+</model>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_pl_left/model.sdf b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_pl_left/model.sdf
new file mode 100755
index 0000000..8eec874
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_pl_left/model.sdf
@@ -0,0 +1,30 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <model name="traffic_pl_left">
+    <static>true</static>
+    <link name="box">
+      <pose>0 0 0 0 0 0</pose>
+      <collision name="collision">
+        <geometry>
+          <box>
+            <size>0.12 0.025 0.25</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="visual">
+        <geometry>
+          <box>
+            <size>0.12 0.025 0.25</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>model://turtlebot3_autorace_2020/traffic_pl_left/materials/scripts</uri>
+            <uri>model://turtlebot3_autorace_2020/traffic_pl_left/materials/textures</uri>
+            <name>traffic_pl_left</name>
+          </script>
+        </material>
+      </visual>
+    </link>    
+  </model>
+</sdf>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_right/materials/scripts/traffic_right.material b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_right/materials/scripts/traffic_right.material
new file mode 100755
index 0000000..cd25f5d
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_right/materials/scripts/traffic_right.material
@@ -0,0 +1,14 @@
+material traffic_right
+{
+  technique
+  {
+    pass
+    {
+      texture_unit
+      {
+        texture traffic_right.png
+      }
+    }
+  }
+}
+
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_right/materials/textures/traffic_right.png b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_right/materials/textures/traffic_right.png
new file mode 100755
index 0000000..1ef1642
Binary files /dev/null and b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_right/materials/textures/traffic_right.png differ
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_right/model.config b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_right/model.config
new file mode 100755
index 0000000..47c141f
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_right/model.config
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>traffic_right</name>
+  <version>1.0</version>
+  <sdf version='1.6'>model.sdf</sdf>
+
+  <author>
+    <name>Hyunok Lee</name>
+    <email>hyunokhyunok@naver.com</email>
+  </author>
+
+  <description>
+    Model with links of simple shapes and texture applied.
+  </description>
+</model>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_right/model.sdf b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_right/model.sdf
new file mode 100755
index 0000000..9023c1c
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_right/model.sdf
@@ -0,0 +1,30 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <model name="traffic_right">
+    <static>true</static>
+    <link name="box">
+      <pose>0 0 0 0 0 0</pose>
+      <collision name="collision">
+        <geometry>
+          <box>
+            <size>0.12 0.025 0.25</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="visual">
+        <geometry>
+          <box>
+            <size>0.12 0.025 0.25</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>model://turtlebot3_autorace_2020/traffic_right/materials/scripts</uri>
+            <uri>model://turtlebot3_autorace_2020/traffic_right/materials/textures</uri>
+            <name>traffic_right</name>
+          </script>
+        </material>
+      </visual>
+    </link>    
+  </model>
+</sdf>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_stop/materials/scripts/traffic_stop.material b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_stop/materials/scripts/traffic_stop.material
new file mode 100755
index 0000000..1353239
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_stop/materials/scripts/traffic_stop.material
@@ -0,0 +1,14 @@
+material traffic_stop
+{
+  technique
+  {
+    pass
+    {
+      texture_unit
+      {
+        texture traffic_stop.png
+      }
+    }
+  }
+}
+
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_stop/materials/textures/traffic_stop.png b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_stop/materials/textures/traffic_stop.png
new file mode 100755
index 0000000..cca5ee4
Binary files /dev/null and b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_stop/materials/textures/traffic_stop.png differ
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_stop/model.config b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_stop/model.config
new file mode 100755
index 0000000..37c96e3
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_stop/model.config
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>traffic_stop</name>
+  <version>1.0</version>
+  <sdf version='1.6'>model.sdf</sdf>
+
+  <author>
+    <name>Gilbert</name>
+    <email>kkjong@robotis.com</email>
+  </author>
+
+  <description>
+    Model with links of simple shapes and texture applied.
+  </description>
+</model>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_stop/model.sdf b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_stop/model.sdf
new file mode 100755
index 0000000..5192704
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_stop/model.sdf
@@ -0,0 +1,30 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <model name="traffic_stop">
+    <static>true</static>
+    <link name="box">
+      <pose>0 0 0 0 0 0</pose>
+      <collision name="collision">
+        <geometry>
+          <box>
+            <size>0.12 0.025 0.25</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="visual">
+        <geometry>
+          <box>
+            <size>0.12 0.025 0.25</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>model://turtlebot3_autorace_2020/traffic_stop/materials/scripts</uri>
+            <uri>model://turtlebot3_autorace_2020/traffic_stop/materials/textures</uri>
+            <name>traffic_stop</name>
+          </script>
+        </material>
+      </visual>
+    </link>    
+  </model>
+</sdf>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_tunnel/materials/scripts/tunnel.material b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_tunnel/materials/scripts/tunnel.material
new file mode 100755
index 0000000..e0bbd27
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_tunnel/materials/scripts/tunnel.material
@@ -0,0 +1,14 @@
+material traffic_tunnel
+{
+  technique
+  {
+    pass
+    {
+      texture_unit
+      {
+        texture tunnel.png
+      }
+    }
+  }
+}
+
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_tunnel/materials/textures/tunnel.png b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_tunnel/materials/textures/tunnel.png
new file mode 100755
index 0000000..c44d376
Binary files /dev/null and b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_tunnel/materials/textures/tunnel.png differ
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_tunnel/model.config b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_tunnel/model.config
new file mode 100755
index 0000000..6a4cff6
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_tunnel/model.config
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>traffic_tunnel</name>
+  <version>1.0</version>
+  <sdf version='1.6'>model.sdf</sdf>
+
+  <author>
+    <name>Hyunok Lee</name>
+    <email>hyunokhyunok@naver.com</email>
+  </author>
+
+  <description>
+    Model with links of simple shapes and texture applied.
+  </description>
+</model>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_tunnel/model.sdf b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_tunnel/model.sdf
new file mode 100755
index 0000000..0690ff4
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_tunnel/model.sdf
@@ -0,0 +1,30 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <model name="traffic_tunnel">
+    <pose>0 0 0.125 0 0 0</pose>
+    <link name="box">
+      <pose>0 0 0 0 0 0</pose>
+      <collision name="collision">
+        <geometry>
+          <box>
+            <size>0.12 0.025 0.25</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="visual">
+        <geometry>
+          <box>
+            <size>0.12 0.025 0.25</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>model://turtlebot3_autorace_2020/traffic_tunnel/materials/scripts</uri>
+            <uri>model://turtlebot3_autorace_2020/traffic_tunnel/materials/textures</uri>
+            <name>traffic_tunnel</name>
+          </script>
+        </material>
+      </visual>
+    </link>    
+  </model>
+</sdf>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_burger/model (copy).sdf b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_burger/model (copy).sdf
new file mode 100755
index 0000000..80fc60a
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_burger/model (copy).sdf	
@@ -0,0 +1,424 @@
+<?xml version="1.0" ?>
+<sdf version="1.5">
+  <model name="turtlebot3_burger">
+    <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
+
+    <link name="base_footprint"/>
+
+    <link name="base_link">
+
+      <inertial>
+        <pose>-0.032 0 0.070 0 0 0</pose>
+        <inertia>
+          <ixx>7.2397393e-01</ixx>
+          <ixy>4.686399e-10</ixy>
+          <ixz>-1.09525703e-08</ixz>
+          <iyy>7.2397393e-01</iyy>
+          <iyz>2.8582649e-09</iyz>
+          <izz>6.53050163e-01</izz>
+        </inertia>
+        <mass>8.2573504e-01</mass>
+      </inertial>
+
+      <collision name="base_collision">
+        <pose>-0.032 0 0.070 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.140 0.140 0.140</size>
+          </box>
+        </geometry>
+      </collision>
+
+      <visual name="base_visual">
+        <pose>-0.032 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/bases/burger_base.stl</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>0.3 0.3 0.3 1.0</ambient>
+          <diffuse>0.3 0.3 0.3 1.0</diffuse>
+        </material>
+      </visual>
+    </link>
+
+    <link name="imu_link">
+      <sensor name="tb3_imu" type="imu">
+        <always_on>true</always_on>
+        <update_rate>200</update_rate>
+        <imu>
+          <angular_velocity>
+            <x>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>2e-4</stddev>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>2e-4</stddev>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>2e-4</stddev>
+              </noise>
+            </z>
+          </angular_velocity>
+          <linear_acceleration>
+            <x>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>1.7e-2</stddev>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>1.7e-2</stddev>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>1.7e-2</stddev>
+              </noise>
+            </z>
+          </linear_acceleration>
+        </imu>
+        <plugin name="turtlebot3_imu" filename="libgazebo_ros_imu_sensor.so">
+          <ros>
+            <!-- <namespace>/tb3</namespace> -->
+            <remapping>~/out:=imu</remapping>
+          </ros>
+        </plugin>
+      </sensor>
+    </link>
+
+    <link name="base_scan">
+      <inertial>
+        <pose>-0.020 0 0.161 0 0 0</pose>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0.000</ixy>
+          <ixz>0.000</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0.000</iyz>
+          <izz>0.001</izz>
+        </inertia>
+        <mass>0.114</mass>
+      </inertial>
+
+      <collision name="lidar_sensor_collision">
+        <pose>-0.020 0 0.161 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.0508</radius>
+            <length>0.055</length>
+          </cylinder>
+        </geometry>
+      </collision>
+
+      <visual name="lidar_sensor_visual">
+        <pose>-0.032 0 0.171 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/sensors/lds.stl</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>0.2 0.2 0.2 1.0</ambient>
+          <diffuse>0.2 0.2 0.2 1.0</diffuse>
+        </material>
+      </visual>
+
+      <sensor name="hls_lfcd_lds" type="ray">
+        <always_on>true</always_on>
+        <visualize>true</visualize>
+        <pose>-0.032 0 0.171 0 0 0</pose>
+        <update_rate>5</update_rate>
+        <ray>
+          <scan>
+            <horizontal>
+              <samples>360</samples>
+              <resolution>1.000000</resolution>
+              <min_angle>0.000000</min_angle>
+              <max_angle>6.280000</max_angle>
+            </horizontal>
+          </scan>
+          <range>
+            <min>0.120000</min>
+            <max>3.5</max>
+            <resolution>0.015000</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0.0</mean>
+            <stddev>0.01</stddev>
+          </noise>
+        </ray>
+        <plugin name="turtlebot3_laserscan" filename="libgazebo_ros_ray_sensor.so">
+          <ros>
+            <!-- <namespace>/tb3</namespace> -->
+            <remapping>~/out:=scan</remapping>
+          </ros>
+          <output_type>sensor_msgs/LaserScan</output_type>
+          <frame_name>base_scan</frame_name>
+        </plugin>
+      </sensor>
+    </link>
+
+    <link name="wheel_left_link">
+
+      <inertial>
+        <pose>0 0.08 0.023 -1.57 0 0</pose>
+        <inertia>
+          <ixx>1.8158194e-03</ixx>
+          <ixy>-9.3392e-12</ixy>
+          <ixz>1.04909e-11</ixz>
+          <iyy>3.2922126e-03</iyy>
+          <iyz>5.75694e-11</iyz>
+          <izz>1.8158194e-03</izz>
+        </inertia>
+        <mass>2.8498940e-02</mass>
+      </inertial>
+
+      <collision name="wheel_left_collision">
+        <pose>0 0.08 0.023 -1.57 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.033</radius>
+            <length>0.018</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <!-- This friction pamareter don't contain reliable data!! -->
+          <friction>
+            <ode>
+              <mu>100000.0</mu>
+              <mu2>100000.0</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0.0</slip1>
+              <slip2>0.0</slip2>
+            </ode>
+          </friction>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+
+      <visual name="wheel_left_visual">
+        <pose>0 0.08 0.023 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/wheels/left_tire.stl</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>0.2 0.2 0.2 1.0</ambient>
+          <diffuse>0.2 0.2 0.2 1.0</diffuse>
+        </material>
+      </visual>
+    </link>
+
+    <link name="wheel_right_link">
+
+      <inertial>
+        <pose>0.0 -0.08 0.023 -1.57 0 0</pose>
+        <inertia>
+          <ixx>1.8158194e-03</ixx>
+          <ixy>-9.3392e-12</ixy>
+          <ixz>1.04909e-11</ixz>
+          <iyy>3.2922126e-03</iyy>
+          <iyz>5.75694e-11</iyz>
+          <izz>1.8158194e-03</izz>
+        </inertia>
+        <mass>2.8498940e-02</mass>
+      </inertial>
+
+      <collision name="wheel_right_collision">
+        <pose>0.0 -0.08 0.023 -1.57 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.033</radius>
+            <length>0.018</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <!-- This friction pamareter don't contain reliable data!! -->
+          <friction>
+            <ode>
+              <mu>100000.0</mu>
+              <mu2>100000.0</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0.0</slip1>
+              <slip2>0.0</slip2>
+            </ode>
+          </friction>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+
+      <visual name="wheel_right_visual">
+        <pose>0.0 -0.08 0.023 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/wheels/right_tire.stl</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>0.2 0.2 0.2 1.0</ambient>
+          <diffuse>0.2 0.2 0.2 1.0</diffuse>
+        </material>
+      </visual>
+    </link>
+
+    <link name='caster_back_link'>
+      <pose>-0.081 0 -0.004 -1.57 0 0</pose>
+      <inertial>
+        <mass>0.005</mass>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0.000</ixy>
+          <ixz>0.000</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0.000</iyz>
+          <izz>0.001</izz>
+        </inertia>
+      </inertial>
+      <collision name='collision'>
+        <geometry>
+          <sphere>
+            <radius>0.005000</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+
+    <joint name="base_joint" type="fixed">
+      <parent>base_footprint</parent>
+      <child>base_link</child>
+      <pose>0.0 0.0 0.010 0 0 0</pose>
+    </joint>
+
+    <joint name="wheel_left_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>wheel_left_link</child>
+      <pose>0.0 0.08 0.023 -1.57 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="wheel_right_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>wheel_right_link</child>
+      <pose>0.0 -0.08 0.023 -1.57 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name='caster_back_joint' type='ball'>
+      <parent>base_link</parent>
+      <child>caster_back_link</child>
+    </joint>
+
+    <joint name="imu_joint" type="fixed">
+      <parent>base_link</parent>
+      <child>imu_link</child>
+      <pose>-0.032 0 0.068 0 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="lidar_joint" type="fixed">
+      <parent>base_link</parent>
+      <child>base_scan</child>
+      <pose>-0.032 0 0.171 0 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <plugin name="turtlebot3_diff_drive" filename="libgazebo_ros_diff_drive.so">
+
+      <ros>
+        <!-- <namespace>/tb3</namespace> -->
+      </ros>
+
+      <update_rate>30</update_rate>
+
+      <!-- wheels -->
+      <left_joint>wheel_left_joint</left_joint>
+      <right_joint>wheel_right_joint</right_joint>
+
+      <!-- kinematics -->
+      <wheel_separation>0.160</wheel_separation>
+      <wheel_diameter>0.066</wheel_diameter>
+
+      <!-- limits -->
+      <max_wheel_torque>20</max_wheel_torque>
+      <max_wheel_acceleration>1.0</max_wheel_acceleration>
+
+      <command_topic>cmd_vel</command_topic>
+
+      <!-- output -->
+      <publish_odom>true</publish_odom>
+      <publish_odom_tf>true</publish_odom_tf>
+      <publish_wheel_tf>false</publish_wheel_tf>
+
+      <odometry_topic>odom</odometry_topic>
+      <odometry_frame>odom</odometry_frame>
+      <robot_base_frame>base_footprint</robot_base_frame>
+
+    </plugin>
+
+    <plugin name="turtlebot3_joint_state" filename="libgazebo_ros_joint_state_publisher.so">
+      <ros>
+        <!-- <namespace>/tb3</namespace> -->
+        <remapping>~/out:=joint_states</remapping>
+      </ros>
+      <update_rate>30</update_rate>
+      <joint_name>wheel_left_joint</joint_name>
+      <joint_name>wheel_right_joint</joint_name>
+    </plugin>      
+  </model>
+</sdf>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_burger/model-1_4.sdf b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_burger/model-1_4.sdf
new file mode 100755
index 0000000..ed00331
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_burger/model-1_4.sdf
@@ -0,0 +1,408 @@
+<?xml version="1.0" ?>
+<sdf version="1.4">
+  <model name="turtlebot3_burger">
+    <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
+
+    <link name="base_footprint"/>
+
+    <link name="base_link">
+
+      <inertial>
+        <pose>-0.032 0 0.070 0 0 0</pose>
+        <inertia>
+          <ixx>7.2397393e-01</ixx>
+          <ixy>4.686399e-10</ixy>
+          <ixz>-1.09525703e-08</ixz>
+          <iyy>7.2397393e-01</iyy>
+          <iyz>2.8582649e-09</iyz>
+          <izz>6.53050163e-01</izz>
+        </inertia>
+        <mass>8.2573504e-01</mass>
+      </inertial>
+
+      <collision name="base_collision">
+        <pose>-0.032 0 0.070 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.140 0.140 0.140</size>
+          </box>
+        </geometry>
+      </collision>
+
+      <visual name="base_visual">
+        <pose>-0.032 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/burger_base.dae</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <link name="imu_link">
+      <sensor name="tb3_imu" type="imu">
+        <always_on>true</always_on>
+        <update_rate>200</update_rate>
+        <imu>
+          <angular_velocity>
+            <x>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>2e-4</stddev>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>2e-4</stddev>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>2e-4</stddev>
+              </noise>
+            </z>
+          </angular_velocity>
+          <linear_acceleration>
+            <x>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>1.7e-2</stddev>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>1.7e-2</stddev>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>1.7e-2</stddev>
+              </noise>
+            </z>
+          </linear_acceleration>
+        </imu>
+        <plugin name="turtlebot3_imu" filename="libgazebo_ros_imu_sensor.so">
+          <ros>
+            <!-- <namespace>/tb3</namespace> -->
+            <remapping>~/out:=imu</remapping>
+          </ros>
+        </plugin>
+      </sensor>
+    </link>
+
+    <link name="base_scan">
+      <inertial>
+        <pose>-0.020 0 0.161 0 0 0</pose>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0.000</ixy>
+          <ixz>0.000</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0.000</iyz>
+          <izz>0.001</izz>
+        </inertia>
+        <mass>0.114</mass>
+      </inertial>
+
+      <collision name="lidar_sensor_collision">
+        <pose>-0.020 0 0.161 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.0508</radius>
+            <length>0.055</length>
+          </cylinder>
+        </geometry>
+      </collision>
+
+      <visual name="lidar_sensor_visual">
+        <pose>-0.032 0 0.171 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/lds.dae</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+      </visual>
+
+      <sensor name="hls_lfcd_lds" type="ray">
+        <always_on>true</always_on>
+        <visualize>true</visualize>
+        <pose>-0.032 0 0.171 0 0 0</pose>
+        <update_rate>5</update_rate>
+        <ray>
+          <scan>
+            <horizontal>
+              <samples>360</samples>
+              <resolution>1.000000</resolution>
+              <min_angle>0.000000</min_angle>
+              <max_angle>6.280000</max_angle>
+            </horizontal>
+          </scan>
+          <range>
+            <min>0.120000</min>
+            <max>3.5</max>
+            <resolution>0.015000</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0.0</mean>
+            <stddev>0.01</stddev>
+          </noise>
+        </ray>
+        <plugin name="turtlebot3_laserscan" filename="libgazebo_ros_ray_sensor.so">
+          <ros>
+            <!-- <namespace>/tb3</namespace> -->
+            <remapping>~/out:=scan</remapping>
+          </ros>
+          <output_type>sensor_msgs/LaserScan</output_type>
+          <frame_name>base_scan</frame_name>
+        </plugin>
+      </sensor>
+    </link>
+
+    <link name="wheel_left_link">
+
+      <inertial>
+        <pose>0 0.08 0.023 -1.57 0 0</pose>
+        <inertia>
+          <ixx>1.8158194e-03</ixx>
+          <ixy>-9.3392e-12</ixy>
+          <ixz>1.04909e-11</ixz>
+          <iyy>3.2922126e-03</iyy>
+          <iyz>5.75694e-11</iyz>
+          <izz>1.8158194e-03</izz>
+        </inertia>
+        <mass>2.8498940e-02</mass>
+      </inertial>
+
+      <collision name="wheel_left_collision">
+        <pose>0 0.08 0.023 -1.57 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.033</radius>
+            <length>0.018</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <!-- This friction pamareter don't contain reliable data!! -->
+          <friction>
+            <ode>
+              <mu>100000.0</mu>
+              <mu2>100000.0</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0.0</slip1>
+              <slip2>0.0</slip2>
+            </ode>
+          </friction>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+
+      <visual name="wheel_left_visual">
+        <pose>0 0.08 0.023 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/tire.dae</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <link name="wheel_right_link">
+
+      <inertial>
+        <pose>0.0 -0.08 0.023 -1.57 0 0</pose>
+        <inertia>
+          <ixx>1.8158194e-03</ixx>
+          <ixy>-9.3392e-12</ixy>
+          <ixz>1.04909e-11</ixz>
+          <iyy>3.2922126e-03</iyy>
+          <iyz>5.75694e-11</iyz>
+          <izz>1.8158194e-03</izz>
+        </inertia>
+        <mass>2.8498940e-02</mass>
+      </inertial>
+
+      <collision name="wheel_right_collision">
+        <pose>0.0 -0.08 0.023 -1.57 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.033</radius>
+            <length>0.018</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <!-- This friction pamareter don't contain reliable data!! -->
+          <friction>
+            <ode>
+              <mu>100000.0</mu>
+              <mu2>100000.0</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0.0</slip1>
+              <slip2>0.0</slip2>
+            </ode>
+          </friction>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+
+      <visual name="wheel_right_visual">
+        <pose>0.0 -0.08 0.023 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/tire.dae</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <link name='caster_back_link'>
+      <pose>-0.081 0 -0.004 -1.57 0 0</pose>
+      <inertial>
+        <mass>0.005</mass>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0.000</ixy>
+          <ixz>0.000</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0.000</iyz>
+          <izz>0.001</izz>
+        </inertia>
+      </inertial>
+      <collision name='collision'>
+        <geometry>
+          <sphere>
+            <radius>0.005000</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+
+    <joint name="base_joint" type="fixed">
+      <parent>base_footprint</parent>
+      <child>base_link</child>
+      <pose>0.0 0.0 0.010 0 0 0</pose>
+    </joint>
+
+    <joint name="wheel_left_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>wheel_left_link</child>
+      <pose>0.0 0.08 0.023 -1.57 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="wheel_right_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>wheel_right_link</child>
+      <pose>0.0 -0.08 0.023 -1.57 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name='caster_back_joint' type='ball'>
+      <parent>base_link</parent>
+      <child>caster_back_link</child>
+    </joint>
+
+    <joint name="imu_joint" type="fixed">
+      <parent>base_link</parent>
+      <child>imu_link</child>
+      <pose>-0.032 0 0.068 0 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="lidar_joint" type="fixed">
+      <parent>base_link</parent>
+      <child>base_scan</child>
+      <pose>-0.032 0 0.171 0 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <plugin name="turtlebot3_diff_drive" filename="libgazebo_ros_diff_drive.so">
+
+      <ros>
+        <!-- <namespace>/tb3</namespace> -->
+      </ros>
+
+      <update_rate>30</update_rate>
+
+      <!-- wheels -->
+      <left_joint>wheel_left_joint</left_joint>
+      <right_joint>wheel_right_joint</right_joint>
+
+      <!-- kinematics -->
+      <wheel_separation>0.160</wheel_separation>
+      <wheel_diameter>0.066</wheel_diameter>
+
+      <!-- limits -->
+      <max_wheel_torque>20</max_wheel_torque>
+      <max_wheel_acceleration>1.0</max_wheel_acceleration>
+
+      <command_topic>cmd_vel</command_topic>
+
+      <!-- output -->
+      <publish_odom>true</publish_odom>
+      <publish_odom_tf>true</publish_odom_tf>
+      <publish_wheel_tf>false</publish_wheel_tf>
+
+      <odometry_topic>odom</odometry_topic>
+      <odometry_frame>odom</odometry_frame>
+      <robot_base_frame>base_footprint</robot_base_frame>
+
+    </plugin>
+
+    <plugin name="turtlebot3_joint_state" filename="libgazebo_ros_joint_state_publisher.so">
+      <ros>
+        <!-- <namespace>/tb3</namespace> -->
+        <remapping>~/out:=joint_states</remapping>
+      </ros>
+      <update_rate>30</update_rate>
+      <joint_name>wheel_left_joint</joint_name>
+      <joint_name>wheel_right_joint</joint_name>
+    </plugin>      
+  </model>
+</sdf>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_burger/model.config b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_burger/model.config
new file mode 100755
index 0000000..be0388c
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_burger/model.config
@@ -0,0 +1,17 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>TurtleBot3(Burger)</name>
+  <version>2.0</version>
+  <sdf version="1.4">model-1_4.sdf</sdf>
+  <sdf version="1.5">model.sdf</sdf>
+
+  <author>
+    <name>Taehun Lim(Darby)</name>
+    <email>thlim@robotis.com</email>
+  </author>
+
+  <description>
+    TurtleBot3 Burger
+  </description>
+</model>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_burger/model.sdf b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_burger/model.sdf
new file mode 100755
index 0000000..cbef33c
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_burger/model.sdf
@@ -0,0 +1,530 @@
+<?xml version="1.0" ?>
+<sdf version="1.5">
+  <model name="turtlebot3_burger">
+    <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
+
+    <link name="base_footprint"/>
+
+    <link name="base_link">
+
+      <inertial>
+        <pose>-0.032 0 0.070 0 0 0</pose>
+        <inertia>
+          <ixx>7.2397393e-01</ixx>
+          <ixy>4.686399e-10</ixy>
+          <ixz>-1.09525703e-08</ixz>
+          <iyy>7.2397393e-01</iyy>
+          <iyz>2.8582649e-09</iyz>
+          <izz>6.53050163e-01</izz>
+        </inertia>
+        <mass>8.2573504e-01</mass>
+      </inertial>
+
+      <collision name="base_collision">
+        <pose>-0.032 0 0.070 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.140 0.140 0.140</size>
+          </box>
+        </geometry>
+      </collision>
+
+      <visual name="base_visual">
+        <pose>-0.032 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/bases/burger_base.stl</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>0.3 0.3 0.3 1.0</ambient>
+          <diffuse>0.3 0.3 0.3 1.0</diffuse>
+        </material>
+      </visual>
+    </link>
+
+    <link name="imu_link">
+      <sensor name="tb3_imu" type="imu">
+        <always_on>true</always_on>
+        <update_rate>200</update_rate>
+        <imu>
+          <angular_velocity>
+            <x>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>2e-4</stddev>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>2e-4</stddev>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>2e-4</stddev>
+              </noise>
+            </z>
+          </angular_velocity>
+          <linear_acceleration>
+            <x>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>1.7e-2</stddev>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>1.7e-2</stddev>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>1.7e-2</stddev>
+              </noise>
+            </z>
+          </linear_acceleration>
+        </imu>
+        <plugin name="turtlebot3_imu" filename="libgazebo_ros_imu_sensor.so">
+          <ros>
+            <!-- <namespace>/tb3</namespace> -->
+            <remapping>~/out:=imu</remapping>
+          </ros>
+        </plugin>
+      </sensor>
+    </link>
+
+    <link name="base_scan">
+      <inertial>
+        <pose>-0.020 0 0.161 0 0 0</pose>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0.000</ixy>
+          <ixz>0.000</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0.000</iyz>
+          <izz>0.001</izz>
+        </inertia>
+        <mass>0.114</mass>
+      </inertial>
+
+      <collision name="lidar_sensor_collision">
+        <pose>-0.020 0 0.161 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.0508</radius>
+            <length>0.055</length>
+          </cylinder>
+        </geometry>
+      </collision>
+
+      <visual name="lidar_sensor_visual">
+        <pose>-0.032 0 0.171 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/sensors/lds.stl</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>0.2 0.2 0.2 1.0</ambient>
+          <diffuse>0.2 0.2 0.2 1.0</diffuse>
+        </material>
+      </visual>
+
+      <sensor name="hls_lfcd_lds" type="ray">
+        <always_on>true</always_on>
+        <visualize>true</visualize>
+        <pose>-0.032 0 0.171 0 0 0</pose>
+        <update_rate>5</update_rate>
+        <ray>
+          <scan>
+            <horizontal>
+              <samples>360</samples>
+              <resolution>1.000000</resolution>
+              <min_angle>0.000000</min_angle>
+              <max_angle>6.280000</max_angle>
+            </horizontal>
+          </scan>
+          <range>
+            <min>0.120000</min>
+            <max>6.0</max>
+            <resolution>0.015000</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0.0</mean>
+            <stddev>0.01</stddev>
+          </noise>
+        </ray>
+        <plugin name="turtlebot3_laserscan" filename="libgazebo_ros_ray_sensor.so">
+          <ros>
+            <!-- <namespace>/tb3</namespace> -->
+            <remapping>~/out:=scan</remapping>
+          </ros>
+          <output_type>sensor_msgs/LaserScan</output_type>
+          <frame_name>base_scan</frame_name>
+        </plugin>
+      </sensor>
+    </link>
+
+    <link name="wheel_left_link">
+
+      <inertial>
+        <pose>0 0.08 0.023 -1.57 0 0</pose>
+        <inertia>
+          <ixx>1.8158194e-03</ixx>
+          <ixy>-9.3392e-12</ixy>
+          <ixz>1.04909e-11</ixz>
+          <iyy>3.2922126e-03</iyy>
+          <iyz>5.75694e-11</iyz>
+          <izz>1.8158194e-03</izz>
+        </inertia>
+        <mass>2.8498940e-02</mass>
+      </inertial>
+
+      <collision name="wheel_left_collision">
+        <pose>0 0.08 0.023 -1.57 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.033</radius>
+            <length>0.018</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <!-- This friction pamareter don't contain reliable data!! -->
+          <friction>
+            <ode>
+              <mu>100000.0</mu>
+              <mu2>100000.0</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0.0</slip1>
+              <slip2>0.0</slip2>
+            </ode>
+          </friction>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+
+      <visual name="wheel_left_visual">
+        <pose>0 0.08 0.023 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/wheels/left_tire.stl</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>0.2 0.2 0.2 1.0</ambient>
+          <diffuse>0.2 0.2 0.2 1.0</diffuse>
+        </material>
+      </visual>
+    </link>
+
+    <link name="wheel_right_link">
+
+      <inertial>
+        <pose>0.0 -0.08 0.023 -1.57 0 0</pose>
+        <inertia>
+          <ixx>1.8158194e-03</ixx>
+          <ixy>-9.3392e-12</ixy>
+          <ixz>1.04909e-11</ixz>
+          <iyy>3.2922126e-03</iyy>
+          <iyz>5.75694e-11</iyz>
+          <izz>1.8158194e-03</izz>
+        </inertia>
+        <mass>2.8498940e-02</mass>
+      </inertial>
+
+      <collision name="wheel_right_collision">
+        <pose>0.0 -0.08 0.023 -1.57 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.033</radius>
+            <length>0.018</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <!-- This friction pamareter don't contain reliable data!! -->
+          <friction>
+            <ode>
+              <mu>100000.0</mu>
+              <mu2>100000.0</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0.0</slip1>
+              <slip2>0.0</slip2>
+            </ode>
+          </friction>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+
+      <visual name="wheel_right_visual">
+        <pose>0.0 -0.08 0.023 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/wheels/right_tire.stl</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>0.2 0.2 0.2 1.0</ambient>
+          <diffuse>0.2 0.2 0.2 1.0</diffuse>
+        </material>
+      </visual>
+    </link>
+
+    <link name='caster_back_link'>
+      <pose>-0.081 0 -0.004 -1.57 0 0</pose>
+      <inertial>
+        <mass>0.005</mass>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0.000</ixy>
+          <ixz>0.000</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0.000</iyz>
+          <izz>0.001</izz>
+        </inertia>
+      </inertial>
+      <collision name='collision'>
+        <geometry>
+          <sphere>
+            <radius>0.005000</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+
+
+    <joint name="camera_joint" type="fixed">
+      <parent>base_link</parent>
+      <child>realsense_link</child>
+      <pose>0.076 0.0 0.093 0 0 0</pose>
+    </joint>
+
+
+    <link name="realsense_link">
+      <inertial>
+        <pose>0.076 0.0 0.093 0 0 0</pose>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0.000</ixy>
+          <ixz>0.000</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0.000</iyz>
+          <izz>0.001</izz>
+        </inertia>
+        <mass>0.035</mass>
+      </inertial>
+
+      <collision name="collision">
+        <pose>0 0.047 0 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.008 0.130 0.022</size>
+          </box>
+        </geometry>
+      </collision>
+      <pose>0.076 0.0 0.093 0 0 0</pose>
+
+      <sensor name="intel_realsense_r200_depth" type="depth">
+        <always_on>1</always_on>
+        <update_rate>30</update_rate>
+        <pose>0.076 0.0 0.093 0 0 0</pose>
+        <camera name="realsense_depth_camera">
+          <image>
+            <width>640</width>
+            <height>480</height>
+            <!-- <width>1920</width> -->
+            <!-- <height>1080</height> -->
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.02</near>
+            <far>10</far>
+          </clip>
+        </camera>
+	        <plugin name="intel_realsense_r200_depth_driver" filename="libgazebo_ros_camera.so">
+            <ros>
+              <!-- 
+              <argument>custom_camera/image_raw:=custom_camera/custom_image</argument>
+              <argument>custom_camera/image_depth:=custom_camera/custom_image_depth</argument>
+              <argument>custom_camera/camera_info:=custom_camera/custom_info_raw</argument>
+              <argument>custom_camera/camera_info_depth:=custom_camera/custom_info_depth</argument>
+              <argument>custom_camera/points:=custom_camera/custom_points</argument> 
+              -->
+            </ros>
+            <camera_name>intel_realsense_r200_depth</camera_name>
+            <frame_name>realsense_depth_frame</frame_name>
+            <hack_baseline>0.07</hack_baseline>
+            <min_depth>0.001</min_depth>
+          </plugin>
+      </sensor>
+
+      <sensor name="intel_realsense_r200_rgb" type="camera">
+        <always_on>true</always_on>
+        <visualize>true</visualize>
+        <update_rate>30</update_rate>
+	      <pose>0.076 0.0 0.093 0 0 0</pose>
+        <camera name="realsense_rgb_camera">
+          <horizontal_fov>1.02974</horizontal_fov>
+          <image>
+            <width>640</width>
+            <height>480</height>
+            <!-- <width>1920</width> -->
+            <!-- <height>1080</height> -->
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.02</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0.0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+        </camera>
+          <plugin name="intel_realsense_r200_rgb_driver" filename="libgazebo_ros_camera.so">
+            <ros>
+            <!--
+              <namespace>custom_ns</namespace>
+              <argument>image_raw:=custom_image</argument>
+              <argument>camera_info:=custom_info_raw</argument> 
+            -->
+            </ros>
+            <camera_name>intel_realsense_r200_rgb</camera_name>
+            <frame_name>realsense_rgb_frame</frame_name>
+            <hack_baseline>0.07</hack_baseline>
+          </plugin>
+      </sensor>
+    </link>  
+
+
+    <joint name="base_joint" type="fixed">
+      <parent>base_footprint</parent>
+      <child>base_link</child>
+      <pose>0.0 0.0 0.010 0 0 0</pose>
+    </joint>
+
+    <joint name="wheel_left_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>wheel_left_link</child>
+      <pose>0.0 0.08 0.023 -1.57 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="wheel_right_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>wheel_right_link</child>
+      <pose>0.0 -0.08 0.023 -1.57 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name='caster_back_joint' type='ball'>
+      <parent>base_link</parent>
+      <child>caster_back_link</child>
+    </joint>
+
+    <joint name="imu_joint" type="fixed">
+      <parent>base_link</parent>
+      <child>imu_link</child>
+      <pose>-0.032 0 0.068 0 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="lidar_joint" type="fixed">
+      <parent>base_link</parent>
+      <child>base_scan</child>
+      <pose>-0.032 0 0.171 0 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <plugin name="turtlebot3_diff_drive" filename="libgazebo_ros_diff_drive.so">
+
+      <ros>
+        <!-- <namespace>/tb3</namespace> -->
+      </ros>
+
+      <update_rate>30</update_rate>
+
+      <!-- wheels -->
+      <left_joint>wheel_left_joint</left_joint>
+      <right_joint>wheel_right_joint</right_joint>
+
+      <!-- kinematics -->
+      <wheel_separation>0.160</wheel_separation>
+      <wheel_diameter>0.066</wheel_diameter>
+
+      <!-- limits -->
+      <max_wheel_torque>20</max_wheel_torque>
+      <max_wheel_acceleration>1.0</max_wheel_acceleration>
+
+      <command_topic>cmd_vel</command_topic>
+
+      <!-- output -->
+      <publish_odom>true</publish_odom>
+      <publish_odom_tf>true</publish_odom_tf>
+      <publish_wheel_tf>false</publish_wheel_tf>
+
+      <odometry_topic>odom</odometry_topic>
+      <odometry_frame>odom</odometry_frame>
+      <robot_base_frame>base_footprint</robot_base_frame>
+
+    </plugin>
+
+    <plugin name="turtlebot3_joint_state" filename="libgazebo_ros_joint_state_publisher.so">
+      <ros>
+        <!-- <namespace>/tb3</namespace> -->
+        <remapping>~/out:=joint_states</remapping>
+      </ros>
+      <update_rate>30</update_rate>
+      <joint_name>wheel_left_joint</joint_name>
+      <joint_name>wheel_right_joint</joint_name>
+    </plugin>      
+  </model>
+</sdf>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_burger/model_gz.sdf b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_burger/model_gz.sdf
new file mode 100755
index 0000000..8dd48a1
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_burger/model_gz.sdf
@@ -0,0 +1,459 @@
+<?xml version="1.0" ?>
+<sdf version="1.9">
+  <model name="turtlebot3_burger">
+    <pose>0 0 0 0 0 0</pose>
+
+    <link name="base_footprint"/>
+
+    <link name="base_link">
+      <!-- Preserved from original model.sdf -->
+      <inertial>
+        <pose>-0.032 0 0.070 0 0 0</pose>
+        <inertia>
+          <ixx>7.2397393e-01</ixx>
+          <ixy>4.686399e-10</ixy>
+          <ixz>-1.09525703e-08</ixz>
+          <iyy>7.2397393e-01</iyy>
+          <iyz>2.8582649e-09</iyz>
+          <izz>6.53050163e-01</izz>
+        </inertia>
+        <mass>8.2573504e-01</mass>
+      </inertial>
+      <collision name="base_collision">
+        <pose>-0.032 0 0.070 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.140 0.140 0.140</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="base_visual">
+        <pose>-0.032 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/bases/burger_base.stl</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>0.3 0.3 0.3 1.0</ambient>
+          <diffuse>0.3 0.3 0.3 1.0</diffuse>
+        </material>
+      </visual>
+    </link>
+
+    <link name="imu_link">
+      <sensor name="tb3_imu" type="imu">
+        <always_on>true</always_on>
+        <update_rate>200</update_rate>
+        <imu>
+          <angular_velocity>
+            <x><noise type="gaussian"><mean>0</mean><stddev>2e-4</stddev></noise></x>
+            <y><noise type="gaussian"><mean>0</mean><stddev>2e-4</stddev></noise></y>
+            <z><noise type="gaussian"><mean>0</mean><stddev>2e-4</stddev></noise></z>
+          </angular_velocity>
+          <linear_acceleration>
+            <x><noise type="gaussian"><mean>0</mean><stddev>1.7e-2</stddev></noise></x>
+            <y><noise type="gaussian"><mean>0</mean><stddev>1.7e-2</stddev></noise></y>
+            <z><noise type="gaussian"><mean>0</mean><stddev>1.7e-2</stddev></noise></z>
+          </linear_acceleration>
+        </imu>
+      </sensor>
+    </link>
+
+    <link name="base_scan">
+      <!-- Preserved from original model.sdf -->
+      <inertial>
+        <pose>-0.020 0 0.161 0 0 0</pose>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0.000</ixy>
+          <ixz>0.000</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0.000</iyz>
+          <izz>0.001</izz>
+        </inertia>
+        <mass>0.114</mass>
+      </inertial>
+      <collision name="lidar_sensor_collision">
+        <pose>-0.020 0 0.161 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.0508</radius>
+            <length>0.055</length>
+          </cylinder>
+        </geometry>
+      </collision>
+      <visual name="lidar_sensor_visual">
+        <pose>-0.032 0 0.171 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/sensors/lds.stl</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>0.2 0.2 0.2 1.0</ambient>
+          <diffuse>0.2 0.2 0.2 1.0</diffuse>
+        </material>
+      </visual>
+      <!-- gpu_lidar sensor: parameters match original ray sensor -->
+      <sensor name="hls_lfcd_lds" type="gpu_lidar">
+        <pose>-0.032 0 0.171 0 0 0</pose>
+        <always_on>true</always_on>
+        <visualize>true</visualize>
+        <update_rate>5</update_rate>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>360</samples>
+              <resolution>1</resolution>
+              <min_angle>0</min_angle>
+              <max_angle>6.283185307179586</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>1</samples>
+              <resolution>1</resolution>
+              <min_angle>0</min_angle>
+              <max_angle>0</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.120000</min>
+            <max>6.0</max>
+            <resolution>0.015000</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0.0</mean>
+            <stddev>0.01</stddev>
+          </noise>
+        </lidar>
+      </sensor>
+    </link>
+
+    <link name="wheel_left_link">
+      <!-- Preserved from original model.sdf -->
+      <inertial>
+        <pose>0 0.08 0.023 -1.57 0 0</pose>
+        <inertia>
+          <ixx>1.8158194e-03</ixx>
+          <ixy>-9.3392e-12</ixy>
+          <ixz>1.04909e-11</ixz>
+          <iyy>3.2922126e-03</iyy>
+          <iyz>5.75694e-11</iyz>
+          <izz>1.8158194e-03</izz>
+        </inertia>
+        <mass>2.8498940e-02</mass>
+      </inertial>
+      <collision name="wheel_left_collision">
+        <pose>0 0.08 0.023 -1.57 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.033</radius>
+            <length>0.018</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <!-- This friction pamareter don't contain reliable data!! -->
+          <friction>
+            <ode>
+              <mu>100000.0</mu>
+              <mu2>100000.0</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0.0</slip1>
+              <slip2>0.0</slip2>
+            </ode>
+          </friction>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+      <visual name="wheel_left_visual">
+        <pose>0 0.08 0.023 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/wheels/left_tire.stl</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>0.2 0.2 0.2 1.0</ambient>
+          <diffuse>0.2 0.2 0.2 1.0</diffuse>
+        </material>
+      </visual>
+    </link>
+
+    <link name="wheel_right_link">
+      <!-- Preserved from original model.sdf -->
+      <inertial>
+        <pose>0.0 -0.08 0.023 -1.57 0 0</pose>
+        <inertia>
+          <ixx>1.8158194e-03</ixx>
+          <ixy>-9.3392e-12</ixy>
+          <ixz>1.04909e-11</ixz>
+          <iyy>3.2922126e-03</iyy>
+          <iyz>5.75694e-11</iyz>
+          <izz>1.8158194e-03</izz>
+        </inertia>
+        <mass>2.8498940e-02</mass>
+      </inertial>
+      <collision name="wheel_right_collision">
+        <pose>0.0 -0.08 0.023 -1.57 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.033</radius>
+            <length>0.018</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <!-- This friction pamareter don't contain reliable data!! -->
+          <friction>
+            <ode>
+              <mu>100000.0</mu>
+              <mu2>100000.0</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0.0</slip1>
+              <slip2>0.0</slip2>
+            </ode>
+          </friction>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+      <visual name="wheel_right_visual">
+        <pose>0.0 -0.08 0.023 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/wheels/right_tire.stl</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>0.2 0.2 0.2 1.0</ambient>
+          <diffuse>0.2 0.2 0.2 1.0</diffuse>
+        </material>
+      </visual>
+    </link>
+
+    <link name="caster_back_link">
+      <pose>-0.081 0 -0.004 -1.57 0 0</pose>
+      <inertial>
+        <mass>0.005</mass>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0.000</ixy>
+          <ixz>0.000</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0.000</iyz>
+          <izz>0.001</izz>
+        </inertia>
+      </inertial>
+      <collision name="collision">
+        <geometry>
+          <sphere>
+            <radius>0.005000</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+
+    <link name="realsense_link">
+      <inertial>
+        <pose>0.076 0.0 0.093 0 0 0</pose>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0.000</ixy>
+          <ixz>0.000</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0.000</iyz>
+          <izz>0.001</izz>
+        </inertia>
+        <mass>0.035</mass>
+      </inertial>
+      <collision name="collision">
+        <pose>0 0.047 0 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.008 0.130 0.022</size>
+          </box>
+        </geometry>
+      </collision>
+      <pose>0.076 0 0.093 0 0 0</pose>
+
+      <!-- Depth camera sensor - migrated from libgazebo_ros_camera.so to gz-sim native
+           Original plugin had: hack_baseline=0.07 (stereo baseline), min_depth=0.001
+           Note: hack_baseline is a Gazebo Classic plugin-specific param for stereo simulation;
+                 Gz Sim uses raycasting rendering so it is NOT needed here.
+           Note: min_depth is replaced by <clip><near>=0.02 for minimum sensing distance. -->
+      <sensor name="intel_realsense_r200_depth" type="depth">
+        <gz_frame_id>realsense_depth_frame</gz_frame_id>
+        <always_on>1</always_on>
+        <update_rate>30</update_rate>
+        <pose>0.076 0.0 0.093 0 0 0</pose>
+        <camera name="realsense_depth_camera">
+          <image>
+            <width>640</width>
+            <height>480</height>
+            <!-- L16 format: encodes depth as 16-bit uint (pixel value = depth in mm)
+                 This bypasses gz.msgs.DepthImage (unsupported in Humble ros_gz_bridge)
+                 and outputs standard gz.msgs.Image that can be bridged directly. -->
+            <format>L16</format>
+          </image>
+          <clip>
+            <near>0.02</near>
+            <far>10</far>
+          </clip>
+        </camera>
+        <!-- Disable native DepthImage output to avoid topic conflict.
+             With this false, Gazebo only publishes /image (L16) instead of /depth_image
+             NOTE: <output_depth_image> removed — not valid SDF for Gz Sim Harmonic -->
+      </sensor>
+
+      <!-- RGB camera sensor - migrated from libgazebo_ros_camera.so to gz-sim native
+           Original plugin had: hack_baseline=0.07 (stereo baseline)
+           Note: Not applicable in Gz Sim native sensor (same reason as depth camera above). -->
+      <sensor name="intel_realsense_r200_rgb" type="camera">
+        <gz_frame_id>camera_rgb_frame</gz_frame_id>
+        <always_on>true</always_on>
+        <visualize>true</visualize>
+        <update_rate>30</update_rate>
+	      <pose>0.076 0.0 0.093 0 0 0</pose>
+        <camera name="realsense_rgb_camera">
+          <horizontal_fov>1.02974</horizontal_fov>
+          <image>
+            <width>640</width>
+            <height>480</height>
+            <!-- <width>1920</width> -->
+            <!-- <height>1080</height> -->
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.02</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0.0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+        </camera>
+      </sensor>
+    </link>
+
+    <joint name="base_joint" type="fixed">
+      <parent>base_footprint</parent>
+      <child>base_link</child>
+      <pose>0.0 0.0 0.010 0 0 0</pose>
+    </joint>
+
+    <joint name="wheel_left_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>wheel_left_link</child>
+      <pose>0.0 0.08 0.023 -1.57 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-1.79769e+308</lower>
+          <upper>1.79769e+308</upper>
+        </limit>
+      </axis>
+    </joint>
+
+    <joint name="wheel_right_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>wheel_right_link</child>
+      <pose>0.0 -0.08 0.023 -1.57 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-1.79769e+308</lower>
+          <upper>1.79769e+308</upper>
+        </limit>
+      </axis>
+    </joint>
+
+    <joint name="caster_back_joint" type="ball">
+      <parent>base_link</parent>
+      <child>caster_back_link</child>
+    </joint>
+
+    <joint name="imu_joint" type="fixed">
+      <parent>base_link</parent>
+      <child>imu_link</child>
+      <pose>-0.032 0 0.068 0 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="lidar_joint" type="fixed">
+      <parent>base_link</parent>
+      <child>base_scan</child>
+      <pose>-0.032 0 0.171 0 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="camera_joint" type="fixed">
+      <parent>base_link</parent>
+      <child>realsense_link</child>
+      <pose>0.076 0.0 0.093 0 0 0</pose>
+    </joint>
+
+    <!-- Diff Drive plugin: migrated from libgazebo_ros_diff_drive.so to gz-sim system -->
+    <plugin filename="gz-sim-diff-drive-system" name="gz::sim::systems::DiffDrive">
+      <left_joint>wheel_left_joint</left_joint>
+      <right_joint>wheel_right_joint</right_joint>
+      <frame_id>odom</frame_id>
+      <child_frame_id>base_footprint</child_frame_id>
+      <wheel_separation>0.160</wheel_separation>
+      <wheel_radius>0.033</wheel_radius>
+      <odom_publish_frequency>30</odom_publish_frequency>
+      <!-- Original model.sdf had: max_wheel_torque=20, max_wheel_acceleration=1.0 -->
+      <max_linear_acceleration>1.0</max_linear_acceleration>
+      <min_linear_acceleration>-1.0</min_linear_acceleration>
+      <max_angular_acceleration>2.0</max_angular_acceleration>
+      <min_angular_acceleration>-2.0</min_angular_acceleration>
+      <!-- TurtleBot3 Burger typical max speeds -->
+      <max_linear_velocity>0.22</max_linear_velocity>
+      <min_linear_velocity>-0.22</min_linear_velocity>
+      <max_angular_velocity>2.84</max_angular_velocity>
+      <min_angular_velocity>-2.84</min_angular_velocity>
+    </plugin>
+
+    <!-- Joint State Publisher: migrated from libgazebo_ros_joint_state_publisher.so -->
+    <plugin filename="gz-sim-joint-state-publisher-system" name="gz::sim::systems::JointStatePublisher">
+    </plugin>
+
+  </model>
+</sdf>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_burger_cam/model-1_4.sdf b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_burger_cam/model-1_4.sdf
new file mode 100755
index 0000000..ed00331
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_burger_cam/model-1_4.sdf
@@ -0,0 +1,408 @@
+<?xml version="1.0" ?>
+<sdf version="1.4">
+  <model name="turtlebot3_burger">
+    <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
+
+    <link name="base_footprint"/>
+
+    <link name="base_link">
+
+      <inertial>
+        <pose>-0.032 0 0.070 0 0 0</pose>
+        <inertia>
+          <ixx>7.2397393e-01</ixx>
+          <ixy>4.686399e-10</ixy>
+          <ixz>-1.09525703e-08</ixz>
+          <iyy>7.2397393e-01</iyy>
+          <iyz>2.8582649e-09</iyz>
+          <izz>6.53050163e-01</izz>
+        </inertia>
+        <mass>8.2573504e-01</mass>
+      </inertial>
+
+      <collision name="base_collision">
+        <pose>-0.032 0 0.070 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.140 0.140 0.140</size>
+          </box>
+        </geometry>
+      </collision>
+
+      <visual name="base_visual">
+        <pose>-0.032 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/burger_base.dae</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <link name="imu_link">
+      <sensor name="tb3_imu" type="imu">
+        <always_on>true</always_on>
+        <update_rate>200</update_rate>
+        <imu>
+          <angular_velocity>
+            <x>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>2e-4</stddev>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>2e-4</stddev>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>2e-4</stddev>
+              </noise>
+            </z>
+          </angular_velocity>
+          <linear_acceleration>
+            <x>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>1.7e-2</stddev>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>1.7e-2</stddev>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>1.7e-2</stddev>
+              </noise>
+            </z>
+          </linear_acceleration>
+        </imu>
+        <plugin name="turtlebot3_imu" filename="libgazebo_ros_imu_sensor.so">
+          <ros>
+            <!-- <namespace>/tb3</namespace> -->
+            <remapping>~/out:=imu</remapping>
+          </ros>
+        </plugin>
+      </sensor>
+    </link>
+
+    <link name="base_scan">
+      <inertial>
+        <pose>-0.020 0 0.161 0 0 0</pose>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0.000</ixy>
+          <ixz>0.000</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0.000</iyz>
+          <izz>0.001</izz>
+        </inertia>
+        <mass>0.114</mass>
+      </inertial>
+
+      <collision name="lidar_sensor_collision">
+        <pose>-0.020 0 0.161 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.0508</radius>
+            <length>0.055</length>
+          </cylinder>
+        </geometry>
+      </collision>
+
+      <visual name="lidar_sensor_visual">
+        <pose>-0.032 0 0.171 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/lds.dae</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+      </visual>
+
+      <sensor name="hls_lfcd_lds" type="ray">
+        <always_on>true</always_on>
+        <visualize>true</visualize>
+        <pose>-0.032 0 0.171 0 0 0</pose>
+        <update_rate>5</update_rate>
+        <ray>
+          <scan>
+            <horizontal>
+              <samples>360</samples>
+              <resolution>1.000000</resolution>
+              <min_angle>0.000000</min_angle>
+              <max_angle>6.280000</max_angle>
+            </horizontal>
+          </scan>
+          <range>
+            <min>0.120000</min>
+            <max>3.5</max>
+            <resolution>0.015000</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0.0</mean>
+            <stddev>0.01</stddev>
+          </noise>
+        </ray>
+        <plugin name="turtlebot3_laserscan" filename="libgazebo_ros_ray_sensor.so">
+          <ros>
+            <!-- <namespace>/tb3</namespace> -->
+            <remapping>~/out:=scan</remapping>
+          </ros>
+          <output_type>sensor_msgs/LaserScan</output_type>
+          <frame_name>base_scan</frame_name>
+        </plugin>
+      </sensor>
+    </link>
+
+    <link name="wheel_left_link">
+
+      <inertial>
+        <pose>0 0.08 0.023 -1.57 0 0</pose>
+        <inertia>
+          <ixx>1.8158194e-03</ixx>
+          <ixy>-9.3392e-12</ixy>
+          <ixz>1.04909e-11</ixz>
+          <iyy>3.2922126e-03</iyy>
+          <iyz>5.75694e-11</iyz>
+          <izz>1.8158194e-03</izz>
+        </inertia>
+        <mass>2.8498940e-02</mass>
+      </inertial>
+
+      <collision name="wheel_left_collision">
+        <pose>0 0.08 0.023 -1.57 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.033</radius>
+            <length>0.018</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <!-- This friction pamareter don't contain reliable data!! -->
+          <friction>
+            <ode>
+              <mu>100000.0</mu>
+              <mu2>100000.0</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0.0</slip1>
+              <slip2>0.0</slip2>
+            </ode>
+          </friction>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+
+      <visual name="wheel_left_visual">
+        <pose>0 0.08 0.023 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/tire.dae</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <link name="wheel_right_link">
+
+      <inertial>
+        <pose>0.0 -0.08 0.023 -1.57 0 0</pose>
+        <inertia>
+          <ixx>1.8158194e-03</ixx>
+          <ixy>-9.3392e-12</ixy>
+          <ixz>1.04909e-11</ixz>
+          <iyy>3.2922126e-03</iyy>
+          <iyz>5.75694e-11</iyz>
+          <izz>1.8158194e-03</izz>
+        </inertia>
+        <mass>2.8498940e-02</mass>
+      </inertial>
+
+      <collision name="wheel_right_collision">
+        <pose>0.0 -0.08 0.023 -1.57 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.033</radius>
+            <length>0.018</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <!-- This friction pamareter don't contain reliable data!! -->
+          <friction>
+            <ode>
+              <mu>100000.0</mu>
+              <mu2>100000.0</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0.0</slip1>
+              <slip2>0.0</slip2>
+            </ode>
+          </friction>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+
+      <visual name="wheel_right_visual">
+        <pose>0.0 -0.08 0.023 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/tire.dae</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <link name='caster_back_link'>
+      <pose>-0.081 0 -0.004 -1.57 0 0</pose>
+      <inertial>
+        <mass>0.005</mass>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0.000</ixy>
+          <ixz>0.000</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0.000</iyz>
+          <izz>0.001</izz>
+        </inertia>
+      </inertial>
+      <collision name='collision'>
+        <geometry>
+          <sphere>
+            <radius>0.005000</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+
+    <joint name="base_joint" type="fixed">
+      <parent>base_footprint</parent>
+      <child>base_link</child>
+      <pose>0.0 0.0 0.010 0 0 0</pose>
+    </joint>
+
+    <joint name="wheel_left_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>wheel_left_link</child>
+      <pose>0.0 0.08 0.023 -1.57 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="wheel_right_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>wheel_right_link</child>
+      <pose>0.0 -0.08 0.023 -1.57 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name='caster_back_joint' type='ball'>
+      <parent>base_link</parent>
+      <child>caster_back_link</child>
+    </joint>
+
+    <joint name="imu_joint" type="fixed">
+      <parent>base_link</parent>
+      <child>imu_link</child>
+      <pose>-0.032 0 0.068 0 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="lidar_joint" type="fixed">
+      <parent>base_link</parent>
+      <child>base_scan</child>
+      <pose>-0.032 0 0.171 0 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <plugin name="turtlebot3_diff_drive" filename="libgazebo_ros_diff_drive.so">
+
+      <ros>
+        <!-- <namespace>/tb3</namespace> -->
+      </ros>
+
+      <update_rate>30</update_rate>
+
+      <!-- wheels -->
+      <left_joint>wheel_left_joint</left_joint>
+      <right_joint>wheel_right_joint</right_joint>
+
+      <!-- kinematics -->
+      <wheel_separation>0.160</wheel_separation>
+      <wheel_diameter>0.066</wheel_diameter>
+
+      <!-- limits -->
+      <max_wheel_torque>20</max_wheel_torque>
+      <max_wheel_acceleration>1.0</max_wheel_acceleration>
+
+      <command_topic>cmd_vel</command_topic>
+
+      <!-- output -->
+      <publish_odom>true</publish_odom>
+      <publish_odom_tf>true</publish_odom_tf>
+      <publish_wheel_tf>false</publish_wheel_tf>
+
+      <odometry_topic>odom</odometry_topic>
+      <odometry_frame>odom</odometry_frame>
+      <robot_base_frame>base_footprint</robot_base_frame>
+
+    </plugin>
+
+    <plugin name="turtlebot3_joint_state" filename="libgazebo_ros_joint_state_publisher.so">
+      <ros>
+        <!-- <namespace>/tb3</namespace> -->
+        <remapping>~/out:=joint_states</remapping>
+      </ros>
+      <update_rate>30</update_rate>
+      <joint_name>wheel_left_joint</joint_name>
+      <joint_name>wheel_right_joint</joint_name>
+    </plugin>      
+  </model>
+</sdf>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_burger_cam/model.config b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_burger_cam/model.config
new file mode 100755
index 0000000..06a790f
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_burger_cam/model.config
@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>TurtleBot3(Burger_cam)</name>
+  <version>2.0</version>
+  <sdf version="1.4">model-1_4.sdf</sdf>
+  <sdf version="1.6">model.sdf</sdf>
+
+  <author>
+    <name>Taehun Lim(Darby)</name>
+    <name>Hyungyu Kim</name>
+    <email>thlim@robotis.com</email>
+    <email>kimhg@robotis.com</email>
+  </author>
+
+  <description>
+    TurtleBot3 Burger
+  </description>
+</model>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_burger_cam/model.sdf b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_burger_cam/model.sdf
new file mode 100755
index 0000000..89a9518
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_burger_cam/model.sdf
@@ -0,0 +1,495 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <model name="turtlebot3_burger_cam">
+    <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
+
+    <link name="base_footprint"/>
+
+    <link name="base_link">
+
+      <inertial>
+        <pose>-0.032 0 0.070 0 0 0</pose>
+        <inertia>
+          <ixx>7.2397393e-01</ixx>
+          <ixy>4.686399e-10</ixy>
+          <ixz>-1.09525703e-08</ixz>
+          <iyy>7.2397393e-01</iyy>
+          <iyz>2.8582649e-09</iyz>
+          <izz>6.53050163e-01</izz>
+        </inertia>
+        <mass>8.2573504e-01</mass>
+      </inertial>
+
+      <collision name="base_collision">
+        <pose>-0.032 0 0.070 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.140 0.140 0.140</size>
+          </box>
+        </geometry>
+      </collision>
+
+      <visual name="base_visual">
+        <pose>-0.032 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/bases/burger_base.stl</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>0.3 0.3 0.3 1.0</ambient>
+          <diffuse>0.3 0.3 0.3 1.0</diffuse>
+        </material>
+      </visual>
+    </link>
+
+    <link name="imu_link">
+      <sensor name="tb3_imu" type="imu">
+        <always_on>true</always_on>
+        <update_rate>200</update_rate>
+        <imu>
+          <angular_velocity>
+            <x>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>2e-4</stddev>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>2e-4</stddev>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>2e-4</stddev>
+              </noise>
+            </z>
+          </angular_velocity>
+          <linear_acceleration>
+            <x>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>1.7e-2</stddev>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>1.7e-2</stddev>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>1.7e-2</stddev>
+              </noise>
+            </z>
+          </linear_acceleration>
+        </imu>
+        <plugin name="turtlebot3_imu" filename="libgazebo_ros_imu_sensor.so">
+          <ros>
+            <!-- <namespace>/tb3</namespace> -->
+            <remapping>~/out:=imu</remapping>
+          </ros>
+        </plugin>
+      </sensor>
+    </link>
+
+    <link name="base_scan">
+      <inertial>
+        <pose>-0.020 0 0.161 0 0 0</pose>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0.000</ixy>
+          <ixz>0.000</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0.000</iyz>
+          <izz>0.001</izz>
+        </inertia>
+        <mass>0.114</mass>
+      </inertial>
+
+      <collision name="lidar_sensor_collision">
+        <pose>-0.020 0 0.161 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.0508</radius>
+            <length>0.055</length>
+          </cylinder>
+        </geometry>
+      </collision>
+
+      <visual name="lidar_sensor_visual">
+        <pose>-0.032 0 0.171 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/sensors/lds.stl</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>0.2 0.2 0.2 1.0</ambient>
+          <diffuse>0.2 0.2 0.2 1.0</diffuse>
+        </material>
+      </visual>
+
+      <sensor name="hls_lfcd_lds" type="ray">
+        <always_on>true</always_on>
+        <visualize>false</visualize>
+        <pose>-0.032 0 0.171 0 0 0</pose>
+        <update_rate>5</update_rate>
+        <ray>
+          <scan>
+            <horizontal>
+              <samples>360</samples>
+              <resolution>1.000000</resolution>
+              <min_angle>0.000000</min_angle>
+              <max_angle>6.280000</max_angle>
+            </horizontal>
+          </scan>
+          <range>
+            <min>0.120000</min>
+            <max>3.5</max>
+            <resolution>0.015000</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0.0</mean>
+            <stddev>0.01</stddev>
+          </noise>
+        </ray>
+        <plugin name="turtlebot3_laserscan" filename="libgazebo_ros_ray_sensor.so">
+          <ros>
+            <!-- <namespace>/tb3</namespace> -->
+            <remapping>~/out:=scan</remapping>
+          </ros>
+          <output_type>sensor_msgs/LaserScan</output_type>
+          <frame_name>base_scan</frame_name>
+        </plugin>
+      </sensor>
+    </link>
+
+    <link name="wheel_left_link">
+
+      <inertial>
+        <pose>0 0.08 0.023 -1.57 0 0</pose>
+        <inertia>
+          <ixx>1.8158194e-03</ixx>
+          <ixy>-9.3392e-12</ixy>
+          <ixz>1.04909e-11</ixz>
+          <iyy>3.2922126e-03</iyy>
+          <iyz>5.75694e-11</iyz>
+          <izz>1.8158194e-03</izz>
+        </inertia>
+        <mass>2.8498940e-02</mass>
+      </inertial>
+
+      <collision name="wheel_left_collision">
+        <pose>0 0.08 0.023 -1.57 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.033</radius>
+            <length>0.018</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <!-- This friction pamareter don't contain reliable data!! -->
+          <friction>
+            <ode>
+              <mu>100000.0</mu>
+              <mu2>100000.0</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0.0</slip1>
+              <slip2>0.0</slip2>
+            </ode>
+          </friction>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+
+      <visual name="wheel_left_visual">
+        <pose>0 0.08 0.023 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/wheels/left_tire.stl</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>0.2 0.2 0.2 1.0</ambient>
+          <diffuse>0.2 0.2 0.2 1.0</diffuse>
+        </material>
+      </visual>
+    </link>
+
+    <link name="wheel_right_link">
+
+      <inertial>
+        <pose>0.0 -0.08 0.023 -1.57 0 0</pose>
+        <inertia>
+          <ixx>1.8158194e-03</ixx>
+          <ixy>-9.3392e-12</ixy>
+          <ixz>1.04909e-11</ixz>
+          <iyy>3.2922126e-03</iyy>
+          <iyz>5.75694e-11</iyz>
+          <izz>1.8158194e-03</izz>
+        </inertia>
+        <mass>2.8498940e-02</mass>
+      </inertial>
+
+      <collision name="wheel_right_collision">
+        <pose>0.0 -0.08 0.023 -1.57 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.033</radius>
+            <length>0.018</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <!-- This friction pamareter don't contain reliable data!! -->
+          <friction>
+            <ode>
+              <mu>100000.0</mu>
+              <mu2>100000.0</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0.0</slip1>
+              <slip2>0.0</slip2>
+            </ode>
+          </friction>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+
+      <visual name="wheel_right_visual">
+        <pose>0.0 -0.08 0.023 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/wheels/right_tire.stl</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>0.2 0.2 0.2 1.0</ambient>
+          <diffuse>0.2 0.2 0.2 1.0</diffuse>
+        </material>
+      </visual>
+    </link>
+
+    <link name='caster_back_link'>
+      <pose>-0.081 0 -0.004 -1.57 0 0</pose>
+      <inertial>
+        <mass>0.005</mass>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0.000</ixy>
+          <ixz>0.000</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0.000</iyz>
+          <izz>0.001</izz>
+        </inertia>
+      </inertial>
+      <collision name='collision'>
+        <geometry>
+          <sphere>
+            <radius>0.005000</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+
+    <link name="camera_link">
+      <inertial>
+        <pose>0.076 0.0 0.093 0 0 0</pose>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0.000</ixy>
+          <ixz>0.000</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0.000</iyz>
+          <izz>0.001</izz>
+        </inertia>
+        <mass>0.035</mass>
+      </inertial>
+
+      <pose>0.076 0.0 0.093 0 0 0</pose>
+      <sensor name="camera" type="wideanglecamera">
+        <always_on>true</always_on>
+        <visualize>true</visualize>
+        <update_rate>30</update_rate>
+        <camera name="picam">
+          <horizontal_fov>3.183</horizontal_fov>
+          <image>
+            <width>320</width>
+            <height>240</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.03</near>
+            <far>100</far>
+          </clip>
+          <lens>
+            <type>custom</type>
+            <custom_function>
+              <c1>1.05</c1>
+              <c2>4</c2>
+              <f>1.0</f>
+              <fun>tan</fun>
+            </custom_function>
+            <scale_to_hfov>true</scale_to_hfov>
+            <cutoff_angle>3.1415</cutoff_angle>
+            <env_texture_size>512</env_texture_size>
+          </lens>
+        </camera>
+        <plugin name="camera_driver" filename="libgazebo_ros_camera.so">
+          <alwaysOn>true</alwaysOn>
+          <updateRate>30.0</updateRate>
+          <cameraName>camera</cameraName>
+          <frameName>camera_link</frameName>
+          <imageTopicName>image_raw</imageTopicName>
+          <cameraInfoTopicName>camera_info</cameraInfoTopicName>
+          <hackBaseline>0.07</hackBaseline>
+          <distortionK1>0.0</distortionK1>
+          <distortionK2>0.0</distortionK2>
+          <distortionK3>0.0</distortionK3>
+          <distortionT1>0.0</distortionT1>
+          <distortionT2>0.0</distortionT2>
+          <ros>
+          </ros>
+        </plugin>
+      </sensor>
+    </link>
+
+    <joint name="base_joint" type="fixed">
+      <parent>base_footprint</parent>
+      <child>base_link</child>
+      <pose>0.0 0.0 0.010 0 0 0</pose>
+    </joint>
+
+    <joint name="wheel_left_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>wheel_left_link</child>
+      <pose>0.0 0.08 0.023 -1.57 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="wheel_right_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>wheel_right_link</child>
+      <pose>0.0 -0.08 0.023 -1.57 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name='caster_back_joint' type='ball'>
+      <parent>base_link</parent>
+      <child>caster_back_link</child>
+    </joint>
+
+    <joint name="imu_joint" type="fixed">
+      <parent>base_link</parent>
+      <child>imu_link</child>
+      <pose>-0.032 0 0.068 0 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="lidar_joint" type="fixed">
+      <parent>base_link</parent>
+      <child>base_scan</child>
+      <pose>-0.032 0 0.171 0 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="camera_joint" type="fixed">
+      <parent>base_link</parent>
+      <child>camera_link</child>
+      <pose>0.040 -0.000 0.110 0 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <plugin name="turtlebot3_diff_drive" filename="libgazebo_ros_diff_drive.so">
+
+      <ros>
+        <!-- <namespace>/tb3</namespace> -->
+      </ros>
+
+      <update_rate>30</update_rate>
+
+      <!-- wheels -->
+      <left_joint>wheel_left_joint</left_joint>
+      <right_joint>wheel_right_joint</right_joint>
+
+      <!-- kinematics -->
+      <wheel_separation>0.160</wheel_separation>
+      <wheel_diameter>0.066</wheel_diameter>
+
+      <!-- limits -->
+      <max_wheel_torque>20</max_wheel_torque>
+      <max_wheel_acceleration>1.0</max_wheel_acceleration>
+
+      <command_topic>cmd_vel</command_topic>
+
+      <!-- output -->
+      <publish_odom>true</publish_odom>
+      <publish_odom_tf>true</publish_odom_tf>
+      <publish_wheel_tf>false</publish_wheel_tf>
+
+      <odometry_topic>odom</odometry_topic>
+      <odometry_frame>odom</odometry_frame>
+      <robot_base_frame>base_footprint</robot_base_frame>
+
+    </plugin>
+
+    <plugin name="turtlebot3_joint_state" filename="libgazebo_ros_joint_state_publisher.so">
+      <ros>
+        <!-- <namespace>/tb3</namespace> -->
+        <remapping>~/out:=joint_states</remapping>
+      </ros>
+      <update_rate>30</update_rate>
+      <joint_name>wheel_left_joint</joint_name>
+      <joint_name>wheel_right_joint</joint_name>
+    </plugin>
+  </model>
+</sdf>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_common/meshes/bases/burger_base.stl b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_common/meshes/bases/burger_base.stl
new file mode 100755
index 0000000..2329a00
Binary files /dev/null and b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_common/meshes/bases/burger_base.stl differ
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_common/meshes/bases/waffle_base.stl b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_common/meshes/bases/waffle_base.stl
new file mode 100755
index 0000000..025b6f9
Binary files /dev/null and b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_common/meshes/bases/waffle_base.stl differ
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_common/meshes/bases/waffle_pi_base.stl b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_common/meshes/bases/waffle_pi_base.stl
new file mode 100755
index 0000000..a2ff2c7
Binary files /dev/null and b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_common/meshes/bases/waffle_pi_base.stl differ
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_common/meshes/burger_base.dae b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_common/meshes/burger_base.dae
new file mode 100755
index 0000000..5418782
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_common/meshes/burger_base.dae
@@ -0,0 +1,220 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.83.0 commit date:2020-06-03, commit time:14:38, hash:211b6c29f771</authoring_tool>
+    </contributor>
+    <created>2020-06-29T17:10:17</created>
+    <modified>2020-06-29T17:10:17</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
+    <camera id="Camera-camera" name="Camera">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</xfov>
+            <aspect_ratio>1.777778</aspect_ratio>
+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
+      <extra>
+        <technique profile="blender">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Light-light" name="Light">
+      <technique_common>
+        <point>
+          <color sid="color">1000 1000 1000</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
+      </technique_common>
+      <extra>
+        <technique profile="blender">
+          <type sid="type" type="int">0</type>
+          <flag sid="flag" type="int">0</flag>
+          <mode sid="mode" type="int">1</mode>
+          <gamma sid="blender_gamma" type="float">1</gamma>
+          <red sid="red" type="float">1</red>
+          <green sid="green" type="float">1</green>
+          <blue sid="blue" type="float">1</blue>
+          <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
+          <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
+          <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
+          <energy sid="blender_energy" type="float">1000</energy>
+          <dist sid="blender_dist" type="float">29.99998</dist>
+          <spotsize sid="spotsize" type="float">75</spotsize>
+          <spotblend sid="spotblend" type="float">0.15</spotblend>
+          <att1 sid="att1" type="float">0</att1>
+          <att2 sid="att2" type="float">1</att2>
+          <falloff_type sid="falloff_type" type="int">2</falloff_type>
+          <clipsta sid="clipsta" type="float">0.04999995</clipsta>
+          <clipend sid="clipend" type="float">30.002</clipend>
+          <bias sid="bias" type="float">1</bias>
+          <soft sid="soft" type="float">3</soft>
+          <bufsize sid="bufsize" type="int">2880</bufsize>
+          <samp sid="samp" type="int">3</samp>
+          <buffers sid="buffers" type="int">1</buffers>
+          <area_shape sid="area_shape" type="int">1</area_shape>
+          <area_size sid="area_size" type="float">0.1</area_size>
+          <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
+          <area_sizez sid="area_sizez" type="float">1</area_sizez>
+        </technique>
+      </extra>
+    </light>
+  </library_lights>
+  <library_effects>
+    <effect id="Material-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.8 0.8 0.8 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
+    <material id="Material-material" name="Material">
+      <instance_effect url="#Material-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Cube_001-mesh" name="Cube.001">
+      <mesh>
+        <source id="Cube_001-mesh-positions">
+          <float_array id="Cube_001-mesh-positions-array" count="48">-0.5664003 -1 -1 -1 -0.5664004 -1 -1 -0.5664003 1.061318 -0.5664004 -1 1.061318 -1 0.5664003 -1 -0.5664004 1 -1 -0.5664003 1 1.061318 -1 0.5664004 1.061318 1 -0.5664003 -1 0.5664004 -1 -1 0.5664003 -1 1.061318 1 -0.5664004 1.061318 0.5664003 1 -1 1 0.5664004 -1 1 0.5664003 1.061318 0.5664004 1 1.061318</float_array>
+          <technique_common>
+            <accessor source="#Cube_001-mesh-positions-array" count="16" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Cube_001-mesh-normals">
+          <float_array id="Cube_001-mesh-normals-array" count="60">0 -1 0 1 0 0 0 0 1 -1 0 0 0 1 0 -0.7071068 -0.7071068 0 -0.7071068 0.7071068 0 0.7071068 0.7071068 0 0.7071068 -0.7071068 0 0 0 -1 0 -1 0 0 0 1 0 0 1 0 1 0 -0.7071068 -0.7071068 0 -0.7071068 0.7071068 0 0.7071068 0.7071068 0 0.7071068 -0.7071068 0 0 0 -1 0 0 -1</float_array>
+          <technique_common>
+            <accessor source="#Cube_001-mesh-normals-array" count="20" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Cube_001-mesh-map-0">
+          <float_array id="Cube_001-mesh-map-0-array" count="168">0.625 0.8041999 0.375 0.9458001 0.375 0.8041999 0.625 0.5541999 0.375 0.6958 0.375 0.5541999 0.8208 0.75 0.6792 0.75 0.625 0.6958 0.625 0.05419993 0.375 0.1958 0.375 0.05419993 0.625 0.3041999 0.375 0.4458 0.375 0.3041999 0.625 0.9458001 0.375 1 0.375 0.9458001 0.375 0.3041999 0.625 0.1958 0.625 0.3041999 0.375 0.5541999 0.625 0.4458 0.625 0.5541999 0.375 0.8041999 0.625 0.6958 0.625 0.8041999 0.3208 0.75 0.1791999 0.75 0.125 0.6958 0.625 0.8041999 0.625 0.9458001 0.375 0.9458001 0.625 0.5541999 0.625 0.6958 0.375 0.6958 0.625 0.6958 0.625 0.5541999 0.875 0.5541999 0.625 0.5541999 0.6791999 0.5 0.875 0.5541999 0.6791999 0.5 0.8208 0.5 0.875 0.5541999 0.875 0.5541999 0.875 0.6958 0.625 0.6958 0.875 0.6958 0.8208 0.75 0.625 0.6958 0.625 0.05419993 0.625 0.1958 0.375 0.1958 0.625 0.3041999 0.625 0.4458 0.375 0.4458 0.625 0.9458001 0.625 1 0.375 1 0.375 0.3041999 0.375 0.1958 0.625 0.1958 0.375 0.5541999 0.375 0.4458 0.625 0.4458 0.375 0.8041999 0.375 0.6958 0.625 0.6958 0.125 0.6958 0.125 0.5541999 0.375 0.5541999 0.125 0.5541999 0.1791999 0.5 0.375 0.5541999 0.1791999 0.5 0.3208 0.5 0.375 0.5541999 0.375 0.5541999 0.375 0.6958 0.125 0.6958 0.375 0.6958 0.3208 0.75 0.125 0.6958</float_array>
+          <technique_common>
+            <accessor source="#Cube_001-mesh-map-0-array" count="84" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Cube_001-mesh-vertices">
+          <input semantic="POSITION" source="#Cube_001-mesh-positions"/>
+        </vertices>
+        <triangles count="28">
+          <input semantic="VERTEX" source="#Cube_001-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cube_001-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Cube_001-mesh-map-0" offset="2" set="0"/>
+          <p>10 0 0 0 0 1 9 0 2 14 1 3 8 1 4 13 1 5 3 2 6 10 2 7 11 2 8 2 3 9 4 3 10 1 3 11 6 4 12 12 4 13 5 4 14 3 5 15 1 5 16 0 5 17 5 6 18 7 6 19 6 6 20 13 7 21 15 7 22 14 7 23 9 8 24 11 8 25 10 8 26 9 9 27 0 9 28 1 9 29 10 10 30 3 10 31 0 10 32 14 1 33 11 1 34 8 1 35 11 11 36 14 11 37 7 11 38 14 2 39 15 2 40 7 2 41 15 2 42 6 2 43 7 2 44 7 12 45 2 12 46 11 12 47 2 2 48 3 2 49 11 2 50 2 3 51 7 3 52 4 3 53 6 13 54 15 13 55 12 13 56 3 14 57 2 14 58 1 14 59 5 15 60 4 15 61 7 15 62 13 16 63 12 16 64 15 16 65 9 17 66 8 17 67 11 17 68 1 18 69 4 18 70 13 18 71 4 9 72 5 9 73 13 9 74 5 9 75 12 9 76 13 9 77 13 19 78 8 19 79 1 19 80 8 9 81 9 9 82 1 9 83</p>
+        </triangles>
+      </mesh>
+    </geometry>
+    <geometry id="Cube-mesh" name="Cube">
+      <mesh>
+        <source id="Cube-mesh-positions">
+          <float_array id="Cube-mesh-positions-array" count="24">1 1 1 1 1 -1 1 -1 1 1 -1 -1 -1 1 1 -1 1 -1 -1 -1 1 -1 -1 -1</float_array>
+          <technique_common>
+            <accessor source="#Cube-mesh-positions-array" count="8" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Cube-mesh-normals">
+          <float_array id="Cube-mesh-normals-array" count="18">0 0 1 0 -1 0 -1 0 0 0 0 -1 1 0 0 0 1 0</float_array>
+          <technique_common>
+            <accessor source="#Cube-mesh-normals-array" count="6" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Cube-mesh-map-0">
+          <float_array id="Cube-mesh-map-0-array" count="72">0.875 0.5 0.625 0.75 0.625 0.5 0.625 0.75 0.375 1 0.375 0.75 0.625 0 0.375 0.25 0.375 0 0.375 0.5 0.125 0.75 0.125 0.5 0.625 0.5 0.375 0.75 0.375 0.5 0.625 0.25 0.375 0.5 0.375 0.25 0.875 0.5 0.875 0.75 0.625 0.75 0.625 0.75 0.625 1 0.375 1 0.625 0 0.625 0.25 0.375 0.25 0.375 0.5 0.375 0.75 0.125 0.75 0.625 0.5 0.625 0.75 0.375 0.75 0.625 0.25 0.625 0.5 0.375 0.5</float_array>
+          <technique_common>
+            <accessor source="#Cube-mesh-map-0-array" count="36" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Cube-mesh-vertices">
+          <input semantic="POSITION" source="#Cube-mesh-positions"/>
+        </vertices>
+        <triangles material="Material-material" count="12">
+          <input semantic="VERTEX" source="#Cube-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cube-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Cube-mesh-map-0" offset="2" set="0"/>
+          <p>4 0 0 2 0 1 0 0 2 2 1 3 7 1 4 3 1 5 6 2 6 5 2 7 7 2 8 1 3 9 7 3 10 5 3 11 0 4 12 3 4 13 1 4 14 4 5 15 1 5 16 5 5 17 4 0 18 6 0 19 2 0 20 2 1 21 6 1 22 7 1 23 6 2 24 4 2 25 5 2 26 1 3 27 3 3 28 7 3 29 0 4 30 2 4 31 3 4 32 4 5 33 0 5 34 1 5 35</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Cube_001" name="Cube.001" type="NODE">
+        <matrix sid="transform">68.44905 0 0 0 0 68.44905 0 0 0 0 68.44905 68.59841 0 0 0 1</matrix>
+        <instance_geometry url="#Cube_001-mesh" name="Cube.001"/>
+      </node>
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 0 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Light" name="Light" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light-light"/>
+      </node>
+      <node id="Cube" name="Cube" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#Cube-mesh" name="Cube">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material-material" target="#Material-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_common/meshes/lds.dae b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_common/meshes/lds.dae
new file mode 100755
index 0000000..1d5a221
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_common/meshes/lds.dae
@@ -0,0 +1,188 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.83.0 commit date:2020-06-03, commit time:14:38, hash:211b6c29f771</authoring_tool>
+    </contributor>
+    <created>2020-06-29T17:45:14</created>
+    <modified>2020-06-29T17:45:14</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
+    <camera id="Camera-camera" name="Camera">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</xfov>
+            <aspect_ratio>1.777778</aspect_ratio>
+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
+      <extra>
+        <technique profile="blender">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Light-light" name="Light">
+      <technique_common>
+        <point>
+          <color sid="color">1000 1000 1000</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
+      </technique_common>
+      <extra>
+        <technique profile="blender">
+          <type sid="type" type="int">0</type>
+          <flag sid="flag" type="int">0</flag>
+          <mode sid="mode" type="int">1</mode>
+          <gamma sid="blender_gamma" type="float">1</gamma>
+          <red sid="red" type="float">1</red>
+          <green sid="green" type="float">1</green>
+          <blue sid="blue" type="float">1</blue>
+          <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
+          <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
+          <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
+          <energy sid="blender_energy" type="float">1000</energy>
+          <dist sid="blender_dist" type="float">29.99998</dist>
+          <spotsize sid="spotsize" type="float">75</spotsize>
+          <spotblend sid="spotblend" type="float">0.15</spotblend>
+          <att1 sid="att1" type="float">0</att1>
+          <att2 sid="att2" type="float">1</att2>
+          <falloff_type sid="falloff_type" type="int">2</falloff_type>
+          <clipsta sid="clipsta" type="float">0.04999995</clipsta>
+          <clipend sid="clipend" type="float">30.002</clipend>
+          <bias sid="bias" type="float">1</bias>
+          <soft sid="soft" type="float">3</soft>
+          <bufsize sid="bufsize" type="int">2880</bufsize>
+          <samp sid="samp" type="int">3</samp>
+          <buffers sid="buffers" type="int">1</buffers>
+          <area_shape sid="area_shape" type="int">1</area_shape>
+          <area_size sid="area_size" type="float">0.1</area_size>
+          <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
+          <area_sizez sid="area_sizez" type="float">1</area_sizez>
+        </technique>
+      </extra>
+    </light>
+  </library_lights>
+  <library_images/>
+  <library_geometries>
+    <geometry id="Cylinder_001-mesh" name="Cylinder.001">
+      <mesh>
+        <source id="Cylinder_001-mesh-positions">
+          <float_array id="Cylinder_001-mesh-positions-array" count="192">0 0.9268722 -1 0 0.9268722 1 0.1950903 0.9076575 -1 0.1950903 0.9076575 1 0.225372 0.9000011 -1 0.225372 0.9000011 1 0.4678885 0.8314696 -1 0.4678885 0.8314696 1 0.9469422 0.7071068 -1 0.9469422 0.7071068 1 1.189933 0.5555702 -1 1.189933 0.5555702 1 1.395814 0.3826834 -1 1.395814 0.3826834 1 1.553295 0.1950903 -1 1.553295 0.1950903 1 -0.8363682 0.1950913 -1 -0.8363682 0.1950913 1 -0.8258819 0.3826845 -1 -0.8258819 0.3826845 1 -0.790207 0.6525775 -1 -0.790207 0.6525775 1 -0.7071059 0.7682963 -1 -0.7071059 0.7682963 1 -0.658545 0.8314704 -1 -0.658545 0.8314704 1 -0.5632631 0.8806004 -1 -0.5632631 0.8806004 1 -0.1950888 0.9076578 -1 -0.1950888 0.9076578 1 0 -0.9268722 -1 0 -0.9268722 1 0.1950903 -0.9076575 -1 0.1950903 -0.9076575 1 0.225372 -0.9000011 -1 0.225372 -0.9000011 1 0.4678885 -0.8314696 -1 0.4678885 -0.8314696 1 0.9469422 -0.7071068 -1 0.9469422 -0.7071068 1 1.189933 -0.5555702 -1 1.189933 -0.5555702 1 1.395814 -0.3826834 -1 1.395814 -0.3826834 1 1.553295 -0.1950903 -1 1.553295 -0.1950903 1 1.57251 0 -1 1.57251 0 1 -0.8426887 0 -1 -0.8426887 0 1 -0.8363682 -0.1950913 -1 -0.8363682 -0.1950913 1 -0.8258819 -0.3826845 -1 -0.8258819 -0.3826845 1 -0.790207 -0.6525775 -1 -0.790207 -0.6525775 1 -0.7071059 -0.7682963 -1 -0.7071059 -0.7682963 1 -0.658545 -0.8314704 -1 -0.658545 -0.8314704 1 -0.5632631 -0.8806004 -1 -0.5632631 -0.8806004 1 -0.1950888 -0.9076578 -1 -0.1950888 -0.9076578 1</float_array>
+          <technique_common>
+            <accessor source="#Cylinder_001-mesh-positions-array" count="64" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Cylinder_001-mesh-normals">
+          <float_array id="Cylinder_001-mesh-normals-array" count="159">0.09801727 0.9951847 0 0.2451251 0.9694915 0 0.2719357 0.9623154 0 0.2512721 0.9679165 0 0.5291629 0.8485203 0 0.643077 0.7658016 0 0.7658989 0.642961 0 0.9951847 0.09801787 0 -0.9994757 0.03238052 0 -0.9984413 0.0558117 0 -0.9913768 0.1310419 0 -0.8122538 0.5833043 0 -0.7928341 0.6094378 0 -0.4582911 0.8888022 0 -0.07329291 0.9973105 0 -0.0980165 0.9951848 0 0 0 1 0 0 -1 0.09801727 -0.9951847 0 0.2451251 -0.9694915 0 0.2719357 -0.9623154 0 0.2512721 -0.9679165 0 0.5291629 -0.8485203 0 0.643077 -0.7658016 0 0.7658989 -0.642961 0 0.9951847 -0.09801787 0 -0.9994757 -0.03238052 0 -0.9984413 -0.0558117 0 -0.9913768 -0.1310419 0 -0.8122538 -0.5833043 0 -0.7928341 -0.6094378 0 -0.4582911 -0.8888022 0 -0.07329291 -0.9973105 0 -0.0980165 -0.9951848 0 0.2451248 0.9694916 0 0.2719357 0.9623154 0 0.2512722 0.9679165 0 0.5291627 0.8485205 0 0.7658985 0.6429616 0 0.9951848 0.09801667 0 -0.9994757 0.03238111 0 -0.8122542 0.5833038 0 -0.07329291 0.9973105 0 0.2451248 -0.9694916 0 0.2719357 -0.9623154 0 0.2512722 -0.9679165 0 0.5291627 -0.8485205 0 0.7658985 -0.6429616 0 0.9951848 -0.09801667 0 -0.9994757 -0.03238111 0 -0.8122542 -0.5833038 0 -0.07329291 -0.9973105 0 -1.87976e-7 0 1</float_array>
+          <technique_common>
+            <accessor source="#Cylinder_001-mesh-normals-array" count="53" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
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0.7031787 0.4853885 0.7031787 0.4853885 0.7968217 0.4853885 0.8833369 0.4495527 0.7968216 0.01461148 0.7031782 0.01461154 0.5146115 0.2031785 0.7031782 0.01461154 0.616663 0.05044734 0.5146115 0.2031785 0.616663 0.05044734 0.5504472 0.1166633 0.5146115 0.2031785 0.5146115 0.2031785 0.5146116 0.2968219 0.7031787 0.4853885 0.5146116 0.2968219 0.5504475 0.3833371 0.7031787 0.4853885 0.7031787 0.4853885 0.8833369 0.4495527 0.9853885 0.2968217 0.9853885 0.2968217 0.9495527 0.1166631 0.7968216 0.01461148 0.7031787 0.4853885 0.9853885 0.2968217 0.5146115 0.2031785</float_array>
+          <technique_common>
+            <accessor source="#Cylinder-mesh-map-0-array" count="372" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Cylinder-mesh-vertices">
+          <input semantic="POSITION" source="#Cylinder-mesh-positions"/>
+        </vertices>
+        <triangles count="124">
+          <input semantic="VERTEX" source="#Cylinder-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cylinder-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Cylinder-mesh-map-0" offset="2" set="0"/>
+          <p>1 0 0 2 0 1 0 0 2 3 1 3 4 1 4 2 1 5 5 2 6 6 2 7 4 2 8 7 3 9 8 3 10 6 3 11 9 4 12 10 4 13 8 4 14 11 5 15 12 5 16 10 5 17 13 6 18 14 6 19 12 6 20 15 7 21 16 7 22 14 7 23 17 8 24 18 8 25 16 8 26 19 9 27 20 9 28 18 9 29 21 10 30 22 10 31 20 10 32 23 11 33 24 11 34 22 11 35 25 12 36 26 12 37 24 12 38 27 13 39 28 13 40 26 13 41 29 14 42 30 14 43 28 14 44 31 15 45 32 15 46 30 15 47 33 16 48 34 16 49 32 16 50 35 17 51 36 17 52 34 17 53 37 18 54 38 18 55 36 18 56 39 19 57 40 19 58 38 19 59 41 20 60 42 20 61 40 20 62 43 21 63 44 21 64 42 21 65 45 22 66 46 22 67 44 22 68 47 23 69 48 23 70 46 23 71 49 24 72 50 24 73 48 24 74 51 25 75 52 25 76 50 25 77 53 26 78 54 26 79 52 26 80 55 27 81 56 27 82 54 27 83 57 28 84 58 28 85 56 28 86 59 29 87 60 29 88 58 29 89 53 30 90 37 30 91 21 30 92 61 31 93 62 31 94 60 31 95 63 32 96 0 32 97 62 32 98 14 33 99 30 33 100 46 33 101 1 0 102 3 0 103 2 0 104 3 34 105 5 34 106 4 34 107 5 2 108 7 2 109 6 2 110 7 35 111 9 35 112 8 35 113 9 36 114 11 36 115 10 36 116 11 5 117 13 5 118 12 5 119 13 6 120 15 6 121 14 6 122 15 7 123 17 7 124 16 7 125 17 37 126 19 37 127 18 37 128 19 9 129 21 9 130 20 9 131 21 38 132 23 38 133 22 38 134 23 39 135 25 39 136 24 39 137 25 12 138 27 12 139 26 12 140 27 13 141 29 13 142 28 13 143 29 40 144 31 40 145 30 40 146 31 15 147 33 15 148 32 15 149 33 16 150 35 16 151 34 16 152 35 41 153 37 41 154 36 41 155 37 18 156 39 18 157 38 18 158 39 42 159 41 42 160 40 42 161 41 43 162 43 43 163 42 43 164 43 21 165 45 21 166 44 21 167 45 44 168 47 44 169 46 44 170 47 45 171 49 45 172 48 45 173 49 46 174 51 46 175 50 46 176 51 25 177 53 25 178 52 25 179 53 47 180 55 47 181 54 47 182 55 27 183 57 27 184 56 27 185 57 48 186 59 48 187 58 48 188 59 29 189 61 29 190 60 29 191 5 49 192 3 49 193 1 49 194 1 49 195 63 49 196 5 49 197 63 49 198 61 49 199 5 49 200 61 49 201 59 49 202 57 49 203 57 49 204 55 49 205 53 49 206 53 50 207 51 50 208 49 50 209 49 49 210 47 49 211 53 49 212 47 49 213 45 49 214 53 49 215 45 49 216 43 49 217 37 49 218 43 49 219 41 49 220 37 49 221 41 49 222 39 49 223 37 49 224 37 49 225 35 49 226 33 49 227 33 49 228 31 49 229 29 49 230 29 49 231 27 49 232 25 49 233 25 49 234 23 49 235 21 49 236 21 51 237 19 51 238 17 51 239 17 49 240 15 49 241 21 49 242 15 49 243 13 49 244 21 49 245 13 49 246 11 49 247 9 49 248 9 49 249 7 49 250 5 49 251 61 49 252 57 49 253 5 49 254 57 49 255 53 49 256 5 49 257 37 49 258 33 49 259 21 49 260 33 49 261 29 49 262 21 49 263 29 49 264 25 49 265 21 49 266 13 52 267 9 52 268 21 52 269 9 53 270 5 53 271 21 53 272 53 54 273 45 54 274 37 54 275 5 49 276 53 49 277 21 49 278 61 55 279 63 55 280 62 55 281 63 32 282 1 32 283 0 32 284 62 33 285 0 33 286 2 33 287 2 33 288 4 33 289 6 33 290 6 33 291 8 33 292 10 33 293 10 33 294 12 33 295 6 33 296 12 33 297 14 33 298 6 33 299 14 33 300 16 33 301 18 33 302 18 33 303 20 33 304 14 33 305 20 33 306 22 33 307 14 33 308 22 33 309 24 33 310 30 33 311 24 33 312 26 33 313 30 33 314 26 33 315 28 33 316 30 33 317 30 33 318 32 33 319 34 33 320 34 33 321 36 33 322 38 33 323 38 33 324 40 33 325 42 33 326 42 33 327 44 33 328 46 33 329 46 56 330 48 56 331 50 56 332 50 57 333 52 57 334 54 57 335 54 33 336 56 33 337 62 33 338 56 33 339 58 33 340 62 33 341 58 33 342 60 33 343 62 33 344 62 33 345 2 33 346 6 33 347 30 33 348 34 33 349 46 33 350 34 33 351 38 33 352 46 33 353 38 33 354 42 33 355 46 33 356 46 58 357 50 58 358 62 58 359 50 33 360 54 33 361 62 33 362 62 33 363 6 33 364 14 33 365 14 33 366 22 33 367 30 33 368 62 59 369 14 59 370 46 59 371</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Cylinder_001" name="Cylinder.001" type="NODE">
+        <matrix sid="transform">39.20936 0 0 0 0 39.20936 0 0 0 0 12.83393 -19.36317 0 0 0 1</matrix>
+        <instance_geometry url="#Cylinder_001-mesh" name="Cylinder.001"/>
+      </node>
+      <node id="Cylinder" name="Cylinder" type="NODE">
+        <matrix sid="transform">32.70276 0 0 0 0 32.70276 0 0 0 0 9.418456 -0.4915363 0 0 0 1</matrix>
+        <instance_geometry url="#Cylinder-mesh" name="Cylinder"/>
+      </node>
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 0 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Light" name="Light" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light-light"/>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_common/meshes/r200.dae b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_common/meshes/r200.dae
new file mode 100755
index 0000000..4719a1e
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_common/meshes/r200.dae
@@ -0,0 +1,890 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+    <asset>
+        <contributor>
+            <authoring_tool>Google SketchUp 8.0.4811</authoring_tool>
+        </contributor>
+        <created>2015-05-31T08:41:34Z</created>
+        <modified>2015-05-31T08:41:34Z</modified>
+        <unit meter="0.002539999969303608" name="inch" /><!-- Changed! -->
+        <up_axis>Z_UP</up_axis>
+    </asset>
+    <library_visual_scenes>
+        <visual_scene id="ID1">
+            <node name="SketchUp">
+                <instance_geometry url="#ID2">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID3">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+                <instance_geometry url="#ID10">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID11">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+                <instance_geometry url="#ID18">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID11">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+                <instance_geometry url="#ID24">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID11">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+                <instance_geometry url="#ID30">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID31">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+                <instance_geometry url="#ID38">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID11">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+                <instance_geometry url="#ID44">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID11">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+                <instance_geometry url="#ID50">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID51">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+                <instance_geometry url="#ID58">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID59">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+                <instance_geometry url="#ID66">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID51">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+                <instance_geometry url="#ID72">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID3">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+                <instance_geometry url="#ID78">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID11">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+                <instance_geometry url="#ID84">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID3">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+                <instance_geometry url="#ID90">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID51">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+                <instance_geometry url="#ID96">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID11">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+                <instance_geometry url="#ID102">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID11">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+                <instance_geometry url="#ID108">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID109">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+                <instance_geometry url="#ID114">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID109">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+                <instance_geometry url="#ID118">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID109">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+                <instance_geometry url="#ID122">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID109">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+            </node>
+        </visual_scene>
+    </library_visual_scenes>
+    <library_geometries>
+        <geometry id="ID2">
+            <mesh>
+                <source id="ID5">
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+                    <technique_common>
+                        <accessor count="24" source="#ID8" stride="3">
+                            <param name="X" type="float" />
+                            <param name="Y" type="float" />
+                            <param name="Z" type="float" />
+                        </accessor>
+                    </technique_common>
+                </source>
+                <source id="ID6">
+                    <float_array id="ID9" count="72">0 1 0 0 1 0 0 1 0 0 1 0 -1 -0 -0 -1 -0 -0 -1 -0 -0 -1 -0 -0 1 -0 -0 1 -0 -0 1 -0 -0 1 -0 -0 -1.741429659934826e-017 -1 -0 -1.741429659934826e-017 -1 -0 -1.741429659934826e-017 -1 -0 -1.741429659934826e-017 -1 -0 -1.363521329027796e-018 -1 1.38790518535184e-045 -1.363521329027796e-018 -1 1.38790518535184e-045 -1.363521329027796e-018 -1 1.38790518535184e-045 -1.363521329027796e-018 -1 1.38790518535184e-045 -0.4669118737456303 -0.8843038517135072 -0 -0.4669118737456303 -0.8843038517135072 -0 -0.4669118737456303 -0.8843038517135072 -0 -0.4669118737456303 -0.8843038517135072 -0</float_array>
+                    <technique_common>
+                        <accessor count="24" source="#ID9" stride="3">
+                            <param name="X" type="float" />
+                            <param name="Y" type="float" />
+                            <param name="Z" type="float" />
+                        </accessor>
+                    </technique_common>
+                </source>
+                <vertices id="ID7">
+                    <input semantic="POSITION" source="#ID5" />
+                    <input semantic="NORMAL" source="#ID6" />
+                </vertices>
+                <triangles count="12" material="Material2">
+                    <input offset="0" semantic="VERTEX" source="#ID7" />
+                    <p>0 1 2 1 0 3 4 5 6 5 4 7 8 9 10 9 8 11 12 13 14 13 12 15 16 17 18 17 16 19 20 21 22 21 20 23</p>
+                </triangles>
+            </mesh>
+        </geometry>
+        <geometry id="ID10">
+            <mesh>
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diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_common/meshes/sensors/astra.dae b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_common/meshes/sensors/astra.dae
new file mode 100755
index 0000000..eb1ea6b
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_common/meshes/sensors/astra.dae
@@ -0,0 +1,256759 @@
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+    <animation id="-DC_Brep_ncl1_16-anim" name="-DC_Brep_ncl1_16"><animation><source id="-DC_Brep_ncl1_16-Matrix-animation-input"><float_array id="-DC_Brep_ncl1_16-Matrix-animation-input-array" count="0">
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+    <animation id="-DC_Brep_ncl1_20-anim" name="-DC_Brep_ncl1_20"><animation><source id="-DC_Brep_ncl1_20-Matrix-animation-input"><float_array id="-DC_Brep_ncl1_20-Matrix-animation-input-array" count="0">
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+    <animation id="-DC_Brep_ncl1_28-anim" name="-DC_Brep_ncl1_28"><animation><source id="-DC_Brep_ncl1_28-Matrix-animation-input"><float_array id="-DC_Brep_ncl1_28-Matrix-animation-input-array" count="0">
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+    <animation id="-DC_Brep_ncl1_24-anim" name="-DC_Brep_ncl1_24"><animation><source id="-DC_Brep_ncl1_24-Matrix-animation-input"><float_array id="-DC_Brep_ncl1_24-Matrix-animation-input-array" count="0">
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+    <animation id="-DC_Brep_ncl1_25-anim" name="-DC_Brep_ncl1_25"><animation><source id="-DC_Brep_ncl1_25-Matrix-animation-input"><float_array id="-DC_Brep_ncl1_25-Matrix-animation-input-array" count="0">
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diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_common/meshes/sensors/lds.stl b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_common/meshes/sensors/lds.stl
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diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_common/meshes/sensors/r200.dae b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_common/meshes/sensors/r200.dae
new file mode 100755
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--- /dev/null
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diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_common/meshes/sensors/r200.jpg b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_common/meshes/sensors/r200.jpg
new file mode 100755
index 0000000..8956fcf
Binary files /dev/null and b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_common/meshes/sensors/r200.jpg differ
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_common/meshes/tire.dae b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_common/meshes/tire.dae
new file mode 100755
index 0000000..f62862f
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_common/meshes/tire.dae
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+          <technique_common>
+            <accessor source="#Cylinder_002-mesh-positions-array" count="64" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
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+          <technique_common>
+            <accessor source="#Cylinder_002-mesh-normals-array" count="60" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
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+          <technique_common>
+            <accessor source="#Cylinder_002-mesh-map-0-array" count="372" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Cylinder_002-mesh-vertices">
+          <input semantic="POSITION" source="#Cylinder_002-mesh-positions"/>
+        </vertices>
+        <triangles count="124">
+          <input semantic="VERTEX" source="#Cylinder_002-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cylinder_002-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Cylinder_002-mesh-map-0" offset="2" set="0"/>
+          <p>1 0 0 2 0 1 0 0 2 3 1 3 4 1 4 2 1 5 5 2 6 6 2 7 4 2 8 7 3 9 8 3 10 6 3 11 9 4 12 10 4 13 8 4 14 11 5 15 12 5 16 10 5 17 13 6 18 14 6 19 12 6 20 15 7 21 16 7 22 14 7 23 17 8 24 18 8 25 16 8 26 19 9 27 20 9 28 18 9 29 21 10 30 22 10 31 20 10 32 23 11 33 24 11 34 22 11 35 25 12 36 26 12 37 24 12 38 27 13 39 28 13 40 26 13 41 29 14 42 30 14 43 28 14 44 31 15 45 32 15 46 30 15 47 33 16 48 34 16 49 32 16 50 35 17 51 36 17 52 34 17 53 37 18 54 38 18 55 36 18 56 39 19 57 40 19 58 38 19 59 41 20 60 42 20 61 40 20 62 43 21 63 44 21 64 42 21 65 45 22 66 46 22 67 44 22 68 47 23 69 48 23 70 46 23 71 49 24 72 50 24 73 48 24 74 51 25 75 52 25 76 50 25 77 53 26 78 54 26 79 52 26 80 55 27 81 56 27 82 54 27 83 57 28 84 58 28 85 56 28 86 59 29 87 60 29 88 58 29 89 53 30 90 37 30 91 21 30 92 61 31 93 62 31 94 60 31 95 63 32 96 0 32 97 62 32 98 14 33 99 30 33 100 46 33 101 1 0 102 3 0 103 2 0 104 3 34 105 5 34 106 4 34 107 5 2 108 7 2 109 6 2 110 7 35 111 9 35 112 8 35 113 9 36 114 11 36 115 10 36 116 11 5 117 13 5 118 12 5 119 13 6 120 15 6 121 14 6 122 15 7 123 17 7 124 16 7 125 17 37 126 19 37 127 18 37 128 19 9 129 21 9 130 20 9 131 21 38 132 23 38 133 22 38 134 23 39 135 25 39 136 24 39 137 25 12 138 27 12 139 26 12 140 27 13 141 29 13 142 28 13 143 29 40 144 31 40 145 30 40 146 31 15 147 33 15 148 32 15 149 33 16 150 35 16 151 34 16 152 35 41 153 37 41 154 36 41 155 37 18 156 39 18 157 38 18 158 39 42 159 41 42 160 40 42 161 41 43 162 43 43 163 42 43 164 43 21 165 45 21 166 44 21 167 45 44 168 47 44 169 46 44 170 47 45 171 49 45 172 48 45 173 49 46 174 51 46 175 50 46 176 51 25 177 53 25 178 52 25 179 53 47 180 55 47 181 54 47 182 55 27 183 57 27 184 56 27 185 57 48 186 59 48 187 58 48 188 59 29 189 61 29 190 60 29 191 5 49 192 3 49 193 1 49 194 1 49 195 63 49 196 5 49 197 63 49 198 61 49 199 5 49 200 61 49 201 59 49 202 57 49 203 57 49 204 55 49 205 53 49 206 53 50 207 51 50 208 49 50 209 49 49 210 47 49 211 53 49 212 47 49 213 45 49 214 53 49 215 45 49 216 43 49 217 37 49 218 43 49 219 41 49 220 37 49 221 41 49 222 39 49 223 37 49 224 37 49 225 35 49 226 33 49 227 33 49 228 31 49 229 29 49 230 29 49 231 27 49 232 25 49 233 25 49 234 23 49 235 21 49 236 21 51 237 19 51 238 17 51 239 17 49 240 15 49 241 21 49 242 15 49 243 13 49 244 21 49 245 13 49 246 11 49 247 9 49 248 9 49 249 7 49 250 5 49 251 61 49 252 57 49 253 5 49 254 57 49 255 53 49 256 5 49 257 37 49 258 33 49 259 21 49 260 33 49 261 29 49 262 21 49 263 29 49 264 25 49 265 21 49 266 13 52 267 9 52 268 21 52 269 9 53 270 5 53 271 21 53 272 53 54 273 45 54 274 37 54 275 5 49 276 53 49 277 21 49 278 61 55 279 63 55 280 62 55 281 63 32 282 1 32 283 0 32 284 62 33 285 0 33 286 2 33 287 2 33 288 4 33 289 6 33 290 6 33 291 8 33 292 10 33 293 10 33 294 12 33 295 6 33 296 12 33 297 14 33 298 6 33 299 14 33 300 16 33 301 18 33 302 18 33 303 20 33 304 14 33 305 20 33 306 22 33 307 14 33 308 22 33 309 24 33 310 30 33 311 24 33 312 26 33 313 30 33 314 26 33 315 28 33 316 30 33 317 30 33 318 32 33 319 34 33 320 34 33 321 36 33 322 38 33 323 38 33 324 40 33 325 42 33 326 42 33 327 44 33 328 46 33 329 46 56 330 48 56 331 50 56 332 50 57 333 52 57 334 54 57 335 54 33 336 56 33 337 62 33 338 56 33 339 58 33 340 62 33 341 58 33 342 60 33 343 62 33 344 62 33 345 2 33 346 6 33 347 30 33 348 34 33 349 46 33 350 34 33 351 38 33 352 46 33 353 38 33 354 42 33 355 46 33 356 46 58 357 50 58 358 62 58 359 50 33 360 54 33 361 62 33 362 62 33 363 6 33 364 14 33 365 14 33 366 22 33 367 30 33 368 62 59 369 14 59 370 46 59 371</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Cylinder" name="Cylinder" type="NODE">
+        <matrix sid="transform">32.85729 0 0 0 0 -1.43624e-6 -9.10743 0 0 32.85729 -3.98098e-7 0 0 0 0 1</matrix>
+        <instance_geometry url="#Cylinder_002-mesh" name="Cylinder"/>
+      </node>
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 0 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Light" name="Light" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light-light"/>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_common/meshes/waffle_base.dae b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_common/meshes/waffle_base.dae
new file mode 100755
index 0000000..24ed3d8
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_common/meshes/waffle_base.dae
@@ -0,0 +1,220 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.83.0 commit date:2020-06-03, commit time:14:38, hash:211b6c29f771</authoring_tool>
+    </contributor>
+    <created>2020-06-29T17:22:52</created>
+    <modified>2020-06-29T17:22:52</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
+    <camera id="Camera-camera" name="Camera">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</xfov>
+            <aspect_ratio>1.777778</aspect_ratio>
+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
+      <extra>
+        <technique profile="blender">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Light-light" name="Light">
+      <technique_common>
+        <point>
+          <color sid="color">1000 1000 1000</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
+      </technique_common>
+      <extra>
+        <technique profile="blender">
+          <type sid="type" type="int">0</type>
+          <flag sid="flag" type="int">0</flag>
+          <mode sid="mode" type="int">1</mode>
+          <gamma sid="blender_gamma" type="float">1</gamma>
+          <red sid="red" type="float">1</red>
+          <green sid="green" type="float">1</green>
+          <blue sid="blue" type="float">1</blue>
+          <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
+          <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
+          <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
+          <energy sid="blender_energy" type="float">1000</energy>
+          <dist sid="blender_dist" type="float">29.99998</dist>
+          <spotsize sid="spotsize" type="float">75</spotsize>
+          <spotblend sid="spotblend" type="float">0.15</spotblend>
+          <att1 sid="att1" type="float">0</att1>
+          <att2 sid="att2" type="float">1</att2>
+          <falloff_type sid="falloff_type" type="int">2</falloff_type>
+          <clipsta sid="clipsta" type="float">0.04999995</clipsta>
+          <clipend sid="clipend" type="float">30.002</clipend>
+          <bias sid="bias" type="float">1</bias>
+          <soft sid="soft" type="float">3</soft>
+          <bufsize sid="bufsize" type="int">2880</bufsize>
+          <samp sid="samp" type="int">3</samp>
+          <buffers sid="buffers" type="int">1</buffers>
+          <area_shape sid="area_shape" type="int">1</area_shape>
+          <area_size sid="area_size" type="float">0.1</area_size>
+          <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
+          <area_sizez sid="area_sizez" type="float">1</area_sizez>
+        </technique>
+      </extra>
+    </light>
+  </library_lights>
+  <library_effects>
+    <effect id="Material-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.8 0.8 0.8 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
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+          <technique_common>
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+              <param name="Y" type="float"/>
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+              <param name="S" type="float"/>
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+          <input semantic="POSITION" source="#Cube-mesh-positions"/>
+        </vertices>
+        <triangles material="Material-material" count="12">
+          <input semantic="VERTEX" source="#Cube-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cube-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Cube-mesh-map-0" offset="2" set="0"/>
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Cube_001" name="Cube.001" type="NODE">
+        <matrix sid="transform">132.5 0 0 0 0 132.5 0 0 0 0 46 46.12724 0 0 0 1</matrix>
+        <instance_geometry url="#Cube_002-mesh" name="Cube.001"/>
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+        <instance_camera url="#Camera-camera"/>
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+        <instance_light url="#Light-light"/>
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+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#Cube-mesh" name="Cube">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material-material" target="#Material-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_common/meshes/waffle_pi_base.dae b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_common/meshes/waffle_pi_base.dae
new file mode 100755
index 0000000..24ed3d8
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_common/meshes/waffle_pi_base.dae
@@ -0,0 +1,220 @@
+<?xml version="1.0" encoding="utf-8"?>
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+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.83.0 commit date:2020-06-03, commit time:14:38, hash:211b6c29f771</authoring_tool>
+    </contributor>
+    <created>2020-06-29T17:22:52</created>
+    <modified>2020-06-29T17:22:52</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
+    <camera id="Camera-camera" name="Camera">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</xfov>
+            <aspect_ratio>1.777778</aspect_ratio>
+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
+      <extra>
+        <technique profile="blender">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Light-light" name="Light">
+      <technique_common>
+        <point>
+          <color sid="color">1000 1000 1000</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
+      </technique_common>
+      <extra>
+        <technique profile="blender">
+          <type sid="type" type="int">0</type>
+          <flag sid="flag" type="int">0</flag>
+          <mode sid="mode" type="int">1</mode>
+          <gamma sid="blender_gamma" type="float">1</gamma>
+          <red sid="red" type="float">1</red>
+          <green sid="green" type="float">1</green>
+          <blue sid="blue" type="float">1</blue>
+          <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
+          <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
+          <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
+          <energy sid="blender_energy" type="float">1000</energy>
+          <dist sid="blender_dist" type="float">29.99998</dist>
+          <spotsize sid="spotsize" type="float">75</spotsize>
+          <spotblend sid="spotblend" type="float">0.15</spotblend>
+          <att1 sid="att1" type="float">0</att1>
+          <att2 sid="att2" type="float">1</att2>
+          <falloff_type sid="falloff_type" type="int">2</falloff_type>
+          <clipsta sid="clipsta" type="float">0.04999995</clipsta>
+          <clipend sid="clipend" type="float">30.002</clipend>
+          <bias sid="bias" type="float">1</bias>
+          <soft sid="soft" type="float">3</soft>
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+          <samp sid="samp" type="int">3</samp>
+          <buffers sid="buffers" type="int">1</buffers>
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+          <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
+          <area_sizez sid="area_sizez" type="float">1</area_sizez>
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+      </extra>
+    </light>
+  </library_lights>
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+        <technique sid="common">
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+            <diffuse>
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+            </index_of_refraction>
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+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
+    <material id="Material-material" name="Material">
+      <instance_effect url="#Material-effect"/>
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+      <node id="Cube_001" name="Cube.001" type="NODE">
+        <matrix sid="transform">132.5 0 0 0 0 132.5 0 0 0 0 46 46.12724 0 0 0 1</matrix>
+        <instance_geometry url="#Cube_002-mesh" name="Cube.001"/>
+      </node>
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 0 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Light" name="Light" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light-light"/>
+      </node>
+      <node id="Cube" name="Cube" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#Cube-mesh" name="Cube">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material-material" target="#Material-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_common/meshes/wheels/left_tire.stl b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_common/meshes/wheels/left_tire.stl
new file mode 100755
index 0000000..29bfa03
Binary files /dev/null and b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_common/meshes/wheels/left_tire.stl differ
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_common/meshes/wheels/right_tire.stl b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_common/meshes/wheels/right_tire.stl
new file mode 100755
index 0000000..43c27e6
Binary files /dev/null and b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_common/meshes/wheels/right_tire.stl differ
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_common/model.config b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_common/model.config
new file mode 100755
index 0000000..5765f26
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_common/model.config
@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>TurtleBot3 Common Mesh</name>
+  <version>2.0</version>
+
+  <author>
+    <name>Will Son</name>
+    <email>willson@robotis.com</email>
+  </author>
+
+  <description>
+    TurtleBot3 Common Mesh
+  </description>
+</model>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_dqn_world/goal_box/model.config b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_dqn_world/goal_box/model.config
new file mode 100755
index 0000000..d228065
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_dqn_world/goal_box/model.config
@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+    <name>goal_box</name>
+    <version>1.0</version>
+    <sdf version="1.6">model.sdf</sdf>
+    <author>
+        <name></name>
+        <email></email>
+    </author>
+    <description></description>
+</model>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_dqn_world/goal_box/model.sdf b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_dqn_world/goal_box/model.sdf
new file mode 100755
index 0000000..606f310
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_dqn_world/goal_box/model.sdf
@@ -0,0 +1,26 @@
+<?xml version='1.0'?>
+<sdf version='1.6'>
+  <model name='goal_box'>
+    <pose frame=''>0 0 0 0 -0 -1.5708</pose>
+    <link name='goal_box'>
+      <visual name='goal_box'>
+        <pose frame=''>0 0 0.0005 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.3</radius>
+            <length>0.001</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+          <ambient>1 0 0 1</ambient>
+        </material>
+      </visual>
+      <pose frame=''>0 0 0 0 -0 0</pose>
+    </link>
+    <static>1</static>
+  </model>
+</sdf>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_dqn_world/inner_walls/model.config b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_dqn_world/inner_walls/model.config
new file mode 100755
index 0000000..48f76c2
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_dqn_world/inner_walls/model.config
@@ -0,0 +1,15 @@
+<?xml version="1.0" ?>
+<model>
+    <name>inner_walls</name>
+    <version>1.0</version>
+    <sdf version="1.6">model.sdf</sdf>
+
+    <author>
+        <name>Ryan Shim</name>
+        <email>jhshim@robotis.com</email>
+    </author>
+
+    <description>
+        TurtleBot3 DQN World Inner Walls
+    </description>
+</model>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_dqn_world/inner_walls/model.sdf b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_dqn_world/inner_walls/model.sdf
new file mode 100755
index 0000000..f13158a
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_dqn_world/inner_walls/model.sdf
@@ -0,0 +1,189 @@
+<?xml version='1.0'?>
+<sdf version='1.6'>
+  <model name='inner_walls'>
+    <pose frame=''>0 0 0 0 0 0</pose>
+    <link name='inner_wall_1'>
+      <collision name='inner_wall_1_collision'>
+        <geometry>
+          <box>
+            <size>1 0.15 0.5</size>
+          </box>
+        </geometry>
+        <pose frame=''>0 0 0.25 0 -0 0</pose>
+      </collision>
+      <visual name='inner_wall_visual'>
+        <pose frame=''>0 0 0.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>1 0.15 0.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+        </material>
+      </visual>
+      <pose frame=''>-2.0 -1.5 0 0 -0 0</pose>
+    </link>
+    <link name='inner_wall_2'>
+      <collision name='inner_wall_2_collision'>
+        <geometry>
+          <box>
+            <size>1 0.15 0.5</size>
+          </box>
+        </geometry>
+        <pose frame=''>0 0 0.25 0 -0 0</pose>
+      </collision>
+      <visual name='inner_wall_2_visual'>
+        <pose frame=''>0 0 0.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>1 0.15 0.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+        </material>
+      </visual>
+      <pose frame=''>-0.5 -2.0 0 0 0 -1.5708</pose>
+    </link>
+    <link name='inner_wall_3'>
+      <collision name='inner_wall_3_collision'>
+        <geometry>
+          <box>
+            <size>1 0.15 0.5</size>
+          </box>
+        </geometry>
+        <pose frame=''>0 0 0.25 0 -0 0</pose>
+      </collision>
+      <visual name='inner_wall_3_visual'>
+        <pose frame=''>0 0 0.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>1 0.15 0.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+        </material>
+      </visual>
+      <pose frame=''>1.0 -1.0 0 0 -0 1.5708</pose>
+    </link>
+    <link name='inner_wall_4'>
+      <collision name='inner_wall_4_collision'>
+        <geometry>
+          <box>
+            <size>1 0.15 0.5</size>
+          </box>
+        </geometry>
+        <pose frame=''>0 0 0.25 0 -0 0</pose>
+      </collision>
+      <visual name='inner_wall_4_visual'>
+        <pose frame=''>0 0 0.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>1 0.15 0.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+        </material>
+      </visual>
+      <pose frame=''>1.2 1.9 0 0 0 -1.5708</pose>
+    </link>
+    <link name='inner_wall_5'>
+      <collision name='inner_wall_5_collision'>
+        <geometry>
+          <box>
+            <size>1 0.15 0.5</size>
+          </box>
+        </geometry>
+        <pose frame=''>0 0 0.25 0 -0 0</pose>
+      </collision>
+      <visual name='inner_wall_5_visual'>
+        <pose frame=''>0 0 0.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>1 0.15 0.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+        </material>
+      </visual>
+      <pose frame=''>1.9 0.4 0 0 -0 0</pose>
+    </link>
+    <link name='inner_wall_6'>
+      <collision name='inner_wall_6_collision'>
+        <geometry>
+          <box>
+            <size>1 0.15 0.5</size>
+          </box>
+        </geometry>
+        <pose frame=''>0 0 0.25 0 -0 0</pose>
+      </collision>
+      <visual name='inner_wall_6_visual'>
+        <pose frame=''>0 0 0.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>1 0.15 0.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+        </material>
+      </visual>
+      <pose frame=''>-0.5 1.5 0 0 -0 0</pose>
+    </link>
+    <link name='inner_wall_7'>
+      <collision name='inner_wall_7_collision'>
+        <geometry>
+          <box>
+            <size>1 0.15 0.5</size>
+          </box>
+        </geometry>
+        <pose frame=''>0 0 0.25 0 -0 0</pose>
+      </collision>
+      <visual name='inner_wall_7_visual'>
+        <pose frame=''>0 0 0.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>1 0.15 0.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+        </material>
+      </visual>
+      <pose frame=''>-1.2 0.092 0 0 0 -1.5708</pose>
+    </link>
+    <static>1</static>
+  </model>
+</sdf>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_dqn_world/model.config b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_dqn_world/model.config
new file mode 100755
index 0000000..6472dbb
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_dqn_world/model.config
@@ -0,0 +1,15 @@
+<?xml version="1.0" ?>
+<model>
+    <name>turtlebot3_dqn</name>
+    <version>1.0</version>
+    <sdf version="1.6">model.sdf</sdf>
+
+    <author>
+        <name>Ryan Shim</name>
+        <email>jhshim@robotis.com</email>
+    </author>
+
+    <description>
+        TurtleBot3 DQN World
+    </description>
+</model>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_dqn_world/model.sdf b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_dqn_world/model.sdf
new file mode 100755
index 0000000..ad77f03
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_dqn_world/model.sdf
@@ -0,0 +1,111 @@
+<?xml version='1.0'?>
+<sdf version='1.6'>
+  <model name='turtlebot3_square'>
+    <pose frame=''>0 0 0 0 0 0</pose>
+    <link name='Wall_1'>
+      <collision name='Wall_1_Collision'>
+        <geometry>
+          <box>
+            <size>5 0.15 0.5</size>
+          </box>
+        </geometry>
+        <pose frame=''>0 0 0.25 0 -0 0</pose>
+      </collision>
+      <visual name='Wall_1_Visual'>
+        <pose frame=''>0 0 0.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>5 0.15 0.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+        </material>
+      </visual>
+      <pose frame=''>-2.425 0 0 0 -0 1.5708</pose>
+    </link>
+    <link name='Wall_2'>
+      <collision name='Wall_2_Collision'>
+        <geometry>
+          <box>
+            <size>5 0.15 0.5</size>
+          </box>
+        </geometry>
+        <pose frame=''>0 0 0.25 0 -0 0</pose>
+      </collision>
+      <visual name='Wall_2_Visual'>
+        <pose frame=''>0 0 0.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>5 0.15 0.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+        </material>
+      </visual>
+      <pose frame=''>0 2.425 0 0 -0 0</pose>
+    </link>
+    <link name='Wall_3'>
+      <collision name='Wall_3_Collision'>
+        <geometry>
+          <box>
+            <size>5 0.15 0.5</size>
+          </box>
+        </geometry>
+        <pose frame=''>0 0 0.25 0 -0 0</pose>
+      </collision>
+      <visual name='Wall_3_Visual'>
+        <pose frame=''>0 0 0.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>5 0.15 0.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+        </material>
+      </visual>
+      <pose frame=''>2.425 0 0 0 0 -1.5708</pose>
+    </link>
+    <link name='Wall_4'>
+      <collision name='Wall_4_Collision'>
+        <geometry>
+          <box>
+            <size>5 0.15 0.5</size>
+          </box>
+        </geometry>
+        <pose frame=''>0 0 0.25 0 -0 0</pose>
+      </collision>
+      <visual name='Wall_4_Visual'>
+        <pose frame=''>0 0 0.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>5 0.15 0.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+        </material>
+      </visual>
+      <pose frame=''>0 -2.425 0 0 -0 3.14159</pose>
+    </link>
+    <static>1</static>
+  </model>
+</sdf>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle1/model.config b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle1/model.config
new file mode 100755
index 0000000..9f53c75
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle1/model.config
@@ -0,0 +1,15 @@
+<?xml version="1.0" ?>
+<model>
+    <name>obstacle1</name>
+    <version>1.0</version>
+    <sdf version="1.6">model.sdf</sdf>
+
+    <author>
+        <name>Ryan Shim</name>
+        <email>jhshim@robotis.com</email>
+    </author>
+
+    <description>
+        TurtleBot3 DQN World
+    </description>
+</model>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle1/model.sdf b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle1/model.sdf
new file mode 100755
index 0000000..741cbf4
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle1/model.sdf
@@ -0,0 +1,24 @@
+<?xml version='1.0'?>
+<sdf version='1.6'>
+    <model name="obstacle1">
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <cylinder>
+              <radius>0.12</radius>
+              <length>0.25</length>
+            </cylinder>
+          </geometry>
+        </collision>
+
+        <visual name="visual">
+          <geometry>
+            <cylinder>
+              <radius>0.12</radius>
+              <length>0.25</length>
+            </cylinder>
+          </geometry>
+        </visual>
+      </link>
+    </model>        
+</sdf>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle2/model.config b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle2/model.config
new file mode 100755
index 0000000..674c579
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle2/model.config
@@ -0,0 +1,15 @@
+<?xml version="1.0" ?>
+<model>
+    <name>obstacle2</name>
+    <version>1.0</version>
+    <sdf version="1.6">model.sdf</sdf>
+
+    <author>
+        <name>Ryan Shim</name>
+        <email>jhshim@robotis.com</email>
+    </author>
+
+    <description>
+        TurtleBot3 DQN World
+    </description>
+</model>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle2/model.sdf b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle2/model.sdf
new file mode 100755
index 0000000..fcee1b5
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle2/model.sdf
@@ -0,0 +1,24 @@
+<?xml version='1.0'?>
+<sdf version='1.6'>
+    <model name="obstacle2">
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <cylinder>
+              <radius>0.12</radius>
+              <length>0.25</length>
+            </cylinder>
+          </geometry>
+        </collision>
+
+        <visual name="visual">
+          <geometry>
+            <cylinder>
+              <radius>0.12</radius>
+              <length>0.25</length>
+            </cylinder>
+          </geometry>
+        </visual>
+      </link>
+    </model>  
+</sdf>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacles/model.config b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacles/model.config
new file mode 100755
index 0000000..a155efe
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacles/model.config
@@ -0,0 +1,15 @@
+<?xml version="1.0" ?>
+<model>
+    <name>obstacles</name>
+    <version>1.0</version>
+    <sdf version="1.6">model.sdf</sdf>
+
+    <author>
+        <name>Ryan Shim</name>
+        <email>jhshim@robotis.com</email>
+    </author>
+
+    <description>
+        TurtleBot3 DQN World
+    </description>
+</model>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacles/model.sdf b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacles/model.sdf
new file mode 100755
index 0000000..29bce4e
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacles/model.sdf
@@ -0,0 +1,153 @@
+<?xml version='1.0'?>
+<sdf version='1.6'>
+  <model name='obstacles'>
+    <pose frame=''>0 0 0 0 0 0</pose>
+    <link name='obstacle'>
+      <collision name='obstacle_1'>
+        <pose>-1.0 -1.0 0.25 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.15</radius>
+            <length>0.5</length>
+          </cylinder>
+        </geometry>
+        <max_contacts>10</max_contacts>
+        <surface>
+          <bounce/>
+          <friction>
+            <ode/>
+          </friction>
+          <contact>
+            <ode/>
+          </contact>
+        </surface>
+      </collision>
+
+      <visual name='obstacle_1'>
+        <pose>-1.0 -1.0 0.25 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.15</radius>
+            <length>0.5</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/White</name>
+          </script>
+        </material>
+      </visual>
+
+      <collision name='obstacle_2'>
+        <pose>-1.0 1.0 0.25 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.15</radius>
+            <length>0.5</length>
+          </cylinder>
+        </geometry>
+        <max_contacts>10</max_contacts>
+        <surface>
+          <bounce/>
+          <friction>
+            <ode/>
+          </friction>
+          <contact>
+            <ode/>
+          </contact>
+        </surface>
+      </collision>
+
+      <visual name='obstacle_2'>
+        <pose>-1.0 1.0 0.25 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.15</radius>
+            <length>0.5</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/White</name>
+          </script>
+        </material>
+      </visual>
+
+      <collision name='obstacle_3'>
+        <pose>1.0 -1.0 0.25 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.15</radius>
+            <length>0.5</length>
+          </cylinder>
+        </geometry>
+        <max_contacts>10</max_contacts>
+        <surface>
+          <bounce/>
+          <friction>
+            <ode/>
+          </friction>
+          <contact>
+            <ode/>
+          </contact>
+        </surface>
+      </collision>
+
+      <visual name='obstacle_3'>
+        <pose>1.0 -1.0 0.25 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.15</radius>
+            <length>0.5</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/White</name>
+          </script>
+        </material>
+      </visual>
+
+      <collision name='obstacle_4'>
+        <pose>1.0 1.0 0.25 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.15</radius>
+            <length>0.5</length>
+          </cylinder>
+        </geometry>
+        <max_contacts>10</max_contacts>
+        <surface>
+          <bounce/>
+          <friction>
+            <ode/>
+          </friction>
+          <contact>
+            <ode/>
+          </contact>
+        </surface>
+      </collision>
+
+      <visual name='obstacle_4'>
+        <pose>1.0 1.0 0.25 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.15</radius>
+            <length>0.5</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/White</name>
+          </script>
+        </material>
+      </visual>
+    </link>
+    <static>1</static>
+
+  </model>
+</sdf>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_house/model.config b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_house/model.config
new file mode 100755
index 0000000..818fbd3
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_house/model.config
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>Turtlebot3 House</name>
+  <version>1.0</version>
+  <sdf version="1.6">model.sdf</sdf>
+
+  <author>
+    <name>Taehun Lim(Darby)</name>
+    <email>thlim@robotis.com</email>
+  </author>
+
+  <description>
+    Turtlebot3 House
+  </description>
+</model>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_house/model.sdf b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_house/model.sdf
new file mode 100755
index 0000000..4544873
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_house/model.sdf
@@ -0,0 +1,5424 @@
+<sdf version='1.6'>
+  <model name='turtlebot3_house'>
+    <link name='Wall_101'>
+      <pose frame=''>-0.05 3.1 0 0 0 -1.5708</pose>
+      <self_collide>0</self_collide>
+      <kinematic>0</kinematic>
+      <visual name='Wall_101_Visual'>
+        <pose frame=''>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>4.5 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Bricks</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <collision name='Wall_101_Collision'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>4.5 0.15 2.5</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
+            </ode>
+            <torsional>
+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
+            </torsional>
+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
+            </ode>
+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+    <link name='Wall_104'>
+      <pose frame=''>2.3 3.1 0 0 -0 1.5708</pose>
+      <self_collide>0</self_collide>
+      <kinematic>0</kinematic>
+      <visual name='Wall_104_Visual_1'>
+        <pose frame=''>2.11625 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.267504 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Bricks</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <visual name='Wall_104_Visual_2'>
+        <pose frame=''>1.5325 0 2.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.9 0.15 0.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Bricks</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <visual name='Wall_104_Visual_0'>
+        <pose frame=''>-0.583752 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>3.3325 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Bricks</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <collision name='Wall_104_Collision_1'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>2.11625 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.267504 0.15 2.5</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
+            </ode>
+            <torsional>
+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
+            </torsional>
+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
+            </ode>
+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
+        </surface>
+      </collision>
+      <collision name='Wall_104_Collision_2'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>1.5325 0 2.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.9 0.15 0.5</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
+            </ode>
+            <torsional>
+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
+            </torsional>
+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
+            </ode>
+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
+        </surface>
+      </collision>
+      <collision name='Wall_104_Collision_0'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>-0.583752 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>3.3325 0.15 2.5</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
+            </ode>
+            <torsional>
+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
+            </torsional>
+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
+            </ode>
+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+    <link name='Wall_106'>
+      <pose frame=''>6.2 -0.175 0 0 -0 0</pose>
+      <self_collide>0</self_collide>
+      <kinematic>0</kinematic>
+      <visual name='Wall_106_Visual_1'>
+        <pose frame=''>0.922235 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.905529 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Bricks</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <visual name='Wall_106_Visual_2'>
+        <pose frame=''>0.019471 0 2.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.9 0.15 0.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Bricks</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <visual name='Wall_106_Visual_0'>
+        <pose frame=''>-0.902765 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.944471 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Bricks</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <collision name='Wall_106_Collision_1'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0.922235 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.905529 0.15 2.5</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
+            </ode>
+            <torsional>
+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
+            </torsional>
+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
+            </ode>
+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
+        </surface>
+      </collision>
+      <collision name='Wall_106_Collision_0'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>-0.902765 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.944471 0.15 2.5</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
+            </ode>
+            <torsional>
+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
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+              <kp>1e+13</kp>
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+        <pose frame=''>0.019471 0 2.25 0 -0 0</pose>
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+            <threshold>1e+06</threshold>
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+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
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+              <kp>1e+13</kp>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
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+      <kinematic>0</kinematic>
+      <visual name='Wall_108_Visual_0'>
+        <pose frame=''>-0.856324 0 0.5 0 -0 0</pose>
+        <geometry>
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+            <size>5.78735 0.15 1</size>
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+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
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+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
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+        <transparency>0</transparency>
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+        <pose frame=''>3.34368 0 0.5 0 -0 0</pose>
+        <geometry>
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+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
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+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
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+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
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+        <max_contacts>10</max_contacts>
+        <pose frame=''>3.34368 0 0.5 0 -0 0</pose>
+        <geometry>
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+            <threshold>1e+06</threshold>
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+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
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+              <kp>1e+13</kp>
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+              <kp>1e+13</kp>
+              <kd>1</kd>
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+        <max_contacts>10</max_contacts>
+        <pose frame=''>-0.856324 0 0.5 0 -0 0</pose>
+        <geometry>
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+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
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+            <threshold>1e+06</threshold>
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+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
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+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
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+      <pose frame=''>5.07752 5.2688 0 0 -0 3.14159</pose>
+      <self_collide>0</self_collide>
+      <kinematic>0</kinematic>
+      <visual name='Wall_81_Visual'>
+        <pose frame=''>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>5 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
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+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
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+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <collision name='Wall_81_Collision'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>5 0.15 2.5</size>
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+        <surface>
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+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
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+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
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+          <bounce>
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+            <threshold>1e+06</threshold>
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+          <contact>
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+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
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+      <pose frame=''>1.25 5.26876 0 0 -0 3.14159</pose>
+      <self_collide>0</self_collide>
+      <kinematic>0</kinematic>
+      <visual name='Wall_82_Visual'>
+        <pose frame=''>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>2.75 0.15 2.5</size>
+          </box>
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+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
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+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
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+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <collision name='Wall_82_Collision'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>2.75 0.15 2.5</size>
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+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
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+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
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+            <threshold>1e+06</threshold>
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+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
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+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
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+      <pose frame=''>-2.475 5.275 0 0 -0 3.14159</pose>
+      <self_collide>0</self_collide>
+      <kinematic>0</kinematic>
+      <visual name='Wall_83_Visual_2'>
+        <pose frame=''>0.110246 0 1.5 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.37052 0.15 2</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
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+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <visual name='Wall_83_Visual_6'>
+        <pose frame=''>1.39775 0 2.1 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>2.20449 0.15 0.8</size>
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+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <visual name='Wall_83_Visual_3'>
+        <pose frame=''>0.110246 0 1.5 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.37052 0.15 2</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <visual name='Wall_83_Visual_1'>
+        <pose frame=''>0.080993 0 0.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>4.83801 0.15 0.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <visual name='Wall_83_Visual_4'>
+        <pose frame=''>-1.20651 0 2.1 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>2.263 0.15 0.8</size>
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+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
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+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <visual name='Wall_83_Visual_5'>
+        <pose frame=''>1.39775 0 2.1 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>2.20449 0.15 0.8</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
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+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
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+      <visual name='Wall_83_Visual_0'>
+        <pose frame=''>-2.41901 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.161986 0.15 2.5</size>
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+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
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+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
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+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <collision name='Wall_83_Collision_4'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>-1.20651 0 2.1 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>2.263 0.15 0.8</size>
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+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
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+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
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+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
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+          <contact>
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+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
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+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
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+      <collision name='Wall_83_Collision_2'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0.110246 0 1.5 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.37052 0.15 2</size>
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+        <surface>
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+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
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+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
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+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
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+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
+        </surface>
+      </collision>
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+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>1.39775 0 2.1 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>2.20449 0.15 0.8</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
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+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
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+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
+            </ode>
+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
+        </surface>
+      </collision>
+      <collision name='Wall_83_Collision_0'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>-2.41901 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.161986 0.15 2.5</size>
+          </box>
+        </geometry>
+        <surface>
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+            <ode>
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+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
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+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
+            </torsional>
+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
+            </ode>
+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
+        </surface>
+      </collision>
+      <collision name='Wall_83_Collision_1'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0.080993 0 0.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>4.83801 0.15 0.5</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
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+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
+            </torsional>
+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
+            </ode>
+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
+        </surface>
+      </collision>
+      <collision name='Wall_83_Collision_3'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0.110246 0 1.5 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.37052 0.15 2</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
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+            <torsional>
+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
+            </torsional>
+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
+            </ode>
+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
+        </surface>
+      </collision>
+      <collision name='Wall_83_Collision_5'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>1.39775 0 2.1 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>2.20449 0.15 0.8</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
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+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
+            </torsional>
+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
+            </ode>
+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+    <link name='Wall_84'>
+      <pose frame=''>-6.2 5.275 0 0 -0 3.14159</pose>
+      <self_collide>0</self_collide>
+      <kinematic>0</kinematic>
+      <visual name='Wall_84_Visual'>
+        <pose frame=''>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>2.75 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <collision name='Wall_84_Collision'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>2.75 0.15 2.5</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
+            </ode>
+            <torsional>
+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
+            </torsional>
+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
+            </ode>
+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
+        </surface>
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+    <link name='Wall_85'>
+      <pose frame=''>-7.5 3.1 0 0 0 -1.5708</pose>
+      <self_collide>0</self_collide>
+      <kinematic>0</kinematic>
+      <visual name='Wall_85_Visual_3'>
+        <pose frame=''>0.62212 0 2.1 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>1.332 0.15 0.8</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <visual name='Wall_85_Visual_2'>
+        <pose frame=''>1.76906 0 1.5 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.96188 0.15 2</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <visual name='Wall_85_Visual_0'>
+        <pose frame=''>-1.14694 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>2.20612 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <visual name='Wall_85_Visual_1'>
+        <pose frame=''>1.10306 0 0.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>2.29388 0.15 0.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <collision name='Wall_85_Collision_3'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0.62212 0 2.1 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>1.332 0.15 0.8</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
+            </ode>
+            <torsional>
+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
+            </torsional>
+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
+            </ode>
+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
+        </surface>
+      </collision>
+      <collision name='Wall_85_Collision_2'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>1.76906 0 1.5 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.96188 0.15 2</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
+            </ode>
+            <torsional>
+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
+            </torsional>
+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
+            </ode>
+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
+        </surface>
+      </collision>
+      <collision name='Wall_85_Collision_1'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>1.10306 0 0.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>2.29388 0.15 0.5</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
+            </ode>
+            <torsional>
+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
+            </torsional>
+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
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+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>-1.14694 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
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+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
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+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
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+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
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+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
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+      <pose frame=''>-7.5 -1.5 0 0 0 -1.5708</pose>
+      <self_collide>0</self_collide>
+      <kinematic>0</kinematic>
+      <visual name='Wall_86_Visual_1'>
+        <pose frame=''>0.28462 0 0.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>4.43076 0.15 0.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <visual name='Wall_86_Visual_4'>
+        <pose frame=''>-1.22476 0 2.1 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>1.412 0.15 0.8</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <visual name='Wall_86_Visual_0'>
+        <pose frame=''>-2.21538 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.569241 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <visual name='Wall_86_Visual_5'>
+        <pose frame=''>1.22246 0 2.1 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>1.199 0.15 0.8</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <visual name='Wall_86_Visual_2'>
+        <pose frame=''>0.0521 0 1.5 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>1.14172 0.15 2</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <visual name='Wall_86_Visual_3'>
+        <pose frame=''>2.16098 0 1.5 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.678041 0.15 2</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <collision name='Wall_86_Collision_4'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>-1.22476 0 2.1 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>1.412 0.15 0.8</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
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+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
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+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
+            </ode>
+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
+        </surface>
+      </collision>
+      <collision name='Wall_86_Collision_5'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>1.22246 0 2.1 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>1.199 0.15 0.8</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
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+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
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+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
+            </ode>
+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
+        </surface>
+      </collision>
+      <collision name='Wall_86_Collision_2'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0.0521 0 1.5 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>1.14172 0.15 2</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
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+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
+            </torsional>
+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
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+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
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+      <collision name='Wall_86_Collision_1'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0.28462 0 0.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>4.43076 0.15 0.5</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
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+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
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+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
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+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
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+      </collision>
+      <collision name='Wall_86_Collision_3'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>2.16098 0 1.5 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.678041 0.15 2</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
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+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
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+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
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+            <bullet>
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+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
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+      <collision name='Wall_86_Collision_0'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>-2.21538 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.569241 0.15 2.5</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
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+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
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+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
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+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
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+    <link name='Wall_87'>
+      <pose frame=''>-6.325 -3.925 0 0 -0 0</pose>
+      <self_collide>0</self_collide>
+      <kinematic>0</kinematic>
+      <visual name='Wall_87_Visual'>
+        <pose frame=''>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>2.5 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <collision name='Wall_87_Collision'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>2.5 0.15 2.5</size>
+          </box>
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+        <surface>
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+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
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+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
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+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
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+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
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+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
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+    <link name='Wall_88'>
+      <pose frame=''>-5.15151 -1.49625 0 0 -0 1.5708</pose>
+      <self_collide>0</self_collide>
+      <kinematic>0</kinematic>
+      <visual name='Wall_88_Visual'>
+        <pose frame=''>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>5 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
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+        <transparency>0</transparency>
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+        <max_contacts>10</max_contacts>
+        <pose frame=''>0 0 1.25 0 -0 0</pose>
+        <geometry>
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+              <surface_radius>0</surface_radius>
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+            <threshold>1e+06</threshold>
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+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
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+      <kinematic>0</kinematic>
+      <visual name='Wall_90_Visual'>
+        <pose frame=''>0 0 1.25 0 -0 0</pose>
+        <geometry>
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+            <size>2.5 0.15 2.5</size>
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+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Bricks</name>
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+          <diffuse>1 1 1 1</diffuse>
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+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
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+        <max_contacts>10</max_contacts>
+        <pose frame=''>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
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+            <threshold>1e+06</threshold>
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+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
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+              <kp>1e+13</kp>
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+              <min_depth>0</min_depth>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
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+      <kinematic>0</kinematic>
+      <visual name='Wall_91_Visual_0'>
+        <pose frame=''>-0.551501 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.146998 0.15 2.5</size>
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+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Bricks</name>
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+          <diffuse>1 1 1 1</diffuse>
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+          <emissive>0 0 0 1</emissive>
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+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
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+      <visual name='Wall_91_Visual_2'>
+        <pose frame=''>-0.028002 0 2.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.9 0.15 0.5</size>
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+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Bricks</name>
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+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
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+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
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+      <visual name='Wall_91_Visual_1'>
+        <pose frame=''>0.523499 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.203002 0.15 2.5</size>
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+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Bricks</name>
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+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
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+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
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+        <max_contacts>10</max_contacts>
+        <pose frame=''>-0.551501 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.146998 0.15 2.5</size>
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+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
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+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
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+          <bounce>
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+            <threshold>1e+06</threshold>
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+          <contact>
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+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
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+        <max_contacts>10</max_contacts>
+        <pose frame=''>0.523499 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
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+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
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+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
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+          <bounce>
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+            <threshold>1e+06</threshold>
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+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
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+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
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+          </contact>
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+      </collision>
+      <collision name='Wall_91_Collision_2'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>-0.028002 0 2.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.9 0.15 0.5</size>
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+        <surface>
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+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
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+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
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+          <bounce>
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+            <threshold>1e+06</threshold>
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+          <contact>
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+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
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+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
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+      <kinematic>0</kinematic>
+      <visual name='Wall_92_Visual'>
+        <pose frame=''>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>2.75 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
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+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
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+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
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+      <collision name='Wall_92_Collision'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>2.75 0.15 2.5</size>
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+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
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+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
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+          <bounce>
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+            <threshold>1e+06</threshold>
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+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
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+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
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+      <self_collide>0</self_collide>
+      <kinematic>0</kinematic>
+      <visual name='Wall_93_Visual'>
+        <pose frame=''>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>5.25 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
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+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
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+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
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+      <collision name='Wall_93_Collision'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>5.25 0.15 2.5</size>
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+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
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+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
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+          <bounce>
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+            <threshold>1e+06</threshold>
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+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
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+      <pose frame=''>6.2 -5.275 0 0 -0 0</pose>
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+      <kinematic>0</kinematic>
+      <visual name='Wall_94_Visual'>
+        <pose frame=''>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
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+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
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+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
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+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
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+        <pose frame=''>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
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+              <fdir1>0 0 0</fdir1>
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+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
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+          <bounce>
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+            <threshold>1e+06</threshold>
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+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
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+    <link name='Wall_95'>
+      <pose frame=''>7.5 -2.725 0 0 -0 1.5708</pose>
+      <self_collide>0</self_collide>
+      <kinematic>0</kinematic>
+      <visual name='Wall_95_Visual_1'>
+        <pose frame=''>0.295715 0 0.25 0 -0 0</pose>
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+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
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+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0.070981 0 2.1 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>2.635 0.15 0.8</size>
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+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
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+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
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+          <bounce>
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+            <threshold>1e+06</threshold>
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+          <contact>
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+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
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+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0.75174 0 0.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>3.99652 0.15 0.5</size>
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+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
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+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
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+          <bounce>
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+            <threshold>1e+06</threshold>
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+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
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+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
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+    <link name='Wall_98'>
+      <pose frame=''>-6.325 0.925 0 0 -0 0</pose>
+      <self_collide>0</self_collide>
+      <kinematic>0</kinematic>
+      <visual name='Wall_98_Visual_2'>
+        <pose frame=''>0.015777 0 2.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.9 0.15 0.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Bricks</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <visual name='Wall_98_Visual_1'>
+        <pose frame=''>0.857889 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.784223 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Bricks</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <visual name='Wall_98_Visual_0'>
+        <pose frame=''>-0.842111 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.815777 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Bricks</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <collision name='Wall_98_Collision_0'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>-0.842111 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.815777 0.15 2.5</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
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+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
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+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
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+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
+        </surface>
+      </collision>
+      <collision name='Wall_98_Collision_1'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0.857889 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.784223 0.15 2.5</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
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+            <torsional>
+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
+            </torsional>
+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
+            </ode>
+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
+        </surface>
+      </collision>
+      <collision name='Wall_98_Collision_2'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0.015777 0 2.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.9 0.15 0.5</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
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+            <torsional>
+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
+            </torsional>
+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
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+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
+        </surface>
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+    </link>
+    <link name='Wall_99'>
+      <pose frame=''>-5.15 3.1 0 0 -0 1.5708</pose>
+      <self_collide>0</self_collide>
+      <kinematic>0</kinematic>
+      <visual name='Wall_99_Visual_0'>
+        <pose frame=''>-1.62116 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>1.25768 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Bricks</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <visual name='Wall_99_Visual_2'>
+        <pose frame=''>0.215786 0 2.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>2.41621 0.15 0.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Bricks</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <visual name='Wall_99_Visual_1'>
+        <pose frame=''>1.83695 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.826108 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Bricks</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <collision name='Wall_99_Collision_0'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>-1.62116 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>1.25768 0.15 2.5</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
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+            <torsional>
+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
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+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
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+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
+        </surface>
+      </collision>
+      <collision name='Wall_99_Collision_1'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>1.83695 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.826108 0.15 2.5</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
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+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
+            </torsional>
+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
+            </ode>
+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
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+      <collision name='Wall_99_Collision_2'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0.215786 0 2.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>2.41621 0.15 0.5</size>
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+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
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+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
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+            </torsional>
+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
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+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+    <model name='Mailbox'>
+      <link name='link'>
+        <collision name='collision'>
+          <geometry>
+            <mesh>
+              <uri>model://mailbox/meshes/mailbox.dae</uri>
+            </mesh>
+          </geometry>
+        </collision>
+        <visual name='visual'>
+          <geometry>
+            <mesh>
+              <uri>model://mailbox/meshes/mailbox.dae</uri>
+            </mesh>
+          </geometry>
+          <material>
+            <script>
+              <uri>model://mailbox/materials/scripts</uri>
+              <uri>model://mailbox/materials/textures</uri>
+              <name>Mailbox/Diffuse</name>
+            </script>
+          </material>
+        </visual>
+      </link>
+      <pose frame=''>0.883462 -0.576236 0 0 0 -3.14159</pose>
+    </model>
+    <model name='bookshelf'>
+      <static>1</static>
+      <link name='link'>
+        <inertial>
+          <mass>1</mass>
+        </inertial>
+        <collision name='back'>
+          <pose frame=''>0 0.005 0.6 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.9 0.01 1.2</size>
+            </box>
+          </geometry>
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+              <size>0.45 0.02 1.02</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Wood</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='cabinet_bottom_plate_geom_cabinet_middle_plate'>
+          <pose frame=''>0 0 0.51 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.45 0.02</size>
+            </box>
+          </geometry>
+        </collision>
+        <visual name='cabinet_bottom_plate_geom_cabinet_middle_plate_visual'>
+          <pose frame=''>0 0 0.51 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.45 0.02</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Wood</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='cabinet_bottom_plate_geom_cabinet_right_plate'>
+          <pose frame=''>0 -0.235 0.51 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.02 1.02</size>
+            </box>
+          </geometry>
+        </collision>
+        <visual name='cabinet_bottom_plate_geom_cabinet_right_plate_visual'>
+          <pose frame=''>0 -0.235 0.51 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.02 1.02</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Wood</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='cabinet_bottom_plate_geom_cabinet_top_plate'>
+          <pose frame=''>0 0 1.01 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.45 0.02</size>
+            </box>
+          </geometry>
+        </collision>
+        <visual name='cabinet_bottom_plate_geom_cabinet_top_plate_visual'>
+          <pose frame=''>0 0 1.01 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.45 0.02</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Wood</name>
+            </script>
+          </material>
+        </visual>
+      </link>
+      <pose frame=''>-5.47289 -2.06545 0 0 -0 0</pose>
+    </model>
+    <model name='cabinet_1'>
+      <static>1</static>
+      <link name='cabinet_bottom_plate'>
+        <inertial>
+          <pose frame=''>0 0 -1 0 -0 0</pose>
+          <inertia>
+            <ixx>2.05</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>2.05</iyy>
+            <iyz>0</iyz>
+            <izz>2.05</izz>
+          </inertia>
+          <mass>25</mass>
+        </inertial>
+        <collision name='cabinet_bottom_plate_geom'>
+          <pose frame=''>0 0 0.01 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.45 0.02</size>
+            </box>
+          </geometry>
+        </collision>
+        <visual name='cabinet_bottom_plate_geom_visual'>
+          <pose frame=''>0 0 0.01 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.45 0.02</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Wood</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='cabinet_bottom_plate_geom_cabinet_back_plate'>
+          <pose frame=''>0.235 0 0.51 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.02 0.45 1.02</size>
+            </box>
+          </geometry>
+        </collision>
+        <visual name='cabinet_bottom_plate_geom_cabinet_back_plate_visual'>
+          <pose frame=''>0.235 0 0.51 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.02 0.45 1.02</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Wood</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='cabinet_bottom_plate_geom_cabinet_left_plate'>
+          <pose frame=''>0 0.235 0.51 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.02 1.02</size>
+            </box>
+          </geometry>
+        </collision>
+        <visual name='cabinet_bottom_plate_geom_cabinet_left_plate_visual'>
+          <pose frame=''>0 0.235 0.51 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.02 1.02</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Wood</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='cabinet_bottom_plate_geom_cabinet_middle_plate'>
+          <pose frame=''>0 0 0.51 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.45 0.02</size>
+            </box>
+          </geometry>
+        </collision>
+        <visual name='cabinet_bottom_plate_geom_cabinet_middle_plate_visual'>
+          <pose frame=''>0 0 0.51 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.45 0.02</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Wood</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='cabinet_bottom_plate_geom_cabinet_right_plate'>
+          <pose frame=''>0 -0.235 0.51 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.02 1.02</size>
+            </box>
+          </geometry>
+        </collision>
+        <visual name='cabinet_bottom_plate_geom_cabinet_right_plate_visual'>
+          <pose frame=''>0 -0.235 0.51 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.02 1.02</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Wood</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='cabinet_bottom_plate_geom_cabinet_top_plate'>
+          <pose frame=''>0 0 1.01 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.45 0.02</size>
+            </box>
+          </geometry>
+        </collision>
+        <visual name='cabinet_bottom_plate_geom_cabinet_top_plate_visual'>
+          <pose frame=''>0 0 1.01 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.45 0.02</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Wood</name>
+            </script>
+          </material>
+        </visual>
+      </link>
+      <pose frame=''>-7.18363 1.24799 0 0 0 -1.5708</pose>
+    </model>
+    <model name='cafe_table'>
+      <static>1</static>
+      <link name='link'>
+        <collision name='surface'>
+          <pose frame=''>0 0 0.755 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.913 0.913 0.04</size>
+            </box>
+          </geometry>
+        </collision>
+        <collision name='column'>
+          <pose frame=''>0 0 0.37 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.042 0.042 0.74</size>
+            </box>
+          </geometry>
+        </collision>
+        <collision name='base'>
+          <pose frame=''>0 0 0.02 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.56 0.56 0.04</size>
+            </box>
+          </geometry>
+        </collision>
+        <visual name='visual'>
+          <geometry>
+            <mesh>
+              <uri>model://cafe_table/meshes/cafe_table.dae</uri>
+            </mesh>
+          </geometry>
+        </visual>
+      </link>
+      <pose frame=''>6.35919 -3.19202 0 0 -0 0</pose>
+    </model>
+    <model name='cafe_table_0'>
+      <static>1</static>
+      <link name='link'>
+        <collision name='surface'>
+          <pose frame=''>0 0 0.755 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.913 0.913 0.04</size>
+            </box>
+          </geometry>
+        </collision>
+        <collision name='column'>
+          <pose frame=''>0 0 0.37 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.042 0.042 0.74</size>
+            </box>
+          </geometry>
+        </collision>
+        <collision name='base'>
+          <pose frame=''>0 0 0.02 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.56 0.56 0.04</size>
+            </box>
+          </geometry>
+        </collision>
+        <visual name='visual'>
+          <geometry>
+            <mesh>
+              <uri>model://cafe_table/meshes/cafe_table.dae</uri>
+            </mesh>
+          </geometry>
+        </visual>
+      </link>
+      <pose frame=''>6.35903 -2.27759 0 0 -0 0</pose>
+    </model>
+    <model name='first_2015_trash_can'>
+      <link name='link'>
+        <inertial>
+          <pose frame=''>0 0 0.3683 0 -0 0</pose>
+          <mass>4.83076</mass>
+          <inertia>
+            <ixx>0.281534</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>0.281534</iyy>
+            <iyz>0</iyz>
+            <izz>0.126223</izz>
+          </inertia>
+        </inertial>
+        <visual name='visual'>
+          <geometry>
+            <mesh>
+              <uri>model://first_2015_trash_can/meshes/trash_can.dae</uri>
+            </mesh>
+          </geometry>
+        </visual>
+        <collision name='collision'>
+          <geometry>
+            <mesh>
+              <uri>model://first_2015_trash_can/meshes/trash_can.dae</uri>
+            </mesh>
+          </geometry>
+        </collision>
+      </link>
+      <pose frame=''>1.88346 1.91193 0 0 -0 0</pose>
+    </model>
+    <model name='first_2015_trash_can_0'>
+      <link name='link'>
+        <inertial>
+          <pose frame=''>0 0 0.3683 0 -0 0</pose>
+          <mass>4.83076</mass>
+          <inertia>
+            <ixx>0.281534</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>0.281534</iyy>
+            <iyz>0</iyz>
+            <izz>0.126223</izz>
+          </inertia>
+        </inertial>
+        <visual name='visual'>
+          <geometry>
+            <mesh>
+              <uri>model://first_2015_trash_can/meshes/trash_can.dae</uri>
+            </mesh>
+          </geometry>
+        </visual>
+        <collision name='collision'>
+          <geometry>
+            <mesh>
+              <uri>model://first_2015_trash_can/meshes/trash_can.dae</uri>
+            </mesh>
+          </geometry>
+        </collision>
+      </link>
+      <pose frame=''>-4.69354 4.89439 0 0 -0 0</pose>
+    </model>
+    <model name='table'>
+      <static>0</static>
+      <link name='link'>
+        <collision name='surface'>
+          <pose frame=''>0 0 1 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>1.5 0.8 0.03</size>
+            </box>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>0.6</mu>
+                <mu2>0.6</mu2>
+              </ode>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='visual1'>
+          <pose frame=''>0 0 1 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>1.4 0.8 0.04</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Wood</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='front_left_leg'>
+          <pose frame=''>0.68 0.38 0.5 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.02</radius>
+              <length>1</length>
+            </cylinder>
+          </geometry>
+        </collision>
+        <visual name='front_left_leg'>
+          <pose frame=''>0.68 0.38 0.5 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.02</radius>
+              <length>1</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='front_right_leg'>
+          <pose frame=''>0.68 -0.38 0.5 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.02</radius>
+              <length>1</length>
+            </cylinder>
+          </geometry>
+        </collision>
+        <visual name='front_right_leg'>
+          <pose frame=''>0.68 -0.38 0.5 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.02</radius>
+              <length>1</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='back_right_leg'>
+          <pose frame=''>-0.68 -0.38 0.5 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.02</radius>
+              <length>1</length>
+            </cylinder>
+          </geometry>
+        </collision>
+        <visual name='back_right_leg'>
+          <pose frame=''>-0.68 -0.38 0.5 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.02</radius>
+              <length>1</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='back_left_leg'>
+          <pose frame=''>-0.68 0.38 0.5 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.02</radius>
+              <length>1</length>
+            </cylinder>
+          </geometry>
+        </collision>
+        <visual name='back_left_leg'>
+          <pose frame=''>-0.68 0.38 0.5 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.02</radius>
+              <length>1</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
+        </visual>
+      </link>
+      <pose frame=''>-2.65728 2.42376 0 0 -0 0</pose>
+    </model>
+    <model name='table_marble'>
+      <static>1</static>
+      <pose frame=''>4.88346 2.92577 0.648 0 -0 0</pose>
+      <link name='link'>
+        <collision name='collision'>
+          <geometry>
+            <mesh>
+              <uri>model://table_marble/meshes/table_lightmap.dae</uri>
+              <scale>0.25 0.25 0.25</scale>
+            </mesh>
+          </geometry>
+        </collision>
+        <visual name='visual'>
+          <geometry>
+            <mesh>
+              <uri>model://table_marble/meshes/table_lightmap.dae</uri>
+              <scale>0.25 0.25 0.25</scale>
+            </mesh>
+          </geometry>
+          <material>
+            <script>
+              <uri>model://table_marble/materials/scripts</uri>
+              <uri>model://table_marble/materials/textures</uri>
+              <name>Table/Marble_Lightmap</name>
+            </script>
+            <lighting>0</lighting>
+          </material>
+        </visual>
+      </link>
+    </model>
+    <static>1</static>
+    <allow_auto_disable>1</allow_auto_disable>
+  </model>
+</sdf>
\ No newline at end of file
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/WaterDispenser/meshes/water_dispenser.dae b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/WaterDispenser/meshes/water_dispenser.dae
new file mode 100644
index 0000000..c94397b
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/WaterDispenser/meshes/water_dispenser.dae
@@ -0,0 +1,295 @@
+<?xml version="1.0" encoding="utf-8"?>
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+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 3.0.1 commit date:2022-01-25, commit time:17:19, hash:dc2d18018171</authoring_tool>
+    </contributor>
+    <created>2022-02-17T11:26:51</created>
+    <modified>2022-02-17T11:26:51</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
+    <camera id="Camera-camera" name="Camera">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</xfov>
+            <aspect_ratio>1.777778</aspect_ratio>
+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
+      <extra>
+        <technique profile="blender">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Light-light" name="Light">
+      <technique_common>
+        <point>
+          <color sid="color">1000 1000 1000</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
+      </technique_common>
+      <extra>
+        <technique profile="blender">
+          <type sid="type" type="int">0</type>
+          <flag sid="flag" type="int">0</flag>
+          <mode sid="mode" type="int">1</mode>
+          <gamma sid="blender_gamma" type="float">1</gamma>
+          <red sid="red" type="float">1</red>
+          <green sid="green" type="float">1</green>
+          <blue sid="blue" type="float">1</blue>
+          <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
+          <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
+          <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
+          <energy sid="blender_energy" type="float">1000</energy>
+          <dist sid="blender_dist" type="float">29.99998</dist>
+          <spotsize sid="spotsize" type="float">75</spotsize>
+          <spotblend sid="spotblend" type="float">0.15</spotblend>
+          <att1 sid="att1" type="float">0</att1>
+          <att2 sid="att2" type="float">1</att2>
+          <falloff_type sid="falloff_type" type="int">2</falloff_type>
+          <clipsta sid="clipsta" type="float">0.04999995</clipsta>
+          <clipend sid="clipend" type="float">30.002</clipend>
+          <bias sid="bias" type="float">1</bias>
+          <soft sid="soft" type="float">3</soft>
+          <bufsize sid="bufsize" type="int">2880</bufsize>
+          <samp sid="samp" type="int">3</samp>
+          <buffers sid="buffers" type="int">1</buffers>
+          <area_shape sid="area_shape" type="int">1</area_shape>
+          <area_size sid="area_size" type="float">0.1</area_size>
+          <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
+          <area_sizez sid="area_sizez" type="float">1</area_sizez>
+        </technique>
+      </extra>
+    </light>
+  </library_lights>
+  <library_effects>
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+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.6061562 0.6087525 0.6165816 1</color>
+            </diffuse>
+            <index_of_refraction>
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+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Material_002-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
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47169 27270 47169 27253 47170 27254 47170 27270 47170 27254 47171 27255 47171 27270 47171 27255 47172 27256 47172 27270 47172 27256 47173 27257 47173 27270 47173 27257 47174 27258 47174 27270 47174 27258 47175 27259 47175 27270 47175 27259 47176 27260 47176 27270 47176 27260 47177 27261 47177 27270 47177 27261 47178 27262 47178 27270 47178 27262 47179 27263 47179 27270 47179 27263 47180 27264 47180 27270 47180 27264 47181 27265 47181 27270 47181 27265 47182 27266 47182 27270 47182 27266 47183 27267 47183 27270 47183 27267 47184 27268 47184 27270 47184 27268 47185 27269 47185 27270 47185 27269 47186 27223 47186 27270 47186</p>
+        </triangles>
+        <triangles material="Material_003-material" count="1956">
+          <input semantic="VERTEX" source="#Modren_water_cooler-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Modren_water_cooler-mesh-normals" offset="1"/>
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+        </triangles>
+        <triangles material="Material_004-material" count="1956">
+          <input semantic="VERTEX" source="#Modren_water_cooler-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Modren_water_cooler-mesh-normals" offset="1"/>
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+        </triangles>
+        <triangles material="Material_005-material" count="852">
+          <input semantic="VERTEX" source="#Modren_water_cooler-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Modren_water_cooler-mesh-normals" offset="1"/>
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+        </triangles>
+        <triangles material="Material_006-material" count="1920">
+          <input semantic="VERTEX" source="#Modren_water_cooler-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Modren_water_cooler-mesh-normals" offset="1"/>
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28210 49040 28211 49040 28210 49041 27470 49041 28211 49041 27470 49042 28210 49042 27474 49042 28027 49043 28204 49043 28007 49043 28204 49044 28027 49044 28212 49044 28212 49045 28026 49045 28213 49045 28026 49046 28212 49046 28027 49046 28212 49047 28213 49047 28214 49047 28214 49048 28215 49048 28212 49048 28215 49049 28204 49049 28212 49049 28204 49050 28215 49050 28207 49050 28216 49051 28024 49051 28023 49051 28024 49052 28216 49052 28217 49052 28218 49053 28216 49053 28219 49053 28216 49054 28218 49054 28217 49054 28213 49055 28217 49055 28214 49055 28218 49056 28214 49056 28217 49056 28026 49057 28217 49057 28213 49057 28217 49058 28026 49058 28024 49058 27431 49059 27434 49059 28220 49059 27431 49060 28220 49060 28221 49060 27434 49061 28222 49061 28220 49061 28222 49062 27434 49062 27439 49062 28214 49063 28220 49063 28222 49063 28220 49064 28214 49064 28218 49064 28221 49065 28218 49065 28219 49065 28218 49066 28221 49066 28220 49066 28223 49067 27479 49067 27478 49067 28223 49068 27478 49068 28209 49068 28215 49069 28209 49069 28207 49069 28209 49070 28215 49070 28223 49070 28223 49071 28214 49071 28222 49071 28214 49072 28223 49072 28215 49072 28222 49073 27479 49073 28223 49073 27479 49074 28222 49074 27439 49074 28216 49075 28040 49075 28224 49075 28040 49076 28216 49076 28023 49076 28040 49077 28038 49077 28224 49077 28224 49078 28038 49078 28225 49078 28224 49079 28226 49079 28227 49079 28226 49080 28224 49080 28225 49080 28216 49081 28227 49081 28219 49081 28227 49082 28216 49082 28224 49082 28137 49083 28036 49083 27930 49083 28036 49084 28137 49084 28228 49084 28137 49085 28229 49085 28228 49085 28229 49086 28137 49086 28142 49086 28225 49087 28228 49087 28226 49087 28226 49088 28228 49088 28229 49088 28228 49089 28225 49089 28038 49089 28038 49090 28036 49090 28228 49090 28230 49091 27441 49091 27443 49091 27441 49092 28230 49092 28151 49092 28231 49093 27443 49093 27435 49093 27443 49094 28231 49094 28230 49094 28230 49095 28231 49095 28226 49095 28226 49096 28229 49096 28230 49096 28229 49097 28151 49097 28230 49097 28151 49098 28229 49098 28142 49098 28221 49099 28232 49099 27431 49099 27431 49100 28232 49100 27432 49100 28221 49101 28227 49101 28232 49101 28227 49102 28221 49102 28219 49102 28226 49103 28232 49103 28227 49103 28232 49104 28226 49104 28231 49104 27432 49105 28231 49105 27435 49105 28231 49106 27432 49106 28232 49106</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Modren_water_cooler" name="Modren water cooler" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 7.54979e-8 -1 0 0 1 7.54979e-8 0 0 0 0 1</matrix>
+        <instance_geometry url="#Modren_water_cooler-mesh" name="Modren water cooler">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_001-material" target="#Material_001-material"/>
+              <instance_material symbol="Material_002-material" target="#Material_002-material"/>
+              <instance_material symbol="Material_003-material" target="#Material_003-material"/>
+              <instance_material symbol="Material_004-material" target="#Material_004-material"/>
+              <instance_material symbol="Material_005-material" target="#Material_005-material"/>
+              <instance_material symbol="Material_006-material" target="#Material_006-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 0 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Light" name="Light" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light-light"/>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/WaterDispenser/model.config b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/WaterDispenser/model.config
new file mode 100644
index 0000000..5928582
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/WaterDispenser/model.config
@@ -0,0 +1,6 @@
+<?xml version='1.0' encoding='utf-8'?>
+<model>
+  <name>WaterDispenser</name>
+  <version>1.0</version>
+  <sdf>model.sdf</sdf>
+</model>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/WaterDispenser/model.sdf b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/WaterDispenser/model.sdf
new file mode 100644
index 0000000..3aa5307
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/WaterDispenser/model.sdf
@@ -0,0 +1,39 @@
+<?xml version="1.0"?>
+
+<sdf version="1.6">
+<model name="WaterDispenser">
+  <static>1</static>
+    <link name="link">
+      <inertial>
+        <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
+        <mass>1</mass>
+        <inertia>
+          <ixx>0.0</ixx>
+          <ixy>0.0</ixy>
+          <ixz>0.0</ixz>
+          <iyy>0.0</iyy>
+          <iyz>0.0</iyz>
+          <izz>0.0</izz>
+        </inertia>
+      </inertial>
+      <collision name="collision">
+        <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
+        <geometry>
+          <mesh>
+				  	<uri>model://WaterDispenser/meshes/water_dispenser.dae</uri>
+				  	<scale>1 1 1</scale>
+				  </mesh>
+        </geometry>
+      </collision>
+      <visual name="visual">
+        <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
+        <geometry>
+          <mesh>
+				  	<uri>model://WaterDispenser/meshes/water_dispenser.dae</uri>
+				  	<scale>1 1 1</scale>
+				  </mesh>
+        </geometry>
+      </visual>
+    </link>
+  </model>
+ </sdf>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/book_10/materials/scripts/book_10.material b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/book_10/materials/scripts/book_10.material
new file mode 100644
index 0000000..b1bd499
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/book_10/materials/scripts/book_10.material
@@ -0,0 +1,15 @@
+material book_10
+{
+  technique
+  {
+    pass
+    {
+      texture_unit
+      {
+        texture cover10.jpg
+	scale 1 1
+      }
+    }
+  }
+}
+
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/book_10/materials/textures/cover10.jpg b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/book_10/materials/textures/cover10.jpg
new file mode 100644
index 0000000..7eae619
Binary files /dev/null and b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/book_10/materials/textures/cover10.jpg differ
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/book_10/model.config b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/book_10/model.config
new file mode 100644
index 0000000..7bec656
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/book_10/model.config
@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+    <name>book_10</name>
+    <version>1.0</version>
+    <sdf version="1.6">model.sdf</sdf>
+    <author>
+        <name></name>
+        <email></email>
+    </author>
+    <description></description>
+</model>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/book_10/model.sdf b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/book_10/model.sdf
new file mode 100644
index 0000000..f11214e
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/book_10/model.sdf
@@ -0,0 +1,81 @@
+<?xml version='1.0'?>
+<sdf version='1.6'>
+  <model name='book_10'>
+    <link name='cover'>
+      <pose frame=''>0 -0.000108 0.015405 0 -0 0</pose>
+      <self_collide>0</self_collide>
+      <kinematic>0</kinematic>
+      <gravity>1</gravity>
+      <visual name='visual'>
+        <geometry>
+          <box>
+            <size>0.245 0.16 0.03</size>
+          </box>
+        </geometry>
+        <!--material>
+          <lighting>1</lighting>
+          <ambient>0.3 0 0.3 1</ambient>
+          <diffuse>0.3 0 0.3 1</diffuse>
+          <specular>0.01 0.01 0.01 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <shader type='vertex'>
+            <normal_map>__default__</normal_map>
+          </shader>
+        </material-->
+	<material>
+          <script>
+            <uri>model://book_10/materials/scripts</uri>
+            <uri>model://book_10/materials/textures</uri>
+            <name>book_10</name>
+          </script>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <collision name='collision'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+          <geometry>
+          <box>
+            <size>0.245 0.16 0.03</size>
+          </box>
+        </geometry>
+       </collision>
+    </link>
+    <link name='page'>
+      <pose frame=''>0 0.000608 0.015405 0 -0 0</pose>
+       <visual name='visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.24502 0.15862 0.028</size>
+          </box>
+        </geometry>
+        <material>
+          <lighting>1</lighting>
+           <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.01 0.01 0.01 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <shader type='vertex'>
+            <normal_map>__default__</normal_map>
+          </shader>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <collision name='collision'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.245 0.16 0.03</size>
+          </box>
+        </geometry>
+      </collision>
+    </link>
+    <static>1</static>
+    <allow_auto_disable>1</allow_auto_disable>
+  </model>
+</sdf>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/book_2/materials/scripts/book_2.material b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/book_2/materials/scripts/book_2.material
new file mode 100644
index 0000000..e40164a
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/book_2/materials/scripts/book_2.material
@@ -0,0 +1,15 @@
+material book_2
+{
+  technique
+  {
+    pass
+    {
+      texture_unit
+      {
+        texture cover2.jpg
+	scale 1 1
+      }
+    }
+  }
+}
+
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/book_2/materials/textures/cover2.jpg b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/book_2/materials/textures/cover2.jpg
new file mode 100644
index 0000000..104aedc
Binary files /dev/null and b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/book_2/materials/textures/cover2.jpg differ
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/book_2/model.config b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/book_2/model.config
new file mode 100644
index 0000000..9af17be
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/book_2/model.config
@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+    <name>book_2</name>
+    <version>1.0</version>
+    <sdf version="1.6">model.sdf</sdf>
+    <author>
+        <name></name>
+        <email></email>
+    </author>
+    <description></description>
+</model>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/book_2/model.sdf b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/book_2/model.sdf
new file mode 100644
index 0000000..f2bc296
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/book_2/model.sdf
@@ -0,0 +1,81 @@
+<?xml version='1.0'?>
+<sdf version='1.6'>
+  <model name='book_2'>
+    <link name='cover'>
+      <pose frame=''>0 -0.000108 0.015405 0 -0 0</pose>
+      <self_collide>0</self_collide>
+      <kinematic>0</kinematic>
+      <gravity>1</gravity>
+      <visual name='visual'>
+        <geometry>
+          <box>
+            <size>0.245 0.16 0.03</size>
+          </box>
+        </geometry>
+        <!--material>
+          <lighting>1</lighting>
+          <ambient>0.3 0 0.3 1</ambient>
+          <diffuse>0.3 0 0.3 1</diffuse>
+          <specular>0.01 0.01 0.01 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <shader type='vertex'>
+            <normal_map>__default__</normal_map>
+          </shader>
+        </material-->
+	<material>
+          <script>
+            <uri>model://book_2/materials/scripts</uri>
+            <uri>model://book_2/materials/textures</uri>
+            <name>book_2</name>
+          </script>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <collision name='collision'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+          <geometry>
+          <box>
+            <size>0.245 0.16 0.03</size>
+          </box>
+        </geometry>
+       </collision>
+    </link>
+    <link name='page'>
+      <pose frame=''>0 0.000608 0.015405 0 -0 0</pose>
+       <visual name='visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.24502 0.15862 0.028</size>
+          </box>
+        </geometry>
+        <material>
+          <lighting>1</lighting>
+           <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.01 0.01 0.01 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <shader type='vertex'>
+            <normal_map>__default__</normal_map>
+          </shader>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <collision name='collision'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.245 0.16 0.03</size>
+          </box>
+        </geometry>
+      </collision>
+    </link>
+    <static>1</static>
+    <allow_auto_disable>1</allow_auto_disable>
+  </model>
+</sdf>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/bookshelf_large/materials/scripts/bookshelf.material b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/bookshelf_large/materials/scripts/bookshelf.material
new file mode 100644
index 0000000..c4b2e0d
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/bookshelf_large/materials/scripts/bookshelf.material
@@ -0,0 +1,15 @@
+material bookshelf
+{
+  technique
+  {
+    pass
+    {
+      texture_unit
+      {
+        texture wood_dark_4.jpg
+	scale 1 1
+      }
+    }
+  }
+}
+
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/bookshelf_large/materials/textures/wood_dark_4.jpg b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/bookshelf_large/materials/textures/wood_dark_4.jpg
new file mode 100644
index 0000000..79826ba
Binary files /dev/null and b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/bookshelf_large/materials/textures/wood_dark_4.jpg differ
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/bookshelf_large/meshes/frame.dae b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/bookshelf_large/meshes/frame.dae
new file mode 100644
index 0000000..ff6fc78
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/bookshelf_large/meshes/frame.dae
@@ -0,0 +1,541 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool>
+    </contributor>
+    <created>2016-08-16T19:46:20</created>
+    <modified>2016-08-16T19:46:20</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
+    <camera id="Camera-camera" name="Camera">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">49.13434</xfov>
+            <aspect_ratio>1.777778</aspect_ratio>
+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
+      <extra>
+        <technique profile="blender">
+          <YF_dofdist>0</YF_dofdist>
+          <shiftx>0</shiftx>
+          <shifty>0</shifty>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_images/>
+  <library_effects>
+    <effect id="Wood_Cherry_Original-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.12 0.10 0.08 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.02 0.02 0.02 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">5</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="material-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.10 0.10 0.14 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.02 0.02 0.02 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">5</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="edge_color000255-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.08 0.08 0.08 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.01 0.01 0.01 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">2</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="edge_color1528642255-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.08 0.08 0.08 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.01 0.01 0.01 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">2</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Wood_Floor_Parquet-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.13 0.11 0.09 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.02 0.02 0.02 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">5</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="material_0-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.14 0.14 0.12 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.02 0.02 0.02 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">5</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="Wood_Cherry_Original-material" name="Wood_Cherry_Original">
+      <instance_effect url="#Wood_Cherry_Original-effect"/>
+    </material>
+    <material id="material-material" name="material">
+      <instance_effect url="#material-effect"/>
+    </material>
+    <material id="edge_color000255-material" name="edge_color000255">
+      <instance_effect url="#edge_color000255-effect"/>
+    </material>
+    <material id="edge_color1528642255-material" name="edge_color1528642255">
+      <instance_effect url="#edge_color1528642255-effect"/>
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+    <material id="Wood_Floor_Parquet-material" name="Wood_Floor_Parquet">
+      <instance_effect url="#Wood_Floor_Parquet-effect"/>
+    </material>
+    <material id="material_0-material" name="material_0">
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diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/bookshelf_large/meshes/glass.dae b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/bookshelf_large/meshes/glass.dae
new file mode 100644
index 0000000..71fd844
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/bookshelf_large/meshes/glass.dae
@@ -0,0 +1,569 @@
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\ No newline at end of file
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/bookshelf_large/meshes/model.dae b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/bookshelf_large/meshes/model.dae
new file mode 100644
index 0000000..b9e8489
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/bookshelf_large/meshes/model.dae
@@ -0,0 +1,984 @@
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+    </contributor>
+    <created>2016-08-16T19:45:25</created>
+    <modified>2016-08-16T19:45:25</modified>
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+              <instance_material symbol="edge_color000255-material" target="#edge_color000255-material"/>
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+            </technique_common>
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+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
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+</COLLADA>
\ No newline at end of file
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/bookshelf_large/model.config b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/bookshelf_large/model.config
new file mode 100644
index 0000000..13c37ff
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/bookshelf_large/model.config
@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+    <name>bookshelf_large</name>
+    <version>1.0</version>
+    <sdf version="1.6">model.sdf</sdf>
+    <author>
+        <name></name>
+        <email></email>
+    </author>
+    <description></description>
+</model>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/bookshelf_large/model.sdf b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/bookshelf_large/model.sdf
new file mode 100644
index 0000000..ee7b969
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/bookshelf_large/model.sdf
@@ -0,0 +1,71 @@
+<?xml version='1.0'?>
+<sdf version='1.6'>
+  <model name='bookshelf_large'>
+    <link name='link_1'>
+      <pose frame=''>-0.000121 -2.1e-05 0 0 -0 0</pose>
+         <visual name='visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://bookshelf_large/meshes/frame.dae</uri>
+            <scale>1 1 1</scale>
+          </mesh>
+        </geometry>
+       	 <material>
+          <script>
+            <uri>model://bookshelf_large/materials/scripts</uri>
+            <uri>model://bookshelf_large/materials/textures</uri>
+            <name>bookshelf</name>
+          </script>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <collision name='collision'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://bookshelf_large/meshes/frame.dae</uri>
+            <scale>1 1 1</scale>
+          </mesh>
+        </geometry>
+          </collision>
+    </link>
+    <link name='link_2'>
+      <pose frame=''>0.000122 2.1e-05 0 0 -0 0</pose>
+        <visual name='visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://bookshelf_large/meshes/glass.dae</uri>
+            <scale>1 1 1</scale>
+          </mesh>
+        </geometry>
+        <material>
+          <lighting>1</lighting>
+             <ambient>0.3 0.7 0.8 1</ambient>
+          <diffuse>0.3 0.9 0.9 1</diffuse>
+          <specular>0.01 0.01 0.01 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0.5</transparency>
+      </visual>
+      <collision name='collision'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://bookshelf_large/meshes/glass.dae</uri>
+            <scale>1 1 1</scale>
+          </mesh>
+        </geometry>
+      </collision>
+    </link>
+    <static>1</static>
+    <allow_auto_disable>1</allow_auto_disable>
+  </model>
+</sdf>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/bowl/meshes/bowl.dae b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/bowl/meshes/bowl.dae
new file mode 100644
index 0000000..0181f45
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/bowl/meshes/bowl.dae
@@ -0,0 +1,191 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA version="1.4.0" xmlns="http://www.collada.org/2005/11/COLLADASchema">
+	<asset>
+		<contributor>
+			<author>Illusoft Collada 1.4.0 plugin for Blender - http://colladablender.illusoft.com</author>
+			<authoring_tool>Blender v:249 - Illusoft Collada Exporter v:0.3.162</authoring_tool>
+			<comments></comments>
+			<copyright></copyright>
+			<source_data>file://</source_data>
+		</contributor>
+		<created>2011-09-22T16:42:20.577677</created>
+		<modified>2011-09-22T16:42:20.577703</modified>
+		<unit meter="1.00" name="meter"/>
+		<up_axis>Z_UP</up_axis>
+	</asset>
+	<library_geometries>
+		<geometry id="mesh1_001" name="mesh1_001">
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+					<technique_common>
+						<accessor count="3870" source="#mesh1_001-UV-array" stride="2">
+							<param type="float" name="S"></param>
+							<param type="float" name="T"></param>
+						</accessor>
+					</technique_common>
+				</source>
+				<vertices id="mesh1_001-Vertex">
+					<input semantic="POSITION" source="#mesh1_001-Position"/>
+				</vertices>
+				<triangles count="1290">
+					<input offset="0" semantic="VERTEX" source="#mesh1_001-Vertex"/>
+					<input offset="1" semantic="NORMAL" source="#mesh1_001-Normals"/>
+					<input offset="2" semantic="TEXCOORD" source="#mesh1_001-UV"/>
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+					<technique_common>
+						<accessor count="3870" source="#mesh1_001-Geometry-UV-array" stride="2">
+							<param type="float" name="S"></param>
+							<param type="float" name="T"></param>
+						</accessor>
+					</technique_common>
+				</source>
+				<vertices id="mesh1_001-Geometry-Vertex">
+					<input semantic="POSITION" source="#mesh1_001-Geometry-Position"/>
+				</vertices>
+				<triangles count="1290">
+					<input offset="0" semantic="VERTEX" source="#mesh1_001-Geometry-Vertex"/>
+					<input offset="1" semantic="NORMAL" source="#mesh1_001-Geometry-Normals"/>
+					<input offset="2" semantic="TEXCOORD" source="#mesh1_001-Geometry-UV"/>
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+					<technique_common>
+						<accessor count="3870" source="#mesh1_001-Geometry001-UV-array" stride="2">
+							<param type="float" name="S"></param>
+							<param type="float" name="T"></param>
+						</accessor>
+					</technique_common>
+				</source>
+				<vertices id="mesh1_001-Geometry001-Vertex">
+					<input semantic="POSITION" source="#mesh1_001-Geometry001-Position"/>
+				</vertices>
+				<triangles count="1290">
+					<input offset="0" semantic="VERTEX" source="#mesh1_001-Geometry001-Vertex"/>
+					<input offset="1" semantic="NORMAL" source="#mesh1_001-Geometry001-Normals"/>
+					<input offset="2" semantic="TEXCOORD" source="#mesh1_001-Geometry001-UV"/>
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+				</triangles>
+			</mesh>
+		</geometry>
+	</library_geometries>
+	<library_visual_scenes>
+		<visual_scene id="Scene" name="Scene">
+			<node layer="L1" id="mesh1" name="mesh1">
+				<translate sid="translate">0.00000 0.00000 0.00000</translate>
+				<rotate sid="rotateZ">0 0 1 0.00000</rotate>
+				<rotate sid="rotateY">0 1 0 -0.00000</rotate>
+				<rotate sid="rotateX">1 0 0 0.00000</rotate>
+				<scale sid="scale">1.00000 1.00000 1.00000</scale>
+				<instance_geometry url="#mesh1_001">
+					<bind_material>
+						<technique_common/>
+					</bind_material>
+				</instance_geometry>
+			</node>
+		</visual_scene>
+		<visual_scene id="Scene_001" name="Scene_001">
+			<node layer="L1" id="mesh1-Node" name="mesh1-Node">
+				<translate sid="translate">0.00000 0.00000 0.00000</translate>
+				<rotate sid="rotateZ">0 0 1 0.00000</rotate>
+				<rotate sid="rotateY">0 1 0 -0.00000</rotate>
+				<rotate sid="rotateX">1 0 0 0.00000</rotate>
+				<scale sid="scale">1.00000 1.00000 1.00000</scale>
+				<instance_geometry url="#mesh1_001-Geometry">
+					<bind_material>
+						<technique_common/>
+					</bind_material>
+				</instance_geometry>
+			</node>
+		</visual_scene>
+		<visual_scene id="SketchUpScene" name="SketchUpScene">
+			<node layer="L1" id="mesh1-Node_001" name="mesh1-Node_001">
+				<translate sid="translate">0.00000 0.00000 0.00000</translate>
+				<rotate sid="rotateZ">0 0 1 0.00000</rotate>
+				<rotate sid="rotateY">0 1 0 -0.00000</rotate>
+				<rotate sid="rotateX">1 0 0 0.00000</rotate>
+				<scale sid="scale">1.00000 1.00000 1.00000</scale>
+				<instance_geometry url="#mesh1_001-Geometry001">
+					<bind_material>
+						<technique_common/>
+					</bind_material>
+				</instance_geometry>
+			</node>
+		</visual_scene>
+	</library_visual_scenes>
+	<scene>
+		<instance_visual_scene url="#SketchUpScene"/>
+	</scene>
+</COLLADA>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/bowl/model-1_2.sdf b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/bowl/model-1_2.sdf
new file mode 100644
index 0000000..7bf4750
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/bowl/model-1_2.sdf
@@ -0,0 +1,25 @@
+<?xml version="1.0" ?>
+<gazebo version="1.2">
+  <model name="bowl">
+    <link name="link">
+      <inertial>
+        <mass>0.1</mass>
+      </inertial>
+      <collision name="collision">
+        <geometry>
+          <cylinder>
+            <radius>0.098</radius>
+            <length>0.035</length>
+          </cylinder>
+        </geometry>
+      </collision>
+      <visual name="visual">
+        <geometry>
+          <mesh>
+            <uri>model://bowl/meshes/bowl.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+  </model>
+</gazebo>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/bowl/model-1_3.sdf b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/bowl/model-1_3.sdf
new file mode 100644
index 0000000..15f6c74
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/bowl/model-1_3.sdf
@@ -0,0 +1,25 @@
+<?xml version="1.0" ?>
+<sdf version="1.3">
+  <model name="bowl">
+    <link name="link">
+      <inertial>
+        <mass>0.1</mass>
+      </inertial>
+      <collision name="collision">
+        <geometry>
+          <cylinder>
+            <radius>0.098</radius>
+            <length>0.035</length>
+          </cylinder>
+        </geometry>
+      </collision>
+      <visual name="visual">
+        <geometry>
+          <mesh>
+            <uri>model://bowl/meshes/bowl.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+  </model>
+</sdf>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/bowl/model-1_4.sdf b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/bowl/model-1_4.sdf
new file mode 100644
index 0000000..019524c
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/bowl/model-1_4.sdf
@@ -0,0 +1,25 @@
+<?xml version="1.0" ?>
+<sdf version="1.4">
+  <model name="bowl">
+    <link name="link">
+      <inertial>
+        <mass>0.1</mass>
+      </inertial>
+      <collision name="collision">
+        <geometry>
+          <cylinder>
+            <radius>0.098</radius>
+            <length>0.035</length>
+          </cylinder>
+        </geometry>
+      </collision>
+      <visual name="visual">
+        <geometry>
+          <mesh>
+            <uri>model://bowl/meshes/bowl.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+  </model>
+</sdf>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/bowl/model.config b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/bowl/model.config
new file mode 100644
index 0000000..4422d90
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/bowl/model.config
@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>Bowl</name>
+  <version>1.0</version>
+  <sdf version="1.2">model-1_2.sdf</sdf>
+  <sdf version="1.3">model-1_3.sdf</sdf>
+  <sdf version="1.4">model-1_4.sdf</sdf>
+  <sdf version="1.5">model.sdf</sdf>
+
+  <author>
+    <name>Nate Koenig</name>
+    <email>nate@osrfoundation.org</email>
+  </author>
+
+  <description>
+    A simple bowl.
