update

autorun_logs/autorun_20260803_053136/tb3_gzsim.log

@@ -0,0 +1,99 @@
+[INFO] [launch]: All log files can be found below /home/devuser/.ros/log/2026-08-03-05-31-37-493398-ip-172-31-64-79.cn-northwest-1.compute.internal-29568
+[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 [29576]
+[INFO] [robot_state_publisher-2]: process started with pid [29578]
+[INFO] [create-3]: process started with pid [29580]
+[INFO] [bridge_node-4]: process started with pid [29582]
+[INFO] [scan_frame_fix.py-5]: process started with pid [29584]
+[INFO] [depth_to_pointcloud.py-6]: process started with pid [29586]
+[create-3] [INFO] [1785735098.413179772] [ros_gz_sim]: Requesting list of world names.
+[robot_state_publisher-2] [INFO] [1785735098.592972125] [robot_state_publisher]: got segment base_footprint
+[robot_state_publisher-2] [INFO] [1785735098.593931302] [robot_state_publisher]: got segment base_link
+[robot_state_publisher-2] [INFO] [1785735098.594500277] [robot_state_publisher]: got segment base_scan
+[robot_state_publisher-2] [INFO] [1785735098.594947435] [robot_state_publisher]: got segment camera_depth_optical_frame
+[robot_state_publisher-2] [INFO] [1785735098.595402664] [robot_state_publisher]: got segment camera_rgb_frame
+[robot_state_publisher-2] [INFO] [1785735098.595841928] [robot_state_publisher]: got segment camera_rgb_optical_frame
+[robot_state_publisher-2] [INFO] [1785735098.596272904] [robot_state_publisher]: got segment caster_back_link
+[robot_state_publisher-2] [INFO] [1785735098.596700400] [robot_state_publisher]: got segment imu_link
+[robot_state_publisher-2] [INFO] [1785735098.597201840] [robot_state_publisher]: got segment realsense_depth_frame
+[robot_state_publisher-2] [INFO] [1785735098.597647831] [robot_state_publisher]: got segment realsense_link
+[robot_state_publisher-2] [INFO] [1785735098.598089725] [robot_state_publisher]: got segment wheel_left_link
+[robot_state_publisher-2] [INFO] [1785735098.598864996] [robot_state_publisher]: got segment wheel_right_link
+[create-3] [INFO] [1785735098.623674584] [ros_gz_sim]: Requested creation of entity.
+[create-3] [INFO] [1785735098.623750721] [ros_gz_sim]: OK creation of entity.
+[INFO] [create-3]: process has finished cleanly [pid 29580]
+[scan_frame_fix.py-5] [INFO] [1785735099.143485611] [scan_frame_fix]: Relaying [/scan_raw] -> [/scan], overriding frame_id -> base_scan
+[bridge_node-4] [INFO] [1785735099.555069567] [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] [1785735099.563936030] [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] [1785735099.567531145] [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] [1785735099.569433916] [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] [1785735099.571491296] [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] [1785735099.572884225] [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] [1785735099.574370269] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/clock (gz.msgs.Clock) -> /clock (rosgraph_msgs/msg/Clock)] (Lazy 0)
+[bridge_node-4] [INFO] [1785735099.576225695] [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] [1785735099.579948199] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/model/burger/odometry (gz.msgs.Odometry) -> /odom (nav_msgs/msg/Odometry)] (Lazy 0)
+[depth_to_pointcloud.py-6] [INFO] [1785735100.019630009] [depth_to_pointcloud]: Waiting for camera info on /intel_realsense_r200_depth/camera_info; publishing points on /intel_realsense_r200_depth/depth/color/points
+[bridge_node-4] [INFO] [1785738556.607131229] [rclcpp]: signal_handler(SIGINT/SIGTERM)
+[robot_state_publisher-2] [INFO] [1785738556.607355617] [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] [bridge_node-4]: process has finished cleanly [pid 29582]
+[INFO] [robot_state_publisher-2]: process has finished cleanly [pid 29578]
+[ERROR] [scan_frame_fix.py-5]: process has died [pid 29584, exit code 1, cmd '/workspace/install/turtlebot3_gazebo/lib/turtlebot3_gazebo/scan_frame_fix.py --ros-args --params-file /tmp/launch_params_497z68mi'].
+[INFO] [ruby $(which gz) sim-1]: process has finished cleanly [pid 29576]
+[INFO] [launch]: process[ruby $(which gz) sim-1] was required: shutting down launched system
+[INFO] [depth_to_pointcloud.py-6]: sending signal 'SIGINT' to process[depth_to_pointcloud.py-6]
+[depth_to_pointcloud.py-6] Traceback (most recent call last):
+[depth_to_pointcloud.py-6]   File "/workspace/install/turtlebot3_gazebo/lib/turtlebot3_gazebo/depth_to_pointcloud.py", line 116, in main
+[depth_to_pointcloud.py-6]     rclpy.spin(node)
+[depth_to_pointcloud.py-6]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 229, in spin
+[depth_to_pointcloud.py-6]     executor.spin_once()
+[depth_to_pointcloud.py-6]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 808, in spin_once
+[depth_to_pointcloud.py-6]     self._spin_once_impl(timeout_sec)
+[depth_to_pointcloud.py-6]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 805, in _spin_once_impl
+[depth_to_pointcloud.py-6]     raise handler.exception()
+[depth_to_pointcloud.py-6]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/task.py", line 272, in _execute_coroutine_step
+[depth_to_pointcloud.py-6]     result = coro.send(None)
+[depth_to_pointcloud.py-6]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 488, in handler
+[depth_to_pointcloud.py-6]     await call_coroutine(entity, arg)
+[depth_to_pointcloud.py-6]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 407, in _execute_subscription
+[depth_to_pointcloud.py-6]     await await_or_execute(sub.callback, msg)
+[depth_to_pointcloud.py-6]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 110, in await_or_execute
+[depth_to_pointcloud.py-6]     return callback(*args)
+[depth_to_pointcloud.py-6]   File "/workspace/install/turtlebot3_gazebo/lib/turtlebot3_gazebo/depth_to_pointcloud.py", line 109, in depth_callback
+[depth_to_pointcloud.py-6]     self.cloud_pub.publish(cloud_msg)
+[depth_to_pointcloud.py-6]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/publisher.py", line 70, in publish
+[depth_to_pointcloud.py-6]     self.__publisher.publish(msg)
+[depth_to_pointcloud.py-6] rclpy._rclpy_pybind11.RCLError: Failed to publish: publisher's context is invalid, at ./src/rcl/publisher.c:389
+[depth_to_pointcloud.py-6] 
+[depth_to_pointcloud.py-6] During handling of the above exception, another exception occurred:
+[depth_to_pointcloud.py-6] 
+[depth_to_pointcloud.py-6] Traceback (most recent call last):
+[depth_to_pointcloud.py-6]   File "/workspace/install/turtlebot3_gazebo/lib/turtlebot3_gazebo/depth_to_pointcloud.py", line 125, in <module>
+[depth_to_pointcloud.py-6]     main()
+[depth_to_pointcloud.py-6]   File "/workspace/install/turtlebot3_gazebo/lib/turtlebot3_gazebo/depth_to_pointcloud.py", line 121, in main
+[depth_to_pointcloud.py-6]     rclpy.shutdown()
+[depth_to_pointcloud.py-6]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 130, in shutdown
+[depth_to_pointcloud.py-6]     _shutdown(context=context)
+[depth_to_pointcloud.py-6]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/utilities.py", line 58, in shutdown
+[depth_to_pointcloud.py-6]     return context.shutdown()
+[depth_to_pointcloud.py-6]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/context.py", line 102, in shutdown
+[depth_to_pointcloud.py-6]     self.__context.shutdown()
+[depth_to_pointcloud.py-6] rclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:241
+[ERROR] [depth_to_pointcloud.py-6]: process has died [pid 29586, exit code 1, cmd '/workspace/install/turtlebot3_gazebo/lib/turtlebot3_gazebo/depth_to_pointcloud.py --ros-args -r __node:=depth_to_pointcloud --params-file /tmp/launch_params_f094vx5j'].

autorun_logs/autorun_20260803_064143/tb3_gzsim.log

@@ -0,0 +1,60 @@
+[INFO] [launch]: All log files can be found below /home/devuser/.ros/log/2026-08-03-06-41-44-457979-ip-172-31-73-144.cn-northwest-1.compute.internal-2066
+[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 [2068]
+[INFO] [robot_state_publisher-2]: process started with pid [2070]
+[INFO] [create-3]: process started with pid [2072]
+[INFO] [bridge_node-4]: process started with pid [2074]
+[INFO] [scan_frame_fix.py-5]: process started with pid [2076]
+[create-3] [INFO] [1785739305.157115891] [ros_gz_sim]: Requesting list of world names.
+[robot_state_publisher-2] [INFO] [1785739305.310311281] [robot_state_publisher]: got segment base_footprint
+[robot_state_publisher-2] [INFO] [1785739305.310432587] [robot_state_publisher]: got segment base_link
+[robot_state_publisher-2] [INFO] [1785739305.310448452] [robot_state_publisher]: got segment base_scan
+[robot_state_publisher-2] [INFO] [1785739305.310458482] [robot_state_publisher]: got segment camera_depth_optical_frame
+[robot_state_publisher-2] [INFO] [1785739305.310468010] [robot_state_publisher]: got segment camera_rgb_frame
+[robot_state_publisher-2] [INFO] [1785739305.310476829] [robot_state_publisher]: got segment camera_rgb_optical_frame
+[robot_state_publisher-2] [INFO] [1785739305.310485935] [robot_state_publisher]: got segment caster_back_link
+[robot_state_publisher-2] [INFO] [1785739305.310494945] [robot_state_publisher]: got segment imu_link
+[robot_state_publisher-2] [INFO] [1785739305.310503756] [robot_state_publisher]: got segment realsense_depth_frame
+[robot_state_publisher-2] [INFO] [1785739305.310512622] [robot_state_publisher]: got segment realsense_link
+[robot_state_publisher-2] [INFO] [1785739305.310521465] [robot_state_publisher]: got segment wheel_left_link
+[robot_state_publisher-2] [INFO] [1785739305.310530114] [robot_state_publisher]: got segment wheel_right_link
+[scan_frame_fix.py-5] [INFO] [1785739305.624229733] [scan_frame_fix]: Relaying [/scan_raw] -> [/scan], overriding frame_id -> base_scan
+[create-3] [INFO] [1785739306.245363516] [ros_gz_sim]: Requested creation of entity.
+[create-3] [INFO] [1785739306.245420544] [ros_gz_sim]: OK creation of entity.
+[bridge_node-4] [INFO] [1785739306.272593147] [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] [1785739306.278027213] [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] [1785739306.296159315] [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] [1785739306.296957160] [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] [1785739306.297832796] [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] [1785739306.298544929] [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] [1785739306.299214230] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/clock (gz.msgs.Clock) -> /clock (rosgraph_msgs/msg/Clock)] (Lazy 0)
+[bridge_node-4] [INFO] [1785739306.300004433] [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] [1785739306.301026006] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/model/burger/odometry (gz.msgs.Odometry) -> /odom (nav_msgs/msg/Odometry)] (Lazy 0)
+[INFO] [create-3]: process has finished cleanly [pid 2072]
+[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].
+[bridge_node-4] [INFO] [1785739460.436619207] [rclcpp]: signal_handler(SIGINT/SIGTERM)
+[robot_state_publisher-2] [INFO] [1785739460.436590424] [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] [bridge_node-4]: process has finished cleanly [pid 2074]
+[INFO] [robot_state_publisher-2]: process has finished cleanly [pid 2070]
+[ERROR] [scan_frame_fix.py-5]: process has died [pid 2076, exit code 1, cmd '/workspace/install/turtlebot3_gazebo/lib/turtlebot3_gazebo/scan_frame_fix.py --ros-args --params-file /tmp/launch_params_j64ck961'].
+[INFO] [ruby $(which gz) sim-1]: process has finished cleanly [pid 2068]
+[INFO] [launch]: process[ruby $(which gz) sim-1] was required: shutting down launched system

autorun_logs/autorun_20260803_064442/tb3_gzsim.log

@@ -0,0 +1,101 @@
+[INFO] [launch]: All log files can be found below /home/devuser/.ros/log/2026-08-03-06-44-43-668535-ip-172-31-73-144.cn-northwest-1.compute.internal-2830
+[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 [2838]
+[INFO] [robot_state_publisher-2]: process started with pid [2840]
+[INFO] [create-3]: process started with pid [2842]
+[INFO] [bridge_node-4]: process started with pid [2844]
+[INFO] [scan_frame_fix.py-5]: process started with pid [2846]
+[INFO] [depth_to_pointcloud.py-6]: process started with pid [2848]
+[create-3] [INFO] [1785739484.379235383] [ros_gz_sim]: Requesting list of world names.
+[robot_state_publisher-2] [INFO] [1785739484.438634542] [robot_state_publisher]: got segment base_footprint
+[robot_state_publisher-2] [INFO] [1785739484.438743902] [robot_state_publisher]: got segment base_link
+[robot_state_publisher-2] [INFO] [1785739484.438758778] [robot_state_publisher]: got segment base_scan
+[robot_state_publisher-2] [INFO] [1785739484.438767041] [robot_state_publisher]: got segment camera_depth_optical_frame
+[robot_state_publisher-2] [INFO] [1785739484.438775316] [robot_state_publisher]: got segment camera_rgb_frame
+[robot_state_publisher-2] [INFO] [1785739484.438782911] [robot_state_publisher]: got segment camera_rgb_optical_frame
+[robot_state_publisher-2] [INFO] [1785739484.438790852] [robot_state_publisher]: got segment caster_back_link
+[robot_state_publisher-2] [INFO] [1785739484.438799053] [robot_state_publisher]: got segment imu_link
+[robot_state_publisher-2] [INFO] [1785739484.438806560] [robot_state_publisher]: got segment realsense_depth_frame
+[robot_state_publisher-2] [INFO] [1785739484.438814244] [robot_state_publisher]: got segment realsense_link
+[robot_state_publisher-2] [INFO] [1785739484.438821861] [robot_state_publisher]: got segment wheel_left_link
+[robot_state_publisher-2] [INFO] [1785739484.438830136] [robot_state_publisher]: got segment wheel_right_link
+[depth_to_pointcloud.py-6] [INFO] [1785739485.206767423] [depth_to_pointcloud]: Waiting for camera info on /intel_realsense_r200_depth/camera_info; publishing points on /intel_realsense_r200_depth/depth/color/points
+[scan_frame_fix.py-5] [INFO] [1785739485.223755343] [scan_frame_fix]: Relaying [/scan_raw] -> [/scan], overriding frame_id -> base_scan
+[bridge_node-4] [INFO] [1785739485.326276494] [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] [1785739485.389492106] [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] [1785739485.391904409] [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] [1785739485.393122299] [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] [1785739485.394357843] [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] [1785739485.395508894] [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] [1785739485.396589808] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/clock (gz.msgs.Clock) -> /clock (rosgraph_msgs/msg/Clock)] (Lazy 0)
+[bridge_node-4] [INFO] [1785739485.397734944] [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] [1785739485.398974270] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/model/burger/odometry (gz.msgs.Odometry) -> /odom (nav_msgs/msg/Odometry)] (Lazy 0)
+[create-3] [INFO] [1785739485.607039226] [ros_gz_sim]: Requested creation of entity.
+[create-3] [INFO] [1785739485.607105587] [ros_gz_sim]: OK creation of entity.
+[INFO] [create-3]: process has finished cleanly [pid 2842]
+[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].
+[bridge_node-4] [INFO] [1785739533.554411065] [rclcpp]: signal_handler(SIGINT/SIGTERM)
+[robot_state_publisher-2] [INFO] [1785739533.554411000] [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 2840]
+[INFO] [bridge_node-4]: process has finished cleanly [pid 2844]
+[ERROR] [scan_frame_fix.py-5]: process has died [pid 2846, exit code 1, cmd '/workspace/install/turtlebot3_gazebo/lib/turtlebot3_gazebo/scan_frame_fix.py --ros-args --params-file /tmp/launch_params_1ha4n6qu'].
+[depth_to_pointcloud.py-6] Traceback (most recent call last):
+[depth_to_pointcloud.py-6]   File "/workspace/install/turtlebot3_gazebo/lib/turtlebot3_gazebo/depth_to_pointcloud.py", line 116, in main
+[depth_to_pointcloud.py-6]     rclpy.spin(node)
+[depth_to_pointcloud.py-6]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 229, in spin
+[depth_to_pointcloud.py-6]     executor.spin_once()
+[depth_to_pointcloud.py-6]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 808, in spin_once
+[depth_to_pointcloud.py-6]     self._spin_once_impl(timeout_sec)
+[depth_to_pointcloud.py-6]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 805, in _spin_once_impl
+[depth_to_pointcloud.py-6]     raise handler.exception()
+[depth_to_pointcloud.py-6]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/task.py", line 272, in _execute_coroutine_step
+[depth_to_pointcloud.py-6]     result = coro.send(None)
+[depth_to_pointcloud.py-6]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 488, in handler
+[depth_to_pointcloud.py-6]     await call_coroutine(entity, arg)
+[depth_to_pointcloud.py-6]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 407, in _execute_subscription
+[depth_to_pointcloud.py-6]     await await_or_execute(sub.callback, msg)
+[depth_to_pointcloud.py-6]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 110, in await_or_execute
+[depth_to_pointcloud.py-6]     return callback(*args)
+[depth_to_pointcloud.py-6]   File "/workspace/install/turtlebot3_gazebo/lib/turtlebot3_gazebo/depth_to_pointcloud.py", line 109, in depth_callback
+[depth_to_pointcloud.py-6]     self.cloud_pub.publish(cloud_msg)
+[depth_to_pointcloud.py-6]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/publisher.py", line 70, in publish
+[depth_to_pointcloud.py-6]     self.__publisher.publish(msg)
+[depth_to_pointcloud.py-6] rclpy._rclpy_pybind11.RCLError: Failed to publish: publisher's context is invalid, at ./src/rcl/publisher.c:389
+[depth_to_pointcloud.py-6] 
+[depth_to_pointcloud.py-6] During handling of the above exception, another exception occurred:
+[depth_to_pointcloud.py-6] 
+[depth_to_pointcloud.py-6] Traceback (most recent call last):
+[depth_to_pointcloud.py-6]   File "/workspace/install/turtlebot3_gazebo/lib/turtlebot3_gazebo/depth_to_pointcloud.py", line 125, in <module>
+[depth_to_pointcloud.py-6]     main()
+[depth_to_pointcloud.py-6]   File "/workspace/install/turtlebot3_gazebo/lib/turtlebot3_gazebo/depth_to_pointcloud.py", line 121, in main
+[depth_to_pointcloud.py-6]     rclpy.shutdown()
+[depth_to_pointcloud.py-6]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 130, in shutdown
+[depth_to_pointcloud.py-6]     _shutdown(context=context)
+[depth_to_pointcloud.py-6]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/utilities.py", line 58, in shutdown
+[depth_to_pointcloud.py-6]     return context.shutdown()
+[depth_to_pointcloud.py-6]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/context.py", line 102, in shutdown
+[depth_to_pointcloud.py-6]     self.__context.shutdown()
+[depth_to_pointcloud.py-6] rclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:241
+[INFO] [ruby $(which gz) sim-1]: process has finished cleanly [pid 2838]
+[INFO] [launch]: process[ruby $(which gz) sim-1] was required: shutting down launched system
+[INFO] [depth_to_pointcloud.py-6]: sending signal 'SIGINT' to process[depth_to_pointcloud.py-6]
+[ERROR] [depth_to_pointcloud.py-6]: process has died [pid 2848, exit code 1, cmd '/workspace/install/turtlebot3_gazebo/lib/turtlebot3_gazebo/depth_to_pointcloud.py --ros-args -r __node:=depth_to_pointcloud --params-file /tmp/launch_params_xy39pu9y'].

build/nav2_rrtstar_planner/.cmake/api/v1/reply/codemodel-v2-164876eb5254eb929c28.json

@@ -7,7 +7,7 @@
 				{
 					"build" : ".",
 					"hasInstallRule" : true,
-					"jsonFile" : "directory-.-161fadb0a31f8467f3f4.json",
+					"jsonFile" : "directory-.-faf1c6b2f5a6f0be9daf.json",
 					"minimumCMakeVersion" : 
 					{
 						"string" : "3.12"
@@ -44,7 +44,7 @@
 				{
 					"directoryIndex" : 0,
 					"id" : "nav2_rrtstar_planner_plugin::@6890427a1f51a3e7e1df",
-					"jsonFile" : "target-nav2_rrtstar_planner_plugin-a3676924d9f115758bc9.json",
+					"jsonFile" : "target-nav2_rrtstar_planner_plugin-3a276e4c34fc566736f5.json",
 					"name" : "nav2_rrtstar_planner_plugin",
 					"projectIndex" : 0
 				},

build/nav2_rrtstar_planner/.cmake/api/v1/reply/directory-.-161fadb0a31f8467f3f4.json

@@ -1,93 +0,0 @@
-{
-	"backtraceGraph" : 
-	{
-		"commands" : 
-		[
-			"_install",
-			"install",
-			"include",
-			"find_package"
-		],
-		"files" : 
-		[
-			"/opt/ros/humble/share/ament_cmake_core/cmake/symlink_install/install.cmake",
-			"/opt/ros/humble/share/ament_cmake_core/cmake/ament_cmake_symlink_install-extras.cmake",
-			"/opt/ros/humble/share/ament_cmake_core/cmake/ament_cmake_coreConfig.cmake",
-			"/opt/ros/humble/share/ament_cmake/cmake/ament_cmake_export_dependencies-extras.cmake",
-			"/opt/ros/humble/share/ament_cmake/cmake/ament_cmakeConfig.cmake",
-			"CMakeLists.txt"
-		],
-		"nodes" : 
-		[
-			{
-				"file" : 5
-			},
-			{
-				"command" : 3,
-				"file" : 5,
-				"line" : 12,
-				"parent" : 0
-			},
-			{
-				"file" : 4,
-				"parent" : 1
-			},
-			{
-				"command" : 2,
-				"file" : 4,
-				"line" : 41,
-				"parent" : 2
-			},
-			{
-				"file" : 3,
-				"parent" : 3
-			},
-			{
-				"command" : 3,
-				"file" : 3,
-				"line" : 15,
-				"parent" : 4
-			},
-			{
-				"file" : 2,
-				"parent" : 5
-			},
-			{
-				"command" : 2,
-				"file" : 2,
-				"line" : 41,
-				"parent" : 6
-			},
-			{
-				"file" : 1,
-				"parent" : 7
-			},
-			{
-				"command" : 1,
-				"file" : 1,
-				"line" : 47,
-				"parent" : 8
-			},
-			{
-				"command" : 0,
-				"file" : 0,
-				"line" : 43,
-				"parent" : 9
-			}
-		]
-	},
-	"installers" : 
-	[
-		{
-			"backtrace" : 10,
-			"component" : "Unspecified",
-			"scriptFile" : "/workspace/build/nav2_rrtstar_planner/ament_cmake_symlink_install/ament_cmake_symlink_install.cmake",
-			"type" : "script"
-		}
-	],
-	"paths" : 
-	{
-		"build" : ".",
-		"source" : "."
-	}
-}

build/nav2_rrtstar_planner/.cmake/api/v1/reply/directory-.-faf1c6b2f5a6f0be9daf.json

@@ -0,0 +1,598 @@
+{
+	"backtraceGraph" : 
+	{
+		"commands" : 
+		[
+			"install",
+			"pluginlib_export_plugin_description_file",
+			"ament_environment_hooks",
+			"_ament_cmake_export_libraries_register_environment_hook",
+			"ament_export_libraries",
+			"ament_index_register_resource",
+			"ament_cmake_environment_generate_package_run_dependencies_marker",
+			"include",
+			"ament_execute_extensions",
+			"ament_package",
+			"ament_cmake_environment_generate_parent_prefix_path_marker",
+			"ament_generate_package_environment",
+			"ament_index_register_package",
+			"_ament_package"
+		],
+		"files" : 
+		[
+			"/opt/ros/humble/share/pluginlib/cmake/pluginlib_export_plugin_description_file.cmake",
+			"CMakeLists.txt",
+			"/opt/ros/humble/share/ament_cmake_core/cmake/environment_hooks/ament_environment_hooks.cmake",
+			"/opt/ros/humble/share/ament_cmake_export_libraries/cmake/ament_cmake_export_libraries-extras.cmake",
+			"/opt/ros/humble/share/ament_cmake_export_libraries/cmake/ament_export_libraries.cmake",
+			"/opt/ros/humble/share/ament_cmake_core/cmake/index/ament_index_register_resource.cmake",
+			"/opt/ros/humble/share/ament_cmake_core/cmake/environment/ament_cmake_environment_package_hook.cmake",
+			"/opt/ros/humble/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake",
+			"/opt/ros/humble/share/ament_cmake_core/cmake/core/ament_package.cmake",
+			"/opt/ros/humble/share/ament_cmake_core/cmake/environment_hooks/ament_cmake_environment_hooks_package_hook.cmake",
+			"/opt/ros/humble/share/ament_cmake_core/cmake/environment_hooks/ament_generate_package_environment.cmake",
+			"/opt/ros/humble/share/ament_cmake_core/cmake/index/ament_index_register_package.cmake",
+			"/opt/ros/humble/share/ament_cmake_core/cmake/index/ament_cmake_index_package_hook.cmake",
+			"/opt/ros/humble/share/pluginlib/cmake/pluginlib_package_hook.cmake"
+		],
+		"nodes" : 
+		[
+			{
+				"file" : 1
+			},
+			{
+				"command" : 1,
+				"file" : 1,
+				"line" : 62,
+				"parent" : 0
+			},
+			{
+				"command" : 0,
+				"file" : 0,
+				"line" : 89,
+				"parent" : 1
+			},
+			{
+				"command" : 0,
+				"file" : 1,
+				"line" : 64,
+				"parent" : 0
+			},
+			{
+				"command" : 0,
+				"file" : 1,
+				"line" : 70,
+				"parent" : 0
+			},
+			{
+				"command" : 0,
+				"file" : 1,
+				"line" : 74,
+				"parent" : 0
+			},
+			{
+				"command" : 0,
+				"file" : 1,
+				"line" : 78,
+				"parent" : 0
+			},
+			{
+				"command" : 4,
+				"file" : 1,
+				"line" : 89,
+				"parent" : 0
+			},
+			{
+				"command" : 3,
+				"file" : 4,
+				"line" : 35,
+				"parent" : 7
+			},
+			{
+				"command" : 2,
+				"file" : 3,
+				"line" : 25,
+				"parent" : 8
+			},
+			{
+				"command" : 0,
+				"file" : 2,
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+				"parent" : 9
+			},
+			{
+				"command" : 0,
+				"file" : 2,
+				"line" : 87,
+				"parent" : 9
+			},
+			{
+				"command" : 9,
+				"file" : 1,
+				"line" : 91,
+				"parent" : 0
+			},
+			{
+				"command" : 8,
+				"file" : 8,
+				"line" : 66,
+				"parent" : 12
+			},
+			{
+				"command" : 7,
+				"file" : 7,
+				"line" : 48,
+				"parent" : 13
+			},
+			{
+				"file" : 6,
+				"parent" : 14
+			},
+			{
+				"command" : 6,
+				"file" : 6,
+				"line" : 47,
+				"parent" : 15
+			},
+			{
+				"command" : 5,
+				"file" : 6,
+				"line" : 29,
+				"parent" : 16
+			},
+			{
+				"command" : 0,
+				"file" : 5,
+				"line" : 105,
+				"parent" : 17
+			},
+			{
+				"command" : 10,
+				"file" : 6,
+				"line" : 48,
+				"parent" : 15
+			},
+			{
+				"command" : 5,
+				"file" : 6,
+				"line" : 43,
+				"parent" : 19
+			},
+			{
+				"command" : 0,
+				"file" : 5,
+				"line" : 105,
+				"parent" : 20
+			},
+			{
+				"command" : 7,
+				"file" : 7,
+				"line" : 48,
+				"parent" : 13
+			},
+			{
+				"file" : 9,
+				"parent" : 22
+			},
+			{
+				"command" : 2,
+				"file" : 9,
+				"line" : 20,
+				"parent" : 23
+			},
+			{
+				"command" : 0,
+				"file" : 2,
+				"line" : 70,
+				"parent" : 24
+			},
+			{
+				"command" : 0,
+				"file" : 2,
+				"line" : 87,
+				"parent" : 24
+			},
+			{
+				"command" : 0,
+				"file" : 2,
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+				"parent" : 24
+			},
+			{
+				"command" : 0,
+				"file" : 2,
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+				"parent" : 24
+			},
+			{
+				"command" : 11,
+				"file" : 9,
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+				"parent" : 23
+			},
+			{
+				"command" : 0,
+				"file" : 10,
+				"line" : 91,
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+			},
+			{
+				"command" : 0,
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+				"line" : 91,
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+			},
+			{
+				"command" : 0,
+				"file" : 10,
+				"line" : 91,
+				"parent" : 29
+			},
+			{
+				"command" : 0,
+				"file" : 10,
+				"line" : 107,
+				"parent" : 29
+			},
+			{
+				"command" : 0,
+				"file" : 10,
+				"line" : 119,
+				"parent" : 29
+			},
+			{
+				"command" : 7,
+				"file" : 7,
+				"line" : 48,
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build/nav2_rrtstar_planner/CMakeFiles/Makefile.cmake

