init

README.md

@@ -1,18 +1,96 @@
-# 开始拉取代码
+# 语义推理与导航
 
----
+卡片名称：办公室场景下的小车语义推理与导航
-```
-git clone http://git-test.databall.tech:3000/databall-official/4752e5f5cf2545c8bbb0e6bbb0da51a8.git
 
-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
+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。
-git push
+
+![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
 ```
----
+
-```
+各目录作用如下：
-cd existing_repo
+
-git remote add origin http://git-test.databall.tech:3000/databall-official/4752e5f5cf2545c8bbb0e6bbb0da51a8.git
+- `doc.md`：完整课程说明，包含带截图的分步骤操作
-git branch -M main
+- `assets/`：运行截图和展示图片
-git push -uf origin main
+- `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`

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
+```

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"

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

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"

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+# 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

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
+#    define CXX_STD 199711L
+#  endif
+#elif defined(_MSC_VER) && defined(_MSVC_LANG)
+#  define CXX_STD _MSVC_LANG
+#else
+#  define CXX_STD __cplusplus
+#endif
+
+const char* info_language_standard_default = "INFO" ":" "standard_default["
+#if CXX_STD > 202002L
+  "23"
+#elif CXX_STD > 201703L
+  "20"
+#elif CXX_STD >= 201703L
+  "17"
+#elif CXX_STD >= 201402L
+  "14"
+#elif CXX_STD >= 201103L
+  "11"
+#else
+  "98"
+#endif
+"]";
+
+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
+"]";
+
+/*--------------------------------------------------------------------------*/
+
+int main(int argc, char* argv[])
+{
+  int require = 0;
+  require += info_compiler[argc];
+  require += info_platform[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;
+}

build/nav2_rrtstar_planner/CMakeFiles/CMakeDirectoryInformation.cmake

@@ -0,0 +1,16 @@
+# CMAKE generated file: DO NOT EDIT!
+# Generated by "Unix Makefiles" Generator, CMake Version 3.22
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+# 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: 

build/nav2_rrtstar_planner/CTestCustom.cmake

@@ -0,0 +1,2 @@
+set(CTEST_CUSTOM_MAXIMUM_PASSED_TEST_OUTPUT_SIZE 0)
+set(CTEST_CUSTOM_MAXIMUM_FAILED_TEST_OUTPUT_SIZE 0)

build/nav2_rrtstar_planner/CTestTestfile.cmake

@@ -0,0 +1,22 @@
+# CMake generated Testfile for 
+# Source directory: /workspace/src/TurtleBot-RRT-Star
+# Build directory: /workspace/build/nav2_rrtstar_planner
+# 
+# This file includes the relevant testing commands required for 
+# testing this directory and lists subdirectories to be tested as well.
+add_test(copyright "/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/copyright.xunit.xml" "--package-name" "nav2_rrtstar_planner" "--output-file" "/workspace/build/nav2_rrtstar_planner/ament_copyright/copyright.txt" "--command" "/opt/ros/humble/bin/ament_copyright" "--xunit-file" "/workspace/build/nav2_rrtstar_planner/test_results/nav2_rrtstar_planner/copyright.xunit.xml")
+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;")

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
+

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()

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()

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\"/>")

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()

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()

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

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"

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

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()

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()

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>

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()

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

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()

build/nav2_rrtstar_planner/ament_cmake_environment_hooks/ament_prefix_path.dsv

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

build/nav2_rrtstar_planner/ament_cmake_environment_hooks/library_path.dsv

@@ -0,0 +1 @@
+prepend-non-duplicate;LD_LIBRARY_PATH;lib

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

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

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

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