+  </description>
+</model>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/bowl/model.sdf b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/bowl/model.sdf
new file mode 100644
index 0000000..f47e347
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/bowl/model.sdf
@@ -0,0 +1,25 @@
+<?xml version="1.0" ?>
+<sdf version="1.5">
+  <model name="bowl">
+    <link name="link">
+      <inertial>
+        <mass>0.1</mass>
+      </inertial>
+      <collision name="collision">
+        <geometry>
+          <cylinder>
+            <radius>0.098</radius>
+            <length>0.035</length>
+          </cylinder>
+        </geometry>
+      </collision>
+      <visual name="visual">
+        <geometry>
+          <mesh>
+            <uri>model://bowl/meshes/bowl.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+  </model>
+</sdf>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/coca_cola/materials/scripts/coke.material b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/coca_cola/materials/scripts/coke.material
new file mode 100644
index 0000000..1d1be3f
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/coca_cola/materials/scripts/coke.material
@@ -0,0 +1,15 @@
+material Coke
+{
+  technique
+  {
+    pass
+    {
+      texture_unit
+      {
+        texture cokecan.jpg
+        filtering anistropic
+        max_anisotropy 16
+      }
+    }
+  }
+}
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/coca_cola/materials/textures/cokecan.jpg b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/coca_cola/materials/textures/cokecan.jpg
new file mode 100644
index 0000000..a12fe00
Binary files /dev/null and b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/coca_cola/materials/textures/cokecan.jpg differ
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/coca_cola/meshes/aluminum.jpg b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/coca_cola/meshes/aluminum.jpg
new file mode 100644
index 0000000..7566551
Binary files /dev/null and b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/coca_cola/meshes/aluminum.jpg differ
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/coca_cola/meshes/can_ring_pull_end_centre.png b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/coca_cola/meshes/can_ring_pull_end_centre.png
new file mode 100644
index 0000000..6ddb484
Binary files /dev/null and b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/coca_cola/meshes/can_ring_pull_end_centre.png differ
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/coca_cola/meshes/coke.dae b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/coca_cola/meshes/coke.dae
new file mode 100644
index 0000000..295379d
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/coca_cola/meshes/coke.dae
@@ -0,0 +1,248 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.77.0 commit date:2016-04-05, commit time:18:12, hash:abf6f08</authoring_tool>
+    </contributor>
+    <created>2016-05-13T12:31:44</created>
+    <modified>2016-05-13T12:31:44</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
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+          <input semantic="NORMAL" source="#Cylinder-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Cylinder-mesh-map-0" offset="2" set="0"/>
+          <vcount>3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
+          <p>3 6 6 67 7 7 66 8 8 5 13 15 68 14 16 67 7 17 7 20 24 69 21 25 68 14 26 69 21 33 11 26 34 70 27 35 70 27 42 13 32 43 71 33 44 13 32 51 72 38 52 71 33 53 72 38 60 17 43 61 73 44 62 73 44 69 19 49 70 74 50 71 74 50 78 21 55 79 75 56 80 75 56 87 23 61 88 76 62 89 76 62 96 25 67 97 77 68 98 77 68 105 27 65 106 78 74 107 78 74 114 29 57 115 79 78 116 79 78 123 31 58 124 80 83 125 31 58 132 81 87 133 80 83 134 33 47 141 82 92 142 81 87 143 82 92 150 37 22 151 83 96 152 37 22 159 84 101 160 83 96 161 84 101 168 41 3 169 85 104 170 41 3 177 86 108 178 85 104 179 43 5 186 87 113 187 86 108 188 45 117 195 88 118 196 87 113 197 47 123 204 89 124 205 88 118 206 49 129 213 90 130 214 89 124 215 51 135 222 91 136 223 90 130 224 53 131 231 92 140 232 91 136 233 55 119 240 93 143 241 92 140 242 57 109 249 94 147 250 93 143 251 59 90 258 95 151 259 94 147 260 61 91 267 96 155 268 95 151 269 63 81 276 97 158 277 96 155 278 65 71 285 66 8 286 97 158 287 66 8 288 117 160 289 102 161 290 67 7 291 116 162 292 117 160 293 68 14 294 115 163 295 116 162 296 69 21 297 114 164 298 115 163 299 70 27 300 113 165 301 114 164 302 71 33 303 112 166 304 113 165 305 72 38 306 111 167 307 112 166 308 73 44 309 110 168 310 111 167 311 74 50 312 121 169 313 110 168 314 75 56 315 120 170 316 121 169 317 76 62 318 119 171 319 120 170 320 77 68 321 118 172 322 119 171 323 78 74 324 125 173 325 118 172 326 79 78 327 124 174 328 125 173 329 80 83 330 123 175 331 124 174 332 81 87 333 122 176 334 123 175 335 82 92 336 101 177 337 122 176 338 83 96 339 100 178 340 101 177 341 84 101 342 99 179 343 100 178 344 85 104 345 98 180 346 99 179 347 86 108 348 129 181 349 98 180 350 87 113 351 128 182 352 129 181 353 88 118 354 127 183 355 128 182 356 89 124 357 126 184 358 127 183 359 90 130 360 109 185 361 126 184 362 91 136 363 108 186 364 109 185 365 92 140 366 107 187 367 108 186 368 93 143 369 106 188 370 107 187 371 94 147 372 105 189 373 106 188 374 95 151 375 104 190 376 105 189 377 96 155 378 103 191 379 104 190 380 97 158 381 102 161 382 103 191 383 3 6 966 5 13 967 67 7 968 5 13 975 7 20 976 68 14 977 7 20 984 9 149 985 69 21 986 69 21 993 9 149 994 11 26 995 70 27 1002 11 26 1003 13 32 1004 13 32 1011 15 125 1012 72 38 1013 72 38 1020 15 125 1021 17 43 1022 73 44 1029 17 43 1030 19 49 1031 74 50 1038 19 49 1039 21 55 1040 75 56 1047 21 55 1048 23 61 1049 76 62 1056 23 61 1057 25 67 1058 77 68 1065 25 67 1066 27 65 1067 78 74 1074 27 65 1075 29 57 1076 79 78 1083 29 57 1084 31 58 1085 31 58 1092 33 47 1093 81 87 1094 33 47 1101 35 28 1102 82 92 1103 82 92 1110 35 28 1111 37 22 1112 37 22 1119 39 23 1120 84 101 1121 84 101 1128 39 23 1129 41 3 1130 41 3 1137 43 5 1138 86 108 1139 43 5 1146 45 117 1147 87 113 1148 45 117 1155 47 123 1156 88 118 1157 47 123 1164 49 129 1165 89 124 1166 49 129 1173 51 135 1174 90 130 1175 51 135 1182 53 131 1183 91 136 1184 53 131 1191 55 119 1192 92 140 1193 55 119 1200 57 109 1201 93 143 1202 57 109 1209 59 90 1210 94 147 1211 59 90 1218 61 91 1219 95 151 1220 61 91 1227 63 81 1228 96 155 1229 63 81 1236 65 71 1237 97 158 1238 65 71 1245 3 6 1246 66 8 1247 66 8 1248 67 7 1249 117 160 1250 67 7 1251 68 14 1252 116 162 1253 68 14 1254 69 21 1255 115 163 1256 69 21 1257 70 27 1258 114 164 1259 70 27 1260 71 33 1261 113 165 1262 71 33 1263 72 38 1264 112 166 1265 72 38 1266 73 44 1267 111 167 1268 73 44 1269 74 50 1270 110 168 1271 74 50 1272 75 56 1273 121 169 1274 75 56 1275 76 62 1276 120 170 1277 76 62 1278 77 68 1279 119 171 1280 77 68 1281 78 74 1282 118 172 1283 78 74 1284 79 78 1285 125 173 1286 79 78 1287 80 83 1288 124 174 1289 80 83 1290 81 87 1291 123 175 1292 81 87 1293 82 92 1294 122 176 1295 82 92 1296 83 96 1297 101 177 1298 83 96 1299 84 101 1300 100 178 1301 84 101 1302 85 104 1303 99 179 1304 85 104 1305 86 108 1306 98 180 1307 86 108 1308 87 113 1309 129 181 1310 87 113 1311 88 118 1312 128 182 1313 88 118 1314 89 124 1315 127 183 1316 89 124 1317 90 130 1318 126 184 1319 90 130 1320 91 136 1321 109 185 1322 91 136 1323 92 140 1324 108 186 1325 92 140 1326 93 143 1327 107 187 1328 93 143 1329 94 147 1330 106 188 1331 94 147 1332 95 151 1333 105 189 1334 95 151 1335 96 155 1336 104 190 1337 96 155 1338 97 158 1339 103 191 1340 97 158 1341 66 8 1342 102 161 1343</p>
+        </polylist>
+        <polylist material="ringPull-material" count="32">
+          <input semantic="VERTEX" source="#Cylinder-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cylinder-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Cylinder-mesh-map-0" offset="2" set="0"/>
+          <vcount>3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
+          <p>131 289 864 259 263 865 258 261 866 131 289 867 260 275 868 259 263 869 131 289 870 261 264 871 260 275 872 131 289 873 262 282 874 261 264 875 131 289 876 263 271 877 262 282 878 131 289 879 264 288 880 263 271 881 131 289 882 265 277 883 264 288 884 131 289 885 266 266 886 265 277 887 131 289 888 267 284 889 266 266 890 131 289 891 268 272 892 267 284 893 131 289 894 269 259 895 268 272 896 131 289 897 270 279 898 269 259 899 131 289 900 271 268 901 270 279 902 131 289 903 272 286 904 271 268 905 131 289 906 273 274 907 272 286 908 131 289 909 274 262 910 273 274 911 131 289 912 275 281 913 274 262 914 131 289 915 276 270 916 275 281 917 131 289 918 277 287 919 276 270 920 131 289 921 278 276 922 277 287 923 131 289 924 279 265 925 278 276 926 131 289 927 280 283 928 279 265 929 131 289 930 281 257 931 280 283 932 131 289 933 282 258 934 281 257 935 131 289 936 283 278 937 282 258 938 131 289 939 284 267 940 283 278 941 131 289 942 285 285 943 284 267 944 131 289 945 286 273 946 285 285 947 131 289 948 287 260 949 286 273 950 131 289 951 288 280 952 287 260 953 131 289 954 289 269 955 288 280 956 131 289 957 258 261 958 289 269 959</p>
+        </polylist>
+        <polylist material="alumin-material" count="416">
+          <input semantic="VERTEX" source="#Cylinder-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cylinder-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Cylinder-mesh-map-0" offset="2" set="0"/>
+          <vcount>3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
+          <p>34 0 0 166 1 1 164 2 2 41 3 3 173 4 4 43 5 5 34 0 9 162 9 10 32 10 11 41 3 12 169 11 13 171 12 14 4 15 18 132 16 19 2 17 20 32 10 21 160 18 22 30 19 23 37 22 27 169 11 28 39 23 29 28 24 30 160 18 31 158 25 32 35 28 36 167 29 37 37 22 38 64 30 39 132 16 40 194 31 41 28 24 45 156 34 46 26 35 47 35 28 48 163 36 49 165 37 50 5 13 54 133 39 55 135 40 56 64 30 57 192 41 58 62 42 59 24 45 63 156 34 64 154 46 65 33 47 66 161 48 67 163 36 68 62 42 72 190 51 73 60 52 74 22 53 75 154 46 76 152 54 77 29 57 81 161 48 82 31 58 83 58 59 84 190 51 85 188 60 86 20 63 90 152 54 91 150 64 92 27 65 93 159 66 94 29 57 95 58 59 99 186 69 100 56 70 101 65 71 102 193 72 103 195 73 104 18 75 108 150 64 109 148 76 110 25 67 111 157 77 112 27 65 113 56 70 117 184 79 118 54 80 119 63 81 120 191 82 121 193 72 122 16 84 126 148 76 127 146 85 128 23 61 129 155 86 130 25 67 131 54 80 135 182 88 136 52 89 137 59 90 138 191 82 139 61 91 140 14 93 144 146 85 145 144 94 146 21 55 147 153 95 148 23 61 149 52 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1677 267 284 1678 268 272 1679 253 220 1680 285 285 1681 286 273 1682 240 224 1683 272 286 1684 273 274 1685 227 240 1686 259 263 1687 260 275 1688 245 230 1689 277 287 1690 278 276 1691 232 234 1692 264 288 1693 265 277 1694 251 255 1695 250 238 1696 282 258 1697 237 244 1698 269 259 1699 270 279 1700 255 248 1701 287 260 1702 288 280 1703 242 254 1704 274 262 1705 275 281 1706 229 194 1707 261 264 1708 262 282 1709 247 198 1710 279 265 1711 280 283 1712 234 202 1713 266 266 1714 267 284 1715 252 206 1716 284 267 1717 285 285 1718 239 210 1719 271 268 1720 272 286 1721 244 218 1722 276 270 1723 277 287 1724 231 222 1725 263 271 1726 264 288 1727</p>
+        </polylist>
+      </mesh>
+      <extra><technique profile="MAYA"><double_sided>1</double_sided></technique></extra>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Cylinder" name="Cylinder" type="NODE">
+        <matrix sid="transform">0.0338436 0 0 0 0 0.0338436 0 0 0 0 0.05990317 0 0 0 0 1</matrix>
+        <instance_geometry url="#Cylinder-mesh" name="Cylinder">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="coke-material" target="#coke-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="ringPull-material" target="#ringPull-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="alumin-material" target="#alumin-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/coca_cola/meshes/coke_uv_map.jpg b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/coca_cola/meshes/coke_uv_map.jpg
new file mode 100644
index 0000000..26b0429
Binary files /dev/null and b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/coca_cola/meshes/coke_uv_map.jpg differ
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/coca_cola/model.config b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/coca_cola/model.config
new file mode 100644
index 0000000..15d5c91
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/coca_cola/model.config
@@ -0,0 +1,17 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>Coca Cola</name>
+  <version>1.0</version>
+  <sdf version="1.5">model.sdf</sdf>
+ 
+  <author>
+    <name>Markus Solbach</name>
+    
+    <email>solbach@cse.yorku.ca</email>
+  </author>
+
+  <description>
+    Coca Cola can
+  </description>
+</model>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/coca_cola/model.sdf b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/coca_cola/model.sdf
new file mode 100644
index 0000000..01e0ab7
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/coca_cola/model.sdf
@@ -0,0 +1,35 @@
+<?xml version="1.0" ?>
+<sdf version="1.5">
+  <model name="coca_cola">
+    <link name="link">
+	 <pose>0 0 0.115 0 0 0</pose>
+      <inertial>
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+          <izz>0.00019</izz>
+        </inertia>
+      </inertial>
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+            <length>0.12065</length>
+          </cylinder>
+        </geometry>
+      </collision>
+	<visual name="bodyMesh">
+	<geometry>
+	  <mesh>
+	    <uri>model://coca_cola/meshes/coke.dae</uri>
+	  	<scale>1 1 1</scale>
+	  </mesh>
+	  </geometry>
+	</visual>
+    </link>
+ </model>
+</sdf>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/donut_frost_1/meshes/donut2.dae b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/donut_frost_1/meshes/donut2.dae
new file mode 100644
index 0000000..c26279d
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/donut_frost_1/meshes/donut2.dae
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36.23954 162.0677 104.1487 36.23954 160.569 106.1886 34.99272 160.8201 107.0442 35.0201 160.3791 106.8515 34.80222 161.2592 104.3096 35.61635 161.2971 103.9556 35.68306 161.2971 103.9556 35.68306 161.2592 104.3096 35.61635 160.8201 107.0442 35.0201 160.569 106.1886 34.99272 160.3791 106.8515 34.80222 160.569 106.1886 34.99272 160.3791 106.8515 34.80222 161.2592 104.3096 35.61635 161.2971 103.9556 35.68306 160.8201 107.0442 35.0201 163.565 73.95115 37.27261 163.565 73.95115 37.27261 163.565 73.95115 37.27261 162.601 72.5554 37.98452 162.601 72.5554 37.98452 162.601 72.5554 37.98452 161.8614 71.47245 38.10009 161.4925 71.51834 37.92696 161.8614 71.47245 38.10009 161.4925 71.51834 37.92696 161.4925 71.51834 37.92696 161.8614 71.47245 38.10009 163.1666 72.84987 38.82236 163.1666 72.84987 38.82236 163.1666 72.84987 38.82236 162.8934 62.83847 36.3 162.8402 67.00972 37.75404 162.8402 67.00972 37.75404 162.8934 62.83847 36.3 162.8934 62.83847 36.3 162.8402 67.00972 37.75404 152.2297 43.763 43.50394 152.2297 43.763 43.50394 152.2297 43.763 43.50394 155.5086 64.16041 49.78237 155.5086 64.16041 49.78237 155.5086 64.16041 49.78237 162.7515 71.47664 39.38805 162.7515 71.47664 39.38805 162.7515 71.47664 39.38805 162.5687 69.24785 39.12092 162.5687 69.24785 39.12092 162.5687 69.24785 39.12092 148.0575 120.7573 49.78237 148.0575 120.7573 49.78237 148.0575 120.7573 49.78237 151.7717 83.46457 54.59998 149.4441 101.1437 54.59998 151.7717 83.46457 54.59998 149.4441 101.1437 54.59998 149.4441 101.1437 54.59998 151.7717 83.46457 54.59998 139.6111 139.6111 43.50394 146.1786 135.9843 36.19255 144.3244 137.9295 36.8911 142.5324 140.3744 36.72874 141.7465 141.7465 36.21303 141.928 141.4591 36.28862 141.928 141.4591 36.28862 141.7465 141.7465 36.21303 142.5324 140.3744 36.72874 139.6111 139.6111 43.50394 144.3244 137.9295 36.8911 146.1786 135.9843 36.19255 146.1786 135.9843 36.19255 139.6111 139.6111 43.50394 141.7465 141.7465 36.21303 141.928 141.4591 36.28862 142.5324 140.3744 36.72874 144.3244 137.9295 36.8911 161.3445 109.2521 35.47464 161.39 108.9401 36.06738 160.3262 112.3117 33.71153 159.2933 115.8284 30.71218 158.3447 118.5842 29.34673 157.2961 121.457 28.34646 155.747 125.1969 28.34646 155.747 125.1969 28.34646 157.2961 121.457 28.34646 158.3447 118.5842 29.34673 159.2933 115.8284 30.71218 160.3262 112.3117 33.71153 161.3445 109.2521 35.47464 161.39 108.9401 36.06738 155.747 125.1969 28.34646 157.2961 121.457 28.34646 158.3447 118.5842 29.34673 159.2933 115.8284 30.71218 160.3262 112.3117 33.71153 161.3445 109.2521 35.47464 161.39 108.9401 36.06738 161.5345 107.7398 36.21307 162.4847 104.4229 37.16624 161.5345 107.7398 36.21307 162.4847 104.4229 37.16624 162.4847 104.4229 37.16624 161.5345 107.7398 36.21307 162.3388 104.2904 36.6739 162.3388 104.2904 36.6739 162.3388 104.2904 36.6739 161.1745 107.2667 35.34352 161.1745 107.2667 35.34352 161.1745 107.2667 35.34352 160.329 106.8364 34.79239 160.329 106.8364 34.79239 160.329 106.8364 34.79239 160.6574 108.3164 34.20055 160.2202 108.0944 34.00159 160.6574 108.3164 34.20055 160.2202 108.0944 34.00159 160.6574 108.3164 34.20055 160.2202 108.0944 34.00159 162.9377 72.66667 38.37857 162.9377 72.66667 38.37857 162.9377 72.66667 38.37857 162.2646 71.44259 38.44294 162.2646 71.44259 38.44294 162.2646 71.44259 38.44294 161.7133 69.66642 37.88362 161.3452 69.72165 37.71161 161.7133 69.66642 37.88362 161.3452 69.72165 37.71161 161.3452 69.72165 37.71161 161.7133 69.66642 37.88362 162.8934 61.70644 35.24512 162.9161 61.46478 35.4554 162.8934 61.70644 35.24512 162.9161 61.46478 35.4554 162.9161 61.46478 35.4554 162.8934 61.70644 35.24512 162.7206 63.10117 35.86244 162.6682 67.21498 37.29646 162.6682 67.21498 37.29646 162.7206 63.10117 35.86244 162.7206 63.10117 35.86244 162.6682 67.21498 37.29646 148.0575 46.17181 49.78237 148.0575 46.17181 49.78237 148.0575 46.17181 49.78237 149.4441 65.7854 54.59998 149.4441 65.7854 54.59998 149.4441 65.7854 54.59998 162.5682 71.44403 38.88224 162.5682 71.44403 38.88224 162.5682 71.44403 38.88224 162.4016 69.41292 38.6388 162.4016 69.41292 38.6388 162.4016 69.41292 38.6388 136.2045 136.2045 49.78237 136.2045 136.2045 49.78237 136.2045 136.2045 49.78237 142.6202 117.6181 54.59998 142.6202 117.6181 54.59998 142.6202 117.6181 54.59998 143.4211 91.35799 57.62846 142.3819 99.25141 57.62846 144.4603 83.46457 57.62846 144.4603 83.46457 57.62846 143.4211 91.35799 57.62846 142.3819 99.25141 57.62846 142.3819 99.25141 57.62846 144.4603 83.46457 57.62846 143.4211 91.35799 57.62846 154.6062 126.6836 28.34646 148.1978 133.7601 34.29367 153.6177 127.904 28.66312 151.1857 130.7585 30.13159 149.4746 132.5395 32.2253 146.8429 135.284 35.42143 146.1302 136.0722 36.07658 146.1302 136.0722 36.07658 146.8429 135.284 35.42143 148.1978 133.7601 34.29367 149.4746 132.5395 32.2253 151.1857 130.7585 30.13159 153.6177 127.904 28.66312 154.6062 126.6836 28.34646 146.1302 136.0722 36.07658 146.8429 135.284 35.42143 148.1978 133.7601 34.29367 149.4746 132.5395 32.2253 151.1857 130.7585 30.13159 153.6177 127.904 28.66312 154.6062 126.6836 28.34646 124.6804 154.8524 36.19255 141.7401 141.7621 36.19255 123.1661 152.2297 43.50394 123.1661 152.2297 43.50394 124.6804 154.8524 36.19255 141.7401 141.7621 36.19255 124.6804 154.8524 36.19255 141.7401 141.7621 36.19255 123.1661 152.2297 43.50394 141.8871 141.6525 35.84138 141.9918 141.4003 36.17316 141.764 141.764 36.06918 141.764 141.764 36.06918 141.8871 141.6525 35.84138 141.9918 141.4003 36.17316 141.9918 141.4003 36.17316 141.764 141.764 36.06918 141.8871 141.6525 35.84138 142.5686 140.3654 36.5931 142.5686 140.3654 36.5931 142.5686 140.3654 36.5931 144.3345 137.9561 36.7531 144.3345 137.9561 36.7531 144.3345 137.9561 36.7531 156.8351 122.2869 27.5164 157.2798 121.4282 28.14635 155.6524 125.1422 27.5164 155.6524 125.1422 27.5164 156.8351 122.2869 27.5164 157.2798 121.4282 28.14635 155.6524 125.1422 27.5164 156.8351 122.2869 27.5164 157.2798 121.4282 28.14635 158.3459 118.5075 29.1633 158.3459 118.5075 29.1633 158.3459 118.5075 29.1633 159.305 115.721 30.544 159.305 115.721 30.544 159.305 115.721 30.544 160.3393 112.1997 33.54722 160.3393 112.1997 33.54722 160.3393 112.1997 33.54722 161.3541 109.1504 35.30438 161.3541 109.1504 35.30438 161.3541 109.1504 35.30438 161.4182 107.504 35.75041 161.4182 107.504 35.75041 161.4182 107.504 35.75041 161.0067 108.5786 34.49842 161.0067 108.5786 34.49842 161.0067 108.5786 34.49842 159.962 108.0074 33.95652 159.962 108.0074 33.95652 159.962 108.0074 33.95652 159.6789 111.2565 32.50631 159.254 110.9974 32.3287 159.6789 111.2565 32.50631 159.254 110.9974 32.3287 159.6789 111.2565 32.50631 159.254 110.9974 32.3287 162.1098 69.55569 38.21678 162.1098 69.55569 38.21678 162.1098 69.55569 38.21678 161.6061 67.57136 36.39838 161.9744 67.51423 36.56923 161.9744 67.51423 36.56923 161.6061 67.57136 36.39838 161.6061 67.57136 36.39838 161.9744 67.51423 36.56923 162.3697 59.28399 31.84948 162.3933 59.04629 32.06531 162.7784 61.17465 34.49969 162.7784 61.17465 34.49969 162.3697 59.28399 31.84948 162.3933 59.04629 32.06531 162.3933 59.04629 32.06531 162.3697 59.28399 31.84948 162.7784 61.17465 34.49969 162.7206 62.09143 34.92152 162.7206 62.09143 34.92152 162.7206 62.09143 34.92152 162.4246 63.33073 35.47836 162.3729 67.38706 36.89234 162.3729 67.38706 36.89234 162.4246 63.33073 35.47836 162.4246 63.33073 35.47836 162.3729 67.38706 36.89234 154.8524 42.24876 36.19255 154.8524 42.24876 36.19255 154.8524 42.24876 36.19255 136.2045 30.72464 49.78237 139.6111 27.31807 43.50394 136.2045 30.72464 49.78237 139.6111 27.31807 43.50394 139.6111 27.31807 43.50394 136.2045 30.72464 49.78237 142.6202 49.31102 54.59998 142.6202 49.31102 54.59998 142.6202 49.31102 54.59998 142.3819 67.67772 57.62846 142.3819 67.67772 57.62846 142.3819 67.67772 57.62846 120.7573 148.0575 49.78237 120.7573 148.0575 49.78237 120.7573 148.0575 49.78237 131.765 131.765 54.59998 131.765 131.765 54.59998 131.765 131.765 54.59998 139.3351 106.6069 57.62846 136.2884 113.9624 57.62846 139.3351 106.6069 57.62846 136.2884 113.9624 57.62846 136.2884 113.9624 57.62846 139.3351 106.6069 57.62846 136.6142 83.46457 58.66142 134.8031 97.22071 58.66142 140.5372 83.46457 58.14494 140.5372 83.46457 58.14494 136.6142 83.46457 58.66142 134.8031 97.22071 58.66142 134.8031 97.22071 58.66142 140.5372 83.46457 58.14494 136.6142 83.46457 58.66142 146.7927 135.3189 35.27181 144.2666 137.969 36.22351 144.2666 137.969 36.22351 146.7927 135.3189 35.27181 146.7927 135.3189 35.27181 144.2666 137.969 36.22351 148.119 133.8271 34.1678 148.119 133.8271 34.1678 148.119 133.8271 34.1678 149.3884 132.6137 32.11152 149.3884 132.6137 32.11152 149.3884 132.6137 32.11152 151.1201 130.8112 29.99258 151.1201 130.8112 29.99258 151.1201 130.8112 29.99258 153.5763 127.9283 28.50952 153.5763 127.9283 28.50952 153.5763 127.9283 28.50952 154.5407 126.7377 28.20058 154.5407 126.7377 28.20058 154.5407 126.7377 28.20058 155.5871 125.2096 27.43385 155.5871 125.2096 27.43385 155.5871 125.2096 27.43385 140.4888 143.1612 33.52412 134.6773 147.7179 32.93267 137.964 145.2462 32.62679 131.9507 149.5708 34.38672 141.8149 141.8149 35.52278 129.7894 151.0986 35.1811 127.9327 152.5233 35.1811 125.3672 154.9622 32.32191 124.9474 155.315 32.13578 125.4927 154.8463 32.44104 125.5717 154.6836 33.06182 126.4683 153.8 34.25032 141.8149 141.8149 35.52278 127.9327 152.5233 35.1811 126.4683 153.8 34.25032 125.5717 154.6836 33.06182 125.4927 154.8463 32.44104 125.3672 154.9622 32.32191 124.9474 155.315 32.13578 129.7894 151.0986 35.1811 131.9507 149.5708 34.38672 140.4888 143.1612 33.52412 134.6773 147.7179 32.93267 137.964 145.2462 32.62679 124.9474 155.315 32.13578 125.3672 154.9622 32.32191 125.4927 154.8463 32.44104 125.5717 154.6836 33.06182 126.4683 153.8 34.25032 127.9327 152.5233 35.1811 129.7894 151.0986 35.1811 131.9507 149.5708 34.38672 134.6773 147.7179 32.93267 137.964 145.2462 32.62679 140.4888 143.1612 33.52412 141.8149 141.8149 35.52278 105.2691 162.8928 36.19255 104.7473 162.8928 36.67882 104.0156 160.1621 43.50394 104.0156 160.1621 43.50394 104.7473 162.8928 36.67882 105.2691 162.8928 36.19255 104.0156 160.1621 43.50394 104.7473 162.8928 36.67882 105.2691 162.8928 36.19255 141.8268 141.7981 35.52825 141.8268 141.7981 35.52825 141.8268 141.7981 35.52825 141.9601 141.4814 35.2362 142.1145 141.1099 35.72499 141.9601 141.4814 35.2362 142.1145 141.1099 35.72499 141.9601 141.4814 35.2362 142.1145 141.1099 35.72499 142.5906 140.2555 36.07166 142.5906 140.2555 36.07166 142.5906 140.2555 36.07166 155.5448 125.1968 27.32877 156.7734 122.2307 27.32877 155.5448 125.1968 27.32877 156.7734 122.2307 27.32877 156.7734 122.2307 27.32877 155.5448 125.1968 27.32877 158.2188 118.2709 28.70755 158.2188 118.2709 28.70755 158.2188 118.2709 28.70755 159.2033 115.4109 30.12463 159.2033 115.4109 30.12463 159.2033 115.4109 30.12463 160.2407 111.8789 33.13706 160.2407 111.8789 33.13706 160.2407 111.8789 33.13706 161.2444 108.863 34.87492 161.2444 108.863 34.87492 161.2444 108.863 34.87492 160.0155 111.5572 32.78202 160.0155 111.5572 32.78202 160.0155 111.5572 32.78202 159.0016 110.8933 32.29358 159.0016 110.8933 32.29358 159.0016 110.8933 32.29358 158.6371 114.8036 29.48107 158.2113 114.5477 29.30073 158.6371 114.8036 29.48107 158.2113 114.5477 29.30073 158.6371 114.8036 29.48107 158.2113 114.5477 29.30073 161.5503 63.63117 34.96989 161.6322 65.5193 35.68306 161.5409 64.36991 35.2274 162.0254 63.5115 35.17393 161.6322 65.5193 35.68306 162.0254 63.5115 35.17393 161.5503 63.63117 34.96989 161.5409 64.36991 35.2274 161.6322 65.5193 35.68306 161.5409 64.36991 35.2274 161.5503 63.63117 34.96989 162.0254 63.5115 35.17393 161.785 57.32346 30.24024 161.8252 57.14135 30.5017 161.785 57.32346 30.24024 161.8252 57.14135 30.5017 161.8252 57.14135 30.5017 161.785 57.32346 30.24024 155.8863 42.89652 30.77407 155.315 41.98172 32.13578 157.2354 45.70385 29.45516 159.0312 49.72693 28.5399 160.8418 54.28622 29.0913 160.8418 54.28622 29.0913 159.0312 49.72693 28.5399 157.2354 45.70385 29.45516 155.8863 42.89652 30.77407 155.315 41.98172 32.13578 155.315 41.98172 32.13578 160.8418 54.28622 29.0913 159.0312 49.72693 28.5399 157.2354 45.70385 29.45516 155.8863 42.89652 30.77407 162.1976 59.6719 31.52997 162.6133 61.59482 34.2254 162.6133 61.59482 34.2254 162.1976 59.6719 31.52997 162.1976 59.6719 31.52997 162.6133 61.59482 34.2254 162.4246 62.43551 34.64416 162.4246 62.43551 34.64416 162.4246 62.43551 34.64416 141.7621 25.18908 36.19255 141.7465 25.18261 36.21303 141.7621 25.18908 36.19255 141.7465 25.18261 36.21303 141.7621 25.18908 36.19255 141.7465 25.18261 36.21303 120.7573 18.87161 49.78237 123.1661 14.69944 43.50394 120.7573 18.87161 49.78237 123.1661 14.69944 43.50394 123.1661 14.69944 43.50394 120.7573 18.87161 49.78237 131.765 35.16416 54.59998 131.765 35.16416 54.59998 131.765 35.16416 54.59998 136.2884 52.96672 57.62846 136.2884 52.96672 57.62846 136.2884 52.96672 57.62846 135.7087 76.5865 58.66142 134.8031 69.70845 58.66142 135.9466 78.39371 58.66142 136.0292 79.02103 58.66142 136.1283 79.77394 58.66142 136.1283 79.77394 58.66142 136.0292 79.02103 58.66142 135.9466 78.39371 58.66142 135.7087 76.5865 58.66142 134.8031 69.70845 58.66142 134.8031 69.70845 58.66142 135.7087 76.5865 58.66142 135.9466 78.39371 58.66142 136.0292 79.02103 58.66142 136.1283 79.77394 58.66142 102.7687 155.5086 49.78237 102.7687 155.5086 49.78237 102.7687 155.5086 49.78237 117.6181 142.6202 54.59998 117.6181 142.6202 54.59998 117.6181 142.6202 54.59998 126.595 126.595 57.62846 126.595 126.595 57.62846 126.595 126.595 57.62846 131.4508 105.3141 58.66142 129.4935 110.0394 58.66142 132.1483 103.63 58.66142 132.1483 103.63 58.66142 131.4508 105.3141 58.66142 129.4935 110.0394 58.66142 129.4935 110.0394 58.66142 132.1483 103.63 58.66142 131.4508 105.3141 58.66142 128.7681 83.46457 57.62846 127.2244 95.18998 57.62846 128.7681 83.46457 57.62846 127.2244 95.18998 57.62846 127.2244 95.18998 57.62846 128.7681 83.46457 57.62846 144.097 137.8929 35.72471 146.5355 135.3347 34.80601 144.097 137.8929 35.72471 146.5355 135.3347 34.80601 146.5355 135.3347 34.80601 144.097 137.8929 35.72471 147.7741 133.9416 33.77505 147.7741 133.9416 33.77505 147.7741 133.9416 33.77505 149.0213 132.7495 31.75478 149.0213 132.7495 31.75478 149.0213 132.7495 31.75478 150.8143 130.8831 29.56073 150.8143 130.8831 29.56073 150.8143 130.8831 29.56073 153.3424 127.9158 28.03428 153.3424 127.9158 28.03428 153.3424 127.9158 28.03428 121.2253 157.2354 29.45516 112.6429 160.8418 29.0913 117.2022 159.0312 28.5399 109.7878 161.8252 30.5017 124.0326 155.8863 30.77407 107.8828 162.3933 32.06531 105.4644 162.9161 35.4554 105.2693 162.931 35.92186 105.2693 162.931 35.92186 105.4644 162.9161 35.4554 107.8828 162.3933 32.06531 124.0326 155.8863 30.77407 109.7878 161.8252 30.5017 121.2253 157.2354 29.45516 112.6429 160.8418 29.0913 117.2022 159.0312 28.5399 105.2693 162.931 35.92186 105.4644 162.9161 35.4554 107.8828 162.3933 32.06531 109.7878 161.8252 30.5017 112.6429 160.8418 29.0913 117.2022 159.0312 28.5399 121.2253 157.2354 29.45516 124.0326 155.8863 30.77407 124.1588 155.7169 30.52318 124.1588 155.7169 30.52318 124.1588 155.7169 30.52318 124.2765 155.3423 30.15498 125.6802 154.4656 32.24455 124.2765 155.3423 30.15498 125.6802 154.4656 32.24455 125.6802 154.4656 32.24455 124.2765 155.3423 30.15498 125.7535 154.3146 32.82041 125.7535 154.3146 32.82041 125.7535 154.3146 32.82041 126.556 153.5238 33.88412 126.556 153.5238 33.88412 126.556 153.5238 33.88412 127.912 152.3415 34.74606 127.912 152.3415 34.74606 127.912 152.3415 34.74606 129.6456 151.0113 34.74606 129.6456 151.0113 34.74606 129.6456 151.0113 34.74606 131.7392 149.5314 33.97659 131.7392 149.5314 33.97659 131.7392 149.5314 33.97659 134.5004 147.6549 32.50407 134.5004 147.6549 32.50407 134.5004 147.6549 32.50407 137.9011 145.0976 32.18758 137.9011 145.0976 32.18758 137.9011 145.0976 32.18758 140.5658 142.897 33.13464 140.5658 142.897 33.13464 140.5658 142.897 33.13464 104.4568 162.931 36.67902 104.3451 162.9278 36.7222 100.1249 162.8741 38.19331 97.84252 162.5972 39.58721 95.39612 162.7978 39.88043 92.33741 164.0051 37.93793 83.46457 165.8962 36.19255 91.71179 164.8104 36.19255 83.46457 162.8677 43.50394 93.85714 163.263 39.24645 95.39612 162.7978 39.88043 83.46457 162.8677 43.50394 93.85714 163.263 39.24645 92.33741 164.0051 37.93793 83.46457 165.8962 36.19255 91.71179 164.8104 36.19255 97.84252 162.5972 39.58721 100.1249 162.8741 38.19331 104.3451 162.9278 36.7222 104.4568 162.931 36.67902 83.46457 162.8677 43.50394 83.46457 165.8962 36.19255 91.71179 164.8104 36.19255 92.33741 164.0051 37.93793 93.85714 163.263 39.24645 95.39612 162.7978 39.88043 97.84252 162.5972 39.58721 100.1249 162.8741 38.19331 104.3451 162.9278 36.7222 104.4568 162.931 36.67902 141.9893 141.0597 34.91926 142.1088 140.7719 35.29783 141.9893 141.0597 34.91926 142.1088 140.7719 35.29783 142.1088 140.7719 35.29783 141.9893 141.0597 34.91926 142.4959 140.0774 35.57965 142.4959 140.0774 35.57965 142.4959 140.0774 35.57965 155.2479 125.0697 26.91077 156.498 122.0517 26.91077 155.2479 125.0697 26.91077 156.498 122.0517 26.91077 156.498 122.0517 26.91077 155.2479 125.0697 26.91077 157.9704 118.0179 28.31533 157.9704 118.0179 28.31533 157.9704 118.0179 28.31533 158.9755 115.098 29.76209 158.9755 115.098 29.76209 158.9755 115.098 29.76209 157.9588 114.4435 29.26562 157.9588 114.4435 29.26562 157.9588 114.4435 29.26562 157.6175 117.7657 28.01337 157.1842 117.5317 27.82224 157.6175 117.7657 28.01337 157.1842 117.5317 27.82224 157.6175 117.7657 28.01337 157.1842 117.5317 27.82224 161.48 63.638 34.95774 161.48 63.638 34.95774 161.48 63.638 34.95774 162.0254 62.71523 34.43193 161.5503 62.91154 34.2993 162.0254 62.71523 34.43193 161.5503 62.91154 34.2993 162.0254 62.71523 34.43193 161.5503 62.91154 34.2993 160.7777 54.39891 28.79554 160.7777 54.39891 28.79554 160.7777 54.39891 28.79554 161.5898 57.63415 29.85735 161.5898 57.63415 29.85735 161.5898 57.63415 29.85735 141.764 25.16513 36.06918 143.1612 26.44034 33.52412 141.8149 25.11427 35.52278 151.0986 37.13975 35.1811 145.2462 28.96516 32.62679 149.5708 34.97841 34.38672 147.7179 32.25186 32.93267 152.5233 38.99646 35.1811 153.8 40.4608 34.25032 154.6836 41.35744 33.06182 154.8463 41.43641 32.44104 154.9622 41.56192 32.32191 154.9622 41.56192 32.32191 154.8463 41.43641 32.44104 154.6836 41.35744 33.06182 153.8 40.4608 34.25032 152.5233 38.99646 35.1811 151.0986 37.13975 35.1811 147.7179 32.25186 32.93267 149.5708 34.97841 34.38672 145.2462 28.96516 32.62679 143.1612 26.44034 33.52412 141.764 25.16513 36.06918 141.8149 25.11427 35.52278 154.9622 41.56192 32.32191 154.8463 41.43641 32.44104 154.6836 41.35744 33.06182 153.8 40.4608 34.25032 152.5233 38.99646 35.1811 151.0986 37.13975 35.1811 149.5708 34.97841 34.38672 147.7179 32.25186 32.93267 145.2462 28.96516 32.62679 143.1612 26.44034 33.52412 141.8149 25.11427 35.52278 141.764 25.16513 36.06918 158.9327 49.75298 28.23366 158.9327 49.75298 28.23366 158.9327 49.75298 28.23366 157.1071 45.66309 29.16413 157.1071 45.66309 29.16413 157.1071 45.66309 29.16413 155.7169 42.77031 30.52318 155.7169 42.77031 30.52318 155.7169 42.77031 30.52318 161.9042 60.02816 31.26968 162.325 61.975 33.99864 162.325 61.975 33.99864 161.9042 60.02816 31.26968 161.9042 60.02816 31.26968 162.325 61.975 33.99864 141.4003 24.93729 36.17316 141.6525 25.04208 35.84138 141.4591 25.00117 36.28862 141.4591 25.00117 36.28862 141.4003 24.93729 36.17316 141.6525 25.04208 35.84138 141.4591 25.00117 36.28862 141.4003 24.93729 36.17316 141.6525 25.04208 35.84138 135.9843 20.75051 36.19255 124.6804 12.0767 36.19255 137.9295 22.6047 36.8911 140.3744 24.3967 36.72874 137.9295 22.6047 36.8911 140.3744 24.3967 36.72874 135.9843 20.75051 36.19255 124.6804 12.0767 36.19255 135.9843 20.75051 36.19255 124.6804 12.0767 36.19255 140.3744 24.3967 36.72874 137.9295 22.6047 36.8911 102.7687 11.42049 49.78237 104.0156 6.767031 43.50394 102.7687 11.42049 49.78237 104.0156 6.767031 43.50394 104.0156 6.767031 43.50394 102.7687 11.42049 49.78237 117.6181 24.30889 54.59998 117.6181 24.30889 54.59998 117.6181 24.30889 54.59998 126.595 40.3341 57.62846 126.595 40.3341 57.62846 126.595 40.3341 57.62846 133.088 65.56771 58.66142 129.4935 56.88976 58.66142 133.3786 66.26931 58.66142 133.3786 66.26931 58.66142 133.088 65.56771 58.66142 129.4935 56.88976 58.66142 129.4935 56.88976 58.66142 133.088 65.56771 58.66142 133.3786 66.26931 58.66142 127.2244 71.73915 57.62846 127.2244 71.73915 57.62846 127.2244 71.73915 57.62846 83.46457 158.0501 49.78237 83.46457 158.0501 49.78237 83.46457 158.0501 49.78237 101.1437 149.4441 54.59998 101.1437 149.4441 54.59998 101.1437 149.4441 54.59998 113.9624 136.2884 57.62846 113.9624 136.2884 57.62846 113.9624 136.2884 57.62846 125.2702 115.5432 58.66142 121.047 121.047 58.66142 125.2702 115.5432 58.66142 121.047 121.047 58.66142 121.047 121.047 58.66142 125.2702 115.5432 58.66142 122.6986 106.1163 57.62846 122.6986 106.1163 57.62846 122.6986 106.1163 57.62846 121.4567 83.46457 54.59998 120.1621 93.29766 54.59998 121.4567 83.46457 54.59998 120.1621 93.29766 54.59998 120.1621 93.29766 54.59998 121.4567 83.46457 54.59998 143.8374 137.7331 35.29072 146.2042 135.2501 34.39903 143.8374 137.7331 35.29072 146.2042 135.2501 34.39903 146.2042 135.2501 34.39903 143.8374 137.7331 35.29072 147.3672 133.942 33.431 147.3672 133.942 33.431 147.3672 133.942 33.431 148.596 132.7674 31.44042 148.596 132.7674 31.44042 148.596 132.7674 31.44042 150.4397 130.8484 29.18444 150.4397 130.8484 29.18444 150.4397 130.8484 29.18444 153.027 127.8115 27.6222 153.027 127.8115 27.6222 153.027 127.8115 27.6222 104.0907 162.8934 36.3 105.2227 162.8934 35.24512 104.0907 162.8934 36.3 105.2227 162.8934 35.24512 104.0907 162.8934 36.3 105.2227 162.8934 35.24512 105.7545 162.7784 34.49969 107.6451 162.3697 31.84948 105.7545 162.7784 34.49969 107.6451 162.3697 31.84948 107.6451 162.3697 31.84948 105.7545 162.7784 34.49969 109.6057 161.785 30.24024 109.6057 161.785 30.24024 109.6057 161.785 30.24024 112.5302 160.7777 28.79554 112.5302 160.7777 28.79554 112.5302 160.7777 28.79554 117.1762 158.9327 28.23366 117.1762 158.9327 28.23366 117.1762 158.9327 28.23366 121.266 157.1071 29.16413 121.266 157.1071 29.16413 121.266 157.1071 29.16413 121.265 156.7895 28.74016 121.265 156.7895 28.74016 121.265 156.7895 28.74016 124.295 154.8987 29.85859 125.7673 153.9792 32.05024 124.295 154.8987 29.85859 125.7673 153.9792 32.05024 125.7673 153.9792 32.05024 124.295 154.8987 29.85859 125.8336 153.8427 32.57089 125.8336 153.8427 32.57089 125.8336 153.8427 32.57089 126.5465 153.1402 33.51592 126.5465 153.1402 33.51592 126.5465 153.1402 33.51592 127.7996 152.0476 34.31239 127.7996 152.0476 34.31239 127.7996 152.0476 34.31239 129.4161 150.8072 34.31239 129.4161 150.8072 34.31239 129.4161 150.8072 34.31239 131.4452 149.3729 33.5666 131.4452 149.3729 33.5666 131.4452 149.3729 33.5666 134.2393 147.4741 32.07653 134.2393 147.4741 32.07653 134.2393 147.4741 32.07653 137.7484 144.8352 31.74995 137.7484 144.8352 31.74995 137.7484 144.8352 31.74995 140.5462 142.5248 32.74429 140.5462 142.5248 32.74429 140.5462 142.5248 32.74429 68.25657 163.894 36.19255 66.5296 163.1119 37.5318 64.42537 162.6242 38.04055 62.30257 162.4422 37.80504 62.38366 162.4838 37.73037 62.91352 160.1621 43.50394 64.42537 162.6242 38.04055 62.91352 160.1621 43.50394 62.30257 162.4422 37.80504 62.38366 162.4838 37.73037 66.5296 163.1119 37.5318 68.25657 163.894 36.19255 62.91352 160.1621 43.50394 62.30257 162.4422 37.80504 62.38366 162.4838 37.73037 64.42537 162.6242 38.04055 66.5296 163.1119 37.5318 68.25657 163.894 36.19255 89.64257 165.7981 30.75919 83.46457 166.9291 28.34646 87.52968 166.394 28.34646 91.79988 164.8647 35.69224 91.79988 164.8647 35.69224 89.64257 165.7981 30.75919 83.46457 166.9291 28.34646 87.52968 166.394 28.34646 83.46457 166.9291 28.34646 87.52968 166.394 28.34646 89.64257 165.7981 30.75919 91.79988 164.8647 35.69224 92.6828 163.8485 37.61997 91.95925 164.7799 35.60136 92.6828 163.8485 37.61997 91.95925 164.7799 35.60136 92.6828 163.8485 37.61997 91.95925 164.7799 35.60136 94.07927 163.1666 38.82236 94.07927 163.1666 38.82236 94.07927 163.1666 38.82236 95.45249 162.7515 39.38805 95.45249 162.7515 39.38805 95.45249 162.7515 39.38805 97.68129 162.5687 39.12092 97.68129 162.5687 39.12092 97.68129 162.5687 39.12092 99.91941 162.8402 37.75404 99.91941 162.8402 37.75404 99.91941 162.8402 37.75404 141.8893 140.616 34.64909 141.9751 140.4095 34.92078 141.8893 140.616 34.64909 141.9751 140.4095 34.92078 141.9751 140.4095 34.92078 141.8893 140.616 34.64909 142.2908 139.8432 35.15059 142.2908 139.8432 35.15059 142.2908 139.8432 35.15059 156.126 121.8519 26.59061 154.8703 124.8833 26.59061 156.126 121.8519 26.59061 154.8703 124.8833 26.59061 156.126 121.8519 26.59061 154.8703 124.8833 26.59061 157.3203 116.2986 28.34646 156.7945 117.3707 27.76811 157.3203 116.2986 28.34646 156.7945 117.3707 27.76811 156.7945 117.3707 27.76811 157.3203 116.2986 28.34646 155.6828 121.6447 26.3901 155.6828 121.6447 26.3901 155.6828 121.6447 26.3901 161.4738 62.9262 34.29282 161.4738 62.9262 34.29282 161.4738 62.9262 34.29282 161.5095 60.3285 31.08635 161.4883 62.55818 33.81531 161.0533 60.54622 30.99506 161.9333 62.28927 33.83484 161.4866 62.61712 33.8866 161.4866 62.61712 33.8866 161.9333 62.28927 33.83484 161.4883 62.55818 33.81531 161.5095 60.3285 31.08635 161.0533 60.54622 30.99506 161.4866 62.61712 33.8866 161.4883 62.55818 33.81531 161.0533 60.54622 30.99506 161.5095 60.3285 31.08635 161.9333 62.28927 33.83484 160.5493 54.61315 28.36501 160.5493 54.61315 28.36501 160.5493 54.61315 28.36501 161.2794 57.93316 29.55007 161.2794 57.93316 29.55007 161.2794 57.93316 29.55007 154.4656 41.2489 32.24455 155.3423 42.65268 30.15498 154.4656 41.2489 32.24455 155.3423 42.65268 30.15498 154.4656 41.2489 32.24455 155.3423 42.65268 30.15498 154.3146 41.17565 32.82041 154.3146 41.17565 32.82041 154.3146 41.17565 32.82041 153.5238 40.37314 33.88412 153.5238 40.37314 33.88412 153.5238 40.37314 33.88412 152.3415 39.0171 34.74606 152.3415 39.0171 34.74606 152.3415 39.0171 34.74606 151.0113 37.28349 34.74606 151.0113 37.28349 34.74606 151.0113 37.28349 34.74606 149.5314 35.18991 33.97659 149.5314 35.18991 33.97659 149.5314 35.18991 33.97659 147.6549 32.42874 32.50407 147.6549 32.42874 32.50407 147.6549 32.42874 32.50407 145.0976 29.02805 32.18758 145.0976 29.02805 32.18758 145.0976 29.02805 32.18758 142.897 26.36333 33.13464 142.897 26.36333 33.13464 142.897 26.36333 33.13464 141.4814 24.96899 35.2362 141.7981 25.10232 35.52825 141.7981 25.10232 35.52825 141.4814 24.96899 35.2362 141.7981 25.10232 35.52825 141.4814 24.96899 35.2362 158.6565 49.84687 27.78858 158.6565 49.84687 27.78858 158.6565 49.84687 27.78858 156.7895 45.66416 28.74016 156.7895 45.66416 28.74016 156.7895 45.66416 28.74016 140.3654 24.36054 36.5931 140.3654 24.36054 36.5931 140.3654 24.36054 36.5931 141.1099 24.81461 35.72499 141.1099 24.81461 35.72499 141.1099 24.81461 35.72499 126.6836 12.32292 28.34646 125.1969 11.18213 28.34646 127.904 13.31146 28.66312 130.7585 15.74347 30.13159 132.5395 17.45454 32.2253 133.7601 18.73137 34.29367 135.284 20.08625 35.42143 136.0722 20.7989 36.07658 136.0722 20.7989 36.07658 135.284 20.08625 35.42143 133.7601 18.73137 34.29367 132.5395 17.45454 32.2253 130.7585 15.74347 30.13159 127.904 13.31146 28.66312 126.6836 12.32292 28.34646 125.1969 11.18213 28.34646 136.0722 20.7989 36.07658 135.284 20.08625 35.42143 133.7601 18.73137 34.29367 132.5395 17.45454 32.2253 130.7585 15.74347 30.13159 127.904 13.31146 28.66312 126.6836 12.32292 28.34646 125.1969 11.18213 28.34646 108.0098 5.456106 36.83281 109.0037 5.583199 36.19255 104.6266 4.486906 37.80504 104.6266 4.486906 37.80504 108.0098 5.456106 36.83281 109.0037 5.583199 36.19255 109.0037 5.583199 36.19255 108.0098 5.456106 36.83281 104.6266 4.486906 37.80504 137.9561 22.59462 36.7531 137.9561 22.59462 36.7531 137.9561 22.59462 36.7531 83.46457 8.879047 49.78237 83.46457 4.061435 43.50394 83.46457 8.879047 49.78237 83.46457 4.061435 43.50394 83.46457 4.061435 43.50394 83.46457 8.879047 49.78237 101.1437 17.48499 54.59998 101.1437 17.48499 54.59998 101.1437 17.48499 54.59998 120.2787 35.48742 57.62846 113.9624 30.64075 57.62846 120.2787 35.48742 57.62846 113.9624 30.64075 57.62846 113.9624 30.64075 57.62846 120.2787 35.48742 57.62846 121.047 45.88212 58.66142 121.047 45.88212 58.66142 121.047 45.88212 58.66142 126.3826 69.70694 57.62846 122.6986 60.81281 57.62846 126.5425 70.09288 57.62846 126.5425 70.09288 57.62846 126.3826 69.70694 57.62846 122.6986 60.81281 57.62846 122.6986 60.81281 57.62846 126.3826 69.70694 57.62846 126.5425 70.09288 57.62846 120.1621 73.63148 54.59998 120.1621 73.63148 54.59998 120.1621 73.63148 54.59998 64.16041 155.5086 49.78237 64.16041 155.5086 49.78237 64.16041 155.5086 49.78237 83.46457 151.7717 54.59998 83.46457 151.7717 54.59998 83.46457 151.7717 54.59998 99.25141 142.3819 57.62846 99.25141 142.3819 57.62846 99.25141 142.3819 57.62846 112.0009 132.8909 58.14494 112.9926 127.2274 58.66142 110.0394 129.4935 58.66142 113.5951 126.7651 58.66142 113.5951 126.7651 58.66142 112.9926 127.2274 58.66142 112.0009 132.8909 58.14494 110.0394 129.4935 58.66142 110.0394 129.4935 58.66142 112.0009 132.8909 58.14494 113.5951 126.7651 58.66142 112.9926 127.2274 58.66142 116.5838 114.0853 57.62846 115.499 115.499 57.62846 116.8381 113.7539 57.62846 116.8381 113.7539 57.62846 116.5838 114.0853 57.62846 115.499 115.499 57.62846 115.499 115.499 57.62846 116.8381 113.7539 57.62846 116.5838 114.0853 57.62846 116.3667 102.4606 54.59998 116.3667 102.4606 54.59998 116.3667 102.4606 54.59998 115.1783 83.46457 49.78237 114.0976 91.67267 49.78237 115.1783 83.46457 49.78237 114.0976 91.67267 49.78237 114.0976 91.67267 49.78237 115.1783 83.46457 49.78237 145.8212 135.0709 34.07861 143.5053 137.5004 34.95109 145.8212 135.0709 34.07861 143.5053 137.5004 34.95109 145.8212 135.0709 34.07861 143.5053 137.5004 34.95109 146.9259 133.8283 33.15909 146.9259 133.8283 33.15909 146.9259 133.8283 33.15909 148.1415 132.6663 31.18986 148.1415 132.6663 31.18986 148.1415 132.6663 31.18986 150.0216 130.7094 28.88933 150.0216 130.7094 28.88933 150.0216 130.7094 28.88933 152.6515 127.6225 27.30135 152.6515 127.6225 27.30135 152.6515 127.6225 27.30135 103.828 162.7206 35.86244 104.8377 162.7206 34.92152 103.828 162.7206 35.86244 104.8377 162.7206 34.92152 104.8377 162.7206 34.92152 103.828 162.7206 35.86244 105.3343 162.6133 34.2254 107.2572 162.1976 31.52997 105.3343 162.6133 34.2254 107.2572 162.1976 31.52997 107.2572 162.1976 31.52997 105.3343 162.6133 34.2254 109.295 161.5898 29.85735 109.295 161.5898 29.85735 109.295 161.5898 29.85735 112.316 160.5493 28.36501 112.316 160.5493 28.36501 112.316 160.5493 28.36501 117.0823 158.6565 27.78858 117.0823 158.6565 27.78858 117.0823 158.6565 27.78858 121.1955 156.3883 28.40243 121.1955 156.3883 28.40243 121.1955 156.3883 28.40243 124.2131 154.4165 29.65421 125.7214 153.4745 31.89933 124.2131 154.4165 29.65421 125.7214 153.4745 31.89933 125.7214 153.4745 31.89933 124.2131 154.4165 29.65421 125.7806 153.3526 32.36463 125.7806 153.3526 32.36463 125.7806 153.3526 32.36463 126.4281 152.7145 33.22293 126.4281 152.7145 33.22293 126.4281 152.7145 33.22293 127.6059 151.6876 33.97155 127.6059 151.6876 33.97155 127.6059 151.6876 33.97155 129.1368 150.5128 33.97155 129.1368 150.5128 33.97155 129.1368 150.5128 33.97155 131.1189 149.1118 33.24307 131.1189 149.1118 33.24307 131.1189 149.1118 33.24307 133.937 147.1966 31.74017 133.937 147.1966 31.74017 133.937 147.1966 31.74017 137.5254 144.4981 31.40621 137.5254 144.4981 31.40621 137.5254 144.4981 31.40621 140.4204 142.1074 32.43512 140.4204 142.1074 32.43512 140.4204 142.1074 32.43512 58.91938 161.473 36.83281 42.24876 154.8524 36.19255 57.92546 161.3459 36.19255 43.763 152.2297 43.50394 43.763 152.2297 43.50394 58.91938 161.473 36.83281 42.24876 154.8524 36.19255 57.92546 161.3459 36.19255 43.763 152.2297 43.50394 42.24876 154.8524 36.19255 57.92546 161.3459 36.19255 58.91938 161.473 36.83281 62.39192 162.4955 37.68301 58.97106 161.5155 36.69995 62.39192 162.4955 37.68301 58.97106 161.5155 36.69995 62.39192 162.4955 37.68301 58.97106 161.5155 36.69995 64.42173 162.635 37.99138 64.42173 162.635 37.99138 64.42173 162.635 37.99138 66.50635 163.1182 37.48738 66.50635 163.1182 37.48738 66.50635 163.1182 37.48738 68.21715 163.893 36.16066 68.21715 163.893 36.16066 68.21715 163.893 36.16066 77.8218 166.1862 28.34646 72.75783 165.2496 30.39705 69.32603 164.3609 33.71549 68.37578 163.9847 35.6229 68.37578 163.9847 35.6229 69.32603 164.3609 33.71549 72.75783 165.2496 30.39705 77.8218 166.1862 28.34646 68.37578 163.9847 35.6229 69.32603 164.3609 33.71549 72.75783 165.2496 30.39705 77.8218 166.1862 28.34646 87.20247 166.297 27.28311 83.46457 166.8201 27.51831 84.03891 166.7135 27.28311 87.52606 166.3565 28.05863 87.52606 166.3565 28.05863 83.46457 166.8201 27.51831 87.20247 166.297 27.28311 84.03891 166.7135 27.28311 83.46457 166.8201 27.51831 84.03891 166.7135 27.28311 87.20247 166.297 27.28311 87.52606 166.3565 28.05863 89.79248 165.7174 30.64667 89.79248 165.7174 30.64667 89.79248 165.7174 30.64667 92.29281 164.447 35.36105 92.97798 163.565 37.27261 92.29281 164.447 35.36105 92.97798 163.565 37.27261 92.97798 163.565 37.27261 92.29281 164.447 35.36105 94.26247 162.9377 38.37857 94.26247 162.9377 38.37857 94.26247 162.9377 38.37857 95.48511 162.5682 38.88224 95.48511 162.5682 38.88224 95.48511 162.5682 38.88224 97.51622 162.4016 38.6388 97.51622 162.4016 38.6388 97.51622 162.4016 38.6388 99.71415 162.6682 37.29646 99.71415 162.6682 37.29646 99.71415 162.6682 37.29646 141.6671 140.1807 34.4441 141.7226 140.0474 34.61954 141.6671 140.1807 34.4441 141.7226 140.0474 34.61954 141.7226 140.0474 34.61954 141.6671 140.1807 34.4441 141.9892 139.5688 34.81373 141.9892 139.5688 34.81373 141.9892 139.5688 34.81373 154.4378 124.6503 26.3901 154.4378 124.6503 26.3901 154.4378 124.6503 26.3901 156.2957 118.4389 27.3694 155.1987 121.4444 26.32291 156.2957 118.4389 27.3694 155.1987 121.4444 26.32291 156.2957 118.4389 27.3694 155.1987 121.4444 26.32291 160.8747 58.20012 29.33934 160.4164 58.41082 29.24229 160.8747 58.20012 29.33934 160.4164 58.41082 29.24229 160.4164 58.41082 29.24229 160.8747 58.20012 29.33934 160.2142 54.84067 28.02241 160.2142 54.84067 28.02241 160.2142 54.84067 28.02241 153.9792 41.1618 32.05024 154.8987 42.63417 29.85859 153.9792 41.1618 32.05024 154.8987 42.63417 29.85859 153.9792 41.1618 32.05024 154.8987 42.63417 29.85859 153.8427 41.09558 32.57089 153.8427 41.09558 32.57089 153.8427 41.09558 32.57089 153.1402 40.38261 33.51592 153.1402 40.38261 33.51592 153.1402 40.38261 33.51592 152.0476 39.12957 34.31239 152.0476 39.12957 34.31239 152.0476 39.12957 34.31239 150.8072 37.51305 34.31239 150.8072 37.51305 34.31239 150.8072 37.51305 34.31239 149.3729 35.4839 33.5666 149.3729 35.4839 33.5666 149.3729 35.4839 33.5666 147.4741 32.68982 32.07653 147.4741 32.68982 32.07653 147.4741 32.68982 32.07653 144.8352 29.1807 31.74995 144.8352 29.1807 31.74995 144.8352 29.1807 31.74995 142.5248 26.38292 32.74429 142.5248 26.38292 32.74429 142.5248 26.38292 32.74429 141.0597 24.93988 34.91926 141.0597 24.93988 34.91926 141.0597 24.93988 34.91926 158.286 49.98517 27.43519 158.286 49.98517 27.43519 158.286 49.98517 27.43519 156.3883 45.73364 28.40243 156.3883 45.73364 28.40243 156.3883 45.73364 28.40243 140.2555 24.33849 36.07166 140.2555 24.33849 36.07166 140.2555 24.33849 36.07166 140.7719 24.82031 35.29783 140.7719 24.82031 35.29783 140.7719 24.82031 35.29783 137.969 22.66255 36.22351 135.3189 20.13646 35.27181 137.969 22.66255 36.22351 135.3189 20.13646 35.27181 135.3189 20.13646 35.27181 137.969 22.66255 36.22351 133.8271 18.8101 34.1678 133.8271 18.8101 34.1678 133.8271 18.8101 34.1678 132.6137 17.54073 32.11152 132.6137 17.54073 32.11152 132.6137 17.54073 32.11152 130.8112 15.80903 29.99258 130.8112 15.80903 29.99258 130.8112 15.80903 29.99258 127.9283 13.35288 28.50952 127.9283 13.35288 28.50952 127.9283 13.35288 28.50952 126.7377 12.38845 28.20058 126.7377 12.38845 28.20058 126.7377 12.38845 28.20058 125.1422 11.27677 27.5164 125.2096 11.34203 27.43385 125.1422 11.27677 27.5164 125.2096 11.34203 27.43385 125.1422 11.27677 27.5164 125.2096 11.34203 27.43385 118.5842 8.584404 29.34673 121.457 9.633015 28.34646 115.8284 7.635838 30.71218 112.3117 6.60291 33.71153 109.2521 5.584658 35.47464 108.9401 5.539161 36.06738 108.9401 5.539161 36.06738 109.2521 5.584658 35.47464 112.3117 6.60291 33.71153 115.8284 7.635838 30.71218 118.5842 8.584404 29.34673 121.457 9.633015 28.34646 121.457 9.633015 28.34646 118.5842 8.584404 29.34673 115.8284 7.635838 30.71218 112.3117 6.60291 33.71153 109.2521 5.584658 35.47464 108.9401 5.539161 36.06738 107.9581 5.413595 36.69995 107.9581 5.413595 36.69995 107.9581 5.413595 36.69995 104.5372 4.433602 37.68301 104.5455 4.445298 37.73037 104.5455 4.445298 37.73037 104.5372 4.433602 37.68301 104.5455 4.445298 37.73037 104.5372 4.433602 37.68301 98.67257 3.035128 36.19255 83.46457 1.032957 36.19255 100.3995 3.817226 37.5318 102.5038 4.304983 38.04055 102.5038 4.304983 38.04055 100.3995 3.817226 37.5318 98.67257 3.035128 36.19255 83.46457 1.032957 36.19255 83.46457 1.032957 36.19255 102.5038 4.304983 38.04055 100.3995 3.817226 37.5318 98.67257 3.035128 36.19255 62.91352 6.767031 43.50394 64.16041 11.42049 49.78237 64.16041 11.42049 49.78237 62.91352 6.767031 43.50394 62.91352 6.767031 43.50394 64.16041 11.42049 49.78237 83.46457 15.15748 54.59998 83.46457 15.15748 54.59998 83.46457 15.15748 54.59998 99.25141 24.54725 57.62846 99.25141 24.54725 57.62846 99.25141 24.54725 57.62846 110.0394 37.43566 58.66142 110.0394 37.43566 58.66142 110.0394 37.43566 58.66142 117.5193 54.06303 57.62846 115.499 51.43014 57.62846 121.3595 59.06771 57.62846 121.6138 59.39912 57.62846 121.6138 59.39912 57.62846 121.3595 59.06771 57.62846 117.5193 54.06303 57.62846 115.499 51.43014 57.62846 115.499 51.43014 57.62846 117.5193 54.06303 57.62846 121.3595 59.06771 57.62846 121.6138 59.39912 57.62846 116.3667 64.4685 54.59998 116.3667 64.4685 54.59998 116.3667 64.4685 54.59998 114.0976 75.25646 49.78237 114.0976 75.25646 49.78237 114.0976 75.25646 49.78237 46.17181 148.0575 49.78237 46.17181 148.0575 49.78237 46.17181 148.0575 49.78237 65.7854 149.4441 54.59998 65.7854 149.4441 54.59998 65.7854 149.4441 54.59998 83.46457 144.4603 57.62846 91.35799 143.4211 57.62846 91.35799 143.4211 57.62846 83.46457 144.4603 57.62846 83.46457 144.4603 57.62846 91.35799 143.4211 57.62846 98.23606 138.5925 58.14494 97.22071 134.8031 58.66142 98.23606 138.5925 58.14494 97.22071 134.8031 58.66142 97.22071 134.8031 58.66142 98.23606 138.5925 58.14494 106.1163 122.6986 57.62846 106.1163 122.6986 57.62846 106.1163 122.6986 57.62846 110.3291 110.3291 54.59998 110.3291 110.3291 54.59998 110.3291 110.3291 54.59998 110.9294 99.32141 49.78237 110.9294 99.32141 49.78237 110.9294 99.32141 49.78237 109.4442 90.42578 43.50394 110.3606 83.46457 43.50394 109.4442 90.42578 43.50394 110.3606 83.46457 43.50394 109.4442 90.42578 43.50394 110.3606 83.46457 43.50394 145.4126 134.8092 33.86658 143.1235 137.2106 34.72898 145.4126 134.8092 33.86658 143.1235 137.2106 34.72898 145.4126 134.8092 33.86658 143.1235 137.2106 34.72898 146.4803 133.6083 32.97784 146.4803 133.6083 32.97784 146.4803 133.6083 32.97784 147.6888 132.4531 31.02019 147.6888 132.4531 31.02019 147.6888 132.4531 31.02019 149.5886 130.4756 28.69553 149.5886 130.4756 28.69553 149.5886 130.4756 28.69553 152.2416 127.3616 27.09361 152.2416 127.3616 27.09361 152.2416 127.3616 27.09361 103.5984 162.4246 35.47836 104.4936 162.4246 34.64416 103.5984 162.4246 35.47836 104.4936 162.4246 34.64416 104.4936 162.4246 34.64416 103.5984 162.4246 35.47836 104.9541 162.325 33.99864 106.901 161.9042 31.26968 104.9541 162.325 33.99864 106.901 161.9042 31.26968 106.901 161.9042 31.26968 104.9541 162.325 33.99864 108.996 161.2794 29.55007 108.996 161.2794 29.55007 108.996 161.2794 29.55007 112.0885 160.2142 28.02241 112.0885 160.2142 28.02241 112.0885 160.2142 28.02241 116.944 158.286 27.43519 116.944 158.286 27.43519 116.944 158.286 27.43519 121.0623 155.9307 28.17394 121.0623 155.9307 28.17394 121.0623 155.9307 28.17394 124.1656 153.8477 29.74796 125.5455 152.9859 31.80209 124.1247 153.8899 29.6825 124.0413 153.9419 29.5585 124.0413 153.9419 29.5585 124.1247 153.8899 29.6825 124.1656 153.8477 29.74796 125.5455 152.9859 31.80209 124.0413 153.9419 29.5585 124.1247 153.8899 29.6825 124.1656 153.8477 29.74796 125.5455 152.9859 31.80209 125.5982 152.8775 32.21569 125.5982 152.8775 32.21569 125.5982 152.8775 32.21569 126.2088 152.2758 33.02512 126.2088 152.2758 33.02512 126.2088 152.2758 33.02512 127.3442 151.2858 33.74678 127.3442 151.2858 33.74678 127.3442 151.2858 33.74678 128.8269 150.1481 33.74678 128.8269 150.1481 33.74678 128.8269 150.1481 33.74678 130.7824 148.7658 33.02805 130.7824 148.7658 33.02805 130.7824 148.7658 33.02805 133.6141 146.8414 31.51792 133.6141 146.8414 31.51792 133.6141 146.8414 31.51792 137.2471 144.1094 31.17981 137.2471 144.1094 31.17981 137.2471 144.1094 31.17981 140.1969 141.6734 32.22819 140.1969 141.6734 32.22819 140.1969 141.6734 32.22819 30.94483 146.1786 36.19255 28.99964 144.3244 36.8911 25.47007 141.928 36.28862 27.31807 139.6111 43.50394 25.18261 141.7465 36.21303 26.55474 142.5324 36.72874 28.99964 144.3244 36.8911 27.31807 139.6111 43.50394 26.55474 142.5324 36.72874 25.47007 141.928 36.28862 25.18261 141.7465 36.21303 30.94483 146.1786 36.19255 30.94483 146.1786 36.19255 27.31807 139.6111 43.50394 25.18261 141.7465 36.21303 25.47007 141.928 36.28862 26.55474 142.5324 36.72874 28.99964 144.3244 36.8911 48.34493 158.3447 29.34673 41.73228 155.747 28.34646 45.47218 157.2961 28.34646 51.1007 159.2933 30.71218 54.61743 160.3262 33.71153 57.67707 161.3445 35.47464 57.98908 161.39 36.06738 57.98908 161.39 36.06738 57.67707 161.3445 35.47464 54.61743 160.3262 33.71153 51.1007 159.2933 30.71218 48.34493 158.3447 29.34673 41.73228 155.747 28.34646 45.47218 157.2961 28.34646 41.73228 155.747 28.34646 45.47218 157.2961 28.34646 48.34493 158.3447 29.34673 51.1007 159.2933 30.71218 54.61743 160.3262 33.71153 57.67707 161.3445 35.47464 57.98908 161.39 36.06738 62.50623 162.4847 37.16624 59.18937 161.5345 36.21307 62.50623 162.4847 37.16624 59.18937 161.5345 36.21307 62.50623 162.4847 37.16624 59.18937 161.5345 36.21307 64.40267 162.615 37.45435 64.40267 162.615 37.45435 64.40267 162.615 37.45435 66.29407 163.0534 36.99706 66.29407 163.0534 36.99706 66.29407 163.0534 36.99706 68.23585 163.9328 35.49122 68.23585 163.9328 35.49122 68.23585 163.9328 35.49122 69.17996 164.3066 33.59614 69.17996 164.3066 33.59614 69.17996 164.3066 33.59614 72.65941 165.2076 30.23163 72.65941 165.2076 30.23163 72.65941 165.2076 30.23163 77.79123 166.1568 28.15356 77.79123 166.1568 28.15356 77.79123 166.1568 28.15356 78.56988 166.1757 27.51831 78.56988 166.1757 27.51831 78.56988 166.1757 27.51831 83.98954 166.6256 27.11565 83.98954 166.6256 27.11565 83.98954 166.6256 27.11565 87.25859 166.1952 27.11565 87.25859 166.1952 27.11565 87.25859 166.1952 27.11565 90.11174 165.3907 30.37369 90.11174 165.3907 30.37369 90.11174 165.3907 30.37369 92.52056 164.0255 35.13441 93.17093 163.1883 36.94888 92.52056 164.0255 35.13441 93.17093 163.1883 36.94888 93.17093 163.1883 36.94888 92.52056 164.0255 35.13441 94.37374 162.601 37.98452 94.37374 162.601 37.98452 94.37374 162.601 37.98452 95.48654 162.2646 38.44294 95.48654 162.2646 38.44294 95.48654 162.2646 38.44294 97.37345 162.1098 38.21678 97.37345 162.1098 38.21678 97.37345 162.1098 38.21678 99.54207 162.3729 36.89234 99.54207 162.3729 36.89234 99.54207 162.3729 36.89234 141.3379 139.7834 34.31826 141.3683 139.7101 34.41465 141.3379 139.7834 34.31826 141.3683 139.7101 34.41465 141.3683 139.7101 34.41465 141.3379 139.7834 34.31826 141.6119 139.273 34.59202 141.6119 139.273 34.59202 141.6119 139.273 34.59202 153.9799 124.3867 26.32291 153.9799 124.3867 26.32291 153.9799 124.3867 26.32291 155.0941 121.4062 26.33794 154.9463 121.3521 26.35917 155.0941 121.4062 26.33794 154.9463 121.3521 26.35917 155.0941 121.4062 26.33794 154.9463 121.3521 26.35917 159.7952 55.06595 27.7911 159.7413 56.49458 28.28995 159.3208 55.27365 27.68682 159.7918 56.59734 28.34646 159.7952 55.06595 27.7911 159.7918 56.59734 28.34646 159.7413 56.49458 28.28995 159.3208 55.27365 27.68682 159.7918 56.59734 28.34646 159.7413 56.49458 28.28995 159.3208 55.27365 27.68682 159.7952 55.06595 27.7911 153.4745 41.20775 31.89933 154.4165 42.71603 29.65421 153.4745 41.20775 31.89933 154.4165 42.71603 29.65421 153.4745 41.20775 31.89933 154.4165 42.71603 29.65421 153.3526 41.14856 32.36463 153.3526 41.14856 32.36463 153.3526 41.14856 32.36463 152.7145 40.50103 33.22293 152.7145 40.50103 33.22293 152.7145 40.50103 33.22293 151.6876 39.32326 33.97155 151.6876 39.32326 33.97155 151.6876 39.32326 33.97155 150.5128 37.7923 33.97155 150.5128 37.7923 33.97155 150.5128 37.7923 33.97155 149.1118 35.81025 33.24307 149.1118 35.81025 33.24307 149.1118 35.81025 33.24307 147.1966 32.99211 31.74017 147.1966 32.99211 31.74017 147.1966 32.99211 31.74017 144.4981 29.40376 31.40621 144.4981 29.40376 31.40621 144.4981 29.40376 31.40621 142.1074 26.50874 32.43512 142.1074 26.50874 32.43512 142.1074 26.50874 32.43512 140.616 25.03981 34.64909 140.616 25.03981 34.64909 140.616 25.03981 34.64909 157.8463 50.15844 27.19758 157.8463 50.15844 27.19758 157.8463 50.15844 27.19758 155.9307 45.8668 28.17394 155.9307 45.8668 28.17394 155.9307 45.8668 28.17394 140.0774 24.43325 35.57965 140.0774 24.43325 35.57965 140.0774 24.43325 35.57965 140.4095 24.954 34.92078 140.4095 24.954 34.92078 140.4095 24.954 34.92078 135.3347 20.39359 34.80601 137.8929 22.83213 35.72471 137.8929 22.83213 35.72471 135.3347 20.39359 34.80601 135.3347 20.39359 34.80601 137.8929 22.83213 35.72471 133.9416 19.155 33.77505 133.9416 19.155 33.77505 133.9416 19.155 33.77505 132.7495 17.90786 31.75478 132.7495 17.90786 31.75478 132.7495 17.90786 31.75478 130.8831 16.11479 29.56073 130.8831 16.11479 29.56073 130.8831 16.11479 29.56073 127.9158 13.58676 28.03428 127.9158 13.58676 28.03428 127.9158 13.58676 28.03428 125.1968 11.38431 27.32877 125.1968 11.38431 27.32877 125.1968 11.38431 27.32877 122.2869 10.09405 27.5164 121.4282 9.649359 28.14635 121.4282 9.649359 28.14635 122.2869 10.09405 27.5164 122.2869 10.09405 27.5164 121.4282 9.649359 28.14635 122.2307 10.15571 27.32877 122.2307 10.15571 27.32877 122.2307 10.15571 27.32877 118.5075 8.583266 29.1633 118.5075 8.583266 29.1633 118.5075 8.583266 29.1633 115.721 7.624102 30.544 115.721 7.624102 30.544 115.721 7.624102 30.544 112.1997 6.589843 33.54722 112.1997 6.589843 33.54722 112.1997 6.589843 33.54722 109.1504 5.575025 35.30438 109.1504 5.575025 35.30438 109.1504 5.575025 35.30438 107.7398 5.394651 36.21307 107.7398 5.394651 36.21307 107.7398 5.394651 36.21307 102.5074 4.294105 37.99138 102.5074 4.294105 37.99138 102.5074 4.294105 37.99138 104.4229 4.444451 37.16624 104.4229 4.444451 37.16624 104.4229 4.444451 37.16624 66.80426 4.055074 38.19331 62.58403 4.001323 36.7222 69.08661 4.331966 39.58721 71.53302 4.131345 39.88043 75.21734 2.118725 36.19255 74.59173 2.924052 37.93793 73.072 3.666133 39.24645 71.53302 4.131345 39.88043 73.072 3.666133 39.24645 74.59173 2.924052 37.93793 75.21734 2.118725 36.19255 69.08661 4.331966 39.58721 66.80426 4.055074 38.19331 62.58403 4.001323 36.7222 62.58403 4.001323 36.7222 66.80426 4.055074 38.19331 75.21734 2.118725 36.19255 74.59173 2.924052 37.93793 73.072 3.666133 39.24645 71.53302 4.131345 39.88043 69.08661 4.331966 39.58721 100.4228 3.810894 37.48738 100.4228 3.810894 37.48738 100.4228 3.810894 37.48738 98.71199 3.036121 36.16066 98.71199 3.036121 36.16066 98.71199 3.036121 36.16066 89.10733 0.7428841 28.34646 83.46457 0 28.34646 94.17131 1.679535 30.39705 97.60311 2.56822 33.71549 98.55336 2.944439 35.6229 98.55336 2.944439 35.6229 97.60311 2.56822 33.71549 94.17131 1.679535 30.39705 89.10733 0.7428841 28.34646 83.46457 0 28.34646 98.55336 2.944439 35.6229 97.60311 2.56822 33.71549 94.17131 1.679535 30.39705 89.10733 0.7428841 28.34646 83.46457 0 28.34646 46.17181 18.87161 49.78237 43.763 14.69944 43.50394 46.17181 18.87161 49.78237 43.763 14.69944 43.50394 43.763 14.69944 43.50394 46.17181 18.87161 49.78237 65.7854 17.48499 54.59998 65.7854 17.48499 54.59998 65.7854 17.48499 54.59998 83.46457 22.46887 57.62846 83.46457 22.46887 57.62846 83.46457 22.46887 57.62846 103.63 34.78082 58.66142 97.22071 32.12599 58.66142 105.3141 35.47838 58.66142 105.3141 35.47838 58.66142 103.63 34.78082 58.66142 97.22071 32.12599 58.66142 97.22071 32.12599 58.66142 103.63 34.78082 58.66142 105.3141 35.47838 58.66142 106.1163 44.23057 57.62846 106.1163 44.23057 57.62846 106.1163 44.23057 57.62846 110.3291 56.60008 54.59998 110.3291 56.60008 54.59998 110.3291 56.60008 54.59998 112.5135 71.43209 49.78237 110.9294 67.60772 49.78237 112.5135 71.43209 49.78237 110.9294 67.60772 49.78237 110.9294 67.60772 49.78237 112.5135 71.43209 49.78237 109.4442 76.50335 43.50394 109.4442 76.50335 43.50394 109.4442 76.50335 43.50394 30.72464 136.2045 49.78237 30.72464 136.2045 49.78237 30.72464 136.2045 49.78237 49.31102 142.6202 54.59998 49.31102 142.6202 54.59998 49.31102 142.6202 54.59998 67.67772 142.3819 57.62846 67.67772 142.3819 57.62846 67.67772 142.3819 57.62846 87.1552 136.1283 58.66142 83.46457 136.6142 58.66142 87.90811 136.0292 58.66142 88.53543 135.9466 58.66142 90.34263 135.7087 58.66142 90.34263 135.7087 58.66142 88.53543 135.9466 58.66142 87.90811 136.0292 58.66142 87.1552 136.1283 58.66142 83.46457 136.6142 58.66142 83.46457 136.6142 58.66142 90.34263 135.7087 58.66142 88.53543 135.9466 58.66142 87.90811 136.0292 58.66142 87.1552 136.1283 58.66142 96.83625 126.5425 57.62846 95.18998 127.2244 57.62846 97.22219 126.3826 57.62846 97.22219 126.3826 57.62846 96.83625 126.5425 57.62846 95.18998 127.2244 57.62846 95.18998 127.2244 57.62846 97.22219 126.3826 57.62846 96.83625 126.5425 57.62846 103.0153 115.9411 54.59998 102.4606 116.3667 54.59998 106.3948 113.3479 54.59998 106.3948 113.3479 54.59998 103.0153 115.9411 54.59998 102.4606 116.3667 54.59998 102.4606 116.3667 54.59998 106.3948 113.3479 54.59998 103.0153 115.9411 54.59998 108.4095 102.6055 49.78237 105.8895 105.8895 49.78237 108.4095 102.6055 49.78237 105.8895 105.8895 49.78237 105.8895 105.8895 49.78237 108.4095 102.6055 49.78237 106.7573 96.91262 43.50394 106.7573 96.91262 43.50394 106.7573 96.91262 43.50394 107.3322 83.46457 36.19255 106.5189 89.64196 36.19255 106.5189 89.64196 36.19255 107.3322 83.46457 36.19255 106.5189 89.64196 36.19255 107.3322 83.46457 36.19255 145.1647 134.6101 33.81216 143.06 137.1594 34.71497 145.1647 134.6101 33.81216 143.06 137.1594 34.71497 143.06 137.1594 34.71497 145.1647 134.6101 33.81216 146.2244 133.4182 32.93011 146.2244 133.4182 32.93011 146.2244 133.4182 32.93011 147.4325 132.2634 30.97306 147.4325 132.2634 30.97306 147.4325 132.2634 30.97306 149.3333 130.2849 28.64714 149.3333 130.2849 28.64714 149.3333 130.2849 28.64714 149.8313 129.7004 28.34646 150.934 128.0928 27.55128 151.8252 127.0467 27.01312 151.8252 127.0467 27.01312 150.934 128.0928 27.55128 149.8313 129.7004 28.34646 149.8313 129.7004 28.34646 150.934 128.0928 27.55128 151.8252 127.0467 27.01312 103.4176 162.0254 35.17393 104.2139 162.0254 34.43193 103.4176 162.0254 35.17393 104.2139 162.0254 34.43193 104.2139 162.0254 34.43193 103.4176 162.0254 35.17393 104.6399 161.9333 33.83484 106.6006 161.5095 31.08635 104.6399 161.9333 33.83484 106.6006 161.5095 31.08635 106.6006 161.5095 31.08635 104.6399 161.9333 33.83484 108.729 160.8747 29.33934 108.729 160.8747 29.33934 108.729 160.8747 29.33934 111.8632 159.7952 27.7911 111.8632 159.7952 27.7911 111.8632 159.7952 27.7911 116.7707 157.8463 27.19758 116.7707 157.8463 27.19758 116.7707 157.8463 27.19758 121.3421 155.2232 28.28995 120.8746 155.4479 28.07029 121.4615 155.1818 28.34646 121.4615 155.1818 28.34646 121.3421 155.2232 28.28995 120.8746 155.4479 28.07029 121.3421 155.2232 28.28995 120.8746 155.4479 28.07029 121.4615 155.1818 28.34646 125.3112 152.6356 31.77263 125.3112 152.6356 31.77263 125.3112 152.6356 31.77263 125.3593 152.5365 32.15071 125.3593 152.5365 32.15071 125.3593 152.5365 32.15071 125.9653 151.9393 32.954 125.9653 151.9393 32.954 125.9653 151.9393 32.954 127.0953 150.954 33.67228 127.0953 150.954 33.67228 127.0953 150.954 33.67228 128.572 149.8209 33.67228 128.572 149.8209 33.67228 128.572 149.8209 33.67228 130.5242 148.441 32.95477 130.5242 148.441 32.95477 130.5242 148.441 32.95477 133.3576 146.5154 31.44374 133.3576 146.5154 31.44374 133.3576 146.5154 31.44374 136.9962 143.7791 31.10511 136.9962 143.7791 31.10511 136.9962 143.7791 31.10511 139.9529 141.3375 32.15593 139.9529 141.3375 32.15593 139.9529 141.3375 32.15593 140.64 140.64 33.19144 140.8559 140.2727 33.59179 140.8559 140.2727 33.59179 140.64 140.64 33.19144 140.64 140.64 33.19144 140.8559 140.2727 33.59179 40.24557 154.6062 28.34646 39.02518 153.6177 28.66312 36.17059 151.1857 30.13159 34.3896 149.4746 32.2253 33.16908 148.1978 34.29367 31.64517 146.8429 35.42143 30.8569 146.1302 36.07658 30.8569 146.1302 36.07658 31.64517 146.8429 35.42143 33.16908 148.1978 34.29367 34.3896 149.4746 32.2253 36.17059 151.1857 30.13159 39.02518 153.6177 28.66312 40.24557 154.6062 28.34646 30.8569 146.1302 36.07658 31.64517 146.8429 35.42143 33.16908 148.1978 34.29367 34.3896 149.4746 32.2253 36.17059 151.1857 30.13159 39.02518 153.6177 28.66312 40.24557 154.6062 28.34646 12.0767 124.6804 36.19255 14.69944 123.1661 43.50394 25.16705 141.7401 36.19255 25.16705 141.7401 36.19255 12.0767 124.6804 36.19255 14.69944 123.1661 43.50394 12.0767 124.6804 36.19255 25.16705 141.7401 36.19255 14.69944 123.1661 43.50394 25.52881 141.9918 36.17316 25.16513 141.764 36.06918 25.27665 141.8871 35.84138 25.52881 141.9918 36.17316 25.16513 141.764 36.06918 25.27665 141.8871 35.84138 25.52881 141.9918 36.17316 25.16513 141.764 36.06918 25.27665 141.8871 35.84138 26.56373 142.5686 36.5931 26.56373 142.5686 36.5931 26.56373 142.5686 36.5931 28.97306 144.3345 36.7531 28.97306 144.3345 36.7531 28.97306 144.3345 36.7531 44.64227 156.8351 27.5164 41.78692 155.6524 27.5164 45.50098 157.2798 28.14635 45.50098 157.2798 28.14635 44.64227 156.8351 27.5164 41.78692 155.6524 27.5164 41.78692 155.6524 27.5164 44.64227 156.8351 27.5164 45.50098 157.2798 28.14635 48.42162 158.3459 29.1633 48.42162 158.3459 29.1633 48.42162 158.3459 29.1633 51.20817 159.305 30.544 51.20817 159.305 30.544 51.20817 159.305 30.544 54.72944 160.3393 33.54722 54.72944 160.3393 33.54722 54.72944 160.3393 33.54722 57.77876 161.3541 35.30438 57.77876 161.3541 35.30438 57.77876 161.3541 35.30438 62.63874 162.3388 36.6739 59.42518 161.4182 35.75041 62.63874 162.3388 36.6739 59.42518 161.4182 35.75041 62.63874 162.3388 36.6739 59.42518 161.4182 35.75041 64.40467 162.4601 36.94218 64.40467 162.4601 36.94218 64.40467 162.4601 36.94218 66.13235 162.8606 36.52447 66.13235 162.8606 36.52447 66.13235 162.8606 36.52447 67.91723 163.6689 35.14031 67.91723 163.6689 35.14031 67.91723 163.6689 35.14031 68.84105 164.0347 33.28596 68.84105 164.0347 33.28596 68.84105 164.0347 33.28596 72.43703 164.9659 29.80877 72.43703 164.9659 29.80877 72.43703 164.9659 29.80877 78.54676 166.096 27.3347 78.54676 166.096 27.3347 78.54676 166.096 27.3347 83.46457 166.7434 27.3347 83.46457 166.7434 27.3347 83.46457 166.7434 27.3347 83.98954 166.2542 26.73696 87.35604 165.811 26.73696 83.98954 166.2542 26.73696 87.35604 165.811 26.73696 83.98954 166.2542 26.73696 87.35604 165.811 26.73696 90.33662 164.9705 30.1405 90.33662 164.9705 30.1405 90.33662 164.9705 30.1405 92.62696 163.5442 34.93687 93.24849 162.7442 36.67085 92.62696 163.5442 34.93687 93.24849 162.7442 36.67085 93.24849 162.7442 36.67085 92.62696 163.5442 34.93687 94.40548 162.1792 37.66704 94.40548 162.1792 37.66704 94.40548 162.1792 37.66704 95.45669 161.8614 38.10009 95.45669 161.8614 38.10009 95.45669 161.8614 38.10009 97.26272 161.7133 37.88362 97.26272 161.7133 37.88362 97.26272 161.7133 37.88362 99.4149 161.9744 36.56923 99.4149 161.9744 36.56923 99.4149 161.9744 36.56923 141.2289 139.6167 34.38412 141.1993 139.6721 34.3055 141.2289 139.6167 34.38412 141.1993 139.6721 34.3055 141.1993 139.6721 34.3055 141.2289 139.6167 34.38412 141.5141 139.205 34.57109 141.5141 139.205 34.57109 141.5141 139.205 34.57109 153.8156 124.0818 26.35917 153.8839 124.3279 26.33794 153.7096 124.2213 26.3652 153.8839 124.3279 26.33794 153.8156 124.0818 26.35917 153.7096 124.2213 26.3652 153.8839 124.3279 26.33794 153.7096 124.2213 26.3652 153.8156 124.0818 26.35917 159.1732 55.32584 27.69569 159.1732 55.32584 27.69569 159.1732 55.32584 27.69569 157.3674 50.35488 27.09195 157.3674 50.35488 27.09195 157.3674 50.35488 27.09195 153.8899 42.80448 29.6825 153.9419 42.88779 29.5585 153.8477 42.76357 29.74796 152.9859 41.3836 31.80209 152.9859 41.3836 31.80209 153.8477 42.76357 29.74796 153.8899 42.80448 29.6825 153.9419 42.88779 29.5585 153.9419 42.88779 29.5585 153.8899 42.80448 29.6825 153.8477 42.76357 29.74796 152.9859 41.3836 31.80209 152.8775 41.33098 32.21569 152.8775 41.33098 32.21569 152.8775 41.33098 32.21569 152.2758 40.72033 33.02512 152.2758 40.72033 33.02512 152.2758 40.72033 33.02512 151.2858 39.58498 33.74678 151.2858 39.58498 33.74678 151.2858 39.58498 33.74678 150.1481 38.10223 33.74678 150.1481 38.10223 33.74678 150.1481 38.10223 33.74678 148.7658 36.14672 33.02805 148.7658 36.14672 33.02805 148.7658 36.14672 33.02805 146.8414 33.31502 31.51792 146.8414 33.31502 31.51792 146.8414 33.31502 31.51792 144.1094 29.68202 31.17981 144.1094 29.68202 31.17981 144.1094 29.68202 31.17981 141.6734 26.7322 32.22819 141.6734 26.7322 32.22819 141.6734 26.7322 32.22819 140.1807 25.262 34.4441 140.1807 25.262 34.4441 140.1807 25.262 34.4441 155.4479 46.05456 28.07029 155.4479 46.05456 28.07029 155.4479 46.05456 28.07029 155.1818 45.46764 28.34646 155.2232 45.58701 28.28995 155.2232 45.58701 28.28995 155.1818 45.46764 28.34646 155.2232 45.58701 28.28995 155.1818 45.46764 28.34646 139.8432 24.63838 35.15059 139.8432 24.63838 35.15059 139.8432 24.63838 35.15059 140.0474 25.20658 34.61954 140.0474 25.20658 34.61954 140.0474 25.20658 34.61954 135.2501 20.72496 34.39903 137.7331 23.09178 35.29072 137.7331 23.09178 35.29072 135.2501 20.72496 34.39903 135.2501 20.72496 34.39903 137.7331 23.09178 35.29072 133.942 19.56197 33.431 133.942 19.56197 33.431 133.942 19.56197 33.431 132.7674 18.33316 31.44042 132.7674 18.33316 31.44042 132.7674 18.33316 31.44042 130.8484 16.48947 29.18444 130.8484 16.48947 29.18444 130.8484 16.48947 29.18444 127.8115 13.90217 27.6222 127.8115 13.90217 27.6222 127.8115 13.90217 27.6222 125.0697 11.68125 26.91077 125.0697 11.68125 26.91077 125.0697 11.68125 26.91077 118.2709 8.710295 28.70755 118.2709 8.710295 28.70755 118.2709 8.710295 28.70755 122.0517 10.43117 26.91077 122.0517 10.43117 26.91077 122.0517 10.43117 26.91077 115.4109 7.72586 30.12463 115.4109 7.72586 30.12463 115.4109 7.72586 30.12463 111.8789 6.688431 33.13706 111.8789 6.688431 33.13706 111.8789 6.688431 33.13706 108.863 5.684759 34.87492 108.863 5.684759 34.87492 108.863 5.684759 34.87492 107.504 5.510974 35.75041 107.504 5.510974 35.75041 107.504 5.510974 35.75041 102.5265 4.31412 37.45435 102.5265 4.31412 37.45435 102.5265 4.31412 37.45435 104.2904 4.590367 36.6739 104.2904 4.590367 36.6739 104.2904 4.590367 36.6739 67.00972 4.088902 37.75404 62.83847 4.035775 36.3 67.00972 4.088902 37.75404 62.83847 4.035775 36.3 62.83847 4.035775 36.3 67.00972 4.088902 37.75404 79.39945 0.5351822 28.34646 77.28656 1.130992 30.75919 75.12925 2.064456 35.69224 75.12925 2.064456 35.69224 77.28656 1.130992 30.75919 79.39945 0.5351822 28.34646 79.39945 0.5351822 28.34646 77.28656 1.130992 30.75919 75.12925 2.064456 35.69224 74.24633 3.080654 37.61997 74.96988 2.149258 35.60136 74.24633 3.080654 37.61997 74.96988 2.149258 35.60136 74.24633 3.080654 37.61997 74.96988 2.149258 35.60136 72.84987 3.762545 38.82236 72.84987 3.762545 38.82236 72.84987 3.762545 38.82236 71.47664 4.177652 39.38805 71.47664 4.177652 39.38805 71.47664 4.177652 39.38805 69.24785 4.360428 39.12092 69.24785 4.360428 39.12092 69.24785 4.360428 39.12092 100.6351 3.875696 36.99706 100.6351 3.875696 36.99706 100.6351 3.875696 36.99706 98.69329 2.996315 35.49122 98.69329 2.996315 35.49122 98.69329 2.996315 35.49122 97.74919 2.62253 33.59614 97.74919 2.62253 33.59614 97.74919 2.62253 33.59614 94.26972 1.721505 30.23163 94.26972 1.721505 30.23163 94.26972 1.721505 30.23163 89.1379 0.772304 28.15356 89.1379 0.772304 28.15356 89.1379 0.772304 28.15356 88.35926 0.753426 27.51831 83.46457 0.1090279 27.51831 88.35926 0.753426 27.51831 83.46457 0.1090279 27.51831 83.46457 0.1090279 27.51831 88.35926 0.753426 27.51831 30.72464 30.72464 49.78237 27.31807 27.31807 43.50394 30.72464 30.72464 49.78237 27.31807 27.31807 43.50394 27.31807 27.31807 43.50394 30.72464 30.72464 49.78237 49.31102 24.30889 54.59998 49.31102 24.30889 54.59998 49.31102 24.30889 54.59998 67.67772 24.54725 57.62846 67.67772 24.54725 57.62846 67.67772 24.54725 57.62846 90.34263 31.22048 58.66142 83.46457 30.31496 58.66142 92.14984 31.4584 58.66142 92.77716 31.54099 58.66142 93.53006 31.64011 58.66142 93.53006 31.64011 58.66142 92.77716 31.54099 58.66142 92.14984 31.4584 58.66142 90.34263 31.22048 58.66142 83.46457 30.31496 58.66142 83.46457 30.31496 58.66142 90.34263 31.22048 58.66142 92.14984 31.4584 58.66142 92.77716 31.54099 58.66142 93.53006 31.64011 58.66142 95.18998 39.70473 57.62846 95.18998 39.70473 57.62846 95.18998 39.70473 57.62846 102.4606 50.56242 54.59998 102.4606 50.56242 54.59998 102.4606 50.56242 54.59998 105.8895 61.0396 49.78237 105.8895 61.0396 49.78237 105.8895 61.0396 49.78237 106.7573 70.01654 43.50394 106.7573 70.01654 43.50394 106.7573 70.01654 43.50394 106.5189 77.28718 36.19255 106.5189 77.28718 36.19255 106.5189 77.28718 36.19255 18.87161 120.7573 49.78237 18.87161 120.7573 49.78237 18.87161 120.7573 49.78237 35.16416 131.765 54.59998 35.16416 131.765 54.59998 35.16416 131.765 54.59998 52.96672 136.2884 57.62846 60.32222 139.3351 57.62846 60.32222 139.3351 57.62846 52.96672 136.2884 57.62846 52.96672 136.2884 57.62846 60.32222 139.3351 57.62846 69.70845 134.8031 58.66142 76.5865 135.7087 58.66142 76.5865 135.7087 58.66142 69.70845 134.8031 58.66142 69.70845 134.8031 58.66142 76.5865 135.7087 58.66142 83.46457 128.7681 57.62846 83.46457 128.7681 57.62846 83.46457 128.7681 57.62846 93.29766 120.1621 54.59998 93.29766 120.1621 54.59998 93.29766 120.1621 54.59998 99.32141 110.9294 49.78237 99.32141 110.9294 49.78237 99.32141 110.9294 49.78237 102.483 102.483 43.50394 102.483 102.483 43.50394 102.483 102.483 43.50394 104.1345 95.39837 36.19255 104.1345 95.39837 36.19255 104.1345 95.39837 36.19255 105.696 88.04634 28.34646 106.2992 83.46457 28.34646 105.5962 89.39471 28.93636 105.5962 89.39471 28.93636 105.696 88.04634 28.34646 106.2992 83.46457 28.34646 106.2992 83.46457 28.34646 105.696 88.04634 28.34646 105.5962 89.39471 28.93636 151.7414 126.9729 27.02423 151.7209 126.9548 27.02694 151.7209 126.9548 27.02694 151.7414 126.9729 27.02423 151.7209 126.9548 27.02694 151.7414 126.9729 27.02423 104.0176 161.5503 34.2993 103.298 161.5503 34.96989 104.0176 161.5503 34.2993 103.298 161.5503 34.96989 104.0176 161.5503 34.2993 103.298 161.5503 34.96989 104.371 161.4883 33.81531 106.3829 161.0533 30.99506 104.312 161.4866 33.8866 104.371 161.4883 33.81531 104.312 161.4866 33.8866 106.3829 161.0533 30.99506 104.312 161.4866 33.8866 104.371 161.4883 33.81531 106.3829 161.0533 30.99506 108.5183 160.4164 29.24229 108.5183 160.4164 29.24229 108.5183 160.4164 29.24229 110.3318 159.7918 28.34646 110.4346 159.7413 28.28995 111.6555 159.3208 27.68682 111.6555 159.3208 27.68682 110.4346 159.7413 28.28995 110.3318 159.7918 28.34646 110.3318 159.7918 28.34646 110.4346 159.7413 28.28995 111.6555 159.3208 27.68682 116.5743 157.3674 27.09195 116.5743 157.3674 27.09195 116.5743 157.3674 27.09195 120.8498 155.3966 28.07334 120.8498 155.3966 28.07334 120.8498 155.3966 28.07334 28.96016 144.2666 36.22351 31.61022 146.7927 35.27181 28.96016 144.2666 36.22351 31.61022 146.7927 35.27181 31.61022 146.7927 35.27181 28.96016 144.2666 36.22351 33.10205 148.119 34.1678 33.10205 148.119 34.1678 33.10205 148.119 34.1678 34.31543 149.3884 32.11152 34.31543 149.3884 32.11152 34.31543 149.3884 32.11152 36.11789 151.1201 29.99258 36.11789 151.1201 29.99258 36.11789 151.1201 29.99258 39.00083 153.5763 28.50952 39.00083 153.5763 28.50952 39.00083 153.5763 28.50952 40.19146 154.5407 28.20058 40.19146 154.5407 28.20058 40.19146 154.5407 28.20058 41.71957 155.5871 27.43385 41.71957 155.5871 27.43385 41.71957 155.5871 27.43385 14.40587 127.9327 35.1811 13.12911 126.4683 34.25032 12.24555 125.5717 33.06182 11.61417 124.9474 32.13578 11.96692 125.3672 32.32191 12.08283 125.4927 32.44104 15.83058 129.7894 35.1811 17.35834 131.9507 34.38672 19.21126 134.6773 32.93267 21.68291 137.964 32.62679 23.76791 140.4888 33.52412 25.11427 141.8149 35.52278 25.11427 141.8149 35.52278 23.76791 140.4888 33.52412 21.68291 137.964 32.62679 19.21126 134.6773 32.93267 17.35834 131.9507 34.38672 15.83058 129.7894 35.1811 14.40587 127.9327 35.1811 12.08283 125.4927 32.44104 11.96692 125.3672 32.32191 12.24555 125.5717 33.06182 11.61417 124.9474 32.13578 13.12911 126.4683 34.25032 11.61417 124.9474 32.13578 11.96692 125.3672 32.32191 12.08283 125.4927 32.44104 12.24555 125.5717 33.06182 13.12911 126.4683 34.25032 14.40587 127.9327 35.1811 15.83058 129.7894 35.1811 17.35834 131.9507 34.38672 19.21126 134.6773 32.93267 21.68291 137.964 32.62679 23.76791 140.4888 33.52412 25.11427 141.8149 35.52278 4.036303 104.7473 36.67882 6.767031 104.0156 43.50394 4.036303 105.2691 36.19255 4.036303 105.2691 36.19255 4.036303 104.7473 36.67882 6.767031 104.0156 43.50394 6.767031 104.0156 43.50394 4.036303 104.7473 36.67882 4.036303 105.2691 36.19255 25.13101 141.8268 35.52825 25.13101 141.8268 35.52825 25.13101 141.8268 35.52825 25.81925 142.1145 35.72499 25.44777 141.9601 35.2362 25.81925 142.1145 35.72499 25.44777 141.9601 35.2362 25.44777 141.9601 35.2362 25.81925 142.1145 35.72499 26.6736 142.5906 36.07166 26.6736 142.5906 36.07166 26.6736 142.5906 36.07166 41.73233 155.5448 27.32877 44.69843 156.7734 27.32877 41.73233 155.5448 27.32877 44.69843 156.7734 27.32877 44.69843 156.7734 27.32877 41.73233 155.5448 27.32877 48.65824 158.2188 28.70755 48.65824 158.2188 28.70755 48.65824 158.2188 28.70755 51.51822 159.2033 30.12463 51.51822 159.2033 30.12463 51.51822 159.2033 30.12463 55.05028 160.2407 33.13706 55.05028 160.2407 33.13706 55.05028 160.2407 33.13706 58.0661 161.2444 34.87492 58.0661 161.2444 34.87492 58.0661 161.2444 34.87492 62.78045 162.0677 36.23954 59.66244 161.1745 35.34352 62.78045 162.0677 36.23954 59.66244 161.1745 35.34352 62.78045 162.0677 36.23954 59.66244 161.1745 35.34352 64.4276 162.1809 36.48978 64.4276 162.1809 36.48978 64.4276 162.1809 36.48978 66.03223 162.5529 36.10182 66.03223 162.5529 36.10182 66.03223 162.5529 36.10182 67.68325 163.3006 34.82148 67.68325 163.3006 34.82148 67.68325 163.3006 34.82148 68.58462 163.6574 33.01216 68.58462 163.6574 33.01216 68.58462 163.6574 33.01216 72.27581 164.6133 29.44292 72.27581 164.6133 29.44292 72.27581 164.6133 29.44292 78.51699 165.7677 26.91562 78.51699 165.7677 26.91562 78.51699 165.7677 26.91562 83.46457 166.4191 26.91562 83.46457 166.4191 26.91562 83.46457 166.4191 26.91562 87.3898 165.3489 26.46649 83.98954 165.7965 26.46649 87.3898 165.3489 26.46649 83.98954 165.7965 26.46649 83.98954 165.7965 26.46649 87.3898 165.3489 26.46649 90.4518 164.4854 29.963 90.4518 164.4854 29.963 90.4518 164.4854 29.963 92.92033 162.7499 35.68306 93.21502 162.3705 36.50522 92.76448 162.8304 35.2274 92.60479 163.0359 34.7819 92.60479 163.0359 34.7819 92.76448 162.8304 35.2274 92.92033 162.7499 35.68306 93.21502 162.3705 36.50522 92.76448 162.8304 35.2274 92.60479 163.0359 34.7819 92.92033 162.7499 35.68306 93.21502 162.3705 36.50522 94.36672 161.8082 37.49685 94.36672 161.8082 37.49685 94.36672 161.8082 37.49685 95.41082 161.4925 37.92696 95.41082 161.4925 37.92696 95.41082 161.4925 37.92696 97.20749 161.3452 37.71161 97.20749 161.3452 37.71161 97.20749 161.3452 37.71161 99.35778 161.6061 36.39838 99.35778 161.6061 36.39838 99.35778 161.6061 36.39838 101.4098 161.6322 35.68306 102.5592 161.5409 35.2274 102.5592 161.5409 35.2274 101.4098 161.6322 35.68306 101.4098 161.6322 35.68306 102.5592 161.5409 35.2274 157.0819 50.47616 27.11167 157.0819 50.47616 27.11167 157.0819 50.47616 27.11167 152.6356 41.61794 31.77263 152.6356 41.61794 31.77263 152.6356 41.61794 31.77263 152.5365 41.56985 32.15071 152.5365 41.56985 32.15071 152.5365 41.56985 32.15071 151.9393 40.96382 32.954 151.9393 40.96382 32.954 151.9393 40.96382 32.954 150.954 39.83379 33.67228 150.954 39.83379 33.67228 150.954 39.83379 33.67228 149.8209 38.35709 33.67228 149.8209 38.35709 33.67228 149.8209 38.35709 33.67228 148.441 36.4049 32.95477 148.441 36.4049 32.95477 148.441 36.4049 32.95477 146.5154 33.57151 31.44374 146.5154 33.57151 31.44374 146.5154 33.57151 31.44374 143.7791 29.93291 31.10511 143.7791 29.93291 31.10511 143.7791 29.93291 31.10511 141.3375 26.97622 32.15593 141.3375 26.97622 32.15593 141.3375 26.97622 32.15593 140.2727 26.07328 33.59179 139.7834 25.59128 34.31826 140.64 26.28918 33.19144 140.64 26.28918 33.19144 140.2727 26.07328 33.59179 139.7834 25.59128 34.31826 140.64 26.28918 33.19144 140.2727 26.07328 33.59179 139.7834 25.59128 34.31826 155.3966 46.07938 28.07334 155.3966 46.07938 28.07334 155.3966 46.07938 28.07334 139.5688 24.93988 34.81373 139.5688 24.93988 34.81373 139.5688 24.93988 34.81373 139.7101 25.56083 34.41465 139.7101 25.56083 34.41465 139.7101 25.56083 34.41465 137.5004 23.42382 34.95109 135.0709 21.10797 34.07861 137.5004 23.42382 34.95109 135.0709 21.10797 34.07861 135.0709 21.10797 34.07861 137.5004 23.42382 34.95109 133.8283 20.00326 33.15909 133.8283 20.00326 33.15909 133.8283 20.00326 33.15909 132.6663 18.78763 31.18986 132.6663 18.78763 31.18986 132.6663 18.78763 31.18986 130.7094 16.90753 28.88933 130.7094 16.90753 28.88933 130.7094 16.90753 28.88933 127.6225 14.27761 27.30135 127.6225 14.27761 27.30135 127.6225 14.27761 27.30135 124.8833 12.05883 26.59061 124.8833 12.05883 26.59061 124.8833 12.05883 26.59061 118.0179 8.958729 28.31533 118.0179 8.958729 28.31533 118.0179 8.958729 28.31533 121.8519 10.80315 26.59061 121.8519 10.80315 26.59061 121.8519 10.80315 26.59061 115.098 7.953681 29.76209 115.098 7.953681 29.76209 115.098 7.953681 29.76209 111.5572 6.913665 32.78202 111.5572 6.913665 32.78202 111.5572 6.913665 32.78202 108.5786 5.922388 34.49842 108.5786 5.922388 34.49842 108.5786 5.922388 34.49842 107.2667 5.754637 35.34352 107.2667 5.754637 35.34352 107.2667 5.754637 35.34352 102.5245 4.469005 36.94218 102.5245 4.469005 36.94218 102.5245 4.469005 36.94218 104.1487 4.861406 36.23954 104.1487 4.861406 36.23954 104.1487 4.861406 36.23954 61.46478 4.01302 35.4554 61.70644 4.035775 35.24512 61.46478 4.01302 35.4554 61.70644 4.035775 35.24512 61.46478 4.01302 35.4554 61.70644 4.035775 35.24512 67.21498 4.260894 37.29646 63.10117 4.208499 35.86244 67.21498 4.260894 37.29646 63.10117 4.208499 35.86244 63.10117 4.208499 35.86244 67.21498 4.260894 37.29646 79.72666 0.6320966 27.28311 82.89023 0.2156054 27.28311 79.40307 0.5725989 28.05863 79.40307 0.5725989 28.05863 79.72666 0.6320966 27.28311 82.89023 0.2156054 27.28311 82.89023 0.2156054 27.28311 79.72666 0.6320966 27.28311 79.40307 0.5725989 28.05863 77.13666 1.2117 30.64667 77.13666 1.2117 30.64667 77.13666 1.2117 30.64667 74.63633 2.482183 35.36105 73.95115 3.36418 37.27261 73.95115 3.36418 37.27261 74.63633 2.482183 35.36105 73.95115 3.36418 37.27261 74.63633 2.482183 35.36105 72.66667 3.991392 38.37857 72.66667 3.991392 38.37857 72.66667 3.991392 38.37857 71.44403 4.360981 38.88224 71.44403 4.360981 38.88224 71.44403 4.360981 38.88224 69.41292 4.527544 38.6388 69.41292 4.527544 38.6388 69.41292 4.527544 38.6388 100.7968 4.068531 36.52447 100.7968 4.068531 36.52447 100.7968 4.068531 36.52447 99.0119 3.260209 35.14031 99.0119 3.260209 35.14031 99.0119 3.260209 35.14031 98.08808 2.894455 33.28596 98.08808 2.894455 33.28596 98.08808 2.894455 33.28596 94.49211 1.963255 29.80877 94.49211 1.963255 29.80877 94.49211 1.963255 29.80877 88.38237 0.8331768 27.3347 88.38237 0.8331768 27.3347 88.38237 0.8331768 27.3347 83.46457 0.1857354 27.3347 83.46457 0.1857354 27.3347 83.46457 0.1857354 27.3347 25.18261 25.18261 36.21303 42.24876 12.0767 36.19255 25.18908 25.16705 36.19255 25.18261 25.18261 36.21303 42.24876 12.0767 36.19255 25.18908 25.16705 36.19255 42.24876 12.0767 36.19255 25.18908 25.16705 36.19255 25.18261 25.18261 36.21303 14.69944 43.763 43.50394 18.87161 46.17181 49.78237 18.87161 46.17181 49.78237 14.69944 43.763 43.50394 14.69944 43.763 43.50394 18.87161 46.17181 49.78237 35.16416 35.16416 54.59998 35.16416 35.16416 54.59998 35.16416 35.16416 54.59998 52.96672 30.64075 57.62846 52.96672 30.64075 57.62846 52.96672 30.64075 57.62846 69.70845 32.12599 58.66142 76.5865 31.22048 58.66142 76.5865 31.22048 58.66142 69.70845 32.12599 58.66142 69.70845 32.12599 58.66142 76.5865 31.22048 58.66142 83.46457 38.16105 57.62846 83.46457 38.16105 57.62846 83.46457 38.16105 57.62846 93.29766 46.76699 54.59998 93.29766 46.76699 54.59998 93.29766 46.76699 54.59998 102.6055 58.51965 49.78237 99.32141 55.9997 49.78237 102.6055 58.51965 49.78237 99.32141 55.9997 49.78237 99.32141 55.9997 49.78237 102.6055 58.51965 49.78237 102.483 64.44617 43.50394 102.483 64.44617 43.50394 102.483 64.44617 43.50394 104.1345 71.53077 36.19255 104.1345 71.53077 36.19255 104.1345 71.53077 36.19255 105.8704 77.46096 31.09276 105.9715 80.97539 28.34646 105.9715 80.97539 28.34646 105.8704 77.46096 31.09276 105.8704 77.46096 31.09276 105.9715 80.97539 28.34646 11.42049 102.7687 49.78237 11.42049 102.7687 49.78237 11.42049 102.7687 49.78237 24.30889 117.6181 54.59998 24.30889 117.6181 54.59998 24.30889 117.6181 54.59998 40.3341 126.595 57.62846 40.3341 126.595 57.62846 40.3341 126.595 57.62846 56.88976 129.4935 58.66142 63.2991 132.1483 58.66142 63.2991 132.1483 58.66142 56.88976 129.4935 58.66142 56.88976 129.4935 58.66142 63.2991 132.1483 58.66142 71.73915 127.2244 57.62846 80.17427 128.3349 57.62846 80.17427 128.3349 57.62846 71.73915 127.2244 57.62846 71.73915 127.2244 57.62846 80.17427 128.3349 57.62846 83.46457 121.4567 54.59998 83.46457 121.4567 54.59998 83.46457 121.4567 54.59998 91.67267 114.0976 49.78237 91.67267 114.0976 49.78237 91.67267 114.0976 49.78237 96.91262 106.7573 43.50394 96.91262 106.7573 43.50394 96.91262 106.7573 43.50394 100.3415 100.3415 36.19255 100.3415 100.3415 36.19255 100.3415 100.3415 36.19255 105.5674 89.54187 29.16407 104.9064 92.04323 31.81914 103.9424 94.95038 33.51912 103.8533 95.236 33.7257 103.8533 95.236 33.7257 103.9424 94.95038 33.51912 104.9064 92.04323 31.81914 105.5674 89.54187 29.16407 105.5674 89.54187 29.16407 104.9064 92.04323 31.81914 103.9424 94.95038 33.51912 103.8533 95.236 33.7257 105.8407 87.66897 27.62483 106.3942 83.46457 27.62483 105.7281 88.11111 28.0378 105.7281 88.11111 28.0378 105.8407 87.66897 27.62483 106.3942 83.46457 27.62483 106.3942 83.46457 27.62483 105.8407 87.66897 27.62483 105.7281 88.11111 28.0378 105.6019 89.81482 28.78315 105.6019 89.81482 28.78315 105.6019 89.81482 28.78315 104.0029 161.4738 34.29282 103.2911 161.48 34.95774 104.0029 161.4738 34.29282 103.2911 161.48 34.95774 103.2911 161.48 34.95774 104.0029 161.4738 34.29282 111.6033 159.1732 27.69569 111.6033 159.1732 27.69569 111.6033 159.1732 27.69569 116.453 157.0819 27.11167 116.453 157.0819 27.11167 116.453 157.0819 27.11167 31.59442 146.5355 34.80601 29.03621 144.097 35.72471 31.59442 146.5355 34.80601 29.03621 144.097 35.72471 31.59442 146.5355 34.80601 29.03621 144.097 35.72471 32.98753 147.7741 33.77505 32.98753 147.7741 33.77505 32.98753 147.7741 33.77505 34.17966 149.0213 31.75478 34.17966 149.0213 31.75478 34.17966 149.0213 31.75478 36.04601 150.8143 29.56073 36.04601 150.8143 29.56073 36.04601 150.8143 29.56073 39.0133 153.3424 28.03428 39.0133 153.3424 28.03428 39.0133 153.3424 28.03428 3.998141 105.2693 35.92186 4.01302 105.4644 35.4554 4.535838 107.8828 32.06531 5.103982 109.7878 30.5017 6.087354 112.6429 29.0913 7.897972 117.2022 28.5399 9.693694 121.2253 29.45516 11.04286 124.0326 30.77407 11.04286 124.0326 30.77407 9.693694 121.2253 29.45516 7.897972 117.2022 28.5399 6.087354 112.6429 29.0913 5.103982 109.7878 30.5017 4.535838 107.8828 32.06531 4.01302 105.4644 35.4554 3.998141 105.2693 35.92186 3.998141 105.2693 35.92186 4.01302 105.4644 35.4554 4.535838 107.8828 32.06531 5.103982 109.7878 30.5017 6.087354 112.6429 29.0913 7.897972 117.2022 28.5399 9.693694 121.2253 29.45516 11.04286 124.0326 30.77407 11.21226 124.1588 30.52318 11.21226 124.1588 30.52318 11.21226 124.1588 30.52318 12.46355 125.6802 32.24455 11.58687 124.2765 30.15498 12.46355 125.6802 32.24455 11.58687 124.2765 30.15498 12.46355 125.6802 32.24455 11.58687 124.2765 30.15498 12.6145 125.7535 32.82041 12.6145 125.7535 32.82041 12.6145 125.7535 32.82041 13.4053 126.556 33.88412 13.4053 126.556 33.88412 13.4053 126.556 33.88412 14.58763 127.912 34.74606 14.58763 127.912 34.74606 14.58763 127.912 34.74606 15.91788 129.6456 34.74606 15.91788 129.6456 34.74606 15.91788 129.6456 34.74606 17.39775 131.7392 33.97659 17.39775 131.7392 33.97659 17.39775 131.7392 33.97659 19.2742 134.5004 32.50407 19.2742 134.5004 32.50407 19.2742 134.5004 32.50407 21.83157 137.9011 32.18758 21.83157 137.9011 32.18758 21.83157 137.9011 32.18758 24.0321 140.5658 33.13464 24.0321 140.5658 33.13464 24.0321 140.5658 33.13464 1.032957 83.46457 36.19255 4.061435 83.46457 43.50394 3.666133 93.85714 39.24645 2.924052 92.33741 37.93793 2.118725 91.71179 36.19255 4.131345 95.39612 39.88043 4.331966 97.84252 39.58721 4.055074 100.1249 38.19331 4.001323 104.3451 36.7222 3.998141 104.4568 36.67902 3.998141 104.4568 36.67902 4.001323 104.3451 36.7222 4.055074 100.1249 38.19331 4.331966 97.84252 39.58721 4.131345 95.39612 39.88043 3.666133 93.85714 39.24645 2.118725 91.71179 36.19255 1.032957 83.46457 36.19255 2.924052 92.33741 37.93793 4.061435 83.46457 43.50394 4.061435 83.46457 43.50394 1.032957 83.46457 36.19255 2.118725 91.71179 36.19255 2.924052 92.33741 37.93793 3.666133 93.85714 39.24645 4.131345 95.39612 39.88043 4.331966 97.84252 39.58721 4.055074 100.1249 38.19331 4.001323 104.3451 36.7222 3.998141 104.4568 36.67902 26.15718 142.1088 35.29783 25.86948 141.9893 34.91926 26.15718 142.1088 35.29783 25.86948 141.9893 34.91926 26.15718 142.1088 35.29783 25.86948 141.9893 34.91926 26.85172 142.4959 35.57965 26.85172 142.4959 35.57965 26.85172 142.4959 35.57965 41.85942 155.2479 26.91077 44.8774 156.498 26.91077 41.85942 155.2479 26.91077 44.8774 156.498 26.91077 44.8774 156.498 26.91077 41.85942 155.2479 26.91077 48.91125 157.9704 28.31533 48.91125 157.9704 28.31533 48.91125 157.9704 28.31533 51.83111 158.9755 29.76209 51.83111 158.9755 29.76209 51.83111 158.9755 29.76209 55.37197 160.0155 32.78202 55.37197 160.0155 32.78202 55.37197 160.0155 32.78202 58.35056 161.0067 34.49842 58.35056 161.0067 34.49842 58.35056 161.0067 34.49842 59.88498 160.8201 35.0201 62.92167 161.69 35.89276 62.92167 161.69 35.89276 59.88498 160.8201 35.0201 62.92167 161.69 35.89276 59.88498 160.8201 35.0201 64.46991 161.7964 36.12797 64.46991 161.7964 36.12797 64.46991 161.7964 36.12797 66.00052 162.1512 35.75791 66.00052 162.1512 35.75791 66.00052 162.1512 35.75791 67.54982 162.8529 34.55644 67.54982 162.8529 34.55644 67.54982 162.8529 34.55644 68.42815 163.2006 32.7934 68.42815 163.2006 32.7934 68.42815 163.2006 32.7934 72.18669 164.1739 29.15902 72.18669 164.1739 29.15902 72.18669 164.1739 29.15902 78.52092 165.3455 26.59405 78.52092 165.3455 26.59405 78.52092 165.3455 26.59405 83.46457 165.9964 26.59405 83.46457 165.9964 26.59405 83.46457 165.9964 26.59405 87.35756 164.8404 26.32267 83.85577 165.3014 26.32267 87.35756 164.8404 26.32267 83.85577 165.3014 26.32267 83.85577 165.3014 26.32267 87.35756 164.8404 26.32267 90.44941 163.9686 29.85328 90.44941 163.9686 29.85328 90.44941 163.9686 29.85328 92.56958 162.9179 34.75788 92.56958 162.9179 34.75788 92.56958 162.9179 34.75788 139.6721 25.72984 34.3055 139.6721 25.72984 34.3055 139.6721 25.72984 34.3055 139.273 25.31723 34.59202 139.273 25.31723 34.59202 139.273 25.31723 34.59202 139.6167 25.70023 34.38412 139.6167 25.70023 34.38412 139.6167 25.70023 34.38412 137.2106 23.80562 34.72898 134.8092 21.51654 33.86658 137.2106 23.80562 34.72898 134.8092 21.51654 33.86658 134.8092 21.51654 33.86658 137.2106 23.80562 34.72898 133.6083 20.44881 32.97784 133.6083 20.44881 32.97784 133.6083 20.44881 32.97784 132.4531 19.24032 31.02019 132.4531 19.24032 31.02019 132.4531 19.24032 31.02019 130.4756 17.3405 28.69553 130.4756 17.3405 28.69553 130.4756 17.3405 28.69553 127.3616 14.68749 27.09361 127.3616 14.68749 27.09361 127.3616 14.68749 27.09361 124.6503 12.4913 26.3901 124.6503 12.4913 26.3901 124.6503 12.4913 26.3901 117.7657 9.311639 28.01337 117.7657 9.311639 28.01337 117.7657 9.311639 28.01337 121.6447 11.24632 26.3901 121.6447 11.24632 26.3901 121.6447 11.24632 26.3901 114.8036 8.292038 29.48107 114.8036 8.292038 29.48107 114.8036 8.292038 29.48107 111.2565 7.250195 32.50631 111.2565 7.250195 32.50631 111.2565 7.250195 32.50631 108.3164 6.271716 34.20055 108.3164 6.271716 34.20055 108.3164 6.271716 34.20055 107.0442 6.109035 35.0201 107.0442 6.109035 35.0201 107.0442 6.109035 35.0201 102.5015 4.748206 36.48978 102.5015 4.748206 36.48978 102.5015 4.748206 36.48978 104.0075 5.239096 35.89276 104.0075 5.239096 35.89276 104.0075 5.239096 35.89276 59.04629 4.535838 32.06531 61.17465 4.150735 34.49969 59.28399 4.559449 31.84948 61.17465 4.150735 34.49969 59.04629 4.535838 32.06531 59.28399 4.559449 31.84948 59.04629 4.535838 32.06531 59.28399 4.559449 31.84948 61.17465 4.150735 34.49969 62.09143 4.208499 34.92152 62.09143 4.208499 34.92152 62.09143 4.208499 34.92152 67.38706 4.556203 36.89234 63.33073 4.50454 35.47836 67.38706 4.556203 36.89234 63.33073 4.50454 35.47836 63.33073 4.50454 35.47836 67.38706 4.556203 36.89234 82.9396 0.303509 27.11565 82.9396 0.303509 27.11565 82.9396 0.303509 27.11565 79.67055 0.7338879 27.11565 79.67055 0.7338879 27.11565 79.67055 0.7338879 27.11565 76.81739 1.538442 30.37369 76.81739 1.538442 30.37369 76.81739 1.538442 30.37369 74.40859 2.903642 35.13441 73.75821 3.740844 36.94888 73.75821 3.740844 36.94888 74.40859 2.903642 35.13441 73.75821 3.740844 36.94888 74.40859 2.903642 35.13441 72.5554 4.328172 37.98452 72.5554 4.328172 37.98452 72.5554 4.328172 37.98452 71.44259 4.664559 38.44294 71.44259 4.664559 38.44294 71.44259 4.664559 38.44294 69.55569 4.819297 38.21678 69.55569 4.819297 38.21678 69.55569 4.819297 38.21678 100.8969 4.376256 36.10182 100.8969 4.376256 36.10182 100.8969 4.376256 36.10182 99.24589 3.628559 34.82148 99.24589 3.628559 34.82148 99.24589 3.628559 34.82148 98.34452 3.271689 33.01216 98.34452 3.271689 33.01216 98.34452 3.271689 33.01216 94.65335 2.315838 29.44292 94.65335 2.315838 29.44292 94.65335 2.315838 29.44292 88.41215 1.161444 26.91562 88.41215 1.161444 26.91562 88.41215 1.161444 26.91562 83.46457 0.5100829 26.91562 83.46457 0.5100829 26.91562 83.46457 0.5100829 26.91562 26.44034 23.76791 33.52412 32.25186 19.21126 32.93267 28.96516 21.68291 32.62679 34.97841 17.35834 34.38672 25.11427 25.11427 35.52278 37.13975 15.83058 35.1811 38.99646 14.40587 35.1811 41.56192 11.96692 32.32191 41.98172 11.61417 32.13578 41.43641 12.08283 32.44104 41.35744 12.24555 33.06182 40.4608 13.12911 34.25032 25.16513 25.16513 36.06918 25.16513 25.16513 36.06918 25.11427 25.11427 35.52278 38.99646 14.40587 35.1811 40.4608 13.12911 34.25032 41.35744 12.24555 33.06182 41.43641 12.08283 32.44104 41.56192 11.96692 32.32191 41.98172 11.61417 32.13578 37.13975 15.83058 35.1811 34.97841 17.35834 34.38672 26.44034 23.76791 33.52412 32.25186 19.21126 32.93267 28.96516 21.68291 32.62679 41.98172 11.61417 32.13578 41.56192 11.96692 32.32191 41.43641 12.08283 32.44104 41.35744 12.24555 33.06182 40.4608 13.12911 34.25032 38.99646 14.40587 35.1811 37.13975 15.83058 35.1811 34.97841 17.35834 34.38672 32.25186 19.21126 32.93267 28.96516 21.68291 32.62679 26.44034 23.76791 33.52412 25.11427 25.11427 35.52278 25.16513 25.16513 36.06918 25.04208 25.27665 35.84138 25.00117 25.47007 36.28862 24.93729 25.52881 36.17316 24.93729 25.52881 36.17316 25.04208 25.27665 35.84138 25.00117 25.47007 36.28862 25.00117 25.47007 36.28862 24.93729 25.52881 36.17316 25.04208 25.27665 35.84138 24.3967 26.55474 36.72874 22.6047 28.99964 36.8911 20.75051 30.94483 36.19255 12.0767 42.24876 36.19255 12.0767 42.24876 36.19255 20.75051 30.94483 36.19255 22.6047 28.99964 36.8911 24.3967 26.55474 36.72874 20.75051 30.94483 36.19255 12.0767 42.24876 36.19255 24.3967 26.55474 36.72874 22.6047 28.99964 36.8911 6.767031 62.91352 43.50394 11.42049 64.16041 49.78237 11.42049 64.16041 49.78237 6.767031 62.91352 43.50394 6.767031 62.91352 43.50394 11.42049 64.16041 49.78237 24.30889 49.31102 54.59998 24.30889 49.31102 54.59998 24.30889 49.31102 54.59998 40.3341 40.3341 57.62846 40.3341 40.3341 57.62846 40.3341 40.3341 57.62846 56.88976 37.43566 58.66142 56.88976 37.43566 58.66142 56.88976 37.43566 58.66142 71.73915 39.70473 57.62846 75.02945 39.27155 57.62846 81.28373 38.44816 57.62846 81.6979 38.39364 57.62846 81.6979 38.39364 57.62846 81.28373 38.44816 57.62846 75.02945 39.27155 57.62846 71.73915 39.70473 57.62846 71.73915 39.70473 57.62846 75.02945 39.27155 57.62846 81.28373 38.44816 57.62846 81.6979 38.39364 57.62846 88.38111 46.11972 54.59998 83.46457 45.47244 54.59998 92.60443 46.67573 54.59998 92.60443 46.67573 54.59998 88.38111 46.11972 54.59998 83.46457 45.47244 54.59998 83.46457 45.47244 54.59998 88.38111 46.11972 54.59998 92.60443 46.67573 54.59998 91.67267 52.83149 49.78237 91.67267 52.83149 49.78237 91.67267 52.83149 49.78237 96.91262 60.17188 43.50394 96.91262 60.17188 43.50394 96.91262 60.17188 43.50394 100.3415 66.58763 36.19255 100.3415 66.58763 36.19255 100.3415 66.58763 36.19255 103.3006 72.0122 28.87878 103.3465 72.09703 28.95438 104.3289 73.998 30.33481 105.673 76.83751 31.52374 105.8521 77.32766 31.35437 105.8521 77.32766 31.35437 105.673 76.83751 31.52374 104.3289 73.998 30.33481 103.3465 72.09703 28.95438 103.3006 72.0122 28.87878 103.3006 72.0122 28.87878 103.3465 72.09703 28.95438 104.3289 73.998 30.33481 105.673 76.83751 31.52374 105.8521 77.32766 31.35437 105.8981 77.10042 30.9584 105.9794 79.92473 28.75139 106.0073 80.89424 27.99379 106.0073 80.89424 27.99379 105.9794 79.92473 28.75139 105.8981 77.10042 30.9584 105.9794 79.92473 28.75139 106.0073 80.89424 27.99379 105.8981 77.10042 30.9584 106.0848 81.09523 27.60554 106.3597 83.18283 27.60554 106.3597 83.18283 27.60554 106.0848 81.09523 27.60554 106.0848 81.09523 27.60554 106.3597 83.18283 27.60554 8.879047 83.46457 49.78237 8.879047 83.46457 49.78237 8.879047 83.46457 49.78237 17.48499 101.1437 54.59998 17.48499 101.1437 54.59998 17.48499 101.1437 54.59998 30.64075 113.9624 57.62846 30.64075 113.9624 57.62846 30.64075 113.9624 57.62846 43.10811 123.821 58.14494 45.88212 121.047 58.66142 45.88212 121.047 58.66142 43.10811 123.821 58.14494 45.88212 121.047 58.66142 43.10811 123.821 58.14494 60.81281 122.6986 57.62846 60.81281 122.6986 57.62846 60.81281 122.6986 57.62846 73.63148 120.1621 54.59998 73.63148 120.1621 54.59998 73.63148 120.1621 54.59998 83.46457 115.1783 49.78237 83.46457 115.1783 49.78237 83.46457 115.1783 49.78237 90.42578 109.4442 43.50394 90.42578 109.4442 43.50394 90.42578 109.4442 43.50394 95.39837 104.1345 36.19255 95.39837 104.1345 36.19255 95.39837 104.1345 36.19255 103.8059 95.3303 33.87759 103.7864 95.39535 34.06277 102.9557 96.60215 34.64164 101.4542 98.50986 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27.37508 106.5154 83.46457 27.3347 105.9524 87.74147 27.3347 106.4986 83.46457 27.37508 106.5154 83.46457 27.3347 105.7758 90.12631 28.37804 105.7758 90.12631 28.37804 105.7758 90.12631 28.37804 31.67902 146.2042 34.39903 29.19604 143.8374 35.29072 31.67902 146.2042 34.39903 29.19604 143.8374 35.29072 31.67902 146.2042 34.39903 29.19604 143.8374 35.29072 32.9871 147.3672 33.431 32.9871 147.3672 33.431 32.9871 147.3672 33.431 34.16171 148.596 31.44042 34.16171 148.596 31.44042 34.16171 148.596 31.44042 36.08074 150.4397 29.18444 36.08074 150.4397 29.18444 36.08074 150.4397 29.18444 39.1176 153.027 27.6222 39.1176 153.027 27.6222 39.1176 153.027 27.6222 4.035775 105.2227 35.24512 4.035775 104.0907 36.3 4.035775 105.2227 35.24512 4.035775 104.0907 36.3 4.035775 104.0907 36.3 4.035775 105.2227 35.24512 4.150735 105.7545 34.49969 4.559449 107.6451 31.84948 4.559449 107.6451 31.84948 4.150735 105.7545 34.49969 4.559449 107.6451 31.84948 4.150735 105.7545 34.49969 5.144173 109.6057 30.24024 5.144173 109.6057 30.24024 5.144173 109.6057 30.24024 6.151456 112.5302 28.79554 6.151456 112.5302 28.79554 6.151456 112.5302 28.79554 7.996479 117.1762 28.23366 7.996479 117.1762 28.23366 7.996479 117.1762 28.23366 9.822026 121.266 29.16413 9.822026 121.266 29.16413 9.822026 121.266 29.16413 10.13959 121.265 28.74016 10.13959 121.265 28.74016 10.13959 121.265 28.74016 12.94993 125.7673 32.05024 12.03042 124.295 29.85859 12.94993 125.7673 32.05024 12.03042 124.295 29.85859 12.94993 125.7673 32.05024 12.03042 124.295 29.85859 13.08641 125.8336 32.57089 13.08641 125.8336 32.57089 13.08641 125.8336 32.57089 13.78896 126.5465 33.51592 13.78896 126.5465 33.51592 13.78896 126.5465 33.51592 14.8815 127.7996 34.31239 14.8815 127.7996 34.31239 14.8815 127.7996 34.31239 16.1219 129.4161 34.31239 16.1219 129.4161 34.31239 16.1219 129.4161 34.31239 17.55621 131.4452 33.5666 17.55621 131.4452 33.5666 17.55621 131.4452 33.5666 19.45504 134.2393 32.07653 19.45504 134.2393 32.07653 19.45504 134.2393 32.07653 22.09395 137.7484 31.74995 22.09395 137.7484 31.74995 22.09395 137.7484 31.74995 24.40435 140.5462 32.74429 24.40435 140.5462 32.74429 24.40435 140.5462 32.74429 4.445298 62.38366 37.73037 4.486906 62.30257 37.80504 4.304983 64.42537 38.04055 3.817226 66.5296 37.5318 3.035128 68.25657 36.19255 3.035128 68.25657 36.19255 3.817226 66.5296 37.5318 4.304983 64.42537 38.04055 4.445298 62.38366 37.73037 4.486906 62.30257 37.80504 4.486906 62.30257 37.80504 4.445298 62.38366 37.73037 4.304983 64.42537 38.04055 3.817226 66.5296 37.5318 3.035128 68.25657 36.19255 0.5351822 87.52968 28.34646 0 83.46457 28.34646 1.130992 89.64257 30.75919 2.064456 91.79988 35.69224 2.064456 91.79988 35.69224 1.130992 89.64257 30.75919 0.5351822 87.52968 28.34646 0 83.46457 28.34646 0 83.46457 28.34646 0.5351822 87.52968 28.34646 1.130992 89.64257 30.75919 2.064456 91.79988 35.69224 2.149258 91.95925 35.60136 3.080654 92.6828 37.61997 3.080654 92.6828 37.61997 2.149258 91.95925 35.60136 3.080654 92.6828 37.61997 2.149258 91.95925 35.60136 3.762545 94.07927 38.82236 3.762545 94.07927 38.82236 3.762545 94.07927 38.82236 4.177652 95.45249 39.38805 4.177652 95.45249 39.38805 4.177652 95.45249 39.38805 4.360428 97.68129 39.12092 4.360428 97.68129 39.12092 4.360428 97.68129 39.12092 4.088902 99.91941 37.75404 4.088902 99.91941 37.75404 4.088902 99.91941 37.75404 26.51959 141.9751 34.92078 26.31311 141.8893 34.64909 26.51959 141.9751 34.92078 26.31311 141.8893 34.64909 26.51959 141.9751 34.92078 26.31311 141.8893 34.64909 27.08595 142.2908 35.15059 27.08595 142.2908 35.15059 27.08595 142.2908 35.15059 42.04581 154.8703 26.59061 45.07727 156.126 26.59061 45.07727 156.126 26.59061 42.04581 154.8703 26.59061 45.07727 156.126 26.59061 42.04581 154.8703 26.59061 49.16339 157.6175 28.01337 49.16339 157.6175 28.01337 49.16339 157.6175 28.01337 52.12553 158.6371 29.48107 52.12553 158.6371 29.48107 52.12553 158.6371 29.48107 55.67261 159.6789 32.50631 55.67261 159.6789 32.50631 55.67261 159.6789 32.50631 58.61274 160.6574 34.20055 58.61274 160.6574 34.20055 58.61274 160.6574 34.20055 60.07762 160.3791 34.80222 60.74054 160.569 34.99272 62.61955 161.2592 35.61635 62.97352 161.2971 35.68306 63.03296 161.3008 35.69284 63.03296 161.3008 35.69284 62.97352 161.2971 35.68306 62.61955 161.2592 35.61635 60.74054 160.569 34.99272 60.07762 160.3791 34.80222 60.74054 160.569 34.99272 60.07762 160.3791 34.80222 62.61955 161.2592 35.61635 62.97352 161.2971 35.68306 63.03296 161.3008 35.69284 64.51982 161.403 35.91873 64.51982 161.403 35.91873 64.51982 161.403 35.91873 65.49456 161.629 35.68306 66.03634 161.7198 35.53513 66.03634 161.7198 35.53513 65.49456 161.629 35.68306 65.49456 161.629 35.68306 66.03634 161.7198 35.53513 66.22016 161.7649 35.37599 67.52608 162.3563 34.36326 67.52608 162.3563 34.36326 66.22016 161.7649 35.37599 66.22016 161.7649 35.37599 67.52608 162.3563 34.36326 68.3823 162.6953 32.64458 68.3823 162.6953 32.64458 68.3823 162.6953 32.64458 72.17579 163.6777 28.97642 72.17579 163.6777 28.97642 72.17579 163.6777 28.97642 78.55828 164.8582 26.3919 78.55828 164.8582 26.3919 78.55828 164.8582 26.3919 83.46457 165.5041 26.3919 83.46457 165.5041 26.3919 83.46457 165.5041 26.3919 87.26152 164.3203 26.31531 83.82065 164.7733 26.31531 87.26152 164.3203 26.31531 83.82065 164.7733 26.31531 83.82065 164.7733 26.31531 87.26152 164.3203 26.31531 89.10871 164.2176 28.34646 90.42116 163.8475 29.84515 87.68383 164.2012 26.79755 89.10871 164.2176 28.34646 87.68383 164.2012 26.79755 90.42116 163.8475 29.84515 87.68383 164.2012 26.79755 89.10871 164.2176 28.34646 90.42116 163.8475 29.84515 139.205 25.41507 34.57109 139.205 25.41507 34.57109 139.205 25.41507 34.57109 137.1594 23.86913 34.71497 134.6101 21.76445 33.81216 137.1594 23.86913 34.71497 134.6101 21.76445 33.81216 137.1594 23.86913 34.71497 134.6101 21.76445 33.81216 133.4182 20.70476 32.93011 133.4182 20.70476 32.93011 133.4182 20.70476 32.93011 132.2634 19.49664 30.97306 132.2634 19.49664 30.97306 132.2634 19.49664 30.97306 130.2849 17.5958 28.64714 130.2849 17.5958 28.64714 130.2849 17.5958 28.64714 128.0928 15.99515 27.55128 127.0467 15.10389 27.01312 129.7004 17.09782 28.34646 129.7004 17.09782 28.34646 128.0928 15.99515 27.55128 127.0467 15.10389 27.01312 129.7004 17.09782 28.34646 128.0928 15.99515 27.55128 127.0467 15.10389 27.01312 124.3867 12.94919 26.32291 124.3867 12.94919 26.32291 124.3867 12.94919 26.32291 117.5317 9.744973 27.82224 117.5317 9.744973 27.82224 117.5317 9.744973 27.82224 121.4444 11.73046 26.32291 121.4444 11.73046 26.32291 121.4444 11.73046 26.32291 114.5477 8.717872 29.30073 114.5477 8.717872 29.30073 114.5477 8.717872 29.30073 110.9974 7.675089 32.3287 110.9974 7.675089 32.3287 110.9974 7.675089 32.3287 108.0944 6.708939 34.00159 108.0944 6.708939 34.00159 108.0944 6.708939 34.00159 106.8515 6.550016 34.80222 106.8515 6.550016 34.80222 106.8515 6.550016 34.80222 102.4592 5.132695 36.12797 102.4592 5.132695 36.12797 102.4592 5.132695 36.12797 103.9556 5.632083 35.68306 103.8962 5.628309 35.69284 104.3096 5.669903 35.61635 106.1886 6.360106 34.99272 106.1886 6.360106 34.99272 104.3096 5.669903 35.61635 103.9556 5.632083 35.68306 103.8962 5.628309 35.69284 106.1886 6.360106 34.99272 104.3096 5.669903 35.61635 103.9556 5.632083 35.68306 103.8962 5.628309 35.69284 57.14135 5.103982 30.5017 57.32346 5.144173 30.24024 57.14135 5.103982 30.5017 57.32346 5.144173 30.24024 57.14135 5.103982 30.5017 57.32346 5.144173 30.24024 45.70385 9.693694 29.45516 54.28622 6.087354 29.0913 49.72693 7.897972 28.5399 42.89652 11.04286 30.77407 42.89652 11.04286 30.77407 45.70385 9.693694 29.45516 54.28622 6.087354 29.0913 49.72693 7.897972 28.5399 54.28622 6.087354 29.0913 49.72693 7.897972 28.5399 45.70385 9.693694 29.45516 42.89652 11.04286 30.77407 61.59482 4.315853 34.2254 59.6719 4.731541 31.52997 61.59482 4.315853 34.2254 59.6719 4.731541 31.52997 59.6719 4.731541 31.52997 61.59482 4.315853 34.2254 62.43551 4.50454 34.64416 62.43551 4.50454 34.64416 62.43551 4.50454 34.64416 63.5115 4.903725 35.17393 67.51423 4.954706 36.56923 67.51423 4.954706 36.56923 63.5115 4.903725 35.17393 63.5115 4.903725 35.17393 67.51423 4.954706 36.56923 82.9396 0.674967 26.73696 79.57309 1.118176 26.73696 82.9396 0.674967 26.73696 79.57309 1.118176 26.73696 82.9396 0.674967 26.73696 79.57309 1.118176 26.73696 76.59251 1.958663 30.1405 76.59251 1.958663 30.1405 76.59251 1.958663 30.1405 74.30218 3.384912 34.93687 73.68065 4.184976 36.67085 73.68065 4.184976 36.67085 74.30218 3.384912 34.93687 73.68065 4.184976 36.67085 74.30218 3.384912 34.93687 72.52365 4.749934 37.66704 72.52365 4.749934 37.66704 72.52365 4.749934 37.66704 71.47245 5.067699 38.10009 71.47245 5.067699 38.10009 71.47245 5.067699 38.10009 69.66642 5.215805 37.88362 69.66642 5.215805 37.88362 69.66642 5.215805 37.88362 100.9286 4.777902 35.75791 100.9286 4.777902 35.75791 100.9286 4.777902 35.75791 99.37931 4.076265 34.55644 99.37931 4.076265 34.55644 99.37931 4.076265 34.55644 98.50098 3.728522 32.7934 98.50098 3.728522 32.7934 98.50098 3.728522 32.7934 94.74244 2.755227 29.15902 94.74244 2.755227 29.15902 94.74244 2.755227 29.15902 88.40822 1.583625 26.59405 88.40822 1.583625 26.59405 88.40822 1.583625 26.59405 83.46457 0.9327809 26.59405 83.46457 0.9327809 26.59405 83.46457 0.9327809 26.59405 42.77031 11.21226 30.52318 42.77031 11.21226 30.52318 42.77031 11.21226 30.52318 42.65268 11.58687 30.15498 41.2489 12.46355 32.24455 41.2489 12.46355 32.24455 42.65268 11.58687 30.15498 41.2489 12.46355 32.24455 42.65268 11.58687 30.15498 41.17565 12.6145 32.82041 41.17565 12.6145 32.82041 41.17565 12.6145 32.82041 40.37314 13.4053 33.88412 40.37314 13.4053 33.88412 40.37314 13.4053 33.88412 39.0171 14.58763 34.74606 39.0171 14.58763 34.74606 39.0171 14.58763 34.74606 37.28349 15.91788 34.74606 37.28349 15.91788 34.74606 37.28349 15.91788 34.74606 35.18991 17.39775 33.97659 35.18991 17.39775 33.97659 35.18991 17.39775 33.97659 32.42874 19.2742 32.50407 32.42874 19.2742 32.50407 32.42874 19.2742 32.50407 29.02805 21.83157 32.18758 29.02805 21.83157 32.18758 29.02805 21.83157 32.18758 26.36333 24.0321 33.13464 26.36333 24.0321 33.13464 26.36333 24.0321 33.13464 24.96899 25.44777 35.2362 25.10232 25.13101 35.52825 25.10232 25.13101 35.52825 24.96899 25.44777 35.2362 25.10232 25.13101 35.52825 24.96899 25.44777 35.2362 24.36054 26.56373 36.5931 24.36054 26.56373 36.5931 24.36054 26.56373 36.5931 24.81461 25.81925 35.72499 24.81461 25.81925 35.72499 24.81461 25.81925 35.72499 20.08625 31.64517 35.42143 20.7989 30.8569 36.07658 18.73137 33.16908 34.29367 17.45454 34.3896 32.2253 15.74347 36.17059 30.13159 13.31146 39.02518 28.66312 12.32292 40.24557 28.34646 11.18213 41.73228 28.34646 11.18213 41.73228 28.34646 12.32292 40.24557 28.34646 13.31146 39.02518 28.66312 15.74347 36.17059 30.13159 17.45454 34.3896 32.2253 18.73137 33.16908 34.29367 20.08625 31.64517 35.42143 20.7989 30.8569 36.07658 20.7989 30.8569 36.07658 20.08625 31.64517 35.42143 18.73137 33.16908 34.29367 17.45454 34.3896 32.2253 15.74347 36.17059 30.13159 13.31146 39.02518 28.66312 12.32292 40.24557 28.34646 11.18213 41.73228 28.34646 5.583199 57.92546 36.19255 5.456106 58.91938 36.83281 5.456106 58.91938 36.83281 5.583199 57.92546 36.19255 5.583199 57.92546 36.19255 5.456106 58.91938 36.83281 22.59462 28.97306 36.7531 22.59462 28.97306 36.7531 22.59462 28.97306 36.7531 17.48499 65.7854 54.59998 17.48499 65.7854 54.59998 17.48499 65.7854 54.59998 30.64075 52.96672 57.62846 30.64075 52.96672 57.62846 30.64075 52.96672 57.62846 43.10811 43.10811 58.14494 45.88212 45.88212 58.66142 45.88212 45.88212 58.66142 43.10811 43.10811 58.14494 43.10811 43.10811 58.14494 45.88212 45.88212 58.66142 60.81281 44.23057 57.62846 60.81281 44.23057 57.62846 60.81281 44.23057 57.62846 73.63148 46.76699 54.59998 73.63148 46.76699 54.59998 73.63148 46.76699 54.59998 83.46457 51.75087 49.78237 83.46457 51.75087 49.78237 83.46457 51.75087 49.78237 93.6692 58.82841 43.50394 90.42578 57.48495 43.50394 90.42578 57.48495 43.50394 93.6692 58.82841 43.50394 90.42578 57.48495 43.50394 93.6692 58.82841 43.50394 95.39837 62.79462 36.19255 95.39837 62.79462 36.19255 95.39837 62.79462 36.19255 99.86741 67.06172 31.09979 101.2797 69.25297 29.46376 102.6686 71.18857 28.87878 102.6686 71.18857 28.87878 101.2797 69.25297 29.46376 99.86741 67.06172 31.09979 99.86741 67.06172 31.09979 101.2797 69.25297 29.46376 102.6686 71.18857 28.87878 103.5027 72.1528 28.50928 102.7014 71.10855 28.50928 103.5027 72.1528 28.50928 102.7014 71.10855 28.50928 103.5027 72.1528 28.50928 102.7014 71.10855 28.50928 104.5217 74.12448 29.94104 104.5217 74.12448 29.94104 104.5217 74.12448 29.94104 105.7887 76.80118 31.0618 105.7887 76.80118 31.0618 105.7887 76.80118 31.0618 106.1653 79.61699 28.36442 106.0852 76.83194 30.54075 106.2045 80.97919 27.29996 106.2045 80.97919 27.29996 106.1653 79.61699 28.36442 106.0852 76.83194 30.54075 106.2045 80.97919 27.29996 106.0852 76.83194 30.54075 106.1653 79.61699 28.36442 106.5177 83.46457 27.33179 106.4445 83.08039 27.38342 106.4751 83.03424 27.29996 106.4445 83.08039 27.38342 106.4751 83.03424 27.29996 106.5177 83.46457 27.33179 106.5177 83.46457 27.33179 106.4445 83.08039 27.38342 106.4751 83.03424 27.29996 15.15748 83.46457 54.59998 15.15748 83.46457 54.59998 15.15748 83.46457 54.59998 24.54725 99.25141 57.62846 24.54725 99.25141 57.62846 24.54725 99.25141 57.62846 37.43566 110.0394 58.66142 39.70176 112.9926 58.66142 40.16406 113.5951 58.66142 40.16406 113.5951 58.66142 39.70176 112.9926 58.66142 37.43566 110.0394 58.66142 37.43566 110.0394 58.66142 40.16406 113.5951 58.66142 39.70176 112.9926 58.66142 51.43014 115.499 57.62846 52.84383 116.5838 57.62846 53.17524 116.8381 57.62846 53.17524 116.8381 57.62846 52.84383 116.5838 57.62846 51.43014 115.499 57.62846 51.43014 115.499 57.62846 53.17524 116.8381 57.62846 52.84383 116.5838 57.62846 64.4685 116.3667 54.59998 65.11448 116.6343 54.59998 69.04999 118.2644 54.59998 69.04999 118.2644 54.59998 65.11448 116.6343 54.59998 64.4685 116.3667 54.59998 64.4685 116.3667 54.59998 69.04999 118.2644 54.59998 65.11448 116.6343 54.59998 75.25646 114.0976 49.78237 75.25646 114.0976 49.78237 75.25646 114.0976 49.78237 83.46457 110.3606 43.50394 83.46457 110.3606 43.50394 83.46457 110.3606 43.50394 89.64196 106.5189 36.19255 89.64196 106.5189 36.19255 89.64196 106.5189 36.19255 94.91693 103.3006 28.87878 97.67617 101.2797 29.46376 95.74057 102.6686 28.87878 97.67617 101.2797 29.46376 94.91693 103.3006 28.87878 95.74057 102.6686 28.87878 97.67617 101.2797 29.46376 95.74057 102.6686 28.87878 94.91693 103.3006 28.87878 102.9588 96.62477 34.52704 102.9588 96.62477 34.52704 102.9588 96.62477 34.52704 101.5021 98.47568 34.30524 101.5021 98.47568 34.30524 101.5021 98.47568 34.30524 100.5645 99.36196 32.74007 100.5645 99.36196 32.74007 100.5645 99.36196 32.74007 100.1137 99.6772 31.47021 100.1137 99.6772 31.47021 100.1137 99.6772 31.47021 100.5116 99.53071 31.11588 97.83638 101.2549 29.11849 100.5116 99.53071 31.11588 97.83638 101.2549 29.11849 97.83638 101.2549 29.11849 100.5116 99.53071 31.11588 105.1002 92.68268 31.09151 105.1002 92.68268 31.09151 105.1002 92.68268 31.09151 104.1591 95.52095 32.7512 104.1591 95.52095 32.7512 104.1591 95.52095 32.7512 103.9923 96.05554 33.13787 103.9923 96.05554 33.13787 103.9923 96.05554 33.13787 103.0838 96.8042 34.03384 103.0838 96.8042 34.03384 103.0838 96.8042 34.03384 106.2609 87.86152 26.91562 106.7926 83.46457 26.9766 106.8398 83.46457 26.91562 106.2609 87.86152 26.91562 106.7926 83.46457 26.9766 106.8398 83.46457 26.91562 106.8398 83.46457 26.91562 106.7926 83.46457 26.9766 106.2609 87.86152 26.91562 106.0718 90.41478 28.03264 106.0718 90.41478 28.03264 106.0718 90.41478 28.03264 29.42876 143.5053 34.95109 31.85826 145.8212 34.07861 31.85826 145.8212 34.07861 29.42876 143.5053 34.95109 31.85826 145.8212 34.07861 29.42876 143.5053 34.95109 33.10079 146.9259 33.15909 33.10079 146.9259 33.15909 33.10079 146.9259 33.15909 34.2628 148.1415 31.18986 34.2628 148.1415 31.18986 34.2628 148.1415 31.18986 36.21973 150.0216 28.88933 36.21973 150.0216 28.88933 36.21973 150.0216 28.88933 39.30662 152.6515 27.30135 39.30662 152.6515 27.30135 39.30662 152.6515 27.30135 4.208499 104.8377 34.92152 4.208499 103.828 35.86244 4.208499 104.8377 34.92152 4.208499 103.828 35.86244 4.208499 104.8377 34.92152 4.208499 103.828 35.86244 4.315853 105.3343 34.2254 4.731541 107.2572 31.52997 4.731541 107.2572 31.52997 4.315853 105.3343 34.2254 4.731541 107.2572 31.52997 4.315853 105.3343 34.2254 5.339298 109.295 29.85735 5.339298 109.295 29.85735 5.339298 109.295 29.85735 6.379796 112.316 28.36501 6.379796 112.316 28.36501 6.379796 112.316 28.36501 8.272616 117.0823 27.78858 8.272616 117.0823 27.78858 8.272616 117.0823 27.78858 10.54085 121.1955 28.40243 10.54085 121.1955 28.40243 10.54085 121.1955 28.40243 13.45461 125.7214 31.89933 12.51267 124.2131 29.65421 13.45461 125.7214 31.89933 12.51267 124.2131 29.65421 13.45461 125.7214 31.89933 12.51267 124.2131 29.65421 13.57658 125.7806 32.36463 13.57658 125.7806 32.36463 13.57658 125.7806 32.36463 14.21466 126.4281 33.22293 14.21466 126.4281 33.22293 14.21466 126.4281 33.22293 15.24156 127.6059 33.97155 15.24156 127.6059 33.97155 15.24156 127.6059 33.97155 16.4163 129.1368 33.97155 16.4163 129.1368 33.97155 16.4163 129.1368 33.97155 17.81733 131.1189 33.24307 17.81733 131.1189 