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   "/opt/ros/humble/share/ament_cmake_core/cmake/index/ament_index_register_resource.cmake"
   "/opt/ros/humble/share/ament_cmake_core/cmake/package_templates/templates_2_cmake.py"
-  "/opt/ros/humble/share/ament_cmake_core/cmake/symlink_install/ament_cmake_symlink_install.cmake.in"
-  "/opt/ros/humble/share/ament_cmake_core/cmake/symlink_install/ament_cmake_symlink_install_append_install_code.cmake"
-  "/opt/ros/humble/share/ament_cmake_core/cmake/symlink_install/ament_cmake_symlink_install_directory.cmake"
-  "/opt/ros/humble/share/ament_cmake_core/cmake/symlink_install/ament_cmake_symlink_install_files.cmake"
-  "/opt/ros/humble/share/ament_cmake_core/cmake/symlink_install/ament_cmake_symlink_install_programs.cmake"
-  "/opt/ros/humble/share/ament_cmake_core/cmake/symlink_install/ament_cmake_symlink_install_targets.cmake"
-  "/opt/ros/humble/share/ament_cmake_core/cmake/symlink_install/ament_cmake_symlink_install_uninstall_script.cmake.in"
-  "/opt/ros/humble/share/ament_cmake_core/cmake/symlink_install/install.cmake"
   "/opt/ros/humble/share/ament_cmake_core/cmake/uninstall_target/ament_cmake_uninstall_target.cmake.in"
   "/opt/ros/humble/share/ament_cmake_core/cmake/uninstall_target/ament_cmake_uninstall_target_append_uninstall_code.cmake"
   "/opt/ros/humble/share/ament_cmake_cppcheck/cmake/ament_cmake_cppcheck-extras.cmake"
@@ -1225,8 +1217,6 @@ set(CMAKE_MAKEFILE_PRODUCTS
   "CMakeFiles/3.22.1/CMakeCXXCompiler.cmake"
   "ament_cmake_core/stamps/templates_2_cmake.py.stamp"
   "ament_cmake_uninstall_target/ament_cmake_uninstall_target.cmake"
-  "ament_cmake_symlink_install/ament_cmake_symlink_install.cmake"
-  "ament_cmake_symlink_install/ament_cmake_symlink_install_uninstall_script.cmake"
   "CTestConfiguration.ini"
   "ament_cmake_core/stamps/package.xml.stamp"
   "ament_cmake_core/stamps/package_xml_2_cmake.py.stamp"
@@ -1246,7 +1236,6 @@ set(CMAKE_MAKEFILE_PRODUCTS
   "ament_cmake_core/nav2_rrtstar_plannerConfig.cmake"
   "ament_cmake_core/stamps/nameConfig-version.cmake.in.stamp"
   "ament_cmake_core/nav2_rrtstar_plannerConfig-version.cmake"
-  "ament_cmake_symlink_install_targets_0_.cmake"
   "ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/nav2_rrtstar_planner"
   "ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/nav2_rrtstar_planner"
   "ament_cmake_index/share/ament_index/resource_index/packages/nav2_rrtstar_planner"

build/nav2_rrtstar_planner/CTestConfiguration.ini

@@ -11,7 +11,7 @@ BuildDirectory: /workspace/build/nav2_rrtstar_planner
 CostDataFile: 
 
 # Site is something like machine.domain, i.e. pragmatic.crd
-Site: pms-space-6950f1ca-1599-42c5-a926-29eb731cb95c-3b8732
+Site: ip-172-31-70-30.cn-northwest-1.compute.internal
 
 # Build name is osname-revision-compiler, i.e. Linux-2.4.2-2smp-c++
 BuildName: 

build/nav2_rrtstar_planner/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/nav2_rrtstar_planner

@@ -1 +1 @@
-/opt/ros/humble
+/workspace/install/vlm_perception_pkg:/workspace/install/vlm_nav_pkg:/workspace/install/turtlebot3_simulations:/workspace/install/turtlebot3_gazebo:/workspace/install/nav2_rrtstar_planner:/opt/ros/humble

build/nav2_rrtstar_planner/ament_cmake_symlink_install/ament_cmake_symlink_install.cmake

@@ -1,391 +0,0 @@
-# generated from
-# ament_cmake_core/cmake/symlink_install/ament_cmake_symlink_install.cmake.in
-
-# create empty symlink install manifest before starting install step
-file(WRITE "${CMAKE_CURRENT_BINARY_DIR}/symlink_install_manifest.txt")
-
-#
-# Reimplement CMake install(DIRECTORY) command to use symlinks instead of
-# copying resources.
-#
-# :param cmake_current_source_dir: The CMAKE_CURRENT_SOURCE_DIR when install
-#   was invoked
-# :type cmake_current_source_dir: string
-# :param ARGN: the same arguments as the CMake install command.
-# :type ARGN: various
-#
-function(ament_cmake_symlink_install_directory cmake_current_source_dir)
-  cmake_parse_arguments(ARG "OPTIONAL" "DESTINATION" "DIRECTORY;PATTERN;PATTERN_EXCLUDE" ${ARGN})
-  if(ARG_UNPARSED_ARGUMENTS)
-    message(FATAL_ERROR "ament_cmake_symlink_install_directory() called with "
-      "unused/unsupported arguments: ${ARG_UNPARSED_ARGUMENTS}")
-  endif()
-
-  # make destination absolute path and ensure that it exists
-  if(NOT IS_ABSOLUTE "${ARG_DESTINATION}")
-    set(ARG_DESTINATION "/workspace/install/nav2_rrtstar_planner/${ARG_DESTINATION}")
-  endif()
-  if(NOT EXISTS "${ARG_DESTINATION}")
-    file(MAKE_DIRECTORY "${ARG_DESTINATION}")
-  endif()
-
-  # default pattern to include
-  if(NOT ARG_PATTERN)
-    set(ARG_PATTERN "*")
-  endif()
-
-  # iterate over directories
-  foreach(dir ${ARG_DIRECTORY})
-    # make dir an absolute path
-    if(NOT IS_ABSOLUTE "${dir}")
-      set(dir "${cmake_current_source_dir}/${dir}")
-    endif()
-
-    if(EXISTS "${dir}")
-      # if directory has no trailing slash
-      # append folder name to destination
-      set(destination "${ARG_DESTINATION}")
-      string(LENGTH "${dir}" length)
-      math(EXPR offset "${length} - 1")
-      string(SUBSTRING "${dir}" ${offset} 1 dir_last_char)
-      if(NOT dir_last_char STREQUAL "/")
-        get_filename_component(destination_name "${dir}" NAME)
-        set(destination "${destination}/${destination_name}")
-      else()
-        # remove trailing slash
-        string(SUBSTRING "${dir}" 0 ${offset} dir)
-      endif()
-      
-      # Create destination directory.
-      # This does *not* solve the problem of empty directories WITHIN the install tree,
-      # but does make sure that the top-level directory specified by the caller gets created.
-      file(MAKE_DIRECTORY "${destination}")
-
-      # glob recursive files
-      set(relative_files "")
-      foreach(pattern ${ARG_PATTERN})
-        file(
-          GLOB_RECURSE
-          include_files
-          RELATIVE "${dir}"
-          "${dir}/${pattern}"
-        )
-        if(NOT include_files STREQUAL "")
-          list(APPEND relative_files ${include_files})
-        endif()
-      endforeach()
-      foreach(pattern ${ARG_PATTERN_EXCLUDE})
-        file(
-          GLOB_RECURSE
-          exclude_files
-          RELATIVE "${dir}"
-          "${dir}/${pattern}"
-        )
-        if(NOT exclude_files STREQUAL "")
-          list(REMOVE_ITEM relative_files ${exclude_files})
-        endif()
-      endforeach()
-      list(SORT relative_files)
-
-      foreach(relative_file ${relative_files})
-        set(absolute_file "${dir}/${relative_file}")
-        # determine link name for file including destination path
-        set(symlink "${destination}/${relative_file}")
-
-        # ensure that destination exists
-        get_filename_component(symlink_dir "${symlink}" PATH)
-        if(NOT EXISTS "${symlink_dir}")
-          file(MAKE_DIRECTORY "${symlink_dir}")
-        endif()
-
-        _ament_cmake_symlink_install_create_symlink("${absolute_file}" "${symlink}")
-      endforeach()
-    else()
-      if(NOT ARG_OPTIONAL)
-        message(FATAL_ERROR
-          "ament_cmake_symlink_install_directory() can't find '${dir}'")
-      endif()
-    endif()
-  endforeach()
-endfunction()
-
-#
-# Reimplement CMake install(FILES) command to use symlinks instead of copying
-# resources.
-#
-# :param cmake_current_source_dir: The CMAKE_CURRENT_SOURCE_DIR when install
-#   was invoked
-# :type cmake_current_source_dir: string
-# :param ARGN: the same arguments as the CMake install command.
-# :type ARGN: various
-#
-function(ament_cmake_symlink_install_files cmake_current_source_dir)
-  cmake_parse_arguments(ARG "OPTIONAL" "DESTINATION;RENAME" "FILES" ${ARGN})
-  if(ARG_UNPARSED_ARGUMENTS)
-    message(FATAL_ERROR "ament_cmake_symlink_install_files() called with "
-      "unused/unsupported arguments: ${ARG_UNPARSED_ARGUMENTS}")
-  endif()
-
-  # make destination an absolute path and ensure that it exists
-  if(NOT IS_ABSOLUTE "${ARG_DESTINATION}")
-    set(ARG_DESTINATION "/workspace/install/nav2_rrtstar_planner/${ARG_DESTINATION}")
-  endif()
-  if(NOT EXISTS "${ARG_DESTINATION}")
-    file(MAKE_DIRECTORY "${ARG_DESTINATION}")
-  endif()
-
-  if(ARG_RENAME)
-    list(LENGTH ARG_FILES file_count)
-    if(NOT file_count EQUAL 1)
-    message(FATAL_ERROR "ament_cmake_symlink_install_files() called with "
-      "RENAME argument but not with a single file")
-    endif()
-  endif()
-
-  # iterate over files
-  foreach(file ${ARG_FILES})
-    # make file an absolute path
-    if(NOT IS_ABSOLUTE "${file}")
-      set(file "${cmake_current_source_dir}/${file}")
-    endif()
-
-    if(EXISTS "${file}")
-      # determine link name for file including destination path
-      get_filename_component(filename "${file}" NAME)
-      if(NOT ARG_RENAME)
-        set(symlink "${ARG_DESTINATION}/${filename}")
-      else()
-        set(symlink "${ARG_DESTINATION}/${ARG_RENAME}")
-      endif()
-      _ament_cmake_symlink_install_create_symlink("${file}" "${symlink}")
-    else()
-      if(NOT ARG_OPTIONAL)
-        message(FATAL_ERROR
-          "ament_cmake_symlink_install_files() can't find '${file}'")
-      endif()
-    endif()
-  endforeach()
-endfunction()
-
-#
-# Reimplement CMake install(PROGRAMS) command to use symlinks instead of copying
-# resources.
-#
-# :param cmake_current_source_dir: The CMAKE_CURRENT_SOURCE_DIR when install
-#   was invoked
-# :type cmake_current_source_dir: string
-# :param ARGN: the same arguments as the CMake install command.
-# :type ARGN: various
-#
-function(ament_cmake_symlink_install_programs cmake_current_source_dir)
-  cmake_parse_arguments(ARG "OPTIONAL" "DESTINATION" "PROGRAMS" ${ARGN})
-  if(ARG_UNPARSED_ARGUMENTS)
-    message(FATAL_ERROR "ament_cmake_symlink_install_programs() called with "
-      "unused/unsupported arguments: ${ARG_UNPARSED_ARGUMENTS}")
-  endif()
-
-  # make destination an absolute path and ensure that it exists
-  if(NOT IS_ABSOLUTE "${ARG_DESTINATION}")
-    set(ARG_DESTINATION "/workspace/install/nav2_rrtstar_planner/${ARG_DESTINATION}")
-  endif()
-  if(NOT EXISTS "${ARG_DESTINATION}")
-    file(MAKE_DIRECTORY "${ARG_DESTINATION}")
-  endif()
-
-  # iterate over programs
-  foreach(file ${ARG_PROGRAMS})
-    # make file an absolute path
-    if(NOT IS_ABSOLUTE "${file}")
-      set(file "${cmake_current_source_dir}/${file}")
-    endif()
-
-    if(EXISTS "${file}")
-      # determine link name for file including destination path
-      get_filename_component(filename "${file}" NAME)
-      set(symlink "${ARG_DESTINATION}/${filename}")
-      _ament_cmake_symlink_install_create_symlink("${file}" "${symlink}")
-    else()
-      if(NOT ARG_OPTIONAL)
-        message(FATAL_ERROR
-          "ament_cmake_symlink_install_programs() can't find '${file}'")
-      endif()
-    endif()
-  endforeach()
-endfunction()
-
-#
-# Reimplement CMake install(TARGETS) command to use symlinks instead of copying
-# resources.
-#
-# :param TARGET_FILES: the absolute files, replacing the name of targets passed
-#   in as TARGETS
-# :type TARGET_FILES: list of files
-# :param ARGN: the same arguments as the CMake install command except that
-#   keywords identifying the kind of type and the DESTINATION keyword must be
-#   joined with an underscore, e.g. ARCHIVE_DESTINATION.
-# :type ARGN: various
-#
-function(ament_cmake_symlink_install_targets)
-  cmake_parse_arguments(ARG "OPTIONAL" "ARCHIVE_DESTINATION;DESTINATION;LIBRARY_DESTINATION;RUNTIME_DESTINATION"
-    "TARGETS;TARGET_FILES" ${ARGN})
-  if(ARG_UNPARSED_ARGUMENTS)
-    message(FATAL_ERROR "ament_cmake_symlink_install_targets() called with "
-      "unused/unsupported arguments: ${ARG_UNPARSED_ARGUMENTS}")
-  endif()
-
-  # iterate over target files
-  foreach(file ${ARG_TARGET_FILES})
-    if(NOT IS_ABSOLUTE "${file}")
-      message(FATAL_ERROR "ament_cmake_symlink_install_targets() target file "
-        "'${file}' must be an absolute path")
-    endif()
-
-    # determine destination of file based on extension
-    set(destination "")
-    get_filename_component(fileext "${file}" EXT)
-    if(fileext STREQUAL ".a" OR fileext STREQUAL ".lib")
-      set(destination "${ARG_ARCHIVE_DESTINATION}")
-    elseif(fileext STREQUAL ".dylib" OR fileext MATCHES "\\.so(\\.[0-9]+)?(\\.[0-9]+)?(\\.[0-9]+)?$")
-      set(destination "${ARG_LIBRARY_DESTINATION}")
-    elseif(fileext STREQUAL "" OR fileext STREQUAL ".dll" OR fileext STREQUAL ".exe")
-      set(destination "${ARG_RUNTIME_DESTINATION}")
-    endif()
-    if(destination STREQUAL "")
-      set(destination "${ARG_DESTINATION}")
-    endif()
-
-    # make destination an absolute path and ensure that it exists
-    if(NOT IS_ABSOLUTE "${destination}")
-      set(destination "/workspace/install/nav2_rrtstar_planner/${destination}")
-    endif()
-    if(NOT EXISTS "${destination}")
-      file(MAKE_DIRECTORY "${destination}")
-    endif()
-
-    if(EXISTS "${file}")
-      # determine link name for file including destination path
-      get_filename_component(filename "${file}" NAME)
-      set(symlink "${destination}/${filename}")
-      _ament_cmake_symlink_install_create_symlink("${file}" "${symlink}")
-    else()
-      if(NOT ARG_OPTIONAL)
-        message(FATAL_ERROR
-          "ament_cmake_symlink_install_targets() can't find '${file}'")
-      endif()
-    endif()
-  endforeach()
-endfunction()
-
-function(_ament_cmake_symlink_install_create_symlink absolute_file symlink)
-  # register symlink for being removed during install step
-  file(APPEND "${CMAKE_CURRENT_BINARY_DIR}/symlink_install_manifest.txt"
-    "${symlink}\n")
-
-  # avoid any work if correct symlink is already in place
-  if(EXISTS "${symlink}" AND IS_SYMLINK "${symlink}")
-    get_filename_component(destination "${symlink}" REALPATH)
-    get_filename_component(real_absolute_file "${absolute_file}" REALPATH)
-    if(destination STREQUAL real_absolute_file)
-      message(STATUS "Up-to-date symlink: ${symlink}")
-      return()
-    endif()
-  endif()
-
-  message(STATUS "Symlinking: ${symlink}")
-  if(EXISTS "${symlink}" OR IS_SYMLINK "${symlink}")
-    file(REMOVE "${symlink}")
-  endif()
-
-  execute_process(
-    COMMAND "/usr/bin/cmake" "-E" "create_symlink"
-      "${absolute_file}"
-      "${symlink}"
-  )
-  # the CMake command does not provide a return code so check manually
-  if(NOT EXISTS "${symlink}" OR NOT IS_SYMLINK "${symlink}")
-    get_filename_component(destination "${symlink}" REALPATH)
-    message(FATAL_ERROR
-      "Could not create symlink '${symlink}' pointing to '${absolute_file}'")
-  endif()
-endfunction()
-
-# end of template
-
-message(STATUS "Execute custom install script")
-
-# begin of custom install code
-
-# install(FILES "global_planner_plugin.xml" "DESTINATION" "share/nav2_rrtstar_planner/")
-ament_cmake_symlink_install_files("/workspace/src/TurtleBot-RRT-Star" FILES "global_planner_plugin.xml" "DESTINATION" "share/nav2_rrtstar_planner/")
-
-# install("TARGETS" "nav2_rrtstar_planner_plugin" "ARCHIVE_DESTINATION" "lib" "LIBRARY_DESTINATION" "lib" "RUNTIME_DESTINATION" "lib/nav2_rrtstar_planner")
-include("/workspace/build/nav2_rrtstar_planner/ament_cmake_symlink_install_targets_0_${CMAKE_INSTALL_CONFIG_NAME}.cmake")
-
-# install(DIRECTORY "include/" "DESTINATION" "include/")
-ament_cmake_symlink_install_directory("/workspace/src/TurtleBot-RRT-Star" DIRECTORY "include/" "DESTINATION" "include/")
-
-# install(FILES "global_planner_plugin.xml" "DESTINATION" "share/nav2_rrtstar_planner")
-ament_cmake_symlink_install_files("/workspace/src/TurtleBot-RRT-Star" FILES "global_planner_plugin.xml" "DESTINATION" "share/nav2_rrtstar_planner")
-
-# install(DIRECTORY "launch/" "DESTINATION" "share/nav2_rrtstar_planner/launch")
-ament_cmake_symlink_install_directory("/workspace/src/TurtleBot-RRT-Star" DIRECTORY "launch/" "DESTINATION" "share/nav2_rrtstar_planner/launch")
-
-# install(FILES "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/environment_hook/library_path.sh" "DESTINATION" "share/nav2_rrtstar_planner/environment")
-ament_cmake_symlink_install_files("/workspace/src/TurtleBot-RRT-Star" FILES "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/environment_hook/library_path.sh" "DESTINATION" "share/nav2_rrtstar_planner/environment")
-
-# install(FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/library_path.dsv" "DESTINATION" "share/nav2_rrtstar_planner/environment")
-ament_cmake_symlink_install_files("/workspace/src/TurtleBot-RRT-Star" FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/library_path.dsv" "DESTINATION" "share/nav2_rrtstar_planner/environment")
-
-# install(FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/nav2_rrtstar_planner" "DESTINATION" "share/ament_index/resource_index/package_run_dependencies")
-ament_cmake_symlink_install_files("/workspace/src/TurtleBot-RRT-Star" FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/nav2_rrtstar_planner" "DESTINATION" "share/ament_index/resource_index/package_run_dependencies")
-
-# install(FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/nav2_rrtstar_planner" "DESTINATION" "share/ament_index/resource_index/parent_prefix_path")
-ament_cmake_symlink_install_files("/workspace/src/TurtleBot-RRT-Star" FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/nav2_rrtstar_planner" "DESTINATION" "share/ament_index/resource_index/parent_prefix_path")
-
-# install(FILES "/opt/ros/humble/share/ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh" "DESTINATION" "share/nav2_rrtstar_planner/environment")
-ament_cmake_symlink_install_files("/workspace/src/TurtleBot-RRT-Star" FILES "/opt/ros/humble/share/ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh" "DESTINATION" "share/nav2_rrtstar_planner/environment")
-
-# install(FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/ament_prefix_path.dsv" "DESTINATION" "share/nav2_rrtstar_planner/environment")
-ament_cmake_symlink_install_files("/workspace/src/TurtleBot-RRT-Star" FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/ament_prefix_path.dsv" "DESTINATION" "share/nav2_rrtstar_planner/environment")
-
-# install(FILES "/opt/ros/humble/share/ament_cmake_core/cmake/environment_hooks/environment/path.sh" "DESTINATION" "share/nav2_rrtstar_planner/environment")
-ament_cmake_symlink_install_files("/workspace/src/TurtleBot-RRT-Star" FILES "/opt/ros/humble/share/ament_cmake_core/cmake/environment_hooks/environment/path.sh" "DESTINATION" "share/nav2_rrtstar_planner/environment")
-
-# install(FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/path.dsv" "DESTINATION" "share/nav2_rrtstar_planner/environment")
-ament_cmake_symlink_install_files("/workspace/src/TurtleBot-RRT-Star" FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/path.dsv" "DESTINATION" "share/nav2_rrtstar_planner/environment")
-
-# install(FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/local_setup.bash" "DESTINATION" "share/nav2_rrtstar_planner")
-ament_cmake_symlink_install_files("/workspace/src/TurtleBot-RRT-Star" FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/local_setup.bash" "DESTINATION" "share/nav2_rrtstar_planner")
-
-# install(FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/local_setup.sh" "DESTINATION" "share/nav2_rrtstar_planner")
-ament_cmake_symlink_install_files("/workspace/src/TurtleBot-RRT-Star" FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/local_setup.sh" "DESTINATION" "share/nav2_rrtstar_planner")
-
-# install(FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/local_setup.zsh" "DESTINATION" "share/nav2_rrtstar_planner")
-ament_cmake_symlink_install_files("/workspace/src/TurtleBot-RRT-Star" FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/local_setup.zsh" "DESTINATION" "share/nav2_rrtstar_planner")
-
-# install(FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/local_setup.dsv" "DESTINATION" "share/nav2_rrtstar_planner")
-ament_cmake_symlink_install_files("/workspace/src/TurtleBot-RRT-Star" FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/local_setup.dsv" "DESTINATION" "share/nav2_rrtstar_planner")
-
-# install(FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/package.dsv" "DESTINATION" "share/nav2_rrtstar_planner")
-ament_cmake_symlink_install_files("/workspace/src/TurtleBot-RRT-Star" FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/package.dsv" "DESTINATION" "share/nav2_rrtstar_planner")
-
-# install(FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_index/share/ament_index/resource_index/packages/nav2_rrtstar_planner" "DESTINATION" "share/ament_index/resource_index/packages")
-ament_cmake_symlink_install_files("/workspace/src/TurtleBot-RRT-Star" FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_index/share/ament_index/resource_index/packages/nav2_rrtstar_planner" "DESTINATION" "share/ament_index/resource_index/packages")
-
-# install(FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_index/share/ament_index/resource_index/nav2_core__pluginlib__plugin/nav2_rrtstar_planner" "DESTINATION" "share/ament_index/resource_index/nav2_core__pluginlib__plugin")
-ament_cmake_symlink_install_files("/workspace/src/TurtleBot-RRT-Star" FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_index/share/ament_index/resource_index/nav2_core__pluginlib__plugin/nav2_rrtstar_planner" "DESTINATION" "share/ament_index/resource_index/nav2_core__pluginlib__plugin")
-
-# install(FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_export_include_directories/ament_cmake_export_include_directories-extras.cmake" "DESTINATION" "share/nav2_rrtstar_planner/cmake")
-ament_cmake_symlink_install_files("/workspace/src/TurtleBot-RRT-Star" FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_export_include_directories/ament_cmake_export_include_directories-extras.cmake" "DESTINATION" "share/nav2_rrtstar_planner/cmake")
-
-# install(FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_export_libraries/ament_cmake_export_libraries-extras.cmake" "DESTINATION" "share/nav2_rrtstar_planner/cmake")
-ament_cmake_symlink_install_files("/workspace/src/TurtleBot-RRT-Star" FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_export_libraries/ament_cmake_export_libraries-extras.cmake" "DESTINATION" "share/nav2_rrtstar_planner/cmake")
-
-# install(FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_export_dependencies/ament_cmake_export_dependencies-extras.cmake" "DESTINATION" "share/nav2_rrtstar_planner/cmake")
-ament_cmake_symlink_install_files("/workspace/src/TurtleBot-RRT-Star" FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_export_dependencies/ament_cmake_export_dependencies-extras.cmake" "DESTINATION" "share/nav2_rrtstar_planner/cmake")
-
-# install(FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_core/nav2_rrtstar_plannerConfig.cmake" "/workspace/build/nav2_rrtstar_planner/ament_cmake_core/nav2_rrtstar_plannerConfig-version.cmake" "DESTINATION" "share/nav2_rrtstar_planner/cmake")
-ament_cmake_symlink_install_files("/workspace/src/TurtleBot-RRT-Star" FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_core/nav2_rrtstar_plannerConfig.cmake" "/workspace/build/nav2_rrtstar_planner/ament_cmake_core/nav2_rrtstar_plannerConfig-version.cmake" "DESTINATION" "share/nav2_rrtstar_planner/cmake")
-
-# install(FILES "/workspace/src/TurtleBot-RRT-Star/package.xml" "DESTINATION" "share/nav2_rrtstar_planner")
-ament_cmake_symlink_install_files("/workspace/src/TurtleBot-RRT-Star" FILES "/workspace/src/TurtleBot-RRT-Star/package.xml" "DESTINATION" "share/nav2_rrtstar_planner")

build/nav2_rrtstar_planner/ament_cmake_symlink_install/ament_cmake_symlink_install_uninstall_script.cmake