33.24307 17.81733 131.1189 33.24307 19.7325 133.937 31.74017 19.7325 133.937 31.74017 19.7325 133.937 31.74017 22.431 137.5254 31.40621 22.431 137.5254 31.40621 22.431 137.5254 31.40621 24.82171 140.4204 32.43512 24.82171 140.4204 32.43512 24.82171 140.4204 32.43512 5.413595 58.97106 36.69995 4.433602 62.39192 37.68301 4.433602 62.39192 37.68301 5.413595 58.97106 36.69995 4.433602 62.39192 37.68301 5.413595 58.97106 36.69995 4.294105 64.42173 37.99138 4.294105 64.42173 37.99138 4.294105 64.42173 37.99138 3.810894 66.50635 37.48738 3.810894 66.50635 37.48738 3.810894 66.50635 37.48738 3.036121 68.21715 36.16066 3.036121 68.21715 36.16066 3.036121 68.21715 36.16066 2.944439 68.37578 35.6229 2.56822 69.32603 33.71549 1.679535 72.75783 30.39705 0.7428841 77.8218 28.34646 0.7428841 77.8218 28.34646 1.679535 72.75783 30.39705 2.56822 69.32603 33.71549 2.944439 68.37578 35.6229 2.944439 68.37578 35.6229 2.56822 69.32603 33.71549 1.679535 72.75783 30.39705 0.7428841 77.8218 28.34646 0.2156054 84.03891 27.28311 0.1090279 83.46457 27.51831 0.6320966 87.20247 27.28311 0.5725989 87.52606 28.05863 0.5725989 87.52606 28.05863 0.6320966 87.20247 27.28311 0.2156054 84.03891 27.28311 0.1090279 83.46457 27.51831 0.1090279 83.46457 27.51831 0.2156054 84.03891 27.28311 0.6320966 87.20247 27.28311 0.5725989 87.52606 28.05863 1.2117 89.79248 30.64667 1.2117 89.79248 30.64667 1.2117 89.79248 30.64667 3.36418 92.97798 37.27261 2.482183 92.29281 35.36105 3.36418 92.97798 37.27261 2.482183 92.29281 35.36105 3.36418 92.97798 37.27261 2.482183 92.29281 35.36105 3.991392 94.26247 38.37857 3.991392 94.26247 38.37857 3.991392 94.26247 38.37857 4.360981 95.48511 38.88224 4.360981 95.48511 38.88224 4.360981 95.48511 38.88224 4.527544 97.51622 38.6388 4.527544 97.51622 38.6388 4.527544 97.51622 38.6388 4.260894 99.71415 37.29646 4.260894 99.71415 37.29646 4.260894 99.71415 37.29646 26.88176 141.7226 34.61954 26.74842 141.6671 34.4441 26.88176 141.7226 34.61954 26.74842 141.6671 34.4441 26.88176 141.7226 34.61954 26.74842 141.6671 34.4441 27.36032 141.9892 34.81373 27.36032 141.9892 34.81373 27.36032 141.9892 34.81373 42.27879 154.4378 26.3901 45.28443 155.6828 26.3901 45.28443 155.6828 26.3901 42.27879 154.4378 26.3901 45.28443 155.6828 26.3901 42.27879 154.4378 26.3901 49.39748 157.1842 27.82224 49.39748 157.1842 27.82224 49.39748 157.1842 27.82224 52.3814 158.2113 29.30073 52.3814 158.2113 29.30073 52.3814 158.2113 29.30073 55.93169 159.254 32.3287 55.93169 159.254 32.3287 55.93169 159.254 32.3287 58.83477 160.2202 34.00159 58.83477 160.2202 34.00159 58.83477 160.2202 34.00159 60.0927 160.329 34.79239 60.0927 160.329 34.79239 60.0927 160.329 34.79239 67.5727 162.0839 34.30566 67.5727 162.0839 34.30566 67.5727 162.0839 34.30566 68.41846 162.4187 32.60799 68.41846 162.4187 32.60799 68.41846 162.4187 32.60799 72.21202 163.4011 28.93974 72.21202 163.4011 28.93974 72.21202 163.4011 28.93974 73.67715 163.6721 28.34646 75.98506 163.8504 27.39258 78.62652 164.3389 26.32295 78.62652 164.3389 26.32295 75.98506 163.8504 27.39258 73.67715 163.6721 28.34646 73.67715 163.6721 28.34646 75.98506 163.8504 27.39258 78.62652 164.3389 26.32295 83.46457 164.9759 26.32295 83.46457 164.9759 26.32295 83.46457 164.9759 26.32295 87.22503 164.2022 26.34615 83.60284 164.6791 26.34615 87.22503 164.2022 26.34615 83.60284 164.6791 26.34615 83.60284 164.6791 26.34615 87.22503 164.2022 26.34615 126.9729 15.18772 27.02423 126.9548 15.20819 27.02694 126.9729 15.18772 27.02423 126.9548 15.20819 27.02694 126.9548 15.20819 27.02694 126.9729 15.18772 27.02423 124.3279 13.04526 26.33794 124.2213 13.21958 26.3652 124.3279 13.04526 26.33794 124.2213 13.21958 26.3652 124.2213 13.21958 26.3652 124.3279 13.04526 26.33794 118.4389 10.6334 27.3694 117.3707 10.13459 27.76811 118.4389 10.6334 27.3694 117.3707 10.13459 27.76811 118.4389 10.6334 27.3694 117.3707 10.13459 27.76811 121.4062 11.83503 26.33794 124.0818 13.11349 26.35917 121.3521 11.98283 26.35917 124.0818 13.11349 26.35917 121.4062 11.83503 26.33794 121.3521 11.98283 26.35917 124.0818 13.11349 26.35917 121.3521 11.98283 26.35917 121.4062 11.83503 26.33794 116.2986 9.608826 28.34646 114.4435 8.97029 29.26562 116.2986 9.608826 28.34646 114.4435 8.97029 29.26562 116.2986 9.608826 28.34646 114.4435 8.97029 29.26562 110.8933 7.92751 32.29358 110.8933 7.92751 32.29358 110.8933 7.92751 32.29358 108.0074 6.967104 33.95652 108.0074 6.967104 33.95652 108.0074 6.967104 33.95652 106.8364 6.600148 34.79239 106.8364 6.600148 34.79239 106.8364 6.600148 34.79239 102.4093 5.526127 35.91873 102.4093 5.526127 35.91873 102.4093 5.526127 35.91873 54.39891 6.151456 28.79554 54.39891 6.151456 28.79554 54.39891 6.151456 28.79554 57.63415 5.339298 29.85735 57.63415 5.339298 29.85735 57.63415 5.339298 29.85735 49.75298 7.996479 28.23366 49.75298 7.996479 28.23366 49.75298 7.996479 28.23366 45.66309 9.822026 29.16413 45.66309 9.822026 29.16413 45.66309 9.822026 29.16413 61.975 4.604092 33.99864 60.02816 5.02495 31.26968 61.975 4.604092 33.99864 60.02816 5.02495 31.26968 60.02816 5.02495 31.26968 61.975 4.604092 33.99864 62.71523 4.903725 34.43193 62.71523 4.903725 34.43193 62.71523 4.903725 34.43193 63.63117 5.37885 34.96989 64.36991 5.388259 35.2274 65.5193 5.296925 35.68306 67.57136 5.323061 36.39838 67.57136 5.323061 36.39838 65.5193 5.296925 35.68306 64.36991 5.388259 35.2274 63.63117 5.37885 34.96989 67.57136 5.323061 36.39838 65.5193 5.296925 35.68306 64.36991 5.388259 35.2274 63.63117 5.37885 34.96989 82.9396 1.132627 26.46649 79.53933 1.58028 26.46649 82.9396 1.132627 26.46649 79.53933 1.58028 26.46649 82.9396 1.132627 26.46649 79.53933 1.58028 26.46649 76.47734 2.443725 29.963 76.47734 2.443725 29.963 76.47734 2.443725 29.963 74.32435 3.893197 34.7819 74.16466 4.098753 35.2274 74.00881 4.179261 35.68306 73.71411 4.558606 36.50522 73.71411 4.558606 36.50522 74.00881 4.179261 35.68306 74.16466 4.098753 35.2274 74.32435 3.893197 34.7819 74.16466 4.098753 35.2274 74.32435 3.893197 34.7819 74.00881 4.179261 35.68306 73.71411 4.558606 36.50522 72.56241 5.120978 37.49685 72.56241 5.120978 37.49685 72.56241 5.120978 37.49685 71.51834 5.43659 37.92696 71.51834 5.43659 37.92696 71.51834 5.43659 37.92696 69.72165 5.58393 37.71161 69.72165 5.58393 37.71161 69.72165 5.58393 37.71161 101.4346 5.300184 35.68306 100.8928 5.209381 35.53513 101.4346 5.300184 35.68306 100.8928 5.209381 35.53513 101.4346 5.300184 35.68306 100.8928 5.209381 35.53513 99.40306 4.572815 34.36326 100.709 5.164229 35.37599 100.709 5.164229 35.37599 99.40306 4.572815 34.36326 100.709 5.164229 35.37599 99.40306 4.572815 34.36326 98.54683 4.233823 32.64458 98.54683 4.233823 32.64458 98.54683 4.233823 32.64458 94.75335 3.251477 28.97642 94.75335 3.251477 28.97642 94.75335 3.251477 28.97642 88.37086 2.070949 26.3919 88.37086 2.070949 26.3919 88.37086 2.070949 26.3919 83.46457 1.425023 26.3919 83.46457 1.425023 26.3919 83.46457 1.425023 26.3919 45.66416 10.13959 28.74016 45.66416 10.13959 28.74016 45.66416 10.13959 28.74016 42.63417 12.03042 29.85859 41.1618 12.94993 32.05024 41.1618 12.94993 32.05024 42.63417 12.03042 29.85859 41.1618 12.94993 32.05024 42.63417 12.03042 29.85859 41.09558 13.08641 32.57089 41.09558 13.08641 32.57089 41.09558 13.08641 32.57089 40.38261 13.78896 33.51592 40.38261 13.78896 33.51592 40.38261 13.78896 33.51592 39.12957 14.8815 34.31239 39.12957 14.8815 34.31239 39.12957 14.8815 34.31239 37.51305 16.1219 34.31239 37.51305 16.1219 34.31239 37.51305 16.1219 34.31239 35.4839 17.55621 33.5666 35.4839 17.55621 33.5666 35.4839 17.55621 33.5666 32.68982 19.45504 32.07653 32.68982 19.45504 32.07653 32.68982 19.45504 32.07653 29.1807 22.09395 31.74995 29.1807 22.09395 31.74995 29.1807 22.09395 31.74995 26.38292 24.40435 32.74429 26.38292 24.40435 32.74429 26.38292 24.40435 32.74429 24.93988 25.86948 34.91926 24.93988 25.86948 34.91926 24.93988 25.86948 34.91926 24.33849 26.6736 36.07166 24.33849 26.6736 36.07166 24.33849 26.6736 36.07166 24.82031 26.15718 35.29783 24.82031 26.15718 35.29783 24.82031 26.15718 35.29783 20.13646 31.61022 35.27181 22.66255 28.96016 36.22351 20.13646 31.61022 35.27181 22.66255 28.96016 36.22351 20.13646 31.61022 35.27181 22.66255 28.96016 36.22351 18.8101 33.10205 34.1678 18.8101 33.10205 34.1678 18.8101 33.10205 34.1678 17.54073 34.31543 32.11152 17.54073 34.31543 32.11152 17.54073 34.31543 32.11152 15.80903 36.11789 29.99258 15.80903 36.11789 29.99258 15.80903 36.11789 29.99258 13.35288 39.00083 28.50952 13.35288 39.00083 28.50952 13.35288 39.00083 28.50952 12.38845 40.19146 28.20058 12.38845 40.19146 28.20058 12.38845 40.19146 28.20058 11.34203 41.71957 27.43385 11.27677 41.78692 27.5164 11.27677 41.78692 27.5164 11.34203 41.71957 27.43385 11.27677 41.78692 27.5164 11.34203 41.71957 27.43385 9.633015 45.47218 28.34646 8.584404 48.34493 29.34673 6.60291 54.61743 33.71153 7.635838 51.1007 30.71218 5.584658 57.67707 35.47464 5.539161 57.98908 36.06738 5.539161 57.98908 36.06738 5.584658 57.67707 35.47464 6.60291 54.61743 33.71153 7.635838 51.1007 30.71218 8.584404 48.34493 29.34673 9.633015 45.47218 28.34646 9.633015 45.47218 28.34646 8.584404 48.34493 29.34673 7.635838 51.1007 30.71218 6.60291 54.61743 33.71153 5.584658 57.67707 35.47464 5.539161 57.98908 36.06738 24.54725 67.67772 57.62846 24.54725 67.67772 57.62846 24.54725 67.67772 57.62846 37.43566 56.88976 58.66142 41.65889 51.38594 58.66142 42.76854 49.93981 58.66142 42.76854 49.93981 58.66142 41.65889 51.38594 58.66142 37.43566 56.88976 58.66142 37.43566 56.88976 58.66142 41.65889 51.38594 58.66142 42.76854 49.93981 58.66142 51.43014 51.43014 57.62846 54.06303 49.40985 57.62846 54.06303 49.40985 57.62846 51.43014 51.43014 57.62846 51.43014 51.43014 57.62846 54.06303 49.40985 57.62846 64.4685 50.56242 54.59998 64.4685 50.56242 54.59998 64.4685 50.56242 54.59998 75.25646 52.83149 49.78237 75.25646 52.83149 49.78237 75.25646 52.83149 49.78237 83.46457 56.56849 43.50394 83.46457 56.56849 43.50394 83.46457 56.56849 43.50394 89.64196 60.41023 36.19255 89.64196 60.41023 36.19255 89.64196 60.41023 36.19255 99.74353 66.91836 31.39335 99.73416 66.88579 31.54759 99.42327 66.4412 32.79993 98.50986 65.47492 34.41304 96.60215 63.97347 34.64164 95.3303 63.12325 33.87759 95.236 63.07587 33.7257 95.39535 63.1427 34.06277 96.60215 63.97347 34.64164 95.39535 63.1427 34.06277 95.3303 63.12325 33.87759 95.236 63.07587 33.7257 98.50986 65.47492 34.41304 99.42327 66.4412 32.79993 99.73416 66.88579 31.54759 99.74353 66.91836 31.39335 95.236 63.07587 33.7257 95.3303 63.12325 33.87759 95.39535 63.1427 34.06277 96.60215 63.97347 34.64164 98.50986 65.47492 34.41304 99.42327 66.4412 32.79993 99.73416 66.88579 31.54759 99.74353 66.91836 31.39335 99.53071 66.41752 31.11588 99.6772 66.81542 31.47021 101.2549 69.09276 29.11849 101.2549 69.09276 29.11849 99.6772 66.81542 31.47021 99.53071 66.41752 31.11588 101.2549 69.09276 29.11849 99.6772 66.81542 31.47021 99.53071 66.41752 31.11588 103.7863 72.13615 28.03626 102.8554 70.92295 28.03626 103.7863 72.13615 28.03626 102.8554 70.92295 28.03626 102.8554 70.92295 28.03626 103.7863 72.13615 28.03626 104.8497 74.19371 29.53038 104.8497 74.19371 29.53038 104.8497 74.19371 29.53038 106.0401 76.70858 30.58338 106.0401 76.70858 30.58338 106.0401 76.70858 30.58338 106.4729 79.3471 28.03037 106.3932 76.57763 30.19452 106.515 80.80973 26.88742 106.515 80.80973 26.88742 106.4729 79.3471 28.03037 106.3932 76.57763 30.19452 106.3932 76.57763 30.19452 106.4729 79.3471 28.03037 106.515 80.80973 26.88742 106.7847 82.85852 26.88742 106.8449 83.46457 26.91169 106.8449 83.46457 26.91169 106.7847 82.85852 26.88742 106.8449 83.46457 26.91169 106.7847 82.85852 26.88742 22.46887 83.46457 57.62846 23.50806 91.35799 57.62846 23.50806 91.35799 57.62846 22.46887 83.46457 57.62846 22.46887 83.46457 57.62846 23.50806 91.35799 57.62846 28.33662 98.23606 58.14494 32.12599 97.22071 58.66142 32.12599 97.22071 58.66142 28.33662 98.23606 58.14494 32.12599 97.22071 58.66142 28.33662 98.23606 58.14494 44.23057 106.1163 57.62846 44.23057 106.1163 57.62846 44.23057 106.1163 57.62846 56.60008 110.3291 54.59998 57.15479 110.7547 54.59998 60.53429 113.3479 54.59998 60.53429 113.3479 54.59998 57.15479 110.7547 54.59998 56.60008 110.3291 54.59998 56.60008 110.3291 54.59998 60.53429 113.3479 54.59998 57.15479 110.7547 54.59998 67.60772 110.9294 49.78237 67.60772 110.9294 49.78237 67.60772 110.9294 49.78237 76.50335 109.4442 43.50394 76.50335 109.4442 43.50394 76.50335 109.4442 43.50394 83.46457 107.3322 36.19255 83.46457 107.3322 36.19255 83.46457 107.3322 36.19255 89.60147 105.8521 31.35437 89.4682 105.8704 31.09276 90.09162 105.673 31.52374 94.83211 103.3465 28.95438 92.93113 104.3289 30.33481 90.09162 105.673 31.52374 92.93113 104.3289 30.33481 94.83211 103.3465 28.95438 89.60147 105.8521 31.35437 89.4682 105.8704 31.09276 94.83211 103.3465 28.95438 92.93113 104.3289 30.33481 90.09162 105.673 31.52374 89.60147 105.8521 31.35437 89.4682 105.8704 31.09276 95.82058 102.7014 28.50928 95.82058 102.7014 28.50928 95.82058 102.7014 28.50928 94.77634 103.5027 28.50928 94.77634 103.5027 28.50928 94.77634 103.5027 28.50928 101.8122 98.41984 33.84023 101.8122 98.41984 33.84023 101.8122 98.41984 33.84023 100.9936 99.19365 32.47367 100.9936 99.19365 32.47367 100.9936 99.19365 32.47367 100.9537 99.51217 30.79053 98.12059 101.3381 28.67527 100.9537 99.51217 30.79053 98.12059 101.3381 28.67527 100.9537 99.51217 30.79053 98.12059 101.3381 28.67527 105.3858 93.01088 30.78828 105.3858 93.01088 30.78828 105.3858 93.01088 30.78828 104.4532 95.82329 32.43286 104.4532 95.82329 32.43286 104.4532 95.82329 32.43286 104.2793 96.38055 32.83592 104.2793 96.38055 32.83592 104.2793 96.38055 32.83592 103.3105 97.04593 33.61293 103.3105 97.04593 33.61293 103.3105 97.04593 33.61293 106.6691 87.97148 26.59405 107.2625 83.46457 26.59405 107.1653 83.46457 26.66796 107.1653 83.46457 26.66796 107.2625 83.46457 26.59405 106.6691 87.97148 26.59405 107.2625 83.46457 26.59405 107.1653 83.46457 26.66796 106.6691 87.97148 26.59405 106.47 90.66057 27.7705 106.47 90.66057 27.7705 106.47 90.66057 27.7705 29.7185 143.1235 34.72898 32.11992 145.4126 33.86658 32.11992 145.4126 33.86658 29.7185 143.1235 34.72898 32.11992 145.4126 33.86658 29.7185 143.1235 34.72898 33.32086 146.4803 32.97784 33.32086 146.4803 32.97784 33.32086 146.4803 32.97784 34.47604 147.6888 31.02019 34.47604 147.6888 31.02019 34.47604 147.6888 31.02019 36.45349 149.5886 28.69553 36.45349 149.5886 28.69553 36.45349 149.5886 28.69553 39.56749 152.2416 27.09361 39.56749 152.2416 27.09361 39.56749 152.2416 27.09361 4.50454 104.4936 34.64416 4.50454 103.5984 35.47836 4.50454 104.4936 34.64416 4.50454 103.5984 35.47836 4.50454 104.4936 34.64416 4.50454 103.5984 35.47836 4.604092 104.9541 33.99864 5.02495 106.901 31.26968 5.02495 106.901 31.26968 4.604092 104.9541 33.99864 5.02495 106.901 31.26968 4.604092 104.9541 33.99864 5.649781 108.996 29.55007 5.649781 108.996 29.55007 5.649781 108.996 29.55007 6.714904 112.0885 28.02241 6.714904 112.0885 28.02241 6.714904 112.0885 28.02241 8.643156 116.944 27.43519 8.643156 116.944 27.43519 8.643156 116.944 27.43519 10.99844 121.0623 28.17394 10.99844 121.0623 28.17394 10.99844 121.0623 28.17394 13.03923 124.1247 29.6825 12.98721 124.0413 29.5585 13.08139 124.1656 29.74796 13.94321 125.5455 31.80209 13.94321 125.5455 31.80209 13.08139 124.1656 29.74796 13.03923 124.1247 29.6825 12.98721 124.0413 29.5585 12.98721 124.0413 29.5585 13.03923 124.1247 29.6825 13.08139 124.1656 29.74796 13.94321 125.5455 31.80209 14.05163 125.5982 32.21569 14.05163 125.5982 32.21569 14.05163 125.5982 32.21569 14.65337 126.2088 33.02512 14.65337 126.2088 33.02512 14.65337 126.2088 33.02512 15.64329 127.3442 33.74678 15.64329 127.3442 33.74678 15.64329 127.3442 33.74678 16.78103 128.8269 33.74678 16.78103 128.8269 33.74678 16.78103 128.8269 33.74678 18.1633 130.7824 33.02805 18.1633 130.7824 33.02805 18.1633 130.7824 33.02805 20.08769 133.6141 31.51792 20.08769 133.6141 31.51792 20.08769 133.6141 31.51792 22.81976 137.2471 31.17981 22.81976 137.2471 31.17981 22.81976 137.2471 31.17981 25.25572 140.1969 32.22819 25.25572 140.1969 32.22819 25.25572 140.1969 32.22819 5.394651 59.18937 36.21307 4.444451 62.50623 37.16624 4.444451 62.50623 37.16624 5.394651 59.18937 36.21307 4.444451 62.50623 37.16624 5.394651 59.18937 36.21307 4.31412 64.40267 37.45435 4.31412 64.40267 37.45435 4.31412 64.40267 37.45435 3.875696 66.29407 36.99706 3.875696 66.29407 36.99706 3.875696 66.29407 36.99706 2.996315 68.23585 35.49122 2.996315 68.23585 35.49122 2.996315 68.23585 35.49122 2.62253 69.17996 33.59614 2.62253 69.17996 33.59614 2.62253 69.17996 33.59614 1.721505 72.65941 30.23163 1.721505 72.65941 30.23163 1.721505 72.65941 30.23163 0.772304 77.79123 28.15356 0.772304 77.79123 28.15356 0.772304 77.79123 28.15356 0.753426 78.56988 27.51831 0.753426 78.56988 27.51831 0.753426 78.56988 27.51831 0.303509 83.98954 27.11565 0.303509 83.98954 27.11565 0.303509 83.98954 27.11565 0.7338879 87.25859 27.11565 0.7338879 87.25859 27.11565 0.7338879 87.25859 27.11565 1.538442 90.11174 30.37369 1.538442 90.11174 30.37369 1.538442 90.11174 30.37369 3.740844 93.17093 36.94888 2.903642 92.52056 35.13441 3.740844 93.17093 36.94888 2.903642 92.52056 35.13441 3.740844 93.17093 36.94888 2.903642 92.52056 35.13441 4.328172 94.37374 37.98452 4.328172 94.37374 37.98452 4.328172 94.37374 37.98452 4.664559 95.48654 38.44294 4.664559 95.48654 38.44294 4.664559 95.48654 38.44294 4.819297 97.37345 38.21678 4.819297 97.37345 38.21678 4.819297 97.37345 38.21678 4.556203 99.54207 36.89234 4.556203 99.54207 36.89234 4.556203 99.54207 36.89234 27.21902 141.3683 34.41465 27.14576 141.3379 34.31826 27.21902 141.3683 34.41465 27.14576 141.3379 34.31826 27.21902 141.3683 34.41465 27.14576 141.3379 34.31826 27.65615 141.6119 34.59202 27.65615 141.6119 34.59202 27.65615 141.6119 34.59202 42.54248 153.9799 26.32291 45.48476 155.1987 26.32291 45.48476 155.1987 26.32291 42.54248 153.9799 26.32291 45.48476 155.1987 26.32291 42.54248 153.9799 26.32291 48.49025 156.2957 27.3694 49.55848 156.7945 27.76811 49.55848 156.7945 27.76811 48.49025 156.2957 27.3694 48.49025 156.2957 27.3694 49.55848 156.7945 27.76811 50.63052 157.3203 28.34646 52.4856 157.9588 29.26562 52.4856 157.9588 29.26562 50.63052 157.3203 28.34646 50.63052 157.3203 28.34646 52.4856 157.9588 29.26562 56.03587 159.0016 32.29358 56.03587 159.0016 32.29358 56.03587 159.0016 32.29358 58.92169 159.962 33.95652 58.92169 159.962 33.95652 58.92169 159.962 33.95652 78.6466 164.2293 26.3376 78.67605 164.0686 26.35909 78.67605 164.0686 26.35909 78.6466 164.2293 26.3376 78.67605 164.0686 26.35909 78.6466 164.2293 26.3376 83.40667 164.6914 26.35909 83.40667 164.6914 26.35909 83.40667 164.6914 26.35909 54.61315 6.379796 28.36501 54.61315 6.379796 28.36501 54.61315 6.379796 28.36501 57.93316 5.649781 29.55007 57.93316 5.649781 29.55007 57.93316 5.649781 29.55007 49.84687 8.272616 27.78858 49.84687 8.272616 27.78858 49.84687 8.272616 27.78858 62.28927 4.995808 33.83484 60.3285 5.41968 31.08635 62.28927 4.995808 33.83484 60.3285 5.41968 31.08635 60.3285 5.41968 31.08635 62.28927 4.995808 33.83484 62.91154 5.37885 34.2993 62.91154 5.37885 34.2993 62.91154 5.37885 34.2993 63.638 5.449113 34.95774 63.638 5.449113 34.95774 63.638 5.449113 34.95774 79.57158 2.088707 26.32267 83.07336 1.627689 26.32267 83.07336 1.627689 26.32267 79.57158 2.088707 26.32267 83.07336 1.627689 26.32267 79.57158 2.088707 26.32267 76.47972 2.960572 29.85328 76.47972 2.960572 29.85328 76.47972 2.960572 29.85328 74.35955 4.011282 34.75788 74.35955 4.011282 34.75788 74.35955 4.011282 34.75788 99.35644 4.845252 34.30566 99.35644 4.845252 34.30566 99.35644 4.845252 34.30566 98.51068 4.510403 32.60799 98.51068 4.510403 32.60799 98.51068 4.510403 32.60799 94.71711 3.528037 28.93974 94.71711 3.528037 28.93974 94.71711 3.528037 28.93974 90.94408 3.07878 27.39258 88.30261 2.590205 26.32295 93.25199 3.257042 28.34646 93.25199 3.257042 28.34646 90.94408 3.07878 27.39258 88.30261 2.590205 26.32295 93.25199 3.257042 28.34646 90.94408 3.07878 27.39258 88.30261 2.590205 26.32295 83.46457 1.953264 26.32295 83.46457 1.953264 26.32295 83.46457 1.953264 26.32295 45.73364 10.54085 28.40243 45.73364 10.54085 28.40243 45.73364 10.54085 28.40243 42.71603 12.51267 29.65421 41.20775 13.45461 31.89933 41.20775 13.45461 31.89933 42.71603 12.51267 29.65421 41.20775 13.45461 31.89933 42.71603 12.51267 29.65421 41.14856 13.57658 32.36463 41.14856 13.57658 32.36463 41.14856 13.57658 32.36463 40.50103 14.21466 33.22293 40.50103 14.21466 33.22293 40.50103 14.21466 33.22293 39.32326 15.24156 33.97155 39.32326 15.24156 33.97155 39.32326 15.24156 33.97155 37.7923 16.4163 33.97155 37.7923 16.4163 33.97155 37.7923 16.4163 33.97155 35.81025 17.81733 33.24307 35.81025 17.81733 33.24307 35.81025 17.81733 33.24307 32.99211 19.7325 31.74017 32.99211 19.7325 31.74017 32.99211 19.7325 31.74017 29.40376 22.431 31.40621 29.40376 22.431 31.40621 29.40376 22.431 31.40621 26.50874 24.82171 32.43512 26.50874 24.82171 32.43512 26.50874 24.82171 32.43512 25.03981 26.31311 34.64909 25.03981 26.31311 34.64909 25.03981 26.31311 34.64909 24.43325 26.85172 35.57965 24.43325 26.85172 35.57965 24.43325 26.85172 35.57965 24.954 26.51959 34.92078 24.954 26.51959 34.92078 24.954 26.51959 34.92078 22.83213 29.03621 35.72471 20.39359 31.59442 34.80601 22.83213 29.03621 35.72471 20.39359 31.59442 34.80601 20.39359 31.59442 34.80601 22.83213 29.03621 35.72471 19.155 32.98753 33.77505 19.155 32.98753 33.77505 19.155 32.98753 33.77505 17.90786 34.17966 31.75478 17.90786 34.17966 31.75478 17.90786 34.17966 31.75478 16.11479 36.04601 29.56073 16.11479 36.04601 29.56073 16.11479 36.04601 29.56073 13.58676 39.0133 28.03428 13.58676 39.0133 28.03428 13.58676 39.0133 28.03428 11.38431 41.73233 27.32877 11.38431 41.73233 27.32877 11.38431 41.73233 27.32877 10.09405 44.64227 27.5164 9.649359 45.50098 28.14635 9.649359 45.50098 28.14635 10.09405 44.64227 27.5164 10.09405 44.64227 27.5164 9.649359 45.50098 28.14635 10.15571 44.69843 27.32877 10.15571 44.69843 27.32877 10.15571 44.69843 27.32877 8.583266 48.42162 29.1633 8.583266 48.42162 29.1633 8.583266 48.42162 29.1633 7.624102 51.20817 30.544 7.624102 51.20817 30.544 7.624102 51.20817 30.544 6.589843 54.72944 33.54722 6.589843 54.72944 33.54722 6.589843 54.72944 33.54722 5.575025 57.77876 35.30438 5.575025 57.77876 35.30438 5.575025 57.77876 35.30438 32.12599 69.70845 58.66142 34.78082 63.2991 58.66142 34.78082 63.2991 58.66142 32.12599 69.70845 58.66142 32.12599 69.70845 58.66142 34.78082 63.2991 58.66142 44.23057 60.81281 57.62846 44.23057 60.81281 57.62846 44.23057 60.81281 57.62846 56.60008 56.60008 54.59998 56.60008 56.60008 54.59998 56.60008 56.60008 54.59998 67.60772 55.9997 49.78237 71.43209 54.4156 49.78237 71.43209 54.4156 49.78237 67.60772 55.9997 49.78237 67.60772 55.9997 49.78237 71.43209 54.4156 49.78237 76.50335 57.48495 43.50394 76.50335 57.48495 43.50394 76.50335 57.48495 43.50394 83.46457 59.59696 36.19255 83.46457 59.59696 36.19255 83.46457 59.59696 36.19255 89.54187 61.36176 29.16407 89.39471 61.33298 28.93636 92.04323 62.02275 31.81914 94.95038 62.98676 33.51912 94.95038 62.98676 33.51912 92.04323 62.02275 31.81914 89.54187 61.36176 29.16407 89.39471 61.33298 28.93636 89.39471 61.33298 28.93636 89.54187 61.36176 29.16407 92.04323 62.02275 31.81914 94.95038 62.98676 33.51912 95.73727 63.11083 33.52206 95.21012 62.94634 33.14078 95.44742 63.1598 33.96231 95.44742 63.1598 33.96231 95.73727 63.11083 33.52206 95.21012 62.94634 33.14078 95.44742 63.1598 33.96231 95.21012 62.94634 33.14078 95.73727 63.11083 33.52206 96.62477 63.97029 34.52704 96.62477 63.97029 34.52704 96.62477 63.97029 34.52704 98.47568 65.42704 34.30524 98.47568 65.42704 34.30524 98.47568 65.42704 34.30524 99.36196 66.36461 32.74007 99.36196 66.36461 32.74007 99.36196 66.36461 32.74007 99.19365 65.9355 32.47367 99.19365 65.9355 32.47367 99.19365 65.9355 32.47367 101.3381 68.80857 28.67527 99.51217 65.97544 30.79053 101.3381 68.80857 28.67527 99.51217 65.97544 30.79053 99.51217 65.97544 30.79053 101.3381 68.80857 28.67527 103.1069 70.67652 27.64021 104.1524 72.0391 27.64021 104.1524 72.0391 27.64021 103.1069 70.67652 27.64021 103.1069 70.67652 27.64021 104.1524 72.0391 27.64021 105.259 74.18032 29.19508 105.259 74.18032 29.19508 105.259 74.18032 29.19508 106.3912 76.57196 30.19648 106.3912 76.57196 30.19648 106.3912 76.57196 30.19648 106.8811 79.13344 27.77199 106.4381 76.5531 30.16688 106.8019 76.38171 29.92228 106.9252 80.66608 26.57433 106.9252 80.66608 26.57433 106.8811 79.13344 27.77199 106.4381 76.5531 30.16688 106.8019 76.38171 29.92228 106.4381 76.5531 30.16688 106.8019 76.38171 29.92228 106.8811 79.13344 27.77199 106.9252 80.66608 26.57433 107.256 83.17837 26.57433 107.155 83.09192 26.63969 107.272 83.46457 26.59015 107.155 83.09192 26.63969 107.272 83.46457 26.59015 107.256 83.17837 26.57433 107.272 83.46457 26.59015 107.256 83.17837 26.57433 107.155 83.09192 26.63969 30.31496 83.46457 58.66142 31.22048 90.34263 58.66142 31.22048 90.34263 58.66142 30.31496 83.46457 58.66142 30.31496 83.46457 58.66142 31.22048 90.34263 58.66142 39.70473 95.18998 57.62846 42.96056 103.0503 57.62846 42.96056 103.0503 57.62846 39.70473 95.18998 57.62846 39.70473 95.18998 57.62846 42.96056 103.0503 57.62846 50.56242 102.4606 54.59998 50.56242 102.4606 54.59998 50.56242 102.4606 54.59998 61.0396 105.8895 49.78237 61.0396 105.8895 49.78237 61.0396 105.8895 49.78237 70.01654 106.7573 43.50394 70.01654 106.7573 43.50394 70.01654 106.7573 43.50394 77.28718 106.5189 36.19255 77.28718 106.5189 36.19255 77.28718 106.5189 36.19255 85.95375 105.9715 28.34646 83.46457 106.2992 28.34646 85.95375 105.9715 28.34646 83.46457 106.2992 28.34646 83.46457 106.2992 28.34646 85.95375 105.9715 28.34646 92.80466 104.5217 29.94104 92.80466 104.5217 29.94104 92.80466 104.5217 29.94104 90.12796 105.7887 31.0618 90.12796 105.7887 31.0618 90.12796 105.7887 31.0618 89.82872 105.8981 30.9584 89.82872 105.8981 30.9584 89.82872 105.8981 30.9584 87.0044 105.9794 28.75139 86.0349 106.0073 27.99379 87.0044 105.9794 28.75139 86.0349 106.0073 27.99379 87.0044 105.9794 28.75139 86.0349 106.0073 27.99379 96.00619 102.8554 28.03626 96.00619 102.8554 28.03626 96.00619 102.8554 28.03626 94.79298 103.7863 28.03626 94.79298 103.7863 28.03626 94.79298 103.7863 28.03626 102.1892 98.4706 33.44221 102.1892 98.4706 33.44221 102.1892 98.4706 33.44221 101.4672 99.15313 32.23685 101.4672 99.15313 32.23685 101.4672 99.15313 32.23685 101.4098 99.62281 30.51633 98.44512 101.5335 28.30283 101.4098 99.62281 30.51633 98.44512 101.5335 28.30283 101.4098 99.62281 30.51633 98.44512 101.5335 28.30283 105.7725 93.30004 30.57215 105.7725 93.30004 30.57215 105.7725 93.30004 30.57215 104.8452 96.09654 32.20743 104.8452 96.09654 32.20743 104.8452 96.09654 32.20743 104.66 96.69013 32.63677 104.66 96.69013 32.63677 104.66 96.69013 32.63677 103.6233 97.33346 33.293 103.6233 97.33346 33.293 103.6233 97.33346 33.293 107.1492 88.06383 26.3919 107.7547 83.46457 26.3919 107.5923 83.46457 26.4586 107.5923 83.46457 26.4586 107.7547 83.46457 26.3919 107.1492 88.06383 26.3919 107.7547 83.46457 26.3919 107.5923 83.46457 26.4586 107.1492 88.06383 26.3919 106.9431 90.84694 27.60948 106.9431 90.84694 27.60948 106.9431 90.84694 27.60948 29.76971 143.06 34.71497 32.31901 145.1647 33.81216 32.31901 145.1647 33.81216 29.76971 143.06 34.71497 29.76971 143.06 34.71497 32.31901 145.1647 33.81216 33.51091 146.2244 32.93011 33.51091 146.2244 32.93011 33.51091 146.2244 32.93011 34.66574 147.4325 30.97306 34.66574 147.4325 30.97306 34.66574 147.4325 30.97306 36.64426 149.3333 28.64714 36.64426 149.3333 28.64714 36.64426 149.3333 28.64714 37.22876 149.8313 28.34646 38.83628 150.934 27.55128 39.88242 151.8252 27.01312 39.88242 151.8252 27.01312 38.83628 150.934 27.55128 37.22876 149.8313 28.34646 37.22876 149.8313 28.34646 38.83628 150.934 27.55128 39.88242 151.8252 27.01312 4.903725 104.2139 34.43193 4.903725 103.4176 35.17393 4.903725 104.2139 34.43193 4.903725 103.4176 35.17393 4.903725 104.2139 34.43193 4.903725 103.4176 35.17393 4.995808 104.6399 33.83484 5.41968 106.6006 31.08635 5.41968 106.6006 31.08635 4.995808 104.6399 33.83484 5.41968 106.6006 31.08635 4.995808 104.6399 33.83484 6.054464 108.729 29.33934 6.054464 108.729 29.33934 6.054464 108.729 29.33934 7.133942 111.8632 27.7911 7.133942 111.8632 27.7911 7.133942 111.8632 27.7911 9.082848 116.7707 27.19758 9.082848 116.7707 27.19758 9.082848 116.7707 27.19758 11.4812 120.8746 28.07029 11.7059 121.3421 28.28995 11.74736 121.4615 28.34646 11.74736 121.4615 28.34646 11.7059 121.3421 28.28995 11.4812 120.8746 28.07029 11.7059 121.3421 28.28995 11.4812 120.8746 28.07029 11.74736 121.4615 28.34646 14.29358 125.3112 31.77263 14.29358 125.3112 31.77263 14.29358 125.3112 31.77263 14.39268 125.3593 32.15071 14.39268 125.3593 32.15071 14.39268 125.3593 32.15071 14.98987 125.9653 32.954 14.98987 125.9653 32.954 14.98987 125.9653 32.954 15.97515 127.0953 33.67228 15.97515 127.0953 33.67228 15.97515 127.0953 33.67228 17.10826 128.572 33.67228 17.10826 128.572 33.67228 17.10826 128.572 33.67228 18.48817 130.5242 32.95477 18.48817 130.5242 32.95477 18.48817 130.5242 32.95477 20.41371 133.3576 31.44374 20.41371 133.3576 31.44374 20.41371 133.3576 31.44374 23.15 136.9962 31.10511 23.15 136.9962 31.10511 23.15 136.9962 31.10511 25.59163 139.9529 32.15593 25.59163 139.9529 32.15593 25.59163 139.9529 32.15593 26.28918 140.64 33.19144 26.65639 140.8559 33.59179 26.65639 140.8559 33.59179 26.28918 140.64 33.19144 26.28918 140.64 33.19144 26.65639 140.8559 33.59179 5.510974 59.42518 35.75041 4.590367 62.63874 36.6739 4.590367 62.63874 36.6739 5.510974 59.42518 35.75041 4.590367 62.63874 36.6739 5.510974 59.42518 35.75041 4.469005 64.40467 36.94218 4.469005 64.40467 36.94218 4.469005 64.40467 36.94218 4.068531 66.13235 36.52447 4.068531 66.13235 36.52447 4.068531 66.13235 36.52447 3.260209 67.91723 35.14031 3.260209 67.91723 35.14031 3.260209 67.91723 35.14031 2.894455 68.84105 33.28596 2.894455 68.84105 33.28596 2.894455 68.84105 33.28596 1.963255 72.43703 29.80877 1.963255 72.43703 29.80877 1.963255 72.43703 29.80877 0.8331768 78.54676 27.3347 0.8331768 78.54676 27.3347 0.8331768 78.54676 27.3347 0.1857354 83.46457 27.3347 0.1857354 83.46457 27.3347 0.1857354 83.46457 27.3347 1.118176 87.35604 26.73696 0.674967 83.98954 26.73696 1.118176 87.35604 26.73696 0.674967 83.98954 26.73696 0.674967 83.98954 26.73696 1.118176 87.35604 26.73696 1.958663 90.33662 30.1405 1.958663 90.33662 30.1405 1.958663 90.33662 30.1405 4.184976 93.24849 36.67085 3.384912 92.62696 34.93687 4.184976 93.24849 36.67085 3.384912 92.62696 34.93687 4.184976 93.24849 36.67085 3.384912 92.62696 34.93687 4.749934 94.40548 37.66704 4.749934 94.40548 37.66704 4.749934 94.40548 37.66704 5.067699 95.45669 38.10009 5.067699 95.45669 38.10009 5.067699 95.45669 38.10009 5.215805 97.26272 37.88362 5.215805 97.26272 37.88362 5.215805 97.26272 37.88362 4.954706 99.4149 36.56923 4.954706 99.4149 36.56923 4.954706 99.4149 36.56923 27.25699 141.1993 34.3055 27.31244 141.2289 34.38412 27.31244 141.2289 34.38412 27.25699 141.1993 34.3055 27.25699 141.1993 34.3055 27.31244 141.2289 34.38412 27.72415 141.5141 34.57109 27.72415 141.5141 34.57109 27.72415 141.5141 34.57109 42.60122 153.8839 26.33794 42.84735 153.8156 26.35917 42.7078 153.7096 26.3652 45.57699 154.9463 26.35917 45.52298 155.0941 26.33794 45.52298 155.0941 26.33794 45.57699 154.9463 26.35917 42.84735 153.8156 26.35917 42.7078 153.7096 26.3652 42.60122 153.8839 26.33794 42.60122 153.8839 26.33794 42.7078 153.7096 26.3652 42.84735 153.8156 26.35917 45.57699 154.9463 26.35917 45.52298 155.0941 26.33794 83.46457 164.6973 26.34615 83.40667 164.6914 26.35909 83.40667 164.6914 26.35909 83.46457 164.6973 26.34615 83.46457 164.6973 26.34615 54.84067 6.714904 28.02241 54.84067 6.714904 28.02241 54.84067 6.714904 28.02241 58.20012 6.054464 29.33934 58.20012 6.054464 29.33934 58.20012 6.054464 29.33934 49.98517 8.643156 27.43519 49.98517 8.643156 27.43519 49.98517 8.643156 27.43519 62.55818 5.44087 33.81531 62.61712 5.442497 33.8866 60.54622 5.875807 30.99506 62.55818 5.44087 33.81531 60.54622 5.875807 30.99506 62.61712 5.442497 33.8866 62.61712 5.442497 33.8866 62.55818 5.44087 33.81531 60.54622 5.875807 30.99506 62.9262 5.455285 34.29282 62.9262 5.455285 34.29282 62.9262 5.455285 34.29282 79.66762 2.60881 26.31531 83.10848 2.155812 26.31531 83.10848 2.155812 26.31531 79.66762 2.60881 26.31531 83.10848 2.155812 26.31531 79.66762 2.60881 26.31531 79.24531 2.727897 26.79755 77.82042 2.71157 28.34646 76.50798 3.081664 29.84515 76.50798 3.081664 29.84515 77.82042 2.71157 28.34646 79.24531 2.727897 26.79755 79.24531 2.727897 26.79755 77.82042 2.71157 28.34646 76.50798 3.081664 29.84515 88.28253 2.69981 26.3376 88.25309 2.860566 26.35909 88.28253 2.69981 26.3376 88.25309 2.860566 26.35909 88.25309 2.860566 26.35909 88.28253 2.69981 26.3376 83.52246 2.237768 26.35909 83.52246 2.237768 26.35909 83.52246 2.237768 26.35909 45.8668 10.99844 28.17394 45.8668 10.99844 28.17394 45.8668 10.99844 28.17394 42.88779 12.98721 29.5585 42.80448 13.03923 29.6825 42.76357 13.08139 29.74796 41.3836 13.94321 31.80209 41.3836 13.94321 31.80209 42.76357 13.08139 29.74796 42.80448 13.03923 29.6825 42.88779 12.98721 29.5585 42.88779 12.98721 29.5585 42.80448 13.03923 29.6825 42.76357 13.08139 29.74796 41.3836 13.94321 31.80209 41.33098 14.05163 32.21569 41.33098 14.05163 32.21569 41.33098 14.05163 32.21569 40.72033 14.65337 33.02512 40.72033 14.65337 33.02512 40.72033 14.65337 33.02512 39.58498 15.64329 33.74678 39.58498 15.64329 33.74678 39.58498 15.64329 33.74678 38.10223 16.78103 33.74678 38.10223 16.78103 33.74678 38.10223 16.78103 33.74678 36.14672 18.1633 33.02805 36.14672 18.1633 33.02805 36.14672 18.1633 33.02805 33.31502 20.08769 31.51792 33.31502 20.08769 31.51792 33.31502 20.08769 31.51792 29.68202 22.81976 31.17981 29.68202 22.81976 31.17981 29.68202 22.81976 31.17981 26.7322 25.25572 32.22819 26.7322 25.25572 32.22819 26.7322 25.25572 32.22819 25.262 26.74842 34.4441 25.262 26.74842 34.4441 25.262 26.74842 34.4441 24.63838 27.08595 35.15059 24.63838 27.08595 35.15059 24.63838 27.08595 35.15059 25.20658 26.88176 34.61954 25.20658 26.88176 34.61954 25.20658 26.88176 34.61954 23.09178 29.19604 35.29072 20.72496 31.67902 34.39903 23.09178 29.19604 35.29072 20.72496 31.67902 34.39903 20.72496 31.67902 34.39903 23.09178 29.19604 35.29072 19.56197 32.9871 33.431 19.56197 32.9871 33.431 19.56197 32.9871 33.431 18.33316 34.16171 31.44042 18.33316 34.16171 31.44042 18.33316 34.16171 31.44042 16.48947 36.08074 29.18444 16.48947 36.08074 29.18444 16.48947 36.08074 29.18444 13.90217 39.1176 27.6222 13.90217 39.1176 27.6222 13.90217 39.1176 27.6222 11.68125 41.85942 26.91077 11.68125 41.85942 26.91077 11.68125 41.85942 26.91077 8.710295 48.65824 28.70755 8.710295 48.65824 28.70755 8.710295 48.65824 28.70755 10.43117 44.8774 26.91077 10.43117 44.8774 26.91077 10.43117 44.8774 26.91077 7.72586 51.51822 30.12463 7.72586 51.51822 30.12463 7.72586 51.51822 30.12463 6.688431 55.05028 33.13706 6.688431 55.05028 33.13706 6.688431 55.05028 33.13706 5.684759 58.0661 34.87492 5.684759 58.0661 34.87492 5.684759 58.0661 34.87492 39.70473 71.73915 57.62846 39.70473 71.73915 57.62846 39.70473 71.73915 57.62846 50.56242 64.4685 54.59998 53.58125 60.53429 54.59998 56.17443 57.15479 54.59998 56.17443 57.15479 54.59998 53.58125 60.53429 54.59998 50.56242 64.4685 54.59998 50.56242 64.4685 54.59998 53.58125 60.53429 54.59998 56.17443 57.15479 54.59998 61.0396 61.0396 49.78237 64.32366 58.51965 49.78237 64.32366 58.51965 49.78237 61.0396 61.0396 49.78237 61.0396 61.0396 49.78237 64.32366 58.51965 49.78237 70.01654 60.17188 43.50394 70.01654 60.17188 43.50394 70.01654 60.17188 43.50394 77.28718 60.41023 36.19255 77.28718 60.41023 36.19255 77.28718 60.41023 36.19255 83.46457 60.62992 28.34646 88.04634 61.23312 28.34646 83.46457 60.62992 28.34646 88.04634 61.23312 28.34646 83.46457 60.62992 28.34646 88.04634 61.23312 28.34646 89.81482 61.32718 28.78315 88.11111 61.20101 28.0378 89.81482 61.32718 28.78315 88.11111 61.20101 28.0378 89.81482 61.32718 28.78315 88.11111 61.20101 28.0378 92.33779 61.99388 31.46116 92.33779 61.99388 31.46116 92.33779 61.99388 31.46116 96.05554 62.93688 33.13787 95.52095 62.77007 32.7512 96.05554 62.93688 33.13787 95.52095 62.77007 32.7512 95.52095 62.77007 32.7512 96.05554 62.93688 33.13787 96.8042 63.84532 34.03384 96.8042 63.84532 34.03384 96.8042 63.84532 34.03384 98.41984 65.11689 33.84023 98.41984 65.11689 33.84023 98.41984 65.11689 33.84023 99.15313 65.46199 32.23685 99.15313 65.46199 32.23685 99.15313 65.46199 32.23685 101.5335 68.48401 28.30283 99.62281 65.51931 30.51633 101.5335 68.48401 28.30283 99.62281 65.51931 30.51633 99.62281 65.51931 30.51633 101.5335 68.48401 28.30283 103.4388 70.38605 27.34812 104.5761 71.86827 27.34812 104.5761 71.86827 27.34812 103.4388 70.38605 27.34812 103.4388 70.38605 27.34812 104.5761 71.86827 27.34812 105.7219 74.08523 28.95801 105.7219 74.08523 28.95801 105.7219 74.08523 28.95801 106.8085 76.38083 29.91919 106.8085 76.38083 29.91919 106.8085 76.38083 29.91919 107.276 76.19809 29.79232 107.4072 80.55804 26.38203 107.2824 76.22069 29.77138 107.3621 78.9906 27.60689 107.3621 78.9906 27.60689 107.2824 76.22069 29.77138 107.4072 80.55804 26.38203 107.276 76.19809 29.79232 107.276 76.19809 29.79232 107.2824 76.22069 29.77138 107.3621 78.9906 27.60689 107.4072 80.55804 26.38203 107.761 83.24522 26.38203 107.5688 83.13127 26.45071 107.7693 83.46457 26.38999 107.5688 83.13127 26.45071 107.7693 83.46457 26.38999 107.761 83.24522 26.38203 107.7693 83.46457 26.38999 107.761 83.24522 26.38203 107.5688 83.13127 26.45071 38.16105 83.46457 57.62846 39.27155 91.89968 57.62846 39.27155 91.89968 57.62846 38.16105 83.46457 57.62846 38.16105 83.46457 57.62846 39.27155 91.89968 57.62846 46.76699 93.29766 54.59998 46.76699 93.29766 54.59998 46.76699 93.29766 54.59998 55.9997 99.32141 49.78237 55.9997 99.32141 49.78237 55.9997 99.32141 49.78237 67.23136 104.6201 43.50394 64.44617 102.483 43.50394 67.23136 104.6201 43.50394 64.44617 102.483 43.50394 64.44617 102.483 43.50394 67.23136 104.6201 43.50394 71.53077 104.1345 36.19255 71.53077 104.1345 36.19255 71.53077 104.1345 36.19255 77.53443 105.5962 28.93636 78.88282 105.696 28.34646 77.53443 105.5962 28.93636 78.88282 105.696 28.34646 78.88282 105.696 28.34646 77.53443 105.5962 28.93636 83.7463 106.3597 27.60554 85.83391 106.0848 27.60554 83.46457 106.3942 27.62483 83.46457 106.3942 27.62483 83.7463 106.3597 27.60554 85.83391 106.0848 27.60554 85.83391 106.0848 27.60554 83.7463 106.3597 27.60554 83.46457 106.3942 27.62483 92.73545 104.8497 29.53038 92.73545 104.8497 29.53038 92.73545 104.8497 29.53038 90.22055 106.0401 30.58338 90.22055 106.0401 30.58338 90.22055 106.0401 30.58338 90.09719 106.0852 30.54075 90.09719 106.0852 30.54075 90.09719 106.0852 30.54075 87.31214 106.1653 28.36442 85.94995 106.2045 27.29996 87.31214 106.1653 28.36442 85.94995 106.2045 27.29996 85.94995 106.2045 27.29996 87.31214 106.1653 28.36442 96.25262 103.1069 27.64021 96.25262 103.1069 27.64021 96.25262 103.1069 27.64021 94.89003 104.1524 27.64021 94.89003 104.1524 27.64021 94.89003 104.1524 27.64021 102.6072 98.62449 33.13829 102.6072 98.62449 33.13829 102.6072 98.62449 33.13829 101.9528 99.24314 32.04574 101.9528 99.24314 32.04574 101.9528 99.24314 32.04574 101.8489 99.85511 30.31197 98.78789 101.8279 28.02655 101.8489 99.85511 30.31197 98.78789 101.8279 28.02655 101.8489 99.85511 30.31197 98.78789 101.8279 28.02655 106.2151 93.52096 30.46252 106.7419 91.52742 28.34646 106.7803 91.46297 28.26336 106.7803 91.46297 28.26336 106.7419 91.52742 28.34646 106.2151 93.52096 30.46252 106.7803 91.46297 28.26336 106.7419 91.52742 28.34646 106.2151 93.52096 30.46252 105.2394 96.28855 32.10771 105.3583 96.1049 31.9735 105.3583 96.1049 31.9735 105.2394 96.28855 32.10771 105.3583 96.1049 31.9735 105.2394 96.28855 32.10771 104.8992 96.83588 32.5926 104.8992 96.83588 32.5926 104.8992 96.83588 32.5926 104.0011 97.6472 33.09585 104.0011 97.6472 33.09585 104.0011 97.6472 33.09585 107.5581 88.11776 26.3376 107.6684 88.13231 26.32295 108.283 83.46457 26.32295 108.051 83.46457 26.35323 108.1707 83.46457 26.3376 108.1707 83.46457 26.3376 108.051 83.46457 26.35323 108.283 83.46457 26.32295 107.6684 88.13231 26.32295 107.5581 88.11776 26.3376 108.051 83.46457 26.35323 108.1707 83.46457 26.3376 108.283 83.46457 26.32295 107.6684 88.13231 26.32295 107.5581 88.11776 26.3376 107.1144 90.88489 27.59322 107.5274 90.03702 27.15624 107.5274 90.03702 27.15624 107.1144 90.88489 27.59322 107.5274 90.03702 27.15624 107.1144 90.88489 27.59322 39.95627 151.7414 27.02423 39.9743 151.7209 27.02694 39.9743 151.7209 27.02694 39.95627 151.7414 27.02423 39.9743 151.7209 27.02694 39.95627 151.7414 27.02423 5.37885 103.298 34.96989 5.37885 104.0176 34.2993 5.37885 104.0176 34.2993 5.37885 103.298 34.96989 5.37885 104.0176 34.2993 5.37885 103.298 34.96989 5.44087 104.371 33.81531 5.875807 106.3829 30.99506 5.442497 104.312 33.8866 5.442497 104.312 33.8866 5.44087 104.371 33.81531 5.875807 106.3829 30.99506 5.442497 104.312 33.8866 5.44087 104.371 33.81531 5.875807 106.3829 30.99506 6.512685 108.5183 29.24229 6.512685 108.5183 29.24229 6.512685 108.5183 29.24229 7.137287 110.3318 28.34646 7.608352 111.6555 27.68682 7.187837 110.4346 28.28995 7.187837 110.4346 28.28995 7.137287 110.3318 28.34646 7.608352 111.6555 27.68682 7.137287 110.3318 28.34646 7.187837 110.4346 28.28995 7.608352 111.6555 27.68682 9.561728 116.5743 27.09195 9.561728 116.5743 27.09195 9.561728 116.5743 27.09195 11.53256 120.8498 28.07334 11.53256 120.8498 28.07334 11.53256 120.8498 28.07334 5.754637 59.66244 35.34352 4.861406 62.78045 36.23954 4.861406 62.78045 36.23954 5.754637 59.66244 35.34352 4.861406 62.78045 36.23954 5.754637 59.66244 35.34352 4.748206 64.4276 36.48978 4.748206 64.4276 36.48978 4.748206 64.4276 36.48978 4.376256 66.03223 36.10182 4.376256 66.03223 36.10182 4.376256 66.03223 36.10182 3.628559 67.68325 34.82148 3.628559 67.68325 34.82148 3.628559 67.68325 34.82148 3.271689 68.58462 33.01216 3.271689 68.58462 33.01216 3.271689 68.58462 33.01216 2.315838 72.27581 29.44292 2.315838 72.27581 29.44292 2.315838 72.27581 29.44292 1.161444 78.51699 26.91562 1.161444 78.51699 26.91562 1.161444 78.51699 26.91562 0.5100829 83.46457 26.91562 0.5100829 83.46457 26.91562 0.5100829 83.46457 26.91562 1.132627 83.98954 26.46649 1.58028 87.3898 26.46649 1.58028 87.3898 26.46649 1.132627 83.98954 26.46649 1.132627 83.98954 26.46649 1.58028 87.3898 26.46649 2.443725 90.4518 29.963 2.443725 90.4518 29.963 2.443725 90.4518 29.963 4.098753 92.76448 35.2274 3.893197 92.60479 34.7819 4.179261 92.92033 35.68306 4.558606 93.21502 36.50522 4.558606 93.21502 36.50522 4.179261 92.92033 35.68306 4.098753 92.76448 35.2274 3.893197 92.60479 34.7819 4.098753 92.76448 35.2274 3.893197 92.60479 34.7819 4.179261 92.92033 35.68306 4.558606 93.21502 36.50522 5.120978 94.36672 37.49685 5.120978 94.36672 37.49685 5.120978 94.36672 37.49685 5.43659 95.41082 37.92696 5.43659 95.41082 37.92696 5.43659 95.41082 37.92696 5.58393 97.20749 37.71161 5.58393 97.20749 37.71161 5.58393 97.20749 37.71161 5.323061 99.35778 36.39838 5.323061 99.35778 36.39838 5.323061 99.35778 36.39838 5.296925 101.4098 35.68306 5.388259 102.5592 35.2274 5.388259 102.5592 35.2274 5.296925 101.4098 35.68306 5.296925 101.4098 35.68306 5.388259 102.5592 35.2274 55.06595 7.133942 27.7911 55.06595 7.133942 27.7911 55.06595 7.133942 27.7911 58.41082 6.512685 29.24229 58.41082 6.512685 29.24229 58.41082 6.512685 29.24229 50.15844 9.082848 27.19758 50.15844 9.082848 27.19758 50.15844 9.082848 27.19758 79.70411 2.726924 26.34615 83.32629 2.250054 26.34615 83.32629 2.250054 26.34615 79.70411 2.726924 26.34615 83.32629 2.250054 26.34615 79.70411 2.726924 26.34615 83.46457 2.23185 26.34615 83.46457 2.23185 26.34615 83.46457 2.23185 26.34615 45.46764 11.74736 28.34646 45.58701 11.7059 28.28995 46.05456 11.4812 28.07029 46.05456 11.4812 28.07029 45.58701 11.7059 28.28995 45.46764 11.74736 28.34646 45.58701 11.7059 28.28995 46.05456 11.4812 28.07029 45.46764 11.74736 28.34646 41.61794 14.29358 31.77263 41.61794 14.29358 31.77263 41.61794 14.29358 31.77263 41.56985 14.39268 32.15071 41.56985 14.39268 32.15071 41.56985 14.39268 32.15071 40.96382 14.98987 32.954 40.96382 14.98987 32.954 40.96382 14.98987 32.954 39.83379 15.97515 33.67228 39.83379 15.97515 33.67228 39.83379 15.97515 33.67228 38.35709 17.10826 33.67228 38.35709 17.10826 33.67228 38.35709 17.10826 33.67228 36.4049 18.48817 32.95477 36.4049 18.48817 32.95477 36.4049 18.48817 32.95477 33.57151 20.41371 31.44374 33.57151 20.41371 31.44374 33.57151 20.41371 31.44374 29.93291 23.15 31.10511 29.93291 23.15 31.10511 29.93291 23.15 31.10511 26.97622 25.59163 32.15593 26.97622 25.59163 32.15593 26.97622 25.59163 32.15593 25.59128 27.14576 34.31826 26.07328 26.65639 33.59179 26.28918 26.28918 33.19144 26.28918 26.28918 33.19144 26.07328 26.65639 33.59179 25.59128 27.14576 34.31826 26.28918 26.28918 33.19144 26.07328 26.65639 33.59179 25.59128 27.14576 34.31826 24.93988 27.36032 34.81373 24.93988 27.36032 34.81373 24.93988 27.36032 34.81373 25.56083 27.21902 34.41465 25.56083 27.21902 34.41465 25.56083 27.21902 34.41465 21.10797 31.85826 34.07861 23.42382 29.42876 34.95109 23.42382 29.42876 34.95109 21.10797 31.85826 34.07861 21.10797 31.85826 34.07861 23.42382 29.42876 34.95109 20.00326 33.10079 33.15909 20.00326 33.10079 33.15909 20.00326 33.10079 33.15909 18.78763 34.2628 31.18986 18.78763 34.2628 31.18986 18.78763 34.2628 31.18986 16.90753 36.21973 28.88933 16.90753 36.21973 28.88933 16.90753 36.21973 28.88933 14.27761 39.30662 27.30135 14.27761 39.30662 27.30135 14.27761 39.30662 27.30135 12.05883 42.04581 26.59061 12.05883 42.04581 26.59061 12.05883 42.04581 26.59061 8.958729 48.91125 28.31533 8.958729 48.91125 28.31533 8.958729 48.91125 28.31533 10.80315 45.07727 26.59061 10.80315 45.07727 26.59061 10.80315 45.07727 26.59061 7.953681 51.83111 29.76209 7.953681 51.83111 29.76209 7.953681 51.83111 29.76209 6.913665 55.37197 32.78202 6.913665 55.37197 32.78202 6.913665 55.37197 32.78202 5.922388 58.35056 34.49842 5.922388 58.35056 34.49842 5.922388 58.35056 34.49842 46.76699 73.63148 54.59998 46.76699 73.63148 54.59998 46.76699 73.63148 54.59998 55.9997 67.60772 49.78237 55.9997 67.60772 49.78237 55.9997 67.60772 49.78237 67.23136 62.30902 43.50394 64.44617 64.44617 43.50394 64.44617 64.44617 43.50394 67.23136 62.30902 43.50394 64.44617 64.44617 43.50394 67.23136 62.30902 43.50394 71.53077 62.79462 36.19255 71.53077 62.79462 36.19255 71.53077 62.79462 36.19255 80.97539 60.95763 28.34646 77.46096 61.05876 31.09276 77.46096 61.05876 31.09276 80.97539 60.95763 28.34646 77.46096 61.05876 31.09276 80.97539 60.95763 28.34646 87.66897 61.08844 27.62483 83.46457 60.53492 27.62483 87.66897 61.08844 27.62483 83.46457 60.53492 27.62483 83.46457 60.53492 27.62483 87.66897 61.08844 27.62483 90.12631 61.15338 28.37804 87.74147 60.97677 27.3347 90.12631 61.15338 28.37804 87.74147 60.97677 27.3347 87.74147 60.97677 27.3347 90.12631 61.15338 28.37804 92.68268 61.82891 31.09151 92.68268 61.82891 31.09151 92.68268 61.82891 31.09151 96.38055 62.64981 32.83592 95.82329 62.47593 32.43286 96.38055 62.64981 32.83592 95.82329 62.47593 32.43286 95.82329 62.47593 32.43286 96.38055 62.64981 32.83592 97.04593 63.61867 33.61293 97.04593 63.61867 33.61293 97.04593 63.61867 33.61293 98.4706 64.73995 33.44221 98.4706 64.73995 33.44221 98.4706 64.73995 33.44221 99.24314 64.97636 32.04574 99.24314 64.97636 32.04574 99.24314 64.97636 32.04574 101.8279 68.14125 28.02655 99.85511 65.08023 30.31197 101.8279 68.14125 28.02655 99.85511 65.08023 30.31197 99.85511 65.08023 30.31197 101.8279 68.14125 28.02655 103.8285 70.07135 27.17991 105.0285 71.63529 27.17991 105.0285 71.63529 27.17991 103.8285 70.07135 27.17991 103.8285 70.07135 27.17991 105.0285 71.63529 27.17991 105.8296 73.18539 28.30553 105.8472 73.24177 28.34646 106.1969 73.91838 28.83779 106.1969 73.91838 28.83779 105.8472 73.24177 28.34646 105.8296 73.18539 28.30553 105.8296 73.18539 28.30553 105.8472 73.24177 28.34646 106.1969 73.91838 28.83779 107.5187 77.01927 29.10277 107.5466 77.98712 28.34646 107.8175 80.5068 26.33603 107.8982 79.44995 27.13868 107.9282 80.49298 26.32362 107.9282 80.49298 26.32362 107.8982 79.44995 27.13868 107.8175 80.5068 26.33603 107.5466 77.98712 28.34646 107.5187 77.01927 29.10277 107.5187 77.01927 29.10277 107.5466 77.98712 28.34646 107.8982 79.44995 27.13868 107.9282 80.49298 26.32362 107.8175 80.5068 26.33603 108.0915 83.07308 26.34308 108.2941 83.27201 26.32362 108.3024 83.46457 26.32549 108.3024 83.46457 26.32549 108.2941 83.27201 26.32362 108.0915 83.07308 26.34308 108.3024 83.46457 26.32549 108.2941 83.27201 26.32362 108.0915 83.07308 26.34308 45.47244 83.46457 54.59998 45.47244 83.46457 54.59998 45.47244 83.46457 54.59998 52.83149 91.67267 49.78237 52.83149 91.67267 49.78237 52.83149 91.67267 49.78237 62.30902 99.69779 43.50394 60.17188 96.91262 43.50394 62.30902 99.69779 43.50394 60.17188 96.91262 43.50394 60.17188 96.91262 43.50394 62.30902 99.69779 43.50394 66.58763 100.3415 36.19255 66.58763 100.3415 36.19255 66.58763 100.3415 36.19255 77.38726 105.5674 29.16407 74.88591 104.9064 31.81914 71.97875 103.9424 33.51912 71.69316 103.8533 33.7257 71.69316 103.8533 33.7257 71.97875 103.9424 33.51912 74.88591 104.9064 31.81914 77.38726 105.5674 29.16407 77.38726 105.5674 29.16407 74.88591 104.9064 31.81914 71.97875 103.9424 33.51912 71.69316 103.8533 33.7257 79.26016 105.8407 27.62483 78.81803 105.7281 28.0378 78.81803 105.7281 28.0378 79.26016 105.8407 27.62483 79.26016 105.8407 27.62483 78.81803 105.7281 28.0378 77.11432 105.6019 28.78315 77.11432 105.6019 28.78315 77.11432 105.6019 28.78315 83.84875 106.4445 27.38342 83.46457 106.4986 27.37508 83.46457 106.5177 27.33179 83.8949 106.4751 27.29996 83.46457 106.5154 27.3347 83.84875 106.4445 27.38342 83.46457 106.5154 27.3347 83.46457 106.5177 27.33179 83.8949 106.4751 27.29996 83.46457 106.4986 27.37508 83.84875 106.4445 27.38342 83.46457 106.4986 27.37508 83.8949 106.4751 27.29996 83.46457 106.5177 27.33179 83.46457 106.5154 27.3347 92.74882 105.259 29.19508 92.74882 105.259 29.19508 92.74882 105.259 29.19508 90.35717 106.3912 30.19648 90.35717 106.3912 30.19648 90.35717 106.3912 30.19648 90.35151 106.3932 30.19452 90.35151 106.3932 30.19452 90.35151 106.3932 30.19452 87.58204 106.4729 28.03037 86.11941 106.515 26.88742 87.58204 106.4729 28.03037 86.11941 106.515 26.88742 87.58204 106.4729 28.03037 86.11941 106.515 26.88742 96.54309 103.4388 27.34812 96.54309 103.4388 27.34812 96.54309 103.4388 27.34812 95.06087 104.5761 27.34812 95.06087 104.5761 27.34812 95.06087 104.5761 27.34812 103.0379 98.87104 32.9492 103.0379 98.87104 32.9492 103.0379 98.87104 32.9492 102.4174 99.45756 31.91337 102.4174 99.45756 31.91337 102.4174 99.45756 31.91337 99.12552 102.2011 27.86526 101.4228 100.7205 29.58048 102.0582 100.0356 30.2476 102.0582 100.0356 30.2476 101.4228 100.7205 29.58048 99.12552 102.2011 27.86526 102.0582 100.0356 30.2476 101.4228 100.7205 29.58048 99.12552 102.2011 27.86526 104.2236 97.81723 33.06333 104.2236 97.81723 33.06333 104.2236 97.81723 33.06333 107.9129 88.15098 26.35518 108.5298 83.46457 26.35536 108.5208 83.46457 26.35399 108.5208 83.46457 26.35399 108.5298 83.46457 26.35536 107.9129 88.15098 26.35518 108.5298 83.46457 26.35536 108.5208 83.46457 26.35399 107.9129 88.15098 26.35518 107.5795 89.92617 27.11204 107.5795 89.92617 27.11204 107.5795 89.92617 27.11204 5.449113 103.2911 34.95774 5.455285 104.0029 34.29282 5.455285 104.0029 34.29282 5.449113 103.2911 34.95774 5.449113 103.2911 34.95774 5.455285 104.0029 34.29282 7.755902 111.6033 27.69569 7.755902 111.6033 27.69569 7.755902 111.6033 27.69569 9.847214 116.453 27.11167 9.847214 116.453 27.11167 9.847214 116.453 27.11167 5.239096 62.92167 35.89276 6.109035 59.88498 35.0201 6.109035 59.88498 35.0201 5.239096 62.92167 35.89276 5.239096 62.92167 35.89276 6.109035 59.88498 35.0201 5.132695 64.46991 36.12797 5.132695 64.46991 36.12797 5.132695 64.46991 36.12797 4.777902 66.00052 35.75791 4.777902 66.00052 35.75791 4.777902 66.00052 35.75791 4.076265 67.54982 34.55644 4.076265 67.54982 34.55644 4.076265 67.54982 34.55644 3.728522 68.42815 32.7934 3.728522 68.42815 32.7934 3.728522 68.42815 32.7934 2.755227 72.18669 29.15902 2.755227 72.18669 29.15902 2.755227 72.18669 29.15902 1.583625 78.52092 26.59405 1.583625 78.52092 26.59405 1.583625 78.52092 26.59405 0.9327809 83.46457 26.59405 0.9327809 83.46457 26.59405 0.9327809 83.46457 26.59405 1.627689 83.85577 26.32267 2.088707 87.35756 26.32267 2.088707 87.35756 26.32267 1.627689 83.85577 26.32267 1.627689 83.85577 26.32267 2.088707 87.35756 26.32267 2.960572 90.44941 29.85328 2.960572 90.44941 29.85328 2.960572 90.44941 29.85328 4.011282 92.56958 34.75788 4.011282 92.56958 34.75788 4.011282 92.56958 34.75788 55.27365 7.608352 27.68682 56.49458 7.187837 28.28995 56.59734 7.137287 28.34646 56.59734 7.137287 28.34646 56.49458 7.187837 28.28995 55.27365 7.608352 27.68682 56.59734 7.137287 28.34646 56.49458 7.187837 28.28995 55.27365 7.608352 27.68682 50.35488 9.561728 27.09195 50.35488 9.561728 27.09195 50.35488 9.561728 27.09195 46.07938 11.53256 28.07334 46.07938 11.53256 28.07334 46.07938 11.53256 28.07334 25.72984 27.25699 34.3055 25.72984 27.25699 34.3055 25.72984 27.25699 34.3055 25.31723 27.65615 34.59202 25.31723 27.65615 34.59202 25.31723 27.65615 34.59202 25.70023 27.31244 34.38412 25.70023 27.31244 34.38412 25.70023 27.31244 34.38412 21.51654 32.11992 33.86658 23.80562 29.7185 34.72898 23.80562 29.7185 34.72898 21.51654 32.11992 33.86658 21.51654 32.11992 33.86658 23.80562 29.7185 34.72898 20.44881 33.32086 32.97784 20.44881 33.32086 32.97784 20.44881 33.32086 32.97784 19.24032 34.47604 31.02019 19.24032 34.47604 31.02019 19.24032 34.47604 31.02019 17.3405 36.45349 28.69553 17.3405 36.45349 28.69553 17.3405 36.45349 28.69553 14.68749 39.56749 27.09361 14.68749 39.56749 27.09361 14.68749 39.56749 27.09361 12.4913 42.27879 26.3901 12.4913 42.27879 26.3901 12.4913 42.27879 26.3901 9.311639 49.16339 28.01337 9.311639 49.16339 28.01337 9.311639 49.16339 28.01337 11.24632 45.28443 26.3901 11.24632 45.28443 26.3901 11.24632 45.28443 26.3901 8.292038 52.12553 29.48107 8.292038 52.12553 29.48107 8.292038 52.12553 29.48107 7.250195 55.67261 32.50631 7.250195 55.67261 32.50631 7.250195 55.67261 32.50631 6.271716 58.61274 34.20055 6.271716 58.61274 34.20055 6.271716 58.61274 34.20055 46.67573 74.3247 54.59998 46.11972 78.54802 54.59998 46.11972 78.54802 54.59998 46.67573 74.3247 54.59998 46.11972 78.54802 54.59998 46.67573 74.3247 54.59998 52.83149 75.25646 49.78237 52.83149 75.25646 49.78237 52.83149 75.25646 49.78237 60.17188 70.01654 43.50394 60.17188 70.01654 43.50394 60.17188 70.01654 43.50394 66.58763 66.58763 36.19255 66.58763 66.58763 36.19255 66.58763 66.58763 36.19255 77.32766 61.077 31.35437 76.83751 61.2561 31.52374 72.09703 63.58268 28.95438 72.0122 63.62849 28.87878 73.998 62.60024 30.33481 76.83751 61.2561 31.52374 73.998 62.60024 30.33481 72.09703 63.58268 28.95438 72.0122 63.62849 28.87878 77.32766 61.077 31.35437 72.0122 63.62849 28.87878 72.09703 63.58268 28.95438 73.998 62.60024 30.33481 76.83751 61.2561 31.52374 77.32766 61.077 31.35437 79.92473 60.94978 28.75139 80.89424 60.92188 27.99379 77.10042 61.03105 30.9584 77.10042 61.03105 30.9584 79.92473 60.94978 28.75139 80.89424 60.92188 27.99379 79.92473 60.94978 28.75139 80.89424 60.92188 27.99379 77.10042 61.03105 30.9584 83.18283 60.56947 27.60554 81.09523 60.84431 27.60554 83.18283 60.56947 27.60554 81.09523 60.84431 27.60554 81.09523 60.84431 27.60554 83.18283 60.56947 27.60554 83.46457 60.41371 27.3347 83.46457 60.43058 27.37508 83.46457 60.43058 27.37508 83.46457 60.41371 27.3347 83.46457 60.43058 27.37508 83.46457 60.41371 27.3347 90.41478 60.85731 28.03264 87.86152 60.66823 26.91562 90.41478 60.85731 28.03264 87.86152 60.66823 26.91562 87.86152 60.66823 26.91562 90.41478 60.85731 28.03264 93.01088 61.54334 30.78828 93.01088 61.54334 30.78828 93.01088 61.54334 30.78828 96.09654 62.08395 32.20743 96.69013 62.26917 32.63677 96.69013 62.26917 32.63677 96.09654 62.08395 32.20743 96.09654 62.08395 32.20743 96.69013 62.26917 32.63677 97.33346 63.3058 33.293 97.33346 63.3058 33.293 97.33346 63.3058 33.293 98.62449 64.3219 33.13829 98.62449 64.3219 33.13829 98.62449 64.3219 33.13829 99.45756 64.51171 31.91337 99.45756 64.51171 31.91337 99.45756 64.51171 31.91337 100.0356 64.87094 30.2476 100.7205 65.50629 29.58048 102.2011 67.80361 27.86526 102.2011 67.80361 27.86526 100.7205 65.50629 29.58048 100.0356 64.87094 30.2476 100.0356 64.87094 30.2476 100.7205 65.50629 29.58048 102.2011 67.80361 27.86526 104.1599 69.82131 27.15401 104.1779 69.80773 27.1526 105.0808 70.98442 27.1526 105.2837 71.47706 27.16127 105.2837 71.47706 27.16127 105.0808 70.98442 27.1526 104.1779 69.80773 27.1526 104.1599 69.82131 27.15401 104.1779 69.80773 27.1526 104.1599 69.82131 27.15401 105.0808 70.98442 27.1526 105.2837 71.47706 27.16127 108.1377 80.48593 26.35536 108.1377 80.48593 26.35536 108.1377 80.48593 26.35536 51.75087 83.46457 49.78237 52.29118 87.56862 49.78237 52.29118 87.56862 49.78237 51.75087 83.46457 49.78237 51.75087 83.46457 49.78237 52.29118 87.56862 49.78237 57.48495 90.42578 43.50394 57.48495 90.42578 43.50394 57.48495 90.42578 43.50394 62.79462 95.39837 36.19255 62.79462 95.39837 36.19255 62.79462 95.39837 36.19255 67.1856 100.0108 31.39335 67.06172 99.86741 31.09979 67.19498 100.0433 31.54759 67.50586 100.4879 32.79993 68.41928 101.4542 34.41304 70.32698 102.9557 34.64164 71.59884 103.8059 33.87759 71.53379 103.7864 34.06277 70.32698 102.9557 34.64164 71.53379 103.7864 34.06277 71.59884 103.8059 33.87759 68.41928 101.4542 34.41304 67.50586 100.4879 32.79993 67.19498 100.0433 31.54759 67.1856 100.0108 31.39335 67.06172 99.86741 31.09979 71.59884 103.8059 33.87759 71.53379 103.7864 34.06277 70.32698 102.9557 34.64164 68.41928 101.4542 34.41304 67.50586 100.4879 32.79993 67.19498 100.0433 31.54759 67.1856 100.0108 31.39335 67.06172 99.86741 31.09979 74.59135 104.9353 31.46116 74.59135 104.9353 31.46116 74.59135 104.9353 31.46116 71.71901 103.9828 33.14078 71.71901 103.9828 33.14078 71.71901 103.9828 33.14078 71.19186 103.8183 33.52206 71.48171 103.7693 33.96231 71.48171 103.7693 33.96231 71.19186 103.8183 33.52206 71.48171 103.7693 33.96231 71.19186 103.8183 33.52206 79.18766 105.9524 27.3347 79.18766 105.9524 27.3347 79.18766 105.9524 27.3347 76.80284 105.7758 28.37804 76.80284 105.7758 28.37804 76.80284 105.7758 28.37804 83.46457 106.8449 26.91169 84.07062 106.7847 26.88742 83.46457 106.7926 26.9766 83.46457 106.7926 26.9766 83.46457 106.8449 26.91169 84.07062 106.7847 26.88742 84.07062 106.7847 26.88742 83.46457 106.8449 26.91169 83.46457 106.7926 26.9766 83.46457 106.8398 26.91562 79.06762 106.2609 26.91562 83.46457 106.8398 26.91562 79.06762 106.2609 26.91562 83.46457 106.8398 26.91562 79.06762 106.2609 26.91562 92.84391 105.7219 28.95801 92.84391 105.7219 28.95801 92.84391 105.7219 28.95801 90.37603 106.4381 30.16688 90.54742 106.8019 29.92228 90.5483 106.8085 29.91919 90.5483 106.8085 29.91919 90.54742 106.8019 29.92228 90.37603 106.4381 30.16688 90.5483 106.8085 29.91919 90.54742 106.8019 29.92228 90.37603 106.4381 30.16688 87.7957 106.8811 27.77199 86.26305 106.9252 26.57433 87.7957 106.8811 27.77199 86.26305 106.9252 26.57433 87.7957 106.8811 27.77199 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89.10871 28.34646 2.727897 87.68383 26.79755 2.727897 87.68383 26.79755 2.71157 89.10871 28.34646 3.081664 90.42116 29.84515 55.32584 7.755902 27.69569 55.32584 7.755902 27.69569 55.32584 7.755902 27.69569 50.47616 9.847214 27.11167 50.47616 9.847214 27.11167 50.47616 9.847214 27.11167 25.41507 27.72415 34.57109 25.41507 27.72415 34.57109 25.41507 27.72415 34.57109 21.76445 32.31901 33.81216 23.86913 29.76971 34.71497 23.86913 29.76971 34.71497 21.76445 32.31901 33.81216 23.86913 29.76971 34.71497 21.76445 32.31901 33.81216 20.70476 33.51091 32.93011 20.70476 33.51091 32.93011 20.70476 33.51091 32.93011 19.49664 34.66574 30.97306 19.49664 34.66574 30.97306 19.49664 34.66574 30.97306 17.5958 36.64426 28.64714 17.5958 36.64426 28.64714 17.5958 36.64426 28.64714 15.10389 39.88242 27.01312 15.99515 38.83628 27.55128 17.09782 37.22876 28.34646 17.09782 37.22876 28.34646 15.99515 38.83628 27.55128 15.10389 39.88242 27.01312 17.09782 37.22876 28.34646 15.99515 38.83628 27.55128 15.10389 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28.50928 71.10855 64.22771 28.50928 71.10855 64.22771 28.50928 72.1528 63.42643 28.50928 72.1528 63.42643 28.50928 71.10855 64.22771 28.50928 74.12448 62.40746 29.94104 74.12448 62.40746 29.94104 74.12448 62.40746 29.94104 76.80118 61.14039 31.0618 76.80118 61.14039 31.0618 76.80118 61.14039 31.0618 79.61699 60.76379 28.36442 80.97919 60.7246 27.29996 76.83194 60.84393 30.54075 76.83194 60.84393 30.54075 79.61699 60.76379 28.36442 80.97919 60.7246 27.29996 80.97919 60.7246 27.29996 76.83194 60.84393 30.54075 79.61699 60.76379 28.36442 83.08039 60.48463 27.38342 83.46457 60.41145 27.33179 83.03424 60.45405 27.29996 83.08039 60.48463 27.38342 83.46457 60.41145 27.33179 83.03424 60.45405 27.29996 83.08039 60.48463 27.38342 83.03424 60.45405 27.29996 83.46457 60.41145 27.33179 83.46457 60.08936 26.91562 83.46457 60.13655 26.9766 83.46457 60.13655 26.9766 83.46457 60.08936 26.91562 83.46457 60.08936 26.91562 83.46457 60.13655 26.9766 87.97148 60.26001 26.59405 90.66057 60.45915 27.7705 90.66057 60.45915 27.7705 87.97148 60.26001 26.59405 87.97148 60.26001 26.59405 90.66057 60.45915 27.7705 93.30004 61.15663 30.57215 93.30004 61.15663 30.57215 93.30004 61.15663 30.57215 96.28855 61.68971 32.10771 96.83588 62.02992 32.5926 96.83588 62.02992 32.5926 96.28855 61.68971 32.10771 96.28855 61.68971 32.10771 96.83588 62.02992 32.5926 97.6472 62.92802 33.09585 97.6472 62.92802 33.09585 97.6472 62.92802 33.09585 98.87104 63.89123 32.9492 98.87104 63.89123 32.9492 98.87104 63.89123 32.9492 99.6306 64.29181 31.87888 99.6306 64.29181 31.87888 99.6306 64.29181 31.87888 101.0886 65.84049 29.26599 101.8824 67.07209 28.34646 102.4097 67.65236 27.84801 102.4097 67.65236 27.84801 101.8824 67.07209 28.34646 101.0886 65.84049 29.26599 101.0886 65.84049 29.26599 101.8824 67.07209 28.34646 102.4097 67.65236 27.84801 56.56849 83.46457 43.50394 56.56849 83.46457 43.50394 56.56849 83.46457 43.50394 60.41023 89.64196 36.19255 60.41023 89.64196 36.19255 60.41023 89.64196 36.19255 64.26049 95.74057 28.87878 63.62849 94.91693 28.87878 65.64949 97.67617 29.46376 65.64949 97.67617 29.46376 64.26049 95.74057 28.87878 63.62849 94.91693 28.87878 65.64949 97.67617 29.46376 64.26049 95.74057 28.87878 63.62849 94.91693 28.87878 70.30437 102.9588 34.52704 70.30437 102.9588 34.52704 70.30437 102.9588 34.52704 68.45346 101.5021 34.30524 68.45346 101.5021 34.30524 68.45346 101.5021 34.30524 67.56718 100.5645 32.74007 67.56718 100.5645 32.74007 67.56718 100.5645 32.74007 67.25196 100.1137 31.47021 67.25196 100.1137 31.47021 67.25196 100.1137 31.47021 65.67425 97.83638 29.11849 67.39842 100.5116 31.11588 67.39842 100.5116 31.11588 65.67425 97.83638 29.11849 65.67425 97.83638 29.11849 67.39842 100.5116 31.11588 74.24645 105.1002 31.09151 74.24645 105.1002 31.09151 74.24645 105.1002 31.09151 71.40819 104.1591 32.7512 71.40819 104.1591 32.7512 71.40819 104.1591 32.7512 70.87359 103.9923 33.13787 70.87359 103.9923 33.13787 70.87359 103.9923 33.13787 70.12493 103.0838 34.03384 70.12493 103.0838 34.03384 70.12493 103.0838 34.03384 76.51435 106.0718 28.03264 76.51435 106.0718 28.03264 76.51435 106.0718 28.03264 83.83721 107.155 26.63969 83.46457 107.1653 26.66796 83.75077 107.256 26.57433 83.46457 107.272 26.59015 83.83721 107.155 26.63969 83.75077 107.256 26.57433 83.46457 107.272 26.59015 83.46457 107.1653 26.66796 83.83721 107.155 26.63969 83.46457 107.1653 26.66796 83.75077 107.256 26.57433 83.46457 107.272 26.59015 83.46457 107.2625 26.59405 78.95767 106.6691 26.59405 83.46457 107.2625 26.59405 78.95767 106.6691 26.59405 83.46457 107.2625 26.59405 78.95767 106.6691 26.59405 93.01076 106.1969 28.83779 93.68737 105.8472 28.34646 93.74375 105.8296 28.30553 93.74375 105.8296 28.30553 93.68737 105.8472 28.34646 93.01076 106.1969 28.83779 93.74375 105.8296 28.30553 93.68737 105.8472 28.34646 93.01076 106.1969 28.83779 90.73104 107.276 29.79232 90.73104 107.276 29.79232 90.73104 107.276 29.79232 86.3711 107.4072 26.38203 87.93854 107.3621 27.60689 90.70845 107.2824 29.77138 90.70845 107.2824 29.77138 87.93854 107.3621 27.60689 86.3711 107.4072 26.38203 90.70845 107.2824 29.77138 87.93854 107.3621 27.60689 86.3711 107.4072 26.38203 97.10782 104.1599 27.15401 97.1214 104.1779 27.1526 97.1214 104.1779 27.1526 97.10782 104.1599 27.15401 97.1214 104.1779 27.1526 97.10782 104.1599 27.15401 95.45208 105.2837 27.16127 95.94474 105.0808 27.1526 95.94474 105.0808 27.1526 95.45208 105.2837 27.16127 95.94474 105.0808 27.1526 95.45208 105.2837 27.16127 6.600148 60.0927 34.79239 6.600148 60.0927 34.79239 6.600148 60.0927 34.79239 4.845252 67.5727 34.30566 4.845252 67.5727 34.30566 4.845252 67.5727 34.30566 4.510403 68.41846 32.60799 4.510403 68.41846 32.60799 4.510403 68.41846 32.60799 3.528037 72.21202 28.93974 3.528037 72.21202 28.93974 3.528037 72.21202 28.93974 2.590205 78.62652 26.32295 3.07878 75.98506 27.39258 3.257042 73.67715 28.34646 3.257042 73.67715 28.34646 3.07878 75.98506 27.39258 2.590205 78.62652 26.32295 3.257042 73.67715 28.34646 3.07878 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26.33794 8.97029 52.4856 29.26562 9.608826 50.63052 28.34646 9.608826 50.63052 28.34646 8.97029 52.4856 29.26562 9.608826 50.63052 28.34646 8.97029 52.4856 29.26562 7.92751 56.03587 32.29358 7.92751 56.03587 32.29358 7.92751 56.03587 32.29358 6.967104 58.92169 33.95652 6.967104 58.92169 33.95652 6.967104 58.92169 33.95652 60.41023 77.28718 36.19255 60.41023 77.28718 36.19255 60.41023 77.28718 36.19255 66.4412 67.50586 32.79993 65.47492 68.41928 34.41304 66.88579 67.19498 31.54759 66.91836 67.1856 31.39335 63.97347 70.32698 34.64164 63.1427 71.53379 34.06277 63.07587 71.69316 33.7257 63.12325 71.59884 33.87759 63.12325 71.59884 33.87759 63.07587 71.69316 33.7257 63.1427 71.53379 34.06277 63.97347 70.32698 34.64164 65.47492 68.41928 34.41304 66.91836 67.1856 31.39335 66.88579 67.19498 31.54759 66.4412 67.50586 32.79993 63.07587 71.69316 33.7257 63.12325 71.59884 33.87759 63.1427 71.53379 34.06277 63.97347 70.32698 34.64164 65.47492 68.41928 34.41304 66.4412 67.50586 32.79993 66.88579 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26.91169 83.46457 59.76381 26.66796 83.46457 59.66666 26.59405 83.46457 59.76381 26.66796 83.46457 59.66666 26.59405 83.46457 59.66666 26.59405 83.46457 59.76381 26.66796 88.06383 59.77992 26.3919 90.84694 59.98603 27.60948 90.84694 59.98603 27.60948 88.06383 59.77992 26.3919 88.06383 59.77992 26.3919 90.84694 59.98603 27.60948 91.52742 60.18725 28.34646 91.46297 60.14882 28.26336 93.52096 60.71404 30.46252 93.52096 60.71404 30.46252 91.52742 60.18725 28.34646 91.46297 60.14882 28.26336 91.46297 60.14882 28.26336 91.52742 60.18725 28.34646 93.52096 60.71404 30.46252 96.1049 61.57087 31.9735 96.1049 61.57087 31.9735 96.1049 61.57087 31.9735 97.81723 62.70549 33.06333 97.81723 62.70549 33.06333 97.81723 62.70549 33.06333 99.0431 63.6703 32.91643 99.0431 63.6703 32.91643 99.0431 63.6703 32.91643 59.59696 83.46457 36.19255 59.59696 83.46457 36.19255 59.59696 83.46457 36.19255 61.077 89.60147 31.35437 61.05876 89.4682 31.09276 61.2561 90.09162 31.52374 62.60024 92.93113 30.33481 63.58268 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32.83592 69.88321 103.3105 33.61293 69.88321 103.3105 33.61293 69.88321 103.3105 33.61293 76.26856 106.47 27.7705 76.26856 106.47 27.7705 76.26856 106.47 27.7705 83.79787 107.5688 26.45071 83.46457 107.5923 26.4586 83.68392 107.761 26.38203 83.46457 107.7693 26.38999 83.79787 107.5688 26.45071 83.68392 107.761 26.38203 83.46457 107.7693 26.38999 83.46457 107.5923 26.4586 83.79787 107.5688 26.45071 83.46457 107.5923 26.4586 83.68392 107.761 26.38203 83.46457 107.7693 26.38999 83.46457 107.7547 26.3919 78.86531 107.1492 26.3919 83.46457 107.7547 26.3919 78.86531 107.1492 26.3919 83.46457 107.7547 26.3919 78.86531 107.1492 26.3919 86.42234 107.8175 26.33603 86.43616 107.9282 26.32362 87.4792 107.8982 27.13868 88.94202 107.5466 28.34646 89.90987 107.5187 29.10277 89.90987 107.5187 29.10277 88.94202 107.5466 28.34646 87.4792 107.8982 27.13868 86.43616 107.9282 26.32362 86.42234 107.8175 26.33603 89.90987 107.5187 29.10277 88.94202 107.5466 28.34646 87.4792 107.8982 27.13868 86.43616 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59.34959 27.11204 89.92617 59.34959 27.11204 88.15098 59.01624 26.35518 88.15098 59.01624 26.35518 89.92617 59.34959 27.11204 60.53492 83.46457 27.62483 60.56947 83.7463 27.60554 60.84431 85.83391 27.60554 60.84431 85.83391 27.60554 60.56947 83.7463 27.60554 60.53492 83.46457 27.62483 60.84431 85.83391 27.60554 60.56947 83.7463 27.60554 60.53492 83.46457 27.62483 62.07948 92.73545 29.53038 62.07948 92.73545 29.53038 62.07948 92.73545 29.53038 60.88901 90.22055 30.58338 60.88901 90.22055 30.58338 60.88901 90.22055 30.58338 60.84393 90.09719 30.54075 60.84393 90.09719 30.54075 60.84393 90.09719 30.54075 60.7246 85.94995 27.29996 60.76379 87.31214 28.36442 60.76379 87.31214 28.36442 60.7246 85.94995 27.29996 60.7246 85.94995 27.29996 60.76379 87.31214 28.36442 63.82225 96.25262 27.64021 63.82225 96.25262 27.64021 63.82225 96.25262 27.64021 62.77671 94.89003 27.64021 62.77671 94.89003 27.64021 62.77671 94.89003 27.64021 68.30465 102.6072 33.13829 68.30465 102.6072 33.13829 68.30465 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108.5208 26.35399 83.46457 108.5208 26.35399 83.46457 108.5208 26.35399 83.46457 108.5298 26.35536 83.46457 108.5298 26.35536 83.46457 108.5298 26.35536 78.77816 107.9129 26.35518 78.77816 107.9129 26.35518 78.77816 107.9129 26.35518 61.08844 79.26016 27.62483 61.08844 79.26016 27.62483 61.08844 79.26016 27.62483 60.97677 79.18766 27.3347 61.15338 76.80284 28.37804 60.97677 79.18766 27.3347 61.15338 76.80284 28.37804 60.97677 79.18766 27.3347 61.15338 76.80284 28.37804 61.82891 74.24645 31.09151 61.82891 74.24645 31.09151 61.82891 74.24645 31.09151 62.47593 71.10585 32.43286 62.64981 70.54859 32.83592 62.47593 71.10585 32.43286 62.64981 70.54859 32.83592 62.47593 71.10585 32.43286 62.64981 70.54859 32.83592 63.61867 69.88321 33.61293 63.61867 69.88321 33.61293 63.61867 69.88321 33.61293 64.73995 68.45854 33.44221 64.73995 68.45854 33.44221 64.73995 68.45854 33.44221 64.97636 67.68599 32.04574 64.97636 67.68599 32.04574 64.97636 67.68599 32.04574 65.08023 67.07403 30.31197 68.14125 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26.88742 60.45622 87.58204 28.03037 60.45622 87.58204 28.03037 60.41413 86.11941 26.88742 60.45622 87.58204 28.03037 60.41413 86.11941 26.88742 63.49035 96.54309 27.34812 63.49035 96.54309 27.34812 63.49035 96.54309 27.34812 62.353 95.06087 27.34812 62.353 95.06087 27.34812 62.353 95.06087 27.34812 68.0581 103.0379 32.9492 68.0581 103.0379 32.9492 68.0581 103.0379 32.9492 67.47158 102.4174 31.91337 67.47158 102.4174 31.91337 67.47158 102.4174 31.91337 66.20861 101.4228 29.58048 64.728 99.12552 27.86526 66.89357 102.0582 30.2476 66.89357 102.0582 30.2476 66.20861 101.4228 29.58048 64.728 99.12552 27.86526 66.89357 102.0582 30.2476 66.20861 101.4228 29.58048 64.728 99.12552 27.86526 69.11191 104.2236 33.06333 69.11191 104.2236 33.06333 69.11191 104.2236 33.06333 77.00299 107.5795 27.11204 77.00299 107.5795 27.11204 77.00299 107.5795 27.11204 60.66823 79.06762 26.91562 60.85731 76.51435 28.03264 60.66823 79.06762 26.91562 60.85731 76.51435 28.03264 60.66823 79.06762 26.91562 60.85731 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36.39838 69.72165 5.58393 37.71161 72.56241 5.120978 37.49685 71.51834 5.43659 37.92696 71.51834 5.43659 37.92696 72.56241 5.120978 37.49685 69.72165 5.58393 37.71161 73.71411 4.558606 36.50522 67.57136 5.323061 36.39838 73.71411 4.558606 36.50522 72.56241 5.120978 37.49685 71.51834 5.43659 37.92696 69.72165 5.58393 37.71161 67.57136 5.323061 36.39838 83.46457 44.48819 3.797705 83.46457 44.48819 3.797705 83.46457 44.48819 3.797705 92.03295 51.48698 8.302486 92.03295 51.48698 8.302486 92.03295 51.48698 8.302486 97.76499 58.6955 14.17323 103.6884 63.24071 14.17323 103.6884 63.24071 14.17323 97.76499 58.6955 14.17323 97.76499 58.6955 14.17323 103.6884 63.24071 14.17323 112.1349 66.91175 8.302486 112.1349 66.91175 8.302486 112.1349 66.91175 8.302486 121.1129 73.37674 3.797705 121.1129 73.37674 3.797705 121.1129 73.37674 3.797705 129.2776 83.46457 0.9658821 129.2776 83.46457 0.9658821 129.2776 83.46457 0.9658821 134.8031 97.22071 0 134.8031 97.22071 0 134.8031 97.22071 0 135.8472 113.7077 0.9658821 135.8472 113.7077 0.9658821 135.8472 113.7077 0.9658821 131.069 131.069 3.797705 131.069 131.069 3.797705 131.069 131.069 3.797705 122.3137 150.7533 14.17323 120.0614 146.8521 8.302486 122.3137 150.7533 14.17323 120.0614 146.8521 8.302486 120.0614 146.8521 8.302486 122.3137 150.7533 14.17323 140.408 140.408 21.00985 140.408 140.408 21.00985 140.408 140.408 21.00985 157.3203 116.2986 28.34646 156.7945 117.3707 27.76811 156.2957 118.4389 27.3694 154.9463 121.3521 26.35917 153.8156 124.0818 26.35917 153.3905 123.8363 22.63008 153.3905 123.8363 22.63008 153.8156 124.0818 26.35917 154.9463 121.3521 26.35917 156.2957 118.4389 27.3694 156.7945 117.3707 27.76811 157.3203 116.2986 28.34646 157.3203 116.2986 28.34646 153.3905 123.8363 22.63008 153.8156 124.0818 26.35917 154.9463 121.3521 26.35917 156.2957 118.4389 27.3694 156.7945 117.3707 27.76811 163.4011 94.71711 28.93974 162.4187 98.51068 32.60799 162.0839 99.35644 34.30566 161.7649 100.709 35.37599 161.7198 100.8928 35.53513 161.629 101.4346 35.68306 161.2971 103.9556 35.68306 161.2592 104.3096 35.61635 161.2592 104.3096 35.61635 161.2971 103.9556 35.68306 161.629 101.4346 35.68306 161.7198 100.8928 35.53513 161.7649 100.709 35.37599 162.0839 99.35644 34.30566 162.4187 98.51068 32.60799 163.4011 94.71711 28.93974 161.629 101.4346 35.68306 161.2971 103.9556 35.68306 161.7198 100.8928 35.53513 161.7649 100.709 35.37599 162.0839 99.35644 34.30566 162.4187 98.51068 32.60799 163.4011 94.71711 28.93974 161.2592 104.3096 35.61635 161.6061 67.57136 36.39838 161.3452 69.72165 37.71161 161.4925 71.51834 37.92696 161.8082 72.56241 37.49685 162.3705 73.71411 36.50522 162.3705 73.71411 36.50522 161.8082 72.56241 37.49685 161.4925 71.51834 37.92696 161.3452 69.72165 37.71161 161.6061 67.57136 36.39838 162.3705 73.71411 36.50522 161.8082 72.56241 37.49685 161.4925 71.51834 37.92696 161.3452 69.72165 37.71161 161.6061 67.57136 36.39838 5.766209 83.46457 14.17323 10.27099 83.46457 8.302486 10.27099 83.46457 8.302486 5.766209 83.46457 14.17323 5.766209 83.46457 14.17323 10.27099 83.46457 8.302486 18.4357 66.04014 3.797705 18.4357 66.04014 3.797705 18.4357 66.04014 3.797705 5.678385 62.62182 21.00985 5.678385 62.62182 21.00985 5.678385 62.62182 21.00985 31.08197 53.22146 0.9658821 31.08197 53.22146 0.9658821 31.08197 53.22146 0.9658821 17.09782 37.22876 28.34646 15.99515 38.83628 27.55128 15.20819 39.9743 27.02694 13.21958 42.7078 26.3652 13.53866 43.09282 22.63008 13.11349 42.84735 26.35917 13.11349 42.84735 26.35917 13.21958 42.7078 26.3652 13.53866 43.09282 22.63008 15.20819 39.9743 27.02694 15.99515 38.83628 27.55128 17.09782 37.22876 28.34646 13.11349 42.84735 26.35917 13.53866 43.09282 22.63008 17.09782 37.22876 28.34646 15.99515 38.83628 27.55128 15.20819 39.9743 27.02694 13.21958 42.7078 26.3652 45.88212 45.88212 0 45.88212 45.88212 0 45.88212 45.88212 0 41.61794 14.29358 31.77263 29.93291 23.15 31.10511 42.76357 13.08139 29.74796 33.57151 20.41371 31.44374 36.4049 18.48817 32.95477 41.56985 14.39268 32.15071 40.96382 14.98987 32.954 39.83379 15.97515 33.67228 38.35709 17.10826 33.67228 26.97622 25.59163 32.15593 26.28918 26.28918 33.19144 42.76357 13.08139 29.74796 29.93291 23.15 31.10511 26.28918 26.28918 33.19144 26.97622 25.59163 32.15593 38.35709 17.10826 33.67228 39.83379 15.97515 33.67228 36.4049 18.48817 32.95477 40.96382 14.98987 32.954 41.56985 14.39268 32.15071 41.61794 14.29358 31.77263 33.57151 20.41371 31.44374 26.28918 26.28918 33.19144 42.76357 13.08139 29.74796 41.61794 14.29358 31.77263 41.56985 14.39268 32.15071 40.96382 14.98987 32.954 39.83379 15.97515 33.67228 38.35709 17.10826 33.67228 36.4049 18.48817 32.95477 33.57151 20.41371 31.44374 29.93291 23.15 31.10511 26.97622 25.59163 32.15593 60.55807 43.78934 0.9658821 60.55807 43.78934 0.9658821 60.55807 43.78934 0.9658821 73.37674 45.81628 3.797705 73.37674 45.81628 3.797705 73.37674 45.81628 3.797705 83.46457 50.35893 8.302486 83.46457 50.35893 8.302486 83.46457 50.35893 8.302486 90.86701 55.83826 14.17323 90.86701 55.83826 14.17323 90.86701 55.83826 14.17323 96.34909 61.14793 21.00985 101.686 65.24311 21.00985 101.686 65.24311 21.00985 96.34909 61.14793 21.00985 96.34909 61.14793 21.00985 101.686 65.24311 21.00985 108.2336 69.16414 14.17323 108.2336 69.16414 14.17323 108.2336 69.16414 14.17323 115.4422 74.8962 8.302486 115.4422 74.8962 8.302486 115.4422 74.8962 8.302486 122.4409 83.46457 3.797705 122.4409 83.46457 3.797705 122.4409 83.46457 3.797705 127.7165 95.32184 0.9658821 127.7165 95.32184 0.9658821 127.7165 95.32184 0.9658821 129.4935 110.0394 0 129.4935 110.0394 0 129.4935 110.0394 0 126.2348 126.2348 0.9658821 126.2348 126.2348 0.9658821 126.2348 126.2348 0.9658821 117.126 141.7679 3.797705 117.126 141.7679 3.797705 117.126 141.7679 3.797705 103.5744 158.5154 14.17323 102.4085 154.1641 8.302486 103.5744 158.5154 14.17323 102.4085 154.1641 8.302486 102.4085 154.1641 8.302486 103.5744 158.5154 14.17323 123.7297 153.2057 21.00985 123.7297 153.2057 21.00985 123.7297 153.2057 21.00985 153.7096 124.2213 26.3652 151.7209 126.9548 27.02694 150.934 128.0928 27.55128 149.8313 129.7004 28.34646 141.091 141.091 28.34646 140.5588 140.5588 22.63008 140.5588 140.5588 22.63008 141.091 141.091 28.34646 149.8313 129.7004 28.34646 150.934 128.0928 27.55128 151.7209 126.9548 27.02694 153.7096 124.2213 26.3652 140.5588 140.5588 22.63008 141.091 141.091 28.34646 149.8313 129.7004 28.34646 150.934 128.0928 27.55128 151.7209 126.9548 27.02694 153.7096 124.2213 26.3652 160.569 106.1886 34.99272 157.9588 114.4435 29.26562 160.329 106.8364 34.79239 159.962 108.0074 33.95652 159.0016 110.8933 32.29358 159.0016 110.8933 32.29358 157.9588 114.4435 29.26562 159.962 108.0074 33.95652 160.329 106.8364 34.79239 160.569 106.1886 34.99272 157.9588 114.4435 29.26562 159.0016 110.8933 32.29358 159.962 108.0074 33.95652 160.329 106.8364 34.79239 160.569 106.1886 34.99272 161.403 102.4093 35.91873 161.3008 103.8962 35.69284 161.3008 103.8962 35.69284 161.403 102.4093 35.91873 161.3008 103.8962 35.69284 161.403 102.4093 35.91873 12.765 102.4085 8.302486 8.413717 103.5744 14.17323 8.413717 103.5744 14.17323 12.765 102.4085 8.302486 8.413717 103.5744 14.17323 12.765 102.4085 8.302486 16.14173 83.46457 3.797705 16.14173 83.46457 3.797705 16.14173 83.46457 3.797705 2.934386 83.46457 21.00985 2.934386 83.46457 21.00985 2.934386 83.46457 21.00985 25.03938 67.80958 0.9658821 25.03938 67.80958 0.9658821 25.03938 67.80958 0.9658821 11.98283 45.57699 26.35917 10.6334 48.49025 27.3694 10.13459 49.55848 27.76811 9.608826 50.63052 28.34646 4.745415 62.37183 28.34646 5.472347 62.56661 22.63008 5.472347 62.56661 22.63008 4.745415 62.37183 28.34646 9.608826 50.63052 28.34646 10.13459 49.55848 27.76811 10.6334 48.49025 27.3694 11.98283 45.57699 26.35917 9.608826 50.63052 28.34646 4.745415 62.37183 28.34646 5.472347 62.56661 22.63008 11.98283 45.57699 26.35917 10.6334 48.49025 27.3694 10.13459 49.55848 27.76811 37.43566 56.88976 0 37.43566 56.88976 0 37.43566 56.88976 0 26.07328 26.65639 33.59179 17.5958 36.64426 28.64714 25.72984 27.25699 34.3055 25.70023 27.31244 34.38412 25.41507 27.72415 34.57109 23.86913 29.76971 34.71497 19.49664 34.66574 30.97306 21.76445 32.31901 33.81216 20.70476 33.51091 32.93011 20.70476 33.51091 32.93011 21.76445 32.31901 33.81216 19.49664 34.66574 30.97306 23.86913 29.76971 34.71497 17.5958 36.64426 28.64714 25.41507 27.72415 34.57109 25.70023 27.31244 34.38412 25.72984 27.25699 34.3055 26.07328 26.65639 33.59179 26.07328 26.65639 33.59179 25.72984 27.25699 34.3055 25.70023 27.31244 34.38412 25.41507 27.72415 34.57109 23.86913 29.76971 34.71497 21.76445 32.31901 33.81216 20.70476 33.51091 32.93011 19.49664 34.66574 30.97306 17.5958 36.64426 28.64714 51.06988 51.06988 0.9658821 51.06988 51.06988 0.9658821 51.06988 51.06988 0.9658821 63.97638 49.71003 3.797705 63.97638 49.71003 3.797705 63.97638 49.71003 3.797705 74.8962 51.48698 8.302486 74.8962 51.48698 8.302486 74.8962 51.48698 8.302486 83.46457 54.86371 14.17323 83.46457 54.86371 14.17323 83.46457 54.86371 14.17323 90.13408 58.57359 21.00985 90.13408 58.57359 21.00985 90.13408 58.57359 21.00985 96.24243 61.33266 22.63008 101.5352 65.39395 22.63008 95.86614 61.98441 28.34646 101.003 65.92609 28.34646 101.003 65.92609 28.34646 95.86614 61.98441 28.34646 101.5352 65.39395 22.63008 96.24243 61.33266 22.63008 96.24243 61.33266 22.63008 95.86614 61.98441 28.34646 101.003 65.92609 28.34646 101.5352 65.39395 22.63008 105.7812 70.58005 21.00985 105.7812 70.58005 21.00985 105.7812 70.58005 21.00985 111.0909 76.06212 14.17323 111.0909 76.06212 14.17323 111.0909 76.06212 14.17323 116.5702 83.46457 8.302486 116.5702 83.46457 8.302486 116.5702 83.46457 8.302486 121.1129 93.5524 3.797705 121.1129 93.5524 3.797705 121.1129 93.5524 3.797705 123.1398 106.3711 0.9658821 123.1398 106.3711 0.9658821 123.1398 106.3711 0.9658821 121.047 121.047 0 121.047 121.047 0 121.047 121.047 0 113.7077 135.8472 0.9658821 113.7077 135.8472 0.9658821 113.7077 135.8472 0.9658821 100.889 148.4934 3.797705 100.889 148.4934 3.797705 100.889 148.4934 3.797705 83.46457 161.1629 14.17323 83.46457 156.6581 8.302486 83.46457 161.1629 14.17323 83.46457 156.6581 8.302486 83.46457 156.6581 8.302486 83.46457 161.1629 14.17323 104.3073 161.2507 21.00985 104.3073 161.2507 21.00985 104.3073 161.2507 21.00985 123.8363 153.3905 22.63008 124.2126 154.0422 28.34646 124.2126 154.0422 28.34646 123.8363 153.3905 22.63008 123.8363 153.3905 22.63008 124.2126 154.0422 28.34646 149.3333 130.2849 28.64714 147.4325 132.2634 30.97306 146.2244 133.4182 32.93011 145.1647 134.6101 33.81216 143.06 137.1594 34.71497 141.5141 139.205 34.57109 141.2289 139.6167 34.38412 141.1993 139.6721 34.3055 140.8559 140.2727 33.59179 140.64 140.64 33.19144 140.64 140.64 33.19144 140.8559 140.2727 33.59179 141.1993 139.6721 34.3055 141.2289 139.6167 34.38412 141.5141 139.205 34.57109 143.06 137.1594 34.71497 145.1647 134.6101 33.81216 146.2244 133.4182 32.93011 147.4325 132.2634 30.97306 149.3333 130.2849 28.64714 140.64 140.64 33.19144 140.8559 140.2727 33.59179 141.1993 139.6721 34.3055 141.2289 139.6167 34.38412 141.5141 139.205 34.57109 143.06 137.1594 34.71497 145.1647 134.6101 33.81216 146.2244 133.4182 32.93011 147.4325 132.2634 30.97306 149.3333 130.2849 28.64714 20.07707 120.0614 8.302486 16.17582 122.3137 14.17323 16.17582 122.3137 14.17323 20.07707 120.0614 8.302486 16.17582 122.3137 14.17323 20.07707 120.0614 8.302486 18.4357 100.889 3.797705 18.4357 100.889 3.797705 18.4357 100.889 3.797705 5.678385 104.3073 21.00985 5.678385 104.3073 21.00985 5.678385 104.3073 21.00985 22.97836 83.46457 0.9658821 22.97836 83.46457 0.9658821 22.97836 83.46457 0.9658821 3.257042 73.67715 28.34646 3.07878 75.98506 27.39258 2.860566 78.67605 26.35909 2.237768 83.40667 26.35909 2.23185 83.46457 26.34615 2.72108 83.46457 22.63008 2.72108 83.46457 22.63008 2.23185 83.46457 26.34615 2.237768 83.40667 26.35909 2.860566 78.67605 26.35909 3.07878 75.98506 27.39258 3.257042 73.67715 28.34646 2.237768 83.40667 26.35909 2.860566 78.67605 26.35909 2.23185 83.46457 26.34615 2.72108 83.46457 22.63008 3.257042 73.67715 28.34646 3.07878 75.98506 27.39258 32.12599 69.70845 0 32.12599 69.70845 0 32.12599 69.70845 0 8.97029 52.4856 29.26562 7.92751 56.03587 32.29358 6.967104 58.92169 33.95652 6.600148 60.0927 34.79239 6.360106 60.74054 34.99272 5.44087 62.55818 33.81531 5.669903 62.61955 35.61635 5.669903 62.61955 35.61635 6.360106 60.74054 34.99272 5.44087 62.55818 33.81531 6.600148 60.0927 34.79239 6.967104 58.92169 33.95652 7.92751 56.03587 32.29358 8.97029 52.4856 29.26562 6.360106 60.74054 34.99272 5.669903 62.61955 35.61635 5.44087 62.55818 33.81531 8.97029 52.4856 29.26562 7.92751 56.03587 32.29358 6.967104 58.92169 33.95652 6.600148 60.0927 34.79239 43.78934 60.55807 0.9658821 43.78934 60.55807 0.9658821 43.78934 60.55807 0.9658821 55.90411 55.90411 3.797705 55.90411 55.90411 3.797705 55.90411 55.90411 3.797705 66.91175 54.79425 8.302486 66.91175 54.79425 8.302486 66.91175 54.79425 8.302486 76.06212 55.83826 14.17323 76.06212 55.83826 14.17323 76.06212 55.83826 14.17323 83.46457 57.69554 21.00985 83.46457 57.69554 21.00985 83.46457 57.69554 21.00985 90.07888 58.77963 22.63008 89.92617 59.34959 27.11204 90.03702 59.40175 27.15624 90.88489 59.81469 27.59322 91.46297 60.14882 28.26336 91.52742 60.18725 28.34646 91.52742 60.18725 28.34646 91.46297 60.14882 28.26336 90.88489 59.81469 27.59322 90.03702 59.40175 27.15624 89.92617 59.34959 27.11204 90.07888 58.77963 22.63008 91.52742 60.18725 28.34646 90.07888 58.77963 22.63008 89.92617 59.34959 27.11204 90.03702 59.40175 27.15624 90.88489 59.81469 27.59322 91.46297 60.14882 28.26336 96.1049 61.57087 31.9735 101.0886 65.84049 29.26599 100.7205 65.50629 29.58048 100.0356 64.87094 30.2476 99.6306 64.29181 31.87888 99.0431 63.6703 32.91643 96.28855 61.68971 32.10771 96.83588 62.02992 32.5926 97.81723 62.70549 33.06333 97.81723 62.70549 33.06333 96.83588 62.02992 32.5926 99.0431 63.6703 32.91643 96.28855 61.68971 32.10771 96.1049 61.57087 31.9735 99.6306 64.29181 31.87888 100.0356 64.87094 30.2476 100.7205 65.50629 29.58048 101.0886 65.84049 29.26599 101.0886 65.84049 29.26599 96.1049 61.57087 31.9735 96.28855 61.68971 32.10771 96.83588 62.02992 32.5926 97.81723 62.70549 33.06333 99.0431 63.6703 32.91643 99.6306 64.29181 31.87888 100.0356 64.87094 30.2476 100.7205 65.50629 29.58048 101.8824 67.07209 28.34646 102.4097 67.65236 27.84801 104.1779 69.80773 27.1526 105.5965 70.6867 22.63008 105.0808 70.98442 27.1526 105.0808 70.98442 27.1526 104.1779 69.80773 27.1526 105.5965 70.6867 22.63008 102.4097 67.65236 27.84801 101.8824 67.07209 28.34646 105.5965 70.6867 22.63008 105.0808 70.98442 27.1526 101.8824 67.07209 28.34646 102.4097 67.65236 27.84801 104.1779 69.80773 27.1526 108.3555 76.79505 21.00985 108.3555 76.79505 21.00985 108.3555 76.79505 21.00985 112.0654 83.46457 14.17323 112.0654 83.46457 14.17323 112.0654 83.46457 14.17323 115.4422 92.03295 8.302486 115.4422 92.03295 8.302486 115.4422 92.03295 8.302486 117.2191 102.9528 3.797705 117.2191 102.9528 3.797705 117.2191 102.9528 3.797705 115.8593 115.8593 0.9658821 115.8593 115.8593 0.9658821 115.8593 115.8593 0.9658821 110.0394 129.4935 0 110.0394 129.4935 0 110.0394 129.4935 0 99.11956 141.8898 0.9658821 99.11956 141.8898 0.9658821 99.11956 141.8898 0.9658821 83.46457 150.7874 3.797705 83.46457 150.7874 3.797705 83.46457 150.7874 3.797705 63.35475 158.5154 14.17323 64.52067 154.1641 8.302486 63.35475 158.5154 14.17323 64.52067 154.1641 8.302486 64.52067 154.1641 8.302486 63.35475 158.5154 14.17323 83.46457 163.9947 21.00985 83.46457 163.9947 21.00985 83.46457 163.9947 21.00985 104.3625 161.4568 22.63008 104.5573 162.1837 28.34646 116.453 157.0819 27.11167 111.6033 159.1732 27.69569 110.4346 159.7413 28.28995 110.3318 159.7918 28.34646 120.8498 155.3966 28.07334 121.3421 155.2232 28.28995 121.4615 155.1818 28.34646 121.4615 155.1818 28.34646 121.3421 155.2232 28.28995 120.8498 155.3966 28.07334 116.453 157.0819 27.11167 110.3318 159.7918 28.34646 104.5573 162.1837 28.34646 110.4346 159.7413 28.28995 111.6033 159.1732 27.69569 104.3625 161.4568 22.63008 121.4615 155.1818 28.34646 104.3625 161.4568 22.63008 104.5573 162.1837 28.34646 110.3318 159.7918 28.34646 110.4346 159.7413 28.28995 111.6033 159.1732 27.69569 116.453 157.0819 27.11167 120.8498 155.3966 28.07334 121.3421 155.2232 28.28995 125.3112 152.6356 31.77263 136.9962 143.7791 31.10511 124.1656 153.8477 29.74796 133.3576 146.5154 31.44374 130.5242 148.441 32.95477 125.3593 152.5365 32.15071 125.9653 151.9393 32.954 127.0953 150.954 33.67228 128.572 149.8209 33.67228 124.1247 153.8899 29.6825 139.9529 141.3375 32.15593 124.1656 153.8477 29.74796 124.1247 153.8899 29.6825 136.9962 143.7791 31.10511 139.9529 141.3375 32.15593 128.572 149.8209 33.67228 127.0953 150.954 33.67228 130.5242 148.441 32.95477 125.9653 151.9393 32.954 125.3593 152.5365 32.15071 125.3112 152.6356 31.77263 133.3576 146.5154 31.44374 124.1247 153.8899 29.6825 124.1656 153.8477 29.74796 125.3112 152.6356 31.77263 125.3593 152.5365 32.15071 125.9653 151.9393 32.954 127.0953 150.954 33.67228 128.572 149.8209 33.67228 130.5242 148.441 32.95477 133.3576 146.5154 31.44374 136.9962 143.7791 31.10511 139.9529 141.3375 32.15593 31.70889 135.2202 8.302486 28.52353 138.4056 14.17323 28.52353 138.4056 14.17323 31.70889 135.2202 8.302486 28.52353 138.4056 14.17323 31.70889 135.2202 8.302486 25.16128 117.126 3.797705 25.16128 117.126 3.797705 25.16128 117.126 3.797705 13.72338 123.7297 21.00985 13.72338 123.7297 21.00985 13.72338 123.7297 21.00985 25.03938 99.11956 0.9658821 25.03938 99.11956 0.9658821 25.03938 99.11956 0.9658821 2.250054 83.60284 26.34615 2.726924 87.22503 26.34615 2.727897 87.68383 26.79755 2.71157 89.10871 28.34646 4.745415 104.5573 28.34646 5.472347 104.3625 22.63008 5.472347 104.3625 22.63008 4.745415 104.5573 28.34646 2.71157 89.10871 28.34646 2.727897 87.68383 26.79755 2.726924 87.22503 26.34615 2.250054 83.60284 26.34615 2.71157 89.10871 28.34646 4.745415 104.5573 28.34646 5.472347 104.3625 22.63008 2.250054 83.60284 26.34615 2.726924 87.22503 26.34615 2.727897 87.68383 26.79755 30.31496 83.46457 0 30.31496 83.46457 0 30.31496 83.46457 0 3.528037 72.21202 28.93974 5.632083 62.97352 35.68306 4.510403 68.41846 32.60799 5.300184 65.49456 35.68306 5.209381 66.03634 35.53513 5.164229 66.22016 35.37599 4.845252 67.5727 34.30566 4.845252 67.5727 34.30566 5.164229 66.22016 35.37599 4.510403 68.41846 32.60799 5.209381 66.03634 35.53513 5.300184 65.49456 35.68306 5.632083 62.97352 35.68306 3.528037 72.21202 28.93974 5.300184 65.49456 35.68306 5.632083 62.97352 35.68306 5.209381 66.03634 35.53513 5.164229 66.22016 35.37599 4.845252 67.5727 34.30566 4.510403 68.41846 32.60799 3.528037 72.21202 28.93974 39.2126 71.60729 0.9658821 39.2126 71.60729 0.9658821 39.2126 71.60729 0.9658821 49.71003 63.97638 3.797705 49.71003 63.97638 3.797705 49.71003 63.97638 3.797705 60.05535 60.05535 8.302486 60.05535 60.05535 8.302486 60.05535 60.05535 8.302486 69.16414 58.6955 14.17323 69.16414 58.6955 14.17323 69.16414 58.6955 14.17323 76.79505 58.57359 21.00985 76.79505 58.57359 21.00985 76.79505 58.57359 21.00985 83.46457 57.90884 22.63008 83.46457 58.39926 26.35518 88.15098 59.01624 26.35518 88.15098 59.01624 26.35518 83.46457 58.39926 26.35518 83.46457 57.90884 22.63008 83.46457 57.90884 22.63008 83.46457 58.39926 26.35518 88.15098 59.01624 26.35518 93.52096 60.71404 30.46252 93.52096 60.71404 30.46252 93.52096 60.71404 30.46252 105.2837 71.47706 27.16127 105.8296 73.18539 28.30553 105.8472 73.24177 28.34646 108.1495 76.85026 22.63008 107.4226 77.04504 28.34646 107.4226 77.04504 28.34646 105.8472 73.24177 28.34646 108.1495 76.85026 22.63008 105.8296 73.18539 28.30553 105.2837 71.47706 27.16127 105.8472 73.24177 28.34646 107.4226 77.04504 28.34646 108.1495 76.85026 22.63008 105.2837 71.47706 27.16127 105.8296 73.18539 28.30553 109.2336 83.46457 21.00985 109.2336 83.46457 21.00985 109.2336 83.46457 21.00985 111.0909 90.86701 14.17323 111.0909 90.86701 14.17323 111.0909 90.86701 14.17323 112.1349 100.0174 8.302486 112.1349 100.0174 8.302486 112.1349 100.0174 8.302486 111.025 111.025 3.797705 111.025 111.025 3.797705 111.025 111.025 3.797705 106.3711 123.1398 0.9658821 106.3711 123.1398 0.9658821 106.3711 123.1398 0.9658821 97.22071 134.8031 0 97.22071 134.8031 0 97.22071 134.8031 0 83.46457 143.9508 0.9658821 83.46457 143.9508 0.9658821 83.46457 143.9508 0.9658821 66.04014 148.4934 3.797705 66.04014 148.4934 3.797705 66.04014 148.4934 3.797705 44.61539 150.7533 14.17323 46.86778 146.8521 8.302486 44.61539 150.7533 14.17323 46.86778 146.8521 8.302486 46.86778 146.8521 8.302486 44.61539 150.7533 14.17323 62.62182 161.2507 21.00985 62.62182 161.2507 21.00985 62.62182 161.2507 21.00985 83.46457 164.2081 22.63008 83.46457 164.6973 26.34615 83.60284 164.6791 26.34615 87.22503 164.2022 26.34615 87.68383 164.2012 26.79755 89.10871 164.2176 28.34646 89.10871 164.2176 28.34646 87.68383 164.2012 26.79755 87.22503 164.2022 26.34615 83.60284 164.6791 26.34615 83.46457 164.6973 26.34615 83.46457 164.2081 22.63008 89.10871 164.2176 28.34646 83.46457 164.2081 22.63008 83.46457 164.6973 26.34615 83.60284 164.6791 26.34615 87.22503 164.2022 26.34615 87.68383 164.2012 26.79755 124.0413 153.9419 29.5585 124.0413 153.9419 29.5585 124.0413 153.9419 29.5585 108.5183 160.4164 29.24229 106.3829 161.0533 30.99506 104.371 161.4883 33.81531 104.371 161.4883 33.81531 106.3829 161.0533 30.99506 108.5183 160.4164 29.24229 104.371 161.4883 33.81531 106.3829 161.0533 30.99506 108.5183 160.4164 29.24229 35.86013 131.069 3.797705 35.86013 131.069 3.797705 35.86013 131.069 3.797705 26.52113 140.408 21.00985 26.52113 140.408 21.00985 26.52113 140.408 21.00985 31.08197 113.7077 0.9658821 31.08197 113.7077 0.9658821 31.08197 113.7077 0.9658821 7.187837 110.4346 28.28995 7.137287 110.3318 28.34646 7.755902 111.6033 27.69569 9.847214 116.453 27.11167 11.53256 120.8498 28.07334 11.7059 121.3421 28.28995 11.74736 121.4615 28.34646 13.53866 123.8363 22.63008 12.88691 124.2126 28.34646 12.88691 124.2126 28.34646 11.74736 121.4615 28.34646 13.53866 123.8363 22.63008 11.7059 121.3421 28.28995 11.53256 120.8498 28.07334 9.847214 116.453 27.11167 7.755902 111.6033 27.69569 7.187837 110.4346 28.28995 7.137287 110.3318 28.34646 11.74736 121.4615 28.34646 12.88691 124.2126 28.34646 13.53866 123.8363 22.63008 7.137287 110.3318 28.34646 7.187837 110.4346 28.28995 7.755902 111.6033 27.69569 9.847214 116.453 27.11167 11.53256 120.8498 28.07334 11.7059 121.3421 28.28995 32.12599 97.22071 0 32.12599 97.22071 0 32.12599 97.22071 0 3.081664 90.42116 29.84515 4.011282 92.56958 34.75788 4.098753 92.76448 35.2274 4.179261 92.92033 35.68306 5.296925 101.4098 35.68306 5.388259 102.5592 35.2274 5.449113 103.2911 34.95774 5.455285 104.0029 34.29282 5.442497 104.312 33.8866 5.44087 104.371 33.81531 5.44087 104.371 33.81531 5.442497 104.312 33.8866 5.455285 104.0029 34.29282 5.449113 103.2911 34.95774 5.388259 102.5592 35.2274 5.296925 101.4098 35.68306 4.179261 92.92033 35.68306 4.098753 92.76448 35.2274 4.011282 92.56958 34.75788 3.081664 90.42116 29.84515 5.296925 101.4098 35.68306 4.179261 92.92033 35.68306 5.388259 102.5592 35.2274 5.449113 103.2911 34.95774 5.455285 104.0029 34.29282 5.442497 104.312 33.8866 5.44087 104.371 33.81531 3.081664 90.42116 29.84515 4.011282 92.56958 34.75788 4.098753 92.76448 35.2274 37.65156 83.46457 0.9658821 37.65156 83.46457 0.9658821 37.65156 83.46457 0.9658821 5.628309 63.03296 35.69284 5.526127 64.51982 35.91873 5.526127 64.51982 35.91873 5.628309 63.03296 35.69284 5.628309 63.03296 35.69284 5.526127 64.51982 35.91873 45.81628 73.37674 3.797705 45.81628 73.37674 3.797705 45.81628 73.37674 3.797705 54.79425 66.91175 8.302486 54.79425 66.91175 8.302486 54.79425 66.91175 8.302486 63.24071 63.24071 14.17323 63.24071 63.24071 14.17323 63.24071 63.24071 14.17323 70.58005 61.14793 21.00985 70.58005 61.14793 21.00985 70.58005 61.14793 21.00985 76.85026 58.77963 22.63008 80.48593 58.79143 26.35536 77.04504 59.50656 28.34646 79.44995 59.03095 27.13868 77.98712 59.38254 28.34646 77.98712 59.38254 28.34646 77.04504 59.50656 28.34646 79.44995 59.03095 27.13868 80.48593 58.79143 26.35536 76.85026 58.77963 22.63008 76.85026 58.77963 22.63008 77.04504 59.50656 28.34646 77.98712 59.38254 28.34646 79.44995 59.03095 27.13868 80.48593 58.79143 26.35536 106.1969 73.91838 28.83779 107.276 76.19809 29.79232 107.2824 76.22069 29.77138 107.5187 77.01927 29.10277 107.5187 77.01927 29.10277 107.2824 76.22069 29.77138 107.276 76.19809 29.79232 106.1969 73.91838 28.83779 107.5187 77.01927 29.10277 106.1969 73.91838 28.83779 107.276 76.19809 29.79232 107.2824 76.22069 29.77138 107.5466 77.98712 28.34646 107.8982 79.44995 27.13868 108.1377 80.48593 26.35536 108.5298 83.46457 26.35536 109.0203 83.46457 22.63008 109.0203 83.46457 22.63008 108.5298 83.46457 26.35536 108.1377 80.48593 26.35536 107.8982 79.44995 27.13868 107.5466 77.98712 28.34646 108.5298 83.46457 26.35536 109.0203 83.46457 22.63008 107.5466 77.98712 28.34646 107.8982 79.44995 27.13868 108.1377 80.48593 26.35536 108.3555 90.13408 21.00985 108.3555 90.13408 21.00985 108.3555 90.13408 21.00985 108.2336 97.76499 14.17323 108.2336 97.76499 14.17323 108.2336 97.76499 14.17323 106.8738 106.8738 8.302486 106.8738 106.8738 8.302486 106.8738 106.8738 8.302486 102.9528 117.2191 3.797705 102.9528 117.2191 3.797705 102.9528 117.2191 3.797705 95.32184 127.7165 0.9658821 95.32184 127.7165 0.9658821 95.32184 127.7165 0.9658821 83.46457 136.6142 0 83.46457 136.6142 0 83.46457 136.6142 0 67.80958 141.8898 0.9658821 67.80958 141.8898 0.9658821 67.80958 141.8898 0.9658821 49.80315 141.7679 3.797705 49.80315 141.7679 3.797705 49.80315 141.7679 3.797705 43.19948 153.2057 21.00985 43.19948 153.2057 21.00985 43.19948 153.2057 21.00985 62.56661 161.4568 22.63008 62.37183 162.1837 28.34646 78.67605 164.0686 26.35909 83.40667 164.6914 26.35909 75.98506 163.8504 27.39258 73.67715 163.6721 28.34646 73.67715 163.6721 28.34646 62.37183 162.1837 28.34646 75.98506 163.8504 27.39258 78.67605 164.0686 26.35909 83.40667 164.6914 26.35909 62.56661 161.4568 22.63008 83.40667 164.6914 26.35909 78.67605 164.0686 26.35909 62.56661 161.4568 22.63008 62.37183 162.1837 28.34646 73.67715 163.6721 28.34646 75.98506 163.8504 27.39258 90.42116 163.8475 29.84515 92.56958 162.9179 34.75788 104.312 161.4866 33.8866 104.0029 161.4738 34.29282 103.2911 161.48 34.95774 92.76448 162.8304 35.2274 102.5592 161.5409 35.2274 92.92033 162.7499 35.68306 101.4098 161.6322 35.68306 101.4098 161.6322 35.68306 92.92033 162.7499 35.68306 102.5592 161.5409 35.2274 92.76448 162.8304 35.2274 103.2911 161.48 34.95774 92.56958 162.9179 34.75788 104.0029 161.4738 34.29282 104.312 161.4866 33.8866 90.42116 163.8475 29.84515 101.4098 161.6322 35.68306 92.92033 162.7499 35.68306 102.5592 161.5409 35.2274 103.2911 161.48 34.95774 104.0029 161.4738 34.29282 104.312 161.4866 33.8866 90.42116 163.8475 29.84515 92.56958 162.9179 34.75788 92.76448 162.8304 35.2274 40.69436 126.2348 0.9658821 40.69436 126.2348 0.9658821 40.69436 126.2348 0.9658821 25.83815 141.091 28.34646 26.3703 140.5588 22.63008 26.3703 140.5588 22.63008 25.83815 141.091 28.34646 26.3703 140.5588 22.63008 25.83815 141.091 28.34646 37.43566 110.0394 0 37.43566 110.0394 0 37.43566 110.0394 0 12.98721 124.0413 29.5585 13.03923 124.1247 29.6825 13.03923 124.1247 29.6825 12.98721 124.0413 29.5585 13.03923 124.1247 29.6825 12.98721 124.0413 29.5585 5.875807 106.3829 30.99506 6.512685 108.5183 29.24229 6.512685 108.5183 29.24229 5.875807 106.3829 30.99506 5.875807 106.3829 30.99506 6.512685 108.5183 29.24229 39.2126 95.32184 0.9658821 39.2126 95.32184 0.9658821 39.2126 95.32184 0.9658821 4.558606 93.21502 36.50522 5.120978 94.36672 37.49685 5.323061 99.35778 36.39838 5.43659 95.41082 37.92696 5.58393 97.20749 37.71161 5.58393 97.20749 37.71161 5.43659 95.41082 37.92696 5.323061 99.35778 36.39838 5.120978 94.36672 37.49685 4.558606 93.21502 36.50522 4.558606 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108.1495 90.07888 22.63008 107.5795 89.92617 27.11204 107.9129 88.15098 26.35518 108.1495 90.07888 22.63008 107.5795 89.92617 27.11204 107.9129 88.15098 26.35518 105.7812 96.34909 21.00985 105.7812 96.34909 21.00985 105.7812 96.34909 21.00985 103.6884 103.6884 14.17323 103.6884 103.6884 14.17323 103.6884 103.6884 14.17323 100.0174 112.1349 8.302486 100.0174 112.1349 8.302486 100.0174 112.1349 8.302486 93.5524 121.1129 3.797705 93.5524 121.1129 3.797705 93.5524 121.1129 3.797705 83.46457 129.2776 0.9658821 83.46457 129.2776 0.9658821 83.46457 129.2776 0.9658821 69.70845 134.8031 0 69.70845 134.8031 0 69.70845 134.8031 0 53.22146 135.8472 0.9658821 53.22146 135.8472 0.9658821 53.22146 135.8472 0.9658821 43.09282 153.3905 22.63008 42.84735 153.8156 26.35917 45.57699 154.9463 26.35917 48.49025 156.2957 27.3694 49.55848 156.7945 27.76811 50.63052 157.3203 28.34646 50.63052 157.3203 28.34646 49.55848 156.7945 27.76811 48.49025 156.2957 27.3694 45.57699 154.9463 26.35917 42.84735 153.8156 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5714 1927 1293 5715 2026 1359 5716 1744 1171 5717 1746 1172 5718 2028 1360 5719 1929 1294 5720 2028 1360 5721 1746 1172 5722 1926 1292 5723 1927 1293 5724 1747 1173 5725 2029 1361 5726 1930 1295 5727 2029 1361 5728 1747 1173 5729 1749 1174 5730 2031 1362 5731 1932 1296 5732 2031 1362 5733 1749 1174 5734 1929 1294 5735 1930 1295 5736 1750 1175 5737 2032 1363 5738 1933 1297 5739 2032 1363 5740 1750 1175 5741 1932 1296 5742 1983 1330 5743 1824 1224 5744 1983 1330 5745 1932 1296 5746 2031 1362 5747 2032 1363 5748 1933 1297 5749 1984 1331 5750 1825 1225 5751 1984 1331 5752 1933 1297 5753 1983 1330 5754 1986 1332 5755 1860 1248 5756 1986 1332 5757 1983 1330 5758 2034 1364 5759 2035 1365 5760 1984 1331 5761 1987 1333 5762 1861 1249 5763 1987 1333 5764 1984 1331 5765 1986 1332 5766 1989 1334 5767 1863 1250 5768 1989 1334 5769 1986 1332 5770 2037 1366 5771 2038 1367 5772 1987 1333 5773 1990 1335 5774 1864 1251 5775 1990 1335 5776 1987 1333 5777 1989 1334 5778 1992 1336 5779 1866 1252 5780 1992 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2000 1342 5848 1996 1339 5849 1876 1259 5850 2064 1384 5851 2004 1344 5852 2064 1384 5853 1876 1259 5854 1998 1340 5855 2064 1384 5856 1998 1340 5857 2065 1385 5858 2065 1385 5859 1998 1340 5860 2066 1386 5861 2066 1386 5862 1998 1340 5863 2067 1387 5864 2067 1387 5865 1998 1340 5866 2068 1388 5867 2068 1388 5868 1998 1340 5869 2069 1389 5870 2069 1389 5871 1998 1340 5872 2070 1390 5873 2070 1390 5874 1998 1340 5875 2071 1391 5876 2072 1392 5877 2001 1343 5878 2073 1393 5879 2073 1393 5880 2001 1343 5881 2074 1394 5882 2074 1394 5883 2001 1343 5884 2075 1395 5885 2075 1395 5886 2001 1343 5887 2076 1396 5888 2076 1396 5889 2001 1343 5890 2077 1397 5891 2077 1397 5892 2001 1343 5893 2078 1398 5894 2078 1398 5895 2001 1343 5896 2079 1399 5897 2001 1343 5898 1881 1264 5899 2079 1399 5900 2005 1345 5901 2079 1399 5902 1881 1264 5903 2008 1347 5904 2013 1350 5905 1903 1278 5906 2013 1350 5907 2008 1347 5908 2088 1400 5909 2013 1350 5910 2088 1400 5911 2089 1401 5912 2013 1350 5913 2089 1401 5914 2090 1402 5915 2013 1350 5916 2090 1402 5917 2091 1403 5918 2091 1404 5919 2090 1404 5920 2092 1404 5921 2091 1405 5922 2092 1405 5923 2093 1405 5924 2013 1350 5925 2091 1403 5926 2094 1406 5927 2013 1350 5928 2094 1406 5929 2095 1407 5930 2096 1408 5931 2097 1409 5932 2016 1353 5933 2097 1409 5934 2098 1410 5935 2016 1353 5936 2099 1411 5937 2100 1411 5938 2098 1411 5939 2100 1412 5940 2101 1412 5941 2098 1412 5942 2098 1410 5943 2101 1413 5944 2016 1353 5945 2101 1413 5946 2102 1414 5947 2016 1353 5948 2102 1414 5949 2103 1415 5950 2016 1353 5951 2103 1415 5952 2009 1348 5953 2016 1353 5954 1906 1281 5955 2016 1353 5956 2009 1348 5957 2014 1351 5958 2019 1354 5959 1917 1286 5960 2019 1354 5961 2014 1351 5962 2112 1416 5963 2112 1416 5964 2014 1351 5965 2013 1350 5966 2112 1416 5967 2013 1350 5968 2113 1417 5969 2112 1416 5970 2113 1417 5971 2114 1418 5972 2113 1417 5973 2013 1350 5974 2115 1419 5975 2115 1419 5976 2013 1350 5977 2116 1420 5978 2117 1421 5979 2016 1353 5980 2118 1422 5981 2118 1422 5982 2016 1353 5983 2119 1423 5984 2120 1424 5985 2119 1423 5986 2121 1425 5987 2119 1423 5988 2016 1353 5989 2121 1425 5990 2016 1353 5991 2015 1352 5992 2121 1425 5993 2121 1425 5994 2015 1352 5995 2020 1355 5996 1918 1287 5997 2020 1355 5998 2015 1352 5999 2019 1354 6000 2022 1356 6001 1920 1288 6002 2022 1356 6003 2019 1354 6004 2127 1426 6005 2128 1427 6006 2020 1355 6007 2023 1357 6008 1921 1289 6009 2023 1357 6010 2020 1355 6011 2022 1356 6012 2025 1358 6013 1923 1290 6014 2025 1358 6015 2022 1356 6016 2130 1428 6017 2131 1429 6018 2023 1357 6019 2026 1359 6020 1924 1291 6021 2026 1359 6022 2023 1357 6023 1926 1292 6024 2133 1430 6025 2028 1360 6026 2133 1430 6027 1926 1292 6028 2025 1358 6029 2026 1359 6030 1927 1293 6031 2134 1431 6032 2029 1361 6033 2134 1431 6034 1927 1293 6035 1929 1294 6036 2136 1432 6037 2031 1362 6038 2136 1432 6039 1929 1294 6040 2028 1360 6041 2029 1361 6042 1930 1295 6043 2137 1433 6044 2032 1363 6045 2137 1433 6046 1930 1295 6047 2031 1362 6048 2034 1364 6049 1983 1330 6050 2034 1364 6051 2031 1362 6052 2136 1432 6053 2137 1433 6054 2032 1363 6055 2035 1365 6056 1984 1331 6057 2035 1365 6058 2032 1363 6059 2034 1364 6060 2037 1366 6061 1986 1332 6062 2037 1366 6063 2034 1364 6064 2139 1434 6065 2140 1435 6066 2035 1365 6067 2038 1367 6068 1987 1333 6069 2038 1367 6070 2035 1365 6071 1989 1334 6072 2142 1436 6073 2040 1368 6074 2142 1436 6075 1989 1334 6076 2037 1366 6077 2038 1367 6078 1990 1335 6079 2143 1437 6080 2041 1369 6081 2143 1437 6082 1990 1335 6083 2040 1368 6084 2043 1370 6085 1992 1336 6086 2043 1370 6087 2040 1368 6088 2145 1438 6089 2146 1439 6090 2041 1369 6091 2044 1371 6092 1993 1337 6093 2044 1371 6094 2041 1369 6095 2043 1370 6096 2050 1376 6097 1995 1338 6098 2050 1376 6099 2043 1370 6100 2051 1377 6101 2051 1377 6102 2043 1370 6103 2148 1440 6104 2148 1440 6105 2043 1370 6106 2149 1441 6107 2150 1442 6108 2148 1440 6109 2149 1441 6110 2151 1443 6111 2152 1444 6112 2153 1445 6113 2151 1443 6114 2044 1371 6115 2152 1444 6116 2152 1444 6117 2044 1371 6118 2052 1378 6119 2052 1378 6120 2044 1371 6121 2053 1379 6122 1996 1339 6123 2053 1379 6124 2044 1371 6125 1998 1340 6126 2157 1446 6127 2071 1391 6128 2157 1446 6129 1998 1340 6130 2046 1372 6131 2057 1383 6132 2001 1343 6133 2158 1447 6134 2072 1392 6135 2158 1447 6136 2001 1343 6137 2095 1407 6138 2116 1420 6139 2013 1350 6140 2016 1353 6141 2117 1421 6142 2096 1408 6143 2112 1416 6144 2127 1426 6145 2019 1354 6146 2127 1426 6147 2112 1416 6148 2160 1448 6149 2160 1448 6150 2112 1416 6151 2114 1418 6152 2160 1448 6153 2114 1418 6154 2161 1449 6155 2160 1448 6156 2161 1449 6157 2162 1450 6158 2162 1450 6159 2161 1449 6160 2163 1451 6161 2162 1450 6162 2163 1451 6163 2164 1452 6164 2165 1453 6165 2166 1454 6166 2167 1455 6167 2166 1454 6168 2168 1456 6169 2167 1455 6170 2167 1455 6171 2168 1456 6172 2169 1457 6173 2168 1456 6174 2120 1424 6175 2169 1457 6176 2120 1424 6177 2121 1425 6178 2169 1457 6179 2169 1457 6180 2121 1425 6181 2128 1427 6182 2020 1355 6183 2128 1427 6184 2121 1425 6185 2127 1426 6186 2130 1428 6187 2022 1356 6188 2130 1428 6189 2127 1426 6190 2175 1458 6191 2176 1459 6192 2128 1427 6193 2131 1429 6194 2023 1357 6195 2131 1429 6196 2128 1427 6197 2130 1428 6198 2133 1430 6199 2025 1358 6200 2133 1430 6201 2130 1428 6202 2178 1460 6203 2179 1461 6204 2131 1429 6205 2134 1431 6206 2026 1359 6207 2134 1431 6208 2131 1429 6209 2028 1360 6210 2181 1462 6211 2136 1432 6212 2181 1462 6213 2028 1360 6214 2133 1430 6215 2134 1431 6216 2029 1361 6217 2182 1463 6218 2137 1433 6219 2182 1463 6220 2029 1361 6221 2136 1432 6222 2139 1434 6223 2034 1364 6224 2139 1434 6225 2136 1432 6226 2181 1462 6227 2182 1463 6228 2137 1433 6229 2140 1435 6230 2035 1365 6231 2140 1435 6232 2137 1433 6233 2037 1366 6234 2184 1464 6235 2142 1436 6236 2184 1464 6237 2037 1366 6238 2139 1434 6239 2140 1435 6240 2038 1367 6241 2185 1465 6242 2143 1437 6243 2185 1465 6244 2038 1367 6245 2040 1368 6246 2187 1466 6247 2145 1438 6248 2187 1466 6249 2040 1368 6250 2142 1436 6251 2143 1437 6252 2041 1369 6253 2188 1467 6254 2146 1439 6255 2188 1467 6256 2041 1369 6257 2043 1370 6258 2150 1442 6259 2149 1441 6260 2150 1442 6261 2043 1370 6262 2145 1438 6263 2150 1442 6264 2145 1438 6265 2190 1468 6266 2190 1468 6267 2145 1438 6268 2191 1469 6269 2191 1469 6270 2145 1438 6271 2192 1470 6272 2192 1470 6273 2145 1438 6274 2193 1471 6275 2193 1471 6276 2145 1438 6277 2194 1472 6278 2195 1473 6279 2146 1439 6280 2196 1474 6281 2196 1474 6282 2146 1439 6283 2197 1475 6284 2197 1475 6285 2146 1439 6286 2198 1476 6287 2198 1476 6288 2146 1439 6289 2199 1477 6290 2199 1477 6291 2146 1439 6292 2153 1445 6293 2146 1439 6294 2044 1371 6295 2153 1445 6296 2151 1443 6297 2153 1445 6298 2044 1371 6299 2164 1452 6300 2205 1478 6301 2162 1450 6302 2205 1478 6303 2164 1452 6304 2206 1479 6305 2205 1478 6306 2206 1479 6307 2207 1480 6308 2207 1481 6309 2206 1481 6310 2208 1481 6311 2209 1482 6312 2210 1482 6313 2211 1482 6314 2211 1483 6315 2210 1484 6316 2212 1485 6317 2210 1484 6318 2165 1453 6319 2212 1485 6320 2167 1455 6321 2212 1485 6322 2165 1453 6323 2160 1448 6324 2175 1458 6325 2127 1426 6326 2175 1458 6327 2160 1448 6328 2217 1486 6329 2217 1486 6330 2160 1448 6331 2162 1450 6332 2217 1486 6333 2162 1450 6334 2218 1487 6335 2218 1487 6336 2162 1450 6337 2219 1488 6338 2219 1488 6339 2162 1450 6340 2220 1489 6341 2221 1490 6342 2217 1486 6343 2218 1487 6344 2222 1491 6345 2223 1492 6346 2224 1493 6347 2225 1494 6348 2167 1455 6349 2226 1495 6350 2226 1495 6351 2167 1455 6352 2222 1491 6353 2222 1491 6354 2167 1455 6355 2223 1492 6356 2167 1455 6357 2169 1457 6358 2223 1492 6359 2223 1492 6360 2169 1457 6361 2176 1459 6362 2128 1427 6363 2176 1459 6364 2169 1457 6365 2175 1458 6366 2178 1460 6367 2130 1428 6368 2178 1460 6369 2175 1458 6370 2232 1496 6371 2233 1497 6372 2176 1459 6373 2179 1461 6374 2131 1429 6375 2179 1461 6376 2176 1459 6377 2178 1460 6378 2181 1462 6379 2133 1430 6380 2181 1462 6381 2178 1460 6382 2235 1498 6383 2236 1499 6384 2179 1461 6385 2182 1463 6386 2134 1431 6387 2182 1463 6388 2179 1461 6389 2235 1498 6390 2139 1434 6391 2181 1462 6392 2139 1434 6393 2235 1498 6394 2184 1464 6395 2185 1465 6396 2236 1499 6397 2140 1435 6398 2182 1463 6399 2140 1435 6400 2236 1499 6401 2142 1436 6402 2238 1500 6403 2187 1466 6404 2238 1500 6405 2142 1436 6406 2184 1464 6407 2185 1465 6408 2143 1437 6409 2239 1501 6410 2188 1467 6411 2239 1501 6412 2143 1437 6413 2194 1472 6414 2241 1502 6415 2193 1471 6416 2241 1502 6417 2194 1472 6418 2145 1438 6419 2241 1502 6420 2145 1438 6421 2187 1466 6422 2241 1502 6423 2187 1466 6424 2242 1503 6425 2242 1503 6426 2187 1466 6427 2243 1504 6428 2243 1504 6429 2187 1466 6430 2244 1505 6431 2244 1505 6432 2187 1466 6433 2245 1506 6434 2246 1507 6435 2188 1467 6436 2247 1508 6437 2247 1508 6438 2188 1467 6439 2248 1509 6440 2248 1509 6441 2188 1467 6442 2249 1510 6443 2249 1510 6444 2188 1467 6445 2250 1511 6446 2188 1467 6447 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6514 2238 1500 6515 2239 1501 6516 2269 1521 6517 2185 1465 6518 2236 1499 6519 2185 1465 6520 2269 1521 6521 2245 1506 6522 2271 1522 6523 2244 1505 6524 2271 1522 6525 2245 1506 6526 2187 1466 6527 2271 1522 6528 2187 1466 6529 2238 1500 6530 2271 1522 6531 2238 1500 6532 2272 1523 6533 2272 1523 6534 2238 1500 6535 2273 1524 6536 2273 1524 6537 2238 1500 6538 2274 1525 6539 2274 1525 6540 2238 1500 6541 2275 1526 6542 2276 1527 6543 2239 1501 6544 2277 1528 6545 2277 1528 6546 2239 1501 6547 2278 1529 6548 2278 1529 6549 2239 1501 6550 2279 1530 6551 2279 1530 6552 2239 1501 6553 2280 1531 6554 2239 1501 6555 2188 1467 6556 2280 1531 6557 2188 1467 6558 2246 1507 6559 2280 1531 6560 2247 1508 6561 2280 1531 6562 2246 1507 6563 2241 1502 6564 2256 1512 6565 2193 1471 6566 2256 1512 6567 2241 1502 6568 2286 1532 6569 2286 1532 6570 2241 1502 6571 2287 1533 6572 2287 1533 6573 2241 1502 6574 2288 1534 6575 2289 1535 6576 2250 1511 6577 2290 1536 6578 2290 1536 6579 2250 1511 6580 2291 1537 6581 2291 1537 6582 2250 1511 6583 2257 1513 6584 2196 1474 6585 2257 1513 6586 2250 1511 6587 2259 1514 6588 2268 1520 6589 2232 1496 6590 2268 1520 6591 2259 1514 6592 2295 1538 6593 2295 1538 6594 2259 1514 6595 2261 1516 6596 2295 1538 6597 2261 1516 6598 2296 1539 6599 2296 1539 6600 2261 1516 6601 2297 1540 6602 2296 1539 6603 2297 1540 6604 2298 1541 6605 2296 1539 6606 2298 1541 6607 2299 1542 6608 2296 1539 6609 2299 1542 6610 2300 1543 6611 2301 1544 6612 2302 1545 6613 2303 1546 6614 2302 1545 6615 2304 1547 6616 2303 1546 6617 2304 1547 6618 2305 1548 6619 2303 1546 6620 2305 1548 6621 2264 1519 6622 2303 1546 6623 2303 1546 6624 2264 1519 6625 2306 1549 6626 2264 1519 6627 2263 1518 6628 2306 1549 6629 2306 1549 6630 2263 1518 6631 2269 1521 6632 2233 1497 6633 2269 1521 6634 2263 1518 6635 2295 1538 6636 2238 1500 6637 2268 1520 6638 2238 1500 6639 2295 1538 6640 2275 1526 6641 2275 1526 6642 2295 1538 6643 2296 1539 6644 2275 1526 6645 2296 1539 6646 2274 1525 6647 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6714 2318 1554 6715 2333 1567 6716 2333 1567 6717 2318 1554 6718 2334 1568 6719 2334 1568 6720 2318 1554 6721 2335 1569 6722 2335 1569 6723 2318 1554 6724 2314 1551 6725 2314 1551 6726 2318 1554 6727 2277 1528 6728 2303 1546 6729 2277 1528 6730 2318 1554 6731</p>
+        </polylist>
+      </mesh>
+    </geometry>
+    <geometry id="ID36-mesh" name="ID36">
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+        <source id="ID36-mesh-positions">
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+          <technique_common>
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+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
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diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/donut_frost_1/meshes/donut2_bread.dae b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/donut_frost_1/meshes/donut2_bread.dae
new file mode 100644
index 0000000..797693a
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/donut_frost_1/meshes/donut2_bread.dae
@@ -0,0 +1,179 @@
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36.39838 69.72165 5.58393 37.71161 72.56241 5.120978 37.49685 71.51834 5.43659 37.92696 71.51834 5.43659 37.92696 72.56241 5.120978 37.49685 69.72165 5.58393 37.71161 73.71411 4.558606 36.50522 67.57136 5.323061 36.39838 73.71411 4.558606 36.50522 72.56241 5.120978 37.49685 71.51834 5.43659 37.92696 69.72165 5.58393 37.71161 67.57136 5.323061 36.39838 83.46457 44.48819 3.797705 83.46457 44.48819 3.797705 83.46457 44.48819 3.797705 92.03295 51.48698 8.302486 92.03295 51.48698 8.302486 92.03295 51.48698 8.302486 97.76499 58.6955 14.17323 103.6884 63.24071 14.17323 103.6884 63.24071 14.17323 97.76499 58.6955 14.17323 97.76499 58.6955 14.17323 103.6884 63.24071 14.17323 112.1349 66.91175 8.302486 112.1349 66.91175 8.302486 112.1349 66.91175 8.302486 121.1129 73.37674 3.797705 121.1129 73.37674 3.797705 121.1129 73.37674 3.797705 129.2776 83.46457 0.9658821 129.2776 83.46457 0.9658821 129.2776 83.46457 0.9658821 134.8031 97.22071 0 134.8031 97.22071 0 134.8031 97.22071 0 135.8472 113.7077 0.9658821 135.8472 113.7077 0.9658821 135.8472 113.7077 0.9658821 131.069 131.069 3.797705 131.069 131.069 3.797705 131.069 131.069 3.797705 122.3137 150.7533 14.17323 120.0614 146.8521 8.302486 122.3137 150.7533 14.17323 120.0614 146.8521 8.302486 120.0614 146.8521 8.302486 122.3137 150.7533 14.17323 140.408 140.408 21.00985 140.408 140.408 21.00985 140.408 140.408 21.00985 157.3203 116.2986 28.34646 156.7945 117.3707 27.76811 156.2957 118.4389 27.3694 154.9463 121.3521 26.35917 153.8156 124.0818 26.35917 153.3905 123.8363 22.63008 153.3905 123.8363 22.63008 153.8156 124.0818 26.35917 154.9463 121.3521 26.35917 156.2957 118.4389 27.3694 156.7945 117.3707 27.76811 157.3203 116.2986 28.34646 157.3203 116.2986 28.34646 153.3905 123.8363 22.63008 153.8156 124.0818 26.35917 154.9463 121.3521 26.35917 156.2957 118.4389 27.3694 156.7945 117.3707 27.76811 163.4011 94.71711 28.93974 162.4187 98.51068 32.60799 162.0839 99.35644 34.30566 161.7649 100.709 35.37599 161.7198 100.8928 35.53513 161.629 101.4346 35.68306 161.2971 103.9556 35.68306 161.2592 104.3096 35.61635 161.2592 104.3096 35.61635 161.2971 103.9556 35.68306 161.629 101.4346 35.68306 161.7198 100.8928 35.53513 161.7649 100.709 35.37599 162.0839 99.35644 34.30566 162.4187 98.51068 32.60799 163.4011 94.71711 28.93974 161.629 101.4346 35.68306 161.2971 103.9556 35.68306 161.7198 100.8928 35.53513 161.7649 100.709 35.37599 162.0839 99.35644 34.30566 162.4187 98.51068 32.60799 163.4011 94.71711 28.93974 161.2592 104.3096 35.61635 161.6061 67.57136 36.39838 161.3452 69.72165 37.71161 161.4925 71.51834 37.92696 161.8082 72.56241 37.49685 162.3705 73.71411 36.50522 162.3705 73.71411 36.50522 161.8082 72.56241 37.49685 161.4925 71.51834 37.92696 161.3452 69.72165 37.71161 161.6061 67.57136 36.39838 162.3705 73.71411 36.50522 161.8082 72.56241 37.49685 161.4925 71.51834 37.92696 161.3452 69.72165 37.71161 161.6061 67.57136 36.39838 5.766209 83.46457 14.17323 10.27099 83.46457 8.302486 10.27099 83.46457 8.302486 5.766209 83.46457 14.17323 5.766209 83.46457 14.17323 10.27099 83.46457 8.302486 18.4357 66.04014 3.797705 18.4357 66.04014 3.797705 18.4357 66.04014 3.797705 5.678385 62.62182 21.00985 5.678385 62.62182 21.00985 5.678385 62.62182 21.00985 31.08197 53.22146 0.9658821 31.08197 53.22146 0.9658821 31.08197 53.22146 0.9658821 17.09782 37.22876 28.34646 15.99515 38.83628 27.55128 15.20819 39.9743 27.02694 13.21958 42.7078 26.3652 13.53866 43.09282 22.63008 13.11349 42.84735 26.35917 13.11349 42.84735 26.35917 13.21958 42.7078 26.3652 13.53866 43.09282 22.63008 15.20819 39.9743 27.02694 15.99515 38.83628 27.55128 17.09782 37.22876 28.34646 13.11349 42.84735 26.35917 13.53866 43.09282 22.63008 17.09782 37.22876 28.34646 15.99515 38.83628 27.55128 15.20819 39.9743 27.02694 13.21958 42.7078 26.3652 45.88212 45.88212 0 45.88212 45.88212 0 45.88212 45.88212 0 41.61794 14.29358 31.77263 29.93291 23.15 31.10511 42.76357 13.08139 29.74796 33.57151 20.41371 31.44374 36.4049 18.48817 32.95477 41.56985 14.39268 32.15071 40.96382 14.98987 32.954 39.83379 15.97515 33.67228 38.35709 17.10826 33.67228 26.97622 25.59163 32.15593 26.28918 26.28918 33.19144 42.76357 13.08139 29.74796 29.93291 23.15 31.10511 26.28918 26.28918 33.19144 26.97622 25.59163 32.15593 38.35709 17.10826 33.67228 39.83379 15.97515 33.67228 36.4049 18.48817 32.95477 40.96382 14.98987 32.954 41.56985 14.39268 32.15071 41.61794 14.29358 31.77263 33.57151 20.41371 31.44374 26.28918 26.28918 33.19144 42.76357 13.08139 29.74796 41.61794 14.29358 31.77263 41.56985 14.39268 32.15071 40.96382 14.98987 32.954 39.83379 15.97515 33.67228 38.35709 17.10826 33.67228 36.4049 18.48817 32.95477 33.57151 20.41371 31.44374 29.93291 23.15 31.10511 26.97622 25.59163 32.15593 60.55807 43.78934 0.9658821 60.55807 43.78934 0.9658821 60.55807 43.78934 0.9658821 73.37674 45.81628 3.797705 73.37674 45.81628 3.797705 73.37674 45.81628 3.797705 83.46457 50.35893 8.302486 83.46457 50.35893 8.302486 83.46457 50.35893 8.302486 90.86701 55.83826 14.17323 90.86701 55.83826 14.17323 90.86701 55.83826 14.17323 96.34909 61.14793 21.00985 101.686 65.24311 21.00985 101.686 65.24311 21.00985 96.34909 61.14793 21.00985 96.34909 61.14793 21.00985 101.686 65.24311 21.00985 108.2336 69.16414 14.17323 108.2336 69.16414 14.17323 108.2336 69.16414 14.17323 115.4422 74.8962 8.302486 115.4422 74.8962 8.302486 115.4422 74.8962 8.302486 122.4409 83.46457 3.797705 122.4409 83.46457 3.797705 122.4409 83.46457 3.797705 127.7165 95.32184 0.9658821 127.7165 95.32184 0.9658821 127.7165 95.32184 0.9658821 129.4935 110.0394 0 129.4935 110.0394 0 129.4935 110.0394 0 126.2348 126.2348 0.9658821 126.2348 126.2348 0.9658821 126.2348 126.2348 0.9658821 117.126 141.7679 3.797705 117.126 141.7679 3.797705 117.126 141.7679 3.797705 103.5744 158.5154 14.17323 102.4085 154.1641 8.302486 103.5744 158.5154 14.17323 102.4085 154.1641 8.302486 102.4085 154.1641 8.302486 103.5744 158.5154 14.17323 123.7297 153.2057 21.00985 123.7297 153.2057 21.00985 123.7297 153.2057 21.00985 153.7096 124.2213 26.3652 151.7209 126.9548 27.02694 150.934 128.0928 27.55128 149.8313 129.7004 28.34646 141.091 141.091 28.34646 140.5588 140.5588 22.63008 140.5588 140.5588 22.63008 141.091 141.091 28.34646 149.8313 129.7004 28.34646 150.934 128.0928 27.55128 151.7209 126.9548 27.02694 153.7096 124.2213 26.3652 140.5588 140.5588 22.63008 141.091 141.091 28.34646 149.8313 129.7004 28.34646 150.934 128.0928 27.55128 151.7209 126.9548 27.02694 153.7096 124.2213 26.3652 160.569 106.1886 34.99272 157.9588 114.4435 29.26562 160.329 106.8364 34.79239 159.962 108.0074 33.95652 159.0016 110.8933 32.29358 159.0016 110.8933 32.29358 157.9588 114.4435 29.26562 159.962 108.0074 33.95652 160.329 106.8364 34.79239 160.569 106.1886 34.99272 157.9588 114.4435 29.26562 159.0016 110.8933 32.29358 159.962 108.0074 33.95652 160.329 106.8364 34.79239 160.569 106.1886 34.99272 161.403 102.4093 35.91873 161.3008 103.8962 35.69284 161.3008 103.8962 35.69284 161.403 102.4093 35.91873 161.3008 103.8962 35.69284 161.403 102.4093 35.91873 12.765 102.4085 8.302486 8.413717 103.5744 14.17323 8.413717 103.5744 14.17323 12.765 102.4085 8.302486 8.413717 103.5744 14.17323 12.765 102.4085 8.302486 16.14173 83.46457 3.797705 16.14173 83.46457 3.797705 16.14173 83.46457 3.797705 2.934386 83.46457 21.00985 2.934386 83.46457 21.00985 2.934386 83.46457 21.00985 25.03938 67.80958 0.9658821 25.03938 67.80958 0.9658821 25.03938 67.80958 0.9658821 11.98283 45.57699 26.35917 10.6334 48.49025 27.3694 10.13459 49.55848 27.76811 9.608826 50.63052 28.34646 4.745415 62.37183 28.34646 5.472347 62.56661 22.63008 5.472347 62.56661 22.63008 4.745415 62.37183 28.34646 9.608826 50.63052 28.34646 10.13459 49.55848 27.76811 10.6334 48.49025 27.3694 11.98283 45.57699 26.35917 9.608826 50.63052 28.34646 4.745415 62.37183 28.34646 5.472347 62.56661 22.63008 11.98283 45.57699 26.35917 10.6334 48.49025 27.3694 10.13459 49.55848 27.76811 37.43566 56.88976 0 37.43566 56.88976 0 37.43566 56.88976 0 26.07328 26.65639 33.59179 17.5958 36.64426 28.64714 25.72984 27.25699 34.3055 25.70023 27.31244 34.38412 25.41507 27.72415 34.57109 23.86913 29.76971 34.71497 19.49664 34.66574 30.97306 21.76445 32.31901 33.81216 20.70476 33.51091 32.93011 20.70476 33.51091 32.93011 21.76445 32.31901 33.81216 19.49664 34.66574 30.97306 23.86913 29.76971 34.71497 17.5958 36.64426 28.64714 25.41507 27.72415 34.57109 25.70023 27.31244 34.38412 25.72984 27.25699 34.3055 26.07328 26.65639 33.59179 26.07328 26.65639 33.59179 25.72984 27.25699 34.3055 25.70023 27.31244 34.38412 25.41507 27.72415 34.57109 23.86913 29.76971 34.71497 21.76445 32.31901 33.81216 20.70476 33.51091 32.93011 19.49664 34.66574 30.97306 17.5958 36.64426 28.64714 51.06988 51.06988 0.9658821 51.06988 51.06988 0.9658821 51.06988 51.06988 0.9658821 63.97638 49.71003 3.797705 63.97638 49.71003 3.797705 63.97638 49.71003 3.797705 74.8962 51.48698 8.302486 74.8962 51.48698 8.302486 74.8962 51.48698 8.302486 83.46457 54.86371 14.17323 83.46457 54.86371 14.17323 83.46457 54.86371 14.17323 90.13408 58.57359 21.00985 90.13408 58.57359 21.00985 90.13408 58.57359 21.00985 96.24243 61.33266 22.63008 101.5352 65.39395 22.63008 95.86614 61.98441 28.34646 101.003 65.92609 28.34646 101.003 65.92609 28.34646 95.86614 61.98441 28.34646 101.5352 65.39395 22.63008 96.24243 61.33266 22.63008 96.24243 61.33266 22.63008 95.86614 61.98441 28.34646 101.003 65.92609 28.34646 101.5352 65.39395 22.63008 105.7812 70.58005 21.00985 105.7812 70.58005 21.00985 105.7812 70.58005 21.00985 111.0909 76.06212 14.17323 111.0909 76.06212 14.17323 111.0909 76.06212 14.17323 116.5702 83.46457 8.302486 116.5702 83.46457 8.302486 116.5702 83.46457 8.302486 121.1129 93.5524 3.797705 121.1129 93.5524 3.797705 121.1129 93.5524 3.797705 123.1398 106.3711 0.9658821 123.1398 106.3711 0.9658821 123.1398 106.3711 0.9658821 121.047 121.047 0 121.047 121.047 0 121.047 121.047 0 113.7077 135.8472 0.9658821 113.7077 135.8472 0.9658821 113.7077 135.8472 0.9658821 100.889 148.4934 3.797705 100.889 148.4934 3.797705 100.889 148.4934 3.797705 83.46457 161.1629 14.17323 83.46457 156.6581 8.302486 83.46457 161.1629 14.17323 83.46457 156.6581 8.302486 83.46457 156.6581 8.302486 83.46457 161.1629 14.17323 104.3073 161.2507 21.00985 104.3073 161.2507 21.00985 104.3073 161.2507 21.00985 123.8363 153.3905 22.63008 124.2126 154.0422 28.34646 124.2126 154.0422 28.34646 123.8363 153.3905 22.63008 123.8363 153.3905 22.63008 124.2126 154.0422 28.34646 149.3333 130.2849 28.64714 147.4325 132.2634 30.97306 146.2244 133.4182 32.93011 145.1647 134.6101 33.81216 143.06 137.1594 34.71497 141.5141 139.205 34.57109 141.2289 139.6167 34.38412 141.1993 139.6721 34.3055 140.8559 140.2727 33.59179 140.64 140.64 33.19144 140.64 140.64 33.19144 140.8559 140.2727 33.59179 141.1993 139.6721 34.3055 141.2289 139.6167 34.38412 141.5141 139.205 34.57109 143.06 137.1594 34.71497 145.1647 134.6101 33.81216 146.2244 133.4182 32.93011 147.4325 132.2634 30.97306 149.3333 130.2849 28.64714 140.64 140.64 33.19144 140.8559 140.2727 33.59179 141.1993 139.6721 34.3055 141.2289 139.6167 34.38412 141.5141 139.205 34.57109 143.06 137.1594 34.71497 145.1647 134.6101 33.81216 146.2244 133.4182 32.93011 147.4325 132.2634 30.97306 149.3333 130.2849 28.64714 20.07707 120.0614 8.302486 16.17582 122.3137 14.17323 16.17582 122.3137 14.17323 20.07707 120.0614 8.302486 16.17582 122.3137 14.17323 20.07707 120.0614 8.302486 18.4357 100.889 3.797705 18.4357 100.889 3.797705 18.4357 100.889 3.797705 5.678385 104.3073 21.00985 5.678385 104.3073 21.00985 5.678385 104.3073 21.00985 22.97836 83.46457 0.9658821 22.97836 83.46457 0.9658821 22.97836 83.46457 0.9658821 3.257042 73.67715 28.34646 3.07878 75.98506 27.39258 2.860566 78.67605 26.35909 2.237768 83.40667 26.35909 2.23185 83.46457 26.34615 2.72108 83.46457 22.63008 2.72108 83.46457 22.63008 2.23185 83.46457 26.34615 2.237768 83.40667 26.35909 2.860566 78.67605 26.35909 3.07878 75.98506 27.39258 3.257042 73.67715 28.34646 2.237768 83.40667 26.35909 2.860566 78.67605 26.35909 2.23185 83.46457 26.34615 2.72108 83.46457 22.63008 3.257042 73.67715 28.34646 3.07878 75.98506 27.39258 32.12599 69.70845 0 32.12599 69.70845 0 32.12599 69.70845 0 8.97029 52.4856 29.26562 7.92751 56.03587 32.29358 6.967104 58.92169 33.95652 6.600148 60.0927 34.79239 6.360106 60.74054 34.99272 5.44087 62.55818 33.81531 5.669903 62.61955 35.61635 5.669903 62.61955 35.61635 6.360106 60.74054 34.99272 5.44087 62.55818 33.81531 6.600148 60.0927 34.79239 6.967104 58.92169 33.95652 7.92751 56.03587 32.29358 8.97029 52.4856 29.26562 6.360106 60.74054 34.99272 5.669903 62.61955 35.61635 5.44087 62.55818 33.81531 8.97029 52.4856 29.26562 7.92751 56.03587 32.29358 6.967104 58.92169 33.95652 6.600148 60.0927 34.79239 43.78934 60.55807 0.9658821 43.78934 60.55807 0.9658821 43.78934 60.55807 0.9658821 55.90411 55.90411 3.797705 55.90411 55.90411 3.797705 55.90411 55.90411 3.797705 66.91175 54.79425 8.302486 66.91175 54.79425 8.302486 66.91175 54.79425 8.302486 76.06212 55.83826 14.17323 76.06212 55.83826 14.17323 76.06212 55.83826 14.17323 83.46457 57.69554 21.00985 83.46457 57.69554 21.00985 83.46457 57.69554 21.00985 90.07888 58.77963 22.63008 89.92617 59.34959 27.11204 90.03702 59.40175 27.15624 90.88489 59.81469 27.59322 91.46297 60.14882 28.26336 91.52742 60.18725 28.34646 91.52742 60.18725 28.34646 91.46297 60.14882 28.26336 90.88489 59.81469 27.59322 90.03702 59.40175 27.15624 89.92617 59.34959 27.11204 90.07888 58.77963 22.63008 91.52742 60.18725 28.34646 90.07888 58.77963 22.63008 89.92617 59.34959 27.11204 90.03702 59.40175 27.15624 90.88489 59.81469 27.59322 91.46297 60.14882 28.26336 96.1049 61.57087 31.9735 101.0886 65.84049 29.26599 100.7205 65.50629 29.58048 100.0356 64.87094 30.2476 99.6306 64.29181 31.87888 99.0431 63.6703 32.91643 96.28855 61.68971 32.10771 96.83588 62.02992 32.5926 97.81723 62.70549 33.06333 97.81723 62.70549 33.06333 96.83588 62.02992 32.5926 99.0431 63.6703 32.91643 96.28855 61.68971 32.10771 96.1049 61.57087 31.9735 99.6306 64.29181 31.87888 100.0356 64.87094 30.2476 100.7205 65.50629 29.58048 101.0886 65.84049 29.26599 101.0886 65.84049 29.26599 96.1049 61.57087 31.9735 96.28855 61.68971 32.10771 96.83588 62.02992 32.5926 97.81723 62.70549 33.06333 99.0431 63.6703 32.91643 99.6306 64.29181 31.87888 100.0356 64.87094 30.2476 100.7205 65.50629 29.58048 101.8824 67.07209 28.34646 102.4097 67.65236 27.84801 104.1779 69.80773 27.1526 105.5965 70.6867 22.63008 105.0808 70.98442 27.1526 105.0808 70.98442 27.1526 104.1779 69.80773 27.1526 105.5965 70.6867 22.63008 102.4097 67.65236 27.84801 101.8824 67.07209 28.34646 105.5965 70.6867 22.63008 105.0808 70.98442 27.1526 101.8824 67.07209 28.34646 102.4097 67.65236 27.84801 104.1779 69.80773 27.1526 108.3555 76.79505 21.00985 108.3555 76.79505 21.00985 108.3555 76.79505 21.00985 112.0654 83.46457 14.17323 112.0654 83.46457 14.17323 112.0654 83.46457 14.17323 115.4422 92.03295 8.302486 115.4422 92.03295 8.302486 115.4422 92.03295 8.302486 117.2191 102.9528 3.797705 117.2191 102.9528 3.797705 117.2191 102.9528 3.797705 115.8593 115.8593 0.9658821 115.8593 115.8593 0.9658821 115.8593 115.8593 0.9658821 110.0394 129.4935 0 110.0394 129.4935 0 110.0394 129.4935 0 99.11956 141.8898 0.9658821 99.11956 141.8898 0.9658821 99.11956 141.8898 0.9658821 83.46457 150.7874 3.797705 83.46457 150.7874 3.797705 83.46457 150.7874 3.797705 63.35475 158.5154 14.17323 64.52067 154.1641 8.302486 63.35475 158.5154 14.17323 64.52067 154.1641 8.302486 64.52067 154.1641 8.302486 63.35475 158.5154 14.17323 83.46457 163.9947 21.00985 83.46457 163.9947 21.00985 83.46457 163.9947 21.00985 104.3625 161.4568 22.63008 104.5573 162.1837 28.34646 116.453 157.0819 27.11167 111.6033 159.1732 27.69569 110.4346 159.7413 28.28995 110.3318 159.7918 28.34646 120.8498 155.3966 28.07334 121.3421 155.2232 28.28995 121.4615 155.1818 28.34646 121.4615 155.1818 28.34646 121.3421 155.2232 28.28995 120.8498 155.3966 28.07334 116.453 157.0819 27.11167 110.3318 159.7918 28.34646 104.5573 162.1837 28.34646 110.4346 159.7413 28.28995 111.6033 159.1732 27.69569 104.3625 161.4568 22.63008 121.4615 155.1818 28.34646 104.3625 161.4568 22.63008 104.5573 162.1837 28.34646 110.3318 159.7918 28.34646 110.4346 159.7413 28.28995 111.6033 159.1732 27.69569 116.453 157.0819 27.11167 120.8498 155.3966 28.07334 121.3421 155.2232 28.28995 125.3112 152.6356 31.77263 136.9962 143.7791 31.10511 124.1656 153.8477 29.74796 133.3576 146.5154 31.44374 130.5242 148.441 32.95477 125.3593 152.5365 32.15071 125.9653 151.9393 32.954 127.0953 150.954 33.67228 128.572 149.8209 33.67228 124.1247 153.8899 29.6825 139.9529 141.3375 32.15593 124.1656 153.8477 29.74796 124.1247 153.8899 29.6825 136.9962 143.7791 31.10511 139.9529 141.3375 32.15593 128.572 149.8209 33.67228 127.0953 150.954 33.67228 130.5242 148.441 32.95477 125.9653 151.9393 32.954 125.3593 152.5365 32.15071 125.3112 152.6356 31.77263 133.3576 146.5154 31.44374 124.1247 153.8899 29.6825 124.1656 153.8477 29.74796 125.3112 152.6356 31.77263 125.3593 152.5365 32.15071 125.9653 151.9393 32.954 127.0953 150.954 33.67228 128.572 149.8209 33.67228 130.5242 148.441 32.95477 133.3576 146.5154 31.44374 136.9962 143.7791 31.10511 139.9529 141.3375 32.15593 31.70889 135.2202 8.302486 28.52353 138.4056 14.17323 28.52353 138.4056 14.17323 31.70889 135.2202 8.302486 28.52353 138.4056 14.17323 31.70889 135.2202 8.302486 25.16128 117.126 3.797705 25.16128 117.126 3.797705 25.16128 117.126 3.797705 13.72338 123.7297 21.00985 13.72338 123.7297 21.00985 13.72338 123.7297 21.00985 25.03938 99.11956 0.9658821 25.03938 99.11956 0.9658821 25.03938 99.11956 0.9658821 2.250054 83.60284 26.34615 2.726924 87.22503 26.34615 2.727897 87.68383 26.79755 2.71157 89.10871 28.34646 4.745415 104.5573 28.34646 5.472347 104.3625 22.63008 5.472347 104.3625 22.63008 4.745415 104.5573 28.34646 2.71157 89.10871 28.34646 2.727897 87.68383 26.79755 2.726924 87.22503 26.34615 2.250054 83.60284 26.34615 2.71157 89.10871 28.34646 4.745415 104.5573 28.34646 5.472347 104.3625 22.63008 2.250054 83.60284 26.34615 2.726924 87.22503 26.34615 2.727897 87.68383 26.79755 30.31496 83.46457 0 30.31496 83.46457 0 30.31496 83.46457 0 3.528037 72.21202 28.93974 5.632083 62.97352 35.68306 4.510403 68.41846 32.60799 5.300184 65.49456 35.68306 5.209381 66.03634 35.53513 5.164229 66.22016 35.37599 4.845252 67.5727 34.30566 4.845252 67.5727 34.30566 5.164229 66.22016 35.37599 4.510403 68.41846 32.60799 5.209381 66.03634 35.53513 5.300184 65.49456 35.68306 5.632083 62.97352 35.68306 3.528037 72.21202 28.93974 5.300184 65.49456 35.68306 5.632083 62.97352 35.68306 5.209381 66.03634 35.53513 5.164229 66.22016 35.37599 4.845252 67.5727 34.30566 4.510403 68.41846 32.60799 3.528037 72.21202 28.93974 39.2126 71.60729 0.9658821 39.2126 71.60729 0.9658821 39.2126 71.60729 0.9658821 49.71003 63.97638 3.797705 49.71003 63.97638 3.797705 49.71003 63.97638 3.797705 60.05535 60.05535 8.302486 60.05535 60.05535 8.302486 60.05535 60.05535 8.302486 69.16414 58.6955 14.17323 69.16414 58.6955 14.17323 69.16414 58.6955 14.17323 76.79505 58.57359 21.00985 76.79505 58.57359 21.00985 76.79505 58.57359 21.00985 83.46457 57.90884 22.63008 83.46457 58.39926 26.35518 88.15098 59.01624 26.35518 88.15098 59.01624 26.35518 83.46457 58.39926 26.35518 83.46457 57.90884 22.63008 83.46457 57.90884 22.63008 83.46457 58.39926 26.35518 88.15098 59.01624 26.35518 93.52096 60.71404 30.46252 93.52096 60.71404 30.46252 93.52096 60.71404 30.46252 105.2837 71.47706 27.16127 105.8296 73.18539 28.30553 105.8472 73.24177 28.34646 108.1495 76.85026 22.63008 107.4226 77.04504 28.34646 107.4226 77.04504 28.34646 105.8472 73.24177 28.34646 108.1495 76.85026 22.63008 105.8296 73.18539 28.30553 105.2837 71.47706 27.16127 105.8472 73.24177 28.34646 107.4226 77.04504 28.34646 108.1495 76.85026 22.63008 105.2837 71.47706 27.16127 105.8296 73.18539 28.30553 109.2336 83.46457 21.00985 109.2336 83.46457 21.00985 109.2336 83.46457 21.00985 111.0909 90.86701 14.17323 111.0909 90.86701 14.17323 111.0909 90.86701 14.17323 112.1349 100.0174 8.302486 112.1349 100.0174 8.302486 112.1349 100.0174 8.302486 111.025 111.025 3.797705 111.025 111.025 3.797705 111.025 111.025 3.797705 106.3711 123.1398 0.9658821 106.3711 123.1398 0.9658821 106.3711 123.1398 0.9658821 97.22071 134.8031 0 97.22071 134.8031 0 97.22071 134.8031 0 83.46457 143.9508 0.9658821 83.46457 143.9508 0.9658821 83.46457 143.9508 0.9658821 66.04014 148.4934 3.797705 66.04014 148.4934 3.797705 66.04014 148.4934 3.797705 44.61539 150.7533 14.17323 46.86778 146.8521 8.302486 44.61539 150.7533 14.17323 46.86778 146.8521 8.302486 46.86778 146.8521 8.302486 44.61539 150.7533 14.17323 62.62182 161.2507 21.00985 62.62182 161.2507 21.00985 62.62182 161.2507 21.00985 83.46457 164.2081 22.63008 83.46457 164.6973 26.34615 83.60284 164.6791 26.34615 87.22503 164.2022 26.34615 87.68383 164.2012 26.79755 89.10871 164.2176 28.34646 89.10871 164.2176 28.34646 87.68383 164.2012 26.79755 87.22503 164.2022 26.34615 83.60284 164.6791 26.34615 83.46457 164.6973 26.34615 83.46457 164.2081 22.63008 89.10871 164.2176 28.34646 83.46457 164.2081 22.63008 83.46457 164.6973 26.34615 83.60284 164.6791 26.34615 87.22503 164.2022 26.34615 87.68383 164.2012 26.79755 124.0413 153.9419 29.5585 124.0413 153.9419 29.5585 124.0413 153.9419 29.5585 108.5183 160.4164 29.24229 106.3829 161.0533 30.99506 104.371 161.4883 33.81531 104.371 161.4883 33.81531 106.3829 161.0533 30.99506 108.5183 160.4164 29.24229 104.371 161.4883 33.81531 106.3829 161.0533 30.99506 108.5183 160.4164 29.24229 35.86013 131.069 3.797705 35.86013 131.069 3.797705 35.86013 131.069 3.797705 26.52113 140.408 21.00985 26.52113 140.408 21.00985 26.52113 140.408 21.00985 31.08197 113.7077 0.9658821 31.08197 113.7077 0.9658821 31.08197 113.7077 0.9658821 7.187837 110.4346 28.28995 7.137287 110.3318 28.34646 7.755902 111.6033 27.69569 9.847214 116.453 27.11167 11.53256 120.8498 28.07334 11.7059 121.3421 28.28995 11.74736 121.4615 28.34646 13.53866 123.8363 22.63008 12.88691 124.2126 28.34646 12.88691 124.2126 28.34646 11.74736 121.4615 28.34646 13.53866 123.8363 22.63008 11.7059 121.3421 28.28995 11.53256 120.8498 28.07334 9.847214 116.453 27.11167 7.755902 111.6033 27.69569 7.187837 110.4346 28.28995 7.137287 110.3318 28.34646 11.74736 121.4615 28.34646 12.88691 124.2126 28.34646 13.53866 123.8363 22.63008 7.137287 110.3318 28.34646 7.187837 110.4346 28.28995 7.755902 111.6033 27.69569 9.847214 116.453 27.11167 11.53256 120.8498 28.07334 11.7059 121.3421 28.28995 32.12599 97.22071 0 32.12599 97.22071 0 32.12599 97.22071 0 3.081664 90.42116 29.84515 4.011282 92.56958 34.75788 4.098753 92.76448 35.2274 4.179261 92.92033 35.68306 5.296925 101.4098 35.68306 5.388259 102.5592 35.2274 5.449113 103.2911 34.95774 5.455285 104.0029 34.29282 5.442497 104.312 33.8866 5.44087 104.371 33.81531 5.44087 104.371 33.81531 5.442497 104.312 33.8866 5.455285 104.0029 34.29282 5.449113 103.2911 34.95774 5.388259 102.5592 35.2274 5.296925 101.4098 35.68306 4.179261 92.92033 35.68306 4.098753 92.76448 35.2274 4.011282 92.56958 34.75788 3.081664 90.42116 29.84515 5.296925 101.4098 35.68306 4.179261 92.92033 35.68306 5.388259 102.5592 35.2274 5.449113 103.2911 34.95774 5.455285 104.0029 34.29282 5.442497 104.312 33.8866 5.44087 104.371 33.81531 3.081664 90.42116 29.84515 4.011282 92.56958 34.75788 4.098753 92.76448 35.2274 37.65156 83.46457 0.9658821 37.65156 83.46457 0.9658821 37.65156 83.46457 0.9658821 5.628309 63.03296 35.69284 5.526127 64.51982 35.91873 5.526127 64.51982 35.91873 5.628309 63.03296 35.69284 5.628309 63.03296 35.69284 5.526127 64.51982 35.91873 45.81628 73.37674 3.797705 45.81628 73.37674 3.797705 45.81628 73.37674 3.797705 54.79425 66.91175 8.302486 54.79425 66.91175 8.302486 54.79425 66.91175 8.302486 63.24071 63.24071 14.17323 63.24071 63.24071 14.17323 63.24071 63.24071 14.17323 70.58005 61.14793 21.00985 70.58005 61.14793 21.00985 70.58005 61.14793 21.00985 76.85026 58.77963 22.63008 80.48593 58.79143 26.35536 77.04504 59.50656 28.34646 79.44995 59.03095 27.13868 77.98712 59.38254 28.34646 77.98712 59.38254 28.34646 77.04504 59.50656 28.34646 79.44995 59.03095 27.13868 80.48593 58.79143 26.35536 76.85026 58.77963 22.63008 76.85026 58.77963 22.63008 77.04504 59.50656 28.34646 77.98712 59.38254 28.34646 79.44995 59.03095 27.13868 80.48593 58.79143 26.35536 106.1969 73.91838 28.83779 107.276 76.19809 29.79232 107.2824 76.22069 29.77138 107.5187 77.01927 29.10277 107.5187 77.01927 29.10277 107.2824 76.22069 29.77138 107.276 76.19809 29.79232 106.1969 73.91838 28.83779 107.5187 77.01927 29.10277 106.1969 73.91838 28.83779 107.276 76.19809 29.79232 107.2824 76.22069 29.77138 107.5466 77.98712 28.34646 107.8982 79.44995 27.13868 108.1377 80.48593 26.35536 108.5298 83.46457 26.35536 109.0203 83.46457 22.63008 109.0203 83.46457 22.63008 108.5298 83.46457 26.35536 108.1377 80.48593 26.35536 107.8982 79.44995 27.13868 107.5466 77.98712 28.34646 108.5298 83.46457 26.35536 109.0203 83.46457 22.63008 107.5466 77.98712 28.34646 107.8982 79.44995 27.13868 108.1377 80.48593 26.35536 108.3555 90.13408 21.00985 108.3555 90.13408 21.00985 108.3555 90.13408 21.00985 108.2336 97.76499 14.17323 108.2336 97.76499 14.17323 108.2336 97.76499 14.17323 106.8738 106.8738 8.302486 106.8738 106.8738 8.302486 106.8738 106.8738 8.302486 102.9528 117.2191 3.797705 102.9528 117.2191 3.797705 102.9528 117.2191 3.797705 95.32184 127.7165 0.9658821 95.32184 127.7165 0.9658821 95.32184 127.7165 0.9658821 83.46457 136.6142 0 83.46457 136.6142 0 83.46457 136.6142 0 67.80958 141.8898 0.9658821 67.80958 141.8898 0.9658821 67.80958 141.8898 0.9658821 49.80315 141.7679 3.797705 49.80315 141.7679 3.797705 49.80315 141.7679 3.797705 43.19948 153.2057 21.00985 43.19948 153.2057 21.00985 43.19948 153.2057 21.00985 62.56661 161.4568 22.63008 62.37183 162.1837 28.34646 78.67605 164.0686 26.35909 83.40667 164.6914 26.35909 75.98506 163.8504 27.39258 73.67715 163.6721 28.34646 73.67715 163.6721 28.34646 62.37183 162.1837 28.34646 75.98506 163.8504 27.39258 78.67605 164.0686 26.35909 83.40667 164.6914 26.35909 62.56661 161.4568 22.63008 83.40667 164.6914 26.35909 78.67605 164.0686 26.35909 62.56661 161.4568 22.63008 62.37183 162.1837 28.34646 73.67715 163.6721 28.34646 75.98506 163.8504 27.39258 90.42116 163.8475 29.84515 92.56958 162.9179 34.75788 104.312 161.4866 33.8866 104.0029 161.4738 34.29282 103.2911 161.48 34.95774 92.76448 162.8304 35.2274 102.5592 161.5409 35.2274 92.92033 162.7499 35.68306 101.4098 161.6322 35.68306 101.4098 161.6322 35.68306 92.92033 162.7499 35.68306 102.5592 161.5409 35.2274 92.76448 162.8304 35.2274 103.2911 161.48 34.95774 92.56958 162.9179 34.75788 104.0029 161.4738 34.29282 104.312 161.4866 33.8866 90.42116 163.8475 29.84515 101.4098 161.6322 35.68306 92.92033 162.7499 35.68306 102.5592 161.5409 35.2274 103.2911 161.48 34.95774 104.0029 161.4738 34.29282 104.312 161.4866 33.8866 90.42116 163.8475 29.84515 92.56958 162.9179 34.75788 92.76448 162.8304 35.2274 40.69436 126.2348 0.9658821 40.69436 126.2348 0.9658821 40.69436 126.2348 0.9658821 25.83815 141.091 28.34646 26.3703 140.5588 22.63008 26.3703 140.5588 22.63008 25.83815 141.091 28.34646 26.3703 140.5588 22.63008 25.83815 141.091 28.34646 37.43566 110.0394 0 37.43566 110.0394 0 37.43566 110.0394 0 12.98721 124.0413 29.5585 13.03923 124.1247 29.6825 13.03923 124.1247 29.6825 12.98721 124.0413 29.5585 13.03923 124.1247 29.6825 12.98721 124.0413 29.5585 5.875807 106.3829 30.99506 6.512685 108.5183 29.24229 6.512685 108.5183 29.24229 5.875807 106.3829 30.99506 5.875807 106.3829 30.99506 6.512685 108.5183 29.24229 39.2126 95.32184 0.9658821 39.2126 95.32184 0.9658821 39.2126 95.32184 0.9658821 4.558606 93.21502 36.50522 5.120978 94.36672 37.49685 5.323061 99.35778 36.39838 5.43659 95.41082 37.92696 5.58393 97.20749 37.71161 5.58393 97.20749 37.71161 5.43659 95.41082 37.92696 5.323061 99.35778 36.39838 5.120978 94.36672 37.49685 4.558606 93.21502 36.50522 4.558606 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108.1495 90.07888 22.63008 107.5795 89.92617 27.11204 107.9129 88.15098 26.35518 108.1495 90.07888 22.63008 107.5795 89.92617 27.11204 107.9129 88.15098 26.35518 105.7812 96.34909 21.00985 105.7812 96.34909 21.00985 105.7812 96.34909 21.00985 103.6884 103.6884 14.17323 103.6884 103.6884 14.17323 103.6884 103.6884 14.17323 100.0174 112.1349 8.302486 100.0174 112.1349 8.302486 100.0174 112.1349 8.302486 93.5524 121.1129 3.797705 93.5524 121.1129 3.797705 93.5524 121.1129 3.797705 83.46457 129.2776 0.9658821 83.46457 129.2776 0.9658821 83.46457 129.2776 0.9658821 69.70845 134.8031 0 69.70845 134.8031 0 69.70845 134.8031 0 53.22146 135.8472 0.9658821 53.22146 135.8472 0.9658821 53.22146 135.8472 0.9658821 43.09282 153.3905 22.63008 42.84735 153.8156 26.35917 45.57699 154.9463 26.35917 48.49025 156.2957 27.3694 49.55848 156.7945 27.76811 50.63052 157.3203 28.34646 50.63052 157.3203 28.34646 49.55848 156.7945 27.76811 48.49025 156.2957 27.3694 45.57699 154.9463 26.35917 42.84735 153.8156 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1252 5581 1695 1138 5582 1866 1252 5583 1863 1250 5584 1989 1334 5585 1990 1335 5586 1864 1251 5587 1867 1253 5588 1696 1139 5589 1867 1253 5590 1864 1251 5591 1866 1252 5592 1869 1254 5593 1698 1140 5594 1869 1254 5595 1866 1252 5596 1992 1336 5597 1993 1337 5598 1867 1253 5599 1870 1255 5600 1699 1141 5601 1870 1255 5602 1867 1253 5603 1869 1254 5604 1872 1256 5605 1701 1142 5606 1872 1256 5607 1869 1254 5608 1995 1338 5609 1996 1339 5610 1870 1255 5611 1873 1257 5612 1702 1143 5613 1873 1257 5614 1870 1255 5615 1872 1256 5616 1875 1258 5617 1704 1144 5618 1875 1258 5619 1872 1256 5620 1876 1259 5621 1876 1259 5622 1872 1256 5623 1998 1340 5624 1998 1340 5625 1872 1256 5626 1999 1341 5627 2000 1342 5628 1873 1257 5629 2001 1343 5630 2001 1343 5631 1873 1257 5632 1881 1264 5633 1881 1264 5634 1873 1257 5635 1884 1267 5636 1705 1145 5637 1884 1267 5638 1873 1257 5639 2004 1344 5640 1879 1262 5641 1876 1259 5642 1881 1264 5643 1880 1263 5644 2005 1345 5645 2007 1346 5646 1903 1278 5647 1902 1277 5648 1903 1278 5649 2007 1346 5650 2008 1347 5651 2009 1348 5652 2010 1349 5653 1906 1281 5654 1907 1282 5655 1906 1281 5656 2010 1349 5657 2013 1350 5658 1904 1279 5659 1903 1278 5660 1904 1279 5661 2013 1350 5662 1734 1164 5663 1734 1164 5664 2013 1350 5665 1917 1286 5666 1917 1286 5667 2013 1350 5668 2014 1351 5669 2015 1352 5670 2016 1353 5671 1918 1287 5672 1918 1287 5673 2016 1353 5674 1735 1165 5675 1735 1165 5676 2016 1353 5677 1905 1280 5678 1906 1281 5679 1905 1280 5680 2016 1353 5681 1917 1286 5682 1920 1288 5683 1737 1166 5684 1920 1288 5685 1917 1286 5686 2019 1354 5687 2020 1355 5688 1918 1287 5689 1921 1289 5690 1738 1167 5691 1921 1289 5692 1918 1287 5693 1920 1288 5694 1923 1290 5695 1740 1168 5696 1923 1290 5697 1920 1288 5698 2022 1356 5699 2023 1357 5700 1921 1289 5701 1924 1291 5702 1741 1169 5703 1924 1291 5704 1921 1289 5705 1743 1170 5706 2025 1358 5707 1926 1292 5708 2025 1358 5709 1743 1170 5710 1923 1290 5711 1924 1291 5712 1744 1171 5713 2026 1359 5714 1927 1293 5715 2026 1359 5716 1744 1171 5717 1746 1172 5718 2028 1360 5719 1929 1294 5720 2028 1360 5721 1746 1172 5722 1926 1292 5723 1927 1293 5724 1747 1173 5725 2029 1361 5726 1930 1295 5727 2029 1361 5728 1747 1173 5729 1749 1174 5730 2031 1362 5731 1932 1296 5732 2031 1362 5733 1749 1174 5734 1929 1294 5735 1930 1295 5736 1750 1175 5737 2032 1363 5738 1933 1297 5739 2032 1363 5740 1750 1175 5741 1932 1296 5742 1983 1330 5743 1824 1224 5744 1983 1330 5745 1932 1296 5746 2031 1362 5747 2032 1363 5748 1933 1297 5749 1984 1331 5750 1825 1225 5751 1984 1331 5752 1933 1297 5753 1983 1330 5754 1986 1332 5755 1860 1248 5756 1986 1332 5757 1983 1330 5758 2034 1364 5759 2035 1365 5760 1984 1331 5761 1987 1333 5762 1861 1249 5763 1987 1333 5764 1984 1331 5765 1986 1332 5766 1989 1334 5767 1863 1250 5768 1989 1334 5769 1986 1332 5770 2037 1366 5771 2038 1367 5772 1987 1333 5773 1990 1335 5774 1864 1251 5775 1990 1335 5776 1987 1333 5777 1989 1334 5778 1992 1336 5779 1866 1252 5780 1992 1336 5781 1989 1334 5782 2040 1368 5783 2041 1369 5784 1990 1335 5785 1993 1337 5786 1867 1253 5787 1993 1337 5788 1990 1335 5789 1992 1336 5790 1995 1338 5791 1869 1254 5792 1995 1338 5793 1992 1336 5794 2043 1370 5795 2044 1371 5796 1993 1337 5797 1996 1339 5798 1870 1255 5799 1996 1339 5800 1993 1337 5801 1995 1338 5802 1999 1341 5803 1872 1256 5804 1999 1341 5805 1995 1338 5806 1998 1340 5807 1998 1340 5808 1995 1338 5809 2046 1372 5810 2046 1372 5811 1995 1338 5812 2047 1373 5813 2047 1373 5814 1995 1338 5815 2048 1374 5816 2048 1374 5817 1995 1338 5818 2049 1375 5819 2049 1375 5820 1995 1338 5821 2050 1376 5822 2049 1375 5823 2050 1376 5824 2051 1377 5825 2052 1378 5826 2053 1379 5827 2054 1380 5828 2053 1379 5829 1996 1339 5830 2054 1380 5831 2054 1380 5832 1996 1339 5833 2055 1381 5834 2055 1381 5835 1996 1339 5836 2056 1382 5837 2056 1382 5838 1996 1339 5839 2057 1383 5840 2057 1383 5841 1996 1339 5842 2001 1343 5843 2001 1343 5844 1996 1339 5845 2000 1342 5846 1873 1257 5847 2000 1342 5848 1996 1339 5849 1876 1259 5850 2064 1384 5851 2004 1344 5852 2064 1384 5853 1876 1259 5854 1998 1340 5855 2064 1384 5856 1998 1340 5857 2065 1385 5858 2065 1385 5859 1998 1340 5860 2066 1386 5861 2066 1386 5862 1998 1340 5863 2067 1387 5864 2067 1387 5865 1998 1340 5866 2068 1388 5867 2068 1388 5868 1998 1340 5869 2069 1389 5870 2069 1389 5871 1998 1340 5872 2070 1390 5873 2070 1390 5874 1998 1340 5875 2071 1391 5876 2072 1392 5877 2001 1343 5878 2073 1393 5879 2073 1393 5880 2001 1343 5881 2074 1394 5882 2074 1394 5883 2001 1343 5884 2075 1395 5885 2075 1395 5886 2001 1343 5887 2076 1396 5888 2076 1396 5889 2001 1343 5890 2077 1397 5891 2077 1397 5892 2001 1343 5893 2078 1398 5894 2078 1398 5895 2001 1343 5896 2079 1399 5897 2001 1343 5898 1881 1264 5899 2079 1399 5900 2005 1345 5901 2079 1399 5902 1881 1264 5903 2008 1347 5904 2013 1350 5905 1903 1278 5906 2013 1350 5907 2008 1347 5908 2088 1400 5909 2013 1350 5910 2088 1400 5911 2089 1401 5912 2013 1350 5913 2089 1401 5914 2090 1402 5915 2013 1350 5916 2090 1402 5917 2091 1403 5918 2091 1404 5919 2090 1404 5920 2092 1404 5921 2091 1405 5922 2092 1405 5923 2093 1405 5924 2013 1350 5925 2091 1403 5926 2094 1406 5927 2013 1350 5928 2094 1406 5929 2095 1407 5930 2096 1408 5931 2097 1409 5932 2016 1353 5933 2097 1409 5934 2098 1410 5935 2016 1353 5936 2099 1411 5937 2100 1411 5938 2098 1411 5939 2100 1412 5940 2101 1412 5941 2098 1412 5942 2098 1410 5943 2101 1413 5944 2016 1353 5945 2101 1413 5946 2102 1414 5947 2016 1353 5948 2102 1414 5949 2103 1415 5950 2016 1353 5951 2103 1415 5952 2009 1348 5953 2016 1353 5954 1906 1281 5955 2016 1353 5956 2009 1348 5957 2014 1351 5958 2019 1354 5959 1917 1286 5960 2019 1354 5961 2014 1351 5962 2112 1416 5963 2112 1416 5964 2014 1351 5965 2013 1350 5966 2112 1416 5967 2013 1350 5968 2113 1417 5969 2112 1416 5970 2113 1417 5971 2114 1418 5972 2113 1417 5973 2013 1350 5974 2115 1419 5975 2115 1419 5976 2013 1350 5977 2116 1420 5978 2117 1421 5979 2016 1353 5980 2118 1422 5981 2118 1422 5982 2016 1353 5983 2119 1423 5984 2120 1424 5985 2119 1423 5986 2121 1425 5987 2119 1423 5988 2016 1353 5989 2121 1425 5990 2016 1353 5991 2015 1352 5992 2121 1425 5993 2121 1425 5994 2015 1352 5995 2020 1355 5996 1918 1287 5997 2020 1355 5998 2015 1352 5999 2019 1354 6000 2022 1356 6001 1920 1288 6002 2022 1356 6003 2019 1354 6004 2127 1426 6005 2128 1427 6006 2020 1355 6007 2023 1357 6008 1921 1289 6009 2023 1357 6010 2020 1355 6011 2022 1356 6012 2025 1358 6013 1923 1290 6014 2025 1358 6015 2022 1356 6016 2130 1428 6017 2131 1429 6018 2023 1357 6019 2026 1359 6020 1924 1291 6021 2026 1359 6022 2023 1357 6023 1926 1292 6024 2133 1430 6025 2028 1360 6026 2133 1430 6027 1926 1292 6028 2025 1358 6029 2026 1359 6030 1927 1293 6031 2134 1431 6032 2029 1361 6033 2134 1431 6034 1927 1293 6035 1929 1294 6036 2136 1432 6037 2031 1362 6038 2136 1432 6039 1929 1294 6040 2028 1360 6041 2029 1361 6042 1930 1295 6043 2137 1433 6044 2032 1363 6045 2137 1433 6046 1930 1295 6047 2031 1362 6048 2034 1364 6049 1983 1330 6050 2034 1364 6051 2031 1362 6052 2136 1432 6053 2137 1433 6054 2032 1363 6055 2035 1365 6056 1984 1331 6057 2035 1365 6058 2032 1363 6059 2034 1364 6060 2037 1366 6061 1986 1332 6062 2037 1366 6063 2034 1364 6064 2139 1434 6065 2140 1435 6066 2035 1365 6067 2038 1367 6068 1987 1333 6069 2038 1367 6070 2035 1365 6071 1989 1334 6072 2142 1436 6073 2040 1368 6074 2142 1436 6075 1989 1334 6076 2037 1366 6077 2038 1367 6078 1990 1335 6079 2143 1437 6080 2041 1369 6081 2143 1437 6082 1990 1335 6083 2040 1368 6084 2043 1370 6085 1992 1336 6086 2043 1370 6087 2040 1368 6088 2145 1438 6089 2146 1439 6090 2041 1369 6091 2044 1371 6092 1993 1337 6093 2044 1371 6094 2041 1369 6095 2043 1370 6096 2050 1376 6097 1995 1338 6098 2050 1376 6099 2043 1370 6100 2051 1377 6101 2051 1377 6102 2043 1370 6103 2148 1440 6104 2148 1440 6105 2043 1370 6106 2149 1441 6107 2150 1442 6108 2148 1440 6109 2149 1441 6110 2151 1443 6111 2152 1444 6112 2153 1445 6113 2151 1443 6114 2044 1371 6115 2152 1444 6116 2152 1444 6117 2044 1371 6118 2052 1378 6119 2052 1378 6120 2044 1371 6121 2053 1379 6122 1996 1339 6123 2053 1379 6124 2044 1371 6125 1998 1340 6126 2157 1446 6127 2071 1391 6128 2157 1446 6129 1998 1340 6130 2046 1372 6131 2057 1383 6132 2001 1343 6133 2158 1447 6134 2072 1392 6135 2158 1447 6136 2001 1343 6137 2095 1407 6138 2116 1420 6139 2013 1350 6140 2016 1353 6141 2117 1421 6142 2096 1408 6143 2112 1416 6144 2127 1426 6145 2019 1354 6146 2127 1426 6147 2112 1416 6148 2160 1448 6149 2160 1448 6150 2112 1416 6151 2114 1418 6152 2160 1448 6153 2114 1418 6154 2161 1449 6155 2160 1448 6156 2161 1449 6157 2162 1450 6158 2162 1450 6159 2161 1449 6160 2163 1451 6161 2162 1450 6162 2163 1451 6163 2164 1452 6164 2165 1453 6165 2166 1454 6166 2167 1455 6167 2166 1454 6168 2168 1456 6169 2167 1455 6170 2167 1455 6171 2168 1456 6172 2169 1457 6173 2168 1456 6174 2120 1424 6175 2169 1457 6176 2120 1424 6177 2121 1425 6178 2169 1457 6179 2169 1457 6180 2121 1425 6181 2128 1427 6182 2020 1355 6183 2128 1427 6184 2121 1425 6185 2127 1426 6186 2130 1428 6187 2022 1356 6188 2130 1428 6189 2127 1426 6190 2175 1458 6191 2176 1459 6192 2128 1427 6193 2131 1429 6194 2023 1357 6195 2131 1429 6196 2128 1427 6197 2130 1428 6198 2133 1430 6199 2025 1358 6200 2133 1430 6201 2130 1428 6202 2178 1460 6203 2179 1461 6204 2131 1429 6205 2134 1431 6206 2026 1359 6207 2134 1431 6208 2131 1429 6209 2028 1360 6210 2181 1462 6211 2136 1432 6212 2181 1462 6213 2028 1360 6214 2133 1430 6215 2134 1431 6216 2029 1361 6217 2182 1463 6218 2137 1433 6219 2182 1463 6220 2029 1361 6221 2136 1432 6222 2139 1434 6223 2034 1364 6224 2139 1434 6225 2136 1432 6226 2181 1462 6227 2182 1463 6228 2137 1433 6229 2140 1435 6230 2035 1365 6231 2140 1435 6232 2137 1433 6233 2037 1366 6234 2184 1464 6235 2142 1436 6236 2184 1464 6237 2037 1366 6238 2139 1434 6239 2140 1435 6240 2038 1367 6241 2185 1465 6242 2143 1437 6243 2185 1465 6244 2038 1367 6245 2040 1368 6246 2187 1466 6247 2145 1438 6248 2187 1466 6249 2040 1368 6250 2142 1436 6251 2143 1437 6252 2041 1369 6253 2188 1467 6254 2146 1439 6255 2188 1467 6256 2041 1369 6257 2043 1370 6258 2150 1442 6259 2149 1441 6260 2150 1442 6261 2043 1370 6262 2145 1438 6263 2150 1442 6264 2145 1438 6265 2190 1468 6266 2190 1468 6267 2145 1438 6268 2191 1469 6269 2191 1469 6270 2145 1438 6271 2192 1470 6272 2192 1470 6273 2145 1438 6274 2193 1471 6275 2193 1471 6276 2145 1438 6277 2194 1472 6278 2195 1473 6279 2146 1439 6280 2196 1474 6281 2196 1474 6282 2146 1439 6283 2197 1475 6284 2197 1475 6285 2146 1439 6286 2198 1476 6287 2198 1476 6288 2146 1439 6289 2199 1477 6290 2199 1477 6291 2146 1439 6292 2153 1445 6293 2146 1439 6294 2044 1371 6295 2153 1445 6296 2151 1443 6297 2153 1445 6298 2044 1371 6299 2164 1452 6300 2205 1478 6301 2162 1450 6302 2205 1478 6303 2164 1452 6304 2206 1479 6305 2205 1478 6306 2206 1479 6307 2207 1480 6308 2207 1481 6309 2206 1481 6310 2208 1481 6311 2209 1482 6312 2210 1482 6313 2211 1482 6314 2211 1483 6315 2210 1484 6316 2212 1485 6317 2210 1484 6318 2165 1453 6319 2212 1485 6320 2167 1455 6321 2212 1485 6322 2165 1453 6323 2160 1448 6324 2175 1458 6325 2127 1426 6326 2175 1458 6327 2160 1448 6328 2217 1486 6329 2217 1486 6330 2160 1448 6331 2162 1450 6332 2217 1486 6333 2162 1450 6334 2218 1487 6335 2218 1487 6336 2162 1450 6337 2219 1488 6338 2219 1488 6339 2162 1450 6340 2220 1489 6341 2221 1490 6342 2217 1486 6343 2218 1487 6344 2222 1491 6345 2223 1492 6346 2224 1493 6347 2225 1494 6348 2167 1455 6349 2226 1495 6350 2226 1495 6351 2167 1455 6352 2222 1491 6353 2222 1491 6354 2167 1455 6355 2223 1492 6356 2167 1455 6357 2169 1457 6358 2223 1492 6359 2223 1492 6360 2169 1457 6361 2176 1459 6362 2128 1427 6363 2176 1459 6364 2169 1457 6365 2175 1458 6366 2178 1460 6367 2130 1428 6368 2178 1460 6369 2175 1458 6370 2232 1496 6371 2233 1497 6372 2176 1459 6373 2179 1461 6374 2131 1429 6375 2179 1461 6376 2176 1459 6377 2178 1460 6378 2181 1462 6379 2133 1430 6380 2181 1462 6381 2178 1460 6382 2235 1498 6383 2236 1499 6384 2179 1461 6385 2182 1463 6386 2134 1431 6387 2182 1463 6388 2179 1461 6389 2235 1498 6390 2139 1434 6391 2181 1462 6392 2139 1434 6393 2235 1498 6394 2184 1464 6395 2185 1465 6396 2236 1499 6397 2140 1435 6398 2182 1463 6399 2140 1435 6400 2236 1499 6401 2142 1436 6402 2238 1500 6403 2187 1466 6404 2238 1500 6405 2142 1436 6406 2184 1464 6407 2185 1465 6408 2143 1437 6409 2239 1501 6410 2188 1467 6411 2239 1501 6412 2143 1437 6413 2194 1472 6414 2241 1502 6415 2193 1471 6416 2241 1502 6417 2194 1472 6418 2145 1438 6419 2241 1502 6420 2145 1438 6421 2187 1466 6422 2241 1502 6423 2187 1466 6424 2242 1503 6425 2242 1503 6426 2187 1466 6427 2243 1504 6428 2243 1504 6429 2187 1466 6430 2244 1505 6431 2244 1505 6432 2187 1466 6433 2245 1506 6434 2246 1507 6435 2188 1467 6436 2247 1508 6437 2247 1508 6438 2188 1467 6439 2248 1509 6440 2248 1509 6441 2188 1467 6442 2249 1510 6443 2249 1510 6444 2188 1467 6445 2250 1511 6446 2188 1467 6447 2146 1439 6448 2250 1511 6449 2146 1439 6450 2195 1473 6451 2250 1511 6452 2196 1474 6453 2250 1511 6454 2195 1473 6455 2256 1512 6456 2192 1470 6457 2193 1471 6458 2196 1474 6459 2197 1475 6460 2257 1513 6461 2205 1478 6462 2220 1489 6463 2162 1450 6464 2167 1455 6465 2225 1494 6466 2212 1485 6467 2217 1486 6468 2232 1496 6469 2175 1458 6470 2232 1496 6471 2217 1486 6472 2259 1514 6473 2259 1514 6474 2217 1486 6475 2221 1490 6476 2259 1514 6477 2221 1490 6478 2260 1515 6479 2261 1516 6480 2259 1514 6481 2260 1515 6482 2262 1517 6483 2263 1518 6484 2264 1519 6485 2262 1517 6486 2224 1493 6487 2263 1518 6488 2224 1493 6489 2223 1492 6490 2263 1518 6491 2263 1518 6492 2223 1492 6493 2233 1497 6494 2176 1459 6495 2233 1497 6496 2223 1492 6497 2232 1496 6498 2235 1498 6499 2178 1460 6500 2235 1498 6501 2232 1496 6502 2268 1520 6503 2269 1521 6504 2233 1497 6505 2236 1499 6506 2179 1461 6507 2236 1499 6508 2233 1497 6509 2268 1520 6510 2184 1464 6511 2235 1498 6512 2184 1464 6513 2268 1520 6514 2238 1500 6515 2239 1501 6516 2269 1521 6517 2185 1465 6518 2236 1499 6519 2185 1465 6520 2269 1521 6521 2245 1506 6522 2271 1522 6523 2244 1505 6524 2271 1522 6525 2245 1506 6526 2187 1466 6527 2271 1522 6528 2187 1466 6529 2238 1500 6530 2271 1522 6531 2238 1500 6532 2272 1523 6533 2272 1523 6534 2238 1500 6535 2273 1524 6536 2273 1524 6537 2238 1500 6538 2274 1525 6539 2274 1525 6540 2238 1500 6541 2275 1526 6542 2276 1527 6543 2239 1501 6544 2277 1528 6545 2277 1528 6546 2239 1501 6547 2278 1529 6548 2278 1529 6549 2239 1501 6550 2279 1530 6551 2279 1530 6552 2239 1501 6553 2280 1531 6554 2239 1501 6555 2188 1467 6556 2280 1531 6557 2188 1467 6558 2246 1507 6559 2280 1531 6560 2247 1508 6561 2280 1531 6562 2246 1507 6563 2241 1502 6564 2256 1512 6565 2193 1471 6566 2256 1512 6567 2241 1502 6568 2286 1532 6569 2286 1532 6570 2241 1502 6571 2287 1533 6572 2287 1533 6573 2241 1502 6574 2288 1534 6575 2289 1535 6576 2250 1511 6577 2290 1536 6578 2290 1536 6579 2250 1511 6580 2291 1537 6581 2291 1537 6582 2250 1511 6583 2257 1513 6584 2196 1474 6585 2257 1513 6586 2250 1511 6587 2259 1514 6588 2268 1520 6589 2232 1496 6590 2268 1520 6591 2259 1514 6592 2295 1538 6593 2295 1538 6594 2259 1514 6595 2261 1516 6596 2295 1538 6597 2261 1516 6598 2296 1539 6599 2296 1539 6600 2261 1516 6601 2297 1540 6602 2296 1539 6603 2297 1540 6604 2298 1541 6605 2296 1539 6606 2298 1541 6607 2299 1542 6608 2296 1539 6609 2299 1542 6610 2300 1543 6611 2301 1544 6612 2302 1545 6613 2303 1546 6614 2302 1545 6615 2304 1547 6616 2303 1546 6617 2304 1547 6618 2305 1548 6619 2303 1546 6620 2305 1548 6621 2264 1519 6622 2303 1546 6623 2303 1546 6624 2264 1519 6625 2306 1549 6626 2264 1519 6627 2263 1518 6628 2306 1549 6629 2306 1549 6630 2263 1518 6631 2269 1521 6632 2233 1497 6633 2269 1521 6634 2263 1518 6635 2295 1538 6636 2238 1500 6637 2268 1520 6638 2238 1500 6639 2295 1538 6640 2275 1526 6641 2275 1526 6642 2295 1538 6643 2296 1539 6644 2275 1526 6645 2296 1539 6646 2274 1525 6647 2277 1528 6648 2303 1546 6649 2276 1527 6650 2303 1546 6651 2306 1549 6652 2276 1527 6653 2276 1527 6654 2306 1549 6655 2239 1501 6656 2269 1521 6657 2239 1501 6658 2306 1549 6659 2313 1550 6660 2273 1524 6661 2274 1525 6662 2277 1528 6663 2278 1529 6664 2314 1551 6665 2316 1552 6666 2296 1539 6667 2300 1543 6668 2296 1539 6669 2316 1552 6670 2317 1553 6671 2318 1554 6672 2319 1555 6673 2303 1546 6674 2301 1544 6675 2303 1546 6676 2319 1555 6677 2317 1553 6678 2274 1525 6679 2296 1539 6680 2274 1525 6681 2317 1553 6682 2313 1550 6683 2313 1550 6684 2317 1553 6685 2322 1556 6686 2322 1556 6687 2317 1553 6688 2323 1557 6689 2323 1557 6690 2317 1553 6691 2324 1558 6692 2324 1558 6693 2317 1553 6694 2325 1559 6695 2325 1559 6696 2317 1553 6697 2326 1560 6698 2325 1561 6699 2326 1561 6700 2327 1561 6701 2325 1562 6702 2327 1562 6703 2328 1562 6704 2329 1563 6705 2330 1563 6706 2331 1563 6707 2330 1564 6708 2332 1564 6709 2331 1564 6710 2332 1565 6711 2318 1554 6712 2331 1566 6713 2331 1566 6714 2318 1554 6715 2333 1567 6716 2333 1567 6717 2318 1554 6718 2334 1568 6719 2334 1568 6720 2318 1554 6721 2335 1569 6722 2335 1569 6723 2318 1554 6724 2314 1551 6725 2314 1551 6726 2318 1554 6727 2277 1528 6728 2303 1546 6729 2277 1528 6730 2318 1554 6731</p>
+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6858805 -0.3173701 0.6548619 7.481132 0.7276338 0.3124686 -0.6106656 -6.50764 -0.01081678 0.8953432 0.4452454 5.343665 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="SketchUp" name="SketchUp" type="NODE">
+        <matrix sid="transform">7.84953e-4 0 0 -2.40878e-4 0 7.84953e-4 0 -0.1391807 0 0 7.84953e-4 -0.04679475 0 0 0 1</matrix>
+        <node id="Last_Saved_SketchUp_View" name="Last_Saved_SketchUp_View" type="NODE">
+          <matrix sid="transform">0 0 0 5.82752e16 0 0 0 0 0 0 0 4.92574e16 0 0 0 1</matrix>
+        </node>
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diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/donut_frost_1/meshes/donut2_dust.dae b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/donut_frost_1/meshes/donut2_dust.dae
new file mode 100644
index 0000000..b10a289
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/donut_frost_1/meshes/donut2_dust.dae
@@ -0,0 +1,8929 @@
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diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/donut_frost_1/meshes/donut2_frost.dae b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/donut_frost_1/meshes/donut2_frost.dae
new file mode 100644
index 0000000..c8b1cf7
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/donut_frost_1/meshes/donut2_frost.dae
@@ -0,0 +1,165 @@
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57.62846 139.3351 106.6069 57.62846 136.2884 113.9624 57.62846 136.2884 113.9624 57.62846 139.3351 106.6069 57.62846 136.6142 83.46457 58.66142 134.8031 97.22071 58.66142 140.5372 83.46457 58.14494 140.5372 83.46457 58.14494 136.6142 83.46457 58.66142 134.8031 97.22071 58.66142 134.8031 97.22071 58.66142 140.5372 83.46457 58.14494 136.6142 83.46457 58.66142 146.7927 135.3189 35.27181 144.2666 137.969 36.22351 144.2666 137.969 36.22351 146.7927 135.3189 35.27181 146.7927 135.3189 35.27181 144.2666 137.969 36.22351 148.119 133.8271 34.1678 148.119 133.8271 34.1678 148.119 133.8271 34.1678 149.3884 132.6137 32.11152 149.3884 132.6137 32.11152 149.3884 132.6137 32.11152 151.1201 130.8112 29.99258 151.1201 130.8112 29.99258 151.1201 130.8112 29.99258 153.5763 127.9283 28.50952 153.5763 127.9283 28.50952 153.5763 127.9283 28.50952 154.5407 126.7377 28.20058 154.5407 126.7377 28.20058 154.5407 126.7377 28.20058 155.5871 125.2096 27.43385 155.5871 125.2096 27.43385 155.5871 125.2096 27.43385 140.4888 143.1612 33.52412 134.6773 147.7179 32.93267 137.964 145.2462 32.62679 131.9507 149.5708 34.38672 141.8149 141.8149 35.52278 129.7894 151.0986 35.1811 127.9327 152.5233 35.1811 125.3672 154.9622 32.32191 124.9474 155.315 32.13578 125.4927 154.8463 32.44104 125.5717 154.6836 33.06182 126.4683 153.8 34.25032 141.8149 141.8149 35.52278 127.9327 152.5233 35.1811 126.4683 153.8 34.25032 125.5717 154.6836 33.06182 125.4927 154.8463 32.44104 125.3672 154.9622 32.32191 124.9474 155.315 32.13578 129.7894 151.0986 35.1811 131.9507 149.5708 34.38672 140.4888 143.1612 33.52412 134.6773 147.7179 32.93267 137.964 145.2462 32.62679 124.9474 155.315 32.13578 125.3672 154.9622 32.32191 125.4927 154.8463 32.44104 125.5717 154.6836 33.06182 126.4683 153.8 34.25032 127.9327 152.5233 35.1811 129.7894 151.0986 35.1811 131.9507 149.5708 34.38672 134.6773 147.7179 32.93267 137.964 145.2462 32.62679 140.4888 143.1612 33.52412 141.8149 141.8149 35.52278 105.2691 162.8928 36.19255 104.7473 162.8928 36.67882 104.0156 160.1621 43.50394 104.0156 160.1621 43.50394 104.7473 162.8928 36.67882 105.2691 162.8928 36.19255 104.0156 160.1621 43.50394 104.7473 162.8928 36.67882 105.2691 162.8928 36.19255 141.8268 141.7981 35.52825 141.8268 141.7981 35.52825 141.8268 141.7981 35.52825 141.9601 141.4814 35.2362 142.1145 141.1099 35.72499 141.9601 141.4814 35.2362 142.1145 141.1099 35.72499 141.9601 141.4814 35.2362 142.1145 141.1099 35.72499 142.5906 140.2555 36.07166 142.5906 140.2555 36.07166 142.5906 140.2555 36.07166 155.5448 125.1968 27.32877 156.7734 122.2307 27.32877 155.5448 125.1968 27.32877 156.7734 122.2307 27.32877 156.7734 122.2307 27.32877 155.5448 125.1968 27.32877 158.2188 118.2709 28.70755 158.2188 118.2709 28.70755 158.2188 118.2709 28.70755 159.2033 115.4109 30.12463 159.2033 115.4109 30.12463 159.2033 115.4109 30.12463 160.2407 111.8789 33.13706 160.2407 111.8789 33.13706 160.2407 111.8789 33.13706 161.2444 108.863 34.87492 161.2444 108.863 34.87492 161.2444 108.863 34.87492 160.0155 111.5572 32.78202 160.0155 111.5572 32.78202 160.0155 111.5572 32.78202 159.0016 110.8933 32.29358 159.0016 110.8933 32.29358 159.0016 110.8933 32.29358 158.6371 114.8036 29.48107 158.2113 114.5477 29.30073 158.6371 114.8036 29.48107 158.2113 114.5477 29.30073 158.6371 114.8036 29.48107 158.2113 114.5477 29.30073 161.5503 63.63117 34.96989 161.6322 65.5193 35.68306 161.5409 64.36991 35.2274 162.0254 63.5115 35.17393 161.6322 65.5193 35.68306 162.0254 63.5115 35.17393 161.5503 63.63117 34.96989 161.5409 64.36991 35.2274 161.6322 65.5193 35.68306 161.5409 64.36991 35.2274 161.5503 63.63117 34.96989 162.0254 63.5115 35.17393 161.785 57.32346 30.24024 161.8252 57.14135 30.5017 161.785 57.32346 30.24024 161.8252 57.14135 30.5017 161.8252 57.14135 30.5017 161.785 57.32346 30.24024 155.8863 42.89652 30.77407 155.315 41.98172 32.13578 157.2354 45.70385 29.45516 159.0312 49.72693 28.5399 160.8418 54.28622 29.0913 160.8418 54.28622 29.0913 159.0312 49.72693 28.5399 157.2354 45.70385 29.45516 155.8863 42.89652 30.77407 155.315 41.98172 32.13578 155.315 41.98172 32.13578 160.8418 54.28622 29.0913 159.0312 49.72693 28.5399 157.2354 45.70385 29.45516 155.8863 42.89652 30.77407 162.1976 59.6719 31.52997 162.6133 61.59482 34.2254 162.6133 61.59482 34.2254 162.1976 59.6719 31.52997 162.1976 59.6719 31.52997 162.6133 61.59482 34.2254 162.4246 62.43551 34.64416 162.4246 62.43551 34.64416 162.4246 62.43551 34.64416 141.7621 25.18908 36.19255 141.7465 25.18261 36.21303 141.7621 25.18908 36.19255 141.7465 25.18261 36.21303 141.7621 25.18908 36.19255 141.7465 25.18261 36.21303 120.7573 18.87161 49.78237 123.1661 14.69944 43.50394 120.7573 18.87161 49.78237 123.1661 14.69944 43.50394 123.1661 14.69944 43.50394 120.7573 18.87161 49.78237 131.765 35.16416 54.59998 131.765 35.16416 54.59998 131.765 35.16416 54.59998 136.2884 52.96672 57.62846 136.2884 52.96672 57.62846 136.2884 52.96672 57.62846 135.7087 76.5865 58.66142 134.8031 69.70845 58.66142 135.9466 78.39371 58.66142 136.0292 79.02103 58.66142 136.1283 79.77394 58.66142 136.1283 79.77394 58.66142 136.0292 79.02103 58.66142 135.9466 78.39371 58.66142 135.7087 76.5865 58.66142 134.8031 69.70845 58.66142 134.8031 69.70845 58.66142 135.7087 76.5865 58.66142 135.9466 78.39371 58.66142 136.0292 79.02103 58.66142 136.1283 79.77394 58.66142 102.7687 155.5086 49.78237 102.7687 155.5086 49.78237 102.7687 155.5086 49.78237 117.6181 142.6202 54.59998 117.6181 142.6202 54.59998 117.6181 142.6202 54.59998 126.595 126.595 57.62846 126.595 126.595 57.62846 126.595 126.595 57.62846 131.4508 105.3141 58.66142 129.4935 110.0394 58.66142 132.1483 103.63 58.66142 132.1483 103.63 58.66142 131.4508 105.3141 58.66142 129.4935 110.0394 58.66142 129.4935 110.0394 58.66142 132.1483 103.63 58.66142 131.4508 105.3141 58.66142 128.7681 83.46457 57.62846 127.2244 95.18998 57.62846 128.7681 83.46457 57.62846 127.2244 95.18998 57.62846 127.2244 95.18998 57.62846 128.7681 83.46457 57.62846 144.097 137.8929 35.72471 146.5355 135.3347 34.80601 144.097 137.8929 35.72471 146.5355 135.3347 34.80601 146.5355 135.3347 34.80601 144.097 137.8929 35.72471 147.7741 133.9416 33.77505 147.7741 133.9416 33.77505 147.7741 133.9416 33.77505 149.0213 132.7495 31.75478 149.0213 132.7495 31.75478 149.0213 132.7495 31.75478 150.8143 130.8831 29.56073 150.8143 130.8831 29.56073 150.8143 130.8831 29.56073 153.3424 127.9158 28.03428 153.3424 127.9158 28.03428 153.3424 127.9158 28.03428 121.2253 157.2354 29.45516 112.6429 160.8418 29.0913 117.2022 159.0312 28.5399 109.7878 161.8252 30.5017 124.0326 155.8863 30.77407 107.8828 162.3933 32.06531 105.4644 162.9161 35.4554 105.2693 162.931 35.92186 105.2693 162.931 35.92186 105.4644 162.9161 35.4554 107.8828 162.3933 32.06531 124.0326 155.8863 30.77407 109.7878 161.8252 30.5017 121.2253 157.2354 29.45516 112.6429 160.8418 29.0913 117.2022 159.0312 28.5399 105.2693 162.931 35.92186 105.4644 162.9161 35.4554 107.8828 162.3933 32.06531 109.7878 161.8252 30.5017 112.6429 160.8418 29.0913 117.2022 159.0312 28.5399 121.2253 157.2354 29.45516 124.0326 155.8863 30.77407 124.1588 155.7169 30.52318 124.1588 155.7169 30.52318 124.1588 155.7169 30.52318 124.2765 155.3423 30.15498 125.6802 154.4656 32.24455 124.2765 155.3423 30.15498 125.6802 154.4656 32.24455 125.6802 154.4656 32.24455 124.2765 155.3423 30.15498 125.7535 154.3146 32.82041 125.7535 154.3146 32.82041 125.7535 154.3146 32.82041 126.556 153.5238 33.88412 126.556 153.5238 33.88412 126.556 153.5238 33.88412 127.912 152.3415 34.74606 127.912 152.3415 34.74606 127.912 152.3415 34.74606 129.6456 151.0113 34.74606 129.6456 151.0113 34.74606 129.6456 151.0113 34.74606 131.7392 149.5314 33.97659 131.7392 149.5314 33.97659 131.7392 149.5314 33.97659 134.5004 147.6549 32.50407 134.5004 147.6549 32.50407 134.5004 147.6549 32.50407 137.9011 145.0976 32.18758 137.9011 145.0976 32.18758 137.9011 145.0976 32.18758 140.5658 142.897 33.13464 140.5658 142.897 33.13464 140.5658 142.897 33.13464 104.4568 162.931 36.67902 104.3451 162.9278 36.7222 100.1249 162.8741 38.19331 97.84252 162.5972 39.58721 95.39612 162.7978 39.88043 92.33741 164.0051 37.93793 83.46457 165.8962 36.19255 91.71179 164.8104 36.19255 83.46457 162.8677 43.50394 93.85714 163.263 39.24645 95.39612 162.7978 39.88043 83.46457 162.8677 43.50394 93.85714 163.263 39.24645 92.33741 164.0051 37.93793 83.46457 165.8962 36.19255 91.71179 164.8104 36.19255 97.84252 162.5972 39.58721 100.1249 162.8741 38.19331 104.3451 162.9278 36.7222 104.4568 162.931 36.67902 83.46457 162.8677 43.50394 83.46457 165.8962 36.19255 91.71179 164.8104 36.19255 92.33741 164.0051 37.93793 93.85714 163.263 39.24645 95.39612 162.7978 39.88043 97.84252 162.5972 39.58721 100.1249 162.8741 38.19331 104.3451 162.9278 36.7222 104.4568 162.931 36.67902 141.9893 141.0597 34.91926 142.1088 140.7719 35.29783 141.9893 141.0597 34.91926 142.1088 140.7719 35.29783 142.1088 140.7719 35.29783 141.9893 141.0597 34.91926 142.4959 140.0774 35.57965 142.4959 140.0774 35.57965 142.4959 140.0774 35.57965 155.2479 125.0697 26.91077 156.498 122.0517 26.91077 155.2479 125.0697 26.91077 156.498 122.0517 26.91077 156.498 122.0517 26.91077 155.2479 125.0697 26.91077 157.9704 118.0179 28.31533 157.9704 118.0179 28.31533 157.9704 118.0179 28.31533 158.9755 115.098 29.76209 158.9755 115.098 29.76209 158.9755 115.098 29.76209 157.9588 114.4435 29.26562 157.9588 114.4435 29.26562 157.9588 114.4435 29.26562 157.6175 117.7657 28.01337 157.1842 117.5317 27.82224 157.6175 117.7657 28.01337 157.1842 117.5317 27.82224 157.6175 117.7657 28.01337 157.1842 117.5317 27.82224 161.48 63.638 34.95774 161.48 63.638 34.95774 161.48 63.638 34.95774 162.0254 62.71523 34.43193 161.5503 62.91154 34.2993 162.0254 62.71523 34.43193 161.5503 62.91154 34.2993 162.0254 62.71523 34.43193 161.5503 62.91154 34.2993 160.7777 54.39891 28.79554 160.7777 54.39891 28.79554 160.7777 54.39891 28.79554 161.5898 57.63415 29.85735 161.5898 57.63415 29.85735 161.5898 57.63415 29.85735 141.764 25.16513 36.06918 143.1612 26.44034 33.52412 141.8149 25.11427 35.52278 151.0986 37.13975 35.1811 145.2462 28.96516 32.62679 149.5708 34.97841 34.38672 147.7179 32.25186 32.93267 152.5233 38.99646 35.1811 153.8 40.4608 34.25032 154.6836 41.35744 33.06182 154.8463 41.43641 32.44104 154.9622 41.56192 32.32191 154.9622 41.56192 32.32191 154.8463 41.43641 32.44104 154.6836 41.35744 33.06182 153.8 40.4608 34.25032 152.5233 38.99646 35.1811 151.0986 37.13975 35.1811 147.7179 32.25186 32.93267 149.5708 34.97841 34.38672 145.2462 28.96516 32.62679 143.1612 26.44034 33.52412 141.764 25.16513 36.06918 141.8149 25.11427 35.52278 154.9622 41.56192 32.32191 154.8463 41.43641 32.44104 154.6836 41.35744 33.06182 153.8 40.4608 34.25032 152.5233 38.99646 35.1811 151.0986 37.13975 35.1811 149.5708 34.97841 34.38672 147.7179 32.25186 32.93267 145.2462 28.96516 32.62679 143.1612 26.44034 33.52412 141.8149 25.11427 35.52278 141.764 25.16513 36.06918 158.9327 49.75298 28.23366 158.9327 49.75298 28.23366 158.9327 49.75298 28.23366 157.1071 45.66309 29.16413 157.1071 45.66309 29.16413 157.1071 45.66309 29.16413 155.7169 42.77031 30.52318 155.7169 42.77031 30.52318 155.7169 42.77031 30.52318 161.9042 60.02816 31.26968 162.325 61.975 33.99864 162.325 61.975 33.99864 161.9042 60.02816 31.26968 161.9042 60.02816 31.26968 162.325 61.975 33.99864 141.4003 24.93729 36.17316 141.6525 25.04208 35.84138 141.4591 25.00117 36.28862 141.4591 25.00117 36.28862 141.4003 24.93729 36.17316 141.6525 25.04208 35.84138 141.4591 25.00117 36.28862 141.4003 24.93729 36.17316 141.6525 25.04208 35.84138 135.9843 20.75051 36.19255 124.6804 12.0767 36.19255 137.9295 22.6047 36.8911 140.3744 24.3967 36.72874 137.9295 22.6047 36.8911 140.3744 24.3967 36.72874 135.9843 20.75051 36.19255 124.6804 12.0767 36.19255 135.9843 20.75051 36.19255 124.6804 12.0767 36.19255 140.3744 24.3967 36.72874 137.9295 22.6047 36.8911 102.7687 11.42049 49.78237 104.0156 6.767031 43.50394 102.7687 11.42049 49.78237 104.0156 6.767031 43.50394 104.0156 6.767031 43.50394 102.7687 11.42049 49.78237 117.6181 24.30889 54.59998 117.6181 24.30889 54.59998 117.6181 24.30889 54.59998 126.595 40.3341 57.62846 126.595 40.3341 57.62846 126.595 40.3341 57.62846 133.088 65.56771 58.66142 129.4935 56.88976 58.66142 133.3786 66.26931 58.66142 133.3786 66.26931 58.66142 133.088 65.56771 58.66142 129.4935 56.88976 58.66142 129.4935 56.88976 58.66142 133.088 65.56771 58.66142 133.3786 66.26931 58.66142 127.2244 71.73915 57.62846 127.2244 71.73915 57.62846 127.2244 71.73915 57.62846 83.46457 158.0501 49.78237 83.46457 158.0501 49.78237 83.46457 158.0501 49.78237 101.1437 149.4441 54.59998 101.1437 149.4441 54.59998 101.1437 149.4441 54.59998 113.9624 136.2884 57.62846 113.9624 136.2884 57.62846 113.9624 136.2884 57.62846 125.2702 115.5432 58.66142 121.047 121.047 58.66142 125.2702 115.5432 58.66142 121.047 121.047 58.66142 121.047 121.047 58.66142 125.2702 115.5432 58.66142 122.6986 106.1163 57.62846 122.6986 106.1163 57.62846 122.6986 106.1163 57.62846 121.4567 83.46457 54.59998 120.1621 93.29766 54.59998 121.4567 83.46457 54.59998 120.1621 93.29766 54.59998 120.1621 93.29766 54.59998 121.4567 83.46457 54.59998 143.8374 137.7331 35.29072 146.2042 135.2501 34.39903 143.8374 137.7331 35.29072 146.2042 135.2501 34.39903 146.2042 135.2501 34.39903 143.8374 137.7331 35.29072 147.3672 133.942 33.431 147.3672 133.942 33.431 147.3672 133.942 33.431 148.596 132.7674 31.44042 148.596 132.7674 31.44042 148.596 132.7674 31.44042 150.4397 130.8484 29.18444 150.4397 130.8484 29.18444 150.4397 130.8484 29.18444 153.027 127.8115 27.6222 153.027 127.8115 27.6222 153.027 127.8115 27.6222 104.0907 162.8934 36.3 105.2227 162.8934 35.24512 104.0907 162.8934 36.3 105.2227 162.8934 35.24512 104.0907 162.8934 36.3 105.2227 162.8934 35.24512 105.7545 162.7784 34.49969 107.6451 162.3697 31.84948 105.7545 162.7784 34.49969 107.6451 162.3697 31.84948 107.6451 162.3697 31.84948 105.7545 162.7784 34.49969 109.6057 161.785 30.24024 109.6057 161.785 30.24024 109.6057 161.785 30.24024 112.5302 160.7777 28.79554 112.5302 160.7777 28.79554 112.5302 160.7777 28.79554 117.1762 158.9327 28.23366 117.1762 158.9327 28.23366 117.1762 158.9327 28.23366 121.266 157.1071 29.16413 121.266 157.1071 29.16413 121.266 157.1071 29.16413 121.265 156.7895 28.74016 121.265 156.7895 28.74016 121.265 156.7895 28.74016 124.295 154.8987 29.85859 125.7673 153.9792 32.05024 124.295 154.8987 29.85859 125.7673 153.9792 32.05024 125.7673 153.9792 32.05024 124.295 154.8987 29.85859 125.8336 153.8427 32.57089 125.8336 153.8427 32.57089 125.8336 153.8427 32.57089 126.5465 153.1402 33.51592 126.5465 153.1402 33.51592 126.5465 153.1402 33.51592 127.7996 152.0476 34.31239 127.7996 152.0476 34.31239 127.7996 152.0476 34.31239 129.4161 150.8072 34.31239 129.4161 150.8072 34.31239 129.4161 150.8072 34.31239 131.4452 149.3729 33.5666 131.4452 149.3729 33.5666 131.4452 149.3729 33.5666 134.2393 147.4741 32.07653 134.2393 147.4741 32.07653 134.2393 147.4741 32.07653 137.7484 144.8352 31.74995 137.7484 144.8352 31.74995 137.7484 144.8352 31.74995 140.5462 142.5248 32.74429 140.5462 142.5248 32.74429 140.5462 142.5248 32.74429 68.25657 163.894 36.19255 66.5296 163.1119 37.5318 64.42537 162.6242 38.04055 62.30257 162.4422 37.80504 62.38366 162.4838 37.73037 62.91352 160.1621 43.50394 64.42537 162.6242 38.04055 62.91352 160.1621 43.50394 62.30257 162.4422 37.80504 62.38366 162.4838 37.73037 66.5296 163.1119 37.5318 68.25657 163.894 36.19255 62.91352 160.1621 43.50394 62.30257 162.4422 37.80504 62.38366 162.4838 37.73037 64.42537 162.6242 38.04055 66.5296 163.1119 37.5318 68.25657 163.894 36.19255 89.64257 165.7981 30.75919 83.46457 166.9291 28.34646 87.52968 166.394 28.34646 91.79988 164.8647 35.69224 91.79988 164.8647 35.69224 89.64257 165.7981 30.75919 83.46457 166.9291 28.34646 87.52968 166.394 28.34646 83.46457 166.9291 28.34646 87.52968 166.394 28.34646 89.64257 165.7981 30.75919 91.79988 164.8647 35.69224 92.6828 163.8485 37.61997 91.95925 164.7799 35.60136 92.6828 163.8485 37.61997 91.95925 164.7799 35.60136 92.6828 163.8485 37.61997 91.95925 164.7799 35.60136 94.07927 163.1666 38.82236 94.07927 163.1666 38.82236 94.07927 163.1666 38.82236 95.45249 162.7515 39.38805 95.45249 162.7515 39.38805 95.45249 162.7515 39.38805 97.68129 162.5687 39.12092 97.68129 162.5687 39.12092 97.68129 162.5687 39.12092 99.91941 162.8402 37.75404 99.91941 162.8402 37.75404 99.91941 162.8402 37.75404 141.8893 140.616 34.64909 141.9751 140.4095 34.92078 141.8893 140.616 34.64909 141.9751 140.4095 34.92078 141.9751 140.4095 34.92078 141.8893 140.616 34.64909 142.2908 139.8432 35.15059 142.2908 139.8432 35.15059 142.2908 139.8432 35.15059 156.126 121.8519 26.59061 154.8703 124.8833 26.59061 156.126 121.8519 26.59061 154.8703 124.8833 26.59061 156.126 121.8519 26.59061 154.8703 124.8833 26.59061 157.3203 116.2986 28.34646 156.7945 117.3707 27.76811 157.3203 116.2986 28.34646 156.7945 117.3707 27.76811 156.7945 117.3707 27.76811 157.3203 116.2986 28.34646 155.6828 121.6447 26.3901 155.6828 121.6447 26.3901 155.6828 121.6447 26.3901 161.4738 62.9262 34.29282 161.4738 62.9262 34.29282 161.4738 62.9262 34.29282 161.5095 60.3285 31.08635 161.4883 62.55818 33.81531 161.0533 60.54622 30.99506 161.9333 62.28927 33.83484 161.4866 62.61712 33.8866 161.4866 62.61712 33.8866 161.9333 62.28927 33.83484 161.4883 62.55818 33.81531 161.5095 60.3285 31.08635 161.0533 60.54622 30.99506 161.4866 62.61712 33.8866 161.4883 62.55818 33.81531 161.0533 60.54622 30.99506 161.5095 60.3285 31.08635 161.9333 62.28927 33.83484 160.5493 54.61315 28.36501 160.5493 54.61315 28.36501 160.5493 54.61315 28.36501 161.2794 57.93316 29.55007 161.2794 57.93316 29.55007 161.2794 57.93316 29.55007 154.4656 41.2489 32.24455 155.3423 42.65268 30.15498 154.4656 41.2489 32.24455 155.3423 42.65268 30.15498 154.4656 41.2489 32.24455 155.3423 42.65268 30.15498 154.3146 41.17565 32.82041 154.3146 41.17565 32.82041 154.3146 41.17565 32.82041 153.5238 40.37314 33.88412 153.5238 40.37314 33.88412 153.5238 40.37314 33.88412 152.3415 39.0171 34.74606 152.3415 39.0171 34.74606 152.3415 39.0171 34.74606 151.0113 37.28349 34.74606 151.0113 37.28349 34.74606 151.0113 37.28349 34.74606 149.5314 35.18991 33.97659 149.5314 35.18991 33.97659 149.5314 35.18991 33.97659 147.6549 32.42874 32.50407 147.6549 32.42874 32.50407 147.6549 32.42874 32.50407 145.0976 29.02805 32.18758 145.0976 29.02805 32.18758 145.0976 29.02805 32.18758 142.897 26.36333 33.13464 142.897 26.36333 33.13464 142.897 26.36333 33.13464 141.4814 24.96899 35.2362 141.7981 25.10232 35.52825 141.7981 25.10232 35.52825 141.4814 24.96899 35.2362 141.7981 25.10232 35.52825 141.4814 24.96899 35.2362 158.6565 49.84687 27.78858 158.6565 49.84687 27.78858 158.6565 49.84687 27.78858 156.7895 45.66416 28.74016 156.7895 45.66416 28.74016 156.7895 45.66416 28.74016 140.3654 24.36054 36.5931 140.3654 24.36054 36.5931 140.3654 24.36054 36.5931 141.1099 24.81461 35.72499 141.1099 24.81461 35.72499 141.1099 24.81461 35.72499 126.6836 12.32292 28.34646 125.1969 11.18213 28.34646 127.904 13.31146 28.66312 130.7585 15.74347 30.13159 132.5395 17.45454 32.2253 133.7601 18.73137 34.29367 135.284 20.08625 35.42143 136.0722 20.7989 36.07658 136.0722 20.7989 36.07658 135.284 20.08625 35.42143 133.7601 18.73137 34.29367 132.5395 17.45454 32.2253 130.7585 15.74347 30.13159 127.904 13.31146 28.66312 126.6836 12.32292 28.34646 125.1969 11.18213 28.34646 136.0722 20.7989 36.07658 135.284 20.08625 35.42143 133.7601 18.73137 34.29367 132.5395 17.45454 32.2253 130.7585 15.74347 30.13159 127.904 13.31146 28.66312 126.6836 12.32292 28.34646 125.1969 11.18213 28.34646 108.0098 5.456106 36.83281 109.0037 5.583199 36.19255 104.6266 4.486906 37.80504 104.6266 4.486906 37.80504 108.0098 5.456106 36.83281 109.0037 5.583199 36.19255 109.0037 5.583199 36.19255 108.0098 5.456106 36.83281 104.6266 4.486906 37.80504 137.9561 22.59462 36.7531 137.9561 22.59462 36.7531 137.9561 22.59462 36.7531 83.46457 8.879047 49.78237 83.46457 4.061435 43.50394 83.46457 8.879047 49.78237 83.46457 4.061435 43.50394 83.46457 4.061435 43.50394 83.46457 8.879047 49.78237 101.1437 17.48499 54.59998 101.1437 17.48499 54.59998 101.1437 17.48499 54.59998 120.2787 35.48742 57.62846 113.9624 30.64075 57.62846 120.2787 35.48742 57.62846 113.9624 30.64075 57.62846 113.9624 30.64075 57.62846 120.2787 35.48742 57.62846 121.047 45.88212 58.66142 121.047 45.88212 58.66142 121.047 45.88212 58.66142 126.3826 69.70694 57.62846 122.6986 60.81281 57.62846 126.5425 70.09288 57.62846 126.5425 70.09288 57.62846 126.3826 69.70694 57.62846 122.6986 60.81281 57.62846 122.6986 60.81281 57.62846 126.3826 69.70694 57.62846 126.5425 70.09288 57.62846 120.1621 73.63148 54.59998 120.1621 73.63148 54.59998 120.1621 73.63148 54.59998 64.16041 155.5086 49.78237 64.16041 155.5086 49.78237 64.16041 155.5086 49.78237 83.46457 151.7717 54.59998 83.46457 151.7717 54.59998 83.46457 151.7717 54.59998 99.25141 142.3819 57.62846 99.25141 142.3819 57.62846 99.25141 142.3819 57.62846 112.0009 132.8909 58.14494 112.9926 127.2274 58.66142 110.0394 129.4935 58.66142 113.5951 126.7651 58.66142 113.5951 126.7651 58.66142 112.9926 127.2274 58.66142 112.0009 132.8909 58.14494 110.0394 129.4935 58.66142 110.0394 129.4935 58.66142 112.0009 132.8909 58.14494 113.5951 126.7651 58.66142 112.9926 127.2274 58.66142 116.5838 114.0853 57.62846 115.499 115.499 57.62846 116.8381 113.7539 57.62846 116.8381 113.7539 57.62846 116.5838 114.0853 57.62846 115.499 115.499 57.62846 115.499 115.499 57.62846 116.8381 113.7539 57.62846 116.5838 114.0853 57.62846 116.3667 102.4606 54.59998 116.3667 102.4606 54.59998 116.3667 102.4606 54.59998 115.1783 83.46457 49.78237 114.0976 91.67267 49.78237 115.1783 83.46457 49.78237 114.0976 91.67267 49.78237 114.0976 91.67267 49.78237 115.1783 83.46457 49.78237 145.8212 135.0709 34.07861 143.5053 137.5004 34.95109 145.8212 135.0709 34.07861 143.5053 137.5004 34.95109 145.8212 135.0709 34.07861 143.5053 137.5004 34.95109 146.9259 133.8283 33.15909 146.9259 133.8283 33.15909 146.9259 133.8283 33.15909 148.1415 132.6663 31.18986 148.1415 132.6663 31.18986 148.1415 132.6663 31.18986 150.0216 130.7094 28.88933 150.0216 130.7094 28.88933 150.0216 130.7094 28.88933 152.6515 127.6225 27.30135 152.6515 127.6225 27.30135 152.6515 127.6225 27.30135 103.828 162.7206 35.86244 104.8377 162.7206 34.92152 103.828 162.7206 35.86244 104.8377 162.7206 34.92152 104.8377 162.7206 34.92152 103.828 162.7206 35.86244 105.3343 162.6133 34.2254 107.2572 162.1976 31.52997 105.3343 162.6133 34.2254 107.2572 162.1976 31.52997 107.2572 162.1976 31.52997 105.3343 162.6133 34.2254 109.295 161.5898 29.85735 109.295 161.5898 29.85735 109.295 161.5898 29.85735 112.316 160.5493 28.36501 112.316 160.5493 28.36501 112.316 160.5493 28.36501 117.0823 158.6565 27.78858 117.0823 158.6565 27.78858 117.0823 158.6565 27.78858 121.1955 156.3883 28.40243 121.1955 156.3883 28.40243 121.1955 156.3883 28.40243 124.2131 154.4165 29.65421 125.7214 153.4745 31.89933 124.2131 154.4165 29.65421 125.7214 153.4745 31.89933 125.7214 153.4745 31.89933 124.2131 154.4165 29.65421 125.7806 153.3526 32.36463 125.7806 153.3526 32.36463 125.7806 153.3526 32.36463 126.4281 152.7145 33.22293 126.4281 152.7145 33.22293 126.4281 152.7145 33.22293 127.6059 151.6876 33.97155 127.6059 151.6876 33.97155 127.6059 151.6876 33.97155 129.1368 150.5128 33.97155 129.1368 150.5128 33.97155 129.1368 150.5128 33.97155 131.1189 149.1118 33.24307 131.1189 149.1118 33.24307 131.1189 149.1118 33.24307 133.937 147.1966 31.74017 133.937 147.1966 31.74017 133.937 147.1966 31.74017 137.5254 144.4981 31.40621 137.5254 144.4981 31.40621 137.5254 144.4981 31.40621 140.4204 142.1074 32.43512 140.4204 142.1074 32.43512 140.4204 142.1074 32.43512 58.91938 161.473 36.83281 42.24876 154.8524 36.19255 57.92546 161.3459 36.19255 43.763 152.2297 43.50394 43.763 152.2297 43.50394 58.91938 161.473 36.83281 42.24876 154.8524 36.19255 57.92546 161.3459 36.19255 43.763 152.2297 43.50394 42.24876 154.8524 36.19255 57.92546 161.3459 36.19255 58.91938 161.473 36.83281 62.39192 162.4955 37.68301 58.97106 161.5155 36.69995 62.39192 162.4955 37.68301 58.97106 161.5155 36.69995 62.39192 162.4955 37.68301 58.97106 161.5155 36.69995 64.42173 162.635 37.99138 64.42173 162.635 37.99138 64.42173 162.635 37.99138 66.50635 163.1182 37.48738 66.50635 163.1182 37.48738 66.50635 163.1182 37.48738 68.21715 163.893 36.16066 68.21715 163.893 36.16066 68.21715 163.893 36.16066 77.8218 166.1862 28.34646 72.75783 165.2496 30.39705 69.32603 164.3609 33.71549 68.37578 163.9847 35.6229 68.37578 163.9847 35.6229 69.32603 164.3609 33.71549 72.75783 165.2496 30.39705 77.8218 166.1862 28.34646 68.37578 163.9847 35.6229 69.32603 164.3609 33.71549 72.75783 165.2496 30.39705 77.8218 166.1862 28.34646 87.20247 166.297 27.28311 83.46457 166.8201 27.51831 84.03891 166.7135 27.28311 87.52606 166.3565 28.05863 87.52606 166.3565 28.05863 83.46457 166.8201 27.51831 87.20247 166.297 27.28311 84.03891 166.7135 27.28311 83.46457 166.8201 27.51831 84.03891 166.7135 27.28311 87.20247 166.297 27.28311 87.52606 166.3565 28.05863 89.79248 165.7174 30.64667 89.79248 165.7174 30.64667 89.79248 165.7174 30.64667 92.29281 164.447 35.36105 92.97798 163.565 37.27261 92.29281 164.447 35.36105 92.97798 163.565 37.27261 92.97798 163.565 37.27261 92.29281 164.447 35.36105 94.26247 162.9377 38.37857 94.26247 162.9377 38.37857 94.26247 162.9377 38.37857 95.48511 162.5682 38.88224 95.48511 162.5682 38.88224 95.48511 162.5682 38.88224 97.51622 162.4016 38.6388 97.51622 162.4016 38.6388 97.51622 162.4016 38.6388 99.71415 162.6682 37.29646 99.71415 162.6682 37.29646 99.71415 162.6682 37.29646 141.6671 140.1807 34.4441 141.7226 140.0474 34.61954 141.6671 140.1807 34.4441 141.7226 140.0474 34.61954 141.7226 140.0474 34.61954 141.6671 140.1807 34.4441 141.9892 139.5688 34.81373 141.9892 139.5688 34.81373 141.9892 139.5688 34.81373 154.4378 124.6503 26.3901 154.4378 124.6503 26.3901 154.4378 124.6503 26.3901 156.2957 118.4389 27.3694 155.1987 121.4444 26.32291 156.2957 118.4389 27.3694 155.1987 121.4444 26.32291 156.2957 118.4389 27.3694 155.1987 121.4444 26.32291 160.8747 58.20012 29.33934 160.4164 58.41082 29.24229 160.8747 58.20012 29.33934 160.4164 58.41082 29.24229 160.4164 58.41082 29.24229 160.8747 58.20012 29.33934 160.2142 54.84067 28.02241 160.2142 54.84067 28.02241 160.2142 54.84067 28.02241 153.9792 41.1618 32.05024 154.8987 42.63417 29.85859 153.9792 41.1618 32.05024 154.8987 42.63417 29.85859 153.9792 41.1618 32.05024 154.8987 42.63417 29.85859 153.8427 41.09558 32.57089 153.8427 41.09558 32.57089 153.8427 41.09558 32.57089 153.1402 40.38261 33.51592 153.1402 40.38261 33.51592 153.1402 40.38261 33.51592 152.0476 39.12957 34.31239 152.0476 39.12957 34.31239 152.0476 39.12957 34.31239 150.8072 37.51305 34.31239 150.8072 37.51305 34.31239 150.8072 37.51305 34.31239 149.3729 35.4839 33.5666 149.3729 35.4839 33.5666 149.3729 35.4839 33.5666 147.4741 32.68982 32.07653 147.4741 32.68982 32.07653 147.4741 32.68982 32.07653 144.8352 29.1807 31.74995 144.8352 29.1807 31.74995 144.8352 29.1807 31.74995 142.5248 26.38292 32.74429 142.5248 26.38292 32.74429 142.5248 26.38292 32.74429 141.0597 24.93988 34.91926 141.0597 24.93988 34.91926 141.0597 24.93988 34.91926 158.286 49.98517 27.43519 158.286 49.98517 27.43519 158.286 49.98517 27.43519 156.3883 45.73364 28.40243 156.3883 45.73364 28.40243 156.3883 45.73364 28.40243 140.2555 24.33849 36.07166 140.2555 24.33849 36.07166 140.2555 24.33849 36.07166 140.7719 24.82031 35.29783 140.7719 24.82031 35.29783 140.7719 24.82031 35.29783 137.969 22.66255 36.22351 135.3189 20.13646 35.27181 137.969 22.66255 36.22351 135.3189 20.13646 35.27181 135.3189 20.13646 35.27181 137.969 22.66255 36.22351 133.8271 18.8101 34.1678 133.8271 18.8101 34.1678 133.8271 18.8101 34.1678 132.6137 17.54073 32.11152 132.6137 17.54073 32.11152 132.6137 17.54073 32.11152 130.8112 15.80903 29.99258 130.8112 15.80903 29.99258 130.8112 15.80903 29.99258 127.9283 13.35288 28.50952 127.9283 13.35288 28.50952 127.9283 13.35288 28.50952 126.7377 12.38845 28.20058 126.7377 12.38845 28.20058 126.7377 12.38845 28.20058 125.1422 11.27677 27.5164 125.2096 11.34203 27.43385 125.1422 11.27677 27.5164 125.2096 11.34203 27.43385 125.1422 11.27677 27.5164 125.2096 11.34203 27.43385 118.5842 8.584404 29.34673 121.457 9.633015 28.34646 115.8284 7.635838 30.71218 112.3117 6.60291 33.71153 109.2521 5.584658 35.47464 108.9401 5.539161 36.06738 108.9401 5.539161 36.06738 109.2521 5.584658 35.47464 112.3117 6.60291 33.71153 115.8284 7.635838 30.71218 118.5842 8.584404 29.34673 121.457 9.633015 28.34646 121.457 9.633015 28.34646 118.5842 8.584404 29.34673 115.8284 7.635838 30.71218 112.3117 6.60291 33.71153 109.2521 5.584658 35.47464 108.9401 5.539161 36.06738 107.9581 5.413595 36.69995 107.9581 5.413595 36.69995 107.9581 5.413595 36.69995 104.5372 4.433602 37.68301 104.5455 4.445298 37.73037 104.5455 4.445298 37.73037 104.5372 4.433602 37.68301 104.5455 4.445298 37.73037 104.5372 4.433602 37.68301 98.67257 3.035128 36.19255 83.46457 1.032957 36.19255 100.3995 3.817226 37.5318 102.5038 4.304983 38.04055 102.5038 4.304983 38.04055 100.3995 3.817226 37.5318 98.67257 3.035128 36.19255 83.46457 1.032957 36.19255 83.46457 1.032957 36.19255 102.5038 4.304983 38.04055 100.3995 3.817226 37.5318 98.67257 3.035128 36.19255 62.91352 6.767031 43.50394 64.16041 11.42049 49.78237 64.16041 11.42049 49.78237 62.91352 6.767031 43.50394 62.91352 6.767031 43.50394 64.16041 11.42049 49.78237 83.46457 15.15748 54.59998 83.46457 15.15748 54.59998 83.46457 15.15748 54.59998 99.25141 24.54725 57.62846 99.25141 24.54725 57.62846 99.25141 24.54725 57.62846 110.0394 37.43566 58.66142 110.0394 37.43566 58.66142 110.0394 37.43566 58.66142 117.5193 54.06303 57.62846 115.499 51.43014 57.62846 121.3595 59.06771 57.62846 121.6138 59.39912 57.62846 121.6138 59.39912 57.62846 121.3595 59.06771 57.62846 117.5193 54.06303 57.62846 115.499 51.43014 57.62846 115.499 51.43014 57.62846 117.5193 54.06303 57.62846 121.3595 59.06771 57.62846 121.6138 59.39912 57.62846 116.3667 64.4685 54.59998 116.3667 64.4685 54.59998 116.3667 64.4685 54.59998 114.0976 75.25646 49.78237 114.0976 75.25646 49.78237 114.0976 75.25646 49.78237 46.17181 148.0575 49.78237 46.17181 148.0575 49.78237 46.17181 148.0575 49.78237 65.7854 149.4441 54.59998 65.7854 149.4441 54.59998 65.7854 149.4441 54.59998 83.46457 144.4603 57.62846 91.35799 143.4211 57.62846 91.35799 143.4211 57.62846 83.46457 144.4603 57.62846 83.46457 144.4603 57.62846 91.35799 143.4211 57.62846 98.23606 138.5925 58.14494 97.22071 134.8031 58.66142 98.23606 138.5925 58.14494 97.22071 134.8031 58.66142 97.22071 134.8031 58.66142 98.23606 138.5925 58.14494 106.1163 122.6986 57.62846 106.1163 122.6986 57.62846 106.1163 122.6986 57.62846 110.3291 110.3291 54.59998 110.3291 110.3291 54.59998 110.3291 110.3291 54.59998 110.9294 99.32141 49.78237 110.9294 99.32141 49.78237 110.9294 99.32141 49.78237 109.4442 90.42578 43.50394 110.3606 83.46457 43.50394 109.4442 90.42578 43.50394 110.3606 83.46457 43.50394 109.4442 90.42578 43.50394 110.3606 83.46457 43.50394 145.4126 134.8092 33.86658 143.1235 137.2106 34.72898 145.4126 134.8092 33.86658 143.1235 137.2106 34.72898 145.4126 134.8092 33.86658 143.1235 137.2106 34.72898 146.4803 133.6083 32.97784 146.4803 133.6083 32.97784 146.4803 133.6083 32.97784 147.6888 132.4531 31.02019 147.6888 132.4531 31.02019 147.6888 132.4531 31.02019 149.5886 130.4756 28.69553 149.5886 130.4756 28.69553 149.5886 130.4756 28.69553 152.2416 127.3616 27.09361 152.2416 127.3616 27.09361 152.2416 127.3616 27.09361 103.5984 162.4246 35.47836 104.4936 162.4246 34.64416 103.5984 162.4246 35.47836 104.4936 162.4246 34.64416 104.4936 162.4246 34.64416 103.5984 162.4246 35.47836 104.9541 162.325 33.99864 106.901 161.9042 31.26968 104.9541 162.325 33.99864 106.901 161.9042 31.26968 106.901 161.9042 31.26968 104.9541 162.325 33.99864 108.996 161.2794 29.55007 108.996 161.2794 29.55007 108.996 161.2794 29.55007 112.0885 160.2142 28.02241 112.0885 160.2142 28.02241 112.0885 160.2142 28.02241 116.944 158.286 27.43519 116.944 158.286 27.43519 116.944 158.286 27.43519 121.0623 155.9307 28.17394 121.0623 155.9307 28.17394 121.0623 155.9307 28.17394 124.1656 153.8477 29.74796 125.5455 152.9859 31.80209 124.1247 153.8899 29.6825 124.0413 153.9419 29.5585 124.0413 153.9419 29.5585 124.1247 153.8899 29.6825 124.1656 153.8477 29.74796 125.5455 152.9859 31.80209 124.0413 153.9419 29.5585 124.1247 153.8899 29.6825 124.1656 153.8477 29.74796 125.5455 152.9859 31.80209 125.5982 152.8775 32.21569 125.5982 152.8775 32.21569 125.5982 152.8775 32.21569 126.2088 152.2758 33.02512 126.2088 152.2758 33.02512 126.2088 152.2758 33.02512 127.3442 151.2858 33.74678 127.3442 151.2858 33.74678 127.3442 151.2858 33.74678 128.8269 150.1481 33.74678 128.8269 150.1481 33.74678 128.8269 150.1481 33.74678 130.7824 148.7658 33.02805 130.7824 148.7658 33.02805 130.7824 148.7658 33.02805 133.6141 146.8414 31.51792 133.6141 146.8414 31.51792 133.6141 146.8414 31.51792 137.2471 144.1094 31.17981 137.2471 144.1094 31.17981 137.2471 144.1094 31.17981 140.1969 141.6734 32.22819 140.1969 141.6734 32.22819 140.1969 141.6734 32.22819 30.94483 146.1786 36.19255 28.99964 144.3244 36.8911 25.47007 141.928 36.28862 27.31807 139.6111 43.50394 25.18261 141.7465 36.21303 26.55474 142.5324 36.72874 28.99964 144.3244 36.8911 27.31807 139.6111 43.50394 26.55474 142.5324 36.72874 25.47007 141.928 36.28862 25.18261 141.7465 36.21303 30.94483 146.1786 36.19255 30.94483 146.1786 36.19255 27.31807 139.6111 43.50394 25.18261 141.7465 36.21303 25.47007 141.928 36.28862 26.55474 142.5324 36.72874 28.99964 144.3244 36.8911 48.34493 158.3447 29.34673 41.73228 155.747 28.34646 45.47218 157.2961 28.34646 51.1007 159.2933 30.71218 54.61743 160.3262 33.71153 57.67707 161.3445 35.47464 57.98908 161.39 36.06738 57.98908 161.39 36.06738 57.67707 161.3445 35.47464 54.61743 160.3262 33.71153 51.1007 159.2933 30.71218 48.34493 158.3447 29.34673 41.73228 155.747 28.34646 45.47218 157.2961 28.34646 41.73228 155.747 28.34646 45.47218 157.2961 28.34646 48.34493 158.3447 29.34673 51.1007 159.2933 30.71218 54.61743 160.3262 33.71153 57.67707 161.3445 35.47464 57.98908 161.39 36.06738 62.50623 162.4847 37.16624 59.18937 161.5345 36.21307 62.50623 162.4847 37.16624 59.18937 161.5345 36.21307 62.50623 162.4847 37.16624 59.18937 161.5345 36.21307 64.40267 162.615 37.45435 64.40267 162.615 37.45435 64.40267 162.615 37.45435 66.29407 163.0534 36.99706 66.29407 163.0534 36.99706 66.29407 163.0534 36.99706 68.23585 163.9328 35.49122 68.23585 163.9328 35.49122 68.23585 163.9328 35.49122 69.17996 164.3066 33.59614 69.17996 164.3066 33.59614 69.17996 164.3066 33.59614 72.65941 165.2076 30.23163 72.65941 165.2076 30.23163 72.65941 165.2076 30.23163 77.79123 166.1568 28.15356 77.79123 166.1568 28.15356 77.79123 166.1568 28.15356 78.56988 166.1757 27.51831 78.56988 166.1757 27.51831 78.56988 166.1757 27.51831 83.98954 166.6256 27.11565 83.98954 166.6256 27.11565 83.98954 166.6256 27.11565 87.25859 166.1952 27.11565 87.25859 166.1952 27.11565 87.25859 166.1952 27.11565 90.11174 165.3907 30.37369 90.11174 165.3907 30.37369 90.11174 165.3907 30.37369 92.52056 164.0255 35.13441 93.17093 163.1883 36.94888 92.52056 164.0255 35.13441 93.17093 163.1883 36.94888 93.17093 163.1883 36.94888 92.52056 164.0255 35.13441 94.37374 162.601 37.98452 94.37374 162.601 37.98452 94.37374 162.601 37.98452 95.48654 162.2646 38.44294 95.48654 162.2646 38.44294 95.48654 162.2646 38.44294 97.37345 162.1098 38.21678 97.37345 162.1098 38.21678 97.37345 162.1098 38.21678 99.54207 162.3729 36.89234 99.54207 162.3729 36.89234 99.54207 162.3729 36.89234 141.3379 139.7834 34.31826 141.3683 139.7101 34.41465 141.3379 139.7834 34.31826 141.3683 139.7101 34.41465 141.3683 139.7101 34.41465 141.3379 139.7834 34.31826 141.6119 139.273 34.59202 141.6119 139.273 34.59202 141.6119 139.273 34.59202 153.9799 124.3867 26.32291 153.9799 124.3867 26.32291 153.9799 124.3867 26.32291 155.0941 121.4062 26.33794 154.9463 121.3521 26.35917 155.0941 121.4062 26.33794 154.9463 121.3521 26.35917 155.0941 121.4062 26.33794 154.9463 121.3521 26.35917 159.7952 55.06595 27.7911 159.7413 56.49458 28.28995 159.3208 55.27365 27.68682 159.7918 56.59734 28.34646 159.7952 55.06595 27.7911 159.7918 56.59734 28.34646 159.7413 56.49458 28.28995 159.3208 55.27365 27.68682 159.7918 56.59734 28.34646 159.7413 56.49458 28.28995 159.3208 55.27365 27.68682 159.7952 55.06595 27.7911 153.4745 41.20775 31.89933 154.4165 42.71603 29.65421 153.4745 41.20775 31.89933 154.4165 42.71603 29.65421 153.4745 41.20775 31.89933 154.4165 42.71603 29.65421 153.3526 41.14856 32.36463 153.3526 41.14856 32.36463 153.3526 41.14856 32.36463 152.7145 40.50103 33.22293 152.7145 40.50103 33.22293 152.7145 40.50103 33.22293 151.6876 39.32326 33.97155 151.6876 39.32326 33.97155 151.6876 39.32326 33.97155 150.5128 37.7923 33.97155 150.5128 37.7923 33.97155 150.5128 37.7923 33.97155 149.1118 35.81025 33.24307 149.1118 35.81025 33.24307 149.1118 35.81025 33.24307 147.1966 32.99211 31.74017 147.1966 32.99211 31.74017 147.1966 32.99211 31.74017 144.4981 29.40376 31.40621 144.4981 29.40376 31.40621 144.4981 29.40376 31.40621 142.1074 26.50874 32.43512 142.1074 26.50874 32.43512 142.1074 26.50874 32.43512 140.616 25.03981 34.64909 140.616 25.03981 34.64909 140.616 25.03981 34.64909 157.8463 50.15844 27.19758 157.8463 50.15844 27.19758 157.8463 50.15844 27.19758 155.9307 45.8668 28.17394 155.9307 45.8668 28.17394 155.9307 45.8668 28.17394 140.0774 24.43325 35.57965 140.0774 24.43325 35.57965 140.0774 24.43325 35.57965 140.4095 24.954 34.92078 140.4095 24.954 34.92078 140.4095 24.954 34.92078 135.3347 20.39359 34.80601 137.8929 22.83213 35.72471 137.8929 22.83213 35.72471 135.3347 20.39359 34.80601 135.3347 20.39359 34.80601 137.8929 22.83213 35.72471 133.9416 19.155 33.77505 133.9416 19.155 33.77505 133.9416 19.155 33.77505 132.7495 17.90786 31.75478 132.7495 17.90786 31.75478 132.7495 17.90786 31.75478 130.8831 16.11479 29.56073 130.8831 16.11479 29.56073 130.8831 16.11479 29.56073 127.9158 13.58676 28.03428 127.9158 13.58676 28.03428 127.9158 13.58676 28.03428 125.1968 11.38431 27.32877 125.1968 11.38431 27.32877 125.1968 11.38431 27.32877 122.2869 10.09405 27.5164 121.4282 9.649359 28.14635 121.4282 9.649359 28.14635 122.2869 10.09405 27.5164 122.2869 10.09405 27.5164 121.4282 9.649359 28.14635 122.2307 10.15571 27.32877 122.2307 10.15571 27.32877 122.2307 10.15571 27.32877 118.5075 8.583266 29.1633 118.5075 8.583266 29.1633 118.5075 8.583266 29.1633 115.721 7.624102 30.544 115.721 7.624102 30.544 115.721 7.624102 30.544 112.1997 6.589843 33.54722 112.1997 6.589843 33.54722 112.1997 6.589843 33.54722 109.1504 5.575025 35.30438 109.1504 5.575025 35.30438 109.1504 5.575025 35.30438 107.7398 5.394651 36.21307 107.7398 5.394651 36.21307 107.7398 5.394651 36.21307 102.5074 4.294105 37.99138 102.5074 4.294105 37.99138 102.5074 4.294105 37.99138 104.4229 4.444451 37.16624 104.4229 4.444451 37.16624 104.4229 4.444451 37.16624 66.80426 4.055074 38.19331 62.58403 4.001323 36.7222 69.08661 4.331966 39.58721 71.53302 4.131345 39.88043 75.21734 2.118725 36.19255 74.59173 2.924052 37.93793 73.072 3.666133 39.24645 71.53302 4.131345 39.88043 73.072 3.666133 39.24645 74.59173 2.924052 37.93793 75.21734 2.118725 36.19255 69.08661 4.331966 39.58721 66.80426 4.055074 38.19331 62.58403 4.001323 36.7222 62.58403 4.001323 36.7222 66.80426 4.055074 38.19331 75.21734 2.118725 36.19255 74.59173 2.924052 37.93793 73.072 3.666133 39.24645 71.53302 4.131345 39.88043 69.08661 4.331966 39.58721 100.4228 3.810894 37.48738 100.4228 3.810894 37.48738 100.4228 3.810894 37.48738 98.71199 3.036121 36.16066 98.71199 3.036121 36.16066 98.71199 3.036121 36.16066 89.10733 0.7428841 28.34646 83.46457 0 28.34646 94.17131 1.679535 30.39705 97.60311 2.56822 33.71549 98.55336 2.944439 35.6229 98.55336 2.944439 35.6229 97.60311 2.56822 33.71549 94.17131 1.679535 30.39705 89.10733 0.7428841 28.34646 83.46457 0 28.34646 98.55336 2.944439 35.6229 97.60311 2.56822 33.71549 94.17131 1.679535 30.39705 89.10733 0.7428841 28.34646 83.46457 0 28.34646 46.17181 18.87161 49.78237 43.763 14.69944 43.50394 46.17181 18.87161 49.78237 43.763 14.69944 43.50394 43.763 14.69944 43.50394 46.17181 18.87161 49.78237 65.7854 17.48499 54.59998 65.7854 17.48499 54.59998 65.7854 17.48499 54.59998 83.46457 22.46887 57.62846 83.46457 22.46887 57.62846 83.46457 22.46887 57.62846 103.63 34.78082 58.66142 97.22071 32.12599 58.66142 105.3141 35.47838 58.66142 105.3141 35.47838 58.66142 103.63 34.78082 58.66142 97.22071 32.12599 58.66142 97.22071 32.12599 58.66142 103.63 34.78082 58.66142 105.3141 35.47838 58.66142 106.1163 44.23057 57.62846 106.1163 44.23057 57.62846 106.1163 44.23057 57.62846 110.3291 56.60008 54.59998 110.3291 56.60008 54.59998 110.3291 56.60008 54.59998 112.5135 71.43209 49.78237 110.9294 67.60772 49.78237 112.5135 71.43209 49.78237 110.9294 67.60772 49.78237 110.9294 67.60772 49.78237 112.5135 71.43209 49.78237 109.4442 76.50335 43.50394 109.4442 76.50335 43.50394 109.4442 76.50335 43.50394 30.72464 136.2045 49.78237 30.72464 136.2045 49.78237 30.72464 136.2045 49.78237 49.31102 142.6202 54.59998 49.31102 142.6202 54.59998 49.31102 142.6202 54.59998 67.67772 142.3819 57.62846 67.67772 142.3819 57.62846 67.67772 142.3819 57.62846 87.1552 136.1283 58.66142 83.46457 136.6142 58.66142 87.90811 136.0292 58.66142 88.53543 135.9466 58.66142 90.34263 135.7087 58.66142 90.34263 135.7087 58.66142 88.53543 135.9466 58.66142 87.90811 136.0292 58.66142 87.1552 136.1283 58.66142 83.46457 136.6142 58.66142 83.46457 136.6142 58.66142 90.34263 135.7087 58.66142 88.53543 135.9466 58.66142 87.90811 136.0292 58.66142 87.1552 136.1283 58.66142 96.83625 126.5425 57.62846 95.18998 127.2244 57.62846 97.22219 126.3826 57.62846 97.22219 126.3826 57.62846 96.83625 126.5425 57.62846 95.18998 127.2244 57.62846 95.18998 127.2244 57.62846 97.22219 126.3826 57.62846 96.83625 126.5425 57.62846 103.0153 115.9411 54.59998 102.4606 116.3667 54.59998 106.3948 113.3479 54.59998 106.3948 113.3479 54.59998 103.0153 115.9411 54.59998 102.4606 116.3667 54.59998 102.4606 116.3667 54.59998 106.3948 113.3479 54.59998 103.0153 115.9411 54.59998 108.4095 102.6055 49.78237 105.8895 105.8895 49.78237 108.4095 102.6055 49.78237 105.8895 105.8895 49.78237 105.8895 105.8895 49.78237 108.4095 102.6055 49.78237 106.7573 96.91262 43.50394 106.7573 96.91262 43.50394 106.7573 96.91262 43.50394 107.3322 83.46457 36.19255 106.5189 89.64196 36.19255 106.5189 89.64196 36.19255 107.3322 83.46457 36.19255 106.5189 89.64196 36.19255 107.3322 83.46457 36.19255 145.1647 134.6101 33.81216 143.06 137.1594 34.71497 145.1647 134.6101 33.81216 143.06 137.1594 34.71497 143.06 137.1594 34.71497 145.1647 134.6101 33.81216 146.2244 133.4182 32.93011 146.2244 133.4182 32.93011 146.2244 133.4182 32.93011 147.4325 132.2634 30.97306 147.4325 132.2634 30.97306 147.4325 132.2634 30.97306 149.3333 130.2849 28.64714 149.3333 130.2849 28.64714 149.3333 130.2849 28.64714 149.8313 129.7004 28.34646 150.934 128.0928 27.55128 151.8252 127.0467 27.01312 151.8252 127.0467 27.01312 150.934 128.0928 27.55128 149.8313 129.7004 28.34646 149.8313 129.7004 28.34646 150.934 128.0928 27.55128 151.8252 127.0467 27.01312 103.4176 162.0254 35.17393 104.2139 162.0254 34.43193 103.4176 162.0254 35.17393 104.2139 162.0254 34.43193 104.2139 162.0254 34.43193 103.4176 162.0254 35.17393 104.6399 161.9333 33.83484 106.6006 161.5095 31.08635 104.6399 161.9333 33.83484 106.6006 161.5095 31.08635 106.6006 161.5095 31.08635 104.6399 161.9333 33.83484 108.729 160.8747 29.33934 108.729 160.8747 29.33934 108.729 160.8747 29.33934 111.8632 159.7952 27.7911 111.8632 159.7952 27.7911 111.8632 159.7952 27.7911 116.7707 157.8463 27.19758 116.7707 157.8463 27.19758 116.7707 157.8463 27.19758 121.3421 155.2232 28.28995 120.8746 155.4479 28.07029 121.4615 155.1818 28.34646 121.4615 155.1818 28.34646 121.3421 155.2232 28.28995 120.8746 155.4479 28.07029 121.3421 155.2232 28.28995 120.8746 155.4479 28.07029 121.4615 155.1818 28.34646 125.3112 152.6356 31.77263 125.3112 152.6356 31.77263 125.3112 152.6356 31.77263 125.3593 152.5365 32.15071 125.3593 152.5365 32.15071 125.3593 152.5365 32.15071 125.9653 151.9393 32.954 125.9653 151.9393 32.954 125.9653 151.9393 32.954 127.0953 150.954 33.67228 127.0953 150.954 33.67228 127.0953 150.954 33.67228 128.572 149.8209 33.67228 128.572 149.8209 33.67228 128.572 149.8209 33.67228 130.5242 148.441 32.95477 130.5242 148.441 32.95477 130.5242 148.441 32.95477 133.3576 146.5154 31.44374 133.3576 146.5154 31.44374 133.3576 146.5154 31.44374 136.9962 143.7791 31.10511 136.9962 143.7791 31.10511 136.9962 143.7791 31.10511 139.9529 141.3375 32.15593 139.9529 141.3375 32.15593 139.9529 141.3375 32.15593 140.64 140.64 33.19144 140.8559 140.2727 33.59179 140.8559 140.2727 33.59179 140.64 140.64 33.19144 140.64 140.64 33.19144 140.8559 140.2727 33.59179 40.24557 154.6062 28.34646 39.02518 153.6177 28.66312 36.17059 151.1857 30.13159 34.3896 149.4746 32.2253 33.16908 148.1978 34.29367 31.64517 146.8429 35.42143 30.8569 146.1302 36.07658 30.8569 146.1302 36.07658 31.64517 146.8429 35.42143 33.16908 148.1978 34.29367 34.3896 149.4746 32.2253 36.17059 151.1857 30.13159 39.02518 153.6177 28.66312 40.24557 154.6062 28.34646 30.8569 146.1302 36.07658 31.64517 146.8429 35.42143 33.16908 148.1978 34.29367 34.3896 149.4746 32.2253 36.17059 151.1857 30.13159 39.02518 153.6177 28.66312 40.24557 154.6062 28.34646 12.0767 124.6804 36.19255 14.69944 123.1661 43.50394 25.16705 141.7401 36.19255 25.16705 141.7401 36.19255 12.0767 124.6804 36.19255 14.69944 123.1661 43.50394 12.0767 124.6804 36.19255 25.16705 141.7401 36.19255 14.69944 123.1661 43.50394 25.52881 141.9918 36.17316 25.16513 141.764 36.06918 25.27665 141.8871 35.84138 25.52881 141.9918 36.17316 25.16513 141.764 36.06918 25.27665 141.8871 35.84138 25.52881 141.9918 36.17316 25.16513 141.764 36.06918 25.27665 141.8871 35.84138 26.56373 142.5686 36.5931 26.56373 142.5686 36.5931 26.56373 142.5686 36.5931 28.97306 144.3345 36.7531 28.97306 144.3345 36.7531 28.97306 144.3345 36.7531 44.64227 156.8351 27.5164 41.78692 155.6524 27.5164 45.50098 157.2798 28.14635 45.50098 157.2798 28.14635 44.64227 156.8351 27.5164 41.78692 155.6524 27.5164 41.78692 155.6524 27.5164 44.64227 156.8351 27.5164 45.50098 157.2798 28.14635 48.42162 158.3459 29.1633 48.42162 158.3459 29.1633 48.42162 158.3459 29.1633 51.20817 159.305 30.544 51.20817 159.305 30.544 51.20817 159.305 30.544 54.72944 160.3393 33.54722 54.72944 160.3393 33.54722 54.72944 160.3393 33.54722 57.77876 161.3541 35.30438 57.77876 161.3541 35.30438 57.77876 161.3541 35.30438 62.63874 162.3388 36.6739 59.42518 161.4182 35.75041 62.63874 162.3388 36.6739 59.42518 161.4182 35.75041 62.63874 162.3388 36.6739 59.42518 161.4182 35.75041 64.40467 162.4601 36.94218 64.40467 162.4601 36.94218 64.40467 162.4601 36.94218 66.13235 162.8606 36.52447 66.13235 162.8606 36.52447 66.13235 162.8606 36.52447 67.91723 163.6689 35.14031 67.91723 163.6689 35.14031 67.91723 163.6689 35.14031 68.84105 164.0347 33.28596 68.84105 164.0347 33.28596 68.84105 164.0347 33.28596 72.43703 164.9659 29.80877 72.43703 164.9659 29.80877 72.43703 164.9659 29.80877 78.54676 166.096 27.3347 78.54676 166.096 27.3347 78.54676 166.096 27.3347 83.46457 166.7434 27.3347 83.46457 166.7434 27.3347 83.46457 166.7434 27.3347 83.98954 166.2542 26.73696 87.35604 165.811 26.73696 83.98954 166.2542 26.73696 87.35604 165.811 26.73696 83.98954 166.2542 26.73696 87.35604 165.811 26.73696 90.33662 164.9705 30.1405 90.33662 164.9705 30.1405 90.33662 164.9705 30.1405 92.62696 163.5442 34.93687 93.24849 162.7442 36.67085 92.62696 163.5442 34.93687 93.24849 162.7442 36.67085 93.24849 162.7442 36.67085 92.62696 163.5442 34.93687 94.40548 162.1792 37.66704 94.40548 162.1792 37.66704 94.40548 162.1792 37.66704 95.45669 161.8614 38.10009 95.45669 161.8614 38.10009 95.45669 161.8614 38.10009 97.26272 161.7133 37.88362 97.26272 161.7133 37.88362 97.26272 161.7133 37.88362 99.4149 161.9744 36.56923 99.4149 161.9744 36.56923 99.4149 161.9744 36.56923 141.2289 139.6167 34.38412 141.1993 139.6721 34.3055 141.2289 139.6167 34.38412 141.1993 139.6721 34.3055 141.1993 139.6721 34.3055 141.2289 139.6167 34.38412 141.5141 139.205 34.57109 141.5141 139.205 34.57109 141.5141 139.205 34.57109 153.8156 124.0818 26.35917 153.8839 124.3279 26.33794 153.7096 124.2213 26.3652 153.8839 124.3279 26.33794 153.8156 124.0818 26.35917 153.7096 124.2213 26.3652 153.8839 124.3279 26.33794 153.7096 124.2213 26.3652 153.8156 124.0818 26.35917 159.1732 55.32584 27.69569 159.1732 55.32584 27.69569 159.1732 55.32584 27.69569 157.3674 50.35488 27.09195 157.3674 50.35488 27.09195 157.3674 50.35488 27.09195 153.8899 42.80448 29.6825 153.9419 42.88779 29.5585 153.8477 42.76357 29.74796 152.9859 41.3836 31.80209 152.9859 41.3836 31.80209 153.8477 42.76357 29.74796 153.8899 42.80448 29.6825 153.9419 42.88779 29.5585 153.9419 42.88779 29.5585 153.8899 42.80448 29.6825 153.8477 42.76357 29.74796 152.9859 41.3836 31.80209 152.8775 41.33098 32.21569 152.8775 41.33098 32.21569 152.8775 41.33098 32.21569 152.2758 40.72033 33.02512 152.2758 40.72033 33.02512 152.2758 40.72033 33.02512 151.2858 39.58498 33.74678 151.2858 39.58498 33.74678 151.2858 39.58498 33.74678 150.1481 38.10223 33.74678 150.1481 38.10223 33.74678 150.1481 38.10223 33.74678 148.7658 36.14672 33.02805 148.7658 36.14672 33.02805 148.7658 36.14672 33.02805 146.8414 33.31502 31.51792 146.8414 33.31502 31.51792 146.8414 33.31502 31.51792 144.1094 29.68202 31.17981 144.1094 29.68202 31.17981 144.1094 29.68202 31.17981 141.6734 26.7322 32.22819 141.6734 26.7322 32.22819 141.6734 26.7322 32.22819 140.1807 25.262 34.4441 140.1807 25.262 34.4441 140.1807 25.262 34.4441 155.4479 46.05456 28.07029 155.4479 46.05456 28.07029 155.4479 46.05456 28.07029 155.1818 45.46764 28.34646 155.2232 45.58701 28.28995 155.2232 45.58701 28.28995 155.1818 45.46764 28.34646 155.2232 45.58701 28.28995 155.1818 45.46764 28.34646 139.8432 24.63838 35.15059 139.8432 24.63838 35.15059 139.8432 24.63838 35.15059 140.0474 25.20658 34.61954 140.0474 25.20658 34.61954 140.0474 25.20658 34.61954 135.2501 20.72496 34.39903 137.7331 23.09178 35.29072 137.7331 23.09178 35.29072 135.2501 20.72496 34.39903 135.2501 20.72496 34.39903 137.7331 23.09178 35.29072 133.942 19.56197 33.431 133.942 19.56197 33.431 133.942 19.56197 33.431 132.7674 18.33316 31.44042 132.7674 18.33316 31.44042 132.7674 18.33316 31.44042 130.8484 16.48947 29.18444 130.8484 16.48947 29.18444 130.8484 16.48947 29.18444 127.8115 13.90217 27.6222 127.8115 13.90217 27.6222 127.8115 13.90217 27.6222 125.0697 11.68125 26.91077 125.0697 11.68125 26.91077 125.0697 11.68125 26.91077 118.2709 8.710295 28.70755 118.2709 8.710295 28.70755 118.2709 8.710295 28.70755 122.0517 10.43117 26.91077 122.0517 10.43117 26.91077 122.0517 10.43117 26.91077 115.4109 7.72586 30.12463 115.4109 7.72586 30.12463 115.4109 7.72586 30.12463 111.8789 6.688431 33.13706 111.8789 6.688431 33.13706 111.8789 6.688431 33.13706 108.863 5.684759 34.87492 108.863 5.684759 34.87492 108.863 5.684759 34.87492 107.504 5.510974 35.75041 107.504 5.510974 35.75041 107.504 5.510974 35.75041 102.5265 4.31412 37.45435 102.5265 4.31412 37.45435 102.5265 4.31412 37.45435 104.2904 4.590367 36.6739 104.2904 4.590367 36.6739 104.2904 4.590367 36.6739 67.00972 4.088902 37.75404 62.83847 4.035775 36.3 67.00972 4.088902 37.75404 62.83847 4.035775 36.3 62.83847 4.035775 36.3 67.00972 4.088902 37.75404 79.39945 0.5351822 28.34646 77.28656 1.130992 30.75919 75.12925 2.064456 35.69224 75.12925 2.064456 35.69224 77.28656 1.130992 30.75919 79.39945 0.5351822 28.34646 79.39945 0.5351822 28.34646 77.28656 1.130992 30.75919 75.12925 2.064456 35.69224 74.24633 3.080654 37.61997 74.96988 2.149258 35.60136 74.24633 3.080654 37.61997 74.96988 2.149258 35.60136 74.24633 3.080654 37.61997 74.96988 2.149258 35.60136 72.84987 3.762545 38.82236 72.84987 3.762545 38.82236 72.84987 3.762545 38.82236 71.47664 4.177652 39.38805 71.47664 4.177652 39.38805 71.47664 4.177652 39.38805 69.24785 4.360428 39.12092 69.24785 4.360428 39.12092 69.24785 4.360428 39.12092 100.6351 3.875696 36.99706 100.6351 3.875696 36.99706 100.6351 3.875696 36.99706 98.69329 2.996315 35.49122 98.69329 2.996315 35.49122 98.69329 2.996315 35.49122 97.74919 2.62253 33.59614 97.74919 2.62253 33.59614 97.74919 2.62253 33.59614 94.26972 1.721505 30.23163 94.26972 1.721505 30.23163 94.26972 1.721505 30.23163 89.1379 0.772304 28.15356 89.1379 0.772304 28.15356 89.1379 0.772304 28.15356 88.35926 0.753426 27.51831 83.46457 0.1090279 27.51831 88.35926 0.753426 27.51831 83.46457 0.1090279 27.51831 83.46457 0.1090279 27.51831 88.35926 0.753426 27.51831 30.72464 30.72464 49.78237 27.31807 27.31807 43.50394 30.72464 30.72464 49.78237 27.31807 27.31807 43.50394 27.31807 27.31807 43.50394 30.72464 30.72464 49.78237 49.31102 24.30889 54.59998 49.31102 24.30889 54.59998 49.31102 24.30889 54.59998 67.67772 24.54725 57.62846 67.67772 24.54725 57.62846 67.67772 24.54725 57.62846 90.34263 31.22048 58.66142 83.46457 30.31496 58.66142 92.14984 31.4584 58.66142 92.77716 31.54099 58.66142 93.53006 31.64011 58.66142 93.53006 31.64011 58.66142 92.77716 31.54099 58.66142 92.14984 31.4584 58.66142 90.34263 31.22048 58.66142 83.46457 30.31496 58.66142 83.46457 30.31496 58.66142 90.34263 31.22048 58.66142 92.14984 31.4584 58.66142 92.77716 31.54099 58.66142 93.53006 31.64011 58.66142 95.18998 39.70473 57.62846 95.18998 39.70473 57.62846 95.18998 39.70473 57.62846 102.4606 50.56242 54.59998 102.4606 50.56242 54.59998 102.4606 50.56242 54.59998 105.8895 61.0396 49.78237 105.8895 61.0396 49.78237 105.8895 61.0396 49.78237 106.7573 70.01654 43.50394 106.7573 70.01654 43.50394 106.7573 70.01654 43.50394 106.5189 77.28718 36.19255 106.5189 77.28718 36.19255 106.5189 77.28718 36.19255 18.87161 120.7573 49.78237 18.87161 120.7573 49.78237 18.87161 120.7573 49.78237 35.16416 131.765 54.59998 35.16416 131.765 54.59998 35.16416 131.765 54.59998 52.96672 136.2884 57.62846 60.32222 139.3351 57.62846 60.32222 139.3351 57.62846 52.96672 136.2884 57.62846 52.96672 136.2884 57.62846 60.32222 139.3351 57.62846 69.70845 134.8031 58.66142 76.5865 135.7087 58.66142 76.5865 135.7087 58.66142 69.70845 134.8031 58.66142 69.70845 134.8031 58.66142 76.5865 135.7087 58.66142 83.46457 128.7681 57.62846 83.46457 128.7681 57.62846 83.46457 128.7681 57.62846 93.29766 120.1621 54.59998 93.29766 120.1621 54.59998 93.29766 120.1621 54.59998 99.32141 110.9294 49.78237 99.32141 110.9294 49.78237 99.32141 110.9294 49.78237 102.483 102.483 43.50394 102.483 102.483 43.50394 102.483 102.483 43.50394 104.1345 95.39837 36.19255 104.1345 95.39837 36.19255 104.1345 95.39837 36.19255 105.696 88.04634 28.34646 106.2992 83.46457 28.34646 105.5962 89.39471 28.93636 105.5962 89.39471 28.93636 105.696 88.04634 28.34646 106.2992 83.46457 28.34646 106.2992 83.46457 28.34646 105.696 88.04634 28.34646 105.5962 89.39471 28.93636 151.7414 126.9729 27.02423 151.7209 126.9548 27.02694 151.7209 126.9548 27.02694 151.7414 126.9729 27.02423 151.7209 126.9548 27.02694 151.7414 126.9729 27.02423 104.0176 161.5503 34.2993 103.298 161.5503 34.96989 104.0176 161.5503 34.2993 103.298 161.5503 34.96989 104.0176 161.5503 34.2993 103.298 161.5503 34.96989 104.371 161.4883 33.81531 106.3829 161.0533 30.99506 104.312 161.4866 33.8866 104.371 161.4883 33.81531 104.312 161.4866 33.8866 106.3829 161.0533 30.99506 104.312 161.4866 33.8866 104.371 161.4883 33.81531 106.3829 161.0533 30.99506 108.5183 160.4164 29.24229 108.5183 160.4164 29.24229 108.5183 160.4164 29.24229 110.3318 159.7918 28.34646 110.4346 159.7413 28.28995 111.6555 159.3208 27.68682 111.6555 159.3208 27.68682 110.4346 159.7413 28.28995 110.3318 159.7918 28.34646 110.3318 159.7918 28.34646 110.4346 159.7413 28.28995 111.6555 159.3208 27.68682 116.5743 157.3674 27.09195 116.5743 157.3674 27.09195 116.5743 157.3674 27.09195 120.8498 155.3966 28.07334 120.8498 155.3966 28.07334 120.8498 155.3966 28.07334 28.96016 144.2666 36.22351 31.61022 146.7927 35.27181 28.96016 144.2666 36.22351 31.61022 146.7927 35.27181 31.61022 146.7927 35.27181 28.96016 144.2666 36.22351 33.10205 148.119 34.1678 33.10205 148.119 34.1678 33.10205 148.119 34.1678 34.31543 149.3884 32.11152 34.31543 149.3884 32.11152 34.31543 149.3884 32.11152 36.11789 151.1201 29.99258 36.11789 151.1201 29.99258 36.11789 151.1201 29.99258 39.00083 153.5763 28.50952 39.00083 153.5763 28.50952 39.00083 153.5763 28.50952 40.19146 154.5407 28.20058 40.19146 154.5407 28.20058 40.19146 154.5407 28.20058 41.71957 155.5871 27.43385 41.71957 155.5871 27.43385 41.71957 155.5871 27.43385 14.40587 127.9327 35.1811 13.12911 126.4683 34.25032 12.24555 125.5717 33.06182 11.61417 124.9474 32.13578 11.96692 125.3672 32.32191 12.08283 125.4927 32.44104 15.83058 129.7894 35.1811 17.35834 131.9507 34.38672 19.21126 134.6773 32.93267 21.68291 137.964 32.62679 23.76791 140.4888 33.52412 25.11427 141.8149 35.52278 25.11427 141.8149 35.52278 23.76791 140.4888 33.52412 21.68291 137.964 32.62679 19.21126 134.6773 32.93267 17.35834 131.9507 34.38672 15.83058 129.7894 35.1811 14.40587 127.9327 35.1811 12.08283 125.4927 32.44104 11.96692 125.3672 32.32191 12.24555 125.5717 33.06182 11.61417 124.9474 32.13578 13.12911 126.4683 34.25032 11.61417 124.9474 32.13578 11.96692 125.3672 32.32191 12.08283 125.4927 32.44104 12.24555 125.5717 33.06182 13.12911 126.4683 34.25032 14.40587 127.9327 35.1811 15.83058 129.7894 35.1811 17.35834 131.9507 34.38672 19.21126 134.6773 32.93267 21.68291 137.964 32.62679 23.76791 140.4888 33.52412 25.11427 141.8149 35.52278 4.036303 104.7473 36.67882 6.767031 104.0156 43.50394 4.036303 105.2691 36.19255 4.036303 105.2691 36.19255 4.036303 104.7473 36.67882 6.767031 104.0156 43.50394 6.767031 104.0156 43.50394 4.036303 104.7473 36.67882 4.036303 105.2691 36.19255 25.13101 141.8268 35.52825 25.13101 141.8268 35.52825 25.13101 141.8268 35.52825 25.81925 142.1145 35.72499 25.44777 141.9601 35.2362 25.81925 142.1145 35.72499 25.44777 141.9601 35.2362 25.44777 141.9601 35.2362 25.81925 142.1145 35.72499 26.6736 142.5906 36.07166 26.6736 142.5906 36.07166 26.6736 142.5906 36.07166 41.73233 155.5448 27.32877 44.69843 156.7734 27.32877 41.73233 155.5448 27.32877 44.69843 156.7734 27.32877 44.69843 156.7734 27.32877 41.73233 155.5448 27.32877 48.65824 158.2188 28.70755 48.65824 158.2188 28.70755 48.65824 158.2188 28.70755 51.51822 159.2033 30.12463 51.51822 159.2033 30.12463 51.51822 159.2033 30.12463 55.05028 160.2407 33.13706 55.05028 160.2407 33.13706 55.05028 160.2407 33.13706 58.0661 161.2444 34.87492 58.0661 161.2444 34.87492 58.0661 161.2444 34.87492 62.78045 162.0677 36.23954 59.66244 161.1745 35.34352 62.78045 162.0677 36.23954 59.66244 161.1745 35.34352 62.78045 162.0677 36.23954 59.66244 161.1745 35.34352 64.4276 162.1809 36.48978 64.4276 162.1809 36.48978 64.4276 162.1809 36.48978 66.03223 162.5529 36.10182 66.03223 162.5529 36.10182 66.03223 162.5529 36.10182 67.68325 163.3006 34.82148 67.68325 163.3006 34.82148 67.68325 163.3006 34.82148 68.58462 163.6574 33.01216 68.58462 163.6574 33.01216 68.58462 163.6574 33.01216 72.27581 164.6133 29.44292 72.27581 164.6133 29.44292 72.27581 164.6133 29.44292 78.51699 165.7677 26.91562 78.51699 165.7677 26.91562 78.51699 165.7677 26.91562 83.46457 166.4191 26.91562 83.46457 166.4191 26.91562 83.46457 166.4191 26.91562 87.3898 165.3489 26.46649 83.98954 165.7965 26.46649 87.3898 165.3489 26.46649 83.98954 165.7965 26.46649 83.98954 165.7965 26.46649 87.3898 165.3489 26.46649 90.4518 164.4854 29.963 90.4518 164.4854 29.963 90.4518 164.4854 29.963 92.92033 162.7499 35.68306 93.21502 162.3705 36.50522 92.76448 162.8304 35.2274 92.60479 163.0359 34.7819 92.60479 163.0359 34.7819 92.76448 162.8304 35.2274 92.92033 162.7499 35.68306 93.21502 162.3705 36.50522 92.76448 162.8304 35.2274 92.60479 163.0359 34.7819 92.92033 162.7499 35.68306 93.21502 162.3705 36.50522 94.36672 161.8082 37.49685 94.36672 161.8082 37.49685 94.36672 161.8082 37.49685 95.41082 161.4925 37.92696 95.41082 161.4925 37.92696 95.41082 161.4925 37.92696 97.20749 161.3452 37.71161 97.20749 161.3452 37.71161 97.20749 161.3452 37.71161 99.35778 161.6061 36.39838 99.35778 161.6061 36.39838 99.35778 161.6061 36.39838 101.4098 161.6322 35.68306 102.5592 161.5409 35.2274 102.5592 161.5409 35.2274 101.4098 161.6322 35.68306 101.4098 161.6322 35.68306 102.5592 161.5409 35.2274 157.0819 50.47616 27.11167 157.0819 50.47616 27.11167 157.0819 50.47616 27.11167 152.6356 41.61794 31.77263 152.6356 41.61794 31.77263 152.6356 41.61794 31.77263 152.5365 41.56985 32.15071 152.5365 41.56985 32.15071 152.5365 41.56985 32.15071 151.9393 40.96382 32.954 151.9393 40.96382 32.954 151.9393 40.96382 32.954 150.954 39.83379 33.67228 150.954 39.83379 33.67228 150.954 39.83379 33.67228 149.8209 38.35709 33.67228 149.8209 38.35709 33.67228 149.8209 38.35709 33.67228 148.441 36.4049 32.95477 148.441 36.4049 32.95477 148.441 36.4049 32.95477 146.5154 33.57151 31.44374 146.5154 33.57151 31.44374 146.5154 33.57151 31.44374 143.7791 29.93291 31.10511 143.7791 29.93291 31.10511 143.7791 29.93291 31.10511 141.3375 26.97622 32.15593 141.3375 26.97622 32.15593 141.3375 26.97622 32.15593 140.2727 26.07328 33.59179 139.7834 25.59128 34.31826 140.64 26.28918 33.19144 140.64 26.28918 33.19144 140.2727 26.07328 33.59179 139.7834 25.59128 34.31826 140.64 26.28918 33.19144 140.2727 26.07328 33.59179 139.7834 25.59128 34.31826 155.3966 46.07938 28.07334 155.3966 46.07938 28.07334 155.3966 46.07938 28.07334 139.5688 24.93988 34.81373 139.5688 24.93988 34.81373 139.5688 24.93988 34.81373 139.7101 25.56083 34.41465 139.7101 25.56083 34.41465 139.7101 25.56083 34.41465 137.5004 23.42382 34.95109 135.0709 21.10797 34.07861 137.5004 23.42382 34.95109 135.0709 21.10797 34.07861 135.0709 21.10797 34.07861 137.5004 23.42382 34.95109 133.8283 20.00326 33.15909 133.8283 20.00326 33.15909 133.8283 20.00326 33.15909 132.6663 18.78763 31.18986 132.6663 18.78763 31.18986 132.6663 18.78763 31.18986 130.7094 16.90753 28.88933 130.7094 16.90753 28.88933 130.7094 16.90753 28.88933 127.6225 14.27761 27.30135 127.6225 14.27761 27.30135 127.6225 14.27761 27.30135 124.8833 12.05883 26.59061 124.8833 12.05883 26.59061 124.8833 12.05883 26.59061 118.0179 8.958729 28.31533 118.0179 8.958729 28.31533 118.0179 8.958729 28.31533 121.8519 10.80315 26.59061 121.8519 10.80315 26.59061 121.8519 10.80315 26.59061 115.098 7.953681 29.76209 115.098 7.953681 29.76209 115.098 7.953681 29.76209 111.5572 6.913665 32.78202 111.5572 6.913665 32.78202 111.5572 6.913665 32.78202 108.5786 5.922388 34.49842 108.5786 5.922388 34.49842 108.5786 5.922388 34.49842 107.2667 5.754637 35.34352 107.2667 5.754637 35.34352 107.2667 5.754637 35.34352 102.5245 4.469005 36.94218 102.5245 4.469005 36.94218 102.5245 4.469005 36.94218 104.1487 4.861406 36.23954 104.1487 4.861406 36.23954 104.1487 4.861406 36.23954 61.46478 4.01302 35.4554 61.70644 4.035775 35.24512 61.46478 4.01302 35.4554 61.70644 4.035775 35.24512 61.46478 4.01302 35.4554 61.70644 4.035775 35.24512 67.21498 4.260894 37.29646 63.10117 4.208499 35.86244 67.21498 4.260894 37.29646 63.10117 4.208499 35.86244 63.10117 4.208499 35.86244 67.21498 4.260894 37.29646 79.72666 0.6320966 27.28311 82.89023 0.2156054 27.28311 79.40307 0.5725989 28.05863 79.40307 0.5725989 28.05863 79.72666 0.6320966 27.28311 82.89023 0.2156054 27.28311 82.89023 0.2156054 27.28311 79.72666 0.6320966 27.28311 79.40307 0.5725989 28.05863 77.13666 1.2117 30.64667 77.13666 1.2117 30.64667 77.13666 1.2117 30.64667 74.63633 2.482183 35.36105 73.95115 3.36418 37.27261 73.95115 3.36418 37.27261 74.63633 2.482183 35.36105 73.95115 3.36418 37.27261 74.63633 2.482183 35.36105 72.66667 3.991392 38.37857 72.66667 3.991392 38.37857 72.66667 3.991392 38.37857 71.44403 4.360981 38.88224 71.44403 4.360981 38.88224 71.44403 4.360981 38.88224 69.41292 4.527544 38.6388 69.41292 4.527544 38.6388 69.41292 4.527544 38.6388 100.7968 4.068531 36.52447 100.7968 4.068531 36.52447 100.7968 4.068531 36.52447 99.0119 3.260209 35.14031 99.0119 3.260209 35.14031 99.0119 3.260209 35.14031 98.08808 2.894455 33.28596 98.08808 2.894455 33.28596 98.08808 2.894455 33.28596 94.49211 1.963255 29.80877 94.49211 1.963255 29.80877 94.49211 1.963255 29.80877 88.38237 0.8331768 27.3347 88.38237 0.8331768 27.3347 88.38237 0.8331768 27.3347 83.46457 0.1857354 27.3347 83.46457 0.1857354 27.3347 83.46457 0.1857354 27.3347 25.18261 25.18261 36.21303 42.24876 12.0767 36.19255 25.18908 25.16705 36.19255 25.18261 25.18261 36.21303 42.24876 12.0767 36.19255 25.18908 25.16705 36.19255 42.24876 12.0767 36.19255 25.18908 25.16705 36.19255 25.18261 25.18261 36.21303 14.69944 43.763 43.50394 18.87161 46.17181 49.78237 18.87161 46.17181 49.78237 14.69944 43.763 43.50394 14.69944 43.763 43.50394 18.87161 46.17181 49.78237 35.16416 35.16416 54.59998 35.16416 35.16416 54.59998 35.16416 35.16416 54.59998 52.96672 30.64075 57.62846 52.96672 30.64075 57.62846 52.96672 30.64075 57.62846 69.70845 32.12599 58.66142 76.5865 31.22048 58.66142 76.5865 31.22048 58.66142 69.70845 32.12599 58.66142 69.70845 32.12599 58.66142 76.5865 31.22048 58.66142 83.46457 38.16105 57.62846 83.46457 38.16105 57.62846 83.46457 38.16105 57.62846 93.29766 46.76699 54.59998 93.29766 46.76699 54.59998 93.29766 46.76699 54.59998 102.6055 58.51965 49.78237 99.32141 55.9997 49.78237 102.6055 58.51965 49.78237 99.32141 55.9997 49.78237 99.32141 55.9997 49.78237 102.6055 58.51965 49.78237 102.483 64.44617 43.50394 102.483 64.44617 43.50394 102.483 64.44617 43.50394 104.1345 71.53077 36.19255 104.1345 71.53077 36.19255 104.1345 71.53077 36.19255 105.8704 77.46096 31.09276 105.9715 80.97539 28.34646 105.9715 80.97539 28.34646 105.8704 77.46096 31.09276 105.8704 77.46096 31.09276 105.9715 80.97539 28.34646 11.42049 102.7687 49.78237 11.42049 102.7687 49.78237 11.42049 102.7687 49.78237 24.30889 117.6181 54.59998 24.30889 117.6181 54.59998 24.30889 117.6181 54.59998 40.3341 126.595 57.62846 40.3341 126.595 57.62846 40.3341 126.595 57.62846 56.88976 129.4935 58.66142 63.2991 132.1483 58.66142 63.2991 132.1483 58.66142 56.88976 129.4935 58.66142 56.88976 129.4935 58.66142 63.2991 132.1483 58.66142 71.73915 127.2244 57.62846 80.17427 128.3349 57.62846 80.17427 128.3349 57.62846 71.73915 127.2244 57.62846 71.73915 127.2244 57.62846 80.17427 128.3349 57.62846 83.46457 121.4567 54.59998 83.46457 121.4567 54.59998 83.46457 121.4567 54.59998 91.67267 114.0976 49.78237 91.67267 114.0976 49.78237 91.67267 114.0976 49.78237 96.91262 106.7573 43.50394 96.91262 106.7573 43.50394 96.91262 106.7573 43.50394 100.3415 100.3415 36.19255 100.3415 100.3415 36.19255 100.3415 100.3415 36.19255 105.5674 89.54187 29.16407 104.9064 92.04323 31.81914 103.9424 94.95038 33.51912 103.8533 95.236 33.7257 103.8533 95.236 33.7257 103.9424 94.95038 33.51912 104.9064 92.04323 31.81914 105.5674 89.54187 29.16407 105.5674 89.54187 29.16407 104.9064 92.04323 31.81914 103.9424 94.95038 33.51912 103.8533 95.236 33.7257 105.8407 87.66897 27.62483 106.3942 83.46457 27.62483 105.7281 88.11111 28.0378 105.7281 88.11111 28.0378 105.8407 87.66897 27.62483 106.3942 83.46457 27.62483 106.3942 83.46457 27.62483 105.8407 87.66897 27.62483 105.7281 88.11111 28.0378 105.6019 89.81482 28.78315 105.6019 89.81482 28.78315 105.6019 89.81482 28.78315 104.0029 161.4738 34.29282 103.2911 161.48 34.95774 104.0029 161.4738 34.29282 103.2911 161.48 34.95774 103.2911 161.48 34.95774 104.0029 161.4738 34.29282 111.6033 159.1732 27.69569 111.6033 159.1732 27.69569 111.6033 159.1732 27.69569 116.453 157.0819 27.11167 116.453 157.0819 27.11167 116.453 157.0819 27.11167 31.59442 146.5355 34.80601 29.03621 144.097 35.72471 31.59442 146.5355 34.80601 29.03621 144.097 35.72471 31.59442 146.5355 34.80601 29.03621 144.097 35.72471 32.98753 147.7741 33.77505 32.98753 147.7741 33.77505 32.98753 147.7741 33.77505 34.17966 149.0213 31.75478 34.17966 149.0213 31.75478 34.17966 149.0213 31.75478 36.04601 150.8143 29.56073 36.04601 150.8143 29.56073 36.04601 150.8143 29.56073 39.0133 153.3424 28.03428 39.0133 153.3424 28.03428 39.0133 153.3424 28.03428 3.998141 105.2693 35.92186 4.01302 105.4644 35.4554 4.535838 107.8828 32.06531 5.103982 109.7878 30.5017 6.087354 112.6429 29.0913 7.897972 117.2022 28.5399 9.693694 121.2253 29.45516 11.04286 124.0326 30.77407 11.04286 124.0326 30.77407 9.693694 121.2253 29.45516 7.897972 117.2022 28.5399 6.087354 112.6429 29.0913 5.103982 109.7878 30.5017 4.535838 107.8828 32.06531 4.01302 105.4644 35.4554 3.998141 105.2693 35.92186 3.998141 105.2693 35.92186 4.01302 105.4644 35.4554 4.535838 107.8828 32.06531 5.103982 109.7878 30.5017 6.087354 112.6429 29.0913 7.897972 117.2022 28.5399 9.693694 121.2253 29.45516 11.04286 124.0326 30.77407 11.21226 124.1588 30.52318 11.21226 124.1588 30.52318 11.21226 124.1588 30.52318 12.46355 125.6802 32.24455 11.58687 124.2765 30.15498 12.46355 125.6802 32.24455 11.58687 124.2765 30.15498 12.46355 125.6802 32.24455 11.58687 124.2765 30.15498 12.6145 125.7535 32.82041 12.6145 125.7535 32.82041 12.6145 125.7535 32.82041 13.4053 126.556 33.88412 13.4053 126.556 33.88412 13.4053 126.556 33.88412 14.58763 127.912 34.74606 14.58763 127.912 34.74606 14.58763 127.912 34.74606 15.91788 129.6456 34.74606 15.91788 129.6456 34.74606 15.91788 129.6456 34.74606 17.39775 131.7392 33.97659 17.39775 131.7392 33.97659 17.39775 131.7392 33.97659 19.2742 134.5004 32.50407 19.2742 134.5004 32.50407 19.2742 134.5004 32.50407 21.83157 137.9011 32.18758 21.83157 137.9011 32.18758 21.83157 137.9011 32.18758 24.0321 140.5658 33.13464 24.0321 140.5658 33.13464 24.0321 140.5658 33.13464 1.032957 83.46457 36.19255 4.061435 83.46457 43.50394 3.666133 93.85714 39.24645 2.924052 92.33741 37.93793 2.118725 91.71179 36.19255 4.131345 95.39612 39.88043 4.331966 97.84252 39.58721 4.055074 100.1249 38.19331 4.001323 104.3451 36.7222 3.998141 104.4568 36.67902 3.998141 104.4568 36.67902 4.001323 104.3451 36.7222 4.055074 100.1249 38.19331 4.331966 97.84252 39.58721 4.131345 95.39612 39.88043 3.666133 93.85714 39.24645 2.118725 91.71179 36.19255 1.032957 83.46457 36.19255 2.924052 92.33741 37.93793 4.061435 83.46457 43.50394 4.061435 83.46457 43.50394 1.032957 83.46457 36.19255 2.118725 91.71179 36.19255 2.924052 92.33741 37.93793 3.666133 93.85714 39.24645 4.131345 95.39612 39.88043 4.331966 97.84252 39.58721 4.055074 100.1249 38.19331 4.001323 104.3451 36.7222 3.998141 104.4568 36.67902 26.15718 142.1088 35.29783 25.86948 141.9893 34.91926 26.15718 142.1088 35.29783 25.86948 141.9893 34.91926 26.15718 142.1088 35.29783 25.86948 141.9893 34.91926 26.85172 142.4959 35.57965 26.85172 142.4959 35.57965 26.85172 142.4959 35.57965 41.85942 155.2479 26.91077 44.8774 156.498 26.91077 41.85942 155.2479 26.91077 44.8774 156.498 26.91077 44.8774 156.498 26.91077 41.85942 155.2479 26.91077 48.91125 157.9704 28.31533 48.91125 157.9704 28.31533 48.91125 157.9704 28.31533 51.83111 158.9755 29.76209 51.83111 158.9755 29.76209 51.83111 158.9755 29.76209 55.37197 160.0155 32.78202 55.37197 160.0155 32.78202 55.37197 160.0155 32.78202 58.35056 161.0067 34.49842 58.35056 161.0067 34.49842 58.35056 161.0067 34.49842 59.88498 160.8201 35.0201 62.92167 161.69 35.89276 62.92167 161.69 35.89276 59.88498 160.8201 35.0201 62.92167 161.69 35.89276 59.88498 160.8201 35.0201 64.46991 161.7964 36.12797 64.46991 161.7964 36.12797 64.46991 161.7964 36.12797 66.00052 162.1512 35.75791 66.00052 162.1512 35.75791 66.00052 162.1512 35.75791 67.54982 162.8529 34.55644 67.54982 162.8529 34.55644 67.54982 162.8529 34.55644 68.42815 163.2006 32.7934 68.42815 163.2006 32.7934 68.42815 163.2006 32.7934 72.18669 164.1739 29.15902 72.18669 164.1739 29.15902 72.18669 164.1739 29.15902 78.52092 165.3455 26.59405 78.52092 165.3455 26.59405 78.52092 165.3455 26.59405 83.46457 165.9964 26.59405 83.46457 165.9964 26.59405 83.46457 165.9964 26.59405 87.35756 164.8404 26.32267 83.85577 165.3014 26.32267 87.35756 164.8404 26.32267 83.85577 165.3014 26.32267 83.85577 165.3014 26.32267 87.35756 164.8404 26.32267 90.44941 163.9686 29.85328 90.44941 163.9686 29.85328 90.44941 163.9686 29.85328 92.56958 162.9179 34.75788 92.56958 162.9179 34.75788 92.56958 162.9179 34.75788 139.6721 25.72984 34.3055 139.6721 25.72984 34.3055 139.6721 25.72984 34.3055 139.273 25.31723 34.59202 139.273 25.31723 34.59202 139.273 25.31723 34.59202 139.6167 25.70023 34.38412 139.6167 25.70023 34.38412 139.6167 25.70023 34.38412 137.2106 23.80562 34.72898 134.8092 21.51654 33.86658 137.2106 23.80562 34.72898 134.8092 21.51654 33.86658 134.8092 21.51654 33.86658 137.2106 23.80562 34.72898 133.6083 20.44881 32.97784 133.6083 20.44881 32.97784 133.6083 20.44881 32.97784 132.4531 19.24032 31.02019 132.4531 19.24032 31.02019 132.4531 19.24032 31.02019 130.4756 17.3405 28.69553 130.4756 17.3405 28.69553 130.4756 17.3405 28.69553 127.3616 14.68749 27.09361 127.3616 14.68749 27.09361 127.3616 14.68749 27.09361 124.6503 12.4913 26.3901 124.6503 12.4913 26.3901 124.6503 12.4913 26.3901 117.7657 9.311639 28.01337 117.7657 9.311639 28.01337 117.7657 9.311639 28.01337 121.6447 11.24632 26.3901 121.6447 11.24632 26.3901 121.6447 11.24632 26.3901 114.8036 8.292038 29.48107 114.8036 8.292038 29.48107 114.8036 8.292038 29.48107 111.2565 7.250195 32.50631 111.2565 7.250195 32.50631 111.2565 7.250195 32.50631 108.3164 6.271716 34.20055 108.3164 6.271716 34.20055 108.3164 6.271716 34.20055 107.0442 6.109035 35.0201 107.0442 6.109035 35.0201 107.0442 6.109035 35.0201 102.5015 4.748206 36.48978 102.5015 4.748206 36.48978 102.5015 4.748206 36.48978 104.0075 5.239096 35.89276 104.0075 5.239096 35.89276 104.0075 5.239096 35.89276 59.04629 4.535838 32.06531 61.17465 4.150735 34.49969 59.28399 4.559449 31.84948 61.17465 4.150735 34.49969 59.04629 4.535838 32.06531 59.28399 4.559449 31.84948 59.04629 4.535838 32.06531 59.28399 4.559449 31.84948 61.17465 4.150735 34.49969 62.09143 4.208499 34.92152 62.09143 4.208499 34.92152 62.09143 4.208499 34.92152 67.38706 4.556203 36.89234 63.33073 4.50454 35.47836 67.38706 4.556203 36.89234 63.33073 4.50454 35.47836 63.33073 4.50454 35.47836 67.38706 4.556203 36.89234 82.9396 0.303509 27.11565 82.9396 0.303509 27.11565 82.9396 0.303509 27.11565 79.67055 0.7338879 27.11565 79.67055 0.7338879 27.11565 79.67055 0.7338879 27.11565 76.81739 1.538442 30.37369 76.81739 1.538442 30.37369 76.81739 1.538442 30.37369 74.40859 2.903642 35.13441 73.75821 3.740844 36.94888 73.75821 3.740844 36.94888 74.40859 2.903642 35.13441 73.75821 3.740844 36.94888 74.40859 2.903642 35.13441 72.5554 4.328172 37.98452 72.5554 4.328172 37.98452 72.5554 4.328172 37.98452 71.44259 4.664559 38.44294 71.44259 4.664559 38.44294 71.44259 4.664559 38.44294 69.55569 4.819297 38.21678 69.55569 4.819297 38.21678 69.55569 4.819297 38.21678 100.8969 4.376256 36.10182 100.8969 4.376256 36.10182 100.8969 4.376256 36.10182 99.24589 3.628559 34.82148 99.24589 3.628559 34.82148 99.24589 3.628559 34.82148 98.34452 3.271689 33.01216 98.34452 3.271689 33.01216 98.34452 3.271689 33.01216 94.65335 2.315838 29.44292 94.65335 2.315838 29.44292 94.65335 2.315838 29.44292 88.41215 1.161444 26.91562 88.41215 1.161444 26.91562 88.41215 1.161444 26.91562 83.46457 0.5100829 26.91562 83.46457 0.5100829 26.91562 83.46457 0.5100829 26.91562 26.44034 23.76791 33.52412 32.25186 19.21126 32.93267 28.96516 21.68291 32.62679 34.97841 17.35834 34.38672 25.11427 25.11427 35.52278 37.13975 15.83058 35.1811 38.99646 14.40587 35.1811 41.56192 11.96692 32.32191 41.98172 11.61417 32.13578 41.43641 12.08283 32.44104 41.35744 12.24555 33.06182 40.4608 13.12911 34.25032 25.16513 25.16513 36.06918 25.16513 25.16513 36.06918 25.11427 25.11427 35.52278 38.99646 14.40587 35.1811 40.4608 13.12911 34.25032 41.35744 12.24555 33.06182 41.43641 12.08283 32.44104 41.56192 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88.38111 46.11972 54.59998 92.60443 46.67573 54.59998 91.67267 52.83149 49.78237 91.67267 52.83149 49.78237 91.67267 52.83149 49.78237 96.91262 60.17188 43.50394 96.91262 60.17188 43.50394 96.91262 60.17188 43.50394 100.3415 66.58763 36.19255 100.3415 66.58763 36.19255 100.3415 66.58763 36.19255 103.3006 72.0122 28.87878 103.3465 72.09703 28.95438 104.3289 73.998 30.33481 105.673 76.83751 31.52374 105.8521 77.32766 31.35437 105.8521 77.32766 31.35437 105.673 76.83751 31.52374 104.3289 73.998 30.33481 103.3465 72.09703 28.95438 103.3006 72.0122 28.87878 103.3006 72.0122 28.87878 103.3465 72.09703 28.95438 104.3289 73.998 30.33481 105.673 76.83751 31.52374 105.8521 77.32766 31.35437 105.8981 77.10042 30.9584 105.9794 