@@ -1,23 +0,0 @@
-# generated from
-# ament_cmake_core/cmake/symlink_install/ament_cmake_symlink_install_uninstall_script.cmake.in
-
-set(install_manifest "/workspace/build/nav2_rrtstar_planner/symlink_install_manifest.txt")
-if(NOT EXISTS "${install_manifest}")
-  message(FATAL_ERROR "Cannot find symlink install manifest: ${install_manifest}")
-endif()
-
-file(READ "${install_manifest}" installed_files)
-string(REGEX REPLACE "\n" ";" installed_files "${installed_files}")
-foreach(installed_file ${installed_files})
-  if(EXISTS "${installed_file}" OR IS_SYMLINK "${installed_file}")
-    message(STATUS "Uninstalling: ${installed_file}")
-    file(REMOVE "${installed_file}")
-    if(EXISTS "${installed_file}" OR IS_SYMLINK "${installed_file}")
-      message(FATAL_ERROR "Failed to remove '${installed_file}'")
-    endif()
-
-    # remove empty parent folders
-    get_filename_component(parent_path "${installed_file}" PATH)
-    ament_cmake_uninstall_target_remove_empty_directories("${parent_path}")
-  endif()
-endforeach()

build/nav2_rrtstar_planner/ament_cmake_symlink_install_targets_0_.cmake

@@ -1 +0,0 @@
-ament_cmake_symlink_install_targets("TARGET_FILES" "/workspace/build/nav2_rrtstar_planner/libnav2_rrtstar_planner_plugin.so" "TARGETS" "nav2_rrtstar_planner_plugin" "ARCHIVE_DESTINATION" "lib" "LIBRARY_DESTINATION" "lib" "RUNTIME_DESTINATION" "lib/nav2_rrtstar_planner")

build/nav2_rrtstar_planner/ament_cmake_uninstall_target/ament_cmake_uninstall_target.cmake

@@ -55,6 +55,3 @@ endforeach()
 message(STATUS "Execute custom uninstall script")
 
 # begin of custom uninstall code
-
-# uninstall files installed using the symlink install functions
-include("/workspace/build/nav2_rrtstar_planner/ament_cmake_symlink_install/ament_cmake_symlink_install_uninstall_script.cmake")

build/nav2_rrtstar_planner/cmake_args.last

@@ -1 +1 @@
-['-DAMENT_CMAKE_SYMLINK_INSTALL=1']
+None

build/nav2_rrtstar_planner/cmake_install.cmake

@@ -43,7 +43,125 @@ if(NOT DEFINED CMAKE_OBJDUMP)
 endif()
 
 if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
-  include("/workspace/build/nav2_rrtstar_planner/ament_cmake_symlink_install/ament_cmake_symlink_install.cmake")
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/nav2_rrtstar_planner" TYPE FILE FILES "/workspace/src/TurtleBot-RRT-Star/global_planner_plugin.xml")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libnav2_rrtstar_planner_plugin.so" AND
+     NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libnav2_rrtstar_planner_plugin.so")
+    file(RPATH_CHECK
+         FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libnav2_rrtstar_planner_plugin.so"
+         RPATH "")
+  endif()
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib" TYPE SHARED_LIBRARY FILES "/workspace/build/nav2_rrtstar_planner/libnav2_rrtstar_planner_plugin.so")
+  if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libnav2_rrtstar_planner_plugin.so" AND
+     NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libnav2_rrtstar_planner_plugin.so")
+    file(RPATH_CHANGE
+         FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libnav2_rrtstar_planner_plugin.so"
+         OLD_RPATH "/opt/ros/humble/lib:"
+         NEW_RPATH "")
+    if(CMAKE_INSTALL_DO_STRIP)
+      execute_process(COMMAND "/usr/bin/strip" "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libnav2_rrtstar_planner_plugin.so")
+    endif()
+  endif()
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/include/" TYPE DIRECTORY FILES "/workspace/src/TurtleBot-RRT-Star/include/")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/nav2_rrtstar_planner" TYPE FILE FILES "/workspace/src/TurtleBot-RRT-Star/global_planner_plugin.xml")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/nav2_rrtstar_planner/launch" TYPE DIRECTORY FILES "/workspace/src/TurtleBot-RRT-Star/launch/")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/nav2_rrtstar_planner/environment" TYPE FILE FILES "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/environment_hook/library_path.sh")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/nav2_rrtstar_planner/environment" TYPE FILE FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/library_path.dsv")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/ament_index/resource_index/package_run_dependencies" TYPE FILE FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/nav2_rrtstar_planner")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/ament_index/resource_index/parent_prefix_path" TYPE FILE FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/nav2_rrtstar_planner")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/nav2_rrtstar_planner/environment" TYPE FILE FILES "/opt/ros/humble/share/ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/nav2_rrtstar_planner/environment" TYPE FILE FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/ament_prefix_path.dsv")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/nav2_rrtstar_planner/environment" TYPE FILE FILES "/opt/ros/humble/share/ament_cmake_core/cmake/environment_hooks/environment/path.sh")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/nav2_rrtstar_planner/environment" TYPE FILE FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/path.dsv")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/nav2_rrtstar_planner" TYPE FILE FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/local_setup.bash")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/nav2_rrtstar_planner" TYPE FILE FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/local_setup.sh")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/nav2_rrtstar_planner" TYPE FILE FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/local_setup.zsh")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/nav2_rrtstar_planner" TYPE FILE FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/local_setup.dsv")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/nav2_rrtstar_planner" TYPE FILE FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/package.dsv")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/ament_index/resource_index/packages" TYPE FILE FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_index/share/ament_index/resource_index/packages/nav2_rrtstar_planner")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/ament_index/resource_index/nav2_core__pluginlib__plugin" TYPE FILE FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_index/share/ament_index/resource_index/nav2_core__pluginlib__plugin/nav2_rrtstar_planner")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/nav2_rrtstar_planner/cmake" TYPE FILE FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_export_include_directories/ament_cmake_export_include_directories-extras.cmake")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/nav2_rrtstar_planner/cmake" TYPE FILE FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_export_libraries/ament_cmake_export_libraries-extras.cmake")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/nav2_rrtstar_planner/cmake" TYPE FILE FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_export_dependencies/ament_cmake_export_dependencies-extras.cmake")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/nav2_rrtstar_planner/cmake" TYPE FILE FILES
+    "/workspace/build/nav2_rrtstar_planner/ament_cmake_core/nav2_rrtstar_plannerConfig.cmake"
+    "/workspace/build/nav2_rrtstar_planner/ament_cmake_core/nav2_rrtstar_plannerConfig-version.cmake"
+    )
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/nav2_rrtstar_planner" TYPE FILE FILES "/workspace/src/TurtleBot-RRT-Star/package.xml")
 endif()
 
 if(CMAKE_INSTALL_COMPONENT)

build/nav2_rrtstar_planner/colcon_command_prefix_build.sh.env

@@ -1,6 +1,8 @@
-AMENT_PREFIX_PATH=/opt/ros/humble
+AMENT_PREFIX_PATH=/workspace/install/vlm_perception_pkg:/workspace/install/vlm_nav_pkg:/workspace/install/turtlebot3_simulations:/workspace/install/turtlebot3_gazebo:/workspace/install/nav2_rrtstar_planner:/opt/ros/humble
+CMAKE_PREFIX_PATH=/workspace/install/turtlebot3_simulations:/workspace/install/turtlebot3_gazebo:/workspace/install/nav2_rrtstar_planner
 CODE_NO_PASSWORD=true
 COLCON=1
+COLCON_PREFIX_PATH=/workspace/install
 DATA_PATH=/home/user/data
 DATA_PATH_V2=/data
 DESKTOP_MODE=auto
@@ -8,7 +10,7 @@ DISPLAY=:1
 DISPLAY_BACKEND=auto
 ENABLE_CODE_SERVER=true
 ENABLE_FILEBROWSER=false
-ENABLE_FOXGLOVE=true
+ENABLE_FOXGLOVE=false
 ENABLE_GZWEB=true
 ENABLE_ROSBRIDGE=true
 ENABLE_TERMINAL=true
@@ -16,25 +18,35 @@ ENABLE_VNC=true
 FILEBROWSER_BASEURL=/file
 GZWEB_APP_DIR=/opt/gzweb
 GZWEB_PORT=8000
-GZ_SIM_CACHE_PATH=/opt/gzsim/cache
+GZ_SIM_CACHE_PATH=/.gz/sim/cache
-GZ_SIM_RESOURCE_PATH=/workspace/models:/opt/gzsim/models:/workspace/models:/opt/gzsim/models:/workspace/models:/opt/gzsim/models:/usr/share/gz/gz-sim7/models
+GZ_SIM_RESOURCE_PATH=/models:/workspace/models:/opt/gzsim/models:/models:/workspace/models:/opt/gzsim/models:/models:/workspace/models:/opt/gzsim/models:/usr/share/gz/gz-sim7/models
 HOME=/home/devuser
 INIT_SCRIPT=sed -i "/# pms-vendor-pythonpath/d;/export PYTHONPATH=\"/opt\/vendor\/python/d" /home/${USER:-devuser}/.bashrc 2>/dev/null || true
+CONDA_ACTIVATE_D="${CONDA_PREFIX:-/opt/miniconda/envs/pms-py312}/etc/conda/activate.d"
+if [ -d "$CONDA_ACTIVATE_D" ]; then
+  cat > "$CONDA_ACTIVATE_D/pms-vendor-pythonpath.sh" << 'PYEOF'
+export PYTHONPATH="/opt/vendor/python:/opt/vendor/mjlab/src:/opt/vendor/mujoco_warp:/opt/vendor/demos/humanoid_skateboarding/src:$PYTHONPATH"
+PYEOF
+  chmod +x "$CONDA_ACTIVATE_D/pms-vendor-pythonpath.sh"
+fi
+echo "# pms-vendor-pythonpath" >> /home/${USER:-devuser}/.bashrc
+echo "export PYTHONPATH=\"/opt/vendor/python:/opt/vendor/mjlab/src:/opt/vendor/mujoco_warp:/opt/vendor/demos/humanoid_skateboarding/src:\$PYTHONPATH\"" >> /home/${USER:-devuser}/.bashrc
 
 /workspace/autorun.sh
 INIT_WORKSPACE=/workspace
 LAUNCH_TYPE=EC2
 LC_CTYPE=C.UTF-8
-LD_LIBRARY_PATH=/usr/local/cuda/lib64:/usr/local/cuda/lib64:/usr/local/cuda/lib64:/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib
+LD_LIBRARY_PATH=/workspace/install/nav2_rrtstar_planner/lib:/usr/local/cuda/lib64:/usr/local/cuda/lib64:/usr/local/cuda/lib64:/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib
 LOGNAME=devuser
 MAIL=/var/mail/devuser
 OLDPWD=/workspace
-PATH=/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/opt/ros/humble/bin:/usr/local/cuda/bin:/opt/TurboVNC/bin:/opt/node/bin:/opt/foundation/bin:/home/devuser/miniconda3/bin:/home/devuser/.local/bin
+PATH=/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/opt/ros/humble/bin:/usr/local/cuda/bin:/opt/TurboVNC/bin:/opt/node/bin:/opt/foundation/bin
 PMS_FOUNDATION_VARIANT=gpu
 PMS_VNC_MODE=turbovnc
 PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$
 PWD=/workspace/build/nav2_rrtstar_planner
-PYTHONPATH=/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages
+PYTHONNOUSERSITE=1
+PYTHONPATH=/workspace/install/vlm_perception_pkg/lib/python3.10/site-packages:/workspace/install/vlm_nav_pkg/lib/python3.10/site-packages:/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages
 ROS_DISTRO=humble
 ROS_DOMAIN_ID=42
 ROS_LOCALHOST_ONLY=0
@@ -44,11 +56,11 @@ SHELL=/bin/bash
 SHLVL=1
 SINGLE_DESKTOP_APP=
 SINGLE_DESKTOP_PRESET=
-SPACE_DIR=/home/user/data/309844d858e5487f9c582ea361481b3d
+SPACE_DIR=/home/user/data/72f26183c345428ea9d80d3086449014
-SPACE_DIR_V2=/data/309844d858e5487f9c582ea361481b3d
+SPACE_DIR_V2=/data/72f26183c345428ea9d80d3086449014
-SPACE_ID=309844d858e5487f9c582ea361481b3d
+SPACE_ID=72f26183c345428ea9d80d3086449014
 USER=devuser
-USER_ID=6950f1ca-1599-42c5-a926-29eb731cb95c
+USER_ID=9dc62cab-cf4d-49b7-b349-349aef68e7b4
 VNC_NO_PASSWORD=true
 WORKSPACE=/workspace
 _=/usr/bin/colcon

build/nav2_rrtstar_planner/install_manifest.txt

@@ -0,0 +1,26 @@
+/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/global_planner_plugin.xml
+/workspace/install/nav2_rrtstar_planner/lib/libnav2_rrtstar_planner_plugin.so
+/workspace/install/nav2_rrtstar_planner/include//nav2_rrtstar_planner/rrtstar_planner.hpp
+/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/global_planner_plugin.xml
+/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/launch/bringup_localization_with_initial_pose.launch.py
+/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/environment/library_path.sh
+/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/environment/library_path.dsv
+/workspace/install/nav2_rrtstar_planner/share/ament_index/resource_index/package_run_dependencies/nav2_rrtstar_planner
+/workspace/install/nav2_rrtstar_planner/share/ament_index/resource_index/parent_prefix_path/nav2_rrtstar_planner
+/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/environment/ament_prefix_path.sh
+/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/environment/ament_prefix_path.dsv
+/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/environment/path.sh
+/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/environment/path.dsv
+/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/local_setup.bash
+/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/local_setup.sh
+/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/local_setup.zsh
+/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/local_setup.dsv
+/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/package.dsv
+/workspace/install/nav2_rrtstar_planner/share/ament_index/resource_index/packages/nav2_rrtstar_planner
+/workspace/install/nav2_rrtstar_planner/share/ament_index/resource_index/nav2_core__pluginlib__plugin/nav2_rrtstar_planner
+/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/cmake/ament_cmake_export_include_directories-extras.cmake
+/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/cmake/ament_cmake_export_libraries-extras.cmake
+/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/cmake/ament_cmake_export_dependencies-extras.cmake
+/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/cmake/nav2_rrtstar_plannerConfig.cmake
+/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/cmake/nav2_rrtstar_plannerConfig-version.cmake
+/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/package.xml

build/nav2_rrtstar_planner/symlink_install_manifest.txt

@@ -1,26 +0,0 @@
-/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner//global_planner_plugin.xml
-/workspace/install/nav2_rrtstar_planner/lib/libnav2_rrtstar_planner_plugin.so
-/workspace/install/nav2_rrtstar_planner/include//nav2_rrtstar_planner/rrtstar_planner.hpp
-/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/global_planner_plugin.xml
-/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/launch/bringup_localization_with_initial_pose.launch.py
-/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/environment/library_path.sh
-/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/environment/library_path.dsv
-/workspace/install/nav2_rrtstar_planner/share/ament_index/resource_index/package_run_dependencies/nav2_rrtstar_planner
-/workspace/install/nav2_rrtstar_planner/share/ament_index/resource_index/parent_prefix_path/nav2_rrtstar_planner
-/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/environment/ament_prefix_path.sh
-/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/environment/ament_prefix_path.dsv
-/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/environment/path.sh
-/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/environment/path.dsv
-/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/local_setup.bash
-/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/local_setup.sh
-/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/local_setup.zsh
-/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/local_setup.dsv
-/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/package.dsv
-/workspace/install/nav2_rrtstar_planner/share/ament_index/resource_index/packages/nav2_rrtstar_planner
-/workspace/install/nav2_rrtstar_planner/share/ament_index/resource_index/nav2_core__pluginlib__plugin/nav2_rrtstar_planner
-/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/cmake/ament_cmake_export_include_directories-extras.cmake
-/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/cmake/ament_cmake_export_libraries-extras.cmake
-/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/cmake/ament_cmake_export_dependencies-extras.cmake
-/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/cmake/nav2_rrtstar_plannerConfig.cmake
-/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/cmake/nav2_rrtstar_plannerConfig-version.cmake
-/workspace/install/nav2_rrtstar_planner/share/nav2_rrtstar_planner/package.xml

build/turtlebot3_gazebo/.cmake/api/v1/reply/codemodel-v2-6bf0faa865b4e49cb5f0.json

@@ -7,7 +7,7 @@
 				{
 					"build" : ".",
 					"hasInstallRule" : true,
-					"jsonFile" : "directory-.-6fa35cb1c132cd4b41ac.json",
+					"jsonFile" : "directory-.-c70a46a0dc28c7f21bd0.json",
 					"minimumCMakeVersion" : 
 					{
 						"string" : "3.10.2"
@@ -44,7 +44,7 @@
 				{
 					"directoryIndex" : 0,
 					"id" : "turtlebot3_drive::@6890427a1f51a3e7e1df",
-					"jsonFile" : "target-turtlebot3_drive-8ed77e5abd110fc03104.json",
+					"jsonFile" : "target-turtlebot3_drive-2572759445b91c59c5f0.json",
 					"name" : "turtlebot3_drive",
 					"projectIndex" : 0
 				},

build/turtlebot3_gazebo/.cmake/api/v1/reply/directory-.-6fa35cb1c132cd4b41ac.json

@@ -1,93 +0,0 @@
-{
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-	{
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-			"_install",
-			"install",
-			"include",
-			"find_package"
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-		"files" : 
-		[
-			"/opt/ros/humble/share/ament_cmake_core/cmake/symlink_install/install.cmake",
-			"/opt/ros/humble/share/ament_cmake_core/cmake/ament_cmake_symlink_install-extras.cmake",
-			"/opt/ros/humble/share/ament_cmake_core/cmake/ament_cmake_coreConfig.cmake",
-			"/opt/ros/humble/share/ament_cmake/cmake/ament_cmake_export_dependencies-extras.cmake",
-			"/opt/ros/humble/share/ament_cmake/cmake/ament_cmakeConfig.cmake",
-			"CMakeLists.txt"
-		],
-		"nodes" : 
-		[
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-			"component" : "Unspecified",
-			"scriptFile" : "/workspace/build/turtlebot3_gazebo/ament_cmake_symlink_install/ament_cmake_symlink_install.cmake",
-			"type" : "script"
-		}
-	],
-	"paths" : 
-	{
-		"build" : ".",
-		"source" : "."
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-}

build/turtlebot3_gazebo/.cmake/api/v1/reply/directory-.-c70a46a0dc28c7f21bd0.json

@@ -0,0 +1,477 @@
+{
+	"backtraceGraph" : 
+	{
+		"commands" : 
+		[
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+			"ament_cmake_environment_generate_package_run_dependencies_marker",
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+			"ament_package",
+			"ament_cmake_environment_generate_parent_prefix_path_marker",
+			"ament_environment_hooks",
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+			"ament_index_register_package",
+			"_ament_package"
+		],
+		"files" : 
+		[
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+			"/opt/ros/humble/share/ament_cmake_core/cmake/environment/ament_cmake_environment_package_hook.cmake",
+			"/opt/ros/humble/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake",
+			"/opt/ros/humble/share/ament_cmake_core/cmake/core/ament_package.cmake",
+			"/opt/ros/humble/share/ament_cmake_core/cmake/environment_hooks/ament_environment_hooks.cmake",
+			"/opt/ros/humble/share/ament_cmake_core/cmake/environment_hooks/ament_cmake_environment_hooks_package_hook.cmake",
+			"/opt/ros/humble/share/ament_cmake_core/cmake/environment_hooks/ament_generate_package_environment.cmake",
+			"/opt/ros/humble/share/ament_cmake_core/cmake/index/ament_index_register_package.cmake",
+			"/opt/ros/humble/share/ament_cmake_core/cmake/index/ament_cmake_index_package_hook.cmake"
+		],
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+			"component" : "Unspecified",
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+			"paths" : 
+			[
+				"turtlebot3_drive"
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+			"paths" : 
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+				"config",
+				"models",
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+			"component" : "Unspecified",
+			"destination" : "lib/turtlebot3_gazebo",
+			"paths" : 
+			[
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+				"scripts/camera_topic_remap.py",
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+			],
+			"type" : "file"
+		},
+		{
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+			"destination" : "include/",
+			"paths" : 
+			[
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+			"paths" : 
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+			"paths" : 
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+			],
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build/turtlebot3_gazebo/.cmake/api/v1/reply/index-2026-08-03T06-40-52-0909.json

@@ -26,7 +26,7 @@
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@@ -11,6 +11,7 @@
 		"commands" : 
 		[
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@@ -303,6 +310,20 @@
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+		"prefix" : 
+		{
+			"path" : "/workspace/install/turtlebot3_gazebo"
+		}
+	},
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@@ -312,81 +333,81 @@
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 				"role" : "libraries"
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 				"role" : "libraries"
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 				"role" : "libraries"
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 				"role" : "libraries"
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 				"role" : "libraries"
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@@ -25,7 +25,7 @@ AMENT_CMAKE_ENVIRONMENT_PARENT_PREFIX_PATH_GENERATION:BOOL=ON
 
 //Replace the CMake install command with a custom implementation
 // using symlinks instead of copying resources
-AMENT_CMAKE_SYMLINK_INSTALL:BOOL=1
+AMENT_CMAKE_SYMLINK_INSTALL:BOOL=OFF
 
 //Generate an uninstall target to revert the effects of the install
 // step
@@ -395,7 +395,7 @@ Qt5Widgets_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/Qt5Widgets
 Qt5_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/Qt5
 
 //Name of the computer/site where compile is being run
-SITE:STRING=pms-space-6950f1ca-1599-42c5-a926-29eb731cb95c-3b8732
+SITE:STRING=ip-172-31-70-30.cn-northwest-1.compute.internal
 
 //Path to a library.
 SWSCALE_LIBRARY_swscale:FILEPATH=/usr/lib/x86_64-linux-gnu/libswscale.so
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 set(CMAKE_HOST_SYSTEM_NAME "Linux")
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 set(CMAKE_HOST_SYSTEM_PROCESSOR "x86_64")
 
 
 
-set(CMAKE_SYSTEM "Linux-6.8.0-1057-aws")
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 set(CMAKE_SYSTEM_NAME "Linux")
-set(CMAKE_SYSTEM_VERSION "6.8.0-1057-aws")
+set(CMAKE_SYSTEM_VERSION "6.1.161-183.298.amzn2023.x86_64")
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 set(CMAKE_CROSSCOMPILING "FALSE")

build/turtlebot3_gazebo/CMakeFiles/CMakeOutput.log

@@ -1,4 +1,4 @@
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+The system is: Linux - 6.1.161-183.298.amzn2023.x86_64 - x86_64
 Compiling the C compiler identification source file "CMakeCCompilerId.c" succeeded.
 Compiler: /usr/bin/cc 
 Build flags: 
@@ -28,10 +28,10 @@ The CXX compiler identification is GNU, found in "/workspace/build/turtlebot3_ga
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-    arg [-plugin-opt=-fresolution=/tmp/cckOeba6.res] ==> ignore
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-    arg [CMakeFiles/cmTC_6fd26.dir/CMakeCXXCompilerABI.cpp.o] ==> ignore
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 gmake[1]: Entering directory '/workspace/build/turtlebot3_gazebo/CMakeFiles/CMakeTmp'
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-Linking C executable cmTC_9fba6
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 gmake[1]: Leaving directory '/workspace/build/turtlebot3_gazebo/CMakeFiles/CMakeTmp'
 
 
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 Performing C SOURCE FILE Test CMAKE_HAVE_LIBC_PTHREAD succeeded with the following output:
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-  "/opt/ros/humble/share/ament_cmake_core/cmake/symlink_install/ament_cmake_symlink_install_uninstall_script.cmake.in"
-  "/opt/ros/humble/share/ament_cmake_core/cmake/symlink_install/install.cmake"
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-  "/usr/share/cmake-3.22/Modules/Compiler/XL-C-DetermineCompiler.cmake"
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 # Byproducts of CMake generate step:
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-  "ament_cmake_symlink_install/ament_cmake_symlink_install.cmake"
-  "ament_cmake_symlink_install/ament_cmake_symlink_install_uninstall_script.cmake"
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   "ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/turtlebot3_gazebo"
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+ /opt/ros/humble/include/rcpputils/rcpputils/pointer_traits.hpp
+ /opt/ros/humble/include/rclcpp/rclcpp/node_interfaces/node_topics_interface_traits.hpp
+ /opt/ros/humble/include/rclcpp/rclcpp/detail/qos_parameters.hpp
+ /opt/ros/humble/include/rmw/rmw/qos_string_conversions.h
+ /opt/ros/humble/include/rclcpp/rclcpp/node_interfaces/get_node_parameters_interface.hpp
+ /opt/ros/humble/include/rclcpp/rclcpp/node_interfaces/node_parameters_interface_traits.hpp
+ /opt/ros/humble/include/rclcpp/rclcpp/create_service.hpp
+ /opt/ros/humble/include/rclcpp/rclcpp/create_subscription.hpp
+ /opt/ros/humble/include/rclcpp/rclcpp/detail/resolve_enable_topic_statistics.hpp
+ /opt/ros/humble/include/rclcpp/rclcpp/node_interfaces/get_node_timers_interface.hpp
+ /opt/ros/humble/include/rclcpp/rclcpp/node_interfaces/node_timers_interface_traits.hpp
+ /opt/ros/humble/include/rclcpp/rclcpp/create_timer.hpp
+ /opt/ros/humble/include/rclcpp/rclcpp/node_interfaces/get_node_base_interface.hpp
+ /opt/ros/humble/include/rclcpp/rclcpp/node_interfaces/node_base_interface_traits.hpp
+ /opt/ros/humble/include/rclcpp/rclcpp/executors/static_single_threaded_executor.hpp
+ /opt/ros/humble/include/rclcpp/rclcpp/executors/static_executor_entities_collector.hpp
+ /opt/ros/humble/include/rclcpp/rclcpp/experimental/executable_list.hpp
+ /opt/ros/humble/include/rclcpp/rclcpp/parameter_client.hpp
+ /opt/ros/humble/include/rcl_interfaces/rcl_interfaces/srv/describe_parameters.hpp
+ /opt/ros/humble/include/rcl_interfaces/rcl_interfaces/srv/detail/describe_parameters__struct.hpp
+ /opt/ros/humble/include/rcl_interfaces/rcl_interfaces/srv/detail/describe_parameters__builder.hpp
+ /opt/ros/humble/include/rcl_interfaces/rcl_interfaces/srv/detail/describe_parameters__traits.hpp
+ /opt/ros/humble/include/rcl_interfaces/rcl_interfaces/srv/detail/describe_parameters__type_support.hpp
+ /opt/ros/humble/include/rcl_interfaces/rcl_interfaces/srv/get_parameter_types.hpp
+ /opt/ros/humble/include/rcl_interfaces/rcl_interfaces/srv/detail/get_parameter_types__struct.hpp
+ /opt/ros/humble/include/rcl_interfaces/rcl_interfaces/srv/detail/get_parameter_types__builder.hpp
+ /opt/ros/humble/include/rcl_interfaces/rcl_interfaces/srv/detail/get_parameter_types__traits.hpp
+ /opt/ros/humble/include/rcl_interfaces/rcl_interfaces/srv/detail/get_parameter_types__type_support.hpp
+ /opt/ros/humble/include/rcl_interfaces/rcl_interfaces/srv/get_parameters.hpp
+ /opt/ros/humble/include/rcl_interfaces/rcl_interfaces/srv/detail/get_parameters__struct.hpp
+ /opt/ros/humble/include/rcl_interfaces/rcl_interfaces/srv/detail/get_parameters__builder.hpp
+ /opt/ros/humble/include/rcl_interfaces/rcl_interfaces/srv/detail/get_parameters__traits.hpp
+ /opt/ros/humble/include/rcl_interfaces/rcl_interfaces/srv/detail/get_parameters__type_support.hpp
+ /opt/ros/humble/include/rcl_interfaces/rcl_interfaces/srv/list_parameters.hpp
+ /opt/ros/humble/include/rcl_interfaces/rcl_interfaces/srv/detail/list_parameters__struct.hpp
+ /opt/ros/humble/include/rcl_interfaces/rcl_interfaces/srv/detail/list_parameters__builder.hpp
+ /opt/ros/humble/include/rcl_interfaces/rcl_interfaces/srv/detail/list_parameters__traits.hpp
+ /opt/ros/humble/include/rcl_interfaces/rcl_interfaces/srv/detail/list_parameters__type_support.hpp
+ /opt/ros/humble/include/rcl_interfaces/rcl_interfaces/srv/set_parameters.hpp
+ /opt/ros/humble/include/rcl_interfaces/rcl_interfaces/srv/detail/set_parameters__struct.hpp
+ /opt/ros/humble/include/rcl_interfaces/rcl_interfaces/srv/detail/set_parameters__builder.hpp
+ /opt/ros/humble/include/rcl_interfaces/rcl_interfaces/srv/detail/set_parameters__traits.hpp
+ /opt/ros/humble/include/rcl_interfaces/rcl_interfaces/srv/detail/set_parameters__type_support.hpp
+ /opt/ros/humble/include/rcl_interfaces/rcl_interfaces/srv/set_parameters_atomically.hpp
+ /opt/ros/humble/include/rcl_interfaces/rcl_interfaces/srv/detail/set_parameters_atomically__struct.hpp
+ /opt/ros/humble/include/rcl_interfaces/rcl_interfaces/srv/detail/set_parameters_atomically__builder.hpp
+ /opt/ros/humble/include/rcl_interfaces/rcl_interfaces/srv/detail/set_parameters_atomically__traits.hpp
+ /opt/ros/humble/include/rcl_interfaces/rcl_interfaces/srv/detail/set_parameters_atomically__type_support.hpp
+ /opt/ros/humble/include/rcl_yaml_param_parser/rcl_yaml_param_parser/parser.h
+ /opt/ros/humble/include/rcl_yaml_param_parser/rcl_yaml_param_parser/visibility_control.h
+ /opt/ros/humble/include/rclcpp/rclcpp/parameter_map.hpp
+ /opt/ros/humble/include/rclcpp/rclcpp/parameter_event_handler.hpp
+ /opt/ros/humble/include/rclcpp/rclcpp/parameter_service.hpp
+ /opt/ros/humble/include/rclcpp/rclcpp/wait_set.hpp
+ /opt/ros/humble/include/rclcpp/rclcpp/wait_set_policies/dynamic_storage.hpp
+ /opt/ros/humble/include/rclcpp/rclcpp/subscription_wait_set_mask.hpp
+ /opt/ros/humble/include/rclcpp/rclcpp/wait_set_policies/detail/storage_policy_common.hpp
+ /opt/ros/humble/include/rclcpp/rclcpp/wait_set_policies/sequential_synchronization.hpp
+ /opt/ros/humble/include/rclcpp/rclcpp/wait_result.hpp
+ /opt/ros/humble/include/rclcpp/rclcpp/wait_result_kind.hpp
+ /opt/ros/humble/include/rclcpp/rclcpp/wait_set_policies/detail/synchronization_policy_common.hpp
+ /opt/ros/humble/include/rclcpp/rclcpp/wait_set_policies/static_storage.hpp
+ /opt/ros/humble/include/rclcpp/rclcpp/wait_set_policies/thread_safe_synchronization.hpp
+ /opt/ros/humble/include/rclcpp/rclcpp/wait_set_policies/detail/write_preferring_read_write_lock.hpp
+ /opt/ros/humble/include/rclcpp/rclcpp/wait_set_template.hpp
+ /opt/ros/humble/include/sensor_msgs/sensor_msgs/msg/laser_scan.hpp
+ /opt/ros/humble/include/sensor_msgs/sensor_msgs/msg/detail/laser_scan__struct.hpp
+ /opt/ros/humble/include/sensor_msgs/sensor_msgs/msg/detail/laser_scan__builder.hpp
+ /opt/ros/humble/include/sensor_msgs/sensor_msgs/msg/detail/laser_scan__traits.hpp
+ /opt/ros/humble/include/sensor_msgs/sensor_msgs/msg/detail/laser_scan__type_support.hpp
+ /opt/ros/humble/include/sensor_msgs/sensor_msgs/msg/rosidl_generator_cpp__visibility_control.hpp
+

build/turtlebot3_gazebo/CTestConfiguration.ini

@@ -11,7 +11,7 @@ BuildDirectory: /workspace/build/turtlebot3_gazebo
 CostDataFile: 
 