79.92473 28.75139 106.0073 80.89424 27.99379 106.0073 80.89424 27.99379 105.9794 79.92473 28.75139 105.8981 77.10042 30.9584 105.9794 79.92473 28.75139 106.0073 80.89424 27.99379 105.8981 77.10042 30.9584 106.0848 81.09523 27.60554 106.3597 83.18283 27.60554 106.3597 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27.37508 106.5154 83.46457 27.3347 105.9524 87.74147 27.3347 106.4986 83.46457 27.37508 106.5154 83.46457 27.3347 105.7758 90.12631 28.37804 105.7758 90.12631 28.37804 105.7758 90.12631 28.37804 31.67902 146.2042 34.39903 29.19604 143.8374 35.29072 31.67902 146.2042 34.39903 29.19604 143.8374 35.29072 31.67902 146.2042 34.39903 29.19604 143.8374 35.29072 32.9871 147.3672 33.431 32.9871 147.3672 33.431 32.9871 147.3672 33.431 34.16171 148.596 31.44042 34.16171 148.596 31.44042 34.16171 148.596 31.44042 36.08074 150.4397 29.18444 36.08074 150.4397 29.18444 36.08074 150.4397 29.18444 39.1176 153.027 27.6222 39.1176 153.027 27.6222 39.1176 153.027 27.6222 4.035775 105.2227 35.24512 4.035775 104.0907 36.3 4.035775 105.2227 35.24512 4.035775 104.0907 36.3 4.035775 104.0907 36.3 4.035775 105.2227 35.24512 4.150735 105.7545 34.49969 4.559449 107.6451 31.84948 4.559449 107.6451 31.84948 4.150735 105.7545 34.49969 4.559449 107.6451 31.84948 4.150735 105.7545 34.49969 5.144173 109.6057 30.24024 5.144173 109.6057 30.24024 5.144173 109.6057 30.24024 6.151456 112.5302 28.79554 6.151456 112.5302 28.79554 6.151456 112.5302 28.79554 7.996479 117.1762 28.23366 7.996479 117.1762 28.23366 7.996479 117.1762 28.23366 9.822026 121.266 29.16413 9.822026 121.266 29.16413 9.822026 121.266 29.16413 10.13959 121.265 28.74016 10.13959 121.265 28.74016 10.13959 121.265 28.74016 12.94993 125.7673 32.05024 12.03042 124.295 29.85859 12.94993 125.7673 32.05024 12.03042 124.295 29.85859 12.94993 125.7673 32.05024 12.03042 124.295 29.85859 13.08641 125.8336 32.57089 13.08641 125.8336 32.57089 13.08641 125.8336 32.57089 13.78896 126.5465 33.51592 13.78896 126.5465 33.51592 13.78896 126.5465 33.51592 14.8815 127.7996 34.31239 14.8815 127.7996 34.31239 14.8815 127.7996 34.31239 16.1219 129.4161 34.31239 16.1219 129.4161 34.31239 16.1219 129.4161 34.31239 17.55621 131.4452 33.5666 17.55621 131.4452 33.5666 17.55621 131.4452 33.5666 19.45504 134.2393 32.07653 19.45504 134.2393 32.07653 19.45504 134.2393 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37.61997 2.149258 91.95925 35.60136 3.762545 94.07927 38.82236 3.762545 94.07927 38.82236 3.762545 94.07927 38.82236 4.177652 95.45249 39.38805 4.177652 95.45249 39.38805 4.177652 95.45249 39.38805 4.360428 97.68129 39.12092 4.360428 97.68129 39.12092 4.360428 97.68129 39.12092 4.088902 99.91941 37.75404 4.088902 99.91941 37.75404 4.088902 99.91941 37.75404 26.51959 141.9751 34.92078 26.31311 141.8893 34.64909 26.51959 141.9751 34.92078 26.31311 141.8893 34.64909 26.51959 141.9751 34.92078 26.31311 141.8893 34.64909 27.08595 142.2908 35.15059 27.08595 142.2908 35.15059 27.08595 142.2908 35.15059 42.04581 154.8703 26.59061 45.07727 156.126 26.59061 45.07727 156.126 26.59061 42.04581 154.8703 26.59061 45.07727 156.126 26.59061 42.04581 154.8703 26.59061 49.16339 157.6175 28.01337 49.16339 157.6175 28.01337 49.16339 157.6175 28.01337 52.12553 158.6371 29.48107 52.12553 158.6371 29.48107 52.12553 158.6371 29.48107 55.67261 159.6789 32.50631 55.67261 159.6789 32.50631 55.67261 159.6789 32.50631 58.61274 160.6574 34.20055 58.61274 160.6574 34.20055 58.61274 160.6574 34.20055 60.07762 160.3791 34.80222 60.74054 160.569 34.99272 62.61955 161.2592 35.61635 62.97352 161.2971 35.68306 63.03296 161.3008 35.69284 63.03296 161.3008 35.69284 62.97352 161.2971 35.68306 62.61955 161.2592 35.61635 60.74054 160.569 34.99272 60.07762 160.3791 34.80222 60.74054 160.569 34.99272 60.07762 160.3791 34.80222 62.61955 161.2592 35.61635 62.97352 161.2971 35.68306 63.03296 161.3008 35.69284 64.51982 161.403 35.91873 64.51982 161.403 35.91873 64.51982 161.403 35.91873 65.49456 161.629 35.68306 66.03634 161.7198 35.53513 66.03634 161.7198 35.53513 65.49456 161.629 35.68306 65.49456 161.629 35.68306 66.03634 161.7198 35.53513 66.22016 161.7649 35.37599 67.52608 162.3563 34.36326 67.52608 162.3563 34.36326 66.22016 161.7649 35.37599 66.22016 161.7649 35.37599 67.52608 162.3563 34.36326 68.3823 162.6953 32.64458 68.3823 162.6953 32.64458 68.3823 162.6953 32.64458 72.17579 163.6777 28.97642 72.17579 163.6777 28.97642 72.17579 163.6777 28.97642 78.55828 164.8582 26.3919 78.55828 164.8582 26.3919 78.55828 164.8582 26.3919 83.46457 165.5041 26.3919 83.46457 165.5041 26.3919 83.46457 165.5041 26.3919 87.26152 164.3203 26.31531 83.82065 164.7733 26.31531 87.26152 164.3203 26.31531 83.82065 164.7733 26.31531 83.82065 164.7733 26.31531 87.26152 164.3203 26.31531 89.10871 164.2176 28.34646 90.42116 163.8475 29.84515 87.68383 164.2012 26.79755 89.10871 164.2176 28.34646 87.68383 164.2012 26.79755 90.42116 163.8475 29.84515 87.68383 164.2012 26.79755 89.10871 164.2176 28.34646 90.42116 163.8475 29.84515 139.205 25.41507 34.57109 139.205 25.41507 34.57109 139.205 25.41507 34.57109 137.1594 23.86913 34.71497 134.6101 21.76445 33.81216 137.1594 23.86913 34.71497 134.6101 21.76445 33.81216 137.1594 23.86913 34.71497 134.6101 21.76445 33.81216 133.4182 20.70476 32.93011 133.4182 20.70476 32.93011 133.4182 20.70476 32.93011 132.2634 19.49664 30.97306 132.2634 19.49664 30.97306 132.2634 19.49664 30.97306 130.2849 17.5958 28.64714 130.2849 17.5958 28.64714 130.2849 17.5958 28.64714 128.0928 15.99515 27.55128 127.0467 15.10389 27.01312 129.7004 17.09782 28.34646 129.7004 17.09782 28.34646 128.0928 15.99515 27.55128 127.0467 15.10389 27.01312 129.7004 17.09782 28.34646 128.0928 15.99515 27.55128 127.0467 15.10389 27.01312 124.3867 12.94919 26.32291 124.3867 12.94919 26.32291 124.3867 12.94919 26.32291 117.5317 9.744973 27.82224 117.5317 9.744973 27.82224 117.5317 9.744973 27.82224 121.4444 11.73046 26.32291 121.4444 11.73046 26.32291 121.4444 11.73046 26.32291 114.5477 8.717872 29.30073 114.5477 8.717872 29.30073 114.5477 8.717872 29.30073 110.9974 7.675089 32.3287 110.9974 7.675089 32.3287 110.9974 7.675089 32.3287 108.0944 6.708939 34.00159 108.0944 6.708939 34.00159 108.0944 6.708939 34.00159 106.8515 6.550016 34.80222 106.8515 6.550016 34.80222 106.8515 6.550016 34.80222 102.4592 5.132695 36.12797 102.4592 5.132695 36.12797 102.4592 5.132695 36.12797 103.9556 5.632083 35.68306 103.8962 5.628309 35.69284 104.3096 5.669903 35.61635 106.1886 6.360106 34.99272 106.1886 6.360106 34.99272 104.3096 5.669903 35.61635 103.9556 5.632083 35.68306 103.8962 5.628309 35.69284 106.1886 6.360106 34.99272 104.3096 5.669903 35.61635 103.9556 5.632083 35.68306 103.8962 5.628309 35.69284 57.14135 5.103982 30.5017 57.32346 5.144173 30.24024 57.14135 5.103982 30.5017 57.32346 5.144173 30.24024 57.14135 5.103982 30.5017 57.32346 5.144173 30.24024 45.70385 9.693694 29.45516 54.28622 6.087354 29.0913 49.72693 7.897972 28.5399 42.89652 11.04286 30.77407 42.89652 11.04286 30.77407 45.70385 9.693694 29.45516 54.28622 6.087354 29.0913 49.72693 7.897972 28.5399 54.28622 6.087354 29.0913 49.72693 7.897972 28.5399 45.70385 9.693694 29.45516 42.89652 11.04286 30.77407 61.59482 4.315853 34.2254 59.6719 4.731541 31.52997 61.59482 4.315853 34.2254 59.6719 4.731541 31.52997 59.6719 4.731541 31.52997 61.59482 4.315853 34.2254 62.43551 4.50454 34.64416 62.43551 4.50454 34.64416 62.43551 4.50454 34.64416 63.5115 4.903725 35.17393 67.51423 4.954706 36.56923 67.51423 4.954706 36.56923 63.5115 4.903725 35.17393 63.5115 4.903725 35.17393 67.51423 4.954706 36.56923 82.9396 0.674967 26.73696 79.57309 1.118176 26.73696 82.9396 0.674967 26.73696 79.57309 1.118176 26.73696 82.9396 0.674967 26.73696 79.57309 1.118176 26.73696 76.59251 1.958663 30.1405 76.59251 1.958663 30.1405 76.59251 1.958663 30.1405 74.30218 3.384912 34.93687 73.68065 4.184976 36.67085 73.68065 4.184976 36.67085 74.30218 3.384912 34.93687 73.68065 4.184976 36.67085 74.30218 3.384912 34.93687 72.52365 4.749934 37.66704 72.52365 4.749934 37.66704 72.52365 4.749934 37.66704 71.47245 5.067699 38.10009 71.47245 5.067699 38.10009 71.47245 5.067699 38.10009 69.66642 5.215805 37.88362 69.66642 5.215805 37.88362 69.66642 5.215805 37.88362 100.9286 4.777902 35.75791 100.9286 4.777902 35.75791 100.9286 4.777902 35.75791 99.37931 4.076265 34.55644 99.37931 4.076265 34.55644 99.37931 4.076265 34.55644 98.50098 3.728522 32.7934 98.50098 3.728522 32.7934 98.50098 3.728522 32.7934 94.74244 2.755227 29.15902 94.74244 2.755227 29.15902 94.74244 2.755227 29.15902 88.40822 1.583625 26.59405 88.40822 1.583625 26.59405 88.40822 1.583625 26.59405 83.46457 0.9327809 26.59405 83.46457 0.9327809 26.59405 83.46457 0.9327809 26.59405 42.77031 11.21226 30.52318 42.77031 11.21226 30.52318 42.77031 11.21226 30.52318 42.65268 11.58687 30.15498 41.2489 12.46355 32.24455 41.2489 12.46355 32.24455 42.65268 11.58687 30.15498 41.2489 12.46355 32.24455 42.65268 11.58687 30.15498 41.17565 12.6145 32.82041 41.17565 12.6145 32.82041 41.17565 12.6145 32.82041 40.37314 13.4053 33.88412 40.37314 13.4053 33.88412 40.37314 13.4053 33.88412 39.0171 14.58763 34.74606 39.0171 14.58763 34.74606 39.0171 14.58763 34.74606 37.28349 15.91788 34.74606 37.28349 15.91788 34.74606 37.28349 15.91788 34.74606 35.18991 17.39775 33.97659 35.18991 17.39775 33.97659 35.18991 17.39775 33.97659 32.42874 19.2742 32.50407 32.42874 19.2742 32.50407 32.42874 19.2742 32.50407 29.02805 21.83157 32.18758 29.02805 21.83157 32.18758 29.02805 21.83157 32.18758 26.36333 24.0321 33.13464 26.36333 24.0321 33.13464 26.36333 24.0321 33.13464 24.96899 25.44777 35.2362 25.10232 25.13101 35.52825 25.10232 25.13101 35.52825 24.96899 25.44777 35.2362 25.10232 25.13101 35.52825 24.96899 25.44777 35.2362 24.36054 26.56373 36.5931 24.36054 26.56373 36.5931 24.36054 26.56373 36.5931 24.81461 25.81925 35.72499 24.81461 25.81925 35.72499 24.81461 25.81925 35.72499 20.08625 31.64517 35.42143 20.7989 30.8569 36.07658 18.73137 33.16908 34.29367 17.45454 34.3896 32.2253 15.74347 36.17059 30.13159 13.31146 39.02518 28.66312 12.32292 40.24557 28.34646 11.18213 41.73228 28.34646 11.18213 41.73228 28.34646 12.32292 40.24557 28.34646 13.31146 39.02518 28.66312 15.74347 36.17059 30.13159 17.45454 34.3896 32.2253 18.73137 33.16908 34.29367 20.08625 31.64517 35.42143 20.7989 30.8569 36.07658 20.7989 30.8569 36.07658 20.08625 31.64517 35.42143 18.73137 33.16908 34.29367 17.45454 34.3896 32.2253 15.74347 36.17059 30.13159 13.31146 39.02518 28.66312 12.32292 40.24557 28.34646 11.18213 41.73228 28.34646 5.583199 57.92546 36.19255 5.456106 58.91938 36.83281 5.456106 58.91938 36.83281 5.583199 57.92546 36.19255 5.583199 57.92546 36.19255 5.456106 58.91938 36.83281 22.59462 28.97306 36.7531 22.59462 28.97306 36.7531 22.59462 28.97306 36.7531 17.48499 65.7854 54.59998 17.48499 65.7854 54.59998 17.48499 65.7854 54.59998 30.64075 52.96672 57.62846 30.64075 52.96672 57.62846 30.64075 52.96672 57.62846 43.10811 43.10811 58.14494 45.88212 45.88212 58.66142 45.88212 45.88212 58.66142 43.10811 43.10811 58.14494 43.10811 43.10811 58.14494 45.88212 45.88212 58.66142 60.81281 44.23057 57.62846 60.81281 44.23057 57.62846 60.81281 44.23057 57.62846 73.63148 46.76699 54.59998 73.63148 46.76699 54.59998 73.63148 46.76699 54.59998 83.46457 51.75087 49.78237 83.46457 51.75087 49.78237 83.46457 51.75087 49.78237 93.6692 58.82841 43.50394 90.42578 57.48495 43.50394 90.42578 57.48495 43.50394 93.6692 58.82841 43.50394 90.42578 57.48495 43.50394 93.6692 58.82841 43.50394 95.39837 62.79462 36.19255 95.39837 62.79462 36.19255 95.39837 62.79462 36.19255 99.86741 67.06172 31.09979 101.2797 69.25297 29.46376 102.6686 71.18857 28.87878 102.6686 71.18857 28.87878 101.2797 69.25297 29.46376 99.86741 67.06172 31.09979 99.86741 67.06172 31.09979 101.2797 69.25297 29.46376 102.6686 71.18857 28.87878 103.5027 72.1528 28.50928 102.7014 71.10855 28.50928 103.5027 72.1528 28.50928 102.7014 71.10855 28.50928 103.5027 72.1528 28.50928 102.7014 71.10855 28.50928 104.5217 74.12448 29.94104 104.5217 74.12448 29.94104 104.5217 74.12448 29.94104 105.7887 76.80118 31.0618 105.7887 76.80118 31.0618 105.7887 76.80118 31.0618 106.1653 79.61699 28.36442 106.0852 76.83194 30.54075 106.2045 80.97919 27.29996 106.2045 80.97919 27.29996 106.1653 79.61699 28.36442 106.0852 76.83194 30.54075 106.2045 80.97919 27.29996 106.0852 76.83194 30.54075 106.1653 79.61699 28.36442 106.5177 83.46457 27.33179 106.4445 83.08039 27.38342 106.4751 83.03424 27.29996 106.4445 83.08039 27.38342 106.4751 83.03424 27.29996 106.5177 83.46457 27.33179 106.5177 83.46457 27.33179 106.4445 83.08039 27.38342 106.4751 83.03424 27.29996 15.15748 83.46457 54.59998 15.15748 83.46457 54.59998 15.15748 83.46457 54.59998 24.54725 99.25141 57.62846 24.54725 99.25141 57.62846 24.54725 99.25141 57.62846 37.43566 110.0394 58.66142 39.70176 112.9926 58.66142 40.16406 113.5951 58.66142 40.16406 113.5951 58.66142 39.70176 112.9926 58.66142 37.43566 110.0394 58.66142 37.43566 110.0394 58.66142 40.16406 113.5951 58.66142 39.70176 112.9926 58.66142 51.43014 115.499 57.62846 52.84383 116.5838 57.62846 53.17524 116.8381 57.62846 53.17524 116.8381 57.62846 52.84383 116.5838 57.62846 51.43014 115.499 57.62846 51.43014 115.499 57.62846 53.17524 116.8381 57.62846 52.84383 116.5838 57.62846 64.4685 116.3667 54.59998 65.11448 116.6343 54.59998 69.04999 118.2644 54.59998 69.04999 118.2644 54.59998 65.11448 116.6343 54.59998 64.4685 116.3667 54.59998 64.4685 116.3667 54.59998 69.04999 118.2644 54.59998 65.11448 116.6343 54.59998 75.25646 114.0976 49.78237 75.25646 114.0976 49.78237 75.25646 114.0976 49.78237 83.46457 110.3606 43.50394 83.46457 110.3606 43.50394 83.46457 110.3606 43.50394 89.64196 106.5189 36.19255 89.64196 106.5189 36.19255 89.64196 106.5189 36.19255 94.91693 103.3006 28.87878 97.67617 101.2797 29.46376 95.74057 102.6686 28.87878 97.67617 101.2797 29.46376 94.91693 103.3006 28.87878 95.74057 102.6686 28.87878 97.67617 101.2797 29.46376 95.74057 102.6686 28.87878 94.91693 103.3006 28.87878 102.9588 96.62477 34.52704 102.9588 96.62477 34.52704 102.9588 96.62477 34.52704 101.5021 98.47568 34.30524 101.5021 98.47568 34.30524 101.5021 98.47568 34.30524 100.5645 99.36196 32.74007 100.5645 99.36196 32.74007 100.5645 99.36196 32.74007 100.1137 99.6772 31.47021 100.1137 99.6772 31.47021 100.1137 99.6772 31.47021 100.5116 99.53071 31.11588 97.83638 101.2549 29.11849 100.5116 99.53071 31.11588 97.83638 101.2549 29.11849 97.83638 101.2549 29.11849 100.5116 99.53071 31.11588 105.1002 92.68268 31.09151 105.1002 92.68268 31.09151 105.1002 92.68268 31.09151 104.1591 95.52095 32.7512 104.1591 95.52095 32.7512 104.1591 95.52095 32.7512 103.9923 96.05554 33.13787 103.9923 96.05554 33.13787 103.9923 96.05554 33.13787 103.0838 96.8042 34.03384 103.0838 96.8042 34.03384 103.0838 96.8042 34.03384 106.2609 87.86152 26.91562 106.7926 83.46457 26.9766 106.8398 83.46457 26.91562 106.2609 87.86152 26.91562 106.7926 83.46457 26.9766 106.8398 83.46457 26.91562 106.8398 83.46457 26.91562 106.7926 83.46457 26.9766 106.2609 87.86152 26.91562 106.0718 90.41478 28.03264 106.0718 90.41478 28.03264 106.0718 90.41478 28.03264 29.42876 143.5053 34.95109 31.85826 145.8212 34.07861 31.85826 145.8212 34.07861 29.42876 143.5053 34.95109 31.85826 145.8212 34.07861 29.42876 143.5053 34.95109 33.10079 146.9259 33.15909 33.10079 146.9259 33.15909 33.10079 146.9259 33.15909 34.2628 148.1415 31.18986 34.2628 148.1415 31.18986 34.2628 148.1415 31.18986 36.21973 150.0216 28.88933 36.21973 150.0216 28.88933 36.21973 150.0216 28.88933 39.30662 152.6515 27.30135 39.30662 152.6515 27.30135 39.30662 152.6515 27.30135 4.208499 104.8377 34.92152 4.208499 103.828 35.86244 4.208499 104.8377 34.92152 4.208499 103.828 35.86244 4.208499 104.8377 34.92152 4.208499 103.828 35.86244 4.315853 105.3343 34.2254 4.731541 107.2572 31.52997 4.731541 107.2572 31.52997 4.315853 105.3343 34.2254 4.731541 107.2572 31.52997 4.315853 105.3343 34.2254 5.339298 109.295 29.85735 5.339298 109.295 29.85735 5.339298 109.295 29.85735 6.379796 112.316 28.36501 6.379796 112.316 28.36501 6.379796 112.316 28.36501 8.272616 117.0823 27.78858 8.272616 117.0823 27.78858 8.272616 117.0823 27.78858 10.54085 121.1955 28.40243 10.54085 121.1955 28.40243 10.54085 121.1955 28.40243 13.45461 125.7214 31.89933 12.51267 124.2131 29.65421 13.45461 125.7214 31.89933 12.51267 124.2131 29.65421 13.45461 125.7214 31.89933 12.51267 124.2131 29.65421 13.57658 125.7806 32.36463 13.57658 125.7806 32.36463 13.57658 125.7806 32.36463 14.21466 126.4281 33.22293 14.21466 126.4281 33.22293 14.21466 126.4281 33.22293 15.24156 127.6059 33.97155 15.24156 127.6059 33.97155 15.24156 127.6059 33.97155 16.4163 129.1368 33.97155 16.4163 129.1368 33.97155 16.4163 129.1368 33.97155 17.81733 131.1189 33.24307 17.81733 131.1189 33.24307 17.81733 131.1189 33.24307 19.7325 133.937 31.74017 19.7325 133.937 31.74017 19.7325 133.937 31.74017 22.431 137.5254 31.40621 22.431 137.5254 31.40621 22.431 137.5254 31.40621 24.82171 140.4204 32.43512 24.82171 140.4204 32.43512 24.82171 140.4204 32.43512 5.413595 58.97106 36.69995 4.433602 62.39192 37.68301 4.433602 62.39192 37.68301 5.413595 58.97106 36.69995 4.433602 62.39192 37.68301 5.413595 58.97106 36.69995 4.294105 64.42173 37.99138 4.294105 64.42173 37.99138 4.294105 64.42173 37.99138 3.810894 66.50635 37.48738 3.810894 66.50635 37.48738 3.810894 66.50635 37.48738 3.036121 68.21715 36.16066 3.036121 68.21715 36.16066 3.036121 68.21715 36.16066 2.944439 68.37578 35.6229 2.56822 69.32603 33.71549 1.679535 72.75783 30.39705 0.7428841 77.8218 28.34646 0.7428841 77.8218 28.34646 1.679535 72.75783 30.39705 2.56822 69.32603 33.71549 2.944439 68.37578 35.6229 2.944439 68.37578 35.6229 2.56822 69.32603 33.71549 1.679535 72.75783 30.39705 0.7428841 77.8218 28.34646 0.2156054 84.03891 27.28311 0.1090279 83.46457 27.51831 0.6320966 87.20247 27.28311 0.5725989 87.52606 28.05863 0.5725989 87.52606 28.05863 0.6320966 87.20247 27.28311 0.2156054 84.03891 27.28311 0.1090279 83.46457 27.51831 0.1090279 83.46457 27.51831 0.2156054 84.03891 27.28311 0.6320966 87.20247 27.28311 0.5725989 87.52606 28.05863 1.2117 89.79248 30.64667 1.2117 89.79248 30.64667 1.2117 89.79248 30.64667 3.36418 92.97798 37.27261 2.482183 92.29281 35.36105 3.36418 92.97798 37.27261 2.482183 92.29281 35.36105 3.36418 92.97798 37.27261 2.482183 92.29281 35.36105 3.991392 94.26247 38.37857 3.991392 94.26247 38.37857 3.991392 94.26247 38.37857 4.360981 95.48511 38.88224 4.360981 95.48511 38.88224 4.360981 95.48511 38.88224 4.527544 97.51622 38.6388 4.527544 97.51622 38.6388 4.527544 97.51622 38.6388 4.260894 99.71415 37.29646 4.260894 99.71415 37.29646 4.260894 99.71415 37.29646 26.88176 141.7226 34.61954 26.74842 141.6671 34.4441 26.88176 141.7226 34.61954 26.74842 141.6671 34.4441 26.88176 141.7226 34.61954 26.74842 141.6671 34.4441 27.36032 141.9892 34.81373 27.36032 141.9892 34.81373 27.36032 141.9892 34.81373 42.27879 154.4378 26.3901 45.28443 155.6828 26.3901 45.28443 155.6828 26.3901 42.27879 154.4378 26.3901 45.28443 155.6828 26.3901 42.27879 154.4378 26.3901 49.39748 157.1842 27.82224 49.39748 157.1842 27.82224 49.39748 157.1842 27.82224 52.3814 158.2113 29.30073 52.3814 158.2113 29.30073 52.3814 158.2113 29.30073 55.93169 159.254 32.3287 55.93169 159.254 32.3287 55.93169 159.254 32.3287 58.83477 160.2202 34.00159 58.83477 160.2202 34.00159 58.83477 160.2202 34.00159 60.0927 160.329 34.79239 60.0927 160.329 34.79239 60.0927 160.329 34.79239 67.5727 162.0839 34.30566 67.5727 162.0839 34.30566 67.5727 162.0839 34.30566 68.41846 162.4187 32.60799 68.41846 162.4187 32.60799 68.41846 162.4187 32.60799 72.21202 163.4011 28.93974 72.21202 163.4011 28.93974 72.21202 163.4011 28.93974 73.67715 163.6721 28.34646 75.98506 163.8504 27.39258 78.62652 164.3389 26.32295 78.62652 164.3389 26.32295 75.98506 163.8504 27.39258 73.67715 163.6721 28.34646 73.67715 163.6721 28.34646 75.98506 163.8504 27.39258 78.62652 164.3389 26.32295 83.46457 164.9759 26.32295 83.46457 164.9759 26.32295 83.46457 164.9759 26.32295 87.22503 164.2022 26.34615 83.60284 164.6791 26.34615 87.22503 164.2022 26.34615 83.60284 164.6791 26.34615 83.60284 164.6791 26.34615 87.22503 164.2022 26.34615 126.9729 15.18772 27.02423 126.9548 15.20819 27.02694 126.9729 15.18772 27.02423 126.9548 15.20819 27.02694 126.9548 15.20819 27.02694 126.9729 15.18772 27.02423 124.3279 13.04526 26.33794 124.2213 13.21958 26.3652 124.3279 13.04526 26.33794 124.2213 13.21958 26.3652 124.2213 13.21958 26.3652 124.3279 13.04526 26.33794 118.4389 10.6334 27.3694 117.3707 10.13459 27.76811 118.4389 10.6334 27.3694 117.3707 10.13459 27.76811 118.4389 10.6334 27.3694 117.3707 10.13459 27.76811 121.4062 11.83503 26.33794 124.0818 13.11349 26.35917 121.3521 11.98283 26.35917 124.0818 13.11349 26.35917 121.4062 11.83503 26.33794 121.3521 11.98283 26.35917 124.0818 13.11349 26.35917 121.3521 11.98283 26.35917 121.4062 11.83503 26.33794 116.2986 9.608826 28.34646 114.4435 8.97029 29.26562 116.2986 9.608826 28.34646 114.4435 8.97029 29.26562 116.2986 9.608826 28.34646 114.4435 8.97029 29.26562 110.8933 7.92751 32.29358 110.8933 7.92751 32.29358 110.8933 7.92751 32.29358 108.0074 6.967104 33.95652 108.0074 6.967104 33.95652 108.0074 6.967104 33.95652 106.8364 6.600148 34.79239 106.8364 6.600148 34.79239 106.8364 6.600148 34.79239 102.4093 5.526127 35.91873 102.4093 5.526127 35.91873 102.4093 5.526127 35.91873 54.39891 6.151456 28.79554 54.39891 6.151456 28.79554 54.39891 6.151456 28.79554 57.63415 5.339298 29.85735 57.63415 5.339298 29.85735 57.63415 5.339298 29.85735 49.75298 7.996479 28.23366 49.75298 7.996479 28.23366 49.75298 7.996479 28.23366 45.66309 9.822026 29.16413 45.66309 9.822026 29.16413 45.66309 9.822026 29.16413 61.975 4.604092 33.99864 60.02816 5.02495 31.26968 61.975 4.604092 33.99864 60.02816 5.02495 31.26968 60.02816 5.02495 31.26968 61.975 4.604092 33.99864 62.71523 4.903725 34.43193 62.71523 4.903725 34.43193 62.71523 4.903725 34.43193 63.63117 5.37885 34.96989 64.36991 5.388259 35.2274 65.5193 5.296925 35.68306 67.57136 5.323061 36.39838 67.57136 5.323061 36.39838 65.5193 5.296925 35.68306 64.36991 5.388259 35.2274 63.63117 5.37885 34.96989 67.57136 5.323061 36.39838 65.5193 5.296925 35.68306 64.36991 5.388259 35.2274 63.63117 5.37885 34.96989 82.9396 1.132627 26.46649 79.53933 1.58028 26.46649 82.9396 1.132627 26.46649 79.53933 1.58028 26.46649 82.9396 1.132627 26.46649 79.53933 1.58028 26.46649 76.47734 2.443725 29.963 76.47734 2.443725 29.963 76.47734 2.443725 29.963 74.32435 3.893197 34.7819 74.16466 4.098753 35.2274 74.00881 4.179261 35.68306 73.71411 4.558606 36.50522 73.71411 4.558606 36.50522 74.00881 4.179261 35.68306 74.16466 4.098753 35.2274 74.32435 3.893197 34.7819 74.16466 4.098753 35.2274 74.32435 3.893197 34.7819 74.00881 4.179261 35.68306 73.71411 4.558606 36.50522 72.56241 5.120978 37.49685 72.56241 5.120978 37.49685 72.56241 5.120978 37.49685 71.51834 5.43659 37.92696 71.51834 5.43659 37.92696 71.51834 5.43659 37.92696 69.72165 5.58393 37.71161 69.72165 5.58393 37.71161 69.72165 5.58393 37.71161 101.4346 5.300184 35.68306 100.8928 5.209381 35.53513 101.4346 5.300184 35.68306 100.8928 5.209381 35.53513 101.4346 5.300184 35.68306 100.8928 5.209381 35.53513 99.40306 4.572815 34.36326 100.709 5.164229 35.37599 100.709 5.164229 35.37599 99.40306 4.572815 34.36326 100.709 5.164229 35.37599 99.40306 4.572815 34.36326 98.54683 4.233823 32.64458 98.54683 4.233823 32.64458 98.54683 4.233823 32.64458 94.75335 3.251477 28.97642 94.75335 3.251477 28.97642 94.75335 3.251477 28.97642 88.37086 2.070949 26.3919 88.37086 2.070949 26.3919 88.37086 2.070949 26.3919 83.46457 1.425023 26.3919 83.46457 1.425023 26.3919 83.46457 1.425023 26.3919 45.66416 10.13959 28.74016 45.66416 10.13959 28.74016 45.66416 10.13959 28.74016 42.63417 12.03042 29.85859 41.1618 12.94993 32.05024 41.1618 12.94993 32.05024 42.63417 12.03042 29.85859 41.1618 12.94993 32.05024 42.63417 12.03042 29.85859 41.09558 13.08641 32.57089 41.09558 13.08641 32.57089 41.09558 13.08641 32.57089 40.38261 13.78896 33.51592 40.38261 13.78896 33.51592 40.38261 13.78896 33.51592 39.12957 14.8815 34.31239 39.12957 14.8815 34.31239 39.12957 14.8815 34.31239 37.51305 16.1219 34.31239 37.51305 16.1219 34.31239 37.51305 16.1219 34.31239 35.4839 17.55621 33.5666 35.4839 17.55621 33.5666 35.4839 17.55621 33.5666 32.68982 19.45504 32.07653 32.68982 19.45504 32.07653 32.68982 19.45504 32.07653 29.1807 22.09395 31.74995 29.1807 22.09395 31.74995 29.1807 22.09395 31.74995 26.38292 24.40435 32.74429 26.38292 24.40435 32.74429 26.38292 24.40435 32.74429 24.93988 25.86948 34.91926 24.93988 25.86948 34.91926 24.93988 25.86948 34.91926 24.33849 26.6736 36.07166 24.33849 26.6736 36.07166 24.33849 26.6736 36.07166 24.82031 26.15718 35.29783 24.82031 26.15718 35.29783 24.82031 26.15718 35.29783 20.13646 31.61022 35.27181 22.66255 28.96016 36.22351 20.13646 31.61022 35.27181 22.66255 28.96016 36.22351 20.13646 31.61022 35.27181 22.66255 28.96016 36.22351 18.8101 33.10205 34.1678 18.8101 33.10205 34.1678 18.8101 33.10205 34.1678 17.54073 34.31543 32.11152 17.54073 34.31543 32.11152 17.54073 34.31543 32.11152 15.80903 36.11789 29.99258 15.80903 36.11789 29.99258 15.80903 36.11789 29.99258 13.35288 39.00083 28.50952 13.35288 39.00083 28.50952 13.35288 39.00083 28.50952 12.38845 40.19146 28.20058 12.38845 40.19146 28.20058 12.38845 40.19146 28.20058 11.34203 41.71957 27.43385 11.27677 41.78692 27.5164 11.27677 41.78692 27.5164 11.34203 41.71957 27.43385 11.27677 41.78692 27.5164 11.34203 41.71957 27.43385 9.633015 45.47218 28.34646 8.584404 48.34493 29.34673 6.60291 54.61743 33.71153 7.635838 51.1007 30.71218 5.584658 57.67707 35.47464 5.539161 57.98908 36.06738 5.539161 57.98908 36.06738 5.584658 57.67707 35.47464 6.60291 54.61743 33.71153 7.635838 51.1007 30.71218 8.584404 48.34493 29.34673 9.633015 45.47218 28.34646 9.633015 45.47218 28.34646 8.584404 48.34493 29.34673 7.635838 51.1007 30.71218 6.60291 54.61743 33.71153 5.584658 57.67707 35.47464 5.539161 57.98908 36.06738 24.54725 67.67772 57.62846 24.54725 67.67772 57.62846 24.54725 67.67772 57.62846 37.43566 56.88976 58.66142 41.65889 51.38594 58.66142 42.76854 49.93981 58.66142 42.76854 49.93981 58.66142 41.65889 51.38594 58.66142 37.43566 56.88976 58.66142 37.43566 56.88976 58.66142 41.65889 51.38594 58.66142 42.76854 49.93981 58.66142 51.43014 51.43014 57.62846 54.06303 49.40985 57.62846 54.06303 49.40985 57.62846 51.43014 51.43014 57.62846 51.43014 51.43014 57.62846 54.06303 49.40985 57.62846 64.4685 50.56242 54.59998 64.4685 50.56242 54.59998 64.4685 50.56242 54.59998 75.25646 52.83149 49.78237 75.25646 52.83149 49.78237 75.25646 52.83149 49.78237 83.46457 56.56849 43.50394 83.46457 56.56849 43.50394 83.46457 56.56849 43.50394 89.64196 60.41023 36.19255 89.64196 60.41023 36.19255 89.64196 60.41023 36.19255 99.74353 66.91836 31.39335 99.73416 66.88579 31.54759 99.42327 66.4412 32.79993 98.50986 65.47492 34.41304 96.60215 63.97347 34.64164 95.3303 63.12325 33.87759 95.236 63.07587 33.7257 95.39535 63.1427 34.06277 96.60215 63.97347 34.64164 95.39535 63.1427 34.06277 95.3303 63.12325 33.87759 95.236 63.07587 33.7257 98.50986 65.47492 34.41304 99.42327 66.4412 32.79993 99.73416 66.88579 31.54759 99.74353 66.91836 31.39335 95.236 63.07587 33.7257 95.3303 63.12325 33.87759 95.39535 63.1427 34.06277 96.60215 63.97347 34.64164 98.50986 65.47492 34.41304 99.42327 66.4412 32.79993 99.73416 66.88579 31.54759 99.74353 66.91836 31.39335 99.53071 66.41752 31.11588 99.6772 66.81542 31.47021 101.2549 69.09276 29.11849 101.2549 69.09276 29.11849 99.6772 66.81542 31.47021 99.53071 66.41752 31.11588 101.2549 69.09276 29.11849 99.6772 66.81542 31.47021 99.53071 66.41752 31.11588 103.7863 72.13615 28.03626 102.8554 70.92295 28.03626 103.7863 72.13615 28.03626 102.8554 70.92295 28.03626 102.8554 70.92295 28.03626 103.7863 72.13615 28.03626 104.8497 74.19371 29.53038 104.8497 74.19371 29.53038 104.8497 74.19371 29.53038 106.0401 76.70858 30.58338 106.0401 76.70858 30.58338 106.0401 76.70858 30.58338 106.4729 79.3471 28.03037 106.3932 76.57763 30.19452 106.515 80.80973 26.88742 106.515 80.80973 26.88742 106.4729 79.3471 28.03037 106.3932 76.57763 30.19452 106.3932 76.57763 30.19452 106.4729 79.3471 28.03037 106.515 80.80973 26.88742 106.7847 82.85852 26.88742 106.8449 83.46457 26.91169 106.8449 83.46457 26.91169 106.7847 82.85852 26.88742 106.8449 83.46457 26.91169 106.7847 82.85852 26.88742 22.46887 83.46457 57.62846 23.50806 91.35799 57.62846 23.50806 91.35799 57.62846 22.46887 83.46457 57.62846 22.46887 83.46457 57.62846 23.50806 91.35799 57.62846 28.33662 98.23606 58.14494 32.12599 97.22071 58.66142 32.12599 97.22071 58.66142 28.33662 98.23606 58.14494 32.12599 97.22071 58.66142 28.33662 98.23606 58.14494 44.23057 106.1163 57.62846 44.23057 106.1163 57.62846 44.23057 106.1163 57.62846 56.60008 110.3291 54.59998 57.15479 110.7547 54.59998 60.53429 113.3479 54.59998 60.53429 113.3479 54.59998 57.15479 110.7547 54.59998 56.60008 110.3291 54.59998 56.60008 110.3291 54.59998 60.53429 113.3479 54.59998 57.15479 110.7547 54.59998 67.60772 110.9294 49.78237 67.60772 110.9294 49.78237 67.60772 110.9294 49.78237 76.50335 109.4442 43.50394 76.50335 109.4442 43.50394 76.50335 109.4442 43.50394 83.46457 107.3322 36.19255 83.46457 107.3322 36.19255 83.46457 107.3322 36.19255 89.60147 105.8521 31.35437 89.4682 105.8704 31.09276 90.09162 105.673 31.52374 94.83211 103.3465 28.95438 92.93113 104.3289 30.33481 90.09162 105.673 31.52374 92.93113 104.3289 30.33481 94.83211 103.3465 28.95438 89.60147 105.8521 31.35437 89.4682 105.8704 31.09276 94.83211 103.3465 28.95438 92.93113 104.3289 30.33481 90.09162 105.673 31.52374 89.60147 105.8521 31.35437 89.4682 105.8704 31.09276 95.82058 102.7014 28.50928 95.82058 102.7014 28.50928 95.82058 102.7014 28.50928 94.77634 103.5027 28.50928 94.77634 103.5027 28.50928 94.77634 103.5027 28.50928 101.8122 98.41984 33.84023 101.8122 98.41984 33.84023 101.8122 98.41984 33.84023 100.9936 99.19365 32.47367 100.9936 99.19365 32.47367 100.9936 99.19365 32.47367 100.9537 99.51217 30.79053 98.12059 101.3381 28.67527 100.9537 99.51217 30.79053 98.12059 101.3381 28.67527 100.9537 99.51217 30.79053 98.12059 101.3381 28.67527 105.3858 93.01088 30.78828 105.3858 93.01088 30.78828 105.3858 93.01088 30.78828 104.4532 95.82329 32.43286 104.4532 95.82329 32.43286 104.4532 95.82329 32.43286 104.2793 96.38055 32.83592 104.2793 96.38055 32.83592 104.2793 96.38055 32.83592 103.3105 97.04593 33.61293 103.3105 97.04593 33.61293 103.3105 97.04593 33.61293 106.6691 87.97148 26.59405 107.2625 83.46457 26.59405 107.1653 83.46457 26.66796 107.1653 83.46457 26.66796 107.2625 83.46457 26.59405 106.6691 87.97148 26.59405 107.2625 83.46457 26.59405 107.1653 83.46457 26.66796 106.6691 87.97148 26.59405 106.47 90.66057 27.7705 106.47 90.66057 27.7705 106.47 90.66057 27.7705 29.7185 143.1235 34.72898 32.11992 145.4126 33.86658 32.11992 145.4126 33.86658 29.7185 143.1235 34.72898 32.11992 145.4126 33.86658 29.7185 143.1235 34.72898 33.32086 146.4803 32.97784 33.32086 146.4803 32.97784 33.32086 146.4803 32.97784 34.47604 147.6888 31.02019 34.47604 147.6888 31.02019 34.47604 147.6888 31.02019 36.45349 149.5886 28.69553 36.45349 149.5886 28.69553 36.45349 149.5886 28.69553 39.56749 152.2416 27.09361 39.56749 152.2416 27.09361 39.56749 152.2416 27.09361 4.50454 104.4936 34.64416 4.50454 103.5984 35.47836 4.50454 104.4936 34.64416 4.50454 103.5984 35.47836 4.50454 104.4936 34.64416 4.50454 103.5984 35.47836 4.604092 104.9541 33.99864 5.02495 106.901 31.26968 5.02495 106.901 31.26968 4.604092 104.9541 33.99864 5.02495 106.901 31.26968 4.604092 104.9541 33.99864 5.649781 108.996 29.55007 5.649781 108.996 29.55007 5.649781 108.996 29.55007 6.714904 112.0885 28.02241 6.714904 112.0885 28.02241 6.714904 112.0885 28.02241 8.643156 116.944 27.43519 8.643156 116.944 27.43519 8.643156 116.944 27.43519 10.99844 121.0623 28.17394 10.99844 121.0623 28.17394 10.99844 121.0623 28.17394 13.03923 124.1247 29.6825 12.98721 124.0413 29.5585 13.08139 124.1656 29.74796 13.94321 125.5455 31.80209 13.94321 125.5455 31.80209 13.08139 124.1656 29.74796 13.03923 124.1247 29.6825 12.98721 124.0413 29.5585 12.98721 124.0413 29.5585 13.03923 124.1247 29.6825 13.08139 124.1656 29.74796 13.94321 125.5455 31.80209 14.05163 125.5982 32.21569 14.05163 125.5982 32.21569 14.05163 125.5982 32.21569 14.65337 126.2088 33.02512 14.65337 126.2088 33.02512 14.65337 126.2088 33.02512 15.64329 127.3442 33.74678 15.64329 127.3442 33.74678 15.64329 127.3442 33.74678 16.78103 128.8269 33.74678 16.78103 128.8269 33.74678 16.78103 128.8269 33.74678 18.1633 130.7824 33.02805 18.1633 130.7824 33.02805 18.1633 130.7824 33.02805 20.08769 133.6141 31.51792 20.08769 133.6141 31.51792 20.08769 133.6141 31.51792 22.81976 137.2471 31.17981 22.81976 137.2471 31.17981 22.81976 137.2471 31.17981 25.25572 140.1969 32.22819 25.25572 140.1969 32.22819 25.25572 140.1969 32.22819 5.394651 59.18937 36.21307 4.444451 62.50623 37.16624 4.444451 62.50623 37.16624 5.394651 59.18937 36.21307 4.444451 62.50623 37.16624 5.394651 59.18937 36.21307 4.31412 64.40267 37.45435 4.31412 64.40267 37.45435 4.31412 64.40267 37.45435 3.875696 66.29407 36.99706 3.875696 66.29407 36.99706 3.875696 66.29407 36.99706 2.996315 68.23585 35.49122 2.996315 68.23585 35.49122 2.996315 68.23585 35.49122 2.62253 69.17996 33.59614 2.62253 69.17996 33.59614 2.62253 69.17996 33.59614 1.721505 72.65941 30.23163 1.721505 72.65941 30.23163 1.721505 72.65941 30.23163 0.772304 77.79123 28.15356 0.772304 77.79123 28.15356 0.772304 77.79123 28.15356 0.753426 78.56988 27.51831 0.753426 78.56988 27.51831 0.753426 78.56988 27.51831 0.303509 83.98954 27.11565 0.303509 83.98954 27.11565 0.303509 83.98954 27.11565 0.7338879 87.25859 27.11565 0.7338879 87.25859 27.11565 0.7338879 87.25859 27.11565 1.538442 90.11174 30.37369 1.538442 90.11174 30.37369 1.538442 90.11174 30.37369 3.740844 93.17093 36.94888 2.903642 92.52056 35.13441 3.740844 93.17093 36.94888 2.903642 92.52056 35.13441 3.740844 93.17093 36.94888 2.903642 92.52056 35.13441 4.328172 94.37374 37.98452 4.328172 94.37374 37.98452 4.328172 94.37374 37.98452 4.664559 95.48654 38.44294 4.664559 95.48654 38.44294 4.664559 95.48654 38.44294 4.819297 97.37345 38.21678 4.819297 97.37345 38.21678 4.819297 97.37345 38.21678 4.556203 99.54207 36.89234 4.556203 99.54207 36.89234 4.556203 99.54207 36.89234 27.21902 141.3683 34.41465 27.14576 141.3379 34.31826 27.21902 141.3683 34.41465 27.14576 141.3379 34.31826 27.21902 141.3683 34.41465 27.14576 141.3379 34.31826 27.65615 141.6119 34.59202 27.65615 141.6119 34.59202 27.65615 141.6119 34.59202 42.54248 153.9799 26.32291 45.48476 155.1987 26.32291 45.48476 155.1987 26.32291 42.54248 153.9799 26.32291 45.48476 155.1987 26.32291 42.54248 153.9799 26.32291 48.49025 156.2957 27.3694 49.55848 156.7945 27.76811 49.55848 156.7945 27.76811 48.49025 156.2957 27.3694 48.49025 156.2957 27.3694 49.55848 156.7945 27.76811 50.63052 157.3203 28.34646 52.4856 157.9588 29.26562 52.4856 157.9588 29.26562 50.63052 157.3203 28.34646 50.63052 157.3203 28.34646 52.4856 157.9588 29.26562 56.03587 159.0016 32.29358 56.03587 159.0016 32.29358 56.03587 159.0016 32.29358 58.92169 159.962 33.95652 58.92169 159.962 33.95652 58.92169 159.962 33.95652 78.6466 164.2293 26.3376 78.67605 164.0686 26.35909 78.67605 164.0686 26.35909 78.6466 164.2293 26.3376 78.67605 164.0686 26.35909 78.6466 164.2293 26.3376 83.40667 164.6914 26.35909 83.40667 164.6914 26.35909 83.40667 164.6914 26.35909 54.61315 6.379796 28.36501 54.61315 6.379796 28.36501 54.61315 6.379796 28.36501 57.93316 5.649781 29.55007 57.93316 5.649781 29.55007 57.93316 5.649781 29.55007 49.84687 8.272616 27.78858 49.84687 8.272616 27.78858 49.84687 8.272616 27.78858 62.28927 4.995808 33.83484 60.3285 5.41968 31.08635 62.28927 4.995808 33.83484 60.3285 5.41968 31.08635 60.3285 5.41968 31.08635 62.28927 4.995808 33.83484 62.91154 5.37885 34.2993 62.91154 5.37885 34.2993 62.91154 5.37885 34.2993 63.638 5.449113 34.95774 63.638 5.449113 34.95774 63.638 5.449113 34.95774 79.57158 2.088707 26.32267 83.07336 1.627689 26.32267 83.07336 1.627689 26.32267 79.57158 2.088707 26.32267 83.07336 1.627689 26.32267 79.57158 2.088707 26.32267 76.47972 2.960572 29.85328 76.47972 2.960572 29.85328 76.47972 2.960572 29.85328 74.35955 4.011282 34.75788 74.35955 4.011282 34.75788 74.35955 4.011282 34.75788 99.35644 4.845252 34.30566 99.35644 4.845252 34.30566 99.35644 4.845252 34.30566 98.51068 4.510403 32.60799 98.51068 4.510403 32.60799 98.51068 4.510403 32.60799 94.71711 3.528037 28.93974 94.71711 3.528037 28.93974 94.71711 3.528037 28.93974 90.94408 3.07878 27.39258 88.30261 2.590205 26.32295 93.25199 3.257042 28.34646 93.25199 3.257042 28.34646 90.94408 3.07878 27.39258 88.30261 2.590205 26.32295 93.25199 3.257042 28.34646 90.94408 3.07878 27.39258 88.30261 2.590205 26.32295 83.46457 1.953264 26.32295 83.46457 1.953264 26.32295 83.46457 1.953264 26.32295 45.73364 10.54085 28.40243 45.73364 10.54085 28.40243 45.73364 10.54085 28.40243 42.71603 12.51267 29.65421 41.20775 13.45461 31.89933 41.20775 13.45461 31.89933 42.71603 12.51267 29.65421 41.20775 13.45461 31.89933 42.71603 12.51267 29.65421 41.14856 13.57658 32.36463 41.14856 13.57658 32.36463 41.14856 13.57658 32.36463 40.50103 14.21466 33.22293 40.50103 14.21466 33.22293 40.50103 14.21466 33.22293 39.32326 15.24156 33.97155 39.32326 15.24156 33.97155 39.32326 15.24156 33.97155 37.7923 16.4163 33.97155 37.7923 16.4163 33.97155 37.7923 16.4163 33.97155 35.81025 17.81733 33.24307 35.81025 17.81733 33.24307 35.81025 17.81733 33.24307 32.99211 19.7325 31.74017 32.99211 19.7325 31.74017 32.99211 19.7325 31.74017 29.40376 22.431 31.40621 29.40376 22.431 31.40621 29.40376 22.431 31.40621 26.50874 24.82171 32.43512 26.50874 24.82171 32.43512 26.50874 24.82171 32.43512 25.03981 26.31311 34.64909 25.03981 26.31311 34.64909 25.03981 26.31311 34.64909 24.43325 26.85172 35.57965 24.43325 26.85172 35.57965 24.43325 26.85172 35.57965 24.954 26.51959 34.92078 24.954 26.51959 34.92078 24.954 26.51959 34.92078 22.83213 29.03621 35.72471 20.39359 31.59442 34.80601 22.83213 29.03621 35.72471 20.39359 31.59442 34.80601 20.39359 31.59442 34.80601 22.83213 29.03621 35.72471 19.155 32.98753 33.77505 19.155 32.98753 33.77505 19.155 32.98753 33.77505 17.90786 34.17966 31.75478 17.90786 34.17966 31.75478 17.90786 34.17966 31.75478 16.11479 36.04601 29.56073 16.11479 36.04601 29.56073 16.11479 36.04601 29.56073 13.58676 39.0133 28.03428 13.58676 39.0133 28.03428 13.58676 39.0133 28.03428 11.38431 41.73233 27.32877 11.38431 41.73233 27.32877 11.38431 41.73233 27.32877 10.09405 44.64227 27.5164 9.649359 45.50098 28.14635 9.649359 45.50098 28.14635 10.09405 44.64227 27.5164 10.09405 44.64227 27.5164 9.649359 45.50098 28.14635 10.15571 44.69843 27.32877 10.15571 44.69843 27.32877 10.15571 44.69843 27.32877 8.583266 48.42162 29.1633 8.583266 48.42162 29.1633 8.583266 48.42162 29.1633 7.624102 51.20817 30.544 7.624102 51.20817 30.544 7.624102 51.20817 30.544 6.589843 54.72944 33.54722 6.589843 54.72944 33.54722 6.589843 54.72944 33.54722 5.575025 57.77876 35.30438 5.575025 57.77876 35.30438 5.575025 57.77876 35.30438 32.12599 69.70845 58.66142 34.78082 63.2991 58.66142 34.78082 63.2991 58.66142 32.12599 69.70845 58.66142 32.12599 69.70845 58.66142 34.78082 63.2991 58.66142 44.23057 60.81281 57.62846 44.23057 60.81281 57.62846 44.23057 60.81281 57.62846 56.60008 56.60008 54.59998 56.60008 56.60008 54.59998 56.60008 56.60008 54.59998 67.60772 55.9997 49.78237 71.43209 54.4156 49.78237 71.43209 54.4156 49.78237 67.60772 55.9997 49.78237 67.60772 55.9997 49.78237 71.43209 54.4156 49.78237 76.50335 57.48495 43.50394 76.50335 57.48495 43.50394 76.50335 57.48495 43.50394 83.46457 59.59696 36.19255 83.46457 59.59696 36.19255 83.46457 59.59696 36.19255 89.54187 61.36176 29.16407 89.39471 61.33298 28.93636 92.04323 62.02275 31.81914 94.95038 62.98676 33.51912 94.95038 62.98676 33.51912 92.04323 62.02275 31.81914 89.54187 61.36176 29.16407 89.39471 61.33298 28.93636 89.39471 61.33298 28.93636 89.54187 61.36176 29.16407 92.04323 62.02275 31.81914 94.95038 62.98676 33.51912 95.73727 63.11083 33.52206 95.21012 62.94634 33.14078 95.44742 63.1598 33.96231 95.44742 63.1598 33.96231 95.73727 63.11083 33.52206 95.21012 62.94634 33.14078 95.44742 63.1598 33.96231 95.21012 62.94634 33.14078 95.73727 63.11083 33.52206 96.62477 63.97029 34.52704 96.62477 63.97029 34.52704 96.62477 63.97029 34.52704 98.47568 65.42704 34.30524 98.47568 65.42704 34.30524 98.47568 65.42704 34.30524 99.36196 66.36461 32.74007 99.36196 66.36461 32.74007 99.36196 66.36461 32.74007 99.19365 65.9355 32.47367 99.19365 65.9355 32.47367 99.19365 65.9355 32.47367 101.3381 68.80857 28.67527 99.51217 65.97544 30.79053 101.3381 68.80857 28.67527 99.51217 65.97544 30.79053 99.51217 65.97544 30.79053 101.3381 68.80857 28.67527 103.1069 70.67652 27.64021 104.1524 72.0391 27.64021 104.1524 72.0391 27.64021 103.1069 70.67652 27.64021 103.1069 70.67652 27.64021 104.1524 72.0391 27.64021 105.259 74.18032 29.19508 105.259 74.18032 29.19508 105.259 74.18032 29.19508 106.3912 76.57196 30.19648 106.3912 76.57196 30.19648 106.3912 76.57196 30.19648 106.8811 79.13344 27.77199 106.4381 76.5531 30.16688 106.8019 76.38171 29.92228 106.9252 80.66608 26.57433 106.9252 80.66608 26.57433 106.8811 79.13344 27.77199 106.4381 76.5531 30.16688 106.8019 76.38171 29.92228 106.4381 76.5531 30.16688 106.8019 76.38171 29.92228 106.8811 79.13344 27.77199 106.9252 80.66608 26.57433 107.256 83.17837 26.57433 107.155 83.09192 26.63969 107.272 83.46457 26.59015 107.155 83.09192 26.63969 107.272 83.46457 26.59015 107.256 83.17837 26.57433 107.272 83.46457 26.59015 107.256 83.17837 26.57433 107.155 83.09192 26.63969 30.31496 83.46457 58.66142 31.22048 90.34263 58.66142 31.22048 90.34263 58.66142 30.31496 83.46457 58.66142 30.31496 83.46457 58.66142 31.22048 90.34263 58.66142 39.70473 95.18998 57.62846 42.96056 103.0503 57.62846 42.96056 103.0503 57.62846 39.70473 95.18998 57.62846 39.70473 95.18998 57.62846 42.96056 103.0503 57.62846 50.56242 102.4606 54.59998 50.56242 102.4606 54.59998 50.56242 102.4606 54.59998 61.0396 105.8895 49.78237 61.0396 105.8895 49.78237 61.0396 105.8895 49.78237 70.01654 106.7573 43.50394 70.01654 106.7573 43.50394 70.01654 106.7573 43.50394 77.28718 106.5189 36.19255 77.28718 106.5189 36.19255 77.28718 106.5189 36.19255 85.95375 105.9715 28.34646 83.46457 106.2992 28.34646 85.95375 105.9715 28.34646 83.46457 106.2992 28.34646 83.46457 106.2992 28.34646 85.95375 105.9715 28.34646 92.80466 104.5217 29.94104 92.80466 104.5217 29.94104 92.80466 104.5217 29.94104 90.12796 105.7887 31.0618 90.12796 105.7887 31.0618 90.12796 105.7887 31.0618 89.82872 105.8981 30.9584 89.82872 105.8981 30.9584 89.82872 105.8981 30.9584 87.0044 105.9794 28.75139 86.0349 106.0073 27.99379 87.0044 105.9794 28.75139 86.0349 106.0073 27.99379 87.0044 105.9794 28.75139 86.0349 106.0073 27.99379 96.00619 102.8554 28.03626 96.00619 102.8554 28.03626 96.00619 102.8554 28.03626 94.79298 103.7863 28.03626 94.79298 103.7863 28.03626 94.79298 103.7863 28.03626 102.1892 98.4706 33.44221 102.1892 98.4706 33.44221 102.1892 98.4706 33.44221 101.4672 99.15313 32.23685 101.4672 99.15313 32.23685 101.4672 99.15313 32.23685 101.4098 99.62281 30.51633 98.44512 101.5335 28.30283 101.4098 99.62281 30.51633 98.44512 101.5335 28.30283 101.4098 99.62281 30.51633 98.44512 101.5335 28.30283 105.7725 93.30004 30.57215 105.7725 93.30004 30.57215 105.7725 93.30004 30.57215 104.8452 96.09654 32.20743 104.8452 96.09654 32.20743 104.8452 96.09654 32.20743 104.66 96.69013 32.63677 104.66 96.69013 32.63677 104.66 96.69013 32.63677 103.6233 97.33346 33.293 103.6233 97.33346 33.293 103.6233 97.33346 33.293 107.1492 88.06383 26.3919 107.7547 83.46457 26.3919 107.5923 83.46457 26.4586 107.5923 83.46457 26.4586 107.7547 83.46457 26.3919 107.1492 88.06383 26.3919 107.7547 83.46457 26.3919 107.5923 83.46457 26.4586 107.1492 88.06383 26.3919 106.9431 90.84694 27.60948 106.9431 90.84694 27.60948 106.9431 90.84694 27.60948 29.76971 143.06 34.71497 32.31901 145.1647 33.81216 32.31901 145.1647 33.81216 29.76971 143.06 34.71497 29.76971 143.06 34.71497 32.31901 145.1647 33.81216 33.51091 146.2244 32.93011 33.51091 146.2244 32.93011 33.51091 146.2244 32.93011 34.66574 147.4325 30.97306 34.66574 147.4325 30.97306 34.66574 147.4325 30.97306 36.64426 149.3333 28.64714 36.64426 149.3333 28.64714 36.64426 149.3333 28.64714 37.22876 149.8313 28.34646 38.83628 150.934 27.55128 39.88242 151.8252 27.01312 39.88242 151.8252 27.01312 38.83628 150.934 27.55128 37.22876 149.8313 28.34646 37.22876 149.8313 28.34646 38.83628 150.934 27.55128 39.88242 151.8252 27.01312 4.903725 104.2139 34.43193 4.903725 103.4176 35.17393 4.903725 104.2139 34.43193 4.903725 103.4176 35.17393 4.903725 104.2139 34.43193 4.903725 103.4176 35.17393 4.995808 104.6399 33.83484 5.41968 106.6006 31.08635 5.41968 106.6006 31.08635 4.995808 104.6399 33.83484 5.41968 106.6006 31.08635 4.995808 104.6399 33.83484 6.054464 108.729 29.33934 6.054464 108.729 29.33934 6.054464 108.729 29.33934 7.133942 111.8632 27.7911 7.133942 111.8632 27.7911 7.133942 111.8632 27.7911 9.082848 116.7707 27.19758 9.082848 116.7707 27.19758 9.082848 116.7707 27.19758 11.4812 120.8746 28.07029 11.7059 121.3421 28.28995 11.74736 121.4615 28.34646 11.74736 121.4615 28.34646 11.7059 121.3421 28.28995 11.4812 120.8746 28.07029 11.7059 121.3421 28.28995 11.4812 120.8746 28.07029 11.74736 121.4615 28.34646 14.29358 125.3112 31.77263 14.29358 125.3112 31.77263 14.29358 125.3112 31.77263 14.39268 125.3593 32.15071 14.39268 125.3593 32.15071 14.39268 125.3593 32.15071 14.98987 125.9653 32.954 14.98987 125.9653 32.954 14.98987 125.9653 32.954 15.97515 127.0953 33.67228 15.97515 127.0953 33.67228 15.97515 127.0953 33.67228 17.10826 128.572 33.67228 17.10826 128.572 33.67228 17.10826 128.572 33.67228 18.48817 130.5242 32.95477 18.48817 130.5242 32.95477 18.48817 130.5242 32.95477 20.41371 133.3576 31.44374 20.41371 133.3576 31.44374 20.41371 133.3576 31.44374 23.15 136.9962 31.10511 23.15 136.9962 31.10511 23.15 136.9962 31.10511 25.59163 139.9529 32.15593 25.59163 139.9529 32.15593 25.59163 139.9529 32.15593 26.28918 140.64 33.19144 26.65639 140.8559 33.59179 26.65639 140.8559 33.59179 26.28918 140.64 33.19144 26.28918 140.64 33.19144 26.65639 140.8559 33.59179 5.510974 59.42518 35.75041 4.590367 62.63874 36.6739 4.590367 62.63874 36.6739 5.510974 59.42518 35.75041 4.590367 62.63874 36.6739 5.510974 59.42518 35.75041 4.469005 64.40467 36.94218 4.469005 64.40467 36.94218 4.469005 64.40467 36.94218 4.068531 66.13235 36.52447 4.068531 66.13235 36.52447 4.068531 66.13235 36.52447 3.260209 67.91723 35.14031 3.260209 67.91723 35.14031 3.260209 67.91723 35.14031 2.894455 68.84105 33.28596 2.894455 68.84105 33.28596 2.894455 68.84105 33.28596 1.963255 72.43703 29.80877 1.963255 72.43703 29.80877 1.963255 72.43703 29.80877 0.8331768 78.54676 27.3347 0.8331768 78.54676 27.3347 0.8331768 78.54676 27.3347 0.1857354 83.46457 27.3347 0.1857354 83.46457 27.3347 0.1857354 83.46457 27.3347 1.118176 87.35604 26.73696 0.674967 83.98954 26.73696 1.118176 87.35604 26.73696 0.674967 83.98954 26.73696 0.674967 83.98954 26.73696 1.118176 87.35604 26.73696 1.958663 90.33662 30.1405 1.958663 90.33662 30.1405 1.958663 90.33662 30.1405 4.184976 93.24849 36.67085 3.384912 92.62696 34.93687 4.184976 93.24849 36.67085 3.384912 92.62696 34.93687 4.184976 93.24849 36.67085 3.384912 92.62696 34.93687 4.749934 94.40548 37.66704 4.749934 94.40548 37.66704 4.749934 94.40548 37.66704 5.067699 95.45669 38.10009 5.067699 95.45669 38.10009 5.067699 95.45669 38.10009 5.215805 97.26272 37.88362 5.215805 97.26272 37.88362 5.215805 97.26272 37.88362 4.954706 99.4149 36.56923 4.954706 99.4149 36.56923 4.954706 99.4149 36.56923 27.25699 141.1993 34.3055 27.31244 141.2289 34.38412 27.31244 141.2289 34.38412 27.25699 141.1993 34.3055 27.25699 141.1993 34.3055 27.31244 141.2289 34.38412 27.72415 141.5141 34.57109 27.72415 141.5141 34.57109 27.72415 141.5141 34.57109 42.60122 153.8839 26.33794 42.84735 153.8156 26.35917 42.7078 153.7096 26.3652 45.57699 154.9463 26.35917 45.52298 155.0941 26.33794 45.52298 155.0941 26.33794 45.57699 154.9463 26.35917 42.84735 153.8156 26.35917 42.7078 153.7096 26.3652 42.60122 153.8839 26.33794 42.60122 153.8839 26.33794 42.7078 153.7096 26.3652 42.84735 153.8156 26.35917 45.57699 154.9463 26.35917 45.52298 155.0941 26.33794 83.46457 164.6973 26.34615 83.40667 164.6914 26.35909 83.40667 164.6914 26.35909 83.46457 164.6973 26.34615 83.46457 164.6973 26.34615 54.84067 6.714904 28.02241 54.84067 6.714904 28.02241 54.84067 6.714904 28.02241 58.20012 6.054464 29.33934 58.20012 6.054464 29.33934 58.20012 6.054464 29.33934 49.98517 8.643156 27.43519 49.98517 8.643156 27.43519 49.98517 8.643156 27.43519 62.55818 5.44087 33.81531 62.61712 5.442497 33.8866 60.54622 5.875807 30.99506 62.55818 5.44087 33.81531 60.54622 5.875807 30.99506 62.61712 5.442497 33.8866 62.61712 5.442497 33.8866 62.55818 5.44087 33.81531 60.54622 5.875807 30.99506 62.9262 5.455285 34.29282 62.9262 5.455285 34.29282 62.9262 5.455285 34.29282 79.66762 2.60881 26.31531 83.10848 2.155812 26.31531 83.10848 2.155812 26.31531 79.66762 2.60881 26.31531 83.10848 2.155812 26.31531 79.66762 2.60881 26.31531 79.24531 2.727897 26.79755 77.82042 2.71157 28.34646 76.50798 3.081664 29.84515 76.50798 3.081664 29.84515 77.82042 2.71157 28.34646 79.24531 2.727897 26.79755 79.24531 2.727897 26.79755 77.82042 2.71157 28.34646 76.50798 3.081664 29.84515 88.28253 2.69981 26.3376 88.25309 2.860566 26.35909 88.28253 2.69981 26.3376 88.25309 2.860566 26.35909 88.25309 2.860566 26.35909 88.28253 2.69981 26.3376 83.52246 2.237768 26.35909 83.52246 2.237768 26.35909 83.52246 2.237768 26.35909 45.8668 10.99844 28.17394 45.8668 10.99844 28.17394 45.8668 10.99844 28.17394 42.88779 12.98721 29.5585 42.80448 13.03923 29.6825 42.76357 13.08139 29.74796 41.3836 13.94321 31.80209 41.3836 13.94321 31.80209 42.76357 13.08139 29.74796 42.80448 13.03923 29.6825 42.88779 12.98721 29.5585 42.88779 12.98721 29.5585 42.80448 13.03923 29.6825 42.76357 13.08139 29.74796 41.3836 13.94321 31.80209 41.33098 14.05163 32.21569 41.33098 14.05163 32.21569 41.33098 14.05163 32.21569 40.72033 14.65337 33.02512 40.72033 14.65337 33.02512 40.72033 14.65337 33.02512 39.58498 15.64329 33.74678 39.58498 15.64329 33.74678 39.58498 15.64329 33.74678 38.10223 16.78103 33.74678 38.10223 16.78103 33.74678 38.10223 16.78103 33.74678 36.14672 18.1633 33.02805 36.14672 18.1633 33.02805 36.14672 18.1633 33.02805 33.31502 20.08769 31.51792 33.31502 20.08769 31.51792 33.31502 20.08769 31.51792 29.68202 22.81976 31.17981 29.68202 22.81976 31.17981 29.68202 22.81976 31.17981 26.7322 25.25572 32.22819 26.7322 25.25572 32.22819 26.7322 25.25572 32.22819 25.262 26.74842 34.4441 25.262 26.74842 34.4441 25.262 26.74842 34.4441 24.63838 27.08595 35.15059 24.63838 27.08595 35.15059 24.63838 27.08595 35.15059 25.20658 26.88176 34.61954 25.20658 26.88176 34.61954 25.20658 26.88176 34.61954 23.09178 29.19604 35.29072 20.72496 31.67902 34.39903 23.09178 29.19604 35.29072 20.72496 31.67902 34.39903 20.72496 31.67902 34.39903 23.09178 29.19604 35.29072 19.56197 32.9871 33.431 19.56197 32.9871 33.431 19.56197 32.9871 33.431 18.33316 34.16171 31.44042 18.33316 34.16171 31.44042 18.33316 34.16171 31.44042 16.48947 36.08074 29.18444 16.48947 36.08074 29.18444 16.48947 36.08074 29.18444 13.90217 39.1176 27.6222 13.90217 39.1176 27.6222 13.90217 39.1176 27.6222 11.68125 41.85942 26.91077 11.68125 41.85942 26.91077 11.68125 41.85942 26.91077 8.710295 48.65824 28.70755 8.710295 48.65824 28.70755 8.710295 48.65824 28.70755 10.43117 44.8774 26.91077 10.43117 44.8774 26.91077 10.43117 44.8774 26.91077 7.72586 51.51822 30.12463 7.72586 51.51822 30.12463 7.72586 51.51822 30.12463 6.688431 55.05028 33.13706 6.688431 55.05028 33.13706 6.688431 55.05028 33.13706 5.684759 58.0661 34.87492 5.684759 58.0661 34.87492 5.684759 58.0661 34.87492 39.70473 71.73915 57.62846 39.70473 71.73915 57.62846 39.70473 71.73915 57.62846 50.56242 64.4685 54.59998 53.58125 60.53429 54.59998 56.17443 57.15479 54.59998 56.17443 57.15479 54.59998 53.58125 60.53429 54.59998 50.56242 64.4685 54.59998 50.56242 64.4685 54.59998 53.58125 60.53429 54.59998 56.17443 57.15479 54.59998 61.0396 61.0396 49.78237 64.32366 58.51965 49.78237 64.32366 58.51965 49.78237 61.0396 61.0396 49.78237 61.0396 61.0396 49.78237 64.32366 58.51965 49.78237 70.01654 60.17188 43.50394 70.01654 60.17188 43.50394 70.01654 60.17188 43.50394 77.28718 60.41023 36.19255 77.28718 60.41023 36.19255 77.28718 60.41023 36.19255 83.46457 60.62992 28.34646 88.04634 61.23312 28.34646 83.46457 60.62992 28.34646 88.04634 61.23312 28.34646 83.46457 60.62992 28.34646 88.04634 61.23312 28.34646 89.81482 61.32718 28.78315 88.11111 61.20101 28.0378 89.81482 61.32718 28.78315 88.11111 61.20101 28.0378 89.81482 61.32718 28.78315 88.11111 61.20101 28.0378 92.33779 61.99388 31.46116 92.33779 61.99388 31.46116 92.33779 61.99388 31.46116 96.05554 62.93688 33.13787 95.52095 62.77007 32.7512 96.05554 62.93688 33.13787 95.52095 62.77007 32.7512 95.52095 62.77007 32.7512 96.05554 62.93688 33.13787 96.8042 63.84532 34.03384 96.8042 63.84532 34.03384 96.8042 63.84532 34.03384 98.41984 65.11689 33.84023 98.41984 65.11689 33.84023 98.41984 65.11689 33.84023 99.15313 65.46199 32.23685 99.15313 65.46199 32.23685 99.15313 65.46199 32.23685 101.5335 68.48401 28.30283 99.62281 65.51931 30.51633 101.5335 68.48401 28.30283 99.62281 65.51931 30.51633 99.62281 65.51931 30.51633 101.5335 68.48401 28.30283 103.4388 70.38605 27.34812 104.5761 71.86827 27.34812 104.5761 71.86827 27.34812 103.4388 70.38605 27.34812 103.4388 70.38605 27.34812 104.5761 71.86827 27.34812 105.7219 74.08523 28.95801 105.7219 74.08523 28.95801 105.7219 74.08523 28.95801 106.8085 76.38083 29.91919 106.8085 76.38083 29.91919 106.8085 76.38083 29.91919 107.276 76.19809 29.79232 107.4072 80.55804 26.38203 107.2824 76.22069 29.77138 107.3621 78.9906 27.60689 107.3621 78.9906 27.60689 107.2824 76.22069 29.77138 107.4072 80.55804 26.38203 107.276 76.19809 29.79232 107.276 76.19809 29.79232 107.2824 76.22069 29.77138 107.3621 78.9906 27.60689 107.4072 80.55804 26.38203 107.761 83.24522 26.38203 107.5688 83.13127 26.45071 107.7693 83.46457 26.38999 107.5688 83.13127 26.45071 107.7693 83.46457 26.38999 107.761 83.24522 26.38203 107.7693 83.46457 26.38999 107.761 83.24522 26.38203 107.5688 83.13127 26.45071 38.16105 83.46457 57.62846 39.27155 91.89968 57.62846 39.27155 91.89968 57.62846 38.16105 83.46457 57.62846 38.16105 83.46457 57.62846 39.27155 91.89968 57.62846 46.76699 93.29766 54.59998 46.76699 93.29766 54.59998 46.76699 93.29766 54.59998 55.9997 99.32141 49.78237 55.9997 99.32141 49.78237 55.9997 99.32141 49.78237 67.23136 104.6201 43.50394 64.44617 102.483 43.50394 67.23136 104.6201 43.50394 64.44617 102.483 43.50394 64.44617 102.483 43.50394 67.23136 104.6201 43.50394 71.53077 104.1345 36.19255 71.53077 104.1345 36.19255 71.53077 104.1345 36.19255 77.53443 105.5962 28.93636 78.88282 105.696 28.34646 77.53443 105.5962 28.93636 78.88282 105.696 28.34646 78.88282 105.696 28.34646 77.53443 105.5962 28.93636 83.7463 106.3597 27.60554 85.83391 106.0848 27.60554 83.46457 106.3942 27.62483 83.46457 106.3942 27.62483 83.7463 106.3597 27.60554 85.83391 106.0848 27.60554 85.83391 106.0848 27.60554 83.7463 106.3597 27.60554 83.46457 106.3942 27.62483 92.73545 104.8497 29.53038 92.73545 104.8497 29.53038 92.73545 104.8497 29.53038 90.22055 106.0401 30.58338 90.22055 106.0401 30.58338 90.22055 106.0401 30.58338 90.09719 106.0852 30.54075 90.09719 106.0852 30.54075 90.09719 106.0852 30.54075 87.31214 106.1653 28.36442 85.94995 106.2045 27.29996 87.31214 106.1653 28.36442 85.94995 106.2045 27.29996 85.94995 106.2045 27.29996 87.31214 106.1653 28.36442 96.25262 103.1069 27.64021 96.25262 103.1069 27.64021 96.25262 103.1069 27.64021 94.89003 104.1524 27.64021 94.89003 104.1524 27.64021 94.89003 104.1524 27.64021 102.6072 98.62449 33.13829 102.6072 98.62449 33.13829 102.6072 98.62449 33.13829 101.9528 99.24314 32.04574 101.9528 99.24314 32.04574 101.9528 99.24314 32.04574 101.8489 99.85511 30.31197 98.78789 101.8279 28.02655 101.8489 99.85511 30.31197 98.78789 101.8279 28.02655 101.8489 99.85511 30.31197 98.78789 101.8279 28.02655 106.2151 93.52096 30.46252 106.7419 91.52742 28.34646 106.7803 91.46297 28.26336 106.7803 91.46297 28.26336 106.7419 91.52742 28.34646 106.2151 93.52096 30.46252 106.7803 91.46297 28.26336 106.7419 91.52742 28.34646 106.2151 93.52096 30.46252 105.2394 96.28855 32.10771 105.3583 96.1049 31.9735 105.3583 96.1049 31.9735 105.2394 96.28855 32.10771 105.3583 96.1049 31.9735 105.2394 96.28855 32.10771 104.8992 96.83588 32.5926 104.8992 96.83588 32.5926 104.8992 96.83588 32.5926 104.0011 97.6472 33.09585 104.0011 97.6472 33.09585 104.0011 97.6472 33.09585 107.5581 88.11776 26.3376 107.6684 88.13231 26.32295 108.283 83.46457 26.32295 108.051 83.46457 26.35323 108.1707 83.46457 26.3376 108.1707 83.46457 26.3376 108.051 83.46457 26.35323 108.283 83.46457 26.32295 107.6684 88.13231 26.32295 107.5581 88.11776 26.3376 108.051 83.46457 26.35323 108.1707 83.46457 26.3376 108.283 83.46457 26.32295 107.6684 88.13231 26.32295 107.5581 88.11776 26.3376 107.1144 90.88489 27.59322 107.5274 90.03702 27.15624 107.5274 90.03702 27.15624 107.1144 90.88489 27.59322 107.5274 90.03702 27.15624 107.1144 90.88489 27.59322 39.95627 151.7414 27.02423 39.9743 151.7209 27.02694 39.9743 151.7209 27.02694 39.95627 151.7414 27.02423 39.9743 151.7209 27.02694 39.95627 151.7414 27.02423 5.37885 103.298 34.96989 5.37885 104.0176 34.2993 5.37885 104.0176 34.2993 5.37885 103.298 34.96989 5.37885 104.0176 34.2993 5.37885 103.298 34.96989 5.44087 104.371 33.81531 5.875807 106.3829 30.99506 5.442497 104.312 33.8866 5.442497 104.312 33.8866 5.44087 104.371 33.81531 5.875807 106.3829 30.99506 5.442497 104.312 33.8866 5.44087 104.371 33.81531 5.875807 106.3829 30.99506 6.512685 108.5183 29.24229 6.512685 108.5183 29.24229 6.512685 108.5183 29.24229 7.137287 110.3318 28.34646 7.608352 111.6555 27.68682 7.187837 110.4346 28.28995 7.187837 110.4346 28.28995 7.137287 110.3318 28.34646 7.608352 111.6555 27.68682 7.137287 110.3318 28.34646 7.187837 110.4346 28.28995 7.608352 111.6555 27.68682 9.561728 116.5743 27.09195 9.561728 116.5743 27.09195 9.561728 116.5743 27.09195 11.53256 120.8498 28.07334 11.53256 120.8498 28.07334 11.53256 120.8498 28.07334 5.754637 59.66244 35.34352 4.861406 62.78045 36.23954 4.861406 62.78045 36.23954 5.754637 59.66244 35.34352 4.861406 62.78045 36.23954 5.754637 59.66244 35.34352 4.748206 64.4276 36.48978 4.748206 64.4276 36.48978 4.748206 64.4276 36.48978 4.376256 66.03223 36.10182 4.376256 66.03223 36.10182 4.376256 66.03223 36.10182 3.628559 67.68325 34.82148 3.628559 67.68325 34.82148 3.628559 67.68325 34.82148 3.271689 68.58462 33.01216 3.271689 68.58462 33.01216 3.271689 68.58462 33.01216 2.315838 72.27581 29.44292 2.315838 72.27581 29.44292 2.315838 72.27581 29.44292 1.161444 78.51699 26.91562 1.161444 78.51699 26.91562 1.161444 78.51699 26.91562 0.5100829 83.46457 26.91562 0.5100829 83.46457 26.91562 0.5100829 83.46457 26.91562 1.132627 83.98954 26.46649 1.58028 87.3898 26.46649 1.58028 87.3898 26.46649 1.132627 83.98954 26.46649 1.132627 83.98954 26.46649 1.58028 87.3898 26.46649 2.443725 90.4518 29.963 2.443725 90.4518 29.963 2.443725 90.4518 29.963 4.098753 92.76448 35.2274 3.893197 92.60479 34.7819 4.179261 92.92033 35.68306 4.558606 93.21502 36.50522 4.558606 93.21502 36.50522 4.179261 92.92033 35.68306 4.098753 92.76448 35.2274 3.893197 92.60479 34.7819 4.098753 92.76448 35.2274 3.893197 92.60479 34.7819 4.179261 92.92033 35.68306 4.558606 93.21502 36.50522 5.120978 94.36672 37.49685 5.120978 94.36672 37.49685 5.120978 94.36672 37.49685 5.43659 95.41082 37.92696 5.43659 95.41082 37.92696 5.43659 95.41082 37.92696 5.58393 97.20749 37.71161 5.58393 97.20749 37.71161 5.58393 97.20749 37.71161 5.323061 99.35778 36.39838 5.323061 99.35778 36.39838 5.323061 99.35778 36.39838 5.296925 101.4098 35.68306 5.388259 102.5592 35.2274 5.388259 102.5592 35.2274 5.296925 101.4098 35.68306 5.296925 101.4098 35.68306 5.388259 102.5592 35.2274 55.06595 7.133942 27.7911 55.06595 7.133942 27.7911 55.06595 7.133942 27.7911 58.41082 6.512685 29.24229 58.41082 6.512685 29.24229 58.41082 6.512685 29.24229 50.15844 9.082848 27.19758 50.15844 9.082848 27.19758 50.15844 9.082848 27.19758 79.70411 2.726924 26.34615 83.32629 2.250054 26.34615 83.32629 2.250054 26.34615 79.70411 2.726924 26.34615 83.32629 2.250054 26.34615 79.70411 2.726924 26.34615 83.46457 2.23185 26.34615 83.46457 2.23185 26.34615 83.46457 2.23185 26.34615 45.46764 11.74736 28.34646 45.58701 11.7059 28.28995 46.05456 11.4812 28.07029 46.05456 11.4812 28.07029 45.58701 11.7059 28.28995 45.46764 11.74736 28.34646 45.58701 11.7059 28.28995 46.05456 11.4812 28.07029 45.46764 11.74736 28.34646 41.61794 14.29358 31.77263 41.61794 14.29358 31.77263 41.61794 14.29358 31.77263 41.56985 14.39268 32.15071 41.56985 14.39268 32.15071 41.56985 14.39268 32.15071 40.96382 14.98987 32.954 40.96382 14.98987 32.954 40.96382 14.98987 32.954 39.83379 15.97515 33.67228 39.83379 15.97515 33.67228 39.83379 15.97515 33.67228 38.35709 17.10826 33.67228 38.35709 17.10826 33.67228 38.35709 17.10826 33.67228 36.4049 18.48817 32.95477 36.4049 18.48817 32.95477 36.4049 18.48817 32.95477 33.57151 20.41371 31.44374 33.57151 20.41371 31.44374 33.57151 20.41371 31.44374 29.93291 23.15 31.10511 29.93291 23.15 31.10511 29.93291 23.15 31.10511 26.97622 25.59163 32.15593 26.97622 25.59163 32.15593 26.97622 25.59163 32.15593 25.59128 27.14576 34.31826 26.07328 26.65639 33.59179 26.28918 26.28918 33.19144 26.28918 26.28918 33.19144 26.07328 26.65639 33.59179 25.59128 27.14576 34.31826 26.28918 26.28918 33.19144 26.07328 26.65639 33.59179 25.59128 27.14576 34.31826 24.93988 27.36032 34.81373 24.93988 27.36032 34.81373 24.93988 27.36032 34.81373 25.56083 27.21902 34.41465 25.56083 27.21902 34.41465 25.56083 27.21902 34.41465 21.10797 31.85826 34.07861 23.42382 29.42876 34.95109 23.42382 29.42876 34.95109 21.10797 31.85826 34.07861 21.10797 31.85826 34.07861 23.42382 29.42876 34.95109 20.00326 33.10079 33.15909 20.00326 33.10079 33.15909 20.00326 33.10079 33.15909 18.78763 34.2628 31.18986 18.78763 34.2628 31.18986 18.78763 34.2628 31.18986 16.90753 36.21973 28.88933 16.90753 36.21973 28.88933 16.90753 36.21973 28.88933 14.27761 39.30662 27.30135 14.27761 39.30662 27.30135 14.27761 39.30662 27.30135 12.05883 42.04581 26.59061 12.05883 42.04581 26.59061 12.05883 42.04581 26.59061 8.958729 48.91125 28.31533 8.958729 48.91125 28.31533 8.958729 48.91125 28.31533 10.80315 45.07727 26.59061 10.80315 45.07727 26.59061 10.80315 45.07727 26.59061 7.953681 51.83111 29.76209 7.953681 51.83111 29.76209 7.953681 51.83111 29.76209 6.913665 55.37197 32.78202 6.913665 55.37197 32.78202 6.913665 55.37197 32.78202 5.922388 58.35056 34.49842 5.922388 58.35056 34.49842 5.922388 58.35056 34.49842 46.76699 73.63148 54.59998 46.76699 73.63148 54.59998 46.76699 73.63148 54.59998 55.9997 67.60772 49.78237 55.9997 67.60772 49.78237 55.9997 67.60772 49.78237 67.23136 62.30902 43.50394 64.44617 64.44617 43.50394 64.44617 64.44617 43.50394 67.23136 62.30902 43.50394 64.44617 64.44617 43.50394 67.23136 62.30902 43.50394 71.53077 62.79462 36.19255 71.53077 62.79462 36.19255 71.53077 62.79462 36.19255 80.97539 60.95763 28.34646 77.46096 61.05876 31.09276 77.46096 61.05876 31.09276 80.97539 60.95763 28.34646 77.46096 61.05876 31.09276 80.97539 60.95763 28.34646 87.66897 61.08844 27.62483 83.46457 60.53492 27.62483 87.66897 61.08844 27.62483 83.46457 60.53492 27.62483 83.46457 60.53492 27.62483 87.66897 61.08844 27.62483 90.12631 61.15338 28.37804 87.74147 60.97677 27.3347 90.12631 61.15338 28.37804 87.74147 60.97677 27.3347 87.74147 60.97677 27.3347 90.12631 61.15338 28.37804 92.68268 61.82891 31.09151 92.68268 61.82891 31.09151 92.68268 61.82891 31.09151 96.38055 62.64981 32.83592 95.82329 62.47593 32.43286 96.38055 62.64981 32.83592 95.82329 62.47593 32.43286 95.82329 62.47593 32.43286 96.38055 62.64981 32.83592 97.04593 63.61867 33.61293 97.04593 63.61867 33.61293 97.04593 63.61867 33.61293 98.4706 64.73995 33.44221 98.4706 64.73995 33.44221 98.4706 64.73995 33.44221 99.24314 64.97636 32.04574 99.24314 64.97636 32.04574 99.24314 64.97636 32.04574 101.8279 68.14125 28.02655 99.85511 65.08023 30.31197 101.8279 68.14125 28.02655 99.85511 65.08023 30.31197 99.85511 65.08023 30.31197 101.8279 68.14125 28.02655 103.8285 70.07135 27.17991 105.0285 71.63529 27.17991 105.0285 71.63529 27.17991 103.8285 70.07135 27.17991 103.8285 70.07135 27.17991 105.0285 71.63529 27.17991 105.8296 73.18539 28.30553 105.8472 73.24177 28.34646 106.1969 73.91838 28.83779 106.1969 73.91838 28.83779 105.8472 73.24177 28.34646 105.8296 73.18539 28.30553 105.8296 73.18539 28.30553 105.8472 73.24177 28.34646 106.1969 73.91838 28.83779 107.5187 77.01927 29.10277 107.5466 77.98712 28.34646 107.8175 80.5068 26.33603 107.8982 79.44995 27.13868 107.9282 80.49298 26.32362 107.9282 80.49298 26.32362 107.8982 79.44995 27.13868 107.8175 80.5068 26.33603 107.5466 77.98712 28.34646 107.5187 77.01927 29.10277 107.5187 77.01927 29.10277 107.5466 77.98712 28.34646 107.8982 79.44995 27.13868 107.9282 80.49298 26.32362 107.8175 80.5068 26.33603 108.0915 83.07308 26.34308 108.2941 83.27201 26.32362 108.3024 83.46457 26.32549 108.3024 83.46457 26.32549 108.2941 83.27201 26.32362 108.0915 83.07308 26.34308 108.3024 83.46457 26.32549 108.2941 83.27201 26.32362 108.0915 83.07308 26.34308 45.47244 83.46457 54.59998 45.47244 83.46457 54.59998 45.47244 83.46457 54.59998 52.83149 91.67267 49.78237 52.83149 91.67267 49.78237 52.83149 91.67267 49.78237 62.30902 99.69779 43.50394 60.17188 96.91262 43.50394 62.30902 99.69779 43.50394 60.17188 96.91262 43.50394 60.17188 96.91262 43.50394 62.30902 99.69779 43.50394 66.58763 100.3415 36.19255 66.58763 100.3415 36.19255 66.58763 100.3415 36.19255 77.38726 105.5674 29.16407 74.88591 104.9064 31.81914 71.97875 103.9424 33.51912 71.69316 103.8533 33.7257 71.69316 103.8533 33.7257 71.97875 103.9424 33.51912 74.88591 104.9064 31.81914 77.38726 105.5674 29.16407 77.38726 105.5674 29.16407 74.88591 104.9064 31.81914 71.97875 103.9424 33.51912 71.69316 103.8533 33.7257 79.26016 105.8407 27.62483 78.81803 105.7281 28.0378 78.81803 105.7281 28.0378 79.26016 105.8407 27.62483 79.26016 105.8407 27.62483 78.81803 105.7281 28.0378 77.11432 105.6019 28.78315 77.11432 105.6019 28.78315 77.11432 105.6019 28.78315 83.84875 106.4445 27.38342 83.46457 106.4986 27.37508 83.46457 106.5177 27.33179 83.8949 106.4751 27.29996 83.46457 106.5154 27.3347 83.84875 106.4445 27.38342 83.46457 106.5154 27.3347 83.46457 106.5177 27.33179 83.8949 106.4751 27.29996 83.46457 106.4986 27.37508 83.84875 106.4445 27.38342 83.46457 106.4986 27.37508 83.8949 106.4751 27.29996 83.46457 106.5177 27.33179 83.46457 106.5154 27.3347 92.74882 105.259 29.19508 92.74882 105.259 29.19508 92.74882 105.259 29.19508 90.35717 106.3912 30.19648 90.35717 106.3912 30.19648 90.35717 106.3912 30.19648 90.35151 106.3932 30.19452 90.35151 106.3932 30.19452 90.35151 106.3932 30.19452 87.58204 106.4729 28.03037 86.11941 106.515 26.88742 87.58204 106.4729 28.03037 86.11941 106.515 26.88742 87.58204 106.4729 28.03037 86.11941 106.515 26.88742 96.54309 103.4388 27.34812 96.54309 103.4388 27.34812 96.54309 103.4388 27.34812 95.06087 104.5761 27.34812 95.06087 104.5761 27.34812 95.06087 104.5761 27.34812 103.0379 98.87104 32.9492 103.0379 98.87104 32.9492 103.0379 98.87104 32.9492 102.4174 99.45756 31.91337 102.4174 99.45756 31.91337 102.4174 99.45756 31.91337 99.12552 102.2011 27.86526 101.4228 100.7205 29.58048 102.0582 100.0356 30.2476 102.0582 100.0356 30.2476 101.4228 100.7205 29.58048 99.12552 102.2011 27.86526 102.0582 100.0356 30.2476 101.4228 100.7205 29.58048 99.12552 102.2011 27.86526 104.2236 97.81723 33.06333 104.2236 97.81723 33.06333 104.2236 97.81723 33.06333 107.9129 88.15098 26.35518 108.5298 83.46457 26.35536 108.5208 83.46457 26.35399 108.5208 83.46457 26.35399 108.5298 83.46457 26.35536 107.9129 88.15098 26.35518 108.5298 83.46457 26.35536 108.5208 83.46457 26.35399 107.9129 88.15098 26.35518 107.5795 89.92617 27.11204 107.5795 89.92617 27.11204 107.5795 89.92617 27.11204 5.449113 103.2911 34.95774 5.455285 104.0029 34.29282 5.455285 104.0029 34.29282 5.449113 103.2911 34.95774 5.449113 103.2911 34.95774 5.455285 104.0029 34.29282 7.755902 111.6033 27.69569 7.755902 111.6033 27.69569 7.755902 111.6033 27.69569 9.847214 116.453 27.11167 9.847214 116.453 27.11167 9.847214 116.453 27.11167 5.239096 62.92167 35.89276 6.109035 59.88498 35.0201 6.109035 59.88498 35.0201 5.239096 62.92167 35.89276 5.239096 62.92167 35.89276 6.109035 59.88498 35.0201 5.132695 64.46991 36.12797 5.132695 64.46991 36.12797 5.132695 64.46991 36.12797 4.777902 66.00052 35.75791 4.777902 66.00052 35.75791 4.777902 66.00052 35.75791 4.076265 67.54982 34.55644 4.076265 67.54982 34.55644 4.076265 67.54982 34.55644 3.728522 68.42815 32.7934 3.728522 68.42815 32.7934 3.728522 68.42815 32.7934 2.755227 72.18669 29.15902 2.755227 72.18669 29.15902 2.755227 72.18669 29.15902 1.583625 78.52092 26.59405 1.583625 78.52092 26.59405 1.583625 78.52092 26.59405 0.9327809 83.46457 26.59405 0.9327809 83.46457 26.59405 0.9327809 83.46457 26.59405 1.627689 83.85577 26.32267 2.088707 87.35756 26.32267 2.088707 87.35756 26.32267 1.627689 83.85577 26.32267 1.627689 83.85577 26.32267 2.088707 87.35756 26.32267 2.960572 90.44941 29.85328 2.960572 90.44941 29.85328 2.960572 90.44941 29.85328 4.011282 92.56958 34.75788 4.011282 92.56958 34.75788 4.011282 92.56958 34.75788 55.27365 7.608352 27.68682 56.49458 7.187837 28.28995 56.59734 7.137287 28.34646 56.59734 7.137287 28.34646 56.49458 7.187837 28.28995 55.27365 7.608352 27.68682 56.59734 7.137287 28.34646 56.49458 7.187837 28.28995 55.27365 7.608352 27.68682 50.35488 9.561728 27.09195 50.35488 9.561728 27.09195 50.35488 9.561728 27.09195 46.07938 11.53256 28.07334 46.07938 11.53256 28.07334 46.07938 11.53256 28.07334 25.72984 27.25699 34.3055 25.72984 27.25699 34.3055 25.72984 27.25699 34.3055 25.31723 27.65615 34.59202 25.31723 27.65615 34.59202 25.31723 27.65615 34.59202 25.70023 27.31244 34.38412 25.70023 27.31244 34.38412 25.70023 27.31244 34.38412 21.51654 32.11992 33.86658 23.80562 29.7185 34.72898 23.80562 29.7185 34.72898 21.51654 32.11992 33.86658 21.51654 32.11992 33.86658 23.80562 29.7185 34.72898 20.44881 33.32086 32.97784 20.44881 33.32086 32.97784 20.44881 33.32086 32.97784 19.24032 34.47604 31.02019 19.24032 34.47604 31.02019 19.24032 34.47604 31.02019 17.3405 36.45349 28.69553 17.3405 36.45349 28.69553 17.3405 36.45349 28.69553 14.68749 39.56749 27.09361 14.68749 39.56749 27.09361 14.68749 39.56749 27.09361 12.4913 42.27879 26.3901 12.4913 42.27879 26.3901 12.4913 42.27879 26.3901 9.311639 49.16339 28.01337 9.311639 49.16339 28.01337 9.311639 49.16339 28.01337 11.24632 45.28443 26.3901 11.24632 45.28443 26.3901 11.24632 45.28443 26.3901 8.292038 52.12553 29.48107 8.292038 52.12553 29.48107 8.292038 52.12553 29.48107 7.250195 55.67261 32.50631 7.250195 55.67261 32.50631 7.250195 55.67261 32.50631 6.271716 58.61274 34.20055 6.271716 58.61274 34.20055 6.271716 58.61274 34.20055 46.67573 74.3247 54.59998 46.11972 78.54802 54.59998 46.11972 78.54802 54.59998 46.67573 74.3247 54.59998 46.11972 78.54802 54.59998 46.67573 74.3247 54.59998 52.83149 75.25646 49.78237 52.83149 75.25646 49.78237 52.83149 75.25646 49.78237 60.17188 70.01654 43.50394 60.17188 70.01654 43.50394 60.17188 70.01654 43.50394 66.58763 66.58763 36.19255 66.58763 66.58763 36.19255 66.58763 66.58763 36.19255 77.32766 61.077 31.35437 76.83751 61.2561 31.52374 72.09703 63.58268 28.95438 72.0122 63.62849 28.87878 73.998 62.60024 30.33481 76.83751 61.2561 31.52374 73.998 62.60024 30.33481 72.09703 63.58268 28.95438 72.0122 63.62849 28.87878 77.32766 61.077 31.35437 72.0122 63.62849 28.87878 72.09703 63.58268 28.95438 73.998 62.60024 30.33481 76.83751 61.2561 31.52374 77.32766 61.077 31.35437 79.92473 60.94978 28.75139 80.89424 60.92188 27.99379 77.10042 61.03105 30.9584 77.10042 61.03105 30.9584 79.92473 60.94978 28.75139 80.89424 60.92188 27.99379 79.92473 60.94978 28.75139 80.89424 60.92188 27.99379 77.10042 61.03105 30.9584 83.18283 60.56947 27.60554 81.09523 60.84431 27.60554 83.18283 60.56947 27.60554 81.09523 60.84431 27.60554 81.09523 60.84431 27.60554 83.18283 60.56947 27.60554 83.46457 60.41371 27.3347 83.46457 60.43058 27.37508 83.46457 60.43058 27.37508 83.46457 60.41371 27.3347 83.46457 60.43058 27.37508 83.46457 60.41371 27.3347 90.41478 60.85731 28.03264 87.86152 60.66823 26.91562 90.41478 60.85731 28.03264 87.86152 60.66823 26.91562 87.86152 60.66823 26.91562 90.41478 60.85731 28.03264 93.01088 61.54334 30.78828 93.01088 61.54334 30.78828 93.01088 61.54334 30.78828 96.09654 62.08395 32.20743 96.69013 62.26917 32.63677 96.69013 62.26917 32.63677 96.09654 62.08395 32.20743 96.09654 62.08395 32.20743 96.69013 62.26917 32.63677 97.33346 63.3058 33.293 97.33346 63.3058 33.293 97.33346 63.3058 33.293 98.62449 64.3219 33.13829 98.62449 64.3219 33.13829 98.62449 64.3219 33.13829 99.45756 64.51171 31.91337 99.45756 64.51171 31.91337 99.45756 64.51171 31.91337 100.0356 64.87094 30.2476 100.7205 65.50629 29.58048 102.2011 67.80361 27.86526 102.2011 67.80361 27.86526 100.7205 65.50629 29.58048 100.0356 64.87094 30.2476 100.0356 64.87094 30.2476 100.7205 65.50629 29.58048 102.2011 67.80361 27.86526 104.1599 69.82131 27.15401 104.1779 69.80773 27.1526 105.0808 70.98442 27.1526 105.2837 71.47706 27.16127 105.2837 71.47706 27.16127 105.0808 70.98442 27.1526 104.1779 69.80773 27.1526 104.1599 69.82131 27.15401 104.1779 69.80773 27.1526 104.1599 69.82131 27.15401 105.0808 70.98442 27.1526 105.2837 71.47706 27.16127 108.1377 80.48593 26.35536 108.1377 80.48593 26.35536 108.1377 80.48593 26.35536 51.75087 83.46457 49.78237 52.29118 87.56862 49.78237 52.29118 87.56862 49.78237 51.75087 83.46457 49.78237 51.75087 83.46457 49.78237 52.29118 87.56862 49.78237 57.48495 90.42578 43.50394 57.48495 90.42578 43.50394 57.48495 90.42578 43.50394 62.79462 95.39837 36.19255 62.79462 95.39837 36.19255 62.79462 95.39837 36.19255 67.1856 100.0108 31.39335 67.06172 99.86741 31.09979 67.19498 100.0433 31.54759 67.50586 100.4879 32.79993 68.41928 101.4542 34.41304 70.32698 102.9557 34.64164 71.59884 103.8059 33.87759 71.53379 103.7864 34.06277 70.32698 102.9557 34.64164 71.53379 103.7864 34.06277 71.59884 103.8059 33.87759 68.41928 101.4542 34.41304 67.50586 100.4879 32.79993 67.19498 100.0433 31.54759 67.1856 100.0108 31.39335 67.06172 99.86741 31.09979 71.59884 103.8059 33.87759 71.53379 103.7864 34.06277 70.32698 102.9557 34.64164 68.41928 101.4542 34.41304 67.50586 100.4879 32.79993 67.19498 100.0433 31.54759 67.1856 100.0108 31.39335 67.06172 99.86741 31.09979 74.59135 104.9353 31.46116 74.59135 104.9353 31.46116 74.59135 104.9353 31.46116 71.71901 103.9828 33.14078 71.71901 103.9828 33.14078 71.71901 103.9828 33.14078 71.19186 103.8183 33.52206 71.48171 103.7693 33.96231 71.48171 103.7693 33.96231 71.19186 103.8183 33.52206 71.48171 103.7693 33.96231 71.19186 103.8183 33.52206 79.18766 105.9524 27.3347 79.18766 105.9524 27.3347 79.18766 105.9524 27.3347 76.80284 105.7758 28.37804 76.80284 105.7758 28.37804 76.80284 105.7758 28.37804 83.46457 106.8449 26.91169 84.07062 106.7847 26.88742 83.46457 106.7926 26.9766 83.46457 106.7926 26.9766 83.46457 106.8449 26.91169 84.07062 106.7847 26.88742 84.07062 106.7847 26.88742 83.46457 106.8449 26.91169 83.46457 106.7926 26.9766 83.46457 106.8398 26.91562 79.06762 106.2609 26.91562 83.46457 106.8398 26.91562 79.06762 106.2609 26.91562 83.46457 106.8398 26.91562 79.06762 106.2609 26.91562 92.84391 105.7219 28.95801 92.84391 105.7219 28.95801 92.84391 105.7219 28.95801 90.37603 106.4381 30.16688 90.54742 106.8019 29.92228 90.5483 106.8085 29.91919 90.5483 106.8085 29.91919 90.54742 106.8019 29.92228 90.37603 106.4381 30.16688 90.5483 106.8085 29.91919 90.54742 106.8019 29.92228 90.37603 106.4381 30.16688 87.7957 106.8811 27.77199 86.26305 106.9252 26.57433 87.7957 106.8811 27.77199 86.26305 106.9252 26.57433 87.7957 106.8811 27.77199 86.26305 106.9252 26.57433 96.85779 103.8285 27.17991 96.85779 103.8285 27.17991 96.85779 103.8285 27.17991 95.29384 105.0285 27.17991 95.29384 105.0285 27.17991 95.29384 105.0285 27.17991 103.2588 99.0431 32.91643 103.2588 99.0431 32.91643 103.2588 99.0431 32.91643 102.6373 99.6306 31.87888 102.6373 99.6306 31.87888 102.6373 99.6306 31.87888 99.85704 101.8824 28.34646 99.27678 102.4097 27.84801 101.0886 101.0886 29.26599 101.0886 101.0886 29.26599 99.85704 101.8824 28.34646 99.27678 102.4097 27.84801 101.0886 101.0886 29.26599 99.85704 101.8824 28.34646 99.27678 102.4097 27.84801 5.632083 62.97352 35.68306 5.628309 63.03296 35.69284 5.669903 62.61955 35.61635 6.360106 60.74054 34.99272 6.550016 60.07762 34.80222 6.550016 60.07762 34.80222 6.360106 60.74054 34.99272 5.669903 62.61955 35.61635 5.632083 62.97352 35.68306 5.628309 63.03296 35.69284 6.360106 60.74054 34.99272 6.550016 60.07762 34.80222 5.669903 62.61955 35.61635 5.632083 62.97352 35.68306 5.628309 63.03296 35.69284 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95.74057 28.87878 63.62849 94.91693 28.87878 65.64949 97.67617 29.46376 65.64949 97.67617 29.46376 64.26049 95.74057 28.87878 63.62849 94.91693 28.87878 65.64949 97.67617 29.46376 64.26049 95.74057 28.87878 63.62849 94.91693 28.87878 70.30437 102.9588 34.52704 70.30437 102.9588 34.52704 70.30437 102.9588 34.52704 68.45346 101.5021 34.30524 68.45346 101.5021 34.30524 68.45346 101.5021 34.30524 67.56718 100.5645 32.74007 67.56718 100.5645 32.74007 67.56718 100.5645 32.74007 67.25196 100.1137 31.47021 67.25196 100.1137 31.47021 67.25196 100.1137 31.47021 65.67425 97.83638 29.11849 67.39842 100.5116 31.11588 67.39842 100.5116 31.11588 65.67425 97.83638 29.11849 65.67425 97.83638 29.11849 67.39842 100.5116 31.11588 74.24645 105.1002 31.09151 74.24645 105.1002 31.09151 74.24645 105.1002 31.09151 71.40819 104.1591 32.7512 71.40819 104.1591 32.7512 71.40819 104.1591 32.7512 70.87359 103.9923 33.13787 70.87359 103.9923 33.13787 70.87359 103.9923 33.13787 70.12493 103.0838 34.03384 70.12493 103.0838 34.03384 70.12493 103.0838 34.03384 76.51435 106.0718 28.03264 76.51435 106.0718 28.03264 76.51435 106.0718 28.03264 83.83721 107.155 26.63969 83.46457 107.1653 26.66796 83.75077 107.256 26.57433 83.46457 107.272 26.59015 83.83721 107.155 26.63969 83.75077 107.256 26.57433 83.46457 107.272 26.59015 83.46457 107.1653 26.66796 83.83721 107.155 26.63969 83.46457 107.1653 26.66796 83.75077 107.256 26.57433 83.46457 107.272 26.59015 83.46457 107.2625 26.59405 78.95767 106.6691 26.59405 83.46457 107.2625 26.59405 78.95767 106.6691 26.59405 83.46457 107.2625 26.59405 78.95767 106.6691 26.59405 93.01076 106.1969 28.83779 93.68737 105.8472 28.34646 93.74375 105.8296 28.30553 93.74375 105.8296 28.30553 93.68737 105.8472 28.34646 93.01076 106.1969 28.83779 93.74375 105.8296 28.30553 93.68737 105.8472 28.34646 93.01076 106.1969 28.83779 90.73104 107.276 29.79232 90.73104 107.276 29.79232 90.73104 107.276 29.79232 86.3711 107.4072 26.38203 87.93854 107.3621 27.60689 90.70845 107.2824 29.77138 90.70845 107.2824 29.77138 87.93854 107.3621 27.60689 86.3711 107.4072 26.38203 90.70845 107.2824 29.77138 87.93854 107.3621 27.60689 86.3711 107.4072 26.38203 97.10782 104.1599 27.15401 97.1214 104.1779 27.1526 97.1214 104.1779 27.1526 97.10782 104.1599 27.15401 97.1214 104.1779 27.1526 97.10782 104.1599 27.15401 95.45208 105.2837 27.16127 95.94474 105.0808 27.1526 95.94474 105.0808 27.1526 95.45208 105.2837 27.16127 95.94474 105.0808 27.1526 95.45208 105.2837 27.16127 6.600148 60.0927 34.79239 6.600148 60.0927 34.79239 6.600148 60.0927 34.79239 4.845252 67.5727 34.30566 4.845252 67.5727 34.30566 4.845252 67.5727 34.30566 4.510403 68.41846 32.60799 4.510403 68.41846 32.60799 4.510403 68.41846 32.60799 3.528037 72.21202 28.93974 3.528037 72.21202 28.93974 3.528037 72.21202 28.93974 2.590205 78.62652 26.32295 3.07878 75.98506 27.39258 3.257042 73.67715 28.34646 3.257042 73.67715 28.34646 3.07878 75.98506 27.39258 2.590205 78.62652 26.32295 3.257042 73.67715 28.34646 3.07878 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2629 3412 2277 3409 2275 3411 2276 3936 2626 3942 2630 3936 2626 3411 2276 3405 2272 3406 2273 3412 2277 3937 2627 3943 2631 3937 2627 3412 2277 3414 2278 3939 2628 3945 2632 3939 2628 3414 2278 3408 2274 3409 2275 3415 2279 3940 2629 3946 2633 3940 2629 3415 2279 3417 2280 3945 2632 3948 2634 3945 2632 3417 2280 3414 2278 3415 2279 3418 2281 3946 2633 3949 2635 3946 2633 3418 2281 3420 2282 3948 2634 3951 2636 3948 2634 3420 2282 3417 2280 3418 2281 3421 2283 3949 2635 3952 2637 3949 2635 3421 2283 3423 2284 3951 2636 3954 2638 3951 2636 3423 2284 3420 2282 3421 2283 3424 2285 3952 2637 3955 2639 3952 2637 3424 2285 3426 2286 3429 2288 3957 2640 3429 2288 3426 2286 3027 2020 3028 2021 3427 2287 3430 2289 3958 2641 3430 2289 3427 2287 3429 2288 3960 2642 3961 2643 3960 2642 3429 2288 3962 2644 3962 2644 3429 2288 3423 2284 3962 2644 3423 2284 3963 2645 3963 2645 3423 2284 3954 2638 3955 2639 3424 2285 3964 2646 3964 2646 3424 2285 3965 2647 3424 2285 3430 2289 3965 2647 3965 2647 3430 2289 3966 2648 3967 2649 3966 2648 3430 2289 3972 2650 3434 2292 3973 2651 3434 2292 3972 2650 3432 2290 3436 2294 3974 2652 3437 2295 3975 2653 3437 2295 3974 2652 3978 2654 3979 2655 3980 2656 3979 2655 3978 2654 3972 2650 3972 2650 3978 2654 3981 2657 3972 2650 3981 2657 3432 2290 3432 2290 3981 2657 3500 2338 3432 2290 3500 2338 3030 2022 3030 2022 3500 2338 3088 2061 3091 2064 3512 2350 3032 2024 3032 2024 3512 2350 3436 2294 3512 2350 3982 2658 3436 2294 3436 2294 3982 2658 3974 2652 3982 2658 3983 2659 3974 2652 3974 2652 3983 2659 3984 2660 3985 2661 3984 2660 3983 2659 3434 2292 3990 2662 3991 2663 3990 2662 3434 2292 3433 2291 3990 2662 3433 2291 3441 2296 3441 2296 3433 2291 3031 2023 3033 2025 3435 2293 3442 2297 3442 2297 3435 2293 3992 2664 3435 2293 3437 2295 3992 2664 3993 2665 3992 2664 3437 2295 3441 2296 3445 2299 3996 2666 3445 2299 3441 2296 3037 2027 3039 2029 3442 2297 3447 2301 3997 2667 3447 2301 3442 2297 3444 2298 3999 2668 3445 2299 3999 2668 3444 2298 4000 2669 4001 2670 3446 2300 4002 2671 3447 2301 4002 2671 3446 2300 3453 2304 4005 2672 4006 2673 4005 2672 3453 2304 3450 2302 3451 2303 3454 2305 4007 2674 4008 2675 4007 2674 3454 2305 4006 2673 3456 2306 3453 2304 3456 2306 4006 2673 4011 2676 4012 2677 4008 2675 3457 2307 3454 2305 3457 2307 4008 2675 4011 2676 3054 2038 3456 2306 3054 2038 4011 2676 3459 2308 3462 2311 4012 2677 3057 2041 3457 2307 3057 2041 4012 2677 4014 2678 3460 2309 3459 2308 3460 2309 4014 2678 4015 2679 4016 2680 4017 2681 3461 2310 3462 2311 3461 2310 4017 2681 4015 2679 3465 2312 3460 2309 3465 2312 4015 2679 4020 2682 4021 2683 4016 2680 3466 2313 3461 2310 3466 2313 4016 2680 3465 2312 4023 2684 3468 2314 4023 2684 3465 2312 4020 2682 4021 2683 3466 2313 4024 2685 3469 2315 4024 2685 3466 2313 3468 2314 4026 2686 3471 2316 4026 2686 3468 2314 4023 2684 4024 2685 3469 2315 4027 2687 3472 2317 4027 2687 3469 2315 3444 2298 4026 2686 4000 2669 4026 2686 3444 2298 3471 2316 3472 2317 3446 2300 4027 2687 4001 2670 4027 2687 3446 2300 3426 2286 4029 2688 3474 2318 4029 2688 3426 2286 3957 2640 3958 2641 3427 2287 4030 2689 3475 2319 4030 2689 3427 2287 3474 2318 4032 2690 3477 2320 4032 2690 3474 2318 4029 2688 4030 2689 3475 2319 4033 2691 3478 2321 4033 2691 3475 2319 3477 2320 4035 2692 3480 2322 4035 2692 3477 2320 4032 2690 4033 2691 3478 2321 4036 2693 3481 2323 4036 2693 3478 2321 3480 2322 4038 2694 3483 2324 4038 2694 3480 2322 4035 2692 4036 2693 3481 2323 4039 2695 3484 2325 4039 2695 3481 2323 3486 2326 4038 2694 4041 2696 4038 2694 3486 2326 3483 2324 3484 2325 3487 2327 4039 2695 4042 2697 4039 2695 3487 2327 3084 2058 4005 2672 3450 2302 3451 2303 4007 2674 3085 2059 3084 2058 3489 2328 4005 2672 4007 2674 3490 2329 3085 2059 3486 2326 4044 2698 3489 2328 4044 2698 3486 2326 4041 2696 4042 2697 3487 2327 4045 2699 3490 2329 4045 2699 3487 2327 3387 2260 3909 2608 3912 2610 3909 2608 3387 2260 3381 2256 3382 2257 3389 2262 3910 2609 3914 2612 3910 2609 3389 2262 3499 2337 3981 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2753 3098 2068 3554 2372 3098 2068 4126 2753 4128 2754 3102 2070 3558 2374 3102 2070 4128 2754 3561 2376 3562 2377 4129 2755 3103 2071 3559 2375 3103 2071 4129 2755 4131 2756 3105 2072 3561 2376 3105 2072 4131 2756 4132 2757 3105 2072 4132 2757 3564 2378 3565 2379 4133 2758 3106 2073 4133 2758 4134 2759 3106 2073 3562 2377 3106 2073 4134 2759 4137 2760 3108 2074 3564 2378 3108 2074 4137 2760 3567 2380 3574 2387 4138 2761 3111 2077 3565 2379 3111 2077 4138 2761 4140 2762 3568 2381 3567 2380 3568 2381 4140 2762 3580 2389 3568 2381 3580 2389 3569 2382 3569 2382 3580 2389 3570 2383 3570 2383 3580 2389 3114 2078 3115 2079 3584 2393 3571 2384 3571 2384 3584 2393 3572 2385 3572 2385 3584 2393 3573 2386 3584 2393 4141 2763 3573 2386 3574 2387 3573 2386 4141 2763 3588 2394 3580 2389 4143 2764 3580 2389 3588 2394 3579 2388 3579 2388 3588 2394 3581 2390 3581 2390 3588 2394 3117 2080 3118 2081 3589 2395 3582 2391 3582 2391 3589 2395 3583 2392 3583 2392 3589 2395 3584 2393 4144 2765 3584 2393 3589 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+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6858805 -0.3173701 0.6548619 7.481132 0.7276338 0.3124686 -0.6106656 -6.50764 -0.01081678 0.8953432 0.4452454 5.343665 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="SketchUp" name="SketchUp" type="NODE">
+        <matrix sid="transform">7.84953e-4 0 0 -2.40878e-4 0 7.84953e-4 0 -0.1391807 0 0 7.84953e-4 -0.04679475 0 0 0 1</matrix>
+        <node id="Last_Saved_SketchUp_View" name="Last_Saved_SketchUp_View" type="NODE">
+          <matrix sid="transform">0 0 0 5.82752e16 0 0 0 0 0 0 0 4.92574e16 0 0 0 1</matrix>
+        </node>
+        <node id="group_0" name="group_0" type="NODE">
+          <matrix sid="transform">1 0 0 -83.46457 0 1 0 100.7835 0 2.39549e-8 1 58.26772 0 0 0 1</matrix>
+          <instance_geometry url="#ID3-mesh">
+            <bind_material>
+              <technique_common>
+                <instance_material symbol="Color_A08-material" target="#Color_A08-material"/>
+                <instance_material symbol="edge_color000255-material" target="#edge_color000255-material"/>
+              </technique_common>
+            </bind_material>
+          </instance_geometry>
+        </node>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/donut_frost_1/model.config b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/donut_frost_1/model.config
new file mode 100644
index 0000000..7c622ea
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/donut_frost_1/model.config
@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+    <name>donut_frost_1</name>
+    <version>1.0</version>
+    <sdf version="1.6">model.sdf</sdf>
+    <author>
+        <name></name>
+        <email></email>
+    </author>
+    <description></description>
+</model>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/donut_frost_1/model.sdf b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/donut_frost_1/model.sdf
new file mode 100644
index 0000000..464bc0f
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/donut_frost_1/model.sdf
@@ -0,0 +1,121 @@
+<?xml version='1.0'?>
+<sdf version='1.6'>
+  <model name='donut_frost_1'>
+    <link name='link_7'>
+        <visual name='visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://donut_frost_1/meshes/donut2_bread.dae</uri>
+            <scale>1 1 1</scale>
+          </mesh>
+        </geometry>
+        <material>
+          <lighting>1</lighting>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+          <ambient>0.843 0.709 0.356 1</ambient>
+          <diffuse>0.843 0.709 0.356 1</diffuse>
+          <specular>0.01 0.01 0.01 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <shader type='vertex'>
+            <normal_map>__default__</normal_map>
+          </shader>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <collision name='collision'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://donut_frost_1/meshes/donut2_bread.dae</uri>
+            <scale>1 1 1</scale>
+          </mesh>
+        </geometry>
+       </collision>
+    </link>
+    <link name='link_8'>
+        <visual name='visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://donut_frost_1/meshes/donut2_frost.dae</uri>
+            <scale>1 1 1</scale>
+          </mesh>
+        </geometry>
+        <material>
+          <lighting>1</lighting>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+          <ambient>0.835 0.254 0.827 1</ambient>
+          <diffuse>0.835 0.254 0.827 1</diffuse>
+          <specular>0.01 0.01 0.01 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <shader type='vertex'>
+            <normal_map>__default__</normal_map>
+          </shader>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <collision name='collision'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://donut_frost_1/meshes/donut2_frost.dae</uri>
+            <scale>1 1 1</scale>
+          </mesh>
+        </geometry>
+       </collision>
+    </link>
+    <link name='link_9'>
+        <visual name='visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://donut_frost_1/meshes/donut2_dust.dae</uri>
+            <scale>1 1 1</scale>
+          </mesh>
+        </geometry>
+        <material>
+          <lighting>1</lighting>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+          <ambient>0.45 0.909 0.964 1</ambient>
+          <diffuse>0.45 0.909 0.345 1</diffuse>
+          <specular>0.01 0.01 0.01 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <shader type='vertex'>
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+          </shader>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <collision name='collision'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://donut_frost_1/meshes/donut2_dust.dae</uri>
+            <scale>1 1 1</scale>
+          </mesh>
+        </geometry>
+       </collision>
+    </link>
+    <static>1</static>
+    <allow_auto_disable>1</allow_auto_disable>
+  </model>
+</sdf>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/elegant_female/materials/textures/brown_eye.png b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/elegant_female/materials/textures/brown_eye.png
new file mode 100644
index 0000000..bda1b4b
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diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/elegant_female/materials/textures/eyebrow002.png b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/elegant_female/materials/textures/eyebrow002.png
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diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/elegant_female/materials/textures/eyelashes01.png b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/elegant_female/materials/textures/eyelashes01.png
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index 0000000..d7069d6
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diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/elegant_female/materials/textures/male_elegantsuit01_diffuse.png b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/elegant_female/materials/textures/male_elegantsuit01_diffuse.png
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diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/elegant_female/materials/textures/ponytail01_diffuse.png b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/elegant_female/materials/textures/ponytail01_diffuse.png
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index 0000000..2173e93
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diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/elegant_female/materials/textures/shoes03_diffuse.png b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/elegant_female/materials/textures/shoes03_diffuse.png
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diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/elegant_female/materials/textures/young_lightskinned_female_diffuse2.png b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/elegant_female/materials/textures/young_lightskinned_female_diffuse2.png
new file mode 100644
index 0000000..3fa82ab
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diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/elegant_female/meshes/elegant_female.dae b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/elegant_female/meshes/elegant_female.dae
new file mode 100644
index 0000000..f9704c7
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/elegant_female/meshes/elegant_female.dae
@@ -0,0 +1,696 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.79.0 commit date:2017-09-11, commit time:10:43, hash:5bd8ac9abfa</authoring_tool>
+    </contributor>
+    <created>2018-02-26T18:58:52</created>
+    <modified>2018-02-26T18:58:52</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images>
+    <image id="young_lightskinned_female_diffuse2_png" name="young_lightskinned_female_diffuse2_png">
+      <init_from>../materials/textures/young_lightskinned_female_diffuse2.png</init_from>
+    </image>
+    <image id="ponytail01_diffuse_png" name="ponytail01_diffuse_png">
+      <init_from>../materials/textures/ponytail01_diffuse.png</init_from>
+    </image>
+    <image id="brown_eye_png" name="brown_eye_png">
+      <init_from>../materials/textures/brown_eye.png</init_from>
+    </image>
+    <image id="eyebrow002_png" name="eyebrow002_png">
+      <init_from>../materials/textures/eyebrow002.png</init_from>
+    </image>
+    <image id="eyelashes01_png" name="eyelashes01_png">
+      <init_from>../materials/textures/eyelashes01.png</init_from>
+    </image>
+    <image id="male_elegantsuit01_diffuse_png" name="male_elegantsuit01_diffuse_png">
+      <init_from>../materials/textures/male_elegantsuit01_diffuse.png</init_from>
+    </image>
+    <image id="shoes03_diffuse_png" name="shoes03_diffuse_png">
+      <init_from>../materials/textures/shoes03_diffuse.png</init_from>
+    </image>
+  </library_images>
+  <library_effects>
+    <effect id="young_caucasian_female2-effect">
+      <profile_COMMON>
+        <newparam sid="young_lightskinned_female_diffuse2_png-surface">
+          <surface type="2D">
+            <init_from>young_lightskinned_female_diffuse2_png</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="young_lightskinned_female_diffuse2_png-sampler">
+          <sampler2D>
+            <source>young_lightskinned_female_diffuse2_png-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">1 1 1 1</color>
+            </ambient>
+            <diffuse>
+              <texture texture="young_lightskinned_female_diffuse2_png-sampler"/>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.03135 0.0255 0.0255 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">128</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="ponytail01-effect">
+      <profile_COMMON>
+        <newparam sid="ponytail01_diffuse_png-surface">
+          <surface type="2D">
+            <init_from>ponytail01_diffuse_png</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="ponytail01_diffuse_png-sampler">
+          <sampler2D>
+            <source>ponytail01_diffuse_png-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">1 1 1 1</color>
+            </ambient>
+            <diffuse>
+              <texture texture="ponytail01_diffuse_png-sampler"/>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.02355 0.02355 0.02355 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">245</float>
+            </shininess>
+            <transparent>
+              <texture texture="ponytail01_diffuse_png-sampler"/>
+            </transparent>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Eye_brown-effect">
+      <profile_COMMON>
+        <newparam sid="brown_eye_png-surface">
+          <surface type="2D">
+            <init_from>brown_eye_png</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="brown_eye_png-sampler">
+          <sampler2D>
+            <source>brown_eye_png-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">1 1 1 1</color>
+            </ambient>
+            <diffuse>
+              <texture texture="brown_eye_png-sampler"/>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.5 0.5 0.5 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">256</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="eyebrow002-effect">
+      <profile_COMMON>
+        <newparam sid="eyebrow002_png-surface">
+          <surface type="2D">
+            <init_from>eyebrow002_png</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="eyebrow002_png-sampler">
+          <sampler2D>
+            <source>eyebrow002_png-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">1 1 1 1</color>
+            </ambient>
+            <diffuse>
+              <texture texture="eyebrow002_png-sampler"/>
+            </diffuse>
+            <specular>
+              <color sid="specular">0 0 0 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">128</float>
+            </shininess>
+            <transparent>
+              <texture texture="eyebrow002_png-sampler"/>
+            </transparent>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="bodyMaterial-effect">
+      <profile_COMMON>
+        <newparam sid="eyelashes01_png-surface">
+          <surface type="2D">
+            <init_from>eyelashes01_png</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="eyelashes01_png-sampler">
+          <sampler2D>
+            <source>eyelashes01_png-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">1 1 1 1</color>
+            </ambient>
+            <diffuse>
+              <texture texture="eyelashes01_png-sampler"/>
+            </diffuse>
+            <specular>
+              <color sid="specular">0 0 0 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">128</float>
+            </shininess>
+            <transparent>
+              <texture texture="eyelashes01_png-sampler"/>
+            </transparent>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="male_elegantsuit01-effect">
+      <profile_COMMON>
+        <newparam sid="male_elegantsuit01_diffuse_png-surface">
+          <surface type="2D">
+            <init_from>male_elegantsuit01_diffuse_png</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="male_elegantsuit01_diffuse_png-sampler">
+          <sampler2D>
+            <source>male_elegantsuit01_diffuse_png-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">1 1 1 1</color>
+            </ambient>
+            <diffuse>
+              <texture texture="male_elegantsuit01_diffuse_png-sampler"/>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.01765 0.01765 0.01765 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">25</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="shoes03-effect">
+      <profile_COMMON>
+        <newparam sid="shoes03_diffuse_png-surface">
+          <surface type="2D">
+            <init_from>shoes03_diffuse_png</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="shoes03_diffuse_png-sampler">
+          <sampler2D>
+            <source>shoes03_diffuse_png-surface</source>
+          </sampler2D>
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+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">1 1 1 1</color>
+            </ambient>
+            <diffuse>
+              <texture texture="shoes03_diffuse_png-sampler"/>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.01765 0.0157 0.0157 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">204</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="young_caucasian_female2-material" name="young_caucasian_female2">
+      <instance_effect url="#young_caucasian_female2-effect"/>
+    </material>
+    <material id="ponytail01-material" name="ponytail01">
+      <instance_effect url="#ponytail01-effect"/>
+    </material>
+    <material id="Eye_brown-material" name="Eye_brown">
+      <instance_effect url="#Eye_brown-effect"/>
+    </material>
+    <material id="eyebrow002-material" name="eyebrow002">
+      <instance_effect url="#eyebrow002-effect"/>
+    </material>
+    <material id="bodyMaterial-material" name="bodyMaterial">
+      <instance_effect url="#bodyMaterial-effect"/>
+    </material>
+    <material id="male_elegantsuit01-material" name="male_elegantsuit01">
+      <instance_effect url="#male_elegantsuit01-effect"/>
+    </material>
+    <material id="shoes03-material" name="shoes03">
+      <instance_effect url="#shoes03-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
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+          <technique_common>
+            <accessor source="#elegant_female-female_generic-mesh-map-0-array" count="46638" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="elegant_female-female_generic-mesh-vertices">
+          <input semantic="POSITION" source="#elegant_female-female_generic-mesh-positions"/>
+        </vertices>
+        <triangles material="young_caucasian_female2-material" count="15546">
+          <input semantic="VERTEX" source="#elegant_female-female_generic-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#elegant_female-female_generic-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#elegant_female-female_generic-mesh-map-0" offset="2" set="0"/>
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+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
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+        </vertices>
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3124 3127 8867 2774 3063 8868 3380 3145 8869 3370 3046 8870 2752 3024 8871 3106 3098 8872 3125 3132 8873 2771 3067 8874 3126 3134 8875 2770 3051 8876 2792 3143 8877 3128 3540 8878 2791 3128 8879 2806 3541 8880 3130 3542 8881 2805 3126 8882 2784 3057 8883 6808 3543 8884 6798 3130 8885 2785 3146 8886 3134 3544 8887 2790 3133 8888 2803 3147 8889 3136 3545 8890 2802 3135 8891 2810 3546 8892 3138 3547 8893 2809 3137 8894 2781 3079 8895 3140 3548 8896 2780 3139 8897 2795 3082 8898 3142 3549 8899 2794 3138 8900 2789 3110 8901 3144 3550 8902 2788 3140 8903 6721 3141 8904 3147 3551 8905 6740 3552 8906 2793 3094 8907 3129 3553 8908 2792 3143 8909 2807 3091 8910 3381 3554 8911 3371 3144 8912 2786 3097 8913 3135 3555 8914 2785 3146 8915 2804 3103 8916 3137 3556 8917 2803 3147 8918 2782 3108 8919 3141 3557 8920 2781 3079 8921 2796 3558 8922 3143 3559 8923 2795 3082 8924 2800 3088 8925 3156 3560 8926 3147 3551 8927 2812 3214 8928 3163 3194 8929 2817 3085 8930 2808 3561 8931 3149 3562 8932 2807 3091 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3172 3235 9067 3189 3283 9068 2829 3583 9069 3193 3274 9070 2828 3189 9071 2815 3205 9072 3192 3272 9073 2814 3187 9074 1842 1953 9075 1837 1942 9076 2357 1604 9077 1440 1445 9078 1563 1573 9079 1517 1542 9080 1591 1584 9081 1517 1542 9082 1563 1573 9083 2857 3260 9084 3282 3514 9085 3283 3584 9086 3283 3584 9087 3186 3261 9088 2857 3260 9089 2824 3149 9090 3284 3585 9091 3285 3586 9092 7138 3587 9093 3128 3540 9094 7123 3150 9095 3085 3529 9096 1758 1838 9097 1757 1841 9098 3354 3588 9099 3090 3533 9100 3344 3589 9101 3288 3590 9102 3123 3129 9103 2791 3128 9104 3355 3591 9105 3092 3531 9106 3345 3592 9107 3345 3592 9108 3093 3530 9109 3346 3593 9110 3346 3593 9111 3094 3594 9112 3347 3595 9113 2457 3596 9114 3198 3597 9115 2440 3598 9116 2423 3599 9117 3198 3597 9118 3197 3600 9119 2423 3599 9120 3196 3601 9121 2406 3602 9122 2406 3602 9123 3195 3603 9124 2389 3604 9125 3198 3597 9126 3206 3605 9127 3197 3600 9128 3205 3606 9129 3203 3607 9130 3194 3608 9131 3194 3608 9132 3202 3609 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+          <technique_common>
+            <accessor source="#elegant_female-shoes03-mesh-map-0-array" count="11748" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="elegant_female-shoes03-mesh-vertices">
+          <input semantic="POSITION" source="#elegant_female-shoes03-mesh-positions"/>
+        </vertices>
+        <triangles material="shoes03-material" count="3916">
+          <input semantic="VERTEX" source="#elegant_female-shoes03-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#elegant_female-shoes03-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#elegant_female-shoes03-mesh-map-0" offset="2" set="0"/>
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1108 11705 1126 1117 11706 2118 2114 11707 2116 2075 11708 2117 2076 11709 2106 2084 11710 1121 1109 11711 2111 2077 11712 2114 2115 11713 1130 1106 11714 1117 1104 11715 2104 2087 11716 2109 2078 11717 2116 2075 11718 2107 2116 11719 1122 2079 11720 1127 1114 11721 2112 2073 11722 2115 2074 11723 1130 1106 11724 2114 2115 11725 2102 2080 11726 1122 2079 11727 2107 2116 11728 2113 2081 11729 2110 2082 11730 2111 2077 11731 1115 1105 11732 1116 1103 11733 2109 2078 11734 2110 2082 11735 1119 1112 11736 2102 2080 11737 2108 2083 11738 2106 2084 11739 2105 2117 11740 1131 1107 11741 1131 1107 11742 2105 2117 11743 2103 2085 11744 1118 2086 11745 2103 2085 11746 2104 2087 11747</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="elegant_female-female_generic" name="elegant_female-female_generic" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 -4.37114e-8 -1 0 0 1 -4.37114e-8 0 0 0 0 1</matrix>
+        <instance_geometry url="#elegant_female-female_generic-mesh" name="elegant_female-female_generic">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="young_caucasian_female2-material" target="#young_caucasian_female2-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="elegant_female-ponytail01" name="elegant_female-ponytail01" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 -4.37114e-8 -1 0 0 1 -4.37114e-8 0 0 0 0 1</matrix>
+        <instance_geometry url="#elegant_female-ponytail01-mesh" name="elegant_female-ponytail01">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="ponytail01-material" target="#ponytail01-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="elegant_female-low_poly" name="elegant_female-low_poly" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 -4.37114e-8 -1 0 0 1 -4.37114e-8 0 0 0 0 1</matrix>
+        <instance_geometry url="#elegant_female-low_poly-mesh" name="elegant_female-low_poly">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Eye_brown-material" target="#Eye_brown-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="elegant_female-eyebrow002" name="elegant_female-eyebrow002" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 -4.37114e-8 -1 0 0 1 -4.37114e-8 0 0 0 0 1</matrix>
+        <instance_geometry url="#elegant_female-eyebrow002-mesh" name="elegant_female-eyebrow002">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="eyebrow002-material" target="#eyebrow002-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="elegant_female-eyelashes01" name="elegant_female-eyelashes01" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 -4.37114e-8 -1 0 0 1 -4.37114e-8 0 0 0 0 1</matrix>
+        <instance_geometry url="#elegant_female-eyelashes01-mesh" name="elegant_female-eyelashes01">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="bodyMaterial-material" target="#bodyMaterial-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="elegant_female-male_elegantsuit01" name="elegant_female-male_elegantsuit01" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 -4.37114e-8 -1 0 0 1 -4.37114e-8 0 0 0 0 1</matrix>
+        <instance_geometry url="#elegant_female-male_elegantsuit01-mesh" name="elegant_female-male_elegantsuit01">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="male_elegantsuit01-material" target="#male_elegantsuit01-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="elegant_female-shoes03" name="elegant_female-shoes03" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 -4.37114e-8 -1 0 0 1 -4.37114e-8 0 0 0 0 1</matrix>
+        <instance_geometry url="#elegant_female-shoes03-mesh" name="elegant_female-shoes03">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="shoes03-material" target="#shoes03-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/elegant_female/meshes/elegant_female.png b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/elegant_female/meshes/elegant_female.png
new file mode 100644
index 0000000..58f0692
Binary files /dev/null and b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/elegant_female/meshes/elegant_female.png differ
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/elegant_female/model.config b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/elegant_female/model.config
new file mode 100644
index 0000000..87a3dd2
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/elegant_female/model.config
@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+<model>
+  <name>ElegantFemale</name>
+  <version>1.0</version>
+  <sdf version="1.5">model.sdf</sdf>
+
+  <author>
+    <name>Rohit Salem</name>
+    <email>rohitsalem@gmail.com</email>
+  </author>
+
+  <description>
+    A standing person-Elegant Female. Model created with Makehuman (http://www.makehuman.org/)
+  </description>
+</model>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/elegant_female/model.sdf b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/elegant_female/model.sdf
new file mode 100644
index 0000000..6f77a49
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/elegant_female/model.sdf
@@ -0,0 +1,24 @@
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diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/file_1/meshes/body.dae b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/file_1/meshes/body.dae
new file mode 100644
index 0000000..408a63a
--- /dev/null
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diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/file_1/meshes/model.dae b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/file_1/meshes/model.dae
new file mode 100644
index 0000000..df30eb0
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/file_1/meshes/model.dae
@@ -0,0 +1,608 @@
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+        </polylist>
+      </mesh>
+    </geometry>
+    <geometry id="ID20-mesh" name="ID20">
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diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/file_1/meshes/ring.dae b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/file_1/meshes/ring.dae
new file mode 100644
index 0000000..d1aa003
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/file_1/meshes/ring.dae
@@ -0,0 +1,409 @@
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+                <instance_material symbol="edge_color25525561255-material" target="#edge_color25525561255-material"/>
+                <instance_material symbol="edge_color204209214255-material" target="#edge_color204209214255-material"/>
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+            </bind_material>
+          </instance_geometry>
+        </node>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/file_1/meshes/tag.dae b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/file_1/meshes/tag.dae
new file mode 100644
index 0000000..70cca2c
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/file_1/meshes/tag.dae
@@ -0,0 +1,381 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
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+    <contributor>
+      <author>Blender User</author>
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+    </contributor>
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+    <modified>2016-08-16T23:25:46</modified>
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+    <up_axis>Z_UP</up_axis>
+  </asset>
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+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
+      <extra>
+        <technique profile="blender">
+          <YF_dofdist>0</YF_dofdist>
+          <shiftx>0</shiftx>
+          <shifty>0</shifty>
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+      </extra>
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+      <profile_COMMON>
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+            </specular>
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+            </shininess>
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\ No newline at end of file
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/file_1/model.config b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/file_1/model.config
new file mode 100644
index 0000000..f815caf
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/file_1/model.config
@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+    <name>file_1</name>
+    <version>1.0</version>
+    <sdf version="1.6">model.sdf</sdf>
+    <author>
+        <name></name>
+        <email></email>
+    </author>
+    <description></description>
+</model>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/file_1/model.sdf b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/file_1/model.sdf
new file mode 100644
index 0000000..1d11407
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/file_1/model.sdf
@@ -0,0 +1,91 @@
+<?xml version='1.0'?>
+<sdf version='1.6'>
+  <model name='file_1'>
+    <link name='link_0'>
+      <visual name='visual'>
+        <geometry>
+          <mesh>
+            <uri>model://file_1/meshes/body.dae</uri>
+            <scale>1 1 1</scale>
+          </mesh>
+        </geometry>
+        <material>
+          <lighting>1</lighting>
+          <ambient>0.4 0.1 0.1 1</ambient>
+          <diffuse>0.4 0.0 0.0 1</diffuse>
+          <specular>0.01 0.01 0.01 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <collision name='collision'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+         <geometry>
+          <mesh>
+            <uri>model://file_1/meshes/body.dae</uri>
+            <scale>1 1 1</scale>
+          </mesh>
+        </geometry>
+      </collision>
+    </link>
+    <link name='link_1'>
+       <visual name='visual'>
+        <geometry>
+          <mesh>
+            <uri>model://file_1/meshes/ring.dae</uri>
+            <scale>1 1 1</scale>
+          </mesh>
+        </geometry>
+ 	<material>
+           <ambient>0.6 0.6 0.6 1</ambient>
+          <diffuse>0.6 0.6 0.6 1</diffuse>
+          <specular>0.01 0.01 0.01 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <collision name='collision'>
+        <geometry>
+          <mesh>
+            <uri>model://file_1/meshes/ring.dae</uri>
+            <scale>1 1 1</scale>
+          </mesh>
+        </geometry>
+         </collision>
+    </link>
+    <link name='link_2'>
+      <visual name='visual'>
+          <geometry>
+          <mesh>
+            <uri>model://file_1/meshes/tag.dae</uri>
+            <scale>1 1 1</scale>
+          </mesh>
+        </geometry>
+        <material>
+          <lighting>1</lighting>
+         <ambient> 1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.01 0.01 0.01 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <collision name='collision'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <geometry>
+          <mesh>
+            <uri>model://file_1/meshes/tag.dae</uri>
+            <scale>1 1 1</scale>
+          </mesh>
+        </geometry>
+      </collision>
+    </link>
+    <static>1</static>
+    <allow_auto_disable>1</allow_auto_disable>
+  </model>
+</sdf>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/ground_plane/model-1_2.sdf b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/ground_plane/model-1_2.sdf
new file mode 100644
index 0000000..8950632
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/ground_plane/model-1_2.sdf
@@ -0,0 +1,39 @@
+<?xml version="1.0"?>
+<gazebo version="1.2">
+  <model name="ground_plane">
+    <static>true</static>
+    <link name="link">
+      <collision name="collision">
+        <geometry>
+          <plane>
+            <normal>0 0 1</normal>
+            <size>100 100</size>
+          </plane>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>100</mu>
+              <mu2>50</mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="visual">
+        <cast_shadows>false</cast_shadows>
+        <geometry>
+          <plane>
+            <normal>0 0 1</normal>
+            <size>100 100</size>
+          </plane>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+    </link>
+  </model>
+</gazebo>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/ground_plane/model-1_3.sdf b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/ground_plane/model-1_3.sdf
new file mode 100644
index 0000000..a3fb7ba
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/ground_plane/model-1_3.sdf
@@ -0,0 +1,39 @@
+<?xml version="1.0"?>
+<sdf version="1.3">
+  <model name="ground_plane">
+    <static>true</static>
+    <link name="link">
+      <collision name="collision">
+        <geometry>
+          <plane>
+            <normal>0 0 1</normal>
+            <size>100 100</size>
+          </plane>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>100</mu>
+              <mu2>50</mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="visual">
+        <cast_shadows>false</cast_shadows>
+        <geometry>
+          <plane>
+            <normal>0 0 1</normal>
+            <size>100 100</size>
+          </plane>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+    </link>
+  </model>
+</sdf>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/ground_plane/model-1_4.sdf b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/ground_plane/model-1_4.sdf
new file mode 100644
index 0000000..7fc9b5e
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/ground_plane/model-1_4.sdf
@@ -0,0 +1,39 @@
+<?xml version="1.0"?>
+<sdf version="1.4">
+  <model name="ground_plane">
+    <static>true</static>
+    <link name="link">
+      <collision name="collision">
+        <geometry>
+          <plane>
+            <normal>0 0 1</normal>
+            <size>100 100</size>
+          </plane>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>100</mu>
+              <mu2>50</mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="visual">
+        <cast_shadows>false</cast_shadows>
+        <geometry>
+          <plane>
+            <normal>0 0 1</normal>
+            <size>100 100</size>
+          </plane>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+    </link>
+  </model>
+</sdf>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/ground_plane/model.config b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/ground_plane/model.config
new file mode 100644
index 0000000..f586097
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/ground_plane/model.config
@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>Ground Plane</name>
+  <version>1.0</version>
+  <sdf version="1.2">model-1_2.sdf</sdf>
+  <sdf version="1.3">model-1_3.sdf</sdf>
+  <sdf version="1.4">model-1_4.sdf</sdf>
+  <sdf version="1.5">model.sdf</sdf>
+
+  <author>
+    <name>Nate Koenig</name>
+    <email>nate@osrfoundation.org</email>
+  </author>
+
+  <description>
+    A simple ground plane.
+  </description>
+</model>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/ground_plane/model.sdf b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/ground_plane/model.sdf
new file mode 100644
index 0000000..00fe113
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/ground_plane/model.sdf
@@ -0,0 +1,39 @@
+<?xml version="1.0" ?>
+<sdf version="1.5">
+  <model name="ground_plane">
+    <static>true</static>
+    <link name="link">
+      <collision name="collision">
+        <geometry>
+          <plane>
+            <normal>0 0 1</normal>
+            <size>100 100</size>
+          </plane>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>100</mu>
+              <mu2>50</mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="visual">
+        <cast_shadows>false</cast_shadows>
+        <geometry>
+          <plane>
+            <normal>0 0 1</normal>
+            <size>100 100</size>
+          </plane>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+    </link>
+  </model>
+</sdf>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/labtop_mac_2/materials/scripts/labtop_screen_2.material b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/labtop_mac_2/materials/scripts/labtop_screen_2.material
new file mode 100644
index 0000000..3c196df
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/labtop_mac_2/materials/scripts/labtop_screen_2.material
@@ -0,0 +1,15 @@
+material labtop_screen_2
+{
+  technique
+  {
+    pass
+    {
+      texture_unit
+      {
+        texture labtop_screen2.jpg
+	scale 1 1
+      }
+    }
+  }
+}
+
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/labtop_mac_2/materials/textures/labtop_screen2.jpg b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/labtop_mac_2/materials/textures/labtop_screen2.jpg
new file mode 100644
index 0000000..66cceb6
Binary files /dev/null and b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/labtop_mac_2/materials/textures/labtop_screen2.jpg differ
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/labtop_mac_2/meshes/body.dae b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/labtop_mac_2/meshes/body.dae
new file mode 100644
index 0000000..856000d
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/labtop_mac_2/meshes/body.dae
@@ -0,0 +1,2302 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool>
+    </contributor>
+    <created>2016-08-13T15:17:54</created>
+    <modified>2016-08-13T15:17:54</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
+    <camera id="Camera-camera" name="Camera">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">49.13434</xfov>
+            <aspect_ratio>1.777778</aspect_ratio>
+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
+      <extra>
+        <technique profile="blender">
+          <YF_dofdist>0</YF_dofdist>
+          <shiftx>0</shiftx>
+          <shifty>0</shifty>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_images/>
+  <library_effects>
+    <effect id="Color_009-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0 0 0 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.5 0.5 0.5 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="material-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.5145099 0.5584313 0.5866666 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.5 0.5 0.5 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="edge_color000255-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
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+            <ambient>
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+              <color sid="specular">0.5 0.5 0.5 1</color>
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+              <float sid="shininess">50</float>
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+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="_0136_Charcoal-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
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+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.1098039 0.1098039 0.1098039 1</color>
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+            <specular>
+              <color sid="specular">0.5 0.5 0.5 1</color>
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+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
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+        <technique sid="common">
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+              <float sid="index_of_refraction">1</float>
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+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
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+      <profile_COMMON>
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1.306472 0.2931072 10.95204 1.306472 0.2931072 10.95204 1.286787 0.2931072 10.95204 1.306472 0.2931072 10.95204 1.286787 0.2931072 0.05905508 1.306472 7.365565 0.05905508 1.286787 7.365565 0.05905508 1.306472 7.365565 0.05905508 1.286787 7.365565 0.05905508 1.306472 7.365565 0.05905508 1.286787 7.365565 10.9424 1.306472 0.2750793 10.9424 1.286787 0.2750793 10.9424 1.306472 0.2750793 10.9424 1.286787 0.2750793 10.9424 1.306472 0.2750793 10.9424 1.286787 0.2750793 0.05905508 1.306472 0.5125902 0.05905508 1.286787 0.5125902 0.05905508 1.306472 0.5125902 0.05905508 1.286787 0.5125902 0.05905508 1.306472 0.5125902 0.05905508 1.286787 0.5125902 10.93161 1.286787 0.2577203 10.93161 1.306472 0.2577203 10.93161 1.306472 0.2577203 10.93161 1.286787 0.2577203 10.93161 1.306472 0.2577203 10.93161 1.286787 0.2577203 0.05905508 1.306472 0.4312692 0.05905508 1.286787 0.4312692 0.05828607 1.306472 0.5094133 0.05828607 1.306472 0.5094133 0.05905508 1.306472 0.4312692 0.05905508 1.286787 0.4312692 0.05905508 1.306472 0.4312692 0.05905508 1.286787 0.4312692 0.05828607 1.306472 0.5094133 10.9197 1.286787 0.2411044 10.9197 1.306472 0.2411044 10.9197 1.306472 0.2411044 10.9197 1.286787 0.2411044 10.9197 1.306472 0.2411044 10.9197 1.286787 0.2411044 0.05930799 1.306472 0.423866 0.05930799 1.286787 0.423866 0.05930799 1.306472 0.423866 0.05930799 1.286787 0.423866 0.05930799 1.306472 0.423866 0.05930799 1.286787 0.423866 10.90673 1.286787 0.2253029 10.90673 1.306472 0.2253029 10.90673 1.306472 0.2253029 10.90673 1.286787 0.2253029 10.90673 1.306472 0.2253029 10.90673 1.286787 0.2253029 0.05978333 1.286787 0.4099517 0.05930799 1.306472 0.423866 0.05930799 1.286787 0.423866 0.05978333 1.306472 0.4099517 0.05978333 1.306472 0.4099517 0.05978333 1.286787 0.4099517 0.05930799 1.306472 0.423866 0.05930799 1.286787 0.423866 0.05978333 1.306472 0.4099517 0.05978333 1.286787 0.4099517 10.89276 1.286787 0.2103832 10.89276 1.306472 0.2103832 10.89276 1.306472 0.2103832 10.89276 1.286787 0.2103832 10.89276 1.306472 0.2103832 10.89276 1.286787 0.2103832 0.06070238 1.306472 0.4010119 0.06070238 1.286787 0.4010119 0.06070238 1.306472 0.4010119 0.06070238 1.286787 0.4010119 0.06070238 1.306472 0.4010119 0.06070238 1.286787 0.4010119 10.87784 1.306472 0.1964096 10.87784 1.286787 0.1964096 10.87784 1.306472 0.1964096 10.87784 1.286787 0.1964096 10.87784 1.306472 0.1964096 10.87784 1.286787 0.1964096 0.06173801 1.306472 0.3904968 0.06173801 1.286787 0.3904968 0.06173801 1.306472 0.3904968 0.06173801 1.286787 0.3904968 0.06173801 1.306472 0.3904968 0.06173801 1.286787 0.3904968 10.86204 1.306472 0.1834416 10.86204 1.286787 0.1834416 10.86204 1.306472 0.1834416 10.86204 1.286787 0.1834416 10.86204 1.306472 0.1834416 10.86204 1.286787 0.1834416 0.06196463 1.306472 0.3887335 0.06196463 1.286787 0.3887335 0.06196463 1.306472 0.3887335 0.06196463 1.286787 0.3887335 0.06196463 1.306472 0.3887335 0.06196463 1.286787 0.3887335 10.84542 1.306472 0.1715348 10.84542 1.286787 0.1715348 10.84542 1.306472 0.1715348 10.84542 1.286787 0.1715348 10.84542 1.306472 0.1715348 10.84542 1.286787 0.1715348 0.0634849 1.306472 0.3799162 0.0634849 1.286787 0.3799162 0.0634849 1.306472 0.3799162 0.0634849 1.286787 0.3799162 0.0634849 1.306472 0.3799162 0.0634849 1.286787 0.3799162 10.82806 1.306472 0.1607404 10.82806 1.286787 0.1607404 10.82806 1.306472 0.1607404 10.82806 1.286787 0.1607404 10.82806 1.306472 0.1607404 10.82806 1.286787 0.1607404 0.0650677 1.306472 0.370329 0.0650677 1.286787 0.370329 0.0650677 1.306472 0.370329 0.0650677 1.286787 0.370329 0.0650677 1.306472 0.370329 0.0650677 1.286787 0.370329 10.81003 1.306472 0.1511043 10.81003 1.286787 0.1511043 10.81003 1.306472 0.1511043 10.81003 1.286787 0.1511043 10.81003 1.306472 0.1511043 10.81003 1.286787 0.1511043 0.06533694 1.286787 0.3691743 0.06533694 1.306472 0.3691743 0.06533694 1.306472 0.3691743 0.06533694 1.286787 0.3691743 0.06533694 1.306472 0.3691743 0.06533694 1.286787 0.3691743 10.79141 1.306472 0.1426679 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\ No newline at end of file
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/labtop_mac_2/meshes/keys.dae b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/labtop_mac_2/meshes/keys.dae
new file mode 100644
index 0000000..3af8768
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/labtop_mac_2/meshes/keys.dae
@@ -0,0 +1,10619 @@
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1.306472 7.593863 10.88509 1.306472 7.593863 10.88509 1.286787 7.593863 0.3104927 1.286787 7.671942 0.3104927 1.306472 7.671942 0.3104927 1.286787 7.671942 0.3104927 1.306472 7.671942 0.3104927 1.306472 7.671942 0.3104927 1.286787 7.671942 10.90017 1.306472 7.578781 10.90017 1.286787 7.578781 10.90017 1.286787 7.578781 10.90017 1.306472 7.578781 10.90017 1.306472 7.578781 10.90017 1.286787 7.578781 0.2905851 1.286787 7.6673 0.2905851 1.306472 7.6673 0.2905851 1.286787 7.6673 0.2905851 1.306472 7.6673 0.2905851 1.306472 7.6673 0.2905851 1.286787 7.6673 10.91419 1.286787 7.562704 10.91419 1.306472 7.562704 10.91419 1.306472 7.562704 10.91419 1.286787 7.562704 10.91419 1.306472 7.562704 10.91419 1.286787 7.562704 0.2710237 1.286787 7.661367 0.2710237 1.306472 7.661367 0.2710237 1.286787 7.661367 0.2710237 1.306472 7.661367 0.2710237 1.306472 7.661367 0.2710237 1.286787 7.661367 10.92708 1.286787 7.545708 10.92708 1.306472 7.545708 10.92708 1.306472 7.545708 10.92708 1.286787 7.545708 10.92708 1.306472 7.545708 10.92708 1.286787 7.545708 0.2518924 1.286787 7.654166 0.2518924 1.306472 7.654166 0.2518924 1.286787 7.654166 0.2518924 1.306472 7.654166 0.2518924 1.306472 7.654166 0.2518924 1.286787 7.654166 10.93878 1.286787 7.527872 10.93878 1.306472 7.527872 10.93878 1.306472 7.527872 10.93878 1.286787 7.527872 10.93878 1.306472 7.527872 10.93878 1.286787 7.527872 0.2332729 1.286787 7.64573 0.2332729 1.306472 7.64573 0.2332729 1.286787 7.64573 0.2332729 1.306472 7.64573 0.2332729 1.306472 7.64573 0.2332729 1.286787 7.64573 10.94923 1.286787 7.50928 10.94923 1.306472 7.50928 10.94923 1.306472 7.50928 10.94923 1.286787 7.50928 10.94923 1.306472 7.50928 10.94923 1.286787 7.50928 0.215245 1.286787 7.636094 0.215245 1.306472 7.636094 0.215245 1.286787 7.636094 0.215245 1.306472 7.636094 0.215245 1.306472 7.636094 0.215245 1.286787 7.636094 10.95839 1.306472 7.490017 10.95839 1.286787 7.490017 10.95839 1.306472 7.490017 10.95839 1.286787 7.490017 10.95839 1.306472 7.490017 10.95839 1.286787 7.490017 0.197886 1.286787 7.625299 0.197886 1.306472 7.625299 0.197886 1.286787 7.625299 0.197886 1.306472 7.625299 0.197886 1.306472 7.625299 0.197886 1.286787 7.625299 10.96622 1.286787 7.470174 10.96622 1.306472 7.470174 10.96622 1.306472 7.470174 10.96622 1.286787 7.470174 10.96622 1.306472 7.470174 10.96622 1.286787 7.470174 0.1812702 1.286787 7.613392 0.1812702 1.306472 7.613392 0.1812702 1.286787 7.613392 0.1812702 1.306472 7.613392 0.1812702 1.306472 7.613392 0.1812702 1.286787 7.613392 10.97267 1.286787 7.449844 10.97267 1.306472 7.449844 10.97267 1.306472 7.449844 10.97267 1.286787 7.449844 10.97267 1.306472 7.449844 10.97267 1.286787 7.449844 0.1654686 1.286787 7.600424 0.1654686 1.306472 7.600424 0.1654686 1.286787 7.600424 0.1654686 1.306472 7.600424 0.1654686 1.306472 7.600424 0.1654686 1.286787 7.600424 10.97772 1.306472 7.42912 10.97772 1.286787 7.42912 10.97772 1.306472 7.42912 10.97772 1.286787 7.42912 10.97772 1.306472 7.42912 10.97772 1.286787 7.42912 0.1505489 1.286787 7.586451 0.1505489 1.306472 7.586451 0.1505489 1.286787 7.586451 0.1505489 1.306472 7.586451 0.1505489 1.306472 7.586451 0.1505489 1.286787 7.586451 10.98134 1.286787 7.4081 10.98134 1.306472 7.4081 10.98134 1.306472 7.4081 10.98134 1.286787 7.4081 10.98134 1.306472 7.4081 10.98134 1.286787 7.4081 0.1365754 1.306472 7.571531 0.1365754 1.286787 7.571531 0.1365754 1.306472 7.571531 0.1365754 1.286787 7.571531 0.1365754 1.306472 7.571531 0.1365754 1.286787 7.571531 10.98352 1.286787 7.386882 10.98352 1.306472 7.386882 10.98352 1.306472 7.386882 10.98352 1.286787 7.386882 10.98352 1.306472 7.386882 10.98352 1.286787 7.386882 0.1236073 1.286787 7.555729 0.1236073 1.306472 7.555729 0.1236073 1.306472 7.555729 0.1236073 1.286787 7.555729 0.1236073 1.306472 7.555729 0.1236073 1.286787 7.555729 10.98425 1.286787 7.365565 10.98425 1.306472 7.365565 10.98425 1.306472 7.365565 10.98425 1.286787 7.365565 10.98425 1.306472 7.365565 10.98425 1.286787 7.365565 0.1117006 1.306472 7.539114 0.1117006 1.286787 7.539114 0.1117006 1.306472 7.539114 0.1117006 1.286787 7.539114 0.1117006 1.306472 7.539114 0.1117006 1.286787 7.539114 10.9846 1.306472 0.547099 10.98425 1.306472 0.5125902 10.98425 1.286787 0.5125902 10.9846 1.306472 0.547099 10.98425 1.306472 0.5125902 10.98425 1.286787 0.5125902 10.98425 1.286787 0.5125902 10.9846 1.306472 0.547099 10.98425 1.306472 0.5125902 0.1009061 1.286787 7.521755 0.1009061 1.306472 7.521755 0.1009061 1.306472 7.521755 0.1009061 1.286787 7.521755 0.1009061 1.306472 7.521755 0.1009061 1.286787 7.521755 10.98425 1.306472 0.4312692 10.98425 1.286787 0.4312692 10.98425 1.306472 0.4312692 10.98425 1.286787 0.4312692 10.98425 1.286787 0.4312692 10.98425 1.306472 0.4312692 0.09126996 1.306472 7.503727 0.09126996 1.286787 7.503727 0.09126996 1.306472 7.503727 0.09126996 1.286787 7.503727 0.09126996 1.306472 7.503727 0.09126996 1.286787 7.503727 10.98358 1.286787 0.4108386 10.98358 1.306472 0.4108386 10.98358 1.306472 0.4108386 10.98358 1.286787 0.4108386 10.98358 1.306472 0.4108386 10.98358 1.286787 0.4108386 0.08283358 1.306472 7.485107 0.08283358 1.286787 7.485107 0.08283358 1.306472 7.485107 0.08283358 1.286787 7.485107 0.08283358 1.306472 7.485107 0.08283358 1.286787 7.485107 10.98158 1.286787 0.3904955 10.98158 1.306472 0.3904955 10.98158 1.306472 0.3904955 10.98158 1.286787 0.3904955 10.98158 1.306472 0.3904955 10.98158 1.286787 0.3904955 0.07563304 1.306472 7.465976 0.07563304 1.286787 7.465976 0.07563304 1.306472 7.465976 0.07563304 1.286787 7.465976 0.07563304 1.306472 7.465976 0.07563304 1.286787 7.465976 10.97825 1.286787 0.3703269 10.97825 1.306472 0.3703269 10.97825 1.306472 0.3703269 10.97825 1.286787 0.3703269 10.97825 1.306472 0.3703269 10.97825 1.286787 0.3703269 0.06969916 1.306472 7.446415 0.06969916 1.286787 7.446415 0.06969916 1.306472 7.446415 0.06969916 1.286787 7.446415 0.06969916 1.306472 7.446415 0.06969916 1.286787 7.446415 10.97361 1.286787 0.3504194 10.97361 1.306472 0.3504194 10.97361 1.306472 0.3504194 10.97361 1.286787 0.3504194 10.97361 1.306472 0.3504194 10.97361 1.286787 0.3504194 0.06505739 1.306472 7.426507 0.06505739 1.286787 7.426507 0.06505739 1.306472 7.426507 0.06505739 1.286787 7.426507 0.06505739 1.306472 7.426507 0.06505739 1.286787 7.426507 10.96767 1.306472 0.330858 10.96767 1.286787 0.330858 10.96767 1.306472 0.330858 10.96767 1.286787 0.330858 10.96767 1.306472 0.330858 10.96767 1.286787 0.330858 0.06172752 1.286787 7.406338 0.06172752 1.306472 7.406338 0.06172752 1.306472 7.406338 0.06172752 1.286787 7.406338 0.06172752 1.306472 7.406338 0.06172752 1.286787 7.406338 10.96047 1.286787 0.3117266 10.96047 1.306472 0.3117266 10.96047 1.306472 0.3117266 10.96047 1.286787 0.3117266 10.96047 1.306472 0.3117266 10.96047 1.286787 0.3117266 0.05972391 1.306472 7.385995 0.05972391 1.286787 7.385995 0.05972391 1.306472 7.385995 0.05972391 1.286787 7.385995 0.05972391 1.306472 7.385995 0.05972391 1.286787 7.385995 10.95204 1.286787 0.2931072 10.95204 1.306472 0.2931072 10.95204 1.306472 0.2931072 10.95204 1.286787 0.2931072 10.95204 1.306472 0.2931072 10.95204 1.286787 0.2931072 0.05905503 1.306472 7.365565 0.05905503 1.286787 7.365565 0.05905503 1.306472 7.365565 0.05905503 1.286787 7.365565 0.05905503 1.306472 7.365565 0.05905503 1.286787 7.365565 10.9424 1.306472 0.2750793 10.9424 1.286787 0.2750793 10.9424 1.306472 0.2750793 10.9424 1.286787 0.2750793 10.9424 1.306472 0.2750793 10.9424 1.286787 0.2750793 0.05905503 1.306472 0.5125902 0.05905503 1.286787 0.5125902 0.05905503 1.306472 0.5125902 0.05905503 1.286787 0.5125902 0.05905503 1.306472 0.5125902 0.05905503 1.286787 0.5125902 10.93161 1.286787 0.2577203 10.93161 1.306472 0.2577203 10.93161 1.306472 0.2577203 10.93161 1.286787 0.2577203 10.93161 1.306472 0.2577203 10.93161 1.286787 0.2577203 0.05905503 1.306472 0.4312692 0.05905503 1.286787 0.4312692 0.05828607 1.306472 0.5094133 0.05828607 1.306472 0.5094133 0.05905503 1.306472 0.4312692 0.05905503 1.286787 0.4312692 0.05905503 1.306472 0.4312692 0.05905503 1.286787 0.4312692 0.05828607 1.306472 0.5094133 10.9197 1.286787 0.2411044 10.9197 1.306472 0.2411044 10.9197 1.306472 0.2411044 10.9197 1.286787 0.2411044 10.9197 1.306472 0.2411044 10.9197 1.286787 0.2411044 0.05930799 1.306472 0.423866 0.05930799 1.286787 0.423866 0.05930799 1.306472 0.423866 0.05930799 1.286787 0.423866 0.05930799 1.306472 0.423866 0.05930799 1.286787 0.423866 10.90673 1.286787 0.2253029 10.90673 1.306472 0.2253029 10.90673 1.306472 0.2253029 10.90673 1.286787 0.2253029 10.90673 1.306472 0.2253029 10.90673 1.286787 0.2253029 0.05978322 1.286787 0.4099517 0.05930799 1.306472 0.423866 0.05930799 1.286787 0.423866 0.05978322 1.306472 0.4099517 0.05978322 1.306472 0.4099517 0.05978322 1.286787 0.4099517 0.05930799 1.306472 0.423866 0.05930799 1.286787 0.423866 0.05978322 1.306472 0.4099517 0.05978322 1.286787 0.4099517 10.89276 1.286787 0.2103832 10.89276 1.306472 0.2103832 10.89276 1.306472 0.2103832 10.89276 1.286787 0.2103832 10.89276 1.306472 0.2103832 10.89276 1.286787 0.2103832 0.06070238 1.306472 0.4010119 0.06070238 1.286787 0.4010119 0.06070238 1.306472 0.4010119 0.06070238 1.286787 0.4010119 0.06070238 1.306472 0.4010119 0.06070238 1.286787 0.4010119 10.87784 1.306472 0.1964096 10.87784 1.286787 0.1964096 10.87784 1.306472 0.1964096 10.87784 1.286787 0.1964096 10.87784 1.306472 0.1964096 10.87784 1.286787 0.1964096 0.06173801 1.306472 0.3904968 0.06173801 1.286787 0.3904968 0.06173801 1.306472 0.3904968 0.06173801 1.286787 0.3904968 0.06173801 1.306472 0.3904968 0.06173801 1.286787 0.3904968 10.86204 1.306472 0.1834416 10.86204 1.286787 0.1834416 10.86204 1.306472 0.1834416 10.86204 1.286787 0.1834416 10.86204 1.306472 0.1834416 10.86204 1.286787 0.1834416 0.06196463 1.306472 0.3887335 0.06196463 1.286787 0.3887335 0.06196463 1.306472 0.3887335 0.06196463 1.286787 0.3887335 0.06196463 1.306472 0.3887335 0.06196463 1.286787 0.3887335 10.84542 1.306472 0.1715348 10.84542 1.286787 0.1715348 10.84542 1.306472 0.1715348 10.84542 1.286787 0.1715348 10.84542 1.306472 0.1715348 10.84542 1.286787 0.1715348 0.0634849 1.306472 0.3799162 0.0634849 1.286787 0.3799162 0.0634849 1.306472 0.3799162 0.0634849 1.286787 0.3799162 0.0634849 1.306472 0.3799162 0.0634849 1.286787 0.3799162 10.82806 1.306472 0.1607404 10.82806 1.286787 0.1607404 10.82806 1.306472 0.1607404 10.82806 1.286787 0.1607404 10.82806 1.306472 0.1607404 10.82806 1.286787 0.1607404 0.0650677 1.306472 0.370329 0.0650677 1.286787 0.370329 0.0650677 1.306472 0.370329 0.0650677 1.286787 0.370329 0.0650677 1.306472 0.370329 0.0650677 1.286787 0.370329 10.81003 1.306472 0.1511043 10.81003 1.286787 0.1511043 10.81003 1.306472 0.1511043 10.81003 1.286787 0.1511043 10.81003 1.306472 0.1511043 10.81003 1.286787 0.1511043 0.06533694 1.286787 0.3691743 0.06533694 1.306472 0.3691743 0.06533694 1.306472 0.3691743 0.06533694 1.286787 0.3691743 0.06533694 1.306472 0.3691743 0.06533694 1.286787 0.3691743 10.79141 1.306472 0.1426679 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+                  </technique_common>
+                </bind_material>
+              </instance_geometry>
+            </node>
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+                  </technique_common>
+                </bind_material>
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+            </node>
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+              <instance_geometry url="#ID1346-mesh">
+                <bind_material>
+                  <technique_common>
+                    <instance_material symbol="_0134_DimGray-material" target="#_0134_DimGray-material"/>
+                    <instance_material symbol="_0128_White-material" target="#_0128_White-material"/>
+                    <instance_material symbol="edge_color105105105255-material" target="#edge_color105105105255-material"/>
+                    <instance_material symbol="edge_color255255255255-material" target="#edge_color255255255255-material"/>
+                  </technique_common>
+                </bind_material>
+              </instance_geometry>
+            </node>
+          </node>
+        </node>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/labtop_mac_2/meshes/labtop.dae b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/labtop_mac_2/meshes/labtop.dae
new file mode 100644
index 0000000..658edc3
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/labtop_mac_2/meshes/labtop.dae
@@ -0,0 +1,11173 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+    <asset>
+        <contributor>
+            <authoring_tool>SketchUp 15.3.331</authoring_tool>
+        </contributor>
+        <created>2015-10-16T18:09:08Z</created>
+        <modified>2015-10-16T18:09:08Z</modified>
+        <unit meter="0.0254" name="inch" />
+        <up_axis>Z_UP</up_axis>
+    </asset>
+    <library_visual_scenes>
+        <visual_scene id="ID1">
+            <node name="SketchUp">
+                <node id="skp_camera" name="Last Saved SketchUp View">
+                    <lookat>-8.588842 -8.164362 8.921481 4.203306 4.627786 2.525407 0.2357023 0.2357023 0.942809</lookat>
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+                    <instance_geometry url="#ID1105">
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diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/labtop_mac_2/meshes/screen.dae b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/labtop_mac_2/meshes/screen.dae
new file mode 100644
index 0000000..2a6f3f4
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/labtop_mac_2/meshes/screen.dae
@@ -0,0 +1,655 @@
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+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="ID1193-mesh-normals">
+          <float_array id="ID1193-mesh-normals-array" count="180">1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0</float_array>
+          <technique_common>
+            <accessor source="#ID1193-mesh-normals-array" count="60" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="ID1193-mesh-vertices">
+          <input semantic="POSITION" source="#ID1193-mesh-positions"/>
+        </vertices>
+        <lines count="32">
+          <input semantic="VERTEX" source="#ID1193-mesh-vertices" offset="0"/>
+          <p>64 65 66 64 67 66 68 67 69 68 70 69 71 70 72 71 73 72 74 73 75 74 76 75 77 76 78 77 79 78 80 79 81 80 82 81 83 82 84 83 85 84 86 85 87 86 88 87 89 88 90 89 91 90 92 91 93 92 94 93 95 94 65 95</p>
+        </lines>
+        <polylist material="_0136_Charcoal-material" count="30">
+          <input semantic="VERTEX" source="#ID1193-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#ID1193-mesh-normals" offset="1"/>
+          <vcount>3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
+          <p>0 0 1 0 2 0 1 1 0 1 3 1 1 2 3 2 4 2 4 3 3 3 5 3 4 4 5 4 6 4 6 5 5 5 7 5 6 6 7 6 8 6 8 7 7 7 9 7 8 8 9 8 10 8 10 9 9 9 11 9 10 10 11 10 12 10 12 11 11 11 13 11 12 12 13 12 14 12 14 13 13 13 15 13 14 14 15 14 16 14 16 15 15 15 17 15 16 16 17 16 18 16 18 17 17 17 19 17 18 18 19 18 20 18 20 19 19 19 21 19 20 20 21 20 22 20 22 21 21 21 23 21 22 22 23 22 24 22 24 23 23 23 25 23 24 24 25 24 26 24 26 25 25 25 27 25 26 26 27 26 28 26 28 27 27 27 29 27 28 28 29 28 30 28 30 29 29 29 31 29</p>
+        </polylist>
+        <polylist material="_0131_Silver-material" count="30">
+          <input semantic="VERTEX" source="#ID1193-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#ID1193-mesh-normals" offset="1"/>
+          <vcount>3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
+          <p>32 30 33 30 34 30 34 31 33 31 35 31 33 32 36 32 35 32 35 33 36 33 37 33 36 34 38 34 37 34 37 35 38 35 39 35 38 36 40 36 39 36 39 37 40 37 41 37 40 38 42 38 41 38 41 39 42 39 43 39 42 40 44 40 43 40 43 41 44 41 45 41 44 42 46 42 45 42 45 43 46 43 47 43 46 44 48 44 47 44 47 45 48 45 49 45 48 46 50 46 49 46 49 47 50 47 51 47 50 48 52 48 51 48 51 49 52 49 53 49 52 50 54 50 53 50 53 51 54 51 55 51 54 52 56 52 55 52 55 53 56 53 57 53 56 54 58 54 57 54 57 55 58 55 59 55 58 56 60 56 59 56 59 57 60 57 61 57 60 58 62 58 61 58 63 59 61 59 62 59</p>
+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6858805 -0.3173701 0.6548619 7.481132 0.7276338 0.3124686 -0.6106656 -6.50764 -0.01081678 0.8953432 0.4452454 5.343665 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Camera_001" name="Camera_001" type="NODE">
+        <matrix sid="transform">0.6858805 -0.3173701 0.6548619 7.481132 0.7276337 0.3124686 -0.6106656 -6.50764 -0.01081678 0.8953431 0.4452454 5.343665 0 0 0 1</matrix>
+        <instance_camera url="#Camera_001-camera"/>
+      </node>
+      <node id="Camera_001" name="Camera_001" type="NODE">
+        <matrix sid="transform">0.6858805 -0.31737 0.6548618 7.481132 0.7276337 0.3124685 -0.6106656 -6.50764 -0.01081678 0.8953429 0.4452453 5.343665 0 0 0 1</matrix>
+        <instance_camera url="#Camera_001-camera"/>
+      </node>
+      <node id="Camera_001_001" name="Camera_001_001" type="NODE">
+        <matrix sid="transform">0.6858805 -0.31737 0.6548618 7.481132 0.7276337 0.3124684 -0.6106656 -6.50764 -0.01081672 0.8953428 0.4452453 5.343665 0 0 0 1</matrix>
+        <instance_camera url="#Camera_001_001-camera"/>
+      </node>
+      <node id="group_3" name="group_3" type="NODE">
+        <matrix sid="transform">0.0254 0 0 0.001480467 0 0.0254 0 0.1980142 0 0 0.0254 0.005875485 0 0 0 1</matrix>
+        <node id="group_4_001" name="group_4_001" type="NODE">
+          <matrix sid="transform">1 0 0 0 0 1 4.54188e-9 0.001384735 0 -7.5698e-9 1 -4.47035e-8 0 0 0 1</matrix>
+          <instance_geometry url="#ID1255-mesh">
+            <bind_material>
+              <technique_common>
+                <instance_material symbol="_0134_DimGray-material" target="#_0134_DimGray-material"/>
+                <instance_material symbol="_2304x1440-material" target="#_2304x1440-material"/>
+                <instance_material symbol="edge_color000255-material" target="#edge_color000255-material"/>
+                <instance_material symbol="edge_color105105105255-material" target="#edge_color105105105255-material"/>
+              </technique_common>
+            </bind_material>
+          </instance_geometry>
+        </node>
+      </node>
+      <node id="SketchUp" name="SketchUp" type="NODE">
+        <matrix sid="transform">0.0254 0 0 0 0 0.0254 0 0 0 0 0.0254 0 0 0 0 1</matrix>
+        <node id="Last_Saved_SketchUp_View" name="Last_Saved_SketchUp_View" type="NODE">
+          <matrix sid="transform">0 0 0 -1.747833 0 0 0 0 0 0 0 -1.49754 0 0 0 1</matrix>
+        </node>
+        <node id="group_0_008" name="group_0_008" type="NODE">
+          <matrix sid="transform">1 0 0 2.66453e-14 0 0.9998323 -0.01831564 0.004041379 0 0.01831564 0.9998323 0.2116717 0 0 0 1</matrix>
+          <instance_geometry url="#ID1163-mesh">
+            <bind_material>
+              <technique_common>
+                <instance_material symbol="_0131_Silver-material" target="#_0131_Silver-material"/>
+                <instance_material symbol="edge_color192192192255-material" target="#edge_color192192192255-material"/>
+              </technique_common>
+            </bind_material>
+          </instance_geometry>
+        </node>
+        <node id="group_0_009" name="group_0_009" type="NODE">
+          <matrix sid="transform">1 0 0 2.66453e-14 0 0.9998323 -0.01831564 0.004041379 0 0.01831564 0.9998323 0.2116717 0 0 0 1</matrix>
+          <instance_geometry url="#ID1169-mesh">
+            <bind_material>
+              <technique_common>
+                <instance_material symbol="_0131_Silver-material" target="#_0131_Silver-material"/>
+                <instance_material symbol="edge_color192192192255-material" target="#edge_color192192192255-material"/>
+              </technique_common>
+            </bind_material>
+          </instance_geometry>
+        </node>
+        <node id="group_0_010" name="group_0_010" type="NODE">
+          <matrix sid="transform">1 0 0 2.66453e-14 0 0.9998323 -0.01831564 0.004041379 0 0.01831564 0.9998323 0.2116717 0 0 0 1</matrix>
+          <instance_geometry url="#ID1175-mesh">
+            <bind_material>
+              <technique_common>
+                <instance_material symbol="_0131_Silver-material" target="#_0131_Silver-material"/>
+                <instance_material symbol="edge_color192192192255-material" target="#edge_color192192192255-material"/>
+              </technique_common>
+            </bind_material>
+          </instance_geometry>
+        </node>
+        <node id="group_0_011" name="group_0_011" type="NODE">
+          <matrix sid="transform">1 0 0 2.66453e-14 0 0.9998323 -0.01831564 0.004041379 0 0.01831564 0.9998323 0.2116717 0 0 0 1</matrix>
+          <instance_geometry url="#ID1181-mesh">
+            <bind_material>
+              <technique_common>
+                <instance_material symbol="_0136_Charcoal-material" target="#_0136_Charcoal-material"/>
+                <instance_material symbol="_0131_Silver-material" target="#_0131_Silver-material"/>
+                <instance_material symbol="edge_color192192192255-material" target="#edge_color192192192255-material"/>
+              </technique_common>
+            </bind_material>
+          </instance_geometry>
+        </node>
+        <node id="group_0_013" name="group_0_013" type="NODE">
+          <matrix sid="transform">1 0 0 2.66453e-14 0 0.9998323 -0.01831564 0.004041379 0 0.01831564 0.9998323 0.2116717 0 0 0 1</matrix>
+          <instance_geometry url="#ID1193-mesh">
+            <bind_material>
+              <technique_common>
+                <instance_material symbol="_0136_Charcoal-material" target="#_0136_Charcoal-material"/>
+                <instance_material symbol="_0131_Silver-material" target="#_0131_Silver-material"/>
+                <instance_material symbol="edge_color192192192255-material" target="#edge_color192192192255-material"/>
+              </technique_common>
+            </bind_material>
+          </instance_geometry>
+        </node>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/labtop_mac_2/model.config b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/labtop_mac_2/model.config
new file mode 100644
index 0000000..6b251ad
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/labtop_mac_2/model.config
@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+    <name>labtop_mac_2</name>
+    <version>1.0</version>
+    <sdf version="1.6">model.sdf</sdf>
+    <author>
+        <name></name>
+        <email></email>
+    </author>
+    <description></description>
+</model>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/labtop_mac_2/model.sdf b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/labtop_mac_2/model.sdf
new file mode 100644
index 0000000..e3a7787
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/labtop_mac_2/model.sdf
@@ -0,0 +1,118 @@
+<?xml version='1.0'?>
+<sdf version='1.6'>
+  <model name='labtop_mac_2'>
+    <link name='link_0'>
+      <pose frame=''>-7e-05 -0.001031 0 0 -0 0</pose>
+       <visual name='visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://labtop_mac_2/meshes/body.dae</uri>
+            <scale>1 1 1</scale>
+          </mesh>
+        </geometry>
+       <material>
+          <lighting>1</lighting>
+          <ambient>0.6 0.6 0.6 1</ambient>
+          <diffuse>0.8 0.8 0.8 1</diffuse>
+          <specular>0.01 0.01 0.01 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <shader type='vertex'>
+            <normal_map>__default__</normal_map>
+          </shader>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <collision name='collision'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://labtop_mac_2/meshes/body.dae</uri>
+            <scale>1 1 1</scale>
+          </mesh>
+        </geometry>
+       </collision>
+    </link>
+    <link name='link_1'>
+      <pose frame=''>0.000643 0.000126 0 0 -0 0</pose>
+      <visual name='visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://labtop_mac_2/meshes/keys.dae</uri>
+            <scale>1 1 1</scale>
+          </mesh>
+        </geometry>
+        <material>
+          <lighting>1</lighting>
+            <ambient>0 0 0 1</ambient>
+          <diffuse>0.2 0.2 0.2 1</diffuse>
+          <specular>0.01 0.01 0.01 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <shader type='vertex'>
+            <normal_map>__default__</normal_map>
+          </shader>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <collision name='collision'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://labtop_mac_2/meshes/keys.dae</uri>
+            <scale>1 1 1</scale>
+          </mesh>
+        </geometry>
+       </collision>
+    </link>
+    <link name='link_3'>
+      <pose frame=''>-0.000573 -0.000392 0.000332 0 -0 0</pose>
+       <visual name='visual'>
+         <geometry>
+          <mesh>
+            <uri>model://labtop_mac_2/meshes/screen.dae</uri>
+            <scale>1 1 1</scale>
+          </mesh>
+        </geometry>
+        <!--material>
+          <lighting>1</lighting>
+            <ambient>0 0 0 1</ambient>
+          <diffuse>0.2 0.2 0.2 1</diffuse>
+          <specular>0.01 0.01 0.01 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <shader type='vertex'>
+            <normal_map>__default__</normal_map>
+          </shader>
+        </material-->
+      <material>
+          <script>
+            <uri>model://labtop_mac_2/materials/scripts</uri>
+            <uri>model://labtop_mac_2/materials/textures</uri>
+            <name>labtop_screen_2</name>
+          </script>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <collision name='collision'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://labtop_mac_2/meshes/screen.dae</uri>
+            <scale>1 1 1</scale>
+          </mesh>
+        </geometry>
+       </collision>
+    </link>
+    <static>1</static>
+    <allow_auto_disable>1</allow_auto_disable>
+  </model>
+</sdf>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_chair/materials/textures/office_chair_diffuse.png b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_chair/materials/textures/office_chair_diffuse.png
new file mode 100644
index 0000000..66e4c9f
Binary files /dev/null and b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_chair/materials/textures/office_chair_diffuse.png differ
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_chair/materials/textures/office_chair_specular.png b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_chair/materials/textures/office_chair_specular.png
new file mode 100644
index 0000000..4105c58
Binary files /dev/null and b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_chair/materials/textures/office_chair_specular.png differ
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_chair/meshes/chair_base.dae b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_chair/meshes/chair_base.dae
new file mode 100644
index 0000000..f6871fc
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_chair/meshes/chair_base.dae
@@ -0,0 +1,9981 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool>
+    </contributor>
+    <created>2016-08-16T16:14:21</created>
+    <modified>2016-08-16T16:14:21</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
+    <camera id="Camera-camera" name="Camera">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">49.13434</xfov>
+            <aspect_ratio>1.777778</aspect_ratio>
+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
+      <extra>
+        <technique profile="blender">
+          <YF_dofdist>0</YF_dofdist>
+          <shiftx>0</shiftx>
+          <shifty>0</shifty>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_001-camera" name="Camera.001">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">49.13434</xfov>
+            <aspect_ratio>1.777778</aspect_ratio>
+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
+      <extra>
+        <technique profile="blender">
+          <YF_dofdist>0</YF_dofdist>
+          <shiftx>0</shiftx>
+          <shifty>0</shifty>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_images/>
+  <library_effects>
+    <effect id="Black-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.1003922 0.1003922 0.1003922 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.25 0.25 0.25 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="material_001-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.4442353 0.4592942 0.4768627 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.25 0.25 0.25 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="edge_color404040255-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.512 0.512 0.512 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.25 0.25 0.25 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Metal_Corrogated_Shiny-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.512 0.512 0.512 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.25 0.25 0.25 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="edge_color193193193255-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.512 0.512 0.512 1</color>
+            </diffuse>
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+    <effect id="Metal_Corrogated_Shiny_209-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.512 0.512 0.512 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.25 0.25 0.25 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Metal_Corrogated_Shiny_210-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.512 0.512 0.512 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.25 0.25 0.25 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="Black-material" name="Black">
+      <instance_effect url="#Black-effect"/>
+    </material>
+    <material id="material_001-material" name="material_001">
+      <instance_effect url="#material_001-effect"/>
+    </material>
+    <material id="edge_color404040255-material" name="edge_color404040255">
+      <instance_effect url="#edge_color404040255-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny-material" name="Metal_Corrogated_Shiny">
+      <instance_effect url="#Metal_Corrogated_Shiny-effect"/>
+    </material>
+    <material id="edge_color193193193255-material" name="edge_color193193193255">
+      <instance_effect url="#edge_color193193193255-effect"/>
+    </material>
+    <material id="DimGray-material" name="DimGray">
+      <instance_effect url="#DimGray-effect"/>
+    </material>
+    <material id="LightGrey-material" name="LightGrey">
+      <instance_effect url="#LightGrey-effect"/>
+    </material>
+    <material id="edge_color181181181255-material" name="edge_color181181181255">
+      <instance_effect url="#edge_color181181181255-effect"/>
+    </material>
+    <material id="edge_color000255_001-material" name="edge_color000255_001">
+      <instance_effect url="#edge_color000255_001-effect"/>
+    </material>
+    <material id="material_0-material" name="material_0">
+      <instance_effect url="#material_0-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_1-material" name="Metal_Corrogated_Shiny_1">
+      <instance_effect url="#Metal_Corrogated_Shiny_1-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_2-material" name="Metal_Corrogated_Shiny_2">
+      <instance_effect url="#Metal_Corrogated_Shiny_2-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_3-material" name="Metal_Corrogated_Shiny_3">
+      <instance_effect url="#Metal_Corrogated_Shiny_3-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_4-material" name="Metal_Corrogated_Shiny_4">
+      <instance_effect url="#Metal_Corrogated_Shiny_4-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_5-material" name="Metal_Corrogated_Shiny_5">
+      <instance_effect url="#Metal_Corrogated_Shiny_5-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_6-material" name="Metal_Corrogated_Shiny_6">
+      <instance_effect url="#Metal_Corrogated_Shiny_6-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_7-material" name="Metal_Corrogated_Shiny_7">
+      <instance_effect url="#Metal_Corrogated_Shiny_7-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_8-material" name="Metal_Corrogated_Shiny_8">
+      <instance_effect url="#Metal_Corrogated_Shiny_8-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_9-material" name="Metal_Corrogated_Shiny_9">
+      <instance_effect url="#Metal_Corrogated_Shiny_9-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_10-material" name="Metal_Corrogated_Shiny_10">
+      <instance_effect url="#Metal_Corrogated_Shiny_10-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_11-material" name="Metal_Corrogated_Shiny_11">
+      <instance_effect url="#Metal_Corrogated_Shiny_11-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_12-material" name="Metal_Corrogated_Shiny_12">
+      <instance_effect url="#Metal_Corrogated_Shiny_12-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_13-material" name="Metal_Corrogated_Shiny_13">
+      <instance_effect url="#Metal_Corrogated_Shiny_13-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_14-material" name="Metal_Corrogated_Shiny_14">
+      <instance_effect url="#Metal_Corrogated_Shiny_14-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_15-material" name="Metal_Corrogated_Shiny_15">
+      <instance_effect url="#Metal_Corrogated_Shiny_15-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_16-material" name="Metal_Corrogated_Shiny_16">
+      <instance_effect url="#Metal_Corrogated_Shiny_16-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_17-material" name="Metal_Corrogated_Shiny_17">
+      <instance_effect url="#Metal_Corrogated_Shiny_17-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_18-material" name="Metal_Corrogated_Shiny_18">
+      <instance_effect url="#Metal_Corrogated_Shiny_18-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_19-material" name="Metal_Corrogated_Shiny_19">
+      <instance_effect url="#Metal_Corrogated_Shiny_19-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_20-material" name="Metal_Corrogated_Shiny_20">
+      <instance_effect url="#Metal_Corrogated_Shiny_20-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_21-material" name="Metal_Corrogated_Shiny_21">
+      <instance_effect url="#Metal_Corrogated_Shiny_21-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_22-material" name="Metal_Corrogated_Shiny_22">
+      <instance_effect url="#Metal_Corrogated_Shiny_22-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_23-material" name="Metal_Corrogated_Shiny_23">
+      <instance_effect url="#Metal_Corrogated_Shiny_23-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_24-material" name="Metal_Corrogated_Shiny_24">
+      <instance_effect url="#Metal_Corrogated_Shiny_24-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_25-material" name="Metal_Corrogated_Shiny_25">
+      <instance_effect url="#Metal_Corrogated_Shiny_25-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_26-material" name="Metal_Corrogated_Shiny_26">
+      <instance_effect url="#Metal_Corrogated_Shiny_26-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_27-material" name="Metal_Corrogated_Shiny_27">
+      <instance_effect url="#Metal_Corrogated_Shiny_27-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_28-material" name="Metal_Corrogated_Shiny_28">
+      <instance_effect url="#Metal_Corrogated_Shiny_28-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_29-material" name="Metal_Corrogated_Shiny_29">
+      <instance_effect url="#Metal_Corrogated_Shiny_29-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_30-material" name="Metal_Corrogated_Shiny_30">
+      <instance_effect url="#Metal_Corrogated_Shiny_30-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_31-material" name="Metal_Corrogated_Shiny_31">
+      <instance_effect url="#Metal_Corrogated_Shiny_31-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_32-material" name="Metal_Corrogated_Shiny_32">
+      <instance_effect url="#Metal_Corrogated_Shiny_32-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_33-material" name="Metal_Corrogated_Shiny_33">
+      <instance_effect url="#Metal_Corrogated_Shiny_33-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_34-material" name="Metal_Corrogated_Shiny_34">
+      <instance_effect url="#Metal_Corrogated_Shiny_34-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_35-material" name="Metal_Corrogated_Shiny_35">
+      <instance_effect url="#Metal_Corrogated_Shiny_35-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_36-material" name="Metal_Corrogated_Shiny_36">
+      <instance_effect url="#Metal_Corrogated_Shiny_36-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_37-material" name="Metal_Corrogated_Shiny_37">
+      <instance_effect url="#Metal_Corrogated_Shiny_37-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_38-material" name="Metal_Corrogated_Shiny_38">
+      <instance_effect url="#Metal_Corrogated_Shiny_38-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_39-material" name="Metal_Corrogated_Shiny_39">
+      <instance_effect url="#Metal_Corrogated_Shiny_39-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_40-material" name="Metal_Corrogated_Shiny_40">
+      <instance_effect url="#Metal_Corrogated_Shiny_40-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_41-material" name="Metal_Corrogated_Shiny_41">
+      <instance_effect url="#Metal_Corrogated_Shiny_41-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_42-material" name="Metal_Corrogated_Shiny_42">
+      <instance_effect url="#Metal_Corrogated_Shiny_42-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_43-material" name="Metal_Corrogated_Shiny_43">
+      <instance_effect url="#Metal_Corrogated_Shiny_43-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_44-material" name="Metal_Corrogated_Shiny_44">
+      <instance_effect url="#Metal_Corrogated_Shiny_44-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_45-material" name="Metal_Corrogated_Shiny_45">
+      <instance_effect url="#Metal_Corrogated_Shiny_45-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_46-material" name="Metal_Corrogated_Shiny_46">
+      <instance_effect url="#Metal_Corrogated_Shiny_46-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_47-material" name="Metal_Corrogated_Shiny_47">
+      <instance_effect url="#Metal_Corrogated_Shiny_47-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_48-material" name="Metal_Corrogated_Shiny_48">
+      <instance_effect url="#Metal_Corrogated_Shiny_48-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_49-material" name="Metal_Corrogated_Shiny_49">
+      <instance_effect url="#Metal_Corrogated_Shiny_49-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_50-material" name="Metal_Corrogated_Shiny_50">
+      <instance_effect url="#Metal_Corrogated_Shiny_50-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_51-material" name="Metal_Corrogated_Shiny_51">
+      <instance_effect url="#Metal_Corrogated_Shiny_51-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_52-material" name="Metal_Corrogated_Shiny_52">
+      <instance_effect url="#Metal_Corrogated_Shiny_52-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_53-material" name="Metal_Corrogated_Shiny_53">
+      <instance_effect url="#Metal_Corrogated_Shiny_53-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_54-material" name="Metal_Corrogated_Shiny_54">
+      <instance_effect url="#Metal_Corrogated_Shiny_54-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_55-material" name="Metal_Corrogated_Shiny_55">
+      <instance_effect url="#Metal_Corrogated_Shiny_55-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_56-material" name="Metal_Corrogated_Shiny_56">
+      <instance_effect url="#Metal_Corrogated_Shiny_56-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_57-material" name="Metal_Corrogated_Shiny_57">
+      <instance_effect url="#Metal_Corrogated_Shiny_57-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_58-material" name="Metal_Corrogated_Shiny_58">
+      <instance_effect url="#Metal_Corrogated_Shiny_58-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_59-material" name="Metal_Corrogated_Shiny_59">
+      <instance_effect url="#Metal_Corrogated_Shiny_59-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_60-material" name="Metal_Corrogated_Shiny_60">
+      <instance_effect url="#Metal_Corrogated_Shiny_60-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_61-material" name="Metal_Corrogated_Shiny_61">
+      <instance_effect url="#Metal_Corrogated_Shiny_61-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_62-material" name="Metal_Corrogated_Shiny_62">
+      <instance_effect url="#Metal_Corrogated_Shiny_62-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_63-material" name="Metal_Corrogated_Shiny_63">
+      <instance_effect url="#Metal_Corrogated_Shiny_63-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_64-material" name="Metal_Corrogated_Shiny_64">
+      <instance_effect url="#Metal_Corrogated_Shiny_64-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_65-material" name="Metal_Corrogated_Shiny_65">
+      <instance_effect url="#Metal_Corrogated_Shiny_65-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_66-material" name="Metal_Corrogated_Shiny_66">
+      <instance_effect url="#Metal_Corrogated_Shiny_66-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_67-material" name="Metal_Corrogated_Shiny_67">
+      <instance_effect url="#Metal_Corrogated_Shiny_67-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_68-material" name="Metal_Corrogated_Shiny_68">
+      <instance_effect url="#Metal_Corrogated_Shiny_68-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_69-material" name="Metal_Corrogated_Shiny_69">
+      <instance_effect url="#Metal_Corrogated_Shiny_69-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_70-material" name="Metal_Corrogated_Shiny_70">
+      <instance_effect url="#Metal_Corrogated_Shiny_70-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_71-material" name="Metal_Corrogated_Shiny_71">
+      <instance_effect url="#Metal_Corrogated_Shiny_71-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_72-material" name="Metal_Corrogated_Shiny_72">
+      <instance_effect url="#Metal_Corrogated_Shiny_72-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_73-material" name="Metal_Corrogated_Shiny_73">
+      <instance_effect url="#Metal_Corrogated_Shiny_73-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_74-material" name="Metal_Corrogated_Shiny_74">
+      <instance_effect url="#Metal_Corrogated_Shiny_74-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_75-material" name="Metal_Corrogated_Shiny_75">
+      <instance_effect url="#Metal_Corrogated_Shiny_75-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_76-material" name="Metal_Corrogated_Shiny_76">
+      <instance_effect url="#Metal_Corrogated_Shiny_76-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_77-material" name="Metal_Corrogated_Shiny_77">
+      <instance_effect url="#Metal_Corrogated_Shiny_77-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_78-material" name="Metal_Corrogated_Shiny_78">
+      <instance_effect url="#Metal_Corrogated_Shiny_78-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_79-material" name="Metal_Corrogated_Shiny_79">
+      <instance_effect url="#Metal_Corrogated_Shiny_79-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_80-material" name="Metal_Corrogated_Shiny_80">
+      <instance_effect url="#Metal_Corrogated_Shiny_80-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_81-material" name="Metal_Corrogated_Shiny_81">
+      <instance_effect url="#Metal_Corrogated_Shiny_81-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_82-material" name="Metal_Corrogated_Shiny_82">
+      <instance_effect url="#Metal_Corrogated_Shiny_82-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_83-material" name="Metal_Corrogated_Shiny_83">
+      <instance_effect url="#Metal_Corrogated_Shiny_83-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_84-material" name="Metal_Corrogated_Shiny_84">
+      <instance_effect url="#Metal_Corrogated_Shiny_84-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_85-material" name="Metal_Corrogated_Shiny_85">
+      <instance_effect url="#Metal_Corrogated_Shiny_85-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_86-material" name="Metal_Corrogated_Shiny_86">
+      <instance_effect url="#Metal_Corrogated_Shiny_86-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_87-material" name="Metal_Corrogated_Shiny_87">
+      <instance_effect url="#Metal_Corrogated_Shiny_87-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_88-material" name="Metal_Corrogated_Shiny_88">
+      <instance_effect url="#Metal_Corrogated_Shiny_88-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_89-material" name="Metal_Corrogated_Shiny_89">
+      <instance_effect url="#Metal_Corrogated_Shiny_89-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_90-material" name="Metal_Corrogated_Shiny_90">
+      <instance_effect url="#Metal_Corrogated_Shiny_90-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_91-material" name="Metal_Corrogated_Shiny_91">
+      <instance_effect url="#Metal_Corrogated_Shiny_91-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_92-material" name="Metal_Corrogated_Shiny_92">
+      <instance_effect url="#Metal_Corrogated_Shiny_92-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_93-material" name="Metal_Corrogated_Shiny_93">
+      <instance_effect url="#Metal_Corrogated_Shiny_93-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_94-material" name="Metal_Corrogated_Shiny_94">
+      <instance_effect url="#Metal_Corrogated_Shiny_94-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_95-material" name="Metal_Corrogated_Shiny_95">
+      <instance_effect url="#Metal_Corrogated_Shiny_95-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_96-material" name="Metal_Corrogated_Shiny_96">
+      <instance_effect url="#Metal_Corrogated_Shiny_96-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_97-material" name="Metal_Corrogated_Shiny_97">
+      <instance_effect url="#Metal_Corrogated_Shiny_97-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_98-material" name="Metal_Corrogated_Shiny_98">
+      <instance_effect url="#Metal_Corrogated_Shiny_98-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_99-material" name="Metal_Corrogated_Shiny_99">
+      <instance_effect url="#Metal_Corrogated_Shiny_99-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_100-material" name="Metal_Corrogated_Shiny_100">
+      <instance_effect url="#Metal_Corrogated_Shiny_100-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_101-material" name="Metal_Corrogated_Shiny_101">
+      <instance_effect url="#Metal_Corrogated_Shiny_101-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_102-material" name="Metal_Corrogated_Shiny_102">
+      <instance_effect url="#Metal_Corrogated_Shiny_102-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_103-material" name="Metal_Corrogated_Shiny_103">
+      <instance_effect url="#Metal_Corrogated_Shiny_103-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_104-material" name="Metal_Corrogated_Shiny_104">
+      <instance_effect url="#Metal_Corrogated_Shiny_104-effect"/>
+    </material>
+    <material id="Metal_Corrogated_Shiny_105-material" name="Metal_Corrogated_Shiny_105">
+      <instance_effect url="#Metal_Corrogated_Shiny_105-effect"/>
+    </material>
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+        </polylist>
+        <polylist material="Metal_Corrogated_Shiny-material" count="1004">
+          <input semantic="VERTEX" source="#ID108-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#ID108-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#ID108-mesh-map-0" offset="2" set="0"/>
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6.810813 0.157451 0.8382494 6.810813 0.157451 0.8382494 6.810813 0.1982024 1.27587 7.470081 0.1982024 1.27587 7.470081 0.1982024 1.27587 7.470081 0.2361766 1.858183 8.013139 0.2361766 1.858183 8.013139 0.2361766 1.858183 8.013139 0.2687858 2.59738 8.448589 0.2687858 2.59738 8.448589 0.2687858 2.59738 8.448589 0.2938077 3.49595 8.780427 0.2938077 3.49595 8.780427 0.2938077 3.49595 8.780427 0.3095372 4.544979 9.012412 0.3095372 4.544979 9.012412 0.3095372 4.544979 9.012412 0.3149022 5.728226 9.149685 0.3149022 5.728226 9.149685 0.3149022 5.728226 9.149685 0.3095372 7.025548 9.197142 0.3095372 7.025548 9.197142 0.3095372 7.025548 9.197142 0.2938077 8.41456 9.156999 0.2938077 8.41456 9.156999 0.2938077 8.41456 9.156999 0.2687858 9.871397 9.026574 0.2687858 9.871397 9.026574 0.2687858 9.871397 9.026574 0.2361766 11.37115 8.796275 0.2361766 11.37115 8.796275 0.2361766 11.37115 8.796275 0.157451 12.88952 8.452877 0.1982024 12.88804 8.447713 0.1982024 12.88804 8.447713 0.157451 12.88952 8.452877 0.1982024 12.88804 8.447713 0.157451 12.88952 8.452877 0.1166998 11.37431 8.811692 0.1166998 11.37431 8.811692 0.1166998 11.37431 8.811692 0.07872551 9.874896 9.051361 0.07872551 9.874896 9.051361 0.07872551 9.874896 9.051361 0.04611635 8.417291 9.189506 0.04611635 8.417291 9.189506 0.04611635 8.417291 9.189506 0.02109444 7.026518 9.235122 0.02109444 7.026518 9.235122 0.02109444 7.026518 9.235122 0.005365014 5.726463 9.190427 0.005365014 5.726463 9.190427 0.005365014 5.726463 9.190427 0 4.539617 9.052861 0 4.539617 9.052861 0 4.539617 9.052861 0.005365014 3.486496 8.817299 0.005365014 3.486496 8.817299 0.005365014 3.486496 8.817299 0.02109444 2.584283 8.478603 0.02109444 2.584283 8.478603 0.02109444 2.584283 8.478603 0.04611635 1.843612 8.03368 0.04611635 1.843612 8.03368 0.04611635 1.843612 8.03368 0.07872551 1.263916 7.48049 0.07872551 1.263916 7.48049 0.07872551 1.263916 7.48049 0.1166998 0.8334566 6.813301 0.1166998 0.8334566 6.813301 0.1166998 0.8334566 6.813301 0.157451 1.279947 7.466531 0.157451 1.279947 7.466531 0.157451 1.279947 7.466531 0.1982024 1.867343 8.000226 0.1982024 1.867343 8.000226 0.1982024 1.867343 8.000226 0.2361766 2.607429 8.425558 0.2361766 2.607429 8.425558 0.2361766 2.607429 8.425558 0.2687858 3.504068 8.748765 0.2687858 3.504068 8.748765 0.2687858 3.504068 8.748765 0.2938077 4.549975 8.974719 0.2938077 4.549975 8.974719 0.2938077 4.549975 8.974719 0.3095372 5.729988 9.108942 0.3095372 5.729988 9.108942 0.3095372 5.729988 9.108942 0.3149022 7.024507 9.156387 0.3149022 7.024507 9.156387 0.3149022 7.024507 9.156387 0.3095372 8.411375 9.119146 0.3095372 8.411375 9.119146 0.3095372 8.411375 9.119146 0.2938077 9.866836 8.994272 0.2938077 9.866836 8.994272 0.2938077 9.866836 8.994272 0.2687858 11.36612 8.771748 0.2687858 11.36612 8.771748 0.2687858 11.36612 8.771748 0.2361766 12.88371 8.432578 0.2361766 12.88371 8.432578 0.2361766 12.88371 8.432578 0.157451 14.39531 7.95192 0.1982024 14.39334 7.946923 0.1982024 14.39334 7.946923 0.157451 14.39531 7.95192 0.1982024 14.39334 7.946923 0.157451 14.39531 7.95192 0.1166998 12.88804 8.447713 0.1166998 12.88804 8.447713 0.1166998 12.88804 8.447713 0.07872551 11.37115 8.796275 0.07872551 11.37115 8.796275 0.07872551 11.37115 8.796275 0.04611635 9.871397 9.026574 0.04611635 9.871397 9.026574 0.04611635 9.871397 9.026574 0.02109444 8.41456 9.156999 0.02109444 8.41456 9.156999 0.02109444 8.41456 9.156999 0.005365014 7.025548 9.197142 0.005365014 7.025548 9.197142 0.005365014 7.025548 9.197142 0 5.728226 9.149685 0 5.728226 9.149685 0 5.728226 9.149685 0.005365014 4.544979 9.012412 0.005365014 4.544979 9.012412 0.005365014 4.544979 9.012412 0.02109444 3.49595 8.780427 0.02109444 3.49595 8.780427 0.02109444 3.49595 8.780427 0.04611635 2.59738 8.448589 0.04611635 2.59738 8.448589 0.04611635 2.59738 8.448589 0.07872551 1.858183 8.013139 0.07872551 1.858183 8.013139 0.07872551 1.858183 8.013139 0.1166998 1.27587 7.470081 0.1166998 1.27587 7.470081 0.1166998 1.27587 7.470081 0.157451 1.870468 7.995821 0.157451 1.870468 7.995821 0.157451 1.870468 7.995821 0.1982024 2.613747 8.411081 0.1982024 2.613747 8.411081 0.1982024 2.613747 8.411081 0.2361766 3.510298 8.724472 0.2361766 3.510298 8.724472 0.2361766 3.510298 8.724472 0.2687858 4.554265 8.942351 0.2687858 4.554265 8.942351 0.2687858 4.554265 8.942351 0.2938077 5.73163 9.070978 0.2938077 5.73163 9.070978 0.2938077 5.73163 9.070978 0.3095372 7.023467 9.11563 0.3095372 7.023467 9.11563 0.3095372 7.023467 9.11563 0.3149022 8.407958 9.07852 0.3149022 8.407958 9.07852 0.3149022 8.407958 9.07852 0.3095372 9.861526 8.956653 0.3095372 9.861526 8.956653 0.3095372 9.861526 8.956653 0.2938077 11.35956 8.739789 0.2938077 11.35956 8.739789 0.2938077 11.35956 8.739789 0.2687858 12.87683 8.408497 0.2687858 12.87683 8.408497 0.2687858 12.87683 8.408497 0.2361766 14.38754 7.932274 0.2361766 14.38754 7.932274 0.2361766 14.38754 7.932274 0.157451 15.58335 7.403677 0.157451 15.52339 7.431349 0.157451 15.85567 7.278008 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0.1982024 11.37431 8.811692 0.157451 11.37539 8.816949 0.1166998 9.877095 9.066942 0.1166998 9.877095 9.066942 0.1166998 9.877095 9.066942 0.07872551 8.419389 9.214449 0.07872551 8.419389 9.214449 0.07872551 8.419389 9.214449 0.04611635 7.02735 9.267738 0.04611635 7.02735 9.267738 0.04611635 7.02735 9.267738 0.02109444 5.724821 9.228394 0.02109444 5.724821 9.228394 0.02109444 5.724821 9.228394 0.005365014 4.534255 9.093311 0.005365014 4.534255 9.093311 0.005365014 4.534255 9.093311 0 3.47635 8.856866 0 3.47635 8.856866 0 3.47635 8.856866 0.005365014 2.569032 8.513553 0.005365014 2.569032 8.513553 0.005365014 2.569032 8.513553 0.02109444 1.824623 8.06045 0.02109444 1.824623 8.06045 0.02109444 1.824623 8.06045 0.04611635 1.2449 7.497048 0.04611635 1.2449 7.497048 0.04611635 1.2449 7.497048 0.07872551 0.8194051 6.820596 0.07872551 0.8194051 6.820596 0.07872551 0.8194051 6.820596 0.1166998 0.5323035 6.024869 0.1166998 0.5323035 6.024869 0.1166998 0.5323035 6.024869 0.157451 0.8382494 6.810813 0.157451 0.8382494 6.810813 0.157451 0.8382494 6.810813 0.1982024 1.27587 7.470081 0.1982024 1.27587 7.470081 0.1982024 1.27587 7.470081 0.2361766 1.858183 8.013139 0.2361766 1.858183 8.013139 0.2361766 1.858183 8.013139 0.2687858 2.59738 8.448589 0.2687858 2.59738 8.448589 0.2687858 2.59738 8.448589 0.2938077 3.49595 8.780427 0.2938077 3.49595 8.780427 0.2938077 3.49595 8.780427 0.3095372 4.544979 9.012412 0.3095372 4.544979 9.012412 0.3095372 4.544979 9.012412 0.3149022 5.728226 9.149685 0.3149022 5.728226 9.149685 0.3149022 5.728226 9.149685 0.3095372 7.025548 9.197142 0.3095372 7.025548 9.197142 0.3095372 7.025548 9.197142 0.2938077 8.41456 9.156999 0.2938077 8.41456 9.156999 0.2938077 8.41456 9.156999 0.2687858 9.871397 9.026574 0.2687858 9.871397 9.026574 0.2687858 9.871397 9.026574 0.2361766 11.37115 8.796275 0.2361766 11.37115 8.796275 0.2361766 11.37115 8.796275 0.157451 12.88952 8.452877 0.1982024 12.88804 8.447713 0.1982024 12.88804 8.447713 0.157451 12.88952 8.452877 0.1982024 12.88804 8.447713 0.157451 12.88952 8.452877 0.1166998 11.37431 8.811692 0.1166998 11.37431 8.811692 0.1166998 11.37431 8.811692 0.07872551 9.874896 9.051361 0.07872551 9.874896 9.051361 0.07872551 9.874896 9.051361 0.04611635 8.417291 9.189506 0.04611635 8.417291 9.189506 0.04611635 8.417291 9.189506 0.02109444 7.026518 9.235122 0.02109444 7.026518 9.235122 0.02109444 7.026518 9.235122 0.005365014 5.726463 9.190427 0.005365014 5.726463 9.190427 0.005365014 5.726463 9.190427 0 4.539617 9.052861 0 4.539617 9.052861 0 4.539617 9.052861 0.005365014 3.486496 8.817299 0.005365014 3.486496 8.817299 0.005365014 3.486496 8.817299 0.02109444 2.584283 8.478603 0.02109444 2.584283 8.478603 0.02109444 2.584283 8.478603 0.04611635 1.843612 8.03368 0.04611635 1.843612 8.03368 0.04611635 1.843612 8.03368 0.07872551 1.263916 7.48049 0.07872551 1.263916 7.48049 0.07872551 1.263916 7.48049 0.1166998 0.8334566 6.813301 0.1166998 0.8334566 6.813301 0.1166998 0.8334566 6.813301 0.157451 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+        </polylist>
+        <polylist material="Metal_Corrogated_Shiny-material" count="1012">
+          <input semantic="VERTEX" source="#ID151-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#ID151-mesh-normals" offset="1"/>
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+        </polylist>
+        <polylist material="Metal_Corrogated_Shiny-material" count="1004">
+          <input semantic="VERTEX" source="#ID181-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#ID181-mesh-normals" offset="1"/>
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6.810813 0.157451 0.8382494 6.810813 0.157451 0.8382494 6.810813 0.1982024 1.27587 7.470081 0.1982024 1.27587 7.470081 0.1982024 1.27587 7.470081 0.2361766 1.858183 8.013139 0.2361766 1.858183 8.013139 0.2361766 1.858183 8.013139 0.2687858 2.59738 8.448589 0.2687858 2.59738 8.448589 0.2687858 2.59738 8.448589 0.2938077 3.49595 8.780427 0.2938077 3.49595 8.780427 0.2938077 3.49595 8.780427 0.3095372 4.544979 9.012412 0.3095372 4.544979 9.012412 0.3095372 4.544979 9.012412 0.3149022 5.728226 9.149685 0.3149022 5.728226 9.149685 0.3149022 5.728226 9.149685 0.3095372 7.025548 9.197142 0.3095372 7.025548 9.197142 0.3095372 7.025548 9.197142 0.2938077 8.41456 9.156999 0.2938077 8.41456 9.156999 0.2938077 8.41456 9.156999 0.2687858 9.871397 9.026574 0.2687858 9.871397 9.026574 0.2687858 9.871397 9.026574 0.2361766 11.37115 8.796275 0.2361766 11.37115 8.796275 0.2361766 11.37115 8.796275 0.1982024 12.88804 8.447713 0.157451 12.88952 8.452877 0.157451 12.88952 8.452877 0.1982024 12.88804 8.447713 0.1982024 12.88804 8.447713 0.157451 12.88952 8.452877 0.1166998 11.37431 8.811692 0.1166998 11.37431 8.811692 0.1166998 11.37431 8.811692 0.07872551 9.874896 9.051361 0.07872551 9.874896 9.051361 0.07872551 9.874896 9.051361 0.04611635 8.417291 9.189506 0.04611635 8.417291 9.189506 0.04611635 8.417291 9.189506 0.02109444 7.026518 9.235122 0.02109444 7.026518 9.235122 0.02109444 7.026518 9.235122 0.005365014 5.726463 9.190427 0.005365014 5.726463 9.190427 0.005365014 5.726463 9.190427 0 4.539617 9.052861 0 4.539617 9.052861 0 4.539617 9.052861 0.005365014 3.486496 8.817299 0.005365014 3.486496 8.817299 0.005365014 3.486496 8.817299 0.02109444 2.584283 8.478603 0.02109444 2.584283 8.478603 0.02109444 2.584283 8.478603 0.04611635 1.843612 8.03368 0.04611635 1.843612 8.03368 0.04611635 1.843612 8.03368 0.07872551 1.263916 7.48049 0.07872551 1.263916 7.48049 0.07872551 1.263916 7.48049 0.1166998 0.8334566 6.813301 0.1166998 0.8334566 6.813301 0.1166998 0.8334566 6.813301 0.157451 1.279947 7.466531 0.157451 1.279947 7.466531 0.157451 1.279947 7.466531 0.1982024 1.867343 8.000226 0.1982024 1.867343 8.000226 0.1982024 1.867343 8.000226 0.2361766 2.607429 8.425558 0.2361766 2.607429 8.425558 0.2361766 2.607429 8.425558 0.2687858 3.504068 8.748765 0.2687858 3.504068 8.748765 0.2687858 3.504068 8.748765 0.2938077 4.549975 8.974719 0.2938077 4.549975 8.974719 0.2938077 4.549975 8.974719 0.3095372 5.729988 9.108942 0.3095372 5.729988 9.108942 0.3095372 5.729988 9.108942 0.3149022 7.024507 9.156387 0.3149022 7.024507 9.156387 0.3149022 7.024507 9.156387 0.3095372 8.411375 9.119146 0.3095372 8.411375 9.119146 0.3095372 8.411375 9.119146 0.2938077 9.866836 8.994272 0.2938077 9.866836 8.994272 0.2938077 9.866836 8.994272 0.2687858 11.36612 8.771748 0.2687858 11.36612 8.771748 0.2687858 11.36612 8.771748 0.2361766 12.88371 8.432578 0.2361766 12.88371 8.432578 0.2361766 12.88371 8.432578 0.1982024 14.39334 7.946923 0.157451 14.39531 7.95192 0.157451 14.39531 7.95192 0.1982024 14.39334 7.946923 0.1982024 14.39334 7.946923 0.157451 14.39531 7.95192 0.1166998 12.88804 8.447713 0.1166998 12.88804 8.447713 0.1166998 12.88804 8.447713 0.07872551 11.37115 8.796275 0.07872551 11.37115 8.796275 0.07872551 11.37115 8.796275 0.04611635 9.871397 9.026574 0.04611635 9.871397 9.026574 0.04611635 9.871397 9.026574 0.02109444 8.41456 9.156999 0.02109444 8.41456 9.156999 0.02109444 8.41456 9.156999 0.005365014 7.025548 9.197142 0.005365014 7.025548 9.197142 0.005365014 7.025548 9.197142 0 5.728226 9.149685 0 5.728226 9.149685 0 5.728226 9.149685 0.005365014 4.544979 9.012412 0.005365014 4.544979 9.012412 0.005365014 4.544979 9.012412 0.02109444 3.49595 8.780427 0.02109444 3.49595 8.780427 0.02109444 3.49595 8.780427 0.04611635 2.59738 8.448589 0.04611635 2.59738 8.448589 0.04611635 2.59738 8.448589 0.07872551 1.858183 8.013139 0.07872551 1.858183 8.013139 0.07872551 1.858183 8.013139 0.1166998 1.27587 7.470081 0.1166998 1.27587 7.470081 0.1166998 1.27587 7.470081 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12.86785 8.377118 0.2938077 12.86785 8.377118 0.2938077 12.86785 8.377118 0.2687858 14.37832 7.908971 0.2687858 14.37832 7.908971 0.2687858 14.37832 7.908971 0.2361766 15.57451 7.384523 0.2361766 15.84841 7.258129 0.2361766 15.84841 7.258129 0.2361766 15.57451 7.384523 0.2361766 15.57451 7.384523 0.2361766 15.84841 7.258129 0.1166998 15.855 7.272411 0.1166998 15.5811 7.398805 0.1166998 15.5811 7.398805 0.1166998 15.855 7.272411 0.1166998 15.855 7.272411 0.1166998 15.5811 7.398805 0.07872551 14.38754 7.932274 0.07872551 14.38754 7.932274 0.07872551 14.38754 7.932274 0.04611635 12.87683 8.408497 0.04611635 12.87683 8.408497 0.04611635 12.87683 8.408497 0.02109444 11.35956 8.739789 0.02109444 11.35956 8.739789 0.02109444 11.35956 8.739789 0.005365014 9.861526 8.956653 0.005365014 9.861526 8.956653 0.005365014 9.861526 8.956653 0 8.407958 9.07852 0 8.407958 9.07852 0 8.407958 9.07852 0.005365014 7.023467 9.11563 0.005365014 7.023467 9.11563 0.005365014 7.023467 9.11563 0.02109444 5.73163 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14.36631 7.878602 0.2938077 14.36631 7.878602 0.2938077 14.36631 7.878602 0.2687858 15.56403 7.361804 0.2687858 15.83792 7.23541 0.2687858 15.56403 7.361804 0.2687858 15.83792 7.23541 0.2687858 15.56403 7.361804 0.2687858 15.83792 7.23541 0.07872551 15.84841 7.258129 0.07872551 15.57451 7.384523 0.07872551 15.84841 7.258129 0.07872551 15.57451 7.384523 0.07872551 15.84841 7.258129 0.07872551 15.57451 7.384523 0.04611635 14.37832 7.908971 0.04611635 14.37832 7.908971 0.04611635 14.37832 7.908971 0.02109444 12.86785 8.377118 0.02109444 12.86785 8.377118 0.02109444 12.86785 8.377118 0.005365014 11.35192 8.702569 0.005365014 11.35192 8.702569 0.005365014 11.35192 8.702569 0 9.85583 8.916285 0 9.85583 8.916285 0 9.85583 8.916285 0.005365014 8.404541 9.037899 0.005365014 8.404541 9.037899 0.005365014 8.404541 9.037899 0.02109444 7.022497 9.07765 0.02109444 7.022497 9.07765 0.02109444 7.022497 9.07765 0.04611635 5.73304 9.038373 0.04611635 5.73304 9.038373 0.04611635 5.73304 9.038373 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7.020623 9.004279 0.2361766 8.396527 8.942591 0.2361766 8.396527 8.942591 0.2361766 8.396527 8.942591 0.2687858 9.840263 8.805998 0.2687858 9.840263 8.805998 0.2687858 9.840263 8.805998 0.2938077 11.32789 8.585463 0.2938077 11.32789 8.585463 0.2938077 11.32789 8.585463 0.3095372 12.83497 8.262143 0.3095372 12.83497 8.262143 0.3095372 12.83497 8.262143 0.3149022 14.3373 7.805285 0.3149022 14.3373 7.805285 0.3149022 14.3373 7.805285 0.3095372 15.80835 7.171321 0.3095372 15.53445 7.297715 0.3095372 15.53445 7.297715 0.3095372 15.80835 7.171321 0.3095372 15.53445 7.297715 0.3095372 15.80835 7.171321 0.02109444 15.82426 7.205801 0.02109444 15.55037 7.332195 0.02109444 15.55037 7.332195 0.02109444 15.82426 7.205801 0.02109444 15.82426 7.205801 0.02109444 15.55037 7.332195 0.005365014 14.35231 7.843237 0.005365014 14.35231 7.843237 0.005365014 14.35231 7.843237 0 12.84618 8.301359 0 12.84618 8.301359 0 12.84618 8.301359 0.005365014 11.33552 8.622683 0.005365014 11.33552 8.622683 0.005365014 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+        </polylist>
+        <polylist material="Metal_Corrogated_Shiny-material" count="1012">
+          <input semantic="VERTEX" source="#ID222_001-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#ID222_001-mesh-normals" offset="1"/>
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1.26335 17.91465 12.96917 1.26335 14.27501 11.78658 1.445391 21.53807 14.14649 0.8592268 21.53807 14.14649 0.7874017 14.27501 11.78658 0.7874017 17.91465 12.96917 1.26335 14.88405 12.91848 2.389519 14.88405 12.91848 1.414368 14.88405 12.91848 2.389519 14.88405 12.91848 1.414368 14.88405 12.91848 2.389519 15.12292 12.95559 1.406727 15.12292 12.95559 1.406727 15.12292 12.95559 1.406727 24.53534 15.16827 0.3511462 21.53807 14.14649 0.8592268 24.63722 14.87038 0.350182 24.63722 14.87038 0.350182 24.53534 15.16827 0.3511462 21.53807 14.14649 0.8592268 24.53534 15.16827 0.3511462 24.63722 14.87038 0.350182 19.01876 12.57627 2.359978 19.01876 12.57627 2.359978 19.01876 12.57627 2.359978 24.83625 14.62746 0.3274501 24.83625 14.62746 0.3274501 24.83625 14.62746 0.3274501 24.96819 14.53427 0.03937005 24.96819 14.53427 0.03937005 24.96819 14.53427 0.03937005 26.17368 14.86115 0.01968497 26.17368 14.86115 0.01968497 26.17368 14.86115 0.01968497 24.97083 14.53884 0.01968497 24.97083 14.53884 0.01968497 24.97083 14.53884 0.01968497 25.84418 14.55132 0.005274653 25.4111 14.43528 0.005274653 25.84418 14.55132 0.005274653 25.4111 14.43528 0.005274653 25.4111 14.43528 0.005274653 25.84418 14.55132 0.005274653 26.16628 14.83839 0.458042 26.16628 14.83839 0.458042 26.16628 14.83839 0.458042 15.18346 12.8123 2.644863 15.18346 12.8123 2.644863 15.18346 12.8123 2.644863 18.63778 13.7488 2.359978 18.63778 13.7488 2.359978 18.63778 13.7488 2.359978 14.75698 12.88783 2.54982 14.75698 12.88783 2.54982 14.75698 12.88783 2.54982 14.14572 13.33143 2.549852 14.14572 13.33143 2.549852 14.14572 13.33143 2.549852 13.92497 16.09577 2.458897 13.92497 16.09577 2.458897 13.92497 16.09577 2.458897 13.7649 17.28915 2.359978 13.7649 17.28915 2.359978 13.7649 17.28915 2.359978 12.53203 17.28915 2.359978 12.53203 17.28915 2.359978 12.53203 17.28915 2.359978 11.96805 13.1475 2.402373 11.96805 13.1475 2.402373 11.96805 13.1475 2.402373 12.37196 16.09577 2.458897 12.37196 16.09577 2.458897 12.37196 16.09577 2.458897 11.15363 12.91857 2.529949 11.15363 12.91857 2.529949 11.15363 12.91857 2.529949 8.843585 13.53226 2.458897 8.843585 13.53226 2.458897 8.843585 13.53226 2.458897 8.363677 12.05525 2.458897 8.363677 12.05525 2.458897 8.363677 12.05525 2.458897 4.289245 14.82168 1.752211 3.921235 13.68906 1.752211 4.289245 14.82168 1.752211 3.921235 13.68906 1.752211 3.921235 13.68906 1.752211 4.289245 14.82168 1.752211 10.62324 11.3035 2.644863 10.62324 11.3035 2.644863 10.62324 11.3035 2.644863 11.12691 10.66122 2.556983 11.12691 10.66122 2.556983 11.12691 10.66122 2.556983 11.15765 10.27356 2.549852 11.15765 10.27356 2.549852 11.15765 10.27356 2.549852 9.711397 7.907403 2.458897 9.711397 7.907403 2.458897 9.711397 7.907403 2.458897 8.041175 3.274426 1.752211 7.077714 3.974422 1.752211 8.041175 3.274426 1.752211 7.077714 3.974422 1.752211 7.077714 3.974422 1.752211 8.041175 3.274426 1.752211 10.96781 6.994564 2.458897 10.96781 6.994564 2.458897 10.96781 6.994564 2.458897 5.970404 0.09579157 0.4908454 5.970404 0.09579157 0.4908454 5.970404 0.09579157 0.4908454 6.336886 0.4429136 0.03937005 6.336886 0.4429136 0.03937005 6.336886 0.4429136 0.03937005 6.452086 0.8074027 0.2677439 6.452086 0.8074027 0.2677439 6.452086 0.8074027 0.2677439 6.398293 0.5724833 0.2235614 6.398293 0.5724833 0.2235614 8.024233 4.096699 0.8592268 8.024233 4.096699 0.8592268 10.97998 9.945565 1.406727 10.97998 9.945565 1.406727 10.97998 9.945565 1.406727 10.10438 7.294676 1.26335 7.864978 4.212405 0.8592268 7.900565 5.653787 1.002843 7.900565 5.653787 1.002843 7.864978 4.212405 0.8592268 10.10438 7.294676 1.26335 7.900565 5.653787 1.002843 6.035674 1.639214 0.3530021 6.035674 1.639214 0.3530021 6.035674 1.639214 0.3530021 11.08886 10.64862 1.42111 11.11836 10.28416 1.417318 11.11824 10.28335 2.395483 11.11824 10.28335 2.395483 11.11836 10.28416 1.417318 11.08886 10.64862 1.42111 11.11824 10.28335 2.395483 10.89853 10.95985 1.417306 10.89882 10.95955 2.395509 10.89882 10.95955 2.395509 10.89853 10.95985 1.417306 10.89882 10.95955 2.395509 10.58799 11.15201 2.373982 10.58799 11.15201 1.406727 10.58799 11.15201 2.373982 10.58799 11.15201 1.406727 10.58799 11.15201 2.373982 8.382287 12.96917 1.26335 4.758858 14.14649 0.8592268 6.140691 14.55806 1.002843 6.140691 14.55806 1.002843 4.758858 14.14649 0.8592268 8.382287 12.96917 1.26335 6.140691 14.55806 1.002843 1.761573 15.16817 0.3511494 1.659691 14.87035 0.3501811 1.761573 15.16817 0.3511494 1.659691 14.87035 0.3501811 1.659691 14.87035 0.3501811 1.761573 15.16817 0.3511494 1.190907 14.46979 0.2860621 1.190907 14.46979 0.2860621 1.190907 14.46979 0.2860621 11.17401 12.95559 2.373982 11.17401 12.95559 1.406727 11.17401 12.95559 2.373982 11.17401 12.95559 1.406727 11.17401 12.95559 2.373982 11.71315 12.97798 2.401217 11.71315 12.97798 2.401217 11.71315 12.97798 2.401217 11.8757 13.06886 1.42111 11.8757 13.06886 1.42111 12.11354 13.34661 1.417303 12.11354 13.34661 1.417303 12.20027 13.70121 1.406727 13.05004 16.36049 1.26335 13.05004 16.36049 1.26335 12.20027 13.70121 1.406727 12.20027 13.70121 1.406727 12.23161 18.98336 1.002843 13.05004 20.17038 0.8592268 13.05004 20.17038 0.8592268 12.23161 18.98336 1.002843 12.23161 18.98336 1.002843 13.24689 20.17038 0.8592268 13.14846 22.76078 0.4554968 13.14846 22.76078 0.4554968 13.24689 20.17038 0.8592268 13.14846 22.76078 0.4554968 14.06532 18.98336 1.002843 13.24689 16.36049 1.26335 13.24689 16.36049 1.26335 14.06532 18.98336 1.002843 14.06532 18.98336 1.002843 14.09666 13.70121 1.406727 14.09666 13.70121 1.406727 14.09666 13.70121 1.406727 14.15791 13.40138 2.392813 14.15809 13.40095 1.415999 14.15809 13.40095 1.415999 14.15791 13.40138 2.392813 14.15791 13.40138 2.392813 17.91465 12.96917 1.26335 17.91465 12.96917 1.26335 20.15624 14.55806 1.002843 20.15624 14.55806 1.002843 20.15624 14.55806 1.002843 15.12292 12.95559 2.373982 15.12292 12.95559 1.406727 15.12292 12.95559 2.373982 15.12292 12.95559 1.406727 15.12292 12.95559 2.373982 24.54393 15.48225 0.33021 24.54393 15.48225 0.33021 24.54393 15.48225 0.33021 24.53534 15.16827 0.3511462 24.64396 14.85851 0.03937005 24.63722 14.87038 0.350182 24.63722 14.87038 0.350182 24.64396 14.85851 0.03937005 24.53534 15.16827 0.3511462 24.64396 14.85851 0.03937005 25.67704 14.78343 0.8689201 25.67704 14.78343 0.8689201 25.67704 14.78343 0.8689201 22.3757 13.68906 1.752211 22.3757 13.68906 1.752211 22.3757 13.68906 1.752211 26.01284 14.84024 0.7311885 26.01284 14.84024 0.7311885 26.01284 14.84024 0.7311885 24.83625 14.62746 0.3274501 24.83625 14.62746 0.3274501 26.29693 15.30142 0.03937005 26.29166 15.30142 0.01968497 26.29166 15.30142 0.01968497 26.29693 15.30142 0.03937005 26.29166 15.30142 0.01968497 26.29693 15.30142 0.03937005 26.1612 14.86835 0.005274653 26.1612 14.86835 0.005274653 26.1612 14.86835 0.005274653 24.64852 14.86115 0.01968497 24.64852 14.86115 0.01968497 24.64852 14.86115 0.01968497 24.97803 14.55132 0.005274653 24.97803 14.55132 0.005274653 24.97803 14.55132 0.005274653 25.83433 14.56837 0 25.4111 14.45497 0 25.83433 14.56837 0 25.4111 14.45497 0 25.4111 14.45497 0 25.83433 14.56837 0 26.27978 15.12797 0.4202427 26.27978 15.12797 0.4202427 26.27978 15.12797 0.4202427 26.25153 15.13634 0.5536984 26.25153 15.13634 0.5536984 26.25153 15.13634 0.5536984 17.45334 13.53226 2.458897 17.45334 13.53226 2.458897 17.45334 13.53226 2.458897 22.00769 14.82168 1.752211 22.00769 14.82168 1.752211 22.00769 14.82168 1.752211 14.05516 13.70914 2.529949 14.05516 13.70914 2.529949 14.05516 13.70914 2.529949 14.04033 16.08441 2.344245 14.04033 16.08441 2.344245 14.04033 16.08441 2.344245 12.24177 13.70914 2.529949 12.24177 13.70914 2.529949 12.24177 13.70914 2.529949 12.1389 13.4011 2.392828 12.1389 13.4011 2.392828 12.1389 13.4011 2.392828 12.2566 16.08441 2.344245 12.2566 16.08441 2.344245 12.2566 16.08441 2.344245 8.890043 13.63845 2.344245 8.890043 13.63845 2.344245 8.890043 13.63845 2.344245 3.881418 13.54109 1.710967 3.881418 13.54109 1.710967 3.881418 13.54109 1.710967 4.344011 14.9648 1.710967 4.344011 14.9648 1.710967 4.344011 14.9648 1.710967 0.9751472 15.8768 0.8689201 0.6198907 14.78343 0.8689201 0.9751472 15.8768 0.8689201 0.6198907 14.78343 0.8689201 0.6198907 14.78343 0.8689201 0.9751472 15.8768 0.8689201 10.92387 10.99172 2.54982 10.92387 10.99172 2.54982 10.92387 10.99172 2.54982 11.00889 9.914751 2.529949 11.00889 9.914751 2.529949 11.00889 9.914751 2.529949 9.624753 7.984402 2.344245 9.624753 7.984402 2.344245 9.624753 7.984402 2.344245 6.958523 4.070734 1.710967 6.958523 4.070734 1.710967 6.958523 4.070734 1.710967 5.980196 0.4728388 0.8689201 5.050124 1.148576 0.8689201 5.980196 0.4728388 0.8689201 5.050124 1.148576 0.8689201 5.050124 1.148576 0.8689201 5.980196 0.4728388 0.8689201 8.169608 3.19083 1.710967 8.169608 3.19083 1.710967 8.169608 3.19083 1.710967 6.112864 0.3906407 0.8270438 6.112864 0.3906407 0.8270438 6.112864 0.3906407 0.8270438 5.886828 0.09491688 0.6227163 5.886828 0.09491688 0.6227163 5.886828 0.09491688 0.6227163 5.569738 0 0.03937005 5.569738 0 0.03937005 5.569738 0 0.03937005 6.010014 0.1232467 0.01968497 6.332318 0.4455506 0.01968497 6.010014 0.1232467 0.01968497 6.332318 0.4455506 0.01968497 6.332318 0.4455506 0.01968497 6.010014 0.1232467 0.01968497 6.440376 1.049158 0.3053307 6.440376 1.049158 0.3053307 6.440376 1.049158 0.3053307 6.455564 0.8858268 0.03937005 6.452086 0.8074027 0.2677439 6.452086 0.8074027 0.2677439 6.455564 0.8858268 0.03937005 6.455564 0.8858268 0.03937005 10.97998 9.945565 1.406727 10.97998 9.945565 2.373982 10.97998 9.945565 1.406727 10.97998 9.945565 2.373982 10.97998 9.945565 2.373982 5.569738 1.771654 0.3198179 5.16358 1.673054 0.256378 5.569738 1.771654 0.3198179 5.16358 1.673054 0.256378 5.16358 1.673054 0.256378 5.569738 1.771654 0.3198179 6.224524 1.482437 0.3498514 6.224524 1.482437 0.3498514 6.224524 1.482437 0.3498514 5.81141 1.738049 0.3426818 5.81141 1.738049 0.3426818 5.81141 1.738049 0.3426818 11.08932 10.64721 2.403224 11.08932 10.64721 2.403224 11.08932 10.64721 2.403224 5.574042 12.81409 1.002843 0.6070979 14.46059 0.566959 0.6070979 14.46059 0.1759381 3.885698 13.37376 1.444164 7.219509 12.26863 2.047745 7.219509 12.26863 2.047745 3.885698 13.37376 1.444164 5.574042 12.81409 1.002843 0.6070979 14.46059 0.566959 0.6070979 14.46059 0.1759381 3.885698 13.37376 1.444164 7.219509 12.26863 2.047745 0.6070979 14.46059 0.566959 0.6070979 14.46059 0.1759381 1.636326 15.772 0.2902878 1.636326 15.772 0.2902878 1.636326 15.772 0.2902878 1.46068 14.62746 0.3274498 1.46068 14.62746 0.3274498 1.46068 14.62746 0.3274498 1.761573 15.16817 0.3511494 1.659691 14.87035 0.3501811 1.652974 14.85851 0.03937005 1.652974 14.85851 0.03937005 1.659691 14.87035 0.3501811 1.761573 15.16817 0.3511494 1.652974 14.85851 0.03937005 1.752998 15.48225 0.33021 1.752998 15.48225 0.33021 1.752998 15.48225 0.33021 0.8858259 14.4156 0.2315807 0.8858259 14.4156 0.2315807 0.8858259 14.4156 0.2315807 1.154558 16.1455 0.566959 6.140691 14.55806 1.002843 1.154558 16.1455 0.1759381 4.445826 15.09765 1.444164 7.792515 14.03216 2.047745 7.792515 14.03216 2.047745 4.445826 15.09765 1.444164 6.140691 14.55806 1.002843 1.154558 16.1455 0.566959 1.154558 16.1455 0.1759381 7.792515 14.03216 2.047745 4.445826 15.09765 1.444164 1.154558 16.1455 0.1759381 1.154558 16.1455 0.566959 12.85302 22.76078 0.4548245 12.85302 22.76078 0.4548245 12.85302 22.76078 0.4548245 13.77999 23.58957 0.3008087 13.77999 23.58957 0.3008087 13.77999 23.58957 0.3008087 12.20027 13.70121 1.406727 12.20027 13.70121 1.406727 14.09666 13.70121 1.406727 14.09666 13.70121 2.373982 14.09666 13.70121 2.373982 14.09666 13.70121 1.406727 14.09666 13.70121 2.373982 24.66055 15.77191 0.2903034 24.66055 15.77191 0.2903034 24.66055 15.77191 0.2903034 15.1433 12.91857 2.529949 15.1433 12.91857 2.529949 15.1433 12.91857 2.529949 20.15624 14.55806 1.002843 25.14237 16.1455 0.566959 25.14237 16.1455 0.1759381 21.8511 15.09765 1.444164 18.50442 14.03216 2.047745 18.50442 14.03216 2.047745 21.8511 15.09765 1.444164 20.15624 14.55806 1.002843 25.14237 16.1455 0.566959 25.14237 16.1455 0.1759381 21.8511 15.09765 1.444164 18.50442 14.03216 2.047745 25.14237 16.1455 0.566959 25.14237 16.1455 0.1759381 24.54393 15.48225 0.33021 24.52528 15.30142 0.03937005 24.52528 15.30142 0.03937005 24.54393 15.48225 0.33021 24.52528 15.30142 0.03937005 25.86823 14.89089 0.8051787 25.86823 14.89089 0.8051787 25.86823 14.89089 0.8051787 26.17368 15.7417 0.01968497 26.17825 15.74434 0.03937005 26.17825 15.74434 0.03937005 26.17368 15.7417 0.01968497 26.17368 15.7417 0.01968497 26.17825 15.74434 0.03937005 26.27725 15.30142 0.005274653 26.27725 15.30142 0.005274653 26.27725 15.30142 0.005274653 26.14416 14.87819 0 26.14416 14.87819 0 26.14416 14.87819 0 24.53055 15.30142 0.01968497 24.53055 15.30142 0.01968497 24.53055 15.30142 0.01968497 24.661 14.86835 0.005274653 24.661 14.86835 0.005274653 24.661 14.86835 0.005274653 24.98788 14.56837 0 24.98788 14.56837 0 24.98788 14.56837 0 24.67805 15.72465 0 24.67805 14.87819 0 24.56465 15.30142 0 24.98788 16.03448 0 25.4111 16.14788 0 25.83433 16.03448 0 26.14416 15.72465 0 26.25756 15.30142 0 26.25756 15.30142 0 26.14416 15.72465 0 25.83433 16.03448 0 25.4111 16.14788 0 24.98788 16.03448 0 24.67805 14.87819 0 24.67805 15.72465 0 24.56465 15.30142 0 25.4111 16.14788 0 25.83433 16.03448 0 26.14416 15.72465 0 26.25756 15.30142 0 24.67805 14.87819 0 24.56465 15.30142 0 24.67805 15.72465 0 24.98788 16.03448 0 17.40689 13.63845 2.344245 17.40689 13.63845 2.344245 17.40689 13.63845 2.344245 25.32178 15.8768 0.8689201 25.32178 15.8768 0.8689201 25.32178 15.8768 0.8689201 21.95292 14.9648 1.710967 21.95292 14.9648 1.710967 21.95292 14.9648 1.710967 14.01238 20.79452 1.598203 13.89696 20.8178 1.710967 13.89696 20.8178 1.710967 14.01238 20.79452 1.598203 14.01238 20.79452 1.598203 13.89696 20.8178 1.710967 13.14897 20.82254 1.756839 13.14897 20.82254 1.756839 13.14897 20.82254 1.756839 12.39997 20.8178 1.710967 12.39997 20.8178 1.710967 12.39997 20.8178 1.710967 12.28455 20.79452 1.598203 12.28455 20.79452 1.598203 12.28455 20.79452 1.598203 4.401825 15.06738 1.598203 4.401825 15.06738 1.598203 4.401825 15.06738 1.598203 8.338843 11.94203 2.344245 3.867896 13.42412 1.598203 8.338843 11.94203 2.344245 3.867896 13.42412 1.598203 3.867896 13.42412 1.598203 8.338843 11.94203 2.344245 0.2903075 15.06475 0.7501643 0.2542983 15.50739 0.6993373 0.2279232 15.28129 0.7126524 0.3662518 15.70539 0.7128014 0.42846 14.89109 0.8050924 0.5438396 15.84328 0.7503266 0.7573099 15.90224 0.8051787 0.7573099 15.90224 0.8051787 0.5438396 15.84328 0.7503266 0.42846 14.89109 0.8050924 0.3662518 15.70539 0.7128014 0.2903075 15.06475 0.7501643 0.2542983 15.50739 0.6993373 0.2279232 15.28129 0.7126524 0.7573099 15.90224 0.8051787 0.5438396 15.84328 0.7503266 0.3662518 15.70539 0.7128014 0.2542983 15.50739 0.6993373 0.2279232 15.28129 0.7126524 0.2903075 15.06475 0.7501643 0.42846 14.89109 0.8050924 10.59326 11.19393 2.529949 10.59326 11.19393 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15.7417 0.01968497 24.64852 15.7417 0.01968497 24.64852 15.7417 0.01968497 24.54496 15.30142 0.005274653 24.54496 15.30142 0.005274653 24.54496 15.30142 0.005274653 25.84418 16.05152 0.005274653 25.4111 16.16757 0.005274653 25.84418 16.05152 0.005274653 25.4111 16.16757 0.005274653 25.84418 16.05152 0.005274653 25.4111 16.16757 0.005274653 24.661 15.73449 0.005274653 24.661 15.73449 0.005274653 24.661 15.73449 0.005274653 24.97803 16.05152 0.005274653 24.97803 16.05152 0.005274653 24.97803 16.05152 0.005274653 13.87893 24.29212 0.8270438 13.87893 24.29212 0.8270438 13.87893 24.29212 0.8270438 13.74392 20.82566 1.752211 13.74392 20.82566 1.752211 13.74392 20.82566 1.752211 12.55301 20.82566 1.752211 12.55301 20.82566 1.752211 12.55301 20.82566 1.752211 12.418 24.29212 0.8270438 12.418 24.29212 0.8270438 12.418 24.29212 0.8270438 1.034162 16.02128 0.8270438 1.034162 16.02128 0.8270438 1.034162 16.02128 0.8270438 0.5827117 14.63186 0.8270438 0.5827117 14.63186 0.8270438 0.5827117 14.63186 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+                <instance_material symbol="Metal_Corrogated_Shiny_160-material" target="#Metal_Corrogated_Shiny_160-material"/>
+                <instance_material symbol="Metal_Corrogated_Shiny_161-material" target="#Metal_Corrogated_Shiny_161-material"/>
+                <instance_material symbol="Metal_Corrogated_Shiny_162-material" target="#Metal_Corrogated_Shiny_162-material"/>
+                <instance_material symbol="Metal_Corrogated_Shiny_163-material" target="#Metal_Corrogated_Shiny_163-material"/>
+                <instance_material symbol="Metal_Corrogated_Shiny_164-material" target="#Metal_Corrogated_Shiny_164-material"/>
+                <instance_material symbol="Metal_Corrogated_Shiny_165-material" target="#Metal_Corrogated_Shiny_165-material"/>
+                <instance_material symbol="Metal_Corrogated_Shiny_166-material" target="#Metal_Corrogated_Shiny_166-material"/>
+                <instance_material symbol="Metal_Corrogated_Shiny_167-material" target="#Metal_Corrogated_Shiny_167-material"/>
+                <instance_material symbol="Metal_Corrogated_Shiny_168-material" target="#Metal_Corrogated_Shiny_168-material"/>
+                <instance_material symbol="Metal_Corrogated_Shiny_169-material" target="#Metal_Corrogated_Shiny_169-material"/>
+                <instance_material symbol="Metal_Corrogated_Shiny_170-material" target="#Metal_Corrogated_Shiny_170-material"/>
+                <instance_material symbol="Metal_Corrogated_Shiny_171-material" target="#Metal_Corrogated_Shiny_171-material"/>
+                <instance_material symbol="Metal_Corrogated_Shiny_172-material" target="#Metal_Corrogated_Shiny_172-material"/>
+                <instance_material symbol="Metal_Corrogated_Shiny_173-material" target="#Metal_Corrogated_Shiny_173-material"/>
+                <instance_material symbol="Metal_Corrogated_Shiny_174-material" target="#Metal_Corrogated_Shiny_174-material"/>
+                <instance_material symbol="Metal_Corrogated_Shiny_175-material" target="#Metal_Corrogated_Shiny_175-material"/>
+                <instance_material symbol="Metal_Corrogated_Shiny_176-material" target="#Metal_Corrogated_Shiny_176-material"/>
+                <instance_material symbol="Metal_Corrogated_Shiny_177-material" target="#Metal_Corrogated_Shiny_177-material"/>
+                <instance_material symbol="Metal_Corrogated_Shiny_178-material" target="#Metal_Corrogated_Shiny_178-material"/>
+                <instance_material symbol="Metal_Corrogated_Shiny_179-material" target="#Metal_Corrogated_Shiny_179-material"/>
+                <instance_material symbol="Metal_Corrogated_Shiny_180-material" target="#Metal_Corrogated_Shiny_180-material"/>
+                <instance_material symbol="Metal_Corrogated_Shiny_181-material" target="#Metal_Corrogated_Shiny_181-material"/>
+                <instance_material symbol="Metal_Corrogated_Shiny_182-material" target="#Metal_Corrogated_Shiny_182-material"/>
+                <instance_material symbol="Metal_Corrogated_Shiny_183-material" target="#Metal_Corrogated_Shiny_183-material"/>
+                <instance_material symbol="Metal_Corrogated_Shiny_184-material" target="#Metal_Corrogated_Shiny_184-material"/>
+                <instance_material symbol="Metal_Corrogated_Shiny_185-material" target="#Metal_Corrogated_Shiny_185-material"/>
+                <instance_material symbol="Metal_Corrogated_Shiny_186-material" target="#Metal_Corrogated_Shiny_186-material"/>
+                <instance_material symbol="Metal_Corrogated_Shiny_187-material" target="#Metal_Corrogated_Shiny_187-material"/>
+                <instance_material symbol="Metal_Corrogated_Shiny_188-material" target="#Metal_Corrogated_Shiny_188-material"/>
+                <instance_material symbol="Metal_Corrogated_Shiny_189-material" target="#Metal_Corrogated_Shiny_189-material"/>
+                <instance_material symbol="Metal_Corrogated_Shiny_190-material" target="#Metal_Corrogated_Shiny_190-material"/>
+                <instance_material symbol="Metal_Corrogated_Shiny_191-material" target="#Metal_Corrogated_Shiny_191-material"/>
+                <instance_material symbol="Metal_Corrogated_Shiny_192-material" target="#Metal_Corrogated_Shiny_192-material"/>
+                <instance_material symbol="Metal_Corrogated_Shiny_193-material" target="#Metal_Corrogated_Shiny_193-material"/>
+                <instance_material symbol="Metal_Corrogated_Shiny_194-material" target="#Metal_Corrogated_Shiny_194-material"/>
+                <instance_material symbol="Metal_Corrogated_Shiny_195-material" target="#Metal_Corrogated_Shiny_195-material"/>
+                <instance_material symbol="Metal_Corrogated_Shiny_196-material" target="#Metal_Corrogated_Shiny_196-material"/>
+                <instance_material symbol="Metal_Corrogated_Shiny_197-material" target="#Metal_Corrogated_Shiny_197-material"/>
+                <instance_material symbol="Metal_Corrogated_Shiny_198-material" target="#Metal_Corrogated_Shiny_198-material"/>
+                <instance_material symbol="Metal_Corrogated_Shiny_199-material" target="#Metal_Corrogated_Shiny_199-material"/>
+                <instance_material symbol="Metal_Corrogated_Shiny_200-material" target="#Metal_Corrogated_Shiny_200-material"/>
+                <instance_material symbol="Metal_Corrogated_Shiny_201-material" target="#Metal_Corrogated_Shiny_201-material"/>
+                <instance_material symbol="Metal_Corrogated_Shiny_202-material" target="#Metal_Corrogated_Shiny_202-material"/>
+                <instance_material symbol="Metal_Corrogated_Shiny_203-material" target="#Metal_Corrogated_Shiny_203-material"/>
+                <instance_material symbol="Metal_Corrogated_Shiny_204-material" target="#Metal_Corrogated_Shiny_204-material"/>
+                <instance_material symbol="Metal_Corrogated_Shiny_205-material" target="#Metal_Corrogated_Shiny_205-material"/>
+                <instance_material symbol="Metal_Corrogated_Shiny_206-material" target="#Metal_Corrogated_Shiny_206-material"/>
+                <instance_material symbol="Metal_Corrogated_Shiny_207-material" target="#Metal_Corrogated_Shiny_207-material"/>
+                <instance_material symbol="Metal_Corrogated_Shiny_208-material" target="#Metal_Corrogated_Shiny_208-material"/>
+                <instance_material symbol="Metal_Corrogated_Shiny_209-material" target="#Metal_Corrogated_Shiny_209-material"/>
+                <instance_material symbol="Metal_Corrogated_Shiny_210-material" target="#Metal_Corrogated_Shiny_210-material"/>
+                <instance_material symbol="edge_color193193193255-material" target="#edge_color193193193255-material"/>
+              </technique_common>
+            </bind_material>
+          </instance_geometry>
+        </node>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_chair/meshes/chair_cushion.dae b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_chair/meshes/chair_cushion.dae
new file mode 100644
index 0000000..96cb356
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_chair/meshes/chair_cushion.dae
@@ -0,0 +1,261 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool>
+    </contributor>
+    <created>2016-08-16T16:14:55</created>
+    <modified>2016-08-16T16:14:55</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
+    <camera id="Camera-camera" name="Camera">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">49.13434</xfov>
+            <aspect_ratio>1.777778</aspect_ratio>
+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
+      <extra>
+        <technique profile="blender">
+          <YF_dofdist>0</YF_dofdist>
+          <shiftx>0</shiftx>
+          <shifty>0</shifty>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_001-camera" name="Camera.001">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">49.13434</xfov>
+            <aspect_ratio>1.777778</aspect_ratio>
+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
+      <extra>
+        <technique profile="blender">
+          <YF_dofdist>0</YF_dofdist>
+          <shiftx>0</shiftx>
+          <shifty>0</shifty>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_images/>
+  <library_effects>
+    <effect id="Black-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.1003922 0.1003922 0.1003922 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.25 0.25 0.25 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="edge_color404040255-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.512 0.512 0.512 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.25 0.25 0.25 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="edge_color193193193255-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.512 0.512 0.512 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.25 0.25 0.25 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="Black-material" name="Black">
+      <instance_effect url="#Black-effect"/>
+    </material>
+    <material id="edge_color404040255-material" name="edge_color404040255">
+      <instance_effect url="#edge_color404040255-effect"/>
+    </material>
+    <material id="edge_color193193193255-material" name="edge_color193193193255">
+      <instance_effect url="#edge_color193193193255-effect"/>
+    </material>
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diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_chair/meshes/chair_wheels.dae b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_chair/meshes/chair_wheels.dae
new file mode 100644
index 0000000..6021512
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_chair/meshes/chair_wheels.dae
@@ -0,0 +1,489 @@
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diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_chair/meshes/office_chair.dae b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_chair/meshes/office_chair.dae
new file mode 100755
index 0000000..b263a43
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_chair/meshes/office_chair.dae
@@ -0,0 +1,192 @@
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+          <technique_common>
+            <accessor source="#geom-OfficeChair-map1-array" count="672" stride="3">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+              <param name="P" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="geom-OfficeChair-vertices">
+          <input semantic="POSITION" source="#geom-OfficeChair-positions"/>
+        </vertices>
+        <triangles material="OfficeChair" count="760">
+          <input semantic="VERTEX" source="#geom-OfficeChair-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#geom-OfficeChair-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#geom-OfficeChair-map1" offset="2" set="0"/>
+          <p>0 0 0 1 1 1 9 2 2 9 2 2 8 3 3 0 0 0 1 1 1 2 4 4 10 5 5 10 5 5 9 2 2 1 1 1 2 4 4 3 6 6 11 7 7 11 7 7 10 5 5 2 4 4 3 6 6 4 8 242 12 9 243 12 9 243 11 7 7 3 6 6 4 8 8 5 10 10 13 11 11 13 11 11 12 9 9 4 8 8 5 10 10 6 12 12 14 13 13 14 13 13 13 11 11 5 10 10 6 12 12 7 14 14 15 15 15 15 15 15 14 13 13 6 12 12 7 14 14 0 0 0 8 3 3 8 3 3 15 15 15 7 14 14 8 16 3 9 17 2 17 18 16 17 18 16 16 19 17 8 16 3 9 17 2 10 20 5 18 21 18 18 21 18 17 18 16 9 17 2 10 20 5 11 22 7 19 23 19 19 23 19 18 21 18 10 20 5 11 22 7 12 24 243 20 25 244 20 25 244 19 23 19 11 22 7 12 24 9 13 26 11 21 27 21 21 27 21 20 25 20 12 24 9 13 26 11 14 28 13 22 29 22 22 29 22 21 27 21 13 26 11 14 28 13 15 30 15 23 31 23 23 31 23 22 29 22 14 28 13 15 30 15 8 16 3 16 19 17 16 19 17 23 31 23 15 30 15 16 32 17 17 33 16 25 34 24 25 34 24 24 35 25 16 32 17 17 33 16 18 36 18 26 37 26 26 37 26 25 34 24 17 33 16 18 36 18 19 38 19 27 39 27 27 39 27 26 37 26 18 36 18 19 38 19 20 40 244 28 41 245 28 41 245 27 39 27 19 38 19 20 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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_lights>
+    <light id="EnvironmentAmbientLight" name="EnvironmentAmbientLight">
+      <technique_common>
+        <ambient>
+          <color>0 0 0</color>
+        </ambient>
+      </technique_common>
+    </light>
+  </library_lights>
+  <library_images>
+    <image id="OfficeChair_Diffuse_tga">
+      <init_from>model://office_chair/materials/textures/office_chair_diffuse.png</init_from>
+    </image>
+    <image id="OfficeChair_Spec_tga">
+      <init_from>model://office_chair/materials/textures/office_chair_specular.png</init_from>
+    </image>
+  </library_images>
+  <library_visual_scenes>
+    <visual_scene id="MaxScene">
+      <node name="EnvironmentAmbientLight">
+        <instance_light url="#EnvironmentAmbientLight"/>
+      </node>
+      <node id="node-OfficeChair" name="OfficeChair">
+        <instance_geometry url="#geom-OfficeChair">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="OfficeChair" target="#OfficeChair-material">
+                <bind_vertex_input semantic="CHANNEL1" input_semantic="TEXCOORD" input_set="0"/>
+                <bind_vertex_input semantic="CHANNEL1" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+        <extra>
+          <technique profile="OpenCOLLADA">
+            <cast_shadows>1</cast_shadows>
+            <primary_visibility>1</primary_visibility>
+            <receive_shadows>1</receive_shadows>
+            <secondary_visibility>1</secondary_visibility>
+          </technique>
+        </extra>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#MaxScene"/>
+  </scene>
+</COLLADA>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_chair/model.config b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_chair/model.config
new file mode 100644
index 0000000..b222956
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_chair/model.config
@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>Office chair</name>
+  <version>1.0</version>
+  <sdf version="1.6">model.sdf</sdf>
+
+  <author>
+    <name>Cole Biesemeyer</name>
+    <email>cole.bsmr@gmail.com</email>
+  </author>
+
+  <author>
+    <name>Louise Poubel</name>
+    <email>louise@openrobotics.com</email>
+  </author>
+
+  <description>
+  </description>
+
+</model>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_chair/model.sdf b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_chair/model.sdf
new file mode 100644
index 0000000..2705734
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_chair/model.sdf
@@ -0,0 +1,25 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <model name="office_chair">
+    <static>true</static>
+    <link name="link">
+      <collision name="collision">
+        <pose>0.001581 0.000308 0.569888 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.43</radius>
+            <length>1.14</length>
+          </cylinder>
+        </geometry>
+      </collision>
+      <visual name="visual">
+        <geometry>
+          <mesh>
+            <uri>model://office_chair/meshes/office_chair.dae</uri>
+            <scale>1.4 1.4 1.4</scale>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+  </model>
+</sdf>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_couch/materials/textures/office_couch_diffuse.png b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_couch/materials/textures/office_couch_diffuse.png
new file mode 100644
index 0000000..081ad8c
Binary files /dev/null and b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_couch/materials/textures/office_couch_diffuse.png differ
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_couch/materials/textures/office_couch_specular.png b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_couch/materials/textures/office_couch_specular.png
new file mode 100644
index 0000000..d26ae23
Binary files /dev/null and b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_couch/materials/textures/office_couch_specular.png differ
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_couch/meshes/office_couch.dae b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_couch/meshes/office_couch.dae
new file mode 100755
index 0000000..7c00efc
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_couch/meshes/office_couch.dae
@@ -0,0 +1,192 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Cole</author>
+      <authoring_tool>OpenCOLLADA for 3ds Max;  Version: 1.4.1;  Revision: exported;  Platform: x64;  Configuration: Release_Max2013_static</authoring_tool>
+    </contributor>
+    <created>2013-07-31T23:28:12</created>
+    <modified>2013-07-31T23:28:12</modified>
+    <unit name="centimeter" meter="0.01"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="Couch">
+      <profile_COMMON>
+        <newparam sid="Couch_Diffuse_tga-surface">
+          <surface type="2D">
+            <init_from>Couch_Diffuse_tga</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="Couch_Diffuse_tga-sampler">
+          <sampler2D>
+            <source>Couch_Diffuse_tga-surface</source>
+          </sampler2D>
+        </newparam>
+        <newparam sid="Couch_Spec_tga-surface">
+          <surface type="2D">
+            <init_from>Couch_Spec_tga</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="Couch_Spec_tga-sampler">
+          <sampler2D>
+            <source>Couch_Spec_tga-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <blinn>
+            <emission>
+              <color>0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color>0.5882353 0.5882353 0.5882353 1</color>
+            </ambient>
+            <diffuse>
+              <texture texture="Couch_Diffuse_tga-sampler" texcoord="CHANNEL1"/>
+            </diffuse>
+            <specular>
+              <color>0.9 0.9 0.9 1</color>
+            </specular>
+            <shininess>
+              <float>0</float>
+            </shininess>
+            <reflective>
+              <color>0 0 0 1</color>
+            </reflective>
+            <transparent opaque="A_ONE">
+              <color>1 1 1 1</color>
+            </transparent>
+            <transparency>
+              <float>1</float>
+            </transparency>
+          </blinn>
+          <extra>
+            <technique profile="OpenCOLLADA3dsMax">
+              <specularLevel>
+                <texture texture="Couch_Spec_tga-sampler" texcoord="CHANNEL1"/>
+              </specularLevel>
+            </technique>
+          </extra>
+        </technique>
+      </profile_COMMON>
+      <extra>
+        <technique profile="OpenCOLLADA3dsMax">
+          <extended_shader>
+            <apply_reflection_dimming>0</apply_reflection_dimming>
+            <dim_level>0</dim_level>
+            <falloff_type>0</falloff_type>
+            <index_of_refraction>1.5</index_of_refraction>
+            <opacity_type>0</opacity_type>
+            <reflection_level>3</reflection_level>
+            <wire_size>1</wire_size>
+            <wire_units>0</wire_units>
+          </extended_shader>
+          <shader>
+            <ambient_diffuse_lock>1</ambient_diffuse_lock>
+            <ambient_diffuse_texture_lock>1</ambient_diffuse_texture_lock>
+            <diffuse_specular_lock>0</diffuse_specular_lock>
+            <soften>0.1</soften>
+            <use_self_illum_color>0</use_self_illum_color>
+          </shader>
+        </technique>
+      </extra>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="Couch-material" name="Couch">
+      <instance_effect url="#Couch"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="geom-Couch" name="Couch">
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+          <technique_common>
+            <accessor source="#geom-Couch-map1-array" count="393" stride="3">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+              <param name="P" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="geom-Couch-vertices">
+          <input semantic="POSITION" source="#geom-Couch-positions"/>
+        </vertices>
+        <triangles material="Couch" count="459">
+          <input semantic="VERTEX" source="#geom-Couch-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#geom-Couch-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#geom-Couch-map1" offset="2" set="0"/>
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391</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_lights>
+    <light id="EnvironmentAmbientLight" name="EnvironmentAmbientLight">
+      <technique_common>
+        <ambient>
+          <color>0 0 0</color>
+        </ambient>
+      </technique_common>
+    </light>
+  </library_lights>
+  <library_images>
+    <image id="Couch_Diffuse_tga">
+      <init_from>model://office_couch/materials/textures/office_couch_diffuse.png</init_from>
+    </image>
+    <image id="Couch_Spec_tga">
+      <init_from>model://office_couch/materials/textures/office_couch_specular.png</init_from>
+    </image>
+  </library_images>
+  <library_visual_scenes>
+    <visual_scene id="MaxScene">
+      <node name="EnvironmentAmbientLight">
+        <instance_light url="#EnvironmentAmbientLight"/>
+      </node>
+      <node id="node-Couch" name="Couch">
+        <instance_geometry url="#geom-Couch">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Couch" target="#Couch-material">
+                <bind_vertex_input semantic="CHANNEL1" input_semantic="TEXCOORD" input_set="0"/>
+                <bind_vertex_input semantic="CHANNEL1" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+        <extra>
+          <technique profile="OpenCOLLADA">
+            <cast_shadows>1</cast_shadows>
+            <primary_visibility>1</primary_visibility>
+            <receive_shadows>1</receive_shadows>
+            <secondary_visibility>1</secondary_visibility>
+          </technique>
+        </extra>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#MaxScene"/>
+  </scene>
+</COLLADA>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_couch/model.config b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_couch/model.config
new file mode 100644
index 0000000..9d0a00f
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_couch/model.config
@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>Office couch</name>
+  <version>1.0</version>
+  <sdf version="1.6">model.sdf</sdf>
+
+  <author>
+    <name>Cole Biesemeyer</name>
+    <email>cole.bsmr@gmail.com</email>
+  </author>
+
+  <author>
+    <name>Louise Poubel</name>
+    <email>louise@openrobotics.com</email>
+  </author>
+
+  <description>
+  </description>
+
+</model>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_couch/model.sdf b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_couch/model.sdf
new file mode 100644
index 0000000..376f339
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_couch/model.sdf
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_lights>
+    <light id="EnvironmentAmbientLight" name="EnvironmentAmbientLight">
+      <technique_common>
+        <ambient>
+          <color>0 0 0</color>
+        </ambient>
+      </technique_common>
+    </light>
+  </library_lights>
+  <library_images>
+    <image id="Desk_Diffuse_tga">
+      <init_from>model://office_desk/materials/textures/office_desk_diffuse.png</init_from>
+    </image>
+    <image id="Desk_Spec_tga">
+      <init_from>model://office_desk/materials/textures/office_desk_specular.png</init_from>
+    </image>
+  </library_images>
+  <library_visual_scenes>
+    <visual_scene id="MaxScene">
+      <node name="EnvironmentAmbientLight">
+        <instance_light url="#EnvironmentAmbientLight"/>
+      </node>
+      <node id="node-Desk" name="Desk">
+        <instance_geometry url="#geom-Desk">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Desk" target="#Desk-material">
+                <bind_vertex_input semantic="CHANNEL1" input_semantic="TEXCOORD" input_set="0"/>
+                <bind_vertex_input semantic="CHANNEL1" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+        <extra>
+          <technique profile="OpenCOLLADA">
+            <cast_shadows>1</cast_shadows>
+            <primary_visibility>1</primary_visibility>
+            <receive_shadows>1</receive_shadows>
+            <secondary_visibility>1</secondary_visibility>
+          </technique>
+        </extra>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#MaxScene"/>
+  </scene>
+</COLLADA>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_desk/model.config b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_desk/model.config
new file mode 100644
index 0000000..e597746
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_desk/model.config
@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>Office desk</name>
+  <version>1.0</version>
+  <sdf version="1.6">model.sdf</sdf>
+
+  <author>
+    <name>Cole Biesemeyer</name>
+    <email>cole.bsmr@gmail.com</email>
+  </author>
+
+  <author>
+    <name>Louise Poubel</name>
+    <email>louise@openrobotics.com</email>
+  </author>
+
+  <description>
+    A desk
+  </description>
+
+</model>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_desk/model.sdf b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_desk/model.sdf
new file mode 100644
index 0000000..dd5828c
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_desk/model.sdf
@@ -0,0 +1,24 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <model name="Desk">
+    <static>true</static>
+    <link name="link">
+      <collision name="collision">
+        <geometry>
+          <mesh>
+            <uri>model://office_desk/meshes/office_desk.dae</uri>
+            <scale>1.4 1.4 1.4</scale>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name="visual">
+        <geometry>
+          <mesh>
+            <uri>model://office_desk/meshes/office_desk.dae</uri>
+            <scale>1.4 1.4 1.4</scale>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+  </model>
+</sdf>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_lamp/materials/textures/office_lamp_diffuse.png b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_lamp/materials/textures/office_lamp_diffuse.png
new file mode 100644
index 0000000..5d56c3f
Binary files /dev/null and b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_lamp/materials/textures/office_lamp_diffuse.png differ
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_lamp/materials/textures/office_lamp_illumination.png b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_lamp/materials/textures/office_lamp_illumination.png
new file mode 100644
index 0000000..2c63121
Binary files /dev/null and b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_lamp/materials/textures/office_lamp_illumination.png differ
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_lamp/materials/textures/office_lamp_specular.png b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_lamp/materials/textures/office_lamp_specular.png
new file mode 100644
index 0000000..e5edda6
Binary files /dev/null and b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_lamp/materials/textures/office_lamp_specular.png differ
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_lamp/meshes/office_lamp.dae b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_lamp/meshes/office_lamp.dae
new file mode 100755
index 0000000..7687532
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_lamp/meshes/office_lamp.dae
@@ -0,0 +1,206 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Cole</author>
+      <authoring_tool>OpenCOLLADA for 3ds Max;  Version: 1.4.1;  Revision: exported;  Platform: x64;  Configuration: Release_Max2013_static</authoring_tool>
+    </contributor>
+    <created>2013-07-31T23:30:55</created>
+    <modified>2013-07-31T23:30:55</modified>
+    <unit name="centimeter" meter="0.01"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="Lamp">
+      <profile_COMMON>
+        <newparam sid="Lamp_Illumination_tga-surface">
+          <surface type="2D">
+            <init_from>Lamp_Illumination_tga</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="Lamp_Illumination_tga-sampler">
+          <sampler2D>
+            <source>Lamp_Illumination_tga-surface</source>
+          </sampler2D>
+        </newparam>
+        <newparam sid="Lamp_Diffuse_tga-surface">
+          <surface type="2D">
+            <init_from>Lamp_Diffuse_tga</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="Lamp_Diffuse_tga-sampler">
+          <sampler2D>
+            <source>Lamp_Diffuse_tga-surface</source>
+          </sampler2D>
+        </newparam>
+        <newparam sid="Lamp_Spec_tga-surface">
+          <surface type="2D">
+            <init_from>Lamp_Spec_tga</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="Lamp_Spec_tga-sampler">
+          <sampler2D>
+            <source>Lamp_Spec_tga-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <blinn>
+            <emission>
+              <texture texture="Lamp_Illumination_tga-sampler" texcoord="CHANNEL1"/>
+            </emission>
+            <ambient>
+              <color>0.5882353 0.5882353 0.5882353 1</color>
+            </ambient>
+            <diffuse>
+              <texture texture="Lamp_Diffuse_tga-sampler" texcoord="CHANNEL1"/>
+            </diffuse>
+            <specular>
+              <color>0.9 0.9 0.9 1</color>
+            </specular>
+            <shininess>
+              <float>0</float>
+            </shininess>
+            <reflective>
+              <color>0 0 0 1</color>
+            </reflective>
+            <transparent opaque="A_ONE">
+              <color>1 1 1 1</color>
+            </transparent>
+            <transparency>
+              <float>1</float>
+            </transparency>
+          </blinn>
+          <extra>
+            <technique profile="OpenCOLLADA3dsMax">
+              <specularLevel>
+                <texture texture="Lamp_Spec_tga-sampler" texcoord="CHANNEL1"/>
+              </specularLevel>
+            </technique>
+          </extra>
+        </technique>
+      </profile_COMMON>
+      <extra>
+        <technique profile="OpenCOLLADA3dsMax">
+          <extended_shader>
+            <apply_reflection_dimming>0</apply_reflection_dimming>
+            <dim_level>0</dim_level>
+            <falloff_type>0</falloff_type>
+            <index_of_refraction>1.5</index_of_refraction>
+            <opacity_type>0</opacity_type>
+            <reflection_level>3</reflection_level>
+            <wire_size>1</wire_size>
+            <wire_units>0</wire_units>
+          </extended_shader>
+          <shader>
+            <ambient_diffuse_lock>1</ambient_diffuse_lock>
+            <ambient_diffuse_texture_lock>1</ambient_diffuse_texture_lock>
+            <diffuse_specular_lock>0</diffuse_specular_lock>
+            <soften>0.1</soften>
+            <use_self_illum_color>0</use_self_illum_color>
+          </shader>
+        </technique>
+      </extra>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="Lamp-material" name="Lamp">
+      <instance_effect url="#Lamp"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="geom-Lamp" name="Lamp">
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+          <p>3 0 2 0 1 3 56 2 0 56 2 0 57 3 1 3 0 2 4 4 4 1 5 5 0 1 3 0 1 3 3 0 2 4 4 4 5 6 6 2 7 7 1 5 5 1 5 5 4 4 4 5 6 6 6 8 9 3 0 2 57 3 1 57 3 1 64 9 8 6 8 9 7 10 10 4 4 4 3 0 2 3 0 2 6 8 9 7 10 10 8 11 11 5 6 6 4 4 4 4 4 4 7 10 10 8 11 11 9 12 13 6 8 9 64 9 8 64 9 8 68 13 12 9 12 13 10 14 14 7 10 10 6 8 9 6 8 9 9 12 13 10 14 14 11 15 15 8 11 11 7 10 10 7 10 10 10 14 14 11 15 15 12 16 17 9 12 13 68 13 12 68 13 12 72 17 16 12 16 17 13 18 18 10 14 14 9 12 13 9 12 13 12 16 17 13 18 18 14 19 21 11 15 15 10 14 14 10 14 14 13 18 18 14 19 21 14 19 21 13 18 18 15 20 19 15 20 19 16 21 38 14 19 21 13 18 18 12 16 17 17 22 20 17 22 20 15 20 19 13 18 18 12 16 17 72 17 16 79 23 39 79 23 39 17 22 20 12 16 17 56 2 0 0 1 3 18 24 22 18 24 22 81 25 23 56 2 0 0 1 3 1 5 5 19 26 24 19 26 24 18 24 22 0 1 3 1 5 5 2 7 7 20 27 25 20 27 25 19 26 24 1 5 5 81 25 23 18 24 22 22 28 26 22 28 26 21 29 27 81 25 23 18 24 22 19 26 24 23 30 28 23 30 28 22 28 26 18 24 22 19 26 24 20 27 25 24 31 29 24 31 29 23 30 28 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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_lights>
+    <light id="EnvironmentAmbientLight" name="EnvironmentAmbientLight">
+      <technique_common>
+        <ambient>
+          <color>0 0 0</color>
+        </ambient>
+      </technique_common>
+    </light>
+  </library_lights>
+  <library_images>
+    <image id="Lamp_Diffuse_tga">
+      <init_from>model://office_lamp/materials/textures/office_lamp_diffuse.png</init_from>
+    </image>
+    <image id="Lamp_Illumination_tga">
+      <init_from>model://office_lamp/materials/textures/office_lamp_illumination.png</init_from>
+    </image>
+    <image id="Lamp_Spec_tga">
+      <init_from>model://office_lamp/materials/textures/office_lamp_specular.png</init_from>
+    </image>
+  </library_images>
+  <library_visual_scenes>
+    <visual_scene id="MaxScene">
+      <node name="EnvironmentAmbientLight">
+        <instance_light url="#EnvironmentAmbientLight"/>
+      </node>
+      <node id="node-Lamp" name="Lamp">
+        <instance_geometry url="#geom-Lamp">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Lamp" target="#Lamp-material">
+                <bind_vertex_input semantic="CHANNEL1" input_semantic="TEXCOORD" input_set="0"/>
+                <bind_vertex_input semantic="CHANNEL1" input_semantic="TEXCOORD" input_set="0"/>
+                <bind_vertex_input semantic="CHANNEL1" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+        <extra>
+          <technique profile="OpenCOLLADA">
+            <cast_shadows>1</cast_shadows>
+            <primary_visibility>1</primary_visibility>
+            <receive_shadows>1</receive_shadows>
+            <secondary_visibility>1</secondary_visibility>
+          </technique>
+        </extra>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#MaxScene"/>
+  </scene>
+</COLLADA>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_lamp/model.config b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_lamp/model.config
new file mode 100644
index 0000000..2fa98d3
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_lamp/model.config
@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>Office lamp</name>
+  <version>1.0</version>
+  <sdf version="1.6">model.sdf</sdf>
+
+  <author>
+    <name>Cole Biesemeyer</name>
+    <email>cole.bsmr@gmail.com</email>
+  </author>
+
+  <author>
+    <name>Louise Poubel</name>
+    <email>louise@openrobotics.com</email>
+  </author>
+
+  <description>
+  </description>
+
+</model>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_lamp/model.sdf b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_lamp/model.sdf
new file mode 100644
index 0000000..6250c7b
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/office_lamp/model.sdf
@@ -0,0 +1,24 @@
+<?xml version="1.0" ?>
+<sdf version="1.5">
+  <model name="office_lamp">
+    <static>true</static>
+    <link name="link">
+      <collision name="collision">
+        <geometry>
+          <mesh>
+            <uri>model://office_lamp/meshes/office_lamp.dae</uri>
+            <scale>1.4 1.4 1.4</scale>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name="visual">
+        <geometry>
+          <mesh>
+            <uri>model://office_lamp/meshes/office_lamp.dae</uri>
+            <scale>1.4 1.4 1.4</scale>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+  </model>
+</sdf>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/refrigerator/materials/textures/refrigerator.png b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/refrigerator/materials/textures/refrigerator.png
new file mode 100644
index 0000000..0d41aad
Binary files /dev/null and b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/refrigerator/materials/textures/refrigerator.png differ
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/refrigerator/meshes/refrigerator.mtl b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/refrigerator/meshes/refrigerator.mtl
new file mode 100644
index 0000000..8e38287
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/refrigerator/meshes/refrigerator.mtl
@@ -0,0 +1,16 @@
+# 3ds Max Wavefront OBJ Exporter v0.97b - (c)2007 guruware
+# File Created: 28.01.2018 10:40:34
+
+newmtl refrigerator
+	Ns 10.0000
+	Ni 1.5000
+	d 1.0000
+	Tr 0.0000
+	Tf 1.0000 1.0000 1.0000
+	illum 2
+	Ka 0.5882 0.5882 0.5882
+	Kd 0.5882 0.5882 0.5882
+	Ks 0.0000 0.0000 0.0000
+	Ke 0.0000 0.0000 0.0000
+	map_Ka ../materials/textures/refrigerator.png
+	map_Kd ../materials/textures/refrigerator.png
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/refrigerator/meshes/refrigerator.obj b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/refrigerator/meshes/refrigerator.obj
new file mode 100644
index 0000000..52d7a3d
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/refrigerator/meshes/refrigerator.obj
@@ -0,0 +1,845 @@
+# 3ds Max Wavefront OBJ Exporter v0.97b - (c)2007 guruware
+# File Created: 28.01.2018 10:40:34
+
+mtllib refrigerator.mtl
+
+#
+# object refrigerator
+#
+
+v  0.0000 38.1000 5.9004
+v  -38.1000 38.1000 5.9004
+v  -38.1000 38.1000 116.8876
+v  0.0000 38.1000 116.8876
+v  -38.1000 38.1000 167.6000
+v  -38.1000 -29.3511 117.8170
+v  -38.1000 -29.3511 167.6000
+v  0.0000 -29.3511 167.6000
+v  0.0000 38.1000 167.6000
+v  -38.1000 -29.3511 5.9004
+v  -38.1000 -29.3511 115.9582
+v  0.0000 -29.3511 115.9582
+v  0.0000 -29.3511 117.8170
+v  0.0000 -29.3511 5.9004
+v  -35.7501 -27.0011 5.9004
+v  0.0000 -27.0011 5.9004
+v  -35.7501 35.7501 5.9004
+v  0.0000 35.7501 5.9004
+v  38.1000 38.1000 116.8876
+v  38.1000 38.1000 5.9004
+v  38.1000 38.1000 167.6000
+v  38.1000 -29.3511 167.6000
+v  38.1000 -29.3511 117.8170
+v  38.1000 -29.3511 115.9582
+v  38.1000 -29.3511 5.9004
+v  35.7501 -27.0011 5.9004
+v  35.7501 35.7501 5.9004
+v  -36.9984 -29.1926 0.0000
+v  -36.9984 -29.1926 6.9282
+v  -36.9984 37.7452 6.9282
+v  -36.9984 37.7452 0.0000
+v  0.0000 37.7452 0.0000
+v  0.0000 37.7452 6.9282
+v  0.0000 -29.1926 0.0000
+v  0.0000 -29.1926 6.9282
+v  36.9984 -29.1926 0.0000
+v  36.9984 37.7452 0.0000
+v  36.9984 37.7452 6.9282
+v  36.9984 -29.1926 6.9282
+v  38.1000 -34.5423 5.9004
+v  37.8776 -36.0988 5.9004
+v  37.2106 -37.2106 5.9004
+v  36.0988 -37.8776 5.9004
+v  34.5423 -38.1000 5.9004
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+v  -36.0988 -37.8776 5.9004
+v  -37.2106 -37.2106 5.9004
+v  -37.8776 -36.0988 5.9004
+v  -38.1000 -34.5423 5.9004
+v  38.1000 -34.5423 167.6000
+v  -38.1000 -34.5423 167.6000
+v  -37.8776 -36.0988 167.6000
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+v  -36.0988 -37.8776 167.6000
+v  -34.5423 -38.1000 167.6000
+v  34.5423 -38.1000 167.6000
+v  36.0988 -37.8776 167.6000
+v  37.2106 -37.2106 167.6000
+v  37.8776 -36.0988 167.6000
+v  34.5423 -38.1000 115.9582
+v  -34.5423 -38.1000 115.9582
+v  38.1000 -34.5423 115.9582
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+v  34.5423 -38.1000 117.8170
+v  -38.1000 -34.5423 117.8170
+v  -38.1000 -34.5423 115.9582
+v  38.1000 -34.5423 117.8170
+v  36.0988 -37.8776 115.9582
+v  -36.0988 -37.8776 117.8170
+v  36.0988 -37.8776 117.8170
+v  -36.0988 -37.8776 115.9582
+v  37.2106 -37.2106 115.9582
+v  37.8776 -36.0988 115.9582
+v  -37.2106 -37.2106 117.8170
+v  -37.8776 -36.0988 117.8170
+v  37.2106 -37.2106 117.8170
+v  37.8776 -36.0988 117.8170
+v  -37.2106 -37.2106 115.9582
+v  -37.8776 -36.0988 115.9582
+v  -31.8364 -37.8232 163.9313
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+vt 0.9719 0.1928 -0.2956
+vt 0.9719 0.2047 -0.2956
+vt 0.9719 0.2167 -0.2956
+vt 0.9719 0.0115 -0.2956
+vt 0.9719 0.0250 -0.2956
+vt 0.9719 0.0369 -0.2956
+vt 0.9719 0.0489 -0.2956
+vt 0.9719 0.0608 -0.2956
+vt 0.9843 0.2269 0.2956
+vt 0.9719 0.2269 -0.2956
+vt 0.9295 0.4185 0.0000
+vt 0.9298 0.4065 0.0000
+vt 0.9361 0.3963 0.0000
+vt 0.9450 0.3914 0.0000
+vt 0.9585 0.3909 0.0000
+vt 0.9687 0.3972 0.0000
+vt 0.9744 0.4077 0.0000
+vt 0.9741 0.4196 0.0000
+vt 0.9843 0.1439 -0.2956
+vt 0.9843 0.1511 -0.2956
+vt 0.9843 0.1081 -0.2956
+vt 0.9843 0.1152 -0.2956
+vt 0.9843 0.1224 -0.2956
+vt 0.9843 0.1296 -0.2956
+vt 0.9843 0.1367 -0.2956
+vt 0.9719 0.1439 -0.2956
+vt 0.9719 0.1511 -0.2956
+vt 0.9719 0.1081 -0.2956
+vt 0.9719 0.1152 -0.2956
+vt 0.9719 0.1224 -0.2956
+vt 0.9719 0.1296 -0.2956
+vt 0.9719 0.1367 -0.2956
+vt 0.9608 0.4649 0.0000
+vt 0.9577 0.4714 0.0000
+vt 0.9518 0.4755 0.0000
+vt 0.9447 0.4761 0.0000
+vt 0.9382 0.4730 0.0000
+vt 0.9341 0.4671 0.0000
+vt 0.9335 0.4600 0.0000
+# 347 texture coords
+
+g refrigerator
+usemtl refrigerator
+s off
+f 1/25/1 2/3/1 3/4/1 4/24/1
+f 5/17/2 3/4/2 6/7/2 7/16/2
+f 5/10/3 7/5/3 8/6/3 9/9/3
+f 2/3/2 10/22/2 11/23/2 3/4/2
+f 3/4/2 11/23/2 6/7/2
+f 11/8/4 12/13/4 13/14/4 6/15/4
+f 5/17/1 9/26/1 4/24/1 3/4/1
+f 14/1/5 10/27/5 15/28/5 16/12/5
+f 10/2/5 2/18/5 17/19/5 15/11/5
+f 2/29/5 1/20/5 18/21/5 17/30/5
+f 1/34/1 4/33/1 19/32/1 20/31/1
+f 21/37/6 22/36/6 23/35/6 19/32/6
+f 21/41/3 9/40/3 8/39/3 22/38/3
+f 20/31/6 19/32/6 24/43/6 25/42/6
+f 19/32/6 23/35/6 24/43/6
+f 24/44/4 23/47/4 13/46/4 12/45/4
+f 21/37/1 19/32/1 4/33/1 9/48/1
+f 14/49/5 16/52/5 26/51/5 25/50/5
+f 25/53/5 26/56/5 27/55/5 20/54/5
+f 20/57/5 27/60/5 18/59/5 1/58/5
+s 16
+f 28/61/2 29/62/2 30/63/2 31/64/2
+s 32
+f 32/66/1 31/64/1 30/63/1 33/65/1
+s 8
+f 28/61/4 34/67/4 35/68/4 29/62/4
+s 16
+f 36/69/6 37/72/6 38/71/6 39/70/6