 # Site is something like machine.domain, i.e. pragmatic.crd
-Site: pms-space-6950f1ca-1599-42c5-a926-29eb731cb95c-3b8732
+Site: ip-172-31-70-30.cn-northwest-1.compute.internal
 
 # Build name is osname-revision-compiler, i.e. Linux-2.4.2-2smp-c++
 BuildName: 

build/turtlebot3_gazebo/ament_cmake_symlink_install/ament_cmake_symlink_install.cmake

@@ -1,376 +0,0 @@
-# generated from
-# ament_cmake_core/cmake/symlink_install/ament_cmake_symlink_install.cmake.in
-
-# create empty symlink install manifest before starting install step
-file(WRITE "${CMAKE_CURRENT_BINARY_DIR}/symlink_install_manifest.txt")
-
-#
-# Reimplement CMake install(DIRECTORY) command to use symlinks instead of
-# copying resources.
-#
-# :param cmake_current_source_dir: The CMAKE_CURRENT_SOURCE_DIR when install
-#   was invoked
-# :type cmake_current_source_dir: string
-# :param ARGN: the same arguments as the CMake install command.
-# :type ARGN: various
-#
-function(ament_cmake_symlink_install_directory cmake_current_source_dir)
-  cmake_parse_arguments(ARG "OPTIONAL" "DESTINATION" "DIRECTORY;PATTERN;PATTERN_EXCLUDE" ${ARGN})
-  if(ARG_UNPARSED_ARGUMENTS)
-    message(FATAL_ERROR "ament_cmake_symlink_install_directory() called with "
-      "unused/unsupported arguments: ${ARG_UNPARSED_ARGUMENTS}")
-  endif()
-
-  # make destination absolute path and ensure that it exists
-  if(NOT IS_ABSOLUTE "${ARG_DESTINATION}")
-    set(ARG_DESTINATION "/workspace/install/turtlebot3_gazebo/${ARG_DESTINATION}")
-  endif()
-  if(NOT EXISTS "${ARG_DESTINATION}")
-    file(MAKE_DIRECTORY "${ARG_DESTINATION}")
-  endif()
-
-  # default pattern to include
-  if(NOT ARG_PATTERN)
-    set(ARG_PATTERN "*")
-  endif()
-
-  # iterate over directories
-  foreach(dir ${ARG_DIRECTORY})
-    # make dir an absolute path
-    if(NOT IS_ABSOLUTE "${dir}")
-      set(dir "${cmake_current_source_dir}/${dir}")
-    endif()
-
-    if(EXISTS "${dir}")
-      # if directory has no trailing slash
-      # append folder name to destination
-      set(destination "${ARG_DESTINATION}")
-      string(LENGTH "${dir}" length)
-      math(EXPR offset "${length} - 1")
-      string(SUBSTRING "${dir}" ${offset} 1 dir_last_char)
-      if(NOT dir_last_char STREQUAL "/")
-        get_filename_component(destination_name "${dir}" NAME)
-        set(destination "${destination}/${destination_name}")
-      else()
-        # remove trailing slash
-        string(SUBSTRING "${dir}" 0 ${offset} dir)
-      endif()
-      
-      # Create destination directory.
-      # This does *not* solve the problem of empty directories WITHIN the install tree,
-      # but does make sure that the top-level directory specified by the caller gets created.
-      file(MAKE_DIRECTORY "${destination}")
-
-      # glob recursive files
-      set(relative_files "")
-      foreach(pattern ${ARG_PATTERN})
-        file(
-          GLOB_RECURSE
-          include_files
-          RELATIVE "${dir}"
-          "${dir}/${pattern}"
-        )
-        if(NOT include_files STREQUAL "")
-          list(APPEND relative_files ${include_files})
-        endif()
-      endforeach()
-      foreach(pattern ${ARG_PATTERN_EXCLUDE})
-        file(
-          GLOB_RECURSE
-          exclude_files
-          RELATIVE "${dir}"
-          "${dir}/${pattern}"
-        )
-        if(NOT exclude_files STREQUAL "")
-          list(REMOVE_ITEM relative_files ${exclude_files})
-        endif()
-      endforeach()
-      list(SORT relative_files)
-
-      foreach(relative_file ${relative_files})
-        set(absolute_file "${dir}/${relative_file}")
-        # determine link name for file including destination path
-        set(symlink "${destination}/${relative_file}")
-
-        # ensure that destination exists
-        get_filename_component(symlink_dir "${symlink}" PATH)
-        if(NOT EXISTS "${symlink_dir}")
-          file(MAKE_DIRECTORY "${symlink_dir}")
-        endif()
-
-        _ament_cmake_symlink_install_create_symlink("${absolute_file}" "${symlink}")
-      endforeach()
-    else()
-      if(NOT ARG_OPTIONAL)
-        message(FATAL_ERROR
-          "ament_cmake_symlink_install_directory() can't find '${dir}'")
-      endif()
-    endif()
-  endforeach()
-endfunction()
-
-#
-# Reimplement CMake install(FILES) command to use symlinks instead of copying
-# resources.
-#
-# :param cmake_current_source_dir: The CMAKE_CURRENT_SOURCE_DIR when install
-#   was invoked
-# :type cmake_current_source_dir: string
-# :param ARGN: the same arguments as the CMake install command.
-# :type ARGN: various
-#
-function(ament_cmake_symlink_install_files cmake_current_source_dir)
-  cmake_parse_arguments(ARG "OPTIONAL" "DESTINATION;RENAME" "FILES" ${ARGN})
-  if(ARG_UNPARSED_ARGUMENTS)
-    message(FATAL_ERROR "ament_cmake_symlink_install_files() called with "
-      "unused/unsupported arguments: ${ARG_UNPARSED_ARGUMENTS}")
-  endif()
-
-  # make destination an absolute path and ensure that it exists
-  if(NOT IS_ABSOLUTE "${ARG_DESTINATION}")
-    set(ARG_DESTINATION "/workspace/install/turtlebot3_gazebo/${ARG_DESTINATION}")
-  endif()
-  if(NOT EXISTS "${ARG_DESTINATION}")
-    file(MAKE_DIRECTORY "${ARG_DESTINATION}")
-  endif()
-
-  if(ARG_RENAME)
-    list(LENGTH ARG_FILES file_count)
-    if(NOT file_count EQUAL 1)
-    message(FATAL_ERROR "ament_cmake_symlink_install_files() called with "
-      "RENAME argument but not with a single file")
-    endif()
-  endif()
-
-  # iterate over files
-  foreach(file ${ARG_FILES})
-    # make file an absolute path
-    if(NOT IS_ABSOLUTE "${file}")
-      set(file "${cmake_current_source_dir}/${file}")
-    endif()
-
-    if(EXISTS "${file}")
-      # determine link name for file including destination path
-      get_filename_component(filename "${file}" NAME)
-      if(NOT ARG_RENAME)
-        set(symlink "${ARG_DESTINATION}/${filename}")
-      else()
-        set(symlink "${ARG_DESTINATION}/${ARG_RENAME}")
-      endif()
-      _ament_cmake_symlink_install_create_symlink("${file}" "${symlink}")
-    else()
-      if(NOT ARG_OPTIONAL)
-        message(FATAL_ERROR
-          "ament_cmake_symlink_install_files() can't find '${file}'")
-      endif()
-    endif()
-  endforeach()
-endfunction()
-
-#
-# Reimplement CMake install(PROGRAMS) command to use symlinks instead of copying
-# resources.
-#
-# :param cmake_current_source_dir: The CMAKE_CURRENT_SOURCE_DIR when install
-#   was invoked
-# :type cmake_current_source_dir: string
-# :param ARGN: the same arguments as the CMake install command.
-# :type ARGN: various
-#
-function(ament_cmake_symlink_install_programs cmake_current_source_dir)
-  cmake_parse_arguments(ARG "OPTIONAL" "DESTINATION" "PROGRAMS" ${ARGN})
-  if(ARG_UNPARSED_ARGUMENTS)
-    message(FATAL_ERROR "ament_cmake_symlink_install_programs() called with "
-      "unused/unsupported arguments: ${ARG_UNPARSED_ARGUMENTS}")
-  endif()
-
-  # make destination an absolute path and ensure that it exists
-  if(NOT IS_ABSOLUTE "${ARG_DESTINATION}")
-    set(ARG_DESTINATION "/workspace/install/turtlebot3_gazebo/${ARG_DESTINATION}")
-  endif()
-  if(NOT EXISTS "${ARG_DESTINATION}")
-    file(MAKE_DIRECTORY "${ARG_DESTINATION}")
-  endif()
-
-  # iterate over programs
-  foreach(file ${ARG_PROGRAMS})
-    # make file an absolute path
-    if(NOT IS_ABSOLUTE "${file}")
-      set(file "${cmake_current_source_dir}/${file}")
-    endif()
-
-    if(EXISTS "${file}")
-      # determine link name for file including destination path
-      get_filename_component(filename "${file}" NAME)
-      set(symlink "${ARG_DESTINATION}/${filename}")
-      _ament_cmake_symlink_install_create_symlink("${file}" "${symlink}")
-    else()
-      if(NOT ARG_OPTIONAL)
-        message(FATAL_ERROR
-          "ament_cmake_symlink_install_programs() can't find '${file}'")
-      endif()
-    endif()
-  endforeach()
-endfunction()
-
-#
-# Reimplement CMake install(TARGETS) command to use symlinks instead of copying
-# resources.
-#
-# :param TARGET_FILES: the absolute files, replacing the name of targets passed
-#   in as TARGETS
-# :type TARGET_FILES: list of files
-# :param ARGN: the same arguments as the CMake install command except that
-#   keywords identifying the kind of type and the DESTINATION keyword must be
-#   joined with an underscore, e.g. ARCHIVE_DESTINATION.
-# :type ARGN: various
-#
-function(ament_cmake_symlink_install_targets)
-  cmake_parse_arguments(ARG "OPTIONAL" "ARCHIVE_DESTINATION;DESTINATION;LIBRARY_DESTINATION;RUNTIME_DESTINATION"
-    "TARGETS;TARGET_FILES" ${ARGN})
-  if(ARG_UNPARSED_ARGUMENTS)
-    message(FATAL_ERROR "ament_cmake_symlink_install_targets() called with "
-      "unused/unsupported arguments: ${ARG_UNPARSED_ARGUMENTS}")
-  endif()
-
-  # iterate over target files
-  foreach(file ${ARG_TARGET_FILES})
-    if(NOT IS_ABSOLUTE "${file}")
-      message(FATAL_ERROR "ament_cmake_symlink_install_targets() target file "
-        "'${file}' must be an absolute path")
-    endif()
-
-    # determine destination of file based on extension
-    set(destination "")
-    get_filename_component(fileext "${file}" EXT)
-    if(fileext STREQUAL ".a" OR fileext STREQUAL ".lib")
-      set(destination "${ARG_ARCHIVE_DESTINATION}")
-    elseif(fileext STREQUAL ".dylib" OR fileext MATCHES "\\.so(\\.[0-9]+)?(\\.[0-9]+)?(\\.[0-9]+)?$")
-      set(destination "${ARG_LIBRARY_DESTINATION}")
-    elseif(fileext STREQUAL "" OR fileext STREQUAL ".dll" OR fileext STREQUAL ".exe")
-      set(destination "${ARG_RUNTIME_DESTINATION}")
-    endif()
-    if(destination STREQUAL "")
-      set(destination "${ARG_DESTINATION}")
-    endif()
-
-    # make destination an absolute path and ensure that it exists
-    if(NOT IS_ABSOLUTE "${destination}")
-      set(destination "/workspace/install/turtlebot3_gazebo/${destination}")
-    endif()
-    if(NOT EXISTS "${destination}")
-      file(MAKE_DIRECTORY "${destination}")
-    endif()
-
-    if(EXISTS "${file}")
-      # determine link name for file including destination path
-      get_filename_component(filename "${file}" NAME)
-      set(symlink "${destination}/${filename}")
-      _ament_cmake_symlink_install_create_symlink("${file}" "${symlink}")
-    else()
-      if(NOT ARG_OPTIONAL)
-        message(FATAL_ERROR
-          "ament_cmake_symlink_install_targets() can't find '${file}'")
-      endif()
-    endif()
-  endforeach()
-endfunction()
-
-function(_ament_cmake_symlink_install_create_symlink absolute_file symlink)
-  # register symlink for being removed during install step
-  file(APPEND "${CMAKE_CURRENT_BINARY_DIR}/symlink_install_manifest.txt"
-    "${symlink}\n")
-
-  # avoid any work if correct symlink is already in place
-  if(EXISTS "${symlink}" AND IS_SYMLINK "${symlink}")
-    get_filename_component(destination "${symlink}" REALPATH)
-    get_filename_component(real_absolute_file "${absolute_file}" REALPATH)
-    if(destination STREQUAL real_absolute_file)
-      message(STATUS "Up-to-date symlink: ${symlink}")
-      return()
-    endif()
-  endif()
-
-  message(STATUS "Symlinking: ${symlink}")
-  if(EXISTS "${symlink}" OR IS_SYMLINK "${symlink}")
-    file(REMOVE "${symlink}")
-  endif()
-
-  execute_process(
-    COMMAND "/usr/bin/cmake" "-E" "create_symlink"
-      "${absolute_file}"
-      "${symlink}"
-  )
-  # the CMake command does not provide a return code so check manually
-  if(NOT EXISTS "${symlink}" OR NOT IS_SYMLINK "${symlink}")
-    get_filename_component(destination "${symlink}" REALPATH)
-    message(FATAL_ERROR
-      "Could not create symlink '${symlink}' pointing to '${absolute_file}'")
-  endif()
-endfunction()
-
-# end of template
-
-message(STATUS "Execute custom install script")
-
-# begin of custom install code
-
-# install("TARGETS" "turtlebot3_drive" "DESTINATION" "lib/turtlebot3_gazebo")
-include("/workspace/build/turtlebot3_gazebo/ament_cmake_symlink_install_targets_0_${CMAKE_INSTALL_CONFIG_NAME}.cmake")
-
-# install(DIRECTORY "launch" "config" "models" "rviz" "urdf" "worlds" "scripts" "gui" "DESTINATION" "share/turtlebot3_gazebo/")
-ament_cmake_symlink_install_directory("/workspace/src/turtlebot3_simulations/turtlebot3_gazebo" DIRECTORY "launch" "config" "models" "rviz" "urdf" "worlds" "scripts" "gui" "DESTINATION" "share/turtlebot3_gazebo/")
-
-# install(PROGRAMS "scripts/scan_frame_fix.py" "scripts/camera_topic_remap.py" "DESTINATION" "lib/turtlebot3_gazebo")
-ament_cmake_symlink_install_programs("/workspace/src/turtlebot3_simulations/turtlebot3_gazebo" PROGRAMS "scripts/scan_frame_fix.py" "scripts/camera_topic_remap.py" "DESTINATION" "lib/turtlebot3_gazebo")
-
-# install(DIRECTORY "include/" "DESTINATION" "include/")
-ament_cmake_symlink_install_directory("/workspace/src/turtlebot3_simulations/turtlebot3_gazebo" DIRECTORY "include/" "DESTINATION" "include/")
-
-# install(FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/turtlebot3_gazebo" "DESTINATION" "share/ament_index/resource_index/package_run_dependencies")
-ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_gazebo" FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/turtlebot3_gazebo" "DESTINATION" "share/ament_index/resource_index/package_run_dependencies")
-
-# install(FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/turtlebot3_gazebo" "DESTINATION" "share/ament_index/resource_index/parent_prefix_path")
-ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_gazebo" FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/turtlebot3_gazebo" "DESTINATION" "share/ament_index/resource_index/parent_prefix_path")
-
-# install(FILES "/opt/ros/humble/share/ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh" "DESTINATION" "share/turtlebot3_gazebo/environment")
-ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_gazebo" FILES "/opt/ros/humble/share/ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh" "DESTINATION" "share/turtlebot3_gazebo/environment")
-
-# install(FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_environment_hooks/ament_prefix_path.dsv" "DESTINATION" "share/turtlebot3_gazebo/environment")
-ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_gazebo" FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_environment_hooks/ament_prefix_path.dsv" "DESTINATION" "share/turtlebot3_gazebo/environment")
-
-# install(FILES "/opt/ros/humble/share/ament_cmake_core/cmake/environment_hooks/environment/path.sh" "DESTINATION" "share/turtlebot3_gazebo/environment")
-ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_gazebo" FILES "/opt/ros/humble/share/ament_cmake_core/cmake/environment_hooks/environment/path.sh" "DESTINATION" "share/turtlebot3_gazebo/environment")
-
-# install(FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_environment_hooks/path.dsv" "DESTINATION" "share/turtlebot3_gazebo/environment")
-ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_gazebo" FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_environment_hooks/path.dsv" "DESTINATION" "share/turtlebot3_gazebo/environment")
-
-# install(FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_environment_hooks/local_setup.bash" "DESTINATION" "share/turtlebot3_gazebo")
-ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_gazebo" FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_environment_hooks/local_setup.bash" "DESTINATION" "share/turtlebot3_gazebo")
-
-# install(FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_environment_hooks/local_setup.sh" "DESTINATION" "share/turtlebot3_gazebo")
-ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_gazebo" FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_environment_hooks/local_setup.sh" "DESTINATION" "share/turtlebot3_gazebo")
-
-# install(FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_environment_hooks/local_setup.zsh" "DESTINATION" "share/turtlebot3_gazebo")
-ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_gazebo" FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_environment_hooks/local_setup.zsh" "DESTINATION" "share/turtlebot3_gazebo")
-
-# install(FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_environment_hooks/local_setup.dsv" "DESTINATION" "share/turtlebot3_gazebo")
-ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_gazebo" FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_environment_hooks/local_setup.dsv" "DESTINATION" "share/turtlebot3_gazebo")
-
-# install(FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_environment_hooks/package.dsv" "DESTINATION" "share/turtlebot3_gazebo")
-ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_gazebo" FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_environment_hooks/package.dsv" "DESTINATION" "share/turtlebot3_gazebo")
-
-# install(FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_index/share/ament_index/resource_index/packages/turtlebot3_gazebo" "DESTINATION" "share/ament_index/resource_index/packages")
-ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_gazebo" FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_index/share/ament_index/resource_index/packages/turtlebot3_gazebo" "DESTINATION" "share/ament_index/resource_index/packages")
-
-# install(FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_export_include_directories/ament_cmake_export_include_directories-extras.cmake" "DESTINATION" "share/turtlebot3_gazebo/cmake")
-ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_gazebo" FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_export_include_directories/ament_cmake_export_include_directories-extras.cmake" "DESTINATION" "share/turtlebot3_gazebo/cmake")
-
-# install(FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_export_dependencies/ament_cmake_export_dependencies-extras.cmake" "DESTINATION" "share/turtlebot3_gazebo/cmake")
-ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_gazebo" FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_export_dependencies/ament_cmake_export_dependencies-extras.cmake" "DESTINATION" "share/turtlebot3_gazebo/cmake")
-
-# install(FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_core/turtlebot3_gazeboConfig.cmake" "/workspace/build/turtlebot3_gazebo/ament_cmake_core/turtlebot3_gazeboConfig-version.cmake" "DESTINATION" "share/turtlebot3_gazebo/cmake")
-ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_gazebo" FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_core/turtlebot3_gazeboConfig.cmake" "/workspace/build/turtlebot3_gazebo/ament_cmake_core/turtlebot3_gazeboConfig-version.cmake" "DESTINATION" "share/turtlebot3_gazebo/cmake")
-
-# install(FILES "/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/package.xml" "DESTINATION" "share/turtlebot3_gazebo")
-ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_gazebo" FILES "/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/package.xml" "DESTINATION" "share/turtlebot3_gazebo")

build/turtlebot3_gazebo/ament_cmake_symlink_install/ament_cmake_symlink_install_uninstall_script.cmake

@@ -1,23 +0,0 @@
-# generated from
-# ament_cmake_core/cmake/symlink_install/ament_cmake_symlink_install_uninstall_script.cmake.in
-
-set(install_manifest "/workspace/build/turtlebot3_gazebo/symlink_install_manifest.txt")
-if(NOT EXISTS "${install_manifest}")
-  message(FATAL_ERROR "Cannot find symlink install manifest: ${install_manifest}")
-endif()
-
-file(READ "${install_manifest}" installed_files)
-string(REGEX REPLACE "\n" ";" installed_files "${installed_files}")
-foreach(installed_file ${installed_files})
-  if(EXISTS "${installed_file}" OR IS_SYMLINK "${installed_file}")
-    message(STATUS "Uninstalling: ${installed_file}")
-    file(REMOVE "${installed_file}")
-    if(EXISTS "${installed_file}" OR IS_SYMLINK "${installed_file}")
-      message(FATAL_ERROR "Failed to remove '${installed_file}'")
-    endif()
-
-    # remove empty parent folders
-    get_filename_component(parent_path "${installed_file}" PATH)
-    ament_cmake_uninstall_target_remove_empty_directories("${parent_path}")
-  endif()
-endforeach()

build/turtlebot3_gazebo/ament_cmake_symlink_install_targets_0_.cmake

@@ -1 +0,0 @@
-ament_cmake_symlink_install_targets("TARGET_FILES" "/workspace/build/turtlebot3_gazebo/turtlebot3_drive" "TARGETS" "turtlebot3_drive" "DESTINATION" "lib/turtlebot3_gazebo")

build/turtlebot3_gazebo/ament_cmake_uninstall_target/ament_cmake_uninstall_target.cmake

@@ -55,6 +55,3 @@ endforeach()
 message(STATUS "Execute custom uninstall script")
 
 # begin of custom uninstall code
-
-# uninstall files installed using the symlink install functions
-include("/workspace/build/turtlebot3_gazebo/ament_cmake_symlink_install/ament_cmake_symlink_install_uninstall_script.cmake")

build/turtlebot3_gazebo/cmake_args.last

@@ -1 +1 @@
-['-DAMENT_CMAKE_SYMLINK_INSTALL=1']
+None

build/turtlebot3_gazebo/cmake_install.cmake

@@ -43,7 +43,115 @@ if(NOT DEFINED CMAKE_OBJDUMP)
 endif()
 
 if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
-  include("/workspace/build/turtlebot3_gazebo/ament_cmake_symlink_install/ament_cmake_symlink_install.cmake")
+  if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/turtlebot3_gazebo/turtlebot3_drive" AND
+     NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/turtlebot3_gazebo/turtlebot3_drive")
+    file(RPATH_CHECK
+         FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/turtlebot3_gazebo/turtlebot3_drive"
+         RPATH "")
+  endif()
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/turtlebot3_gazebo" TYPE EXECUTABLE FILES "/workspace/build/turtlebot3_gazebo/turtlebot3_drive")
+  if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/turtlebot3_gazebo/turtlebot3_drive" AND
+     NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/turtlebot3_gazebo/turtlebot3_drive")
+    file(RPATH_CHANGE
+         FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/turtlebot3_gazebo/turtlebot3_drive"
+         OLD_RPATH "/opt/ros/humble/lib:"
+         NEW_RPATH "")
+    if(CMAKE_INSTALL_DO_STRIP)
+      execute_process(COMMAND "/usr/bin/strip" "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/turtlebot3_gazebo/turtlebot3_drive")
+    endif()
+  endif()
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/turtlebot3_gazebo/" TYPE DIRECTORY FILES
+    "/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/launch"
+    "/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/config"
+    "/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models"
+    "/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/rviz"
+    "/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/urdf"
+    "/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/worlds"
+    "/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/scripts"
+    "/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/gui"
+    )
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/turtlebot3_gazebo" TYPE PROGRAM FILES
+    "/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/scripts/scan_frame_fix.py"
+    "/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/scripts/camera_topic_remap.py"
+    "/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/scripts/depth_to_pointcloud.py"
+    )
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/include/" TYPE DIRECTORY FILES "/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/include/")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/ament_index/resource_index/package_run_dependencies" TYPE FILE FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/turtlebot3_gazebo")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/ament_index/resource_index/parent_prefix_path" TYPE FILE FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/turtlebot3_gazebo")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/turtlebot3_gazebo/environment" TYPE FILE FILES "/opt/ros/humble/share/ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/turtlebot3_gazebo/environment" TYPE FILE FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_environment_hooks/ament_prefix_path.dsv")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/turtlebot3_gazebo/environment" TYPE FILE FILES "/opt/ros/humble/share/ament_cmake_core/cmake/environment_hooks/environment/path.sh")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/turtlebot3_gazebo/environment" TYPE FILE FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_environment_hooks/path.dsv")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/turtlebot3_gazebo" TYPE FILE FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_environment_hooks/local_setup.bash")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/turtlebot3_gazebo" TYPE FILE FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_environment_hooks/local_setup.sh")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/turtlebot3_gazebo" TYPE FILE FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_environment_hooks/local_setup.zsh")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/turtlebot3_gazebo" TYPE FILE FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_environment_hooks/local_setup.dsv")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/turtlebot3_gazebo" TYPE FILE FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_environment_hooks/package.dsv")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/ament_index/resource_index/packages" TYPE FILE FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_index/share/ament_index/resource_index/packages/turtlebot3_gazebo")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/turtlebot3_gazebo/cmake" TYPE FILE FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_export_include_directories/ament_cmake_export_include_directories-extras.cmake")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/turtlebot3_gazebo/cmake" TYPE FILE FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_export_dependencies/ament_cmake_export_dependencies-extras.cmake")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/turtlebot3_gazebo/cmake" TYPE FILE FILES
+    "/workspace/build/turtlebot3_gazebo/ament_cmake_core/turtlebot3_gazeboConfig.cmake"
+    "/workspace/build/turtlebot3_gazebo/ament_cmake_core/turtlebot3_gazeboConfig-version.cmake"
+    )
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/turtlebot3_gazebo" TYPE FILE FILES "/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/package.xml")
 endif()
 
 if(CMAKE_INSTALL_COMPONENT)

build/turtlebot3_gazebo/colcon_command_prefix_build.sh.env

@@ -8,7 +8,7 @@ DISPLAY=:1
 DISPLAY_BACKEND=auto
 ENABLE_CODE_SERVER=true
 ENABLE_FILEBROWSER=false
-ENABLE_FOXGLOVE=true
+ENABLE_FOXGLOVE=false
 ENABLE_GZWEB=true
 ENABLE_ROSBRIDGE=true
 ENABLE_TERMINAL=true
@@ -16,10 +16,19 @@ ENABLE_VNC=true
 FILEBROWSER_BASEURL=/file
 GZWEB_APP_DIR=/opt/gzweb
 GZWEB_PORT=8000
-GZ_SIM_CACHE_PATH=/opt/gzsim/cache
+GZ_SIM_CACHE_PATH=/.gz/sim/cache
-GZ_SIM_RESOURCE_PATH=/workspace/models:/opt/gzsim/models:/workspace/models:/opt/gzsim/models:/workspace/models:/opt/gzsim/models:/usr/share/gz/gz-sim7/models
+GZ_SIM_RESOURCE_PATH=/models:/workspace/models:/opt/gzsim/models:/models:/workspace/models:/opt/gzsim/models:/models:/workspace/models:/opt/gzsim/models:/usr/share/gz/gz-sim7/models
 HOME=/home/devuser
 INIT_SCRIPT=sed -i "/# pms-vendor-pythonpath/d;/export PYTHONPATH=\"/opt\/vendor\/python/d" /home/${USER:-devuser}/.bashrc 2>/dev/null || true
+CONDA_ACTIVATE_D="${CONDA_PREFIX:-/opt/miniconda/envs/pms-py312}/etc/conda/activate.d"
+if [ -d "$CONDA_ACTIVATE_D" ]; then
+  cat > "$CONDA_ACTIVATE_D/pms-vendor-pythonpath.sh" << 'PYEOF'
+export PYTHONPATH="/opt/vendor/python:/opt/vendor/mjlab/src:/opt/vendor/mujoco_warp:/opt/vendor/demos/humanoid_skateboarding/src:$PYTHONPATH"
+PYEOF
+  chmod +x "$CONDA_ACTIVATE_D/pms-vendor-pythonpath.sh"
+fi
+echo "# pms-vendor-pythonpath" >> /home/${USER:-devuser}/.bashrc
+echo "export PYTHONPATH=\"/opt/vendor/python:/opt/vendor/mjlab/src:/opt/vendor/mujoco_warp:/opt/vendor/demos/humanoid_skateboarding/src:\$PYTHONPATH\"" >> /home/${USER:-devuser}/.bashrc
 
 /workspace/autorun.sh
 INIT_WORKSPACE=/workspace
@@ -29,12 +38,12 @@ LD_LIBRARY_PATH=/usr/local/cuda/lib64:/usr/local/cuda/lib64:/usr/local/cuda/lib6
 LOGNAME=devuser
 MAIL=/var/mail/devuser
 OLDPWD=/workspace
-PATH=/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/opt/ros/humble/bin:/usr/local/cuda/bin:/opt/TurboVNC/bin:/opt/node/bin:/opt/foundation/bin:/home/devuser/miniconda3/bin:/home/devuser/.local/bin
+PATH=/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/opt/ros/humble/bin:/usr/local/cuda/bin:/opt/TurboVNC/bin:/opt/node/bin:/opt/foundation/bin
 PMS_FOUNDATION_VARIANT=gpu
 PMS_VNC_MODE=turbovnc
 PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$
 PWD=/workspace/build/turtlebot3_gazebo
-PYTHONPATH=/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages
+PYTHONPATH=/opt/vendor/python:/opt/vendor/mjlab/src:/opt/vendor/mujoco_warp:/opt/vendor/demos/humanoid_skateboarding/src:/opt/vendor/python:/opt/vendor/mjlab/src:/opt/vendor/mujoco_warp:/opt/vendor/demos/humanoid_skateboarding/src:/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages
 ROS_DISTRO=humble
 ROS_DOMAIN_ID=42
 ROS_LOCALHOST_ONLY=0
@@ -44,11 +53,11 @@ SHELL=/bin/bash
 SHLVL=1
 SINGLE_DESKTOP_APP=
 SINGLE_DESKTOP_PRESET=
-SPACE_DIR=/home/user/data/309844d858e5487f9c582ea361481b3d
+SPACE_DIR=/home/user/data/72f26183c345428ea9d80d3086449014
-SPACE_DIR_V2=/data/309844d858e5487f9c582ea361481b3d
+SPACE_DIR_V2=/data/72f26183c345428ea9d80d3086449014
-SPACE_ID=309844d858e5487f9c582ea361481b3d
+SPACE_ID=72f26183c345428ea9d80d3086449014
 USER=devuser
-USER_ID=6950f1ca-1599-42c5-a926-29eb731cb95c
+USER_ID=9dc62cab-cf4d-49b7-b349-349aef68e7b4
 VNC_NO_PASSWORD=true
 WORKSPACE=/workspace
 _=/usr/bin/colcon

build/turtlebot3_gazebo/install_manifest.txt

@@ -0,0 +1,278 @@
+/workspace/install/turtlebot3_gazebo/lib/turtlebot3_gazebo/turtlebot3_drive
+/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//launch/depth_cloud.launch.py
+/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//launch/empty_world.launch.py
+/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//launch/multi_robot.launch.py
+/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//launch/multi_spawn_turtlebot3.launch.py
+/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//launch/robot_state_publisher.launch.py
+/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//launch/spawn_turtlebot3.launch.py
+/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//launch/turtlebot3_autorace_2020.launch.py
+/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//launch/turtlebot3_dqn_stage1.launch.py
+/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//launch/turtlebot3_dqn_stage2.launch.py
+/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//launch/turtlebot3_dqn_stage3.launch.py
+/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//launch/turtlebot3_dqn_stage4.launch.py
+/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//launch/turtlebot3_house.launch.py
+/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//launch/turtlebot3_office.launch.py
+/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//launch/turtlebot3_world.launch.py
+/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//config/turtlebot3_gz_bridge.yaml
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-/workspace/install/turtlebot3_gazebo/include//turtlebot3_gazebo/turtlebot3_drive.hpp
-/workspace/install/turtlebot3_gazebo/share/ament_index/resource_index/package_run_dependencies/turtlebot3_gazebo
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-/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo/cmake/ament_cmake_export_dependencies-extras.cmake
-/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo/cmake/turtlebot3_gazeboConfig.cmake
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build/turtlebot3_simulations/.cmake/api/v1/reply/codemodel-v2-255ffd2773d47ea2c986.json

@@ -7,7 +7,7 @@
 				{
 					"build" : ".",
 					"hasInstallRule" : true,
-					"jsonFile" : "directory-.-71a48756434dd39fbc90.json",
+					"jsonFile" : "directory-.-b00b56cf98174ca162e0.json",
 					"minimumCMakeVersion" : 
 					{
 						"string" : "3.12"

build/turtlebot3_simulations/.cmake/api/v1/reply/directory-.-71a48756434dd39fbc90.json

@@ -1,93 +0,0 @@
-{
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-	{
-		"commands" : 
-		[
-			"_install",
-			"install",
-			"include",
-			"find_package"
-		],
-		"files" : 
-		[
-			"/opt/ros/humble/share/ament_cmake_core/cmake/symlink_install/install.cmake",
-			"/opt/ros/humble/share/ament_cmake_core/cmake/ament_cmake_symlink_install-extras.cmake",
-			"/opt/ros/humble/share/ament_cmake_core/cmake/ament_cmake_coreConfig.cmake",
-			"/opt/ros/humble/share/ament_cmake/cmake/ament_cmake_export_dependencies-extras.cmake",
-			"/opt/ros/humble/share/ament_cmake/cmake/ament_cmakeConfig.cmake",
-			"CMakeLists.txt"
-		],
-		"nodes" : 
-		[
-			{
-				"file" : 5
-			},
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-	"installers" : 
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-		{
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-			"component" : "Unspecified",
-			"scriptFile" : "/workspace/build/turtlebot3_simulations/ament_cmake_symlink_install/ament_cmake_symlink_install.cmake",
-			"type" : "script"
-		}
-	],
-	"paths" : 
-	{
-		"build" : ".",
-		"source" : "."
-	}
-}

build/turtlebot3_simulations/.cmake/api/v1/reply/directory-.-b00b56cf98174ca162e0.json

@@ -0,0 +1,367 @@
+{
+	"backtraceGraph" : 
+	{
+		"commands" : 
+		[
+			"install",
+			"ament_index_register_resource",
+			"ament_cmake_environment_generate_package_run_dependencies_marker",
+			"include",
+			"ament_execute_extensions",
+			"ament_package",
+			"ament_cmake_environment_generate_parent_prefix_path_marker",
+			"ament_environment_hooks",
+			"ament_generate_package_environment",
+			"ament_index_register_package",
+			"_ament_package"
+		],
+		"files" : 
+		[
+			"/opt/ros/humble/share/ament_cmake_core/cmake/index/ament_index_register_resource.cmake",
+			"/opt/ros/humble/share/ament_cmake_core/cmake/environment/ament_cmake_environment_package_hook.cmake",
+			"/opt/ros/humble/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake",
+			"/opt/ros/humble/share/ament_cmake_core/cmake/core/ament_package.cmake",
+			"CMakeLists.txt",
+			"/opt/ros/humble/share/ament_cmake_core/cmake/environment_hooks/ament_environment_hooks.cmake",
+			"/opt/ros/humble/share/ament_cmake_core/cmake/environment_hooks/ament_cmake_environment_hooks_package_hook.cmake",
+			"/opt/ros/humble/share/ament_cmake_core/cmake/environment_hooks/ament_generate_package_environment.cmake",
+			"/opt/ros/humble/share/ament_cmake_core/cmake/index/ament_index_register_package.cmake",
+			"/opt/ros/humble/share/ament_cmake_core/cmake/index/ament_cmake_index_package_hook.cmake"
+		],
+		"nodes" : 
+		[
+			{
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+			"component" : "Unspecified",
+			"destination" : "share/ament_index/resource_index/package_run_dependencies",
+			"paths" : 
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+			"type" : "file"
+		},
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+			"paths" : 
+			[
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+			],
+			"type" : "file"
+		},
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+			"paths" : 
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+			],
+			"type" : "file"
+		},
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+			"paths" : 
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+			"paths" : 
+			[
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+			],
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+			],
+			"type" : "file"
+		},
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     arg [/usr/lib/gcc/x86_64-linux-gnu/11/collect2] ==> ignore
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     arg [-plugin-opt=/usr/lib/gcc/x86_64-linux-gnu/11/lto-wrapper] ==> ignore
-    arg [-plugin-opt=-fresolution=/tmp/cciZBiJ4.res] ==> ignore
+    arg [-plugin-opt=-fresolution=/tmp/ccf4wdob.res] ==> ignore
     arg [-plugin-opt=-pass-through=-lgcc_s] ==> ignore
     arg [-plugin-opt=-pass-through=-lgcc] ==> ignore
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@@ -408,7 +408,7 @@ Parsed CXX implicit link information from above output:
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     arg [-zrelro] ==> ignore
     arg [-o] ==> ignore
-    arg [cmTC_53e21] ==> ignore
+    arg [cmTC_2e887] ==> ignore
     arg [/usr/lib/gcc/x86_64-linux-gnu/11/../../../x86_64-linux-gnu/Scrt1.o] ==> obj [/usr/lib/gcc/x86_64-linux-gnu/11/../../../x86_64-linux-gnu/Scrt1.o]
     arg [/usr/lib/gcc/x86_64-linux-gnu/11/../../../x86_64-linux-gnu/crti.o] ==> obj [/usr/lib/gcc/x86_64-linux-gnu/11/../../../x86_64-linux-gnu/crti.o]
     arg [/usr/lib/gcc/x86_64-linux-gnu/11/crtbeginS.o] ==> obj [/usr/lib/gcc/x86_64-linux-gnu/11/crtbeginS.o]
@@ -420,7 +420,7 @@ Parsed CXX implicit link information from above output:
     arg [-L/usr/lib/x86_64-linux-gnu] ==> dir [/usr/lib/x86_64-linux-gnu]
     arg [-L/usr/lib/../lib] ==> dir [/usr/lib/../lib]
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-    arg [CMakeFiles/cmTC_53e21.dir/CMakeCXXCompilerABI.cpp.o] ==> ignore
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     arg [-lm] ==> lib [m]
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build/turtlebot3_simulations/CMakeFiles/Makefile.cmake

@@ -52,14 +52,6 @@ set(CMAKE_MAKEFILE_DEPENDS
   "/opt/ros/humble/share/ament_cmake_core/cmake/index/ament_index_register_package.cmake"
   "/opt/ros/humble/share/ament_cmake_core/cmake/index/ament_index_register_resource.cmake"
   "/opt/ros/humble/share/ament_cmake_core/cmake/package_templates/templates_2_cmake.py"
-  "/opt/ros/humble/share/ament_cmake_core/cmake/symlink_install/ament_cmake_symlink_install.cmake.in"
-  "/opt/ros/humble/share/ament_cmake_core/cmake/symlink_install/ament_cmake_symlink_install_append_install_code.cmake"
-  "/opt/ros/humble/share/ament_cmake_core/cmake/symlink_install/ament_cmake_symlink_install_directory.cmake"
-  "/opt/ros/humble/share/ament_cmake_core/cmake/symlink_install/ament_cmake_symlink_install_files.cmake"
-  "/opt/ros/humble/share/ament_cmake_core/cmake/symlink_install/ament_cmake_symlink_install_programs.cmake"
-  "/opt/ros/humble/share/ament_cmake_core/cmake/symlink_install/ament_cmake_symlink_install_targets.cmake"
-  "/opt/ros/humble/share/ament_cmake_core/cmake/symlink_install/ament_cmake_symlink_install_uninstall_script.cmake.in"
-  "/opt/ros/humble/share/ament_cmake_core/cmake/symlink_install/install.cmake"
   "/opt/ros/humble/share/ament_cmake_core/cmake/uninstall_target/ament_cmake_uninstall_target.cmake.in"
   "/opt/ros/humble/share/ament_cmake_core/cmake/uninstall_target/ament_cmake_uninstall_target_append_uninstall_code.cmake"
   "/opt/ros/humble/share/ament_cmake_export_definitions/cmake/ament_cmake_export_definitions-extras.cmake"
@@ -240,8 +232,6 @@ set(CMAKE_MAKEFILE_PRODUCTS
   "CMakeFiles/3.22.1/CMakeCXXCompiler.cmake"
   "ament_cmake_core/stamps/templates_2_cmake.py.stamp"
   "ament_cmake_uninstall_target/ament_cmake_uninstall_target.cmake"
-  "ament_cmake_symlink_install/ament_cmake_symlink_install.cmake"
-  "ament_cmake_symlink_install/ament_cmake_symlink_install_uninstall_script.cmake"
   "CTestConfiguration.ini"
   "ament_cmake_core/stamps/package.xml.stamp"
   "ament_cmake_core/stamps/package_xml_2_cmake.py.stamp"

build/turtlebot3_simulations/CTestConfiguration.ini

@@ -11,7 +11,7 @@ BuildDirectory: /workspace/build/turtlebot3_simulations
 CostDataFile: 
 
 # Site is something like machine.domain, i.e. pragmatic.crd
-Site: pms-space-6950f1ca-1599-42c5-a926-29eb731cb95c-3b8732
+Site: ip-172-31-70-30.cn-northwest-1.compute.internal
 
 # Build name is osname-revision-compiler, i.e. Linux-2.4.2-2smp-c++
 BuildName: 

build/turtlebot3_simulations/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/turtlebot3_simulations

@@ -1 +1 @@
-/workspace/install/turtlebot3_gazebo:/opt/ros/humble
+/workspace/install/vlm_perception_pkg:/workspace/install/vlm_nav_pkg:/workspace/install/turtlebot3_simulations:/workspace/install/turtlebot3_gazebo:/workspace/install/nav2_rrtstar_planner:/opt/ros/humble

build/turtlebot3_simulations/ament_cmake_symlink_install/ament_cmake_symlink_install.cmake

@@ -1,358 +0,0 @@
-# generated from
-# ament_cmake_core/cmake/symlink_install/ament_cmake_symlink_install.cmake.in
-
-# create empty symlink install manifest before starting install step
-file(WRITE "${CMAKE_CURRENT_BINARY_DIR}/symlink_install_manifest.txt")
-
-#
-# Reimplement CMake install(DIRECTORY) command to use symlinks instead of
-# copying resources.
-#
-# :param cmake_current_source_dir: The CMAKE_CURRENT_SOURCE_DIR when install
-#   was invoked
-# :type cmake_current_source_dir: string
-# :param ARGN: the same arguments as the CMake install command.
-# :type ARGN: various
-#
-function(ament_cmake_symlink_install_directory cmake_current_source_dir)
-  cmake_parse_arguments(ARG "OPTIONAL" "DESTINATION" "DIRECTORY;PATTERN;PATTERN_EXCLUDE" ${ARGN})
-  if(ARG_UNPARSED_ARGUMENTS)
-    message(FATAL_ERROR "ament_cmake_symlink_install_directory() called with "
-      "unused/unsupported arguments: ${ARG_UNPARSED_ARGUMENTS}")
-  endif()
-
-  # make destination absolute path and ensure that it exists
-  if(NOT IS_ABSOLUTE "${ARG_DESTINATION}")
-    set(ARG_DESTINATION "/workspace/install/turtlebot3_simulations/${ARG_DESTINATION}")
-  endif()
-  if(NOT EXISTS "${ARG_DESTINATION}")
-    file(MAKE_DIRECTORY "${ARG_DESTINATION}")
-  endif()
-
-  # default pattern to include
-  if(NOT ARG_PATTERN)
-    set(ARG_PATTERN "*")
-  endif()
-
-  # iterate over directories
-  foreach(dir ${ARG_DIRECTORY})
-    # make dir an absolute path
-    if(NOT IS_ABSOLUTE "${dir}")
-      set(dir "${cmake_current_source_dir}/${dir}")
-    endif()
-
-    if(EXISTS "${dir}")
-      # if directory has no trailing slash
-      # append folder name to destination
-      set(destination "${ARG_DESTINATION}")
-      string(LENGTH "${dir}" length)
-      math(EXPR offset "${length} - 1")
-      string(SUBSTRING "${dir}" ${offset} 1 dir_last_char)
-      if(NOT dir_last_char STREQUAL "/")
-        get_filename_component(destination_name "${dir}" NAME)
-        set(destination "${destination}/${destination_name}")
-      else()
-        # remove trailing slash
-        string(SUBSTRING "${dir}" 0 ${offset} dir)
-      endif()
-      
-      # Create destination directory.
-      # This does *not* solve the problem of empty directories WITHIN the install tree,
-      # but does make sure that the top-level directory specified by the caller gets created.
-      file(MAKE_DIRECTORY "${destination}")
-
-      # glob recursive files
-      set(relative_files "")
-      foreach(pattern ${ARG_PATTERN})
-        file(
-          GLOB_RECURSE
-          include_files
-          RELATIVE "${dir}"
-          "${dir}/${pattern}"
-        )
-        if(NOT include_files STREQUAL "")
-          list(APPEND relative_files ${include_files})
-        endif()
-      endforeach()
-      foreach(pattern ${ARG_PATTERN_EXCLUDE})
-        file(
-          GLOB_RECURSE
-          exclude_files
-          RELATIVE "${dir}"
-          "${dir}/${pattern}"
-        )
-        if(NOT exclude_files STREQUAL "")
-          list(REMOVE_ITEM relative_files ${exclude_files})
-        endif()
-      endforeach()
-      list(SORT relative_files)
-
-      foreach(relative_file ${relative_files})
-        set(absolute_file "${dir}/${relative_file}")
-        # determine link name for file including destination path
-        set(symlink "${destination}/${relative_file}")
-
-        # ensure that destination exists
-        get_filename_component(symlink_dir "${symlink}" PATH)
-        if(NOT EXISTS "${symlink_dir}")
-          file(MAKE_DIRECTORY "${symlink_dir}")
-        endif()
-
-        _ament_cmake_symlink_install_create_symlink("${absolute_file}" "${symlink}")
-      endforeach()
-    else()
-      if(NOT ARG_OPTIONAL)
-        message(FATAL_ERROR
-          "ament_cmake_symlink_install_directory() can't find '${dir}'")
-      endif()
-    endif()
-  endforeach()
-endfunction()
-
-#
-# Reimplement CMake install(FILES) command to use symlinks instead of copying
-# resources.
-#
-# :param cmake_current_source_dir: The CMAKE_CURRENT_SOURCE_DIR when install
-#   was invoked
-# :type cmake_current_source_dir: string
-# :param ARGN: the same arguments as the CMake install command.
-# :type ARGN: various
-#
-function(ament_cmake_symlink_install_files cmake_current_source_dir)
-  cmake_parse_arguments(ARG "OPTIONAL" "DESTINATION;RENAME" "FILES" ${ARGN})
-  if(ARG_UNPARSED_ARGUMENTS)
-    message(FATAL_ERROR "ament_cmake_symlink_install_files() called with "
-      "unused/unsupported arguments: ${ARG_UNPARSED_ARGUMENTS}")
-  endif()
-
-  # make destination an absolute path and ensure that it exists
-  if(NOT IS_ABSOLUTE "${ARG_DESTINATION}")
-    set(ARG_DESTINATION "/workspace/install/turtlebot3_simulations/${ARG_DESTINATION}")
-  endif()
-  if(NOT EXISTS "${ARG_DESTINATION}")
-    file(MAKE_DIRECTORY "${ARG_DESTINATION}")
-  endif()
-
-  if(ARG_RENAME)
-    list(LENGTH ARG_FILES file_count)
-    if(NOT file_count EQUAL 1)
-    message(FATAL_ERROR "ament_cmake_symlink_install_files() called with "
-      "RENAME argument but not with a single file")
-    endif()
-  endif()
-
-  # iterate over files
-  foreach(file ${ARG_FILES})
-    # make file an absolute path
-    if(NOT IS_ABSOLUTE "${file}")
-      set(file "${cmake_current_source_dir}/${file}")
-    endif()
-
-    if(EXISTS "${file}")
-      # determine link name for file including destination path
-      get_filename_component(filename "${file}" NAME)
-      if(NOT ARG_RENAME)
-        set(symlink "${ARG_DESTINATION}/${filename}")
-      else()
-        set(symlink "${ARG_DESTINATION}/${ARG_RENAME}")
-      endif()
-      _ament_cmake_symlink_install_create_symlink("${file}" "${symlink}")
-    else()
-      if(NOT ARG_OPTIONAL)
-        message(FATAL_ERROR
-          "ament_cmake_symlink_install_files() can't find '${file}'")
-      endif()
-    endif()
-  endforeach()
-endfunction()
-
-#
-# Reimplement CMake install(PROGRAMS) command to use symlinks instead of copying
-# resources.
-#
-# :param cmake_current_source_dir: The CMAKE_CURRENT_SOURCE_DIR when install
-#   was invoked
-# :type cmake_current_source_dir: string
-# :param ARGN: the same arguments as the CMake install command.
-# :type ARGN: various
-#
-function(ament_cmake_symlink_install_programs cmake_current_source_dir)
-  cmake_parse_arguments(ARG "OPTIONAL" "DESTINATION" "PROGRAMS" ${ARGN})
-  if(ARG_UNPARSED_ARGUMENTS)
-    message(FATAL_ERROR "ament_cmake_symlink_install_programs() called with "
-      "unused/unsupported arguments: ${ARG_UNPARSED_ARGUMENTS}")
-  endif()
-
-  # make destination an absolute path and ensure that it exists
-  if(NOT IS_ABSOLUTE "${ARG_DESTINATION}")
-    set(ARG_DESTINATION "/workspace/install/turtlebot3_simulations/${ARG_DESTINATION}")
-  endif()
-  if(NOT EXISTS "${ARG_DESTINATION}")
-    file(MAKE_DIRECTORY "${ARG_DESTINATION}")
-  endif()
-
-  # iterate over programs
-  foreach(file ${ARG_PROGRAMS})
-    # make file an absolute path
-    if(NOT IS_ABSOLUTE "${file}")
-      set(file "${cmake_current_source_dir}/${file}")
-    endif()
-
-    if(EXISTS "${file}")
-      # determine link name for file including destination path
-      get_filename_component(filename "${file}" NAME)
-      set(symlink "${ARG_DESTINATION}/${filename}")
-      _ament_cmake_symlink_install_create_symlink("${file}" "${symlink}")
-    else()
-      if(NOT ARG_OPTIONAL)
-        message(FATAL_ERROR
-          "ament_cmake_symlink_install_programs() can't find '${file}'")
-      endif()
-    endif()
-  endforeach()
-endfunction()
-
-#
-# Reimplement CMake install(TARGETS) command to use symlinks instead of copying
-# resources.
-#
-# :param TARGET_FILES: the absolute files, replacing the name of targets passed
-#   in as TARGETS
-# :type TARGET_FILES: list of files
-# :param ARGN: the same arguments as the CMake install command except that
-#   keywords identifying the kind of type and the DESTINATION keyword must be
-#   joined with an underscore, e.g. ARCHIVE_DESTINATION.
-# :type ARGN: various
-#
-function(ament_cmake_symlink_install_targets)
-  cmake_parse_arguments(ARG "OPTIONAL" "ARCHIVE_DESTINATION;DESTINATION;LIBRARY_DESTINATION;RUNTIME_DESTINATION"
-    "TARGETS;TARGET_FILES" ${ARGN})
-  if(ARG_UNPARSED_ARGUMENTS)
-    message(FATAL_ERROR "ament_cmake_symlink_install_targets() called with "
-      "unused/unsupported arguments: ${ARG_UNPARSED_ARGUMENTS}")
-  endif()
-
-  # iterate over target files
-  foreach(file ${ARG_TARGET_FILES})
-    if(NOT IS_ABSOLUTE "${file}")
-      message(FATAL_ERROR "ament_cmake_symlink_install_targets() target file "
-        "'${file}' must be an absolute path")
-    endif()
-
-    # determine destination of file based on extension
-    set(destination "")
-    get_filename_component(fileext "${file}" EXT)
-    if(fileext STREQUAL ".a" OR fileext STREQUAL ".lib")
-      set(destination "${ARG_ARCHIVE_DESTINATION}")
-    elseif(fileext STREQUAL ".dylib" OR fileext MATCHES "\\.so(\\.[0-9]+)?(\\.[0-9]+)?(\\.[0-9]+)?$")
-      set(destination "${ARG_LIBRARY_DESTINATION}")
-    elseif(fileext STREQUAL "" OR fileext STREQUAL ".dll" OR fileext STREQUAL ".exe")
-      set(destination "${ARG_RUNTIME_DESTINATION}")
-    endif()
-    if(destination STREQUAL "")
-      set(destination "${ARG_DESTINATION}")
-    endif()
-
-    # make destination an absolute path and ensure that it exists
-    if(NOT IS_ABSOLUTE "${destination}")
-      set(destination "/workspace/install/turtlebot3_simulations/${destination}")
-    endif()
-    if(NOT EXISTS "${destination}")
-      file(MAKE_DIRECTORY "${destination}")
-    endif()
-
-    if(EXISTS "${file}")
-      # determine link name for file including destination path
-      get_filename_component(filename "${file}" NAME)
-      set(symlink "${destination}/${filename}")
-      _ament_cmake_symlink_install_create_symlink("${file}" "${symlink}")
-    else()
-      if(NOT ARG_OPTIONAL)
-        message(FATAL_ERROR
-          "ament_cmake_symlink_install_targets() can't find '${file}'")
-      endif()
-    endif()
-  endforeach()
-endfunction()
-
-function(_ament_cmake_symlink_install_create_symlink absolute_file symlink)
-  # register symlink for being removed during install step
-  file(APPEND "${CMAKE_CURRENT_BINARY_DIR}/symlink_install_manifest.txt"
-    "${symlink}\n")
-
-  # avoid any work if correct symlink is already in place
-  if(EXISTS "${symlink}" AND IS_SYMLINK "${symlink}")
-    get_filename_component(destination "${symlink}" REALPATH)
-    get_filename_component(real_absolute_file "${absolute_file}" REALPATH)
-    if(destination STREQUAL real_absolute_file)
-      message(STATUS "Up-to-date symlink: ${symlink}")
-      return()
-    endif()
-  endif()
-
-  message(STATUS "Symlinking: ${symlink}")
-  if(EXISTS "${symlink}" OR IS_SYMLINK "${symlink}")
-    file(REMOVE "${symlink}")
-  endif()
-
-  execute_process(
-    COMMAND "/usr/bin/cmake" "-E" "create_symlink"
-      "${absolute_file}"
-      "${symlink}"
-  )
-  # the CMake command does not provide a return code so check manually
-  if(NOT EXISTS "${symlink}" OR NOT IS_SYMLINK "${symlink}")
-    get_filename_component(destination "${symlink}" REALPATH)
-    message(FATAL_ERROR
-      "Could not create symlink '${symlink}' pointing to '${absolute_file}'")
-  endif()
-endfunction()
-
-# end of template
-
-message(STATUS "Execute custom install script")
-
-# begin of custom install code
-
-# install(FILES "/workspace/build/turtlebot3_simulations/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/turtlebot3_simulations" "DESTINATION" "share/ament_index/resource_index/package_run_dependencies")
-ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_simulations" FILES "/workspace/build/turtlebot3_simulations/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/turtlebot3_simulations" "DESTINATION" "share/ament_index/resource_index/package_run_dependencies")
-
-# install(FILES "/workspace/build/turtlebot3_simulations/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/turtlebot3_simulations" "DESTINATION" "share/ament_index/resource_index/parent_prefix_path")
-ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_simulations" FILES "/workspace/build/turtlebot3_simulations/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/turtlebot3_simulations" "DESTINATION" "share/ament_index/resource_index/parent_prefix_path")
-
-# install(FILES "/opt/ros/humble/share/ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh" "DESTINATION" "share/turtlebot3_simulations/environment")
-ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_simulations" FILES "/opt/ros/humble/share/ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh" "DESTINATION" "share/turtlebot3_simulations/environment")
-
-# install(FILES "/workspace/build/turtlebot3_simulations/ament_cmake_environment_hooks/ament_prefix_path.dsv" "DESTINATION" "share/turtlebot3_simulations/environment")
-ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_simulations" FILES "/workspace/build/turtlebot3_simulations/ament_cmake_environment_hooks/ament_prefix_path.dsv" "DESTINATION" "share/turtlebot3_simulations/environment")
-
-# install(FILES "/opt/ros/humble/share/ament_cmake_core/cmake/environment_hooks/environment/path.sh" "DESTINATION" "share/turtlebot3_simulations/environment")
-ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_simulations" FILES "/opt/ros/humble/share/ament_cmake_core/cmake/environment_hooks/environment/path.sh" "DESTINATION" "share/turtlebot3_simulations/environment")
-
-# install(FILES "/workspace/build/turtlebot3_simulations/ament_cmake_environment_hooks/path.dsv" "DESTINATION" "share/turtlebot3_simulations/environment")
-ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_simulations" FILES "/workspace/build/turtlebot3_simulations/ament_cmake_environment_hooks/path.dsv" "DESTINATION" "share/turtlebot3_simulations/environment")
-
-# install(FILES "/workspace/build/turtlebot3_simulations/ament_cmake_environment_hooks/local_setup.bash" "DESTINATION" "share/turtlebot3_simulations")
-ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_simulations" FILES "/workspace/build/turtlebot3_simulations/ament_cmake_environment_hooks/local_setup.bash" "DESTINATION" "share/turtlebot3_simulations")
-
-# install(FILES "/workspace/build/turtlebot3_simulations/ament_cmake_environment_hooks/local_setup.sh" "DESTINATION" "share/turtlebot3_simulations")
-ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_simulations" FILES "/workspace/build/turtlebot3_simulations/ament_cmake_environment_hooks/local_setup.sh" "DESTINATION" "share/turtlebot3_simulations")
-
-# install(FILES "/workspace/build/turtlebot3_simulations/ament_cmake_environment_hooks/local_setup.zsh" "DESTINATION" "share/turtlebot3_simulations")
-ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_simulations" FILES "/workspace/build/turtlebot3_simulations/ament_cmake_environment_hooks/local_setup.zsh" "DESTINATION" "share/turtlebot3_simulations")
-
-# install(FILES "/workspace/build/turtlebot3_simulations/ament_cmake_environment_hooks/local_setup.dsv" "DESTINATION" "share/turtlebot3_simulations")
-ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_simulations" FILES "/workspace/build/turtlebot3_simulations/ament_cmake_environment_hooks/local_setup.dsv" "DESTINATION" "share/turtlebot3_simulations")
-
-# install(FILES "/workspace/build/turtlebot3_simulations/ament_cmake_environment_hooks/package.dsv" "DESTINATION" "share/turtlebot3_simulations")
-ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_simulations" FILES "/workspace/build/turtlebot3_simulations/ament_cmake_environment_hooks/package.dsv" "DESTINATION" "share/turtlebot3_simulations")
-
-# install(FILES "/workspace/build/turtlebot3_simulations/ament_cmake_index/share/ament_index/resource_index/packages/turtlebot3_simulations" "DESTINATION" "share/ament_index/resource_index/packages")
-ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_simulations" FILES "/workspace/build/turtlebot3_simulations/ament_cmake_index/share/ament_index/resource_index/packages/turtlebot3_simulations" "DESTINATION" "share/ament_index/resource_index/packages")
-
-# install(FILES "/workspace/build/turtlebot3_simulations/ament_cmake_core/turtlebot3_simulationsConfig.cmake" "/workspace/build/turtlebot3_simulations/ament_cmake_core/turtlebot3_simulationsConfig-version.cmake" "DESTINATION" "share/turtlebot3_simulations/cmake")
-ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_simulations" FILES "/workspace/build/turtlebot3_simulations/ament_cmake_core/turtlebot3_simulationsConfig.cmake" "/workspace/build/turtlebot3_simulations/ament_cmake_core/turtlebot3_simulationsConfig-version.cmake" "DESTINATION" "share/turtlebot3_simulations/cmake")
-
-# install(FILES "/workspace/src/turtlebot3_simulations/turtlebot3_simulations/package.xml" "DESTINATION" "share/turtlebot3_simulations")
-ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_simulations" FILES "/workspace/src/turtlebot3_simulations/turtlebot3_simulations/package.xml" "DESTINATION" "share/turtlebot3_simulations")