+s 32
+f 32/74/1 33/73/1 38/71/1 37/72/1
+s 8
+f 36/69/4 39/70/4 35/76/4 34/75/4
+s off
+f 25/83/5 40/84/5 41/90/5 42/92/5 43/93/5 44/94/5 45/77/5 46/78/5 47/79/5 48/80/5 49/81/5 10/82/5
+f 50/111/7 22/113/7 7/115/7 51/95/7 52/96/7 53/97/7 54/99/7 55/105/7 56/106/7 57/107/7 58/108/7 59/109/7
+s 1
+f 44/86/8 60/87/8 61/88/9 45/85/9
+f 25/91/6 24/98/6 62/100/10 40/89/10
+f 56/102/8 55/103/9 63/104/9 64/101/8
+f 51/112/11 7/114/2 6/116/2 65/110/11
+f 49/118/11 66/123/11 11/124/2 10/117/2
+f 50/126/10 67/127/10 23/128/6 22/125/6
+f 68/130/12 60/87/8 44/86/8 43/129/12
+f 69/133/13 63/104/9 55/103/9 54/131/13
+f 57/137/12 56/102/8 64/101/8 70/135/12
+f 46/141/13 45/85/9 61/88/9 71/139/13
+f 72/145/14 68/130/12 43/129/12 42/143/14
+f 73/149/15 72/145/14 42/143/14 41/147/15
+f 62/100/10 73/149/15 41/147/15 40/89/10
+f 74/153/16 69/133/13 54/131/13 53/151/16
+f 75/156/17 74/153/16 53/151/16 52/155/17
+f 65/110/11 75/156/17 52/155/17 51/112/11
+f 58/158/14 57/137/12 70/135/12 76/157/14
+f 59/160/15 58/158/14 76/157/14 77/159/15
+f 50/126/10 59/160/15 77/159/15 67/127/10
+f 47/162/16 46/141/13 71/139/13 78/161/16
+f 48/164/17 47/162/16 78/161/16 79/163/17
+f 49/118/11 48/164/17 79/163/17 66/123/11
+s off
+f 65/142/18 6/144/18 23/146/18 67/119/18 77/120/18 76/121/18 70/122/18 64/132/18 63/134/18 69/136/18 74/138/18 75/140/18
+f 73/170/3 62/171/3 24/172/3 11/148/3 66/150/3 79/152/3 78/154/3 71/165/3 61/166/3 60/167/3 68/168/3 72/169/3
+s 4
+f 80/174/19 81/175/19 82/176/20 83/173/20
+s off
+f 84/178/2 85/179/2 86/180/2 87/177/2
+s 1
+f 88/182/21 89/183/22 90/184/23 91/181/24
+s off
+f 92/185/6 93/186/6 88/182/6 94/187/6
+s 1
+f 82/176/25 81/175/26 95/189/27 96/188/28
+s off
+f 83/173/6 82/176/6 96/188/6 97/190/6
+s 1
+f 98/191/29 99/192/30 100/193/31 93/186/32
+s off
+f 101/195/2 102/196/2 103/197/2 104/194/2
+f 85/179/2 84/178/2 105/198/2
+f 106/199/6 98/191/6 93/186/6 92/185/6
+s 1
+f 92/208/33 107/209/33 108/210/34 106/205/34
+f 106/205/34 108/210/34 105/212/35 109/211/35
+f 105/212/35 84/213/36 97/214/36 109/211/35
+s 4
+f 87/177/37 86/180/37 81/175/19 80/174/19
+s 1
+f 110/200/38 102/196/39 89/183/22 100/193/31
+f 86/180/40 85/179/41 95/189/27 81/175/26
+f 85/179/41 111/201/42 99/192/30 95/189/27
+f 96/188/28 95/189/27 99/192/30 98/191/29
+f 111/201/42 110/200/38 100/193/31 99/192/30
+s off
+f 110/200/43 111/201/43 108/202/43 107/203/43
+f 85/179/43 105/198/43 108/202/43 111/201/43
+f 106/199/6 109/204/6 96/188/6 98/191/6
+f 109/204/6 97/190/6 96/188/6
+s 1
+f 93/186/32 100/193/31 89/183/22 88/182/21
+s off
+f 91/181/6 112/215/6 94/187/6 88/182/6
+f 102/196/2 110/200/2 107/203/2 103/197/2
+s 1
+f 107/209/33 92/208/33 94/233/44 103/231/44
+f 102/196/39 101/195/45 90/184/23 89/183/22
+s off
+f 94/187/6 112/215/6 113/216/6 114/217/6
+f 104/207/5 115/242/5 113/243/5 112/206/5
+f 103/197/2 116/218/2 115/219/2 104/194/2
+s 1
+f 94/233/44 114/239/46 116/246/46 103/231/44
+s off
+f 117/220/6 118/221/6 114/217/6 113/216/6
+f 119/281/5 117/282/5 113/243/5 115/242/5
+f 116/218/2 120/222/2 119/223/2 115/219/2
+s 1
+f 118/271/3 120/272/3 116/246/46 114/239/46
+s 4
+f 121/227/47 122/224/48 123/225/48 124/226/47
+s off
+f 125/232/2 126/228/2 127/229/2 128/230/2
+s 1
+f 129/237/49 130/234/50 131/235/51 132/236/52
+s off
+f 133/238/6 134/240/6 129/237/6 135/241/6
+s 1
+f 123/225/53 136/244/54 137/245/55 124/226/56
+s off
+f 122/224/6 138/247/6 136/244/6 123/225/6
+s 1
+f 139/250/57 135/241/58 140/248/59 141/249/60
+s off
+f 142/254/2 143/251/2 144/252/2 145/253/2
+f 128/230/2 146/255/2 125/232/2
+f 147/256/6 133/238/6 135/241/6 139/250/6
+s 1
+f 133/276/61 147/273/62 148/274/63 149/275/61
+f 147/273/62 150/277/64 146/278/64 148/274/63
+f 146/278/64 150/277/64 138/279/65 125/280/65
+s 4
+f 126/228/66 121/227/47 124/226/47 127/229/66
+s 1
+f 151/257/67 140/248/59 132/236/52 145/253/68
+f 127/229/69 124/226/56 137/245/55 128/230/70
+f 128/230/70 137/245/55 141/249/60 152/258/71
+f 136/244/54 139/250/57 141/249/60 137/245/55
+f 152/258/71 141/249/60 140/248/59 151/257/67
+s off
+f 151/257/2 149/260/2 148/259/2 152/258/2
+f 128/230/2 152/258/2 148/259/2 146/255/2
+f 147/256/6 139/250/6 136/244/6 150/261/6
+f 150/261/6 136/244/6 138/247/6
+s 1
+f 135/241/58 129/237/49 132/236/52 140/248/59
+s off
+f 130/234/6 129/237/6 134/240/6 153/262/6
+f 145/253/2 144/252/2 149/260/2 151/257/2
+s 1
+f 149/275/61 144/285/72 134/286/73 133/276/61
+f 145/253/68 132/236/52 131/235/51 142/254/74
+s off
+f 134/240/6 154/263/6 155/264/6 153/262/6
+f 143/292/3 153/283/3 155/284/3 156/291/3
+f 144/252/2 143/251/2 156/265/2 157/266/2
+s 1
+f 134/286/73 144/285/72 157/287/75 154/288/75
+s off
+f 158/268/6 155/264/6 154/263/6 159/267/6
+f 160/294/3 156/291/3 155/284/3 158/293/3
+f 157/266/2 156/265/2 160/269/2 161/270/2
+s 1
+f 159/290/5 154/288/75 157/287/75 161/289/5
+s off
+f 131/296/3 130/297/3 153/283/3 143/292/3 142/295/3
+f 90/299/5 101/300/5 104/207/5 112/206/5 91/298/5
+s 8
+f 162/301/76 163/302/77 164/310/77 165/309/76
+f 163/302/77 166/303/78 167/311/78 164/310/77
+f 166/303/78 168/317/79 169/318/79 167/311/78
+f 168/304/79 170/305/80 171/313/80 169/312/79
+f 170/305/80 172/306/81 173/314/81 171/313/80
+f 172/306/81 174/307/82 175/315/82 173/314/81
+f 174/307/82 176/308/83 177/316/83 175/315/82
+s 1
+f 173/324/3 175/325/3 177/326/3 165/319/3 164/320/3 167/321/3 169/322/3 171/323/3
+s 8
+f 178/327/6 179/328/84 180/335/84 181/334/6
+f 182/329/16 183/330/85 184/337/85 185/336/16
+f 183/330/85 186/331/86 187/338/86 184/337/85
+f 186/331/86 188/332/87 189/339/87 187/338/86
+f 188/332/87 190/333/88 191/340/88 189/339/87
+f 190/333/88 178/327/6 181/334/6 191/340/88
+s 1
+f 191/345/3 181/346/3 180/347/3 185/341/3 184/342/3 187/343/3 189/344/3
+s off
+f 165/319/3 177/326/3 185/341/3 180/347/3
+f 176/308/89 182/329/89 185/336/89 177/316/89
+f 165/309/90 180/335/90 179/328/90 162/301/90
+# 138 polygons - 6 triangles
+
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/refrigerator/model.config b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/refrigerator/model.config
new file mode 100644
index 0000000..b4d240c
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/refrigerator/model.config
@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>Refrigerator</name>
+  <version>1.0</version>
+  <sdf version="1.6">model.sdf</sdf>
+
+  <author>
+    <name>Cole Biesemeyer</name>
+    <email>cole.bsmr@gmail.com</email>
+  </author>
+
+  <author>
+    <name>Louise Poubel</name>
+    <email>louise@openrobotics.com</email>
+  </author>
+
+  <description>
+  </description>
+
+</model>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/refrigerator/model.sdf b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/refrigerator/model.sdf
new file mode 100644
index 0000000..bc08a3b
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/refrigerator/model.sdf
@@ -0,0 +1,24 @@
+<?xml version="1.0" ?>
+<sdf version="1.5">
+  <model name="refrigerator">
+    <static>true</static>
+    <link name="link">
+      <collision name="collision">
+        <pose>-0.007078 0.009991 0.837838 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.781084 0.825312 1.660790</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="visual">
+        <geometry>
+          <mesh>
+            <uri>model://refrigerator/meshes/refrigerator.obj</uri>
+            <scale>0.01 0.01 0.01</scale>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+  </model>
+</sdf>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/side_table_1/materials/scripts/side_table_1.material b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/side_table_1/materials/scripts/side_table_1.material
new file mode 100644
index 0000000..c1c3858
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/side_table_1/materials/scripts/side_table_1.material
@@ -0,0 +1,15 @@
+material side_table_1
+{
+  technique
+  {
+    pass
+    {
+      texture_unit
+      {
+        texture brown_light.jpg
+	scale 1 1
+      }
+    }
+  }
+}
+
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/side_table_1/materials/textures/brown_light.jpg b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/side_table_1/materials/textures/brown_light.jpg
new file mode 100644
index 0000000..961ed5e
Binary files /dev/null and b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/side_table_1/materials/textures/brown_light.jpg differ
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/side_table_1/meshes/leg.dae b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/side_table_1/meshes/leg.dae
new file mode 100644
index 0000000..8ce050f
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/side_table_1/meshes/leg.dae
@@ -0,0 +1,985 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.77.0 commit date:2016-04-05, commit time:18:12, hash:abf6f08</authoring_tool>
+    </contributor>
+    <created>2016-08-15T14:27:09</created>
+    <modified>2016-08-15T14:27:09</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
+    <camera id="Camera-camera" name="Camera">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">49.13434</xfov>
+            <aspect_ratio>1.777778</aspect_ratio>
+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
+      <extra>
+        <technique profile="blender">
+          <YF_dofdist>0</YF_dofdist>
+          <shiftx>0</shiftx>
+          <shifty>0</shifty>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_001-camera" name="Camera.001">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">49.13434</xfov>
+            <aspect_ratio>1.777778</aspect_ratio>
+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
+      <extra>
+        <technique profile="blender">
+          <YF_dofdist>0</YF_dofdist>
+          <shiftx>0</shiftx>
+          <shifty>0</shifty>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_images/>
+  <library_effects>
+    <effect id="Beech-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.64 0.64 0.64 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.25 0.25 0.25 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="material-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.6705882 0.6901961 0.8 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.25 0.25 0.25 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="edge_color000255-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.64 0.64 0.64 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.25 0.25 0.25 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="material_0-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">1 1 1 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.25 0.25 0.25 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Beech_4-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.64 0.64 0.64 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.25 0.25 0.25 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
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diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/side_table_1/meshes/legs.dae b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/side_table_1/meshes/legs.dae
new file mode 100644
index 0000000..a9470e4
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/side_table_1/meshes/legs.dae
@@ -0,0 +1,2346 @@
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diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/side_table_1/meshes/middle.dae b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/side_table_1/meshes/middle.dae
new file mode 100644
index 0000000..2b26e9a
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/side_table_1/meshes/middle.dae
@@ -0,0 +1,3156 @@
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diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/side_table_1/meshes/side_table_1.dae b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/side_table_1/meshes/side_table_1.dae
new file mode 100644
index 0000000..92103bf
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/side_table_1/meshes/side_table_1.dae
@@ -0,0 +1,3326 @@
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15.1169 15.1169 0.3137574 15.1169 15.1169 0.3137574 13.28379 16.5235 0.3137574 13.28379 16.5235 0.3137574 13.28379 16.5235 0.3137574 11.14909 17.40772 0.3137574 11.14909 17.40772 0.3137574 11.14909 17.40772 0.3137574 8.858268 17.70932 0.3137574 8.858268 17.70932 0.3137574 8.858268 17.70932 0.3137574 6.567448 17.40772 0.3137574 6.567448 17.40772 0.3137574 6.567448 17.40772 0.3137574 4.432744 16.5235 0.3137574 4.432744 16.5235 0.3137574 4.432744 16.5235 0.3137574 2.599632 15.1169 0.3137574 2.599632 15.1169 0.3137574 2.599632 15.1169 0.3137574 1.193036 13.28379 0.3137574 1.193036 13.28379 0.3137574 1.193036 13.28379 0.3137574 0.3088122 11.14909 0.3137574 0.3088122 11.14909 0.3137574 0.3088122 11.14909 0.3137574 6.572994 0.3295085 0.2364013 6.572994 0.3295085 0.2364013 6.572994 0.3295085 0.2364013 8.858268 0.06358581 0.1641358 11.1345 0.3632574 0.1641358 8.858268 0.06358581 0.1641358 11.1345 0.3632574 0.1641358 11.1345 0.3632574 0.1641358 8.858268 0.06358581 0.1641358 15.10175 2.614783 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15.10175 15.10175 0.2364013 15.10175 15.10175 0.2364013 15.10175 15.10175 0.2364013 13.27308 16.50494 0.2364013 13.27308 16.50494 0.2364013 13.27308 16.50494 0.2364013 11.14354 17.38703 0.2364013 11.14354 17.38703 0.2364013 11.14354 17.38703 0.2364013 8.858268 17.68789 0.2364013 8.858268 17.68789 0.2364013 8.858268 17.68789 0.2364013 6.572994 17.38703 0.2364013 6.572994 17.38703 0.2364013 6.572994 17.38703 0.2364013 4.443457 16.50494 0.2364013 4.443457 16.50494 0.2364013 4.443457 16.50494 0.2364013 2.614783 15.10175 0.2364013 2.614783 15.10175 0.2364013 2.614783 15.10175 0.2364013 1.211591 13.27308 0.2364013 1.211591 13.27308 0.2364013 1.211591 13.27308 0.2364013 0.3295085 11.14354 0.2364013 0.3295085 11.14354 0.2364013 0.3295085 11.14354 0.2364013 6.582037 0.3632574 0.1641358 6.582037 0.3632574 0.1641358 6.582037 0.3632574 0.1641358 8.858268 0.1109075 0.09929955 11.12225 0.4089665 0.09929955 8.858268 0.1109075 0.09929955 11.12225 0.4089665 0.09929955 11.12225 0.4089665 0.09929955 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0.04399096 11.1072 0.4651568 0.04399096 8.858268 0.1690798 0.04399096 15.04359 2.67295 0.09929955 15.04359 2.67295 0.09929955 15.04359 2.67295 0.09929955 13.20286 1.33321 0.04399096 13.20286 1.33321 0.04399096 13.20286 1.33321 0.04399096 0.4089665 6.594284 0.09929955 0.1109075 8.858268 0.09929955 0.1109075 8.858268 0.09929955 0.4089665 6.594284 0.09929955 0.4089665 6.594284 0.09929955 0.1109075 8.858268 0.09929955 1.282832 4.484588 0.09929955 1.282832 4.484588 0.09929955 1.282832 4.484588 0.09929955 2.67295 2.67295 0.09929955 2.67295 2.67295 0.09929955 2.67295 2.67295 0.09929955 4.484588 1.282832 0.09929955 4.484588 1.282832 0.09929955 4.484588 1.282832 0.09929955 16.4337 4.484588 0.09929955 16.4337 4.484588 0.09929955 16.4337 4.484588 0.09929955 17.30757 6.594284 0.09929955 17.30757 6.594284 0.09929955 17.30757 6.594284 0.09929955 17.60563 8.858268 0.09929955 17.60563 8.858268 0.09929955 17.60563 8.858268 0.09929955 17.30757 11.12225 0.09929955 17.30757 11.12225 0.09929955 17.30757 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+        </polylist>
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+                <instance_material symbol="edge_color000255-material" target="#edge_color000255-material"/>
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+                <instance_material symbol="material-material" target="#material-material"/>
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+                <instance_material symbol="Beech_10-material" target="#Beech_10-material"/>
+                <instance_material symbol="edge_color000255-material" target="#edge_color000255-material"/>
+                <instance_material symbol="edge_color218167107255-material" target="#edge_color218167107255-material"/>
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+                <instance_material symbol="material-material" target="#material-material"/>
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+                <instance_material symbol="edge_color000255-material" target="#edge_color000255-material"/>
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+                <instance_material symbol="material-material" target="#material-material"/>
+                <instance_material symbol="edge_color000255-material" target="#edge_color000255-material"/>
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+                <instance_material symbol="edge_color000255-material" target="#edge_color000255-material"/>
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+                <instance_material symbol="edge_color000255-material" target="#edge_color000255-material"/>
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+                <instance_material symbol="material-material" target="#material-material"/>
+                <instance_material symbol="edge_color218167107255-material" target="#edge_color218167107255-material"/>
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+                <instance_material symbol="Beech-material" target="#Beech-material"/>
+                <instance_material symbol="material-material" target="#material-material"/>
+                <instance_material symbol="edge_color000255-material" target="#edge_color000255-material"/>
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+                <instance_material symbol="material-material" target="#material-material"/>
+                <instance_material symbol="edge_color000255-material" target="#edge_color000255-material"/>
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+            <bind_material>
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+                <instance_material symbol="material-material" target="#material-material"/>
+                <instance_material symbol="Beech_12-material" target="#Beech_12-material"/>
+                <instance_material symbol="edge_color000255-material" target="#edge_color000255-material"/>
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+                <instance_material symbol="material-material" target="#material-material"/>
+                <instance_material symbol="edge_color000255-material" target="#edge_color000255-material"/>
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+                <instance_material symbol="material-material" target="#material-material"/>
+                <instance_material symbol="edge_color000255-material" target="#edge_color000255-material"/>
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+                <instance_material symbol="material-material" target="#material-material"/>
+                <instance_material symbol="edge_color000255-material" target="#edge_color000255-material"/>
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+            <bind_material>
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+                <instance_material symbol="material-material" target="#material-material"/>
+                <instance_material symbol="material_0-material" target="#material_0-material"/>
+                <instance_material symbol="edge_color000255-material" target="#edge_color000255-material"/>
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+        </node>
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+            <bind_material>
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+                <instance_material symbol="material-material" target="#material-material"/>
+                <instance_material symbol="material_0-material" target="#material_0-material"/>
+                <instance_material symbol="edge_color000255-material" target="#edge_color000255-material"/>
+              </technique_common>
+            </bind_material>
+          </instance_geometry>
+        </node>
+        <node id="instance_12_003" name="instance_12_003" type="NODE">
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+          <instance_geometry url="#ID35-mesh" name="instance_12_003">
+            <bind_material>
+              <technique_common>
+                <instance_material symbol="material-material" target="#material-material"/>
+                <instance_material symbol="material_0-material" target="#material_0-material"/>
+                <instance_material symbol="edge_color000255-material" target="#edge_color000255-material"/>
+              </technique_common>
+            </bind_material>
+          </instance_geometry>
+        </node>
+        <node id="instance_12_004" name="instance_12_004" type="NODE">
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+          <instance_geometry url="#ID41-mesh" name="instance_12_004">
+            <bind_material>
+              <technique_common>
+                <instance_material symbol="material-material" target="#material-material"/>
+                <instance_material symbol="material_0-material" target="#material_0-material"/>
+                <instance_material symbol="edge_color000255-material" target="#edge_color000255-material"/>
+              </technique_common>
+            </bind_material>
+          </instance_geometry>
+        </node>
+        <node id="instance_12_005" name="instance_12_005" type="NODE">
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+          <instance_geometry url="#ID47-mesh" name="instance_12_005">
+            <bind_material>
+              <technique_common>
+                <instance_material symbol="material-material" target="#material-material"/>
+                <instance_material symbol="material_0-material" target="#material_0-material"/>
+                <instance_material symbol="edge_color000255-material" target="#edge_color000255-material"/>
+              </technique_common>
+            </bind_material>
+          </instance_geometry>
+        </node>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/side_table_1/model.config b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/side_table_1/model.config
new file mode 100644
index 0000000..7c0aa89
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/side_table_1/model.config
@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+    <name>side_table_1</name>
+    <version>1.0</version>
+    <sdf version="1.6">model.sdf</sdf>
+    <author>
+        <name></name>
+        <email></email>
+    </author>
+    <description></description>
+</model>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/side_table_1/model.sdf b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/side_table_1/model.sdf
new file mode 100644
index 0000000..55b6cde
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/side_table_1/model.sdf
@@ -0,0 +1,167 @@
+<?xml version='1.0'?>
+<sdf version='1.6'>
+  <model name='side_table_1'>
+    <link name='link_1'>
+      <pose frame=''>0.007786 -0.167928 0 0 -0 0</pose>
+         <visual name='visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://side_table_1/meshes/middle.dae</uri>
+            <scale>1 1 1</scale>
+          </mesh>
+        </geometry>
+         <material>
+          <script>
+            <uri>model://side_table_1/materials/scripts</uri>
+            <uri>model://side_table_1/materials/textures</uri>
+            <name>side_table_1</name>
+          </script>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <collision name='collision'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://side_table_1/meshes/middle.dae</uri>
+            <scale>1 1 1</scale>
+          </mesh>
+        </geometry>
+       </collision>
+    </link>
+    <link name='link_2'>
+      <pose frame=''>0.007887 -0.167821 0 0 -0 0</pose>
+        <visual name='visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://side_table_1/meshes/leg.dae</uri>
+            <scale>1 1 1</scale>
+          </mesh>
+        </geometry>
+               <material>
+          <script>
+            <uri>model://side_table_1/materials/scripts</uri>
+            <uri>model://side_table_1/materials/textures</uri>
+            <name>side_table_1</name>
+          </script>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <collision name='collision'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://side_table_1/meshes/leg.dae</uri>
+            <scale>1 1 1</scale>
+          </mesh>
+        </geometry>
+         </collision>
+    </link>
+    <link name='link_2_clone'>
+      <pose frame=''>0.208023 0.051865 0 0 -0 1.57</pose>
+       <visual name='visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://side_table_1/meshes/leg.dae</uri>
+            <scale>1 1 1</scale>
+          </mesh>
+        </geometry>
+               <material>
+          <script>
+            <uri>model://side_table_1/materials/scripts</uri>
+            <uri>model://side_table_1/materials/textures</uri>
+            <name>side_table_1</name>
+          </script>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <collision name='collision'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://side_table_1/meshes/leg.dae</uri>
+            <scale>1 1 1</scale>
+          </mesh>
+        </geometry>
+       </collision>
+    </link>
+    <link name='link_2_clone_0'>
+      <pose frame=''>-0.212235 0.031759 0 0 0 -1.57</pose>
+         <visual name='visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://side_table_1/meshes/leg.dae</uri>
+            <scale>1 1 1</scale>
+          </mesh>
+        </geometry>
+               <material>
+          <script>
+            <uri>model://side_table_1/materials/scripts</uri>
+            <uri>model://side_table_1/materials/textures</uri>
+            <name>side_table_1</name>
+          </script>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <collision name='collision'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://side_table_1/meshes/leg.dae</uri>
+            <scale>1 1 1</scale>
+          </mesh>
+        </geometry>
+      </collision>
+    </link>
+    <link name='link_2_clone_clone'>
+      <pose frame=''>-0.011459 0.252125 0 0 -0 3.14</pose>
+        <visual name='visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://side_table_1/meshes/leg.dae</uri>
+            <scale>1 1 1</scale>
+          </mesh>
+        </geometry>
+               <material>
+          <script>
+            <uri>model://side_table_1/materials/scripts</uri>
+            <uri>model://side_table_1/materials/textures</uri>
+            <name>side_table_1</name>
+          </script>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <collision name='collision'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://side_table_1/meshes/leg.dae</uri>
+            <scale>1 1 1</scale>
+          </mesh>
+        </geometry>
+       </collision>
+    </link>
+    <static>1</static>
+    <allow_auto_disable>1</allow_auto_disable>
+  </model>
+</sdf>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/toilet/materials/textures/toilet_diffuse_specular.png b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/toilet/materials/textures/toilet_diffuse_specular.png
new file mode 100644
index 0000000..9188208
Binary files /dev/null and b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/toilet/materials/textures/toilet_diffuse_specular.png differ
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/toilet/meshes/toilet.dae b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/toilet/meshes/toilet.dae
new file mode 100755
index 0000000..9fd2618
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/toilet/meshes/toilet.dae
@@ -0,0 +1,184 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Cole</author>
+      <authoring_tool>OpenCOLLADA for 3ds Max;  Version: 1.4.1;  Revision: exported;  Platform: x64;  Configuration: Release_Max2013_static</authoring_tool>
+    </contributor>
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108 55 145 106 191 148 109 69 146 107 57 128 89 57 128 89 170 127 88 191 148 109 169 126 87 63 125 86 71 118 114 71 118 114 161 117 117 169 126 87 178 134 96 66 133 95 74 122 113 74 122 113 165 121 112 178 134 96 6 5 20 77 38 118 78 29 16 78 40 135 77 41 136 11 36 22 11 36 22 79 37 21 78 40 135 31 59 142 80 58 133 81 96 165 81 96 165 23 95 164 31 59 142 32 111 122 82 76 53 83 109 71 81 96 146 80 58 61 32 61 51 32 61 51 83 97 147 81 96 146 86 0 166 89 3 169 88 149 168 88 149 168 87 150 167 86 0 166 87 150 167 88 149 168 91 151 171 91 151 171 90 152 170 87 150 167 90 152 170 91 151 171 93 153 173 93 153 173 92 154 172 90 152 170 92 154 172 95 155 175 94 156 174 94 156 174 95 155 175 97 157 177 97 157 177 96 158 176 94 156 174 96 158 176 97 157 177 99 159 179 99 159 179 98 160 178 96 158 176 98 160 178 99 159 179 84 15 181 84 15 181 0 14 180 98 160 178 29 161 187 104 162 186 103 163 185 103 164 185 102 165 184 101 166 183 29 167 187 103 168 185 101 169 183 100 170 182 29 171 187 101 172 183 105 173 188 91 151 192 88 149 191 88 149 191 89 3 190 106 28 189 105 173 188 88 149 191 106 28 189 85 34 199 112 174 198 111 175 197 113 35 200 85 34 199 111 175 197 111 175 197 110 176 196 109 177 195 113 35 200 111 175 197 109 177 195 113 35 200 109 177 195 108 178 194 107 179 193 113 35 200 108 178 194 91 151 192 114 180 202 93 153 201 106 39 203 113 35 200 107 179 193 107 179 193 105 181 204 106 39 203 114 182 205 108 178 194 109 177 195 109 177 195 93 183 206 114 182 205 93 183 206 109 177 195 110 176 196 110 176 196 95 184 207 93 183 206 95 184 207 110 176 196 111 175 197 111 175 197 97 185 208 95 184 207 97 185 208 111 175 197 112 174 198 112 174 198 99 186 209 97 185 208 99 186 209 112 174 198 85 34 199 85 34 199 84 46 210 99 186 209 0 14 211 16 48 214 115 187 213 115 187 213 98 160 212 0 14 211 98 160 212 115 187 213 116 188 216 116 188 216 96 158 215 98 160 212 96 158 215 116 188 216 117 189 218 117 189 218 94 156 217 96 158 215 94 156 217 117 189 218 118 190 219 119 191 222 90 152 221 92 154 220 92 154 220 118 190 219 119 191 222 119 191 222 118 190 219 121 192 224 121 192 224 120 193 223 119 191 222 119 191 225 120 193 228 123 194 227 123 194 227 122 195 226 119 191 225 90 152 229 119 191 225 122 195 226 125 196 231 124 197 230 103 198 233 103 198 233 126 199 232 125 196 231 123 194 227 125 196 234 126 199 236 126 199 236 127 200 235 123 194 227 43 62 237 29 65 240 100 201 239 100 201 239 128 202 238 43 62 237 128 202 238 100 201 239 101 203 242 101 203 242 129 204 241 128 202 238 129 204 241 101 203 242 102 205 244 102 205 244 130 206 243 129 204 241 130 206 243 102 205 244 103 198 233 103 198 233 124 197 230 130 206 243 132 70 246 131 207 245 134 208 248 134 208 248 133 71 247 132 70 246 136 74 250 135 209 249 138 210 252 138 210 252 137 75 251 136 74 250 87 150 253 139 211 255 86 0 254 139 211 255 87 150 253 90 152 229 90 152 229 122 195 226 139 211 255 141 212 257 140 213 256 143 214 259 143 214 259 142 215 258 141 212 257 141 212 257 144 84 260 145 83 261 145 83 261 140 213 256 141 212 257 131 207 245 146 216 262 135 209 249 135 209 249 134 208 248 131 207 245 147 86 264 139 217 263 146 216 262 146 216 262 148 87 265 147 86 264 29 218 187 141 219 267 142 220 266 142 221 266 104 222 186 29 223 187 104 224 268 142 215 258 143 214 259 143 214 259 149 225 269 104 224 268 150 226 271 149 225 270 143 214 273 143 214 273 151 227 272 150 226 271 152 228 274 138 210 252 151 229 276 151 229 276 153 230 275 152 228 274 120 193 228 125 196 234 123 194 227 124 197 230 125 196 231 120 193 223 120 193 223 121 192 224 124 197 230 43 62 237 128 202 238 115 187 213 115 187 213 16 48 214 43 62 237 128 202 238 129 204 241 116 188 216 116 188 216 115 187 213 128 202 238 129 204 241 130 206 243 117 189 218 117 189 218 116 188 216 129 204 241 130 206 243 124 197 230 121 192 224 121 192 224 117 189 218 130 206 243 94 156 217 118 190 219 92 154 220 132 70 246 148 87 265 146 216 262 146 216 262 131 207 245 132 70 246 153 230 275 154 103 277 155 102 278 155 102 278 152 228 274 153 230 275 152 228 274 155 102 278 137 75 251 137 75 251 138 210 252 152 228 274 136 74 250 133 71 247 134 208 248 134 208 248 135 209 249 136 74 250 145 104 279 154 103 277 153 230 275 153 230 275 151 229 276 145 104 279 151 227 272 143 214 273 140 213 280 145 83 281 151 227 272 140 213 280 118 190 219 117 189 218 121 192 224 147 105 282 86 0 254 139 211 255 141 231 267 29 232 187 144 233 283 151 229 276 138 210 252 150 234 284 123 235 285 138 210 252 135 209 249 138 210 252 123 235 285 127 236 286 135 209 249 146 216 262 123 235 285 122 237 287 123 235 285 146 216 262 146 216 262 139 217 263 122 237 287 95 155 175 92 154 172 93 153 173 159 238 291 158 239 290 157 240 289 160 116 292 159 238 291 157 240 289 161 117 293 160 116 292 157 240 289 156 241 288 161 117 293 157 240 289 167 242 299 166 243 298 165 121 297 165 121 297 164 120 296 163 244 295 167 242 299 165 121 297 163 244 295 162 245 294 167 242 299 163 244 295 168 246 300 171 247 303 170 127 302 170 127 302 169 126 301 168 246 300 173 248 305 172 249 304 175 250 307 175 250 307 174 251 306 173 248 305 177 252 309 176 253 308 179 135 311 179 135 311 178 134 310 177 252 309 181 254 313 180 255 312 183 256 315 183 256 315 182 257 314 181 254 313 184 258 316 185 142 317 179 135 311 179 135 311 176 253 308 184 258 316 174 251 306 175 250 307 183 256 315 183 256 315 180 255 312 174 251 306 157 240 289 158 239 290 172 249 304 172 249 304 173 248 305 157 240 289 159 238 318 160 116 321 187 144 320 187 144 320 186 259 319 159 238 318 188 260 322 189 261 323 180 255 312 180 255 312 181 254 313 188 260 322 186 259 319 184 258 316 175 250 307 175 250 307 172 249 304 186 259 319 171 247 303 168 246 300 173 248 305 173 248 305 174 251 306 171 247 303 176 253 308 177 252 309 182 257 314 182 257 314 183 256 315 176 253 308 189 261 323 171 247 303 174 251 306 174 251 306 180 255 312 189 261 323 183 256 315 175 250 307 184 258 316 184 258 316 176 253 308 183 256 315 157 240 289 173 248 305 168 246 300 168 246 300 156 241 324 157 240 289 159 238 318 186 259 319 172 249 304 172 249 304 158 239 290 159 238 318 190 147 325 188 260 322 163 244 327 163 244 327 164 120 326 190 147 325 177 252 309 166 243 328 167 242 299 167 242 299 182 257 314 177 252 309 182 257 314 167 242 299 162 245 294 162 245 294 181 254 313 182 257 314 181 254 313 162 245 294 163 244 327 163 244 327 188 260 322 181 254 313 186 259 319 187 144 320 185 142 317 185 142 317 184 258 316 186 259 319 188 260 322 190 147 325 191 148 329 191 148 329 189 261 323 188 260 322 191 148 329 170 127 302 171 247 303 171 247 303 189 261 323 191 148 329 169 126 301 161 117 330 156 241 324 156 241 324 168 246 300 169 126 301 178 134 310 165 121 331 166 243 328 166 243 328 177 252 309 178 134 310 91 151 192 105 173 188 114 180 202 105 181 204 107 179 193 108 178 194 108 178 194 114 182 205 105 181 204 103 198 233 104 224 268 149 225 269 149 225 269 126 199 232 103 198 233 127 236 286 150 234 284 138 210 252 149 225 270 150 226 271 127 200 235 127 200 235 126 199 236 149 225 270 198 262 333 202 263 334 203 264 335 203 264 335 196 265 332 198 262 333 192 266 336 193 267 337 197 268 338 197 268 338 196 265 332 192 266 336 193 267 346 195 269 339 199 270 340 199 270 340 197 268 338 193 267 346 195 269 347 194 271 341 198 262 333 198 262 333 199 270 340 195 269 347 205 272 349 206 273 350 207 274 351 207 274 351 204 275 348 205 272 349 192 266 336 196 265 332 203 264 345 203 264 345 200 276 342 192 266 336 198 262 333 194 271 341 201 277 343 201 277 343 202 263 344 198 262 333 200 278 352 203 279 353 206 273 364 206 273 364 205 272 363 200 278 352 209 280 355 212 281 356 213 282 357 213 282 357 208 283 354 209 280 355 202 284 358 201 285 359 204 275 362 204 275 362 207 274 365 202 284 358 203 279 366 202 284 367 209 280 355 209 280 355 208 283 354 203 279 366 202 284 358 207 274 365 210 286 360 202 284 358 210 286 360 212 281 356 202 284 358 212 281 356 209 280 355 207 274 351 206 273 350 211 287 361 211 287 361 210 286 360 207 274 351 206 273 364 203 279 353 208 283 354 206 273 364 208 283 354 213 282 357 206 273 364 213 282 357 211 287 361 210 286 360 211 287 361 213 282 357 213 282 357 212 281 356 210 286 360 197 268 338 199 270 340 198 262 333 198 262 333 196 265 332 197 268 338</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_lights>
+    <light id="EnvironmentAmbientLight" name="EnvironmentAmbientLight">
+      <technique_common>
+        <ambient>
+          <color>0 0 0</color>
+        </ambient>
+      </technique_common>
+    </light>
+  </library_lights>
+  <library_images>
+    <image id="Toilet_Diffuse-Spec_tga">
+      <init_from>model://toilet/materials/textures/toilet_diffuse_specular.png</init_from>
+    </image>
+  </library_images>
+  <library_visual_scenes>
+    <visual_scene id="MaxScene">
+      <node name="EnvironmentAmbientLight">
+        <instance_light url="#EnvironmentAmbientLight"/>
+      </node>
+      <node id="node-Toilet" name="Toilet">
+        <translate>0 -1.4359e-6 32.84966</translate>
+        <instance_geometry url="#geom-Toilet">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Toilet" target="#Toilet-material">
+                <bind_vertex_input semantic="CHANNEL1" input_semantic="TEXCOORD" input_set="0"/>
+                <bind_vertex_input semantic="CHANNEL1" input_semantic="TEXCOORD" input_set="0"/>
+                <bind_vertex_input semantic="CHANNEL1" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+        <extra>
+          <technique profile="OpenCOLLADA">
+            <cast_shadows>1</cast_shadows>
+            <primary_visibility>1</primary_visibility>
+            <receive_shadows>1</receive_shadows>
+            <secondary_visibility>1</secondary_visibility>
+          </technique>
+        </extra>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#MaxScene"/>
+  </scene>
+</COLLADA>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/toilet/model.config b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/toilet/model.config
new file mode 100644
index 0000000..9db45ce
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/toilet/model.config
@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>Toilet</name>
+  <version>1.0</version>
+  <sdf version="1.6">model.sdf</sdf>
+
+  <author>
+    <name>Cole Biesemeyer</name>
+    <email>cole.bsmr@gmail.com</email>
+  </author>
+
+  <author>
+    <name>Louise Poubel</name>
+    <email>louise@openrobotics.com</email>
+  </author>
+
+  <description>
+  </description>
+
+</model>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/toilet/model.sdf b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/toilet/model.sdf
new file mode 100644
index 0000000..51d8c46
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office/toilet/model.sdf
@@ -0,0 +1,24 @@
+<?xml version="1.0" ?>
+<sdf version="1.5">
+  <model name="toilet">
+    <static>true</static>
+    <link name="link">
+      <collision name="collision">
+        <pose>-0.003873 0.134001 0.582097 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.551631 1.094060 1.182180</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="visual">
+        <geometry>
+          <mesh>
+            <uri>model://toilet/meshes/toilet.dae</uri>
+            <scale>1.4 1.4 1.4</scale>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+  </model>
+</sdf>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_waffle/model-1_4.sdf b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_waffle/model-1_4.sdf
new file mode 100755
index 0000000..f20453a
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_waffle/model-1_4.sdf
@@ -0,0 +1,520 @@
+<?xml version="1.0" ?>
+<sdf version="1.4">
+  <model name="turtlebot3_waffle">  
+  <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
+
+    <link name="base_footprint"/>
+
+    <link name="base_link">
+
+      <inertial>
+        <pose>-0.064 0 0.048 0 0 0</pose>
+        <inertia>
+          <ixx>4.2111447e-02</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>4.2111447e-02</iyy>
+          <iyz>0</iyz>
+          <izz>7.5254874e-02</izz>
+        </inertia>
+        <mass>1.3729096e+00</mass>
+      </inertial>
+
+      <collision name="base_collision">
+        <pose>-0.064 0 0.048 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.265 0.265 0.089</size>
+          </box>
+        </geometry>
+      </collision>
+
+      <visual name="base_visual">
+        <pose>-0.064 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/waffle_base.dae</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <link name="imu_link">
+      <sensor name="tb3_imu" type="imu">
+        <always_on>true</always_on>
+        <update_rate>200</update_rate>
+        <imu>
+          <angular_velocity>
+            <x>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>2e-4</stddev>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>2e-4</stddev>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>2e-4</stddev>
+              </noise>
+            </z>
+          </angular_velocity>
+          <linear_acceleration>
+            <x>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>1.7e-2</stddev>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>1.7e-2</stddev>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>1.7e-2</stddev>
+              </noise>
+            </z>
+          </linear_acceleration>
+        </imu>
+        <plugin name="turtlebot3_imu" filename="libgazebo_ros_imu_sensor.so">
+          <ros>
+            <!-- <namespace>/tb3</namespace> -->
+            <remapping>~/out:=imu</remapping>
+          </ros>
+        </plugin>
+      </sensor>
+    </link>
+
+    <link name="base_scan">    
+      <inertial>
+        <pose>-0.052 0 0.111 0 0 0</pose>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0.000</ixy>
+          <ixz>0.000</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0.000</iyz>
+          <izz>0.001</izz>
+        </inertia>
+        <mass>0.114</mass>
+      </inertial>
+
+      <collision name="lidar_sensor_collision">
+        <pose>-0.052 0 0.111 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.0508</radius>
+            <length>0.055</length>
+          </cylinder>
+        </geometry>
+      </collision>
+
+      <visual name="lidar_sensor_visual">
+        <pose>-0.064 0 0.121 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/lds.dae</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+      </visual>
+
+      <sensor name="hls_lfcd_lds" type="ray">
+        <always_on>true</always_on>
+        <visualize>true</visualize>
+        <pose>-0.064 0 0.121 0 0 0</pose>
+        <update_rate>5</update_rate>
+        <ray>
+          <scan>
+            <horizontal>
+              <samples>360</samples>
+              <resolution>1.000000</resolution>
+              <min_angle>0.000000</min_angle>
+              <max_angle>6.280000</max_angle>
+            </horizontal>
+          </scan>
+          <range>
+            <min>0.120000</min>
+            <max>3.5</max>
+            <resolution>0.015000</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0.0</mean>
+            <stddev>0.01</stddev>
+          </noise>
+        </ray>
+        <plugin name="turtlebot3_laserscan" filename="libgazebo_ros_ray_sensor.so">
+          <ros>
+            <!-- <namespace>/tb3</namespace> -->
+            <remapping>~/out:=scan</remapping>
+          </ros>
+          <output_type>sensor_msgs/LaserScan</output_type>
+          <frame_name>base_scan</frame_name>
+        </plugin>
+      </sensor>
+    </link>
+
+    <link name="wheel_left_link">
+
+      <inertial>
+        <pose>0.0 0.144 0.023 -1.57 0 0</pose>
+        <inertia>
+          <ixx>1.1175580e-05</ixx>
+          <ixy>-4.2369783e-11</ixy>
+          <ixz>-5.9381719e-09</ixz>
+          <iyy>1.1192413e-05</iyy>
+          <iyz>-1.4400107e-11</iyz>
+          <izz>2.0712558e-05</izz>
+        </inertia>
+        <mass>0.1</mass>
+      </inertial>
+
+      <collision name="wheel_left_collision">
+        <pose>0.0 0.144 0.023 -1.57 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.033</radius>
+            <length>0.018</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <!-- This friction pamareter don't contain reliable data!! -->
+          <friction>
+            <ode>
+              <mu>100000.0</mu>
+              <mu2>100000.0</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0.0</slip1>
+              <slip2>0.0</slip2>
+            </ode>
+          </friction>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+
+      <visual name="wheel_left_visual">
+        <pose>0.0 0.144 0.023 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/tire.dae</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <link name="wheel_right_link">
+
+      <inertial>
+        <pose>0.0 -0.144 0.023 -1.57 0 0</pose>
+        <inertia>
+          <ixx>1.1175580e-05</ixx>
+          <ixy>-4.2369783e-11</ixy>
+          <ixz>-5.9381719e-09</ixz>
+          <iyy>1.1192413e-05</iyy>
+          <iyz>-1.4400107e-11</iyz>
+          <izz>2.0712558e-05</izz>
+        </inertia>
+        <mass>0.1</mass>
+      </inertial>
+    
+      <collision name="wheel_right_collision">
+        <pose>0.0 -0.144 0.023 -1.57 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.033</radius>
+            <length>0.018</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <!-- This friction pamareter don't contain reliable data!! -->
+          <friction>
+            <ode>
+              <mu>100000.0</mu>
+              <mu2>100000.0</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0.0</slip1>
+              <slip2>0.0</slip2>
+            </ode>
+          </friction>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+
+      <visual name="wheel_right_visual">
+        <pose>0.0 -0.144 0.023 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/tire.dae</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <link name='caster_back_right_link'>
+      <pose>-0.177 -0.064 -0.004 -1.57 0 0</pose>
+      <inertial>
+        <mass>0.001</mass>
+        <inertia>
+          <ixx>0.00001</ixx>
+          <ixy>0.000</ixy>
+          <ixz>0.000</ixz>
+          <iyy>0.00001</iyy>
+          <iyz>0.000</iyz>
+          <izz>0.00001</izz>
+        </inertia>
+      </inertial>
+      <collision name='collision'>
+        <geometry>
+          <sphere>
+            <radius>0.005000</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+
+    <link name='caster_back_left_link'>
+      <pose>-0.177 0.064 -0.004 -1.57 0 0</pose>
+      <inertial>
+        <mass>0.001</mass>
+        <inertia>
+          <ixx>0.00001</ixx>
+          <ixy>0.000</ixy>
+          <ixz>0.000</ixz>
+          <iyy>0.00001</iyy>
+          <iyz>0.000</iyz>
+          <izz>0.00001</izz>
+        </inertia>
+      </inertial>
+      <collision name='collision'>
+        <geometry>
+          <sphere>
+            <radius>0.005000</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+
+    <link name="camera_link"/>
+
+    <link name="camera_rgb_frame">
+      <inertial>
+        <pose>0.069 -0.047 0.107 0 0 0</pose>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0.000</ixy>
+          <ixz>0.000</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0.000</iyz>
+          <izz>0.001</izz>
+        </inertia>
+        <mass>0.035</mass>
+      </inertial>
+
+      <pose>0.069 -0.047 0.107 0 0 0</pose>
+      <sensor name="camera" type="camera">
+        <always_on>true</always_on>
+        <visualize>true</visualize>
+        <update_rate>30</update_rate>
+        <camera name="intel_realsense_r200">
+          <horizontal_fov>1.02974</horizontal_fov>
+          <image>
+            <width>1920</width>
+            <height>1080</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.02</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <!-- Noise is sampled independently per pixel on each frame.
+                  That pixel's noise value is added to each of its color
+                  channels, which at that point lie in the range [0,1]. -->
+            <mean>0.0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+        </camera>
+          <plugin name="camera_driver" filename="libgazebo_ros_camera.so">
+            <ros>
+              <!-- <namespace>test_cam</namespace> -->
+              <!-- <remapping>image_raw:=image_demo</remapping> -->
+              <!-- <remapping>camera_info:=camera_info_demo</remapping> -->
+            </ros>
+            <!-- camera_name>omit so it defaults to sensor name</camera_name-->
+            <!-- frame_name>omit so it defaults to link name</frameName-->
+            <!-- <hack_baseline>0.07</hack_baseline> -->
+          </plugin>
+      </sensor>
+    </link>    
+
+    <joint name="base_joint" type="fixed">
+      <parent>base_footprint</parent>
+      <child>base_link</child>
+      <pose>0.0 0.0 0.010 0 0 0</pose>
+    </joint>
+
+    <joint name="wheel_left_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>wheel_left_link</child>
+      <pose>0.0 0.144 0.023 -1.57 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="wheel_right_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>wheel_right_link</child>
+      <pose>0.0 -0.144 0.023 -1.57 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name='caster_back_right_joint' type='ball'>
+      <parent>base_link</parent>
+      <child>caster_back_right_link</child>
+    </joint>
+
+    <joint name='caster_back_left_joint' type='ball'>
+      <parent>base_link</parent>
+      <child>caster_back_left_link</child>
+    </joint>
+
+    <joint name="imu_joint" type="fixed">
+      <parent>base_link</parent>
+      <child>imu_link</child>
+      <pose>-0.032 0 0.068 0 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>    
+
+    <joint name="lidar_joint" type="fixed">
+      <parent>base_link</parent>
+      <child>base_scan</child>
+      <pose>-0.064 0 0.121 0 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="camera_joint" type="fixed">
+      <parent>base_link</parent>
+      <child>camera_link</child>
+      <pose>0.064 -0.065 0.094 0 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="camera_rgb_joint" type="fixed">
+      <parent>camera_link</parent>
+      <child>camera_rgb_frame</child>
+      <pose>0.005 0.018 0.013 0 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <plugin name="turtlebot3_diff_drive" filename="libgazebo_ros_diff_drive.so">
+
+      <ros>
+        <!-- <namespace>/tb3</namespace> -->
+      </ros>
+
+      <update_rate>30</update_rate>
+
+      <!-- wheels -->
+      <left_joint>wheel_left_joint</left_joint>
+      <right_joint>wheel_right_joint</right_joint>
+
+      <!-- kinematics -->
+      <wheel_separation>0.287</wheel_separation>
+      <wheel_diameter>0.066</wheel_diameter>
+
+      <!-- limits -->
+      <max_wheel_torque>20</max_wheel_torque>
+      <max_wheel_acceleration>1.0</max_wheel_acceleration>
+
+      <command_topic>cmd_vel</command_topic>
+
+      <!-- output -->
+      <publish_odom>true</publish_odom>
+      <publish_odom_tf>true</publish_odom_tf>
+      <publish_wheel_tf>false</publish_wheel_tf>
+
+      <odometry_topic>odom</odometry_topic>
+      <odometry_frame>odom</odometry_frame>
+      <robot_base_frame>base_footprint</robot_base_frame>
+
+    </plugin>
+
+    <plugin name="turtlebot3_joint_state" filename="libgazebo_ros_joint_state_publisher.so">
+      <ros>
+        <!-- <namespace>/tb3</namespace> -->
+        <remapping>~/out:=joint_states</remapping>
+      </ros>
+      <update_rate>30</update_rate>
+      <joint_name>wheel_left_joint</joint_name>
+      <joint_name>wheel_right_joint</joint_name>
+    </plugin>    
+
+  </model>
+</sdf>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_waffle/model.config b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_waffle/model.config
new file mode 100755
index 0000000..b7a7c77
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_waffle/model.config
@@ -0,0 +1,17 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>TurtleBot3(Waffle)</name>
+  <version>2.0</version>
+  <sdf version="1.4">model-1_4.sdf</sdf>
+  <sdf version="1.5">model.sdf</sdf>
+
+  <author>
+    <name>Taehun Lim(Darby)</name>
+    <email>thlim@robotis.com</email>
+  </author>
+
+  <description>
+    TurtleBot3 Waffle
+  </description>
+</model>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_waffle/model.sdf b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_waffle/model.sdf
new file mode 100755
index 0000000..2e776db
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_waffle/model.sdf
@@ -0,0 +1,543 @@
+<?xml version="1.0" ?>
+<sdf version="1.5">
+  <model name="turtlebot3_waffle">  
+  <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
+
+    <link name="base_footprint"/>
+
+    <link name="base_link">
+
+      <inertial>
+        <pose>-0.064 0 0.048 0 0 0</pose>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0.000</ixy>
+          <ixz>0.000</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0.000</iyz>
+          <izz>0.001</izz>
+        </inertia>
+        <mass>1.0</mass>
+      </inertial>
+
+      <collision name="base_collision">
+        <pose>-0.064 0 0.048 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.265 0.265 0.089</size>
+          </box>
+        </geometry>
+      </collision>
+
+      <visual name="base_visual">
+        <pose>-0.064 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_waffle/meshes/waffle_base.dae</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <link name="imu_link">
+      <sensor name="tb3_imu" type="imu">
+        <always_on>true</always_on>
+        <update_rate>200</update_rate>
+        <imu>
+          <angular_velocity>
+            <x>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>2e-4</stddev>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>2e-4</stddev>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>2e-4</stddev>
+              </noise>
+            </z>
+          </angular_velocity>
+          <linear_acceleration>
+            <x>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>1.7e-2</stddev>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>1.7e-2</stddev>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>1.7e-2</stddev>
+              </noise>
+            </z>
+          </linear_acceleration>
+        </imu>
+        <plugin name="turtlebot3_imu" filename="libgazebo_ros_imu_sensor.so">
+          <ros>
+            <!-- <namespace>/tb3</namespace> -->
+            <argument>~/out:=imu</argument>
+          </ros>
+        </plugin>
+      </sensor>
+    </link>
+
+    <link name="base_scan">    
+      <inertial>
+        <pose>-0.052 0 0.111 0 0 0</pose>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0.000</ixy>
+          <ixz>0.000</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0.000</iyz>
+          <izz>0.001</izz>
+        </inertia>
+        <mass>0.125</mass>
+      </inertial>
+
+      <collision name="lidar_sensor_collision">
+        <pose>-0.052 0 0.111 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.0508</radius>
+            <length>0.055</length>
+          </cylinder>
+        </geometry>
+      </collision>
+
+      <visual name="lidar_sensor_visual">
+        <pose>-0.064 0 0.121 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_waffle/meshes/lds.dae</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+      </visual>
+
+      <sensor name="hls_lfcd_lds" type="ray">
+        <always_on>true</always_on>
+        <visualize>true</visualize>
+        <pose>-0.064 0 0.121 0 0 0</pose>
+        <update_rate>5</update_rate>
+        <ray>
+          <scan>
+            <horizontal>
+              <samples>360</samples>
+              <resolution>1.000000</resolution>
+              <min_angle>0.000000</min_angle>
+              <max_angle>6.280000</max_angle>
+            </horizontal>
+          </scan>
+          <range>
+            <min>0.120000</min>
+            <max>6.0</max>
+            <resolution>0.015000</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0.0</mean>
+            <stddev>0.01</stddev>
+          </noise>
+        </ray>
+        <plugin name="turtlebot3_laserscan" filename="libgazebo_ros_ray_sensor.so">
+          <ros>
+            <!-- <namespace>/tb3</namespace> -->
+            <argument>~/out:=scan</argument>
+          </ros>
+          <output_type>sensor_msgs/LaserScan</output_type>
+          <frame_name>base_scan</frame_name>
+        </plugin>
+      </sensor>
+    </link>
+
+    <link name="wheel_left_link">
+
+      <inertial>
+        <pose>0.0 0.144 0.023 -1.57 0 0</pose>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0.000</ixy>
+          <ixz>0.000</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0.000</iyz>
+          <izz>0.001</izz>
+        </inertia>
+        <mass>0.1</mass>
+      </inertial>
+
+      <collision name="wheel_left_collision">
+        <pose>0.0 0.144 0.023 -1.57 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.033</radius>
+            <length>0.018</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <!-- This friction pamareter don't contain reliable data!! -->
+          <friction>
+            <ode>
+              <mu>100000.0</mu>
+              <mu2>100000.0</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0.0</slip1>
+              <slip2>0.0</slip2>
+            </ode>
+          </friction>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+
+      <visual name="wheel_left_visual">
+        <pose>0.0 0.144 0.023 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_waffle/meshes/left_tire.dae</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <link name="wheel_right_link">
+
+      <inertial>
+        <pose>0.0 -0.144 0.023 -1.57 0 0</pose>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0.000</ixy>
+          <ixz>0.000</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0.000</iyz>
+          <izz>0.001</izz>
+        </inertia>
+        <mass>0.1</mass>
+      </inertial>
+    
+      <collision name="wheel_right_collision">
+        <pose>0.0 -0.144 0.023 -1.57 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.033</radius>
+            <length>0.018</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <!-- This friction pamareter don't contain reliable data!! -->
+          <friction>
+            <ode>
+              <mu>100000.0</mu>
+              <mu2>100000.0</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0.0</slip1>
+              <slip2>0.0</slip2>
+            </ode>
+          </friction>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+
+      <visual name="wheel_right_visual">
+        <pose>0.0 -0.144 0.023 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_waffle/meshes/right_tire.dae</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <link name='caster_back_right_link'>
+      <pose>-0.177 -0.064 -0.004 0 0 0</pose>
+      <inertial>
+        <mass>0.001</mass>
+        <inertia>
+          <ixx>0.00001</ixx>
+          <ixy>0.000</ixy>
+          <ixz>0.000</ixz>
+          <iyy>0.00001</iyy>
+          <iyz>0.000</iyz>
+          <izz>0.00001</izz>
+        </inertia>
+      </inertial>
+      <collision name='collision'>
+        <geometry>
+          <sphere>
+            <radius>0.005000</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+
+    <link name='caster_back_left_link'>
+      <pose>-0.177 0.064 -0.004 0 0 0</pose>
+      <inertial>
+        <mass>0.001</mass>
+        <inertia>
+          <ixx>0.00001</ixx>
+          <ixy>0.000</ixy>
+          <ixz>0.000</ixz>
+          <iyy>0.00001</iyy>
+          <iyz>0.000</iyz>
+          <izz>0.00001</izz>
+        </inertia>
+      </inertial>
+      <collision name='collision'>
+        <geometry>
+          <sphere>
+            <radius>0.005000</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+
+    <link name="realsense_link">
+      <inertial>
+        <pose>0.069 -0.047 0.107 0 0 0</pose>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0.000</ixy>
+          <ixz>0.000</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0.000</iyz>
+          <izz>0.001</izz>
+        </inertia>
+        <mass>0.035</mass>
+      </inertial>
+
+      <collision name="collision">
+        <pose>0 0.047 0 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.008 0.130 0.022</size>
+          </box>
+        </geometry>
+      </collision>
+      <pose>0.069 -0.047 0.107 0 0 0</pose>
+
+      <sensor name="intel_realsense_r200_depth" type="depth">
+        <always_on>1</always_on>
+        <update_rate>30</update_rate>
+        <pose>0.064 -0.047 0.107 0 0 0</pose>
+        <camera name="realsense_depth_camera">
+          <image>
+            <width>640</width>
+            <height>480</height>
+            <!-- <width>1920</width> -->
+            <!-- <height>1080</height> -->
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.02</near>
+            <far>10</far>
+          </clip>
+        </camera>
+	        <plugin name="intel_realsense_r200_depth_driver" filename="libgazebo_ros_camera.so">
+            <ros>
+              <!-- 
+              <argument>custom_camera/image_raw:=custom_camera/custom_image</argument>
+              <argument>custom_camera/image_depth:=custom_camera/custom_image_depth</argument>
+              <argument>custom_camera/camera_info:=custom_camera/custom_info_raw</argument>
+              <argument>custom_camera/camera_info_depth:=custom_camera/custom_info_depth</argument>
+              <argument>custom_camera/points:=custom_camera/custom_points</argument> 
+              -->
+            </ros>
+            <camera_name>intel_realsense_r200_depth</camera_name>
+            <frame_name>realsense_depth_frame</frame_name>
+            <hack_baseline>0.07</hack_baseline>
+            <min_depth>0.001</min_depth>
+          </plugin>
+      </sensor>
+
+      <sensor name="intel_realsense_r200_rgb" type="camera">
+        <always_on>true</always_on>
+        <visualize>true</visualize>
+        <update_rate>30</update_rate>
+	      <pose>0.064 -0.047 0.107 0 0 0</pose>
+        <camera name="realsense_rgb_camera">
+          <horizontal_fov>1.02974</horizontal_fov>
+          <image>
+            <width>640</width>
+            <height>480</height>
+            <!-- <width>1920</width> -->
+            <!-- <height>1080</height> -->
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.02</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0.0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+        </camera>
+          <plugin name="intel_realsense_r200_rgb_driver" filename="libgazebo_ros_camera.so">
+            <ros>
+            <!--
+              <namespace>custom_ns</namespace>
+              <argument>image_raw:=custom_image</argument>
+              <argument>camera_info:=custom_info_raw</argument> 
+            -->
+            </ros>
+            <camera_name>intel_realsense_r200_rgb</camera_name>
+            <frame_name>realsense_rgb_frame</frame_name>
+            <hack_baseline>0.07</hack_baseline>
+          </plugin>
+      </sensor>
+    </link>  
+
+    <joint name="base_joint" type="fixed">
+      <parent>base_footprint</parent>
+      <child>base_link</child>
+      <pose>0.0 0.0 0.010 0 0 0</pose>
+    </joint>
+
+    <joint name="wheel_left_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>wheel_left_link</child>
+      <pose>0.0 0.144 0.023 -1.57 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="wheel_right_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>wheel_right_link</child>
+      <pose>0.0 -0.144 0.023 -1.57 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name='caster_back_right_joint' type='ball'>
+      <parent>base_link</parent>
+      <child>caster_back_right_link</child>
+    </joint>
+
+    <joint name='caster_back_left_joint' type='ball'>
+      <parent>base_link</parent>
+      <child>caster_back_left_link</child>
+    </joint>
+
+    <joint name="lidar_joint" type="fixed">
+      <parent>base_link</parent>
+      <child>base_scan</child>
+      <pose>-0.064 0 0.121 0 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="camera_joint" type="fixed">
+      <parent>base_link</parent>
+      <child>realsense_link</child>
+    </joint>
+
+    <plugin name="turtlebot3_diff_drive" filename="libgazebo_ros_diff_drive.so">
+
+      <ros>
+        <!-- <namespace>/tb3</namespace> -->
+      </ros>
+
+      <update_rate>30</update_rate>
+
+      <!-- wheels -->
+      <left_joint>wheel_left_joint</left_joint>
+      <right_joint>wheel_right_joint</right_joint>
+
+      <!-- kinematics -->
+      <wheel_separation>0.287</wheel_separation>
+      <wheel_diameter>0.066</wheel_diameter>
+
+      <!-- limits -->
+      <max_wheel_torque>20</max_wheel_torque>
+      <max_wheel_acceleration>1.0</max_wheel_acceleration>
+
+      <command_topic>cmd_vel</command_topic>
+
+      <!-- output -->
+      <publish_odom>true</publish_odom>
+      <publish_odom_tf>true</publish_odom_tf>
+      <publish_wheel_tf>false</publish_wheel_tf>
+
+      <odometry_topic>odom</odometry_topic>
+      <odometry_frame>odom</odometry_frame>
+      <robot_base_frame>base_footprint</robot_base_frame>
+
+    </plugin>
+
+    <plugin name="turtlebot3_joint_state" filename="libgazebo_ros_joint_state_publisher.so">
+      <ros>
+        <!-- <namespace>/tb3</namespace> -->
+        <argument>~/out:=joint_states</argument>
+      </ros>
+      <update_rate>30</update_rate>
+      <joint_name>wheel_left_joint</joint_name>
+      <joint_name>wheel_right_joint</joint_name>
+    </plugin>    
+
+  </model>
+</sdf>
+
+
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_waffle_pi/model-1_4_.sdf b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_waffle_pi/model-1_4_.sdf
new file mode 100755
index 0000000..3e791b9
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_waffle_pi/model-1_4_.sdf
@@ -0,0 +1,520 @@
+<?xml version="1.0" ?>
+<sdf version="1.4">
+  <model name="turtlebot3_waffle_pi">  
+  <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
+
+    <link name="base_footprint"/>
+
+    <link name="base_link">
+
+      <inertial>
+        <pose>-0.064 0 0.048 0 0 0</pose>
+        <inertia>
+          <ixx>4.2111447e-02</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>4.2111447e-02</iyy>
+          <iyz>0</iyz>
+          <izz>7.5254874e-02</izz>
+        </inertia>
+        <mass>1.3729096e+00</mass>
+      </inertial>
+
+      <collision name="base_collision">
+        <pose>-0.064 0 0.048 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.265 0.265 0.089</size>
+          </box>
+        </geometry>
+      </collision>
+
+      <visual name="base_visual">
+        <pose>-0.064 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/waffle_pi_base.dae</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <link name="imu_link">
+      <sensor name="tb3_imu" type="imu">
+        <always_on>true</always_on>
+        <update_rate>200</update_rate>
+        <imu>
+          <angular_velocity>
+            <x>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>2e-4</stddev>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>2e-4</stddev>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>2e-4</stddev>
+              </noise>
+            </z>
+          </angular_velocity>
+          <linear_acceleration>
+            <x>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>1.7e-2</stddev>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>1.7e-2</stddev>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>1.7e-2</stddev>
+              </noise>
+            </z>
+          </linear_acceleration>
+        </imu>
+        <plugin name="turtlebot3_imu" filename="libgazebo_ros_imu_sensor.so">
+          <ros>
+            <!-- <namespace>/tb3</namespace> -->
+            <remapping>~/out:=imu</remapping>
+          </ros>
+        </plugin>
+      </sensor>
+    </link>
+
+    <link name="base_scan">    
+      <inertial>
+        <pose>-0.052 0 0.111 0 0 0</pose>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0.000</ixy>
+          <ixz>0.000</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0.000</iyz>
+          <izz>0.001</izz>
+        </inertia>
+        <mass>0.114</mass>
+      </inertial>
+
+      <collision name="lidar_sensor_collision">
+        <pose>-0.052 0 0.111 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.0508</radius>
+            <length>0.055</length>
+          </cylinder>
+        </geometry>
+      </collision>
+
+      <visual name="lidar_sensor_visual">
+        <pose>-0.064 0 0.121 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/lds.dae</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+      </visual>
+
+      <sensor name="hls_lfcd_lds" type="ray">
+        <always_on>true</always_on>
+        <visualize>true</visualize>
+        <pose>-0.064 0 0.121 0 0 0</pose>
+        <update_rate>5</update_rate>
+        <ray>
+          <scan>
+            <horizontal>
+              <samples>360</samples>
+              <resolution>1.000000</resolution>
+              <min_angle>0.000000</min_angle>
+              <max_angle>6.280000</max_angle>
+            </horizontal>
+          </scan>
+          <range>
+            <min>0.120000</min>
+            <max>3.5</max>
+            <resolution>0.015000</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0.0</mean>
+            <stddev>0.01</stddev>
+          </noise>
+        </ray>
+        <plugin name="turtlebot3_laserscan" filename="libgazebo_ros_ray_sensor.so">
+          <ros>
+            <!-- <namespace>/tb3</namespace> -->
+            <remapping>~/out:=scan</remapping>
+          </ros>
+          <output_type>sensor_msgs/LaserScan</output_type>
+          <frame_name>base_scan</frame_name>
+        </plugin>
+      </sensor>
+    </link>
+
+    <link name="wheel_left_link">
+
+      <inertial>
+        <pose>0.0 0.144 0.023 -1.57 0 0</pose>
+        <inertia>
+          <ixx>1.1175580e-05</ixx>
+          <ixy>-4.2369783e-11</ixy>
+          <ixz>-5.9381719e-09</ixz>
+          <iyy>1.1192413e-05</iyy>
+          <iyz>-1.4400107e-11</iyz>
+          <izz>2.0712558e-05</izz>
+        </inertia>
+        <mass>0.1</mass>
+      </inertial>
+
+      <collision name="wheel_left_collision">
+        <pose>0.0 0.144 0.023 -1.57 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.033</radius>
+            <length>0.018</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <!-- This friction pamareter don't contain reliable data!! -->
+          <friction>
+            <ode>
+              <mu>100000.0</mu>
+              <mu2>100000.0</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0.0</slip1>
+              <slip2>0.0</slip2>
+            </ode>
+          </friction>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+
+      <visual name="wheel_left_visual">
+        <pose>0.0 0.144 0.023 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/tire.dae</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <link name="wheel_right_link">
+
+      <inertial>
+        <pose>0.0 -0.144 0.023 -1.57 0 0</pose>
+        <inertia>
+          <ixx>1.1175580e-05</ixx>
+          <ixy>-4.2369783e-11</ixy>
+          <ixz>-5.9381719e-09</ixz>
+          <iyy>1.1192413e-05</iyy>
+          <iyz>-1.4400107e-11</iyz>
+          <izz>2.0712558e-05</izz>
+        </inertia>
+        <mass>0.1</mass>
+      </inertial>
+    
+      <collision name="wheel_right_collision">
+        <pose>0.0 -0.144 0.023 -1.57 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.033</radius>
+            <length>0.018</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <!-- This friction pamareter don't contain reliable data!! -->
+          <friction>
+            <ode>
+              <mu>100000.0</mu>
+              <mu2>100000.0</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0.0</slip1>
+              <slip2>0.0</slip2>
+            </ode>
+          </friction>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+
+      <visual name="wheel_right_visual">
+        <pose>0.0 -0.144 0.023 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/tire.dae</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <link name='caster_back_right_link'>
+      <pose>-0.177 -0.064 -0.004 -1.57 0 0</pose>
+      <inertial>
+        <mass>0.001</mass>
+        <inertia>
+          <ixx>0.00001</ixx>
+          <ixy>0.000</ixy>
+          <ixz>0.000</ixz>
+          <iyy>0.00001</iyy>
+          <iyz>0.000</iyz>
+          <izz>0.00001</izz>
+        </inertia>
+      </inertial>
+      <collision name='collision'>
+        <geometry>
+          <sphere>
+            <radius>0.005000</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+
+    <link name='caster_back_left_link'>
+      <pose>-0.177 0.064 -0.004 -1.57 0 0</pose>
+      <inertial>
+        <mass>0.001</mass>
+        <inertia>
+          <ixx>0.00001</ixx>
+          <ixy>0.000</ixy>
+          <ixz>0.000</ixz>
+          <iyy>0.00001</iyy>
+          <iyz>0.000</iyz>
+          <izz>0.00001</izz>
+        </inertia>
+      </inertial>
+      <collision name='collision'>
+        <geometry>
+          <sphere>
+            <radius>0.005000</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+
+    <link name="camera_link"/>
+
+    <link name="camera_rgb_frame">
+      <inertial>
+        <pose>0.076 0.0 0.093 0 0 0</pose>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0.000</ixy>
+          <ixz>0.000</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0.000</iyz>
+          <izz>0.001</izz>
+        </inertia>
+        <mass>0.035</mass>
+      </inertial>
+
+      <pose>0.076 0.0 0.093 0 0 0</pose>
+      <sensor name="camera" type="camera">
+        <always_on>true</always_on>
+        <visualize>true</visualize>
+        <update_rate>30</update_rate>
+        <camera name="picam">
+          <horizontal_fov>1.085595</horizontal_fov>
+          <image>
+              <width>640</width>
+              <height>480</height>
+              <format>R8G8B8</format>
+          </image>
+          <clip>
+              <near>0.03</near>
+              <far>100</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <!-- Noise is sampled independently per pixel on each frame.
+                  That pixel's noise value is added to each of its color
+                  channels, which at that point lie in the range [0,1]. -->
+            <mean>0.0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+        </camera>
+          <plugin name="camera_driver" filename="libgazebo_ros_camera.so">
+            <ros>
+              <!-- <namespace>test_cam</namespace> -->
+              <!-- <remapping>image_raw:=image_demo</remapping> -->
+              <!-- <remapping>camera_info:=camera_info_demo</remapping> -->
+            </ros>
+            <!-- camera_name>omit so it defaults to sensor name</camera_name-->
+            <!-- frame_name>omit so it defaults to link name</frameName-->
+            <!-- <hack_baseline>0.07</hack_baseline> -->
+          </plugin>
+      </sensor>
+    </link>    
+
+    <joint name="base_joint" type="fixed">
+      <parent>base_footprint</parent>
+      <child>base_link</child>
+      <pose>0.0 0.0 0.010 0 0 0</pose>
+    </joint>
+
+    <joint name="wheel_left_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>wheel_left_link</child>
+      <pose>0.0 0.144 0.023 -1.57 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="wheel_right_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>wheel_right_link</child>
+      <pose>0.0 -0.144 0.023 -1.57 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name='caster_back_right_joint' type='ball'>
+      <parent>base_link</parent>
+      <child>caster_back_right_link</child>
+    </joint>
+
+    <joint name='caster_back_left_joint' type='ball'>
+      <parent>base_link</parent>
+      <child>caster_back_left_link</child>
+    </joint>
+
+    <joint name="imu_joint" type="fixed">
+      <parent>base_link</parent>
+      <child>imu_link</child>
+      <pose>-0.032 0 0.068 0 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>    
+
+    <joint name="lidar_joint" type="fixed">
+      <parent>base_link</parent>
+      <child>base_scan</child>
+      <pose>-0.064 0 0.121 0 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="camera_joint" type="fixed">
+      <parent>base_link</parent>
+      <child>camera_link</child>
+      <pose>0.073 -0.011 0.084 0 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="camera_rgb_joint" type="fixed">
+      <parent>camera_link</parent>
+      <child>camera_rgb_frame</child>
+      <pose>0.003 0.011 0.009 0 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <plugin name="turtlebot3_diff_drive" filename="libgazebo_ros_diff_drive.so">
+
+      <ros>
+        <!-- <namespace>/tb3</namespace> -->
+      </ros>
+
+      <update_rate>30</update_rate>
+
+      <!-- wheels -->
+      <left_joint>wheel_left_joint</left_joint>
+      <right_joint>wheel_right_joint</right_joint>
+
+      <!-- kinematics -->
+      <wheel_separation>0.287</wheel_separation>
+      <wheel_diameter>0.066</wheel_diameter>
+
+      <!-- limits -->
+      <max_wheel_torque>20</max_wheel_torque>
+      <max_wheel_acceleration>1.0</max_wheel_acceleration>
+
+      <command_topic>cmd_vel</command_topic>
+
+      <!-- output -->
+      <publish_odom>true</publish_odom>
+      <publish_odom_tf>true</publish_odom_tf>
+      <publish_wheel_tf>false</publish_wheel_tf>
+
+      <odometry_topic>odom</odometry_topic>
+      <odometry_frame>odom</odometry_frame>
+      <robot_base_frame>base_footprint</robot_base_frame>
+
+    </plugin>
+
+    <plugin name="turtlebot3_joint_state" filename="libgazebo_ros_joint_state_publisher.so">
+      <ros>
+        <!-- <namespace>/tb3</namespace> -->
+        <remapping>~/out:=joint_states</remapping>
+      </ros>
+      <update_rate>30</update_rate>
+      <joint_name>wheel_left_joint</joint_name>
+      <joint_name>wheel_right_joint</joint_name>
+    </plugin>    
+
+  </model>
+</sdf>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_waffle_pi/model.config b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_waffle_pi/model.config
new file mode 100755
index 0000000..2730a6d
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_waffle_pi/model.config
@@ -0,0 +1,17 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>TurtleBot3(Waffle Pi)</name>
+  <version>2.0</version>
+  <sdf version="1.4">model-1_4.sdf</sdf>
+  <sdf version="1.5">model.sdf</sdf>
+
+  <author>
+    <name>Taehun Lim(Darby)</name>
+    <email>thlim@robotis.com</email>
+  </author>
+
+  <description>
+    TurtleBot3 Waffle Pi
+  </description>
+</model>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_waffle_pi/model.sdf b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_waffle_pi/model.sdf
new file mode 100755
index 0000000..99c76ae
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_waffle_pi/model.sdf
@@ -0,0 +1,536 @@
+<?xml version="1.0" ?>
+<sdf version="1.5">
+  <model name="turtlebot3_waffle_pi">  
+  <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
+
+    <link name="base_footprint"/>
+
+    <link name="base_link">
+
+      <inertial>
+        <pose>-0.064 0 0.048 0 0 0</pose>
+        <inertia>
+          <ixx>4.2111447e-02</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>4.2111447e-02</iyy>
+          <iyz>0</iyz>
+          <izz>7.5254874e-02</izz>
+        </inertia>
+        <mass>1.3729096e+00</mass>
+      </inertial>
+
+      <collision name="base_collision">
+        <pose>-0.064 0 0.048 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.265 0.265 0.089</size>
+          </box>
+        </geometry>
+      </collision>
+
+      <visual name="base_visual">
+        <pose>-0.064 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/bases/waffle_pi_base.stl</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>0.3 0.3 0.3 1.0</ambient>
+          <diffuse>0.3 0.3 0.3 1.0</diffuse>
+        </material>
+      </visual>
+    </link>
+
+    <link name="imu_link">
+      <sensor name="tb3_imu" type="imu">
+        <always_on>true</always_on>
+        <update_rate>200</update_rate>
+        <imu>
+          <angular_velocity>
+            <x>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>2e-4</stddev>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>2e-4</stddev>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>2e-4</stddev>
+              </noise>
+            </z>
+          </angular_velocity>
+          <linear_acceleration>
+            <x>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>1.7e-2</stddev>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>1.7e-2</stddev>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>1.7e-2</stddev>
+              </noise>
+            </z>
+          </linear_acceleration>
+        </imu>
+        <plugin name="turtlebot3_imu" filename="libgazebo_ros_imu_sensor.so">
+          <ros>
+            <!-- <namespace>/tb3</namespace> -->
+            <remapping>~/out:=imu</remapping>
+          </ros>
+        </plugin>
+      </sensor>
+    </link>
+
+    <link name="base_scan">    
+      <inertial>
+        <pose>-0.052 0 0.111 0 0 0</pose>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0.000</ixy>
+          <ixz>0.000</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0.000</iyz>
+          <izz>0.001</izz>
+        </inertia>
+        <mass>0.114</mass>
+      </inertial>
+
+      <collision name="lidar_sensor_collision">
+        <pose>-0.052 0 0.111 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.0508</radius>
+            <length>0.055</length>
+          </cylinder>
+        </geometry>
+      </collision>
+
+      <visual name="lidar_sensor_visual">
+        <pose>-0.064 0 0.121 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/sensors/lds.stl</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>0.2 0.2 0.2 1.0</ambient>
+          <diffuse>0.2 0.2 0.2 1.0</diffuse>
+        </material>
+      </visual>
+
+      <sensor name="hls_lfcd_lds" type="ray">
+        <always_on>true</always_on>
+        <visualize>true</visualize>
+        <pose>-0.064 0 0.121 0 0 0</pose>
+        <update_rate>5</update_rate>
+        <ray>
+          <scan>
+            <horizontal>
+              <samples>360</samples>
+              <resolution>1.000000</resolution>
+              <min_angle>0.000000</min_angle>
+              <max_angle>6.280000</max_angle>
+            </horizontal>
+          </scan>
+          <range>
+            <min>0.120000</min>
+            <max>3.5</max>
+            <resolution>0.015000</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0.0</mean>
+            <stddev>0.01</stddev>
+          </noise>
+        </ray>
+        <plugin name="turtlebot3_laserscan" filename="libgazebo_ros_ray_sensor.so">
+          <ros>
+            <!-- <namespace>/tb3</namespace> -->
+            <remapping>~/out:=scan</remapping>
+          </ros>
+          <output_type>sensor_msgs/LaserScan</output_type>
+          <frame_name>base_scan</frame_name>
+        </plugin>
+      </sensor>
+    </link>
+
+    <link name="wheel_left_link">
+
+      <inertial>
+        <pose>0.0 0.144 0.023 -1.57 0 0</pose>
+        <inertia>
+          <ixx>1.8158194e-03</ixx>
+          <ixy>-9.3392e-12</ixy>
+          <ixz>1.04909e-11</ixz>
+          <iyy>3.2922126e-03</iyy>
+          <iyz>5.75694e-11</iyz>
+          <izz>1.8158194e-03</izz>
+        </inertia>
+        <mass>2.8498940e-02</mass>
+      </inertial>
+
+      <collision name="wheel_left_collision">
+        <pose>0.0 0.144 0.023 -1.57 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.033</radius>
+            <length>0.018</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <!-- This friction pamareter don't contain reliable data!! -->
+          <friction>
+            <ode>
+              <mu>100000</mu>
+              <mu2>100000</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0.0</slip1>
+              <slip2>0.0</slip2>
+            </ode>
+          </friction>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+
+      <visual name="wheel_left_visual">
+        <pose>0.0 0.144 0.023 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/wheels/right_tire.stl</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>0.2 0.2 0.2 1.0</ambient>
+          <diffuse>0.2 0.2 0.2 1.0</diffuse>
+        </material>
+      </visual>
+    </link>
+
+    <link name="wheel_right_link">
+
+      <inertial>
+        <pose>0.0 -0.144 0.023 -1.57 0 0</pose>
+        <inertia>
+          <ixx>1.8158194e-03</ixx>
+          <ixy>-9.3392e-12</ixy>
+          <ixz>1.04909e-11</ixz>
+          <iyy>3.2922126e-03</iyy>
+          <iyz>5.75694e-11</iyz>
+          <izz>1.8158194e-03</izz>
+        </inertia>
+        <mass>2.8498940e-02</mass>
+      </inertial>
+    
+      <collision name="wheel_right_collision">
+        <pose>0.0 -0.144 0.023 -1.57 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.033</radius>
+            <length>0.018</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <!-- This friction pamareter don't contain reliable data!! -->
+          <friction>
+            <ode>
+              <mu>100000</mu>
+              <mu2>100000</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0.0</slip1>
+              <slip2>0.0</slip2>
+            </ode>
+          </friction>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+
+      <visual name="wheel_right_visual">
+        <pose>0.0 -0.144 0.023 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/wheels/left_tire.stl</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>0.2 0.2 0.2 1.0</ambient>
+          <diffuse>0.2 0.2 0.2 1.0</diffuse>
+        </material>
+      </visual>
+    </link>
+
+    <link name='caster_back_right_link'>
+      <pose>-0.177 -0.064 -0.004 -1.57 0 0</pose>
+      <inertial>
+        <mass>0.001</mass>
+        <inertia>
+          <ixx>0.00001</ixx>
+          <ixy>0.000</ixy>
+          <ixz>0.000</ixz>
+          <iyy>0.00001</iyy>
+          <iyz>0.000</iyz>
+          <izz>0.00001</izz>
+        </inertia>
+      </inertial>
+      <collision name='collision'>
+        <geometry>
+          <sphere>
+            <radius>0.005000</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+
+    <link name='caster_back_left_link'>
+      <pose>-0.177 0.064 -0.004 -1.57 0 0</pose>
+      <inertial>
+        <mass>0.001</mass>
+        <inertia>
+          <ixx>0.00001</ixx>
+          <ixy>0.000</ixy>
+          <ixz>0.000</ixz>
+          <iyy>0.00001</iyy>
+          <iyz>0.000</iyz>
+          <izz>0.00001</izz>
+        </inertia>
+      </inertial>
+      <collision name='collision'>
+        <geometry>
+          <sphere>
+            <radius>0.005000</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+
+    <link name="camera_link"/>
+
+    <link name="camera_rgb_optical_frame">
+      <inertial>
+        <pose>0.076 0.0 0.093 0 0 0</pose>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0.000</ixy>
+          <ixz>0.000</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0.000</iyz>
+          <izz>0.001</izz>
+        </inertia>
+        <mass>0.035</mass>
+      </inertial>
+
+      <pose>0.076 0.0 0.093 0 0 0</pose>
+      <sensor name="camera" type="camera">
+        <always_on>true</always_on>
+        <visualize>true</visualize>
+        <update_rate>30</update_rate>
+        <camera name="picam">
+          <horizontal_fov>1.085595</horizontal_fov>
+          <image>
+              <width>640</width>
+              <height>480</height>
+              <format>R8G8B8</format>
+          </image>
+          <clip>
+              <near>0.03</near>
+              <far>100</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <!-- Noise is sampled independently per pixel on each frame.
+                  That pixel's noise value is added to each of its color
+                  channels, which at that point lie in the range [0,1]. -->
+            <mean>0.0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+        </camera>
+          <plugin name="camera_driver" filename="libgazebo_ros_camera.so">
+            <ros>
+              <!-- <namespace>test_cam</namespace> -->
+              <!-- <remapping>image_raw:=image_demo</remapping> -->
+              <!-- <remapping>camera_info:=camera_info_demo</remapping> -->
+            </ros>
+            <!-- camera_name>omit so it defaults to sensor name</camera_name-->
+            <!-- frame_name>omit so it defaults to link name</frameName-->
+            <!-- <hack_baseline>0.07</hack_baseline> -->
+          </plugin>
+      </sensor>
+    </link>    
+
+    <joint name="base_joint" type="fixed">
+      <parent>base_footprint</parent>
+      <child>base_link</child>
+      <pose>0.0 0.0 0.010 0 0 0</pose>
+    </joint>
+
+    <joint name="wheel_left_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>wheel_left_link</child>
+      <pose>0.0 0.144 0.023 -1.57 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="wheel_right_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>wheel_right_link</child>
+      <pose>0.0 -0.144 0.023 -1.57 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name='caster_back_right_joint' type='ball'>
+      <parent>base_link</parent>
+      <child>caster_back_right_link</child>
+    </joint>
+
+    <joint name='caster_back_left_joint' type='ball'>
+      <parent>base_link</parent>
+      <child>caster_back_left_link</child>
+    </joint>
+
+    <joint name="imu_joint" type="fixed">
+      <parent>base_link</parent>
+      <child>imu_link</child>
+      <pose>-0.032 0 0.068 0 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>    
+
+    <joint name="lidar_joint" type="fixed">
+      <parent>base_link</parent>
+      <child>base_scan</child>
+      <pose>-0.064 0 0.121 0 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="camera_joint" type="fixed">
+      <parent>base_link</parent>
+      <child>camera_link</child>
+      <pose>0.073 -0.011 0.084 0 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="camera_rgb_joint" type="fixed">
+      <parent>camera_link</parent>
+      <child>camera_rgb_optical_frame</child>
+      <pose>0.003 0.011 0.009 0 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <plugin name="turtlebot3_diff_drive" filename="libgazebo_ros_diff_drive.so">
+
+      <ros>
+        <!-- <namespace>/tb3</namespace> -->
+      </ros>
+
+      <update_rate>30</update_rate>
+
+      <!-- wheels -->
+      <left_joint>wheel_left_joint</left_joint>
+      <right_joint>wheel_right_joint</right_joint>
+
+      <!-- kinematics -->
+      <wheel_separation>0.287</wheel_separation>
+      <wheel_diameter>0.066</wheel_diameter>
+
+      <!-- limits -->
+      <max_wheel_torque>20</max_wheel_torque>
+      <max_wheel_acceleration>1.0</max_wheel_acceleration>
+
+      <command_topic>cmd_vel</command_topic>
+
+      <!-- output -->
+      <publish_odom>true</publish_odom>
+      <publish_odom_tf>true</publish_odom_tf>
+      <publish_wheel_tf>false</publish_wheel_tf>
+
+      <odometry_topic>odom</odometry_topic>
+      <odometry_frame>odom</odometry_frame>
+      <robot_base_frame>base_footprint</robot_base_frame>
+
+    </plugin>
+
+    <plugin name="turtlebot3_joint_state" filename="libgazebo_ros_joint_state_publisher.so">
+      <ros>
+        <!-- <namespace>/tb3</namespace> -->
+        <remapping>~/out:=joint_states</remapping>
+      </ros>
+      <update_rate>30</update_rate>
+      <joint_name>wheel_left_joint</joint_name>
+      <joint_name>wheel_right_joint</joint_name>
+    </plugin>    
+
+  </model>
+</sdf>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_world/meshes/hexagon.dae b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_world/meshes/hexagon.dae
new file mode 100755
index 0000000..c548e5f
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_world/meshes/hexagon.dae
@@ -0,0 +1,76 @@
+<COLLADA version="1.4.1" xmlns="http://www.collada.org/2005/11/COLLADASchema">
+ <asset>
+  <created>2017-03-30T01:06:40</created>
+  <modified>2017-03-30T01:06:40</modified>
+  <unit name="inch" meter="0.0254"/>
+  <up_axis>Y_UP</up_axis>
+ </asset>
+ <library_visual_scenes>
+  <visual_scene id="ID1">
+   <node>
+    <instance_geometry url="#ID2">
+     <bind_material>
+      <technique_common>
+       <instance_material symbol="Material0" target="#ID9"/>
+      </technique_common>
+     </bind_material>
+    </instance_geometry>
+   </node>
+  </visual_scene>
+ </library_visual_scenes>
+ <library_geometries>
+  <geometry id="ID2">
+   <mesh>
+    <source id="ID3">
+     <float_array id="ID4" count="108">-28.8675 50 100 -57.735 9.66338e-13 0 -57.735 1.13687e-12 100 -28.8675 50 0 -57.735 1.13687e-12 100 -28.8675 -50 0 -28.8675 -50 100 -57.735 9.66338e-13 0 -28.8675 -50 100 28.8675 -50 0 28.8675 -50 100 -28.8675 -50 0 28.8675 -50 100 57.735 1.7053e-12 0 57.735 1.36424e-12 100 28.8675 -50 0 57.735 1.36424e-12 100 28.8675 50 2.498e-13 28.8675 50 100 57.735 1.7053e-12 0 28.8675 50 100 -28.8675 50 0 -28.8675 50 100 28.8675 50 2.498e-13 -57.735 1.13687e-12 100 57.735 1.36424e-12 100 -28.8675 50 100 -28.8675 -50 100 28.8675 -50 100 28.8675 50 100 -57.735 9.66338e-13 0 28.8675 -50 0 -28.8675 -50 0 57.735 1.7053e-12 0 -28.8675 50 0 28.8675 50 2.498e-13</float_array>
+     <technique_common>
+      <accessor stride="3" count="36" source="#ID4">
+       <param type="float" name="X"/>
+       <param type="float" name="Y"/>
+       <param type="float" name="Z"/>
+      </accessor>
+     </technique_common>
+    </source>
+    <source id="ID5">
+     <float_array id="ID6" count="108">-0.866025 0.5 0 -0.866025 0.5 0 -0.866025 0.5 0 -0.866025 0.5 0 -0.866025 -0.5 0 -0.866025 -0.5 0 -0.866025 -0.5 0 -0.866025 -0.5 0 5.51091e-16 -1 0 5.51091e-16 -1 0 5.51091e-16 -1 0 5.51091e-16 -1 0 0.866025 -0.5 0 0.866025 -0.5 0 0.866025 -0.5 0 0.866025 -0.5 0 0.866025 0.5 0 0.866025 0.5 0 0.866025 0.5 0 0.866025 0.5 0 -4.28626e-16 1 0 -4.28626e-16 1 0 -4.28626e-16 1 0 -4.28626e-16 1 0 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 -0 -0 -1 -0 -0 -1 -0 -0 -1 -0 -0 -1 -0 -0 -1 -0 -0 -1</float_array>
+     <technique_common>
+      <accessor stride="3" count="36" source="#ID6">
+       <param type="float" name="X"/>
+       <param type="float" name="Y"/>
+       <param type="float" name="Z"/>
+      </accessor>
+     </technique_common>
+    </source>
+    <vertices id="ID7">
+     <input semantic="POSITION" source="#ID3"/>
+     <input semantic="NORMAL" source="#ID5"/>
+    </vertices>
+    <triangles count="20" material="Material0">
+     <input semantic="VERTEX" source="#ID7" offset="0"/>
+     <p>0 1 2 1 0 3 4 5 6 5 4 7 8 9 10 9 8 11 12 13 14 13 12 15 16 17 18 17 16 19 20 21 22 21 20 23 24 25 26 24 27 28 28 25 24 26 25 29 30 31 32 31 30 33 33 34 35 33 30 34</p>
+    </triangles>
+   </mesh>
+  </geometry>
+ </library_geometries>
+ <library_materials>
+  <material id="ID9">
+   <instance_effect url="#ID8"/>
+  </material>
+ </library_materials>
+ <library_effects>
+  <effect id="ID8">
+   <profile_COMMON>
+    <technique sid="COMMON">
+     <lambert>
+      <diffuse>
+       <color>0.392157 0.976471 0.121569 1</color>
+      </diffuse>
+     </lambert>
+    </technique>
+   </profile_COMMON>
+  </effect>
+ </library_effects>
+ <scene>
+  <instance_visual_scene url="#ID1"/>
+ </scene>
+</COLLADA>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_world/meshes/wall.dae b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_world/meshes/wall.dae
new file mode 100755
index 0000000..aa738ce
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_world/meshes/wall.dae
@@ -0,0 +1,76 @@
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+ <asset>
+  <created>2017-03-30T02:35:53</created>
+  <modified>2017-03-30T02:35:53</modified>
+  <unit name="inch" meter="0.0254"/>
+  <up_axis>Y_UP</up_axis>
+ </asset>
+ <library_visual_scenes>
+  <visual_scene id="ID1">
+   <node>
+    <instance_geometry url="#ID2">
+     <bind_material>
+      <technique_common>
+       <instance_material symbol="Material0" target="#ID9"/>
+      </technique_common>
+     </bind_material>
+    </instance_geometry>
+   </node>
+  </visual_scene>
+ </library_visual_scenes>
+ <library_geometries>
+  <geometry id="ID2">
+   <mesh>
+    <source id="ID3">
+     <float_array count="216" id="ID4">-400 230.94 0 -400 230.94 200 4.54747e-13 461.88 200 6.25278e-13 461.88 0 6.25278e-13 461.88 0 4.54747e-13 461.88 200 400 230.94 200 400 230.94 0 400 230.94 0 400 230.94 200 400 -230.94 200 400 -230.94 0 400 -230.94 0 400 -230.94 200 -1.7053e-13 -461.88 200 2.27374e-13 -461.88 0 2.27374e-13 -461.88 0 -1.7053e-13 -461.88 200 -400 -230.94 200 -400 -230.94 0 450 259.808 200 -3.69482e-13 519.615 200 -2.27374e-13 519.615 0 450 259.808 0 -3.69482e-13 519.615 200 -450 259.808 200 -450 259.808 0 -2.27374e-13 519.615 0 -450 259.808 200 -450 -259.808 200 -450 -259.808 0 -450 259.808 0 -450 -259.808 200 -1.13687e-13 -519.615 200 -2.27374e-13 -519.615 0 -450 -259.808 0 -1.13687e-13 -519.615 200 450 -259.808 200 450 -259.808 0 -2.27374e-13 -519.615 0 450 -259.808 0 450 259.808 200 450 259.808 0 450 -259.808 200 -400 -230.94 0 -400 -230.94 200 -400 230.94 200 -400 230.94 0 -1.7053e-13 -461.88 200 -1.13687e-13 -519.615 200 -400 -230.94 200 -450 -259.808 200 -450 259.808 200 450 -259.808 200 400 -230.94 200 400 230.94 200 4.54747e-13 461.88 200 -3.69482e-13 519.615 200 -400 230.94 200 450 259.808 200 -2.27374e-13 -519.615 0 400 -230.94 0 2.27374e-13 -461.88 0 400 230.94 0 -2.27374e-13 519.615 0 6.25278e-13 461.88 0 450 -259.808 0 450 259.808 0 -400 230.94 0 -450 259.808 0 -400 -230.94 0 -450 -259.808 0</float_array>
+     <technique_common>
+      <accessor count="72" source="#ID4" stride="3">
+       <param name="X" type="float"/>
+       <param name="Y" type="float"/>
+       <param name="Z" type="float"/>
+      </accessor>
+     </technique_common>
+    </source>
+    <source id="ID5">
+     <float_array count="216" id="ID6">0.5 -0.866025 0 0.5 -0.866025 0 0.5 -0.866025 0 0.5 -0.866025 0 -0.5 -0.866025 -0 -0.5 -0.866025 -0 -0.5 -0.866025 -0 -0.5 -0.866025 -0 -1 -6.12323e-17 -0 -1 -6.12323e-17 -0 -1 -6.12323e-17 -0 -1 -6.12323e-17 -0 -0.5 0.866025 0 -0.5 0.866025 0 -0.5 0.866025 0 -0.5 0.866025 0 0.5 0.866025 0 0.5 0.866025 0 0.5 0.866025 0 0.5 0.866025 0 0.5 0.866025 0 0.5 0.866025 0 0.5 0.866025 0 0.5 0.866025 0 -0.5 0.866025 0 -0.5 0.866025 0 -0.5 0.866025 0 -0.5 0.866025 0 -1 -5.21642e-16 0 -1 -5.21642e-16 0 -1 -5.21642e-16 0 -1 -5.21642e-16 0 -0.5 -0.866025 0 -0.5 -0.866025 0 -0.5 -0.866025 0 -0.5 -0.866025 0 0.5 -0.866025 0 0.5 -0.866025 0 0.5 -0.866025 0 0.5 -0.866025 0 1 0 0 1 0 0 1 0 0 1 0 0 1 1.83697e-16 0 1 1.83697e-16 0 1 1.83697e-16 0 1 1.83697e-16 0 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 -0 -0 -1 -0 -0 -1 -0 -0 -1 -0 -0 -1 -0 -0 -1 -0 -0 -1 -0 -0 -1 -0 -0 -1 -0 -0 -1 -0 -0 -1 -0 -0 -1 -0 -0 -1</float_array>
+     <technique_common>
+      <accessor count="72" source="#ID6" stride="3">
+       <param name="X" type="float"/>
+       <param name="Y" type="float"/>
+       <param name="Z" type="float"/>
+      </accessor>
+     </technique_common>
+    </source>
+    <vertices id="ID7">
+     <input semantic="POSITION" source="#ID3"/>
+     <input semantic="NORMAL" source="#ID5"/>
+    </vertices>
+    <triangles count="48" material="Material0">
+     <input semantic="VERTEX" source="#ID7" offset="0"/>
+     <p>0 2 1 0 3 2 4 6 5 4 7 6 8 10 9 8 11 10 12 14 13 12 15 14 16 18 17 16 19 18 20 22 21 22 20 23 24 26 25 26 24 27 28 30 29 30 28 31 32 34 33 34 32 35 36 38 37 38 36 39 40 42 41 40 41 43 44 46 45 44 47 46 48 50 49 50 52 51 53 54 49 55 57 56 48 49 54 57 52 58 58 56 57 53 59 55 57 55 59 53 55 54 49 50 51 52 50 58 60 62 61 63 65 64 63 67 66 68 69 64 66 61 63 64 67 63 60 61 66 60 70 62 69 70 71 60 71 70 64 65 68 69 68 70</p>
+    </triangles>
+   </mesh>
+  </geometry>
+ </library_geometries>
+ <library_materials>
+  <material id="ID9">
+   <instance_effect url="#ID8"/>
+  </material>
+ </library_materials>
+ <library_effects>
+  <effect id="ID8">
+   <profile_COMMON>
+    <technique sid="COMMON">
+     <lambert>
+      <diffuse>
+       <color>0.603922 0.647059 0.686275 1</color>
+      </diffuse>
+     </lambert>
+    </technique>
+   </profile_COMMON>
+  </effect>
+ </library_effects>
+ <scene>
+  <instance_visual_scene url="#ID1"/>
+ </scene>
+</COLLADA>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_world/model-1_4.sdf b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_world/model-1_4.sdf
new file mode 100755
index 0000000..330bd32
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_world/model-1_4.sdf
@@ -0,0 +1,549 @@
+<sdf version='1.4'>
+    <!-- Draw Circle -->
+    <model name='ros_symbol'>
+      <static>1</static>
+      <link name='symbol'>
+        <collision name='one_one'>
+          <pose>-1.1 -1.1 0.25 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.15</radius>
+              <length>0.5</length>
+            </cylinder>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+
+        <visual name='one_one'>
+          <pose>-1.1 -1.1 0.25 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.15</radius>
+              <length>0.5</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/White</name>
+            </script>
+          </material>
+        </visual>
+
+        <collision name='one_two'>
+          <pose>-1.1 0 0.25 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.15</radius>
+              <length>0.5</length>
+            </cylinder>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+
+        <visual name='one_two'>
+          <pose>-1.1 0 0.25 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.15</radius>
+              <length>0.5</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/White</name>
+            </script>
+          </material>
+        </visual>
+
+        <collision name='one_three'>
+          <pose>-1.1 1.1 0.25 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.15</radius>
+              <length>0.5</length>
+            </cylinder>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+
+        <visual name='one_three'>
+          <pose>-1.1 1.1 0.25 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.15</radius>
+              <length>0.5</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/White</name>
+            </script>
+          </material>
+        </visual>
+
+        <collision name='two_one'>
+          <pose>0 -1.1 0.25 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.15</radius>
+              <length>0.5</length>
+            </cylinder>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+
+        <visual name='two_one'>
+          <pose>0 -1.1 0.25 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.15</radius>
+              <length>0.5</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/White</name>
+            </script>
+          </material>
+        </visual>
+
+        <collision name='two_two'>
+          <pose>0 0 0.25 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.15</radius>
+              <length>0.5</length>
+            </cylinder>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+
+        <visual name='two_two'>
+          <pose>0 0 0.25 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.15</radius>
+              <length>0.5</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/White</name>
+            </script>
+          </material>
+        </visual>
+
+        <collision name='two_three'>
+          <pose>0 1.1 0.25 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.15</radius>
+              <length>0.5</length>
+            </cylinder>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+
+        <visual name='two_three'>
+          <pose>0 1.1 0.25 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.15</radius>
+              <length>0.5</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/White</name>
+            </script>
+          </material>
+        </visual>
+
+        <collision name='three_one'>
+          <pose>1.1 -1.1 0.25 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.15</radius>
+              <length>0.5</length>
+            </cylinder>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+
+        <visual name='three_one'>
+          <pose>1.1 -1.1 0.25 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.15</radius>
+              <length>0.5</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/White</name>
+            </script>
+          </material>
+        </visual>
+
+        <collision name='three_two'>
+          <pose>1.1 0 0.25 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.15</radius>
+              <length>0.5</length>
+            </cylinder>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+
+        <visual name='three_two'>
+          <pose>1.1 0 0.25 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.15</radius>
+              <length>0.5</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/White</name>
+            </script>
+          </material>
+        </visual>
+
+        <collision name='three_three'>
+          <pose>1.1 1.1 0.25 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.15</radius>
+              <length>0.5</length>
+            </cylinder>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+
+        <visual name='three_three'>
+          <pose>1.1 1.1 0.25 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.15</radius>
+              <length>0.5</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/White</name>
+            </script>
+          </material>
+        </visual>
+
+        <!-- Draw Hexagon -->
+        <collision name='head'>
+          <pose>3.5 0 -0.5 0 0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
+              <scale>0.8 0.8 0.8</scale>
+            </mesh>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+
+        <visual name='head'>
+          <pose>3.5 0 -0.5 0 0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
+              <scale>0.8 0.8 0.8</scale>
+            </mesh>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Green</name>
+            </script>
+          </material>
+        </visual>
+
+        <collision name='left_hand'>
+          <pose>1.8 2.7 0 0 0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
+              <scale>0.55 0.55 0.55</scale>
+            </mesh>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+
+        <visual name='left_hand'>
+          <pose>1.8 2.7 0 0 0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
+              <scale>0.55 0.55 0.55</scale>
+            </mesh>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Green</name>
+            </script>
+          </material>
+        </visual>
+
+        <collision name='right_hand'>
+          <pose>1.8 -2.7 0 0 0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
+              <scale>0.55 0.55 0.55</scale>
+            </mesh>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+
+        <visual name='right_hand'>
+          <pose>1.8 -2.7 0 0 0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
+              <scale>0.55 0.55 0.55</scale>
+            </mesh>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Green</name>
+            </script>
+          </material>
+        </visual>
+
+        <collision name='left_foot'>
+          <pose>-1.8 2.7 0 0 0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
+              <scale>0.55 0.55 0.55</scale>
+            </mesh>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+
+        <visual name='left_foot'>
+          <pose>-1.8 2.7 0 0 0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
+              <scale>0.55 0.55 0.55</scale>
+            </mesh>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Green</name>
+            </script>
+          </material>
+        </visual>
+
+        <collision name='right_foot'>
+          <pose>-1.8 -2.7 0 0 0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
+              <scale>0.55 0.55 0.55</scale>
+            </mesh>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+
+        <visual name='right_foot'>
+          <pose>-1.8 -2.7 0 0 0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
+              <scale>0.55 0.55 0.55</scale>
+            </mesh>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Green</name>
+            </script>
+          </material>
+        </visual>
+
+        <!-- Draw Wall -->
+        <collision name='body'>
+        <pose>0 0 -0.3 0 0 -1.5708</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_world/meshes/wall.dae</uri>
+            <scale>0.25 0.25 0.25</scale>
+          </mesh>
+        </geometry>
+        <max_contacts>10</max_contacts>
+        <surface>
+          <bounce/>
+          <friction>
+            <ode/>
+          </friction>
+          <contact>
+            <ode/>
+          </contact>
+        </surface>
+      </collision>
+
+      <visual name='body'>
+        <pose>0 0 -0.3 0 0 -1.5708</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_world/meshes/wall.dae</uri>
+            <scale>0.25 0.25 0.25</scale>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/FlatBlack</name>
+          </script>
+        </material>
+      </visual>
+    </link>
+  </model>
+</sdf>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_world/model.config b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_world/model.config
new file mode 100755
index 0000000..bc6a666
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_world/model.config
@@ -0,0 +1,17 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>TurtleBot3 World</name>
+  <version>1.0</version>
+  <sdf version="1.4">model-1_4.sdf</sdf>
+  <sdf version="1.5">model.sdf</sdf>  
+
+  <author>
+    <name>Taehun Lim(Darby)</name>
+    <email>thlim@robotis.com</email>
+  </author>
+
+  <description>
+    World of TurtleBot3 with ROS symbol
+  </description>
+</model>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_world/model.sdf b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_world/model.sdf
new file mode 100755
index 0000000..d733d00
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_world/model.sdf
@@ -0,0 +1,549 @@
+<sdf version='1.5'>
+    <!-- Draw Circle -->
+    <model name='ros_symbol'>
+      <static>1</static>
+      <link name='symbol'>
+        <collision name='one_one'>
+          <pose>-1.1 -1.1 0.25 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.15</radius>
+              <length>0.5</length>
+            </cylinder>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+
+        <visual name='one_one'>
+          <pose>-1.1 -1.1 0.25 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.15</radius>
+              <length>0.5</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/White</name>
+            </script>
+          </material>
+        </visual>
+
+        <collision name='one_two'>
+          <pose>-1.1 0 0.25 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.15</radius>
+              <length>0.5</length>
+            </cylinder>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+
+        <visual name='one_two'>
+          <pose>-1.1 0 0.25 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.15</radius>
+              <length>0.5</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/White</name>
+            </script>
+          </material>
+        </visual>
+
+        <collision name='one_three'>
+          <pose>-1.1 1.1 0.25 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.15</radius>
+              <length>0.5</length>
+            </cylinder>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+
+        <visual name='one_three'>
+          <pose>-1.1 1.1 0.25 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.15</radius>
+              <length>0.5</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/White</name>
+            </script>
+          </material>
+        </visual>
+
+        <collision name='two_one'>
+          <pose>0 -1.1 0.25 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.15</radius>
+              <length>0.5</length>
+            </cylinder>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+
+        <visual name='two_one'>
+          <pose>0 -1.1 0.25 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.15</radius>
+              <length>0.5</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/White</name>
+            </script>
+          </material>
+        </visual>
+
+        <collision name='two_two'>
+          <pose>0 0 0.25 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.15</radius>
+              <length>0.5</length>
+            </cylinder>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+
+        <visual name='two_two'>
+          <pose>0 0 0.25 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.15</radius>
+              <length>0.5</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/White</name>
+            </script>
+          </material>
+        </visual>
+
+        <collision name='two_three'>
+          <pose>0 1.1 0.25 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.15</radius>
+              <length>0.5</length>
+            </cylinder>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+
+        <visual name='two_three'>
+          <pose>0 1.1 0.25 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.15</radius>
+              <length>0.5</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/White</name>
+            </script>
+          </material>
+        </visual>
+
+        <collision name='three_one'>
+          <pose>1.1 -1.1 0.25 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.15</radius>
+              <length>0.5</length>
+            </cylinder>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+
+        <visual name='three_one'>
+          <pose>1.1 -1.1 0.25 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.15</radius>
+              <length>0.5</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/White</name>
+            </script>
+          </material>
+        </visual>
+
+        <collision name='three_two'>
+          <pose>1.1 0 0.25 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.15</radius>
+              <length>0.5</length>
+            </cylinder>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+
+        <visual name='three_two'>
+          <pose>1.1 0 0.25 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.15</radius>
+              <length>0.5</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/White</name>
+            </script>
+          </material>
+        </visual>
+
+        <collision name='three_three'>
+          <pose>1.1 1.1 0.25 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.15</radius>
+              <length>0.5</length>
+            </cylinder>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+
+        <visual name='three_three'>
+          <pose>1.1 1.1 0.25 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.15</radius>
+              <length>0.5</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/White</name>
+            </script>
+          </material>
+        </visual>
+
+        <!-- Draw Hexagon -->
+        <collision name='head'>
+          <pose>3.5 0 -0.5 0 0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
+              <scale>0.8 0.8 0.8</scale>
+            </mesh>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+
+        <visual name='head'>
+          <pose>3.5 0 -0.5 0 0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
+              <scale>0.8 0.8 0.8</scale>
+            </mesh>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Green</name>
+            </script>
+          </material>
+        </visual>
+
+        <collision name='left_hand'>
+          <pose>1.8 2.7 0 0 0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
+              <scale>0.55 0.55 0.55</scale>
+            </mesh>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+
+        <visual name='left_hand'>
+          <pose>1.8 2.7 0 0 0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
+              <scale>0.55 0.55 0.55</scale>
+            </mesh>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Green</name>
+            </script>
+          </material>
+        </visual>
+
+        <collision name='right_hand'>
+          <pose>1.8 -2.7 0 0 0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
+              <scale>0.55 0.55 0.55</scale>
+            </mesh>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+
+        <visual name='right_hand'>
+          <pose>1.8 -2.7 0 0 0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
+              <scale>0.55 0.55 0.55</scale>
+            </mesh>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Green</name>
+            </script>
+          </material>
+        </visual>
+
+        <collision name='left_foot'>
+          <pose>-1.8 2.7 0 0 0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
+              <scale>0.55 0.55 0.55</scale>
+            </mesh>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+
+        <visual name='left_foot'>
+          <pose>-1.8 2.7 0 0 0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
+              <scale>0.55 0.55 0.55</scale>
+            </mesh>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Green</name>
+            </script>
+          </material>
+        </visual>
+
+        <collision name='right_foot'>
+          <pose>-1.8 -2.7 0 0 0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
+              <scale>0.55 0.55 0.55</scale>
+            </mesh>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+
+        <visual name='right_foot'>
+          <pose>-1.8 -2.7 0 0 0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
+              <scale>0.55 0.55 0.55</scale>
+            </mesh>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Green</name>
+            </script>
+          </material>
+        </visual>
+
+        <!-- Draw Wall -->
+        <collision name='body'>
+        <pose>0 0 -0.3 0 0 -1.5708</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_world/meshes/wall.dae</uri>
+            <scale>0.25 0.25 0.25</scale>
+          </mesh>
+        </geometry>
+        <max_contacts>10</max_contacts>
+        <surface>
+          <bounce/>
+          <friction>
+            <ode/>
+          </friction>
+          <contact>
+            <ode/>
+          </contact>
+        </surface>
+      </collision>
+
+      <visual name='body'>
+        <pose>0 0 -0.3 0 0 -1.5708</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_world/meshes/wall.dae</uri>
+            <scale>0.25 0.25 0.25</scale>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/FlatBlack</name>
+          </script>
+        </material>
+      </visual>
+    </link>
+  </model>
+</sdf>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/package.xml b/src/turtlebot3_simulations/turtlebot3_gazebo/package.xml
new file mode 100755
index 0000000..6274a6e
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/package.xml
@@ -0,0 +1,55 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>turtlebot3_gazebo</name>
+  <version>2.4.0</version>
+  <description>
+    Gazebo Sim (Ignition Harmonic) simulation package for the TurtleBot3
+  </description>
+  <maintainer email="pyo@robotis.com">Pyo</maintainer>
+  <license>Apache 2.0</license>
+  <url type="website">http://turtlebot3.robotis.com</url>
+  <url type="repository">https://github.com/ROBOTIS-GIT/turtlebot3_simulations</url>
+  <url type="bugtracker">https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues</url>
+  <author email="thlim@robotis.com">Darby Lim</author>
+  <author email="pyo@robotis.com">Pyo</author>
+  <author>Ryan Shim</author>
+  <author email="kimhg@robotis.com">Hyungyu Kim</author>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <!-- ROS 2 core dependencies -->
+  <depend>geometry_msgs</depend>
+  <depend>nav_msgs</depend>
+  <depend>rclcpp</depend>
+  <depend>sensor_msgs</depend>
+  <depend>tf2</depend>
+
+  <!-- Gazebo Sim (Harmonic / gz-8) system dependencies -->
+  <depend>gz-sim8</depend>
+  <depend>gz-msgs10</depend>
+  <depend>gz-transport13</depend>
+  <depend>gz-physics7</depend>
+  <depend>gz-math7</depend>
+  <depend>gz-common5</depend>
+  <depend>gz-plugin2</depend>
+  <depend>sdformat14</depend>
+
+  <!-- ROS-Gazebo bridge dependencies -->
+  <depend>ros_gz_bridge</depend>
+  <depend>ros_gz_sim</depend>
+  <depend>ros_gz_interfaces</depend>
+
+  <!-- ros2_control: DiffDriveController + joint_state_broadcaster for TF publishing -->
+  <depend>controller_manager</depend>
+  <depend>diff_drive_controller</depend>
+  <depend>joint_state_broadcaster</depend>
+  <depend>gz_ros2_control</depend>
+  <depend>robot_state_publisher</depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+    <gazebo_ros gazebo_model_path="${prefix}/models"/>
+    <gazebo_ros gazebo_resource_path="${prefix}/models"/>
+  </export>
+</package>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/rviz/tb3_gazebo.rviz b/src/turtlebot3_simulations/turtlebot3_gazebo/rviz/tb3_gazebo.rviz
new file mode 100755
index 0000000..87fbdae
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/rviz/tb3_gazebo.rviz
@@ -0,0 +1,335 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /TF1/Frames1
+      Splitter Ratio: 0.5
+    Tree Height: 694
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Class: rviz_default_plugins/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        base_footprint:
+          Value: true
+        base_link:
+          Value: true
+        base_scan:
+          Value: true
+        camera_link:
+          Value: true
+        camera_rgb_frame:
+          Value: true
+        camera_rgb_optical_frame:
+          Value: true
+        caster_back_left_link:
+          Value: true
+        caster_back_right_link:
+          Value: true
+        imu_link:
+          Value: true
+        odom:
+          Value: true
+        wheel_left_link:
+          Value: true
+        wheel_right_link:
+          Value: true
+      Marker Scale: 0.699999988079071
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        odom:
+          base_footprint:
+            base_link:
+              base_scan:
+                {}
+              camera_link:
+                camera_rgb_frame:
+                  camera_rgb_optical_frame:
+                    {}
+              caster_back_left_link:
+                {}
+              caster_back_right_link:
+                {}
+              imu_link:
+                {}
+              wheel_left_link:
+                {}
+              wheel_right_link:
+                {}
+      Update Interval: 0
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz_default_plugins/LaserScan
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 0
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: LaserScan
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.019999999552965164
+      Style: Flat Squares
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /scan
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Angle Tolerance: 0.10000000149011612
+      Class: rviz_default_plugins/Odometry
+      Covariance:
+        Orientation:
+          Alpha: 0.5
+          Color: 255; 255; 127
+          Color Style: Unique
+          Frame: Local
+          Offset: 1
+          Scale: 1
+          Value: true
+        Position:
+          Alpha: 0.30000001192092896
+          Color: 204; 51; 204
+          Scale: 1
+          Value: true
+        Value: false
+      Enabled: true
+      Keep: 100
+      Name: Odometry
+      Position Tolerance: 0.10000000149011612
+      Shape:
+        Alpha: 1
+        Axes Length: 1
+        Axes Radius: 0.10000000149011612
+        Color: 255; 25; 0
+        Head Length: 0.30000001192092896
+        Head Radius: 0.10000000149011612
+        Shaft Length: 1
+        Shaft Radius: 0.05000000074505806
+        Value: Arrow
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /odom
+      Value: true
+    - Alpha: 1
+      Class: rviz_default_plugins/RobotModel
+      Collision Enabled: false
+      Description File: ""
+      Description Source: Topic
+      Description Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: robot_description
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        base_footprint:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        base_scan:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        camera_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        camera_rgb_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        camera_rgb_optical_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        caster_back_left_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        caster_back_right_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        imu_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        wheel_left_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wheel_right_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Name: RobotModel
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: odom
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /move_base_simple/goal
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 5
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: false
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.7853981852531433
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz_default_plugins)
+      Yaw: 0.7853981852531433
+    Saved:
+      - Class: rviz_default_plugins/Orbit
+        Distance: 5
+        Enable Stereo Rendering:
+          Stereo Eye Separation: 0.05999999865889549
+          Stereo Focal Distance: 1
+          Swap Stereo Eyes: false
+          Value: false
+        Focal Point:
+          X: 0
+          Y: 0
+          Z: 0
+        Focal Shape Fixed Size: false
+        Focal Shape Size: 0.05000000074505806
+        Invert Z Axis: false
+        Name: Orbit
+        Near Clip Distance: 0.009999999776482582
+        Pitch: 0.7853981852531433
+        Target Frame: <Fixed Frame>
+        Value: Orbit (rviz_default_plugins)
+        Yaw: 0.7853981852531433
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 923
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000019300000341fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000341000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000341fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d00000341000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000002820000034100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1328
+  X: 168
+  Y: 71
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/scripts/camera_topic_remap.py b/src/turtlebot3_simulations/turtlebot3_gazebo/scripts/camera_topic_remap.py
new file mode 100644
index 0000000..12a9339
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/scripts/camera_topic_remap.py
@@ -0,0 +1,81 @@
+#!/usr/bin/env python3
+"""
+Relay camera topics to match the intel_realsense_r200 naming convention
+expected by vlm_detection node.
+
+Gz-sim + ros_gz_bridge publishes:
+  /camera/color/image_raw   -> remap to /intel_realsense_r200_rgb/image_raw
+  /camera/depth/image_raw   -> remap to /intel_realsense_r200_depth/depth/image_raw
+  /camera/depth/camera_info -> remap to /intel_realsense_r200_depth/camera_info
+  (with frame_id override to match TF tree)
+
+Note: Depth image is now available via L16 workaround for Humble
+(gz.msgs.Image type on /depth_image topic).
+"""
+
+import rclpy
+from rclpy.node import Node
+from sensor_msgs.msg import Image, CameraInfo
+
+
+class CameraTopicRemap(Node):
+    def __init__(self):
+        super().__init__('camera_topic_remap')
+
+        # --- RGB Image relay ---
+        self.rgb_pub = self.create_publisher(Image, '/intel_realsense_r200_rgb/image_raw', 10)
+        self.rgb_sub = self.create_subscription(
+            Image, '/camera/color/image_raw', self.rgb_callback, 10
+        )
+        self.get_logger().info(
+            'Relaying [/camera/color/image_raw] -> [/intel_realsense_r200_rgb/image_raw]'
+        )
+
+        # --- Depth Image relay ---
+        self.depth_pub = self.create_publisher(
+            Image, '/intel_realsense_r200_depth/depth/image_raw', 10
+        )
+        self.depth_sub = self.create_subscription(
+            Image, '/camera/depth/image_raw', self.depth_callback, 10
+        )
+        self.get_logger().info(
+            'Relaying [/camera/depth/image_raw] -> '
+            '[/intel_realsense_r200_depth/depth/image_raw]'
+        )
+
+        # --- Depth CameraInfo relay (with frame_id fix) ---
+        self.depth_info_pub = self.create_publisher(
+            CameraInfo, '/intel_realsense_r200_depth/camera_info', 10
+        )
+        self.depth_info_sub = self.create_subscription(
+            CameraInfo, '/camera/depth/camera_info', self.depth_info_callback, 10
+        )
+        self.get_logger().info(
+            'Relaying [/camera/depth/camera_info] -> '
+            '[/intel_realsense_r200_depth/camera_info] (frame_id overridden)'
+        )
+
+    def rgb_callback(self, msg: Image):
+        """Forward RGB image as-is."""
+        self.rgb_pub.publish(msg)
+
+    def depth_callback(self, msg: Image):
+        """Forward depth image as-is."""
+        self.depth_pub.publish(msg)
+
+    def depth_info_callback(self, msg: CameraInfo):
+        """Forward depth CameraInfo with corrected frame_id."""
+        msg.header.frame_id = 'realsense_depth_frame'
+        self.depth_info_pub.publish(msg)
+
+
+def main():
+    rclpy.init()
+    node = CameraTopicRemap()
+    rclpy.spin(node)
+    node.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/scripts/scan_frame_fix.py b/src/turtlebot3_simulations/turtlebot3_gazebo/scripts/scan_frame_fix.py
new file mode 100755
index 0000000..9cf43ba
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/scripts/scan_frame_fix.py
@@ -0,0 +1,50 @@
+#!/usr/bin/env python3
+"""
+Relay LaserScan messages while fixing header.frame_id.
+Gz-sim (Harmonic) + ros_gz_bridge (Humble) may publish LaserScan
+with Gazebo-scoped frame_id (e.g., 'burger/base_scan/hls_lfcd_lds')
+instead of the expected 'base_scan'. This node remaps it so that
+slam_toolbox / nav2 can find the correct TF.