build/turtlebot3_simulations/ament_cmake_symlink_install/ament_cmake_symlink_install_uninstall_script.cmake

@@ -1,23 +0,0 @@
-# generated from
-# ament_cmake_core/cmake/symlink_install/ament_cmake_symlink_install_uninstall_script.cmake.in
-
-set(install_manifest "/workspace/build/turtlebot3_simulations/symlink_install_manifest.txt")
-if(NOT EXISTS "${install_manifest}")
-  message(FATAL_ERROR "Cannot find symlink install manifest: ${install_manifest}")
-endif()
-
-file(READ "${install_manifest}" installed_files)
-string(REGEX REPLACE "\n" ";" installed_files "${installed_files}")
-foreach(installed_file ${installed_files})
-  if(EXISTS "${installed_file}" OR IS_SYMLINK "${installed_file}")
-    message(STATUS "Uninstalling: ${installed_file}")
-    file(REMOVE "${installed_file}")
-    if(EXISTS "${installed_file}" OR IS_SYMLINK "${installed_file}")
-      message(FATAL_ERROR "Failed to remove '${installed_file}'")
-    endif()
-
-    # remove empty parent folders
-    get_filename_component(parent_path "${installed_file}" PATH)
-    ament_cmake_uninstall_target_remove_empty_directories("${parent_path}")
-  endif()
-endforeach()

build/turtlebot3_simulations/ament_cmake_uninstall_target/ament_cmake_uninstall_target.cmake

@@ -55,6 +55,3 @@ endforeach()
 message(STATUS "Execute custom uninstall script")
 
 # begin of custom uninstall code
-
-# uninstall files installed using the symlink install functions
-include("/workspace/build/turtlebot3_simulations/ament_cmake_symlink_install/ament_cmake_symlink_install_uninstall_script.cmake")

build/turtlebot3_simulations/cmake_args.last

@@ -1 +1 @@
-['-DAMENT_CMAKE_SYMLINK_INSTALL=1']
+None

build/turtlebot3_simulations/cmake_install.cmake

@@ -43,7 +43,62 @@ if(NOT DEFINED CMAKE_OBJDUMP)
 endif()
 
 if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
-  include("/workspace/build/turtlebot3_simulations/ament_cmake_symlink_install/ament_cmake_symlink_install.cmake")
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/ament_index/resource_index/package_run_dependencies" TYPE FILE FILES "/workspace/build/turtlebot3_simulations/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/turtlebot3_simulations")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/ament_index/resource_index/parent_prefix_path" TYPE FILE FILES "/workspace/build/turtlebot3_simulations/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/turtlebot3_simulations")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/turtlebot3_simulations/environment" TYPE FILE FILES "/opt/ros/humble/share/ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/turtlebot3_simulations/environment" TYPE FILE FILES "/workspace/build/turtlebot3_simulations/ament_cmake_environment_hooks/ament_prefix_path.dsv")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/turtlebot3_simulations/environment" TYPE FILE FILES "/opt/ros/humble/share/ament_cmake_core/cmake/environment_hooks/environment/path.sh")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/turtlebot3_simulations/environment" TYPE FILE FILES "/workspace/build/turtlebot3_simulations/ament_cmake_environment_hooks/path.dsv")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/turtlebot3_simulations" TYPE FILE FILES "/workspace/build/turtlebot3_simulations/ament_cmake_environment_hooks/local_setup.bash")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/turtlebot3_simulations" TYPE FILE FILES "/workspace/build/turtlebot3_simulations/ament_cmake_environment_hooks/local_setup.sh")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/turtlebot3_simulations" TYPE FILE FILES "/workspace/build/turtlebot3_simulations/ament_cmake_environment_hooks/local_setup.zsh")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/turtlebot3_simulations" TYPE FILE FILES "/workspace/build/turtlebot3_simulations/ament_cmake_environment_hooks/local_setup.dsv")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/turtlebot3_simulations" TYPE FILE FILES "/workspace/build/turtlebot3_simulations/ament_cmake_environment_hooks/package.dsv")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/ament_index/resource_index/packages" TYPE FILE FILES "/workspace/build/turtlebot3_simulations/ament_cmake_index/share/ament_index/resource_index/packages/turtlebot3_simulations")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/turtlebot3_simulations/cmake" TYPE FILE FILES
+    "/workspace/build/turtlebot3_simulations/ament_cmake_core/turtlebot3_simulationsConfig.cmake"
+    "/workspace/build/turtlebot3_simulations/ament_cmake_core/turtlebot3_simulationsConfig-version.cmake"
+    )
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/turtlebot3_simulations" TYPE FILE FILES "/workspace/src/turtlebot3_simulations/turtlebot3_simulations/package.xml")
 endif()
 
 if(CMAKE_INSTALL_COMPONENT)

build/turtlebot3_simulations/colcon_command_prefix_build.sh.env

@@ -1,7 +1,8 @@
-AMENT_PREFIX_PATH=/workspace/install/turtlebot3_gazebo:/opt/ros/humble
+AMENT_PREFIX_PATH=/workspace/install/vlm_perception_pkg:/workspace/install/vlm_nav_pkg:/workspace/install/turtlebot3_simulations:/workspace/install/turtlebot3_gazebo:/workspace/install/nav2_rrtstar_planner:/opt/ros/humble
-CMAKE_PREFIX_PATH=/workspace/install/turtlebot3_gazebo
+CMAKE_PREFIX_PATH=/workspace/install/turtlebot3_gazebo:/workspace/install/turtlebot3_simulations:/workspace/install/nav2_rrtstar_planner
 CODE_NO_PASSWORD=true
 COLCON=1
+COLCON_PREFIX_PATH=/workspace/install
 DATA_PATH=/home/user/data
 DATA_PATH_V2=/data
 DESKTOP_MODE=auto
@@ -9,7 +10,7 @@ DISPLAY=:1
 DISPLAY_BACKEND=auto
 ENABLE_CODE_SERVER=true
 ENABLE_FILEBROWSER=false
-ENABLE_FOXGLOVE=true
+ENABLE_FOXGLOVE=false
 ENABLE_GZWEB=true
 ENABLE_ROSBRIDGE=true
 ENABLE_TERMINAL=true
@@ -17,25 +18,35 @@ ENABLE_VNC=true
 FILEBROWSER_BASEURL=/file
 GZWEB_APP_DIR=/opt/gzweb
 GZWEB_PORT=8000
-GZ_SIM_CACHE_PATH=/opt/gzsim/cache
+GZ_SIM_CACHE_PATH=/.gz/sim/cache
-GZ_SIM_RESOURCE_PATH=/workspace/models:/opt/gzsim/models:/workspace/models:/opt/gzsim/models:/workspace/models:/opt/gzsim/models:/usr/share/gz/gz-sim7/models
+GZ_SIM_RESOURCE_PATH=/models:/workspace/models:/opt/gzsim/models:/models:/workspace/models:/opt/gzsim/models:/models:/workspace/models:/opt/gzsim/models:/usr/share/gz/gz-sim7/models
 HOME=/home/devuser
 INIT_SCRIPT=sed -i "/# pms-vendor-pythonpath/d;/export PYTHONPATH=\"/opt\/vendor\/python/d" /home/${USER:-devuser}/.bashrc 2>/dev/null || true
+CONDA_ACTIVATE_D="${CONDA_PREFIX:-/opt/miniconda/envs/pms-py312}/etc/conda/activate.d"
+if [ -d "$CONDA_ACTIVATE_D" ]; then
+  cat > "$CONDA_ACTIVATE_D/pms-vendor-pythonpath.sh" << 'PYEOF'
+export PYTHONPATH="/opt/vendor/python:/opt/vendor/mjlab/src:/opt/vendor/mujoco_warp:/opt/vendor/demos/humanoid_skateboarding/src:$PYTHONPATH"
+PYEOF
+  chmod +x "$CONDA_ACTIVATE_D/pms-vendor-pythonpath.sh"
+fi
+echo "# pms-vendor-pythonpath" >> /home/${USER:-devuser}/.bashrc
+echo "export PYTHONPATH=\"/opt/vendor/python:/opt/vendor/mjlab/src:/opt/vendor/mujoco_warp:/opt/vendor/demos/humanoid_skateboarding/src:\$PYTHONPATH\"" >> /home/${USER:-devuser}/.bashrc
 
 /workspace/autorun.sh
 INIT_WORKSPACE=/workspace
 LAUNCH_TYPE=EC2
 LC_CTYPE=C.UTF-8
-LD_LIBRARY_PATH=/usr/local/cuda/lib64:/usr/local/cuda/lib64:/usr/local/cuda/lib64:/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib
+LD_LIBRARY_PATH=/workspace/install/nav2_rrtstar_planner/lib:/usr/local/cuda/lib64:/usr/local/cuda/lib64:/usr/local/cuda/lib64:/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib
 LOGNAME=devuser
 MAIL=/var/mail/devuser
 OLDPWD=/workspace
-PATH=/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/opt/ros/humble/bin:/usr/local/cuda/bin:/opt/TurboVNC/bin:/opt/node/bin:/opt/foundation/bin:/home/devuser/miniconda3/bin:/home/devuser/.local/bin
+PATH=/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/opt/ros/humble/bin:/usr/local/cuda/bin:/opt/TurboVNC/bin:/opt/node/bin:/opt/foundation/bin
 PMS_FOUNDATION_VARIANT=gpu
 PMS_VNC_MODE=turbovnc
 PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$
 PWD=/workspace/build/turtlebot3_simulations
-PYTHONPATH=/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages
+PYTHONNOUSERSITE=1
+PYTHONPATH=/workspace/install/vlm_perception_pkg/lib/python3.10/site-packages:/workspace/install/vlm_nav_pkg/lib/python3.10/site-packages:/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages
 ROS_DISTRO=humble
 ROS_DOMAIN_ID=42
 ROS_LOCALHOST_ONLY=0
@@ -45,11 +56,11 @@ SHELL=/bin/bash
 SHLVL=1
 SINGLE_DESKTOP_APP=
 SINGLE_DESKTOP_PRESET=
-SPACE_DIR=/home/user/data/309844d858e5487f9c582ea361481b3d
+SPACE_DIR=/home/user/data/72f26183c345428ea9d80d3086449014
-SPACE_DIR_V2=/data/309844d858e5487f9c582ea361481b3d
+SPACE_DIR_V2=/data/72f26183c345428ea9d80d3086449014
-SPACE_ID=309844d858e5487f9c582ea361481b3d
+SPACE_ID=72f26183c345428ea9d80d3086449014
 USER=devuser
-USER_ID=6950f1ca-1599-42c5-a926-29eb731cb95c
+USER_ID=9dc62cab-cf4d-49b7-b349-349aef68e7b4
 VNC_NO_PASSWORD=true
 WORKSPACE=/workspace
 _=/usr/bin/colcon

build/turtlebot3_simulations/install_manifest.txt

@@ -0,0 +1,15 @@
+/workspace/install/turtlebot3_simulations/share/ament_index/resource_index/package_run_dependencies/turtlebot3_simulations
+/workspace/install/turtlebot3_simulations/share/ament_index/resource_index/parent_prefix_path/turtlebot3_simulations
+/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/environment/ament_prefix_path.sh
+/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/environment/ament_prefix_path.dsv
+/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/environment/path.sh
+/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/environment/path.dsv
+/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/local_setup.bash
+/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/local_setup.sh
+/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/local_setup.zsh
+/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/local_setup.dsv
+/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/package.dsv
+/workspace/install/turtlebot3_simulations/share/ament_index/resource_index/packages/turtlebot3_simulations
+/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/cmake/turtlebot3_simulationsConfig.cmake
+/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/cmake/turtlebot3_simulationsConfig-version.cmake
+/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/package.xml

build/turtlebot3_simulations/symlink_install_manifest.txt

@@ -1,15 +0,0 @@
-/workspace/install/turtlebot3_simulations/share/ament_index/resource_index/package_run_dependencies/turtlebot3_simulations
-/workspace/install/turtlebot3_simulations/share/ament_index/resource_index/parent_prefix_path/turtlebot3_simulations
-/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/environment/ament_prefix_path.sh
-/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/environment/ament_prefix_path.dsv
-/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/environment/path.sh
-/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/environment/path.dsv
-/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/local_setup.bash
-/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/local_setup.sh
-/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/local_setup.zsh
-/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/local_setup.dsv
-/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/package.dsv
-/workspace/install/turtlebot3_simulations/share/ament_index/resource_index/packages/turtlebot3_simulations
-/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/cmake/turtlebot3_simulationsConfig.cmake
-/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/cmake/turtlebot3_simulationsConfig-version.cmake
-/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/package.xml

build/vlm_nav_pkg/build/lib/vlm_nav_pkg/point_nav.py

@@ -0,0 +1,65 @@
+#!/usr/bin/env python3
+from copy import deepcopy
+from geometry_msgs.msg import PoseStamped
+import rclpy
+from nav2_simple_commander.robot_navigator import BasicNavigator, TaskResult
+
+def main():
+    rclpy.init()
+    navigator = BasicNavigator()
+    
+    inspection_route = [
+        [-3.59, 2.93],
+        [-3.59, 2.93],
+        [-3.59, 2.98]
+    ]
+
+    # Wait for Nav2 to be fully active
+    print("Waiting for Nav2 to be active...")
+    navigator.waitUntilNav2Active() # This waits for the lifecycle nodes, AMCL, etc.
+    print("Nav2 is active!")
+
+    # ******************************************
+    # REMOVED: The initial_pose code block
+    # You will set this manually in RViz
+    # ******************************************
+
+    # Create waypoints
+    
+        
+
+    inspection_points = []
+    for pt in inspection_route:
+        goal_pose = PoseStamped()
+        goal_pose.header.frame_id = 'map'
+        goal_pose.header.stamp = navigator.get_clock().now().to_msg()
+        goal_pose.pose.position.x = pt[0]
+        goal_pose.pose.position.y = pt[1]
+        goal_pose.pose.orientation.z = 0.0
+        goal_pose.pose.orientation.w = 1.0
+        inspection_points.append(deepcopy(goal_pose))
+
+
+    print(f"Following {len(inspection_points)} waypoints...")
+    navigator.followWaypoints(inspection_points)
+
+    
+    i = 0
+    while not navigator.isTaskComplete():
+        i += 1
+        feedback = navigator.getFeedback()
+        if feedback and i % 5 == 0:
+            print(f'Executing waypoint: {feedback.current_waypoint + 1}/{len(inspection_points)}')
+
+    result = navigator.getResult()
+    if result == TaskResult.SUCCEEDED:
+        print("Navigation succeeded!")
+    elif result == TaskResult.CANCELED:
+        print("Navigation canceled!")
+    elif result == TaskResult.FAILED:
+        print("Navigation failed!")
+
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()

build/vlm_nav_pkg/build/lib/vlm_nav_pkg/semantic_nav.py

@@ -0,0 +1,424 @@
+#!/usr/bin/env python3
+import json
+import math
+import time
+import clip
+import torch
+from copy import deepcopy
+import os
+import rclpy
+from rclpy.node import Node
+from geometry_msgs.msg import PoseStamped
+from tf2_ros import Buffer, TransformListener
+from rclpy.duration import Duration
+from rclpy.qos import QoSProfile, ReliabilityPolicy, DurabilityPolicy, HistoryPolicy
+from nav_msgs.msg import OccupancyGrid
+from nav2_simple_commander.robot_navigator import BasicNavigator, TaskResult
+from ament_index_python.packages import get_package_share_directory
+from vlm_perception_pkg.device_utils import resolve_torch_device
+
+
+class SemanticNavNode(Node):
+    def __init__(self, json_path: str):
+        super().__init__('semantic_nav_node')
+        self.declare_parameter('inference_device', 'auto')
+        self.declare_parameter('approach_offset_m', 0.7)
+        self.declare_parameter('approach_offset_refrigerator_m', 0.7)
+        self.declare_parameter('approach_offset_water_dispenser_m', 0.7)
+        self.declare_parameter('approach_offset_sofa_m', 0.5)
+        self.declare_parameter('approach_offset_white_toilet_m', 0.7)
+        self.declare_parameter('approach_offset_office_chair_with_wheels_m', 0.45)
+        self.declare_parameter('approach_candidate_count', 8)
+        self.declare_parameter('approach_clearance_m', 0.30)
+        self.declare_parameter('approach_clearance_office_chair_with_wheels_m', 0.18)
+        self.declare_parameter('approach_candidate_count_office_chair_with_wheels', 16)
+        self.declare_parameter('approach_offset_office_chair_with_wheels_search_radii', [0.45, 0.60, 0.75])
+        self.map_msg = None
+
+        # Load object library
+        with open(json_path) as f:
+            self.object_lib = json.load(f)
+
+        # Load CLIP
+        requested_device = self.get_parameter(
+            'inference_device'
+        ).get_parameter_value().string_value
+        self.device = resolve_torch_device(
+            self.get_logger(),
+            requested_device=requested_device,
+        )
+        self.model, _ = clip.load("ViT-B/32", device=self.device)
+        self.get_logger().info(
+            f"Semantic navigation model initialized on device={self.device} "
+            f"(requested={requested_device})"
+        )
+
+        # Build text embeddings for all object names
+        self.object_names = list(self.object_lib.keys())
+        text_tokens = clip.tokenize(self.object_names).to(self.device)
+        with torch.no_grad():
+            text_features = self.model.encode_text(text_tokens)
+            self.text_features = text_features / text_features.norm(dim=-1, keepdim=True)
+
+        # Initialize navigator
+        self.navigator = BasicNavigator()
+        self.navigator.waitUntilNav2Active()
+        self.tf_buffer = Buffer(cache_time=Duration(seconds=10))
+        self.tf_listener = TransformListener(self.tf_buffer, self, spin_thread=True)
+        map_qos = QoSProfile(
+            depth=1,
+            reliability=ReliabilityPolicy.RELIABLE,
+            durability=DurabilityPolicy.TRANSIENT_LOCAL,
+            history=HistoryPolicy.KEEP_LAST,
+        )
+        self.map_sub = self.create_subscription(
+            OccupancyGrid,
+            "/map",
+            self.map_callback,
+            map_qos,
+        )
+        self.get_logger().info("Navigator ready")
+
+    def query_object(self, prompt: str):
+        tokens = clip.tokenize([prompt]).to(self.device)
+        with torch.no_grad():
+            query_feat = self.model.encode_text(tokens)
+            query_feat /= query_feat.norm(dim=-1, keepdim=True)
+
+        sims = (query_feat @ self.text_features.T).squeeze(0)
+        best_idx = sims.argmax().item()
+        best_name = self.object_names[best_idx]
+
+        # Align with vlm_detection: position may be None if not yet detected
+        obj_info = self.object_lib.get(best_name, {})
+        pos = obj_info.get("position")
+
+        if pos is None:
+            self.get_logger().warn(
+                f"'{best_name}' matched but has no position in JSON. "
+                f"Run vlm_detection in AMCL mode first!"
+            )
+            return best_name, None
+
+        return best_name, pos
+
+    def navigate_to_object(self, prompt: str):
+        name, pos = self.query_object(prompt)
+        if pos is None:
+            self.get_logger().warn(f"Cannot navigate: no valid position for '{name}'. Please run vlm_detection first!")
+            return
+
+        robot_pose = self.get_robot_pose_in_map()
+        if robot_pose is None:
+            self.get_logger().warn("Cannot navigate: failed to get robot pose in map frame.")
+            return
+
+        offset_m = self.get_approach_offset(name)
+        goal_x, goal_y, yaw = self.compute_approach_goal(name, robot_pose, pos, offset_m)
+        robot_x, robot_y = robot_pose
+        distance_to_goal = math.hypot(goal_x - robot_x, goal_y - robot_y)
+
+        goal_pose = PoseStamped()
+        goal_pose.header.frame_id = "map"
+        goal_pose.header.stamp = self.navigator.get_clock().now().to_msg()
+        goal_pose.pose.position.x = goal_x
+        goal_pose.pose.position.y = goal_y
+        goal_pose.pose.position.z = 0.0
+        goal_pose.pose.orientation.z = math.sin(yaw / 2.0)
+        goal_pose.pose.orientation.w = math.cos(yaw / 2.0)
+
+        self.navigator.goToPose(deepcopy(goal_pose))
+        self.get_logger().info(
+            f"Navigating to {name}: object={pos}, goal={{'x': {goal_x:.4f}, 'y': {goal_y:.4f}}}, "
+            f"approach_offset={offset_m:.2f}m"
+        )
+        self.get_logger().info(
+            f"Robot pose={{'x': {robot_x:.4f}, 'y': {robot_y:.4f}}}, "
+            f"distance_to_goal={distance_to_goal:.4f}m"
+        )
+
+        # Wait until navigation completes
+        while not self.navigator.isTaskComplete():
+            feedback = self.navigator.getFeedback()
+            if feedback:
+                self.get_logger().info(
+                    "Navigation task in progress"
+                )
+
+        result = self.navigator.getResult()
+        final_robot_pose = self.get_robot_pose_in_map()
+        if final_robot_pose is not None:
+            final_x, final_y = final_robot_pose
+            final_distance_to_goal = math.hypot(goal_x - final_x, goal_y - final_y)
+            self.get_logger().info(
+                f"Final robot map pose={{'x': {final_x:.4f}, 'y': {final_y:.4f}}}, "
+                f"distance_to_goal={final_distance_to_goal:.4f}m"
+            )
+        if result == TaskResult.SUCCEEDED:
+            self.get_logger().info("Navigation succeeded")
+        elif result == TaskResult.CANCELED:
+            self.get_logger().info("Navigation canceled")
+        elif result == TaskResult.FAILED:
+            self.get_logger().info("Navigation failed")
+
+    def map_callback(self, msg: OccupancyGrid):
+        self.map_msg = msg
+
+    def get_robot_pose_in_map(self):
+        target_frame = "map"
+        source_frame = "base_footprint"
+        last_error = None
+        for _ in range(15):
+            try:
+                if not self.tf_buffer.can_transform(
+                    target_frame,
+                    source_frame,
+                    rclpy.time.Time(),
+                    timeout=Duration(seconds=0.2)
+                ):
+                    continue
+
+                transform = self.tf_buffer.lookup_transform(
+                    target_frame,
+                    source_frame,
+                    rclpy.time.Time(),
+                    timeout=Duration(seconds=0.2)
+                )
+                return (
+                    transform.transform.translation.x,
+                    transform.transform.translation.y,
+                )
+            except Exception as e:
+                last_error = e
+
+        if last_error is None:
+            self.get_logger().warn(
+                "Robot pose lookup failed: transform map -> base_footprint was not available within timeout."
+            )
+        else:
+            self.get_logger().warn(f"Robot pose lookup failed: {last_error}")
+        return None
+
+    def compute_approach_goal(self, object_name, robot_pose, obj_pos, offset_m):
+        robot_x, robot_y = robot_pose
+        obj_x = obj_pos["x"]
+        obj_y = obj_pos["y"]
+        search_radii = self.get_approach_search_radii(object_name, offset_m)
+        candidate_count = self.get_approach_candidate_count(object_name)
+        approach_candidates = []
+        for radius in search_radii:
+            approach_candidates.extend(
+                self.generate_approach_candidates(obj_x, obj_y, radius, candidate_count)
+            )
+        feasible_candidates = [
+            candidate for candidate in approach_candidates
+            if self.is_candidate_feasible(object_name, candidate[0], candidate[1])
+        ]
+
+        path_candidates = []
+        start_pose = self.build_pose_stamped(robot_x, robot_y, 0.0)
+        for candidate in feasible_candidates:
+            candidate_x, candidate_y, candidate_yaw = candidate
+            candidate_goal_pose = self.build_pose_stamped(candidate_x, candidate_y, candidate_yaw)
+            path = self.navigator.getPath(start_pose, candidate_goal_pose, use_start=True)
+            if path and len(path.poses) >= 2:
+                path_length = self.compute_path_length(path)
+                if path_length >= 0.2:
+                    path_candidates.append((candidate_x, candidate_y, candidate_yaw, path_length))
+
+        if path_candidates:
+            goal_x, goal_y, yaw, path_length = min(
+                path_candidates,
+                key=lambda candidate: candidate[3]
+            )
+            self.get_logger().info(
+                f"Approach candidates for {object_name}: total={len(approach_candidates)} "
+                f"feasible={len(feasible_candidates)} path_feasible={len(path_candidates)} "
+                f"selected=({goal_x:.4f}, {goal_y:.4f}) path_length={path_length:.4f}m"
+            )
+            return goal_x, goal_y, yaw
+
+        if feasible_candidates:
+            goal_x, goal_y, yaw = min(
+                feasible_candidates,
+                key=lambda candidate: math.hypot(candidate[0] - robot_x, candidate[1] - robot_y)
+            )
+            self.get_logger().warn(
+                f"Approach candidates for {object_name}: total={len(approach_candidates)} "
+                f"feasible={len(feasible_candidates)} path_feasible=0, "
+                f"falling back to nearest map-feasible candidate=({goal_x:.4f}, {goal_y:.4f})"
+            )
+            return goal_x, goal_y, yaw
+
+        dx = obj_x - robot_x
+        dy = obj_y - robot_y
+        distance = math.hypot(dx, dy)
+        if distance < 1e-6:
+            yaw = 0.0
+            return obj_x, obj_y, yaw
+
+        ux = dx / distance
+        uy = dy / distance
+        goal_x = obj_x - ux * min(offset_m, max(distance - 0.05, 0.0))
+        goal_y = obj_y - uy * min(offset_m, max(distance - 0.05, 0.0))
+        yaw = math.atan2(dy, dx)
+        self.get_logger().warn(
+            f"Approach candidates for {object_name}: no feasible candidate found, "
+            f"falling back to line-of-sight offset goal=({goal_x:.4f}, {goal_y:.4f})"
+        )
+        return goal_x, goal_y, yaw
+
+    def generate_approach_candidates(self, obj_x, obj_y, offset_m, candidate_count):
+        candidates = []
+        for i in range(candidate_count):
+            angle = (2.0 * math.pi * i) / candidate_count
+            goal_x = obj_x + offset_m * math.cos(angle)
+            goal_y = obj_y + offset_m * math.sin(angle)
+            yaw = math.atan2(obj_y - goal_y, obj_x - goal_x)
+            candidates.append((goal_x, goal_y, yaw))
+        return candidates
+
+    def is_candidate_feasible(self, object_name: str, world_x, world_y):
+        map_msg = self.wait_for_map()
+        if map_msg is None:
+            return True
+
+        info = map_msg.info
+        resolution = info.resolution
+        origin_x = info.origin.position.x
+        origin_y = info.origin.position.y
+        width = info.width
+        height = info.height
+        grid_x = int((world_x - origin_x) / resolution)
+        grid_y = int((world_y - origin_y) / resolution)
+
+        if grid_x < 0 or grid_x >= width or grid_y < 0 or grid_y >= height:
+            return False
+
+        clearance_m = self.get_approach_clearance(object_name)
+        clearance_cells = max(0, int(math.ceil(clearance_m / resolution)))
+
+        for dy in range(-clearance_cells, clearance_cells + 1):
+            for dx in range(-clearance_cells, clearance_cells + 1):
+                if dx * dx + dy * dy > clearance_cells * clearance_cells:
+                    continue
+                xx = grid_x + dx
+                yy = grid_y + dy
+                if xx < 0 or xx >= width or yy < 0 or yy >= height:
+                    return False
+                cost = map_msg.data[yy * width + xx]
+                if cost < 0 or cost >= 50:
+                    return False
+        return True
+
+    def build_pose_stamped(self, x, y, yaw):
+        pose = PoseStamped()
+        pose.header.frame_id = "map"
+        pose.header.stamp = self.navigator.get_clock().now().to_msg()
+        pose.pose.position.x = x
+        pose.pose.position.y = y
+        pose.pose.position.z = 0.0
+        pose.pose.orientation.z = math.sin(yaw / 2.0)
+        pose.pose.orientation.w = math.cos(yaw / 2.0)
+        return pose
+
+    def compute_path_length(self, path):
+        if not path.poses or len(path.poses) < 2:
+            return 0.0
+        length = 0.0
+        for prev_pose, next_pose in zip(path.poses[:-1], path.poses[1:]):
+            dx = next_pose.pose.position.x - prev_pose.pose.position.x
+            dy = next_pose.pose.position.y - prev_pose.pose.position.y
+            length += math.hypot(dx, dy)
+        return length
+
+    def wait_for_map(self, timeout_sec: float = 2.0):
+        if self.map_msg is not None:
+            return self.map_msg
+        end_time = time.time() + timeout_sec
+        while self.map_msg is None and time.time() < end_time:
+            time.sleep(0.05)
+        return self.map_msg
+
+    def get_approach_candidate_count(self, object_name: str) -> int:
+        default_count = int(
+            self.get_parameter('approach_candidate_count').get_parameter_value().integer_value
+        )
+        param_name = (
+            "approach_candidate_count_"
+            + object_name.lower().replace(" ", "_")
+        )
+        if self.has_parameter(param_name):
+            default_count = int(self.get_parameter(param_name).get_parameter_value().integer_value)
+        return min(max(default_count, 4), 16)
+
+    def get_approach_search_radii(self, object_name: str, default_offset: float):
+        param_name = (
+            "approach_offset_"
+            + object_name.lower().replace(" ", "_")
+            + "_search_radii"
+        )
+        if self.has_parameter(param_name):
+            value = self.get_parameter(param_name).value
+            if value:
+                return [float(radius) for radius in value]
+        return [default_offset]
+
+    def get_approach_clearance(self, object_name: str) -> float:
+        default_clearance = self.get_parameter(
+            'approach_clearance_m'
+        ).get_parameter_value().double_value
+        param_name = (
+            "approach_clearance_"
+            + object_name.lower().replace(" ", "_")
+            + "_m"
+        )
+        if self.has_parameter(param_name):
+            return self.get_parameter(param_name).get_parameter_value().double_value
+        return default_clearance
+
+    def get_approach_offset(self, object_name: str) -> float:
+        default_offset = self.get_parameter(
+            'approach_offset_m'
+        ).get_parameter_value().double_value
+        param_name = (
+            "approach_offset_"
+            + object_name.lower().replace(" ", "_")
+            + "_m"
+        )
+        if self.has_parameter(param_name):
+            return self.get_parameter(param_name).get_parameter_value().double_value
+        return default_offset
+
+    def cleanup(self):
+        if hasattr(self, 'tf_listener'):
+            try:
+                if hasattr(self.tf_listener, 'executor'):
+                    self.tf_listener.executor.shutdown(timeout_sec=0.5)
+                if hasattr(self.tf_listener, 'dedicated_listener_thread'):
+                    self.tf_listener.dedicated_listener_thread.join(timeout=0.5)
+                self.tf_listener.unregister()
+            except Exception:
+                pass
+
+
+
+
+def main():
+    rclpy.init()
+    package_share_dir = get_package_share_directory('vlm_nav_pkg')
+    json_file_path = os.path.join(package_share_dir, 'config', 'example_object_detection_vlm.json')
+    node = SemanticNavNode(json_file_path)
+
+    try:
+        user_input = input("Where do you want to go: ")
+        node.navigate_to_object(user_input)
+    finally:
+        node.cleanup()
+        node.destroy_node()
+        if rclpy.ok():
+            rclpy.shutdown()
+
+
+if __name__ == "__main__":
+    main()

build/vlm_nav_pkg/colcon_command_prefix_setup_py.sh.env

@@ -1,6 +1,8 @@
-AMENT_PREFIX_PATH=/opt/ros/humble
+AMENT_PREFIX_PATH=/workspace/install/vlm_perception_pkg:/workspace/install/vlm_nav_pkg:/workspace/install/turtlebot3_simulations:/workspace/install/turtlebot3_gazebo:/workspace/install/nav2_rrtstar_planner:/opt/ros/humble
+CMAKE_PREFIX_PATH=/workspace/install/turtlebot3_simulations:/workspace/install/turtlebot3_gazebo:/workspace/install/nav2_rrtstar_planner
 CODE_NO_PASSWORD=true
 COLCON=1
+COLCON_PREFIX_PATH=/workspace/install
 DATA_PATH=/home/user/data
 DATA_PATH_V2=/data
 DESKTOP_MODE=auto
@@ -8,7 +10,7 @@ DISPLAY=:1
 DISPLAY_BACKEND=auto
 ENABLE_CODE_SERVER=true
 ENABLE_FILEBROWSER=false
-ENABLE_FOXGLOVE=true
+ENABLE_FOXGLOVE=false
 ENABLE_GZWEB=true
 ENABLE_ROSBRIDGE=true
 ENABLE_TERMINAL=true
@@ -16,25 +18,35 @@ ENABLE_VNC=true
 FILEBROWSER_BASEURL=/file
 GZWEB_APP_DIR=/opt/gzweb
 GZWEB_PORT=8000
-GZ_SIM_CACHE_PATH=/opt/gzsim/cache
+GZ_SIM_CACHE_PATH=/.gz/sim/cache
-GZ_SIM_RESOURCE_PATH=/workspace/models:/opt/gzsim/models:/workspace/models:/opt/gzsim/models:/workspace/models:/opt/gzsim/models:/usr/share/gz/gz-sim7/models
+GZ_SIM_RESOURCE_PATH=/models:/workspace/models:/opt/gzsim/models:/models:/workspace/models:/opt/gzsim/models:/models:/workspace/models:/opt/gzsim/models:/usr/share/gz/gz-sim7/models
 HOME=/home/devuser
 INIT_SCRIPT=sed -i "/# pms-vendor-pythonpath/d;/export PYTHONPATH=\"/opt\/vendor\/python/d" /home/${USER:-devuser}/.bashrc 2>/dev/null || true
+CONDA_ACTIVATE_D="${CONDA_PREFIX:-/opt/miniconda/envs/pms-py312}/etc/conda/activate.d"
+if [ -d "$CONDA_ACTIVATE_D" ]; then
+  cat > "$CONDA_ACTIVATE_D/pms-vendor-pythonpath.sh" << 'PYEOF'
+export PYTHONPATH="/opt/vendor/python:/opt/vendor/mjlab/src:/opt/vendor/mujoco_warp:/opt/vendor/demos/humanoid_skateboarding/src:$PYTHONPATH"
+PYEOF
+  chmod +x "$CONDA_ACTIVATE_D/pms-vendor-pythonpath.sh"
+fi
+echo "# pms-vendor-pythonpath" >> /home/${USER:-devuser}/.bashrc
+echo "export PYTHONPATH=\"/opt/vendor/python:/opt/vendor/mjlab/src:/opt/vendor/mujoco_warp:/opt/vendor/demos/humanoid_skateboarding/src:\$PYTHONPATH\"" >> /home/${USER:-devuser}/.bashrc
 
 /workspace/autorun.sh
 INIT_WORKSPACE=/workspace
 LAUNCH_TYPE=EC2
 LC_CTYPE=C.UTF-8
-LD_LIBRARY_PATH=/usr/local/cuda/lib64:/usr/local/cuda/lib64:/usr/local/cuda/lib64:/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib
+LD_LIBRARY_PATH=/workspace/install/nav2_rrtstar_planner/lib:/usr/local/cuda/lib64:/usr/local/cuda/lib64:/usr/local/cuda/lib64:/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib
 LOGNAME=devuser
 MAIL=/var/mail/devuser
 OLDPWD=/workspace
-PATH=/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/opt/ros/humble/bin:/usr/local/cuda/bin:/opt/TurboVNC/bin:/opt/node/bin:/opt/foundation/bin:/home/devuser/miniconda3/bin:/home/devuser/.local/bin
+PATH=/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/opt/ros/humble/bin:/usr/local/cuda/bin:/opt/TurboVNC/bin:/opt/node/bin:/opt/foundation/bin
 PMS_FOUNDATION_VARIANT=gpu
 PMS_VNC_MODE=turbovnc
 PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$
 PWD=/workspace/build/vlm_nav_pkg
-PYTHONPATH=/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages
+PYTHONNOUSERSITE=1
+PYTHONPATH=/workspace/install/vlm_perception_pkg/lib/python3.10/site-packages:/workspace/install/vlm_nav_pkg/lib/python3.10/site-packages:/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages
 ROS_DISTRO=humble
 ROS_DOMAIN_ID=42
 ROS_LOCALHOST_ONLY=0
@@ -44,11 +56,11 @@ SHELL=/bin/bash
 SHLVL=1
 SINGLE_DESKTOP_APP=
 SINGLE_DESKTOP_PRESET=
-SPACE_DIR=/home/user/data/309844d858e5487f9c582ea361481b3d
+SPACE_DIR=/home/user/data/72f26183c345428ea9d80d3086449014
-SPACE_DIR_V2=/data/309844d858e5487f9c582ea361481b3d
+SPACE_DIR_V2=/data/72f26183c345428ea9d80d3086449014
-SPACE_ID=309844d858e5487f9c582ea361481b3d
+SPACE_ID=72f26183c345428ea9d80d3086449014
 USER=devuser
-USER_ID=6950f1ca-1599-42c5-a926-29eb731cb95c
+USER_ID=9dc62cab-cf4d-49b7-b349-349aef68e7b4
 VNC_NO_PASSWORD=true
 WORKSPACE=/workspace
 _=/usr/bin/colcon

build/vlm_nav_pkg/config/example_object_detection_vlm.json

@@ -1 +0,0 @@
-/workspace/src/vlm_nav_pkg/config/example_object_detection_vlm.json

build/vlm_nav_pkg/config/test_vlm.json

@@ -1 +0,0 @@
-/workspace/src/vlm_nav_pkg/config/test_vlm.json

build/vlm_nav_pkg/install.log

@@ -0,0 +1,19 @@
+/workspace/install/vlm_nav_pkg/lib/python3.10/site-packages/vlm_nav_pkg/__init__.py
+/workspace/install/vlm_nav_pkg/lib/python3.10/site-packages/vlm_nav_pkg/point_nav.py
+/workspace/install/vlm_nav_pkg/lib/python3.10/site-packages/vlm_nav_pkg/semantic_nav.py
+/workspace/install/vlm_nav_pkg/lib/python3.10/site-packages/vlm_nav_pkg/__pycache__/__init__.cpython-310.pyc
+/workspace/install/vlm_nav_pkg/lib/python3.10/site-packages/vlm_nav_pkg/__pycache__/point_nav.cpython-310.pyc
+/workspace/install/vlm_nav_pkg/lib/python3.10/site-packages/vlm_nav_pkg/__pycache__/semantic_nav.cpython-310.pyc
+/workspace/install/vlm_nav_pkg/share/ament_index/resource_index/packages/vlm_nav_pkg
+/workspace/install/vlm_nav_pkg/share/vlm_nav_pkg/package.xml
+/workspace/install/vlm_nav_pkg/share/vlm_nav_pkg/config/example_object_detection_vlm.json
+/workspace/install/vlm_nav_pkg/share/vlm_nav_pkg/config/test_vlm.json
+/workspace/install/vlm_nav_pkg/lib/python3.10/site-packages/vlm_nav_pkg-0.0.0-py3.10.egg-info/PKG-INFO
+/workspace/install/vlm_nav_pkg/lib/python3.10/site-packages/vlm_nav_pkg-0.0.0-py3.10.egg-info/SOURCES.txt
+/workspace/install/vlm_nav_pkg/lib/python3.10/site-packages/vlm_nav_pkg-0.0.0-py3.10.egg-info/dependency_links.txt
+/workspace/install/vlm_nav_pkg/lib/python3.10/site-packages/vlm_nav_pkg-0.0.0-py3.10.egg-info/entry_points.txt
+/workspace/install/vlm_nav_pkg/lib/python3.10/site-packages/vlm_nav_pkg-0.0.0-py3.10.egg-info/requires.txt
+/workspace/install/vlm_nav_pkg/lib/python3.10/site-packages/vlm_nav_pkg-0.0.0-py3.10.egg-info/top_level.txt
+/workspace/install/vlm_nav_pkg/lib/python3.10/site-packages/vlm_nav_pkg-0.0.0-py3.10.egg-info/zip-safe
+/workspace/install/vlm_nav_pkg/lib/vlm_nav_pkg/point_nav
+/workspace/install/vlm_nav_pkg/lib/vlm_nav_pkg/semantic_nav

build/vlm_nav_pkg/package.xml

@@ -1 +0,0 @@
-/workspace/src/vlm_nav_pkg/package.xml

build/vlm_nav_pkg/resource/vlm_nav_pkg

@@ -1 +0,0 @@
-/workspace/src/vlm_nav_pkg/resource/vlm_nav_pkg

build/vlm_nav_pkg/setup.cfg

@@ -1 +0,0 @@
-/workspace/src/vlm_nav_pkg/setup.cfg

build/vlm_nav_pkg/setup.py

@@ -1 +0,0 @@
-/workspace/src/vlm_nav_pkg/setup.py

build/vlm_nav_pkg/share/vlm_nav_pkg/hook/pythonpath_develop.dsv

@@ -1 +0,0 @@
-prepend-non-duplicate;PYTHONPATH;/workspace/build/vlm_nav_pkg

build/vlm_nav_pkg/share/vlm_nav_pkg/hook/pythonpath_develop.ps1

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

build/vlm_nav_pkg/share/vlm_nav_pkg/hook/pythonpath_develop.sh

@@ -1,3 +0,0 @@
-# generated from colcon_core/shell/template/hook_prepend_value.sh.em
-
-_colcon_prepend_unique_value PYTHONPATH "/workspace/build/vlm_nav_pkg"

build/vlm_nav_pkg/vlm_nav_pkg

@@ -1 +0,0 @@
-/workspace/src/vlm_nav_pkg/vlm_nav_pkg

build/vlm_nav_pkg/vlm_nav_pkg.egg-info/PKG-INFO

@@ -7,6 +7,7 @@ Maintainer: ariel
 Maintainer-email: bhu16300@gmail.com
 License: Apache-2.0
 Platform: UNKNOWN
+License-File: LICENSE
 
 UNKNOWN
 

build/vlm_nav_pkg/vlm_nav_pkg.egg-info/SOURCES.txt

@@ -1,16 +1,20 @@
+LICENSE
 package.xml
 setup.cfg
 setup.py
+../../build/vlm_nav_pkg/vlm_nav_pkg.egg-info/PKG-INFO
+../../build/vlm_nav_pkg/vlm_nav_pkg.egg-info/SOURCES.txt
+../../build/vlm_nav_pkg/vlm_nav_pkg.egg-info/dependency_links.txt
+../../build/vlm_nav_pkg/vlm_nav_pkg.egg-info/entry_points.txt
+../../build/vlm_nav_pkg/vlm_nav_pkg.egg-info/requires.txt
+../../build/vlm_nav_pkg/vlm_nav_pkg.egg-info/top_level.txt
+../../build/vlm_nav_pkg/vlm_nav_pkg.egg-info/zip-safe
 config/example_object_detection_vlm.json
 config/test_vlm.json
 resource/vlm_nav_pkg
+test/test_copyright.py
+test/test_flake8.py
+test/test_pep257.py
 vlm_nav_pkg/__init__.py
 vlm_nav_pkg/point_nav.py
-vlm_nav_pkg/semantic_nav.py
+vlm_nav_pkg/semantic_nav.py
-vlm_nav_pkg.egg-info/PKG-INFO
-vlm_nav_pkg.egg-info/SOURCES.txt
-vlm_nav_pkg.egg-info/dependency_links.txt
-vlm_nav_pkg.egg-info/entry_points.txt
-vlm_nav_pkg.egg-info/requires.txt
-vlm_nav_pkg.egg-info/top_level.txt
-vlm_nav_pkg.egg-info/zip-safe

build/vlm_perception_pkg/build/lib/vlm_perception_pkg/device_utils.py

@@ -0,0 +1,42 @@
+import torch
+
+
+def resolve_torch_device(
+    logger,
+    requested_device: str = "auto",
+    cuda_probe_fn=None,
+):
+    """Pick a safe torch device, falling back to CPU if CUDA is unavailable or unusable."""
+    requested = (requested_device or "auto").strip().lower()
+    valid = {"auto", "cpu", "cuda"}
+    if requested not in valid:
+        logger.warn(
+            f"Unknown inference_device='{requested_device}', falling back to auto"
+        )
+        requested = "auto"
+
+    if requested == "cpu":
+        return "cpu"
+
+    if not torch.cuda.is_available():
+        if requested == "cuda":
+            logger.warn("CUDA was requested but is not available; falling back to CPU")
+        return "cpu"
+
+    probe = cuda_probe_fn or _default_cuda_probe
+    try:
+        probe()
+        return "cuda"
+    except Exception as exc:
+        logger.warn(
+            "CUDA is visible but not usable by the installed PyTorch build; "
+            f"falling back to CPU. Details: {exc}"
+        )
+        return "cpu"
+
+
+def _default_cuda_probe():
+    # Force a tiny kernel launch so unsupported GPU architectures fail early.
+    tensor = torch.zeros(1, device="cuda")
+    _ = tensor + 1
+    torch.cuda.synchronize()

build/vlm_perception_pkg/build/lib/vlm_perception_pkg/multi_waypoint_navigation.py