+"""
+
+import rclpy
+from rclpy.node import Node
+from sensor_msgs.msg import LaserScan
+
+
+class ScanFrameFix(Node):
+    def __init__(self):
+        super().__init__('scan_frame_fix')
+
+        self.declare_parameter('input_topic', '/scan_raw')
+        self.declare_parameter('output_topic', '/scan')
+        self.declare_parameter('target_frame_id', 'base_scan')
+
+        input_topic = self.get_parameter('input_topic').value
+        output_topic = self.get_parameter('output_topic').value
+        self.target_frame_id = self.get_parameter('target_frame_id').value
+
+        self.pub = self.create_publisher(LaserScan, output_topic, 10)
+        self.sub = self.create_subscription(
+            LaserScan, input_topic, self.callback, 10
+        )
+        self.get_logger().info(
+            f'Relaying [{input_topic}] -> [{output_topic}], '
+            f'overriding frame_id -> {self.target_frame_id}'
+        )
+
+    def callback(self, msg: LaserScan):
+        msg.header.frame_id = self.target_frame_id
+        self.pub.publish(msg)
+
+
+def main():
+    rclpy.init()
+    node = ScanFrameFix()
+    rclpy.spin(node)
+    node.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/src/obstacle1.cpp b/src/turtlebot3_simulations/turtlebot3_gazebo/src/obstacle1.cpp
new file mode 100755
index 0000000..63540ad
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/src/obstacle1.cpp
@@ -0,0 +1,64 @@
+// Copyright 2012 Open Source Robotics Foundation
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// Author: Ryan Shim
+
+#include "turtlebot3_gazebo/obstacle1.hpp"
+
+namespace gazebo
+{
+void Obstacle1::Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/)
+{
+  this->model = _parent;
+
+  gazebo::common::PoseAnimationPtr anim(
+    new gazebo::common::PoseAnimation("move1", 160.0, true));
+
+  gazebo::common::PoseKeyFrame * key;
+
+  key = anim->CreateKeyFrame(0);
+  key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0));
+  key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+
+  key = anim->CreateKeyFrame(10);
+  key->Translation(ignition::math::Vector3d(-0.5, -1.0, 0.0));
+  key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+
+  key = anim->CreateKeyFrame(50);
+  key->Translation(ignition::math::Vector3d(-3.5, -1.0, 0.0));
+  key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+
+  key = anim->CreateKeyFrame(70);
+  key->Translation(ignition::math::Vector3d(-3.7, -3.0, 0.0));
+  key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+
+  key = anim->CreateKeyFrame(90);
+  key->Translation(ignition::math::Vector3d(-3.5, -1.0, 0.0));
+  key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+
+  key = anim->CreateKeyFrame(130);
+  key->Translation(ignition::math::Vector3d(-0.5, -1.0, 0.0));
+  key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+
+  key = anim->CreateKeyFrame(140);
+  key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0));
+  key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+
+  key = anim->CreateKeyFrame(160);
+  key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0));
+  key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+
+  _parent->SetAnimation(anim);
+}
+}  // namespace gazebo
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/src/obstacle2.cpp b/src/turtlebot3_simulations/turtlebot3_gazebo/src/obstacle2.cpp
new file mode 100755
index 0000000..967e282
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/src/obstacle2.cpp
@@ -0,0 +1,80 @@
+// Copyright 2012 Open Source Robotics Foundation
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// Author: Ryan Shim
+
+#include "turtlebot3_gazebo/obstacle2.hpp"
+
+namespace gazebo
+{
+void Obstacle2::Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/)
+{
+  this->model = _parent;
+
+  gazebo::common::PoseAnimationPtr anim(
+    new gazebo::common::PoseAnimation("move2", 140.0, true));
+
+  gazebo::common::PoseKeyFrame * key;
+
+  key = anim->CreateKeyFrame(0);
+  key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0));
+  key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+
+  key = anim->CreateKeyFrame(10);
+  key->Translation(ignition::math::Vector3d(0.7, 0.2, 0.0));
+  key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+
+  key = anim->CreateKeyFrame(40);
+  key->Translation(ignition::math::Vector3d(2.5, 3.5, 0.0));
+  key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+
+  key = anim->CreateKeyFrame(55);
+  key->Translation(ignition::math::Vector3d(0.3, 3.5, 0.0));
+  key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+
+  key = anim->CreateKeyFrame(85);
+  key->Translation(ignition::math::Vector3d(3.5, 1.8, 0.0));
+  key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+
+  key = anim->CreateKeyFrame(100);
+  key->Translation(ignition::math::Vector3d(3.5, 0.0, 0.0));
+  key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+
+  key = anim->CreateKeyFrame(110);
+  key->Translation(ignition::math::Vector3d(2.0, 0.5, 0.0));
+  key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+
+  key = anim->CreateKeyFrame(115);
+  key->Translation(ignition::math::Vector3d(1.5, 1.0, 0.0));
+  key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+
+  key = anim->CreateKeyFrame(120);
+  key->Translation(ignition::math::Vector3d(1.0, 0.5, 0.0));
+  key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+
+  key = anim->CreateKeyFrame(125);
+  key->Translation(ignition::math::Vector3d(0.5, 0.1, 0.0));
+  key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+
+  key = anim->CreateKeyFrame(130);
+  key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0));
+  key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+
+  key = anim->CreateKeyFrame(140);
+  key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0));
+  key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+
+  _parent->SetAnimation(anim);
+}
+}  // namespace gazebo
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/src/obstacles.cpp b/src/turtlebot3_simulations/turtlebot3_gazebo/src/obstacles.cpp
new file mode 100755
index 0000000..2bdfefa
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/src/obstacles.cpp
@@ -0,0 +1,44 @@
+// Copyright 2012 Open Source Robotics Foundation
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// Author: Ryan Shim
+
+#include "turtlebot3_gazebo/obstacles.hpp"
+
+namespace gazebo
+{
+void Obstacles::Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/)
+{
+  this->model = _parent;
+
+  gazebo::common::PoseAnimationPtr anim(
+    new gazebo::common::PoseAnimation("move", 40.0, true));
+
+  gazebo::common::PoseKeyFrame * key;
+
+  key = anim->CreateKeyFrame(0);
+  key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0));
+  key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+
+  key = anim->CreateKeyFrame(20);
+  key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0));
+  key->Rotation(ignition::math::Quaterniond(0, 0, PI));
+
+  key = anim->CreateKeyFrame(40);
+  key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0));
+  key->Rotation(ignition::math::Quaterniond(0, 0, 2 * PI));
+
+  _parent->SetAnimation(anim);
+}
+}  // namespace gazebo
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/src/traffic_bar_plugin.cpp b/src/turtlebot3_simulations/turtlebot3_gazebo/src/traffic_bar_plugin.cpp
new file mode 100755
index 0000000..725f8e0
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/src/traffic_bar_plugin.cpp
@@ -0,0 +1,62 @@
+// Copyright 2025 ROBOTIS CO., LTD.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// Author: Hyungyu Kim
+
+#include "turtlebot3_gazebo/traffic_bar_plugin.hpp"
+
+namespace gazebo
+{
+TrafficBar::TrafficBar()
+: traffic_cycle(10.0),
+  status(0),
+  down_pose(
+    ignition::math::Vector3d(-0.85, 1.26, 0.125),
+    ignition::math::Quaterniond(0.0, 0.0, -1.57)),
+  up_pose(
+    ignition::math::Vector3d(-0.75, 1.11, 0.275),
+    ignition::math::Quaterniond(0.0, -1.57, -1.57))
+{
+}
+void TrafficBar::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
+{
+  this->model = _model;
+  this->world = _model->GetWorld();
+
+  std::cout << this->model->GetName() << " plugin load success!" << std::endl;
+  this->update_connection = event::Events::ConnectWorldUpdateBegin(
+    std::bind(&TrafficBar::OnUpdate, this));
+
+  this->last_time = this->world->SimTime();
+  this->model->SetGravityMode(false);
+}
+void TrafficBar::OnUpdate()
+{
+  common::Time current_time = this->world->SimTime();
+  if ((current_time - this->last_time).Double() >= this->traffic_cycle) {
+    this->model->SetLinearVel(ignition::math::Vector3d(0, 0, 0));
+    this->model->SetAngularVel(ignition::math::Vector3d(0, 0, 0));
+    this->model->SetStatic(false);
+
+    if (status == 0) {
+      this->model->SetWorldPose(up_pose);
+      status = 1;
+    } else {
+      this->model->SetWorldPose(down_pose);
+      status = 0;
+    }
+    this->last_time = current_time;
+  }
+}
+}  // namespace gazebo
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/src/traffic_light_plugin.cpp b/src/turtlebot3_simulations/turtlebot3_gazebo/src/traffic_light_plugin.cpp
new file mode 100755
index 0000000..1a7f728
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/src/traffic_light_plugin.cpp
@@ -0,0 +1,65 @@
+// Copyright 2025 ROBOTIS CO., LTD.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// Author: Hyungyu Kim
+
+#include "turtlebot3_gazebo/traffic_light_plugin.hpp"
+
+namespace gazebo
+{
+TrafficLight::TrafficLight()
+: traffic_cycle(5.0),
+  status(0),
+  textures{"traffic_light_red", "traffic_light_yellow", "traffic_light_green"}
+{
+}
+TrafficLight::~TrafficLight()
+{
+}
+void TrafficLight::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
+{
+  this->model = _model;
+  this->world = _model->GetWorld();
+  this->node = gazebo::transport::NodePtr(new gazebo::transport::Node());
+  this->node->Init();
+  this->visPub = this->node->Advertise<gazebo::msgs::Visual>("/gazebo/default/visual");
+  this->msg.set_name(this->model->GetName() + "::traffic_light");
+  this->msg.set_parent_name(this->model->GetName());
+  std::cout << this->model->GetName() << " plugin load success!" << std::endl;
+  this->update_connection = event::Events::ConnectWorldUpdateBegin(
+    std::bind(&TrafficLight::OnUpdate, this));
+  this->last_time = this->world->SimTime();
+}
+void TrafficLight::OnUpdate()
+{
+  common::Time current_time = this->world->SimTime();
+  if ((current_time - this->last_time).Double() >= this->traffic_cycle) {
+    if (status == 0) {
+      status = 1;
+      traffic_cycle = 1.0;
+    } else if (status == 1) {
+      status = 2;
+      traffic_cycle = 5.0;
+    } else if (status == 2) {
+      status = 0;
+      traffic_cycle = 5.0;
+    }
+
+    msg.mutable_material()->mutable_script()->set_name(textures[status]);
+
+    visPub->Publish(this->msg);
+    this->last_time = current_time;
+  }
+}
+}  // namespace gazebo
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/src/turtlebot3_drive.cpp b/src/turtlebot3_simulations/turtlebot3_gazebo/src/turtlebot3_drive.cpp
new file mode 100755
index 0000000..2404ca1
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/src/turtlebot3_drive.cpp
@@ -0,0 +1,174 @@
+// Copyright 2019 ROBOTIS CO., LTD.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// Authors: Taehun Lim (Darby), Ryan Shim
+
+#include "turtlebot3_gazebo/turtlebot3_drive.hpp"
+
+#include <memory>
+
+using namespace std::chrono_literals;
+
+Turtlebot3Drive::Turtlebot3Drive()
+: Node("turtlebot3_drive_node")
+{
+  /************************************************************
+  ** Initialise variables
+  ************************************************************/
+  scan_data_[0] = 0.0;
+  scan_data_[1] = 0.0;
+  scan_data_[2] = 0.0;
+
+  robot_pose_ = 0.0;
+  prev_robot_pose_ = 0.0;
+
+  /************************************************************
+  ** Initialise ROS publishers and subscribers
+  ************************************************************/
+  auto qos = rclcpp::QoS(rclcpp::KeepLast(10));
+
+  // Initialise publishers
+  cmd_vel_pub_ = this->create_publisher<geometry_msgs::msg::Twist>("cmd_vel", qos);
+
+  // Initialise subscribers
+  scan_sub_ = this->create_subscription<sensor_msgs::msg::LaserScan>(
+    "scan", \
+    rclcpp::SensorDataQoS(), \
+    std::bind(
+      &Turtlebot3Drive::scan_callback, \
+      this, \
+      std::placeholders::_1));
+  odom_sub_ = this->create_subscription<nav_msgs::msg::Odometry>(
+    "odom", qos, std::bind(&Turtlebot3Drive::odom_callback, this, std::placeholders::_1));
+
+  /************************************************************
+  ** Initialise ROS timers
+  ************************************************************/
+  update_timer_ = this->create_wall_timer(10ms, std::bind(&Turtlebot3Drive::update_callback, this));
+
+  RCLCPP_INFO(this->get_logger(), "Turtlebot3 simulation node has been initialised");
+}
+
+Turtlebot3Drive::~Turtlebot3Drive()
+{
+  RCLCPP_INFO(this->get_logger(), "Turtlebot3 simulation node has been terminated");
+}
+
+/********************************************************************************
+** Callback functions for ROS subscribers
+********************************************************************************/
+void Turtlebot3Drive::odom_callback(const nav_msgs::msg::Odometry::SharedPtr msg)
+{
+  tf2::Quaternion q(
+    msg->pose.pose.orientation.x,
+    msg->pose.pose.orientation.y,
+    msg->pose.pose.orientation.z,
+    msg->pose.pose.orientation.w);
+  tf2::Matrix3x3 m(q);
+  double roll, pitch, yaw;
+  m.getRPY(roll, pitch, yaw);
+
+  robot_pose_ = yaw;
+}
+
+void Turtlebot3Drive::scan_callback(const sensor_msgs::msg::LaserScan::SharedPtr msg)
+{
+  uint16_t scan_angle[3] = {0, 30, 330};
+
+  for (int num = 0; num < 3; num++) {
+    if (std::isinf(msg->ranges.at(scan_angle[num]))) {
+      scan_data_[num] = msg->range_max;
+    } else {
+      scan_data_[num] = msg->ranges.at(scan_angle[num]);
+    }
+  }
+}
+
+void Turtlebot3Drive::update_cmd_vel(double linear, double angular)
+{
+  geometry_msgs::msg::Twist cmd_vel;
+  cmd_vel.linear.x = linear;
+  cmd_vel.angular.z = angular;
+
+  cmd_vel_pub_->publish(cmd_vel);
+}
+
+/********************************************************************************
+** Update functions
+********************************************************************************/
+void Turtlebot3Drive::update_callback()
+{
+  static uint8_t turtlebot3_state_num = 0;
+  double escape_range = 30.0 * DEG2RAD;
+  double check_forward_dist = 0.7;
+  double check_side_dist = 0.6;
+
+  switch (turtlebot3_state_num) {
+    case GET_TB3_DIRECTION:
+      if (scan_data_[CENTER] > check_forward_dist) {
+        if (scan_data_[LEFT] < check_side_dist) {
+          prev_robot_pose_ = robot_pose_;
+          turtlebot3_state_num = TB3_RIGHT_TURN;
+        } else if (scan_data_[RIGHT] < check_side_dist) {
+          prev_robot_pose_ = robot_pose_;
+          turtlebot3_state_num = TB3_LEFT_TURN;
+        } else {
+          turtlebot3_state_num = TB3_DRIVE_FORWARD;
+        }
+      }
+
+      if (scan_data_[CENTER] < check_forward_dist) {
+        prev_robot_pose_ = robot_pose_;
+        turtlebot3_state_num = TB3_RIGHT_TURN;
+      }
+      break;
+
+    case TB3_DRIVE_FORWARD:
+      update_cmd_vel(LINEAR_VELOCITY, 0.0);
+      turtlebot3_state_num = GET_TB3_DIRECTION;
+      break;
+
+    case TB3_RIGHT_TURN:
+      if (fabs(prev_robot_pose_ - robot_pose_) >= escape_range) {
+        turtlebot3_state_num = GET_TB3_DIRECTION;
+      } else {
+        update_cmd_vel(0.0, -1 * ANGULAR_VELOCITY);
+      }
+      break;
+
+    case TB3_LEFT_TURN:
+      if (fabs(prev_robot_pose_ - robot_pose_) >= escape_range) {
+        turtlebot3_state_num = GET_TB3_DIRECTION;
+      } else {
+        update_cmd_vel(0.0, ANGULAR_VELOCITY);
+      }
+      break;
+
+    default:
+      turtlebot3_state_num = GET_TB3_DIRECTION;
+      break;
+  }
+}
+
+/*******************************************************************************
+** Main
+*******************************************************************************/
+int main(int argc, char ** argv)
+{
+  rclcpp::init(argc, argv);
+  rclcpp::spin(std::make_shared<Turtlebot3Drive>());
+  rclcpp::shutdown();
+
+  return 0;
+}
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/urdf/common_properties.urdf b/src/turtlebot3_simulations/turtlebot3_gazebo/urdf/common_properties.urdf
new file mode 100755
index 0000000..7aea0c4
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/urdf/common_properties.urdf
@@ -0,0 +1,45 @@
+<?xml version="1.0" ?>
+
+<robot name="xacro_properties" 
+  xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <!-- Init colour -->
+  <material name="black">
+    <color rgba="0.0 0.0 0.0 1.0"/>
+  </material>
+
+  <material name="dark">
+    <color rgba="0.3 0.3 0.3 1.0"/>
+  </material>
+  <material name="light_black">
+    <color rgba="0.4 0.4 0.4 1.0"/>
+  </material>
+
+  <material name="blue">
+    <color rgba="0.0 0.0 0.8 1.0"/>
+  </material>
+
+  <material name="green">
+    <color rgba="0.0 0.8 0.0 1.0"/>
+  </material>
+
+  <material name="grey">
+    <color rgba="0.5 0.5 0.5 1.0"/>
+  </material>
+
+  <material name="orange">
+    <color rgba="${255/255} ${108/255} ${10/255} 1.0"/>
+  </material>
+
+  <material name="brown">
+    <color rgba="${222/255} ${207/255} ${195/255} 1.0"/>
+  </material>
+
+  <material name="red">
+    <color rgba="0.8 0.0 0.0 1.0"/>
+  </material>
+
+  <material name="white">
+    <color rgba="1.0 1.0 1.0 1.0"/>
+  </material>
+</robot>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/urdf/turtlebot3_burger.urdf b/src/turtlebot3_simulations/turtlebot3_gazebo/urdf/turtlebot3_burger.urdf
new file mode 100755
index 0000000..6dd3ab9
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/urdf/turtlebot3_burger.urdf
@@ -0,0 +1,256 @@
+<?xml version="1.0" ?>
+<robot name="turtlebot3_burger"
+  xmlns:xacro="http://ros.org/wiki/xacro">
+  <!-- <xacro:include filename="$(find turtlebot3_description)/urdf/common_properties.urdf"/> -->
+
+  <!-- Init colour -->
+  <material name="black">
+      <color rgba="0.0 0.0 0.0 1.0"/>
+  </material>
+
+  <material name="dark">
+    <color rgba="0.3 0.3 0.3 1.0"/>
+  </material>
+
+  <material name="light_black">
+    <color rgba="0.4 0.4 0.4 1.0"/>
+  </material>
+
+  <material name="blue">
+    <color rgba="0.0 0.0 0.8 1.0"/>
+  </material>
+
+  <material name="green">
+    <color rgba="0.0 0.8 0.0 1.0"/>
+  </material>
+
+  <material name="grey">
+    <color rgba="0.5 0.5 0.5 1.0"/>
+  </material>
+
+  <material name="orange">
+    <color rgba="1.0 0.4235 0.0392 1.0"/>
+  </material>
+
+  <material name="brown">
+    <color rgba="0.8706 0.8118 0.7647 1.0"/>
+  </material>
+
+  <material name="red">
+    <color rgba="0.8 0.0 0.0 1.0"/>
+  </material>
+
+  <material name="white">
+    <color rgba="1.0 1.0 1.0 1.0"/>
+  </material>
+
+  <link name="base_footprint"/>
+
+  <joint name="base_joint" type="fixed">
+    <parent link="base_footprint"/>
+    <child link="base_link"/>
+    <origin xyz="0.0 0.0 0.010" rpy="0 0 0"/>
+  </joint>
+
+  <link name="base_link">
+    <visual>
+      <origin xyz="-0.032 0 0.0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://turtlebot3_gazebo/models/turtlebot3_common/meshes/bases/burger_base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="light_black"/>
+    </visual>
+
+    <collision>
+      <origin xyz="-0.032 0 0.070" rpy="0 0 0"/>
+      <geometry>
+        <box size="0.140 0.140 0.143"/>
+      </geometry>
+    </collision>
+
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="8.2573504e-01"/>
+      <inertia ixx="2.2124416e-03" ixy="-1.2294101e-05" ixz="3.4938785e-05" iyy="2.1193702e-03" iyz="-5.0120904e-06" izz="2.0064271e-03" />
+    </inertial>
+  </link>
+
+  <joint name="wheel_left_joint" type="continuous">
+    <parent link="base_link"/>
+    <child link="wheel_left_link"/>
+    <origin xyz="0.0 0.08 0.023" rpy="-1.57 0 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+
+  <link name="wheel_left_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="1.57 0 0"/>
+      <geometry>
+        <mesh filename="package://turtlebot3_gazebo/models/turtlebot3_common/meshes/wheels/left_tire.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="dark"/>
+    </visual>
+
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <cylinder length="0.018" radius="0.033"/>
+      </geometry>
+    </collision>
+
+    <inertial>
+      <origin xyz="0 0 0" />
+      <mass value="2.8498940e-02" />
+      <inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09" iyy="1.1192413e-05" iyz="-1.4400107e-11" izz="2.0712558e-05" />
+    </inertial>
+  </link>
+
+  <joint name="wheel_right_joint" type="continuous">
+    <parent link="base_link"/>
+    <child link="wheel_right_link"/>
+    <origin xyz="0.0 -0.080 0.023" rpy="-1.57 0 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+
+  <link name="wheel_right_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="1.57 0 0"/>
+      <geometry>
+        <mesh filename="package://turtlebot3_gazebo/models/turtlebot3_common/meshes/wheels/right_tire.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="dark"/>
+    </visual>
+
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <cylinder length="0.018" radius="0.033"/>
+      </geometry>
+    </collision>
+
+    <inertial>
+      <origin xyz="0 0 0" />
+      <mass value="2.8498940e-02" />
+      <inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09" iyy="1.1192413e-05" iyz="-1.4400107e-11" izz="2.0712558e-05" />
+    </inertial>
+  </link>
+
+  <joint name="caster_back_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="caster_back_link"/>
+    <origin xyz="-0.081 0 -0.004" rpy="-1.57 0 0"/>
+  </joint>
+
+  <link name="caster_back_link">
+    <collision>
+      <origin xyz="0 0.001 0" rpy="0 0 0"/>
+      <geometry>
+        <box size="0.030 0.009 0.020"/>
+      </geometry>
+    </collision>
+
+    <inertial>
+      <origin xyz="0 0 0" />
+      <mass value="0.005" />
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
+    </inertial>
+  </link>
+
+  <joint name="imu_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="imu_link"/>
+    <origin xyz="-0.032 0 0.068" rpy="0 0 0"/>
+  </joint>
+
+  <link name="imu_link"/>
+
+  <joint name="scan_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="base_scan"/>
+    <origin xyz="-0.032 0 0.172" rpy="0 0 0"/>
+  </joint>
+
+  <link name="base_scan">
+    <visual>
+      <origin xyz="0 0 0.0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://turtlebot3_gazebo/models/turtlebot3_common/meshes/sensors/lds.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="dark"/>
+    </visual>
+
+    <collision>
+      <origin xyz="0.015 0 -0.0065" rpy="0 0 0"/>
+      <geometry>
+        <cylinder length="0.0315" radius="0.055"/>
+      </geometry>
+    </collision>
+
+    <inertial>
+      <mass value="0.114" />
+      <origin xyz="0 0 0" />
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
+    </inertial>
+  </link>
+
+
+
+
+  <joint name="camera_joint" type="fixed">
+    <origin xyz="0.040 -0.000 0.110" rpy="0 0 0"/>
+    <parent link="base_link"/>
+    <child link="realsense_link"/>
+  </joint>
+
+
+  <link name="realsense_link">
+    <visual>
+     <origin xyz="0 0 0" rpy="1.57 0 1.57"/>
+      <geometry>
+       <mesh filename="package://turtlebot3_description/meshes/sensors/r200.dae" />
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0.003 0.065 0.007" rpy="0 0 0"/>
+      <geometry>
+        <box size="0.012 0.132 0.020"/>
+      </geometry>
+    </collision>
+
+
+  </link>
+
+  <joint name="camera_rgb_joint" type="fixed">
+    <origin xyz="0.005 0.018 0.013" rpy="-1.57 0 -1.57"/>
+    <!-- <origin xyz="${r200_cam_rgb_px} ${r200_cam_rgb_py} ${r200_cam_rgb_pz}" rpy="0 0 0"/> -->
+    <parent link="realsense_link"/>
+    <child link="camera_rgb_frame"/>
+  </joint>
+  <link name="camera_rgb_frame"/>
+
+  <joint name="camera_rgb_optical_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="-1.57 0 -1.57"/>
+    <parent link="camera_rgb_frame"/>
+    <child link="camera_rgb_optical_frame"/>
+  </joint>
+  <link name="camera_rgb_optical_frame"/>
+
+  <joint name="realsense_depth_joint" type="fixed">
+    <origin xyz="0.005 0.028 0.013" rpy="-1.57 0 -1.57"/>
+    <!-- <origin xyz="${r200_cam_rgb_px} ${r200_cam_rgb_py + r200_cam_depth_offset} ${r200_cam_rgb_pz}" rpy="0 0 0"/> -->
+    <parent link="realsense_link"/>
+    <child link="realsense_depth_frame"/>
+  </joint>
+  <link name="realsense_depth_frame"/>
+
+  <joint name="camera_depth_optical_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="-1.57 0 -1.57"/>
+    <parent link="realsense_depth_frame"/>
+    <child link="camera_depth_optical_frame"/>
+  </joint>
+  <link name="camera_depth_optical_frame"/>
+
+</robot>
+
+
+
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/urdf/turtlebot3_burger_cam.urdf b/src/turtlebot3_simulations/turtlebot3_gazebo/urdf/turtlebot3_burger_cam.urdf
new file mode 100755
index 0000000..a2b707d
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/urdf/turtlebot3_burger_cam.urdf
@@ -0,0 +1,223 @@
+<?xml version="1.0" ?>
+<robot name="turtlebot3_burger_cam"
+  xmlns:xacro="http://ros.org/wiki/xacro">
+  
+  <material name="black">
+      <color rgba="0.0 0.0 0.0 1.0"/>
+  </material>
+
+  <material name="dark">
+    <color rgba="0.3 0.3 0.3 1.0"/>
+  </material>
+
+  <material name="light_black">
+    <color rgba="0.4 0.4 0.4 1.0"/>
+  </material>
+
+  <material name="blue">
+    <color rgba="0.0 0.0 0.8 1.0"/>
+  </material>
+
+  <material name="green">
+    <color rgba="0.0 0.8 0.0 1.0"/>
+  </material>
+
+  <material name="grey">
+    <color rgba="0.5 0.5 0.5 1.0"/>
+  </material>
+
+  <material name="orange">
+    <color rgba="1.0 0.4235 0.0392 1.0"/>
+  </material>
+
+  <material name="brown">
+    <color rgba="0.8706 0.8118 0.7647 1.0"/>
+  </material>
+
+  <material name="red">
+    <color rgba="0.8 0.0 0.0 1.0"/>
+  </material>
+
+  <material name="white">
+    <color rgba="1.0 1.0 1.0 1.0"/>
+  </material>
+
+  <link name="base_footprint"/>
+
+  <joint name="base_joint" type="fixed">
+    <parent link="base_footprint"/>
+    <child link="base_link"/>
+    <origin xyz="0.0 0.0 0.010" rpy="0 0 0"/>
+  </joint>
+
+  <link name="base_link">
+    <visual>
+      <origin xyz="-0.032 0 0.0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://turtlebot3_gazebo/models/turtlebot3_common/meshes/bases/burger_base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="light_black"/>
+    </visual>
+
+    <collision>
+      <origin xyz="-0.032 0 0.070" rpy="0 0 0"/>
+      <geometry>
+        <box size="0.140 0.140 0.143"/>
+      </geometry>
+    </collision>
+
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="8.2573504e-01"/>
+      <inertia ixx="2.2124416e-03" ixy="-1.2294101e-05" ixz="3.4938785e-05" iyy="2.1193702e-03" iyz="-5.0120904e-06" izz="2.0064271e-03" />
+    </inertial>
+  </link>
+
+  <joint name="wheel_left_joint" type="continuous">
+    <parent link="base_link"/>
+    <child link="wheel_left_link"/>
+    <origin xyz="0.0 0.08 0.023" rpy="-1.57 0 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+
+  <link name="wheel_left_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="1.57 0 0"/>
+      <geometry>
+        <mesh filename="package://turtlebot3_gazebo/models/turtlebot3_common/meshes/wheels/left_tire.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="dark"/>
+    </visual>
+
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <cylinder length="0.018" radius="0.033"/>
+      </geometry>
+    </collision>
+
+    <inertial>
+      <origin xyz="0 0 0" />
+      <mass value="2.8498940e-02" />
+      <inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09" iyy="1.1192413e-05" iyz="-1.4400107e-11" izz="2.0712558e-05" />
+    </inertial>
+  </link>
+
+  <joint name="wheel_right_joint" type="continuous">
+    <parent link="base_link"/>
+    <child link="wheel_right_link"/>
+    <origin xyz="0.0 -0.080 0.023" rpy="-1.57 0 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+
+  <link name="wheel_right_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="1.57 0 0"/>
+      <geometry>
+        <mesh filename="package://turtlebot3_gazebo/models/turtlebot3_common/meshes/wheels/right_tire.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="dark"/>
+    </visual>
+
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <cylinder length="0.018" radius="0.033"/>
+      </geometry>
+    </collision>
+
+    <inertial>
+      <origin xyz="0 0 0" />
+      <mass value="2.8498940e-02" />
+      <inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09" iyy="1.1192413e-05" iyz="-1.4400107e-11" izz="2.0712558e-05" />
+    </inertial>
+  </link>
+
+  <joint name="caster_back_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="caster_back_link"/>
+    <origin xyz="-0.081 0 -0.004" rpy="-1.57 0 0"/>
+  </joint>
+
+  <link name="caster_back_link">
+    <collision>
+      <origin xyz="0 0.001 0" rpy="0 0 0"/>
+      <geometry>
+        <box size="0.030 0.009 0.020"/>
+      </geometry>
+    </collision>
+
+    <inertial>
+      <origin xyz="0 0 0" />
+      <mass value="0.005" />
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
+    </inertial>
+  </link>
+
+  <joint name="imu_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="imu_link"/>
+    <origin xyz="-0.032 0 0.068" rpy="0 0 0"/>
+  </joint>
+
+  <link name="imu_link"/>
+
+  <joint name="scan_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="base_scan"/>
+    <origin xyz="-0.032 0 0.172" rpy="0 0 0"/>
+  </joint>
+
+  <link name="base_scan">
+    <visual>
+      <origin xyz="0 0 0.0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://turtlebot3_gazebo/models/turtlebot3_common/meshes/sensors/lds.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="dark"/>
+    </visual>
+
+    <collision>
+      <origin xyz="0.015 0 -0.0065" rpy="0 0 0"/>
+      <geometry>
+        <cylinder length="0.0315" radius="0.055"/>
+      </geometry>
+    </collision>
+
+    <inertial>
+      <mass value="0.114" />
+      <origin xyz="0 0 0" />
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
+    </inertial>
+  </link>
+  
+  <joint name="camera_joint" type="fixed">
+    <origin xyz="0.040 -0.000 0.110" rpy="0 0 0"/>
+    <parent link="base_link"/>
+    <child link="camera_link"/>
+  </joint>
+
+  <link name="camera_link">
+    <collision>
+      <origin xyz="0.005 0.000 0.013" rpy="0 0 0"/>
+      <geometry>
+        <box size="0.015 0.030 0.027"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="camera_rgb_joint" type="fixed">
+    <origin xyz="0.003 0.000 0.009" rpy="0 0 0"/>
+    <parent link="camera_link"/>
+    <child link="camera_rgb_frame"/>
+  </joint>
+  <link name="camera_rgb_frame"/>
+
+  <joint name="camera_rgb_optical_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="-1.5707 0 -1.57"/>
+    <parent link="camera_rgb_frame"/>
+    <child link="camera_rgb_optical_frame"/>
+  </joint>
+  <link name="camera_rgb_optical_frame"/>
+
+</robot>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/urdf/turtlebot3_waffle.urdf b/src/turtlebot3_simulations/turtlebot3_gazebo/urdf/turtlebot3_waffle.urdf
new file mode 100755
index 0000000..f410ae8
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/urdf/turtlebot3_waffle.urdf
@@ -0,0 +1,295 @@
+<?xml version="1.0" ?>
+<robot name="turtlebot3_waffle" xmlns:xacro="http://ros.org/wiki/xacro">
+  <!-- <xacro:include filename="$(find turtlebot3_description)/urdf/common_properties.urdf"/>
+
+  <xacro:property name="r200_cam_rgb_px" value="0.005"/>
+  <xacro:property name="r200_cam_rgb_py" value="0.018"/>
+  <xacro:property name="r200_cam_rgb_pz" value="0.013"/>
+  <xacro:property name="r200_cam_depth_offset" value="0.01"/> -->
+
+  <!-- Init colour -->
+  <material name="black">
+      <color rgba="0.0 0.0 0.0 1.0"/>
+  </material>
+
+  <material name="dark">
+    <color rgba="0.3 0.3 0.3 1.0"/>
+  </material>
+
+  <material name="light_black">
+    <color rgba="0.4 0.4 0.4 1.0"/>
+  </material>
+
+  <material name="blue">
+    <color rgba="0.0 0.0 0.8 1.0"/>
+  </material>
+
+  <material name="green">
+    <color rgba="0.0 0.8 0.0 1.0"/>
+  </material>
+
+  <material name="grey">
+    <color rgba="0.5 0.5 0.5 1.0"/>
+  </material>
+
+  <material name="orange">
+    <color rgba="1.0 0.4235 0.0392 1.0"/>
+  </material>
+
+  <material name="brown">
+    <color rgba="0.8706 0.8118 0.7647 1.0"/>
+  </material>
+
+  <material name="red">
+    <color rgba="0.8 0.0 0.0 1.0"/>
+  </material>
+
+  <material name="white">
+    <color rgba="1.0 1.0 1.0 1.0"/>
+  </material>
+
+  <link name="base_footprint"/>
+
+  <joint name="base_joint" type="fixed">
+    <parent link="base_footprint"/>
+    <child link="base_link" />
+    <origin xyz="0 0 0.010" rpy="0 0 0"/>
+  </joint>
+
+  <link name="base_link">
+    <visual>
+      <origin xyz="-0.064 0 0.0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://turtlebot3_description/meshes/bases/waffle_base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="light_black"/>
+    </visual>
+
+    <collision>
+      <origin xyz="-0.064 0 0.047" rpy="0 0 0"/>
+      <geometry>
+        <box size="0.266 0.266 0.094"/>
+      </geometry>
+    </collision>
+
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="1.3729096e+00"/>
+      <inertia ixx="8.7002718e-03" ixy="-4.7576583e-05" ixz="1.1160499e-04"
+               iyy="8.6195418e-03" iyz="-3.5422299e-06"
+               izz="1.4612727e-02" />
+    </inertial>
+  </link>
+
+  <joint name="wheel_left_joint" type="continuous">
+    <parent link="base_link"/>
+    <child link="wheel_left_link"/>
+    <origin xyz="0.0 0.144 0.023" rpy="-1.57 0 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+
+  <link name="wheel_left_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="1.57 0 0"/>
+      <geometry>
+        <mesh filename="package://turtlebot3_description/meshes/wheels/left_tire.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="dark"/>
+    </visual>
+
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <cylinder length="0.018" radius="0.033"/>
+      </geometry>
+    </collision>
+
+    <inertial>
+      <origin xyz="0 0 0" />
+      <mass value="2.8498940e-02" />
+      <inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09"
+               iyy="1.1192413e-05" iyz="-1.4400107e-11"
+               izz="2.0712558e-05" />
+      </inertial>
+  </link>
+
+  <joint name="wheel_right_joint" type="continuous">
+    <parent link="base_link"/>
+    <child link="wheel_right_link"/>
+    <origin xyz="0.0 -0.144 0.023" rpy="-1.57 0 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+
+  <link name="wheel_right_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="1.57 0 0"/>
+      <geometry>
+        <mesh filename="package://turtlebot3_description/meshes/wheels/right_tire.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="dark"/>
+    </visual>
+
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <cylinder length="0.018" radius="0.033"/>
+      </geometry>
+    </collision>
+
+    <inertial>
+      <origin xyz="0 0 0" />
+      <mass value="2.8498940e-02" />
+      <inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09"
+               iyy="1.1192413e-05" iyz="-1.4400107e-11"
+               izz="2.0712558e-05" />
+      </inertial>
+  </link>
+
+  <joint name="caster_back_right_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="caster_back_right_link"/>
+    <origin xyz="-0.177 -0.064 -0.004" rpy="-1.57 0 0"/>
+  </joint>
+
+  <link name="caster_back_right_link">
+    <collision>
+      <origin xyz="0 0.001 0" rpy="0 0 0"/>
+      <geometry>
+        <box size="0.030 0.009 0.020"/>
+      </geometry>
+    </collision>
+
+    <inertial>
+      <origin xyz="0 0 0" />
+      <mass value="0.005" />
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0"
+               iyy="0.001" iyz="0.0"
+               izz="0.001" />
+    </inertial>
+  </link>
+
+  <joint name="caster_back_left_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="caster_back_left_link"/>
+    <origin xyz="-0.177 0.064 -0.004" rpy="-1.57 0 0"/>
+  </joint>
+
+  <link name="caster_back_left_link">
+    <collision>
+      <origin xyz="0 0.001 0" rpy="0 0 0"/>
+      <geometry>
+        <box size="0.030 0.009 0.020"/>
+      </geometry>
+    </collision>
+
+    <inertial>
+      <origin xyz="0 0 0" />
+      <mass value="0.005" />
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0"
+               iyy="0.001" iyz="0.0"
+               izz="0.001" />
+    </inertial>
+  </link>
+
+  <joint name="imu_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="imu_link"/>
+    <origin xyz="0.0 0 0.068" rpy="0 0 0"/>
+  </joint>
+
+  <link name="imu_link"/>
+
+  <joint name="scan_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="base_scan"/>
+    <origin xyz="-0.064 0 0.122" rpy="0 0 0"/>
+  </joint>
+
+  <link name="base_scan">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://turtlebot3_description/meshes/sensors/lds.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="dark"/>
+    </visual>
+
+    <collision>
+      <origin xyz="0.015 0 -0.0065" rpy="0 0 0"/>
+      <geometry>
+        <cylinder length="0.0315" radius="0.055"/>
+      </geometry>
+    </collision>
+
+    <inertial>
+      <mass value="0.114" />
+      <origin xyz="0 0 0" />
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0"
+               iyy="0.001" iyz="0.0"
+               izz="0.001" />
+    </inertial>
+  </link>
+
+  <joint name="camera_joint" type="fixed">
+    <origin xyz="0.064 -0.065 0.094" rpy="0 0 0"/>
+    <parent link="base_link"/>
+    <child link="realsense_link"/>
+  </joint>
+
+  <link name="realsense_link">
+    <visual>
+     <origin xyz="0 0 0" rpy="1.57 0 1.57"/>
+      <geometry>
+       <mesh filename="package://turtlebot3_description/meshes/sensors/r200.dae" />
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0.003 0.065 0.007" rpy="0 0 0"/>
+      <geometry>
+        <box size="0.012 0.132 0.020"/>
+      </geometry>
+    </collision>
+
+    <!-- This inertial field needs doesn't contain reliable data!! -->
+<!--   <inertial>
+      <mass value="0.564" />
+      <origin xyz="0 0 0" />
+      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0"
+               iyy="0.000498940" iyz="0.0"
+               izz="0.003879257" />
+    </inertial>-->
+  </link>
+
+  <joint name="camera_rgb_joint" type="fixed">
+    <origin xyz="0.005 0.018 0.013" rpy="-1.57 0 -1.57"/>
+    <!-- <origin xyz="${r200_cam_rgb_px} ${r200_cam_rgb_py} ${r200_cam_rgb_pz}" rpy="0 0 0"/> -->
+    <parent link="realsense_link"/>
+    <child link="camera_rgb_frame"/>
+  </joint>
+  <link name="camera_rgb_frame"/>
+
+  <joint name="camera_rgb_optical_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="-1.57 0 -1.57"/>
+    <parent link="camera_rgb_frame"/>
+    <child link="camera_rgb_optical_frame"/>
+  </joint>
+  <link name="camera_rgb_optical_frame"/>
+
+  <joint name="realsense_depth_joint" type="fixed">
+    <origin xyz="0.005 0.028 0.013" rpy="-1.57 0 -1.57"/>
+    <!-- <origin xyz="${r200_cam_rgb_px} ${r200_cam_rgb_py + r200_cam_depth_offset} ${r200_cam_rgb_pz}" rpy="0 0 0"/> -->
+    <parent link="realsense_link"/>
+    <child link="realsense_depth_frame"/>
+  </joint>
+  <link name="realsense_depth_frame"/>
+
+  <joint name="camera_depth_optical_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="-1.57 0 -1.57"/>
+    <parent link="realsense_depth_frame"/>
+    <child link="camera_depth_optical_frame"/>
+  </joint>
+  <link name="camera_depth_optical_frame"/>
+
+</robot>
+
+
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/urdf/turtlebot3_waffle_pi.urdf b/src/turtlebot3_simulations/turtlebot3_gazebo/urdf/turtlebot3_waffle_pi.urdf
new file mode 100755
index 0000000..7e496f6
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/urdf/turtlebot3_waffle_pi.urdf
@@ -0,0 +1,257 @@
+<?xml version="1.0" ?>
+<robot name="turtlebot3_waffle_pi" xmlns:xacro="http://ros.org/wiki/xacro">
+  <!-- <xacro:include filename="$(find turtlebot3_description)/urdf/common_properties.urdf"/> -->
+
+  <!-- Init colour -->
+  <material name="black">
+      <color rgba="0.0 0.0 0.0 1.0"/>
+  </material>
+
+  <material name="dark">
+    <color rgba="0.3 0.3 0.3 1.0"/>
+  </material>
+
+  <material name="light_black">
+    <color rgba="0.4 0.4 0.4 1.0"/>
+  </material>
+
+  <material name="blue">
+    <color rgba="0.0 0.0 0.8 1.0"/>
+  </material>
+
+  <material name="green">
+    <color rgba="0.0 0.8 0.0 1.0"/>
+  </material>
+
+  <material name="grey">
+    <color rgba="0.5 0.5 0.5 1.0"/>
+  </material>
+
+  <material name="orange">
+    <color rgba="1.0 0.4235 0.0392 1.0"/>
+  </material>
+
+  <material name="brown">
+    <color rgba="0.8706 0.8118 0.7647 1.0"/>
+  </material>
+
+  <material name="red">
+    <color rgba="0.8 0.0 0.0 1.0"/>
+  </material>
+
+  <material name="white">
+    <color rgba="1.0 1.0 1.0 1.0"/>
+  </material>
+
+  <link name="base_footprint"/>
+
+  <joint name="base_joint" type="fixed">
+    <parent link="base_footprint"/>
+    <child link="base_link" />
+    <origin xyz="0 0 0.010" rpy="0 0 0"/>
+  </joint>
+
+  <link name="base_link">
+    <visual>
+      <origin xyz="-0.064 0 0.0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://turtlebot3_gazebo/models/turtlebot3_common/meshes/bases/waffle_pi_base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="light_black"/>
+    </visual>
+
+    <collision>
+      <origin xyz="-0.064 0 0.047" rpy="0 0 0"/>
+      <geometry>
+        <box size="0.266 0.266 0.094"/>
+      </geometry>
+    </collision>
+
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="1.3729096e+00"/>
+      <inertia ixx="8.7002718e-03" ixy="-4.7576583e-05" ixz="1.1160499e-04"
+               iyy="8.6195418e-03" iyz="-3.5422299e-06"
+               izz="1.4612727e-02" />
+    </inertial>
+  </link>
+
+  <joint name="wheel_left_joint" type="continuous">
+    <parent link="base_link"/>
+    <child link="wheel_left_link"/>
+    <origin xyz="0.0 0.144 0.023" rpy="-1.57 0 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+
+  <link name="wheel_left_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="1.57 0 0"/>
+      <geometry>
+        <mesh filename="package://turtlebot3_gazebo/models/turtlebot3_common/meshes/wheels/left_tire.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="dark"/>
+    </visual>
+
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <cylinder length="0.018" radius="0.033"/>
+      </geometry>
+    </collision>
+
+    <inertial>
+      <origin xyz="0 0 0" />
+      <mass value="2.8498940e-02" />
+      <inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09"
+               iyy="1.1192413e-05" iyz="-1.4400107e-11"
+               izz="2.0712558e-05" />
+      </inertial>
+  </link>
+
+  <joint name="wheel_right_joint" type="continuous">
+    <parent link="base_link"/>
+    <child link="wheel_right_link"/>
+    <origin xyz="0.0 -0.144 0.023" rpy="-1.57 0 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+
+  <link name="wheel_right_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="1.57 0 0"/>
+      <geometry>
+        <mesh filename="package://turtlebot3_gazebo/models/turtlebot3_common/meshes/wheels/right_tire.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="dark"/>
+    </visual>
+
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <cylinder length="0.018" radius="0.033"/>
+      </geometry>
+    </collision>
+
+    <inertial>
+      <origin xyz="0 0 0" />
+      <mass value="2.8498940e-02" />
+      <inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09"
+               iyy="1.1192413e-05" iyz="-1.4400107e-11"
+               izz="2.0712558e-05" />
+      </inertial>
+  </link>
+
+  <joint name="caster_back_right_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="caster_back_right_link"/>
+    <origin xyz="-0.177 -0.064 -0.004" rpy="-1.57 0 0"/>
+  </joint>
+
+  <link name="caster_back_right_link">
+    <collision>
+      <origin xyz="0 0.001 0" rpy="0 0 0"/>
+      <geometry>
+        <box size="0.030 0.009 0.020"/>
+      </geometry>
+    </collision>
+
+    <inertial>
+      <origin xyz="0 0 0" />
+      <mass value="0.005" />
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0"
+               iyy="0.001" iyz="0.0"
+               izz="0.001" />
+    </inertial>
+  </link>
+
+  <joint name="caster_back_left_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="caster_back_left_link"/>
+    <origin xyz="-0.177 0.064 -0.004" rpy="-1.57 0 0"/>
+  </joint>
+
+  <link name="caster_back_left_link">
+    <collision>
+      <origin xyz="0 0.001 0" rpy="0 0 0"/>
+      <geometry>
+        <box size="0.030 0.009 0.020"/>
+      </geometry>
+    </collision>
+
+    <inertial>
+      <origin xyz="0 0 0" />
+      <mass value="0.005" />
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0"
+               iyy="0.001" iyz="0.0"
+               izz="0.001" />
+    </inertial>
+  </link>
+
+  <joint name="imu_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="imu_link"/>
+    <origin xyz="0.0 0 0.068" rpy="0 0 0"/>
+  </joint>
+
+  <link name="imu_link"/>
+
+  <joint name="scan_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="base_scan"/>
+    <origin xyz="-0.064 0 0.122" rpy="0 0 0"/>
+  </joint>
+
+  <link name="base_scan">
+    <visual>
+      <origin xyz="0 0 0.0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://turtlebot3_gazebo/models/turtlebot3_common/meshes/sensors/lds.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="dark"/>
+    </visual>
+
+    <collision>
+      <origin xyz="0.015 0 -0.0065" rpy="0 0 0"/>
+      <geometry>
+        <cylinder length="0.0315" radius="0.055"/>
+      </geometry>
+    </collision>
+
+    <inertial>
+      <mass value="0.114" />
+      <origin xyz="0 0 0" />
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0"
+               iyy="0.001" iyz="0.0"
+               izz="0.001" />
+    </inertial>
+  </link>
+
+  <joint name="camera_joint" type="fixed">
+    <origin xyz="0.073 -0.011 0.084" rpy="0 0 0"/>
+    <parent link="base_link"/>
+    <child link="camera_link"/>
+  </joint>
+
+  <link name="camera_link">
+    <collision>
+      <origin xyz="0.005 0.011 0.013" rpy="0 0 0"/>
+      <geometry>
+        <box size="0.015 0.030 0.027"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="camera_rgb_joint" type="fixed">
+    <origin xyz="0.003 0.011 0.009" rpy="0 0 0"/>
+    <parent link="camera_link"/>
+    <child link="camera_rgb_frame"/>
+  </joint>
+  <link name="camera_rgb_frame"/>
+
+  <joint name="camera_rgb_optical_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="-1.57 0 -1.57"/>
+    <parent link="camera_rgb_frame"/>
+    <child link="camera_rgb_optical_frame"/>
+  </joint>
+  <link name="camera_rgb_optical_frame"/>
+
+</robot>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/websocket.gzlaunch b/src/turtlebot3_simulations/turtlebot3_gazebo/websocket.gzlaunch
new file mode 100644
index 0000000..367d05f
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/websocket.gzlaunch
@@ -0,0 +1,9 @@
+<?xml version="1.0"?>
+<gz version="1.0">
+  <plugin name="gz::launch::WebsocketServer"
+          filename="gz-launch-websocket-server">
+    <port>9002</port>
+    <publication_hz>30</publication_hz>
+    <max_connections>-1</max_connections>
+  </plugin>
+</gz>
\ No newline at end of file
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/worlds/empty_world.world b/src/turtlebot3_simulations/turtlebot3_gazebo/worlds/empty_world.world
new file mode 100755
index 0000000..5d6fe79
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/worlds/empty_world.world
@@ -0,0 +1,47 @@
+<?xml version="1.0"?>
+<sdf version="1.6">
+  <world name="default">
+
+    <include>
+      <uri>model://ground_plane</uri>
+    </include>
+
+    <include>
+      <uri>model://sun</uri>
+    </include>
+
+    <scene>
+      <shadows>false</shadows>
+    </scene>
+
+    <gui fullscreen='0'>
+      <camera name='user_camera'>
+        <pose frame=''>0.319654 -0.235002 9.29441 0 1.5138 0.009599</pose>
+        <view_controller>orbit</view_controller>
+        <projection_type>perspective</projection_type>
+      </camera>
+    </gui>
+
+    <physics type="ode">
+      <real_time_update_rate>1000.0</real_time_update_rate>
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1</real_time_factor>
+      <ode>
+        <solver>
+          <type>quick</type>
+          <iters>150</iters>
+          <precon_iters>0</precon_iters>
+          <sor>1.400000</sor>
+          <use_dynamic_moi_rescaling>1</use_dynamic_moi_rescaling>
+        </solver>
+        <constraints>
+          <cfm>0.00001</cfm>
+          <erp>0.2</erp>
+          <contact_max_correcting_vel>2000.000000</contact_max_correcting_vel>
+          <contact_surface_layer>0.01000</contact_surface_layer>
+        </constraints>
+      </ode>
+    </physics>
+
+  </world>
+</sdf>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/worlds/office.world b/src/turtlebot3_simulations/turtlebot3_gazebo/worlds/office.world
new file mode 100755
index 0000000..993e249
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/worlds/office.world
@@ -0,0 +1,3619 @@
+<?xml version="1.0"?>
+<sdf version='1.7'>
+  <world name='default'>
+    <light name='sun' type='directional'>
+      <cast_shadows>1</cast_shadows>
+      <pose>0 0 10 0 -0 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.2 0.2 0.2 1</specular>
+      <attenuation>
+        <range>1000</range>
+        <constant>0.9</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <direction>-0.5 0.1 -0.9</direction>
+      <spot>
+        <inner_angle>0</inner_angle>
+        <outer_angle>0</outer_angle>
+        <falloff>0</falloff>
+      </spot>
+    </light>
+    <model name='ground_plane'>
+      <static>1</static>
+      <link name='link'>
+        <collision name='collision'>
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>100</mu>
+                <mu2>50</mu2>
+              </ode>
+              <torsional>
+                <ode/>
+              </torsional>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+          </surface>
+          <max_contacts>10</max_contacts>
+        </collision>
+        <visual name='visual'>
+          <cast_shadows>0</cast_shadows>
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+    </model>
+    <gravity>0 0 -9.8</gravity>
+    <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
+    <atmosphere type='adiabatic'/>
+    <physics type='ode'>
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1</real_time_factor>
+      <real_time_update_rate>1000</real_time_update_rate>
+    </physics>
+    <scene>
+      <ambient>0.4 0.4 0.4 1</ambient>
+      <background>0.7 0.7 0.7 1</background>
+      <shadows>1</shadows>
+    </scene>
+    <audio>
+      <device>default</device>
+    </audio>
+    <wind/>
+    <spherical_coordinates>
+      <surface_model>EARTH_WGS84</surface_model>
+      <latitude_deg>0</latitude_deg>
+      <longitude_deg>0</longitude_deg>
+      <elevation>0</elevation>
+      <heading_deg>0</heading_deg>
+    </spherical_coordinates>
+    <model name='WaterDispenser'>
+      <static>1</static>
+      <link name='link'>
+        <inertial>
+          <pose>0 0 0 0 -0 0</pose>
+          <mass>1</mass>
+          <inertia>
+            <ixx>0</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>0</iyy>
+            <iyz>0</iyz>
+            <izz>0</izz>
+          </inertia>
+        </inertial>
+        <collision name='collision'>
+          <pose>0 0 0 0 -0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://WaterDispenser/meshes/water_dispenser.dae</uri>
+              <scale>1 1 1</scale>
+            </mesh>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='visual'>
+          <pose>0 0 0 0 -0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://WaterDispenser/meshes/water_dispenser.dae</uri>
+              <scale>1 1 1</scale>
+            </mesh>
+          </geometry>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <pose>-4.56499 -5.07564 0 0 -0 0</pose>
+    </model>
+    <model name='toilet'>
+      <static>1</static>
+      <link name='link'>
+        <collision name='collision'>
+          <pose>-0.003873 0.134001 0.582097 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.551631 1.09406 1.18218</size>
+            </box>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='visual'>
+          <geometry>
+            <mesh>
+              <uri>model://toilet/meshes/toilet.dae</uri>
+              <scale>1.4 1.4 1.4</scale>
+            </mesh>
+          </geometry>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <pose>-4.00189 -2.76084 0 0 -0 0</pose>
+    </model>
+    <model name='Desk'>
+      <static>1</static>
+      <link name='link'>
+        <collision name='collision'>
+          <geometry>
+            <mesh>
+              <uri>model://office_desk/meshes/office_desk.dae</uri>
+              <scale>1.4 1.4 1.4</scale>
+            </mesh>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='visual'>
+          <geometry>
+            <mesh>
+              <uri>model://office_desk/meshes/office_desk.dae</uri>
+              <scale>1.4 1.4 1.4</scale>
+            </mesh>
+          </geometry>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <pose>-0.427528 -3.64916 0 0 -0 0</pose>
+    </model>
+    <model name='Desk_clone'>
+      <static>1</static>
+      <link name='link'>
+        <collision name='collision'>
+          <geometry>
+            <mesh>
+              <uri>model://office_desk/meshes/office_desk.dae</uri>
+              <scale>1.4 1.4 1.4</scale>
+            </mesh>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='visual'>
+          <geometry>
+            <mesh>
+              <uri>model://office_desk/meshes/office_desk.dae</uri>
+              <scale>1.4 1.4 1.4</scale>
+            </mesh>
+          </geometry>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <pose>3.06034 -3.4808 0 0 -0 0</pose>
+    </model>
+    <model name='office_lamp'>
+      <static>1</static>
+      <link name='link'>
+        <collision name='collision'>
+          <geometry>
+            <mesh>
+              <uri>model://office_lamp/meshes/office_lamp.dae</uri>
+              <scale>1.4 1.4 1.4</scale>
+            </mesh>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='visual'>
+          <geometry>
+            <mesh>
+              <uri>model://office_lamp/meshes/office_lamp.dae</uri>
+              <scale>1.4 1.4 1.4</scale>
+            </mesh>
+          </geometry>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <pose>-0.584571 -4.97822 0 0 -0 0</pose>
+    </model>
+    <model name='book_10'>
+      <link name='cover'>
+        <pose>0 -0.000108 0.015405 0 -0 0</pose>
+        <self_collide>0</self_collide>
+        <kinematic>0</kinematic>
+        <gravity>1</gravity>
+        <visual name='visual'>
+          <geometry>
+            <box>
+              <size>0.245 0.16 0.03</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>model://book_10/materials/scripts</uri>
+              <uri>model://book_10/materials/textures</uri>
+              <name>book_10</name>
+            </script>
+          </material>
+          <cast_shadows>1</cast_shadows>
+          <transparency>0</transparency>
+        </visual>
+        <collision name='collision'>
+          <laser_retro>0</laser_retro>
+          <max_contacts>10</max_contacts>
+          <geometry>
+            <box>
+              <size>0.245 0.16 0.03</size>
+            </box>
+          </geometry>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <enable_wind>0</enable_wind>
+      </link>
+      <link name='page'>
+        <pose>0 0.000608 0.015405 0 -0 0</pose>
+        <visual name='visual'>
+          <pose>0 0 0 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.24502 0.15862 0.028</size>
+            </box>
+          </geometry>
+          <material>
+            <lighting>1</lighting>
+            <ambient>1 1 1 1</ambient>
+            <diffuse>1 1 1 1</diffuse>
+            <specular>0.01 0.01 0.01 1</specular>
+            <emissive>0 0 0 1</emissive>
+            <shader type='vertex'>
+              <normal_map>__default__</normal_map>
+            </shader>
+          </material>
+          <cast_shadows>1</cast_shadows>
+          <transparency>0</transparency>
+        </visual>
+        <collision name='collision'>
+          <laser_retro>0</laser_retro>
+          <max_contacts>10</max_contacts>
+          <pose>0 0 0 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.245 0.16 0.03</size>
+            </box>
+          </geometry>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <static>1</static>
+      <allow_auto_disable>1</allow_auto_disable>
+      <pose>0.986941 -4.8154 0 0 -0 0</pose>
+    </model>
+    <model name='book_2'>
+      <link name='cover'>
+        <pose>0 -0.000108 0.015405 0 -0 0</pose>
+        <self_collide>0</self_collide>
+        <kinematic>0</kinematic>
+        <gravity>1</gravity>
+        <visual name='visual'>
+          <geometry>
+            <box>
+              <size>0.245 0.16 0.03</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>model://book_2/materials/scripts</uri>
+              <uri>model://book_2/materials/textures</uri>
+              <name>book_2</name>
+            </script>
+          </material>
+          <cast_shadows>1</cast_shadows>
+          <transparency>0</transparency>
+        </visual>
+        <collision name='collision'>
+          <laser_retro>0</laser_retro>
+          <max_contacts>10</max_contacts>
+          <geometry>
+            <box>
+              <size>0.245 0.16 0.03</size>
+            </box>
+          </geometry>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <enable_wind>0</enable_wind>
+      </link>
+      <link name='page'>
+        <pose>0 0.000608 0.015405 0 -0 0</pose>
+        <visual name='visual'>
+          <pose>0 0 0 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.24502 0.15862 0.028</size>
+            </box>
+          </geometry>
+          <material>
+            <lighting>1</lighting>
+            <ambient>1 1 1 1</ambient>
+            <diffuse>1 1 1 1</diffuse>
+            <specular>0.01 0.01 0.01 1</specular>
+            <emissive>0 0 0 1</emissive>
+            <shader type='vertex'>
+              <normal_map>__default__</normal_map>
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+              <size>0.9 0.15 0.5</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 1 1 1</ambient>
+          </material>
+          <meta>
+            <layer>0</layer>
+          </meta>
+        </visual>
+        <collision name='Wall_7_Collision_2'>
+          <geometry>
+            <box>
+              <size>0.9 0.15 0.5</size>
+            </box>
+          </geometry>
+          <pose>0.003004 0 2.25 0 -0 0</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <static>1</static>
+    </model>
+    <model name='side_table_1'>
+      <link name='link_1'>
+        <pose>0.007786 -0.167928 0 0 -0 0</pose>
+        <visual name='visual'>
+          <pose>0 0 0 0 -0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://side_table_1/meshes/middle.dae</uri>
+              <scale>1 1 1</scale>
+            </mesh>
+          </geometry>
+          <material>
+            <script>
+              <uri>model://side_table_1/materials/scripts</uri>
+              <uri>model://side_table_1/materials/textures</uri>
+              <name>side_table_1</name>
+            </script>
+          </material>
+          <cast_shadows>1</cast_shadows>
+          <transparency>0</transparency>
+        </visual>
+        <collision name='collision'>
+          <laser_retro>0</laser_retro>
+          <max_contacts>10</max_contacts>
+          <pose>0 0 0 0 -0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://side_table_1/meshes/middle.dae</uri>
+              <scale>1 1 1</scale>
+            </mesh>
+          </geometry>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <link name='link_2'>
+        <pose>0.007887 -0.167821 0 0 -0 0</pose>
+        <visual name='visual'>
+          <pose>0 0 0 0 -0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://side_table_1/meshes/leg.dae</uri>
+              <scale>1 1 1</scale>
+            </mesh>
+          </geometry>
+          <material>
+            <script>
+              <uri>model://side_table_1/materials/scripts</uri>
+              <uri>model://side_table_1/materials/textures</uri>
+              <name>side_table_1</name>
+            </script>
+          </material>
+          <cast_shadows>1</cast_shadows>
+          <transparency>0</transparency>
+        </visual>
+        <collision name='collision'>
+          <laser_retro>0</laser_retro>
+          <max_contacts>10</max_contacts>
+          <pose>0 0 0 0 -0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://side_table_1/meshes/leg.dae</uri>
+              <scale>1 1 1</scale>
+            </mesh>
+          </geometry>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <link name='link_2_clone'>
+        <pose>0.208023 0.051865 0 0 -0 1.57</pose>
+        <visual name='visual'>
+          <pose>0 0 0 0 -0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://side_table_1/meshes/leg.dae</uri>
+              <scale>1 1 1</scale>
+            </mesh>
+          </geometry>
+          <material>
+            <script>
+              <uri>model://side_table_1/materials/scripts</uri>
+              <uri>model://side_table_1/materials/textures</uri>
+              <name>side_table_1</name>
+            </script>
+          </material>
+          <cast_shadows>1</cast_shadows>
+          <transparency>0</transparency>
+        </visual>
+        <collision name='collision'>
+          <laser_retro>0</laser_retro>
+          <max_contacts>10</max_contacts>
+          <pose>0 0 0 0 -0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://side_table_1/meshes/leg.dae</uri>
+              <scale>1 1 1</scale>
+            </mesh>
+          </geometry>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <link name='link_2_clone_0'>
+        <pose>-0.212235 0.031759 0 0 0 -1.57</pose>
+        <visual name='visual'>
+          <pose>0 0 0 0 -0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://side_table_1/meshes/leg.dae</uri>
+              <scale>1 1 1</scale>
+            </mesh>
+          </geometry>
+          <material>
+            <script>
+              <uri>model://side_table_1/materials/scripts</uri>
+              <uri>model://side_table_1/materials/textures</uri>
+              <name>side_table_1</name>
+            </script>
+          </material>
+          <cast_shadows>1</cast_shadows>
+          <transparency>0</transparency>
+        </visual>
+        <collision name='collision'>
+          <laser_retro>0</laser_retro>
+          <max_contacts>10</max_contacts>
+          <pose>0 0 0 0 -0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://side_table_1/meshes/leg.dae</uri>
+              <scale>1 1 1</scale>
+            </mesh>
+          </geometry>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <link name='link_2_clone_clone'>
+        <pose>-0.011459 0.252125 0 0 -0 3.14</pose>
+        <visual name='visual'>
+          <pose>0 0 0 0 -0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://side_table_1/meshes/leg.dae</uri>
+              <scale>1 1 1</scale>
+            </mesh>
+          </geometry>
+          <material>
+            <script>
+              <uri>model://side_table_1/materials/scripts</uri>
+              <uri>model://side_table_1/materials/textures</uri>
+              <name>side_table_1</name>
+            </script>
+          </material>
+          <cast_shadows>1</cast_shadows>
+          <transparency>0</transparency>
+        </visual>
+        <collision name='collision'>
+          <laser_retro>0</laser_retro>
+          <max_contacts>10</max_contacts>
+          <pose>0 0 0 0 -0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://side_table_1/meshes/leg.dae</uri>
+              <scale>1 1 1</scale>
+            </mesh>
+          </geometry>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <static>1</static>
+      <allow_auto_disable>1</allow_auto_disable>
+      <pose>-0.589147 -0.299599 0 0 -0 0</pose>
+    </model>
+    <model name='office_couch'>
+      <static>1</static>
+      <link name='link'>
+        <collision name='collision'>
+          <pose>0.000893 0.384169 0.704321 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>2.91435 0.976328 1.41768</size>
+            </box>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='visual'>
+          <geometry>
+            <mesh>
+              <uri>model://office_couch/meshes/office_couch.dae</uri>
+              <scale>1.4 1.4 1.4</scale>
+            </mesh>
+          </geometry>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <pose>0.173033 -1.94409 0 0 -0 0</pose>
+    </model>
+    <model name='elegant_female'>
+      <static>1</static>
+      <link name='link'>
+        <collision name='box'>
+          <pose>0 0 0.9 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.76 0.33 1.77</size>
+            </box>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='visual'>
+          <pose>0 0 0.02 0.04 -0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://elegant_female/meshes/elegant_female.dae</uri>
+            </mesh>
+          </geometry>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <pose>-1.5676 0.488102 0 0 -0 0</pose>
+    </model>
+    <model name='refrigerator'>
+      <static>1</static>
+      <link name='link'>
+        <collision name='collision'>
+          <pose>-0.007078 0.009991 0.837838 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.781084 0.825312 1.66079</size>
+            </box>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='visual'>
+          <geometry>
+            <mesh>
+              <uri>model://refrigerator/meshes/refrigerator.obj</uri>
+              <scale>0.01 0.01 0.01</scale>
+            </mesh>
+          </geometry>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <pose>-1.53527 0.269346 0 0 -0 0</pose>
+    </model>
+  </world>
+</sdf>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/worlds/office_gz_dartsim.sdf b/src/turtlebot3_simulations/turtlebot3_gazebo/worlds/office_gz_dartsim.sdf
new file mode 100644
index 0000000..aa35ea7
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/worlds/office_gz_dartsim.sdf
@@ -0,0 +1,2591 @@
+<?xml version='1.0' encoding='utf-8'?>
+<sdf version="1.9">
+  <world name="default">
+    <light name="sun" type="directional">
+      <cast_shadows>1</cast_shadows>
+      <pose>0 0 10 0 -0 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.2 0.2 0.2 1</specular>
+      <attenuation>
+        <range>1000</range>
+        <constant>0.9</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <direction>-0.5 0.1 -0.9</direction>
+      <spot>
+        <inner_angle>0</inner_angle>
+        <outer_angle>0</outer_angle>
+        <falloff>0</falloff>
+      </spot>
+    </light>
+    <model name="ground_plane">
+      <pose>0 0 0 0 -0 0</pose>
+      <static>1</static>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>100</mu>
+                <mu2>50</mu2>
+              </ode>
+              <torsional>
+                <ode />
+              </torsional>
+            </friction>
+            <contact>
+              <ode />
+            </contact>
+            <bounce />
+          </surface>
+          <max_contacts>10</max_contacts>
+        </collision>
+        <visual name="visual">
+          <cast_shadows>0</cast_shadows>
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+    </model>
+    <gravity>0 0 -9.8</gravity>
+    <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
+    <atmosphere type="adiabatic" />
+    <physics name="1ms" type="ignored">
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1.0</real_time_factor>
+    </physics>
+    <plugin filename="gz-sim-physics-system" name="gz::sim::systems::Physics">
+    </plugin>
+    <plugin filename="gz-sim-sensors-system" name="gz::sim::systems::Sensors">
+      <render_engine>ogre2</render_engine>
+    </plugin>
+    <plugin filename="gz-sim-user-commands-system" name="gz::sim::systems::UserCommands">
+    </plugin>
+    <plugin filename="gz-sim-scene-broadcaster-system" name="gz::sim::systems::SceneBroadcaster">
+    </plugin>
+    <plugin filename="gz-sim-contact-system" name="gz::sim::systems::Contact">
+    </plugin>
+    <scene>
+      <ambient>0.4 0.4 0.4 1</ambient>
+      <background>0.7 0.7 0.7 1</background>
+      <shadows>1</shadows>
+    </scene>
+    <audio>
+      <device>default</device>
+    </audio>
+    <wind />
+    <spherical_coordinates>
+      <surface_model>EARTH_WGS84</surface_model>
+      <latitude_deg>0</latitude_deg>
+      <longitude_deg>0</longitude_deg>
+      <elevation>0</elevation>
+      <heading_deg>0</heading_deg>
+    </spherical_coordinates>
+    <model name="WaterDispenser">
+      <static>1</static>
+      <link name="link">
+        <inertial>
+          <pose>0 0 0 0 -0 0</pose>
+          <mass>1</mass>
+          <inertia>
+            <ixx>0.001</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>0.001</iyy>
+            <iyz>0</iyz>
+            <izz>0.001</izz>
+          </inertia>
+        </inertial>
+        <visual name="visual">
+          <pose>0 0 0 0 -0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://WaterDispenser/meshes/water_dispenser.dae</uri>
+              <scale>1 1 1</scale>
+            </mesh>
+          </geometry>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <pose>-1.73324 -2.1442 0 0 -0 0</pose>
+    </model>
+    <model name="toilet">
+      <static>1</static>
+      <link name="link">
+        <collision name="collision">
+          <pose>-0.003873 0.134001 0.582097 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.551631 1.09406 1.18218</size>
+            </box>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode />
+            </contact>
+            <bounce />
+            <friction>
+              <torsional>
+                <ode />
+              </torsional>
+              <ode />
+            </friction>
+          </surface>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <mesh>
+              <uri>model://toilet/meshes/toilet.dae</uri>
+              <scale>1.4 1.4 1.4</scale>
+            </mesh>
+          </geometry>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <pose>-4.89177 -1.11048 0 0 -0 1.58574</pose>
+    </model>
+    <model name="Desk">
+      <static>1</static>
+      <link name="link">
+        <visual name="visual">
+          <geometry>
+            <mesh>
+              <uri>model://office_desk/meshes/office_desk.dae</uri>
+              <scale>1.4 1.4 1.4</scale>
+            </mesh>
+          </geometry>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <pose>1.20832 3.48065 0 0 -0 0</pose>
+    </model>
+    <model name="Desk_clone">
+      <static>1</static>
+      <link name="link">
+        <visual name="visual">
+          <geometry>
+            <mesh>
+              <uri>model://office_desk/meshes/office_desk.dae</uri>
+              <scale>1.4 1.4 1.4</scale>
+            </mesh>
+          </geometry>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <pose>-2.9805 3.41024 0 0 -0 0</pose>
+    </model>
+    <model name="office_lamp">
+      <static>1</static>
+      <link name="link">
+        <visual name="visual">
+          <geometry>
+            <mesh>
+              <uri>model://office_lamp/meshes/office_lamp.dae</uri>
+              <scale>1.4 1.4 1.4</scale>
+            </mesh>
+          </geometry>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <pose>1.83406 3.57012 1.06016 0 -0 0</pose>
+    </model>
+    <model name="book_10">
+      <link name="cover">
+        <pose>0 -0.000108 0.015405 0 -0 0</pose>
+        <self_collide>0</self_collide>
+        <kinematic>0</kinematic>
+        <gravity>1</gravity>
+        <visual name="visual">
+          <geometry>
+            <box>
+              <size>0.245 0.16 0.03</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>model://book_10/materials/scripts</uri>
+              <uri>model://book_10/materials/textures</uri>
+              <name>book_10</name>
+            </script>
+          </material>
+          <cast_shadows>1</cast_shadows>
+          <transparency>0</transparency>
+        </visual>
+        <collision name="collision">
+          <laser_retro>0</laser_retro>
+          <max_contacts>10</max_contacts>
+          <geometry>
+            <box>
+              <size>0.245 0.16 0.03</size>
+            </box>
+          </geometry>
+          <surface>
+            <contact>
+              <ode />
+            </contact>
+            <bounce />
+            <friction>
+              <torsional>
+                <ode />
+              </torsional>
+              <ode />
+            </friction>
+          </surface>
+        </collision>
+        <enable_wind>0</enable_wind>
+      </link>
+      <link name="page">
+        <pose>0 0.000608 0.015405 0 -0 0</pose>
+        <visual name="visual">
+          <pose>0 0 0 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.24502 0.15862 0.028</size>
+            </box>
+          </geometry>
+          <material>
+            <lighting>1</lighting>
+            <ambient>1 1 1 1</ambient>
+            <diffuse>1 1 1 1</diffuse>
+            <specular>0.01 0.01 0.01 1</specular>
+            <emissive>0 0 0 1</emissive>
+            <shader type="vertex">
+              <normal_map>__default__</normal_map>
+            </shader>
+          </material>
+          <cast_shadows>1</cast_shadows>
+          <transparency>0</transparency>
+        </visual>
+        <collision name="collision">
+          <laser_retro>0</laser_retro>
+          <max_contacts>10</max_contacts>
+          <pose>0 0 0 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.245 0.16 0.03</size>
+            </box>
+          </geometry>
+          <surface>
+            <contact>
+              <ode />
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+              <uri>model://side_table_1/meshes/leg.dae</uri>
+              <scale>1 1 1</scale>
+            </mesh>
+          </geometry>
+          <material>
+            <ambient>0.35 0.25 0.12 1</ambient>
+            <diffuse>0.45 0.32 0.15 1</diffuse>
+            <specular>0.15 0.12 0.08 1</specular>
+            <emissive>0 0 0 1</emissive>
+          </material>
+          <cast_shadows>1</cast_shadows>
+          <transparency>0</transparency>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <static>1</static>
+      <allow_auto_disable>1</allow_auto_disable>
+      <pose>1.24859 -1.92135 0 0 -0 0</pose>
+    </model>
+    <model name="office_couch">
+      <static>1</static>
+      <link name="link">
+        <collision name="collision">
+          <pose>0.000893 0.384169 0.704321 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>2.91435 0.976328 1.41768</size>
+            </box>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode />
+            </contact>
+            <bounce />
+            <friction>
+              <torsional>
+                <ode />
+              </torsional>
+              <ode />
+            </friction>
+          </surface>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <mesh>
+              <uri>model://office_couch/meshes/office_couch.dae</uri>
+              <scale>1.4 1.4 1.4</scale>
+            </mesh>
+          </geometry>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <pose>1.69431 -0.969811 0 0 0 -1.56591</pose>
+    </model>
+    <model name="elegant_female">
+      <static>1</static>
+      <link name="link">
+        <collision name="box">
+          <pose>0 0 0.9 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.76 0.33 1.77</size>
+            </box>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode />
+            </contact>
+            <bounce />
+            <friction>
+              <torsional>
+                <ode />
+              </torsional>
+              <ode />
+            </friction>
+          </surface>
+        </collision>
+        <visual name="visual">
+          <pose>0 0 0.02 0.04 -0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://elegant_female/meshes/elegant_female.dae</uri>
+            </mesh>
+          </geometry>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <pose>-5.04462 4.40098 0 0 -0 0.638045</pose>
+    </model>
+    <model name="refrigerator">
+      <static>1</static>
+      <link name="link">
+        <collision name="collision">
+          <pose>-0.007078 0.009991 0.837838 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.781084 0.825312 1.66079</size>
+            </box>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode />
+            </contact>
+            <bounce />
+            <friction>
+              <torsional>
+                <ode />
+              </torsional>
+              <ode />
+            </friction>
+          </surface>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <mesh>
+              <uri>model://refrigerator/meshes/refrigerator.obj</uri>
+              <scale>0.01 0.01 0.01</scale>
+            </mesh>
+          </geometry>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <pose>-1.62808 0.269967 0 0 -0 1.53603</pose>
+    </model>
+  </world>
+</sdf>
\ No newline at end of file
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/worlds/turtlebot3_autorace_2020.world b/src/turtlebot3_simulations/turtlebot3_gazebo/worlds/turtlebot3_autorace_2020.world
new file mode 100755
index 0000000..4e26397
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/worlds/turtlebot3_autorace_2020.world
@@ -0,0 +1,1272 @@
+<?xml version="1.0"?>
+<sdf version='1.6'>
+  <world name='default'>
+    <scene>
+      <ambient>0.8 0.8 0.8 1</ambient>
+      <shadows>0</shadows>
+      <grid>0</grid>
+      <background>0.7 0.7 0.7 1</background>
+    </scene>
+
+    <include>
+      <uri>model://turtlebot3_autorace_2020/course</uri>
+      <pose> 0 0 0 0 0 -3.14</pose>
+    </include>
+    
+    <include>
+      <uri>model://turtlebot3_autorace_2020/traffic_bar</uri>
+      <pose> -0.8  1.26 0.125 0 0 -1.57</pose>
+    </include>
+    
+    <include>
+      <uri>model://turtlebot3_autorace_2020/traffic_light</uri>
+      <pose> 1.3 -1.95 0.13 0 0 -1.57</pose>
+    </include>
+
+    <include>
+      <uri>model://turtlebot3_autorace_2020/traffic_parking</uri>
+      <pose> 0.74 1.95 0.13 0 0 -1.57</pose>
+    </include>
+    
+    <include>
+      <uri>model://turtlebot3_autorace_2020/traffic_tunnel</uri>
+      <pose> -1.544 0.00 0.125 0 0 0</pose>
+    </include>
+   
+    <include>
+      <uri>model://turtlebot3_autorace_2020/traffic_stop</uri>
+      <pose> -1.35 1.04 0.125 0 -0 -1.57</pose>
+    </include>    
+
+    <include>
+      <uri>model://turtlebot3_autorace_2020/traffic_pl_left</uri>
+      <pose>0.50 1.90 0.13 0 0 0</pose>
+    </include>
+
+    <include>
+      <uri>model://turtlebot3_autorace_2020/traffic_construction</uri>
+      <pose> 1.0 0.04 0.125 0 -0 -1.57</pose>
+    </include>   
+
+    <include>
+      <uri>model://turtlebot3_autorace_2020/traffic_intersection</uri>
+      <pose> 1.95 -1.0 0.125 0 -0 0.0</pose>
+    </include>   
+
+    <include>
+      <uri>model://turtlebot3_autorace_2020/traffic_noentry</uri>
+      <pose> 0.95 -0.758 0.125 0 -0 0.0</pose>
+    </include>
+
+    <include>
+      <uri>model://turtlebot3_autorace_2020/traffic_right</uri>
+      <pose>1.08 -0.728 0.125 0 -0 -1.57</pose>
+    </include>
+<!--
+    <include>
+      <uri>model://turtlebot3_autorace_2020/checker</uri>
+      <pose> 5.50 -1.750 0.000 0 -0 0.0</pose>
+    </include> -->
+
+    <light name='sun' type='directional'>
+      <cast_shadows>1</cast_shadows>
+      <pose frame=''>0 0 10 0 -0 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.1 0.1 0.1 1</specular>
+      <attenuation>
+        <range>1000</range>
+        <constant>0.9</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <direction>-0.5 0.5 -1</direction>
+    </light>
+
+    <model name='ground2'>
+      <pose frame=''>0 0 -0.1 0 -0 0</pose>
+      <static>1</static>
+      <link name='ground'>
+        <collision name='ground_coll'>
+          <geometry>
+            <box>
+              <size>8 8 0.01</size>
+            </box>
+          </geometry>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+          <max_contacts>10</max_contacts>
+        </collision>
+        <visual name='ground_vis'>
+          <geometry>
+            <box>
+              <size>10 10 0.01</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/FlatBlack</name>
+            </script>
+          </material>
+        </visual>
+        <self_collide>0</self_collide>
+        <kinematic>0</kinematic>
+        <gravity>1</gravity>
+      </link>
+    </model>
+
+    <gravity>0 0 -9.8</gravity>
+    <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
+    <atmosphere type='adiabatic'/>
+    <physics name='default_physics' default='0' type='ode'>
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1</real_time_factor>
+      <real_time_update_rate>1000</real_time_update_rate>
+    </physics>
+    <spherical_coordinates>
+      <surface_model>EARTH_WGS84</surface_model>
+      <latitude_deg>0</latitude_deg>
+      <longitude_deg>0</longitude_deg>
+      <elevation>0</elevation>
+      <heading_deg>0</heading_deg>
+    </spherical_coordinates> 
+ 
+    <light name='user_point_light_1' type='point'>
+      <pose frame=''>-1.648146 0.604519 1 0 -0 0</pose>
+      <diffuse>0.5 0.5 0.5 1</diffuse>
+      <specular>0.1 0.1 0.1 1</specular>
+      <attenuation>
+        <range>20</range>
+        <constant>0.5</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <cast_shadows>0</cast_shadows>
+      <direction>0 0 -1</direction>
+    </light>    
+    <light name='user_point_light_2' type='point'>
+      <pose frame=''>1.63854 1.69565 1 0 -0 0</pose>
+      <diffuse>0.5 0.5 0.5 1</diffuse>
+      <specular>0.1 0.1 0.1 1</specular>
+      <attenuation>
+        <range>20</range>
+        <constant>0.5</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <cast_shadows>0</cast_shadows>
+      <direction>0 0 -1</direction>
+    </light>
+    <light name='user_point_light_3' type='point'>
+      <pose frame=''>0.42  -3.31 1 0 -0 0</pose>
+      <diffuse>0.5 0.5 0.5 1</diffuse>
+      <specular>0.1 0.1 0.1 1</specular>
+      <attenuation>
+        <range>20</range>
+        <constant>0.5</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <cast_shadows>0</cast_shadows>
+      <direction>0 0 -1</direction>
+    </light>
+
+    <state world_name='default'>
+      <sim_time>116 345000000</sim_time>
+      <real_time>32 693566475</real_time>
+      <wall_time>1525097329 747995208</wall_time>
+      <iterations>32558</iterations>
+      <model name='ground'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <scale>1 1 1</scale>
+        <link name='ground'>
+          <pose frame=''>0 0 0 0 -0 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      
+      <model name='tunnel_obstacle'>
+        <pose frame=''>-1.04145 -1.12671 0 0 -0 0</pose>
+        <scale>1 1 1</scale>
+        <link name='obstacle_1'>
+          <pose frame=''>-0.61823 -1.33874 0.125 0 -0 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+        <link name='obstacle_2'>
+          <pose frame=''>-1.36518 -1.41427 0.125 0 -0 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+        <link name='obstacle_3'>
+          <pose frame=''>-1.14094 -0.627116 0.125 0 -0 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+
+      <model name='tunnel_wall'>
+        <pose frame=''>-0.964699 -1.03574 0 0 -0 0</pose>
+        <scale>1 1 1</scale>
+        <link name='Wall_1'>
+          <pose frame=''>-1.91548 -1.005857 0 0 -0 1.5708</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+        <link name='Wall_2'>
+          <pose frame=''>-0.994699 -1.92118 0 0 -0 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+        <link name='Wall_3'>
+          <pose frame=''>-0.021303 -0.832071 0 0 -0 1.5708</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+        <link name='Wall_4'>
+          <pose frame=''>-0.814699 -0.03074 0 0 -0 3.14159</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+
+      <model name='unit_box'>
+        <pose frame=''>-1.72  0.56 0.12 0 0 -0.0 </pose>
+        <scale>1 1 1</scale>
+        <link name='traffic_bar'>
+          <pose frame=''>-1.72  0.56 0.12 0 0 -0.0 </pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>1.06648 0.03546 4.20605 2.1745 -1.41657 3.10996</acceleration>
+          <wrench>1.06648 0.03546 4.20605 0 -0 0</wrench>
+        </link>
+	      <static>1</static>
+      </model>
+
+      <model name='barrier_1'>
+        <pose frame=''>1.49 0.54 0.15 0 -0 0</pose>
+        <scale>1 1 1</scale>
+        <link name='link'>
+          <pose frame=''>1.49 0.54 0.15 0 -0 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='barrier_2'>
+        <pose frame=''>1.74 1 0.15 0 -0 0</pose>
+        <scale>1 1 1</scale>
+        <link name='link'>
+          <pose frame=''>1.74 1 0.15 0 -0 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='barrier_3'>
+        <pose frame=''>1.49 1.464 0.15 0 -0 0</pose>
+        <scale>1 1 1</scale>
+        <link name='link'>
+          <pose frame=''>1.49 1.464 0.15 0 -0 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+
+
+      <light name='sun'>
+        <pose frame=''>0 0 10 0 -0 0</pose>
+      </light>      
+      <light name='user_point_light_1'>
+        <pose frame=''>-1.648146 0.604519 1 0 -0 0</pose>
+      </light>
+      <light name='user_point_light_2'>
+        <pose frame=''>1.63854 1.69565 1 0 -0 0</pose>
+      </light>
+      <light name='user_point_light_3'>
+        <pose frame=''>0.42  -3.31 1 0 -0 0</pose>
+      </light>
+    </state>
+
+    <gui fullscreen='0'>
+      <camera name='user_camera'>
+        <pose frame=''>2.7696 -1.93094 6.71513 0 1.1618 2.27182</pose>
+        <view_controller>orbit</view_controller>
+        <projection_type>perspective</projection_type>
+      </camera>
+    </gui>
+
+    <model name='tunnel_wall'>
+      <link name='Wall_1'>
+        <pose frame=''>-0.980783 0.049883 0 0 -0 1.5708</pose>
+        <self_collide>0</self_collide>
+        <kinematic>0</kinematic>
+        <visual name='Wall_1_Visual'>
+          <pose frame=''>0 0 0.125 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>1.8 0.05 0.25</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 1 1 1</ambient>
+            <diffuse>0.7 0.7 0.7 1</diffuse>
+            <specular>0.01 0.01 0.01 1</specular>
+            <emissive>0 0 0 1</emissive>
+          </material>
+          <cast_shadows>1</cast_shadows>
+          <transparency>0</transparency>
+        </visual>
+        <collision name='Wall_1_Collision'>
+          <laser_retro>0</laser_retro>
+          <max_contacts>10</max_contacts>
+          <pose frame=''>0 0 0.125 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>1.8 0.05 0.25</size>
+            </box>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>1</mu>
+                <mu2>1</mu2>
+                <fdir1>0 0 0</fdir1>
+                <slip1>0</slip1>
+                <slip2>0</slip2>
+              </ode>
+              <torsional>
+                <coefficient>1</coefficient>
+                <patch_radius>0</patch_radius>
+                <surface_radius>0</surface_radius>
+                <use_patch_radius>1</use_patch_radius>
+                <ode>
+                  <slip>0</slip>
+                </ode>
+              </torsional>
+            </friction>
+            <bounce>
+              <restitution_coefficient>0</restitution_coefficient>
+              <threshold>1e+06</threshold>
+            </bounce>
+            <contact>
+              <collide_without_contact>0</collide_without_contact>
+              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+              <collide_bitmask>1</collide_bitmask>
+              <ode>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+                <max_vel>0.01</max_vel>
+                <min_depth>0</min_depth>
+              </ode>
+              <bullet>
+                <split_impulse>1</split_impulse>
+                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+              </bullet>
+            </contact>
+          </surface>
+        </collision>
+        <gravity>1</gravity>
+      </link>
+      <link name='Wall_2'>
+        <pose frame=''>0 -0.935438 0 0 -0 0</pose>
+        <self_collide>0</self_collide>
+        <kinematic>0</kinematic>
+        <visual name='Wall_2_Visual'>
+          <pose frame=''>0 0 0.125 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>1.8 0.05 0.25</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 1 1 1</ambient>
+            <diffuse>0.7 0.7 0.7 1</diffuse>
+            <specular>0.01 0.01 0.01 1</specular>
+            <emissive>0 0 0 1</emissive>
+          </material>
+          <cast_shadows>1</cast_shadows>
+          <transparency>0</transparency>
+        </visual>
+        <collision name='Wall_2_Collision'>
+          <laser_retro>0</laser_retro>
+          <max_contacts>10</max_contacts>
+          <pose frame=''>0 0 0.125 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>1.8 0.05 0.25</size>
+            </box>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>1</mu>
+                <mu2>1</mu2>
+                <fdir1>0 0 0</fdir1>
+                <slip1>0</slip1>
+                <slip2>0</slip2>
+              </ode>
+              <torsional>
+                <coefficient>1</coefficient>
+                <patch_radius>0</patch_radius>
+                <surface_radius>0</surface_radius>
+                <use_patch_radius>1</use_patch_radius>
+                <ode>
+                  <slip>0</slip>
+                </ode>
+              </torsional>
+            </friction>
+            <bounce>
+              <restitution_coefficient>0</restitution_coefficient>
+              <threshold>1e+06</threshold>
+            </bounce>
+            <contact>
+              <collide_without_contact>0</collide_without_contact>
+              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+              <collide_bitmask>1</collide_bitmask>
+              <ode>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+                <max_vel>0.01</max_vel>
+                <min_depth>0</min_depth>
+              </ode>
+              <bullet>
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+                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+              </bullet>
+            </contact>
+          </surface>
+        </collision>
+        <gravity>1</gravity>
+      </link>
+      <link name='Wall_3'>
+        <pose frame=''>0.943396 0.183669 0 0 -0 1.5708</pose>
+        <inertial>
+          <inertia>
+            <ixx>nan</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>nan</iyy>
+            <iyz>0</iyz>
+            <izz>nan</izz>
+          </inertia>
+          <mass>0</mass>
+          <pose frame=''>0 0 0 0 -0 0</pose>
+        </inertial>
+        <self_collide>0</self_collide>
+        <kinematic>0</kinematic>
+        <visual name='Wall_3_Visual'>
+          <pose frame=''>0 0 0.125 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>1.53699 0.05 0.25</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 1 1 1</ambient>
+            <diffuse>0.7 0.7 0.7 1</diffuse>
+            <specular>0.01 0.01 0.01 1</specular>
+            <emissive>0 0 0 1</emissive>
+          </material>
+          <cast_shadows>1</cast_shadows>
+          <transparency>0</transparency>
+        </visual>
+        <collision name='Wall_3_Collision'>
+          <laser_retro>0</laser_retro>
+          <max_contacts>10</max_contacts>
+          <pose frame=''>0 0 0.125 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>1.53699 0.05 0.25</size>
+            </box>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>1</mu>
+                <mu2>1</mu2>
+                <fdir1>0 0 0</fdir1>
+                <slip1>0</slip1>
+                <slip2>0</slip2>
+              </ode>
+              <torsional>
+                <coefficient>1</coefficient>
+                <patch_radius>0</patch_radius>
+                <surface_radius>0</surface_radius>
+                <use_patch_radius>1</use_patch_radius>
+                <ode>
+                  <slip>0</slip>
+                </ode>
+              </torsional>
+            </friction>
+            <bounce>
+              <restitution_coefficient>0</restitution_coefficient>
+              <threshold>1e+06</threshold>
+            </bounce>
+            <contact>
+              <collide_without_contact>0</collide_without_contact>
+              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+              <collide_bitmask>1</collide_bitmask>
+              <ode>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+                <max_vel>0.01</max_vel>
+                <min_depth>0</min_depth>
+              </ode>
+              <bullet>
+                <split_impulse>1</split_impulse>
+                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+              </bullet>
+            </contact>
+          </surface>
+        </collision>
+        <gravity>1</gravity>
+      </link>
+      <link name='Wall_4'>
+        <pose frame=''>0.15 0.915 0 0 -0 3.14159</pose>
+        <self_collide>0</self_collide>
+        <kinematic>0</kinematic>
+        <visual name='Wall_4_Visual'>
+          <pose frame=''>0 0 0.125 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>1.58 0.05 0.25</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 1 1 1</ambient>
+            <diffuse>0.7 0.7 0.7 1</diffuse>
+            <specular>0.01 0.01 0.01 1</specular>
+            <emissive>0 0 0 1</emissive>
+          </material>
+          <cast_shadows>1</cast_shadows>
+          <transparency>0</transparency>
+        </visual>
+        <collision name='Wall_4_Collision'>
+          <laser_retro>0</laser_retro>
+          <max_contacts>10</max_contacts>
+          <pose frame=''>0 0 0.125 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>1.58 0.05 0.25</size>
+            </box>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>1</mu>
+                <mu2>1</mu2>
+                <fdir1>0 0 0</fdir1>
+                <slip1>0</slip1>
+                <slip2>0</slip2>
+              </ode>
+              <torsional>
+                <coefficient>1</coefficient>
+                <patch_radius>0</patch_radius>
+                <surface_radius>0</surface_radius>
+                <use_patch_radius>1</use_patch_radius>
+                <ode>
+                  <slip>0</slip>
+                </ode>
+              </torsional>
+            </friction>
+            <bounce>
+              <restitution_coefficient>0</restitution_coefficient>
+              <threshold>1e+06</threshold>
+            </bounce>
+            <contact>
+              <collide_without_contact>0</collide_without_contact>
+              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+              <collide_bitmask>1</collide_bitmask>
+              <ode>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+                <max_vel>0.01</max_vel>
+                <min_depth>0</min_depth>
+              </ode>
+              <bullet>
+                <split_impulse>1</split_impulse>
+                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+              </bullet>
+            </contact>
+          </surface>
+        </collision>
+        <gravity>1</gravity>
+      </link>
+      <static>1</static>
+      <allow_auto_disable>1</allow_auto_disable>
+      <pose frame=''>-0.964699 -1.03574 0 0 -0 0</pose>
+    </model>
+
+    <model name='tunnel_obstacle'>
+      <link name='obstacle_1'>
+        <pose frame=''>0.42322 -0.212034 0.0 0 -0 0</pose>
+        <inertial>
+          <mass>0.0416663</mass>
+          <inertia>
+            <ixx>0.00098188</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>0.00098188</iyy>
+            <iyz>0</iyz>
+            <izz>0.00046751</izz>
+          </inertia>
+          <pose frame=''>0 0 0 0 -0 0</pose>
+        </inertial>
+        <self_collide>0</self_collide>
+        <kinematic>0</kinematic>
+        <gravity>1</gravity>
+        <visual name='visual'>
+          <pose frame=''>0 0 0 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.1</radius>
+              <length>0.25</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <lighting>1</lighting>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>0.3 0.3 0.3 1</ambient>
+            <diffuse>0.7 0.7 0.7 1</diffuse>
+            <specular>0.01 0.01 0.01 1</specular>
+            <emissive>0 0 0 1</emissive>
+            <shader type='pixel'>
+              <normal_map>__default__</normal_map>
+            </shader>
+          </material>
+          <cast_shadows>1</cast_shadows>
+          <transparency>0</transparency>
+        </visual>
+        <collision name='collision'>
+          <laser_retro>0</laser_retro>
+          <max_contacts>10</max_contacts>
+          <pose frame=''>0 0 0 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.1</radius>
+              <length>0.46418</length>
+            </cylinder>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>1</mu>
+                <mu2>1</mu2>
+                <fdir1>0 0 0</fdir1>
+                <slip1>0</slip1>
+                <slip2>0</slip2>
+              </ode>
+              <torsional>
+                <coefficient>1</coefficient>
+                <patch_radius>0</patch_radius>
+                <surface_radius>0</surface_radius>
+                <use_patch_radius>1</use_patch_radius>
+                <ode>
+                  <slip>0</slip>
+                </ode>
+              </torsional>
+            </friction>
+            <bounce>
+              <restitution_coefficient>0</restitution_coefficient>
+              <threshold>1e+06</threshold>
+            </bounce>
+            <contact>
+              <collide_without_contact>0</collide_without_contact>
+              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+              <collide_bitmask>1</collide_bitmask>
+              <ode>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+                <max_vel>0.01</max_vel>
+                <min_depth>0</min_depth>
+              </ode>
+              <bullet>
+                <split_impulse>1</split_impulse>
+                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+              </bullet>
+            </contact>
+          </surface>
+        </collision>
+      </link>
+      <link name='obstacle_2'>
+        <pose frame=''>-0.323729 -0.287563 0.0 0 -0 0</pose>
+        <inertial>
+          <mass>0.0416663</mass>
+          <inertia>
+            <ixx>0.00098188</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>0.00098188</iyy>
+            <iyz>0</iyz>
+            <izz>0.00046751</izz>
+          </inertia>
+          <pose frame=''>0 0 0 0 -0 0</pose>
+        </inertial>
+        <self_collide>0</self_collide>
+        <kinematic>0</kinematic>
+        <gravity>1</gravity>
+        <visual name='visual'>
+          <pose frame=''>0 0 0 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.1</radius>
+              <length>0.25</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <lighting>1</lighting>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>0.3 0.3 0.3 1</ambient>
+            <diffuse>0.7 0.7 0.7 1</diffuse>
+            <specular>0.01 0.01 0.01 1</specular>
+            <emissive>0 0 0 1</emissive>
+            <shader type='pixel'>
+              <normal_map>__default__</normal_map>
+            </shader>
+          </material>
+          <cast_shadows>1</cast_shadows>
+          <transparency>0</transparency>
+        </visual>
+        <collision name='collision'>
+          <laser_retro>0</laser_retro>
+          <max_contacts>10</max_contacts>
+          <pose frame=''>0 0 0 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.1</radius>
+              <length>0.46418</length>
+            </cylinder>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>1</mu>
+                <mu2>1</mu2>
+                <fdir1>0 0 0</fdir1>
+                <slip1>0</slip1>
+                <slip2>0</slip2>
+              </ode>
+              <torsional>
+                <coefficient>1</coefficient>
+                <patch_radius>0</patch_radius>
+                <surface_radius>0</surface_radius>
+                <use_patch_radius>1</use_patch_radius>
+                <ode>
+                  <slip>0</slip>
+                </ode>
+              </torsional>
+            </friction>
+            <bounce>
+              <restitution_coefficient>0</restitution_coefficient>
+              <threshold>1e+06</threshold>
+            </bounce>
+            <contact>
+              <collide_without_contact>0</collide_without_contact>
+              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+              <collide_bitmask>1</collide_bitmask>
+              <ode>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+                <max_vel>0.01</max_vel>
+                <min_depth>0</min_depth>
+              </ode>
+              <bullet>
+                <split_impulse>1</split_impulse>
+                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+              </bullet>
+            </contact>
+          </surface>
+        </collision>
+      </link>
+      <link name='obstacle_3'>
+        <pose frame=''>-0.099492 0.499594 0.0 0 -0 0</pose>
+        <inertial>
+          <mass>0.0416663</mass>
+          <inertia>
+            <ixx>0.00098188</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>0.00098188</iyy>
+            <iyz>0</iyz>
+            <izz>0.00046751</izz>
+          </inertia>
+          <pose frame=''>0 0 0 0 -0 0</pose>
+        </inertial>
+        <self_collide>0</self_collide>
+        <kinematic>0</kinematic>
+        <gravity>1</gravity>
+        <visual name='visual'>
+          <pose frame=''>0 0 0 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.1</radius>
+              <length>0.25</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <lighting>1</lighting>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>0.3 0.3 0.3 1</ambient>
+            <diffuse>0.7 0.7 0.7 1</diffuse>
+            <specular>0.01 0.01 0.01 1</specular>
+            <emissive>0 0 0 1</emissive>
+            <shader type='pixel'>
+              <normal_map>__default__</normal_map>
+            </shader>
+          </material>
+          <cast_shadows>1</cast_shadows>
+          <transparency>0</transparency>
+        </visual>
+        <collision name='collision'>
+          <laser_retro>0</laser_retro>
+          <max_contacts>10</max_contacts>
+          <pose frame=''>0 0 0 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.1</radius>
+              <length>0.46418</length>
+            </cylinder>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>1</mu>
+                <mu2>1</mu2>
+                <fdir1>0 0 0</fdir1>
+                <slip1>0</slip1>
+                <slip2>0</slip2>
+              </ode>
+              <torsional>
+                <coefficient>1</coefficient>
+                <patch_radius>0</patch_radius>
+                <surface_radius>0</surface_radius>
+                <use_patch_radius>1</use_patch_radius>
+                <ode>
+                  <slip>0</slip>
+                </ode>
+              </torsional>
+            </friction>
+            <bounce>
+              <restitution_coefficient>0</restitution_coefficient>
+              <threshold>1e+06</threshold>
+            </bounce>
+            <contact>
+              <collide_without_contact>0</collide_without_contact>
+              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+              <collide_bitmask>1</collide_bitmask>
+              <ode>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+                <max_vel>0.01</max_vel>
+                <min_depth>0</min_depth>
+              </ode>
+              <bullet>
+                <split_impulse>1</split_impulse>
+                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+              </bullet>
+            </contact>
+          </surface>
+        </collision>
+      </link>
+      <static>1</static>
+      <allow_auto_disable>1</allow_auto_disable>
+      <pose frame=''>-1.04145 -1.12671 0 0 -0 0</pose>
+    </model>
+
+    <model name='barrier_1'>
+      <link name='link'>
+        <inertial>
+          <mass>1</mass>
+          <inertia>
+            <ixx>0.166667</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>0.166667</iyy>
+            <iyz>0</iyz>
+            <izz>0.166667</izz>
+          </inertia>
+          <pose frame=''>0 0 0 0 -0 0</pose>
+        </inertial>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <gravity>1</gravity>
+        <visual name='visual'>
+          <geometry>
+            <box>
+              <size>0.25 0.1 0.3</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <name>Gazebo/Grey</name>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+            </script>
+            <shader type='pixel'>
+              <normal_map>__default__</normal_map>
+            </shader>
+            <ambient>0.3 0.3 0.3 1</ambient>
+            <diffuse>0.7 0.7 0.7 1</diffuse>
+            <specular>0.01 0.01 0.01 1</specular>
+            <emissive>0 0 0 1</emissive>
+          </material>
+          <pose frame=''>0 0 0 0 -0 0</pose>
+          <transparency>0</transparency>
+          <cast_shadows>1</cast_shadows>
+        </visual>
+        <collision name='collision'>
+          <laser_retro>0</laser_retro>
+          <max_contacts>10</max_contacts>
+          <pose frame=''>0 0 0 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.25 0.1 0.3</size>
+            </box>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>1</mu>
+                <mu2>1</mu2>
+                <fdir1>0 0 0</fdir1>
+                <slip1>0</slip1>
+                <slip2>0</slip2>
+              </ode>
+              <torsional>
+                <coefficient>1</coefficient>
+                <patch_radius>0</patch_radius>
+                <surface_radius>0</surface_radius>
+                <use_patch_radius>1</use_patch_radius>
+                <ode>
+                  <slip>0</slip>
+                </ode>
+              </torsional>
+            </friction>
+            <bounce>
+              <restitution_coefficient>0</restitution_coefficient>
+              <threshold>1e+06</threshold>
+            </bounce>
+            <contact>
+              <collide_without_contact>0</collide_without_contact>
+              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+              <collide_bitmask>1</collide_bitmask>
+              <ode>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+                <max_vel>0.01</max_vel>
+                <min_depth>0</min_depth>
+              </ode>
+              <bullet>
+                <split_impulse>1</split_impulse>
+                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+              </bullet>
+            </contact>
+          </surface>
+        </collision>
+      </link>
+      <static>0</static>
+      <allow_auto_disable>1</allow_auto_disable>
+      <pose frame=''>1.61222 1.02778 0.5 0 -0 0</pose>
+    </model>
+
+    <model name='barrier_2'>
+      <link name='link'>
+        <inertial>
+          <mass>1</mass>
+          <inertia>
+            <ixx>0.166667</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>0.166667</iyy>
+            <iyz>0</iyz>
+            <izz>0.166667</izz>
+          </inertia>
+          <pose frame=''>0 0 0 0 -0 0</pose>
+        </inertial>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <gravity>1</gravity>
+        <visual name='visual'>
+          <geometry>
+            <box>
+              <size>0.25 0.1 0.3</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <name>Gazebo/Grey</name>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+            </script>
+            <shader type='pixel'>
+              <normal_map>__default__</normal_map>
+            </shader>
+            <ambient>0.3 0.3 0.3 1</ambient>
+            <diffuse>0.7 0.7 0.7 1</diffuse>
+            <specular>0.01 0.01 0.01 1</specular>
+            <emissive>0 0 0 1</emissive>
+          </material>
+          <pose frame=''>0 0 0 0 -0 0</pose>
+          <transparency>0</transparency>
+          <cast_shadows>1</cast_shadows>
+        </visual>
+        <collision name='collision'>
+          <laser_retro>0</laser_retro>
+          <max_contacts>10</max_contacts>
+          <pose frame=''>0 0 0 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.25 0.1 0.3</size>
+            </box>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>1</mu>
+                <mu2>1</mu2>
+                <fdir1>0 0 0</fdir1>
+                <slip1>0</slip1>
+                <slip2>0</slip2>
+              </ode>
+              <torsional>
+                <coefficient>1</coefficient>
+                <patch_radius>0</patch_radius>
+                <surface_radius>0</surface_radius>
+                <use_patch_radius>1</use_patch_radius>
+                <ode>
+                  <slip>0</slip>
+                </ode>
+              </torsional>
+            </friction>
+            <bounce>
+              <restitution_coefficient>0</restitution_coefficient>
+              <threshold>1e+06</threshold>
+            </bounce>
+            <contact>
+              <collide_without_contact>0</collide_without_contact>
+              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+              <collide_bitmask>1</collide_bitmask>
+              <ode>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+                <max_vel>0.01</max_vel>
+                <min_depth>0</min_depth>
+              </ode>
+              <bullet>
+                <split_impulse>1</split_impulse>
+                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+              </bullet>
+            </contact>
+          </surface>
+        </collision>
+      </link>
+      <static>0</static>
+      <allow_auto_disable>1</allow_auto_disable>
+      <pose frame=''>1.74483 0.998451 0.15 0 -0 0</pose>
+    </model>
+
+    <model name='barrier_3'>
+      <link name='link'>
+        <inertial>
+          <mass>1</mass>
+          <inertia>
+            <ixx>0.166667</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>0.166667</iyy>
+            <iyz>0</iyz>
+            <izz>0.166667</izz>
+          </inertia>
+          <pose frame=''>0 0 0 0 -0 0</pose>
+        </inertial>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <gravity>1</gravity>
+        <visual name='visual'>
+          <geometry>
+            <box>
+              <size>0.25 0.1 0.3</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <name>Gazebo/Grey</name>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+            </script>
+            <shader type='pixel'>
+              <normal_map>__default__</normal_map>
+            </shader>
+            <ambient>0.3 0.3 0.3 1</ambient>
+            <diffuse>0.7 0.7 0.7 1</diffuse>
+            <specular>0.01 0.01 0.01 1</specular>
+            <emissive>0 0 0 1</emissive>
+          </material>
+          <pose frame=''>0 0 0 0 -0 0</pose>
+          <transparency>0</transparency>
+          <cast_shadows>1</cast_shadows>
+        </visual>
+        <collision name='collision'>
+          <laser_retro>0</laser_retro>
+          <max_contacts>10</max_contacts>
+          <pose frame=''>0 0 0 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.25 0.1 0.3</size>
+            </box>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>1</mu>
+                <mu2>1</mu2>
+                <fdir1>0 0 0</fdir1>
+                <slip1>0</slip1>
+                <slip2>0</slip2>
+              </ode>
+              <torsional>
+                <coefficient>1</coefficient>
+                <patch_radius>0</patch_radius>
+                <surface_radius>0</surface_radius>
+                <use_patch_radius>1</use_patch_radius>
+                <ode>
+                  <slip>0</slip>
+                </ode>
+              </torsional>
+            </friction>
+            <bounce>
+              <restitution_coefficient>0</restitution_coefficient>
+              <threshold>1e+06</threshold>
+            </bounce>
+            <contact>
+              <collide_without_contact>0</collide_without_contact>
+              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+              <collide_bitmask>1</collide_bitmask>
+              <ode>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+                <max_vel>0.01</max_vel>
+                <min_depth>0</min_depth>
+              </ode>
+              <bullet>
+                <split_impulse>1</split_impulse>
+                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+              </bullet>
+            </contact>
+          </surface>
+        </collision>
+      </link>
+      <static>0</static>
+      <allow_auto_disable>1</allow_auto_disable>
+      <pose frame=''>1.49021 1.46167 0.15 0 -0 0</pose>
+    </model>
+  </world>
+</sdf>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage1.world b/src/turtlebot3_simulations/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage1.world
new file mode 100755
index 0000000..b622560
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage1.world
@@ -0,0 +1,54 @@
+<?xml version="1.0"?>
+<sdf version="1.6">
+  <world name="default">
+
+    <include>
+      <uri>model://ground_plane</uri>
+    </include>
+
+    <include>
+      <uri>model://sun</uri>
+    </include>
+
+    <scene>
+      <shadows>false</shadows>
+    </scene>
+
+    <gui fullscreen='0'>
+      <camera name='user_camera'>
+        <pose frame=''>0.319654 -0.235002 9.29441 0 1.5138 0.009599</pose>
+        <view_controller>orbit</view_controller>
+        <projection_type>perspective</projection_type>
+      </camera>
+    </gui>
+
+    <physics type="ode">
+      <real_time_update_rate>1000.0</real_time_update_rate>
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1</real_time_factor>
+      <ode>
+        <solver>
+          <type>quick</type>
+          <iters>150</iters>
+          <precon_iters>0</precon_iters>
+          <sor>1.400000</sor>
+          <use_dynamic_moi_rescaling>1</use_dynamic_moi_rescaling>
+        </solver>
+        <constraints>
+          <cfm>0.00001</cfm>
+          <erp>0.2</erp>
+          <contact_max_correcting_vel>2000.000000</contact_max_correcting_vel>
+          <contact_surface_layer>0.01000</contact_surface_layer>
+        </constraints>
+      </ode>
+    </physics>
+    
+    <model name="turtlebot3_dqn_world">
+      <static>1</static>
+      <include>
+        <uri>model://turtlebot3_dqn_world</uri>
+      </include>
+    </model>
+
+  </world>
+</sdf>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage2.world b/src/turtlebot3_simulations/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage2.world
new file mode 100755
index 0000000..8efeee7
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage2.world
@@ -0,0 +1,58 @@
+<?xml version="1.0"?>
+<sdf version="1.6">
+  <world name="default">
+
+    <include>
+      <uri>model://ground_plane</uri>
+    </include>
+
+    <include>
+      <uri>model://sun</uri>
+    </include>
+
+    <scene>
+      <shadows>false</shadows>
+    </scene>
+
+    <gui fullscreen='0'>
+      <camera name='user_camera'>
+        <pose frame=''>0.319654 -0.235002 9.29441 0 1.5138 0.009599</pose>
+        <view_controller>orbit</view_controller>
+        <projection_type>perspective</projection_type>
+      </camera>
+    </gui>
+
+    <physics type="ode">
+      <real_time_update_rate>1000.0</real_time_update_rate>
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1</real_time_factor>
+      <ode>
+        <solver>
+          <type>quick</type>
+          <iters>150</iters>
+          <precon_iters>0</precon_iters>
+          <sor>1.400000</sor>
+          <use_dynamic_moi_rescaling>1</use_dynamic_moi_rescaling>
+        </solver>
+        <constraints>
+          <cfm>0.00001</cfm>
+          <erp>0.2</erp>
+          <contact_max_correcting_vel>2000.000000</contact_max_correcting_vel>
+          <contact_surface_layer>0.01000</contact_surface_layer>
+        </constraints>
+      </ode>
+    </physics>
+
+    <model name="turtlebot3_dqn_world">
+      <static>1</static>
+      <include>
+        <uri>model://turtlebot3_dqn_world</uri>
+      </include>
+    </model>
+
+    <include>
+      <uri>model://turtlebot3_dqn_world/obstacles</uri>
+    </include>
+
+  </world>
+</sdf>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage3.world b/src/turtlebot3_simulations/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage3.world
new file mode 100755
index 0000000..d8d7dc1
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage3.world
@@ -0,0 +1,62 @@
+<?xml version="1.0"?>
+<sdf version="1.6">
+  <world name="default">
+
+    <include>
+      <uri>model://ground_plane</uri>
+    </include>
+
+    <include>
+      <uri>model://sun</uri>
+    </include>
+
+    <scene>
+      <shadows>false</shadows>
+    </scene>
+
+    <gui fullscreen='0'>
+      <camera name='user_camera'>
+        <pose frame=''>0.319654 -0.235002 9.29441 0 1.5138 0.009599</pose>
+        <view_controller>orbit</view_controller>
+        <projection_type>perspective</projection_type>
+      </camera>
+    </gui>
+
+    <physics type="ode">
+      <real_time_update_rate>1000.0</real_time_update_rate>
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1</real_time_factor>
+      <ode>
+        <solver>
+          <type>quick</type>
+          <iters>150</iters>
+          <precon_iters>0</precon_iters>
+          <sor>1.400000</sor>
+          <use_dynamic_moi_rescaling>1</use_dynamic_moi_rescaling>
+        </solver>
+        <constraints>
+          <cfm>0.00001</cfm>
+          <erp>0.2</erp>
+          <contact_max_correcting_vel>2000.000000</contact_max_correcting_vel>
+          <contact_surface_layer>0.01000</contact_surface_layer>
+        </constraints>
+      </ode>
+    </physics>
+
+    <model name="turtlebot3_dqn_world">
+      <static>1</static>
+      <include>
+        <uri>model://turtlebot3_dqn_world</uri>
+      </include>
+    </model>
+
+    <model name="turtlebot3_dqn_obstacles">
+      <plugin name="obstacles" filename="libobstacles.so"/>
+      <allow_auto_disable>1</allow_auto_disable>
+      <include>
+        <uri>model://turtlebot3_dqn_world/obstacles</uri>
+      </include>
+    </model>
+
+  </world>
+</sdf>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage4.world b/src/turtlebot3_simulations/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage4.world
new file mode 100755
index 0000000..b0174dc
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage4.world
@@ -0,0 +1,75 @@
+<?xml version="1.0"?>
+<sdf version="1.6">
+  <world name="default">
+
+    <include>
+      <uri>model://ground_plane</uri>
+    </include>
+
+    <include>
+      <uri>model://sun</uri>
+    </include>
+
+    <scene>
+      <shadows>false</shadows>
+    </scene>
+
+    <gui fullscreen='0'>
+      <camera name='user_camera'>
+        <pose frame=''>0.319654 -0.235002 9.29441 0 1.5138 0.009599</pose>
+        <view_controller>orbit</view_controller>
+        <projection_type>perspective</projection_type>
+      </camera>
+    </gui>
+
+    <physics type="ode">
+      <real_time_update_rate>1000.0</real_time_update_rate>
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1</real_time_factor>
+      <ode>
+        <solver>
+          <type>quick</type>
+          <iters>150</iters>
+          <precon_iters>0</precon_iters>
+          <sor>1.400000</sor>
+          <use_dynamic_moi_rescaling>1</use_dynamic_moi_rescaling>
+        </solver>
+        <constraints>
+          <cfm>0.00001</cfm>
+          <erp>0.2</erp>
+          <contact_max_correcting_vel>2000.000000</contact_max_correcting_vel>
+          <contact_surface_layer>0.01000</contact_surface_layer>
+        </constraints>
+      </ode>
+    </physics>
+
+    <model name="turtlebot3_dqn_world">
+      <static>1</static>
+      <include>
+        <uri>model://turtlebot3_dqn_world</uri>
+      </include>
+    </model>
+
+    <include>
+      <pose>0 0 0 0 0 0</pose>
+      <uri>model://turtlebot3_dqn_world/inner_walls</uri>
+    </include>
+
+    <model name="turtlebot3_dqn_obstacle1">
+      <plugin name="obstacle1" filename="libobstacle1.so"/>
+      <include>
+        <pose>2 2 0 0 0 0</pose>
+        <uri>model://turtlebot3_dqn_world/obstacle1</uri>
+      </include>
+    </model>
+     
+    <model name="turtlebot3_dqn_obstacle2">
+      <plugin name="obstacle2" filename="libobstacle2.so"/>
+      <include>
+        <pose>-2 -2 0 0 0 0</pose>
+        <uri>model://turtlebot3_dqn_world/obstacle2</uri>
+      </include>
+    </model>
+
+  </world>
+</sdf>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/worlds/turtlebot3_house.world b/src/turtlebot3_simulations/turtlebot3_gazebo/worlds/turtlebot3_house.world
new file mode 100755
index 0000000..c8aabbd
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/worlds/turtlebot3_house.world
@@ -0,0 +1,54 @@
+<?xml version="1.0"?>
+<sdf version="1.6">
+  <world name="default">
+
+    <include>
+      <uri>model://ground_plane</uri>
+    </include>
+
+    <include>
+      <uri>model://sun</uri>
+    </include>
+
+    <scene>
+      <shadows>false</shadows>
+    </scene>
+
+    <gui fullscreen='0'>
+      <camera name='user_camera'>
+        <pose frame=''>0.319654 -0.235002 9.29441 0 1.5138 0.009599</pose>
+        <view_controller>orbit</view_controller>
+        <projection_type>perspective</projection_type>
+      </camera>
+    </gui>
+
+    <physics type="ode">
+      <real_time_update_rate>1000.0</real_time_update_rate>
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1</real_time_factor>
+      <ode>
+        <solver>
+          <type>quick</type>
+          <iters>150</iters>
+          <precon_iters>0</precon_iters>
+          <sor>1.400000</sor>
+          <use_dynamic_moi_rescaling>1</use_dynamic_moi_rescaling>
+        </solver>
+        <constraints>
+          <cfm>0.00001</cfm>
+          <erp>0.2</erp>
+          <contact_max_correcting_vel>2000.000000</contact_max_correcting_vel>
+          <contact_surface_layer>0.01000</contact_surface_layer>
+        </constraints>
+      </ode>
+    </physics>
+
+    <model name="turtlebot3_house">
+      <static>1</static>
+      <include>
+        <uri>model://turtlebot3_house</uri>
+      </include>
+    </model>
+
+  </world>
+</sdf>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/worlds/turtlebot3_world.world b/src/turtlebot3_simulations/turtlebot3_gazebo/worlds/turtlebot3_world.world
new file mode 100755
index 0000000..d71276e
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/worlds/turtlebot3_world.world
@@ -0,0 +1,54 @@
+<?xml version="1.0"?>
+<sdf version="1.6">
+  <world name="default">
+
+    <include>
+      <uri>model://ground_plane</uri>
+    </include>
+
+    <include>
+      <uri>model://sun</uri>
+    </include>
+
+    <scene>
+      <shadows>false</shadows>
+    </scene>
+
+    <gui fullscreen='0'>
+      <camera name='user_camera'>
+        <pose frame=''>0.319654 -0.235002 9.29441 0 1.5138 0.009599</pose>
+        <view_controller>orbit</view_controller>
+        <projection_type>perspective</projection_type>
+      </camera>
+    </gui>
+
+    <physics type="ode">
+      <real_time_update_rate>1000.0</real_time_update_rate>
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1</real_time_factor>
+      <ode>
+        <solver>
+          <type>quick</type>
+          <iters>150</iters>
+          <precon_iters>0</precon_iters>
+          <sor>1.400000</sor>
+          <use_dynamic_moi_rescaling>1</use_dynamic_moi_rescaling>
+        </solver>
+        <constraints>
+          <cfm>0.00001</cfm>
+          <erp>0.2</erp>
+          <contact_max_correcting_vel>2000.000000</contact_max_correcting_vel>
+          <contact_surface_layer>0.01000</contact_surface_layer>
+        </constraints>
+      </ode>
+    </physics>
+
+    <model name="turtlebot3_world">
+      <static>1</static>
+      <include>
+        <uri>model://turtlebot3_world</uri>
+      </include>
+    </model>
+
+  </world>
+</sdf>
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/worlds/warehouse.world b/src/turtlebot3_simulations/turtlebot3_gazebo/worlds/warehouse.world
new file mode 100644
index 0000000..40f41fb
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/worlds/warehouse.world
@@ -0,0 +1,41 @@
+<!DOCTYPE html>
+<html lang="">
+  <head>
+    <title>GitHub Proxy 最新地址发布</title>
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+    <!-- Twitter Cards -->
+    <meta name="twitter:card" content="summary_large_image" />
+    <meta name="twitter:site" content="@stilleshan" />
+    <meta name="twitter:creator" content="@stilleshan" />
+    <meta property="og:url" content="https://ghp.ci" />
+    <meta property="og:title" content="GitHub Proxy 代理加速" />
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+      content="GitHub 文件 , Releases , archive , gist , raw.githubusercontent.com 文件代理加速下载服务." />
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+      function gtag(){dataLayer.push(arguments);}
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+
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+
+    <!-- Umami Analytics -->
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+  <script defer src="/js/chunk-vendors.js"></script><script defer src="/js/app.js"></script></head>
+  <body>
+    <noscript>
+      <strong>We're sorry but vue doesn't work properly without JavaScript enabled. Please enable it to continue.</strong>
+    </noscript>
+    <div id="app"></div>
+    <!-- built files will be auto injected -->
+  </body>
+</html>
diff --git a/src/turtlebot3_simulations/turtlebot3_simulations/CHANGELOG.rst b/src/turtlebot3_simulations/turtlebot3_simulations/CHANGELOG.rst
new file mode 100755
index 0000000..55152cf
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_simulations/CHANGELOG.rst
@@ -0,0 +1,205 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package turtlebot3_simulations
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+2.3.8 (2025-07-10)
+------------------
+* Fixed the issue where the TurtleBot3 Manipulation Gazebo simulation was not working properly
+* Contributors: Hyungyu Kim
+
+2.3.6 (2025-06-19)
+------------------
+* Included the TurtleBot3 Manipulation Gazebo simulation package in the metapackage's package.xml and updated the CI configuration accordingly
+* Contributors: Hyungyu Kim
+
+2.3.4 (2025-05-28)
+------------------
+* Moved the TurtleBot3 Manipulation Gazebo simulation from the turtlebot3_manipulation_bringup package
+* Contributors: ChanHyeong Lee
+
+2.3.0 (2025-02-17)
+------------------
+* Added multi-robot launch functionality
+* Added launch file for TurtleBot3 Autorace 2020
+* Added plugins to the models of Autorace 2020
+* Updated robot mesh in Gazebo and RViz
+* Contributors: Hyungyu Kim
+
+2.2.6 (2022-05-26)
+------------------
+* ROS 2 Humble Hawksbill supported
+* Contributors: Will Son
+
+2.2.5 (2021-08-25)
+------------------
+* Release for ROS 2 Rolling
+* Contributors: Will Son
+
+2.2.4 (2021-06-14)
+------------------
+* Release for ROS 2 Galactic
+* Separate world and robot models(#162)
+* Clean up unncessary files
+* Use turtlebot3_common mesh modeling
+* Independent turtlebot3_simulations package
+* Contributors: Joep Tool, Will Son
+
+2.2.3 (2021-04-12)
+------------------
+* Update required keyword arguments
+* Clear up exec_depend
+* Fix Waffle Pi wheel inertia
+* Contributors: ruffsl, Will Son
+
+2.2.2 (2021-02-24)
+------------------
+* Remove shared objects built in older version
+* Contributors: Will Son
+
+2.2.1 (2021-01-13)
+------------------
+* Eloquent Elusor EOL
+* Add missing imu joint in sdf
+* Append Gazebo model path
+* Portable fix, launch description revise
+* Ament lint applied
+* Contributors: minwoominwoominwoo7, Rayman, seanyen, ashe kim, Will Son
+
+2.2.0 (2020-06-29)
+------------------
+* TurtleBot3 Drive node implementation
+* Additional Gazebo maps added
+* argument tags in the sdf file replaced with remapping tags
+* Low polygon 3D modeling applied for simulation
+* Contributors: Ryan Shim, Mikael Arguedas, Will Son
+
+2.1.0 (2019-09-10)
+------------------
+* ROS 2 migration of turtlebot3_fake_node package
+* Modified rviz config (background colour changed to white, tf display disabled)
+* Added turtlebot3_house and related world, model files
+* Contributors: Ryan Shim, Darby Lim, Pyo
+
+2.0.1 (2019-09-05)
+------------------
+* Modified dependency packages
+* Modified launch directory
+* Added a launch file for robot state publisher
+* Contributors: Darby Lim, Pyo
+
+2.0.0 (2019-08-20)
+------------------
+* Supported ROS 2 Dashing Diademata
+* Updated the CHANGELOG and version to release binary packages
+* Contributors: Darby Lim, Pyo
+
+1.3.0 (2020-06-29)
+------------------
+* Turtlebot3 Autorace 2020 implemented
+* Remove the plugin_path from gazebo_ros export
+* Remove *nix path separator
+* Contributors: Ashe Kim, Ben Wolsieffer, Sean Yen
+
+1.2.0 (2019-01-22)
+------------------
+* move out the init() from ROS_ASSERT `#68 <https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/68>`_
+* moved <scene> into <world> `#65 <https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/65>`_
+* modified ML stage
+* delete unused param
+* update algorithm and modified variable more clearly
+* Contributors: Darby Lim, Gilbert, Louise Poubel, Pyo
+
+1.1.0 (2018-07-20)
+------------------
+* added TurtleBot3 Waffle Pi
+* modified uri path
+* modified autorace
+* delete remap
+* Contributors: Darby Lim, Gilbert, Pyo
+
+1.0.2 (2018-06-01)
+------------------
+* added mission.launch modified model.sdf
+* deleted turtlebot3's gazebo plugins
+* modified autorace gazebo
+* merged pull request `#53 <https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/53>`_ `#52 <https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/52>`_ `#51 <https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/51>`_ `#50 <https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/50>`_ `#49 <https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/49>`_
+* Contributors: Gilbert, Darby Lim, Pyo
+
+1.0.1 (2018-05-30)
+------------------
+* resolving dependency issues:
+  http://build.ros.org/job/Kbin_dj_dJ64__turtlebot3_gazebo__debian_jessie_amd64__binary/2/
+* Contributors: Pyo
+
+1.0.0 (2018-05-29)
+------------------
+* added world for turtlebot3_autorace
+* added world for turtlebot3_machine_learning
+* merged pull request `#46 <https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/46>`_ from AuTURBO/develop
+  add turtlebot3_autorace world'
+* merged pull request `#48 <https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/48>`_ `#47 <https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/47>`_ `#44 <https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/44>`_ `#42 <https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/42>`_ `#41 <https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/41>`_
+* Contributors: Darby Lim, Gilbert, hyunoklee, Pyo
+
+0.2.4 (2018-03-14)
+------------------
+* solved DuplicateVersionsException error
+* Contributors: Pyo
+
+0.2.3 (2018-03-14)
+------------------
+* solved DuplicateVersionsException error
+* Contributors: Pyo
+
+0.2.2 (2018-03-14)
+------------------
+* added line feed into metapackage
+* Contributors: Pyo
+
+0.2.1 (2018-03-14)
+------------------
+* added worlds for gazebo and turtlebot3
+* deleted turtlebot3_gazebo_plugin and merged into turtlebot3_gazebo_ros package
+* Contributors: Darby Lim
+
+0.2.0 (2018-03-13)
+------------------
+* added TurtleBot3 Waffle Pi
+* added slam with multiple tb3
+* added multi example
+* added turtlebot3_house
+* added turtlebot3_house
+* added msg function
+* modified gazebo plugin
+* modified tb3 control
+* modified sensor param
+* modified camera position
+* modified image_listener
+* modified cmake file
+* modified spwn model name
+* modified multi slam param
+* modified camera position
+* modified folder name
+* Contributors: Darby Lim
+
+0.1.7 (2017-08-16)
+------------------
+* renamed missed the install rule (worlds -> models)
+* Contributors: Darby Lim, Tully Foote
+
+0.1.6 (2017-08-14)
+------------------
+* modified folder name and model path
+* updated rviz and add static tf publisher for depth camera
+* Contributors: Darby Lim
+
+0.1.5 (2017-06-09)
+------------------
+* modified make files for dependencies
+* updated turtlebot3 sim
+* updated world config
+* Contributors: Darby Lim
+
+0.1.4 (2017-05-23)
+------------------
+* added as new meta-packages and version update (0.1.4)
+* Contributors: Darby Lim, Pyo
diff --git a/src/turtlebot3_simulations/turtlebot3_simulations/CMakeLists.txt b/src/turtlebot3_simulations/turtlebot3_simulations/CMakeLists.txt
new file mode 100755
index 0000000..c238398
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_simulations/CMakeLists.txt
@@ -0,0 +1,9 @@
+cmake_minimum_required(VERSION 3.5)
+project(turtlebot3_simulations)
+
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+endif()
+
+find_package(ament_cmake REQUIRED)
+ament_package()
diff --git a/src/turtlebot3_simulations/turtlebot3_simulations/package.xml b/src/turtlebot3_simulations/turtlebot3_simulations/package.xml
new file mode 100755
index 0000000..9a30ac6
--- /dev/null
+++ b/src/turtlebot3_simulations/turtlebot3_simulations/package.xml
@@ -0,0 +1,27 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>turtlebot3_simulations</name>
+  <version>2.4.0</version>
+  <description>
+    ROS 2 packages for TurtleBot3 simulations (migrated to Gazebo Sim / Harmonic)
+  </description>
+  <maintainer email="pyo@robotis.com">Pyo</maintainer>
+  <license>Apache 2.0</license>
+  <url type="website">http://turtlebot3.robotis.com</url>
+  <url type="repository">https://github.com/ROBOTIS-GIT/turtlebot3_simulations</url>
+  <url type="bugtracker">https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues</url>
+  <author email="thlim@robotis.com">Darby Lim</author>
+  <author email="pyo@robotis.com">Pyo</author>
+  <author>Ryan Shim</author>
+  <author email="willson@robotis.com">Will Son</author>
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <exec_depend>turtlebot3_fake_node</exec_depend>
+  <exec_depend>turtlebot3_gazebo</exec_depend>
+  <exec_depend>turtlebot3_manipulation_gazebo</exec_depend>
+  <exec_depend>ros_gz_bridge</exec_depend>
+  <exec_depend>ros_gz_sim</exec_depend>
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/src/vlm_nav_pkg/.DS_Store b/src/vlm_nav_pkg/.DS_Store
new file mode 100644
index 0000000..4fbb563
Binary files /dev/null and b/src/vlm_nav_pkg/.DS_Store differ
diff --git a/src/vlm_nav_pkg/LICENSE b/src/vlm_nav_pkg/LICENSE
new file mode 100755
index 0000000..d645695
--- /dev/null
+++ b/src/vlm_nav_pkg/LICENSE
@@ -0,0 +1,202 @@
+
+                                 Apache License
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+
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+      the terms of any separate license agreement you may have executed
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diff --git a/src/vlm_nav_pkg/config/example_object_detection_vlm.json b/src/vlm_nav_pkg/config/example_object_detection_vlm.json
new file mode 100755
index 0000000..e6ba285
--- /dev/null
+++ b/src/vlm_nav_pkg/config/example_object_detection_vlm.json
@@ -0,0 +1,47 @@
+{
+    "Refrigerator": {
+        "highest_score": 0.301240234375,
+        "last_detected": "2026-05-18T10:25:26.258502",
+        "position": {
+            "x": -1.3181,
+            "y": 0.5165,
+            "z": 0.7319
+        }
+    },
+    "water dispenser": {
+        "highest_score": 0.31689453125,
+        "last_detected": "2026-05-18T10:26:11.990891",
+        "position": {
+            "x": -1.4587,
+            "y": -1.8551,
+            "z": 0.6153
+        }
+    },
+    "sofa": {
+        "highest_score": 0.311767578125,
+        "last_detected": "2026-05-18T10:26:51.065460",
+        "position": {
+            "x": 1.6362,
+            "y": 0.2425,
+            "z": 0.4759
+        }
+    },
+    "white toilet": {
+        "highest_score": 0.3068359375,
+        "last_detected": "2026-05-18T10:25:18.120319",
+        "position": {
+            "x": -4.4027,
+            "y": -1.2225,
+            "z": 0.1715
+        }
+    },
+    "office chair with wheels": {
+        "highest_score": 0.302734375,
+        "last_detected": "2026-05-18T10:26:35.889506",
+        "position": {
+            "x": -2.9779,
+            "y": 2.3836,
+            "z": 0.4007
+        }
+    }
+}
\ No newline at end of file
diff --git a/src/vlm_nav_pkg/config/test_vlm.json b/src/vlm_nav_pkg/config/test_vlm.json
new file mode 100755
index 0000000..e6ba285
--- /dev/null
+++ b/src/vlm_nav_pkg/config/test_vlm.json
@@ -0,0 +1,47 @@
+{
+    "Refrigerator": {
+        "highest_score": 0.301240234375,
+        "last_detected": "2026-05-18T10:25:26.258502",
+        "position": {
+            "x": -1.3181,
+            "y": 0.5165,
+            "z": 0.7319
+        }
+    },
+    "water dispenser": {
+        "highest_score": 0.31689453125,
+        "last_detected": "2026-05-18T10:26:11.990891",
+        "position": {
+            "x": -1.4587,
+            "y": -1.8551,
+            "z": 0.6153
+        }
+    },
+    "sofa": {
+        "highest_score": 0.311767578125,
+        "last_detected": "2026-05-18T10:26:51.065460",
+        "position": {
+            "x": 1.6362,
+            "y": 0.2425,
+            "z": 0.4759
+        }
+    },
+    "white toilet": {
+        "highest_score": 0.3068359375,
+        "last_detected": "2026-05-18T10:25:18.120319",
+        "position": {
+            "x": -4.4027,
+            "y": -1.2225,
+            "z": 0.1715
+        }
+    },
+    "office chair with wheels": {
+        "highest_score": 0.302734375,
+        "last_detected": "2026-05-18T10:26:35.889506",
+        "position": {
+            "x": -2.9779,
+            "y": 2.3836,
+            "z": 0.4007
+        }
+    }
+}
\ No newline at end of file
diff --git a/src/vlm_nav_pkg/package.xml b/src/vlm_nav_pkg/package.xml
new file mode 100755
index 0000000..f78259d
--- /dev/null
+++ b/src/vlm_nav_pkg/package.xml
@@ -0,0 +1,27 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>vlm_nav_pkg</name>
+  <version>0.0.0</version>
+  <description>A package for semantic navigation using VLM (Vision-Language Models) and CLIP.</description>
+  <maintainer email="xxxxx@gmail.com">echo</maintainer>
+  <license>Apache-2.0</license>
+
+  <!-- Declare all build, build_export, and executable dependencies -->
+  <depend>rclpy</depend>
+  <depend>geometry_msgs</depend>
+  <depend>nav2_simple_commander</depend>
+  <depend>nav2_bringup</depend> 
+  <exec_depend>python3-pytorch</exec_depend>
+  <exec_depend>python3-torchvision</exec_depend>
+  <exec_depend>python3-clip</exec_depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>
diff --git a/src/vlm_nav_pkg/requirement.txt b/src/vlm_nav_pkg/requirement.txt
new file mode 100755
index 0000000..be75ab2
--- /dev/null
+++ b/src/vlm_nav_pkg/requirement.txt
@@ -0,0 +1,3 @@
+torch
+torchvision
+clip @ git+https://github.com/openai/CLIP.git
diff --git a/src/vlm_nav_pkg/resource/vlm_nav_pkg b/src/vlm_nav_pkg/resource/vlm_nav_pkg
new file mode 100755
index 0000000..e69de29
diff --git a/src/vlm_nav_pkg/setup.cfg b/src/vlm_nav_pkg/setup.cfg
new file mode 100755
index 0000000..a037f49
--- /dev/null
+++ b/src/vlm_nav_pkg/setup.cfg
@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/vlm_nav_pkg
+[install]
+install_scripts=$base/lib/vlm_nav_pkg
diff --git a/src/vlm_nav_pkg/setup.py b/src/vlm_nav_pkg/setup.py
new file mode 100755
index 0000000..952f44a
--- /dev/null
+++ b/src/vlm_nav_pkg/setup.py
@@ -0,0 +1,31 @@
+from setuptools import find_packages, setup
+import os
+from glob import glob
+
+package_name = 'vlm_nav_pkg'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+        # Add this line to install the config directory and its JSON files
+        (os.path.join('share', package_name, 'config'), glob('config/*.json')),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='ariel',
+    maintainer_email='bhu16300@gmail.com',
+    description='TODO: Package description',
+    license='Apache-2.0',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+        'point_nav = vlm_nav_pkg.point_nav:main',
+        'semantic_nav = vlm_nav_pkg.semantic_nav:main' 
+    ],
+},
+)
diff --git a/src/vlm_nav_pkg/test/test_copyright.py b/src/vlm_nav_pkg/test/test_copyright.py
new file mode 100755
index 0000000..97a3919
--- /dev/null
+++ b/src/vlm_nav_pkg/test/test_copyright.py
@@ -0,0 +1,25 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'
diff --git a/src/vlm_nav_pkg/test/test_flake8.py b/src/vlm_nav_pkg/test/test_flake8.py
new file mode 100755
index 0000000..27ee107
--- /dev/null
+++ b/src/vlm_nav_pkg/test/test_flake8.py
@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)
diff --git a/src/vlm_nav_pkg/test/test_pep257.py b/src/vlm_nav_pkg/test/test_pep257.py
new file mode 100755
index 0000000..b234a38
--- /dev/null
+++ b/src/vlm_nav_pkg/test/test_pep257.py
@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'
diff --git a/src/vlm_nav_pkg/vlm_nav_pkg/__init__.py b/src/vlm_nav_pkg/vlm_nav_pkg/__init__.py
new file mode 100755
index 0000000..e69de29
diff --git a/src/vlm_nav_pkg/vlm_nav_pkg/__pycache__/__init__.cpython-310.pyc b/src/vlm_nav_pkg/vlm_nav_pkg/__pycache__/__init__.cpython-310.pyc
new file mode 100644
index 0000000..5ecffe9
Binary files /dev/null and b/src/vlm_nav_pkg/vlm_nav_pkg/__pycache__/__init__.cpython-310.pyc differ
diff --git a/src/vlm_nav_pkg/vlm_nav_pkg/__pycache__/semantic_nav.cpython-310.pyc b/src/vlm_nav_pkg/vlm_nav_pkg/__pycache__/semantic_nav.cpython-310.pyc
new file mode 100644
index 0000000..3aafcdc
Binary files /dev/null and b/src/vlm_nav_pkg/vlm_nav_pkg/__pycache__/semantic_nav.cpython-310.pyc differ
diff --git a/src/vlm_nav_pkg/vlm_nav_pkg/point_nav.py b/src/vlm_nav_pkg/vlm_nav_pkg/point_nav.py
new file mode 100755
index 0000000..1d1919d
--- /dev/null
+++ b/src/vlm_nav_pkg/vlm_nav_pkg/point_nav.py
@@ -0,0 +1,65 @@
+#!/usr/bin/env python3
+from copy import deepcopy
+from geometry_msgs.msg import PoseStamped
+import rclpy
+from nav2_simple_commander.robot_navigator import BasicNavigator, TaskResult
+
+def main():
+    rclpy.init()
+    navigator = BasicNavigator()
+    
+    inspection_route = [
+        [-3.59, 2.93],
+        [-3.59, 2.93],
+        [-3.59, 2.98]
+    ]
+
+    # Wait for Nav2 to be fully active
+    print("Waiting for Nav2 to be active...")
+    navigator.waitUntilNav2Active() # This waits for the lifecycle nodes, AMCL, etc.
+    print("Nav2 is active!")
+
+    # ******************************************
+    # REMOVED: The initial_pose code block
+    # You will set this manually in RViz
+    # ******************************************
+
+    # Create waypoints
+    
+        
+
+    inspection_points = []
+    for pt in inspection_route:
+        goal_pose = PoseStamped()
+        goal_pose.header.frame_id = 'map'
+        goal_pose.header.stamp = navigator.get_clock().now().to_msg()
+        goal_pose.pose.position.x = pt[0]
+        goal_pose.pose.position.y = pt[1]
+        goal_pose.pose.orientation.z = 0.0
+        goal_pose.pose.orientation.w = 1.0
+        inspection_points.append(deepcopy(goal_pose))
+
+
+    print(f"Following {len(inspection_points)} waypoints...")
+    navigator.followWaypoints(inspection_points)
+
+    
+    i = 0
+    while not navigator.isTaskComplete():
+        i += 1
+        feedback = navigator.getFeedback()
+        if feedback and i % 5 == 0:
+            print(f'Executing waypoint: {feedback.current_waypoint + 1}/{len(inspection_points)}')
+
+    result = navigator.getResult()
+    if result == TaskResult.SUCCEEDED:
+        print("Navigation succeeded!")
+    elif result == TaskResult.CANCELED:
+        print("Navigation canceled!")
+    elif result == TaskResult.FAILED:
+        print("Navigation failed!")
+
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/src/vlm_nav_pkg/vlm_nav_pkg/semantic_nav.py b/src/vlm_nav_pkg/vlm_nav_pkg/semantic_nav.py
new file mode 100755
index 0000000..41dc8cd
--- /dev/null
+++ b/src/vlm_nav_pkg/vlm_nav_pkg/semantic_nav.py
@@ -0,0 +1,424 @@
+#!/usr/bin/env python3
+import json
+import math
+import time
+import clip
+import torch
+from copy import deepcopy
+import os
+import rclpy
+from rclpy.node import Node
+from geometry_msgs.msg import PoseStamped
+from tf2_ros import Buffer, TransformListener
+from rclpy.duration import Duration
+from rclpy.qos import QoSProfile, ReliabilityPolicy, DurabilityPolicy, HistoryPolicy
+from nav_msgs.msg import OccupancyGrid
+from nav2_simple_commander.robot_navigator import BasicNavigator, TaskResult
+from ament_index_python.packages import get_package_share_directory
+from vlm_perception_pkg.device_utils import resolve_torch_device
+
+
+class SemanticNavNode(Node):
+    def __init__(self, json_path: str):
+        super().__init__('semantic_nav_node')
+        self.declare_parameter('inference_device', 'auto')
+        self.declare_parameter('approach_offset_m', 0.7)
+        self.declare_parameter('approach_offset_refrigerator_m', 0.7)
+        self.declare_parameter('approach_offset_water_dispenser_m', 0.7)
+        self.declare_parameter('approach_offset_sofa_m', 0.5)
+        self.declare_parameter('approach_offset_white_toilet_m', 0.7)
+        self.declare_parameter('approach_offset_office_chair_with_wheels_m', 0.45)
+        self.declare_parameter('approach_candidate_count', 8)
+        self.declare_parameter('approach_clearance_m', 0.30)
+        self.declare_parameter('approach_clearance_office_chair_with_wheels_m', 0.18)
+        self.declare_parameter('approach_candidate_count_office_chair_with_wheels', 16)
+        self.declare_parameter('approach_offset_office_chair_with_wheels_search_radii', [0.45, 0.60, 0.75])
+        self.map_msg = None
+
+        # Load object library
+        with open(json_path) as f:
+            self.object_lib = json.load(f)
+
+        # Load CLIP
+        requested_device = self.get_parameter(
+            'inference_device'
+        ).get_parameter_value().string_value
+        self.device = resolve_torch_device(
+            self.get_logger(),
+            requested_device=requested_device,
+        )
+        self.model, _ = clip.load("ViT-B/32", device=self.device)
+        self.get_logger().info(
+            f"Semantic navigation model initialized on device={self.device} "
+            f"(requested={requested_device})"
+        )
+
+        # Build text embeddings for all object names
+        self.object_names = list(self.object_lib.keys())
+        text_tokens = clip.tokenize(self.object_names).to(self.device)
+        with torch.no_grad():
+            text_features = self.model.encode_text(text_tokens)
+            self.text_features = text_features / text_features.norm(dim=-1, keepdim=True)
+
+        # Initialize navigator
+        self.navigator = BasicNavigator()
+        self.navigator.waitUntilNav2Active()
+        self.tf_buffer = Buffer(cache_time=Duration(seconds=10))
+        self.tf_listener = TransformListener(self.tf_buffer, self, spin_thread=True)
+        map_qos = QoSProfile(
+            depth=1,
+            reliability=ReliabilityPolicy.RELIABLE,
+            durability=DurabilityPolicy.TRANSIENT_LOCAL,
+            history=HistoryPolicy.KEEP_LAST,
+        )
+        self.map_sub = self.create_subscription(
+            OccupancyGrid,
+            "/map",
+            self.map_callback,
+            map_qos,
+        )
+        self.get_logger().info("Navigator ready")
+
+    def query_object(self, prompt: str):
+        tokens = clip.tokenize([prompt]).to(self.device)
+        with torch.no_grad():
+            query_feat = self.model.encode_text(tokens)
+            query_feat /= query_feat.norm(dim=-1, keepdim=True)
+
+        sims = (query_feat @ self.text_features.T).squeeze(0)
+        best_idx = sims.argmax().item()
+        best_name = self.object_names[best_idx]
+
+        # Align with vlm_detection: position may be None if not yet detected
+        obj_info = self.object_lib.get(best_name, {})
+        pos = obj_info.get("position")
+
+        if pos is None:
+            self.get_logger().warn(
+                f"'{best_name}' matched but has no position in JSON. "
+                f"Run vlm_detection in AMCL mode first!"
+            )
+            return best_name, None
+
+        return best_name, pos
+
+    def navigate_to_object(self, prompt: str):
+        name, pos = self.query_object(prompt)
+        if pos is None:
+            self.get_logger().warn(f"Cannot navigate: no valid position for '{name}'. Please run vlm_detection first!")
+            return
+
+        robot_pose = self.get_robot_pose_in_map()
+        if robot_pose is None:
+            self.get_logger().warn("Cannot navigate: failed to get robot pose in map frame.")
+            return
+
+        offset_m = self.get_approach_offset(name)
+        goal_x, goal_y, yaw = self.compute_approach_goal(name, robot_pose, pos, offset_m)
+        robot_x, robot_y = robot_pose
+        distance_to_goal = math.hypot(goal_x - robot_x, goal_y - robot_y)
+
+        goal_pose = PoseStamped()
+        goal_pose.header.frame_id = "map"
+        goal_pose.header.stamp = self.navigator.get_clock().now().to_msg()
+        goal_pose.pose.position.x = goal_x
+        goal_pose.pose.position.y = goal_y
+        goal_pose.pose.position.z = 0.0
+        goal_pose.pose.orientation.z = math.sin(yaw / 2.0)
+        goal_pose.pose.orientation.w = math.cos(yaw / 2.0)
+
+        self.navigator.goToPose(deepcopy(goal_pose))
+        self.get_logger().info(
+            f"Navigating to {name}: object={pos}, goal={{'x': {goal_x:.4f}, 'y': {goal_y:.4f}}}, "
+            f"approach_offset={offset_m:.2f}m"
+        )
+        self.get_logger().info(
+            f"Robot pose={{'x': {robot_x:.4f}, 'y': {robot_y:.4f}}}, "
+            f"distance_to_goal={distance_to_goal:.4f}m"
+        )
+
+        # Wait until navigation completes
+        while not self.navigator.isTaskComplete():
+            feedback = self.navigator.getFeedback()
+            if feedback:
+                self.get_logger().info(
+                    "Navigation task in progress"
+                )
+
+        result = self.navigator.getResult()
+        final_robot_pose = self.get_robot_pose_in_map()
+        if final_robot_pose is not None:
+            final_x, final_y = final_robot_pose
+            final_distance_to_goal = math.hypot(goal_x - final_x, goal_y - final_y)
+            self.get_logger().info(
+                f"Final robot map pose={{'x': {final_x:.4f}, 'y': {final_y:.4f}}}, "
+                f"distance_to_goal={final_distance_to_goal:.4f}m"
+            )
+        if result == TaskResult.SUCCEEDED:
+            self.get_logger().info("Navigation succeeded")
+        elif result == TaskResult.CANCELED:
+            self.get_logger().info("Navigation canceled")
+        elif result == TaskResult.FAILED:
+            self.get_logger().info("Navigation failed")
+
+    def map_callback(self, msg: OccupancyGrid):
+        self.map_msg = msg
+
+    def get_robot_pose_in_map(self):
+        target_frame = "map"
+        source_frame = "base_footprint"
+        last_error = None
+        for _ in range(15):
+            try:
+                if not self.tf_buffer.can_transform(
+                    target_frame,
+                    source_frame,
+                    rclpy.time.Time(),
+                    timeout=Duration(seconds=0.2)
+                ):
+                    continue
+
+                transform = self.tf_buffer.lookup_transform(
+                    target_frame,
+                    source_frame,
+                    rclpy.time.Time(),
+                    timeout=Duration(seconds=0.2)
+                )
+                return (
+                    transform.transform.translation.x,
+                    transform.transform.translation.y,
+                )
+            except Exception as e:
+                last_error = e
+
+        if last_error is None:
+            self.get_logger().warn(
+                "Robot pose lookup failed: transform map -> base_footprint was not available within timeout."
+            )
+        else:
+            self.get_logger().warn(f"Robot pose lookup failed: {last_error}")
+        return None
+
+    def compute_approach_goal(self, object_name, robot_pose, obj_pos, offset_m):
+        robot_x, robot_y = robot_pose
+        obj_x = obj_pos["x"]
+        obj_y = obj_pos["y"]
+        search_radii = self.get_approach_search_radii(object_name, offset_m)
+        candidate_count = self.get_approach_candidate_count(object_name)
+        approach_candidates = []
+        for radius in search_radii:
+            approach_candidates.extend(
+                self.generate_approach_candidates(obj_x, obj_y, radius, candidate_count)
+            )
+        feasible_candidates = [
+            candidate for candidate in approach_candidates
+            if self.is_candidate_feasible(object_name, candidate[0], candidate[1])
+        ]
+
+        path_candidates = []
+        start_pose = self.build_pose_stamped(robot_x, robot_y, 0.0)
+        for candidate in feasible_candidates:
+            candidate_x, candidate_y, candidate_yaw = candidate
+            candidate_goal_pose = self.build_pose_stamped(candidate_x, candidate_y, candidate_yaw)
+            path = self.navigator.getPath(start_pose, candidate_goal_pose, use_start=True)
+            if path and len(path.poses) >= 2:
+                path_length = self.compute_path_length(path)
+                if path_length >= 0.2:
+                    path_candidates.append((candidate_x, candidate_y, candidate_yaw, path_length))
+
+        if path_candidates:
+            goal_x, goal_y, yaw, path_length = min(
+                path_candidates,
+                key=lambda candidate: candidate[3]
+            )
+            self.get_logger().info(
+                f"Approach candidates for {object_name}: total={len(approach_candidates)} "
+                f"feasible={len(feasible_candidates)} path_feasible={len(path_candidates)} "
+                f"selected=({goal_x:.4f}, {goal_y:.4f}) path_length={path_length:.4f}m"
+            )
+            return goal_x, goal_y, yaw
+
+        if feasible_candidates:
+            goal_x, goal_y, yaw = min(
+                feasible_candidates,
+                key=lambda candidate: math.hypot(candidate[0] - robot_x, candidate[1] - robot_y)
+            )
+            self.get_logger().warn(
+                f"Approach candidates for {object_name}: total={len(approach_candidates)} "
+                f"feasible={len(feasible_candidates)} path_feasible=0, "
+                f"falling back to nearest map-feasible candidate=({goal_x:.4f}, {goal_y:.4f})"
+            )
+            return goal_x, goal_y, yaw
+
+        dx = obj_x - robot_x
+        dy = obj_y - robot_y
+        distance = math.hypot(dx, dy)
+        if distance < 1e-6:
+            yaw = 0.0
+            return obj_x, obj_y, yaw
+
+        ux = dx / distance
+        uy = dy / distance
+        goal_x = obj_x - ux * min(offset_m, max(distance - 0.05, 0.0))
+        goal_y = obj_y - uy * min(offset_m, max(distance - 0.05, 0.0))
+        yaw = math.atan2(dy, dx)
+        self.get_logger().warn(
+            f"Approach candidates for {object_name}: no feasible candidate found, "
+            f"falling back to line-of-sight offset goal=({goal_x:.4f}, {goal_y:.4f})"
+        )
+        return goal_x, goal_y, yaw
+
+    def generate_approach_candidates(self, obj_x, obj_y, offset_m, candidate_count):
+        candidates = []
+        for i in range(candidate_count):
+            angle = (2.0 * math.pi * i) / candidate_count
+            goal_x = obj_x + offset_m * math.cos(angle)
+            goal_y = obj_y + offset_m * math.sin(angle)
+            yaw = math.atan2(obj_y - goal_y, obj_x - goal_x)
+            candidates.append((goal_x, goal_y, yaw))
+        return candidates
+
+    def is_candidate_feasible(self, object_name: str, world_x, world_y):
+        map_msg = self.wait_for_map()
+        if map_msg is None:
+            return True
+
+        info = map_msg.info
+        resolution = info.resolution
+        origin_x = info.origin.position.x
+        origin_y = info.origin.position.y
+        width = info.width
+        height = info.height
+        grid_x = int((world_x - origin_x) / resolution)
+        grid_y = int((world_y - origin_y) / resolution)
+
+        if grid_x < 0 or grid_x >= width or grid_y < 0 or grid_y >= height:
+            return False
+
+        clearance_m = self.get_approach_clearance(object_name)
+        clearance_cells = max(0, int(math.ceil(clearance_m / resolution)))
+
+        for dy in range(-clearance_cells, clearance_cells + 1):
+            for dx in range(-clearance_cells, clearance_cells + 1):
+                if dx * dx + dy * dy > clearance_cells * clearance_cells:
+                    continue
+                xx = grid_x + dx
+                yy = grid_y + dy
+                if xx < 0 or xx >= width or yy < 0 or yy >= height:
+                    return False
+                cost = map_msg.data[yy * width + xx]
+                if cost < 0 or cost >= 50:
+                    return False
+        return True
+
+    def build_pose_stamped(self, x, y, yaw):
+        pose = PoseStamped()
+        pose.header.frame_id = "map"
+        pose.header.stamp = self.navigator.get_clock().now().to_msg()
+        pose.pose.position.x = x
+        pose.pose.position.y = y
+        pose.pose.position.z = 0.0
+        pose.pose.orientation.z = math.sin(yaw / 2.0)
+        pose.pose.orientation.w = math.cos(yaw / 2.0)
+        return pose
+
+    def compute_path_length(self, path):
+        if not path.poses or len(path.poses) < 2:
+            return 0.0
+        length = 0.0
+        for prev_pose, next_pose in zip(path.poses[:-1], path.poses[1:]):
+            dx = next_pose.pose.position.x - prev_pose.pose.position.x
+            dy = next_pose.pose.position.y - prev_pose.pose.position.y
+            length += math.hypot(dx, dy)
+        return length
+
+    def wait_for_map(self, timeout_sec: float = 2.0):
+        if self.map_msg is not None:
+            return self.map_msg
+        end_time = time.time() + timeout_sec
+        while self.map_msg is None and time.time() < end_time:
+            time.sleep(0.05)
+        return self.map_msg
+
+    def get_approach_candidate_count(self, object_name: str) -> int:
+        default_count = int(
+            self.get_parameter('approach_candidate_count').get_parameter_value().integer_value
+        )
+        param_name = (
+            "approach_candidate_count_"
+            + object_name.lower().replace(" ", "_")
+        )
+        if self.has_parameter(param_name):
+            default_count = int(self.get_parameter(param_name).get_parameter_value().integer_value)
+        return min(max(default_count, 4), 16)
+
+    def get_approach_search_radii(self, object_name: str, default_offset: float):
+        param_name = (
+            "approach_offset_"
+            + object_name.lower().replace(" ", "_")
+            + "_search_radii"
+        )
+        if self.has_parameter(param_name):
+            value = self.get_parameter(param_name).value
+            if value:
+                return [float(radius) for radius in value]
+        return [default_offset]
+
+    def get_approach_clearance(self, object_name: str) -> float:
+        default_clearance = self.get_parameter(
+            'approach_clearance_m'
+        ).get_parameter_value().double_value
+        param_name = (
+            "approach_clearance_"
+            + object_name.lower().replace(" ", "_")
+            + "_m"
+        )
+        if self.has_parameter(param_name):
+            return self.get_parameter(param_name).get_parameter_value().double_value
+        return default_clearance
+
+    def get_approach_offset(self, object_name: str) -> float:
+        default_offset = self.get_parameter(
+            'approach_offset_m'
+        ).get_parameter_value().double_value
+        param_name = (
+            "approach_offset_"
+            + object_name.lower().replace(" ", "_")
+            + "_m"
+        )
+        if self.has_parameter(param_name):
+            return self.get_parameter(param_name).get_parameter_value().double_value
+        return default_offset
+
+    def cleanup(self):
+        if hasattr(self, 'tf_listener'):
+            try:
+                if hasattr(self.tf_listener, 'executor'):
+                    self.tf_listener.executor.shutdown(timeout_sec=0.5)
+                if hasattr(self.tf_listener, 'dedicated_listener_thread'):
+                    self.tf_listener.dedicated_listener_thread.join(timeout=0.5)
+                self.tf_listener.unregister()
+            except Exception:
+                pass
+
+
+
+
+def main():
+    rclpy.init()
+    package_share_dir = get_package_share_directory('vlm_nav_pkg')
+    json_file_path = os.path.join(package_share_dir, 'config', 'example_object_detection_vlm.json')
+    node = SemanticNavNode(json_file_path)
+
+    try:
+        user_input = input("Where do you want to go: ")
+        node.navigate_to_object(user_input)
+    finally:
+        node.cleanup()
+        node.destroy_node()
+        if rclpy.ok():
+            rclpy.shutdown()
+
+
+if __name__ == "__main__":
+    main()
diff --git a/src/vlm_perception_pkg/.DS_Store b/src/vlm_perception_pkg/.DS_Store
new file mode 100644
index 0000000..973fc97
Binary files /dev/null and b/src/vlm_perception_pkg/.DS_Store differ
diff --git a/src/vlm_perception_pkg/LICENSE b/src/vlm_perception_pkg/LICENSE
new file mode 100755
index 0000000..d645695
--- /dev/null
+++ b/src/vlm_perception_pkg/LICENSE
@@ -0,0 +1,202 @@
+
+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
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+      any Contribution intentionally submitted for inclusion in the Work
+      by You to the Licensor shall be under the terms and conditions of
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+      whether in tort (including negligence), contract, or otherwise,
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+      To apply the Apache License to your work, attach the following
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+   Copyright [yyyy] [name of copyright owner]
+
+   Licensed under the Apache License, Version 2.0 (the "License");
+   you may not use this file except in compliance with the License.
+   You may obtain a copy of the License at
+
+       http://www.apache.org/licenses/LICENSE-2.0
+
+   Unless required by applicable law or agreed to in writing, software
+   distributed under the License is distributed on an "AS IS" BASIS,
+   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+   See the License for the specific language governing permissions and
+   limitations under the License.
diff --git a/src/vlm_perception_pkg/package.xml b/src/vlm_perception_pkg/package.xml
new file mode 100755
index 0000000..1187847
--- /dev/null
+++ b/src/vlm_perception_pkg/package.xml
@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>vlm_perception_pkg</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="xxxxxx@gmail.com">echo</maintainer>
+  <license>Apache-2.0</license>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>
diff --git a/src/vlm_perception_pkg/resource/vlm_perception_pkg b/src/vlm_perception_pkg/resource/vlm_perception_pkg
new file mode 100755
index 0000000..e69de29
diff --git a/src/vlm_perception_pkg/setup.cfg b/src/vlm_perception_pkg/setup.cfg
new file mode 100755
index 0000000..a25e7b9
--- /dev/null
+++ b/src/vlm_perception_pkg/setup.cfg
@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/vlm_perception_pkg
+[install]
+install_scripts=$base/lib/vlm_perception_pkg
diff --git a/src/vlm_perception_pkg/setup.py b/src/vlm_perception_pkg/setup.py
new file mode 100755
index 0000000..57e738f
--- /dev/null
+++ b/src/vlm_perception_pkg/setup.py
@@ -0,0 +1,32 @@
+from setuptools import find_packages, setup
+
+package_name = 'vlm_perception_pkg'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='ariel',
+    maintainer_email='bhu16300@gmail.com',
+    description='TODO: Package description',
+    license='Apache-2.0',
+    tests_require=['pytest'],
+    entry_points={
+    'console_scripts': [
+        'vlm_detection = vlm_perception_pkg.vlm_detection:main',
+        'simple_detection = vlm_perception_pkg.simple_detection:run',  # function inside simple_detection.py
+        'multi_waypoint_navigation = vlm_perception_pkg.simple_detection:main',  # function inside simple_detection.py
+    ],
+},
+
+
+
+
+)
diff --git a/src/vlm_perception_pkg/test/test_copyright.py b/src/vlm_perception_pkg/test/test_copyright.py
new file mode 100755
index 0000000..97a3919
--- /dev/null
+++ b/src/vlm_perception_pkg/test/test_copyright.py
@@ -0,0 +1,25 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'
diff --git a/src/vlm_perception_pkg/test/test_flake8.py b/src/vlm_perception_pkg/test/test_flake8.py
new file mode 100755
index 0000000..27ee107
--- /dev/null
+++ b/src/vlm_perception_pkg/test/test_flake8.py
@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)
diff --git a/src/vlm_perception_pkg/test/test_pep257.py b/src/vlm_perception_pkg/test/test_pep257.py
new file mode 100755
index 0000000..b234a38
--- /dev/null
+++ b/src/vlm_perception_pkg/test/test_pep257.py
@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'
diff --git a/src/vlm_perception_pkg/vlm_perception_pkg/__init__.py b/src/vlm_perception_pkg/vlm_perception_pkg/__init__.py
new file mode 100755
index 0000000..e69de29
diff --git a/src/vlm_perception_pkg/vlm_perception_pkg/__pycache__/__init__.cpython-310.pyc b/src/vlm_perception_pkg/vlm_perception_pkg/__pycache__/__init__.cpython-310.pyc
new file mode 100644
index 0000000..2770d21
Binary files /dev/null and b/src/vlm_perception_pkg/vlm_perception_pkg/__pycache__/__init__.cpython-310.pyc differ
diff --git a/src/vlm_perception_pkg/vlm_perception_pkg/__pycache__/device_utils.cpython-310.pyc b/src/vlm_perception_pkg/vlm_perception_pkg/__pycache__/device_utils.cpython-310.pyc
new file mode 100644
index 0000000..7e81f68
Binary files /dev/null and b/src/vlm_perception_pkg/vlm_perception_pkg/__pycache__/device_utils.cpython-310.pyc differ
diff --git a/src/vlm_perception_pkg/vlm_perception_pkg/__pycache__/vlm_detection.cpython-310.pyc b/src/vlm_perception_pkg/vlm_perception_pkg/__pycache__/vlm_detection.cpython-310.pyc
new file mode 100644
index 0000000..d6b8188
Binary files /dev/null and b/src/vlm_perception_pkg/vlm_perception_pkg/__pycache__/vlm_detection.cpython-310.pyc differ
diff --git a/src/vlm_perception_pkg/vlm_perception_pkg/device_utils.py b/src/vlm_perception_pkg/vlm_perception_pkg/device_utils.py
new file mode 100644
index 0000000..942b81d
--- /dev/null
+++ b/src/vlm_perception_pkg/vlm_perception_pkg/device_utils.py
@@ -0,0 +1,42 @@
+import torch
+
+
+def resolve_torch_device(
+    logger,
+    requested_device: str = "auto",
+    cuda_probe_fn=None,
+):
+    """Pick a safe torch device, falling back to CPU if CUDA is unavailable or unusable."""
+    requested = (requested_device or "auto").strip().lower()
+    valid = {"auto", "cpu", "cuda"}
+    if requested not in valid:
+        logger.warn(
+            f"Unknown inference_device='{requested_device}', falling back to auto"
+        )
+        requested = "auto"
+
+    if requested == "cpu":
+        return "cpu"
+
+    if not torch.cuda.is_available():
+        if requested == "cuda":
+            logger.warn("CUDA was requested but is not available; falling back to CPU")
+        return "cpu"
+
+    probe = cuda_probe_fn or _default_cuda_probe
+    try:
+        probe()
+        return "cuda"
+    except Exception as exc:
+        logger.warn(
+            "CUDA is visible but not usable by the installed PyTorch build; "
+            f"falling back to CPU. Details: {exc}"
+        )
+        return "cpu"
+
+
+def _default_cuda_probe():
+    # Force a tiny kernel launch so unsupported GPU architectures fail early.
+    tensor = torch.zeros(1, device="cuda")
+    _ = tensor + 1
+    torch.cuda.synchronize()
diff --git a/src/vlm_perception_pkg/vlm_perception_pkg/multi_waypoint_navigation.py b/src/vlm_perception_pkg/vlm_perception_pkg/multi_waypoint_navigation.py
new file mode 100755
index 0000000..04933c2
--- /dev/null
+++ b/src/vlm_perception_pkg/vlm_perception_pkg/multi_waypoint_navigation.py
@@ -0,0 +1,51 @@
+#!/usr/bin/env python3
+from copy import deepcopy
+from geometry_msgs.msg import PoseStamped
+import rclpy
+from nav2_simple_commander.robot_navigator import BasicNavigator
+
+def main():
+    rclpy.init()
+    navigator = BasicNavigator()
+    inspection_route = [
+        [5.0, 0.0],
+        [-5.0, -5.0],
+        [-5.0, 5.0]
+    ]
+
+    print("get nav points")
+    navigator.waitUntilNav2Active()
+
+    inspection_points = []
+    inspection_pose = PoseStamped()
+    inspection_pose.header.frame_id = 'map'
+    inspection_pose.header.stamp = navigator.get_clock().now().to_msg()
+    inspection_pose.pose.orientation.z = 1.0
+    inspection_pose.pose.orientation.w = 0.0
+
+    for pt in inspection_route:
+        inspection_pose.pose.position.x = pt[0]
+        inspection_pose.pose.position.y = pt[1]
+        inspection_points.append(deepcopy(inspection_pose))
+
+    navigator.followWaypoints(inspection_points)
+
+    i = 0
+    while not navigator.isNavComplete():
+        i += 1
+        feedback = navigator.getFeedback()
+        if feedback and i % 5 == 0:
+            print('executing waypoint: ' +
+                  str(feedback.current_waypoint + 1) + '/' +
+                  str(len(inspection_points)))
+
+    result = navigator.get_result()
+    if result == navigator.SUCCEEDED:
+        print("Navigation succeeded")
+    elif result == navigator.CANCELED:
+        print("Navigation canceled")
+    elif result == navigator.FAILED:
+        print("Navigation failed")
+
+if __name__ == "__main__":
+    main()
diff --git a/src/vlm_perception_pkg/vlm_perception_pkg/simple_detection.py b/src/vlm_perception_pkg/vlm_perception_pkg/simple_detection.py
new file mode 100755
index 0000000..d3b42a6
--- /dev/null
+++ b/src/vlm_perception_pkg/vlm_perception_pkg/simple_detection.py
@@ -0,0 +1,153 @@
+# import rclpy
+# from rclpy.node import Node
+# from geometry_msgs.msg import PoseStamped
+
+# def run():
+#     rclpy.init()
+#     node = Node("pose_stamped_example")
+#     pose = PoseStamped()
+#     pose.pose.position.x = 1.0
+#     pose.pose.position.y = 2.0
+#     pose.pose.position.z = 3.0
+#     node.get_logger().info(f"X: {pose.pose.position.x}")
+#     node.get_logger().info(f"Y: {pose.pose.position.y}")
+#     node.get_logger().info(f"Z: {pose.pose.position.z}")
+#     node.destroy_node()
+#     rclpy.shutdown()
+
+
+
+#################################################################333
+#!/usr/bin/env python3
+# import rclpy
+# from rclpy.node import Node
+# from geometry_msgs.msg import PoseStamped
+
+# def run():
+#     rclpy.init()
+#     node = Node("pose_stamped_example")
+#     pose = PoseStamped()
+#     pose.pose.position.x = 1.0
+#     pose.pose.position.y = 2.0
+#     pose.pose.position.z = 3.0
+#     node.get_logger().info(f"X: {pose.pose.position.x}")
+#     node.get_logger().info(f"Y: {pose.pose.position.y}")
+#     node.get_logger().info(f"Z: {pose.pose.position.z}")
+#     node.destroy_node()
+#     rclpy.shutdown()
+
+
+
+#################################################################333
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from sensor_msgs.msg import Image, CameraInfo
+from geometry_msgs.msg import PoseStamped
+from cv_bridge import CvBridge
+import numpy as np
+from tf2_ros import Buffer, TransformListener
+import tf2_geometry_msgs
+from tf2_ros import Buffer, TransformListener
+from tf2_geometry_msgs.tf2_geometry_msgs import do_transform_pose
+
+import rclpy
+from rclpy.duration import Duration
+from rclpy.time import Time
+
+from visualization_msgs.msg import Marker
+from std_msgs.msg import ColorRGBA
+
+class DepthTo3DNode(Node):
+    def __init__(self):
+        super().__init__('depth_to_3d')
+        self.bridge = CvBridge()
+        self.latest_depth = None
+        self.camera_info = None
+
+        self.tf_buffer = Buffer(cache_time=Duration(seconds=10))
+        self.tf_listener = TransformListener(self.tf_buffer, self)
+
+        self.depth_sub = self.create_subscription(
+            Image, "/intel_realsense_r200_depth/depth/image_raw",
+            self.depth_callback, 10)
+        self.camera_info_sub = self.create_subscription(
+            CameraInfo, "/intel_realsense_r200_depth/camera_info",
+            self.camera_info_callback, 10)
+        self.pose_pub = self.create_publisher(PoseStamped, '/object_in_odom', 10)
+    
+    def camera_info_callback(self, msg):
+        self.camera_info = msg
+        self.img_frame = "realsense_depth_frame"
+        self.get_logger().info(f"Camera info received, using frame: {self.img_frame}")
+
+    def depth_callback(self, msg):
+        try:
+            cv_image = self.bridge.imgmsg_to_cv2(msg, desired_encoding='passthrough')
+            self.latest_depth = cv_image.astype(np.float32)
+            self.process_depth()
+        except Exception as e:
+            self.get_logger().error(f"Depth conversion failed: {str(e)}")
+
+    def process_depth(self):
+        if self.latest_depth is None or self.camera_info is None:
+            return
+
+        h, w = self.latest_depth.shape[:2]
+        x_center = w // 2
+        y_center = h // 2
+
+        depth = self.latest_depth[y_center, x_center]
+        fx = self.camera_info.k[0]
+        fy = self.camera_info.k[4]
+        cx = self.camera_info.k[2]
+        cy = self.camera_info.k[5]
+
+        X = (x_center - cx) * depth / fx
+        Y = (y_center - cy) * depth / fy
+        Z = float(depth)
+
+        pose = PoseStamped()
+        pose.header.stamp = self.get_clock().now().to_msg()
+        pose.header.frame_id = self.img_frame
+        pose.pose.position.x = X
+        pose.pose.position.y = Y
+        pose.pose.position.z = Z
+        pose.pose.orientation.w = 1.0
+
+
+
+        try:
+            transform = self.tf_buffer.lookup_transform(
+                "odom",
+                self.img_frame,
+                rclpy.time.Time()
+            )
+            #self.get_logger().info(f"odom_frame: {transform.header.frame_id}")
+           # self.get_logger().info(f"camera_frame: {transform.child_frame_id}")
+            t = transform.transform.translation
+           # self.get_logger().info(f"relative coordinates: x={t.x}, y={t.y}, z={t.z}")
+            self.get_logger().info("Transformed to 'odom' frame")
+
+            ob2odom = self.tf_buffer.transform(pose, "odom", timeout=Duration(seconds=0.5))
+            self.get_logger().info(
+                f"object coordinates in odom frame: x={ob2odom.pose.position.x}, "
+                f"y={ob2odom.pose.position.y}, z={ob2odom.pose.position.z}"
+            )
+            ob2odom.header.stamp = self.get_clock().now().to_msg()  # make sure stamp is valid
+            ob2odom.header.frame_id = "odom"
+            self.pose_pub.publish(ob2odom)
+          
+
+        except Exception as e:
+            self.get_logger().error(f"TF lookup failed: {e}")
+
+
+
+rclpy.init()
+node = DepthTo3DNode()
+try:
+    rclpy.spin(node)
+finally:
+    node.destroy_node()
+    rclpy.shutdown()
diff --git a/src/vlm_perception_pkg/vlm_perception_pkg/vlm_detection.py b/src/vlm_perception_pkg/vlm_perception_pkg/vlm_detection.py
new file mode 100755
index 0000000..e6cb16b
--- /dev/null
+++ b/src/vlm_perception_pkg/vlm_perception_pkg/vlm_detection.py
@@ -0,0 +1,373 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from rclpy.callback_groups import ReentrantCallbackGroup, MutuallyExclusiveCallbackGroup
+from cv_bridge import CvBridge, CvBridgeError
+import torch
+import torch.nn.functional as F
+import torchvision
+from torchvision import transforms
+import clip
+import cv2
+import json
+import os
+import time
+from datetime import datetime
+import numpy as np
+from ament_index_python.packages import get_package_share_directory
+from tf2_ros import Buffer, TransformListener
+from rclpy.duration import Duration
+from geometry_msgs.msg import PoseStamped
+from sensor_msgs.msg import Image, CameraInfo
+import tf2_geometry_msgs
+from tf2_geometry_msgs.tf2_geometry_msgs import do_transform_pose
+from vlm_perception_pkg.device_utils import resolve_torch_device
+
+
+
+
+    
+
+class ClipDetectionNode(Node):
+    def __init__(self):
+        super().__init__('clip_detector')
+        self.declare_parameter('reset_records_on_startup', False)
+        self.declare_parameter('detection_interval_sec', 1.0)
+        self.declare_parameter('frcnn_min_score', 0.3)
+        self.declare_parameter('frcnn_top_k', 2)
+        self.declare_parameter('inference_device', 'auto')
+        self.bridge = CvBridge()
+        requested_device = self.get_parameter(
+            'inference_device'
+        ).get_parameter_value().string_value
+        self.device = resolve_torch_device(
+            self.get_logger(),
+            requested_device=requested_device,
+        )
+
+        # Camera cache: subscriber callbacks only keep the latest data.
+        self.latest_depth = None
+        self.latest_depth_stamp = None
+        self.camera_info = None
+        self.latest_camera_info_stamp = None
+        self.latest_stamp = None
+        self.latest_rgb = None
+        self.img_frame = "realsense_depth_frame"
+        self.processing_frame = False
+        self.sensor_callback_group = ReentrantCallbackGroup()
+        self.timer_callback_group = MutuallyExclusiveCallbackGroup()
+        self.tf_buffer = Buffer(cache_time=Duration(seconds=10))
+        self.tf_listener = TransformListener(self.tf_buffer, self)
+
+
+        # CLIP + Faster R-CNN
+        self.clip_model, self.clip_preprocess = clip.load("ViT-B/32", device=self.device)
+        self.frcnn_model = torchvision.models.detection.fasterrcnn_resnet50_fpn_v2(
+            weights="DEFAULT"
+        ).to(self.device).eval()
+        self.get_logger().info(
+            f"Detection models initialized on device={self.device} "
+            f"(requested={requested_device})"
+        )
+
+        # Labels and score tracking
+        self.labels = ["Refrigerator","water dispenser", "sofa", "white toilet",  "office chair with wheels"]
+        
+        # Initialize score tracking - save directly to vlm_nav_pkg config
+        # so semantic_nav reads the same file without manual copy
+        try:
+            nav_pkg_dir = get_package_share_directory('vlm_nav_pkg')
+            self.score_records_file = os.path.join(
+                nav_pkg_dir, 'config', 'example_object_detection_vlm.json'
+            )
+        except Exception:
+            self.get_logger().warn(
+                "vlm_nav_pkg not found, saving JSON to current directory"
+            )
+            self.score_records_file = "object_detection_vlm.json"
+        reset_records = self.get_parameter(
+            'reset_records_on_startup'
+        ).get_parameter_value().bool_value
+        if reset_records:
+            self.score_records = {
+                label: {"highest_score": 0.0, "last_detected": None, "position": None}
+                for label in self.labels
+            }
+            self.save_score_records()
+            self.get_logger().info(f"Score records reset: {self.score_records_file}")
+        else:
+            self.score_records = self.load_score_records()
+            self.get_logger().info(f"Score records loaded: {self.score_records_file}")
+        
+        # Subscribers & Publishers
+        self.pose_pub = self.create_publisher(PoseStamped, "/object_in_map", 10)
+
+        self.rgb_sub = self.create_subscription(
+            Image,
+            "/intel_realsense_r200_rgb/image_raw",
+            self.rgb_callback,
+            10,
+            callback_group=self.sensor_callback_group
+        )
+        self.depth_sub = self.create_subscription(
+            Image,
+            "/intel_realsense_r200_depth/depth/image_raw",
+            self.depth_callback,
+            10,
+            callback_group=self.sensor_callback_group
+        )
+        self.camera_info_sub = self.create_subscription(
+            CameraInfo, "/intel_realsense_r200_depth/camera_info",
+            self.camera_info_callback, 10,
+            callback_group=self.sensor_callback_group)
+        self.annotated_pub = self.create_publisher(Image, "/percep/annotated_image", 10)
+        interval_sec = self.get_parameter(
+            'detection_interval_sec'
+        ).get_parameter_value().double_value
+        self.detection_timer = self.create_timer(
+            interval_sec,
+            self.process_frame,
+            callback_group=self.timer_callback_group,
+        )
+        self.get_logger().info(
+            f"Detection timer enabled: processing latest frame every {interval_sec:.2f}s"
+        )
+
+
+    def camera_info_callback(self, msg):
+        self.camera_info = msg
+        self.latest_camera_info_stamp = msg.header.stamp
+        if msg.header.frame_id:
+            self.img_frame = msg.header.frame_id
+
+        
+
+    def load_score_records(self):
+        """Load existing score records or create new ones"""
+        if os.path.exists(self.score_records_file):
+            with open(self.score_records_file, 'r') as f:
+                try:
+                    return json.load(f)
+                except json.JSONDecodeError:
+                    self.get_logger().warn("Score file corrupted, creating new one")
+        
+        # Initialize with empty records
+        return {label: {"highest_score": 0.0, "last_detected": None, "position":None} for label in self.labels}
+
+    def save_score_records(self):
+        """Save current score records to file"""
+        with open(self.score_records_file, 'w') as f:
+            json.dump(self.score_records, f, indent=4)
+
+    def update_score_records(self, label, score, position=None):
+        """Update records when confidence matches or exceeds the best score."""
+        current_time = datetime.now().isoformat()
+        
+        if label not in self.score_records:
+            self.score_records[label] = {
+                "highest_score": score,
+                "last_detected": current_time,
+                "position": position
+            }
+            self.save_score_records()
+            return True
+        
+        updated = False
+        if score >= self.score_records[label]["highest_score"]:
+            # Refresh the best score and associated position on ties or improvements.
+            self.score_records[label]["highest_score"] = score
+            if position is not None:
+                self.score_records[label]["position"] = position
+            updated = True
+        
+        # Always refresh timestamp (even without position/score change)
+        self.score_records[label]["last_detected"] = current_time
+        self.save_score_records()
+        
+        return updated
+
+
+    def rgb_callback(self, msg):
+        try:
+            self.latest_rgb = self.bridge.imgmsg_to_cv2(msg, "bgr8")
+            self.latest_stamp = msg.header.stamp
+        except CvBridgeError as e:
+            self.get_logger().error(f"CvBridge error: {e}")
+            return
+
+
+    def depth_callback(self, msg):
+        try:
+            self.latest_depth = self.bridge.imgmsg_to_cv2(msg, desired_encoding="32FC1")
+            self.latest_depth_stamp = msg.header.stamp
+        except CvBridgeError as e:
+            self.get_logger().error(f"Depth CvBridge error: {e}")
+            return
+
+    def process_frame(self):
+        if self.processing_frame:
+            return
+
+        if self.latest_rgb is None or self.latest_depth is None or self.camera_info is None:
+            return
+
+        if self.latest_stamp is None or self.latest_depth_stamp is None:
+            return
+
+        self.processing_frame = True
+        start_time = time.perf_counter()
+        try:
+            cv_img = self.latest_rgb.copy()
+            depth_img = self.latest_depth.copy()
+            frame_stamp = self.latest_depth_stamp
+            camera_info = self.camera_info
+            image_tensor = transforms.ToTensor()(cv_img).to(self.device)
+            frcnn_min_score = self.get_parameter(
+                'frcnn_min_score'
+            ).get_parameter_value().double_value
+            frcnn_top_k = self.get_parameter(
+                'frcnn_top_k'
+            ).get_parameter_value().integer_value
+
+            with torch.no_grad():
+                frcnn_output = self.frcnn_model([image_tensor])[0]
+            candidate_boxes = frcnn_output['boxes']
+            candidate_scores = frcnn_output['scores']
+            total_candidate_count = len(candidate_boxes)
+
+            filtered_indices = [
+                i for i, score in enumerate(candidate_scores)
+                if float(score) >= frcnn_min_score
+            ]
+            filtered_indices.sort(key=lambda i: float(candidate_scores[i]), reverse=True)
+            selected_indices = filtered_indices[:frcnn_top_k]
+            candidate_boxes = [candidate_boxes[i] for i in selected_indices]
+            self.get_logger().info(
+                f"FRCNN candidates: total={total_candidate_count} "
+                f"filtered={len(filtered_indices)} top_k={frcnn_top_k} "
+                f"selected={len(candidate_boxes)}"
+            )
+
+            best_labels_per_box = {}  # key: box index, value: (label, score)
+
+            for i, box in enumerate(candidate_boxes):
+                max_score = -1
+                best_label = None
+                for label in self.labels:
+                    _, score = self.match_label_box(label, image_tensor, [box])
+                    if score > max_score:
+                        max_score = score
+                        best_label = label
+
+                if max_score >= 0.25 and best_label is not None:
+                    best_labels_per_box[i] = (best_label, max_score)
+                    is_new_record = False
+                    position = None
+
+                    box_index = i
+                    box = candidate_boxes[box_index]
+                    x_min, y_min, x_max, y_max = map(int, box)
+                    x_center = (x_min + x_max) // 2
+                    y_center = (y_min + y_max) // 2
+                    depth = float(depth_img[y_center, x_center])
+                    if np.isnan(depth) or depth <= 0.0:
+                        continue
+
+                    fx = camera_info.k[0]
+                    fy = camera_info.k[4]
+                    cx = camera_info.k[2]
+                    cy = camera_info.k[5]
+
+                    X = (x_center - cx) * depth / fx
+                    Y = (y_center - cy) * depth / fy
+                    Z = depth
+
+                    pose = PoseStamped()
+                    pose.header.stamp = frame_stamp
+                    pose.header.frame_id = self.img_frame
+                    pose.pose.position.x = X
+                    pose.pose.position.y = Y
+                    pose.pose.position.z = Z
+                    pose.pose.orientation.w = 1.0
+
+                    # TF transform: camera frame -> map frame (semantic_nav 需要 map 坐标)
+                    try:
+                        ob2map = self.tf_buffer.transform(
+                            pose, "map", timeout=Duration(seconds=1.0)
+                        )
+
+                        self.pose_pub.publish(ob2map)
+                        self.get_logger().info(
+                            f"object coordinates in map frame: x={ob2map.pose.position.x:.3f}, "
+                            f"y={ob2map.pose.position.y:.3f}, z={ob2map.pose.position.z:.3f}"
+                        )
+
+                        position = {
+                            "x": round(ob2map.pose.position.x, 4),
+                            "y": round(ob2map.pose.position.y, 4),
+                            "z": round(ob2map.pose.position.z, 4)
+                        }
+                        is_new_record = self.update_score_records(best_label, max_score, position=position)
+                    except Exception as e:
+                        self.get_logger().error(f"TF transform to map failed: {e}")
+                        is_new_record = False
+
+                    log_msg = f"{best_label} detected with confidence score {max_score:.2f}"
+                    if is_new_record:
+                        log_msg += " (NEW RECORD!)"
+                    self.get_logger().info(log_msg)
+
+            matched_boxes = [candidate_boxes[i] for i in best_labels_per_box.keys()]
+            matched_labels = [f"{lbl} ({score:.2f})" for lbl, score in best_labels_per_box.values()]
+
+            annotated_img = self.draw_boxes(cv_img, matched_boxes, matched_labels)
+            try:
+                self.annotated_pub.publish(self.bridge.cv2_to_imgmsg(annotated_img, encoding="bgr8"))
+            except CvBridgeError as e:
+                self.get_logger().error(f"Publish error: {e}")
+        finally:
+            elapsed_ms = (time.perf_counter() - start_time) * 1000.0
+            self.get_logger().info(f"Detection cycle took {elapsed_ms:.1f} ms")
+            self.processing_frame = False
+        
+    def match_label_box(self, label, image_tensor, boxes):
+        max_sim, best_box = -1, None
+        tokenized_text = clip.tokenize([label]).to(self.device)
+        text_feat = F.normalize(self.clip_model.encode_text(tokenized_text), dim=-1)
+
+        for box in boxes:
+            x_min, y_min, x_max, y_max = map(int, box)
+            crop = transforms.functional.to_pil_image(image_tensor[:, y_min:y_max, x_min:x_max])
+            img_feat = F.normalize(self.clip_model.encode_image(self.clip_preprocess(crop).unsqueeze(0).to(self.device)), dim=-1)
+            sim = F.cosine_similarity(img_feat, text_feat).item()
+            if sim > max_sim:
+                max_sim, best_box = sim, box
+        return best_box, max_sim
+
+    def draw_boxes(self, img, boxes, labels):
+        for i, box in enumerate(boxes):
+            x_min, y_min, x_max, y_max = map(int, box)
+            cv2.rectangle(img, (x_min, y_min), (x_max, y_max), (0, 255, 0), 2)
+            if labels:
+                cv2.putText(img, labels[i], (x_min, y_min-10), cv2.FONT_HERSHEY_SIMPLEX, 0.8, (255, 0, 0), 2)
+        return img
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = ClipDetectionNode()
+    executor = MultiThreadedExecutor(num_threads=2)
+    executor.add_node(node)
+    try:
+        executor.spin()
+    except KeyboardInterrupt:
+        node.get_logger().info("KeyboardInterrupt received, shutting down...")
+    finally:
+        node.save_score_records()
+        executor.shutdown()
+        node.destroy_node()
+        if rclpy.ok():
+            rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/src/websocket.gzlaunch b/src/websocket.gzlaunch
new file mode 100644
index 0000000..2fdbe71
--- /dev/null
+++ b/src/websocket.gzlaunch
@@ -0,0 +1,9 @@
+<?xml version="1.0"?>
+<gz version="1.0">
+  <plugin name="gz::launch::WebsocketServer"
+          filename="gz-launch-websocket-server">
+    <port>9002</port>
+    <publication_hz>30</publication_hz>
+    <max_connections>-1</max_connections>
+  </plugin>
+</gz>