@@ -0,0 +1,51 @@
+#!/usr/bin/env python3
+from copy import deepcopy
+from geometry_msgs.msg import PoseStamped
+import rclpy
+from nav2_simple_commander.robot_navigator import BasicNavigator
+
+def main():
+    rclpy.init()
+    navigator = BasicNavigator()
+    inspection_route = [
+        [5.0, 0.0],
+        [-5.0, -5.0],
+        [-5.0, 5.0]
+    ]
+
+    print("get nav points")
+    navigator.waitUntilNav2Active()
+
+    inspection_points = []
+    inspection_pose = PoseStamped()
+    inspection_pose.header.frame_id = 'map'
+    inspection_pose.header.stamp = navigator.get_clock().now().to_msg()
+    inspection_pose.pose.orientation.z = 1.0
+    inspection_pose.pose.orientation.w = 0.0
+
+    for pt in inspection_route:
+        inspection_pose.pose.position.x = pt[0]
+        inspection_pose.pose.position.y = pt[1]
+        inspection_points.append(deepcopy(inspection_pose))
+
+    navigator.followWaypoints(inspection_points)
+
+    i = 0
+    while not navigator.isNavComplete():
+        i += 1
+        feedback = navigator.getFeedback()
+        if feedback and i % 5 == 0:
+            print('executing waypoint: ' +
+                  str(feedback.current_waypoint + 1) + '/' +
+                  str(len(inspection_points)))
+
+    result = navigator.get_result()
+    if result == navigator.SUCCEEDED:
+        print("Navigation succeeded")
+    elif result == navigator.CANCELED:
+        print("Navigation canceled")
+    elif result == navigator.FAILED:
+        print("Navigation failed")
+
+if __name__ == "__main__":
+    main()

build/vlm_perception_pkg/build/lib/vlm_perception_pkg/simple_detection.py

@@ -0,0 +1,153 @@
+# import rclpy
+# from rclpy.node import Node
+# from geometry_msgs.msg import PoseStamped
+
+# def run():
+#     rclpy.init()
+#     node = Node("pose_stamped_example")
+#     pose = PoseStamped()
+#     pose.pose.position.x = 1.0
+#     pose.pose.position.y = 2.0
+#     pose.pose.position.z = 3.0
+#     node.get_logger().info(f"X: {pose.pose.position.x}")
+#     node.get_logger().info(f"Y: {pose.pose.position.y}")
+#     node.get_logger().info(f"Z: {pose.pose.position.z}")
+#     node.destroy_node()
+#     rclpy.shutdown()
+
+
+
+#################################################################333
+#!/usr/bin/env python3
+# import rclpy
+# from rclpy.node import Node
+# from geometry_msgs.msg import PoseStamped
+
+# def run():
+#     rclpy.init()
+#     node = Node("pose_stamped_example")
+#     pose = PoseStamped()
+#     pose.pose.position.x = 1.0
+#     pose.pose.position.y = 2.0
+#     pose.pose.position.z = 3.0
+#     node.get_logger().info(f"X: {pose.pose.position.x}")
+#     node.get_logger().info(f"Y: {pose.pose.position.y}")
+#     node.get_logger().info(f"Z: {pose.pose.position.z}")
+#     node.destroy_node()
+#     rclpy.shutdown()
+
+
+
+#################################################################333
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from sensor_msgs.msg import Image, CameraInfo
+from geometry_msgs.msg import PoseStamped
+from cv_bridge import CvBridge
+import numpy as np
+from tf2_ros import Buffer, TransformListener
+import tf2_geometry_msgs
+from tf2_ros import Buffer, TransformListener
+from tf2_geometry_msgs.tf2_geometry_msgs import do_transform_pose
+
+import rclpy
+from rclpy.duration import Duration
+from rclpy.time import Time
+
+from visualization_msgs.msg import Marker
+from std_msgs.msg import ColorRGBA
+
+class DepthTo3DNode(Node):
+    def __init__(self):
+        super().__init__('depth_to_3d')
+        self.bridge = CvBridge()
+        self.latest_depth = None
+        self.camera_info = None
+
+        self.tf_buffer = Buffer(cache_time=Duration(seconds=10))
+        self.tf_listener = TransformListener(self.tf_buffer, self)
+
+        self.depth_sub = self.create_subscription(
+            Image, "/intel_realsense_r200_depth/depth/image_raw",
+            self.depth_callback, 10)
+        self.camera_info_sub = self.create_subscription(
+            CameraInfo, "/intel_realsense_r200_depth/camera_info",
+            self.camera_info_callback, 10)
+        self.pose_pub = self.create_publisher(PoseStamped, '/object_in_odom', 10)
+    
+    def camera_info_callback(self, msg):
+        self.camera_info = msg
+        self.img_frame = "realsense_depth_frame"
+        self.get_logger().info(f"Camera info received, using frame: {self.img_frame}")
+
+    def depth_callback(self, msg):
+        try:
+            cv_image = self.bridge.imgmsg_to_cv2(msg, desired_encoding='passthrough')
+            self.latest_depth = cv_image.astype(np.float32)
+            self.process_depth()
+        except Exception as e:
+            self.get_logger().error(f"Depth conversion failed: {str(e)}")
+
+    def process_depth(self):
+        if self.latest_depth is None or self.camera_info is None:
+            return
+
+        h, w = self.latest_depth.shape[:2]
+        x_center = w // 2
+        y_center = h // 2
+
+        depth = self.latest_depth[y_center, x_center]
+        fx = self.camera_info.k[0]
+        fy = self.camera_info.k[4]
+        cx = self.camera_info.k[2]
+        cy = self.camera_info.k[5]
+
+        X = (x_center - cx) * depth / fx
+        Y = (y_center - cy) * depth / fy
+        Z = float(depth)
+
+        pose = PoseStamped()
+        pose.header.stamp = self.get_clock().now().to_msg()
+        pose.header.frame_id = self.img_frame
+        pose.pose.position.x = X
+        pose.pose.position.y = Y
+        pose.pose.position.z = Z
+        pose.pose.orientation.w = 1.0
+
+
+
+        try:
+            transform = self.tf_buffer.lookup_transform(
+                "odom",
+                self.img_frame,
+                rclpy.time.Time()
+            )
+            #self.get_logger().info(f"odom_frame: {transform.header.frame_id}")
+           # self.get_logger().info(f"camera_frame: {transform.child_frame_id}")
+            t = transform.transform.translation
+           # self.get_logger().info(f"relative coordinates: x={t.x}, y={t.y}, z={t.z}")
+            self.get_logger().info("Transformed to 'odom' frame")
+
+            ob2odom = self.tf_buffer.transform(pose, "odom", timeout=Duration(seconds=0.5))
+            self.get_logger().info(
+                f"object coordinates in odom frame: x={ob2odom.pose.position.x}, "
+                f"y={ob2odom.pose.position.y}, z={ob2odom.pose.position.z}"
+            )
+            ob2odom.header.stamp = self.get_clock().now().to_msg()  # make sure stamp is valid
+            ob2odom.header.frame_id = "odom"
+            self.pose_pub.publish(ob2odom)
+          
+
+        except Exception as e:
+            self.get_logger().error(f"TF lookup failed: {e}")
+
+
+
+rclpy.init()
+node = DepthTo3DNode()
+try:
+    rclpy.spin(node)
+finally:
+    node.destroy_node()
+    rclpy.shutdown()

build/vlm_perception_pkg/build/lib/vlm_perception_pkg/vlm_detection.py

@@ -0,0 +1,373 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from rclpy.callback_groups import ReentrantCallbackGroup, MutuallyExclusiveCallbackGroup
+from cv_bridge import CvBridge, CvBridgeError
+import torch
+import torch.nn.functional as F
+import torchvision
+from torchvision import transforms
+import clip
+import cv2
+import json
+import os
+import time
+from datetime import datetime
+import numpy as np
+from ament_index_python.packages import get_package_share_directory
+from tf2_ros import Buffer, TransformListener
+from rclpy.duration import Duration
+from geometry_msgs.msg import PoseStamped
+from sensor_msgs.msg import Image, CameraInfo
+import tf2_geometry_msgs
+from tf2_geometry_msgs.tf2_geometry_msgs import do_transform_pose
+from vlm_perception_pkg.device_utils import resolve_torch_device
+
+
+
+
+    
+
+class ClipDetectionNode(Node):
+    def __init__(self):
+        super().__init__('clip_detector')
+        self.declare_parameter('reset_records_on_startup', False)
+        self.declare_parameter('detection_interval_sec', 1.0)
+        self.declare_parameter('frcnn_min_score', 0.3)
+        self.declare_parameter('frcnn_top_k', 2)
+        self.declare_parameter('inference_device', 'auto')
+        self.bridge = CvBridge()
+        requested_device = self.get_parameter(
+            'inference_device'
+        ).get_parameter_value().string_value
+        self.device = resolve_torch_device(
+            self.get_logger(),
+            requested_device=requested_device,
+        )
+
+        # Camera cache: subscriber callbacks only keep the latest data.
+        self.latest_depth = None
+        self.latest_depth_stamp = None
+        self.camera_info = None
+        self.latest_camera_info_stamp = None
+        self.latest_stamp = None
+        self.latest_rgb = None
+        self.img_frame = "realsense_depth_frame"
+        self.processing_frame = False
+        self.sensor_callback_group = ReentrantCallbackGroup()
+        self.timer_callback_group = MutuallyExclusiveCallbackGroup()
+        self.tf_buffer = Buffer(cache_time=Duration(seconds=10))
+        self.tf_listener = TransformListener(self.tf_buffer, self)
+
+
+        # CLIP + Faster R-CNN
+        self.clip_model, self.clip_preprocess = clip.load("ViT-B/32", device=self.device)
+        self.frcnn_model = torchvision.models.detection.fasterrcnn_resnet50_fpn_v2(
+            weights="DEFAULT"
+        ).to(self.device).eval()
+        self.get_logger().info(
+            f"Detection models initialized on device={self.device} "
+            f"(requested={requested_device})"
+        )
+
+        # Labels and score tracking
+        self.labels = ["Refrigerator","water dispenser", "sofa", "white toilet",  "office chair with wheels"]
+        
+        # Initialize score tracking - save directly to vlm_nav_pkg config
+        # so semantic_nav reads the same file without manual copy
+        try:
+            nav_pkg_dir = get_package_share_directory('vlm_nav_pkg')
+            self.score_records_file = os.path.join(
+                nav_pkg_dir, 'config', 'example_object_detection_vlm.json'
+            )
+        except Exception:
+            self.get_logger().warn(
+                "vlm_nav_pkg not found, saving JSON to current directory"
+            )
+            self.score_records_file = "object_detection_vlm.json"
+        reset_records = self.get_parameter(
+            'reset_records_on_startup'
+        ).get_parameter_value().bool_value
+        if reset_records:
+            self.score_records = {
+                label: {"highest_score": 0.0, "last_detected": None, "position": None}
+                for label in self.labels
+            }
+            self.save_score_records()
+            self.get_logger().info(f"Score records reset: {self.score_records_file}")
+        else:
+            self.score_records = self.load_score_records()
+            self.get_logger().info(f"Score records loaded: {self.score_records_file}")
+        
+        # Subscribers & Publishers
+        self.pose_pub = self.create_publisher(PoseStamped, "/object_in_map", 10)
+
+        self.rgb_sub = self.create_subscription(
+            Image,
+            "/intel_realsense_r200_rgb/image_raw",
+            self.rgb_callback,
+            10,
+            callback_group=self.sensor_callback_group
+        )
+        self.depth_sub = self.create_subscription(
+            Image,
+            "/intel_realsense_r200_depth/depth/image_raw",
+            self.depth_callback,
+            10,
+            callback_group=self.sensor_callback_group
+        )
+        self.camera_info_sub = self.create_subscription(
+            CameraInfo, "/intel_realsense_r200_depth/camera_info",
+            self.camera_info_callback, 10,
+            callback_group=self.sensor_callback_group)
+        self.annotated_pub = self.create_publisher(Image, "/percep/annotated_image", 10)
+        interval_sec = self.get_parameter(
+            'detection_interval_sec'
+        ).get_parameter_value().double_value
+        self.detection_timer = self.create_timer(
+            interval_sec,
+            self.process_frame,
+            callback_group=self.timer_callback_group,
+        )
+        self.get_logger().info(
+            f"Detection timer enabled: processing latest frame every {interval_sec:.2f}s"
+        )
+
+
+    def camera_info_callback(self, msg):
+        self.camera_info = msg
+        self.latest_camera_info_stamp = msg.header.stamp
+        if msg.header.frame_id:
+            self.img_frame = msg.header.frame_id
+
+        
+
+    def load_score_records(self):
+        """Load existing score records or create new ones"""
+        if os.path.exists(self.score_records_file):
+            with open(self.score_records_file, 'r') as f:
+                try:
+                    return json.load(f)
+                except json.JSONDecodeError:
+                    self.get_logger().warn("Score file corrupted, creating new one")
+        
+        # Initialize with empty records
+        return {label: {"highest_score": 0.0, "last_detected": None, "position":None} for label in self.labels}
+
+    def save_score_records(self):
+        """Save current score records to file"""
+        with open(self.score_records_file, 'w') as f:
+            json.dump(self.score_records, f, indent=4)
+
+    def update_score_records(self, label, score, position=None):
+        """Update records when confidence matches or exceeds the best score."""
+        current_time = datetime.now().isoformat()
+        
+        if label not in self.score_records:
+            self.score_records[label] = {
+                "highest_score": score,
+                "last_detected": current_time,
+                "position": position
+            }
+            self.save_score_records()
+            return True
+        
+        updated = False
+        if score >= self.score_records[label]["highest_score"]:
+            # Refresh the best score and associated position on ties or improvements.
+            self.score_records[label]["highest_score"] = score
+            if position is not None:
+                self.score_records[label]["position"] = position
+            updated = True
+        
+        # Always refresh timestamp (even without position/score change)
+        self.score_records[label]["last_detected"] = current_time
+        self.save_score_records()
+        
+        return updated
+
+
+    def rgb_callback(self, msg):
+        try:
+            self.latest_rgb = self.bridge.imgmsg_to_cv2(msg, "bgr8")
+            self.latest_stamp = msg.header.stamp
+        except CvBridgeError as e:
+            self.get_logger().error(f"CvBridge error: {e}")
+            return
+
+
+    def depth_callback(self, msg):
+        try:
+            self.latest_depth = self.bridge.imgmsg_to_cv2(msg, desired_encoding="32FC1")
+            self.latest_depth_stamp = msg.header.stamp
+        except CvBridgeError as e:
+            self.get_logger().error(f"Depth CvBridge error: {e}")
+            return
+
+    def process_frame(self):
+        if self.processing_frame:
+            return
+
+        if self.latest_rgb is None or self.latest_depth is None or self.camera_info is None:
+            return
+
+        if self.latest_stamp is None or self.latest_depth_stamp is None:
+            return
+
+        self.processing_frame = True
+        start_time = time.perf_counter()
+        try:
+            cv_img = self.latest_rgb.copy()
+            depth_img = self.latest_depth.copy()
+            frame_stamp = self.latest_depth_stamp
+            camera_info = self.camera_info
+            image_tensor = transforms.ToTensor()(cv_img).to(self.device)
+            frcnn_min_score = self.get_parameter(
+                'frcnn_min_score'
+            ).get_parameter_value().double_value
+            frcnn_top_k = self.get_parameter(
+                'frcnn_top_k'
+            ).get_parameter_value().integer_value
+
+            with torch.no_grad():
+                frcnn_output = self.frcnn_model([image_tensor])[0]
+            candidate_boxes = frcnn_output['boxes']
+            candidate_scores = frcnn_output['scores']
+            total_candidate_count = len(candidate_boxes)
+
+            filtered_indices = [
+                i for i, score in enumerate(candidate_scores)
+                if float(score) >= frcnn_min_score
+            ]
+            filtered_indices.sort(key=lambda i: float(candidate_scores[i]), reverse=True)
+            selected_indices = filtered_indices[:frcnn_top_k]
+            candidate_boxes = [candidate_boxes[i] for i in selected_indices]
+            self.get_logger().info(
+                f"FRCNN candidates: total={total_candidate_count} "
+                f"filtered={len(filtered_indices)} top_k={frcnn_top_k} "
+                f"selected={len(candidate_boxes)}"
+            )
+
+            best_labels_per_box = {}  # key: box index, value: (label, score)
+
+            for i, box in enumerate(candidate_boxes):
+                max_score = -1
+                best_label = None
+                for label in self.labels:
+                    _, score = self.match_label_box(label, image_tensor, [box])
+                    if score > max_score:
+                        max_score = score
+                        best_label = label
+
+                if max_score >= 0.25 and best_label is not None:
+                    best_labels_per_box[i] = (best_label, max_score)
+                    is_new_record = False
+                    position = None
+
+                    box_index = i
+                    box = candidate_boxes[box_index]
+                    x_min, y_min, x_max, y_max = map(int, box)
+                    x_center = (x_min + x_max) // 2
+                    y_center = (y_min + y_max) // 2
+                    depth = float(depth_img[y_center, x_center])
+                    if np.isnan(depth) or depth <= 0.0:
+                        continue
+
+                    fx = camera_info.k[0]
+                    fy = camera_info.k[4]
+                    cx = camera_info.k[2]
+                    cy = camera_info.k[5]
+
+                    X = (x_center - cx) * depth / fx
+                    Y = (y_center - cy) * depth / fy
+                    Z = depth
+
+                    pose = PoseStamped()
+                    pose.header.stamp = frame_stamp
+                    pose.header.frame_id = self.img_frame
+                    pose.pose.position.x = X
+                    pose.pose.position.y = Y
+                    pose.pose.position.z = Z
+                    pose.pose.orientation.w = 1.0
+
+                    # TF transform: camera frame -> map frame (semantic_nav 需要 map 坐标)
+                    try:
+                        ob2map = self.tf_buffer.transform(
+                            pose, "map", timeout=Duration(seconds=1.0)
+                        )
+
+                        self.pose_pub.publish(ob2map)
+                        self.get_logger().info(
+                            f"object coordinates in map frame: x={ob2map.pose.position.x:.3f}, "
+                            f"y={ob2map.pose.position.y:.3f}, z={ob2map.pose.position.z:.3f}"
+                        )
+
+                        position = {
+                            "x": round(ob2map.pose.position.x, 4),
+                            "y": round(ob2map.pose.position.y, 4),
+                            "z": round(ob2map.pose.position.z, 4)
+                        }
+                        is_new_record = self.update_score_records(best_label, max_score, position=position)
+                    except Exception as e:
+                        self.get_logger().error(f"TF transform to map failed: {e}")
+                        is_new_record = False
+
+                    log_msg = f"{best_label} detected with confidence score {max_score:.2f}"
+                    if is_new_record:
+                        log_msg += " (NEW RECORD!)"
+                    self.get_logger().info(log_msg)
+
+            matched_boxes = [candidate_boxes[i] for i in best_labels_per_box.keys()]
+            matched_labels = [f"{lbl} ({score:.2f})" for lbl, score in best_labels_per_box.values()]
+
+            annotated_img = self.draw_boxes(cv_img, matched_boxes, matched_labels)
+            try:
+                self.annotated_pub.publish(self.bridge.cv2_to_imgmsg(annotated_img, encoding="bgr8"))
+            except CvBridgeError as e:
+                self.get_logger().error(f"Publish error: {e}")
+        finally:
+            elapsed_ms = (time.perf_counter() - start_time) * 1000.0
+            self.get_logger().info(f"Detection cycle took {elapsed_ms:.1f} ms")
+            self.processing_frame = False
+        
+    def match_label_box(self, label, image_tensor, boxes):
+        max_sim, best_box = -1, None
+        tokenized_text = clip.tokenize([label]).to(self.device)
+        text_feat = F.normalize(self.clip_model.encode_text(tokenized_text), dim=-1)
+
+        for box in boxes:
+            x_min, y_min, x_max, y_max = map(int, box)
+            crop = transforms.functional.to_pil_image(image_tensor[:, y_min:y_max, x_min:x_max])
+            img_feat = F.normalize(self.clip_model.encode_image(self.clip_preprocess(crop).unsqueeze(0).to(self.device)), dim=-1)
+            sim = F.cosine_similarity(img_feat, text_feat).item()
+            if sim > max_sim:
+                max_sim, best_box = sim, box
+        return best_box, max_sim
+
+    def draw_boxes(self, img, boxes, labels):
+        for i, box in enumerate(boxes):
+            x_min, y_min, x_max, y_max = map(int, box)
+            cv2.rectangle(img, (x_min, y_min), (x_max, y_max), (0, 255, 0), 2)
+            if labels:
+                cv2.putText(img, labels[i], (x_min, y_min-10), cv2.FONT_HERSHEY_SIMPLEX, 0.8, (255, 0, 0), 2)
+        return img
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = ClipDetectionNode()
+    executor = MultiThreadedExecutor(num_threads=2)
+    executor.add_node(node)
+    try:
+        executor.spin()
+    except KeyboardInterrupt:
+        node.get_logger().info("KeyboardInterrupt received, shutting down...")
+    finally:
+        node.save_score_records()
+        executor.shutdown()
+        node.destroy_node()
+        if rclpy.ok():
+            rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()

build/vlm_perception_pkg/colcon_command_prefix_setup_py.sh.env

@@ -1,6 +1,8 @@
-AMENT_PREFIX_PATH=/opt/ros/humble
+AMENT_PREFIX_PATH=/workspace/install/vlm_perception_pkg:/workspace/install/vlm_nav_pkg:/workspace/install/turtlebot3_simulations:/workspace/install/turtlebot3_gazebo:/workspace/install/nav2_rrtstar_planner:/opt/ros/humble
+CMAKE_PREFIX_PATH=/workspace/install/turtlebot3_simulations:/workspace/install/turtlebot3_gazebo:/workspace/install/nav2_rrtstar_planner
 CODE_NO_PASSWORD=true
 COLCON=1
+COLCON_PREFIX_PATH=/workspace/install
 DATA_PATH=/home/user/data
 DATA_PATH_V2=/data
 DESKTOP_MODE=auto
@@ -8,7 +10,7 @@ DISPLAY=:1
 DISPLAY_BACKEND=auto
 ENABLE_CODE_SERVER=true
 ENABLE_FILEBROWSER=false
-ENABLE_FOXGLOVE=true
+ENABLE_FOXGLOVE=false
 ENABLE_GZWEB=true
 ENABLE_ROSBRIDGE=true
 ENABLE_TERMINAL=true
@@ -16,25 +18,35 @@ ENABLE_VNC=true
 FILEBROWSER_BASEURL=/file
 GZWEB_APP_DIR=/opt/gzweb
 GZWEB_PORT=8000
-GZ_SIM_CACHE_PATH=/opt/gzsim/cache
+GZ_SIM_CACHE_PATH=/.gz/sim/cache
-GZ_SIM_RESOURCE_PATH=/workspace/models:/opt/gzsim/models:/workspace/models:/opt/gzsim/models:/workspace/models:/opt/gzsim/models:/usr/share/gz/gz-sim7/models
+GZ_SIM_RESOURCE_PATH=/models:/workspace/models:/opt/gzsim/models:/models:/workspace/models:/opt/gzsim/models:/models:/workspace/models:/opt/gzsim/models:/usr/share/gz/gz-sim7/models
 HOME=/home/devuser
 INIT_SCRIPT=sed -i "/# pms-vendor-pythonpath/d;/export PYTHONPATH=\"/opt\/vendor\/python/d" /home/${USER:-devuser}/.bashrc 2>/dev/null || true
+CONDA_ACTIVATE_D="${CONDA_PREFIX:-/opt/miniconda/envs/pms-py312}/etc/conda/activate.d"
+if [ -d "$CONDA_ACTIVATE_D" ]; then
+  cat > "$CONDA_ACTIVATE_D/pms-vendor-pythonpath.sh" << 'PYEOF'
+export PYTHONPATH="/opt/vendor/python:/opt/vendor/mjlab/src:/opt/vendor/mujoco_warp:/opt/vendor/demos/humanoid_skateboarding/src:$PYTHONPATH"
+PYEOF
+  chmod +x "$CONDA_ACTIVATE_D/pms-vendor-pythonpath.sh"
+fi
+echo "# pms-vendor-pythonpath" >> /home/${USER:-devuser}/.bashrc
+echo "export PYTHONPATH=\"/opt/vendor/python:/opt/vendor/mjlab/src:/opt/vendor/mujoco_warp:/opt/vendor/demos/humanoid_skateboarding/src:\$PYTHONPATH\"" >> /home/${USER:-devuser}/.bashrc
 
 /workspace/autorun.sh
 INIT_WORKSPACE=/workspace
 LAUNCH_TYPE=EC2
 LC_CTYPE=C.UTF-8
-LD_LIBRARY_PATH=/usr/local/cuda/lib64:/usr/local/cuda/lib64:/usr/local/cuda/lib64:/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib
+LD_LIBRARY_PATH=/workspace/install/nav2_rrtstar_planner/lib:/usr/local/cuda/lib64:/usr/local/cuda/lib64:/usr/local/cuda/lib64:/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib
 LOGNAME=devuser
 MAIL=/var/mail/devuser
 OLDPWD=/workspace
-PATH=/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/opt/ros/humble/bin:/usr/local/cuda/bin:/opt/TurboVNC/bin:/opt/node/bin:/opt/foundation/bin:/home/devuser/miniconda3/bin:/home/devuser/.local/bin
+PATH=/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/opt/ros/humble/bin:/usr/local/cuda/bin:/opt/TurboVNC/bin:/opt/node/bin:/opt/foundation/bin
 PMS_FOUNDATION_VARIANT=gpu
 PMS_VNC_MODE=turbovnc
 PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$
 PWD=/workspace/build/vlm_perception_pkg
-PYTHONPATH=/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages
+PYTHONNOUSERSITE=1
+PYTHONPATH=/workspace/install/vlm_perception_pkg/lib/python3.10/site-packages:/workspace/install/vlm_nav_pkg/lib/python3.10/site-packages:/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages
 ROS_DISTRO=humble
 ROS_DOMAIN_ID=42
 ROS_LOCALHOST_ONLY=0
@@ -44,11 +56,11 @@ SHELL=/bin/bash
 SHLVL=1
 SINGLE_DESKTOP_APP=
 SINGLE_DESKTOP_PRESET=
-SPACE_DIR=/home/user/data/309844d858e5487f9c582ea361481b3d
+SPACE_DIR=/home/user/data/72f26183c345428ea9d80d3086449014
-SPACE_DIR_V2=/data/309844d858e5487f9c582ea361481b3d
+SPACE_DIR_V2=/data/72f26183c345428ea9d80d3086449014
-SPACE_ID=309844d858e5487f9c582ea361481b3d
+SPACE_ID=72f26183c345428ea9d80d3086449014
 USER=devuser
-USER_ID=6950f1ca-1599-42c5-a926-29eb731cb95c
+USER_ID=9dc62cab-cf4d-49b7-b349-349aef68e7b4
 VNC_NO_PASSWORD=true
 WORKSPACE=/workspace
 _=/usr/bin/colcon

build/vlm_perception_pkg/install.log

@@ -0,0 +1,22 @@
+/workspace/install/vlm_perception_pkg/lib/python3.10/site-packages/vlm_perception_pkg/__init__.py
+/workspace/install/vlm_perception_pkg/lib/python3.10/site-packages/vlm_perception_pkg/device_utils.py
+/workspace/install/vlm_perception_pkg/lib/python3.10/site-packages/vlm_perception_pkg/multi_waypoint_navigation.py
+/workspace/install/vlm_perception_pkg/lib/python3.10/site-packages/vlm_perception_pkg/simple_detection.py
+/workspace/install/vlm_perception_pkg/lib/python3.10/site-packages/vlm_perception_pkg/vlm_detection.py
+/workspace/install/vlm_perception_pkg/lib/python3.10/site-packages/vlm_perception_pkg/__pycache__/__init__.cpython-310.pyc
+/workspace/install/vlm_perception_pkg/lib/python3.10/site-packages/vlm_perception_pkg/__pycache__/device_utils.cpython-310.pyc
+/workspace/install/vlm_perception_pkg/lib/python3.10/site-packages/vlm_perception_pkg/__pycache__/multi_waypoint_navigation.cpython-310.pyc
+/workspace/install/vlm_perception_pkg/lib/python3.10/site-packages/vlm_perception_pkg/__pycache__/simple_detection.cpython-310.pyc
+/workspace/install/vlm_perception_pkg/lib/python3.10/site-packages/vlm_perception_pkg/__pycache__/vlm_detection.cpython-310.pyc
+/workspace/install/vlm_perception_pkg/share/ament_index/resource_index/packages/vlm_perception_pkg
+/workspace/install/vlm_perception_pkg/share/vlm_perception_pkg/package.xml
+/workspace/install/vlm_perception_pkg/lib/python3.10/site-packages/vlm_perception_pkg-0.0.0-py3.10.egg-info/PKG-INFO
+/workspace/install/vlm_perception_pkg/lib/python3.10/site-packages/vlm_perception_pkg-0.0.0-py3.10.egg-info/SOURCES.txt
+/workspace/install/vlm_perception_pkg/lib/python3.10/site-packages/vlm_perception_pkg-0.0.0-py3.10.egg-info/dependency_links.txt
+/workspace/install/vlm_perception_pkg/lib/python3.10/site-packages/vlm_perception_pkg-0.0.0-py3.10.egg-info/entry_points.txt
+/workspace/install/vlm_perception_pkg/lib/python3.10/site-packages/vlm_perception_pkg-0.0.0-py3.10.egg-info/requires.txt
+/workspace/install/vlm_perception_pkg/lib/python3.10/site-packages/vlm_perception_pkg-0.0.0-py3.10.egg-info/top_level.txt
+/workspace/install/vlm_perception_pkg/lib/python3.10/site-packages/vlm_perception_pkg-0.0.0-py3.10.egg-info/zip-safe
+/workspace/install/vlm_perception_pkg/lib/vlm_perception_pkg/multi_waypoint_navigation
+/workspace/install/vlm_perception_pkg/lib/vlm_perception_pkg/simple_detection
+/workspace/install/vlm_perception_pkg/lib/vlm_perception_pkg/vlm_detection

build/vlm_perception_pkg/package.xml

@@ -1 +0,0 @@
-/workspace/src/vlm_perception_pkg/package.xml

build/vlm_perception_pkg/resource/vlm_perception_pkg

@@ -1 +0,0 @@
-/workspace/src/vlm_perception_pkg/resource/vlm_perception_pkg

build/vlm_perception_pkg/setup.cfg

@@ -1 +0,0 @@
-/workspace/src/vlm_perception_pkg/setup.cfg

build/vlm_perception_pkg/setup.py

@@ -1 +0,0 @@
-/workspace/src/vlm_perception_pkg/setup.py

build/vlm_perception_pkg/share/vlm_perception_pkg/hook/pythonpath_develop.dsv

@@ -1 +0,0 @@
-prepend-non-duplicate;PYTHONPATH;/workspace/build/vlm_perception_pkg